+ python -m lidar_slam --no-model /working/6f5c8b1a-58a1-4765-8143-c576e9cba7c9 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/6f5c8b1a-58a1-4765-8143-c576e9cba7c9 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 0.00463044 Adjusted end_distance from 9.223372036854776e+18 to 505.36463044 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00463044 meters Centerline goodness [0,1] 0.2663778162911612 Centerline is valid? [0, False] SLAMing on 0.03463044 meters Centerline goodness [0,1] 0.26107699783540217 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999778e-01 -7.55491035e-05 -6.62461263e-04 4.89741794e-03] [ 7.53006822e-05 9.99999927e-01 -3.75014328e-04 3.22236574e-03] [ 6.62489546e-04 3.74964361e-04 9.99999710e-01 -2.65694629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06463044 meters Centerline goodness [0,1] 0.23998710093518216 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99998996e-01 9.19060023e-04 -1.07837152e-03 1.24740439e-02] [-9.18662032e-04 9.99999510e-01 3.69503459e-04 3.97163212e-03] [ 1.07871058e-03 -3.68512429e-04 9.99999350e-01 -8.44750116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09463044 meters Centerline goodness [0,1] 0.2788285539963392 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.02 [[ 9.99997573e-01 1.32663433e-03 -1.75926810e-03 2.34003184e-02] [-1.32631363e-03 9.99999104e-01 1.83445684e-04 9.50755241e-03] [ 1.75950989e-03 -1.81111897e-04 9.99998436e-01 -1.50492897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12463044 meters Centerline goodness [0,1] 0.24573749484155427 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.02 [[ 9.99997397e-01 1.19180991e-03 -1.94574909e-03 2.61294707e-02] [-1.19207225e-03 9.99999281e-01 -1.33673963e-04 1.16608796e-02] [ 1.94558838e-03 1.35993089e-04 9.99998098e-01 -1.60828166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15463044 meters Centerline goodness [0,1] 0.24975862371631707 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.02 [[ 9.99997241e-01 1.03015989e-03 -2.11101955e-03 2.86232779e-02] [-1.03111542e-03 9.99999366e-01 -4.51597737e-04 1.38212217e-02] [ 2.11055299e-03 4.53773196e-04 9.99997670e-01 -1.70988640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18463044 meters Centerline goodness [0,1] 0.2507667210440456 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.02 [[ 9.99997064e-01 8.39330838e-04 -2.27314999e-03 3.14413595e-02] [-8.41115277e-04 9.99999339e-01 -7.84165257e-04 1.66538272e-02] [ 2.27249031e-03 7.86074936e-04 9.99997109e-01 -1.84532534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21463044 meters Centerline goodness [0,1] 0.24251418594500218 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.02 [[ 9.99996720e-01 6.55672283e-04 -2.47594231e-03 3.42029599e-02] [-6.58216430e-04 9.99999256e-01 -1.02687200e-03 1.91972975e-02] [ 2.47526718e-03 1.02849834e-03 9.99996408e-01 -1.94840236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24463044 meters Centerline goodness [0,1] 0.21459911374997276 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-0.03 [[ 9.99995731e-01 -3.67421130e-05 -2.92179799e-03 4.46708868e-02] [ 3.18838986e-05 9.99998617e-01 -1.66277741e-03 2.29303809e-02] [ 2.92185505e-03 1.66267716e-03 9.99994349e-01 -2.57339737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.27463044000000003 meters Centerline goodness [0,1] 0.23766366745822531 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.03 [[ 9.99994395e-01 -1.00027951e-04 -3.34660002e-03 4.82933442e-02] [ 9.47377049e-05 9.99998746e-01 -1.58090351e-03 2.26784805e-02] [ 3.34675396e-03 1.58057760e-03 9.99993150e-01 -2.71771672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30463044 meters Centerline goodness [0,1] 0.23721344216741924 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.03 [[ 9.99992635e-01 -1.87868490e-04 -3.83325549e-03 5.23807709e-02] [ 1.82250064e-04 9.99998909e-01 -1.46600275e-03 2.22496533e-02] [ 3.83352673e-03 1.46529334e-03 9.99991578e-01 -2.87394213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33463044 meters Centerline goodness [0,1] 0.2527499066897929 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.03 [[ 9.99990480e-01 -3.05194773e-04 -4.35290084e-03 5.63091659e-02] [ 2.98951187e-04 9.99998926e-01 -1.43492921e-03 2.23250948e-02] [ 4.35333410e-03 1.43361424e-03 9.99989497e-01 -3.01243364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36463044 meters Centerline goodness [0,1] 0.05991212311421834 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.03 [[ 9.99988665e-01 -3.38304066e-04 -4.74915771e-03 6.02942857e-02] [ 3.31958634e-04 9.99999051e-01 -1.33684213e-03 2.24877674e-02] [ 4.74960546e-03 1.33525046e-03 9.99987829e-01 -3.18186505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.39463044 meters Centerline goodness [0,1] 0.06056414135955901 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:-0.04 [[ 9.99984864e-01 -5.42774696e-04 -5.47512173e-03 7.20785077e-02] [ 5.34814486e-04 9.99998798e-01 -1.45524677e-03 2.34863638e-02] [ 5.47590502e-03 1.45229657e-03 9.99983953e-01 -3.82992187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42463044 meters Centerline goodness [0,1] 0.2373610145934677 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.04 [[ 9.99981673e-01 -4.74657989e-04 -6.03564337e-03 7.67652001e-02] [ 4.66071888e-04 9.99998878e-01 -1.42389301e-03 2.35798153e-02] [ 6.03631245e-03 1.42105387e-03 9.99980772e-01 -4.04360986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45463043999999997 meters Centerline goodness [0,1] 0.22643285607951313 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.04 [[ 9.99978051e-01 -4.03452007e-04 -6.61314970e-03 8.13891185e-02] [ 3.94102276e-04 9.99998921e-01 -1.41505119e-03 2.41354521e-02] [ 6.61371347e-03 1.41241388e-03 9.99977132e-01 -4.24710180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48463044 meters Centerline goodness [0,1] 0.23619658679237043 Centerline is valid? [False, False] Translation: X:0.09, Y:0.02, Z:-0.05 [[ 9.99973335e-01 4.03553114e-04 -7.29157298e-03 8.85808496e-02] [-4.08699204e-04 9.99999668e-01 -7.04282289e-04 2.30038510e-02] [ 7.29128635e-03 7.07243569e-04 9.99973168e-01 -4.68006787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.51463044 meters Centerline goodness [0,1] 0.2786860131748845 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-0.05 [[ 9.99966206e-01 1.37349886e-03 -8.10556417e-03 1.00676560e-01] [-1.37358238e-03 9.99999057e-01 -4.73745287e-06 2.20810170e-02] [ 8.10555001e-03 1.58709529e-05 9.99967149e-01 -5.27013309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.54463044 meters Centerline goodness [0,1] 0.24623225495986178 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-0.05 [[ 9.99962764e-01 1.53896090e-03 -8.49131798e-03 1.04596181e-01] [-1.53831944e-03 9.99998813e-01 8.20730348e-05 2.17876296e-02] [ 8.49143422e-03 -6.90076191e-05 9.99963945e-01 -5.40359743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.57463044 meters Centerline goodness [0,1] 0.31843890177042933 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:-0.06 [[ 9.99955997e-01 2.20134322e-03 -9.11905806e-03 1.11205512e-01] [-2.19618489e-03 9.99997423e-01 5.75639939e-04 2.09712567e-02] [ 9.12030173e-03 -5.55587472e-04 9.99958255e-01 -5.76259222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.60463044 meters Centerline goodness [0,1] 0.06591944874506639 Centerline is valid? [False, False] Translation: X:0.13, Y:0.03, Z:-0.07 [[ 9.99939940e-01 3.26028863e-03 -1.04636274e-02 1.27218088e-01] [-3.25519665e-03 9.99994575e-01 5.03630494e-04 2.64056633e-02] [ 1.04652126e-02 -4.69539081e-04 9.99945128e-01 -6.59580708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.63463044 meters Centerline goodness [0,1] 0.07862163476415718 Centerline is valid? [False, False] Translation: X:0.13, Y:0.03, Z:-0.07 [[ 9.99929858e-01 3.49308704e-03 -1.13171459e-02 1.33728538e-01] [-3.49007547e-03 9.99993869e-01 2.85846085e-04 2.93993066e-02] [ 1.13180750e-02 -2.46328342e-04 9.99935918e-01 -6.84943185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6646304399999999 meters Centerline goodness [0,1] 0.0791255476390671 Centerline is valid? [False, False] Translation: X:0.14, Y:0.03, Z:-0.07 [[ 9.99922042e-01 3.60426162e-03 -1.19548920e-02 1.38923172e-01] [-3.60399048e-03 9.99993505e-01 4.42239697e-05 3.19415530e-02] [ 1.19549738e-02 -1.13520508e-06 9.99928537e-01 -7.02160358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.69463044 meters Centerline goodness [0,1] 0.09384978784830056 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:-0.07 [[ 9.99911312e-01 4.27498635e-03 -1.26131567e-02 1.45864586e-01] [-4.27091526e-03 9.99990818e-01 3.49683994e-04 3.26438779e-02] [ 1.26145358e-02 -2.95783258e-04 9.99920390e-01 -7.35964756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.72463044 meters Centerline goodness [0,1] 0.10310545374739388 Centerline is valid? [False, False] Translation: X:0.15, Y:0.04, Z:-0.08 [[ 9.99905148e-01 4.25244611e-03 -1.31000401e-02 1.50118573e-01] [-4.25160314e-03 9.99990958e-01 9.21972286e-05 3.50198537e-02] [ 1.31003137e-02 -3.64923121e-05 9.99914187e-01 -7.51783251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.75463044 meters Centerline goodness [0,1] 0.04683794028328858 Centerline is valid? [False, False] Translation: X:0.16, Y:0.04, Z:-0.08 [[ 9.99892320e-01 4.40536714e-03 -1.39979156e-02 1.62617289e-01] [-4.40777081e-03 9.99990276e-01 -1.40869761e-04 3.86198784e-02] [ 1.39971589e-02 2.02554196e-04 9.99902014e-01 -8.12222818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.78463044 meters Centerline goodness [0,1] 0.1085781642683985 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:-0.08 [[ 9.99886859e-01 4.31215274e-03 -1.44109273e-02 1.66225353e-01] [-4.31703011e-03 9.99990634e-01 -3.07358473e-04 4.01210786e-02] [ 1.44094670e-02 3.69536106e-04 9.99896110e-01 -8.24687896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.81463044 meters Centerline goodness [0,1] 0.08389778325123154 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:-0.08 [[ 9.99881902e-01 4.26023339e-03 -1.47659320e-02 1.69680580e-01] [-4.26649222e-03 9.99990821e-01 -3.92394489e-04 4.11495042e-02] [ 1.47641248e-02 4.55346882e-04 9.99890901e-01 -8.34811876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.84463044 meters Centerline goodness [0,1] 0.10778009437067926 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:-0.08 [[ 9.99876061e-01 4.18653045e-03 -1.51768023e-02 1.73164036e-01] [-4.19387098e-03 9.99991104e-01 -4.51873381e-04 4.22383896e-02] [ 1.51747755e-02 5.15466927e-04 9.99884724e-01 -8.43033556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.87463044 meters Centerline goodness [0,1] 0.058933291867516724 Centerline is valid? [False, False] Translation: X:0.18, Y:0.04, Z:-0.09 [[ 9.99869936e-01 4.10733347e-03 -1.55961895e-02 1.76567216e-01] [-4.11589476e-03 9.99991396e-01 -5.16876502e-04 4.30234155e-02] [ 1.55939323e-02 5.81001549e-04 9.99878238e-01 -8.51400188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9046304399999999 meters Centerline goodness [0,1] 0.0425832047608552 Centerline is valid? [False, False] Translation: X:0.19, Y:0.05, Z:-0.11 [[ 9.99969438e-01 3.12211803e-03 -7.16770658e-03 1.87953371e-01] [-3.12749678e-03 9.99994836e-01 -7.39328887e-04 4.59887320e-02] [ 7.16536130e-03 7.61723271e-04 9.99974038e-01 -1.08471377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.93463044 meters Centerline goodness [0,1] 0.049857549857549865 Centerline is valid? [False, False] Translation: X:0.19, Y:0.05, Z:-0.11 [[ 9.99965703e-01 3.11420435e-03 -7.67434370e-03 1.92289649e-01] [-3.11901784e-03 9.99994947e-01 -6.15329526e-04 4.53285276e-02] [ 7.67238865e-03 6.39244836e-04 9.99970362e-01 -1.09805722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.96463044 meters Centerline goodness [0,1] 0.049857549857549865 Centerline is valid? [False, False] Translation: X:0.19, Y:0.05, Z:-0.11 [[ 9.99965703e-01 3.11420435e-03 -7.67434370e-03 1.92289649e-01] [-3.11901784e-03 9.99994947e-01 -6.15329526e-04 4.53285276e-02] [ 7.67238865e-03 6.39244836e-04 9.99970362e-01 -1.09805722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.99463044 meters Centerline goodness [0,1] 0.2923804425410421 Centerline is valid? [False, False] Translation: X:0.20, Y:0.04, Z:-0.11 [[ 9.99962042e-01 3.08521007e-03 -8.14832409e-03 1.96146225e-01] [-3.08893780e-03 9.99995130e-01 -4.44938240e-04 4.41910750e-02] [ 8.14691168e-03 4.70091017e-04 9.99966703e-01 -1.10617537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.02463044 meters Centerline goodness [0,1] 0.06843587909139692 Centerline is valid? [False, False] Translation: X:0.21, Y:0.05, Z:-0.11 [[ 0.99995801 0.00185479 -0.00897394 0.20615423] [-0.00186466 0.99999767 -0.00109149 0.04536286] [ 0.00897189 0.00110818 0.99995914 -0.11320969] [ 0. 0. 0. 1. ]] SLAMing on 1.05463044 meters Centerline goodness [0,1] 0.29399938137952364 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:-0.11 [[ 9.99952898e-01 1.90168196e-03 -9.51768588e-03 2.10605360e-01] [-1.91033773e-03 9.99997770e-01 -9.00432360e-04 4.43747643e-02] [ 9.51595231e-03 9.18571942e-04 9.99954300e-01 -1.14237039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.08463044 meters Centerline goodness [0,1] 0.06806086169202574 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:-0.12 [[ 9.99947050e-01 1.92195750e-03 -1.01095713e-02 2.15418428e-01] [-1.92974754e-03 9.99997849e-01 -7.60862375e-04 4.34280010e-02] [ 1.01080872e-02 7.80331008e-04 9.99948608e-01 -1.15757764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1146304399999998 meters Centerline goodness [0,1] 0.06892705777381214 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:-0.12 [[ 9.99941068e-01 1.96814520e-03 -1.06765023e-02 2.19842188e-01] [-1.97503090e-03 9.99997848e-01 -6.34433941e-04 4.25333434e-02] [ 1.06752307e-02 6.55482974e-04 9.99942803e-01 -1.17010343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1446304399999998 meters Centerline goodness [0,1] 0.13406119363159297 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:-0.12 [[ 9.99934817e-01 2.03178712e-03 -1.12353385e-02 2.24519888e-01] [-2.03801742e-03 9.99997776e-01 -5.43105765e-04 4.19680399e-02] [ 1.12342100e-02 5.65968179e-04 9.99936734e-01 -1.18593369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1746304399999998 meters Centerline goodness [0,1] 0.2241810787862537 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:-0.12 [[ 9.99929500e-01 2.05183331e-03 -1.16955403e-02 2.28423755e-01] [-2.05782056e-03 9.99997758e-01 -4.99914839e-04 4.20433505e-02] [ 1.16944883e-02 5.23946918e-04 9.99931480e-01 -1.19755144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2046304399999999 meters Centerline goodness [0,1] 0.03753803780458009 Centerline is valid? [False, False] Translation: X:0.24, Y:0.04, Z:-0.14 [[ 9.99993188e-01 1.86782347e-03 -3.18366254e-03 2.42030782e-01] [-1.86835930e-03 9.99998241e-01 -1.65340890e-04 4.42238990e-02] [ 3.18334811e-03 1.71287989e-04 9.99994918e-01 -1.43707137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2346304399999999 meters SLAMing on 1.26463044 meters Centerline goodness [0,1] 0.16366983186297623 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:-0.15 [[ 9.99987278e-01 1.25962625e-03 -4.88443989e-03 2.58002731e-01] [-1.26091986e-03 9.99999171e-01 -2.61774587e-04 4.27912673e-02] [ 4.88410610e-03 2.67930144e-04 9.99988037e-01 -1.51198681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.29463044 meters Centerline goodness [0,1] 0.10659303505015216 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:-0.15 [[ 9.99984311e-01 1.40923386e-03 -5.42139453e-03 2.64884735e-01] [-1.40843486e-03 9.99998997e-01 1.51194486e-04 3.94552738e-02] [ 5.42160216e-03 -1.43556433e-04 9.99985293e-01 -1.52193100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3246304399999997 meters SLAMing on 1.3546304399999998 meters Centerline goodness [0,1] 0.036706527602949124 Centerline is valid? [False, False] Translation: X:0.27, Y:0.04, Z:-0.15 [[ 9.99980822e-01 1.97649551e-03 -5.86936647e-03 2.72469568e-01] [-1.97216849e-03 9.99997779e-01 7.42916818e-04 3.67325476e-02] [ 5.87082181e-03 -7.31327190e-04 9.99982499e-01 -1.54191836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3846304399999998 meters Centerline goodness [0,1] 0.04939653821178258 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:-0.15 [[ 9.99978063e-01 2.11990403e-03 -6.27527691e-03 2.75951549e-01] [-2.11385923e-03 9.99997296e-01 9.69748715e-04 3.50143248e-02] [ 6.27731571e-03 -9.56462390e-04 9.99979840e-01 -1.54989791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4146304399999998 meters Centerline goodness [0,1] 0.0709548326176398 Centerline is valid? [False, False] Translation: X:0.28, Y:0.03, Z:-0.16 [[ 0.99997493 0.00230745 -0.00669506 0.27946493] [-0.00229874 0.9999965 0.00130918 0.03274454] [ 0.00669806 -0.00129376 0.99997673 -0.15596755] [ 0. 0. 0. 1. ]] SLAMing on 1.4446304399999998 meters Centerline goodness [0,1] 0.0726067415730337 Centerline is valid? [False, False] Translation: X:0.28, Y:0.03, Z:-0.16 [[ 0.99997112 0.00246695 -0.00718812 0.28345318] [-0.00245549 0.9999957 0.00160332 0.03069359] [ 0.00719204 -0.00158562 0.99997288 -0.1571118 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4746304399999999 meters Centerline goodness [0,1] 0.17049209810489396 Centerline is valid? [False, False] Translation: X:0.30, Y:0.03, Z:-0.16 [[ 0.99995938 0.00242631 -0.00868098 0.29808926] [-0.00241083 0.99999549 0.00179359 0.02794829] [ 0.00868529 -0.00177259 0.99996071 -0.1636686 ] [ 0. 0. 0. 1. ]] SLAMing on 1.50463044 meters Centerline goodness [0,1] 0.17611345204113993 Centerline is valid? [False, False] Translation: X:0.30, Y:0.03, Z:-0.16 [[ 0.99995482 0.00265048 -0.00912859 0.30165346] [-0.00263085 0.9999942 0.0021624 0.02540629] [ 0.00913426 -0.00213829 0.999956 -0.16449398] [ 0. 0. 0. 1. ]] SLAMing on 1.53463044 meters Centerline goodness [0,1] 0.17109284792501533 Centerline is valid? [False, False] Translation: X:0.31, Y:0.02, Z:-0.17 [[ 0.99995021 0.00282444 -0.00957053 0.30535013] [-0.00280107 0.99999306 0.00245466 0.02308052] [ 0.0095774 -0.00242773 0.99995119 -0.16531318] [ 0. 0. 0. 1. ]] SLAMing on 1.56463044 meters Centerline goodness [0,1] 0.16848161084857205 Centerline is valid? [False, False] Translation: X:0.31, Y:0.02, Z:-0.17 [[ 0.99994563 0.00298789 -0.00999021 0.30870925] [-0.00296086 0.99999192 0.00271939 0.0212362 ] [ 0.00999826 -0.00268966 0.9999464 -0.16588148] [ 0. 0. 0. 1. ]] SLAMing on 1.5946304399999998 meters Centerline goodness [0,1] 0.1631549039663598 Centerline is valid? [False, False] Translation: X:0.35, Y:0.02, Z:-0.17 [[ 0.99998841 0.00279091 -0.00392418 0.35389359] [-0.00277662 0.99998951 0.00364283 0.02206799] [ 0.0039343 -0.00363189 0.99998567 -0.16901334] [ 0. 0. 0. 1. ]] SLAMing on 1.6246304399999998 meters Centerline goodness [0,1] 0.17075127811274904 Centerline is valid? [False, False] Translation: X:0.36, Y:0.02, Z:-0.17 [[ 0.99998629 0.00286929 -0.00438142 0.35744963] [-0.00285269 0.99998875 0.00378981 0.02131818] [ 0.00439224 -0.00377725 0.99998322 -0.16966715] [ 0. 0. 0. 1. ]] SLAMing on 1.6546304399999998 meters Centerline goodness [0,1] 0.16585554443736927 Centerline is valid? [False, False] Translation: X:0.36, Y:0.02, Z:-0.17 [[ 0.99998379 0.00295262 -0.00486929 0.36133166] [-0.00293321 0.99998775 0.0039879 0.01975013] [ 0.004881 -0.00397355 0.99998019 -0.17039854] [ 0. 0. 0. 1. ]] SLAMing on 1.6846304399999998 meters Centerline goodness [0,1] 0.2357226307470277 Centerline is valid? [False, False] Translation: X:0.36, Y:0.02, Z:-0.17 [[ 0.99998103 0.00307569 -0.00533657 0.36479407] [-0.00305292 0.99998623 0.00426911 0.01761058] [ 0.00534963 -0.00425274 0.99997665 -0.17070722] [ 0. 0. 0. 1. ]] SLAMing on 1.7146304399999999 meters Centerline goodness [0,1] 0.237149881666322 Centerline is valid? [False, False] Translation: X:0.38, Y:0.02, Z:-0.17 [[ 0.99997673 0.00270675 -0.00626145 0.37600826] [-0.00267993 0.99998721 0.00428828 0.01596198] [ 0.00627298 -0.0042714 0.9999712 -0.17382473] [ 0. 0. 0. 1. ]] SLAMing on 1.74463044 meters Centerline goodness [0,1] 0.1682196149903178 Centerline is valid? [False, False] Translation: X:0.38, Y:0.01, Z:-0.17 [[ 0.9999737 0.0028264 -0.00667893 0.37954911] [-0.00279663 0.99998613 0.00446246 0.01474472] [ 0.00669145 -0.00444366 0.99996774 -0.17432979] [ 0. 0. 0. 1. ]] SLAMing on 1.77463044 meters Centerline goodness [0,1] 0.16477650239420805 Centerline is valid? [False, False] Translation: X:0.38, Y:0.01, Z:-0.17 [[ 0.99997033 0.00294557 -0.0071179 0.3828257 ] [-0.00291255 0.99998497 0.00464544 0.0136111 ] [ 0.00713148 -0.00462457 0.99996388 -0.17461455] [ 0. 0. 0. 1. ]] SLAMing on 1.8046304399999997 meters Centerline goodness [0,1] 0.07688947138488422 Centerline is valid? [False, False] Translation: X:0.39, Y:0.01, Z:-0.18 [[ 0.99996675 0.00303509 -0.00756836 0.38633176] [-0.00299919 0.99998422 0.0047495 0.01307106] [ 0.00758265 -0.00472664 0.99996008 -0.17525869] [ 0. 0. 0. 1. ]] SLAMing on 1.8346304399999998 meters Centerline goodness [0,1] 0.23496244945118427 Centerline is valid? [False, False] Translation: X:0.39, Y:0.01, Z:-0.18 [[ 0.99996254 0.00312014 -0.00807414 0.39028019] [-0.00308133 0.99998366 0.00481555 0.01297637] [ 0.00808903 -0.00479049 0.99995581 -0.17627033] [ 0. 0. 0. 1. ]] SLAMing on 1.8646304399999998 meters Centerline goodness [0,1] 0.07688227833506289 Centerline is valid? [False, False] Translation: X:0.41, Y:0.01, Z:-0.18 [[ 0.99994879 0.00320441 -0.00959934 0.40529703] [-0.00315681 0.99998267 0.00497018 0.01165117] [ 0.0096151 -0.00493962 0.99994157 -0.18190453] [ 0. 0. 0. 1. ]] SLAMing on 1.8946304399999998 meters Centerline goodness [0,1] 0.2324059298318647 Centerline is valid? [False, False] Translation: X:0.41, Y:0.01, Z:-0.18 [[ 0.99994441 0.00333116 -0.01000427 0.40874852] [-0.0032791 0.99998102 0.00521526 0.00986756] [ 0.01002146 -0.00518217 0.99993636 -0.18269211] [ 0. 0. 0. 1. ]] SLAMing on 1.9246304399999998 meters Centerline goodness [0,1] 0.2299810772141967 Centerline is valid? [False, False] Translation: X:0.41, Y:0.01, Z:-0.18 [[ 0.99993865 0.00347379 -0.01051809 0.41259748] [-0.00341562 0.9999788 0.00554332 0.00738289] [ 0.01053712 -0.00550706 0.99992932 -0.18323282] [ 0. 0. 0. 1. ]] SLAMing on 1.9546304399999999 meters Centerline goodness [0,1] 0.23229627548751086 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:-0.19 [[ 9.99926236e-01 8.41567046e-04 -1.21167084e-02 4.26156272e-01] [-8.10752415e-04 9.99996426e-01 2.54783938e-03 6.23596278e-03] [ 1.21188092e-02 -2.53782779e-03 9.99923344e-01 -1.86782992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9846304399999999 meters Centerline goodness [0,1] 0.22917296731417935 Centerline is valid? [False, False] Translation: X:0.43, Y:0.00, Z:-0.19 [[ 9.99918114e-01 8.70604279e-04 -1.27674517e-02 4.30833926e-01] [-8.32828773e-04 9.99995261e-01 2.96375331e-03 2.68819554e-03] [ 1.27699715e-02 -2.95287752e-03 9.99914100e-01 -1.87717364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.01463044 meters Centerline goodness [0,1] 0.22874569326752958 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.00, Z:-0.19 [[ 9.99911442e-01 9.39641804e-04 -1.32750022e-02 4.34720282e-01] [-8.95623141e-04 9.99994083e-01 3.32146221e-03 -4.17029810e-04] [ 1.32780446e-02 -3.30927867e-03 9.99906367e-01 -1.88404048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.04463044 meters Centerline goodness [0,1] 0.23029706681660578 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.00, Z:-0.19 [[ 0.99990478 0.00106218 -0.0137586 0.43838309] [-0.00101136 0.99999264 0.00370025 -0.00348584] [ 0.01376243 -0.00368598 0.9998985 -0.18903001] [ 0. 0. 0. 1. ]] SLAMing on 2.07463044 meters Centerline goodness [0,1] 0.22817177684888956 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.01, Z:-0.19 [[ 0.99989731 0.00120325 -0.01428012 0.44236598] [-0.00114546 0.99999112 0.00405467 -0.00605149] [ 0.01428487 -0.0040379 0.99988981 -0.18994712] [ 0. 0. 0. 1. ]] SLAMing on 2.10463044 meters Centerline goodness [0,1] 0.22463107182113706 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.01, Z:-0.19 [[ 0.99976676 0.00147349 -0.02154674 0.48842327] [-0.00138255 0.99999008 0.00423478 -0.00746698] [ 0.02155277 -0.004204 0.99975887 -0.18554661] [ 0. 0. 0. 1. ]] SLAMing on 2.13463044 meters Centerline goodness [0,1] 0.22012315557104678 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.01, Z:-0.19 [[ 0.99975345 0.00165648 -0.02214239 0.49287849] [-0.00156019 0.99998926 0.0043652 -0.00798057] [ 0.02214939 -0.00432958 0.9997453 -0.18672997] [ 0. 0. 0. 1. ]] SLAMing on 2.1646304400000003 meters Centerline goodness [0,1] 0.2186301624561322 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:-0.19 [[ 0.9997406 0.001785 -0.02270566 0.49719726] [-0.00168496 0.99998879 0.00442412 -0.00777976] [ 0.0227133 -0.00438471 0.9997324 -0.18795973] [ 0. 0. 0. 1. ]] SLAMing on 2.19463044 meters Centerline goodness [0,1] 0.07307799313734586 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:-0.19 [[ 0.99972812 0.0019422 -0.02323584 0.50121723] [-0.00183869 0.99998829 0.00447547 -0.0078298 ] [ 0.02324426 -0.00443153 0.99971999 -0.18870602] [ 0. 0. 0. 1. ]] SLAMing on 2.22463044 meters Centerline goodness [0,1] 0.20948957920041078 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:-0.19 [[ 0.99971716 0.00208464 -0.02369068 0.50468638] [-0.00197523 0.99998728 0.0046408 -0.0089185 ] [ 0.02370005 -0.00459269 0.99970856 -0.1887522 ] [ 0. 0. 0. 1. ]] SLAMing on 2.25463044 meters Centerline goodness [0,1] 0.07147045715760092 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.01, Z:-0.19 [[ 9.99859582e-01 8.30495740e-04 -1.67369810e-02 5.44359603e-01] [-7.63771668e-04 9.99991738e-01 3.99262312e-03 -9.17211791e-03] [ 1.67401586e-02 -3.97927925e-03 9.99851955e-01 -1.87173377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.28463044 meters Centerline goodness [0,1] 0.2079791480768327 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:-0.19 [[ 9.99956368e-01 -2.51987641e-04 -9.33806486e-03 5.79134276e-01] [ 2.86682848e-04 9.99993061e-01 3.71430774e-03 -8.54804714e-03] [ 9.33706410e-03 -3.71682274e-03 9.99949501e-01 -1.86116135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.31463044 meters Centerline goodness [0,1] 0.2217592044512845 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:-0.19 [[ 9.99951956e-01 -1.04038044e-04 -9.80181009e-03 5.82493745e-01] [ 1.45017405e-04 9.99991253e-01 4.18017731e-03 -1.20630774e-02] [ 9.80128945e-03 -4.18139791e-03 9.99943224e-01 -1.86134081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.34463044 meters Centerline goodness [0,1] 0.08104872781898409 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:-0.20 [[ 9.99994509e-01 -7.97132893e-04 -3.21658811e-03 5.94766497e-01] [ 8.07641222e-04 9.99994337e-01 3.26694248e-03 -1.26362668e-02] [ 3.21396571e-03 -3.26952239e-03 9.99989490e-01 -2.03804113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3746304400000002 meters Centerline goodness [0,1] 0.21541408503996595 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.02, Z:-0.21 [[ 0.99998626 -0.00130894 -0.0050769 0.61065101] [ 0.00132668 0.99999303 0.00349134 -0.01628725] [ 0.00507229 -0.00349803 0.99998102 -0.20796252] [ 0. 0. 0. 1. ]] SLAMing on 2.40463044 meters Centerline goodness [0,1] 0.08925966018732057 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.02, Z:-0.21 [[ 0.999984 -0.00116976 -0.00553486 0.61407122] [ 0.00119052 0.99999226 0.00374938 -0.017889 ] [ 0.00553043 -0.00375591 0.99997765 -0.20801464] [ 0. 0. 0. 1. ]] SLAMing on 2.43463044 meters Centerline goodness [0,1] 0.21181764357608057 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.02, Z:-0.21 [[ 0.99998141 -0.00105917 -0.00600502 0.6172179 ] [ 0.00108215 0.9999921 0.00382527 -0.0181658 ] [ 0.00600093 -0.0038317 0.99997465 -0.20766186] [ 0. 0. 0. 1. ]] SLAMing on 2.46463044 meters Centerline goodness [0,1] 0.20742492314968075 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.02, Z:-0.21 [[ 9.99978448e-01 -9.95610391e-04 -6.48940951e-03 6.20534798e-01] [ 1.01980482e-03 9.99992538e-01 3.72605183e-03 -1.72896995e-02] [ 6.48565140e-03 -3.73258946e-03 9.99972002e-01 -2.07569741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.49463044 meters Centerline goodness [0,1] 0.09268350247816848 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.02, Z:-0.21 [[ 9.99975122e-01 -9.03565265e-04 -6.99559365e-03 6.23909264e-01] [ 9.28278936e-04 9.99993338e-01 3.53030753e-03 -1.56938443e-02] [ 6.99235718e-03 -3.53671357e-03 9.99969299e-01 -2.07535337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.52463044 meters Centerline goodness [0,1] 0.08471280178342744 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:-0.21 [[ 9.99964236e-01 7.89384736e-04 -8.42048620e-03 6.36143048e-01] [-7.55961666e-04 9.99991827e-01 3.97170112e-03 -1.21853506e-02] [ 8.42355258e-03 -3.96519351e-03 9.99956660e-01 -2.09645186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.55463044 meters Centerline goodness [0,1] 0.09441442291809232 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.01, Z:-0.22 [[ 9.99978245e-01 6.58198596e-03 -4.31955424e-04 6.55999522e-01] [-6.58163371e-03 9.99978011e-01 8.11917197e-04 -7.66653002e-03] [ 4.37289953e-04 -8.09056561e-04 9.99999577e-01 -2.16176718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.58463044 meters Centerline goodness [0,1] 0.11936622220116999 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.00, Z:-0.22 [[ 9.99978065e-01 6.56478837e-03 -8.78987565e-04 6.58854371e-01] [-6.56446338e-03 9.99978384e-01 3.72113651e-04 -4.05044124e-03] [ 8.81411412e-04 -3.66335407e-04 9.99999544e-01 -2.15657067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.61463044 meters Centerline goodness [0,1] 0.07123966548330996 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.00, Z:-0.22 [[ 9.99977990e-01 6.50120328e-03 -1.32413482e-03 6.61534802e-01] [-6.50120249e-03 9.99978867e-01 4.90240178e-06 -1.30150402e-03] [ 1.32413870e-03 3.70617468e-06 9.99999123e-01 -2.15166001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.64463044 meters Centerline goodness [0,1] 0.07124035835768694 Centerline is valid? [False, False] Translation: X:0.67, Y:0.00, Z:-0.21 [[ 9.99974667e-01 6.65980517e-03 -2.51260964e-03 6.69650066e-01] [-6.66100442e-03 9.99977705e-01 -4.69226781e-04 3.38840691e-03] [ 2.50942866e-03 4.85951398e-04 9.99996733e-01 -2.14962483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.67463044 meters Centerline goodness [0,1] 0.07115722493945587 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:-0.21 [[ 9.99974405e-01 6.51800691e-03 -2.95035456e-03 6.72493000e-01] [-6.52006440e-03 9.99978507e-01 -6.88291295e-04 5.43487003e-03] [ 2.94580486e-03 7.07510180e-04 9.99995411e-01 -2.14696914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.70463044 meters Centerline goodness [0,1] 0.07069460594698496 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:-0.21 [[ 9.99973873e-01 6.39121170e-03 -3.37718487e-03 6.75077662e-01] [-6.39385829e-03 9.99979260e-01 -7.73453210e-04 6.21810475e-03] [ 3.37217153e-03 7.95026244e-04 9.99993998e-01 -2.14132004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.73463044 meters Centerline goodness [0,1] 0.09662378652383907 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:-0.21 [[ 9.99973114e-01 6.07668071e-03 -4.10434308e-03 6.81094126e-01] [-6.07972982e-03 9.99981251e-01 -7.30830594e-04 5.92340008e-03] [ 4.09982511e-03 7.55764242e-04 9.99991310e-01 -2.12297254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.76463044 meters Centerline goodness [0,1] 0.07025436098681537 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:-0.21 [[ 9.99971741e-01 5.97207277e-03 -4.56628745e-03 6.83569299e-01] [-5.97538826e-03 9.99981893e-01 -7.12783848e-04 5.59207333e-03] [ 4.56194797e-03 7.40049046e-04 9.99989320e-01 -2.11551904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.79463044 meters Centerline goodness [0,1] 0.06856030567370774 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:-0.21 [[ 9.99970209e-01 5.88842931e-03 -4.99074971e-03 6.85891483e-01] [-5.89201690e-03 9.99982394e-01 -7.04450550e-04 5.46031177e-03] [ 4.98651373e-03 7.33835145e-04 9.99987298e-01 -2.11161152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.82463044 meters Centerline goodness [0,1] 0.0691295157571099 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:-0.21 [[ 9.99968574e-01 5.81399500e-03 -5.38975011e-03 6.88101599e-01] [-5.81784954e-03 9.99982831e-01 -6.99757551e-04 5.42434657e-03] [ 5.38558919e-03 7.31092315e-04 9.99985230e-01 -2.10908831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.85463044 meters Centerline goodness [0,1] 0.0682675897214009 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:-0.21 [[ 9.99966847e-01 5.77189926e-03 -5.74365832e-03 6.90207559e-01] [-5.77580740e-03 9.99983099e-01 -6.64072741e-04 5.23514154e-03] [ 5.73972829e-03 6.97224989e-04 9.99983285e-01 -2.10723946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.88463044 meters Centerline goodness [0,1] 0.0682675897214009 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:-0.21 [[ 9.99966847e-01 5.77189926e-03 -5.74365832e-03 6.90207559e-01] [-5.77580740e-03 9.99983099e-01 -6.64072741e-04 5.23514154e-03] [ 5.73972829e-03 6.97224989e-04 9.99983285e-01 -2.10723946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.91463044 meters Centerline goodness [0,1] 0.06828891090544431 Centerline is valid? [False, False] Translation: X:0.69, Y:0.00, Z:-0.21 [[ 9.99964662e-01 5.74950776e-03 -6.13333758e-03 6.92266901e-01] [-5.75325546e-03 9.99983274e-01 -5.93568544e-04 4.79139943e-03] [ 6.12982227e-03 6.28834226e-04 9.99981015e-01 -2.10038876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.94463044 meters Centerline goodness [0,1] 0.06634249675027681 Centerline is valid? [False, False] Translation: X:0.72, Y:0.01, Z:-0.21 [[ 9.99949249e-01 8.24235680e-04 -1.00408909e-02 7.17920224e-01] [-8.19298661e-04 9.99999541e-01 4.95794786e-04 7.61971368e-03] [ 1.00412950e-02 -4.87543136e-04 9.99949466e-01 -2.06600722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.97463044 meters Centerline goodness [0,1] 0.06607151497556496 Centerline is valid? [False, False] Translation: X:0.72, Y:0.01, Z:-0.21 [[ 9.99945422e-01 9.07743568e-04 -1.04081296e-02 7.19917088e-01] [-8.99638221e-04 9.99999288e-01 7.83407049e-04 5.60108847e-03] [ 1.04088333e-02 -7.74000741e-04 9.99945527e-01 -2.06091372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.00463044 meters Centerline goodness [0,1] 0.06597205434414732 Centerline is valid? [False, False] Translation: X:0.72, Y:0.00, Z:-0.21 [[ 9.99941608e-01 9.54050738e-04 -1.07642705e-02 7.21913228e-01] [-9.43845463e-04 9.99999100e-01 9.53109533e-04 4.31000578e-03] [ 1.07651701e-02 -9.42894071e-04 9.99941609e-01 -2.05699587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.03463044 meters Centerline goodness [0,1] 0.06474698795180722 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.00, Z:-0.20 [[ 9.99886906e-01 5.26630803e-03 -1.40869057e-02 7.44709202e-01] [-5.26418770e-03 9.99986126e-01 1.87593918e-04 -3.36962301e-04] [ 1.40876982e-02 -1.13416587e-04 9.99900757e-01 -2.04586971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.06463044 meters Centerline goodness [0,1] 0.06414410058027076 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.00, Z:-0.20 [[ 9.99794722e-01 1.05216364e-02 -1.73149773e-02 7.68504879e-01] [-1.05376616e-02 9.99944129e-01 -8.34529395e-04 -3.51069050e-03] [ 1.73052293e-02 1.01681746e-03 9.99849736e-01 -2.02715719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.09463044 meters Centerline goodness [0,1] 0.23275841097623273 Centerline is valid? [False, False] Translation: X:0.79, Y:0.00, Z:-0.21 [[ 9.99796937e-01 1.76580439e-02 -9.70971080e-03 7.88950166e-01] [-1.76856471e-02 9.99839775e-01 -2.76435881e-03 9.00030100e-04] [ 9.65934189e-03 2.93551998e-03 9.99949039e-01 -2.07242414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1246304400000002 meters Centerline goodness [0,1] 0.2306210998439937 Centerline is valid? [False, False] Translation: X:0.79, Y:0.00, Z:-0.21 [[ 0.99978626 0.01801301 -0.01014693 0.7915865 ] [-0.01804425 0.9998327 -0.00299646 0.0047553 ] [ 0.01009126 0.00317891 0.99994403 -0.20701361] [ 0. 0. 0. 1. ]] SLAMing on 3.15463044 meters Centerline goodness [0,1] 0.22282146587955198 Centerline is valid? [False, False] Translation: X:0.81, Y:0.01, Z:-0.20 [[ 9.99739861e-01 1.82352419e-02 -1.36998759e-02 8.14162171e-01] [-1.82265376e-02 9.99833594e-01 7.59957355e-04 1.39857423e-02] [ 1.37114542e-02 -5.10058357e-04 9.99905864e-01 -2.04435295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.18463044 meters Centerline goodness [0,1] 0.2171543944148483 Centerline is valid? [False, False] Translation: X:0.84, Y:0.02, Z:-0.20 [[ 0.99971951 0.01660538 -0.01688678 0.83556087] [-0.01652854 0.99985244 0.00467954 0.0191034 ] [ 0.016962 -0.00439911 0.99984646 -0.20273054] [ 0. 0. 0. 1. ]] SLAMing on 3.21463044 meters Centerline goodness [0,1] 0.21715765303629875 Centerline is valid? [False, False] Translation: X:0.84, Y:0.02, Z:-0.20 [[ 0.99971813 0.01650634 -0.01706463 0.83667005] [-0.01643257 0.99985505 0.00445461 0.02101786] [ 0.01713568 -0.00417294 0.99984447 -0.20202118] [ 0. 0. 0. 1. ]] SLAMing on 3.24463044 meters Centerline goodness [0,1] 0.21526145710928324 Centerline is valid? [False, False] Translation: X:0.84, Y:0.03, Z:-0.20 [[ 0.99989495 0.01397541 -0.00384405 0.84034605] [-0.01395834 0.99989275 0.00443234 0.02511751] [ 0.00390558 -0.00437822 0.99998279 -0.20449656] [ 0. 0. 0. 1. ]] SLAMing on 3.27463044 meters Centerline goodness [0,1] 0.21302368833202823 Centerline is valid? [False, False] Translation: X:0.86, Y:0.03, Z:-0.20 [[ 0.99994438 0.00798848 -0.00688575 0.8618878 ] [-0.00795397 0.99995575 0.00502369 0.03098229] [ 0.00692557 -0.00496864 0.99996367 -0.20218061] [ 0. 0. 0. 1. ]] SLAMing on 3.30463044 meters Centerline goodness [0,1] 0.21214051246876686 Centerline is valid? [False, False] Translation: X:0.86, Y:0.03, Z:-0.20 [[ 0.99994458 0.00772529 -0.00715224 0.86351363] [-0.00768814 0.99995689 0.00520759 0.029202 ] [ 0.00719216 -0.00515232 0.99996086 -0.20129077] [ 0. 0. 0. 1. ]] SLAMing on 3.33463044 meters Centerline goodness [0,1] 0.21105478412068668 Centerline is valid? [False, False] Translation: X:0.87, Y:0.03, Z:-0.20 [[ 0.99996751 0.00349925 -0.00726174 0.86650944] [-0.00348902 0.9999929 0.00142035 0.02978718] [ 0.00726666 -0.00139496 0.99997262 -0.19971565] [ 0. 0. 0. 1. ]] SLAMing on 3.36463044 meters Centerline goodness [0,1] 0.21065024896367335 Centerline is valid? [False, False] Translation: X:0.87, Y:0.03, Z:-0.20 [[ 0.99996659 0.00313256 -0.00754966 0.86813844] [-0.00312082 0.9999939 0.00156573 0.02704037] [ 0.00755452 -0.00154212 0.99997028 -0.19938355] [ 0. 0. 0. 1. ]] SLAMing on 3.39463044 meters Centerline goodness [0,1] 0.21050692602416743 Centerline is valid? [False, False] Translation: X:0.87, Y:0.02, Z:-0.20 [[ 0.99996496 0.00289947 -0.00785273 0.86966256] [-0.00288556 0.99999425 0.0017819 0.02421049] [ 0.00785785 -0.00175918 0.99996758 -0.19918603] [ 0. 0. 0. 1. ]] SLAMing on 3.42463044 meters Centerline goodness [0,1] 0.21359534493811327 Centerline is valid? [False, False] Translation: X:0.87, Y:0.02, Z:-0.20 [[ 0.99996379 0.00281993 -0.00802937 0.87076005] [-0.00280353 0.99999396 0.00205317 0.02196212] [ 0.00803511 -0.00203058 0.99996566 -0.19881243] [ 0. 0. 0. 1. ]] SLAMing on 3.45463044 meters Centerline goodness [0,1] 0.22998738778841166 Centerline is valid? [False, False] Translation: X:0.87, Y:0.02, Z:-0.20 [[ 0.99996304 0.00284795 -0.00811243 0.87158176] [-0.0028291 0.99999328 0.00233328 0.02037358] [ 0.00811902 -0.00231024 0.99996437 -0.19834116] [ 0. 0. 0. 1. ]] SLAMing on 3.48463044 meters Centerline goodness [0,1] 0.11940186541971942 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.20 [[ 9.99995611e-01 2.94126308e-03 3.55137741e-04 8.29571711e-01] [-2.94230076e-03 9.99991298e-01 2.95763437e-03 1.58349447e-02] [-3.46435470e-04 -2.95866631e-03 9.99995563e-01 -1.97447878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.51463044 meters SLAMing on 3.54463044 meters Centerline goodness [0,1] 0.05881911996201994 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.20 [[ 9.99994917e-01 3.12984263e-03 6.08543590e-04 8.30416212e-01] [-3.13166625e-03 9.99990539e-01 3.01919431e-03 1.55139624e-02] [-5.99088229e-04 -3.02108472e-03 9.99995257e-01 -1.97098951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.57463044 meters Centerline goodness [0,1] 0.11813173052842474 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.20 [[ 9.99994513e-01 3.23638577e-03 7.07106972e-04 8.30567898e-01] [-3.23848306e-03 9.99990300e-01 2.98527524e-03 1.65119352e-02] [-6.97438611e-04 -2.98754881e-03 9.99995294e-01 -1.96925269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6046304399999998 meters Centerline goodness [0,1] 0.1695476554855867 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.20 [[ 9.99993880e-01 3.36809785e-03 9.46884075e-04 8.30553293e-01] [-3.37089643e-03 9.99989909e-01 2.96966658e-03 1.76558619e-02] [-9.36872392e-04 -2.97284025e-03 9.99995142e-01 -1.96902060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.63463044 meters Centerline goodness [0,1] 0.14902304609218442 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.20 [[ 0.99999106 0.00364169 0.00215021 0.8300539 ] [-0.00364807 0.99998893 0.002971 0.01860554] [-0.00213936 -0.00297881 0.99999327 -0.19699394] [ 0. 0. 0. 1. ]] SLAMing on 3.66463044 meters Centerline goodness [0,1] 0.1488175255165547 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.20 [[ 0.99999004 0.00367044 0.00253962 0.82996634] [-0.00367777 0.99998906 0.00288961 0.01905179] [-0.00252898 -0.00289893 0.9999926 -0.19697367] [ 0. 0. 0. 1. ]] SLAMing on 3.69463044 meters Centerline goodness [0,1] 0.15230262343002943 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.20 [[ 0.99998906 0.00374106 0.00280831 0.82999993] [-0.00374911 0.99998886 0.0028674 0.01975229] [-0.00279756 -0.00287789 0.99999195 -0.19683079] [ 0. 0. 0. 1. ]] SLAMing on 3.72463044 meters Centerline goodness [0,1] 0.20713681381575677 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.20 [[ 0.999988 0.00383308 0.00305083 0.82985965] [-0.00384186 0.99998848 0.00287707 0.02080363] [-0.00303976 -0.00288876 0.99999121 -0.19651189] [ 0. 0. 0. 1. ]] SLAMing on 3.75463044 meters Centerline goodness [0,1] 0.20272875574670024 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.20 [[ 0.99998317 0.00431371 0.00388019 0.82949777] [-0.00432572 0.99998586 0.0030939 0.02233342] [-0.00386679 -0.00311063 0.99998769 -0.19585831] [ 0. 0. 0. 1. ]] SLAMing on 3.78463044 meters Centerline goodness [0,1] 0.2006806915431475 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.20 [[ 0.999982 0.00435702 0.00412515 0.8293002 ] [-0.0043693 0.99998604 0.00297267 0.02309454] [-0.00411214 -0.00299064 0.99998707 -0.19553193] [ 0. 0. 0. 1. ]] SLAMing on 3.81463044 meters Centerline goodness [0,1] 0.18284213884321854 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.20 [[ 0.99998039 0.00440072 0.00445662 0.82907572] [-0.00441334 0.99998627 0.00282667 0.02408726] [-0.00444412 -0.00284629 0.99998607 -0.1952093 ] [ 0. 0. 0. 1. ]] SLAMing on 3.84463044 meters Centerline goodness [0,1] 0.19189182592565468 Centerline is valid? [False, False] Translation: X:0.83, Y:0.03, Z:-0.19 [[ 0.99997865 0.00449595 0.00474224 0.82887665] [-0.00450851 0.99998635 0.0026401 0.02591767] [-0.00473031 -0.00266143 0.99998527 -0.19484297] [ 0. 0. 0. 1. ]] SLAMing on 3.87463044 meters Centerline goodness [0,1] 0.1862644853442399 Centerline is valid? [False, False] Translation: X:0.83, Y:0.03, Z:-0.19 [[ 0.99997689 0.00468948 0.0049225 0.82882797] [-0.00470168 0.9999859 0.00246923 0.02831573] [-0.00491085 -0.00249231 0.99998484 -0.1948334 ] [ 0. 0. 0. 1. ]] SLAMing on 3.90463044 meters Centerline goodness [0,1] 0.2110085054678007 Centerline is valid? [False, False] Translation: X:0.83, Y:0.03, Z:-0.20 [[ 0.99996928 0.0053674 0.00571272 0.82837637] [-0.00538152 0.9999825 0.00245936 0.03243132] [-0.00569942 -0.00249003 0.99998066 -0.19508316] [ 0. 0. 0. 1. ]] SLAMing on 3.93463044 meters Centerline goodness [0,1] 0.21246204299769222 Centerline is valid? [False, False] Translation: X:0.83, Y:0.03, Z:-0.19 [[ 0.99996793 0.00530644 0.00599877 0.82811764] [-0.00531972 0.99998343 0.0022002 0.03407639] [-0.005987 -0.00223204 0.99997959 -0.19499902] [ 0. 0. 0. 1. ]] SLAMing on 3.96463044 meters Centerline goodness [0,1] 0.21301417840148784 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.19 [[ 0.99996684 0.00523153 0.00624109 0.82797707] [-0.00524433 0.99998417 0.00203646 0.03511789] [-0.00623034 -0.00206912 0.99997845 -0.19475908] [ 0. 0. 0. 1. ]] SLAMing on 3.99463044 meters Centerline goodness [0,1] 0.21342658696546546 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.19 [[ 0.99996649 0.00515507 0.00635903 0.82793776] [-0.00516754 0.99998475 0.00194602 0.03562306] [-0.0063489 -0.00197882 0.99997789 -0.19472374] [ 0. 0. 0. 1. ]] SLAMing on 4.024630439999999 meters Centerline goodness [0,1] 0.21879990321800147 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.19 [[ 0.99996935 0.0047811 0.00619964 0.82885031] [-0.00479192 0.99998702 0.00173166 0.03597156] [-0.00619128 -0.00176132 0.99997928 -0.19453512] [ 0. 0. 0. 1. ]] SLAMing on 4.0546304399999995 meters Centerline goodness [0,1] 0.21902024252379337 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.19 [[ 0.99997049 0.00466859 0.00610099 0.82915129] [-0.00467883 0.99998767 0.00166434 0.03614345] [-0.00609315 -0.00169284 0.99998 -0.1943672 ] [ 0. 0. 0. 1. ]] SLAMing on 4.08463044 meters Centerline goodness [0,1] 0.22186309035650542 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.19 [[ 0.99997102 0.0045844 0.00607739 0.82931462] [-0.0045945 0.99998809 0.00164803 0.03617756] [-0.00606976 -0.0016759 0.99998017 -0.19404324] [ 0. 0. 0. 1. ]] SLAMing on 4.114630439999999 meters Centerline goodness [0,1] 0.22207261360904063 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.19 [[ 0.99997139 0.00447352 0.0060999 0.82933105] [-0.00448335 0.99998867 0.00159901 0.03630862] [-0.00609267 -0.00162631 0.99998012 -0.19346074] [ 0. 0. 0. 1. ]] SLAMing on 4.144630439999999 meters Centerline goodness [0,1] 0.22460839411694367 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.19 [[ 0.99996904 0.0041943 0.00665781 0.82869045] [-0.00420334 0.99999026 0.00134449 0.03659134] [-0.00665211 -0.00137244 0.99997693 -0.192819 ] [ 0. 0. 0. 1. ]] SLAMing on 4.17463044 meters Centerline goodness [0,1] 0.22993508054820866 Centerline is valid? [False, False] Translation: X:0.81, Y:0.04, Z:-0.19 [[ 0.99998479 -0.00304334 0.00459895 0.81104103] [ 0.00303074 0.99999164 0.00274369 0.04025524] [-0.00460726 -0.00272971 0.99998566 -0.19404163] [ 0. 0. 0. 1. ]] SLAMing on 4.20463044 meters Centerline goodness [0,1] 0.22716973932123352 Centerline is valid? [False, False] Translation: X:0.81, Y:0.04, Z:-0.19 [[ 0.99998441 -0.00303353 0.00468778 0.8110615 ] [ 0.00302189 0.99999234 0.00248743 0.04235184] [-0.00469529 -0.00247323 0.99998592 -0.194289 ] [ 0. 0. 0. 1. ]] SLAMing on 4.234630439999999 meters Centerline goodness [0,1] 0.23192735093798544 Centerline is valid? [False, False] Translation: X:0.81, Y:0.04, Z:-0.19 [[ 0.99998478 -0.00294454 0.00466537 0.81125618] [ 0.00293408 0.99999317 0.00224684 0.04462891] [-0.00467195 -0.00223311 0.99998659 -0.19472342] [ 0. 0. 0. 1. ]] SLAMing on 4.2646304399999995 meters Centerline goodness [0,1] 0.2319608448763335 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:-0.20 [[ 0.99998594 -0.00285604 0.00446895 0.81216346] [ 0.00284739 0.99999406 0.00194068 0.04754122] [-0.00447446 -0.00192793 0.99998813 -0.19544073] [ 0. 0. 0. 1. ]] SLAMing on 4.29463044 meters Centerline goodness [0,1] 0.23695776801070134 Centerline is valid? [False, False] Translation: X:0.79, Y:0.04, Z:-0.20 [[ 9.99985465e-01 4.57373700e-03 2.85484456e-03 7.94888219e-01] [-4.57424710e-03 9.99989523e-01 1.72176545e-04 4.32704636e-02] [-2.85402716e-03 -1.85232807e-04 9.99995910e-01 -1.96632391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.32463044 meters Centerline goodness [0,1] 0.2360874099355328 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:-0.20 [[ 0.99998647 -0.00292232 0.00430338 0.81253034] [ 0.00291504 0.99999431 0.00169649 0.04869833] [-0.00430831 -0.00168393 0.9999893 -0.19525707] [ 0. 0. 0. 1. ]] SLAMing on 4.354630439999999 meters Centerline goodness [0,1] 0.2384571537146114 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:-0.19 [[ 0.99998608 -0.0029183 0.00439623 0.812173 ] [ 0.00291085 0.99999432 0.00169977 0.04876727] [-0.00440116 -0.00168695 0.99998889 -0.19487382] [ 0. 0. 0. 1. ]] SLAMing on 4.38463044 meters Centerline goodness [0,1] 0.24574566282454857 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:-0.19 [[ 0.99998454 -0.00301924 0.0046685 0.81157473] [ 0.00301158 0.99999411 0.00164589 0.0486644 ] [-0.00467344 -0.00163181 0.99998775 -0.19411574] [ 0. 0. 0. 1. ]] SLAMing on 4.41463044 meters Centerline goodness [0,1] 0.24367274867569155 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:-0.19 [[ 0.99998469 -0.00303401 0.0046274 0.81169028] [ 0.00302658 0.99999412 0.00161092 0.04884993] [-0.00463226 -0.00159689 0.999988 -0.19414566] [ 0. 0. 0. 1. ]] SLAMing on 4.444630439999999 meters Centerline goodness [0,1] 0.20001882308651564 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:-0.19 [[ 0.99998509 -0.00301048 0.00455599 0.81204711] [ 0.00300322 0.99999421 0.00160047 0.04913554] [-0.00456078 -0.00158676 0.99998834 -0.19451939] [ 0. 0. 0. 1. ]] SLAMing on 4.474630439999999 meters Centerline goodness [0,1] 0.24341350319664645 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:-0.19 [[ 0.99998578 -0.00296883 0.00442917 0.81247418] [ 0.00296182 0.99999435 0.00158806 0.04956936] [-0.00443386 -0.00157491 0.99998893 -0.19489462] [ 0. 0. 0. 1. ]] SLAMing on 4.50463044 meters Centerline goodness [0,1] 0.24755539922616954 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:-0.20 [[ 0.99998622 -0.00299653 0.00431039 0.81287174] [ 0.00299033 0.99999449 0.00144446 0.05044777] [-0.00431469 -0.00143155 0.99998967 -0.19523619] [ 0. 0. 0. 1. ]] SLAMing on 4.53463044 meters Centerline goodness [0,1] 0.2481652877109335 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:-0.20 [[ 0.99998688 -0.00298485 0.00416254 0.81318076] [ 0.00297914 0.99999462 0.0013762 0.05109253] [-0.00416662 -0.00136378 0.99999039 -0.19527095] [ 0. 0. 0. 1. ]] SLAMing on 4.564630439999999 meters Centerline goodness [0,1] 0.2586206896551724 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:-0.19 [[ 0.99998631 -0.00306717 0.00423903 0.81223616] [ 0.00306253 0.99999471 0.00109999 0.05251924] [-0.00424238 -0.001087 0.99999041 -0.19365468] [ 0. 0. 0. 1. ]] SLAMing on 4.5946304399999995 meters Centerline goodness [0,1] 0.2596328143155938 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:-0.19 [[ 0.99998526 -0.00311464 0.00444731 0.8114748 ] [ 0.00310996 0.9999946 0.00105864 0.05263466] [-0.00445059 -0.0010448 0.99998955 -0.19286938] [ 0. 0. 0. 1. ]] SLAMing on 4.62463044 meters Centerline goodness [0,1] 0.26192848701133176 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:-0.19 [[ 9.99984322e-01 -3.17168762e-03 4.61480756e-03 8.10930933e-01] [ 3.16718525e-03 9.99994502e-01 9.82616032e-04 5.29007139e-02] [-4.61789874e-03 -9.67984676e-04 9.99988869e-01 -1.92436364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.654630439999999 meters Centerline goodness [0,1] 0.259346441428967 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:-0.19 [[ 9.99983957e-01 -3.19556444e-03 4.67703269e-03 8.10938662e-01] [ 3.19126299e-03 9.99994478e-01 9.26871339e-04 5.32636826e-02] [-4.67996874e-03 -9.11930828e-04 9.99988633e-01 -1.92650430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.684630439999999 meters Centerline goodness [0,1] 0.27047557663091015 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:-0.19 [[ 9.99984935e-01 -3.16580358e-03 4.48404070e-03 8.11701405e-01] [ 3.16145705e-03 9.99994526e-01 9.76090456e-04 5.32179849e-02] [-4.48710626e-03 -9.61899649e-04 9.99989470e-01 -1.93290153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.71463044 meters Centerline goodness [0,1] 0.27012748363385786 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:-0.19 [[ 0.99998664 -0.0030795 0.0041521 0.81246671] [ 0.00307444 0.99999453 0.00122281 0.05213284] [-0.00415585 -0.00121003 0.99999063 -0.19335615] [ 0. 0. 0. 1. ]] SLAMing on 4.74463044 meters Centerline goodness [0,1] 0.266757928359571 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:-0.19 [[ 0.99998806 -0.00303285 0.00383096 0.81334088] [ 0.00302711 0.99999429 0.0015038 0.05050196] [-0.0038355 -0.00149219 0.99999153 -0.19364634] [ 0. 0. 0. 1. ]] SLAMing on 4.774630439999999 meters Centerline goodness [0,1] 0.266757928359571 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:-0.19 [[ 0.99998806 -0.00303285 0.00383096 0.81334088] [ 0.00302711 0.99999429 0.0015038 0.05050196] [-0.0038355 -0.00149219 0.99999153 -0.19364634] [ 0. 0. 0. 1. ]] SLAMing on 4.8046304399999995 meters Centerline goodness [0,1] 0.27081471295978 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:-0.19 [[ 0.99998922 -0.00302453 0.00352395 0.81412806] [ 0.00301806 0.99999376 0.00183852 0.04823101] [-0.00352949 -0.00182786 0.9999921 -0.19378952] [ 0. 0. 0. 1. ]] SLAMing on 4.83463044 meters Centerline goodness [0,1] 0.28362412419288363 Centerline is valid? [False, False] Translation: X:0.82, Y:0.04, Z:-0.19 [[ 0.99999038 -0.00330955 0.00287699 0.81583491] [ 0.00330272 0.99999173 0.00237523 0.04342064] [-0.00288482 -0.00236571 0.99999304 -0.19409008] [ 0. 0. 0. 1. ]] SLAMing on 4.864630439999999 meters Centerline goodness [0,1] 0.28346150325002284 Centerline is valid? [False, False] Translation: X:0.82, Y:0.04, Z:-0.19 [[ 0.99999092 -0.00322901 0.00278111 0.81622628] [ 0.00322088 0.99999054 0.00292325 0.04040914] [-0.00279053 -0.00291427 0.99999186 -0.19423223] [ 0. 0. 0. 1. ]] SLAMing on 4.894630439999999 meters Centerline goodness [0,1] 0.29078582716841117 Centerline is valid? [False, False] Translation: X:0.82, Y:0.04, Z:-0.19 [[ 0.99999108 -0.00317988 0.00277985 0.81647906] [ 0.00317034 0.9999891 0.00342858 0.0374625 ] [-0.00279072 -0.00341973 0.99999026 -0.19450419] [ 0. 0. 0. 1. ]] SLAMing on 4.92463044 meters Centerline goodness [0,1] 0.2877253023043578 Centerline is valid? [False, False] Translation: X:0.82, Y:0.03, Z:-0.19 [[ 0.99999112 -0.00318571 0.00275783 0.81681205] [ 0.00317516 0.99998765 0.00382247 0.03479472] [-0.00276997 -0.00381368 0.99998889 -0.19479501] [ 0. 0. 0. 1. ]] SLAMing on 4.95463044 meters Centerline goodness [0,1] 0.29022275819700105 Centerline is valid? [False, False] Translation: X:0.82, Y:0.03, Z:-0.19 [[ 0.9999914 -0.00314144 0.00270833 0.81704063] [ 0.00312999 0.99998618 0.00422404 0.03228133] [-0.00272157 -0.00421553 0.99998741 -0.19487848] [ 0. 0. 0. 1. ]] SLAMing on 4.984630439999999 meters Centerline goodness [0,1] 0.2929169218207798 Centerline is valid? [False, False] Translation: X:0.82, Y:0.03, Z:-0.19 [[ 0.99999216 -0.0029363 0.00265715 0.81726208] [ 0.00292307 0.99998339 0.00496802 0.02835697] [-0.00267169 -0.00496021 0.99998413 -0.19484785] [ 0. 0. 0. 1. ]] SLAMing on 5.0146304399999995 meters Centerline goodness [0,1] 0.292566709021601 Centerline is valid? [False, False] Translation: X:0.82, Y:0.03, Z:-0.20 [[ 0.99999269 -0.00288112 0.00251504 0.81768023] [ 0.00286802 0.99998239 0.00519624 0.02690696] [-0.00252997 -0.00518899 0.99998334 -0.19501207] [ 0. 0. 0. 1. ]] SLAMing on 5.04463044 meters Centerline goodness [0,1] 0.287291451184962 Centerline is valid? [False, False] Translation: X:0.84, Y:0.02, Z:-0.19 [[ 0.99998343 0.00474859 0.00325402 0.83788115] [-0.00476147 0.99998082 0.00395986 0.02302538] [-0.00323515 -0.00397529 0.99998687 -0.19442121] [ 0. 0. 0. 1. ]] SLAMing on 5.074630439999999 meters Centerline goodness [0,1] 0.29509721623522467 Centerline is valid? [False, False] Translation: X:0.84, Y:0.02, Z:-0.19 [[ 0.99998377 0.00477044 0.00311488 0.83844672] [-0.00478307 0.99998032 0.00406073 0.02224163] [-0.00309545 -0.00407556 0.9999869 -0.19489751] [ 0. 0. 0. 1. ]] SLAMing on 5.104630439999999 meters Centerline goodness [0,1] 0.28951265481960153 Centerline is valid? [False, False] Translation: X:0.86, Y:0.03, Z:-0.19 [[ 0.99998914 -0.00315667 0.00342829 0.85843342] [ 0.00313952 0.99998258 0.0049974 0.02658476] [-0.003444 -0.00498658 0.99998164 -0.19489209] [ 0. 0. 0. 1. ]] SLAMing on 5.13463044 meters Centerline goodness [0,1] 0.2894754486735355 Centerline is valid? [False, False] Translation: X:0.86, Y:0.03, Z:-0.19 [[ 0.99998969 -0.00297348 0.00343159 0.85836625] [ 0.00295525 0.99998155 0.0053072 0.02523582] [-0.00344731 -0.005297 0.99998003 -0.19477352] [ 0. 0. 0. 1. ]] SLAMing on 5.16463044 meters Centerline goodness [0,1] 0.2946853397971092 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.99998942 -0.00292373 0.00355159 0.85784262] [ 0.00290426 0.99998081 0.00547262 0.02426293] [-0.00356753 -0.00546225 0.99997872 -0.19427064] [ 0. 0. 0. 1. ]] SLAMing on 5.194630439999999 meters Centerline goodness [0,1] 0.2913052204357425 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.9999891 -0.00286439 0.00368844 0.85731685] [ 0.00284355 0.99998004 0.00564168 0.02337339] [-0.00370453 -0.00563113 0.99997728 -0.19383403] [ 0. 0. 0. 1. ]] SLAMing on 5.224630439999999 meters Centerline goodness [0,1] 0.2960832831761743 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.99998887 -0.00283878 0.00376828 0.85709449] [ 0.00281704 0.99997943 0.00576165 0.02259368] [-0.00378456 -0.00575097 0.9999763 -0.19371184] [ 0. 0. 0. 1. ]] SLAMing on 5.25463044 meters Centerline goodness [0,1] 0.2954641702886437 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.99998848 -0.00291618 0.00381192 0.85720512] [ 0.00289404 0.99997897 0.00580319 0.02135934] [-0.00382876 -0.00579209 0.9999759 -0.19400291] [ 0. 0. 0. 1. ]] SLAMing on 5.284630439999999 meters Centerline goodness [0,1] 0.29636497687615904 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.99998878 -0.00288318 0.003758 0.85741069] [ 0.00286104 0.99997859 0.00588453 0.02082934] [-0.00377489 -0.00587371 0.99997562 -0.19418172] [ 0. 0. 0. 1. ]] SLAMing on 5.314630439999999 meters Centerline goodness [0,1] 0.2970533166904422 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.99998911 -0.00276515 0.00376028 0.85744378] [ 0.00274239 0.99997797 0.00604422 0.02043124] [-0.00377691 -0.00603384 0.99997466 -0.19423509] [ 0. 0. 0. 1. ]] SLAMing on 5.3446304399999995 meters Centerline goodness [0,1] 0.298200742832996 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.99998944 -0.00262426 0.00377211 0.85724447] [ 0.0026007 0.99997715 0.00623929 0.01993636] [-0.00378839 -0.00622942 0.99997342 -0.19392914] [ 0. 0. 0. 1. ]] SLAMing on 5.37463044 meters Centerline goodness [0,1] 0.3035470820947229 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.9999899 -0.0025217 0.00371933 0.85695645] [ 0.00249699 0.99997489 0.00663165 0.01769625] [-0.00373596 -0.00662229 0.99997109 -0.19316969] [ 0. 0. 0. 1. ]] SLAMing on 5.404630439999999 meters Centerline goodness [0,1] 0.30081048762124096 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.99999076 -0.00253537 0.00347222 0.8574544 ] [ 0.00251162 0.99997354 0.00682687 0.01622754] [-0.00348943 -0.00681809 0.99997067 -0.19305317] [ 0. 0. 0. 1. ]] SLAMing on 5.434630439999999 meters Centerline goodness [0,1] 0.29896019603947277 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.19 [[ 0.9999913 -0.00249156 0.00334679 0.85777753] [ 0.00246783 0.99997192 0.00707609 0.01474963] [-0.00336432 -0.00706777 0.99996936 -0.1930478 ] [ 0. 0. 0. 1. ]] SLAMing on 5.46463044 meters Centerline goodness [0,1] 0.3036016007114273 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.19 [[ 0.99999146 -0.00238959 0.00337063 0.85758464] [ 0.00236442 0.99996943 0.00745371 0.01290854] [-0.00338834 -0.00744568 0.99996654 -0.19269562] [ 0. 0. 0. 1. ]] SLAMing on 5.49463044 meters Centerline goodness [0,1] 0.30486486486486486 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.19 [[ 0.99998841 -0.00246261 0.00413817 0.85553814] [ 0.00242948 0.99996512 0.00799047 0.00940561] [-0.0041577 -0.00798032 0.99995951 -0.19162605] [ 0. 0. 0. 1. ]] SLAMing on 5.524630439999999 meters Centerline goodness [0,1] 0.3086485408495646 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.19 [[ 0.99998827 -0.00241107 0.00420005 0.85530658] [ 0.00237621 0.99996284 0.00828629 0.0076979 ] [-0.00421987 -0.00827621 0.99995685 -0.19137249] [ 0. 0. 0. 1. ]] SLAMing on 5.5546304399999995 meters Centerline goodness [0,1] 0.30713531120697246 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.19 [[ 0.99998819 -0.00233498 0.00426152 0.85521067] [ 0.00229868 0.99996121 0.00850214 0.0066109 ] [-0.0042812 -0.00849224 0.99995478 -0.19135713] [ 0. 0. 0. 1. ]] SLAMing on 5.58463044 meters Centerline goodness [0,1] 0.30558675210851993 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.19 [[ 0.99998808 -0.00230138 0.0043056 0.85523688] [ 0.00226453 0.99996092 0.00854523 0.00641793] [-0.0043251 -0.00853538 0.99995422 -0.19158371] [ 0. 0. 0. 1. ]] SLAMing on 5.614630439999999 meters Centerline goodness [0,1] 0.3058388212232672 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.19 [[ 0.99998885 -0.00228592 0.00413249 0.85591645] [ 0.00225118 0.99996226 0.0083915 0.0074205 ] [-0.00415152 -0.0083821 0.99995625 -0.19216653] [ 0. 0. 0. 1. ]] SLAMing on 5.644630439999999 meters Centerline goodness [0,1] 0.30531531332256856 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.20 [[ 9.99996758e-01 -4.68992661e-05 2.54593489e-03 8.62096263e-01] [ 2.20134572e-05 9.99952234e-01 9.77387136e-03 1.25848765e-02] [-2.54627167e-03 -9.77378363e-03 9.99948994e-01 -1.96008358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.67463044 meters Centerline goodness [0,1] 0.3021424486384233 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.20 [[ 9.99998874e-01 2.77178000e-04 1.47504723e-03 8.64716159e-01] [-2.91147799e-04 9.99955031e-01 9.47897468e-03 1.57037304e-02] [-1.47235354e-03 -9.47939346e-03 9.99953986e-01 -1.96760097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.70463044 meters Centerline goodness [0,1] 0.2986491820534187 Centerline is valid? [False, False] Translation: X:0.87, Y:0.02, Z:-0.20 [[ 9.99999378e-01 4.53487853e-04 1.01861057e-03 8.65749811e-01] [-4.62689177e-04 9.99958930e-01 9.05121303e-03 1.91260333e-02] [-1.01446412e-03 -9.05167870e-03 9.99958518e-01 -1.97128097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.734630439999999 meters Centerline goodness [0,1] 0.30054524668015126 Centerline is valid? [False, False] Translation: X:0.87, Y:0.02, Z:-0.20 [[ 9.99999261e-01 4.12593459e-04 1.14386920e-03 8.65387906e-01] [-4.22275951e-04 9.99963977e-01 8.47740466e-03 2.25080683e-02] [-1.14033028e-03 -8.47788142e-03 9.99963412e-01 -1.97260640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7646304399999995 meters Centerline goodness [0,1] 0.30078884688503815 Centerline is valid? [False, False] Translation: X:0.86, Y:0.03, Z:-0.20 [[ 9.99998383e-01 2.42744012e-04 1.78194904e-03 8.63345646e-01] [-2.56168986e-04 9.99971560e-01 7.53751303e-03 2.77915378e-02] [-1.78006867e-03 -7.53795733e-03 9.99970005e-01 -1.96558432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.79463044 meters Centerline goodness [0,1] 0.30159738808422987 Centerline is valid? [False, False] Translation: X:0.86, Y:0.03, Z:-0.20 [[ 9.99998152e-01 8.45771781e-05 1.92074289e-03 8.62787962e-01] [-9.82432164e-05 9.99974676e-01 7.11599589e-03 2.97830075e-02] [-1.92009240e-03 -7.11617143e-03 9.99972836e-01 -1.96263695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.824630439999999 meters Centerline goodness [0,1] 0.3009203593992523 Centerline is valid? [False, False] Translation: X:0.86, Y:0.03, Z:-0.20 [[ 9.99998216e-01 -2.25770254e-05 1.88852799e-03 8.62707807e-01] [ 9.57603054e-06 9.99976305e-01 6.88392076e-03 3.08538117e-02] [-1.88863866e-03 -6.88389039e-03 9.99974522e-01 -1.96040843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.854630439999999 meters Centerline goodness [0,1] 0.3029593310861095 Centerline is valid? [False, False] Translation: X:0.86, Y:0.03, Z:-0.20 [[ 9.99998513e-01 -1.24529611e-04 1.71985432e-03 8.62977931e-01] [ 1.12867693e-04 9.99977015e-01 6.77919256e-03 3.11797357e-02] [-1.72065900e-03 -6.77898836e-03 9.99975542e-01 -1.95845523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.88463044 meters Centerline goodness [0,1] 0.3044875297820717 Centerline is valid? [False, False] Translation: X:0.86, Y:0.03, Z:-0.20 [[ 9.99999237e-01 -4.48727725e-04 1.15135922e-03 8.64208202e-01] [ 4.41054578e-04 9.99977751e-01 6.65604580e-03 3.07558758e-02] [-1.15432035e-03 -6.65553291e-03 9.99977185e-01 -1.95627434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.91463044 meters Centerline goodness [0,1] 0.30558468799160987 Centerline is valid? [False, False] Translation: X:0.86, Y:0.03, Z:-0.20 [[ 9.99999227e-01 -5.29727676e-04 1.12529359e-03 8.64113322e-01] [ 5.22135951e-04 9.99977176e-01 6.73605420e-03 2.98861374e-02] [-1.12883618e-03 -6.73546144e-03 9.99976679e-01 -1.95262030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.944630439999999 meters Centerline goodness [0,1] 0.3027995910465293 Centerline is valid? [False, False] Translation: X:0.86, Y:0.03, Z:-0.20 [[ 9.99999203e-01 -5.41122973e-04 1.14087709e-03 8.64044930e-01] [ 5.33265787e-04 9.99976217e-01 6.87606194e-03 2.89450675e-02] [-1.14457075e-03 -6.87544807e-03 9.99975709e-01 -1.95093493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.974630439999999 meters Centerline goodness [0,1] 0.3096318597392248 Centerline is valid? [False, False] Translation: X:0.85, Y:0.02, Z:-0.20 [[ 9.99972261e-01 7.41306207e-03 7.24293085e-04 8.45298532e-01] [-7.41713431e-03 9.99955721e-01 5.79149209e-03 2.30150058e-02] [-6.81328324e-04 -5.79670361e-03 9.99982967e-01 -1.96168555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.00463044 meters Centerline goodness [0,1] 0.3109549308344489 Centerline is valid? [False, False] Translation: X:0.85, Y:0.02, Z:-0.20 [[ 9.99972292e-01 7.42032897e-03 5.94859346e-04 8.45637333e-01] [-7.42368375e-03 9.99955326e-01 5.85110683e-03 2.26834842e-02] [-5.51415633e-04 -5.85536075e-03 9.99982705e-01 -1.96203245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.034630439999999 meters Centerline goodness [0,1] 0.30815403288094445 Centerline is valid? [False, False] Translation: X:0.87, Y:0.03, Z:-0.20 [[ 9.99999742e-01 -6.95987660e-04 -1.78306446e-04 8.65623592e-01] [ 6.97114341e-04 9.99979286e-01 6.39863349e-03 2.81180519e-02] [ 1.73849383e-04 -6.39875614e-03 9.99979513e-01 -1.95761292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.064630439999999 meters Centerline goodness [0,1] 0.30724682359676747 Centerline is valid? [False, False] Translation: X:0.87, Y:0.03, Z:-0.20 [[ 9.99999576e-01 -7.19154657e-04 -5.75857153e-04 8.66944580e-01] [ 7.22662483e-04 9.99981044e-01 6.11462642e-03 2.97892242e-02] [ 5.71448875e-04 -6.11503997e-03 9.99981140e-01 -1.96608274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0946304399999995 meters Centerline goodness [0,1] 0.3085889977659315 Centerline is valid? [False, False] Translation: X:0.87, Y:0.03, Z:-0.20 [[ 9.99999657e-01 -7.09701354e-04 -4.26187543e-04 8.66427716e-01] [ 7.12229578e-04 9.99981976e-01 5.96162877e-03 3.09327821e-02] [ 4.21948886e-04 -5.96193027e-03 9.99982139e-01 -1.96410844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.12463044 meters Centerline goodness [0,1] 0.30695764814367577 Centerline is valid? [False, False] Translation: X:0.86, Y:0.03, Z:-0.20 [[ 9.99999865e-01 -3.40953019e-04 3.92489391e-04 8.63930530e-01] [ 3.38562760e-04 9.99981496e-01 6.07403710e-03 3.26327931e-02] [-3.94553089e-04 -6.07390339e-03 9.99981476e-01 -1.95389109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.154630439999999 meters Centerline goodness [0,1] 0.30402962128921895 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.19 [[ 0.99997101 0.00747197 0.00146843 0.88336038] [-0.00747886 0.99996078 0.00474404 0.03150756] [-0.00143293 -0.00475489 0.99998767 -0.19441363] [ 0. 0. 0. 1. ]] SLAMing on 6.184630439999999 meters Centerline goodness [0,1] 0.30313444848063 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.19 [[ 0.99997182 0.00735616 0.00150178 0.88350908] [-0.00736295 0.99996245 0.00457044 0.03185165] [-0.0014681 -0.00458137 0.99998843 -0.19479301] [ 0. 0. 0. 1. ]] SLAMing on 6.21463044 meters Centerline goodness [0,1] 0.3043849471310668 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.20 [[ 0.99998894 0.00435877 0.00176413 0.88308508] [-0.0043613 0.99998946 0.00143555 0.03275856] [-0.00175785 -0.00144323 0.99999741 -0.19510946] [ 0. 0. 0. 1. ]] SLAMing on 6.24463044 meters Centerline goodness [0,1] 0.3054603760323318 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.20 [[ 0.99998926 0.00435305 0.00158898 0.88351318] [-0.0043555 0.99998933 0.00154177 0.03202932] [-0.00158225 -0.00154868 0.99999755 -0.1951329 ] [ 0. 0. 0. 1. ]] SLAMing on 6.274630439999999 meters Centerline goodness [0,1] 0.3029419444686222 Centerline is valid? [False, False] Translation: X:0.90, Y:0.03, Z:-0.19 [[ 0.99999209 -0.0037696 0.00126755 0.90356534] [ 0.00376594 0.99998877 0.00287869 0.03483845] [-0.00127839 -0.0028739 0.99999505 -0.19375997] [ 0. 0. 0. 1. ]] SLAMing on 6.3046304399999995 meters Centerline goodness [0,1] 0.3026598632070351 Centerline is valid? [False, False] Translation: X:0.90, Y:0.03, Z:-0.19 [[ 9.99992783e-01 -3.68304673e-03 9.31924001e-04 9.04372486e-01] [ 3.68006566e-03 9.99988170e-01 3.18058316e-03 3.33165203e-02] [-9.43627213e-04 -3.17713066e-03 9.99994508e-01 -1.93713920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.33463044 meters Centerline goodness [0,1] 0.30826802075284243 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.20 [[ 9.99991523e-01 4.11685052e-03 8.02371207e-05 8.86660314e-01] [-4.11700468e-03 9.99989472e-01 2.02646863e-03 2.57082664e-02] [-7.18936075e-05 -2.02678178e-03 9.99997943e-01 -1.95333071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.364630439999999 meters Centerline goodness [0,1] 0.30607906732117807 Centerline is valid? [False, False] Translation: X:0.89, Y:0.02, Z:-0.20 [[ 9.99991325e-01 4.16040753e-03 -2.02151080e-04 8.87751138e-01] [-4.15993720e-03 9.99988762e-01 2.27384565e-03 2.41940966e-02] [ 2.11608933e-04 -2.27298498e-03 9.99997394e-01 -1.96086759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.394630439999999 meters Centerline goodness [0,1] 0.30122360584732 Centerline is valid? [False, False] Translation: X:0.91, Y:0.03, Z:-0.20 [[ 9.99992808e-01 -3.66420696e-03 -9.78449056e-04 9.07322989e-01] [ 3.66731590e-03 9.99988172e-01 3.19475031e-03 2.83350416e-02] [ 9.66731257e-04 -3.19831561e-03 9.99994418e-01 -1.95744571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.42463044 meters Centerline goodness [0,1] 0.305578684429642 Centerline is valid? [False, False] Translation: X:0.89, Y:0.02, Z:-0.20 [[ 9.99993537e-01 2.67574963e-03 -2.40125571e-03 8.87829592e-01] [-2.67538784e-03 9.99996409e-01 1.53867336e-04 2.40033449e-02] [ 2.40165880e-03 -1.47442051e-04 9.99997105e-01 -1.96100606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.45463044 meters Centerline goodness [0,1] 0.3044783914349132 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.20 [[ 9.99993327e-01 2.61054234e-03 -2.55570367e-03 8.88034303e-01] [-2.61081452e-03 9.99996586e-01 -1.03171693e-04 2.52593115e-02] [ 2.55542561e-03 1.09843473e-04 9.99996729e-01 -1.95927695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.484630439999999 meters Centerline goodness [0,1] 0.30387065805550706 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.20 [[ 9.99993578e-01 2.62252544e-03 -2.44265008e-03 8.87546169e-01] [-2.62336369e-03 9.99996501e-01 -3.40031274e-04 2.69284034e-02] [ 2.44174979e-03 3.46437049e-04 9.99996959e-01 -1.95664539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5146304399999995 meters Centerline goodness [0,1] 0.3035877563460617 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.20 [[ 9.99994043e-01 2.72149313e-03 -2.12328657e-03 8.86612220e-01] [-2.72261797e-03 9.99996155e-01 -5.27055422e-04 2.87740160e-02] [ 2.12184402e-03 5.32833180e-04 9.99997607e-01 -1.95448247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.54463044 meters Centerline goodness [0,1] 0.30375664603852526 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.20 [[ 9.99995115e-01 2.88295794e-03 -1.20741973e-03 8.84496044e-01] [-2.88395376e-03 9.99995502e-01 -8.23823025e-04 3.13939655e-02] [ 1.20503925e-03 8.27301143e-04 9.99998932e-01 -1.95516876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.574630439999999 meters Centerline goodness [0,1] 0.30010803802938635 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.20 [[ 0.99999548 0.00273149 -0.00125906 0.88482702] [-0.00273295 0.9999956 -0.0011575 0.03255367] [ 0.00125589 0.00116093 0.99999854 -0.19593892] [ 0. 0. 0. 1. ]] SLAMing on 6.604630439999999 meters Centerline goodness [0,1] 0.3013665891759185 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.20 [[ 0.99999559 0.00256387 -0.00150086 0.88562465] [-0.00256602 0.99999568 -0.00143698 0.03330077] [ 0.00149717 0.00144082 0.99999784 -0.196341 ] [ 0. 0. 0. 1. ]] SLAMing on 6.63463044 meters Centerline goodness [0,1] 0.30426043259777147 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.20 [[ 0.99999529 0.00236199 -0.00195968 0.88662151] [-0.00236499 0.99999604 -0.00152809 0.03296739] [ 0.00195607 0.00153272 0.99999691 -0.1962592 ] [ 0. 0. 0. 1. ]] SLAMing on 6.66463044 meters Centerline goodness [0,1] 0.30426043259777147 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.20 [[ 0.99999529 0.00236199 -0.00195968 0.88662151] [-0.00236499 0.99999604 -0.00152809 0.03296739] [ 0.00195607 0.00153272 0.99999691 -0.1962592 ] [ 0. 0. 0. 1. ]] SLAMing on 6.694630439999999 meters Centerline goodness [0,1] 0.3019521749424249 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:-0.19 [[ 9.99984537e-01 -5.40901987e-03 -1.29148216e-03 9.05196119e-01] [ 5.40893256e-03 9.99985369e-01 -7.10885411e-05 3.78389338e-02] [ 1.29184779e-03 6.41019019e-05 9.99999164e-01 -1.94488943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724630439999999 meters Centerline goodness [0,1] 0.3056099151989563 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.20 [[ 9.99997759e-01 2.11271546e-03 -1.35778546e-04 8.85971191e-01] [-2.11282268e-03 9.99997452e-01 -7.94449797e-04 3.05930209e-02] [ 1.34099753e-04 7.94734892e-04 9.99999675e-01 -1.95134876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.75463044 meters Centerline goodness [0,1] 0.30685842149855536 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.19 [[ 9.99997805e-01 2.08909273e-03 -1.60147110e-04 8.85929182e-01] [-2.08919741e-03 9.99997602e-01 -6.56254336e-04 2.96634255e-02] [ 1.58775750e-04 6.56587475e-04 9.99999772e-01 -1.94881301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.784630439999999 meters Centerline goodness [0,1] 0.30913658601084226 Centerline is valid? [False, False] Translation: X:0.87, Y:0.03, Z:-0.20 [[ 9.99979587e-01 -6.33336451e-03 -8.44853578e-04 8.65547312e-01] [ 6.33360216e-03 9.99979904e-01 2.78907897e-04 3.05145985e-02] [ 8.43070174e-04 -2.84253170e-04 9.99999604e-01 -1.96051977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.814630439999999 meters Centerline goodness [0,1] 0.30911596771017913 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.19 [[ 9.99996380e-01 1.28587771e-03 -2.36360391e-03 8.85634962e-01] [-1.28690679e-03 9.99999078e-01 -4.33917313e-04 2.65311774e-02] [ 2.36304376e-03 4.36957480e-04 9.99997113e-01 -1.94951393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8446304399999995 meters Centerline goodness [0,1] 0.3054803129130821 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.20 [[ 9.99996062e-01 1.37800924e-03 -2.44472644e-03 8.85918243e-01] [-1.37870445e-03 9.99999010e-01 -2.82705814e-04 2.61972811e-02] [ 2.44433444e-03 2.86075256e-04 9.99996972e-01 -1.95107164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.87463044 meters Centerline goodness [0,1] 0.30397396663936904 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.19 [[ 9.99996118e-01 1.45411546e-03 -2.37685146e-03 8.85507389e-01] [-1.45436412e-03 9.99998937e-01 -1.02893346e-04 2.55192225e-02] [ 2.37669931e-03 1.06349754e-04 9.99997170e-01 -1.94705855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.904630439999999 meters Centerline goodness [0,1] 0.30719477373020676 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.19 [[ 9.99996269e-01 1.49441924e-03 -2.28643987e-03 8.84975379e-01] [-1.49422628e-03 9.99998880e-01 8.61020838e-05 2.44545216e-02] [ 2.28656598e-03 -8.26853041e-05 9.99997382e-01 -1.94169301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.934630439999999 meters Centerline goodness [0,1] 0.3061070512405958 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.19 [[ 9.99996305e-01 1.50053477e-03 -2.26664223e-03 8.84767883e-01] [-1.49983904e-03 9.99998828e-01 3.08615932e-04 2.29856979e-02] [ 2.26710267e-03 -3.05215193e-04 9.99997384e-01 -1.93825675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.96463044 meters Centerline goodness [0,1] 0.30581532838869185 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.19 [[ 9.99996273e-01 1.51961091e-03 -2.26820896e-03 8.84738050e-01] [-1.51829010e-03 9.99998677e-01 5.83921465e-04 2.12033564e-02] [ 2.26909330e-03 -5.80475490e-04 9.99997257e-01 -1.93681794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.994630439999999 meters Centerline goodness [0,1] 0.3077571487237124 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.19 [[ 9.99999133e-01 -7.29059338e-04 -1.09651034e-03 8.80653128e-01] [ 7.27975288e-04 9.99999246e-01 -9.88710794e-04 1.60221476e-02] [ 1.09723034e-03 9.87911705e-04 9.99998910e-01 -1.91947476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.024630439999999 meters Centerline goodness [0,1] 0.3079861036186695 Centerline is valid? [False, False] Translation: X:0.88, Y:0.01, Z:-0.19 [[ 9.99999203e-01 -6.23288198e-04 -1.09806399e-03 8.80531836e-01] [ 6.22658806e-04 9.99999642e-01 -5.73432029e-04 1.38800862e-02] [ 1.09842101e-03 5.72747852e-04 9.99999233e-01 -1.91651736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0546304399999995 meters Centerline goodness [0,1] 0.30514261019878997 Centerline is valid? [False, False] Translation: X:0.88, Y:0.01, Z:-0.19 [[ 9.99998295e-01 -5.36251625e-04 -1.76723704e-03 8.82509417e-01] [ 5.36075053e-04 9.99999851e-01 -1.00386268e-04 1.11814752e-02] [ 1.76729060e-03 9.94387249e-05 9.99998433e-01 -1.92264153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.08463044 meters Centerline goodness [0,1] 0.30858777792338266 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.19 [[ 0.99996955 0.00731395 -0.00271973 0.86446716] [-0.00731788 0.99997219 -0.00143675 0.00548467] [ 0.00270915 0.0014566 0.99999527 -0.19394287] [ 0. 0. 0. 1. ]] SLAMing on 7.114630439999999 meters Centerline goodness [0,1] 0.30933623503808483 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.19 [[ 0.99996927 0.0073215 -0.0028027 0.86481753] [-0.00732567 0.99997207 -0.00147792 0.00574917] [ 0.0027918 0.00149841 0.99999498 -0.1942147 ] [ 0. 0. 0. 1. ]] SLAMing on 7.144630439999999 meters Centerline goodness [0,1] 0.30941341148681156 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.19 [[ 0.99996973 0.00733111 -0.00260595 0.86446476] [-0.00733512 0.99997192 -0.00153297 0.00617557] [ 0.00259464 0.00155204 0.99999543 -0.19441855] [ 0. 0. 0. 1. ]] SLAMing on 7.17463044 meters Centerline goodness [0,1] 0.30483006140275015 Centerline is valid? [False, False] Translation: X:0.88, Y:0.01, Z:-0.19 [[ 9.99998430e-01 -2.52938795e-04 -1.75407219e-03 8.83038111e-01] [ 2.51487461e-04 9.99999626e-01 -8.27579176e-04 1.30912209e-02] [ 1.75428086e-03 8.27136749e-04 9.99998119e-01 -1.94456758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.204630439999999 meters Centerline goodness [0,1] 0.30813397129186604 Centerline is valid? [False, False] Translation: X:0.88, Y:0.01, Z:-0.19 [[ 9.99998593e-01 -3.26286409e-04 -1.64564025e-03 8.82939575e-01] [ 3.24551928e-04 9.99999392e-01 -1.05414205e-03 1.40494518e-02] [ 1.64598321e-03 1.05360647e-03 9.99998090e-01 -1.94782634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.234630439999999 meters Centerline goodness [0,1] 0.3087466225050117 Centerline is valid? [False, False] Translation: X:0.88, Y:0.01, Z:-0.20 [[ 9.99998476e-01 -3.85403805e-04 -1.70283927e-03 8.83294552e-01] [ 3.83368647e-04 9.99999212e-01 -1.19532057e-03 1.45420325e-02] [ 1.70329861e-03 1.19466593e-03 9.99997836e-01 -1.95227410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2646304399999995 meters Centerline goodness [0,1] 0.3038638414922422 Centerline is valid? [False, False] Translation: X:0.90, Y:0.02, Z:-0.19 [[ 9.99965734e-01 -7.91446055e-03 -2.42744145e-03 9.02654666e-01] [ 7.91422584e-03 9.99968676e-01 -1.06281365e-04 2.03161184e-02] [ 2.42820658e-03 8.70664029e-05 9.99997048e-01 -1.94151580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.29463044 meters Centerline goodness [0,1] 0.30654254621738564 Centerline is valid? [False, False] Translation: X:0.88, Y:0.01, Z:-0.20 [[ 9.99993305e-01 5.85715524e-05 -3.65869860e-03 8.84558194e-01] [-6.28359513e-05 9.99999319e-01 -1.16544667e-03 1.40753682e-02] [ 3.65862785e-03 1.16566877e-03 9.99992628e-01 -1.95502049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.324630439999999 meters Centerline goodness [0,1] 0.3035351131495825 Centerline is valid? [False, False] Translation: X:0.89, Y:0.01, Z:-0.20 [[ 9.99991540e-01 2.94663740e-05 -4.11334843e-03 8.85901362e-01] [-3.34343068e-05 9.99999534e-01 -9.64582456e-04 1.25591778e-02] [ 4.11331809e-03 9.64711823e-04 9.99991075e-01 -1.95920486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.354630439999999 meters Centerline goodness [0,1] 0.3062333580688812 Centerline is valid? [False, False] Translation: X:0.89, Y:0.01, Z:-0.20 [[ 9.99988567e-01 -3.57706997e-04 -4.76844170e-03 8.87826822e-01] [ 3.54154099e-04 9.99999659e-01 -7.45909375e-04 8.59809824e-03] [ 4.76870689e-03 7.44212084e-04 9.99988353e-01 -1.96467940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.38463044 meters Centerline goodness [0,1] 0.3028232758620689 Centerline is valid? [False, False] Translation: X:0.89, Y:0.01, Z:-0.20 [[ 9.99988135e-01 -2.64877772e-04 -4.86412516e-03 8.87897104e-01] [ 2.63302714e-04 9.99999913e-01 -3.24448646e-04 6.31577698e-03] [ 4.86421067e-03 3.23164059e-04 9.99988117e-01 -1.96157468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.41463044 meters Centerline goodness [0,1] 0.30304785191858097 Centerline is valid? [False, False] Translation: X:0.89, Y:0.00, Z:-0.20 [[ 9.99988647e-01 -5.67398462e-05 -4.76483010e-03 8.87421306e-01] [ 5.75888486e-05 9.99999982e-01 1.78044021e-04 4.17791910e-03] [ 4.76481992e-03 -1.78316401e-04 9.99988632e-01 -1.95705256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.444630439999999 meters Centerline goodness [0,1] 0.3067062211732098 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.00, Z:-0.20 [[ 9.99973577e-01 6.84091957e-03 -2.45897982e-03 8.69414186e-01] [-6.84200494e-03 9.99976499e-01 -4.33247527e-04 -4.03421431e-03] [ 2.45595822e-03 4.50060431e-04 9.99996883e-01 -1.97813471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.474630439999999 meters Centerline goodness [0,1] 0.30914612829924837 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.01, Z:-0.20 [[ 9.99997546e-01 -1.94015170e-03 -1.06939262e-03 8.46627589e-01] [ 1.94026491e-03 9.99998112e-01 1.04834607e-04 -5.60208623e-03] [ 1.06918721e-03 -1.06909254e-04 9.99999423e-01 -1.98100733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.50463044 meters Centerline goodness [0,1] 0.30742133471645916 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.20 [[ 9.99984043e-01 5.62215148e-03 -5.53198452e-04 8.65478057e-01] [-5.62288081e-03 9.99983313e-01 -1.32578928e-03 -1.03303622e-02] [ 5.45735432e-04 1.32887869e-03 9.99998968e-01 -1.96378666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.534630439999999 meters Centerline goodness [0,1] 0.3063708563535912 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.20 [[ 9.99983444e-01 5.72166480e-03 -6.11715581e-04 8.65734197e-01] [-5.72233356e-03 9.99983025e-01 -1.09714081e-03 -1.14285681e-02] [ 6.05427725e-04 1.10062309e-03 9.99999211e-01 -1.96605661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.564630439999999 meters Centerline goodness [0,1] 0.3052624779294604 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.20 [[ 9.99981317e-01 6.09691256e-03 -4.40615076e-04 8.65573912e-01] [-6.09710612e-03 9.99981316e-01 -4.39287965e-04 -1.37002981e-02] [ 4.37928543e-04 4.41966234e-04 9.99999806e-01 -1.96967138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5946304399999995 meters Centerline goodness [0,1] 0.3047553677527295 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.02, Z:-0.20 [[ 9.99980710e-01 6.20305262e-03 -3.20016585e-04 8.65101566e-01] [-6.20309105e-03 9.99980754e-01 -1.19235972e-04 -1.54487045e-02] [ 3.19270799e-04 1.21218764e-04 9.99999942e-01 -1.96629097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.62463044 meters Centerline goodness [0,1] 0.3082185886402754 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.02, Z:-0.20 [[ 9.99980092e-01 6.30709310e-03 -1.90536422e-04 8.64443342e-01] [-6.30703484e-03 9.99980064e-01 3.04822457e-04 -1.80390568e-02] [ 1.92455168e-04 -3.03614669e-04 9.99999935e-01 -1.96050070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.654630439999999 meters Centerline goodness [0,1] 0.30946374280354483 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.02, Z:-0.20 [[ 9.99979324e-01 6.43015075e-03 -6.61251081e-05 8.63889996e-01] [-6.43009659e-03 9.99979015e-01 7.89073506e-04 -2.08759055e-02] [ 7.11975821e-05 -7.88632001e-04 9.99999686e-01 -1.95581293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.684630439999999 meters Centerline goodness [0,1] 0.3094265855777585 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.02, Z:-0.20 [[ 9.99978297e-01 6.58768724e-03 -8.99436495e-05 8.63885037e-01] [-6.58756327e-03 9.99977437e-01 1.31525490e-03 -2.37401372e-02] [ 9.86061081e-05 -1.31463385e-03 9.99999131e-01 -1.95452935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.71463044 meters Centerline goodness [0,1] 0.3118468029860435 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.03, Z:-0.20 [[ 9.99976500e-01 6.85501435e-03 -9.50062299e-05 8.64380549e-01] [-6.85479284e-03 9.99974166e-01 2.16307034e-03 -2.84524124e-02] [ 1.09831654e-04 -2.16236826e-03 9.99997656e-01 -1.96099244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.744630439999999 meters Centerline goodness [0,1] 0.30968475718363053 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.03, Z:-0.19 [[ 9.99999715e-01 -7.54348286e-04 4.21562938e-05 8.82474522e-01] [ 7.54193764e-04 9.99993405e-01 3.55256066e-03 -2.55523066e-02] [-4.48358838e-05 -3.55252785e-03 9.99993689e-01 -1.94530829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.774630439999999 meters Centerline goodness [0,1] 0.30868069826299505 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.03, Z:-0.19 [[ 9.99999783e-01 -6.47090513e-04 1.25949933e-04 8.82199610e-01] [ 6.46605241e-04 9.99992512e-01 3.81554069e-03 -2.68891324e-02] [-1.28417990e-04 -3.81545842e-03 9.99992713e-01 -1.94384707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8046304399999995 meters Centerline goodness [0,1] 0.3084741401492409 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.03, Z:-0.19 [[ 9.99974156e-01 7.18245006e-03 -3.14762828e-04 9.01059690e-01] [-7.18156820e-03 9.99970517e-01 2.71853474e-03 -3.10911094e-02] [ 3.34279287e-04 -2.71620399e-03 9.99996255e-01 -1.92513756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.83463044 meters Centerline goodness [0,1] 0.3093137570566896 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.03, Z:-0.19 [[ 9.99972944e-01 7.32998050e-03 -6.18392700e-04 9.02157004e-01] [-7.32806795e-03 9.99968527e-01 3.04033353e-03 -3.29689078e-02] [ 6.40658824e-04 -3.03571965e-03 9.99995187e-01 -1.93179477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.864630439999999 meters Centerline goodness [0,1] 0.3099427877947295 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.03, Z:-0.19 [[ 9.99998933e-01 -9.75790422e-04 -1.08672757e-03 8.83091792e-01] [ 9.80369154e-04 9.99990612e-01 4.22078871e-03 -3.16050461e-02] [ 1.08259876e-03 -4.22184960e-03 9.99990502e-01 -1.94739869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.894630439999999 meters Centerline goodness [0,1] 0.30511916212461254 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.03, Z:-0.19 [[ 9.99985120e-01 5.37327242e-03 -9.42404201e-04 9.04878539e-01] [-5.37167553e-03 9.99984146e-01 1.68891434e-03 -3.42151256e-02] [ 9.51464257e-04 -1.68382692e-03 9.99998130e-01 -1.94822612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.92463044 meters Centerline goodness [0,1] 0.3117038130167755 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.03, Z:-0.20 [[ 0.99999309 -0.00329246 -0.00172558 0.88393553] [ 0.00329684 0.99999133 0.00254399 -0.03369855] [ 0.00171718 -0.00254967 0.99999528 -0.19549436] [ 0. 0. 0. 1. ]] SLAMing on 7.954630439999999 meters Centerline goodness [0,1] 0.3099613466064912 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.04, Z:-0.20 [[ 0.99999379 -0.00299392 -0.00185723 0.88438156] [ 0.00299986 0.99999037 0.00320402 -0.03643395] [ 0.00184762 -0.00320957 0.99999314 -0.19567023] [ 0. 0. 0. 1. ]] SLAMing on 7.984630439999999 meters Centerline goodness [0,1] 0.30682208483599516 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.04, Z:-0.20 [[ 0.99999447 -0.00285375 -0.00170568 0.88403443] [ 0.00285959 0.99999001 0.00343549 -0.03714622] [ 0.00169586 -0.00344035 0.99999264 -0.19566853] [ 0. 0. 0. 1. ]] SLAMing on 8.01463044 meters Centerline goodness [0,1] 0.3108462455303933 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.04, Z:-0.20 [[ 9.99987663e-01 4.89611774e-03 -8.38042750e-04 8.63928034e-01] [-4.89409252e-03 9.99985139e-01 2.40183128e-03 -4.25853575e-02] [ 8.49789945e-04 -2.39770018e-03 9.99996764e-01 -1.96843710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.044630439999999 meters Centerline goodness [0,1] 0.31389261454592654 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.04, Z:-0.20 [[ 9.99988298e-01 4.78839211e-03 -6.89966467e-04 8.63381834e-01] [-4.78697643e-03 9.99986463e-01 2.03905470e-03 -4.09841602e-02] [ 6.99720920e-04 -2.03572798e-03 9.99997683e-01 -1.96616359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.07463044 meters Centerline goodness [0,1] 0.3095109459079809 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.04, Z:-0.20 [[ 0.99998575 0.00519448 -0.00123032 0.86494065] [-0.00519257 0.99998532 0.00155059 -0.03617893] [ 0.00123836 -0.00154418 0.99999804 -0.19745715] [ 0. 0. 0. 1. ]] SLAMing on 8.10463044 meters Centerline goodness [0,1] 0.3080279419666846 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.03, Z:-0.20 [[ 0.9999849 0.00529371 -0.00147608 0.8657244 ] [-0.00529202 0.99998534 0.00114445 -0.03301478] [ 0.00148212 -0.00113663 0.99999826 -0.19796476] [ 0. 0. 0. 1. ]] SLAMing on 8.134630439999999 meters Centerline goodness [0,1] 0.30914881171602504 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.03, Z:-0.20 [[ 9.99998335e-01 -1.82336913e-03 7.01422599e-05 8.46189797e-01] [ 1.82319479e-03 9.99995434e-01 2.41006823e-03 -2.60768272e-02] [-7.45363836e-05 -2.40993633e-03 9.99997093e-01 -2.00314011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.16463044 meters Centerline goodness [0,1] 0.30754314523948034 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.02, Z:-0.20 [[ 9.99998145e-01 -1.89218983e-03 3.59632285e-04 8.45387253e-01] [ 1.89148505e-03 9.99996310e-01 1.95007972e-03 -2.32456991e-02] [-3.63320879e-04 -1.94939586e-03 9.99998034e-01 -2.00243130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.19463044 meters Centerline goodness [0,1] 0.3073116150966132 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.20 [[ 9.99997733e-01 -2.04479790e-03 5.93503556e-04 8.44618871e-01] [ 2.04391678e-03 9.99996814e-01 1.48143525e-03 -2.07202507e-02] [-5.96530901e-04 -1.48021882e-03 9.99998727e-01 -2.00037730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.224630439999999 meters Centerline goodness [0,1] 0.30798519984511463 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.20 [[ 9.99997145e-01 -2.34805101e-03 4.43281594e-04 8.44942945e-01] [ 2.34771060e-03 9.99996950e-01 7.66897482e-04 -1.72066832e-02] [-4.45080956e-04 -7.65854596e-04 9.99999608e-01 -2.00131756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.25463044 meters Centerline goodness [0,1] 0.3066969598615168 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.02, Z:-0.20 [[ 9.99996861e-01 -2.50404375e-03 9.29482650e-05 8.46104336e-01] [ 2.50400540e-03 9.99996781e-01 4.10390664e-04 -1.55922420e-02] [-9.39756020e-05 -4.10156633e-04 9.99999911e-01 -2.00755948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.284630439999999 meters Centerline goodness [0,1] 0.30640770826132047 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.01, Z:-0.20 [[ 9.99996488e-01 -2.64779174e-03 -1.16023085e-04 8.46864085e-01] [ 2.64779907e-03 9.99996493e-01 6.30922325e-05 -1.38514991e-02] [ 1.15855623e-04 -6.33992168e-05 9.99999991e-01 -2.01263407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.31463044 meters Centerline goodness [0,1] 0.3053725346179603 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.01, Z:-0.20 [[ 9.99996033e-01 -2.80375642e-03 -2.71894606e-04 8.47293281e-01] [ 2.80367583e-03 9.99996026e-01 -2.96340589e-04 -1.21345212e-02] [ 2.72724392e-04 2.95577109e-04 9.99999919e-01 -2.01397946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.34463044 meters Centerline goodness [0,1] 0.3100145200788852 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.01, Z:-0.20 [[ 9.99995525e-01 -2.96341668e-03 -4.09106700e-04 8.47425754e-01] [ 2.96314571e-03 9.99995391e-01 -6.61377991e-04 -1.04214316e-02] [ 4.11064753e-04 6.60162789e-04 9.99999698e-01 -2.01131452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.374630439999999 meters Centerline goodness [0,1] 0.30559770876525527 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.20 [[ 9.99988966e-01 4.69701553e-03 7.76983265e-05 8.66598291e-01] [-4.69685154e-03 9.99986987e-01 -1.99109638e-03 -1.06245388e-02] [-8.70495261e-05 1.99070947e-03 9.99998015e-01 -1.99737833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.40463044 meters Centerline goodness [0,1] 0.3062946697666409 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.01, Z:-0.20 [[ 9.99994802e-01 -3.15966468e-03 6.42294602e-04 8.46690795e-01] [ 3.16003830e-03 9.99994838e-01 -5.81514418e-04 -5.40503257e-03] [-6.40453896e-04 5.83541071e-04 9.99999625e-01 -2.01493526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.43463044 meters Centerline goodness [0,1] 0.30673800945004204 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.01, Z:-0.20 [[ 9.99994734e-01 -3.17307089e-03 6.81047268e-04 8.46694647e-01] [ 3.17348579e-03 9.99994779e-01 -6.09004178e-04 -5.07135498e-03] [-6.79111299e-04 6.11162265e-04 9.99999583e-01 -2.01608941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.464630439999999 meters Centerline goodness [0,1] 0.30823630875377317 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.01, Z:-0.20 [[ 9.99994599e-01 -3.20626996e-03 7.22792525e-04 8.46704434e-01] [ 3.20672119e-03 9.99994664e-01 -6.24001151e-04 -5.03965976e-03] [-7.20787952e-04 6.26315574e-04 9.99999544e-01 -2.01745807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.49463044 meters Centerline goodness [0,1] 0.30739601041509756 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.01, Z:-0.20 [[ 9.99994339e-01 -3.25693288e-03 8.45322543e-04 8.46424887e-01] [ 3.25746431e-03 9.99994497e-01 -6.28055347e-04 -5.17142666e-03] [-8.43272358e-04 6.30805400e-04 9.99999445e-01 -2.01712596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.52463044 meters Centerline goodness [0,1] 0.3101304480607303 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.01, Z:-0.20 [[ 9.99988841e-01 4.63423979e-03 9.17822569e-04 8.26834099e-01] [-4.63274150e-03 9.99987944e-01 -1.62789114e-03 -9.76786317e-03] [-9.25355542e-04 1.62362094e-03 9.99998254e-01 -2.02249688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.554630439999999 meters Centerline goodness [0,1] 0.3099947943779282 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.01, Z:-0.20 [[ 9.99989032e-01 4.60214855e-03 8.69438690e-04 8.26951686e-01] [-4.60062788e-03 9.99987898e-01 -1.74300291e-03 -9.05156459e-03] [-8.77449726e-04 1.73898383e-03 9.99998103e-01 -2.02279488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58463044 meters Centerline goodness [0,1] 0.3099947943779282 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.01, Z:-0.20 [[ 9.99989032e-01 4.60214855e-03 8.69438690e-04 8.26951686e-01] [-4.60062788e-03 9.99987898e-01 -1.74300291e-03 -9.05156459e-03] [-8.77449726e-04 1.73898383e-03 9.99998103e-01 -2.02279488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.61463044 meters Centerline goodness [0,1] 0.31038833895355167 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.01, Z:-0.20 [[ 9.99989381e-01 4.55063265e-03 7.27788326e-04 8.27357411e-01] [-4.54927379e-03 9.99987926e-01 -1.85799153e-03 -8.62568489e-03] [-7.36234575e-04 1.85466089e-03 9.99998009e-01 -2.02439215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.64463044 meters Centerline goodness [0,1] 0.30571096574281287 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.00, Z:-0.20 [[ 9.99995112e-01 -3.12552280e-03 8.41514806e-05 8.46352218e-01] [ 3.12561212e-03 9.99994529e-01 -1.08306597e-03 -3.23714782e-03] [-8.07658729e-05 1.08332370e-03 9.99999410e-01 -2.01465703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.67463044 meters Centerline goodness [0,1] 0.3061800172265289 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.00, Z:-0.20 [[ 9.99995009e-01 -3.15763407e-03 1.10070652e-04 8.46536629e-01] [ 3.15775246e-03 9.99994417e-01 -1.09256078e-03 -3.58191594e-03] [-1.06620130e-04 1.09290290e-03 9.99999397e-01 -2.01849596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704630439999999 meters Centerline goodness [0,1] 0.3115268189638276 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.01, Z:-0.20 [[ 9.99989944e-01 4.47487548e-03 2.95892467e-04 8.27868633e-01] [-4.47418653e-03 9.99987370e-01 -2.28944378e-03 -1.03606476e-02] [-3.06133706e-04 2.28809688e-03 9.99997335e-01 -2.03457228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.73463044 meters Centerline goodness [0,1] 0.30781169167097777 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.01, Z:-0.20 [[ 9.99993988e-01 -3.45669125e-03 2.72957529e-04 8.47244452e-01] [ 3.45699761e-03 9.99993386e-01 -1.13000873e-03 -6.29463318e-03] [-2.69049633e-04 1.13094555e-03 9.99999324e-01 -2.02689750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.76463044 meters Centerline goodness [0,1] 0.3040073208623295 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.20 [[ 9.99991981e-01 4.00326565e-03 1.05922177e-04 8.66811780e-01] [-4.00301475e-03 9.99989408e-01 -2.27146670e-03 -1.00594714e-02] [-1.15014340e-04 2.27102447e-03 9.99997415e-01 -2.01379112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.794630439999999 meters Centerline goodness [0,1] 0.3107200138714292 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.20 [[ 0.99999264 0.00302187 -0.00236561 0.82196042] [-0.00302864 0.99999131 -0.00286384 -0.01353583] [ 0.00235694 0.00287098 0.9999931 -0.20045973] [ 0. 0. 0. 1. ]] SLAMing on 8.82463044 meters Centerline goodness [0,1] 0.31270591295300854 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.20 [[ 0.99999265 0.00305473 -0.00231566 0.82181581] [-0.00306102 0.99999162 -0.00271835 -0.0142517 ] [ 0.00230733 0.00272542 0.99999362 -0.20034765] [ 0. 0. 0. 1. ]] SLAMing on 8.85463044 meters Centerline goodness [0,1] 0.3132389495298822 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.02, Z:-0.20 [[ 0.99999317 0.00307366 -0.00205002 0.82094331] [-0.00307893 0.99999194 -0.00257498 -0.01514577] [ 0.00204209 0.00258127 0.99999458 -0.19993742] [ 0. 0. 0. 1. ]] SLAMing on 8.884630439999999 meters Centerline goodness [0,1] 0.3109940242883763 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.01, Z:-0.20 [[ 9.99987140e-01 -5.06245689e-03 3.01157393e-04 8.39549581e-01] [ 5.06292757e-03 9.99985930e-01 -1.58322810e-03 -1.27712269e-02] [-2.93138131e-04 1.58473248e-03 9.99998701e-01 -1.99137088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.91463044 meters Centerline goodness [0,1] 0.3165706114312953 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.02, Z:-0.20 [[ 9.99995688e-01 2.93342719e-03 1.39530027e-04 8.20319844e-01] [-2.93309093e-03 9.99992932e-01 -2.35202856e-03 -1.94215453e-02] [-1.46428545e-04 2.35160917e-03 9.99997224e-01 -2.00222905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.94463044 meters Centerline goodness [0,1] 0.3111838726245506 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.20 [[ 9.99995508e-01 -2.92541987e-03 -6.51991172e-04 8.42437789e-01] [ 2.92577753e-03 9.99995570e-01 5.48276596e-04 -1.67262663e-02] [ 6.50384344e-04 -5.50181715e-04 9.99999637e-01 -2.00508659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.974630439999999 meters Centerline goodness [0,1] 0.312314699437116 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.20 [[ 9.99995475e-01 -2.80350491e-03 -1.09077458e-03 8.44105976e-01] [ 2.80435111e-03 9.99995767e-01 7.75020303e-04 -1.75074765e-02] [ 1.08859719e-03 -7.78075711e-04 9.99999105e-01 -2.01528609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.00463044 meters Centerline goodness [0,1] 0.3097124160495953 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.02, Z:-0.20 [[ 0.99999468 -0.00271385 -0.00180792 0.8464099 ] [ 0.00271572 0.99999578 0.00103409 -0.01889651] [ 0.00180511 -0.001039 0.99999783 -0.20251001] [ 0. 0. 0. 1. ]] SLAMing on 9.034630439999999 meters Centerline goodness [0,1] 0.3097124160495953 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.02, Z:-0.20 [[ 0.99999468 -0.00271385 -0.00180792 0.8464099 ] [ 0.00271572 0.99999578 0.00103409 -0.01889651] [ 0.00180511 -0.001039 0.99999783 -0.20251001] [ 0. 0. 0. 1. ]] SLAMing on 9.06463044 meters Centerline goodness [0,1] 0.3118668908142592 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.02, Z:-0.20 [[ 9.99994436e-01 -2.83028678e-03 -1.76566181e-03 8.45609430e-01] [ 2.83188640e-03 9.99995581e-01 9.04121299e-04 -1.91468508e-02] [ 1.76309508e-03 -9.09116422e-04 9.99998032e-01 -2.01445476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.09463044 meters Centerline goodness [0,1] 0.3146833531125256 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.20 [[ 9.99994891e-01 -2.86096136e-03 -1.42601668e-03 8.44390835e-01] [ 2.86203869e-03 9.99995620e-01 7.54017052e-04 -1.82892728e-02] [ 1.42385322e-03 -7.58094514e-04 9.99998699e-01 -2.00825485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.124630439999999 meters Centerline goodness [0,1] 0.3124288812074629 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.20 [[ 9.99995535e-01 -2.83576683e-03 -9.42284865e-04 8.43087104e-01] [ 2.83636543e-03 9.99995776e-01 6.34534246e-04 -1.71411251e-02] [ 9.40481494e-04 -6.37204077e-04 9.99999355e-01 -2.00574060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.15463044 meters Centerline goodness [0,1] 0.31231244197845376 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.20 [[ 9.99995890e-01 -2.81512402e-03 -5.43691521e-04 8.42195775e-01] [ 2.81538294e-03 9.99995923e-01 4.76051141e-04 -1.57491641e-02] [ 5.42349162e-04 -4.77579884e-04 9.99999739e-01 -2.00677893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.18463044 meters Centerline goodness [0,1] 0.31509475059899805 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.01, Z:-0.20 [[ 9.99995903e-01 -2.83212647e-03 -4.16449370e-04 8.42118348e-01] [ 2.83224102e-03 9.99995951e-01 2.74730190e-04 -1.42884821e-02] [ 4.15669613e-04 -2.75908549e-04 9.99999876e-01 -2.01074372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.214630439999999 meters Centerline goodness [0,1] 0.31395652173913047 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.01, Z:-0.20 [[ 9.99995631e-01 -2.89278721e-03 -6.08212354e-04 8.42914740e-01] [ 2.89277769e-03 9.99995816e-01 -1.65285678e-05 -1.26599026e-02] [ 6.08257623e-04 1.47690725e-05 9.99999815e-01 -2.01742943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.24463044 meters Centerline goodness [0,1] 0.311068044788975 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.01, Z:-0.20 [[ 0.99998641 0.00458093 -0.00248988 0.86367817] [-0.00458485 0.99998825 -0.00157326 -0.01335174] [ 0.00248264 0.00158465 0.99999566 -0.20007081] [ 0. 0. 0. 1. ]] SLAMing on 9.27463044 meters Centerline goodness [0,1] 0.31326550450392066 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.01, Z:-0.20 [[ 0.99998641 0.00454969 -0.00254522 0.8636614 ] [-0.00455379 0.99998834 -0.00160976 -0.01323991] [ 0.00253787 0.00162133 0.99999547 -0.19982791] [ 0. 0. 0. 1. ]] SLAMing on 9.304630439999999 meters Centerline goodness [0,1] 0.31180318605611457 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.01, Z:-0.20 [[ 0.99998654 0.00454556 -0.00250293 0.86342087] [-0.00454954 0.99998839 -0.00158708 -0.01327392] [ 0.00249568 0.00159845 0.99999561 -0.1996255 ] [ 0. 0. 0. 1. ]] SLAMing on 9.33463044 meters Centerline goodness [0,1] 0.31358801823312354 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.01, Z:-0.20 [[ 0.99998691 0.00458998 -0.00226261 0.86280432] [-0.00459328 0.99998839 -0.00145508 -0.01366125] [ 0.00225591 0.00146546 0.99999638 -0.19943299] [ 0. 0. 0. 1. ]] SLAMing on 9.36463044 meters Centerline goodness [0,1] 0.31096457201965344 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.20 [[ 9.99991998e-01 -3.39123702e-03 -2.12220054e-03 8.81167066e-01] [ 3.39023772e-03 9.99994141e-01 -4.74298526e-04 -8.86722766e-03] [ 2.12379656e-03 4.67099966e-04 9.99997636e-01 -1.97977515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.394630439999998 meters Centerline goodness [0,1] 0.3136698076674842 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.20 [[ 9.99991779e-01 -3.41168300e-03 -2.19125671e-03 8.81353905e-01] [ 3.41057375e-03 9.99994054e-01 -5.09754243e-04 -8.80052163e-03] [ 2.19298280e-03 5.02276609e-04 9.99997469e-01 -1.97987031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.42463044 meters Centerline goodness [0,1] 0.3129751153271393 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.20 [[ 9.99991758e-01 -3.42602482e-03 -2.17856995e-03 8.81393838e-01] [ 3.42471244e-03 9.99993952e-01 -6.05852461e-04 -8.22094652e-03] [ 2.18063244e-03 5.98386492e-04 9.99997443e-01 -1.98141675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.454630439999999 meters Centerline goodness [0,1] 0.3077729968103098 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.01, Z:-0.20 [[ 0.9999879 0.00469504 -0.00146881 0.90103976] [-0.00469761 0.99998744 -0.00174785 -0.00955967] [ 0.00146058 0.00175473 0.99999739 -0.19696096] [ 0. 0. 0. 1. ]] SLAMing on 9.48463044 meters Centerline goodness [0,1] 0.3087376147574311 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.01, Z:-0.20 [[ 0.99998826 0.00468041 -0.00125393 0.90053795] [-0.00468283 0.99998716 -0.00193455 -0.00839525] [ 0.00124486 0.0019404 0.99999734 -0.19702022] [ 0. 0. 0. 1. ]] SLAMing on 9.51463044 meters Centerline goodness [0,1] 0.3102257123240645 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.01, Z:-0.20 [[ 0.99998818 0.00474437 -0.00105897 0.89992059] [-0.00474663 0.99998644 -0.00214155 -0.00675354] [ 0.0010488 0.00214655 0.99999715 -0.19687609] [ 0. 0. 0. 1. ]] SLAMing on 9.544630439999999 meters Centerline goodness [0,1] 0.31118698621199603 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.00, Z:-0.20 [[ 0.99999058 -0.00338059 -0.00272423 0.88074686] [ 0.00337743 0.99999362 -0.00116212 -0.00379489] [ 0.00272814 0.00115291 0.99999561 -0.19802476] [ 0. 0. 0. 1. ]] SLAMing on 9.57463044 meters Centerline goodness [0,1] 0.30443143455407884 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.00, Z:-0.20 [[ 9.99981141e-01 -2.71702864e-03 -5.50777297e-03 9.22809670e-01] [ 2.70878846e-03 9.99995202e-01 -1.50300865e-03 -7.74621641e-04] [ 5.51183026e-03 1.48806091e-03 9.99983703e-01 -1.96536132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.60463044 meters Centerline goodness [0,1] 0.30942863349989136 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.00, Z:-0.20 [[ 0.99995752 -0.00337516 -0.00857766 0.87991302] [ 0.00335733 0.99999218 -0.00209221 -0.00415715] [ 0.00858465 0.00206333 0.99996102 -0.19674968] [ 0. 0. 0. 1. ]] SLAMing on 9.634630439999999 meters Centerline goodness [0,1] 0.30952949087832704 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.00, Z:-0.20 [[ 0.99995637 -0.00336512 -0.00871352 0.88038272] [ 0.00334747 0.99999232 -0.00203951 -0.00449144] [ 0.00872032 0.00201026 0.99995996 -0.19699954] [ 0. 0. 0. 1. ]] SLAMing on 9.66463044 meters Centerline goodness [0,1] 0.3073695535233997 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.00, Z:-0.20 [[ 0.99995655 -0.00331968 -0.00871085 0.88038705] [ 0.00330305 0.9999927 -0.00192326 -0.00493173] [ 0.00871718 0.0018944 0.99996021 -0.19701323] [ 0. 0. 0. 1. ]] SLAMing on 9.69463044 meters Centerline goodness [0,1] 0.3072311163640271 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.20 [[ 0.9999605 -0.00326682 -0.00826624 0.87880581] [ 0.00325356 0.9999934 -0.0016175 -0.00633217] [ 0.00827146 0.00159054 0.99996453 -0.19606568] [ 0. 0. 0. 1. ]] SLAMing on 9.724630439999999 meters Centerline goodness [0,1] 0.30902353873503396 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.20 [[ 0.99996049 -0.00319454 -0.00829582 0.87872545] [ 0.00318302 0.99999395 -0.00140092 -0.00733409] [ 0.00830024 0.00137446 0.99996461 -0.19578987] [ 0. 0. 0. 1. ]] SLAMing on 9.75463044 meters Centerline goodness [0,1] 0.3090165884464823 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.01, Z:-0.20 [[ 0.99995371 0.00449344 -0.00850826 0.86129192] [-0.00451567 0.99998644 -0.00259484 -0.01353127] [ 0.00849648 0.00263314 0.99996044 -0.19780303] [ 0. 0. 0. 1. ]] SLAMing on 9.784630439999999 meters Centerline goodness [0,1] 0.3083765112262522 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.01, Z:-0.20 [[ 0.99995053 0.00444165 -0.00890019 0.86260642] [-0.00446518 0.99998658 -0.00262545 -0.01371304] [ 0.00888841 0.00266506 0.99995695 -0.19843017] [ 0. 0. 0. 1. ]] SLAMing on 9.81463044 meters Centerline goodness [0,1] 0.30693621770109025 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.20 [[ 0.99993144 -0.00199304 -0.01153852 0.88018698] [ 0.00197036 0.99999611 -0.00197644 -0.00806911] [ 0.01154241 0.00195357 0.99993148 -0.19664363] [ 0. 0. 0. 1. ]] SLAMing on 9.84463044 meters Centerline goodness [0,1] 0.308016695140676 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.20 [[ 0.99992921 -0.0020421 -0.01172229 0.88084754] [ 0.00201767 0.99999577 -0.00209563 -0.00754839] [ 0.01172652 0.00207183 0.9999291 -0.19704303] [ 0. 0. 0. 1. ]] SLAMing on 9.874630439999999 meters Centerline goodness [0,1] 0.30845609708611854 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.20 [[ 0.99993272 -0.00206489 -0.01141423 0.87990503] [ 0.00204047 0.99999561 -0.00215049 -0.00705525] [ 0.01141862 0.00212705 0.99993254 -0.19670639] [ 0. 0. 0. 1. ]] SLAMing on 9.90463044 meters Centerline goodness [0,1] 0.3068096028989884 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.20 [[ 0.99993555 -0.00200433 -0.01117505 0.8789472 ] [ 0.0019815 0.99999593 -0.00205314 -0.00715819] [ 0.01117912 0.00203087 0.99993545 -0.19606716] [ 0. 0. 0. 1. ]] SLAMing on 9.93463044 meters Centerline goodness [0,1] 0.3078492429936648 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.20 [[ 0.99993741 -0.00198801 -0.01101014 0.87819838] [ 0.00196617 0.99999608 -0.00199378 -0.00733188] [ 0.01101406 0.001972 0.9999374 -0.19550171] [ 0. 0. 0. 1. ]] SLAMing on 9.964630439999999 meters Centerline goodness [0,1] 0.30780309544282025 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.20 [[ 0.99993828 -0.00197019 -0.01093438 0.87788517] [ 0.00194941 0.99999627 -0.00191075 -0.00777094] [ 0.0109381 0.00188931 0.99993839 -0.19524857] [ 0. 0. 0. 1. ]] SLAMing on 9.99463044 meters Centerline goodness [0,1] 0.30982058138531876 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.20 [[ 0.99993617 -0.00202587 -0.01111567 0.87840666] [ 0.00200438 0.9999961 -0.00194422 -0.00780541] [ 0.01111957 0.00192182 0.99993633 -0.19536519] [ 0. 0. 0. 1. ]] SLAMing on 10.02463044 meters Centerline goodness [0,1] 0.30908425854204324 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.20 [[ 0.99993691 -0.00203662 -0.01104667 0.87818462] [ 0.002014 0.99999585 -0.00205782 -0.00700482] [ 0.01105082 0.00203544 0.99993687 -0.19527514] [ 0. 0. 0. 1. ]] SLAMing on 10.054630439999999 meters Centerline goodness [0,1] 0.30683594168147466 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.20 [[ 0.99993733 -0.00207649 -0.01100071 0.8781237 ] [ 0.00205153 0.9999953 -0.0022802 -0.00561753] [ 0.01100539 0.00225749 0.99993689 -0.19538893] [ 0. 0. 0. 1. ]] SLAMing on 10.08463044 meters Centerline goodness [0,1] 0.308875993982377 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.00, Z:-0.20 [[ 0.99993538 -0.00214969 -0.01116292 0.87854663] [ 0.00212028 0.99999425 -0.00264598 -0.00354676] [ 0.01116855 0.00262214 0.99993419 -0.19553295] [ 0. 0. 0. 1. ]] SLAMing on 10.11463044 meters Centerline goodness [0,1] 0.30894396551724135 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.00, Z:-0.20 [[ 0.99993255 -0.00219855 -0.01140438 0.8791679 ] [ 0.00216366 0.99999294 -0.00307142 -0.00100606] [ 0.01141105 0.00304654 0.99993025 -0.19573666] [ 0. 0. 0. 1. ]] SLAMing on 10.144630439999998 meters Centerline goodness [0,1] 0.3084000865988309 Centerline is valid? [False, False] Translation: X:0.88, Y:0.00, Z:-0.20 [[ 0.9999308 -0.00182464 -0.01162213 0.87956032] [ 0.00178416 0.99999231 -0.00349236 0.00355121] [ 0.01162841 0.00347138 0.99992636 -0.19584606] [ 0. 0. 0. 1. ]] SLAMing on 10.17463044 meters Centerline goodness [0,1] 0.3052933496008048 Centerline is valid? [False, False] Translation: X:0.88, Y:0.01, Z:-0.20 [[ 0.99993099 -0.00189187 -0.01159505 0.87926281] [ 0.00184648 0.9999906 -0.00392417 0.00606731] [ 0.01160236 0.00390249 0.99992508 -0.19561209] [ 0. 0. 0. 1. ]] SLAMing on 10.204630439999999 meters Centerline goodness [0,1] 0.306889397934045 Centerline is valid? [False, False] Translation: X:0.88, Y:0.01, Z:-0.20 [[ 0.9999324 -0.00196965 -0.01145928 0.8785936 ] [ 0.00192035 0.99998886 -0.00431142 0.00834113] [ 0.01146765 0.00428913 0.99992505 -0.19514638] [ 0. 0. 0. 1. ]] SLAMing on 10.23463044 meters Centerline goodness [0,1] 0.30730462243948864 Centerline is valid? [False, False] Translation: X:0.88, Y:0.01, Z:-0.19 [[ 0.99993455 -0.00208328 -0.01124933 0.87790572] [ 0.00203004 0.9999867 -0.00474223 0.01068125] [ 0.01125906 0.00471908 0.99992548 -0.19493333] [ 0. 0. 0. 1. ]] SLAMing on 10.26463044 meters Centerline goodness [0,1] 0.3076191916355231 Centerline is valid? [False, False] Translation: X:0.88, Y:0.01, Z:-0.19 [[ 0.99993591 -0.00223901 -0.01109823 0.87736019] [ 0.00218128 0.99998404 -0.0052116 0.01305093] [ 0.01110972 0.00518706 0.99992483 -0.19472167] [ 0. 0. 0. 1. ]] SLAMing on 10.294630439999999 meters Centerline goodness [0,1] 0.3072243836382005 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.19 [[ 0.99993754 -0.00234416 -0.01092788 0.87675496] [ 0.00228267 0.99998151 -0.00563603 0.01537863] [ 0.01094089 0.00561074 0.99992441 -0.19451607] [ 0. 0. 0. 1. ]] SLAMing on 10.32463044 meters Centerline goodness [0,1] 0.30846870262074944 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.19 [[ 0.99993934 -0.00246565 -0.01073446 0.87586873] [ 0.00239823 0.99997735 -0.00628876 0.01956219] [ 0.01074973 0.00626264 0.99992261 -0.19399843] [ 0. 0. 0. 1. ]] SLAMing on 10.35463044 meters Centerline goodness [0,1] 0.3053091657025324 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.19 [[ 0.99993717 -0.00253453 -0.01091915 0.87629992] [ 0.00246264 0.99997524 -0.00659229 0.02136635] [ 0.01093559 0.00656498 0.99991865 -0.19410156] [ 0. 0. 0. 1. ]] SLAMing on 10.384630439999999 meters Centerline goodness [0,1] 0.3044767838852851 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.19 [[ 0.99993396 -0.00263169 -0.0111866 0.87716985] [ 0.00255494 0.99997314 -0.00686935 0.02281716] [ 0.01120438 0.00684032 0.99991383 -0.19450681] [ 0. 0. 0. 1. ]] SLAMing on 10.41463044 meters Centerline goodness [0,1] 0.3029299143828249 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.19 [[ 0.99993007 -0.00273335 -0.01150554 0.87814229] [ 0.00265199 0.99997142 -0.0070803 0.02374713] [ 0.01152457 0.00704929 0.99990874 -0.19485853] [ 0. 0. 0. 1. ]] SLAMing on 10.44463044 meters Centerline goodness [0,1] 0.30256278392045943 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.20 [[ 0.99992468 -0.00281401 -0.0119463 0.87948418] [ 0.00272806 0.99997032 -0.00720526 0.02426851] [ 0.01196623 0.00717213 0.99990268 -0.19531781] [ 0. 0. 0. 1. ]] SLAMing on 10.474630439999999 meters Centerline goodness [0,1] 0.30256278392045943 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.20 [[ 0.99992468 -0.00281401 -0.0119463 0.87948418] [ 0.00272806 0.99997032 -0.00720526 0.02426851] [ 0.01196623 0.00717213 0.99990268 -0.19531781] [ 0. 0. 0. 1. ]] SLAMing on 10.50463044 meters Centerline goodness [0,1] 0.30418814432989694 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.20 [[ 0.99992135 -0.00284801 -0.01221376 0.88025063] [ 0.00275972 0.99996999 -0.00723946 0.02448335] [ 0.01223401 0.00720519 0.9998992 -0.19552738] [ 0. 0. 0. 1. ]] SLAMing on 10.534630439999999 meters Centerline goodness [0,1] 0.3081678651926586 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.19 [[ 0.99992425 -0.00293383 -0.01195367 0.87906797] [ 0.00284737 0.99996971 -0.00724373 0.02466933] [ 0.01197456 0.00720914 0.99990231 -0.19454804] [ 0. 0. 0. 1. ]] SLAMing on 10.564630439999998 meters Centerline goodness [0,1] 0.3081550078975269 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.19 [[ 0.99992758 -0.00299178 -0.01165679 0.87805482] [ 0.00290667 0.99996904 -0.0073119 0.02493701] [ 0.0116783 0.00727749 0.99990532 -0.19398771] [ 0. 0. 0. 1. ]] SLAMing on 10.59463044 meters Centerline goodness [0,1] 0.30564547455651947 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.19 [[ 0.99992947 -0.00306445 -0.0114744 0.87750538] [ 0.0029789 0.9999677 -0.00746534 0.02570982] [ 0.01149691 0.00743064 0.9999063 -0.19380221] [ 0. 0. 0. 1. ]] SLAMing on 10.624630439999999 meters Centerline goodness [0,1] 0.3068392264955424 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.19 [[ 0.99992879 -0.00311126 -0.01152091 0.8776227 ] [ 0.00302351 0.99996635 -0.00762596 0.02662811] [ 0.01154425 0.00759058 0.99990455 -0.19381348] [ 0. 0. 0. 1. ]] SLAMing on 10.65463044 meters Centerline goodness [0,1] 0.3048424486992358 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.19 [[ 0.99992728 -0.00315712 -0.01163883 0.87797027] [ 0.0030656 0.99996431 -0.00787232 0.02819335] [ 0.01166327 0.00783606 0.99990128 -0.1939699 ] [ 0. 0. 0. 1. ]] SLAMing on 10.68463044 meters Centerline goodness [0,1] 0.3045224828301153 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.19 [[ 0.99992602 -0.00319827 -0.01173573 0.87836092] [ 0.00310292 0.9999621 -0.00813438 0.02984681] [ 0.0117613 0.00809736 0.99989805 -0.19431796] [ 0. 0. 0. 1. ]] SLAMing on 10.714630439999999 meters Centerline goodness [0,1] 0.30369875702806914 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.19 [[ 0.99992236 -0.00330961 -0.01201299 0.8790973 ] [ 0.00320645 0.99995791 -0.00859643 0.03234096] [ 0.01204093 0.00855724 0.99989089 -0.19457054] [ 0. 0. 0. 1. ]] SLAMing on 10.74463044 meters Centerline goodness [0,1] 0.30511662091178315 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.19 [[ 0.99992199 -0.00338265 -0.01202388 0.87913299] [ 0.00327782 0.99995654 -0.00872753 0.03281088] [ 0.01205288 0.00868744 0.99988962 -0.19461787] [ 0. 0. 0. 1. ]] SLAMing on 10.77463044 meters Centerline goodness [0,1] 0.30323038540949754 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.19 [[ 0.99992232 -0.00343752 -0.01198073 0.87892327] [ 0.00333281 0.99995617 -0.00874891 0.03270663] [ 0.01201028 0.0087083 0.99988995 -0.19442791] [ 0. 0. 0. 1. ]] SLAMing on 10.804630439999999 meters Centerline goodness [0,1] 0.3057635457350625 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.19 [[ 0.99992301 -0.00342328 -0.0119273 0.87864985] [ 0.00332046 0.99995725 -0.00862965 0.03205754] [ 0.01195634 0.00858938 0.99989163 -0.19415152] [ 0. 0. 0. 1. ]] SLAMing on 10.83463044 meters Centerline goodness [0,1] 0.30563048967347906 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.19 [[ 0.9999238 -0.00337271 -0.01187519 0.87835173] [ 0.00327248 0.99995894 -0.00844996 0.03120751] [ 0.0119032 0.00841045 0.99989378 -0.19383347] [ 0. 0. 0. 1. ]] SLAMing on 10.86463044 meters Centerline goodness [0,1] 0.3052681293203383 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.19 [[ 0.99992504 -0.00335108 -0.01177622 0.87812524] [ 0.00325387 0.99996056 -0.00826397 0.030162 ] [ 0.01180345 0.00822503 0.99989651 -0.19376465] [ 0. 0. 0. 1. ]] SLAMing on 10.894630439999998 meters Centerline goodness [0,1] 0.30784587313512934 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.19 [[ 0.99993057 -0.00356673 -0.01123129 0.87672801] [ 0.003476 0.99996125 -0.00808763 0.02800658] [ 0.0112597 0.00804803 0.99990422 -0.19339034] [ 0. 0. 0. 1. ]] SLAMing on 10.92463044 meters Centerline goodness [0,1] 0.3095232933729324 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.20 [[ 0.99993971 0.00387487 -0.01027409 0.85870614] [-0.00396984 0.99994944 -0.00923909 0.02059509] [ 0.01023777 0.00927932 0.99990454 -0.19547602] [ 0. 0. 0. 1. ]] SLAMing on 10.954630439999999 meters Centerline goodness [0,1] 0.3058833645020529 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.19 [[ 0.99994014 -0.00411039 -0.01014032 0.87783469] [ 0.00403066 0.9999609 -0.00787079 0.02366178] [ 0.01017227 0.00782945 0.99991761 -0.19406035] [ 0. 0. 0. 1. ]] SLAMing on 10.98463044 meters Centerline goodness [0,1] 0.30415610421149053 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.19 [[ 0.99993794 -0.00398933 -0.01040214 0.87861295] [ 0.00391172 0.99996444 -0.00747068 0.02154369] [ 0.01043157 0.00742952 0.99991799 -0.19424843] [ 0. 0. 0. 1. ]] SLAMing on 11.01463044 meters Centerline goodness [0,1] 0.3062636013014156 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.20 [[ 0.99993458 0.00369572 -0.01082489 0.86162896] [-0.00378959 0.99995529 -0.00866347 0.01308914] [ 0.01079239 0.00870393 0.99990388 -0.19661711] [ 0. 0. 0. 1. ]] SLAMing on 11.044630439999999 meters Centerline goodness [0,1] 0.3075992830457598 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.20 [[ 0.99993082 0.00374811 -0.01114974 0.8627274 ] [-0.00384144 0.99995767 -0.00836076 0.01099997] [ 0.01111794 0.00840301 0.99990289 -0.19713605] [ 0. 0. 0. 1. ]] SLAMing on 11.07463044 meters Centerline goodness [0,1] 0.30559142561983466 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.20 [[ 0.99992956 0.00392846 -0.01120001 0.86313589] [-0.00401641 0.99996119 -0.00784088 0.00813163] [ 0.01116877 0.00788531 0.99990654 -0.19757367] [ 0. 0. 0. 1. ]] SLAMing on 11.10463044 meters Centerline goodness [0,1] 0.30700260792723666 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.20 [[ 0.99993113 0.0040571 -0.01101293 0.86271858] [-0.00414145 0.99996218 -0.00764728 0.00752369] [ 0.01098149 0.00769237 0.99991011 -0.19761074] [ 0. 0. 0. 1. ]] SLAMing on 11.134630439999999 meters Centerline goodness [0,1] 0.3042975525149354 Centerline is valid? [False, False] Translation: X:0.88, Y:0.01, Z:-0.20 [[ 0.99993128 -0.00276946 -0.01139178 0.87927989] [ 0.00270138 0.99997842 -0.00598778 0.01282251] [ 0.01140811 0.0059566 0.99991718 -0.19542173] [ 0. 0. 0. 1. ]] SLAMing on 11.16463044 meters Centerline goodness [0,1] 0.301779328951031 Centerline is valid? [False, False] Translation: X:0.88, Y:0.01, Z:-0.20 [[ 0.99992856 -0.00279583 -0.01162155 0.88008116] [ 0.00272385 0.99997704 -0.00620498 0.01389061] [ 0.01163863 0.00617288 0.99991322 -0.19593528] [ 0. 0. 0. 1. ]] SLAMing on 11.19463044 meters Centerline goodness [0,1] 0.30330446770927577 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.20 [[ 0.99992252 -0.00277184 -0.01213569 0.88161809] [ 0.00269322 0.99997531 -0.00649048 0.0155013 ] [ 0.01215338 0.00645729 0.99990529 -0.19664257] [ 0. 0. 0. 1. ]] SLAMing on 11.224630439999999 meters Centerline goodness [0,1] 0.30352997331366205 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.20 [[ 0.99991847 0.00110105 -0.01272189 0.88368035] [-0.00114175 0.99999425 -0.00319217 0.01876982] [ 0.0127183 0.00320643 0.99991398 -0.19797521] [ 0. 0. 0. 1. ]] SLAMing on 11.25463044 meters Centerline goodness [0,1] 0.29993127738166825 Centerline is valid? [False, False] Translation: X:0.90, Y:0.03, Z:-0.20 [[ 9.99911409e-01 -3.49444094e-03 -1.28437868e-02 9.03342245e-01] [ 3.50158933e-03 9.99993727e-01 5.34118380e-04 2.53455000e-02] [ 1.28418398e-02 -5.79044729e-04 9.99917373e-01 -1.97343597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.284630439999999 meters Centerline goodness [0,1] 0.30207159573545983 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.20 [[ 9.99912630e-01 5.13821104e-03 -1.21791098e-02 8.82688124e-01] [-5.14230330e-03 9.99986732e-01 -3.04715083e-04 2.31459968e-02] [ 1.21773825e-02 3.67317136e-04 9.99925785e-01 -1.98389702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.314630439999998 meters Centerline goodness [0,1] 0.3005463305514927 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.20 [[ 0.99991836 0.00477545 -0.01185225 0.88129235] [-0.0047907 0.99998773 -0.00125901 0.02774795] [ 0.01184609 0.00131569 0.99992897 -0.19757807] [ 0. 0. 0. 1. ]] SLAMing on 11.34463044 meters Centerline goodness [0,1] 0.3016510197474911 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.20 [[ 0.99991927 0.00462979 -0.01183322 0.8811113 ] [-0.00464873 0.99998796 -0.0015736 0.02916467] [ 0.01182579 0.00162848 0.99992875 -0.19742403] [ 0. 0. 0. 1. ]] SLAMing on 11.374630439999999 meters Centerline goodness [0,1] 0.3027294748680682 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.20 [[ 0.99991957 0.00454678 -0.01184009 0.88093352] [-0.00456772 0.99998805 -0.00174202 0.03011496] [ 0.01183202 0.00179596 0.99992839 -0.19711419] [ 0. 0. 0. 1. ]] SLAMing on 11.40463044 meters Centerline goodness [0,1] 0.2994111979445455 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.20 [[ 9.99932515e-01 -3.20660233e-03 -1.11661162e-02 8.99124503e-01] [ 3.20323673e-03 9.99994819e-01 -3.19282700e-04 3.65863781e-02] [ 1.11670821e-02 2.83493440e-04 9.99937606e-01 -1.95155929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.43463044 meters Centerline goodness [0,1] 0.3045401579560658 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.19 [[ 9.99934684e-01 -3.24795432e-03 -1.09580642e-02 8.98337818e-01] [ 3.24459750e-03 9.99994684e-01 -3.24097852e-04 3.67539148e-02] [ 1.09590586e-02 2.88522175e-04 9.99939906e-01 -1.94631182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.464630439999999 meters Centerline goodness [0,1] 0.30326630997583703 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.19 [[ 9.99935665e-01 -3.30968329e-03 -1.08495176e-02 8.97771298e-01] [ 3.30625327e-03 9.99994479e-01 -3.34065814e-04 3.66829029e-02] [ 1.08505633e-02 2.98173069e-04 9.99941086e-01 -1.94034654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.49463044 meters Centerline goodness [0,1] 0.3052608929532007 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.19 [[ 9.99932573e-01 -3.42640563e-03 -1.10954584e-02 8.98040179e-01] [ 3.42133607e-03 9.99994034e-01 -4.75853541e-04 3.70039752e-02] [ 1.10970227e-02 4.37860163e-04 9.99938330e-01 -1.93518830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.52463044 meters Centerline goodness [0,1] 0.3065696601151048 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.20 [[ 0.99992417 0.00455293 -0.01144256 0.87983204] [-0.00457394 0.9999879 -0.00181079 0.03200763] [ 0.01143417 0.00186299 0.99993289 -0.19510767] [ 0. 0. 0. 1. ]] SLAMing on 11.554630439999999 meters Centerline goodness [0,1] 0.30485964382734676 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.19 [[ 9.99923418e-01 -2.83125919e-03 -1.20474581e-02 8.97786440e-01] [ 2.82516106e-03 9.99995872e-01 -5.23163711e-04 3.82509064e-02] [ 1.20488896e-02 4.89087637e-04 9.99927290e-01 -1.93144785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.58463044 meters Centerline goodness [0,1] 0.3038621815526056 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.19 [[ 9.99923877e-01 -2.83095536e-03 -1.20094208e-02 8.97499401e-01] [ 2.82368388e-03 9.99995820e-01 -6.22393558e-04 3.89518881e-02] [ 1.20111325e-02 5.88435371e-04 9.99927691e-01 -1.92881501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.61463044 meters Centerline goodness [0,1] 0.3057327595527972 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.19 [[ 9.99926317e-01 -2.85150082e-03 -1.17995591e-02 8.96650096e-01] [ 2.84218956e-03 9.99995636e-01 -8.05812876e-04 4.00018420e-02] [ 1.18018054e-02 7.72216918e-04 9.99930058e-01 -1.92353468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644630439999998 meters Centerline goodness [0,1] 0.3060487380330722 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.19 [[ 0.99993021 -0.00287852 -0.01145781 0.89559072] [ 0.00286605 0.99999528 -0.00110473 0.04171027] [ 0.01146093 0.00107181 0.99993375 -0.19204814] [ 0. 0. 0. 1. ]] SLAMing on 11.67463044 meters Centerline goodness [0,1] 0.2999422076671162 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:-0.19 [[ 0.99992288 0.00707623 -0.0102061 0.91677796] [-0.00709089 0.99997388 -0.00140065 0.04763552] [ 0.01019593 0.00147291 0.99994694 -0.19180984] [ 0. 0. 0. 1. ]] SLAMing on 11.704630439999999 meters Centerline goodness [0,1] 0.29860768455152 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:-0.19 [[ 0.99991788 0.00730263 -0.01053134 0.91767213] [-0.00732322 0.99997135 -0.00191766 0.05186347] [ 0.01051704 0.00199463 0.99994271 -0.1922751 ] [ 0. 0. 0. 1. ]] SLAMing on 11.73463044 meters Centerline goodness [0,1] 0.2961158798283262 Centerline is valid? [False, False] Translation: X:0.92, Y:0.06, Z:-0.19 [[ 0.99990979 0.00773189 -0.01098274 0.91891744] [-0.00775729 0.99996733 -0.00227213 0.05656295] [ 0.01096481 0.00235712 0.99993711 -0.19282496] [ 0. 0. 0. 1. ]] SLAMing on 11.76463044 meters Centerline goodness [0,1] 0.29524464109283044 Centerline is valid? [False, False] Translation: X:0.92, Y:0.06, Z:-0.19 [[ 0.99990347 0.0082362 -0.0111901 0.91950077] [-0.00826479 0.99996269 -0.00251055 0.06157377] [ 0.011169 0.00260279 0.99993424 -0.19320839] [ 0. 0. 0. 1. ]] SLAMing on 11.794630439999999 meters Centerline goodness [0,1] 0.2935474878305063 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:-0.19 [[ 0.99990123 0.00835802 -0.01129897 0.91969009] [-0.0083935 0.99995998 -0.00309655 0.06759741] [ 0.01127263 0.00319108 0.99993137 -0.19333696] [ 0. 0. 0. 1. ]] SLAMing on 11.82463044 meters Centerline goodness [0,1] 0.30077053102978946 Centerline is valid? [False, False] Translation: X:0.87, Y:0.07, Z:-0.19 [[ 0.99987849 0.00856049 -0.01302775 0.87306579] [-0.00861288 0.99995503 -0.00397029 0.07008883] [ 0.01299318 0.00408201 0.99990725 -0.19244802] [ 0. 0. 0. 1. ]] SLAMing on 11.85463044 meters Centerline goodness [0,1] 0.29677030142416994 Centerline is valid? [False, False] Translation: X:0.89, Y:0.08, Z:-0.19 [[ 0.99989629 0.00112385 -0.01435767 0.89075438] [-0.00117952 0.99999182 -0.0038696 0.08404698] [ 0.01435321 0.00388614 0.99988944 -0.18991718] [ 0. 0. 0. 1. ]] SLAMing on 11.884630439999999 meters Centerline goodness [0,1] 0.297110498665059 Centerline is valid? [False, False] Translation: X:0.89, Y:0.09, Z:-0.19 [[ 9.99891888e-01 9.44310662e-04 -1.46737963e-02 8.91466546e-01] [-1.00552862e-03 9.99990820e-01 -4.16510607e-03 8.53951463e-02] [ 1.46697284e-02 4.17941070e-03 9.99883659e-01 -1.89873145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.91463044 meters Centerline goodness [0,1] 0.2964942144842595 Centerline is valid? [False, False] Translation: X:0.89, Y:0.09, Z:-0.19 [[ 9.99886576e-01 7.42802743e-04 -1.50427505e-02 8.92142392e-01] [-8.08106913e-04 9.99990275e-01 -4.33562567e-03 8.59734277e-02] [ 1.50393837e-02 4.34729006e-03 9.99877451e-01 -1.89480021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.94463044 meters Centerline goodness [0,1] 0.2973807518732051 Centerline is valid? [False, False] Translation: X:0.89, Y:0.09, Z:-0.19 [[ 9.99888057e-01 4.25709412e-04 -1.49563292e-02 8.91778718e-01] [-4.92584906e-04 9.99989897e-01 -4.46798496e-03 8.59130156e-02] [ 1.49542760e-02 4.47485206e-03 9.99878165e-01 -1.89019669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.974630439999999 meters Centerline goodness [0,1] 0.2991449318953293 Centerline is valid? [False, False] Translation: X:0.89, Y:0.09, Z:-0.19 [[ 9.99890412e-01 1.59705288e-04 -1.48033394e-02 8.91227884e-01] [-2.25881395e-04 9.99989989e-01 -4.46878575e-03 8.52446544e-02] [ 1.48024775e-02 4.47163983e-03 9.99880438e-01 -1.88529994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.00463044 meters Centerline goodness [0,1] 0.3021325473538208 Centerline is valid? [False, False] Translation: X:0.89, Y:0.08, Z:-0.19 [[ 9.99895019e-01 -2.74449747e-05 -1.44896682e-02 8.90464977e-01] [-3.78547188e-05 9.99989846e-01 -4.50634479e-03 8.49642942e-02] [ 1.44896447e-02 4.50642021e-03 9.99884865e-01 -1.88298913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.034630439999999 meters Centerline goodness [0,1] 0.3001123692626848 Centerline is valid? [False, False] Translation: X:0.89, Y:0.09, Z:-0.19 [[ 9.99892842e-01 -3.99233132e-04 -1.46336773e-02 8.91086037e-01] [ 3.27734675e-04 9.99988000e-01 -4.88795706e-03 8.60306730e-02] [ 1.46354531e-02 4.88263731e-03 9.99880975e-01 -1.88579616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.064630439999998 meters Centerline goodness [0,1] 0.2985093861420164 Centerline is valid? [False, False] Translation: X:0.89, Y:0.09, Z:-0.19 [[ 9.99888923e-01 -5.11428725e-04 -1.48956251e-02 8.91729761e-01] [ 4.34138533e-04 9.99986430e-01 -5.19155615e-03 8.75608509e-02] [ 1.48980781e-02 5.18451272e-03 9.99875576e-01 -1.88662366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.09463044 meters Centerline goodness [0,1] 0.3024068407231374 Centerline is valid? [False, False] Translation: X:0.89, Y:0.09, Z:-0.19 [[ 9.99885995e-01 -5.91139248e-04 -1.50879895e-02 8.92271796e-01] [ 5.08007682e-04 9.99984674e-01 -5.51302222e-03 8.94392973e-02] [ 1.50910172e-02 5.50472890e-03 9.99870971e-01 -1.88895570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.124630439999999 meters Centerline goodness [0,1] 0.2961757526444264 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.19 [[ 0.99985046 -0.00583332 -0.01627944 0.91368797] [ 0.00579185 0.99997986 -0.00259386 0.09793812] [ 0.01629425 0.00249918 0.99986412 -0.18859296] [ 0. 0. 0. 1. ]] SLAMing on 12.15463044 meters Centerline goodness [0,1] 0.29686826914792797 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.19 [[ 0.9998508 -0.00594475 -0.01621827 0.9135134 ] [ 0.00589949 0.99997857 -0.00283731 0.09901634] [ 0.01623479 0.00274121 0.99986445 -0.18858964] [ 0. 0. 0. 1. ]] SLAMing on 12.18463044 meters Centerline goodness [0,1] 0.2989163415691374 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.19 [[ 0.99985177 -0.00600029 -0.01613776 0.91320943] [ 0.00595404 0.99997803 -0.00291259 0.09920137] [ 0.01615488 0.00281607 0.99986554 -0.18840282] [ 0. 0. 0. 1. ]] SLAMing on 12.214630439999999 meters Centerline goodness [0,1] 0.29984611049699805 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.19 [[ 0.99985175 -0.00603616 -0.01612572 0.91307472] [ 0.00599062 0.99997793 -0.00287126 0.09877674] [ 0.01614269 0.00277423 0.99986585 -0.18818331] [ 0. 0. 0. 1. ]] SLAMing on 12.24463044 meters Centerline goodness [0,1] 0.2948214818922493 Centerline is valid? [False, False] Translation: X:0.93, Y:0.09, Z:-0.19 [[ 0.99988078 0.0010516 -0.01540533 0.93132917] [-0.00111211 0.9999917 -0.00392031 0.09488615] [ 0.01540108 0.00393697 0.99987365 -0.18634369] [ 0. 0. 0. 1. ]] SLAMing on 12.27463044 meters Centerline goodness [0,1] 0.3015196120876267 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.19 [[ 0.99985885 -0.00744339 -0.01506223 0.90869455] [ 0.00739648 0.99996763 -0.00316778 0.09500809] [ 0.01508532 0.00305592 0.99988154 -0.18702146] [ 0. 0. 0. 1. ]] SLAMing on 12.304630439999999 meters Centerline goodness [0,1] 0.30457845993304056 Centerline is valid? [False, False] Translation: X:0.91, Y:0.09, Z:-0.19 [[ 0.99985982 -0.00805475 -0.01467866 0.90780493] [ 0.00801234 0.99996356 -0.00294538 0.09076464] [ 0.01470185 0.00282736 0.99988792 -0.18664421] [ 0. 0. 0. 1. ]] SLAMing on 12.33463044 meters Centerline goodness [0,1] 0.301814054100362 Centerline is valid? [False, False] Translation: X:0.93, Y:0.08, Z:-0.18 [[ 0.99987392 -0.00153412 -0.01580506 0.92670748] [ 0.0014726 0.9999913 -0.00390348 0.08428865] [ 0.01581091 0.00387971 0.99986747 -0.18466119] [ 0. 0. 0. 1. ]] SLAMing on 12.36463044 meters Centerline goodness [0,1] 0.3008775505825305 Centerline is valid? [False, False] Translation: X:0.93, Y:0.08, Z:-0.18 [[ 0.99987493 -0.00137437 -0.01575532 0.92653295] [ 0.00132167 0.9999935 -0.00335438 0.08148125] [ 0.01575982 0.00333314 0.99987025 -0.18444588] [ 0. 0. 0. 1. ]] SLAMing on 12.394630439999998 meters Centerline goodness [0,1] 0.3008775505825305 Centerline is valid? [False, False] Translation: X:0.93, Y:0.08, Z:-0.18 [[ 0.99987493 -0.00137437 -0.01575532 0.92653295] [ 0.00132167 0.9999935 -0.00335438 0.08148125] [ 0.01575982 0.00333314 0.99987025 -0.18444588] [ 0. 0. 0. 1. ]] SLAMing on 12.42463044 meters Centerline goodness [0,1] 0.30704004870200463 Centerline is valid? [False, False] Translation: X:0.90, Y:0.07, Z:-0.18 [[ 0.9998729 0.00527672 -0.01504479 0.90374361] [-0.00535806 0.99997122 -0.00537142 0.07457078] [ 0.01501601 0.00545135 0.99987239 -0.18418121] [ 0. 0. 0. 1. ]] SLAMing on 12.454630439999999 meters Centerline goodness [0,1] 0.3067539997852464 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:-0.18 [[ 0.99989013 -0.00309453 -0.01449634 0.92420978] [ 0.0030374 0.99998754 -0.00396139 0.07262622] [ 0.01450842 0.00391693 0.99988708 -0.18346667] [ 0. 0. 0. 1. ]] SLAMing on 12.48463044 meters Centerline goodness [0,1] 0.3015791280466873 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:-0.18 [[ 0.99988865 -0.00290715 -0.01463667 0.92499313] [ 0.00285679 0.99998993 -0.00346052 0.06991873] [ 0.01464658 0.00341832 0.99988689 -0.184117 ] [ 0. 0. 0. 1. ]] SLAMing on 12.51463044 meters Centerline goodness [0,1] 0.30354564069404033 Centerline is valid? [False, False] Translation: X:0.93, Y:0.07, Z:-0.18 [[ 0.99988888 -0.00271955 -0.01465715 0.92552373] [ 0.00267592 0.99999193 -0.00299537 0.06749169] [ 0.01466518 0.00295581 0.99988809 -0.1848662 ] [ 0. 0. 0. 1. ]] SLAMing on 12.544630439999999 meters Centerline goodness [0,1] 0.3059275071695021 Centerline is valid? [False, False] Translation: X:0.93, Y:0.07, Z:-0.19 [[ 0.99988898 -0.00251563 -0.01468704 0.92586389] [ 0.00247835 0.99999366 -0.00255594 0.06537143] [ 0.01469337 0.00251925 0.99988887 -0.18528882] [ 0. 0. 0. 1. ]] SLAMing on 12.57463044 meters Centerline goodness [0,1] 0.30347861717958113 Centerline is valid? [False, False] Translation: X:0.93, Y:0.06, Z:-0.19 [[ 0.99988945 -0.00229286 -0.01469096 0.92597849] [ 0.00226235 0.99999525 -0.00209288 0.06323679] [ 0.01469569 0.00205942 0.99988989 -0.18543714] [ 0. 0. 0. 1. ]] SLAMing on 12.60463044 meters Centerline goodness [0,1] 0.30542245734232376 Centerline is valid? [False, False] Translation: X:0.93, Y:0.06, Z:-0.19 [[ 0.99989097 -0.00207921 -0.01461943 0.92557518] [ 0.00205554 0.99999655 -0.00163381 0.06112132] [ 0.01462277 0.00160358 0.9998918 -0.18506549] [ 0. 0. 0. 1. ]] SLAMing on 12.634630439999999 meters Centerline goodness [0,1] 0.30393972012917114 Centerline is valid? [False, False] Translation: X:0.93, Y:0.06, Z:-0.18 [[ 9.99892036e-01 -1.72263181e-03 -1.45927590e-02 9.25291611e-01] [ 1.71084481e-03 9.99998200e-01 -8.20174475e-04 5.66898299e-02] [ 1.45941456e-02 7.95119980e-04 9.99893184e-01 -1.84748723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.66463044 meters Centerline goodness [0,1] 0.30417765860831203 Centerline is valid? [False, False] Translation: X:0.93, Y:0.05, Z:-0.18 [[ 9.99892396e-01 -1.58906737e-03 -1.45832624e-02 9.25404394e-01] [ 1.58204168e-03 9.99998627e-01 -4.93287261e-04 5.49474690e-02] [ 1.45840263e-02 4.70162853e-04 9.99893537e-01 -1.84960541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.69463044 meters Centerline goodness [0,1] 0.3051499179123822 Centerline is valid? [False, False] Translation: X:0.93, Y:0.05, Z:-0.19 [[ 9.99894730e-01 -1.42666480e-03 -1.44392989e-02 9.25257134e-01] [ 1.42489483e-03 9.99998976e-01 -1.32867278e-04 5.31439957e-02] [ 1.44394737e-02 1.12278808e-04 9.99895739e-01 -1.85253250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.724630439999999 meters Centerline goodness [0,1] 0.30527659942862095 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:-0.19 [[ 9.99899221e-01 -1.27519907e-03 -1.41394005e-02 9.24583576e-01] [ 1.27842338e-03 9.99999159e-01 2.19001359e-04 5.14356463e-02] [ 1.41391094e-02 -2.37055428e-04 9.99900010e-01 -1.85282887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.75463044 meters Centerline goodness [0,1] 0.303394548868124 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:-0.19 [[ 9.99904742e-01 -1.12778515e-03 -1.37562560e-02 9.23669741e-01] [ 1.13532644e-03 9.99999209e-01 5.40411368e-04 4.99348202e-02] [ 1.37556356e-02 -5.55977731e-04 9.99905232e-01 -1.85245504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.784630439999999 meters Centerline goodness [0,1] 0.3057645736031829 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:-0.19 [[ 9.99908677e-01 -1.07474700e-03 -1.34715487e-02 9.22920840e-01] [ 1.08385657e-03 9.99999189e-01 6.68925618e-04 4.91855535e-02] [ 1.34708188e-02 -6.83465757e-04 9.99909031e-01 -1.85129957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.814630439999998 meters Centerline goodness [0,1] 0.3073782950449472 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:-0.19 [[ 9.99910112e-01 -8.98004797e-04 -1.33776413e-02 9.22602050e-01] [ 9.07277541e-04 9.99999352e-01 6.87099633e-04 4.96681753e-02] [ 1.33770156e-02 -6.99175104e-04 9.99910279e-01 -1.85103708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.84463044 meters Centerline goodness [0,1] 0.304942620647922 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:-0.19 [[ 9.99902227e-01 -7.64888682e-04 -1.39624850e-02 9.24213813e-01] [ 7.72270249e-04 9.99999565e-01 5.23287369e-04 5.14549141e-02] [ 1.39620787e-02 -5.34019017e-04 9.99902383e-01 -1.85640611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.874630439999999 meters Centerline goodness [0,1] 0.30042003231017766 Centerline is valid? [False, False] Translation: X:0.93, Y:0.05, Z:-0.19 [[ 9.99891427e-01 -5.74364460e-04 -1.47242652e-02 9.26292821e-01] [ 5.79498597e-04 9.99999773e-01 3.44421252e-04 5.35659881e-02] [ 1.47240641e-02 -3.52916549e-04 9.99891533e-01 -1.86263663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.90463044 meters Centerline goodness [0,1] 0.3002471789360559 Centerline is valid? [False, False] Translation: X:0.93, Y:0.06, Z:-0.19 [[ 9.99885738e-01 -5.38925922e-04 -1.51069663e-02 9.27384608e-01] [ 5.38673778e-04 9.99999855e-01 -2.07596977e-05 5.62172975e-02] [ 1.51069753e-02 1.26195990e-05 9.99885883e-01 -1.86741231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.93463044 meters Centerline goodness [0,1] 0.2975344934875437 Centerline is valid? [False, False] Translation: X:0.93, Y:0.06, Z:-0.19 [[ 9.99886982e-01 -6.58769273e-04 -1.50196412e-02 9.27026204e-01] [ 6.50998198e-04 9.99999652e-01 -5.22277476e-04 5.90669823e-02] [ 1.50199800e-02 5.12440689e-04 9.99887062e-01 -1.86604326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.964630439999999 meters Centerline goodness [0,1] 0.3010571736785329 Centerline is valid? [False, False] Translation: X:0.93, Y:0.06, Z:-0.19 [[ 9.99891853e-01 -8.18063232e-04 -1.46837565e-02 9.25846951e-01] [ 8.03136275e-04 9.99999155e-01 -1.02243061e-03 6.17112430e-02] [ 1.46845805e-02 1.01052698e-03 9.99891665e-01 -1.86120054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.99463044 meters Centerline goodness [0,1] 0.2970764986419727 Centerline is valid? [False, False] Translation: X:0.94, Y:0.07, Z:-0.18 [[ 0.999898 0.0068078 -0.01255557 0.94405249] [-0.00684493 0.99997232 -0.00291685 0.06634548] [ 0.01253537 0.0030025 0.99991692 -0.18411722] [ 0. 0. 0. 1. ]] SLAMing on 13.02463044 meters Centerline goodness [0,1] 0.30118710402836946 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:-0.19 [[ 0.99993265 -0.0010408 -0.01155897 0.92423113] [ 0.0010127 0.99999652 -0.00243674 0.07240235] [ 0.01156147 0.00242487 0.99993022 -0.18611876] [ 0. 0. 0. 1. ]] SLAMing on 13.054630439999999 meters Centerline goodness [0,1] 0.2982573437432602 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:-0.19 [[ 0.99993079 -0.0012228 -0.01170114 0.92446515] [ 0.00118937 0.99999519 -0.00286392 0.07450346] [ 0.01170458 0.00284981 0.99992744 -0.18600363] [ 0. 0. 0. 1. ]] SLAMing on 13.08463044 meters Centerline goodness [0,1] 0.298408259840826 Centerline is valid? [False, False] Translation: X:0.92, Y:0.08, Z:-0.19 [[ 0.99992592 -0.00137391 -0.01209412 0.92495697] [ 0.00133397 0.99999363 -0.00330952 0.07754198] [ 0.01209859 0.00329314 0.99992139 -0.18543111] [ 0. 0. 0. 1. ]] SLAMing on 13.11463044 meters Centerline goodness [0,1] 0.30162679011811533 Centerline is valid? [False, False] Translation: X:0.93, Y:0.08, Z:-0.19 [[ 0.99992395 -0.00140173 -0.01225256 0.92516948] [ 0.00136058 0.99999341 -0.0033662 0.078047 ] [ 0.0122572 0.00334928 0.99991927 -0.18513036] [ 0. 0. 0. 1. ]] SLAMing on 13.144630439999998 meters Centerline goodness [0,1] 0.29981422275987213 Centerline is valid? [False, False] Translation: X:0.92, Y:0.08, Z:-0.18 [[ 0.99992418 -0.0015038 -0.0122216 0.92489222] [ 0.00146258 0.99999322 -0.00338086 0.07788949] [ 0.0122266 0.00336273 0.9999196 -0.18469855] [ 0. 0. 0. 1. ]] SLAMing on 13.17463044 meters Centerline goodness [0,1] 0.30196979218584086 Centerline is valid? [False, False] Translation: X:0.92, Y:0.08, Z:-0.18 [[ 0.99992871 -0.00177022 -0.01180886 0.92361298] [ 0.0017296 0.99999256 -0.00344913 0.0771475 ] [ 0.01181487 0.00342846 0.99992432 -0.18403917] [ 0. 0. 0. 1. ]] SLAMing on 13.204630439999999 meters Centerline goodness [0,1] 0.30316178365838986 Centerline is valid? [False, False] Translation: X:0.92, Y:0.08, Z:-0.18 [[ 0.99993131 -0.00206085 -0.01153837 0.92253769] [ 0.00202137 0.99999207 -0.00343275 0.0757249 ] [ 0.01154536 0.00340919 0.99992754 -0.18324923] [ 0. 0. 0. 1. ]] SLAMing on 13.234630439999998 meters Centerline goodness [0,1] 0.3034503540756366 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:-0.18 [[ 0.99993777 -0.00220669 -0.01093596 0.92091565] [ 0.00217488 0.99999337 -0.0029205 0.07259366] [ 0.01094233 0.00289653 0.99993594 -0.18260739] [ 0. 0. 0. 1. ]] SLAMing on 13.26463044 meters Centerline goodness [0,1] 0.30220775300763225 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:-0.18 [[ 0.99993807 -0.00205184 -0.01093842 0.92105409] [ 0.00202433 0.99999476 -0.00252562 0.07096165] [ 0.01094354 0.00250332 0.99993698 -0.18270114] [ 0. 0. 0. 1. ]] SLAMing on 13.294630439999999 meters Centerline goodness [0,1] 0.3032428258911337 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:-0.18 [[ 0.99993751 -0.00199782 -0.01099943 0.92140616] [ 0.00197329 0.99999554 -0.00224119 0.06933737] [ 0.01100386 0.00221935 0.99993699 -0.18292376] [ 0. 0. 0. 1. ]] SLAMing on 13.32463044 meters Centerline goodness [0,1] 0.30414527886813614 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:-0.18 [[ 0.99993675 -0.00200218 -0.01106733 0.92182689] [ 0.00198002 0.99999601 -0.00201283 0.06754396] [ 0.01107132 0.00199079 0.99993673 -0.18327028] [ 0. 0. 0. 1. ]] SLAMing on 13.35463044 meters Centerline goodness [0,1] 0.30453994108473403 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:-0.18 [[ 0.99993476 -0.00193153 -0.01125777 0.92242977] [ 0.00191264 0.99999675 -0.0016887 0.06555034] [ 0.011261 0.00166705 0.9999352 -0.18347666] [ 0. 0. 0. 1. ]] SLAMing on 13.384630439999999 meters Centerline goodness [0,1] 0.30462677890929446 Centerline is valid? [False, False] Translation: X:0.92, Y:0.06, Z:-0.18 [[ 0.99993393 -0.00178655 -0.01135533 0.92276738] [ 0.00177191 0.99999759 -0.00129906 0.06362676] [ 0.01135762 0.00127886 0.99993468 -0.18362039] [ 0. 0. 0. 1. ]] SLAMing on 13.41463044 meters Centerline goodness [0,1] 0.30009393279535457 Centerline is valid? [False, False] Translation: X:0.92, Y:0.06, Z:-0.18 [[ 9.99934653e-01 -1.48858654e-03 -1.13346304e-02 9.22942935e-01] [ 1.48274999e-03 9.99998764e-01 -5.23317403e-04 5.98206381e-02] [ 1.13353954e-02 5.06476783e-04 9.99935624e-01 -1.83868221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.44463044 meters Centerline goodness [0,1] 0.30710347064547516 Centerline is valid? [False, False] Translation: X:0.90, Y:0.05, Z:-0.18 [[ 0.99992107 0.00472541 -0.01164154 0.90135723] [-0.0047644 0.99998313 -0.00332375 0.05403636] [ 0.01162564 0.00337895 0.99992671 -0.18392725] [ 0. 0. 0. 1. ]] SLAMing on 13.474630439999999 meters Centerline goodness [0,1] 0.30527313458555916 Centerline is valid? [False, False] Translation: X:0.90, Y:0.05, Z:-0.18 [[ 0.99991971 0.00482439 -0.01171726 0.9015165 ] [-0.00485966 0.99998374 -0.00298299 0.05206494] [ 0.01170268 0.00303969 0.9999269 -0.18389042] [ 0. 0. 0. 1. ]] SLAMing on 13.50463044 meters Centerline goodness [0,1] 0.301835806811358 Centerline is valid? [False, False] Translation: X:0.90, Y:0.05, Z:-0.18 [[ 0.99991959 0.0049956 -0.01165543 0.90126645] [-0.00502591 0.99998406 -0.00257261 0.05022344] [ 0.01164239 0.00263098 0.99992876 -0.18371291] [ 0. 0. 0. 1. ]] SLAMing on 13.534630439999999 meters Centerline goodness [0,1] 0.30571403872752423 Centerline is valid? [False, False] Translation: X:0.90, Y:0.05, Z:-0.18 [[ 0.99992394 0.00530562 -0.01113431 0.89991742] [-0.00532449 0.99998444 -0.00166614 0.04572698] [ 0.0111253 0.0017253 0.99993662 -0.18339266] [ 0. 0. 0. 1. ]] SLAMing on 13.564630439999998 meters Centerline goodness [0,1] 0.30942929654454354 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.18 [[ 0.999925 0.00539463 -0.01099479 0.89965679] [-0.00540906 0.99998455 -0.00128288 0.04343151] [ 0.0109877 0.00134226 0.99993873 -0.18343987] [ 0. 0. 0. 1. ]] SLAMing on 13.59463044 meters Centerline goodness [0,1] 0.3067637023279921 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.18 [[ 0.99992412 0.00540619 -0.01106936 0.89996095] [-0.00541771 0.99998481 -0.00101042 0.04143854] [ 0.01106372 0.00107031 0.99993822 -0.18359207] [ 0. 0. 0. 1. ]] SLAMing on 13.624630439999999 meters Centerline goodness [0,1] 0.3100253643437514 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.18 [[ 9.99922039e-01 5.45076049e-03 -1.12341254e-02 9.00537573e-01] [-5.45991791e-03 9.99984787e-01 -7.84634250e-04 3.99975661e-02] [ 1.12296776e-02 8.45910482e-04 9.99936587e-01 -1.83887748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.65463044 meters Centerline goodness [0,1] 0.3078398827358755 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.18 [[ 9.99918424e-01 5.52726498e-03 -1.15149975e-02 9.01308298e-01] [-5.53445129e-03 9.99984509e-01 -5.92310482e-04 3.91443903e-02] [ 1.15115453e-02 6.55991356e-04 9.99933525e-01 -1.84044723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.68463044 meters Centerline goodness [0,1] 0.30846878782638765 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.18 [[ 9.99917299e-01 5.61767839e-03 -1.15687583e-02 9.01665873e-01] [-5.62263431e-03 9.99984114e-01 -3.95908397e-04 3.84172493e-02] [ 1.15663504e-02 4.60922553e-04 9.99933001e-01 -1.84411421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.714630439999999 meters Centerline goodness [0,1] 0.3043171013747912 Centerline is valid? [False, False] Translation: X:0.92, Y:0.04, Z:-0.18 [[ 9.99929760e-01 -3.12961340e-03 -1.14315508e-02 9.22132554e-01] [ 3.13539973e-03 9.99994965e-01 4.88284743e-04 4.04798931e-02] [ 1.14299651e-02 -5.24092927e-04 9.99934538e-01 -1.83389104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.74463044 meters Centerline goodness [0,1] 0.3091806258927412 Centerline is valid? [False, False] Translation: X:0.90, Y:0.03, Z:-0.18 [[ 0.99993665 0.0026796 -0.01093267 0.90217123] [-0.00270605 0.99999345 -0.00240517 0.0340126 ] [ 0.01092616 0.00243461 0.99993734 -0.18476475] [ 0. 0. 0. 1. ]] SLAMing on 13.77463044 meters Centerline goodness [0,1] 0.3063378002201075 Centerline is valid? [False, False] Translation: X:0.90, Y:0.03, Z:-0.18 [[ 0.99993341 0.00260447 -0.01124242 0.90296802] [-0.00262864 0.99999426 -0.00213591 0.0319194 ] [ 0.01123679 0.00216532 0.99993452 -0.18485427] [ 0. 0. 0. 1. ]] SLAMing on 13.804630439999999 meters Centerline goodness [0,1] 0.30877049003304324 Centerline is valid? [False, False] Translation: X:0.90, Y:0.03, Z:-0.18 [[ 0.99993276 0.00257951 -0.01130616 0.90320856] [-0.00260024 0.99999496 -0.00181937 0.02984471] [ 0.01130141 0.00184865 0.99993443 -0.18490984] [ 0. 0. 0. 1. ]] SLAMing on 13.83463044 meters Centerline goodness [0,1] 0.31129625622159707 Centerline is valid? [False, False] Translation: X:0.90, Y:0.03, Z:-0.18 [[ 0.99993516 0.0025977 -0.01108767 0.90278183] [-0.00261426 0.99999549 -0.0014797 0.02786087] [ 0.01108378 0.00150859 0.99993744 -0.18497478] [ 0. 0. 0. 1. ]] SLAMing on 13.86463044 meters Centerline goodness [0,1] 0.31027398741431134 Centerline is valid? [False, False] Translation: X:0.90, Y:0.03, Z:-0.19 [[ 0.99993912 0.0023887 -0.01077307 0.90231023] [-0.00240258 0.9999963 -0.00127539 0.02560866] [ 0.01076999 0.0013012 0.99994116 -0.18522221] [ 0. 0. 0. 1. ]] SLAMing on 13.894630439999998 meters Centerline goodness [0,1] 0.30677453273534905 Centerline is valid? [False, False] Translation: X:0.90, Y:0.03, Z:-0.19 [[ 0.99993565 0.00235653 -0.01109725 0.90336885] [-0.00237036 0.99999643 -0.00123324 0.02511067] [ 0.0110943 0.00125947 0.99993766 -0.18572314] [ 0. 0. 0. 1. ]] SLAMing on 13.92463044 meters Centerline goodness [0,1] 0.3073887399463807 Centerline is valid? [False, False] Translation: X:0.90, Y:0.02, Z:-0.19 [[ 0.99993132 0.00238758 -0.01147403 0.90464917] [-0.00240115 0.99999643 -0.00116965 0.02491226] [ 0.01147119 0.00119712 0.99993349 -0.18632376] [ 0. 0. 0. 1. ]] SLAMing on 13.954630439999999 meters Centerline goodness [0,1] 0.30861831337755186 Centerline is valid? [False, False] Translation: X:0.91, Y:0.02, Z:-0.19 [[ 0.99992734 0.00245409 -0.0118025 0.90557604] [-0.00246719 0.99999636 -0.00109523 0.02489323] [ 0.01179977 0.00112427 0.99992975 -0.18658931] [ 0. 0. 0. 1. ]] SLAMing on 13.984630439999998 meters Centerline goodness [0,1] 0.30796048808832077 Centerline is valid? [False, False] Translation: X:0.91, Y:0.02, Z:-0.19 [[ 9.99927009e-01 2.51006045e-03 -1.18184391e-02 9.05646014e-01] [-2.52200193e-03 9.99996324e-01 -9.95615325e-04 2.46099544e-02] [ 1.18158966e-02 1.02534878e-03 9.99929664e-01 -1.86639399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.01463044 meters Centerline goodness [0,1] 0.31114352265058665 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.19 [[ 9.99930066e-01 -5.14819239e-03 -1.06470011e-02 8.85550829e-01] [ 5.14886491e-03 9.99986744e-01 3.57550997e-05 2.86227099e-02] [ 1.06466759e-02 -9.05725697e-05 9.99943318e-01 -1.88170479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.044630439999999 meters Centerline goodness [0,1] 0.30940382644345743 Centerline is valid? [False, False] Translation: X:0.91, Y:0.03, Z:-0.19 [[ 9.99970277e-01 -4.42686325e-04 -7.69731666e-03 9.06344153e-01] [ 4.16885229e-04 9.99994291e-01 -3.35324126e-03 2.73561078e-02] [ 7.69875715e-03 3.34993269e-03 9.99964753e-01 -1.87576698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.07463044 meters Centerline goodness [0,1] 0.3091362590577762 Centerline is valid? [False, False] Translation: X:0.91, Y:0.03, Z:-0.19 [[ 9.99970972e-01 -3.96936606e-04 -7.60904443e-03 9.05983650e-01] [ 3.73148200e-04 9.99995040e-01 -3.12749766e-03 2.61438443e-02] [ 7.61024811e-03 3.12456758e-03 9.99966160e-01 -1.87339624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.10463044 meters Centerline goodness [0,1] 0.31339099967152084 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 9.99954601e-01 -7.58504723e-04 -9.49842963e-03 8.60915992e-01] [ 7.27236709e-04 9.99994307e-01 -3.29493535e-03 2.38476640e-02] [ 9.50087478e-03 3.28787816e-03 9.99949460e-01 -1.87141345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.134630439999999 meters Centerline goodness [0,1] 0.31207067870566385 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.19 [[ 0.99991619 -0.0091564 -0.00915255 0.88089736] [ 0.00913602 0.9999557 -0.00226553 0.02662256] [ 0.00917289 0.00218172 0.99995555 -0.18630565] [ 0. 0. 0. 1. ]] SLAMing on 14.16463044 meters Centerline goodness [0,1] 0.310140284031867 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.19 [[ 0.99991939 -0.00950004 -0.00842344 0.8789091 ] [ 0.00948211 0.9999527 -0.00216604 0.02437958] [ 0.00844362 0.002086 0.99996218 -0.18566488] [ 0. 0. 0. 1. ]] SLAMing on 14.19463044 meters Centerline goodness [0,1] 0.3153038637708475 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.99996637 -0.00116468 -0.00811768 0.85926787] [ 0.00114162 0.9999953 -0.00284445 0.01848751] [ 0.00812095 0.00283508 0.99996301 -0.18677089] [ 0. 0. 0. 1. ]] SLAMing on 14.224630439999999 meters Centerline goodness [0,1] 0.3136643271813534 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.99996442 -0.00115698 -0.00835626 0.85991057] [ 0.00113411 0.9999956 -0.00274085 0.01800656] [ 0.00835939 0.00273127 0.99996133 -0.18693059] [ 0. 0. 0. 1. ]] SLAMing on 14.25463044 meters Centerline goodness [0,1] 0.31067794427031903 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.99996269 -0.00115498 -0.00856055 0.86056649] [ 0.00113204 0.99999576 -0.0026837 0.01771707] [ 0.00856361 0.00267391 0.99995976 -0.18723695] [ 0. 0. 0. 1. ]] SLAMing on 14.284630439999999 meters Centerline goodness [0,1] 0.31067794427031903 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.99996269 -0.00115498 -0.00856055 0.86056649] [ 0.00113204 0.99999576 -0.0026837 0.01771707] [ 0.00856361 0.00267391 0.99995976 -0.18723695] [ 0. 0. 0. 1. ]] SLAMing on 14.314630439999998 meters Centerline goodness [0,1] 0.30956062363097536 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.99996332 -0.00118313 -0.00848306 0.86046303] [ 0.00116042 0.99999573 -0.0026809 0.0175446 ] [ 0.0084862 0.00267095 0.99996042 -0.1873372 ] [ 0. 0. 0. 1. ]] SLAMing on 14.34463044 meters Centerline goodness [0,1] 0.3115691289303445 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.9999638 -0.00125381 -0.00841621 0.86023 ] [ 0.00123049 0.99999539 -0.00277467 0.01775338] [ 0.00841965 0.00276421 0.99996073 -0.18724263] [ 0. 0. 0. 1. ]] SLAMing on 14.374630439999999 meters Centerline goodness [0,1] 0.31342025037296495 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.99996673 -0.00136041 -0.00804277 0.85935066] [ 0.00133671 0.99999475 -0.00295206 0.018533 ] [ 0.00804674 0.00294121 0.9999633 -0.18721507] [ 0. 0. 0. 1. ]] SLAMing on 14.404630439999998 meters Centerline goodness [0,1] 0.31250134596748147 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.99996741 -0.00137801 -0.00795428 0.85928678] [ 0.00135407 0.99999454 -0.00301417 0.01906049] [ 0.00795839 0.0030033 0.99996382 -0.18746043] [ 0. 0. 0. 1. ]] SLAMing on 14.43463044 meters Centerline goodness [0,1] 0.31427019982623805 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.99996746 -0.00144209 -0.0079378 0.85937241] [ 0.00141713 0.99999404 -0.0031486 0.01977128] [ 0.00794229 0.00313724 0.99996354 -0.18763737] [ 0. 0. 0. 1. ]] SLAMing on 14.464630439999999 meters Centerline goodness [0,1] 0.3108520140857167 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.99996598 -0.00153898 -0.00810337 0.85992943] [ 0.00151195 0.99999328 -0.00334019 0.02066753] [ 0.00810846 0.00332782 0.99996159 -0.18793091] [ 0. 0. 0. 1. ]] SLAMing on 14.49463044 meters Centerline goodness [0,1] 0.3135866623362563 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.99996451 -0.0016159 -0.00826877 0.86033927] [ 0.00158667 0.99999247 -0.00354087 0.02174532] [ 0.00827443 0.00352763 0.99995954 -0.18795643] [ 0. 0. 0. 1. ]] SLAMing on 14.52463044 meters Centerline goodness [0,1] 0.3131137568436604 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.99996417 -0.00167986 -0.00829713 0.86051958] [ 0.0016491 0.99999175 -0.00371313 0.02273489] [ 0.0083033 0.00369931 0.99995868 -0.18817469] [ 0. 0. 0. 1. ]] SLAMing on 14.554630439999999 meters Centerline goodness [0,1] 0.3152171553838474 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.99996291 -0.00184753 -0.00841176 0.86116607] [ 0.00181442 0.99999058 -0.00394214 0.02370447] [ 0.00841897 0.00392673 0.99995685 -0.18874143] [ 0. 0. 0. 1. ]] SLAMing on 14.58463044 meters Centerline goodness [0,1] 0.3113896693321807 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.99996081 -0.00197808 -0.00862965 0.86192444] [ 0.00194284 0.99998975 -0.00408995 0.02406681] [ 0.00863765 0.00407302 0.9999544 -0.18913935] [ 0. 0. 0. 1. ]] SLAMing on 14.61463044 meters Centerline goodness [0,1] 0.31271818299357845 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.99995837 -0.00210541 -0.00887874 0.8627834 ] [ 0.00206792 0.99998892 -0.00422921 0.02433947] [ 0.00888755 0.00421068 0.99995164 -0.18959755] [ 0. 0. 0. 1. ]] SLAMing on 14.644630439999998 meters Centerline goodness [0,1] 0.31329045156243207 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.9999553 -0.00213547 -0.00921091 0.86398275] [ 0.00209628 0.99998872 -0.00426234 0.02491421] [ 0.00921991 0.00424284 0.99994849 -0.19027284] [ 0. 0. 0. 1. ]] SLAMing on 14.67463044 meters Centerline goodness [0,1] 0.30878483882697694 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.19 [[ 0.9999244 -0.00874433 -0.00864505 0.88513301] [ 0.00873174 0.99996076 -0.00149313 0.02785789] [ 0.00865776 0.00141753 0.99996152 -0.19040208] [ 0. 0. 0. 1. ]] SLAMing on 14.704630439999999 meters Centerline goodness [0,1] 0.3125446786387367 Centerline is valid? [False, False] Translation: X:0.87, Y:0.02, Z:-0.19 [[ 9.99966234e-01 -1.79380687e-04 -8.21570645e-03 8.65021595e-01] [ 1.61637841e-04 9.99997654e-01 -2.16023811e-03 2.40876422e-02] [ 8.21607468e-03 2.15883720e-03 9.99963917e-01 -1.91791179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.734630439999998 meters Centerline goodness [0,1] 0.31231627183122945 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 9.99967851e-01 -2.55145632e-04 -8.01449921e-03 8.64570280e-01] [ 2.37858217e-04 9.99997643e-01 -2.15789661e-03 2.37297898e-02] [ 8.01503090e-03 2.15592092e-03 9.99965555e-01 -1.91786327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.76463044 meters Centerline goodness [0,1] 0.3124511761131846 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 9.99970970e-01 -3.66406281e-04 -7.61079369e-03 8.63494260e-01] [ 3.50190737e-04 9.99997666e-01 -2.13182168e-03 2.29732034e-02] [ 7.61155704e-03 2.12909457e-03 9.99968765e-01 -1.91561450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.794630439999999 meters Centerline goodness [0,1] 0.3097988874625588 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.19 [[ 0.99993702 -0.00920351 -0.00642308 0.88310379] [ 0.00919486 0.99995678 -0.00137529 0.02472434] [ 0.00643546 0.00131614 0.99997843 -0.1903966 ] [ 0. 0. 0. 1. ]] SLAMing on 14.82463044 meters Centerline goodness [0,1] 0.312819301936204 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.19 [[ 0.99993575 -0.00976576 -0.00575607 0.88174496] [ 0.00975815 0.99995148 -0.00134806 0.02215123] [ 0.00576895 0.0012918 0.99998253 -0.19067552] [ 0. 0. 0. 1. ]] SLAMing on 14.85463044 meters Centerline goodness [0,1] 0.3115524007634406 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.19 [[ 0.99993606 -0.00975788 -0.00571556 0.88197668] [ 0.00975182 0.99995186 -0.00108729 0.02050423] [ 0.0057259 0.00103148 0.99998307 -0.19120959] [ 0. 0. 0. 1. ]] SLAMing on 14.884630439999999 meters Centerline goodness [0,1] 0.3090059128652849 Centerline is valid? [False, False] Translation: X:0.90, Y:0.01, Z:-0.19 [[ 0.99997124 -0.00312734 -0.00690969 0.89910165] [ 0.00311382 0.99999322 -0.00196635 0.01416509] [ 0.00691579 0.00194478 0.99997419 -0.18943079] [ 0. 0. 0. 1. ]] SLAMing on 14.91463044 meters Centerline goodness [0,1] 0.3102618692782627 Centerline is valid? [False, False] Translation: X:0.90, Y:0.01, Z:-0.19 [[ 0.99997213 -0.00306521 -0.00680787 0.89881528] [ 0.00305275 0.99999365 -0.00184041 0.01368605] [ 0.00681347 0.00181958 0.99997513 -0.18937366] [ 0. 0. 0. 1. ]] SLAMing on 14.94463044 meters Centerline goodness [0,1] 0.31736631629553547 Centerline is valid? [False, False] Translation: X:0.85, Y:0.02, Z:-0.19 [[ 0.99996247 -0.00162965 -0.00850946 0.85153415] [ 0.00161842 0.99999781 -0.00132655 0.01578714] [ 0.0085116 0.00131273 0.99996291 -0.18818875] [ 0. 0. 0. 1. ]] SLAMing on 14.974630439999999 meters Centerline goodness [0,1] 0.3131558575606399 Centerline is valid? [False, False] Translation: X:0.90, Y:0.02, Z:-0.19 [[ 9.99974408e-01 -1.76560538e-03 -6.93301082e-03 8.95487229e-01] [ 1.75873677e-03 9.99997957e-01 -9.96682586e-04 1.51407821e-02] [ 6.93475641e-03 9.84463738e-04 9.99975470e-01 -1.87963330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.00463044 meters Centerline goodness [0,1] 0.31345440427918214 Centerline is valid? [False, False] Translation: X:0.90, Y:0.02, Z:-0.19 [[ 0.99997433 -0.00182325 -0.00692869 0.89569084] [ 0.00181531 0.99999769 -0.00115198 0.01582614] [ 0.00693078 0.00113937 0.99997533 -0.18833437] [ 0. 0. 0. 1. ]] SLAMing on 15.034630439999999 meters Centerline goodness [0,1] 0.3148698724577732 Centerline is valid? [False, False] Translation: X:0.90, Y:0.02, Z:-0.19 [[ 0.9999747 -0.00185505 -0.00686722 0.89566132] [ 0.00184646 0.99999751 -0.0012571 0.01635394] [ 0.00686953 0.00124439 0.99997563 -0.18853182] [ 0. 0. 0. 1. ]] SLAMing on 15.064630439999998 meters Centerline goodness [0,1] 0.3165311303300202 Centerline is valid? [False, False] Translation: X:0.90, Y:0.02, Z:-0.19 [[ 0.99997596 -0.00186616 -0.00667803 0.89516128] [ 0.00185723 0.99999737 -0.0013428 0.01682863] [ 0.00668052 0.00133037 0.9999768 -0.18844194] [ 0. 0. 0. 1. ]] SLAMing on 15.09463044 meters Centerline goodness [0,1] 0.3151309034907598 Centerline is valid? [False, False] Translation: X:0.89, Y:0.02, Z:-0.19 [[ 0.99997754 -0.00188892 -0.00643021 0.89449456] [ 0.00187987 0.99999723 -0.00141316 0.01733592] [ 0.00643286 0.00140104 0.99997833 -0.18834422] [ 0. 0. 0. 1. ]] SLAMing on 15.124630439999999 meters Centerline goodness [0,1] 0.31591195789290527 Centerline is valid? [False, False] Translation: X:0.85, Y:0.02, Z:-0.19 [[ 0.99995427 -0.00242545 -0.00925083 0.85142816] [ 0.00240326 0.99999421 -0.00240903 0.01960886] [ 0.00925662 0.00238668 0.99995431 -0.1890084 ] [ 0. 0. 0. 1. ]] SLAMing on 15.154630439999998 meters Centerline goodness [0,1] 0.3136014167242571 Centerline is valid? [False, False] Translation: X:0.85, Y:0.02, Z:-0.19 [[ 0.99994966 -0.00251712 -0.00971272 0.85298442] [ 0.00249427 0.9999941 -0.00236317 0.01897939] [ 0.00971861 0.00233883 0.99995004 -0.18983622] [ 0. 0. 0. 1. ]] SLAMing on 15.18463044 meters Centerline goodness [0,1] 0.31312629578438145 Centerline is valid? [False, False] Translation: X:0.85, Y:0.02, Z:-0.19 [[ 0.99994441 -0.00256584 -0.01022737 0.85473763] [ 0.00254307 0.99999426 -0.0022387 0.0180789 ] [ 0.01023305 0.00221257 0.99994519 -0.19078514] [ 0. 0. 0. 1. ]] SLAMing on 15.214630439999999 meters Centerline goodness [0,1] 0.31168411529016415 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.99994065 -0.00256686 -0.01058781 0.85598667] [ 0.00254606 0.9999948 -0.00197699 0.01659524] [ 0.01059283 0.00194992 0.99994199 -0.19153851] [ 0. 0. 0. 1. ]] SLAMing on 15.24463044 meters Centerline goodness [0,1] 0.31543987191137657 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.19 [[ 0.9999407 -0.00249402 -0.01060117 0.85621251] [ 0.00247722 0.99999566 -0.00159748 0.01473057] [ 0.01060511 0.00157112 0.99994253 -0.19190965] [ 0. 0. 0. 1. ]] SLAMing on 15.27463044 meters Centerline goodness [0,1] 0.3150160987099423 Centerline is valid? [False, False] Translation: X:0.85, Y:0.01, Z:-0.19 [[ 0.99994664 -0.00281463 -0.00993921 0.85432831] [ 0.0028033 0.9999954 -0.00115425 0.01084134] [ 0.00994242 0.00112632 0.99994994 -0.19143928] [ 0. 0. 0. 1. ]] SLAMing on 15.304630439999999 meters Centerline goodness [0,1] 0.31520286293278144 Centerline is valid? [False, False] Translation: X:0.85, Y:0.01, Z:-0.19 [[ 9.99946561e-01 -2.72368937e-03 -9.97278445e-03 8.54354196e-01] [ 2.71639779e-03 9.99996033e-01 -7.44620413e-04 8.62656916e-03] [ 9.97477300e-03 7.17490571e-04 9.99949993e-01 -1.91368717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.33463044 meters Centerline goodness [0,1] 0.31542158147662736 Centerline is valid? [False, False] Translation: X:0.84, Y:0.00, Z:-0.19 [[ 0.99993369 0.00535038 -0.0101977 0.83500429] [-0.00537138 0.99998351 -0.0020331 0.00321516] [ 0.01018665 0.00208775 0.99994594 -0.19307803] [ 0. 0. 0. 1. ]] SLAMing on 15.36463044 meters Centerline goodness [0,1] 0.3109662659443593 Centerline is valid? [False, False] Translation: X:0.86, Y:0.00, Z:-0.19 [[ 0.99994815 -0.00313955 -0.00968668 0.85511988] [ 0.00312826 0.99999441 -0.0011807 0.00454876] [ 0.00969033 0.00115033 0.99995239 -0.19247526] [ 0. 0. 0. 1. ]] SLAMing on 15.394630439999998 meters Centerline goodness [0,1] 0.3155334511266714 Centerline is valid? [False, False] Translation: X:0.84, Y:0.00, Z:-0.19 [[ 9.99938787e-01 5.15714690e-03 -9.78911819e-03 8.35923821e-01] [-5.18130934e-03 9.99983589e-01 -2.44454154e-03 3.83766709e-04] [ 9.77635068e-03 2.49511235e-03 9.99949097e-01 -1.94588774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.42463044 meters Centerline goodness [0,1] 0.31320876288659794 Centerline is valid? [False, False] Translation: X:0.86, Y:0.00, Z:-0.19 [[ 0.99994225 -0.0027106 -0.01039944 0.85634516] [ 0.0026982 0.99999563 -0.00120633 0.00278167] [ 0.01040266 0.0011782 0.9999452 -0.19339804] [ 0. 0. 0. 1. ]] SLAMing on 15.454630439999999 meters Centerline goodness [0,1] 0.31328499287841516 Centerline is valid? [False, False] Translation: X:0.86, Y:0.00, Z:-0.19 [[ 9.99931921e-01 -2.19927104e-03 -1.14593117e-02 8.59196318e-01] [ 2.19107853e-03 9.99997335e-01 -7.27427465e-04 2.10635463e-03] [ 1.14608810e-02 7.02269691e-04 9.99934075e-01 -1.94023318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.484630439999998 meters Centerline goodness [0,1] 0.3101903695408734 Centerline is valid? [False, False] Translation: X:0.86, Y:0.00, Z:-0.19 [[ 9.99932129e-01 -2.12430778e-03 -1.14553016e-02 8.59197943e-01] [ 2.11549680e-03 9.99997457e-01 -7.81224134e-04 2.63240754e-03] [ 1.14569320e-02 7.56937458e-04 9.99934081e-01 -1.94029186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.51463044 meters Centerline goodness [0,1] 0.3164071804421732 Centerline is valid? [False, False] Translation: X:0.86, Y:0.00, Z:-0.19 [[ 9.99936729e-01 -2.10454158e-03 -1.10503218e-02 8.58046244e-01] [ 2.09459303e-03 9.99997391e-01 -9.11791458e-04 3.38072749e-03] [ 1.10522119e-02 8.88587840e-04 9.99938528e-01 -1.93700581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.544630439999999 meters Centerline goodness [0,1] 0.31312609060944874 Centerline is valid? [False, False] Translation: X:0.86, Y:0.00, Z:-0.19 [[ 0.99994351 -0.00206204 -0.01042672 0.85625197] [ 0.00205106 0.99999733 -0.00106341 0.00433772] [ 0.01042888 0.00104197 0.99994507 -0.19310058] [ 0. 0. 0. 1. ]] SLAMing on 15.57463044 meters Centerline goodness [0,1] 0.3187216583891168 Centerline is valid? [False, False] Translation: X:0.85, Y:0.01, Z:-0.19 [[ 0.99994834 -0.00206966 -0.00995183 0.85479003] [ 0.00205712 0.99999708 -0.00127023 0.00557053] [ 0.00995443 0.00124969 0.99994967 -0.19252789] [ 0. 0. 0. 1. ]] SLAMing on 15.60463044 meters Centerline goodness [0,1] 0.31514724109928627 Centerline is valid? [False, False] Translation: X:0.87, Y:0.00, Z:-0.19 [[ 0.99994054 0.00574622 -0.00926806 0.8738445 ] [-0.00576951 0.99998026 -0.00248887 0.00307183] [ 0.00925357 0.0025422 0.99995395 -0.19093539] [ 0. 0. 0. 1. ]] SLAMing on 15.634630439999999 meters Centerline goodness [0,1] 0.31525709468951957 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.19 [[ 9.99943523e-01 -1.06258742e-03 -1.05746144e-02 8.56933168e-01] [ 1.05244676e-03 9.99998981e-01 -9.64480346e-04 1.22301938e-02] [ 1.05756284e-02 9.53296656e-04 9.99943622e-01 -1.92740136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.66463044 meters Centerline goodness [0,1] 0.3170868710437056 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.19 [[ 0.99994138 -0.00115118 -0.01076634 0.85750595] [ 0.00113719 0.9999985 -0.00130504 0.0141115 ] [ 0.01076783 0.00129272 0.99994119 -0.19293742] [ 0. 0. 0. 1. ]] SLAMing on 15.69463044 meters Centerline goodness [0,1] 0.3172597057489144 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.9999412 -0.00125472 -0.0107709 0.85754359] [ 0.0012373 0.99999792 -0.0016239 0.01574303] [ 0.01077292 0.00161048 0.99994067 -0.19297803] [ 0. 0. 0. 1. ]] SLAMing on 15.724630439999999 meters Centerline goodness [0,1] 0.32067912597180415 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.99994787 -0.00162991 -0.01007944 0.85537879] [ 0.00160618 0.99999592 -0.00236134 0.0186765 ] [ 0.01008325 0.00234503 0.99994641 -0.192067 ] [ 0. 0. 0. 1. ]] SLAMing on 15.75463044 meters Centerline goodness [0,1] 0.31834816691569756 Centerline is valid? [False, False] Translation: X:0.85, Y:0.02, Z:-0.19 [[ 0.99994902 -0.00177801 -0.00993928 0.85478552] [ 0.00175127 0.99999483 -0.00269862 0.02012832] [ 0.00994403 0.00268107 0.99994696 -0.1915978 ] [ 0. 0. 0. 1. ]] SLAMing on 15.784630439999999 meters Centerline goodness [0,1] 0.32269249940402667 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 0.99994765 -0.00188189 -0.0100578 0.85504248] [ 0.00185209 0.99999387 -0.00297188 0.02161226] [ 0.01006334 0.0029531 0.999945 -0.19159071] [ 0. 0. 0. 1. ]] SLAMing on 15.814630439999998 meters Centerline goodness [0,1] 0.31828466530054644 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.19 [[ 9.99913260e-01 -8.06122479e-03 -1.04158010e-02 8.76938517e-01] [ 8.06151426e-03 9.99967505e-01 -1.41933355e-05 2.52138381e-02] [ 1.04155769e-02 -6.97750235e-05 9.99945754e-01 -1.91383833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.84463044 meters Centerline goodness [0,1] 0.32218877660718126 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.19 [[ 9.99938340e-01 6.42307857e-04 -1.10861520e-02 8.58158451e-01] [-6.53379372e-04 9.99999291e-01 -9.95086781e-04 2.42547170e-02] [ 1.10855050e-02 1.00226889e-03 9.99938052e-01 -1.93022433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.874630439999999 meters Centerline goodness [0,1] 0.3218613878466382 Centerline is valid? [False, False] Translation: X:0.86, Y:0.03, Z:-0.19 [[ 9.99937791e-01 5.29441823e-04 -1.11415136e-02 8.58348410e-01] [-5.43960927e-04 9.99999007e-01 -1.30016366e-03 2.59641341e-02] [ 1.11408142e-02 1.30614332e-03 9.99937086e-01 -1.93080334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904630439999998 meters Centerline goodness [0,1] 0.3238578680203046 Centerline is valid? [False, False] Translation: X:0.86, Y:0.03, Z:-0.19 [[ 9.99941757e-01 8.01805921e-05 -1.07924170e-02 8.57359959e-01] [-1.05131607e-04 9.99997323e-01 -2.31135491e-03 3.03946201e-02] [ 1.07922028e-02 2.31235492e-03 9.99939089e-01 -1.92701958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.93463044 meters Centerline goodness [0,1] 0.3222858613810412 Centerline is valid? [False, False] Translation: X:0.86, Y:0.03, Z:-0.19 [[ 9.99942108e-01 -1.60969724e-04 -1.07589114e-02 8.57122256e-01] [ 1.29690389e-04 9.99995764e-01 -2.90792996e-03 3.32335347e-02] [ 1.07593339e-02 2.90636629e-03 9.99937893e-01 -1.92448381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.964630439999999 meters Centerline goodness [0,1] 0.3195973847212663 Centerline is valid? [False, False] Translation: X:0.86, Y:0.04, Z:-0.19 [[ 9.99940155e-01 -3.46561417e-04 -1.09346366e-02 8.57570271e-01] [ 3.08788280e-04 9.99993981e-01 -3.45594745e-03 3.61625700e-02] [ 1.09357685e-02 3.45236414e-03 9.99934243e-01 -1.92490044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.99463044 meters Centerline goodness [0,1] 0.3206643658326144 Centerline is valid? [False, False] Translation: X:0.86, Y:0.04, Z:-0.19 [[ 9.99935948e-01 -5.16296188e-04 -1.13063694e-02 8.58758286e-01] [ 4.70970469e-04 9.99991844e-01 -4.01116161e-03 3.92485838e-02] [ 1.13083481e-02 4.00557972e-03 9.99928036e-01 -1.92951117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.02463044 meters Centerline goodness [0,1] 0.32154071142844853 Centerline is valid? [False, False] Translation: X:0.86, Y:0.04, Z:-0.19 [[ 9.99929408e-01 -7.19991432e-04 -1.18600513e-02 8.60582407e-01] [ 6.65472211e-04 9.99989198e-01 -4.60018413e-03 4.23760811e-02] [ 1.18632353e-02 4.59196686e-03 9.99919085e-01 -1.93745594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.05463044 meters Centerline goodness [0,1] 0.31937858077806147 Centerline is valid? [False, False] Translation: X:0.86, Y:0.05, Z:-0.20 [[ 9.99919933e-01 -9.96852656e-04 -1.26148180e-02 8.63327712e-01] [ 9.28339089e-04 9.99984795e-01 -5.43588808e-03 4.82302982e-02] [ 1.26200450e-02 5.42374202e-03 9.99905654e-01 -1.95017297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084630439999998 meters Centerline goodness [0,1] 0.31533773924984976 Centerline is valid? [False, False] Translation: X:0.86, Y:0.05, Z:-0.20 [[ 0.99992088 -0.00121875 -0.01251974 0.86320982] [ 0.00114432 0.99998164 -0.00595025 0.05069849] [ 0.01252676 0.00593546 0.99990392 -0.19513709] [ 0. 0. 0. 1. ]] SLAMing on 16.11463044 meters Centerline goodness [0,1] 0.3177123510756835 Centerline is valid? [False, False] Translation: X:0.86, Y:0.05, Z:-0.20 [[ 0.99992148 -0.00142351 -0.01245041 0.86309022] [ 0.00134325 0.99997828 -0.00645239 0.05311611] [ 0.01245933 0.00643516 0.99990167 -0.19514203] [ 0. 0. 0. 1. ]] SLAMing on 16.14463044 meters Centerline goodness [0,1] 0.31898652291105123 Centerline is valid? [False, False] Translation: X:0.86, Y:0.06, Z:-0.20 [[ 0.99992098 -0.00163111 -0.01246527 0.86316009] [ 0.00154438 0.99997456 -0.00696378 0.05566319] [ 0.01247632 0.00694398 0.99989806 -0.19516507] [ 0. 0. 0. 1. ]] SLAMing on 16.174630439999998 meters Centerline goodness [0,1] 0.3168648323818517 Centerline is valid? [False, False] Translation: X:0.86, Y:0.06, Z:-0.20 [[ 0.99991863 -0.00179029 -0.01263064 0.86365957] [ 0.00169665 0.99997103 -0.00742008 0.05810536] [ 0.01264356 0.00739805 0.9998927 -0.19528594] [ 0. 0. 0. 1. ]] SLAMing on 16.20463044 meters Centerline goodness [0,1] 0.3168648323818517 Centerline is valid? [False, False] Translation: X:0.86, Y:0.06, Z:-0.20 [[ 0.99991863 -0.00179029 -0.01263064 0.86365957] [ 0.00169665 0.99997103 -0.00742008 0.05810536] [ 0.01264356 0.00739805 0.9998927 -0.19528594] [ 0. 0. 0. 1. ]] SLAMing on 16.23463044 meters Centerline goodness [0,1] 0.32098261299404673 Centerline is valid? [False, False] Translation: X:0.86, Y:0.06, Z:-0.19 [[ 0.99991773 -0.00206043 -0.01266042 0.86340703] [ 0.00195794 0.99996526 -0.00810197 0.06169646] [ 0.01267667 0.00807651 0.99988703 -0.19473122] [ 0. 0. 0. 1. ]] SLAMing on 16.264630439999998 meters Centerline goodness [0,1] 0.32082241223735664 Centerline is valid? [False, False] Translation: X:0.86, Y:0.06, Z:-0.19 [[ 0.99991939 -0.00213606 -0.01251622 0.86292323] [ 0.00203287 0.99996389 -0.00825113 0.06241341] [ 0.01253339 0.00822502 0.99988763 -0.19448701] [ 0. 0. 0. 1. ]] SLAMing on 16.29463044 meters Centerline goodness [0,1] 0.3225820333512641 Centerline is valid? [False, False] Translation: X:0.86, Y:0.06, Z:-0.19 [[ 0.99992113 -0.00218103 -0.01236834 0.86251738] [ 0.00207849 0.99996341 -0.00829772 0.06260968] [ 0.01238598 0.00827136 0.99988908 -0.1944117 ] [ 0. 0. 0. 1. ]] SLAMing on 16.32463044 meters Centerline goodness [0,1] 0.3194606005773125 Centerline is valid? [False, False] Translation: X:0.86, Y:0.06, Z:-0.19 [[ 0.99992313 -0.00214685 -0.01221142 0.86225183] [ 0.00204764 0.99996484 -0.0081316 0.06182352] [ 0.01222844 0.00810597 0.99989237 -0.19460366] [ 0. 0. 0. 1. ]] SLAMing on 16.354630439999998 meters Centerline goodness [0,1] 0.3256876721913675 Centerline is valid? [False, False] Translation: X:0.82, Y:0.06, Z:-0.19 [[ 0.99989331 -0.00188924 -0.01448455 0.81702723] [ 0.00176191 0.99995974 -0.008799 0.06332602] [ 0.01450059 0.00877254 0.99985638 -0.19410489] [ 0. 0. 0. 1. ]] SLAMing on 16.38463044 meters Centerline goodness [0,1] 0.324010029396507 Centerline is valid? [False, False] Translation: X:0.84, Y:0.06, Z:-0.19 [[ 0.99984511 -0.01078544 -0.01390781 0.8372404 ] [ 0.01067761 0.99991254 -0.00780452 0.06431367] [ 0.01399077 0.00765481 0.99987282 -0.19298047] [ 0. 0. 0. 1. ]] SLAMing on 16.41463044 meters Centerline goodness [0,1] 0.32249357326478145 Centerline is valid? [False, False] Translation: X:0.84, Y:0.06, Z:-0.19 [[ 0.99983608 -0.01083983 -0.01450237 0.83874587] [ 0.01073263 0.99991466 -0.00744936 0.06166689] [ 0.01458188 0.00729249 0.99986709 -0.19322371] [ 0. 0. 0. 1. ]] SLAMing on 16.444630439999997 meters Centerline goodness [0,1] 0.321996247331076 Centerline is valid? [False, False] Translation: X:0.82, Y:0.06, Z:-0.20 [[ 0.99988602 -0.00192958 -0.01497435 0.81987234] [ 0.00180566 0.99996405 -0.00828436 0.05749645] [ 0.0149898 0.00825638 0.99985356 -0.19506258] [ 0. 0. 0. 1. ]] SLAMing on 16.47463044 meters Centerline goodness [0,1] 0.3221310943281902 Centerline is valid? [False, False] Translation: X:0.82, Y:0.06, Z:-0.20 [[ 0.99988452 -0.00180655 -0.01508904 0.82019282] [ 0.00168423 0.99996565 -0.00811526 0.05702996] [ 0.01510318 0.00808891 0.99985322 -0.19512848] [ 0. 0. 0. 1. ]] SLAMing on 16.50463044 meters Centerline goodness [0,1] 0.32458336931180387 Centerline is valid? [False, False] Translation: X:0.82, Y:0.06, Z:-0.19 [[ 0.99989056 -0.00177982 -0.01468653 0.81893925] [ 0.00166176 0.99996625 -0.00804637 0.05632423] [ 0.01470036 0.00802108 0.99985977 -0.19464495] [ 0. 0. 0. 1. ]] SLAMing on 16.53463044 meters Centerline goodness [0,1] 0.324879773996679 Centerline is valid? [False, False] Translation: X:0.82, Y:0.06, Z:-0.19 [[ 0.99989395 -0.00175909 -0.01445685 0.81791505] [ 0.00164466 0.99996726 -0.00792323 0.05540777] [ 0.01447031 0.00789862 0.9998641 -0.19394189] [ 0. 0. 0. 1. ]] SLAMing on 16.56463044 meters Centerline goodness [0,1] 0.3268834911486208 Centerline is valid? [False, False] Translation: X:0.82, Y:0.05, Z:-0.19 [[ 0.99989724 -0.00167332 -0.01423726 0.81702264] [ 0.00156411 0.9999693 -0.00767849 0.05412349] [ 0.01424967 0.00765543 0.99986916 -0.19337043] [ 0. 0. 0. 1. ]] SLAMing on 16.59463044 meters Centerline goodness [0,1] 0.32677515113432 Centerline is valid? [False, False] Translation: X:0.82, Y:0.05, Z:-0.19 [[ 0.99990072 -0.00154632 -0.01400598 0.81624751] [ 0.00144407 0.99997225 -0.00730797 0.05226151] [ 0.01401689 0.00728702 0.99987521 -0.19303397] [ 0. 0. 0. 1. ]] SLAMing on 16.62463044 meters Centerline goodness [0,1] 0.3268233927688039 Centerline is valid? [False, False] Translation: X:0.82, Y:0.05, Z:-0.19 [[ 0.99990364 -0.00154374 -0.01379618 0.8158767 ] [ 0.00144791 0.99997478 -0.00695357 0.04981777] [ 0.01380656 0.00693293 0.99988065 -0.19331356] [ 0. 0. 0. 1. ]] SLAMing on 16.65463044 meters Centerline goodness [0,1] 0.323644578313253 Centerline is valid? [False, False] Translation: X:0.82, Y:0.05, Z:-0.19 [[ 0.99990657 -0.001544 -0.01358201 0.81549234] [ 0.00145432 0.99997709 -0.00661032 0.04738991] [ 0.01359191 0.00658995 0.99988591 -0.19353992] [ 0. 0. 0. 1. ]] SLAMing on 16.68463044 meters Centerline goodness [0,1] 0.3252367229312474 Centerline is valid? [False, False] Translation: X:0.82, Y:0.04, Z:-0.19 [[ 0.99990844 -0.00137048 -0.0134622 0.81539679] [ 0.00129203 0.99998215 -0.00583422 0.04321115] [ 0.01346995 0.00581629 0.99989236 -0.19395084] [ 0. 0. 0. 1. ]] SLAMing on 16.71463044 meters Centerline goodness [0,1] 0.32419316742178605 Centerline is valid? [False, False] Translation: X:0.82, Y:0.04, Z:-0.19 [[ 0.99990694 -0.001182 -0.01359073 0.8158279 ] [ 0.00110844 0.99998471 -0.0054185 0.04156481] [ 0.01359693 0.00540293 0.99989296 -0.19415985] [ 0. 0. 0. 1. ]] SLAMing on 16.744630439999998 meters Centerline goodness [0,1] 0.32242050755338725 Centerline is valid? [False, False] Translation: X:0.82, Y:0.04, Z:-0.19 [[ 9.99903636e-01 -9.92641208e-04 -1.38468010e-02 8.16590978e-01] [ 9.22468797e-04 9.99986706e-01 -5.07323726e-03 4.02130424e-02] [ 1.38516529e-02 5.05997514e-03 9.99891258e-01 -1.94413520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.77463044 meters Centerline goodness [0,1] 0.32450805786021464 Centerline is valid? [False, False] Translation: X:0.77, Y:0.04, Z:-0.20 [[ 9.99855149e-01 -1.63887236e-04 -1.70192547e-02 7.74360706e-01] [ 7.18938333e-05 9.99985386e-01 -5.40572564e-03 4.19759272e-02] [ 1.70198919e-02 5.40371903e-03 9.99840549e-01 -1.95078357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.80463044 meters Centerline goodness [0,1] 0.3184198713152776 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:-0.19 [[ 0.99979972 -0.00835664 -0.01818472 0.79556215] [ 0.00827371 0.99995505 -0.00463106 0.04384926] [ 0.0182226 0.00447968 0.99982392 -0.19455389] [ 0. 0. 0. 1. ]] SLAMing on 16.834630439999998 meters Centerline goodness [0,1] 0.3222075704187294 Centerline is valid? [False, False] Translation: X:0.78, Y:0.04, Z:-0.20 [[ 9.99815931e-01 4.34075363e-04 -1.91811209e-02 7.76690204e-01] [-5.42949297e-04 9.99983771e-01 -5.67125554e-03 3.98679387e-02] [ 1.91783479e-02 5.68062602e-03 9.99799941e-01 -1.96646312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.86463044 meters Centerline goodness [0,1] 0.32330892608089257 Centerline is valid? [False, False] Translation: X:0.78, Y:0.04, Z:-0.20 [[ 9.99804133e-01 7.06062273e-04 -1.97786797e-02 7.78345240e-01] [-8.16592380e-04 9.99984094e-01 -5.58082727e-03 4.07556502e-02] [ 1.97744246e-02 5.59588530e-03 9.99788807e-01 -1.97064379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.89463044 meters Centerline goodness [0,1] 0.3203898083156246 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:-0.20 [[ 0.99979634 -0.00514801 -0.01951371 0.80006777] [ 0.00510299 0.9999842 -0.00235642 0.04315552] [ 0.01952553 0.00225636 0.99980681 -0.19681978] [ 0. 0. 0. 1. ]] SLAMing on 16.924630439999998 meters Centerline goodness [0,1] 0.32199349945828815 Centerline is valid? [False, False] Translation: X:0.80, Y:0.05, Z:-0.20 [[ 0.99979469 -0.00519213 -0.0195864 0.80025318] [ 0.00514101 0.99998325 -0.00265931 0.0450125 ] [ 0.01959988 0.00255807 0.99980463 -0.19679388] [ 0. 0. 0. 1. ]] SLAMing on 16.95463044 meters Centerline goodness [0,1] 0.3220951103998616 Centerline is valid? [False, False] Translation: X:0.80, Y:0.05, Z:-0.20 [[ 9.99817465e-01 -2.68544997e-03 -1.89162533e-02 7.97615754e-01] [ 2.66991796e-03 9.99996078e-01 -8.46300449e-04 5.02300915e-02] [ 1.89184518e-02 7.95641125e-04 9.99820713e-01 -1.95537723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.98463044 meters Centerline goodness [0,1] 0.3231392143349414 Centerline is valid? [False, False] Translation: X:0.80, Y:0.05, Z:-0.20 [[ 0.99982055 -0.00279407 -0.01873667 0.79691991] [ 0.00277043 0.99999533 -0.00128795 0.05268128] [ 0.01874018 0.00123581 0.99982362 -0.19505283] [ 0. 0. 0. 1. ]] SLAMing on 17.014630439999998 meters Centerline goodness [0,1] 0.31979227022039103 Centerline is valid? [False, False] Translation: X:0.80, Y:0.05, Z:-0.19 [[ 0.9998215 -0.00291353 -0.01866781 0.7964164 ] [ 0.00288253 0.99999442 -0.00168719 0.05486389] [ 0.01867262 0.00163307 0.99982432 -0.19454086] [ 0. 0. 0. 1. ]] SLAMing on 17.04463044 meters Centerline goodness [0,1] 0.32202694533206666 Centerline is valid? [False, False] Translation: X:0.80, Y:0.06, Z:-0.19 [[ 0.999822 -0.00303339 -0.01862183 0.79605438] [ 0.00299713 0.99999356 -0.00197497 0.05629332] [ 0.01862771 0.00191881 0.99982465 -0.1941413 ] [ 0. 0. 0. 1. ]] SLAMing on 17.07463044 meters Centerline goodness [0,1] 0.32279899974131243 Centerline is valid? [False, False] Translation: X:0.80, Y:0.06, Z:-0.19 [[ 0.99982329 -0.00311859 -0.01853834 0.79579618] [ 0.00308051 0.99999309 -0.00208218 0.0566014 ] [ 0.01854471 0.00202471 0.99982598 -0.19405592] [ 0. 0. 0. 1. ]] SLAMing on 17.104630439999998 meters Centerline goodness [0,1] 0.3197521068771042 Centerline is valid? [False, False] Translation: X:0.80, Y:0.06, Z:-0.19 [[ 0.99982286 -0.0037386 -0.01844647 0.79555349] [ 0.00369534 0.99999034 -0.00237855 0.05590797] [ 0.01845519 0.00230996 0.99982702 -0.19411705] [ 0. 0. 0. 1. ]] SLAMing on 17.13463044 meters Centerline goodness [0,1] 0.32050374375147495 Centerline is valid? [False, False] Translation: X:0.80, Y:0.05, Z:-0.19 [[ 0.99981877 -0.0038647 -0.01864115 0.79617349] [ 0.00382253 0.99999005 -0.0022976 0.05490621] [ 0.01864985 0.00222593 0.9998236 -0.19435233] [ 0. 0. 0. 1. ]] SLAMing on 17.16463044 meters Centerline goodness [0,1] 0.32063026749725176 Centerline is valid? [False, False] Translation: X:0.80, Y:0.05, Z:-0.19 [[ 0.99981536 -0.00386253 -0.01882351 0.79686728] [ 0.00382407 0.99999053 -0.00207864 0.0536235 ] [ 0.01883136 0.00200628 0.99982066 -0.1947664 ] [ 0. 0. 0. 1. ]] SLAMing on 17.194630439999997 meters Centerline goodness [0,1] 0.3207245374373163 Centerline is valid? [False, False] Translation: X:0.80, Y:0.05, Z:-0.20 [[ 0.99981232 -0.00382766 -0.01899121 0.79742275] [ 0.00379405 0.99999117 -0.0018056 0.05217467] [ 0.01899795 0.00173321 0.99981802 -0.1950774 ] [ 0. 0. 0. 1. ]] SLAMing on 17.22463044 meters Centerline goodness [0,1] 0.32424985355058467 Centerline is valid? [False, False] Translation: X:0.80, Y:0.05, Z:-0.20 [[ 0.99981297 -0.00376698 -0.01896924 0.79745322] [ 0.00373796 0.99999179 -0.00156483 0.05099682] [ 0.01897498 0.00149363 0.99981884 -0.19524544] [ 0. 0. 0. 1. ]] SLAMing on 17.25463044 meters Centerline goodness [0,1] 0.32197247508520643 Centerline is valid? [False, False] Translation: X:0.80, Y:0.05, Z:-0.19 [[ 0.99982533 -0.0037777 -0.0183041 0.79537581] [ 0.00375434 0.99999209 -0.00131032 0.04929411] [ 0.01830891 0.00124137 0.99983161 -0.19436782] [ 0. 0. 0. 1. ]] SLAMing on 17.28463044 meters Centerline goodness [0,1] 0.32156165674390713 Centerline is valid? [False, False] Translation: X:0.79, Y:0.05, Z:-0.19 [[ 0.99982824 -0.00377319 -0.01814509 0.79475616] [ 0.00375165 0.99999222 -0.00122097 0.04853881] [ 0.01814956 0.00115269 0.99983462 -0.1939877 ] [ 0. 0. 0. 1. ]] SLAMing on 17.31463044 meters Centerline goodness [0,1] 0.32214095023115485 Centerline is valid? [False, False] Translation: X:0.77, Y:0.04, Z:-0.20 [[ 0.99981844 0.00477723 -0.01844653 0.77473705] [-0.00482316 0.99998538 -0.00244642 0.04498169] [ 0.01843457 0.00253495 0.99982686 -0.19565306] [ 0. 0. 0. 1. ]] SLAMing on 17.34463044 meters Centerline goodness [0,1] 0.3223317338866555 Centerline is valid? [False, False] Translation: X:0.78, Y:0.04, Z:-0.20 [[ 0.99981537 0.00479411 -0.01860745 0.77516759] [-0.00483946 0.99998543 -0.00239302 0.04463639] [ 0.01859571 0.00248263 0.999824 -0.19576727] [ 0. 0. 0. 1. ]] SLAMing on 17.37463044 meters Centerline goodness [0,1] 0.3199572421165152 Centerline is valid? [False, False] Translation: X:0.79, Y:0.05, Z:-0.19 [[ 9.99822114e-01 -3.21246618e-03 -1.85854828e-02 7.94672402e-01] [ 3.19634799e-03 9.99994489e-01 -8.96886675e-04 4.70294913e-02] [ 1.85882616e-02 8.37321461e-04 9.99826873e-01 -1.94203355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.40463044 meters Centerline goodness [0,1] 0.31926794248119494 Centerline is valid? [False, False] Translation: X:0.79, Y:0.05, Z:-0.19 [[ 9.99821418e-01 -3.10222490e-03 -1.86415608e-02 7.94659254e-01] [ 3.08817138e-03 9.99994925e-01 -7.82620491e-04 4.69695267e-02] [ 1.86438940e-02 7.24912395e-04 9.99825925e-01 -1.93959900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.43463044 meters Centerline goodness [0,1] 0.31997606377294774 Centerline is valid? [False, False] Translation: X:0.79, Y:0.05, Z:-0.19 [[ 9.99823310e-01 -2.94868267e-03 -1.85648862e-02 7.94123472e-01] [ 2.93619684e-03 9.99995445e-01 -6.99772436e-04 4.71668771e-02] [ 1.85668651e-02 6.45138633e-04 9.99827413e-01 -1.93346079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.46463044 meters Centerline goodness [0,1] 0.32169296181986917 Centerline is valid? [False, False] Translation: X:0.79, Y:0.05, Z:-0.19 [[ 9.99823764e-01 -2.98044204e-03 -1.85353224e-02 7.94043306e-01] [ 2.96675254e-03 9.99995306e-01 -7.66016614e-04 4.73028827e-02] [ 1.85375185e-02 7.10891900e-04 9.99827913e-01 -1.93324116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.494630439999998 meters Centerline goodness [0,1] 0.3179364772165236 Centerline is valid? [False, False] Translation: X:0.79, Y:0.05, Z:-0.19 [[ 9.99823388e-01 -2.99148537e-03 -1.85537865e-02 7.94280247e-01] [ 2.97792026e-03 9.99995278e-01 -7.58708674e-04 4.69991516e-02] [ 1.85559686e-02 7.03322980e-04 9.99827576e-01 -1.93627547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.52463044 meters Centerline goodness [0,1] 0.31826826505972605 Centerline is valid? [False, False] Translation: X:0.79, Y:0.05, Z:-0.19 [[ 9.99821740e-01 -2.96294100e-03 -1.86469548e-02 7.94799144e-01] [ 2.95062089e-03 9.99995410e-01 -6.88181137e-04 4.65879178e-02] [ 1.86489083e-02 6.33038367e-04 9.99825894e-01 -1.94099803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.55463044 meters Centerline goodness [0,1] 0.31774936501786555 Centerline is valid? [False, False] Translation: X:0.80, Y:0.05, Z:-0.19 [[ 9.99817810e-01 -2.88417802e-03 -1.88687164e-02 7.95653331e-01] [ 2.87463489e-03 9.99995726e-01 -5.32868035e-04 4.59712873e-02] [ 1.88701727e-02 4.78530282e-04 9.99821828e-01 -1.94636412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584630439999998 meters Centerline goodness [0,1] 0.31693811779464887 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:-0.20 [[ 9.99812881e-01 -2.74952449e-03 -1.91479039e-02 7.96630203e-01] [ 2.74486234e-03 9.99996196e-01 -2.69758472e-04 4.49782888e-02] [ 1.91485728e-02 2.17149635e-04 9.99816626e-01 -1.95157208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.61463044 meters Centerline goodness [0,1] 0.31661193036684054 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:-0.20 [[ 9.99801817e-01 -2.54336146e-03 -1.97448339e-02 7.98355634e-01] [ 2.55043476e-03 9.99996692e-01 3.33061887e-04 4.20608834e-02] [ 1.97439215e-02 -3.83353791e-04 9.99804996e-01 -1.95720194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.64463044 meters Centerline goodness [0,1] 0.31863710113574906 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:-0.20 [[ 9.99800482e-01 -2.42024787e-03 -1.98276996e-02 7.98592707e-01] [ 2.43505441e-03 9.99996774e-01 7.22651525e-04 4.00332990e-02] [ 1.98258867e-02 -7.70788871e-04 9.99803151e-01 -1.95836907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.674630439999998 meters Centerline goodness [0,1] 0.31494907647160364 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:-0.20 [[ 0.99980606 -0.00243041 -0.01954329 0.79785052] [ 0.00245623 0.99999614 0.00129744 0.03576819] [ 0.01954006 -0.0013452 0.99980817 -0.19581273] [ 0. 0. 0. 1. ]] SLAMing on 17.70463044 meters Centerline goodness [0,1] 0.31251745997636193 Centerline is valid? [False, False] Translation: X:0.80, Y:0.03, Z:-0.20 [[ 0.99980837 -0.00229025 -0.01944169 0.79749833] [ 0.00232479 0.99999576 0.00175442 0.03325417] [ 0.01943759 -0.00179928 0.99980945 -0.19569167] [ 0. 0. 0. 1. ]] SLAMing on 17.73463044 meters Centerline goodness [0,1] 0.3140675882593974 Centerline is valid? [False, False] Translation: X:0.80, Y:0.03, Z:-0.20 [[ 0.99981316 -0.00213443 -0.01921171 0.79698985] [ 0.00217789 0.99999512 0.00224174 0.03070282] [ 0.01920684 -0.00228316 0.99981292 -0.19576245] [ 0. 0. 0. 1. ]] SLAMing on 17.764630439999998 meters Centerline goodness [0,1] 0.3125490945375029 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.19 [[ 0.99980253 0.00447524 -0.01936165 0.81411913] [-0.0044545 0.99998946 0.00111413 0.0217829 ] [ 0.01936643 -0.00102766 0.99981193 -0.19377277] [ 0. 0. 0. 1. ]] SLAMing on 17.79463044 meters Centerline goodness [0,1] 0.31825145101085295 Centerline is valid? [False, False] Translation: X:0.79, Y:0.03, Z:-0.19 [[ 0.99980627 -0.00322253 -0.01941736 0.79442083] [ 0.00326431 0.99999242 0.00212059 0.02501624] [ 0.01941038 -0.00218357 0.99980922 -0.19495106] [ 0. 0. 0. 1. ]] SLAMing on 17.82463044 meters Centerline goodness [0,1] 0.3140115412046943 Centerline is valid? [False, False] Translation: X:0.79, Y:0.02, Z:-0.19 [[ 0.99980708 -0.00311989 -0.0193927 0.79416293] [ 0.00316567 0.99999227 0.00233065 0.02396286] [ 0.01938528 -0.00239159 0.99980923 -0.19467034] [ 0. 0. 0. 1. ]] SLAMing on 17.854630439999998 meters Centerline goodness [0,1] 0.31386720838233717 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.19 [[ 0.99980968 0.00517654 -0.01880993 0.81325329] [-0.00514642 0.9999854 0.00164912 0.01957819] [ 0.0188182 -0.001552 0.99982172 -0.19220356] [ 0. 0. 0. 1. ]] SLAMing on 17.88463044 meters Centerline goodness [0,1] 0.32183908045977017 Centerline is valid? [False, False] Translation: X:0.79, Y:0.02, Z:-0.19 [[ 9.99822615e-01 -2.93056449e-04 -1.88322125e-02 7.91329694e-01] [ 3.74653490e-04 9.99990558e-01 4.32946215e-03 2.47439318e-02] [ 1.88307659e-02 -4.33574972e-03 9.99813284e-01 -1.92302576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.91463044 meters Centerline goodness [0,1] 0.3161952623327535 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.19 [[ 0.99979525 0.00738297 -0.01884014 0.81119717] [-0.0073236 0.999968 0.00321857 0.02129436] [ 0.0188633 -0.00307993 0.99981733 -0.19108387] [ 0. 0. 0. 1. ]] SLAMing on 17.944630439999997 meters Centerline goodness [0,1] 0.31665338302134716 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.19 [[ 0.99979417 0.00731322 -0.01892441 0.81164341] [-0.00725861 0.9999693 0.00295263 0.02274658] [ 0.01894542 -0.00281466 0.99981656 -0.19146364] [ 0. 0. 0. 1. ]] SLAMing on 17.97463044 meters Centerline goodness [0,1] 0.31314452329395626 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.19 [[ 0.99979913 0.00719695 -0.01870564 0.81098341] [-0.00714981 0.9999711 0.00258539 0.02484176] [ 0.0187237 -0.00245113 0.99982169 -0.19122148] [ 0. 0. 0. 1. ]] SLAMing on 18.00463044 meters Centerline goodness [0,1] 0.31704024343204906 Centerline is valid? [False, False] Translation: X:0.81, Y:0.03, Z:-0.19 [[ 0.99979732 0.00715785 -0.01881708 0.81122399] [-0.00711234 0.99997162 0.00248452 0.02539596] [ 0.01883433 -0.00235018 0.99981986 -0.1911593 ] [ 0. 0. 0. 1. ]] SLAMing on 18.034630439999997 meters Centerline goodness [0,1] 0.31851465571562043 Centerline is valid? [False, False] Translation: X:0.79, Y:0.03, Z:-0.19 [[ 9.99813935e-01 -7.89853581e-04 -1.92736205e-02 7.91856393e-01] [ 8.50269635e-04 9.99994751e-01 3.12665670e-03 3.19005464e-02] [ 1.92710497e-02 -3.14246271e-03 9.99809358e-01 -1.92219758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.06463044 meters Centerline goodness [0,1] 0.3153137643109236 Centerline is valid? [False, False] Translation: X:0.81, Y:0.03, Z:-0.19 [[ 0.99978197 0.00609378 -0.01997196 0.81014012] [-0.00605983 0.99998009 0.00176011 0.02711795] [ 0.01998229 -0.0016387 0.99979899 -0.18999831] [ 0. 0. 0. 1. ]] SLAMing on 18.09463044 meters Centerline goodness [0,1] 0.3153137643109236 Centerline is valid? [False, False] Translation: X:0.81, Y:0.03, Z:-0.19 [[ 0.99978197 0.00609378 -0.01997196 0.81014012] [-0.00605983 0.99998009 0.00176011 0.02711795] [ 0.01998229 -0.0016387 0.99979899 -0.18999831] [ 0. 0. 0. 1. ]] SLAMing on 18.12463044 meters Centerline goodness [0,1] 0.3171341174443152 Centerline is valid? [False, False] Translation: X:0.81, Y:0.03, Z:-0.19 [[ 0.99978085 0.00600413 -0.02005506 0.81024239] [-0.00597278 0.99998085 0.00162244 0.02763452] [ 0.02006441 -0.0015023 0.99979756 -0.18987042] [ 0. 0. 0. 1. ]] SLAMing on 18.15463044 meters Centerline goodness [0,1] 0.3165864917919624 Centerline is valid? [False, False] Translation: X:0.81, Y:0.03, Z:-0.19 [[ 0.99978171 0.00591728 -0.02003782 0.81008066] [-0.00588965 0.99998162 0.0014373 0.02852398] [ 0.02004596 -0.00131897 0.99979819 -0.18966844] [ 0. 0. 0. 1. ]] SLAMing on 18.18463044 meters Centerline goodness [0,1] 0.31350423683363726 Centerline is valid? [False, False] Translation: X:0.81, Y:0.03, Z:-0.19 [[ 9.99786243e-01 5.71641295e-03 -1.98693642e-02 8.09562124e-01] [-5.69948811e-03 9.99983345e-01 9.08330155e-04 3.12189775e-02] [ 1.98742257e-02 -7.94890787e-04 9.99802172e-01 -1.89381044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.21463044 meters Centerline goodness [0,1] 0.31301784061807303 Centerline is valid? [False, False] Translation: X:0.81, Y:0.03, Z:-0.19 [[ 9.99789494e-01 5.53588095e-03 -1.97565411e-02 8.09271002e-01] [-5.52760987e-03 9.99984611e-01 4.73234535e-04 3.31815160e-02] [ 1.97588568e-02 -3.63928465e-04 9.99804708e-01 -1.89326615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.244630439999998 meters Centerline goodness [0,1] 0.31485339920524114 Centerline is valid? [False, False] Translation: X:0.81, Y:0.04, Z:-0.19 [[ 9.99791995e-01 5.37343744e-03 -1.96746904e-02 8.08879638e-01] [-5.37316789e-03 9.99985562e-01 6.65638099e-05 3.51606713e-02] [ 1.96747640e-02 3.91654503e-05 9.99806432e-01 -1.88969618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.27463044 meters Centerline goodness [0,1] 0.3180264751687143 Centerline is valid? [False, False] Translation: X:0.81, Y:0.04, Z:-0.19 [[ 9.99796234e-01 5.26402859e-03 -1.94879509e-02 8.08170056e-01] [-5.27024071e-03 9.99986076e-01 -2.67422787e-04 3.69642574e-02] [ 1.94862719e-02 3.70074487e-04 9.99810056e-01 -1.88542140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.30463044 meters Centerline goodness [0,1] 0.31378468653648506 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.19 [[ 0.99981855 -0.00267466 -0.0188605 0.82670358] [ 0.00269822 0.99999561 0.00122374 0.04177534] [ 0.01885714 -0.00127441 0.99982138 -0.18654477] [ 0. 0. 0. 1. ]] SLAMing on 18.334630439999998 meters Centerline goodness [0,1] 0.3142463215493656 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.19 [[ 9.99814464e-01 -2.80472622e-03 -1.90570281e-02 8.27604596e-01] [ 2.82131168e-03 9.99995664e-01 8.43476905e-04 4.40824863e-02] [ 1.90545797e-02 -8.97086226e-04 9.99818043e-01 -1.87172258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.36463044 meters Centerline goodness [0,1] 0.3120567375886525 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.19 [[ 9.99805968e-01 -2.86027808e-03 -1.94895914e-02 8.29024072e-01] [ 2.87479135e-03 9.99995611e-01 7.16691340e-04 4.48561400e-02] [ 1.94874559e-02 -7.72580788e-04 9.99809803e-01 -1.87787552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.39463044 meters Centerline goodness [0,1] 0.31253915109623065 Centerline is valid? [False, False] Translation: X:0.83, Y:0.05, Z:-0.19 [[ 9.99798373e-01 -2.92845059e-03 -1.98654965e-02 8.30374970e-01] [ 2.94031212e-03 9.99995516e-01 5.67910110e-04 4.55777698e-02] [ 1.98637443e-02 -6.26206364e-04 9.99802500e-01 -1.88510630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424630439999998 meters Centerline goodness [0,1] 0.31169920027517417 Centerline is valid? [False, False] Translation: X:0.83, Y:0.05, Z:-0.19 [[ 9.99789122e-01 -3.02240217e-03 -2.03119829e-02 8.31716430e-01] [ 3.03180079e-03 9.99995311e-01 4.31934627e-04 4.60030929e-02] [ 2.03105821e-02 -4.93425427e-04 9.99793597e-01 -1.88949686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.45463044 meters Centerline goodness [0,1] 0.30697784165254505 Centerline is valid? [False, False] Translation: X:0.83, Y:0.05, Z:-0.19 [[ 9.99783682e-01 -3.07228213e-03 -2.05706135e-02 8.32456062e-01] [ 3.08012348e-03 9.99995195e-01 3.49519415e-04 4.62580874e-02] [ 2.05694408e-02 -4.12803837e-04 9.99788341e-01 -1.89118386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.48463044 meters Centerline goodness [0,1] 0.3119079544963017 Centerline is valid? [False, False] Translation: X:0.83, Y:0.05, Z:-0.19 [[ 9.99786351e-01 -3.05165658e-03 -2.04435681e-02 8.31666013e-01] [ 3.05746417e-03 9.99995294e-01 2.52829435e-04 4.72403490e-02] [ 2.04427003e-02 -3.15280895e-04 9.99790976e-01 -1.88380455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.514630439999998 meters Centerline goodness [0,1] 0.31094597221922193 Centerline is valid? [False, False] Translation: X:0.83, Y:0.05, Z:-0.19 [[ 9.99788682e-01 -3.03007506e-03 -2.03324702e-02 8.31105242e-01] [ 3.03402365e-03 9.99995384e-01 1.63356025e-04 4.81316414e-02] [ 2.03318814e-02 -2.25010700e-04 9.99793261e-01 -1.87882957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.54463044 meters Centerline goodness [0,1] 0.3102370297411301 Centerline is valid? [False, False] Translation: X:0.85, Y:0.04, Z:-0.19 [[ 9.99786453e-01 4.39144007e-03 -2.01931712e-02 8.49619326e-01] [-4.41033914e-03 9.99989877e-01 -8.91475448e-04 4.43204111e-02] [ 2.01890519e-02 9.80343810e-04 9.99795700e-01 -1.86104764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.57463044 meters Centerline goodness [0,1] 0.3077285277058408 Centerline is valid? [False, False] Translation: X:0.85, Y:0.05, Z:-0.19 [[ 0.99978723 0.00431571 -0.02017121 0.84956871] [-0.00433875 0.99998998 -0.0010986 0.04532912] [ 0.02016627 0.00118588 0.99979594 -0.18609953] [ 0. 0. 0. 1. ]] SLAMing on 18.604630439999998 meters Centerline goodness [0,1] 0.30849897926292036 Centerline is valid? [False, False] Translation: X:0.85, Y:0.05, Z:-0.19 [[ 0.99978672 0.00424579 -0.02021095 0.84969654] [-0.00427306 0.99999002 -0.00130608 0.0463316 ] [ 0.0202052 0.00139217 0.99979488 -0.18615008] [ 0. 0. 0. 1. ]] SLAMing on 18.63463044 meters Centerline goodness [0,1] 0.31152366832119294 Centerline is valid? [False, False] Translation: X:0.85, Y:0.05, Z:-0.19 [[ 0.99979339 0.00428932 -0.01986885 0.84823834] [-0.00431975 0.99998956 -0.00148917 0.04764872] [ 0.01986225 0.00157469 0.99980149 -0.18511593] [ 0. 0. 0. 1. ]] SLAMing on 18.66463044 meters Centerline goodness [0,1] 0.3128326050274737 Centerline is valid? [False, False] Translation: X:0.85, Y:0.05, Z:-0.18 [[ 0.9997992 0.0042869 -0.0195748 0.8471313 ] [-0.00431927 0.99998937 -0.00161166 0.04837313] [ 0.01956768 0.00169589 0.9998071 -0.1844653 ] [ 0. 0. 0. 1. ]] SLAMing on 18.694630439999997 meters Centerline goodness [0,1] 0.31341549977414984 Centerline is valid? [False, False] Translation: X:0.85, Y:0.05, Z:-0.18 [[ 0.99980381 0.00424193 -0.01934807 0.84617926] [-0.00427683 0.9999893 -0.00176267 0.04906051] [ 0.01934039 0.00184507 0.99981125 -0.18382318] [ 0. 0. 0. 1. ]] SLAMing on 18.72463044 meters Centerline goodness [0,1] 0.3175369886858137 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:-0.19 [[ 9.99851924e-01 -2.13605053e-03 -1.70753299e-02 8.27507732e-01] [ 2.12282555e-03 9.99997433e-01 -7.92596355e-04 5.52823692e-02] [ 1.70769791e-02 7.56231044e-04 9.99853892e-01 -1.86029175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.75463044 meters Centerline goodness [0,1] 0.3135214809034551 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:-0.19 [[ 9.99856407e-01 -2.10992485e-03 -1.68141053e-02 8.26726037e-01] [ 2.09504269e-03 9.99997398e-01 -9.02664746e-04 5.60259484e-02] [ 1.68159661e-02 8.67308861e-04 9.99858225e-01 -1.85700063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784630439999997 meters Centerline goodness [0,1] 0.31527676228979395 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:-0.19 [[ 9.99859413e-01 -2.09066633e-03 -1.66368194e-02 8.26045057e-01] [ 2.07451488e-03 9.99997360e-01 -9.88024440e-04 5.66006559e-02] [ 1.66388411e-02 9.53372207e-04 9.99861110e-01 -1.85293615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.81463044 meters Centerline goodness [0,1] 0.31239301609038006 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:-0.18 [[ 0.99986108 -0.00214811 -0.01652888 0.82540312] [ 0.00212775 0.99999696 -0.00124907 0.05746293] [ 0.01653151 0.00121372 0.99986261 -0.18472953] [ 0. 0. 0. 1. ]] SLAMing on 18.84463044 meters Centerline goodness [0,1] 0.31574521304122827 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:-0.18 [[ 0.99985996 -0.00215262 -0.01659605 0.82554193] [ 0.00213094 0.99999685 -0.00132351 0.05780548] [ 0.01659885 0.00128796 0.9998614 -0.1847072 ] [ 0. 0. 0. 1. ]] SLAMing on 18.87463044 meters Centerline goodness [0,1] 0.3134325158634883 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:-0.18 [[ 0.99985943 -0.00209401 -0.01663547 0.82562732] [ 0.00207198 0.99999695 -0.00134176 0.05814425] [ 0.01663822 0.00130711 0.99986072 -0.18470748] [ 0. 0. 0. 1. ]] SLAMing on 18.90463044 meters Centerline goodness [0,1] 0.3145749941134919 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:-0.18 [[ 0.99986155 -0.00201094 -0.01651754 0.82529199] [ 0.00198885 0.99999711 -0.00135388 0.05867448] [ 0.01652022 0.00132084 0.99986266 -0.18464574] [ 0. 0. 0. 1. ]] SLAMing on 18.93463044 meters Centerline goodness [0,1] 0.3155641190323272 Centerline is valid? [False, False] Translation: X:0.82, Y:0.06, Z:-0.18 [[ 0.99986513 -0.0018694 -0.01631622 0.82460698] [ 0.00184808 0.99999742 -0.00132176 0.05912718] [ 0.01631865 0.00129143 0.99986601 -0.18427097] [ 0. 0. 0. 1. ]] SLAMing on 18.96463044 meters Centerline goodness [0,1] 0.3144712032910525 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:-0.18 [[ 0.99986205 -0.00145039 -0.01654646 0.82500297] [ 0.00142734 0.99999799 -0.00140511 0.06103385] [ 0.01654846 0.0013813 0.99986211 -0.18402764] [ 0. 0. 0. 1. ]] SLAMing on 18.994630439999998 meters Centerline goodness [0,1] 0.3155216831258051 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:-0.18 [[ 0.99985402 -0.00131988 -0.01703495 0.82632412] [ 0.00129394 0.99999799 -0.00153355 0.06228196] [ 0.01703694 0.00151129 0.99985372 -0.18434466] [ 0. 0. 0. 1. ]] SLAMing on 19.02463044 meters Centerline goodness [0,1] 0.3167812690399513 Centerline is valid? [False, False] Translation: X:0.81, Y:0.06, Z:-0.19 [[ 0.99980426 0.00770562 -0.0182229 0.80657796] [-0.00775224 0.99996685 -0.00248872 0.06052291] [ 0.01820312 0.0026295 0.99983085 -0.18597607] [ 0. 0. 0. 1. ]] SLAMing on 19.05463044 meters Centerline goodness [0,1] 0.31255766053766443 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:-0.19 [[ 9.99827204e-01 1.40064903e-03 -1.85364544e-02 8.29114983e-01] [-1.40043387e-03 9.99999019e-01 2.45883443e-05 6.28701515e-02] [ 1.85364707e-02 1.37498298e-06 9.99828185e-01 -1.86464842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084630439999998 meters Centerline goodness [0,1] 0.31487948950114264 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:-0.19 [[ 9.99827656e-01 1.63971129e-03 -1.84924314e-02 8.29157276e-01] [-1.63677030e-03 9.99998645e-01 1.74171705e-04 6.26085426e-02] [ 1.84926920e-02 -1.43873825e-04 9.99828985e-01 -1.86747991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.11463044 meters Centerline goodness [0,1] 0.3147591988419074 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:-0.19 [[ 9.99825010e-01 1.74215612e-03 -1.86256143e-02 8.29550362e-01] [-1.73555984e-03 9.99998425e-01 3.70309465e-04 6.17571628e-02] [ 1.86262301e-02 -3.37918797e-04 9.99826460e-01 -1.86921735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.14463044 meters Centerline goodness [0,1] 0.31236978327641385 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:-0.19 [[ 9.99819645e-01 1.90846240e-03 -1.88953822e-02 8.30181460e-01] [-1.89720752e-03 9.99998012e-01 6.13550022e-04 6.09120561e-02] [ 1.88965156e-02 -5.77590904e-04 9.99821278e-01 -1.86955359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.174630439999998 meters Centerline goodness [0,1] 0.31174894095271033 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:-0.19 [[ 9.99816173e-01 2.00168010e-03 -1.90686754e-02 8.30563574e-01] [-1.98763407e-03 9.99997739e-01 7.55526082e-04 6.03927811e-02] [ 1.90701446e-02 -7.17485646e-04 9.99817891e-01 -1.86922712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.20463044 meters Centerline goodness [0,1] 0.31237522807770746 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:-0.19 [[ 9.99813621e-01 2.05087980e-03 -1.91967783e-02 8.30696030e-01] [-2.03484586e-03 9.99997564e-01 8.54737156e-04 5.98163465e-02] [ 1.91984845e-02 -8.15515367e-04 9.99815360e-01 -1.86707807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.23463044 meters Centerline goodness [0,1] 0.3093254905328239 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:-0.19 [[ 9.99813086e-01 2.04001177e-03 -1.92258053e-02 8.30573876e-01] [-2.02427378e-03 9.99997600e-01 8.38011809e-04 5.97326458e-02] [ 1.92274688e-02 -7.98936879e-04 9.99814816e-01 -1.86451952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264630439999998 meters Centerline goodness [0,1] 0.3106796116504854 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:-0.19 [[ 0.99980714 0.00221168 -0.01951366 0.83168352] [-0.00218886 0.9999969 0.00119067 0.05819439] [ 0.01951623 -0.00114772 0.99980888 -0.1871742 ] [ 0. 0. 0. 1. ]] SLAMing on 19.29463044 meters Centerline goodness [0,1] 0.31254041470879856 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:-0.19 [[ 0.99980275 0.00231965 -0.01972487 0.83283868] [-0.0022908 0.99999627 0.00148497 0.0567692 ] [ 0.01972824 -0.00143949 0.99980434 -0.18818065] [ 0. 0. 0. 1. ]] SLAMing on 19.32463044 meters Centerline goodness [0,1] 0.30831980866148456 Centerline is valid? [False, False] Translation: X:0.83, Y:0.05, Z:-0.19 [[ 0.99979539 0.00240893 -0.02008444 0.83416435] [-0.00237245 0.99999549 0.00184016 0.05472784] [ 0.02008878 -0.00179213 0.99979659 -0.18895433] [ 0. 0. 0. 1. ]] SLAMing on 19.354630439999998 meters Centerline goodness [0,1] 0.3101960194946003 Centerline is valid? [False, False] Translation: X:0.83, Y:0.05, Z:-0.19 [[ 0.99979529 0.00247466 -0.02008143 0.83412313] [-0.00243079 0.99999461 0.00220862 0.05240601] [ 0.02008679 -0.00215935 0.99979591 -0.18892595] [ 0. 0. 0. 1. ]] SLAMing on 19.38463044 meters Centerline goodness [0,1] 0.3101190604809957 Centerline is valid? [False, False] Translation: X:0.83, Y:0.05, Z:-0.19 [[ 0.99979842 0.00256995 -0.01991254 0.83312165] [-0.00251814 0.99999338 0.00262639 0.04993055] [ 0.01991916 -0.00257571 0.99979828 -0.18801923] [ 0. 0. 0. 1. ]] SLAMing on 19.41463044 meters Centerline goodness [0,1] 0.31128794828579354 Centerline is valid? [False, False] Translation: X:0.85, Y:0.05, Z:-0.19 [[ 0.99981885 -0.00573733 -0.01814816 0.85202322] [ 0.00581008 0.99997529 0.00395863 0.0500256 ] [ 0.018125 -0.00406335 0.99982747 -0.18614223] [ 0. 0. 0. 1. ]] SLAMing on 19.444630439999997 meters Centerline goodness [0,1] 0.3138016313779938 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.19 [[ 9.99891120e-01 8.17819511e-04 -1.47336083e-02 8.26702124e-01] [-7.78328899e-04 9.99996090e-01 2.68584299e-03 4.19584114e-02] [ 1.47357473e-02 -2.67408296e-03 9.99887847e-01 -1.85638927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.47463044 meters Centerline goodness [0,1] 0.3127611008226022 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.19 [[ 9.99893821e-01 8.95272960e-04 -1.45445862e-02 8.26501370e-01] [-8.53481545e-04 9.99995491e-01 2.87928435e-03 4.08835404e-02] [ 1.45470984e-02 -2.86656510e-03 9.99890076e-01 -1.86012069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.50463044 meters Centerline goodness [0,1] 0.31456091634849015 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.19 [[ 9.99896908e-01 9.61631406e-04 -1.43264744e-02 8.26312630e-01] [-9.19146803e-04 9.99995162e-01 2.97175052e-03 4.04590639e-02] [ 1.43292628e-02 -2.95827602e-03 9.99892955e-01 -1.86526818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.534630439999997 meters Centerline goodness [0,1] 0.31302439654059633 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.19 [[ 0.99989797 0.00110056 -0.01424234 0.82623916] [-0.00105798 0.99999495 0.0029968 0.04082606] [ 0.01424557 -0.00298142 0.99989408 -0.18672833] [ 0. 0. 0. 1. ]] SLAMing on 19.56463044 meters Centerline goodness [0,1] 0.31314856728018103 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.19 [[ 0.9999009 0.00186524 -0.01395354 0.82511924] [-0.00181987 0.99999302 0.0032633 0.04196251] [ 0.01395953 -0.00323758 0.99989732 -0.18604543] [ 0. 0. 0. 1. ]] SLAMing on 19.59463044 meters Centerline goodness [0,1] 0.31238779174147213 Centerline is valid? [False, False] Translation: X:0.78, Y:0.04, Z:-0.19 [[ 0.99986214 0.00317068 -0.0162985 0.78024629] [-0.00311952 0.99999013 0.00316342 0.04298364] [ 0.01630837 -0.00311214 0.99986217 -0.18546826] [ 0. 0. 0. 1. ]] SLAMing on 19.62463044 meters Centerline goodness [0,1] 0.3117413255988828 Centerline is valid? [False, False] Translation: X:0.78, Y:0.04, Z:-0.19 [[ 0.99985693 0.00318976 -0.01661141 0.78100716] [-0.00314082 0.99999065 0.00297129 0.04395088] [ 0.01662073 -0.00291869 0.99985761 -0.18562113] [ 0. 0. 0. 1. ]] SLAMing on 19.65463044 meters Centerline goodness [0,1] 0.31132258691007964 Centerline is valid? [False, False] Translation: X:0.78, Y:0.04, Z:-0.19 [[ 0.99985298 0.0032177 -0.01684253 0.78161554] [-0.00316951 0.99999081 0.00288721 0.04436224] [ 0.01685167 -0.0028334 0.99985399 -0.18581361] [ 0. 0. 0. 1. ]] SLAMing on 19.68463044 meters Centerline goodness [0,1] 0.31457861228013384 Centerline is valid? [False, False] Translation: X:0.78, Y:0.04, Z:-0.19 [[ 0.99985374 0.00325752 -0.01678957 0.78138249] [-0.00320856 0.99999052 0.00294216 0.04400659] [ 0.01679899 -0.00288785 0.99985472 -0.18571278] [ 0. 0. 0. 1. ]] SLAMing on 19.71463044 meters Centerline goodness [0,1] 0.3113672393847209 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:-0.18 [[ 0.99988241 -0.00466994 -0.01460652 0.79907208] [ 0.00473959 0.99997755 0.00473747 0.04435993] [ 0.01458406 -0.00480614 0.9998821 -0.18403115] [ 0. 0. 0. 1. ]] SLAMing on 19.744630439999998 meters Centerline goodness [0,1] 0.3130931837791199 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:-0.18 [[ 0.9998865 -0.00454595 -0.01436396 0.79851971] [ 0.00461991 0.99997622 0.00512023 0.04242157] [ 0.01434034 -0.00518601 0.99988372 -0.18401823] [ 0. 0. 0. 1. ]] SLAMing on 19.77463044 meters Centerline goodness [0,1] 0.3130653048859653 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:-0.18 [[ 0.99988499 -0.00440842 -0.01451118 0.79918673] [ 0.00448888 0.99997471 0.0055167 0.04036871] [ 0.01448649 -0.0055812 0.99987949 -0.18448417] [ 0. 0. 0. 1. ]] SLAMing on 19.80463044 meters Centerline goodness [0,1] 0.31199689233226147 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:-0.19 [[ 0.99987955 -0.00424094 -0.01492971 0.8006091 ] [ 0.00432991 0.99997303 0.00593201 0.0383572 ] [ 0.01490415 -0.00599594 0.99987095 -0.18516954] [ 0. 0. 0. 1. ]] SLAMing on 19.834630439999998 meters Centerline goodness [0,1] 0.3104870764669231 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:-0.19 [[ 0.99987474 -0.00401951 -0.0153085 0.80192289] [ 0.00411717 0.99997134 0.00635367 0.03653699] [ 0.01528252 -0.0064159 0.99986263 -0.18581453] [ 0. 0. 0. 1. ]] SLAMing on 19.86463044 meters Centerline goodness [0,1] 0.3094557720817309 Centerline is valid? [False, False] Translation: X:0.80, Y:0.03, Z:-0.19 [[ 0.99987128 -0.00383919 -0.015578 0.80269773] [ 0.00394426 0.99996964 0.00671994 0.03496238] [ 0.01555173 -0.00678052 0.99985607 -0.18598981] [ 0. 0. 0. 1. ]] SLAMing on 19.89463044 meters Centerline goodness [0,1] 0.30756874839372916 Centerline is valid? [False, False] Translation: X:0.80, Y:0.03, Z:-0.19 [[ 0.99987327 -0.00359145 -0.01550955 0.80265579] [ 0.00370434 0.99996681 0.00725619 0.03204626] [ 0.01548297 -0.00731272 0.99985339 -0.18616704] [ 0. 0. 0. 1. ]] SLAMing on 19.924630439999998 meters Centerline goodness [0,1] 0.31032401319335157 Centerline is valid? [False, False] Translation: X:0.80, Y:0.03, Z:-0.19 [[ 0.99987297 -0.00348209 -0.01555344 0.80296732] [ 0.00359895 0.99996546 0.00749192 0.0308579 ] [ 0.01552682 -0.00754694 0.99985097 -0.18648652] [ 0. 0. 0. 1. ]] SLAMing on 19.95463044 meters Centerline goodness [0,1] 0.3100434792013671 Centerline is valid? [False, False] Translation: X:0.80, Y:0.03, Z:-0.19 [[ 0.99987051 -0.00334306 -0.01574122 0.80360771] [ 0.00346445 0.99996443 0.00769004 0.03019709] [ 0.01571495 -0.00774357 0.99984653 -0.18684752] [ 0. 0. 0. 1. ]] SLAMing on 19.98463044 meters Centerline goodness [0,1] 0.31073751539641725 Centerline is valid? [False, False] Translation: X:0.80, Y:0.03, Z:-0.19 [[ 0.99986675 -0.0032123 -0.01600516 0.80444688] [ 0.00333799 0.99996376 0.00783216 0.02988013] [ 0.01597942 -0.00788454 0.99984123 -0.18720474] [ 0. 0. 0. 1. ]] SLAMing on 20.014630439999998 meters Centerline goodness [0,1] 0.31073751539641725 Centerline is valid? [False, False] Translation: X:0.80, Y:0.03, Z:-0.19 [[ 0.99986675 -0.0032123 -0.01600516 0.80444688] [ 0.00333799 0.99996376 0.00783216 0.02988013] [ 0.01597942 -0.00788454 0.99984123 -0.18720474] [ 0. 0. 0. 1. ]] SLAMing on 20.04463044 meters Centerline goodness [0,1] 0.3095950398890045 Centerline is valid? [False, False] Translation: X:0.81, Y:0.03, Z:-0.19 [[ 0.99986407 -0.00317246 -0.01617939 0.80502804] [ 0.00329873 0.99996427 0.00778333 0.03027471] [ 0.01615412 -0.00783564 0.99983881 -0.18753587] [ 0. 0. 0. 1. ]] SLAMing on 20.07463044 meters Centerline goodness [0,1] 0.30536551783486077 Centerline is valid? [False, False] Translation: X:0.82, Y:0.03, Z:-0.19 [[ 0.99985382 0.00461656 -0.01646287 0.82475001] [-0.00451134 0.9999692 0.00642275 0.02764053] [ 0.01649202 -0.00634754 0.99984385 -0.1857435 ] [ 0. 0. 0. 1. ]] SLAMing on 20.104630439999998 meters Centerline goodness [0,1] 0.31053648581167637 Centerline is valid? [False, False] Translation: X:0.82, Y:0.03, Z:-0.19 [[ 0.99986182 0.00473217 -0.01593551 0.82306773] [-0.00463391 0.99997006 0.00619735 0.02905496] [ 0.01596436 -0.00612265 0.99985382 -0.18515965] [ 0. 0. 0. 1. ]] SLAMing on 20.13463044 meters Centerline goodness [0,1] 0.30986220643036655 Centerline is valid? [False, False] Translation: X:0.82, Y:0.03, Z:-0.18 [[ 0.99986604 0.00477766 -0.01565485 0.82224875] [-0.00468155 0.99997 0.00617045 0.02943996] [ 0.01568386 -0.00609633 0.99985842 -0.18493448] [ 0. 0. 0. 1. ]] SLAMing on 20.16463044 meters Centerline goodness [0,1] 0.3099406400550585 Centerline is valid? [False, False] Translation: X:0.82, Y:0.03, Z:-0.18 [[ 0.99986894 0.00482392 -0.01545394 0.82172789] [-0.00472849 0.99996956 0.0062058 0.0294005 ] [ 0.01548341 -0.00613191 0.99986132 -0.1848684 ] [ 0. 0. 0. 1. ]] SLAMing on 20.194630439999997 meters Centerline goodness [0,1] 0.3062513426423201 Centerline is valid? [False, False] Translation: X:0.82, Y:0.03, Z:-0.18 [[ 0.99987119 0.00482954 -0.01530597 0.8212897 ] [-0.00473349 0.99996892 0.0063055 0.02856852] [ 0.01533594 -0.00623223 0.99986297 -0.18474848] [ 0. 0. 0. 1. ]] SLAMing on 20.22463044 meters Centerline goodness [0,1] 0.3114902807775378 Centerline is valid? [False, False] Translation: X:0.82, Y:0.02, Z:-0.18 [[ 0.99989236 0.00253049 -0.01445186 0.81701914] [-0.00246366 0.9999862 0.00463993 0.02360112] [ 0.0144634 -0.00460383 0.9998848 -0.18210786] [ 0. 0. 0. 1. ]] SLAMing on 20.25463044 meters Centerline goodness [0,1] 0.30707721176194636 Centerline is valid? [False, False] Translation: X:0.84, Y:0.02, Z:-0.18 [[ 0.99989244 -0.00557208 -0.01356708 0.83613344] [ 0.00565666 0.99996476 0.00620377 0.02474578] [ 0.01353203 -0.00627985 0.99988872 -0.18030447] [ 0. 0. 0. 1. ]] SLAMing on 20.284630439999997 meters Centerline goodness [0,1] 0.3117320133732795 Centerline is valid? [False, False] Translation: X:0.82, Y:0.02, Z:-0.18 [[ 0.99991739 0.00207676 -0.01268459 0.81699909] [-0.00200657 0.99998262 0.00554412 0.01568699] [ 0.01269588 -0.00551821 0.99990418 -0.18183925] [ 0. 0. 0. 1. ]] SLAMing on 20.31463044 meters Centerline goodness [0,1] 0.31241939644054684 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.18 [[ 0.99991456 0.00211372 -0.01289972 0.81777434] [-0.00203797 0.99998062 0.00588283 0.01353277] [ 0.01291191 -0.00585604 0.99989949 -0.18217731] [ 0. 0. 0. 1. ]] SLAMing on 20.34463044 meters Centerline goodness [0,1] 0.31350732402886405 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.18 [[ 0.99991193 0.00212391 -0.0131005 0.81871611] [-0.00204383 0.99997916 0.00612327 0.01160566] [ 0.01311323 -0.00609595 0.99989544 -0.18286546] [ 0. 0. 0. 1. ]] SLAMing on 20.37463044 meters Centerline goodness [0,1] 0.3107863424728401 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.18 [[ 0.99990928 0.00231464 -0.01326958 0.81926489] [-0.00222755 0.99997591 0.0065746 0.00931866] [ 0.01328448 -0.00654445 0.99989034 -0.18309864] [ 0. 0. 0. 1. ]] SLAMing on 20.40463044 meters Centerline goodness [0,1] 0.31249729729729725 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.18 [[ 0.99990906 0.0024696 -0.01325771 0.81903965] [-0.00238007 0.99997429 0.00676476 0.00894634] [ 0.01327407 -0.00673259 0.99988923 -0.18280964] [ 0. 0. 0. 1. ]] SLAMing on 20.43463044 meters Centerline goodness [0,1] 0.3083881225559709 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.18 [[ 0.9999085 0.00262472 -0.01327025 0.81899349] [-0.00253348 0.99997307 0.00688819 0.00879439] [ 0.01328797 -0.00685394 0.99988822 -0.1826743 ] [ 0. 0. 0. 1. ]] SLAMing on 20.46463044 meters Centerline goodness [0,1] 0.3113749190589251 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.18 [[ 0.99990804 0.00262994 -0.01330392 0.81890121] [-0.00253856 0.9999731 0.00688132 0.0086499 ] [ 0.01332166 -0.00684691 0.99988782 -0.18241562] [ 0. 0. 0. 1. ]] SLAMing on 20.494630439999998 meters Centerline goodness [0,1] 0.3112391930835735 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.18 [[ 0.99990837 0.00260587 -0.01328354 0.81880031] [-0.00251488 0.99997329 0.00686228 0.0083111 ] [ 0.01330107 -0.00682825 0.99988822 -0.18240811] [ 0. 0. 0. 1. ]] SLAMing on 20.52463044 meters Centerline goodness [0,1] 0.31316842013737933 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.18 [[ 0.99990863 0.00277459 -0.01323015 0.81874216] [-0.00268224 0.99997195 0.00699284 0.00807807] [ 0.01324918 -0.00695671 0.99988803 -0.18258855] [ 0. 0. 0. 1. ]] SLAMing on 20.55463044 meters Centerline goodness [0,1] 0.3097621353998493 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.18 [[ 0.99990793 0.00281219 -0.01327501 0.81897271] [-0.00271907 0.99997161 0.00702808 0.00798669] [ 0.01329439 -0.00699133 0.99988718 -0.1827952 ] [ 0. 0. 0. 1. ]] SLAMing on 20.584630439999998 meters Centerline goodness [0,1] 0.3107873742629206 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.18 [[ 0.99990779 0.00278411 -0.01329132 0.81912182] [-0.00269059 0.99997154 0.00704907 0.00753671] [ 0.01331057 -0.00701266 0.99988682 -0.18302743] [ 0. 0. 0. 1. ]] SLAMing on 20.61463044 meters Centerline goodness [0,1] 0.30812372899496954 Centerline is valid? [False, False] Translation: X:0.84, Y:0.00, Z:-0.18 [[ 0.99986968 0.00866005 -0.01362412 0.84080952] [-0.00859982 0.99995301 0.0044737 0.00438081] [ 0.01366222 -0.00435595 0.99989718 -0.18258496] [ 0. 0. 0. 1. ]] SLAMing on 20.64463044 meters Centerline goodness [0,1] 0.3090603012906289 Centerline is valid? [False, False] Translation: X:0.82, Y:0.00, Z:-0.18 [[ 9.99894402e-01 4.66185913e-04 -1.45247546e-02 8.21533984e-01] [-3.79787901e-04 9.99982223e-01 5.95051909e-03 4.88201275e-03] [ 1.45272705e-02 -5.94437440e-03 9.99876804e-01 -1.84248961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.674630439999998 meters Centerline goodness [0,1] 0.3121325033922764 Centerline is valid? [False, False] Translation: X:0.82, Y:0.00, Z:-0.18 [[ 9.99886487e-01 4.19954261e-04 -1.50611094e-02 8.23012303e-01] [-3.20744721e-04 9.99978241e-01 6.58894434e-03 7.96055242e-04] [ 1.50635487e-02 -6.58336564e-03 9.99864865e-01 -1.84431618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.70463044 meters Centerline goodness [0,1] 0.3124580582314104 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.00, Z:-0.18 [[ 9.99883045e-01 3.82987103e-04 -1.52888513e-02 8.23515395e-01] [-2.78386813e-04 9.99976547e-01 6.84314767e-03 -1.27790604e-03] [ 1.52911135e-02 -6.83809112e-03 9.99859701e-01 -1.84319673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.73463044 meters Centerline goodness [0,1] 0.30940387129965063 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.00, Z:-0.18 [[ 0.99986494 0.00558669 -0.01545589 0.84493258] [-0.00553281 0.99997847 0.00352679 -0.00498054] [ 0.01547526 -0.0034408 0.99987433 -0.18358037] [ 0. 0. 0. 1. ]] SLAMing on 20.764630439999998 meters Centerline goodness [0,1] 0.30947850071628646 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.01, Z:-0.18 [[ 0.99986371 0.00569629 -0.01549563 0.84511707] [-0.00563661 0.99997654 0.00389244 -0.00697671] [ 0.01551744 -0.00380457 0.99987236 -0.18370681] [ 0. 0. 0. 1. ]] SLAMing on 20.79463044 meters Centerline goodness [0,1] 0.31230494393146946 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.01, Z:-0.18 [[ 0.999863 0.0058666 -0.01547809 0.84525282] [-0.00580076 0.99997395 0.00429516 -0.00874805] [ 0.01550289 -0.00420479 0.99987098 -0.18394347] [ 0. 0. 0. 1. ]] SLAMing on 20.82463044 meters Centerline goodness [0,1] 0.31115158007498656 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.01, Z:-0.18 [[ 0.99986187 0.00600618 -0.01549742 0.84549595] [-0.00593547 0.99997178 0.00460452 -0.01014463] [ 0.01552463 -0.0045119 0.99986931 -0.18422059] [ 0. 0. 0. 1. ]] SLAMing on 20.854630439999998 meters Centerline goodness [0,1] 0.31092689631474957 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.01, Z:-0.18 [[ 0.99987269 0.00313587 -0.01564493 0.84587825] [-0.00310702 0.99999343 0.00186828 -0.0126679 ] [ 0.01565069 -0.00181944 0.99987587 -0.18433822] [ 0. 0. 0. 1. ]] SLAMing on 20.88463044 meters Centerline goodness [0,1] 0.31396254163242354 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.01, Z:-0.18 [[ 0.99987133 0.00317256 -0.01572446 0.84588188] [-0.00314184 0.99999311 0.00197797 -0.01346287] [ 0.01573063 -0.00192831 0.99987441 -0.18406973] [ 0. 0. 0. 1. ]] SLAMing on 20.91463044 meters Centerline goodness [0,1] 0.31074821724799107 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.01, Z:-0.18 [[ 0.9998722 0.00325057 -0.0156533 0.84544622] [-0.00321821 0.99999263 0.00209232 -0.01397949] [ 0.01565999 -0.00204168 0.99987529 -0.18363497] [ 0. 0. 0. 1. ]] SLAMing on 20.944630439999997 meters Centerline goodness [0,1] 0.31496045837781317 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.01, Z:-0.19 [[ 0.99988735 -0.00404199 -0.01445489 0.82615533] [ 0.00409305 0.99998548 0.00350464 -0.01053992] [ 0.01444052 -0.00356341 0.99988938 -0.18534162] [ 0. 0. 0. 1. ]] SLAMing on 20.97463044 meters Centerline goodness [0,1] 0.31361802213926593 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.01, Z:-0.18 [[ 0.99990759 0.00429379 -0.01289883 0.84510228] [-0.00426097 0.99998762 0.00257112 -0.01328773] [ 0.01290971 -0.00251592 0.9999135 -0.18402165] [ 0. 0. 0. 1. ]] SLAMing on 21.00463044 meters Centerline goodness [0,1] 0.31530209165281586 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.01, Z:-0.18 [[ 0.99992122 0.00467607 -0.01164873 0.84200634] [-0.00464458 0.99998549 0.00272939 -0.01316802] [ 0.01166133 -0.00267507 0.99992843 -0.18371768] [ 0. 0. 0. 1. ]] SLAMing on 21.034630439999997 meters Centerline goodness [0,1] 0.3155803552043076 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.01, Z:-0.18 [[ 0.99992396 0.00471559 -0.0113948 0.84134362] [-0.00468611 0.99998561 0.00261261 -0.01240468] [ 0.01140696 -0.00255901 0.99993166 -0.18365894] [ 0. 0. 0. 1. ]] SLAMing on 21.06463044 meters Centerline goodness [0,1] 0.3129584879606455 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.01, Z:-0.18 [[ 0.99992479 0.00483848 -0.01126994 0.8411074 ] [-0.00480983 0.99998514 0.0025678 -0.01162254] [ 0.0112822 -0.0025134 0.9999332 -0.18383557] [ 0. 0. 0. 1. ]] SLAMing on 21.09463044 meters Centerline goodness [0,1] 0.3134999023161916 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.01, Z:-0.18 [[ 0.99992625 0.00492642 -0.01110056 0.8406877 ] [-0.00489865 0.99998481 0.00252763 -0.01089407] [ 0.01111285 -0.00247306 0.99993519 -0.1838608 ] [ 0. 0. 0. 1. ]] SLAMing on 21.124630439999997 meters Centerline goodness [0,1] 0.30965078272836744 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.01, Z:-0.18 [[ 0.99992594 0.00496629 -0.01111086 0.84060109] [-0.00493886 0.99998469 0.00249474 -0.0105434 ] [ 0.01112308 -0.00243968 0.99993516 -0.18373776] [ 0. 0. 0. 1. ]] SLAMing on 21.15463044 meters Centerline goodness [0,1] 0.31537190801199844 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.19 [[ 0.99993156 -0.003307 -0.01122231 0.82160215] [ 0.00334545 0.99998859 0.00340979 -0.00787805] [ 0.01121091 -0.0034471 0.99993121 -0.18545061] [ 0. 0. 0. 1. ]] SLAMing on 21.18463044 meters Centerline goodness [0,1] 0.31369440583738706 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.19 [[ 0.99992607 -0.00342178 -0.01166807 0.82272006] [ 0.00346288 0.99998786 0.00350406 -0.00942653] [ 0.01165593 -0.00354421 0.99992579 -0.18556344] [ 0. 0. 0. 1. ]] SLAMing on 21.21463044 meters Centerline goodness [0,1] 0.3121990195866715 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.19 [[ 0.99992672 -0.0033314 -0.01163875 0.8225682 ] [ 0.00337481 0.99998741 0.00371242 -0.01031877] [ 0.01162624 -0.00375142 0.99992538 -0.18538547] [ 0. 0. 0. 1. ]] SLAMing on 21.244630439999998 meters Centerline goodness [0,1] 0.3141653160453809 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.19 [[ 0.99992896 -0.00327773 -0.01145957 0.82195707] [ 0.00332162 0.99998721 0.00381287 -0.01059167] [ 0.01144692 -0.00385066 0.99992707 -0.18503806] [ 0. 0. 0. 1. ]] SLAMing on 21.27463044 meters Centerline goodness [0,1] 0.31320527177190116 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.19 [[ 0.99993123 -0.00326932 -0.01126272 0.82151877] [ 0.00331152 0.99998756 0.00373023 -0.01001064] [ 0.01125038 -0.00376727 0.99992962 -0.18504473] [ 0. 0. 0. 1. ]] SLAMing on 21.30463044 meters Centerline goodness [0,1] 0.3115273526749148 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.19 [[ 0.9999293 -0.0031737 -0.01145958 0.82246021] [ 0.00321334 0.99998891 0.00344248 -0.00785689] [ 0.01144853 -0.00347907 0.99992841 -0.18595453] [ 0. 0. 0. 1. ]] SLAMing on 21.334630439999998 meters Centerline goodness [0,1] 0.3081701523977387 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.19 [[ 0.9999267 -0.00321058 -0.01167439 0.82333418] [ 0.0032486 0.99998948 0.00323918 -0.00678695] [ 0.01166387 -0.00327687 0.99992661 -0.18658995] [ 0. 0. 0. 1. ]] SLAMing on 21.36463044 meters Centerline goodness [0,1] 0.3087027561594359 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.19 [[ 0.99992439 -0.00328936 -0.01184885 0.82408494] [ 0.00332565 0.99998984 0.00304427 -0.00602919] [ 0.01183871 -0.00308344 0.99992517 -0.18717555] [ 0. 0. 0. 1. ]] SLAMing on 21.39463044 meters Centerline goodness [0,1] 0.31007214507008685 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.19 [[ 0.99992098 -0.00338196 -0.01210802 0.82491834] [ 0.00341752 0.99998991 0.00291707 -0.00588216] [ 0.01209804 -0.00295822 0.99992244 -0.18755192] [ 0. 0. 0. 1. ]] SLAMing on 21.424630439999998 meters Centerline goodness [0,1] 0.31335846440487025 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.01, Z:-0.19 [[ 0.99991641 -0.00343863 -0.01246371 0.8257381 ] [ 0.00347572 0.99998959 0.00295533 -0.00650608] [ 0.01245342 -0.0029984 0.99991796 -0.18755404] [ 0. 0. 0. 1. ]] SLAMing on 21.45463044 meters Centerline goodness [0,1] 0.3104348201190579 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.01, Z:-0.19 [[ 0.99991294 -0.00340649 -0.01274773 0.82641317] [ 0.0034475 0.99998895 0.00319648 -0.00781097] [ 0.0127367 -0.00324014 0.99991364 -0.18752625] [ 0. 0. 0. 1. ]] SLAMing on 21.48463044 meters Centerline goodness [0,1] 0.31076110942841073 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.01, Z:-0.19 [[ 0.99990627 -0.0035575 -0.01322115 0.82804007] [ 0.0036048 0.99998718 0.00355527 -0.01030323] [ 0.01320833 -0.00360259 0.99990628 -0.18818968] [ 0. 0. 0. 1. ]] SLAMing on 21.514630439999998 meters Centerline goodness [0,1] 0.3144597976281145 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.01, Z:-0.19 [[ 0.99990548 -0.00357348 -0.01327622 0.82833612] [ 0.00362321 0.9999865 0.00372347 -0.0115311 ] [ 0.01326274 -0.00377122 0.99990493 -0.18835587] [ 0. 0. 0. 1. ]] SLAMing on 21.54463044 meters Centerline goodness [0,1] 0.3081419085888648 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.02, Z:-0.19 [[ 0.99991399 0.00400247 -0.01248992 0.8473065 ] [-0.00397279 0.99998923 0.00240058 -0.01517133] [ 0.01249939 -0.00235076 0.99991912 -0.18709894] [ 0. 0. 0. 1. ]] SLAMing on 21.57463044 meters Centerline goodness [0,1] 0.3101380110924803 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.02, Z:-0.19 [[ 0.99991389 0.00399189 -0.01250126 0.84715112] [-0.00396231 0.99998929 0.00239027 -0.01519696] [ 0.01251066 -0.00234053 0.999919 -0.18682617] [ 0. 0. 0. 1. ]] SLAMing on 21.604630439999998 meters Centerline goodness [0,1] 0.3131125599067398 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.01, Z:-0.19 [[ 0.99991337 0.00401408 -0.01253569 0.84710141] [-0.00398489 0.99998929 0.00235337 -0.01481504] [ 0.012545 -0.00230321 0.99991866 -0.1866556 ] [ 0. 0. 0. 1. ]] SLAMing on 21.63463044 meters Centerline goodness [0,1] 0.3109164101349752 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.01, Z:-0.19 [[ 0.99991024 0.00416812 -0.01273335 0.8474884 ] [-0.00413951 0.99998885 0.0022727 -0.01379042] [ 0.01274268 -0.00221979 0.99991634 -0.18661624] [ 0. 0. 0. 1. ]] SLAMing on 21.66463044 meters Centerline goodness [0,1] 0.3128896341201255 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.01, Z:-0.19 [[ 0.99991039 0.00416968 -0.01272073 0.84738269] [-0.00414217 0.99998903 0.00218824 -0.0132245 ] [ 0.01272971 -0.00213536 0.99991669 -0.18653733] [ 0. 0. 0. 1. ]] SLAMing on 21.694630439999997 meters Centerline goodness [0,1] 0.3122013174322986 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.01, Z:-0.19 [[ 0.99991116 0.00421501 -0.01264534 0.8471266 ] [-0.00418737 0.99998879 0.00221149 -0.01318316] [ 0.01265452 -0.00215834 0.9999176 -0.18644272] [ 0. 0. 0. 1. ]] SLAMing on 21.72463044 meters Centerline goodness [0,1] 0.31030647817439105 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.01, Z:-0.19 [[ 0.99991307 0.00432928 -0.01245392 0.84613329] [-0.00429858 0.99998766 0.00249089 -0.01441993] [ 0.01246455 -0.00243714 0.99991934 -0.18558317] [ 0. 0. 0. 1. ]] SLAMing on 21.75463044 meters Centerline goodness [0,1] 0.31263590759360127 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.02, Z:-0.19 [[ 0.99991337 0.0043656 -0.01241752 0.84584599] [-0.00433264 0.99998702 0.00267995 -0.01559965] [ 0.01242906 -0.00262592 0.99991931 -0.18524645] [ 0. 0. 0. 1. ]] SLAMing on 21.784630439999997 meters Centerline goodness [0,1] 0.3110930063033318 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.02, Z:-0.18 [[ 0.99991433 0.00443111 -0.01231624 0.84541058] [-0.00439474 0.99998591 0.00297874 -0.01733304] [ 0.01232927 -0.00292436 0.99991972 -0.18487375] [ 0. 0. 0. 1. ]] SLAMing on 21.81463044 meters Centerline goodness [0,1] 0.3132584657168107 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.18 [[ 0.99991679 0.00453679 -0.01207633 0.84456438] [-0.00449633 0.9999842 0.00337513 -0.01950519] [ 0.01209145 -0.00332055 0.99992138 -0.18435366] [ 0. 0. 0. 1. ]] SLAMing on 21.84463044 meters Centerline goodness [0,1] 0.31525329215459186 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.18 [[ 0.99991877 0.00472329 -0.01183815 0.84366849] [-0.00467714 0.99998137 0.00392306 -0.02224314] [ 0.01185646 -0.00386737 0.99992223 -0.18372062] [ 0. 0. 0. 1. ]] SLAMing on 21.874630439999997 meters Centerline goodness [0,1] 0.3118991806275404 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.03, Z:-0.18 [[ 0.99991836 0.00504738 -0.01173901 0.84327841] [-0.00499012 0.99997553 0.00490257 -0.02846989] [ 0.01176347 -0.00484359 0.99991908 -0.18328549] [ 0. 0. 0. 1. ]] SLAMing on 21.90463044 meters Centerline goodness [0,1] 0.3118991806275404 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.03, Z:-0.18 [[ 0.99991836 0.00504738 -0.01173901 0.84327841] [-0.00499012 0.99997553 0.00490257 -0.02846989] [ 0.01176347 -0.00484359 0.99991908 -0.18328549] [ 0. 0. 0. 1. ]] SLAMing on 21.93463044 meters Centerline goodness [0,1] 0.31735341581495424 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.03, Z:-0.18 [[ 0.99992781 0.0020878 -0.01183281 0.84377652] [-0.00206287 0.99999563 0.00211816 -0.03081685] [ 0.01183718 -0.0020936 0.99992775 -0.18368369] [ 0. 0. 0. 1. ]] SLAMing on 21.96463044 meters Centerline goodness [0,1] 0.3131284916201117 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.03, Z:-0.18 [[ 0.99992558 0.00221686 -0.01199705 0.84448189] [-0.00218705 0.99999449 0.00249711 -0.03302427] [ 0.01200252 -0.00247068 0.99992491 -0.18409962] [ 0. 0. 0. 1. ]] SLAMing on 21.994630439999998 meters Centerline goodness [0,1] 0.3164964260263027 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.03, Z:-0.18 [[ 0.99992512 0.00235363 -0.01200878 0.84464854] [-0.00231995 0.99999334 0.00281765 -0.0348288 ] [ 0.01201533 -0.00278958 0.99992392 -0.1842736 ] [ 0. 0. 0. 1. ]] SLAMing on 22.02463044 meters Centerline goodness [0,1] 0.31281765349231194 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.04, Z:-0.18 [[ 0.99992591 0.00252145 -0.01190864 0.84436996] [-0.00248501 0.99999219 0.00307325 -0.03595859] [ 0.0119163 -0.00304343 0.99992437 -0.18421477] [ 0. 0. 0. 1. ]] SLAMing on 22.05463044 meters Centerline goodness [0,1] 0.3163645768227763 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.04, Z:-0.18 [[ 0.9999274 0.00270482 -0.01174248 0.84405912] [-0.0026659 0.99999091 0.00332841 -0.0369252 ] [ 0.01175138 -0.00329687 0.99992552 -0.18435489] [ 0. 0. 0. 1. ]] SLAMing on 22.084630439999998 meters Centerline goodness [0,1] 0.31478722715201757 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.04, Z:-0.18 [[ 0.99992769 0.00314381 -0.01160733 0.84388615] [-0.00310087 0.99998829 0.00371567 -0.03791668] [ 0.01161887 -0.00367941 0.99992573 -0.18460636] [ 0. 0. 0. 1. ]] SLAMing on 22.11463044 meters Centerline goodness [0,1] 0.31101040976423056 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.04, Z:-0.18 [[ 0.99992723 0.00318891 -0.01163463 0.84415226] [-0.00314605 0.99998821 0.00369972 -0.03778677] [ 0.01164629 -0.00366285 0.99992547 -0.18495692] [ 0. 0. 0. 1. ]] SLAMing on 22.14463044 meters Centerline goodness [0,1] 0.3124259590324595 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.04, Z:-0.19 [[ 0.99992781 0.00324638 -0.01156854 0.84424566] [-0.00320356 0.99998796 0.00371837 -0.03766115] [ 0.01158048 -0.00368105 0.99992617 -0.18540706] [ 0. 0. 0. 1. ]] SLAMing on 22.174630439999998 meters Centerline goodness [0,1] 0.31167421969745324 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.04, Z:-0.19 [[ 0.99992543 0.00343106 -0.01172012 0.84507981] [-0.00338547 0.99998663 0.00390763 -0.03800881] [ 0.01173337 -0.00386766 0.99992368 -0.18615595] [ 0. 0. 0. 1. ]] SLAMing on 22.20463044 meters Centerline goodness [0,1] 0.31294692043466055 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.04, Z:-0.19 [[ 0.99989562 0.00196574 -0.01431352 0.80095801] [-0.00192009 0.99999303 0.00320214 -0.04321127] [ 0.01431972 -0.00317432 0.99989243 -0.18600825] [ 0. 0. 0. 1. ]] SLAMing on 22.23463044 meters Centerline goodness [0,1] 0.31308613163922383 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.04, Z:-0.19 [[ 0.99989248 0.00188156 -0.01454292 0.80132181] [-0.00183345 0.9999928 0.00332117 -0.04453861] [ 0.01454906 -0.00329415 0.99988873 -0.18569551] [ 0. 0. 0. 1. ]] SLAMing on 22.264630439999998 meters Centerline goodness [0,1] 0.31510037190891493 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:-0.19 [[ 0.99988959 0.00188613 -0.01473913 0.80150199] [-0.00183436 0.9999921 0.00352546 -0.04575159] [ 0.01474567 -0.00349803 0.99988516 -0.18518947] [ 0. 0. 0. 1. ]] SLAMing on 22.29463044 meters Centerline goodness [0,1] 0.3115959161741 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:-0.18 [[ 0.99988704 0.00195204 -0.01490309 0.80161098] [-0.00189573 0.99999102 0.00379121 -0.04692265] [ 0.01491036 -0.00376253 0.99988176 -0.18471102] [ 0. 0. 0. 1. ]] SLAMing on 22.32463044 meters Centerline goodness [0,1] 0.3152178597595139 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:-0.18 [[ 0.99988761 0.00194183 -0.01486629 0.80135126] [-0.00188122 0.99998987 0.00408992 -0.04859105] [ 0.01487408 -0.00406149 0.99988113 -0.18425136] [ 0. 0. 0. 1. ]] SLAMing on 22.354630439999998 meters Centerline goodness [0,1] 0.31113863500469807 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:-0.18 [[ 0.99988361 0.00187213 -0.0151415 0.8019588 ] [-0.00181013 0.99998993 0.00410707 -0.0491803 ] [ 0.01514904 -0.00407918 0.99987693 -0.18413233] [ 0. 0. 0. 1. ]] SLAMing on 22.38463044 meters Centerline goodness [0,1] 0.3150578483854256 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:-0.18 [[ 0.99987973 0.00183554 -0.01540016 0.80252994] [-0.00177204 0.99998988 0.00413573 -0.04968485] [ 0.01540759 -0.00410794 0.99987286 -0.18404419] [ 0. 0. 0. 1. ]] SLAMing on 22.41463044 meters Centerline goodness [0,1] 0.3138909216133614 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:-0.18 [[ 0.99987645 0.00183808 -0.0156111 0.80283601] [-0.00177278 0.99998963 0.00419583 -0.0500879 ] [ 0.01561865 -0.00416764 0.99986934 -0.18371779] [ 0. 0. 0. 1. ]] SLAMing on 22.444630439999997 meters Centerline goodness [0,1] 0.31602601499535443 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:-0.18 [[ 0.99987494 0.00185379 -0.01570593 0.80267053] [-0.00178687 0.99998927 0.00427382 -0.05053527] [ 0.01571368 -0.00424522 0.99986752 -0.18309595] [ 0. 0. 0. 1. ]] SLAMing on 22.47463044 meters Centerline goodness [0,1] 0.3123488755269296 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:-0.18 [[ 0.99987462 0.00181011 -0.01573096 0.80243825] [-0.00174256 0.99998921 0.00430632 -0.05104945] [ 0.01573858 -0.00427837 0.99986699 -0.18257656] [ 0. 0. 0. 1. ]] SLAMing on 22.50463044 meters Centerline goodness [0,1] 0.3146616296489285 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:-0.18 [[ 9.99864894e-01 3.23186614e-04 -1.64343866e-02 7.54396226e-01] [-2.60476880e-04 9.99992678e-01 3.81776093e-03 -5.69169101e-02] [ 1.64355001e-02 -3.81296435e-03 9.99857658e-01 -1.80760064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.534630439999997 meters Centerline goodness [0,1] 0.31431219953866385 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:-0.18 [[ 9.99867898e-01 4.08015960e-04 -1.62486891e-02 7.53468685e-01] [-3.42669314e-04 9.99991844e-01 4.02423759e-03 -5.77157975e-02] [ 1.62501986e-02 -4.01813806e-03 9.99859883e-01 -1.79968742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.56463044 meters Centerline goodness [0,1] 0.3152365401967946 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:-0.18 [[ 9.99870131e-01 4.86043630e-04 -1.61085130e-02 7.52767004e-01] [-4.18327122e-04 9.99991064e-01 4.20687449e-03 -5.83617085e-02] [ 1.61104138e-02 -4.19958952e-03 9.99861399e-01 -1.79336428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.59463044 meters Centerline goodness [0,1] 0.31527209645985477 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:-0.18 [[ 9.99869583e-01 4.95840848e-04 -1.61421850e-02 7.52736985e-01] [-4.27324744e-04 9.99990887e-01 4.24770967e-03 -5.86434337e-02] [ 1.61441441e-02 -4.24025775e-03 9.99860684e-01 -1.79141506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624630439999997 meters Centerline goodness [0,1] 0.31528627976898616 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:-0.18 [[ 9.99868527e-01 3.74409375e-04 -1.62107264e-02 7.52990554e-01] [-3.07416505e-04 9.99991404e-01 4.13492070e-03 -5.89350650e-02] [ 1.62121352e-02 -4.12939363e-03 9.99860048e-01 -1.79229498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.65463044 meters Centerline goodness [0,1] 0.3141871496334627 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:-0.18 [[ 9.99869963e-01 3.34216808e-04 -1.61228323e-02 7.52623071e-01] [-2.67867655e-04 9.99991488e-01 4.11721342e-03 -5.90759864e-02] [ 1.61240711e-02 -4.11235924e-03 9.99861542e-01 -1.78972540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.68463044 meters Centerline goodness [0,1] 0.31506584459386877 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:-0.18 [[ 9.99872291e-01 3.68699280e-04 -1.59770317e-02 7.52128451e-01] [-3.02224125e-04 9.99991289e-01 4.16288462e-03 -5.90803922e-02] [ 1.59784274e-02 -4.15752434e-03 9.99863693e-01 -1.78760325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.71463044 meters Centerline goodness [0,1] 0.31698105063236504 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:-0.18 [[ 9.99873689e-01 4.25782344e-04 -1.58879055e-02 7.51881685e-01] [-3.58822614e-04 9.99991044e-01 4.21712230e-03 -5.89420486e-02] [ 1.58895588e-02 -4.21088869e-03 9.99864886e-01 -1.78694136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744630439999998 meters Centerline goodness [0,1] 0.3154426017660995 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:-0.18 [[ 9.99872531e-01 3.92955088e-04 -1.59614640e-02 7.52286821e-01] [-3.26874916e-04 9.99991367e-01 4.14237979e-03 -5.86081697e-02] [ 1.59629540e-02 -4.13663436e-03 9.99864027e-01 -1.79037581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.77463044 meters Centerline goodness [0,1] 0.31530209165281586 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:-0.18 [[ 9.99865678e-01 2.21010260e-04 -1.63883015e-02 7.53799100e-01] [-1.55076809e-04 9.99991890e-01 4.02436392e-03 -5.90507447e-02] [ 1.63890581e-02 -4.02128192e-03 9.99857604e-01 -1.79822157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.80463044 meters Centerline goodness [0,1] 0.31805040131181495 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.06, Z:-0.18 [[ 9.99860568e-01 2.24125483e-04 -1.66971384e-02 7.54589271e-01] [-1.54050196e-04 9.99991176e-01 4.19801210e-03 -6.02377293e-02] [ 1.66979319e-02 -4.19485457e-03 9.99851780e-01 -1.79874442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.834630439999998 meters Centerline goodness [0,1] 0.3147741935483871 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.18 [[ 9.99853685e-01 2.18922523e-04 -1.71044238e-02 7.55532037e-01] [-1.43224753e-04 9.99990192e-01 4.42672490e-03 -6.18318037e-02] [ 1.71052252e-02 -4.42362743e-03 9.99843909e-01 -1.79785324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.86463044 meters Centerline goodness [0,1] 0.31429553707643054 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.18 [[ 9.99848201e-01 1.70266834e-04 -1.74225879e-02 7.56142340e-01] [-8.86538167e-05 9.99989021e-01 4.68498746e-03 -6.39411361e-02] [ 1.74231944e-02 -4.68273170e-03 9.99837239e-01 -1.79464376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.89463044 meters Centerline goodness [0,1] 0.31785598267460746 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.07, Z:-0.18 [[ 9.99847329e-01 9.01817338e-05 -1.74731128e-02 7.56111788e-01] [-3.01902363e-06 9.99987558e-01 4.98835268e-03 -6.65085074e-02] [ 1.74733453e-02 -4.98753835e-03 9.99834890e-01 -1.79104226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.924630439999998 meters Centerline goodness [0,1] 0.3163838162224947 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.07, Z:-0.18 [[ 0.99984618 -0.00326527 -0.01723221 0.75577573] [ 0.00330774 0.99999156 0.00243698 -0.07174617] [ 0.0172241 -0.00249361 0.99984854 -0.17920205] [ 0. 0. 0. 1. ]] SLAMing on 22.95463044 meters Centerline goodness [0,1] 0.3154108701287479 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.07, Z:-0.18 [[ 0.99984656 -0.00302667 -0.01725373 0.75616825] [ 0.00308067 0.99999044 0.00310388 -0.07483993] [ 0.01724417 -0.00315655 0.99984633 -0.17961774] [ 0. 0. 0. 1. ]] SLAMing on 22.98463044 meters Centerline goodness [0,1] 0.31545822915768595 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.18 [[ 0.99984251 -0.00285639 -0.01751587 0.75700947] [ 0.00292072 0.99998908 0.00364816 -0.07768049] [ 0.01750526 -0.00369874 0.99983993 -0.17983724] [ 0. 0. 0. 1. ]] SLAMing on 23.014630439999998 meters Centerline goodness [0,1] 0.316808105299619 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.18 [[ 0.99983742 -0.00275513 -0.01781994 0.75794015] [ 0.00282754 0.99998784 0.00403968 -0.08002132] [ 0.0178086 -0.00408941 0.99983305 -0.18006416] [ 0. 0. 0. 1. ]] SLAMing on 23.04463044 meters Centerline goodness [0,1] 0.315327684221817 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:-0.18 [[ 0.99981215 0.00504744 -0.01871307 0.77781079] [-0.00499634 0.99998366 0.0027766 -0.08540117] [ 0.01872678 -0.00268258 0.99982104 -0.1779641 ] [ 0. 0. 0. 1. ]] SLAMing on 23.07463044 meters Centerline goodness [0,1] 0.3176270529737176 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:-0.18 [[ 0.99981185 0.00547235 -0.01860972 0.7772322 ] [-0.00541472 0.99998039 0.00314623 -0.08648662] [ 0.01862657 -0.00304487 0.99982187 -0.17745337] [ 0. 0. 0. 1. ]] SLAMing on 23.104630439999998 meters Centerline goodness [0,1] 0.31719791958909727 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:-0.18 [[ 0.99981412 0.00567969 -0.01842454 0.7766624 ] [-0.00562058 0.9999789 0.00325862 -0.08633225] [ 0.01844266 -0.00315446 0.99982494 -0.17730569] [ 0. 0. 0. 1. ]] SLAMing on 23.13463044 meters Centerline goodness [0,1] 0.31468846549948504 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:-0.18 [[ 0.99981663 0.00586047 -0.01823078 0.77615929] [-0.00580091 0.99997767 0.00331786 -0.08583263] [ 0.01824982 -0.0032115 0.9998283 -0.17724619] [ 0. 0. 0. 1. ]] SLAMing on 23.16463044 meters Centerline goodness [0,1] 0.3178287865348419 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:-0.18 [[ 0.99981984 0.00597429 -0.0180167 0.77564084] [-0.00591446 0.99997682 0.00337194 -0.08567585] [ 0.01803643 -0.00326477 0.999832 -0.17726427] [ 0. 0. 0. 1. ]] SLAMing on 23.194630439999997 meters Centerline goodness [0,1] 0.31820753895708187 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:-0.18 [[ 0.99982195 0.00600729 -0.01788783 0.77525806] [-0.00594593 0.99997626 0.00348108 -0.08666127] [ 0.01790832 -0.0033741 0.99983394 -0.17713608] [ 0. 0. 0. 1. ]] SLAMing on 23.22463044 meters Centerline goodness [0,1] 0.3155140106399018 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.08, Z:-0.18 [[ 0.99984383 -0.00200198 -0.01755898 0.79467201] [ 0.00207427 0.99998945 0.00409947 -0.08359321] [ 0.01755058 -0.00413525 0.99983743 -0.17588616] [ 0. 0. 0. 1. ]] SLAMing on 23.25463044 meters Centerline goodness [0,1] 0.3164587021285782 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:-0.18 [[ 0.9998433 -0.00198082 -0.01759123 0.79451564] [ 0.0020587 0.99998816 0.00440994 -0.08552634] [ 0.01758229 -0.00444547 0.99983554 -0.1754763 ] [ 0. 0. 0. 1. ]] SLAMing on 23.284630439999997 meters Centerline goodness [0,1] 0.3185413100474529 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:-0.17 [[ 0.99984319 -0.00189307 -0.0176069 0.79423414] [ 0.00197922 0.99998615 0.00487643 -0.08807637] [ 0.01759742 -0.00491051 0.99983309 -0.17487881] [ 0. 0. 0. 1. ]] SLAMing on 23.31463044 meters Centerline goodness [0,1] 0.3161029522437483 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.09, Z:-0.17 [[ 0.99985108 0.00391925 -0.01680648 0.81387754] [-0.00388512 0.99999032 0.00206333 -0.09255569] [ 0.0168144 -0.00199773 0.99985663 -0.17385478] [ 0. 0. 0. 1. ]] SLAMing on 23.34463044 meters Centerline goodness [0,1] 0.3176287859176805 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.10, Z:-0.17 [[ 9.99862753e-01 1.09600693e-03 -1.65310115e-02 8.12025431e-01] [-1.09040290e-03 9.99999345e-01 3.48010661e-04 -1.00533030e-01] [ 1.65313821e-02 -3.29937435e-04 9.99863293e-01 -1.72249895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.374630439999997 meters Centerline goodness [0,1] 0.3176289819944599 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.10, Z:-0.17 [[ 0.99986163 0.00121911 -0.01659017 0.81216245] [-0.00120198 0.99999873 0.00104249 -0.10459939] [ 0.01659142 -0.0010224 0.99986183 -0.17209961] [ 0. 0. 0. 1. ]] SLAMing on 23.40463044 meters Centerline goodness [0,1] 0.31852172033715154 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.11, Z:-0.17 [[ 0.99986123 0.00142654 -0.01659748 0.81220237] [-0.00139719 0.99999744 0.00177945 -0.10855856] [ 0.01659997 -0.00175602 0.99986067 -0.17200938] [ 0. 0. 0. 1. ]] SLAMing on 23.43463044 meters Centerline goodness [0,1] 0.31906335608992475 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.11, Z:-0.17 [[ 9.99865367e-01 -1.89206189e-03 -1.62993077e-02 8.12271683e-01] [ 1.87908220e-03 9.99997905e-01 -8.11611469e-04 -1.14292782e-01] [ 1.63008092e-02 7.80874461e-04 9.99866828e-01 -1.72826068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.46463044 meters Centerline goodness [0,1] 0.3197313938769818 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.12, Z:-0.17 [[ 0.99985333 0.00473721 -0.01645855 0.83452079] [-0.00479101 0.9999833 -0.00323093 -0.11895968] [ 0.01644297 0.00330931 0.99985933 -0.17298809] [ 0. 0. 0. 1. ]] SLAMing on 23.494630439999998 meters Centerline goodness [0,1] 0.3158985429033999 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.12, Z:-0.17 [[ 0.99985057 0.0049579 -0.01656051 0.83517978] [-0.00500278 0.99998392 -0.00266986 -0.12192468] [ 0.01654701 0.00275231 0.9998593 -0.17361149] [ 0. 0. 0. 1. ]] SLAMing on 23.52463044 meters Centerline goodness [0,1] 0.31526762274630626 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.12, Z:-0.17 [[ 0.99984727 0.00524417 -0.01667159 0.83579012] [-0.00527918 0.99998395 -0.0020568 -0.12472181] [ 0.01666053 0.0021445 0.9998589 -0.17408145] [ 0. 0. 0. 1. ]] SLAMing on 23.55463044 meters Centerline goodness [0,1] 0.31781639004149376 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.13, Z:-0.17 [[ 0.99984399 0.00545402 -0.01680046 0.83645869] [-0.00548084 0.99998378 -0.00155104 -0.12729979] [ 0.01679173 0.00164288 0.99985766 -0.17461226] [ 0. 0. 0. 1. ]] SLAMing on 23.584630439999998 meters Centerline goodness [0,1] 0.3164218086842965 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.13, Z:-0.17 [[ 0.99983973 0.00564119 -0.0169912 0.83706442] [-0.00566053 0.99998338 -0.0010908 -0.12971576] [ 0.01698477 0.0011868 0.99985504 -0.17479642] [ 0. 0. 0. 1. ]] SLAMing on 23.61463044 meters Centerline goodness [0,1] 0.3167035254325484 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.13, Z:-0.17 [[ 9.99835992e-01 5.94255810e-03 -1.71077654e-02 8.37339376e-01] [-5.94925394e-03 9.99982245e-01 -3.40524826e-04 -1.34646170e-01] [ 1.71054381e-02 4.42247418e-04 9.99853593e-01 -1.74776197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.64463044 meters Centerline goodness [0,1] 0.3145959347682048 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:-0.17 [[ 0.99987171 -0.00115812 -0.01597569 0.85591148] [ 0.00117573 0.99999871 0.00109265 -0.13241616] [ 0.0159744 -0.0011113 0.99987178 -0.17343006] [ 0. 0. 0. 1. ]] SLAMing on 23.674630439999998 meters Centerline goodness [0,1] 0.3162672791090696 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.14, Z:-0.18 [[ 9.99881973e-01 5.76237447e-03 -1.42420203e-02 8.36829191e-01] [-5.75172959e-03 9.99983148e-01 7.88275001e-04 -1.41927523e-01] [ 1.42463226e-02 -7.06265713e-04 9.99898267e-01 -1.75208433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.70463044 meters Centerline goodness [0,1] 0.31709782164591527 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.14, Z:-0.17 [[ 0.99990166 -0.00135906 -0.01395801 0.85483253] [ 0.00139045 0.99999653 0.00223902 -0.13990663] [ 0.01395492 -0.00225821 0.99990008 -0.17338664] [ 0. 0. 0. 1. ]] SLAMing on 23.73463044 meters Centerline goodness [0,1] 0.3140218303946264 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.14, Z:-0.17 [[ 0.9998995 -0.00128523 -0.01411865 0.8553026 ] [ 0.00132166 0.99999582 0.00257137 -0.14197199] [ 0.01411529 -0.00258977 0.99989702 -0.17346717] [ 0. 0. 0. 1. ]] SLAMing on 23.764630439999998 meters Centerline goodness [0,1] 0.31548492961395636 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.15, Z:-0.17 [[ 0.99988714 -0.00129257 -0.01496817 0.85773046] [ 0.00133852 0.99999442 0.00306007 -0.14572857] [ 0.01496413 -0.00307976 0.99988329 -0.17405918] [ 0. 0. 0. 1. ]] SLAMing on 23.79463044 meters Centerline goodness [0,1] 0.31499858852142193 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.15, Z:-0.17 [[ 0.99988451 -0.00118459 -0.0151512 0.85818163] [ 0.00123745 0.99999318 0.00347962 -0.14810106] [ 0.01514698 -0.00349797 0.99987916 -0.17403206] [ 0. 0. 0. 1. ]] SLAMing on 23.82463044 meters Centerline goodness [0,1] 0.31499858852142193 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.15, Z:-0.17 [[ 0.99988451 -0.00118459 -0.0151512 0.85818163] [ 0.00123745 0.99999318 0.00347962 -0.14810106] [ 0.01514698 -0.00349797 0.99987916 -0.17403206] [ 0. 0. 0. 1. ]] SLAMing on 23.854630439999998 meters Centerline goodness [0,1] 0.31333319021960804 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.15, Z:-0.17 [[ 9.99889200e-01 5.57812109e-03 -1.38011352e-02 8.78708718e-01] [-5.56467740e-03 9.99984005e-01 1.01231057e-03 -1.51550422e-01] [ 1.38065612e-02 -9.35399541e-04 9.99904247e-01 -1.73639441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.88463044 meters Centerline goodness [0,1] 0.3179539266110559 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.16, Z:-0.17 [[ 9.99920811e-01 3.61161578e-03 -1.20551966e-02 8.72576164e-01] [-3.61525395e-03 9.99993426e-01 -2.80014137e-04 -1.56889864e-01] [ 1.20541060e-02 3.23574560e-04 9.99927294e-01 -1.71014209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.91463044 meters Centerline goodness [0,1] 0.3150309441720025 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.15, Z:-0.17 [[ 0.99993069 -0.00360592 -0.01120743 0.89098634] [ 0.00361783 0.99999291 0.00104291 -0.15398382] [ 0.01120359 -0.00108338 0.99993665 -0.1690376 ] [ 0. 0. 0. 1. ]] SLAMing on 23.944630439999997 meters Centerline goodness [0,1] 0.3151972806677854 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.16, Z:-0.17 [[ 0.99993032 -0.00347551 -0.011282 0.89099275] [ 0.003491 0.99999299 0.00135432 -0.15540186] [ 0.01127722 -0.00139361 0.99993544 -0.16875925] [ 0. 0. 0. 1. ]] SLAMing on 23.97463044 meters Centerline goodness [0,1] 0.3142875616957993 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.16, Z:-0.17 [[ 0.99992671 -0.00336159 -0.01163052 0.89210094] [ 0.00338084 0.99999295 0.00163558 -0.15677639] [ 0.01162494 -0.00167478 0.99993103 -0.16916809] [ 0. 0. 0. 1. ]] SLAMing on 24.00463044 meters Centerline goodness [0,1] 0.3150620352711766 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.16, Z:-0.17 [[ 0.99992372 -0.00322435 -0.01192258 0.89323994] [ 0.00324786 0.99999282 0.00195322 -0.158329 ] [ 0.0119162 -0.0019918 0.99992702 -0.1698499 ] [ 0. 0. 0. 1. ]] SLAMing on 24.034630439999997 meters Centerline goodness [0,1] 0.3167109785357629 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.16, Z:-0.17 [[ 0.99992195 -0.00318717 -0.01208061 0.8937263 ] [ 0.00321737 0.99999174 0.00248177 -0.16277679] [ 0.0120726 -0.00252044 0.99992395 -0.16990654] [ 0. 0. 0. 1. ]] SLAMing on 24.06463044 meters Centerline goodness [0,1] 0.3139820114472608 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.17, Z:-0.17 [[ 0.99992085 -0.00317159 -0.01217489 0.89355362] [ 0.0032065 0.9999908 0.00284931 -0.16543647] [ 0.01216574 -0.00288813 0.99992182 -0.16923229] [ 0. 0. 0. 1. ]] SLAMing on 24.09463044 meters Centerline goodness [0,1] 0.31811654118978194 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.17, Z:-0.17 [[ 0.99992021 -0.00309052 -0.01224796 0.8933009 ] [ 0.00313116 0.99998965 0.0033008 -0.16812378] [ 0.01223764 -0.00333889 0.99991954 -0.16852762] [ 0. 0. 0. 1. ]] SLAMing on 24.124630439999997 meters Centerline goodness [0,1] 0.31731598000344763 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.17, Z:-0.17 [[ 0.99992332 0.00459151 -0.01150071 0.91171292] [-0.00457022 0.9999878 0.00187679 -0.17419656] [ 0.01150919 -0.00182409 0.9999321 -0.16687338] [ 0. 0. 0. 1. ]] SLAMing on 24.15463044 meters Centerline goodness [0,1] 0.31938202247191017 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.18, Z:-0.17 [[ 0.9999491 0.00314777 -0.00958592 0.90668232] [-0.00313494 0.99999417 0.00135273 -0.1816609 ] [ 0.00959012 -0.00132261 0.99995314 -0.16572799] [ 0. 0. 0. 1. ]] SLAMing on 24.18463044 meters Centerline goodness [0,1] 0.3215311629526463 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.18, Z:-0.17 [[ 0.99995041 0.00330138 -0.00939565 0.90626086] [-0.00328341 0.99999275 0.00192726 -0.18488388] [ 0.00940194 -0.00189631 0.999954 -0.16566417] [ 0. 0. 0. 1. ]] SLAMing on 24.21463044 meters Centerline goodness [0,1] 0.3204789537502165 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.19, Z:-0.17 [[ 0.99994805 0.00337972 -0.00961666 0.90706313] [-0.00335642 0.99999139 0.00243851 -0.18806444] [ 0.00962482 -0.0024061 0.99995079 -0.16605852] [ 0. 0. 0. 1. ]] SLAMing on 24.244630439999998 meters Centerline goodness [0,1] 0.3199637141190954 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.19, Z:-0.17 [[ 0.99994254 0.00347782 -0.01014038 0.90867143] [-0.00344776 0.99998961 0.00298052 -0.1912984 ] [ 0.01015064 -0.00294539 0.99994414 -0.16661991] [ 0. 0. 0. 1. ]] SLAMing on 24.27463044 meters Centerline goodness [0,1] 0.3219799389446141 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.19, Z:-0.17 [[ 0.99993684 0.00359165 -0.01064964 0.91007594] [-0.00355426 0.99998746 0.00352802 -0.1946686 ] [ 0.01066218 -0.00348994 0.99993707 -0.16694998] [ 0. 0. 0. 1. ]] SLAMing on 24.30463044 meters Centerline goodness [0,1] 0.317984492775534 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.20, Z:-0.17 [[ 0.99993089 0.00365853 -0.01117301 0.9113178 ] [-0.00361351 0.99998528 0.00404638 -0.19844689] [ 0.01118765 -0.00400573 0.99992939 -0.16694207] [ 0. 0. 0. 1. ]] SLAMing on 24.334630439999998 meters Centerline goodness [0,1] 0.31895658928109083 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.20, Z:-0.17 [[ 9.99935291e-01 2.93464932e-04 -1.13721917e-02 9.11953409e-01] [-2.77284452e-04 9.99998947e-01 1.42436162e-03 -2.04432079e-01] [ 1.13725977e-02 -1.42111612e-03 9.99934320e-01 -1.67121730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.36463044 meters Centerline goodness [0,1] 0.3209800918836141 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.21, Z:-0.17 [[ 0.99992003 0.0071115 -0.01045715 0.89353245] [-0.00710065 0.99997421 0.00107467 -0.21468141] [ 0.01046452 -0.00100033 0.99994475 -0.16877648] [ 0. 0. 0. 1. ]] SLAMing on 24.39463044 meters Centerline goodness [0,1] 0.3208381183506316 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.21, Z:-0.17 [[ 9.99950334e-01 5.56293866e-05 -9.96630267e-03 9.12813322e-01] [-3.15803610e-05 9.99997088e-01 2.41317497e-03 -2.13577992e-01] [ 9.96640789e-03 -2.41274037e-03 9.99947423e-01 -1.67885531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.424630439999998 meters Centerline goodness [0,1] 0.3223734515981037 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.22, Z:-0.17 [[ 9.99951799e-01 3.37343131e-04 -9.81252303e-03 9.12598932e-01] [-3.07667733e-04 9.99995376e-01 3.02558966e-03 -2.16238155e-01] [ 9.81349831e-03 -3.02242483e-03 9.99947279e-01 -1.68061514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.45463044 meters Centerline goodness [0,1] 0.3176686454398273 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.22, Z:-0.17 [[ 9.99928682e-01 7.13056216e-03 -9.58052764e-03 9.33804784e-01] [-7.12634146e-03 9.99974495e-01 4.74616336e-04 -2.24370397e-01] [ 9.58366757e-03 -4.06308376e-04 9.99953993e-01 -1.68129603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.48463044 meters Centerline goodness [0,1] 0.3194140464168852 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.23, Z:-0.17 [[ 9.99925275e-01 7.28224974e-03 -9.81904729e-03 9.34442841e-01] [-7.27297679e-03 9.99973072e-01 9.79761628e-04 -2.27264956e-01] [ 9.82591775e-03 -9.08274712e-04 9.99951312e-01 -1.68257251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.514630439999998 meters Centerline goodness [0,1] 0.3154680560300649 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.23, Z:-0.17 [[ 9.99943369e-01 3.15463464e-04 -1.06376116e-02 9.54686801e-01] [-2.95267649e-04 9.99998151e-01 1.90004619e-03 -2.25230724e-01] [ 1.06381913e-02 -1.89679764e-03 9.99941614e-01 -1.67290876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.54463044 meters Centerline goodness [0,1] 0.31863104742997717 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.23, Z:-0.17 [[ 9.99940692e-01 5.33044038e-04 -1.08778682e-02 9.55343969e-01] [-5.06391049e-04 9.99996864e-01 2.45281058e-03 -2.27921842e-01] [ 1.08791416e-02 -2.44715665e-03 9.99937826e-01 -1.67400848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.57463044 meters Centerline goodness [0,1] 0.31786462721714526 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.23, Z:-0.17 [[ 9.99940704e-01 6.21200105e-04 -1.08720745e-02 9.55307213e-01] [-5.89868398e-04 9.99995665e-01 2.88482113e-03 -2.30563785e-01] [ 1.08738194e-02 -2.87823698e-03 9.99936736e-01 -1.67284419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.604630439999998 meters Centerline goodness [0,1] 0.3197987159465556 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.23, Z:-0.17 [[ 9.99943685e-01 6.41365471e-04 -1.05931874e-02 9.54264564e-01] [-6.06249541e-04 9.99994312e-01 3.31783259e-03 -2.33606868e-01] [ 1.05952551e-02 -3.31122363e-03 9.99938386e-01 -1.66583022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.63463044 meters Centerline goodness [0,1] 0.3178662769455608 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.24, Z:-0.16 [[ 0.9999411 -0.00793821 -0.00740087 0.97189405] [ 0.00796679 0.99996089 0.00383973 -0.23724969] [ 0.0073701 -0.00389846 0.99996524 -0.16499096] [ 0. 0. 0. 1. ]] SLAMing on 24.66463044 meters Centerline goodness [0,1] 0.31829595635985797 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.24, Z:-0.16 [[ 0.99994166 -0.00779453 -0.00747757 0.97172858] [ 0.0078284 0.99995919 0.00451002 -0.24066606] [ 0.00744211 -0.00456829 0.99996187 -0.16441906] [ 0. 0. 0. 1. ]] SLAMing on 24.694630439999997 meters Centerline goodness [0,1] 0.31884780441284843 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.24, Z:-0.16 [[ 0.99993953 -0.00778772 -0.0077647 0.97239113] [ 0.00782724 0.9999565 0.0050725 -0.24416499] [ 0.00772486 -0.00513297 0.99995699 -0.16435466] [ 0. 0. 0. 1. ]] SLAMing on 24.72463044 meters Centerline goodness [0,1] 0.317230795832793 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.26, Z:-0.16 [[ 0.99994649 -0.00386517 -0.00959612 0.98983 ] [ 0.00388025 0.99999127 0.0015532 -0.25551935] [ 0.00959004 -0.00159035 0.99995275 -0.16281909] [ 0. 0. 0. 1. ]] SLAMing on 24.75463044 meters Centerline goodness [0,1] 0.31865284974093266 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.26, Z:-0.16 [[ 0.99994512 0.00274567 -0.01011036 1.00827367] [-0.00275778 0.9999955 -0.00118371 -0.2620847 ] [ 0.01010706 0.00121153 0.99994819 -0.16110044] [ 0. 0. 0. 1. ]] SLAMing on 24.784630439999997 meters Centerline goodness [0,1] 0.3186672087996747 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.26, Z:-0.16 [[ 9.99943666e-01 2.80455226e-03 -1.02371609e-02 1.00841494e+00] [-2.81317853e-03 9.99995700e-01 -8.28340141e-04 -2.64075146e-01] [ 1.02347938e-02 8.57092438e-04 9.99947256e-01 -1.60884371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.81463044 meters Centerline goodness [0,1] 0.320416062971693 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.26, Z:-0.16 [[ 0.99992233 -0.00600736 -0.01092011 0.98997248] [ 0.00601867 0.99998138 0.00100275 -0.26252001] [ 0.01091389 -0.0010684 0.99993987 -0.1622193 ] [ 0. 0. 0. 1. ]] SLAMing on 24.84463044 meters Centerline goodness [0,1] 0.3168344639847902 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.26, Z:-0.16 [[ 0.99992218 -0.00593499 -0.01097359 0.99011605] [ 0.00594896 0.99998154 0.00124022 -0.26365326] [ 0.01096603 -0.0013054 0.99993902 -0.16223584] [ 0. 0. 0. 1. ]] SLAMing on 24.874630439999997 meters Centerline goodness [0,1] 0.31796368352788584 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.26, Z:-0.16 [[ 0.99992116 -0.00590793 -0.01108056 0.99050441] [ 0.00592402 0.99998144 0.00141974 -0.2648442 ] [ 0.01107197 -0.00148527 0.9999376 -0.16245099] [ 0. 0. 0. 1. ]] SLAMing on 24.90463044 meters Centerline goodness [0,1] 0.31791920022504494 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.27, Z:-0.16 [[ 0.99991623 -0.00597839 -0.01147991 0.99197118] [ 0.00599781 0.99998064 0.00165728 -0.26689227] [ 0.01146978 -0.00172599 0.99993273 -0.16328923] [ 0. 0. 0. 1. ]] SLAMing on 24.93463044 meters Centerline goodness [0,1] 0.3134296277190267 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.27, Z:-0.16 [[ 9.99924698e-01 2.40895654e-03 -1.20331219e-02 1.01015504e+00] [-2.40423839e-03 9.99997027e-01 4.06547048e-04 -2.71987536e-01] [ 1.20340655e-02 -3.77585940e-04 9.99927517e-01 -1.61578114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.96463044 meters Centerline goodness [0,1] 0.316030798511982 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.27, Z:-0.16 [[ 9.99921049e-01 2.43709460e-03 -1.23270370e-02 1.01092718e+00] [-2.42804543e-03 9.99996772e-01 7.49003759e-04 -2.74079481e-01] [ 1.23288226e-02 -7.19014019e-04 9.99923739e-01 -1.61762258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.994630439999998 meters Centerline goodness [0,1] 0.320062297095727 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.28, Z:-0.16 [[ 9.99853043e-01 -9.15714563e-03 -1.44927278e-02 9.91826070e-01] [ 9.16104065e-03 9.99958016e-01 2.02390125e-04 -2.78854793e-01] [ 1.44902660e-02 -3.35128851e-04 9.99894954e-01 -1.62330925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.02463044 meters Centerline goodness [0,1] 0.31468895885354464 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.29, Z:-0.16 [[ 0.99988264 -0.00270825 -0.01507862 1.01192229] [ 0.00267166 0.99999344 -0.00244581 -0.28584977] [ 0.01508515 0.00240523 0.99988332 -0.16158955] [ 0. 0. 0. 1. ]] SLAMing on 25.05463044 meters Centerline goodness [0,1] 0.3135320655341377 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.29, Z:-0.16 [[ 0.99988101 -0.00264817 -0.01519742 1.01188307] [ 0.00262079 0.99999491 -0.00182147 -0.28974548] [ 0.01520217 0.00178142 0.99988285 -0.16116214] [ 0. 0. 0. 1. ]] SLAMing on 25.084630439999998 meters Centerline goodness [0,1] 0.3112134518581986 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.29, Z:-0.16 [[ 0.999882 -0.00243767 -0.01516689 1.01147696] [ 0.00242016 0.99999638 -0.00117269 -0.29294652] [ 0.01516969 0.00113584 0.99988429 -0.16063837] [ 0. 0. 0. 1. ]] SLAMing on 25.11463044 meters Centerline goodness [0,1] 0.3158373983739837 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.30, Z:-0.16 [[ 0.99991461 0.00347863 -0.01259656 0.99365777] [-0.00349197 0.99999337 -0.0010367 -0.30252231] [ 0.01259287 0.0010806 0.99992012 -0.16213736] [ 0. 0. 0. 1. ]] SLAMing on 25.14463044 meters Centerline goodness [0,1] 0.3161117819561843 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.30, Z:-0.16 [[ 9.99912675e-01 3.58005198e-03 -1.27210304e-02 9.93997254e-01] [-3.59192422e-03 9.99993134e-01 -9.10552009e-04 -3.02975236e-01] [ 1.27176833e-02 9.56165472e-04 9.99918670e-01 -1.62203286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.174630439999998 meters Centerline goodness [0,1] 0.3188133108714202 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.30, Z:-0.16 [[ 0.99989507 -0.00368482 -0.01400955 0.97436573] [ 0.00371282 0.99999116 0.00197259 -0.30064678] [ 0.01400216 -0.0020244 0.99989992 -0.16257065] [ 0. 0. 0. 1. ]] SLAMing on 25.20463044 meters Centerline goodness [0,1] 0.3194845831250951 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.30, Z:-0.16 [[ 0.99989245 -0.00353571 -0.01423356 0.97534651] [ 0.0035643 0.99999168 0.00198367 -0.30004464] [ 0.01422643 -0.00203419 0.99989673 -0.16328042] [ 0. 0. 0. 1. ]] SLAMing on 25.23463044 meters Centerline goodness [0,1] 0.3175176132904236 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.30, Z:-0.16 [[ 0.99989201 -0.00350791 -0.01427122 0.97555416] [ 0.00353462 0.99999205 0.00184636 -0.29918151] [ 0.01426463 -0.0018966 0.99989646 -0.16343741] [ 0. 0. 0. 1. ]] SLAMing on 25.264630439999998 meters Centerline goodness [0,1] 0.3195473116165257 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.30, Z:-0.16 [[ 0.99989188 -0.00358833 -0.01426018 0.97543193] [ 0.00361123 0.99999223 0.00157991 -0.29811284] [ 0.0142544 -0.00163123 0.99989707 -0.16324928] [ 0. 0. 0. 1. ]] SLAMing on 25.29463044 meters Centerline goodness [0,1] 0.31747507730899815 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.30, Z:-0.16 [[ 9.99898087e-01 5.05853051e-03 -1.33501832e-02 9.94314719e-01] [-5.06428170e-03 9.99987098e-01 -3.97023484e-04 -2.97616331e-01] [ 1.33480026e-02 4.64592110e-04 9.99910804e-01 -1.61573525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.32463044 meters Centerline goodness [0,1] 0.31796669965150803 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.30, Z:-0.16 [[ 9.99899943e-01 5.04015411e-03 -1.32174521e-02 9.93781083e-01] [-5.04801622e-03 9.99987101e-01 -5.61533528e-04 -2.96244020e-01] [ 1.32144514e-02 6.28199255e-04 9.99912488e-01 -1.61293580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.354630439999998 meters Centerline goodness [0,1] 0.3203735881841877 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.29, Z:-0.16 [[ 9.99913506e-01 -3.64080991e-03 -1.26382613e-02 9.74841190e-01] [ 3.65354223e-03 9.99992841e-01 9.84500746e-04 -2.91246333e-01] [ 1.26345865e-02 -1.03059001e-03 9.99919649e-01 -1.62715704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.38463044 meters Centerline goodness [0,1] 0.321368188320978 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.29, Z:-0.16 [[ 9.99914442e-01 -3.95041994e-03 -1.24700486e-02 9.73680911e-01] [ 3.96041119e-03 9.99991856e-01 7.76626578e-04 -2.91120613e-01] [ 1.24668791e-02 -8.25946651e-04 9.99921944e-01 -1.61598559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.41463044 meters Centerline goodness [0,1] 0.3176146037630121 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.29, Z:-0.16 [[ 9.99911401e-01 -4.09677435e-03 -1.26651353e-02 9.73888785e-01] [ 4.10643898e-03 9.99991297e-01 7.37178244e-04 -2.91531358e-01] [ 1.26620050e-02 -7.89121536e-04 9.99919522e-01 -1.61290482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.444630439999997 meters Centerline goodness [0,1] 0.3199758703895208 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.29, Z:-0.16 [[ 9.99909671e-01 -4.15698696e-03 -1.27815716e-02 9.74021211e-01] [ 4.16765382e-03 9.99990989e-01 8.08027228e-04 -2.92038593e-01] [ 1.27780975e-02 -8.61223406e-04 9.99917986e-01 -1.61156844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.47463044 meters Centerline goodness [0,1] 0.3179493790554768 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.29, Z:-0.16 [[ 9.99911017e-01 -4.10133994e-03 -1.26940005e-02 9.73714463e-01] [ 4.11422551e-03 9.99991047e-01 9.89143387e-04 -2.92621005e-01] [ 1.26898300e-02 -1.04128135e-03 9.99918939e-01 -1.61053827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.50463044 meters Centerline goodness [0,1] 0.31810428586850914 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.29, Z:-0.16 [[ 0.99991298 -0.00407548 -0.01254703 0.97319432] [ 0.00408973 0.99999102 0.00111013 -0.29309844] [ 0.01254239 -0.00116135 0.99992067 -0.16081892] [ 0. 0. 0. 1. ]] SLAMing on 25.534630439999997 meters Centerline goodness [0,1] 0.3175347296890456 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.29, Z:-0.16 [[ 0.99991551 -0.00412339 -0.01232786 0.97243444] [ 0.0041383 0.99999074 0.00118373 -0.29387363] [ 0.01232286 -0.00123464 0.99992331 -0.1604557 ] [ 0. 0. 0. 1. ]] SLAMing on 25.56463044 meters Centerline goodness [0,1] 0.3188542717883752 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.30, Z:-0.16 [[ 0.99991564 -0.00440673 -0.01221823 0.97140918] [ 0.00442126 0.99998955 0.00116183 -0.29521286] [ 0.01221298 -0.00121575 0.99992468 -0.15932268] [ 0. 0. 0. 1. ]] SLAMing on 25.59463044 meters Centerline goodness [0,1] 0.31979431100696476 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.30, Z:-0.16 [[ 9.99944270e-01 1.80815040e-03 -1.04012832e-02 9.54450778e-01] [-1.80119718e-03 9.99998148e-01 6.77825156e-04 -3.00023562e-01] [ 1.04024895e-02 -6.59052619e-04 9.99945675e-01 -1.61632303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.624630439999997 meters Centerline goodness [0,1] 0.31779167565236144 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.30, Z:-0.16 [[ 9.99941779e-01 1.83037979e-03 -1.06342534e-02 9.55252163e-01] [-1.82238674e-03 9.99998050e-01 7.61274604e-04 -3.00230583e-01] [ 1.06356261e-02 -7.41850560e-04 9.99943165e-01 -1.62071621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.65463044 meters Centerline goodness [0,1] 0.31735110262198296 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.30, Z:-0.16 [[ 9.99940667e-01 1.77093069e-03 -1.07483543e-02 9.55972735e-01] [-1.76279206e-03 9.99998152e-01 7.66623625e-04 -3.00651368e-01] [ 1.07496921e-02 -7.47631025e-04 9.99941941e-01 -1.62781895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.68463044 meters Centerline goodness [0,1] 0.31524211894702636 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.30, Z:-0.16 [[ 9.99935344e-01 1.23962292e-03 -1.13035559e-02 9.57990040e-01] [-1.23411087e-03 9.99999116e-01 4.94601048e-04 -3.01886169e-01] [ 1.13041590e-02 -4.80619229e-04 9.99935990e-01 -1.63918602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.714630439999997 meters Centerline goodness [0,1] 0.31524211894702636 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.30, Z:-0.16 [[ 9.99935344e-01 1.23962292e-03 -1.13035559e-02 9.57990040e-01] [-1.23411087e-03 9.99999116e-01 4.94601048e-04 -3.01886169e-01] [ 1.13041590e-02 -4.80619229e-04 9.99935990e-01 -1.63918602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744630439999998 meters Centerline goodness [0,1] 0.31603977518374404 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.30, Z:-0.16 [[ 9.99934300e-01 1.23168137e-03 -1.13964687e-02 9.58398408e-01] [-1.22479882e-03 9.99999063e-01 6.10878876e-04 -3.02694318e-01] [ 1.13972104e-02 -5.96880360e-04 9.99934872e-01 -1.64255256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.77463044 meters Centerline goodness [0,1] 0.3170584037883538 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.30, Z:-0.16 [[ 9.99934316e-01 1.31397323e-03 -1.13858406e-02 9.58324373e-01] [-1.30489218e-03 9.99998825e-01 8.04966539e-04 -3.03455269e-01] [ 1.13868849e-02 -7.90056372e-04 9.99934855e-01 -1.64220547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.80463044 meters Centerline goodness [0,1] 0.31586551939789953 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.30, Z:-0.16 [[ 9.99933529e-01 1.35712813e-03 -1.14496775e-02 9.58263637e-01] [-1.34671210e-03 9.99998672e-01 9.17383021e-04 -3.03883818e-01] [ 1.14509073e-02 -9.01902623e-04 9.99934029e-01 -1.63913585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.834630439999998 meters Centerline goodness [0,1] 0.31475783720980266 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.30, Z:-0.16 [[ 9.99931826e-01 1.30735966e-03 -1.16031841e-02 9.58490701e-01] [-1.29738939e-03 9.99998783e-01 8.66756246e-04 -3.03869902e-01] [ 1.16043032e-02 -8.51643308e-04 9.99932305e-01 -1.63704839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.86463044 meters Centerline goodness [0,1] 0.3147376643666189 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.30, Z:-0.16 [[ 9.99930256e-01 1.19843915e-03 -1.17493712e-02 9.58808461e-01] [-1.19028546e-03 9.99999046e-01 7.00937122e-04 -3.03653497e-01] [ 1.17502000e-02 -6.86903130e-04 9.99930728e-01 -1.63663333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.89463044 meters Centerline goodness [0,1] 0.3164890742862083 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.30, Z:-0.16 [[ 9.99933127e-01 1.14081119e-03 -1.15082660e-02 9.58457901e-01] [-1.13743170e-03 9.99999308e-01 3.00198890e-04 -3.01517050e-01] [ 1.15086005e-02 -2.87088948e-04 9.99933733e-01 -1.63926956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.924630439999998 meters Centerline goodness [0,1] 0.3118964851293936 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.30, Z:-0.16 [[ 9.99934783e-01 1.19890164e-03 -1.13574778e-02 9.58449562e-01] [-1.19753140e-03 9.99999275e-01 1.27446767e-04 -2.99832886e-01] [ 1.13576223e-02 -1.13837520e-04 9.99935494e-01 -1.64428595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.95463044 meters Centerline goodness [0,1] 0.3149706542378733 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.30, Z:-0.16 [[ 9.99934676e-01 1.13774890e-03 -1.13731669e-02 9.58816427e-01] [-1.13998109e-03 9.99999332e-01 -1.89787154e-04 -2.97936950e-01] [ 1.13729434e-02 2.02739951e-04 9.99935305e-01 -1.64872316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.98463044 meters Centerline goodness [0,1] 0.317133263561835 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.29, Z:-0.17 [[ 9.99926616e-01 7.64435472e-04 -1.20903918e-02 9.60698344e-01] [-7.77073821e-04 9.99999157e-01 -1.04065855e-03 -2.94529107e-01] [ 1.20895861e-02 1.04997731e-03 9.99926367e-01 -1.65322596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.014630439999998 meters Centerline goodness [0,1] 0.3159034318501678 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.29, Z:-0.17 [[ 9.99923298e-01 6.35232604e-04 -1.23690956e-02 9.61594703e-01] [-6.52255537e-04 9.99998846e-01 -1.37226174e-03 -2.92880690e-01] [ 1.23682096e-02 1.38022430e-03 9.99922558e-01 -1.65735577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.04463044 meters Centerline goodness [0,1] 0.31362180520625094 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.29, Z:-0.17 [[ 9.99923818e-01 6.41944865e-04 -1.23266334e-02 9.61704520e-01] [-6.60697463e-04 9.99998631e-01 -1.51729540e-03 -2.91522991e-01] [ 1.23256425e-02 1.52532398e-03 9.99922873e-01 -1.66074415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.07463044 meters Centerline goodness [0,1] 0.31880386297691743 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.29, Z:-0.17 [[ 9.99928691e-01 6.99021437e-04 -1.19215991e-02 9.60841472e-01] [-7.17942201e-04 9.99998490e-01 -1.58289365e-03 -2.90465969e-01] [ 1.19204746e-02 1.59133979e-03 9.99927682e-01 -1.66189843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.104630439999998 meters Centerline goodness [0,1] 0.316646105231262 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.29, Z:-0.17 [[ 9.99933928e-01 6.60111953e-04 -1.14762061e-02 9.59604018e-01] [-6.80631253e-04 9.99998177e-01 -1.78417264e-03 -2.89279900e-01] [ 1.14750074e-02 1.79186582e-03 9.99932554e-01 -1.65827973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.13463044 meters Centerline goodness [0,1] 0.3174774930747922 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.29, Z:-0.17 [[ 9.99936548e-01 5.19412128e-04 -1.12530407e-02 9.58871142e-01] [-5.43504870e-04 9.99997567e-01 -2.13804609e-03 -2.87647662e-01] [ 1.12519028e-02 2.14402651e-03 9.99934397e-01 -1.65497831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.16463044 meters Centerline goodness [0,1] 0.3170399809922889 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.28, Z:-0.17 [[ 9.99937721e-01 4.87035203e-04 -1.11497621e-02 9.58600322e-01] [-5.18284921e-04 9.99995946e-01 -2.80000720e-03 -2.82537324e-01] [ 1.11483532e-02 2.80561157e-03 9.99933919e-01 -1.65495293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.194630439999997 meters Centerline goodness [0,1] 0.3177294904034217 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.28, Z:-0.17 [[ 9.99938385e-01 4.78851066e-04 -1.10903883e-02 9.58901668e-01] [-5.14643727e-04 9.99994668e-01 -3.22472971e-03 -2.79261920e-01] [ 1.10887850e-02 3.23023861e-03 9.99933300e-01 -1.66133524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.22463044 meters Centerline goodness [0,1] 0.3135408193843915 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.28, Z:-0.17 [[ 9.99940093e-01 3.37838812e-04 -1.09405391e-02 9.58837124e-01] [-3.79126840e-04 9.99992814e-01 -3.77200277e-03 -2.76118022e-01] [ 1.09391862e-02 3.77592466e-03 9.99933036e-01 -1.66502314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.25463044 meters Centerline goodness [0,1] 0.3181119743761768 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.27, Z:-0.17 [[ 9.99946382e-01 6.13977261e-05 -1.03552048e-02 9.56707017e-01] [-1.10947866e-04 9.99988548e-01 -4.78454026e-03 -2.69452569e-01] [ 1.03547925e-02 4.78543260e-03 9.99934937e-01 -1.65353159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284630439999997 meters Centerline goodness [0,1] 0.318971642658743 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.27, Z:-0.17 [[ 9.99947310e-01 -3.37692230e-05 -1.02652519e-02 9.56346334e-01] [-1.94795844e-05 9.99986546e-01 -5.18714271e-03 -2.67075742e-01] [ 1.02652890e-02 5.18706937e-03 9.99933857e-01 -1.65144073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.31463044 meters Centerline goodness [0,1] 0.3186659794699995 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.26, Z:-0.17 [[ 9.99947544e-01 -7.02275764e-05 -1.02422982e-02 9.56212983e-01] [ 1.40803104e-05 9.99984974e-01 -5.48187019e-03 -2.64986648e-01] [ 1.02425293e-02 5.48143842e-03 9.99932520e-01 -1.65055964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.34463044 meters Centerline goodness [0,1] 0.3193598886762915 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.26, Z:-0.17 [[ 0.9999089 -0.00847137 -0.01050851 0.9378006 ] [ 0.00843026 0.99995666 -0.00395031 -0.25877103] [ 0.01054152 0.00386136 0.99993698 -0.16679395] [ 0. 0. 0. 1. ]] SLAMing on 26.374630439999997 meters Centerline goodness [0,1] 0.31703674847422414 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.26, Z:-0.17 [[ 0.99991199 -0.00863816 -0.01006942 0.93682018] [ 0.00859337 0.99995303 -0.00448273 -0.25575024] [ 0.01010767 0.00439581 0.99993925 -0.16680244] [ 0. 0. 0. 1. ]] SLAMing on 26.40463044 meters Centerline goodness [0,1] 0.31784730590463073 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:-0.17 [[ 0.99991386 -0.00867595 -0.00984872 0.93611663] [ 0.00862921 0.99995135 -0.00477816 -0.25380669] [ 0.00988969 0.00469276 0.99994008 -0.16654084] [ 0. 0. 0. 1. ]] SLAMing on 26.43463044 meters Centerline goodness [0,1] 0.31609281597497485 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:-0.17 [[ 0.99993533 -0.00555757 -0.00992181 0.93572111] [ 0.0055402 0.99998307 -0.00177718 -0.25319131] [ 0.00993152 0.0017221 0.9999492 -0.16590297] [ 0. 0. 0. 1. ]] SLAMing on 26.464630439999997 meters Centerline goodness [0,1] 0.3195803447168397 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:-0.17 [[ 0.99993736 -0.00552278 -0.00973505 0.93524577] [ 0.0055027 0.99998268 -0.00208869 -0.25102164] [ 0.00974642 0.00203499 0.99995043 -0.16580875] [ 0. 0. 0. 1. ]] SLAMing on 26.494630439999998 meters Centerline goodness [0,1] 0.31893436059471514 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.25, Z:-0.17 [[ 0.99995336 0.00201164 -0.00944629 0.91551327] [-0.00204072 0.99999321 -0.00306997 -0.25280498] [ 0.00944005 0.0030891 0.99995067 -0.16739569] [ 0. 0. 0. 1. ]] SLAMing on 26.52463044 meters Centerline goodness [0,1] 0.31737425258781427 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.25, Z:-0.17 [[ 0.99994332 0.00235345 -0.01038311 0.91817565] [-0.0023876 0.99999178 -0.00327764 -0.24989322] [ 0.01037531 0.00330225 0.99994072 -0.1682558 ] [ 0. 0. 0. 1. ]] SLAMing on 26.55463044 meters Centerline goodness [0,1] 0.31835205992509363 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.25, Z:-0.17 [[ 0.99991296 -0.00591338 -0.01179411 0.90095923] [ 0.00589527 0.99998139 -0.0015698 -0.24519987] [ 0.01180317 0.00150013 0.99992921 -0.1700048 ] [ 0. 0. 0. 1. ]] SLAMing on 26.584630439999998 meters Centerline goodness [0,1] 0.31861762398675153 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.25, Z:-0.17 [[ 0.99991128 -0.00590767 -0.01193875 0.90152426] [ 0.00588904 0.99998139 -0.00159498 -0.24505811] [ 0.01194795 0.00152453 0.99992746 -0.17036006] [ 0. 0. 0. 1. ]] SLAMing on 26.61463044 meters Centerline goodness [0,1] 0.3201087895009498 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.25, Z:-0.17 [[ 0.99993226 0.00243691 -0.0113813 0.91995845] [-0.00247394 0.99999169 -0.00324077 -0.2487197 ] [ 0.01137331 0.00326871 0.99992998 -0.16884101] [ 0. 0. 0. 1. ]] SLAMing on 26.64463044 meters Centerline goodness [0,1] 0.32299021830666585 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.25, Z:-0.17 [[ 0.99993516 0.00257226 -0.01109357 0.91858036] [-0.00260445 0.99999244 -0.00288775 -0.25068085] [ 0.01108606 0.00291646 0.99993429 -0.16775225] [ 0. 0. 0. 1. ]] SLAMing on 26.674630439999998 meters Centerline goodness [0,1] 0.3241608840355876 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.25, Z:-0.17 [[ 0.99993603 0.00266672 -0.01099192 0.91829054] [-0.00269695 0.99999262 -0.00273634 -0.25121593] [ 0.01098454 0.00276581 0.99993584 -0.16763565] [ 0. 0. 0. 1. ]] SLAMing on 26.70463044 meters Centerline goodness [0,1] 0.31973244147157187 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.25, Z:-0.17 [[ 0.99993508 0.00271607 -0.01106575 0.91877706] [-0.00274602 0.99999261 -0.00269166 -0.25135105] [ 0.01105835 0.00272187 0.99993515 -0.16808676] [ 0. 0. 0. 1. ]] SLAMing on 26.73463044 meters Centerline goodness [0,1] 0.320793537348667 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.25, Z:-0.17 [[ 0.99993405 0.00276128 -0.01114811 0.91942372] [-0.00279208 0.99999233 -0.00274798 -0.25083356] [ 0.01114044 0.00277893 0.99993408 -0.16877878] [ 0. 0. 0. 1. ]] SLAMing on 26.764630439999998 meters Centerline goodness [0,1] 0.31562272552125703 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.25, Z:-0.17 [[ 9.99911994e-01 6.45890752e-03 -1.15882253e-02 9.21218307e-01] [-6.45136160e-03 9.99978953e-01 6.88434808e-04 -2.49865719e-01] [ 1.15924280e-02 -6.13614390e-04 9.99932617e-01 -1.69731126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.79463044 meters Centerline goodness [0,1] 0.3213127513296148 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.24, Z:-0.17 [[ 0.99993616 -0.00167499 -0.01117442 0.90338472] [ 0.00170093 0.99999588 0.00231234 -0.24489764] [ 0.0111705 -0.0023312 0.99993489 -0.17198485] [ 0. 0. 0. 1. ]] SLAMing on 26.82463044 meters Centerline goodness [0,1] 0.3208869659275284 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.24, Z:-0.17 [[ 0.99993619 -0.00168793 -0.01116977 0.90327874] [ 0.00171241 0.99999615 0.00218229 -0.24421296] [ 0.01116604 -0.00220128 0.99993523 -0.17184706] [ 0. 0. 0. 1. ]] SLAMing on 26.854630439999998 meters Centerline goodness [0,1] 0.31874074550956033 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.24, Z:-0.17 [[ 0.99993552 -0.00173747 -0.01122241 0.9032562 ] [ 0.0017609 0.99999629 0.00207879 -0.24399156] [ 0.01121875 -0.00209842 0.99993487 -0.17162181] [ 0. 0. 0. 1. ]] SLAMing on 26.88463044 meters Centerline goodness [0,1] 0.3193775790921596 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.24, Z:-0.17 [[ 0.99993491 -0.00172695 -0.0112782 0.90332548] [ 0.0017512 0.99999618 0.00214007 -0.2445623 ] [ 0.01127446 -0.00215968 0.99993411 -0.17151672] [ 0. 0. 0. 1. ]] SLAMing on 26.91463044 meters Centerline goodness [0,1] 0.32310504668015927 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.25, Z:-0.17 [[ 0.99994018 0.00488132 -0.00978848 0.88470146] [-0.00486796 0.99998719 0.00138812 -0.2507346 ] [ 0.00979513 -0.00134038 0.99995113 -0.17370386] [ 0. 0. 0. 1. ]] SLAMing on 26.944630439999997 meters Centerline goodness [0,1] 0.3250806154911593 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.25, Z:-0.17 [[ 0.99994121 0.00494863 -0.00964801 0.88437257] [-0.00493349 0.99998656 0.00159254 -0.25178002] [ 0.00965576 -0.00154485 0.99995219 -0.17370015] [ 0. 0. 0. 1. ]] SLAMing on 26.97463044 meters Centerline goodness [0,1] 0.32171098366353845 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.25, Z:-0.17 [[ 0.99994277 0.00499809 -0.00945963 0.88385304] [-0.00498073 0.99998587 0.00185815 -0.25334959] [ 0.00946879 -0.00181093 0.99995353 -0.17354809] [ 0. 0. 0. 1. ]] SLAMing on 27.00463044 meters Centerline goodness [0,1] 0.32363604784959077 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.26, Z:-0.17 [[ 0.99994402 0.00503243 -0.0093077 0.88333982] [-0.00501271 0.99998514 0.00214145 -0.2551859 ] [ 0.00931833 -0.00209467 0.99995439 -0.17325237] [ 0. 0. 0. 1. ]] SLAMing on 27.034630439999997 meters Centerline goodness [0,1] 0.3249847680389938 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.26, Z:-0.17 [[ 0.99994644 0.00518434 -0.00895711 0.88212937] [-0.0051591 0.99998266 0.00283837 -0.25932464] [ 0.00897167 -0.00279201 0.99995586 -0.17259176] [ 0. 0. 0. 1. ]] SLAMing on 27.06463044 meters Centerline goodness [0,1] 0.32301208446221996 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.26, Z:-0.17 [[ 0.99996219 -0.00203035 -0.00845531 0.90163743] [ 0.00206366 0.99999014 0.00393249 -0.25784259] [ 0.00844724 -0.00394979 0.99995652 -0.17137958] [ 0. 0. 0. 1. ]] SLAMing on 27.09463044 meters Centerline goodness [0,1] 0.3204897679595856 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.26, Z:-0.17 [[ 0.99996096 -0.00193672 -0.00862142 0.90217147] [ 0.00197417 0.99998864 0.00433829 -0.26019318] [ 0.00861292 -0.00435514 0.99995342 -0.17156536] [ 0. 0. 0. 1. ]] SLAMing on 27.124630439999997 meters Centerline goodness [0,1] 0.32269610591228604 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.26, Z:-0.17 [[ 0.99995801 -0.00189479 -0.00896566 0.90323411] [ 0.00193699 0.99998708 0.00470084 -0.26266302] [ 0.00895664 -0.00471801 0.99994876 -0.17189832] [ 0. 0. 0. 1. ]] SLAMing on 27.15463044 meters Centerline goodness [0,1] 0.3261849295682654 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.27, Z:-0.18 [[ 0.9999535 0.00365631 -0.00892314 0.88863464] [-0.00362778 0.99998826 0.0032113 -0.27398658] [ 0.00893478 -0.00317878 0.99995503 -0.17569532] [ 0. 0. 0. 1. ]] SLAMing on 27.18463044 meters Centerline goodness [0,1] 0.3230652668037667 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.28, Z:-0.18 [[ 0.99995319 0.00379946 -0.00889846 0.88861813] [-0.00376725 0.9999863 0.00363353 -0.27629848] [ 0.00891214 -0.00359984 0.99995381 -0.17572334] [ 0. 0. 0. 1. ]] SLAMing on 27.214630439999997 meters Centerline goodness [0,1] 0.32447525515116504 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.27, Z:-0.17 [[ 0.99995904 -0.00320704 -0.00846388 0.90744063] [ 0.00324746 0.99998337 0.00476608 -0.27489864] [ 0.00844845 -0.00479337 0.99995282 -0.17410555] [ 0. 0. 0. 1. ]] SLAMing on 27.244630439999998 meters Centerline goodness [0,1] 0.3239083982646608 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.28, Z:-0.17 [[ 0.99995974 -0.00299403 -0.00845848 0.90714216] [ 0.00303895 0.99998132 0.00530347 -0.27760238] [ 0.00844244 -0.00532896 0.99995016 -0.17363359] [ 0. 0. 0. 1. ]] SLAMing on 27.27463044 meters Centerline goodness [0,1] 0.32675658037850774 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.29, Z:-0.17 [[ 0.99995134 -0.00319369 -0.00933318 0.9093365 ] [ 0.00324836 0.99997762 0.00584802 -0.28587109] [ 0.0093143 -0.00587805 0.99993934 -0.17382813] [ 0. 0. 0. 1. ]] SLAMing on 27.30463044 meters Centerline goodness [0,1] 0.3204490915323963 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.29, Z:-0.17 [[ 0.99994536 0.00343128 -0.00987465 0.9311887 ] [-0.00340095 0.99998945 0.00308726 -0.29134284] [ 0.00988514 -0.0030535 0.99994648 -0.174064 ] [ 0. 0. 0. 1. ]] SLAMing on 27.334630439999998 meters Centerline goodness [0,1] 0.3245811506991645 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.29, Z:-0.17 [[ 0.99994224 0.00355725 -0.0101419 0.931782 ] [-0.00352053 0.99998719 0.00363648 -0.29477197] [ 0.01015471 -0.00360056 0.99994196 -0.17397115] [ 0. 0. 0. 1. ]] SLAMing on 27.36463044 meters Centerline goodness [0,1] 0.3255550964486875 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.30, Z:-0.17 [[ 0.99994154 0.00369617 -0.01016171 0.93171952] [-0.00365422 0.99998474 0.00414356 -0.29766227] [ 0.01017687 -0.00410619 0.99993978 -0.17373487] [ 0. 0. 0. 1. ]] SLAMing on 27.39463044 meters Centerline goodness [0,1] 0.3228148020505751 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.30, Z:-0.17 [[ 0.99994022 0.00384766 -0.01023458 0.93184185] [-0.00380086 0.99998225 0.00458826 -0.29996975] [ 0.01025206 -0.00454908 0.9999371 -0.17362596] [ 0. 0. 0. 1. ]] SLAMing on 27.424630439999998 meters Centerline goodness [0,1] 0.3272480815059359 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.30, Z:-0.17 [[ 0.99992556 -0.00371022 -0.01162371 0.91131683] [ 0.003802 0.99996169 0.007884 -0.30498214] [ 0.01159401 -0.00792761 0.99990136 -0.17355594] [ 0. 0. 0. 1. ]] SLAMing on 27.45463044 meters Centerline goodness [0,1] 0.32469366472581906 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.31, Z:-0.17 [[ 0.99992043 0.00470627 -0.0117043 0.92992009] [-0.00463131 0.99996865 0.00642328 -0.31144604] [ 0.01173417 -0.00636856 0.99991087 -0.17195789] [ 0. 0. 0. 1. ]] SLAMing on 27.48463044 meters Centerline goodness [0,1] 0.32093962904855033 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.31, Z:-0.17 [[ 0.99991693 0.00472669 -0.0119909 0.9305989 ] [-0.00464448 0.99996559 0.00687401 -0.31482059] [ 0.01202298 -0.00681775 0.99990448 -0.17194432] [ 0. 0. 0. 1. ]] SLAMing on 27.514630439999998 meters Centerline goodness [0,1] 0.3220615063851968 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.32, Z:-0.17 [[ 0.99993118 0.001138 -0.01167638 0.93014281] [-0.00109526 0.99999268 0.00366545 -0.31738086] [ 0.01168046 -0.00365241 0.99992511 -0.17225292] [ 0. 0. 0. 1. ]] SLAMing on 27.54463044 meters Centerline goodness [0,1] 0.31965433478793615 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.32, Z:-0.17 [[ 0.99991969 -0.00763148 -0.01011785 0.94912037] [ 0.00767319 0.9999622 0.00408933 -0.32284375] [ 0.01008626 -0.00416664 0.99994045 -0.17121297] [ 0. 0. 0. 1. ]] SLAMing on 27.57463044 meters Centerline goodness [0,1] 0.32146955034530533 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.33, Z:-0.17 [[ 0.9999197 -0.00749036 -0.01022217 0.94911548] [ 0.00753986 0.99996 0.00481228 -0.32681087] [ 0.01018572 -0.00488896 0.99993617 -0.17083641] [ 0. 0. 0. 1. ]] SLAMing on 27.604630439999998 meters Centerline goodness [0,1] 0.321425482224721 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.33, Z:-0.17 [[ 0.99991947 -0.00738689 -0.01031953 0.94924892] [ 0.0074437 0.99995729 0.00547767 -0.33064322] [ 0.01027863 -0.00555404 0.99993175 -0.17066479] [ 0. 0. 0. 1. ]] SLAMing on 27.63463044 meters Centerline goodness [0,1] 0.321425482224721 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.33, Z:-0.17 [[ 0.99991947 -0.00738689 -0.01031953 0.94924892] [ 0.0074437 0.99995729 0.00547767 -0.33064322] [ 0.01027863 -0.00555404 0.99993175 -0.17066479] [ 0. 0. 0. 1. ]] SLAMing on 27.66463044 meters Centerline goodness [0,1] 0.31961555827904276 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.34, Z:-0.17 [[ 0.99996277 -0.00102663 -0.00856757 0.96757347] [ 0.00105053 0.99999557 0.0027861 -0.34073441] [ 0.00856467 -0.002795 0.99995942 -0.17024197] [ 0. 0. 0. 1. ]] SLAMing on 27.694630439999997 meters Centerline goodness [0,1] 0.3243874483683311 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.34, Z:-0.17 [[ 9.99967056e-01 -9.05403300e-04 -8.06647731e-03 9.65964934e-01] [ 9.32128422e-04 9.99994088e-01 3.30996619e-03 -3.43712934e-01] [ 8.06343276e-03 -3.31737614e-03 9.99961987e-01 -1.69512721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.72463044 meters Centerline goodness [0,1] 0.32197247508520643 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.35, Z:-0.17 [[ 9.99970126e-01 -8.01177252e-04 -7.68792855e-03 9.64655487e-01] [ 8.29745654e-04 9.99992761e-01 3.71353803e-03 -3.45978482e-01] [ 7.68489770e-03 -3.71980612e-03 9.99963552e-01 -1.68788382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.75463044 meters Centerline goodness [0,1] 0.3247466124954077 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.35, Z:-0.17 [[ 9.99971013e-01 -6.75529513e-04 -7.58399304e-03 9.64062880e-01] [ 7.06644770e-04 9.99991342e-01 4.10082431e-03 -3.47973067e-01] [ 7.58115715e-03 -4.10606463e-03 9.99962832e-01 -1.68237903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784630439999997 meters Centerline goodness [0,1] 0.3201230001720282 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.35, Z:-0.17 [[ 9.99967683e-01 -6.33381891e-04 -8.01441355e-03 9.65583261e-01] [ 6.68656144e-04 9.99990099e-01 4.39943804e-03 -3.50154380e-01] [ 8.01154767e-03 -4.40465475e-03 9.99958206e-01 -1.68970884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.81463044 meters Centerline goodness [0,1] 0.3212033517622668 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.35, Z:-0.17 [[ 9.99967089e-01 -6.01059473e-04 -8.09071469e-03 9.66335043e-01] [ 6.37365775e-04 9.99989737e-01 4.48557344e-03 -3.50701954e-01] [ 8.08793555e-03 -4.49058256e-03 9.99957209e-01 -1.69859442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.84463044 meters Centerline goodness [0,1] 0.3253219820999782 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.35, Z:-0.17 [[ 9.99968376e-01 -5.05430672e-04 -7.93668050e-03 9.66346417e-01] [ 5.42194294e-04 9.99989132e-01 4.63064746e-03 -3.51255505e-01] [ 7.93425377e-03 -4.63480424e-03 9.99957782e-01 -1.70412973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.874630439999997 meters Centerline goodness [0,1] 0.3224241640256128 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.35, Z:-0.17 [[ 0.99995118 0.00754781 -0.00637701 0.98575976] [-0.00753231 0.99996863 0.0024509 -0.35352013] [ 0.0063953 -0.00240275 0.99997666 -0.17061952] [ 0. 0. 0. 1. ]] SLAMing on 27.90463044 meters Centerline goodness [0,1] 0.32032443363955165 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.35, Z:-0.17 [[ 0.99995218 0.00756336 -0.00619928 0.98505471] [-0.00754783 0.99996833 0.00252452 -0.35398212] [ 0.00621818 -0.00247761 0.9999776 -0.17013908] [ 0. 0. 0. 1. ]] SLAMing on 27.93463044 meters Centerline goodness [0,1] 0.3205471241732132 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.35, Z:-0.17 [[ 0.99995235 0.00768156 -0.0060248 0.98436398] [-0.00766529 0.99996692 0.00271897 -0.35464865] [ 0.00604549 -0.00267266 0.99997815 -0.16969107] [ 0. 0. 0. 1. ]] SLAMing on 27.964630439999997 meters Centerline goodness [0,1] 0.3199564539885158 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.35, Z:-0.17 [[ 0.99995227 0.0076854 -0.00603237 0.98465031] [-0.0076693 0.99996698 0.00268814 -0.35440643] [ 0.00605283 -0.00264175 0.99997819 -0.17007678] [ 0. 0. 0. 1. ]] SLAMing on 27.994630439999998 meters Centerline goodness [0,1] 0.3199656873257559 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.35, Z:-0.17 [[ 0.99995311 0.00768451 -0.00589371 0.98477767] [-0.00766909 0.99996712 0.00263438 -0.35407651] [ 0.00591376 -0.00258906 0.99997916 -0.17069907] [ 0. 0. 0. 1. ]] SLAMing on 28.02463044 meters Centerline goodness [0,1] 0.31991726277686805 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.35, Z:-0.17 [[ 0.99995391 0.00762788 -0.00583113 0.98511124] [-0.00761328 0.99996784 0.0025216 -0.35374904] [ 0.00585018 -0.00247709 0.99997982 -0.17141223] [ 0. 0. 0. 1. ]] SLAMing on 28.05463044 meters Centerline goodness [0,1] 0.3174433974331642 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.35, Z:-0.17 [[ 0.999976 0.00137418 -0.00679115 1.00433849] [-0.00135201 0.99999375 0.00326772 -0.34932469] [ 0.0067956 -0.00325846 0.9999716 -0.1708263 ] [ 0. 0. 0. 1. ]] SLAMing on 28.084630439999998 meters Centerline goodness [0,1] 0.3204257978322236 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.35, Z:-0.17 [[ 0.99997522 0.00139888 -0.00689962 1.00483804] [-0.00137598 0.99999353 0.00332282 -0.3495283 ] [ 0.00690423 -0.00331325 0.99997068 -0.17116936] [ 0. 0. 0. 1. ]] SLAMing on 28.11463044 meters Centerline goodness [0,1] 0.3177251756995645 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.35, Z:-0.17 [[ 0.99997378 0.00138783 -0.00710787 1.00561455] [-0.00136388 0.99999338 0.00337274 -0.35003668] [ 0.0071125 -0.00336296 0.99996905 -0.17163004] [ 0. 0. 0. 1. ]] SLAMing on 28.14463044 meters Centerline goodness [0,1] 0.3196799514289431 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.35, Z:-0.17 [[ 0.99996916 0.0012636 -0.00775116 1.00752466] [-0.00123639 0.99999306 0.0035147 -0.35210227] [ 0.00775555 -0.00350501 0.99996378 -0.17228433] [ 0. 0. 0. 1. ]] SLAMing on 28.174630439999998 meters Centerline goodness [0,1] 0.3180816230444925 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.35, Z:-0.17 [[ 0.99996805 0.00123571 -0.00789721 1.00801023] [-0.00120703 0.99999267 0.00363487 -0.35318177] [ 0.00790164 -0.00362523 0.99996221 -0.17252691] [ 0. 0. 0. 1. ]] SLAMing on 28.20463044 meters Centerline goodness [0,1] 0.3180502764340014 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.35, Z:-0.17 [[ 0.99996766 0.00132739 -0.00793248 1.00806877] [-0.00129624 0.99999143 0.00393105 -0.35468687] [ 0.00793763 -0.00392064 0.99996081 -0.1725089 ] [ 0. 0. 0. 1. ]] SLAMing on 28.23463044 meters Centerline goodness [0,1] 0.3187571672761105 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.36, Z:-0.17 [[ 0.99996743 0.00139811 -0.00794893 1.00816149] [-0.00136489 0.99999032 0.00418265 -0.35601048] [ 0.0079547 -0.00417166 0.99995966 -0.17257244] [ 0. 0. 0. 1. ]] SLAMing on 28.264630439999998 meters Centerline goodness [0,1] 0.3180041041149152 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.36, Z:-0.17 [[ 0.99996577 0.0014104 -0.00815308 1.0089111 ] [-0.00137465 0.99998943 0.00438834 -0.35748189] [ 0.00815919 -0.00437698 0.99995713 -0.17297912] [ 0. 0. 0. 1. ]] SLAMing on 28.29463044 meters Centerline goodness [0,1] 0.31784270051683494 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.36, Z:-0.17 [[ 0.99996099 0.00110199 -0.00876338 1.01096305] [-0.00106306 0.99998955 0.00444621 -0.36016927] [ 0.00876819 -0.00443672 0.99995172 -0.17383503] [ 0. 0. 0. 1. ]] SLAMing on 28.32463044 meters Centerline goodness [0,1] 0.31480490571691533 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.36, Z:-0.17 [[ 0.99996128 0.00111263 -0.00872925 1.01081972] [-0.00107207 0.99998861 0.00464981 -0.36160545] [ 0.00873432 -0.00464027 0.99995109 -0.17372085] [ 0. 0. 0. 1. ]] SLAMing on 28.354630439999998 meters Centerline goodness [0,1] 0.3184761493632635 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.36, Z:-0.17 [[ 0.99996177 0.00117679 -0.00866399 1.01051267] [-0.00113424 0.99998728 0.00491432 -0.36306099] [ 0.00866966 -0.00490431 0.99995039 -0.17350821] [ 0. 0. 0. 1. ]] SLAMing on 28.38463044 meters Centerline goodness [0,1] 0.31620289667936385 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.36, Z:-0.17 [[ 0.99996103 0.00123388 -0.00874183 1.01062699] [-0.00118861 0.99998587 0.005182 -0.36448337] [ 0.0087481 -0.0051714 0.99994836 -0.17343614] [ 0. 0. 0. 1. ]] SLAMing on 28.41463044 meters Centerline goodness [0,1] 0.3158246400551772 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.37, Z:-0.17 [[ 0.99996054 0.00122665 -0.00879803 1.01091839] [-0.00117961 0.999985 0.00534953 -0.36559626] [ 0.00880446 -0.00533894 0.99994699 -0.17370037] [ 0. 0. 0. 1. ]] SLAMing on 28.444630439999997 meters Centerline goodness [0,1] 0.3171756794620342 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.37, Z:-0.17 [[ 0.99996057 0.0012019 -0.00879861 1.01094093] [-0.00115374 0.99998434 0.00547667 -0.36650487] [ 0.00880506 -0.00546631 0.99994629 -0.17374867] [ 0. 0. 0. 1. ]] SLAMing on 28.47463044 meters Centerline goodness [0,1] 0.31742510714362626 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.37, Z:-0.17 [[ 0.99996429 0.00118531 -0.008367 1.00960328] [-0.00113801 0.99998336 0.00565551 -0.36757679] [ 0.00837356 -0.00564578 0.999949 -0.17325874] [ 0. 0. 0. 1. ]] SLAMing on 28.50463044 meters Centerline goodness [0,1] 0.32049123715790384 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.37, Z:-0.17 [[ 0.99996701 0.00117318 -0.00803814 1.00870212] [-0.00112782 0.99998343 0.00564464 -0.36736772] [ 0.00804463 -0.00563539 0.99995176 -0.17312236] [ 0. 0. 0. 1. ]] SLAMing on 28.534630439999997 meters Centerline goodness [0,1] 0.3139810679715379 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.37, Z:-0.17 [[ 0.99997174 0.00108534 -0.00743924 1.00734273] [-0.00104412 0.9999841 0.00554207 -0.3666469 ] [ 0.00744513 -0.00553415 0.99995697 -0.17316753] [ 0. 0. 0. 1. ]] SLAMing on 28.56463044 meters Centerline goodness [0,1] 0.3160835866912174 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.37, Z:-0.17 [[ 9.99971957e-01 9.43517298e-04 -7.42927686e-03 1.00732160e+00] [-9.04043821e-04 9.99985468e-01 5.31479949e-03 -3.65816051e-01] [ 7.43418350e-03 -5.30793405e-03 9.99958279e-01 -1.73180359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.59463044 meters Centerline goodness [0,1] 0.3173992086407871 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.36, Z:-0.17 [[ 9.99971927e-01 7.56502079e-04 -7.45465998e-03 1.00758267e+00] [-7.19356982e-04 9.99987320e-01 4.98422443e-03 -3.64573032e-01] [ 7.45833603e-03 -4.97872195e-03 9.99959792e-01 -1.73515044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624630439999997 meters Centerline goodness [0,1] 0.31641886832816346 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.36, Z:-0.17 [[ 9.99971389e-01 6.40155247e-04 -7.53734302e-03 1.00799734e+00] [-6.04611525e-04 9.99988692e-01 4.71701787e-03 -3.63231463e-01] [ 7.54027741e-03 -4.71232575e-03 9.99960468e-01 -1.73870240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.65463044 meters Centerline goodness [0,1] 0.313558598916336 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.36, Z:-0.18 [[ 9.99971195e-01 5.08100966e-04 -7.57302302e-03 1.00906348e+00] [-4.76122848e-04 9.99990966e-01 4.22384067e-03 -3.59774656e-01] [ 7.57510074e-03 -4.22011331e-03 9.99962404e-01 -1.75319581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.68463044 meters Centerline goodness [0,1] 0.3135422902591294 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.36, Z:-0.18 [[ 9.99971955e-01 3.44270239e-04 -7.48140026e-03 1.00918509e+00] [-3.15482279e-04 9.99992544e-01 3.84877700e-03 -3.57998495e-01] [ 7.48266949e-03 -3.84630881e-03 9.99964607e-01 -1.75838572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.714630439999997 meters Centerline goodness [0,1] 0.31628857112138475 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.36, Z:-0.18 [[ 9.99973179e-01 1.67143318e-04 -7.32214411e-03 1.00899664e+00] [-1.41491422e-04 9.99993852e-01 3.50370913e-03 -3.56536401e-01] [ 7.32268472e-03 -3.50257913e-03 9.99967055e-01 -1.76178128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744630439999998 meters Centerline goodness [0,1] 0.3193523214982442 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.36, Z:-0.18 [[ 9.99973451e-01 6.11823542e-06 -7.28680986e-03 1.00891027e+00] [ 1.72547014e-05 9.99994856e-01 3.20750063e-03 -3.55277472e-01] [ 7.28679200e-03 -3.20754120e-03 9.99968307e-01 -1.76245117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.77463044 meters Centerline goodness [0,1] 0.31599584073480347 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.35, Z:-0.18 [[ 9.99973839e-01 -1.27225578e-04 -7.23228538e-03 1.00887874e+00] [ 1.48832623e-04 9.99995527e-01 2.98712232e-03 -3.54269344e-01] [ 7.23187299e-03 -2.98812057e-03 9.99969385e-01 -1.76444321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804630439999997 meters Centerline goodness [0,1] 0.31337376865832145 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.35, Z:-0.18 [[ 9.99973404e-01 -2.95473668e-04 -7.28722206e-03 1.00909701e+00] [ 3.15256244e-04 9.99996268e-01 2.71369450e-03 -3.53174697e-01] [ 7.28639304e-03 -2.71591967e-03 9.99969766e-01 -1.76616781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.834630439999998 meters Centerline goodness [0,1] 0.31395223170863507 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.35, Z:-0.18 [[ 9.99976450e-01 -4.80816555e-04 -6.84601980e-03 1.00838618e+00] [ 4.96679268e-04 9.99997196e-01 2.31555929e-03 -3.51010145e-01] [ 6.84488724e-03 -2.31890504e-03 9.99973885e-01 -1.77144576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.86463044 meters Centerline goodness [0,1] 0.3156151182050896 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.35, Z:-0.18 [[ 9.99976681e-01 -6.00257886e-04 -6.80275747e-03 1.00871904e+00] [ 6.14121203e-04 9.99997739e-01 2.03599112e-03 -3.49589030e-01] [ 6.80151997e-03 -2.04012136e-03 9.99974788e-01 -1.77812479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.89463044 meters Centerline goodness [0,1] 0.31165375619595304 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.35, Z:-0.18 [[ 9.99976853e-01 -6.84806194e-04 -6.76939524e-03 1.00922081e+00] [ 6.96978836e-04 9.99998144e-01 1.79599198e-03 -3.48204553e-01] [ 6.76815277e-03 -1.80066853e-03 9.99975475e-01 -1.78746007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924630439999998 meters Centerline goodness [0,1] 0.3125822102425876 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.35, Z:-0.18 [[ 9.99976988e-01 -7.64367890e-04 -6.74084860e-03 1.00937935e+00] [ 7.74965828e-04 9.99998468e-01 1.56972464e-03 -3.46758142e-01] [ 6.73963843e-03 -1.57491244e-03 9.99976048e-01 -1.79147736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.95463044 meters Centerline goodness [0,1] 0.31156851859760004 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.34, Z:-0.18 [[ 9.99979390e-01 -1.13198951e-03 -6.31970494e-03 1.00813882e+00] [ 1.13686469e-03 9.99999059e-01 7.67885401e-04 -3.43139145e-01] [ 6.31882975e-03 -7.75054224e-04 9.99979736e-01 -1.78746355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.98463044 meters Centerline goodness [0,1] 0.3147214710654408 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.34, Z:-0.18 [[ 9.99973557e-01 5.34888460e-03 -4.92694905e-03 9.88507430e-01] [-5.35180967e-03 9.99985510e-01 -5.80696502e-04 -3.44278688e-01] [ 4.92377158e-03 6.07049240e-04 9.99987694e-01 -1.80466742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.014630439999998 meters Centerline goodness [0,1] 0.31229937307452016 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.34, Z:-0.18 [[ 0.9999754 0.00512268 -0.00479114 0.98846794] [-0.0051286 0.9999861 -0.00122528 -0.34108872] [ 0.0047848 0.00124983 0.99998777 -0.18086463] [ 0. 0. 0. 1. ]] SLAMing on 29.04463044 meters Centerline goodness [0,1] 0.31451909155736113 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.33, Z:-0.18 [[ 0.99995397 0.00819969 -0.00498279 0.99073253] [-0.00819431 0.99996582 0.00109736 -0.33433885] [ 0.00499162 -0.00105648 0.99998698 -0.18320677] [ 0. 0. 0. 1. ]] SLAMing on 29.07463044 meters Centerline goodness [0,1] 0.31469091696438234 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.33, Z:-0.18 [[ 9.99955880e-01 7.92623609e-03 -5.04103197e-03 9.91608394e-01] [-7.92465088e-03 9.99968544e-01 3.34356717e-04 -3.30441367e-01] [ 5.04352359e-03 -2.94393546e-04 9.99987238e-01 -1.84292457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104630439999998 meters Centerline goodness [0,1] 0.3132201924116311 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.33, Z:-0.18 [[ 9.99957385e-01 7.57496164e-03 -5.27713737e-03 9.92615307e-01] [-7.57759651e-03 9.99971175e-01 -4.79482068e-04 -3.26825336e-01] [ 5.27335320e-03 5.19449653e-04 9.99985961e-01 -1.84957757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.13463044 meters Centerline goodness [0,1] 0.3129866758954837 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.32, Z:-0.19 [[ 0.99995878 0.00715586 -0.00558777 0.99360455] [-0.00716377 0.99997336 -0.00139844 -0.32299327] [ 0.00557761 0.00143841 0.99998341 -0.18530159] [ 0. 0. 0. 1. ]] SLAMing on 29.16463044 meters Centerline goodness [0,1] 0.3121493310315062 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.32, Z:-0.19 [[ 0.99995961 0.00684106 -0.00582877 0.99436311] [-0.00685398 0.99997409 -0.00219943 -0.31925867] [ 0.00581358 0.0022393 0.99998059 -0.18554222] [ 0. 0. 0. 1. ]] SLAMing on 29.194630439999997 meters Centerline goodness [0,1] 0.31036555262197607 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.31, Z:-0.18 [[ 0.99997005 0.00127854 -0.00763306 1.01121145] [-0.00129019 0.99999801 -0.00152253 -0.31018077] [ 0.0076311 0.00153233 0.99996971 -0.18319038] [ 0. 0. 0. 1. ]] SLAMing on 29.22463044 meters Centerline goodness [0,1] 0.31453235542285973 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.30, Z:-0.18 [[ 0.99996259 0.00466011 -0.00728758 1.0110096 ] [-0.00465252 0.99998862 0.00105859 -0.30382843] [ 0.00729243 -0.00102465 0.99997288 -0.18392123] [ 0. 0. 0. 1. ]] SLAMing on 29.25463044 meters Centerline goodness [0,1] 0.31272798332464824 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.30, Z:-0.18 [[ 9.99964302e-01 4.40727999e-03 -7.20904589e-03 1.01109547e+00] [-4.40445913e-03 9.99990217e-01 4.07124059e-04 -3.00736050e-01] [ 7.21076968e-03 -3.75357578e-04 9.99973932e-01 -1.84305376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284630439999997 meters Centerline goodness [0,1] 0.3124824623885687 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.30, Z:-0.18 [[ 9.99964431e-01 4.12512729e-03 -7.35665800e-03 1.01179067e+00] [-4.12699038e-03 9.99991456e-01 -2.38089495e-04 -2.97898549e-01] [ 7.35561299e-03 2.68441883e-04 9.99972911e-01 -1.84827647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.31463044 meters Centerline goodness [0,1] 0.31099759615384615 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.30, Z:-0.19 [[ 9.99963163e-01 3.90126081e-03 -7.64541148e-03 1.01300777e+00] [-3.90749772e-03 9.99992045e-01 -8.01004277e-04 -2.95231673e-01] [ 7.64222573e-03 8.30849199e-04 9.99970453e-01 -1.85653919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.34463044 meters Centerline goodness [0,1] 0.3093797765387182 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.29, Z:-0.19 [[ 0.99996256 0.00378631 -0.00778144 1.01381524] [-0.0037959 0.99999205 -0.00121793 -0.29280458] [ 0.00777676 0.00124742 0.99996898 -0.18635988] [ 0. 0. 0. 1. ]] SLAMing on 29.374630439999997 meters Centerline goodness [0,1] 0.3124592869240457 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.28, Z:-0.19 [[ 9.99986970e-01 -1.45996499e-03 -4.89175960e-03 1.00020578e+00] [ 1.46394105e-03 9.99998601e-01 8.09324522e-04 -2.84227872e-01] [ 4.89057117e-03 -8.16475223e-04 9.99987708e-01 -1.91100395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.40463044 meters Centerline goodness [0,1] 0.3113782813648748 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.28, Z:-0.19 [[ 9.99986683e-01 -1.52881287e-03 -4.92925447e-03 1.00059929e+00] [ 1.53113662e-03 9.99998718e-01 4.67681117e-04 -2.82342026e-01] [ 4.92853316e-03 -4.75222250e-04 9.99987742e-01 -1.91523795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.43463044 meters Centerline goodness [0,1] 0.3074477844388027 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.28, Z:-0.19 [[ 0.9999678 0.00676331 -0.00431842 1.02061777] [-0.00677017 0.99997584 -0.00157669 -0.28305255] [ 0.00430765 0.00160588 0.99998943 -0.19125254] [ 0. 0. 0. 1. ]] SLAMing on 29.464630439999997 meters Centerline goodness [0,1] 0.31112164024810474 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.27, Z:-0.19 [[ 9.99992113e-01 -5.76497591e-04 -3.92956046e-03 1.00364043e+00] [ 5.75820047e-04 9.99999819e-01 -1.73551546e-04 -2.73058998e-01] [ 3.92965980e-03 1.71287458e-04 9.99992264e-01 -1.93438563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.494630439999998 meters Centerline goodness [0,1] 0.3130680714177767 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.27, Z:-0.19 [[ 9.99994065e-01 -3.45810328e-04 -3.42782789e-03 1.00251822e+00] [ 3.44409300e-04 9.99999857e-01 -4.09303740e-04 -2.70396348e-01] [ 3.42796894e-03 4.08120735e-04 9.99994041e-01 -1.93447034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.52463044 meters Centerline goodness [0,1] 0.3130680714177767 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.27, Z:-0.19 [[ 9.99994065e-01 -3.45810328e-04 -3.42782789e-03 1.00251822e+00] [ 3.44409300e-04 9.99999857e-01 -4.09303740e-04 -2.70396348e-01] [ 3.42796894e-03 4.08120735e-04 9.99994041e-01 -1.93447034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.554630439999997 meters Centerline goodness [0,1] 0.31269769543605963 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.27, Z:-0.19 [[ 9.99995085e-01 -8.78490514e-05 -3.13395531e-03 1.00193646e+00] [ 8.58588491e-05 9.99999795e-01 -6.35173783e-04 -2.67623212e-01] [ 3.13401047e-03 6.34901583e-04 9.99994887e-01 -1.93577104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584630439999998 meters Centerline goodness [0,1] 0.31183678762075595 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.26, Z:-0.19 [[ 9.99995768e-01 -1.70925663e-05 -2.90908728e-03 1.00186724e+00] [ 1.40657789e-05 9.99999459e-01 -1.04047675e-03 -2.64604166e-01] [ 2.90910349e-03 1.04043143e-03 9.99995227e-01 -1.94211992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.61463044 meters Centerline goodness [0,1] 0.31266764731331664 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.26, Z:-0.19 [[ 9.99995919e-01 -7.40333601e-05 -2.85606553e-03 1.00218104e+00] [ 6.96060154e-05 9.99998796e-01 -1.55022340e-03 -2.61692236e-01] [ 2.85617686e-03 1.55001827e-03 9.99994720e-01 -1.94877705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.64463044 meters Centerline goodness [0,1] 0.3106945497887095 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.26, Z:-0.20 [[ 9.99995409e-01 1.75957672e-04 -3.02515602e-03 1.00352657e+00] [-1.82243218e-04 9.99997825e-01 -2.07760923e-03 -2.55802208e-01] [ 3.02478387e-03 2.07815101e-03 9.99993266e-01 -1.96311117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.674630439999998 meters Centerline goodness [0,1] 0.31030034613978885 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.25, Z:-0.20 [[ 9.99995508e-01 9.31307475e-05 -2.99581677e-03 1.00366044e+00] [-1.00623708e-04 9.99996867e-01 -2.50108774e-03 -2.53328329e-01] [ 2.99557446e-03 2.50137796e-03 9.99992385e-01 -1.96654499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.70463044 meters Centerline goodness [0,1] 0.31247542058116673 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.25, Z:-0.20 [[ 0.99998656 -0.00110481 -0.00506622 0.95911926] [ 0.00109504 0.99999754 -0.00193154 -0.25258279] [ 0.00506834 0.00192597 0.9999853 -0.19632708] [ 0. 0. 0. 1. ]] SLAMing on 29.73463044 meters Centerline goodness [0,1] 0.31273136622431974 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.25, Z:-0.20 [[ 0.99998706 -0.00120647 -0.00494251 0.95882208] [ 0.0011957 0.99999691 -0.0021808 -0.25129844] [ 0.00494512 0.00217486 0.99998541 -0.19634712] [ 0. 0. 0. 1. ]] SLAMing on 29.764630439999998 meters Centerline goodness [0,1] 0.3096267613208562 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.25, Z:-0.20 [[ 0.99998792 -0.00123649 -0.00475725 0.95828 ] [ 0.00122553 0.99999659 -0.00230718 -0.25041326] [ 0.00476009 0.00230132 0.99998602 -0.19620926] [ 0. 0. 0. 1. ]] SLAMing on 29.79463044 meters Centerline goodness [0,1] 0.3122510822510822 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.25, Z:-0.20 [[ 0.9999886 -0.00127941 -0.00460005 0.95780899] [ 0.00126847 0.99999636 -0.00237954 -0.2500216 ] [ 0.00460308 0.00237368 0.99998659 -0.19606554] [ 0. 0. 0. 1. ]] SLAMing on 29.82463044 meters Centerline goodness [0,1] 0.31379152995371673 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.25, Z:-0.20 [[ 0.9999879 -0.00153007 -0.00467557 0.95789781] [ 0.00151781 0.99999541 -0.00262317 -0.24949016] [ 0.00467957 0.00261604 0.99998563 -0.19600042] [ 0. 0. 0. 1. ]] SLAMing on 29.854630439999998 meters Centerline goodness [0,1] 0.30873977647411466 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.24, Z:-0.19 [[ 0.99994888 -0.00851059 -0.00545982 0.97739722] [ 0.00850068 0.99996218 -0.00183742 -0.24478151] [ 0.00547525 0.00179092 0.99998341 -0.19434365] [ 0. 0. 0. 1. ]] SLAMing on 29.88463044 meters Centerline goodness [0,1] 0.30682744710981413 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.24, Z:-0.19 [[ 0.99994785 -0.00854391 -0.00559455 0.97780969] [ 0.00853318 0.99996171 -0.00193929 -0.24422977] [ 0.00561091 0.00189145 0.99998247 -0.19452507] [ 0. 0. 0. 1. ]] SLAMing on 29.91463044 meters Centerline goodness [0,1] 0.3105037652557777 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.25, Z:-0.20 [[ 0.99998566 -0.00106804 -0.00524852 0.95885198] [ 0.00105335 0.99999552 -0.00280049 -0.24630703] [ 0.00525149 0.00279492 0.99998231 -0.19691345] [ 0. 0. 0. 1. ]] SLAMing on 29.944630439999997 meters Centerline goodness [0,1] 0.31054335310347825 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.25, Z:-0.20 [[ 0.999986 -0.00114516 -0.00516679 0.95875047] [ 0.00112945 0.99999473 -0.00304249 -0.2452173 ] [ 0.00517025 0.00303662 0.99998202 -0.19704789] [ 0. 0. 0. 1. ]] SLAMing on 29.97463044 meters Centerline goodness [0,1] 0.31283811675755535 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.24, Z:-0.20 [[ 0.99998646 -0.00119921 -0.00506408 0.95858371] [ 0.00118265 0.99999395 -0.00327185 -0.24403931] [ 0.00506797 0.00326581 0.99998182 -0.19715198] [ 0. 0. 0. 1. ]] SLAMing on 30.00463044 meters Centerline goodness [0,1] 0.3126625718594942 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.24, Z:-0.20 [[ 0.99998717 -0.00120467 -0.00491936 0.95833142] [ 0.00118729 0.99999305 -0.00353513 -0.24237718] [ 0.00492358 0.00352924 0.99998165 -0.19723508] [ 0. 0. 0. 1. ]] SLAMing on 30.034630439999997 meters Centerline goodness [0,1] 0.3098853558295479 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.24, Z:-0.20 [[ 0.9999876 -0.00111346 -0.00485403 0.95828084] [ 0.00109505 0.9999922 -0.00379388 -0.24025806] [ 0.00485822 0.00378852 0.99998102 -0.19735505] [ 0. 0. 0. 1. ]] SLAMing on 30.06463044 meters Centerline goodness [0,1] 0.31369098059665823 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.23, Z:-0.20 [[ 0.9999836 0.00219788 -0.00528894 0.96019306] [-0.00220464 0.99999676 -0.00127217 -0.23470356] [ 0.00528613 0.00128381 0.9999852 -0.19855737] [ 0. 0. 0. 1. ]] SLAMing on 30.09463044 meters Centerline goodness [0,1] 0.30777990245579356 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.23, Z:-0.20 [[ 0.99998039 0.00220006 -0.00586329 0.96221463] [-0.00221007 0.99999611 -0.001701 -0.23192513] [ 0.00585953 0.00171392 0.99998136 -0.19971256] [ 0. 0. 0. 1. ]] SLAMing on 30.124630439999997 meters Centerline goodness [0,1] 0.30768062815868813 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.23, Z:-0.20 [[ 0.99997782 0.00208651 -0.00632566 0.96407095] [-0.00210031 0.99999543 -0.00217603 -0.22940828] [ 0.00632109 0.00218927 0.99997763 -0.20098393] [ 0. 0. 0. 1. ]] SLAMing on 30.15463044 meters Centerline goodness [0,1] 0.3053870315390904 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.23, Z:-0.20 [[ 0.99997578 0.00199225 -0.00666888 0.96552495] [-0.00200923 0.99999476 -0.0025399 -0.22748554] [ 0.00666379 0.00255324 0.99997454 -0.20198012] [ 0. 0. 0. 1. ]] SLAMing on 30.18463044 meters Centerline goodness [0,1] 0.3099319549856059 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.23, Z:-0.20 [[ 9.99959743e-01 6.25640323e-04 -8.95101202e-03 9.21442919e-01] [-6.46320024e-04 9.99997129e-01 -2.30761377e-03 -2.27761559e-01] [ 8.94954259e-03 2.31330609e-03 9.99957276e-01 -2.01863057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.214630439999997 meters Centerline goodness [0,1] 0.30768735651912715 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.22, Z:-0.20 [[ 0.99994086 -0.00677293 -0.00850938 0.94074623] [ 0.00675832 0.99997564 -0.00174361 -0.22225549] [ 0.00852098 0.001686 0.99996227 -0.20026501] [ 0. 0. 0. 1. ]] SLAMing on 30.244630439999998 meters Centerline goodness [0,1] 0.30927432476407424 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.23, Z:-0.20 [[ 9.99966627e-01 5.31160644e-04 -8.15249436e-03 9.21803308e-01] [-5.50836509e-04 9.99996941e-01 -2.41142235e-03 -2.26858686e-01] [ 8.15118857e-03 2.41583256e-03 9.99963860e-01 -2.02149302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.27463044 meters Centerline goodness [0,1] 0.30943305817524447 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.23, Z:-0.20 [[ 9.99966311e-01 5.76898983e-04 -8.18801432e-03 9.22086081e-01] [-5.95799876e-04 9.99997163e-01 -2.30610949e-03 -2.27191013e-01] [ 8.18666071e-03 2.31091022e-03 9.99963818e-01 -2.02492610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304630439999997 meters Centerline goodness [0,1] 0.3049265378154834 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.23, Z:-0.20 [[ 0.99998145 0.00150702 -0.00590225 0.96531071] [-0.00152417 0.99999463 -0.00290214 -0.22624242] [ 0.00589785 0.00291108 0.99997837 -0.20272179] [ 0. 0. 0. 1. ]] SLAMing on 30.334630439999998 meters Centerline goodness [0,1] 0.30695110570975936 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.23, Z:-0.20 [[ 9.99969608e-01 2.35355287e-04 -7.79282571e-03 9.20016251e-01] [-2.52433539e-04 9.99997569e-01 -2.19062419e-03 -2.28449245e-01] [ 7.79229119e-03 2.19252478e-03 9.99967236e-01 -2.02219433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.36463044 meters Centerline goodness [0,1] 0.3078489127609807 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.23, Z:-0.20 [[ 9.99969662e-01 1.15259263e-04 -7.78860361e-03 9.20058673e-01] [-1.33908698e-04 9.99997125e-01 -2.39397258e-03 -2.27970105e-01] [ 7.78830530e-03 2.39494292e-03 9.99966803e-01 -2.02235926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.39463044 meters Centerline goodness [0,1] 0.30627722042859307 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.23, Z:-0.20 [[ 9.99968899e-01 1.07051715e-04 -7.88598074e-03 9.20609289e-01] [-1.27037004e-04 9.99996782e-01 -2.53382330e-03 -2.27108639e-01] [ 7.88568411e-03 2.53474631e-03 9.99965695e-01 -2.02726194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424630439999998 meters Centerline goodness [0,1] 0.30727135624259394 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.23, Z:-0.20 [[ 9.99967751e-01 1.63877845e-04 -8.02931342e-03 9.21441336e-01] [-1.85877741e-04 9.99996231e-01 -2.73927778e-03 -2.25472687e-01] [ 8.02883425e-03 2.74068191e-03 9.99964013e-01 -2.03490487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.45463044 meters Centerline goodness [0,1] 0.30621647343831115 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.22, Z:-0.20 [[ 9.99969291e-01 3.17504800e-04 -7.83048078e-03 9.21464399e-01] [-3.40603147e-04 9.99995595e-01 -2.94864232e-03 -2.23237587e-01] [ 7.82951008e-03 2.95121886e-03 9.99964994e-01 -2.04225132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.48463044 meters Centerline goodness [0,1] 0.3073157114942775 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.22, Z:-0.20 [[ 9.99963326e-01 3.75203502e-03 -7.69862386e-03 9.21297582e-01] [-3.75475062e-03 9.99992894e-01 -3.38315536e-04 -2.17781909e-01] [ 7.69729978e-03 3.67209541e-04 9.99970308e-01 -2.04411143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.514630439999998 meters Centerline goodness [0,1] 0.30585701981050817 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.21, Z:-0.20 [[ 9.99965224e-01 3.72530956e-03 -7.46140608e-03 9.20830890e-01] [-3.73156241e-03 9.99992698e-01 -8.24279253e-04 -2.14741845e-01] [ 7.45828091e-03 8.52093291e-04 9.99971824e-01 -2.04593056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.54463044 meters Centerline goodness [0,1] 0.30893147125690157 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.21, Z:-0.20 [[ 0.9999665 0.00371188 -0.00729558 0.92066182] [-0.00372089 0.99999233 -0.00122173 -0.2120852 ] [ 0.00729099 0.00124884 0.99997264 -0.20494994] [ 0. 0. 0. 1. ]] SLAMing on 30.57463044 meters Centerline goodness [0,1] 0.30636896046852125 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.21, Z:-0.21 [[ 0.99996687 0.00362445 -0.00728854 0.92108932] [-0.00363663 0.99999201 -0.00165842 -0.20943898] [ 0.00728247 0.00168488 0.99997206 -0.20566467] [ 0. 0. 0. 1. ]] SLAMing on 30.604630439999998 meters Centerline goodness [0,1] 0.3054601981993652 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.21, Z:-0.21 [[ 0.99996727 0.00348484 -0.00730198 0.92156865] [-0.0035003 0.99999166 -0.00210573 -0.20703466] [ 0.00729458 0.00213122 0.99997112 -0.20641418] [ 0. 0. 0. 1. ]] SLAMing on 30.63463044 meters Centerline goodness [0,1] 0.3059774038149964 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.20, Z:-0.21 [[ 0.99996742 0.00326181 -0.00738411 0.92223897] [-0.00328153 0.99999108 -0.00265978 -0.2044026 ] [ 0.00737537 0.00268392 0.9999692 -0.20722055] [ 0. 0. 0. 1. ]] SLAMing on 30.66463044 meters Centerline goodness [0,1] 0.3051617790282437 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.20, Z:-0.21 [[ 0.99996854 0.00285442 -0.00740011 0.92284416] [-0.00288231 0.99998877 -0.00376138 -0.19832329] [ 0.00738929 0.00378259 0.99996554 -0.2081007 ] [ 0. 0. 0. 1. ]] SLAMing on 30.694630439999997 meters Centerline goodness [0,1] 0.30577253218884115 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.19, Z:-0.21 [[ 0.99996684 -0.00379396 -0.00720652 0.93984086] [ 0.00377549 0.99998956 -0.00257535 -0.1898379 ] [ 0.00721622 0.00254806 0.99997072 -0.20574212] [ 0. 0. 0. 1. ]] SLAMing on 30.72463044 meters Centerline goodness [0,1] 0.30620012542981334 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.19, Z:-0.21 [[ 0.99996909 -0.00390148 -0.00682662 0.93863876] [ 0.00388154 0.99998817 -0.00293225 -0.18764731] [ 0.00683798 0.00290566 0.9999724 -0.2053253 ] [ 0. 0. 0. 1. ]] SLAMing on 30.75463044 meters Centerline goodness [0,1] 0.3048668109637186 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.18, Z:-0.21 [[ 0.99997012 -0.00422152 -0.00647584 0.93772151] [ 0.00419776 0.99998443 -0.00367804 -0.18342412] [ 0.00649126 0.00365075 0.99997227 -0.20522566] [ 0. 0. 0. 1. ]] SLAMing on 30.784630439999997 meters Centerline goodness [0,1] 0.3053812924653222 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.19, Z:-0.21 [[ 0.99996188 0.0029404 -0.00822109 0.91994213] [-0.00298444 0.99998124 -0.00534899 -0.18548458] [ 0.00820521 0.00537332 0.9999519 -0.20735995] [ 0. 0. 0. 1. ]] SLAMing on 30.81463044 meters Centerline goodness [0,1] 0.3044050676623573 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:-0.21 [[ 0.99995824 0.00251924 -0.00878512 0.92188838] [-0.00257151 0.99997903 -0.00594358 -0.18372238] [ 0.00876996 0.00596592 0.99994375 -0.20833807] [ 0. 0. 0. 1. ]] SLAMing on 30.84463044 meters Centerline goodness [0,1] 0.30680712076312433 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:-0.21 [[ 0.99995674 0.00232733 -0.00900613 0.92270626] [-0.00238371 0.99997759 -0.00625541 -0.18258785] [ 0.00899137 0.00627661 0.99993988 -0.20884348] [ 0. 0. 0. 1. ]] SLAMing on 30.874630439999997 meters Centerline goodness [0,1] 0.30479820820950165 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:-0.21 [[ 0.99995755 0.00228106 -0.00892702 0.9224857 ] [-0.00233735 0.99997742 -0.00630065 -0.18226066] [ 0.00891244 0.00632125 0.9999403 -0.20882297] [ 0. 0. 0. 1. ]] SLAMing on 30.90463044 meters Centerline goodness [0,1] 0.30320936904532514 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.18, Z:-0.21 [[ 0.9999524 -0.00569106 -0.00792533 0.94138771] [ 0.00564811 0.99996929 -0.00543236 -0.17817492] [ 0.007956 0.00538734 0.99995384 -0.2069985 ] [ 0. 0. 0. 1. ]] SLAMing on 30.93463044 meters Centerline goodness [0,1] 0.30406889502642276 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:-0.21 [[ 0.99996476 0.00169834 -0.0082216 0.92188863] [-0.00175185 0.9999773 -0.00650651 -0.18307765] [ 0.00821037 0.00652069 0.99994503 -0.20848695] [ 0. 0. 0. 1. ]] SLAMing on 30.964630439999997 meters Centerline goodness [0,1] 0.30476128725496554 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:-0.21 [[ 0.99996323 0.00163962 -0.00841671 0.92255451] [-0.00169514 0.99997682 -0.00659388 -0.18282602] [ 0.0084057 0.00660791 0.99994284 -0.20882542] [ 0. 0. 0. 1. ]] SLAMing on 30.994630439999998 meters Centerline goodness [0,1] 0.30557960349753266 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:-0.21 [[ 0.99996232 0.00159269 -0.00853394 0.92331699] [-0.00165036 0.99997583 -0.00675463 -0.18207122] [ 0.00852298 0.00676846 0.99994077 -0.20959216] [ 0. 0. 0. 1. ]] SLAMing on 31.02463044 meters Centerline goodness [0,1] 0.3026704312778844 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.18, Z:-0.21 [[ 0.99995745 0.00169151 -0.00906895 0.92541371] [-0.00175591 0.99997327 -0.00709748 -0.17931496] [ 0.0090567 0.00711311 0.99993369 -0.21091135] [ 0. 0. 0. 1. ]] SLAMing on 31.054630439999997 meters Centerline goodness [0,1] 0.3058971796097518 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.18, Z:-0.21 [[ 0.99995595 0.00163959 -0.00924153 0.9259674 ] [-0.00170842 0.99997082 -0.00744566 -0.17729764] [ 0.00922906 0.00746112 0.99992958 -0.21115406] [ 0. 0. 0. 1. ]] SLAMing on 31.084630439999998 meters Centerline goodness [0,1] 0.2980115458627325 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.17, Z:-0.21 [[ 0.9999519 0.00160318 -0.009676 0.92697531] [-0.00167913 0.9999678 -0.00784703 -0.17484265] [ 0.0096631 0.0078629 0.9999224 -0.21114852] [ 0. 0. 0. 1. ]] SLAMing on 31.11463044 meters Centerline goodness [0,1] 0.302676954909906 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.17, Z:-0.21 [[ 0.99994944 0.00155512 -0.00993442 0.92758731] [-0.00163686 0.99996484 -0.00822453 -0.17259372] [ 0.00992128 0.00824038 0.99991683 -0.21120441] [ 0. 0. 0. 1. ]] SLAMing on 31.14463044 meters Centerline goodness [0,1] 0.3030934031728313 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.17, Z:-0.21 [[ 0.9999497 0.0014162 -0.00992957 0.92747764] [-0.00150432 0.9999595 -0.00887279 -0.16899458] [ 0.0099166 0.00888728 0.99991133 -0.2111036 ] [ 0. 0. 0. 1. ]] SLAMing on 31.174630439999998 meters Centerline goodness [0,1] 0.3027739311061104 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.17, Z:-0.21 [[ 0.99995071 0.00136066 -0.00983533 0.92730203] [-0.00145024 0.99995748 -0.00910712 -0.16756528] [ 0.00982252 0.00912094 0.99991016 -0.21118037] [ 0. 0. 0. 1. ]] SLAMing on 31.20463044 meters Centerline goodness [0,1] 0.30517188793516625 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.17, Z:-0.21 [[ 0.99995215 0.00135931 -0.009688 0.92711762] [-0.00144899 0.99995612 -0.00925532 -0.16634684] [ 0.009675 0.00926892 0.99991024 -0.21143498] [ 0. 0. 0. 1. ]] SLAMing on 31.23463044 meters Centerline goodness [0,1] 0.3037320821316345 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.16, Z:-0.21 [[ 0.99994444 -0.00359753 -0.00990793 0.94849003] [ 0.00353476 0.99997362 -0.00634594 -0.16161715] [ 0.0099305 0.00631057 0.99993078 -0.21113789] [ 0. 0. 0. 1. ]] SLAMing on 31.264630439999998 meters Centerline goodness [0,1] 0.3003825849060636 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.16, Z:-0.21 [[ 0.99994349 -0.00375544 -0.00994513 0.94886379] [ 0.00368756 0.99996984 -0.00683512 -0.15922284] [ 0.0099705 0.00679806 0.99992719 -0.21158509] [ 0. 0. 0. 1. ]] SLAMing on 31.29463044 meters Centerline goodness [0,1] 0.2991187254754808 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.15, Z:-0.21 [[ 0.99994327 -0.00388345 -0.00991892 0.94886915] [ 0.00380691 0.99996293 -0.00772368 -0.15398756] [ 0.00994855 0.00768548 0.99992098 -0.2117688 ] [ 0. 0. 0. 1. ]] SLAMing on 31.32463044 meters Centerline goodness [0,1] 0.29957606146032834 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.15, Z:-0.21 [[ 9.99948993e-01 -3.55071367e-04 -1.00937983e-02 9.49211267e-01] [ 3.10732650e-04 9.99990299e-01 -4.39389820e-03 -1.52677464e-01] [ 1.00952605e-02 4.39053761e-03 9.99939403e-01 -2.11709807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.354630439999998 meters Centerline goodness [0,1] 0.30173400418925045 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.15, Z:-0.21 [[ 9.99950062e-01 -3.41881399e-04 -9.98778744e-03 9.49339104e-01] [ 2.94944361e-04 9.99988909e-01 -4.70053799e-03 -1.50333225e-01] [ 9.98928369e-03 4.69735742e-03 9.99939073e-01 -2.12346838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.38463044 meters Centerline goodness [0,1] 0.3043959622272875 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.15, Z:-0.21 [[ 9.99949723e-01 -4.03236105e-04 -1.00194290e-02 9.49773393e-01] [ 3.53197907e-04 9.99987461e-01 -4.99538443e-03 -1.48669774e-01] [ 1.00213177e-02 4.99159444e-03 9.99937327e-01 -2.12924915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.41463044 meters Centerline goodness [0,1] 0.2993764781767362 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.14, Z:-0.21 [[ 0.99990873 -0.00739079 -0.0113099 0.96892279] [ 0.00734071 0.9999631 -0.00446306 -0.14220535] [ 0.01134247 0.00437963 0.99992608 -0.21157247] [ 0. 0. 0. 1. ]] SLAMing on 31.444630439999997 meters Centerline goodness [0,1] 0.2993764781767362 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.14, Z:-0.21 [[ 0.99990873 -0.00739079 -0.0113099 0.96892279] [ 0.00734071 0.9999631 -0.00446306 -0.14220535] [ 0.01134247 0.00437963 0.99992608 -0.21157247] [ 0. 0. 0. 1. ]] SLAMing on 31.47463044 meters Centerline goodness [0,1] 0.30325492162462664 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.15, Z:-0.21 [[ 9.99907286e-01 -2.41831321e-04 -1.36147365e-02 9.51287322e-01] [ 1.62187691e-04 9.99982872e-01 -5.85061089e-03 -1.47137950e-01] [ 1.36159181e-02 5.84786032e-03 9.99890199e-01 -2.12879142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.50463044 meters Centerline goodness [0,1] 0.30111459798723084 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.15, Z:-0.21 [[ 9.99902929e-01 -2.69791340e-04 -1.39305360e-02 9.52265965e-01] [ 1.89495828e-04 9.99983364e-01 -5.76499127e-03 -1.47667249e-01] [ 1.39318596e-02 5.76179187e-03 9.99886346e-01 -2.13260181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.534630439999997 meters Centerline goodness [0,1] 0.29990220580245575 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.15, Z:-0.21 [[ 9.99901782e-01 -2.35876048e-04 -1.40132005e-02 9.52558696e-01] [ 1.57745787e-04 9.99984440e-01 -5.57631954e-03 -1.48593477e-01] [ 1.40142977e-02 5.57356133e-03 9.99886261e-01 -2.13426716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.56463044 meters Centerline goodness [0,1] 0.3033202998423019 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.15, Z:-0.21 [[ 9.99916709e-01 -4.45040621e-04 -1.28987318e-02 9.49843162e-01] [ 3.73851946e-04 9.99984690e-01 -5.52093029e-03 -1.49950272e-01] [ 1.29009913e-02 5.51564823e-03 9.99901566e-01 -2.13072185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.59463044 meters Centerline goodness [0,1] 0.3035356904603068 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.15, Z:-0.21 [[ 9.99921551e-01 -4.00206004e-04 -1.25192644e-02 9.48660537e-01] [ 3.32434407e-04 9.99985284e-01 -5.41499760e-03 -1.50358622e-01] [ 1.25212473e-02 5.41041096e-03 9.99906969e-01 -2.12622169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624630439999997 meters Centerline goodness [0,1] 0.3042594154931101 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.15, Z:-0.21 [[ 9.99921115e-01 -3.60944644e-04 -1.25551984e-02 9.48753225e-01] [ 2.92745852e-04 9.99985197e-01 -5.43333050e-03 -1.49917014e-01] [ 1.25569736e-02 5.42922641e-03 9.99906419e-01 -2.12630410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.65463044 meters Centerline goodness [0,1] 0.3015934372718292 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.15, Z:-0.21 [[ 9.99916024e-01 -3.34182399e-04 -1.29550100e-02 9.50153337e-01] [ 2.62573686e-04 9.99984682e-01 -5.52879875e-03 -1.49089165e-01] [ 1.29566592e-02 5.52493282e-03 9.99900795e-01 -2.13349098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.68463044 meters Centerline goodness [0,1] 0.3031840752678805 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.15, Z:-0.22 [[ 9.99843942e-01 -6.45614146e-04 -1.76543365e-02 9.12234984e-01] [ 5.51994929e-04 9.99985764e-01 -5.30726085e-03 -1.47927214e-01] [ 1.76575116e-02 5.29668750e-03 9.99830064e-01 -2.15590324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.714630439999997 meters Centerline goodness [0,1] 0.30286991041020417 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.15, Z:-0.22 [[ 9.99842388e-01 -7.76386217e-04 -1.77368451e-02 9.12736029e-01] [ 6.75792829e-04 9.99983659e-01 -5.67672627e-03 -1.46209942e-01] [ 1.77409626e-02 5.66384512e-03 9.99826575e-01 -2.16099991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744630439999998 meters Centerline goodness [0,1] 0.3021872228111546 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.14, Z:-0.22 [[ 9.99849112e-01 -7.90454912e-04 -1.73530399e-02 9.11800809e-01] [ 6.87933969e-04 9.99982281e-01 -5.91312750e-03 -1.44599556e-01] [ 1.73574064e-02 5.90029753e-03 9.99831939e-01 -2.16088783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.77463044 meters Centerline goodness [0,1] 0.3003808790174177 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.14, Z:-0.22 [[ 0.99986183 -0.00632547 -0.01537233 0.93148167] [ 0.00627589 0.99997495 -0.00327189 -0.13941493] [ 0.01539264 0.00317496 0.99987649 -0.2155752 ] [ 0. 0. 0. 1. ]] SLAMing on 31.804630439999997 meters Centerline goodness [0,1] 0.30029516191128036 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.14, Z:-0.22 [[ 0.99986684 -0.00639663 -0.0150131 0.93028732] [ 0.00634387 0.99997355 -0.00355869 -0.13774456] [ 0.01503547 0.00346297 0.99988096 -0.21511476] [ 0. 0. 0. 1. ]] SLAMing on 31.834630439999998 meters Centerline goodness [0,1] 0.3029917661766608 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.14, Z:-0.22 [[ 0.99986697 -0.00656846 -0.01493004 0.93006279] [ 0.00651022 0.99997102 -0.00394603 -0.13599413] [ 0.01495553 0.00384831 0.99988075 -0.21509999] [ 0. 0. 0. 1. ]] SLAMing on 31.86463044 meters Centerline goodness [0,1] 0.30007497054728505 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.13, Z:-0.22 [[ 0.99985226 -0.00686714 -0.01575736 0.93291527] [ 0.00679394 0.9999659 -0.00469437 -0.13211688] [ 0.01578906 0.00458662 0.99986483 -0.21649559] [ 0. 0. 0. 1. ]] SLAMing on 31.89463044 meters Centerline goodness [0,1] 0.3015793812643728 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.13, Z:-0.22 [[ 0.99985263 0.00103769 -0.01713599 0.91408617] [-0.00113567 0.99998306 -0.0057089 -0.13421835] [ 0.01712978 0.00572752 0.99983687 -0.21845805] [ 0. 0. 0. 1. ]] SLAMing on 31.924630439999998 meters Centerline goodness [0,1] 0.30184596074357806 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.13, Z:-0.22 [[ 9.99854263e-01 9.44397361e-04 -1.70458555e-02 9.14215270e-01] [-1.04651193e-03 9.99981556e-01 -5.98265495e-03 -1.32668081e-01] [ 1.70398911e-02 5.99962175e-03 9.99836810e-01 -2.18989108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.95463044 meters Centerline goodness [0,1] 0.3020314462684628 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.13, Z:-0.22 [[ 9.99864387e-01 6.43674051e-04 -1.64557786e-02 9.12571437e-01] [-7.50191707e-04 9.99978803e-01 -6.46761039e-03 -1.30767179e-01] [ 1.64512668e-02 6.47907828e-03 9.99843676e-01 -2.18592552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.98463044 meters Centerline goodness [0,1] 0.29802037782995494 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.13, Z:-0.22 [[ 9.99865976e-01 5.44331392e-04 -1.63625502e-02 9.12171608e-01] [-6.52528473e-04 9.99977955e-01 -6.60787137e-03 -1.30121446e-01] [ 1.63585926e-02 6.61766279e-03 9.99844289e-01 -2.18310075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.01463044 meters Centerline goodness [0,1] 0.30181021010592113 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.13, Z:-0.22 [[ 9.99864809e-01 4.71053105e-04 -1.64359985e-02 9.12295047e-01] [-5.81756677e-04 9.99977175e-01 -6.73130230e-03 -1.29540990e-01] [ 1.64324526e-02 6.73995404e-03 9.99842261e-01 -2.18263089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04463044 meters Centerline goodness [0,1] 0.30102372793128873 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.13, Z:-0.22 [[ 9.99861849e-01 3.92203621e-04 -1.66171132e-02 9.12959314e-01] [-5.07137988e-04 9.99975976e-01 -6.91297736e-03 -1.28638017e-01] [ 1.66140027e-02 6.92044950e-03 9.99838028e-01 -2.18629613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.07463044 meters Centerline goodness [0,1] 0.3011013546877348 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.22 [[ 0.99982641 -0.00680102 -0.01734621 0.93217004] [ 0.00669587 0.9999589 -0.00611295 -0.12221306] [ 0.01738707 0.00599574 0.99983086 -0.21712779] [ 0. 0. 0. 1. ]] SLAMing on 32.10463044 meters Centerline goodness [0,1] 0.2996488658150406 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.22 [[ 0.99982826 -0.00708477 -0.01712487 0.93183926] [ 0.00697078 0.99995321 -0.00670689 -0.1197736 ] [ 0.01717158 0.00658636 0.99983086 -0.21740122] [ 0. 0. 0. 1. ]] SLAMing on 32.134630439999995 meters Centerline goodness [0,1] 0.3027877270961895 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.22 [[ 0.99982858 -0.00722922 -0.01704554 0.93154628] [ 0.00710887 0.99994945 -0.00711026 -0.11776755] [ 0.01709608 0.00698787 0.99982943 -0.21725878] [ 0. 0. 0. 1. ]] SLAMing on 32.164630439999996 meters Centerline goodness [0,1] 0.30301455301455305 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.22 [[ 0.99984025 -0.00419015 -0.01737554 0.93236288] [ 0.00411769 0.99998269 -0.00420397 -0.11616427] [ 0.01739286 0.00413175 0.9998402 -0.21735161] [ 0. 0. 0. 1. ]] SLAMing on 32.19463044 meters Centerline goodness [0,1] 0.30520533725481713 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.11, Z:-0.22 [[ 0.99983481 -0.00423698 -0.01767514 0.93353601] [ 0.00415711 0.99998099 -0.00455332 -0.11388622] [ 0.0176941 0.00447909 0.99983341 -0.21812894] [ 0. 0. 0. 1. ]] SLAMing on 32.22463044 meters Centerline goodness [0,1] 0.29825615066171896 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.11, Z:-0.22 [[ 0.99982317 -0.00446756 -0.01826638 0.93600671] [ 0.00437168 0.99997648 -0.0052854 -0.11019937] [ 0.01828956 0.00520461 0.99981919 -0.21977517] [ 0. 0. 0. 1. ]] SLAMing on 32.25463044 meters Centerline goodness [0,1] 0.30133861317952915 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.11, Z:-0.22 [[ 0.99982537 -0.00460409 -0.01811169 0.93546283] [ 0.00450531 0.99997478 -0.00549103 -0.10963919] [ 0.01813651 0.00540847 0.99982089 -0.21953915] [ 0. 0. 0. 1. ]] SLAMing on 32.28463044 meters Centerline goodness [0,1] 0.30360387643852216 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.11, Z:-0.22 [[ 0.99982756 -0.00465311 -0.01797794 0.93471305] [ 0.00455485 0.99997449 -0.0055023 -0.10978917] [ 0.01800308 0.00541946 0.99982324 -0.21886539] [ 0. 0. 0. 1. ]] SLAMing on 32.31463044 meters Centerline goodness [0,1] 0.30262157642101606 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.11, Z:-0.22 [[ 0.99982661 -0.00457974 -0.01804952 0.93465509] [ 0.00448483 0.99997592 -0.00529517 -0.11057795] [ 0.01807334 0.0052133 0.99982307 -0.21854734] [ 0. 0. 0. 1. ]] SLAMing on 32.344630439999996 meters Centerline goodness [0,1] 0.30460381949725157 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.11, Z:-0.22 [[ 0.99981788 -0.00448801 -0.01854894 0.93656563] [ 0.00439501 0.99997758 -0.00505115 -0.11150842] [ 0.01857119 0.00496871 0.99981519 -0.21961399] [ 0. 0. 0. 1. ]] SLAMing on 32.37463044 meters Centerline goodness [0,1] 0.2989779823253603 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.11, Z:-0.22 [[ 0.99981306 -0.00457468 -0.01878587 0.93773105] [ 0.00447773 0.99997646 -0.00519966 -0.11117187] [ 0.01880922 0.00511457 0.99981001 -0.22051271] [ 0. 0. 0. 1. ]] SLAMing on 32.40463044 meters Centerline goodness [0,1] 0.3005027077175344 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.11, Z:-0.22 [[ 0.99981175 -0.00469853 -0.01882536 0.93814892] [ 0.00459612 0.99997442 -0.00547962 -0.11019248] [ 0.01885063 0.00539207 0.99980777 -0.22102949] [ 0. 0. 0. 1. ]] SLAMing on 32.43463044 meters Centerline goodness [0,1] 0.2992977467580027 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.11, Z:-0.22 [[ 0.99981122 -0.00479457 -0.01882892 0.9382408 ] [ 0.00468572 0.99997208 -0.00582117 -0.1086094 ] [ 0.0188563 0.00573185 0.99980577 -0.2211804 ] [ 0. 0. 0. 1. ]] SLAMing on 32.46463044 meters Centerline goodness [0,1] 0.29938948364074125 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.11, Z:-0.22 [[ 9.99818446e-01 -8.54392640e-04 -1.90353430e-02 9.38773269e-01] [ 8.10332219e-04 9.99996975e-01 -2.32225682e-03 -1.05998514e-01] [ 1.90372696e-02 2.30641026e-03 9.99816115e-01 -2.21336422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.49463044 meters Centerline goodness [0,1] 0.30209051724137936 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.10, Z:-0.22 [[ 9.99817761e-01 -8.18925126e-04 -1.90728522e-02 9.39041481e-01] [ 7.69017409e-04 9.99996262e-01 -2.62387611e-03 -1.03667330e-01] [ 1.90749296e-02 2.60873059e-03 9.99814654e-01 -2.21643872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.524630439999996 meters Centerline goodness [0,1] 0.30299286999111463 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.10, Z:-0.22 [[ 9.99815781e-01 -9.26186471e-04 -1.91714879e-02 9.39539973e-01] [ 8.67919253e-04 9.99994980e-01 -3.04736158e-03 -1.01435762e-01] [ 1.91742141e-02 3.03016089e-03 9.99811566e-01 -2.22093716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.55463044 meters Centerline goodness [0,1] 0.30178928168157737 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.10, Z:-0.22 [[ 9.99813757e-01 -1.01661097e-03 -1.92721983e-02 9.40022793e-01] [ 9.51527270e-04 9.99993815e-01 -3.38594639e-03 -9.96586629e-02] [ 1.92755213e-02 3.36697776e-03 9.99808541e-01 -2.22536166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.58463044 meters Centerline goodness [0,1] 0.3009299495915174 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.10, Z:-0.22 [[ 9.99814202e-01 -1.05201843e-03 -1.92471759e-02 9.40216620e-01] [ 9.82267567e-04 9.99992918e-01 -3.63304821e-03 -9.81164750e-02] [ 1.92508616e-02 3.61346732e-03 9.99808155e-01 -2.22992688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.61463044 meters Centerline goodness [0,1] 0.3005175760189778 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.10, Z:-0.22 [[ 9.99819890e-01 -1.01468086e-03 -1.89514469e-02 9.40143981e-01] [ 9.41570394e-04 9.99992083e-01 -3.86630183e-03 -9.58258453e-02] [ 1.89552199e-02 3.84776135e-03 9.99812930e-01 -2.23915171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64463044 meters Centerline goodness [0,1] 0.3024016993974076 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.10, Z:-0.22 [[ 0.99982481 -0.00110899 -0.01868462 0.93955561] [ 0.00103422 0.99999142 -0.00401105 -0.09537711] [ 0.01868891 0.00399102 0.99981738 -0.22398118] [ 0. 0. 0. 1. ]] SLAMing on 32.67463044 meters Centerline goodness [0,1] 0.29961106216558864 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.09, Z:-0.22 [[ 0.99982529 -0.00128421 -0.01864778 0.93939424] [ 0.00120523 0.99999026 -0.0042458 -0.09480684] [ 0.01865305 0.00422259 0.9998171 -0.22386798] [ 0. 0. 0. 1. ]] SLAMing on 32.704630439999995 meters Centerline goodness [0,1] 0.30412247129579006 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.09, Z:-0.22 [[ 0.99974775 -0.00222309 -0.02234953 0.89748552] [ 0.00212195 0.99998741 -0.00454798 -0.09395475] [ 0.02235936 0.00449941 0.99973987 -0.22471026] [ 0. 0. 0. 1. ]] SLAMing on 32.73463044 meters Centerline goodness [0,1] 0.30425252082419996 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.09, Z:-0.23 [[ 0.99974027 -0.00225683 -0.02267813 0.89864631] [ 0.0021504 0.99998657 -0.00471626 -0.09292298] [ 0.02268846 0.00466627 0.99973169 -0.22533841] [ 0. 0. 0. 1. ]] SLAMing on 32.76463044 meters Centerline goodness [0,1] 0.3066841702220764 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.09, Z:-0.23 [[ 0.99973182 -0.00234615 -0.02303873 0.8999471 ] [ 0.00223255 0.99998523 -0.0049552 -0.09170351] [ 0.02305001 0.00490243 0.99972229 -0.22609446] [ 0. 0. 0. 1. ]] SLAMing on 32.79463044 meters Centerline goodness [0,1] 0.30287126995142266 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.09, Z:-0.23 [[ 0.99972711 -0.00241043 -0.02323577 0.90102429] [ 0.00229091 0.99998402 -0.00516907 -0.09053455] [ 0.02324786 0.00511443 0.99971665 -0.22706814] [ 0. 0. 0. 1. ]] SLAMing on 32.82463044 meters Centerline goodness [0,1] 0.30049856473787584 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.09, Z:-0.23 [[ 0.99973183 -0.00239687 -0.02303307 0.900731 ] [ 0.00227536 0.99998337 -0.00530012 -0.08934994] [ 0.02304539 0.00524629 0.99972065 -0.2273818 ] [ 0. 0. 0. 1. ]] SLAMing on 32.85463044 meters Centerline goodness [0,1] 0.3041420632163946 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.09, Z:-0.23 [[ 0.9997421 -0.00238844 -0.02258387 0.89949853] [ 0.00226719 0.99998289 -0.00539298 -0.08845736] [ 0.02259636 0.00534038 0.99973041 -0.22714001] [ 0. 0. 0. 1. ]] SLAMing on 32.884630439999995 meters Centerline goodness [0,1] 0.29982173922381394 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.08, Z:-0.23 [[ 0.99972687 -0.01055495 -0.02085146 0.91887809] [ 0.01045804 0.99993403 -0.004751 -0.08366202] [ 0.02090023 0.00453163 0.9997713 -0.22566626] [ 0. 0. 0. 1. ]] SLAMing on 32.914630439999996 meters Centerline goodness [0,1] 0.3036821157484939 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.09, Z:-0.23 [[ 0.99974961 -0.00307969 -0.02216377 0.90102658] [ 0.00294676 0.99997749 -0.00602778 -0.0893422 ] [ 0.02218183 0.00596095 0.99973618 -0.22719523] [ 0. 0. 0. 1. ]] SLAMing on 32.94463044 meters Centerline goodness [0,1] 0.2991782006920415 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.09, Z:-0.23 [[ 0.99972596 -0.00339345 -0.02316239 0.90378807] [ 0.0032529 0.99997609 -0.00610272 -0.09024065] [ 0.02318255 0.0060257 0.99971309 -0.22785232] [ 0. 0. 0. 1. ]] SLAMing on 32.97463044 meters Centerline goodness [0,1] 0.29855222560252015 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.09, Z:-0.23 [[ 0.99970896 -0.00357034 -0.02385881 0.90584317] [ 0.00342908 0.99997636 -0.00595915 -0.09173506] [ 0.02387952 0.0058756 0.99969758 -0.22850781] [ 0. 0. 0. 1. ]] SLAMing on 33.00463044 meters Centerline goodness [0,1] 0.30125495664299096 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:-0.23 [[ 0.99971005 -0.00395366 -0.02375246 0.9062723 ] [ 0.00382261 0.99997724 -0.00556026 -0.09531363] [ 0.0237739 0.00546785 0.99970241 -0.22933156] [ 0. 0. 0. 1. ]] SLAMing on 33.03463044 meters Centerline goodness [0,1] 0.2994493583073188 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:-0.23 [[ 0.99971102 -0.00400787 -0.0237028 0.90629693] [ 0.00388371 0.99997851 -0.00528172 -0.09741488] [ 0.02372346 0.00518814 0.9997051 -0.22944498] [ 0. 0. 0. 1. ]] SLAMing on 33.06463044 meters Centerline goodness [0,1] 0.3007496187469124 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:-0.23 [[ 0.99970837 -0.00406281 -0.023805 0.90644501] [ 0.0039431 0.99997935 -0.00507378 -0.09920251] [ 0.02382512 0.00497843 0.99970375 -0.22928294] [ 0. 0. 0. 1. ]] SLAMing on 33.094630439999996 meters Centerline goodness [0,1] 0.29864322153478784 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:-0.23 [[ 0.99970389 -0.00404444 -0.02399525 0.90680679] [ 0.00392808 0.99998031 -0.00489448 -0.10047532] [ 0.02401457 0.00479878 0.99970009 -0.22914129] [ 0. 0. 0. 1. ]] SLAMing on 33.12463044 meters Centerline goodness [0,1] 0.3001361308584888 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:-0.23 [[ 0.99969982 -0.00391792 -0.02418524 0.90720275] [ 0.0038062 0.99998188 -0.00466352 -0.10132165] [ 0.02420307 0.00457007 0.99969662 -0.22907309] [ 0. 0. 0. 1. ]] SLAMing on 33.15463044 meters Centerline goodness [0,1] 0.29982210265978215 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:-0.23 [[ 0.99969713 -0.00374283 -0.02432356 0.90764645] [ 0.00363713 0.99998376 -0.00438811 -0.10215416] [ 0.02433959 0.00429831 0.99969451 -0.22924953] [ 0. 0. 0. 1. ]] SLAMing on 33.18463044 meters Centerline goodness [0,1] 0.30061535794765126 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:-0.23 [[ 0.99969946 -0.00359087 -0.02425085 0.90767966] [ 0.00349426 0.99998579 -0.00402512 -0.10406436] [ 0.02426496 0.00393917 0.9996978 -0.22949399] [ 0. 0. 0. 1. ]] SLAMing on 33.21463044 meters Centerline goodness [0,1] 0.29795936032546366 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.11, Z:-0.23 [[ 0.99970093 -0.0036518 -0.02418107 0.90736601] [ 0.00355698 0.99998582 -0.00396334 -0.10525208] [ 0.02419521 0.00387615 0.99969974 -0.22923587] [ 0. 0. 0. 1. ]] SLAMing on 33.24463044 meters Centerline goodness [0,1] 0.3001380738695202 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.11, Z:-0.23 [[ 0.99970237 -0.00364011 -0.02412299 0.90725707] [ 0.00354839 0.99998632 -0.0038441 -0.10630704] [ 0.02413666 0.00375736 0.99970161 -0.22927436] [ 0. 0. 0. 1. ]] SLAMing on 33.274630439999996 meters Centerline goodness [0,1] 0.2988254634336268 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.11, Z:-0.23 [[ 0.99969931 -0.00354932 -0.02426311 0.90769672] [ 0.00346071 0.99998719 -0.00369286 -0.10696789] [ 0.0242759 0.00360779 0.99969879 -0.22943528] [ 0. 0. 0. 1. ]] SLAMing on 33.30463044 meters Centerline goodness [0,1] 0.2979968052497518 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.11, Z:-0.23 [[ 0.99968081 -0.00314814 -0.0250673 0.91057731] [ 0.00306936 0.99999023 -0.00318052 -0.10861451] [ 0.02507707 0.00310256 0.99968071 -0.23087731] [ 0. 0. 0. 1. ]] SLAMing on 33.33463044 meters Centerline goodness [0,1] 0.2979968052497518 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.11, Z:-0.23 [[ 0.99968081 -0.00314814 -0.0250673 0.91057731] [ 0.00306936 0.99999023 -0.00318052 -0.10861451] [ 0.02507707 0.00310256 0.99968071 -0.23087731] [ 0. 0. 0. 1. ]] SLAMing on 33.36463044 meters Centerline goodness [0,1] 0.2986355538174076 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.11, Z:-0.23 [[ 0.99967392 -0.00304544 -0.02535292 0.91163757] [ 0.00297206 0.99999129 -0.00293126 -0.10991875] [ 0.02536163 0.00285495 0.99967427 -0.23144313] [ 0. 0. 0. 1. ]] SLAMing on 33.39463044 meters Centerline goodness [0,1] 0.29433323935720324 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.11, Z:-0.23 [[ 0.99966709 -0.0029618 -0.02563086 0.9124558 ] [ 0.00289416 0.99999223 -0.00267557 -0.11138872] [ 0.02563858 0.0026005 0.9996679 -0.23166723] [ 0. 0. 0. 1. ]] SLAMing on 33.42463044 meters Centerline goodness [0,1] 0.29586658570437196 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.11, Z:-0.23 [[ 0.99966095 -0.00283004 -0.02588376 0.91304759] [ 0.00276986 0.99999338 -0.0023605 -0.11298337] [ 0.02589027 0.002288 0.99966217 -0.23164641] [ 0. 0. 0. 1. ]] SLAMing on 33.454630439999995 meters Centerline goodness [0,1] 0.29752475247524757 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.11, Z:-0.23 [[ 0.99965992 -0.00265113 -0.02594248 0.91301822] [ 0.0025992 0.99999455 -0.00203535 -0.1143388 ] [ 0.02594773 0.00196723 0.99966137 -0.23136873] [ 0. 0. 0. 1. ]] SLAMing on 33.48463044 meters Centerline goodness [0,1] 0.2949546108118548 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.12, Z:-0.23 [[ 0.9996697 -0.00205946 -0.0256174 0.91205053] [ 0.00202212 0.99999686 -0.00148333 -0.11524933] [ 0.02562038 0.00143104 0.99967072 -0.23104022] [ 0. 0. 0. 1. ]] SLAMing on 33.51463044 meters Centerline goodness [0,1] 0.29849055781838774 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.12, Z:-0.23 [[ 0.99963196 0.00620958 -0.02640799 0.89193407] [-0.00627221 0.99997771 -0.00228959 -0.11919251] [ 0.02639319 0.00245438 0.99964863 -0.23279081] [ 0. 0. 0. 1. ]] SLAMing on 33.54463044 meters Centerline goodness [0,1] 0.2969840100532998 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.12, Z:-0.23 [[ 0.99962492 0.00621035 -0.02667298 0.89301512] [-0.00627779 0.9999773 -0.00244536 -0.11838194] [ 0.02665719 0.00261189 0.99964122 -0.23351861] [ 0. 0. 0. 1. ]] SLAMing on 33.57463044 meters Centerline goodness [0,1] 0.29321393893623904 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.12, Z:-0.23 [[ 0.99961632 0.00626405 -0.02698095 0.8941176 ] [-0.00633422 0.99997677 -0.00251607 -0.11783058] [ 0.02696457 0.00268601 0.99963278 -0.23413827] [ 0. 0. 0. 1. ]] SLAMing on 33.60463044 meters Centerline goodness [0,1] 0.29495444387141134 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.12, Z:-0.23 [[ 0.99960937 0.00653533 -0.02717339 0.89435168] [-0.00659792 0.99997578 -0.002214 -0.11822086] [ 0.02715826 0.00239242 0.99962828 -0.23382711] [ 0. 0. 0. 1. ]] SLAMing on 33.634630439999995 meters Centerline goodness [0,1] 0.29807087212204064 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.12, Z:-0.23 [[ 0.99960912 0.00662243 -0.02716172 0.89405336] [-0.00667879 0.99997573 -0.00198499 -0.11924616] [ 0.02714792 0.00216562 0.99962908 -0.23342283] [ 0. 0. 0. 1. ]] SLAMing on 33.664630439999996 meters Centerline goodness [0,1] 0.2960497975359697 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.12, Z:-0.23 [[ 9.99631464e-01 -1.12522356e-03 -2.71232276e-02 9.13369953e-01] [ 1.09782753e-03 9.99998872e-01 -1.02492782e-03 -1.16267662e-01] [ 2.71243503e-02 9.94773469e-04 9.99631572e-01 -2.31887533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.69463044 meters Centerline goodness [0,1] 0.29604171604645646 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.12, Z:-0.23 [[ 9.99631981e-01 -1.16322142e-03 -2.71025746e-02 9.13402550e-01] [ 1.13987421e-03 9.99998966e-01 -8.76872647e-04 -1.17565094e-01] [ 2.71035666e-02 8.45656415e-04 9.99632273e-01 -2.31975732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72463044 meters Centerline goodness [0,1] 0.29507380632873037 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.12, Z:-0.23 [[ 9.99635583e-01 -1.19560091e-03 -2.69679637e-02 9.12960239e-01] [ 1.17573874e-03 9.99999026e-01 -7.52354445e-04 -1.18649320e-01] [ 2.69688369e-02 7.20372995e-04 9.99636015e-01 -2.31782168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.75463044 meters Centerline goodness [0,1] 0.2941112981910806 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.12, Z:-0.23 [[ 9.99638488e-01 -1.14189669e-03 -2.68624300e-02 9.12688906e-01] [ 1.12888303e-03 9.99999238e-01 -4.99615822e-04 -1.20014241e-01] [ 2.68629801e-02 4.69110663e-04 9.99639015e-01 -2.31703454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78463044 meters Centerline goodness [0,1] 0.2953950074693109 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.12, Z:-0.23 [[ 9.99631911e-01 -1.00683097e-03 -2.71114193e-02 9.13442545e-01] [ 1.01106242e-03 9.99999479e-01 1.42368713e-04 -1.23201899e-01] [ 2.71112618e-02 -1.69727645e-04 9.99632408e-01 -2.31916447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.81463044 meters Centerline goodness [0,1] 0.2926077369356255 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.13, Z:-0.23 [[ 9.99629910e-01 -8.80479496e-04 -2.71894939e-02 9.13425128e-01] [ 8.95715437e-04 9.99999449e-01 5.48187108e-04 -1.25089307e-01] [ 2.71889962e-02 -5.72338278e-04 9.99630147e-01 -2.31551356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.844630439999996 meters Centerline goodness [0,1] 0.29356142009799713 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.13, Z:-0.23 [[ 9.99632152e-01 -7.74179741e-04 -2.71101585e-02 9.13068537e-01] [ 7.97843570e-04 9.99999310e-01 8.62070871e-04 -1.26605167e-01] [ 2.71094724e-02 -8.83383426e-04 9.99632080e-01 -2.31298907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.87463044 meters Centerline goodness [0,1] 0.2977092625470922 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.13, Z:-0.23 [[ 9.99638359e-01 -7.69392920e-04 -2.68804689e-02 9.11997456e-01] [ 8.00617220e-04 9.99999017e-01 1.15085489e-03 -1.28488504e-01] [ 2.68795570e-02 -1.17195966e-03 9.99637992e-01 -2.30461638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90463044 meters Centerline goodness [0,1] 0.2971574563098458 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.13, Z:-0.23 [[ 9.99644668e-01 -7.33488586e-04 -2.66458186e-02 9.11050906e-01] [ 7.68640968e-04 9.99998848e-01 1.30902730e-03 -1.29223661e-01] [ 2.66448278e-02 -1.32904323e-03 9.99644080e-01 -2.29892926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.93463044 meters Centerline goodness [0,1] 0.2956752363434144 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.13, Z:-0.23 [[ 9.99647451e-01 -6.51791426e-04 -2.65433230e-02 9.10583852e-01] [ 6.92290121e-04 9.99998610e-01 1.51659744e-03 -1.30042412e-01] [ 2.65422976e-02 -1.53443845e-03 9.99646513e-01 -2.29593181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96463044 meters Centerline goodness [0,1] 0.29874869655891556 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.13, Z:-0.23 [[ 0.99956811 -0.00137215 -0.02935496 0.8669442 ] [ 0.00143378 0.99999681 0.00207859 -0.13213379] [ 0.02935201 -0.00211978 0.99956689 -0.2302543 ] [ 0. 0. 0. 1. ]] SLAMing on 33.99463044 meters Centerline goodness [0,1] 0.29764588571924044 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.13, Z:-0.23 [[ 0.9995501 -0.00136819 -0.02996198 0.86894915] [ 0.00143608 0.99999645 0.0022445 -0.1330307 ] [ 0.0299588 -0.00228652 0.99954852 -0.23111708] [ 0. 0. 0. 1. ]] SLAMing on 34.024630439999996 meters Centerline goodness [0,1] 0.2952235663178703 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.13, Z:-0.23 [[ 0.99953522 -0.00148995 -0.03044859 0.87037821] [ 0.00156126 0.99999609 0.00231834 -0.13397851] [ 0.03044502 -0.0023648 0.99953365 -0.23150866] [ 0. 0. 0. 1. ]] SLAMing on 34.05463044 meters Centerline goodness [0,1] 0.2966402563103433 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.14, Z:-0.23 [[ 9.99551034e-01 -4.34900869e-03 -2.96448324e-02 8.66441388e-01] [ 4.35316497e-03 9.99990522e-01 7.56651644e-05 -1.38121998e-01] [ 2.96442224e-02 -2.04680039e-04 9.99560493e-01 -2.29147585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.08463044 meters Centerline goodness [0,1] 0.29740566548906566 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.14, Z:-0.23 [[ 9.99560844e-01 -4.44462027e-03 -2.92978439e-02 8.65453580e-01] [ 4.45739963e-03 9.99989997e-01 3.70891394e-04 -1.40393311e-01] [ 2.92959024e-02 -5.01320714e-04 9.99570657e-01 -2.28831131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.11463044 meters Centerline goodness [0,1] 0.295868772782503 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.14, Z:-0.23 [[ 9.99552672e-01 -4.56390878e-03 -2.95571713e-02 8.66336414e-01] [ 4.58454227e-03 9.99989292e-01 6.30356950e-04 -1.42583557e-01] [ 2.95539779e-02 -7.65581075e-04 9.99562893e-01 -2.29224245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14463044 meters Centerline goodness [0,1] 0.29283771532184955 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.14, Z:-0.23 [[ 9.99530414e-01 -4.71746036e-03 -3.02770200e-02 8.68437186e-01] [ 4.74599559e-03 9.99988359e-01 8.70676531e-04 -1.44940459e-01] [ 3.02725602e-02 -1.01396228e-03 9.99541167e-01 -2.29805321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.17463044 meters Centerline goodness [0,1] 0.2979753043553742 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.15, Z:-0.23 [[ 0.99952202 -0.00469206 -0.03055693 0.86940076] [ 0.00473133 0.99998807 0.00121292 -0.14698982] [ 0.03055087 -0.00135692 0.99953229 -0.23028388] [ 0. 0. 0. 1. ]] SLAMing on 34.204630439999995 meters Centerline goodness [0,1] 0.29691536240692906 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.15, Z:-0.23 [[ 0.99954529 -0.00483946 -0.02976234 0.86694583] [ 0.00488324 0.9999871 0.00139847 -0.14887748] [ 0.02975518 -0.00154317 0.99955603 -0.22931114] [ 0. 0. 0. 1. ]] SLAMing on 34.23463044 meters Centerline goodness [0,1] 0.2972417522985398 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.15, Z:-0.23 [[ 0.99955545 -0.00485798 -0.02941608 0.86553528] [ 0.00490046 0.99998705 0.00137218 -0.14886277] [ 0.02940903 -0.00151572 0.99956631 -0.22837295] [ 0. 0. 0. 1. ]] SLAMing on 34.26463044 meters Centerline goodness [0,1] 0.29550542448768724 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.15, Z:-0.23 [[ 9.99581551e-01 3.39420917e-03 -2.87263322e-02 8.84159131e-01] [-3.39812322e-03 9.99994223e-01 -8.74361169e-05 -1.51875238e-01] [ 2.87258695e-02 1.85015146e-04 9.99587310e-01 -2.26260360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.29463044 meters Centerline goodness [0,1] 0.29405286343612336 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.15, Z:-0.23 [[ 9.99574355e-01 3.33809182e-03 -2.89821743e-02 8.84902400e-01] [-3.34894275e-03 9.99994339e-01 -3.25868080e-04 -1.50516099e-01] [ 2.89809224e-02 4.22789018e-04 9.99579875e-01 -2.26439272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32463044 meters Centerline goodness [0,1] 0.2934124017016888 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.15, Z:-0.23 [[ 9.99557060e-01 3.26061039e-03 -2.95812756e-02 8.87027039e-01] [-3.28125174e-03 9.99994406e-01 -6.49268472e-04 -1.48715869e-01] [ 2.95789931e-02 7.46044497e-04 9.99562167e-01 -2.27452694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.35463044 meters Centerline goodness [0,1] 0.29622964681395403 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.14, Z:-0.23 [[ 0.99953524 0.00306384 -0.03033029 0.89007194] [-0.00310708 0.99999422 -0.00137853 -0.14494539] [ 0.03032589 0.00147213 0.99953898 -0.22937325] [ 0. 0. 0. 1. ]] SLAMing on 34.384630439999995 meters Centerline goodness [0,1] 0.2916478068757409 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.14, Z:-0.23 [[ 0.99954261 0.00286818 -0.03010547 0.88921924] [-0.00292536 0.999994 -0.00185534 -0.1428141 ] [ 0.03009997 0.00194256 0.99954501 -0.22887035] [ 0. 0. 0. 1. ]] SLAMing on 34.414630439999996 meters Centerline goodness [0,1] 0.29883731057307095 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.14, Z:-0.23 [[ 0.99955592 0.00285848 -0.02966118 0.88749179] [-0.00292231 0.99999351 -0.00210866 -0.14103226] [ 0.02965496 0.00219441 0.99955779 -0.2278401 ] [ 0. 0. 0. 1. ]] SLAMing on 34.44463044 meters Centerline goodness [0,1] 0.298961937716263 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.13, Z:-0.22 [[ 9.99579302e-01 -3.69265903e-03 -2.87677417e-02 9.03541896e-01] [ 3.69001452e-03 9.99993181e-01 -1.45013487e-04 -1.34818702e-01] [ 2.87680811e-02 3.87990958e-05 9.99586112e-01 -2.24294450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.47463044 meters Centerline goodness [0,1] 0.2964802324824879 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.13, Z:-0.22 [[ 9.99562216e-01 -3.24772521e-03 -2.94079846e-02 9.05339883e-01] [ 3.24009238e-03 9.99994704e-01 -3.07198782e-04 -1.31172132e-01] [ 2.94088266e-02 2.11779708e-04 9.99567444e-01 -2.24693169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50463044 meters Centerline goodness [0,1] 0.2987182272431024 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.13, Z:-0.23 [[ 9.99549029e-01 -3.24216122e-03 -2.98534407e-02 9.06820277e-01] [ 3.22571861e-03 9.99994618e-01 -5.98921562e-04 -1.29546592e-01] [ 2.98552218e-02 5.02352666e-04 9.99554107e-01 -2.25393390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.53463044 meters Centerline goodness [0,1] 0.2947652455477604 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.13, Z:-0.22 [[ 0.99953722 0.00527559 -0.02995851 0.92719606] [-0.00533613 0.99998388 -0.00194125 -0.13144096] [ 0.02994779 0.00210021 0.99954926 -0.22385945] [ 0. 0. 0. 1. ]] SLAMing on 34.56463044 meters Centerline goodness [0,1] 0.29564062363905586 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.13, Z:-0.22 [[ 0.99953856 0.0053465 -0.02990135 0.92693918] [-0.00541294 0.99998306 -0.00214141 -0.13000226] [ 0.0298894 0.00230227 0.99955056 -0.22363443] [ 0. 0. 0. 1. ]] SLAMing on 34.594630439999996 meters Centerline goodness [0,1] 0.2962866336203148 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.13, Z:-0.22 [[ 0.9995349 0.00581079 -0.02993705 0.92645065] [-0.00587495 0.99998063 -0.00205553 -0.12879185] [ 0.02992453 0.00223045 0.99954967 -0.22278276] [ 0. 0. 0. 1. ]] SLAMing on 34.62463044 meters Centerline goodness [0,1] 0.29560686643317335 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.13, Z:-0.22 [[ 0.9995251 0.0058785 -0.03024922 0.92763766] [-0.00594439 0.99998015 -0.00208845 -0.12834213] [ 0.03023635 0.00226727 0.99954021 -0.22349342] [ 0. 0. 0. 1. ]] SLAMing on 34.65463044 meters Centerline goodness [0,1] 0.2910168836190231 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.13, Z:-0.23 [[ 0.99950939 0.0059056 -0.0307588 0.92986815] [-0.00597292 0.99997996 -0.00209749 -0.12837219] [ 0.03074579 0.00228018 0.99952464 -0.22501608] [ 0. 0. 0. 1. ]] SLAMing on 34.68463044 meters Centerline goodness [0,1] 0.29360824742268044 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.13, Z:-0.23 [[ 0.9994995 0.00593516 -0.03107279 0.93153997] [-0.00600171 0.99997989 -0.00204893 -0.12868371] [ 0.03106 0.00223439 0.99951502 -0.22641166] [ 0. 0. 0. 1. ]] SLAMing on 34.71463044 meters Centerline goodness [0,1] 0.2938011239124303 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.13, Z:-0.23 [[ 0.9994947 0.00600255 -0.03121393 0.93222275] [-0.00606661 0.99997968 -0.0019581 -0.12903177] [ 0.03120154 0.00214647 0.99951081 -0.22696007] [ 0. 0. 0. 1. ]] SLAMing on 34.74463044 meters Centerline goodness [0,1] 0.29542196933501286 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.13, Z:-0.23 [[ 0.99949362 0.00615899 -0.03121805 0.93213856] [-0.00621552 0.99997921 -0.00171383 -0.1299082 ] [ 0.03120685 0.001907 0.99951113 -0.22680218] [ 0. 0. 0. 1. ]] SLAMing on 34.774630439999996 meters Centerline goodness [0,1] 0.29462416643287226 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.13, Z:-0.23 [[ 0.9994788 0.00639119 -0.03164308 0.93278963] [-0.00643487 0.99997848 -0.00127868 -0.13194301] [ 0.03163423 0.00148163 0.99949841 -0.22620691] [ 0. 0. 0. 1. ]] SLAMing on 34.80463044 meters Centerline goodness [0,1] 0.294719242628219 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.13, Z:-0.23 [[ 0.99947144 0.00646398 -0.03186001 0.93321224] [-0.00650195 0.99997827 -0.00108842 -0.13311178] [ 0.03185228 0.001295 0.99949175 -0.22603679] [ 0. 0. 0. 1. ]] SLAMing on 34.83463044 meters Centerline goodness [0,1] 0.2953814737573862 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.13, Z:-0.23 [[ 9.99466934e-01 6.52956976e-03 -3.19877005e-02 9.33380740e-01] [-6.56201616e-03 9.99978056e-01 -9.09465117e-04 -1.34198268e-01] [ 3.19810601e-02 1.11888412e-03 9.99487849e-01 -2.25852735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86463044 meters Centerline goodness [0,1] 0.2956841138659321 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.14, Z:-0.23 [[ 9.99467883e-01 6.65051334e-03 -3.19330913e-02 9.33318102e-01] [-6.67569631e-03 9.99977485e-01 -6.82065493e-04 -1.35165262e-01] [ 3.19278363e-02 8.94878174e-04 9.99489776e-01 -2.25962872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.89463044 meters Centerline goodness [0,1] 0.2909173243627895 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.14, Z:-0.23 [[ 9.99535718e-01 7.08374991e-04 -3.04605825e-02 9.54651179e-01] [-6.47020501e-04 9.99997742e-01 2.02403519e-03 -1.35026881e-01] [ 3.04619475e-02 -2.00338684e-03 9.99533919e-01 -2.26505793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92463044 meters Centerline goodness [0,1] 0.2929754302413681 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.14, Z:-0.23 [[ 9.99545631e-01 9.01125004e-04 -3.01283854e-02 9.53479133e-01] [-8.28297597e-04 9.99996705e-01 2.42962872e-03 -1.36732222e-01] [ 3.01304756e-02 -2.40356951e-03 9.99543084e-01 -2.25896815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.954630439999995 meters Centerline goodness [0,1] 0.29601984636476397 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.14, Z:-0.23 [[ 9.99556340e-01 1.02182375e-03 -2.97670727e-02 9.52077403e-01] [-9.36401214e-04 9.99995404e-01 2.88349760e-03 -1.39137717e-01] [ 2.97698823e-02 -2.85434439e-03 9.99552703e-01 -2.25031707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98463044 meters Centerline goodness [0,1] 0.2911646153514539 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.14, Z:-0.22 [[ 9.99561613e-01 1.02537685e-03 -2.95893586e-02 9.51161349e-01] [-9.28315704e-04 9.99994144e-01 3.29382268e-03 -1.42050078e-01] [ 2.95925628e-02 -3.26491044e-03 9.99556712e-01 -2.24232674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.01463044 meters Centerline goodness [0,1] 0.2939176832548033 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.14, Z:-0.22 [[ 9.99564151e-01 1.08094352e-03 -2.95015158e-02 9.50501330e-01] [-9.71403089e-04 9.99992582e-01 3.72712355e-03 -1.44786594e-01] [ 2.95053258e-02 -3.69684122e-03 9.99557787e-01 -2.23545046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04463044 meters Centerline goodness [0,1] 0.29438655025239946 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.15, Z:-0.22 [[ 0.99956702 0.00122361 -0.02939865 0.94996313] [-0.00110134 0.99999068 0.00417512 -0.14709449] [ 0.02940348 -0.00414094 0.99955905 -0.22306132] [ 0. 0. 0. 1. ]] SLAMing on 35.07463044 meters Centerline goodness [0,1] 0.29499707494637406 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.15, Z:-0.22 [[ 0.99956876 0.00147074 -0.02932799 0.94990126] [-0.00133346 0.99998807 0.00469987 -0.14927838] [ 0.02933455 -0.00465874 0.99955879 -0.22315509] [ 0. 0. 0. 1. ]] SLAMing on 35.10463044 meters Centerline goodness [0,1] 0.2945542942721333 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.15, Z:-0.22 [[ 0.99957141 0.00151729 -0.02923523 0.94989749] [-0.00137822 0.99998764 0.00477639 -0.14965609] [ 0.02924212 -0.00473405 0.99956115 -0.22348666] [ 0. 0. 0. 1. ]] SLAMing on 35.134630439999995 meters Centerline goodness [0,1] 0.2944012509229901 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.15, Z:-0.22 [[ 0.99957219 0.00147323 -0.02921087 0.95022381] [-0.00133446 0.99998774 0.0047694 -0.15008405] [ 0.02921754 -0.00472837 0.99956189 -0.22404306] [ 0. 0. 0. 1. ]] SLAMing on 35.164630439999996 meters Centerline goodness [0,1] 0.2927119892543004 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.15, Z:-0.22 [[ 0.99957074 0.00143823 -0.02926213 0.95053321] [-0.00129814 0.99998761 0.00480607 -0.15078988] [ 0.02926868 -0.00476602 0.99956022 -0.22431775] [ 0. 0. 0. 1. ]] SLAMing on 35.19463044 meters Centerline goodness [0,1] 0.2924940514817218 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.15, Z:-0.22 [[ 0.99956695 0.00147523 -0.02938939 0.95038342] [-0.00132848 0.99998656 0.0050122 -0.15224467] [ 0.02939639 -0.00497098 0.99955547 -0.22363282] [ 0. 0. 0. 1. ]] SLAMing on 35.22463044 meters Centerline goodness [0,1] 0.2941787941787942 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.15, Z:-0.22 [[ 0.99956436 0.00157504 -0.02947211 0.95040383] [-0.00142415 0.99998578 0.00514005 -0.15256604] [ 0.02947978 -0.00509584 0.99955239 -0.22335726] [ 0. 0. 0. 1. ]] SLAMing on 35.25463044 meters Centerline goodness [0,1] 0.2941787941787942 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.15, Z:-0.22 [[ 0.99956436 0.00157504 -0.02947211 0.95040383] [-0.00142415 0.99998578 0.00514005 -0.15256604] [ 0.02947978 -0.00509584 0.99955239 -0.22335726] [ 0. 0. 0. 1. ]] SLAMing on 35.28463044 meters Centerline goodness [0,1] 0.29430717317949273 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.15, Z:-0.22 [[ 0.99956321 0.00158986 -0.02951037 0.95055464] [-0.00143908 0.99998581 0.00512979 -0.15251849] [ 0.02951811 -0.00508508 0.99955131 -0.22342682] [ 0. 0. 0. 1. ]] SLAMing on 35.314630439999995 meters Centerline goodness [0,1] 0.29490114010420077 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.15, Z:-0.22 [[ 0.99955893 0.00152618 -0.02965847 0.95130258] [-0.00137952 0.99998672 0.00496482 -0.15196475] [ 0.02966565 -0.00492172 0.99954776 -0.22400309] [ 0. 0. 0. 1. ]] SLAMing on 35.344630439999996 meters Centerline goodness [0,1] 0.2894578053616068 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.15, Z:-0.22 [[ 0.99951177 0.00989814 -0.02963512 0.97167068] [-0.00979394 0.99994534 0.0036593 -0.1549397 ] [ 0.02966972 -0.00336727 0.99955409 -0.22276829] [ 0. 0. 0. 1. ]] SLAMing on 35.37463044 meters Centerline goodness [0,1] 0.2921392087265172 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.15, Z:-0.22 [[ 0.99951761 0.01009918 -0.02936912 0.97083402] [-0.00999518 0.99994325 0.00368594 -0.15396766] [ 0.02940468 -0.00339061 0.99956184 -0.22250526] [ 0. 0. 0. 1. ]] SLAMing on 35.40463044 meters Centerline goodness [0,1] 0.29462463635968916 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.15, Z:-0.22 [[ 0.99951777 0.01009223 -0.02936632 0.97090722] [-0.00999162 0.99994371 0.00357065 -0.15311981] [ 0.0294007 -0.00327551 0.99956234 -0.2226298 ] [ 0. 0. 0. 1. ]] SLAMing on 35.43463044 meters Centerline goodness [0,1] 0.292830024948476 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.15, Z:-0.22 [[ 0.99951552 0.01007011 -0.02945011 0.97133434] [-0.00997218 0.99994425 0.00347031 -0.1526044 ] [ 0.02948342 -0.00317495 0.99956023 -0.22296365] [ 0. 0. 0. 1. ]] SLAMing on 35.46463044 meters Centerline goodness [0,1] 0.2912467763257699 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.15, Z:-0.22 [[ 0.99951514 0.00998224 -0.02949303 0.97170016] [-0.00988781 0.99994552 0.00334588 -0.15241222] [ 0.02952482 -0.00305263 0.99955939 -0.22336628] [ 0. 0. 0. 1. ]] SLAMing on 35.49463044 meters Centerline goodness [0,1] 0.2931655456715122 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.15, Z:-0.22 [[ 9.99537259e-01 7.31300354e-03 -2.95260476e-02 9.71926727e-01] [-7.30016088e-03 9.99973206e-01 5.42734319e-04 -1.51479729e-01] [ 2.95292255e-02 -3.26938275e-04 9.99563864e-01 -2.23690256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.524630439999996 meters Centerline goodness [0,1] 0.29210337868628344 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.15, Z:-0.22 [[ 9.99533392e-01 7.32826153e-03 -2.96529086e-02 9.72070672e-01] [-7.31646518e-03 9.99973106e-01 5.06297286e-04 -1.50992108e-01] [ 2.96558214e-02 -2.89106570e-04 9.99560128e-01 -2.23483730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.55463044 meters Centerline goodness [0,1] 0.2914236148758539 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.15, Z:-0.22 [[ 9.99528139e-01 7.33905504e-03 -2.98267990e-02 9.72432844e-01] [-7.32819470e-03 9.99973036e-01 4.73411259e-04 -1.50526529e-01] [ 2.98294692e-02 -2.54611284e-04 9.99554970e-01 -2.23407137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58463044 meters Centerline goodness [0,1] 0.29180398959236775 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.15, Z:-0.22 [[ 9.99521639e-01 7.28895452e-03 -3.00560247e-02 9.72992212e-01] [-7.28062904e-03 9.99973421e-01 3.86428963e-04 -1.50155076e-01] [ 3.00580425e-02 -1.67417344e-04 9.99548141e-01 -2.23379423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.61463044 meters Centerline goodness [0,1] 0.2933353614811274 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.15, Z:-0.22 [[ 9.99520285e-01 7.18553209e-03 -3.01258831e-02 9.73366098e-01] [-7.18150035e-03 9.99974183e-01 2.42027917e-04 -1.49888235e-01] [ 3.01268445e-02 -2.55627722e-05 9.99546083e-01 -2.23678558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64463044 meters Centerline goodness [0,1] 0.29640548567435365 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.15, Z:-0.22 [[ 9.99523516e-01 7.09673968e-03 -3.00396106e-02 9.73077928e-01] [-7.09714587e-03 9.99974811e-01 9.31015426e-05 -1.49409303e-01] [ 3.00395147e-02 1.20138317e-04 9.99548705e-01 -2.23551198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.67463044 meters Centerline goodness [0,1] 0.2932032520325203 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.14, Z:-0.22 [[ 9.99617508e-01 7.47272910e-04 -2.76456172e-02 9.88601181e-01] [-6.86650682e-04 9.99997339e-01 2.20226150e-03 -1.42728678e-01] [ 2.76471894e-02 -2.18243627e-03 9.99615361e-01 -2.20943082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.704630439999995 meters Centerline goodness [0,1] 0.2947676943117673 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.14, Z:-0.22 [[ 9.99628387e-01 7.99654727e-04 -2.72479075e-02 9.87206959e-01] [-7.42839139e-04 9.99997529e-01 2.09519435e-03 -1.41650249e-01] [ 2.72495156e-02 -2.07417494e-03 9.99626511e-01 -2.20273092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.73463044 meters Centerline goodness [0,1] 0.29152206246901335 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.14, Z:-0.22 [[ 9.99630715e-01 7.20667822e-04 -2.71645840e-02 9.86702315e-01] [-6.70832414e-04 9.99998075e-01 1.84364132e-03 -1.40363877e-01] [ 2.71658604e-02 -1.82473761e-03 9.99629274e-01 -2.19806538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.76463044 meters Centerline goodness [0,1] 0.2952147292544184 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.14, Z:-0.22 [[ 9.99608430e-01 8.77579854e-04 -2.79681270e-02 9.89079491e-01] [-8.36655478e-04 9.99998562e-01 1.47491905e-03 -1.36811953e-01] [ 2.79693811e-02 -1.45094183e-03 9.99607727e-01 -2.20651708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.79463044 meters Centerline goodness [0,1] 0.29297763149347134 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99595320e-01 9.37259193e-04 -2.84309403e-02 9.90876211e-01] [-9.03082537e-04 9.99998854e-01 1.21491031e-03 -1.34462803e-01] [ 2.84320464e-02 -1.18874318e-03 9.99595021e-01 -2.21760687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82463044 meters Centerline goodness [0,1] 0.29355805568828464 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99593865e-01 9.03717782e-04 -2.84831321e-02 9.91425035e-01] [-8.75622898e-04 9.99999118e-01 9.98826518e-04 -1.32964625e-01] [ 2.84840096e-02 -9.73480377e-04 9.99593774e-01 -2.22430374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.85463044 meters Centerline goodness [0,1] 0.29123123897991654 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99597409e-01 7.61263406e-04 -2.83626458e-02 9.91004533e-01] [-7.41440392e-04 9.99999473e-01 7.09422875e-04 -1.31689751e-01] [ 2.83631709e-02 -6.88108057e-04 9.99597447e-01 -2.22253762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.884630439999995 meters Centerline goodness [0,1] 0.29347779075299507 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99601198e-01 5.36827362e-04 -2.82339702e-02 9.90429867e-01] [-5.26637117e-04 9.99999793e-01 3.68356195e-04 -1.30636559e-01] [ 2.82341621e-02 -3.53340237e-04 9.99601274e-01 -2.21837775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.914630439999996 meters Centerline goodness [0,1] 0.2930235579421445 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99600233e-01 1.03253334e-04 -2.82730010e-02 9.90233830e-01] [-1.09412181e-04 9.99999971e-01 -2.16288000e-04 -1.29015713e-01] [ 2.82729778e-02 2.19294946e-04 9.99600215e-01 -2.21397689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.94463044 meters Centerline goodness [0,1] 0.29116076810471025 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99601698e-01 4.66825187e-05 -2.82213112e-02 9.90024596e-01] [-5.36331427e-05 9.99999968e-01 -2.45533000e-04 -1.28923419e-01] [ 2.82212989e-02 2.46948801e-04 9.99601669e-01 -2.21269615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.97463044 meters Centerline goodness [0,1] 0.29420069504778457 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99606308e-01 7.38687835e-05 -2.80574972e-02 9.89476256e-01] [-7.78895423e-05 9.99999987e-01 -1.42211376e-04 -1.29305663e-01] [ 2.80574863e-02 1.44340775e-04 9.99606301e-01 -2.21021458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00463044 meters Centerline goodness [0,1] 0.29487040215525673 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99613039e-01 7.87646864e-05 -2.78166649e-02 9.88578830e-01] [-7.89112298e-05 9.99999997e-01 -4.17045287e-06 -1.30067653e-01] [ 2.78166645e-02 6.36388631e-06 9.99613042e-01 -2.20475278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.03463044 meters Centerline goodness [0,1] 0.29100551914453254 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99611038e-01 2.39116431e-05 -2.78885556e-02 9.88550753e-01] [-2.11980912e-05 9.99999995e-01 9.75954796e-05 -1.30993298e-01] [ 2.78885578e-02 -9.69663345e-05 9.99611034e-01 -2.20148892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.064630439999995 meters Centerline goodness [0,1] 0.2925344024271319 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99578960e-01 -3.77996075e-04 -2.90130922e-02 9.91956147e-01] [ 3.78268081e-04 9.99999928e-01 3.88675088e-06 -1.32650192e-01] [ 2.90130887e-02 -1.48598411e-05 9.99579032e-01 -2.21206246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.094630439999996 meters Centerline goodness [0,1] 0.2934024014911787 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99571440e-01 -3.73690212e-04 -2.92710926e-02 9.92869400e-01] [ 3.78903980e-04 9.99999913e-01 1.72573580e-04 -1.33863222e-01] [ 2.92710256e-02 -1.83590555e-04 9.99571495e-01 -2.21628345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.12463044 meters Centerline goodness [0,1] 0.29056114174505354 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99572424e-01 -3.42205948e-04 -2.92378430e-02 9.93062598e-01] [ 3.51767789e-04 9.99999886e-01 3.21893547e-04 -1.34839967e-01] [ 2.92377295e-02 -3.32040844e-04 9.99572431e-01 -2.21998816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.15463044 meters Centerline goodness [0,1] 0.2932376340366655 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.14, Z:-0.22 [[ 9.99579311e-01 -2.89337835e-04 -2.90020149e-02 9.92266372e-01] [ 3.02465724e-04 9.99999854e-01 4.48268425e-04 -1.35553934e-01] [ 2.90018810e-02 -4.56851959e-04 9.99579253e-01 -2.21598821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18463044 meters Centerline goodness [0,1] 0.29396445081059963 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.14, Z:-0.22 [[ 9.99589176e-01 -2.10778158e-04 -2.86606983e-02 9.91130387e-01] [ 2.28023852e-04 9.99999795e-01 5.98452249e-04 -1.36287889e-01] [ 2.86605663e-02 -6.04741713e-04 9.99589019e-01 -2.21102084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.21463044 meters Centerline goodness [0,1] 0.29109603836350284 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.14, Z:-0.22 [[ 9.99596999e-01 -1.08956100e-04 -2.83870917e-02 9.90168466e-01] [ 1.28783892e-04 9.99999749e-01 6.96651843e-04 -1.36424355e-01] [ 2.83870087e-02 -7.00026892e-04 9.99596763e-01 -2.20578720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24463044 meters Centerline goodness [0,1] 0.2934430858110897 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.14, Z:-0.22 [[ 9.99609518e-01 1.54458603e-04 -2.79425828e-02 9.88901584e-01] [-1.34707925e-04 9.99999740e-01 7.08711809e-04 -1.35427840e-01] [ 2.79426850e-02 -7.04670983e-04 9.99609279e-01 -2.20238482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.274630439999996 meters Centerline goodness [0,1] 0.29317486824698 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99609417e-01 9.84786884e-05 -2.79464322e-02 9.89008125e-01] [-8.72677493e-05 9.99999915e-01 4.02377522e-04 -1.33806598e-01] [ 2.79464694e-02 -3.99781538e-04 9.99609341e-01 -2.20405317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.30463044 meters Centerline goodness [0,1] 0.29171084233074407 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99611152e-01 1.22758502e-04 -2.78842054e-02 9.88823118e-01] [-1.18558282e-04 9.99999981e-01 1.52284032e-04 -1.32102736e-01] [ 2.78842236e-02 -1.48918914e-04 9.99611148e-01 -2.20425546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.33463044 meters Centerline goodness [0,1] 0.2917251354677144 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99615454e-01 7.10090177e-04 -2.77207337e-02 9.88239301e-01] [-7.04589839e-04 9.99999730e-01 2.08186877e-04 -1.29026048e-01] [ 2.77208741e-02 -1.88575072e-04 9.99615685e-01 -2.20321293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36463044 meters Centerline goodness [0,1] 0.2916423649363835 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99613557e-01 6.43071204e-04 -2.77906857e-02 9.88660273e-01] [-6.43978816e-04 9.99999792e-01 -2.37088150e-05 -1.27721356e-01] [ 2.77906647e-02 4.15962658e-05 9.99613764e-01 -2.20736083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.39463044 meters Centerline goodness [0,1] 0.2887220640262318 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99615793e-01 4.99356398e-04 -2.77131297e-02 9.88469673e-01] [-5.05587407e-04 9.99999848e-01 -2.17833005e-04 -1.27243577e-01] [ 2.77130168e-02 2.31760722e-04 9.99615894e-01 -2.20734583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42463044 meters Centerline goodness [0,1] 0.2906583342312251 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99620580e-01 3.47512923e-04 -2.75422376e-02 9.87996518e-01] [-3.56057070e-04 9.99999890e-01 -3.05316168e-04 -1.27561487e-01] [ 2.75421285e-02 3.15006933e-04 9.99620594e-01 -2.20590132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.454630439999995 meters Centerline goodness [0,1] 0.2928373822080055 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99627201e-01 2.65132259e-04 -2.73017901e-02 9.87164789e-01] [-2.73891786e-04 9.99999912e-01 -3.17101679e-04 -1.27937430e-01] [ 2.73017036e-02 3.24461200e-04 9.99627186e-01 -2.20179150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48463044 meters Centerline goodness [0,1] 0.2953091453232417 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99635669e-01 5.62007104e-04 -2.69854243e-02 9.85811023e-01] [-5.60755198e-04 9.99999841e-01 5.39594197e-05 -1.28221663e-01] [ 2.69854503e-02 -3.88075437e-05 9.99635826e-01 -2.19367000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.51463044 meters Centerline goodness [0,1] 0.2966536421383511 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99635215e-01 6.72642751e-04 -2.69997117e-02 9.85801435e-01] [-6.68098020e-04 9.99999761e-01 1.77345687e-04 -1.28231916e-01] [ 2.69998245e-02 -1.59242540e-04 9.99635426e-01 -2.19271714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54463044 meters Centerline goodness [0,1] 0.29568583108637037 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99633578e-01 6.56440294e-04 -2.70606341e-02 9.86112142e-01] [-6.52560338e-04 9.99999775e-01 1.52210805e-04 -1.28278292e-01] [ 2.70607279e-02 -1.34496336e-04 9.99633782e-01 -2.19507351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.57463044 meters Centerline goodness [0,1] 0.294589568376438 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99625225e-01 5.39737840e-04 -2.73700270e-02 9.87214247e-01] [-5.37406952e-04 9.99999851e-01 9.25177675e-05 -1.28741219e-01] [ 2.73700729e-02 -7.77742513e-05 9.99625366e-01 -2.20054098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60463044 meters Centerline goodness [0,1] 0.29130724718738576 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99611798e-01 4.85597719e-04 -2.78570893e-02 9.88733929e-01] [-4.78449158e-04 9.99999851e-01 2.63280320e-04 -1.30306387e-01] [ 2.78572130e-02 -2.49849914e-04 9.99611881e-01 -2.20541168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.634630439999995 meters Centerline goodness [0,1] 0.29412655817174516 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99609962e-01 6.05485416e-04 -2.79205561e-02 9.88786121e-01] [-5.90638153e-04 9.99999680e-01 5.40012183e-04 -1.31438646e-01] [ 2.79208741e-02 -5.23310612e-04 9.99609999e-01 -2.20398317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.664630439999996 meters Centerline goodness [0,1] 0.2932194616977226 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99607601e-01 6.76848024e-04 -2.80033305e-02 9.88752438e-01] [-6.55934975e-04 9.99999499e-01 7.55985013e-04 -1.32464791e-01] [ 2.80038282e-02 -7.37320001e-04 9.99607544e-01 -2.20016962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.69463044 meters Centerline goodness [0,1] 0.2938998245955954 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99608119e-01 6.96569443e-04 -2.79843331e-02 9.88485781e-01] [-6.72076651e-04 9.99999383e-01 8.84628419e-04 -1.33261815e-01] [ 2.79849320e-02 -8.65474133e-04 9.99607970e-01 -2.19662367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72463044 meters Centerline goodness [0,1] 0.2901985218288071 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99612939e-01 6.43085370e-04 -2.78129395e-02 9.87958738e-01] [-6.19422893e-04 9.99999439e-01 8.59379544e-04 -1.33417339e-01] [ 2.78134765e-02 -8.41818940e-04 9.99612776e-01 -2.19465944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.75463044 meters Centerline goodness [0,1] 0.2947438887449253 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99618302e-01 5.96752588e-04 -2.76205337e-02 9.87314415e-01] [-5.76542804e-04 9.99999560e-01 7.39652107e-04 -1.32850871e-01] [ 2.76209629e-02 -7.23445364e-04 9.99618207e-01 -2.19181241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78463044 meters Centerline goodness [0,1] 0.2921210556881977 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99628502e-01 6.82581828e-04 -2.72468572e-02 9.86398813e-01] [-6.71499200e-04 9.99999688e-01 4.15896586e-04 -1.30326057e-01] [ 2.72471326e-02 -3.97445838e-04 9.99628649e-01 -2.19200930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.814630439999995 meters Centerline goodness [0,1] 0.2927196796831274 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99623204e-01 6.94183277e-04 -2.74402548e-02 9.87088381e-01] [-6.89391132e-04 9.99999745e-01 1.84099157e-04 -1.28642767e-01] [ 2.74403756e-02 -1.65112721e-04 9.99623428e-01 -2.19589007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.844630439999996 meters Centerline goodness [0,1] 0.2939145165493875 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99613838e-01 6.66713718e-04 -2.77800511e-02 9.88215175e-01] [-6.69377704e-04 9.99999772e-01 -8.65962756e-05 -1.26896602e-01] [ 2.77799871e-02 1.05158182e-04 9.99614056e-01 -2.20118921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.87463044 meters Centerline goodness [0,1] 0.29131821708768 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.22 [[ 9.99600104e-01 5.65398495e-04 -2.82720965e-02 9.89796336e-01] [-5.78132865e-04 9.99999735e-01 -4.42249740e-04 -1.25112086e-01] [ 2.82718390e-02 4.58417915e-04 9.99600167e-01 -2.20798932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90463044 meters Centerline goodness [0,1] 0.296248804659654 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.12, Z:-0.22 [[ 9.99593510e-01 4.54923061e-04 -2.85062925e-02 9.90628606e-01] [-4.74354275e-04 9.99999660e-01 -6.74887784e-04 -1.24166892e-01] [ 2.85059757e-02 6.88135530e-04 9.99593385e-01 -2.21227318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.93463044 meters Centerline goodness [0,1] 0.29628583226479477 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.12, Z:-0.22 [[ 9.99590331e-01 3.85811608e-04 -2.86185421e-02 9.90711823e-01] [-4.07550916e-04 9.99999633e-01 -7.53794116e-04 -1.23927158e-01] [ 2.86182408e-02 7.65148823e-04 9.99590121e-01 -2.20981656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96463044 meters Centerline goodness [0,1] 0.2940049510278765 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.12, Z:-0.22 [[ 9.99617665e-01 -7.20887896e-03 -2.66937607e-02 1.00921118e+00] [ 7.23052265e-03 9.99973604e-01 7.14379951e-04 -1.21131114e-01] [ 2.66879062e-02 -9.07116660e-04 9.99643403e-01 -2.18461067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.99463044 meters Centerline goodness [0,1] 0.29537073191895524 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.12, Z:-0.22 [[ 9.99624627e-01 -7.19847126e-03 -2.64345818e-02 1.00831238e+00] [ 7.22495280e-03 9.99973489e-01 9.06400785e-04 -1.22260592e-01] [ 2.64273563e-02 -1.09704915e-03 9.99650134e-01 -2.17954451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.024630439999996 meters Centerline goodness [0,1] 0.29767381019860906 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.12, Z:-0.22 [[ 9.99626008e-01 -7.23794394e-03 -2.63714934e-02 1.00811996e+00] [ 7.26656517e-03 9.99973108e-01 9.89637973e-04 -1.23103392e-01] [ 2.63636213e-02 -1.18089803e-03 9.99651722e-01 -2.17829413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.05463044 meters Centerline goodness [0,1] 0.29984123877253643 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.12, Z:-0.22 [[ 9.99623482e-01 -7.29157738e-03 -2.64523705e-02 1.00849545e+00] [ 7.31983655e-03 9.99972738e-01 9.71629476e-04 -1.23471312e-01] [ 2.64445646e-02 -1.16489067e-03 9.99649603e-01 -2.18090963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08463044 meters Centerline goodness [0,1] 0.29709581226500714 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.13, Z:-0.22 [[ 9.99655026e-01 9.07025986e-04 -2.62489390e-02 1.02753969e+00] [-9.19868786e-04 9.99999463e-01 -4.77198552e-04 -1.26778594e-01] [ 2.62484920e-02 5.01179510e-04 9.99655323e-01 -2.16339047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.11463044 meters Centerline goodness [0,1] 0.2940770160594025 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.13, Z:-0.22 [[ 9.99653160e-01 9.23508427e-04 -2.63193393e-02 1.02794142e+00] [-9.40791699e-04 9.99999350e-01 -6.44300653e-04 -1.25719269e-01] [ 2.63187271e-02 6.68838200e-04 9.99653379e-01 -2.16720756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14463044 meters Centerline goodness [0,1] 0.2940770160594025 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.13, Z:-0.22 [[ 9.99653160e-01 9.23508427e-04 -2.63193393e-02 1.02794142e+00] [-9.40791699e-04 9.99999350e-01 -6.44300653e-04 -1.25719269e-01] [ 2.63187271e-02 6.68838200e-04 9.99653379e-01 -2.16720756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.17463044 meters Centerline goodness [0,1] 0.2931190681622088 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.12, Z:-0.22 [[ 9.99651352e-01 8.83909582e-04 -2.63892568e-02 1.02825704e+00] [-9.06148961e-04 9.99999244e-01 -8.30797166e-04 -1.24707570e-01] [ 2.63885025e-02 8.54420108e-04 9.99651398e-01 -2.16966984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.204630439999995 meters Centerline goodness [0,1] 0.2968831056545046 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.12, Z:-0.22 [[ 9.99652899e-01 8.19175577e-04 -2.63326732e-02 1.02807591e+00] [-8.46600789e-04 9.99999111e-01 -1.03035819e-03 -1.23709077e-01] [ 2.63318057e-02 1.05229381e-03 9.99652704e-01 -2.16938094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.23463044 meters Centerline goodness [0,1] 0.29542850967253864 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.12, Z:-0.22 [[ 9.99657313e-01 7.68309936e-04 -2.61661093e-02 1.02736179e+00] [-8.00910813e-04 9.99998916e-01 -1.23546254e-03 -1.22545799e-01] [ 2.61651318e-02 1.25599588e-03 9.99656845e-01 -2.16476249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26463044 meters Centerline goodness [0,1] 0.29615944706470476 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:-0.22 [[ 0.99967932 0.00109035 -0.02529971 1.02458671] [-0.00112249 0.99999858 -0.00125615 -0.12042757] [ 0.02529831 0.00128414 0.99967912 -0.21549861] [ 0. 0. 0. 1. ]] SLAMing on 37.29463044 meters Centerline goodness [0,1] 0.2978989872816393 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:-0.22 [[ 0.99968604 0.00106696 -0.02503375 1.02381825] [-0.00110456 0.99999828 -0.00148811 -0.11879861] [ 0.02503212 0.00151529 0.9996855 -0.21529028] [ 0. 0. 0. 1. ]] SLAMing on 37.32463044 meters Centerline goodness [0,1] 0.2971823383353125 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:-0.22 [[ 9.99692606e-01 9.91545534e-04 -2.47731809e-02 1.02304467e+00] [-1.03608160e-03 9.99997870e-01 -1.78498235e-03 -1.17085633e-01] [ 2.47713582e-02 1.81010069e-03 9.99691504e-01 -2.15079926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.35463044 meters Centerline goodness [0,1] 0.29688642325721415 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:-0.21 [[ 9.99696132e-01 8.40752465e-04 -2.46360988e-02 1.02245710e+00] [-8.94367793e-04 9.99997256e-01 -2.16535361e-03 -1.15317333e-01] [ 2.46342107e-02 2.18672936e-03 9.99694140e-01 -2.14706646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.384630439999995 meters Centerline goodness [0,1] 0.2961293800539083 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.11, Z:-0.21 [[ 9.99698285e-01 6.59098224e-04 -2.45541165e-02 1.02202723e+00] [-7.22682383e-04 9.99996409e-01 -2.58076817e-03 -1.13473603e-01] [ 2.45523274e-02 2.59773434e-03 9.99695171e-01 -2.14404331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.414630439999996 meters Centerline goodness [0,1] 0.2958778889272162 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.11, Z:-0.21 [[ 9.99698443e-01 5.68860658e-04 -2.45499400e-02 1.02188415e+00] [-6.39157356e-04 9.99995718e-01 -2.85566445e-03 -1.12000654e-01] [ 2.45482104e-02 2.87049458e-03 9.99694526e-01 -2.14221379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.44463044 meters Centerline goodness [0,1] 0.2950555125225923 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.11, Z:-0.21 [[ 9.99704015e-01 5.18356916e-04 -2.43231071e-02 1.02145936e+00] [-5.97381148e-04 9.99994567e-01 -3.24178290e-03 -1.09237479e-01] [ 2.43212946e-02 3.25535354e-03 9.99698893e-01 -2.14463198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.47463044 meters Centerline goodness [0,1] 0.2979675149830626 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.11, Z:-0.21 [[ 9.99704636e-01 4.56396068e-04 -2.42988048e-02 1.02148408e+00] [-5.38932105e-04 9.99994108e-01 -3.39027149e-03 -1.08550335e-01] [ 2.42971143e-02 3.40236553e-03 9.99698992e-01 -2.14618983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50463044 meters Centerline goodness [0,1] 0.2998069539943171 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.11, Z:-0.21 [[ 9.99702786e-01 3.72732560e-04 -2.43762442e-02 1.02171999e+00] [-4.58584877e-04 9.99993712e-01 -3.51647128e-03 -1.08134515e-01] [ 2.43747803e-02 3.52660471e-03 9.99696671e-01 -2.14704302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.53463044 meters Centerline goodness [0,1] 0.293890011609408 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.10, Z:-0.21 [[ 0.99966723 -0.00707325 -0.02480729 1.04077137] [ 0.00701242 0.99997219 -0.00253799 -0.10300577] [ 0.02482455 0.00236319 0.99968903 -0.21279474] [ 0. 0. 0. 1. ]] SLAMing on 37.564630439999995 meters Centerline goodness [0,1] 0.2982703311947287 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.10, Z:-0.21 [[ 0.99966258 -0.00702472 -0.0250077 1.04107953] [ 0.00696813 0.99997296 -0.00234929 -0.10395561] [ 0.02502352 0.00217424 0.9996845 -0.21252907] [ 0. 0. 0. 1. ]] SLAMing on 37.594630439999996 meters Centerline goodness [0,1] 0.29661273576743385 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.11, Z:-0.21 [[ 0.99965977 -0.00697988 -0.025132 1.04124441] [ 0.00692918 0.99997378 -0.00210397 -0.10517357] [ 0.02514603 0.00192911 0.99968193 -0.21226536] [ 0. 0. 0. 1. ]] SLAMing on 37.62463044 meters Centerline goodness [0,1] 0.2997800378944617 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.11, Z:-0.21 [[ 0.99964956 -0.0071738 -0.02548113 1.04220201] [ 0.00713058 0.99997298 -0.00178678 -0.10796423] [ 0.02549326 0.00160446 0.99967371 -0.21240571] [ 0. 0. 0. 1. ]] SLAMing on 37.65463044 meters Centerline goodness [0,1] 0.29549428960037993 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.11, Z:-0.21 [[ 9.99672930e-01 6.29794407e-04 -2.55663283e-02 1.06120002e+00] [-7.02903784e-04 9.99995690e-01 -2.85071022e-03 -1.13890561e-01] [ 2.55644228e-02 2.86774850e-03 9.99669063e-01 -2.10922469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68463044 meters Centerline goodness [0,1] 0.2975854431754028 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.12, Z:-0.21 [[ 9.99676252e-01 7.25928437e-04 -2.54335200e-02 1.06102508e+00] [-7.90378002e-04 9.99996502e-01 -2.52407928e-03 -1.15614767e-01] [ 2.54315987e-02 2.54336421e-03 9.99673329e-01 -2.11151493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.71463044 meters Centerline goodness [0,1] 0.29458485312843974 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.12, Z:-0.21 [[ 9.99675933e-01 8.36505822e-04 -2.54426825e-02 1.06109519e+00] [-8.92326277e-04 9.99997220e-01 -2.18269462e-03 -1.17342539e-01] [ 2.54407859e-02 2.20469046e-03 9.99673900e-01 -2.11194247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74463044 meters Centerline goodness [0,1] 0.29867757090656 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.12, Z:-0.21 [[ 9.99675115e-01 9.51083478e-04 -2.54707650e-02 1.06118615e+00] [-9.98841608e-04 9.99997767e-01 -1.86236046e-03 -1.18973483e-01] [ 2.54689369e-02 1.88719666e-03 9.99673833e-01 -2.11212447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.774630439999996 meters Centerline goodness [0,1] 0.2957588078811342 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.12, Z:-0.21 [[ 9.99659144e-01 8.30123357e-04 -2.60941993e-02 1.06302490e+00] [-8.76355340e-04 9.99998067e-01 -1.76034820e-03 -1.20769883e-01] [ 2.60926875e-02 1.78261597e-03 9.99657938e-01 -2.11702149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.80463044 meters Centerline goodness [0,1] 0.29650658807212205 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.12, Z:-0.21 [[ 9.99648287e-01 7.86347553e-04 -2.65082048e-02 1.06425501e+00] [-8.35049888e-04 9.99997984e-01 -1.82623544e-03 -1.20746371e-01] [ 2.65067153e-02 1.84772880e-03 9.99646928e-01 -2.12062279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.83463044 meters Centerline goodness [0,1] 0.295360290305858 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.12, Z:-0.21 [[ 9.99641479e-01 8.18209272e-04 -2.67627313e-02 1.06516911e+00] [-8.69043720e-04 9.99997840e-01 -1.88787328e-03 -1.20188440e-01] [ 2.67611288e-02 1.91045442e-03 9.99640031e-01 -2.12572597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86463044 meters Centerline goodness [0,1] 0.2967940519801444 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.12, Z:-0.21 [[ 9.99644319e-01 8.66987219e-04 -2.66549038e-02 1.06501545e+00] [-9.21441825e-04 9.99997514e-01 -2.03073410e-03 -1.18960287e-01] [ 2.66530769e-02 2.05457275e-03 9.99642632e-01 -2.12712942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.89463044 meters Centerline goodness [0,1] 0.29954857192464623 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.12, Z:-0.21 [[ 0.99969527 0.00178328 -0.02462069 1.05902775] [-0.00182033 0.99999724 -0.00148241 -0.11784844] [ 0.02461798 0.00152677 0.99969577 -0.21102503] [ 0. 0. 0. 1. ]] SLAMing on 37.92463044 meters Centerline goodness [0,1] 0.2986680550132327 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.12, Z:-0.21 [[ 0.99970601 0.00175035 -0.02418315 1.05756129] [-0.00179267 0.9999969 -0.00172841 -0.11645602] [ 0.02418005 0.00177125 0.99970605 -0.21038738] [ 0. 0. 0. 1. ]] SLAMing on 37.954630439999995 meters Centerline goodness [0,1] 0.3015945727810134 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.11, Z:-0.21 [[ 0.99970834 0.00166176 -0.02409295 1.05750545] [-0.00171203 0.9999964 -0.00206603 -0.11471378] [ 0.02408943 0.00210668 0.99970759 -0.21064937] [ 0. 0. 0. 1. ]] SLAMing on 37.98463044 meters Centerline goodness [0,1] 0.29908336970755134 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.11, Z:-0.21 [[ 0.99969838 0.0016318 -0.02450487 1.05900154] [-0.00168957 0.99999584 -0.00233699 -0.11300554] [ 0.02450096 0.00237769 0.99969698 -0.21155444] [ 0. 0. 0. 1. ]] SLAMing on 38.01463044 meters Centerline goodness [0,1] 0.2952000862905836 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.11, Z:-0.21 [[ 0.99968087 0.00165793 -0.02520737 1.06145098] [-0.00172382 0.99999515 -0.00259226 -0.11116831] [ 0.02520295 0.00263489 0.99967888 -0.21279775] [ 0. 0. 0. 1. ]] SLAMing on 38.04463044 meters Centerline goodness [0,1] 0.29117881708605564 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.11, Z:-0.21 [[ 0.99966899 0.00158546 -0.02567865 1.06321504] [-0.00165953 0.99999452 -0.00286322 -0.10976818] [ 0.02567397 0.00290488 0.99966615 -0.21382237] [ 0. 0. 0. 1. ]] SLAMing on 38.07463044 meters Centerline goodness [0,1] 0.29337341580518184 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.11, Z:-0.21 [[ 0.99966355 0.00139983 -0.02590044 1.06409198] [-0.00148184 0.99999395 -0.00314747 -0.10889544] [ 0.02589588 0.0031848 0.99965957 -0.21441449] [ 0. 0. 0. 1. ]] SLAMing on 38.10463044 meters Centerline goodness [0,1] 0.293235039028621 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.11, Z:-0.21 [[ 0.99967124 0.00137324 -0.02560343 1.06304291] [-0.00145138 0.99999435 -0.00303367 -0.10970457] [ 0.02559912 0.00306984 0.99966758 -0.21384435] [ 0. 0. 0. 1. ]] SLAMing on 38.134630439999995 meters Centerline goodness [0,1] 0.2944623435033624 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.11, Z:-0.21 [[ 0.99967789 0.00144133 -0.02533858 1.06205287] [-0.00151112 0.99999512 -0.00273525 -0.11119114] [ 0.02533451 0.00277266 0.99967518 -0.21329154] [ 0. 0. 0. 1. ]] SLAMing on 38.164630439999996 meters Centerline goodness [0,1] 0.2944641774235467 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.11, Z:-0.21 [[ 0.99967858 0.00154327 -0.0253052 1.06173779] [-0.00160515 0.99999577 -0.00242538 -0.11262689] [ 0.02530135 0.00246522 0.99967683 -0.21291467] [ 0. 0. 0. 1. ]] SLAMing on 38.19463044 meters Centerline goodness [0,1] 0.2916990416990417 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.12, Z:-0.21 [[ 0.99966393 0.00156161 -0.02587628 1.0636679 ] [-0.00161307 0.99999676 -0.0019679 -0.115414 ] [ 0.02587312 0.00200898 0.99966322 -0.21370286] [ 0. 0. 0. 1. ]] SLAMing on 38.22463044 meters Centerline goodness [0,1] 0.29510939231320743 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.12, Z:-0.21 [[ 0.99965834 0.0015622 -0.02609152 1.06457395] [-0.00161176 0.99999694 -0.00187848 -0.11614708] [ 0.0260885 0.00191989 0.99965779 -0.21427371] [ 0. 0. 0. 1. ]] SLAMing on 38.25463044 meters Centerline goodness [0,1] 0.29360270812221045 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.12, Z:-0.21 [[ 0.99965552 0.00153946 -0.02620075 1.06490685] [-0.0015905 0.99999688 -0.00192763 -0.1160738 ] [ 0.0261977 0.00196864 0.99965484 -0.21440273] [ 0. 0. 0. 1. ]] SLAMing on 38.28463044 meters Centerline goodness [0,1] 0.2960763843577363 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.12, Z:-0.21 [[ 0.99965705 0.00157488 -0.02613993 1.06451678] [-0.0016278 0.99999667 -0.00200347 -0.11540645] [ 0.02613669 0.00204533 0.99965629 -0.21402468] [ 0. 0. 0. 1. ]] SLAMing on 38.314630439999995 meters Centerline goodness [0,1] 0.29394887845592066 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.11, Z:-0.21 [[ 0.99966302 0.0016456 -0.02590626 1.06374813] [-0.001701 0.99999631 -0.00211668 -0.11442462] [ 0.02590268 0.00216003 0.99966214 -0.21371266] [ 0. 0. 0. 1. ]] SLAMing on 38.344630439999996 meters Centerline goodness [0,1] 0.2960461823330792 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.11, Z:-0.21 [[ 0.9996681 0.00169564 -0.02570647 1.0633507 ] [-0.00175525 0.99999582 -0.00229655 -0.11310398] [ 0.02570247 0.00234091 0.9996669 -0.21377823] [ 0. 0. 0. 1. ]] SLAMing on 38.37463044 meters Centerline goodness [0,1] 0.2994230185241421 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.11, Z:-0.21 [[ 0.99967444 0.00209439 -0.02542892 1.06285385] [-0.00216077 0.99999433 -0.00258327 -0.10970649] [ 0.02542336 0.00263737 0.9996733 -0.21413678] [ 0. 0. 0. 1. ]] SLAMing on 38.40463044 meters Centerline goodness [0,1] 0.295604467376396 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.11, Z:-0.21 [[ 0.99967995 0.00217071 -0.02520502 1.06227883] [-0.00224206 0.99999356 -0.00280284 -0.10790859] [ 0.02519878 0.00285845 0.99967837 -0.21412931] [ 0. 0. 0. 1. ]] SLAMing on 38.43463044 meters Centerline goodness [0,1] 0.29694446251599327 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.11, Z:-0.21 [[ 0.99968499 0.0021391 -0.02500708 1.06178503] [-0.0022173 0.99999274 -0.00309984 -0.10600892] [ 0.02500027 0.00315431 0.99968247 -0.21415039] [ 0. 0. 0. 1. ]] SLAMing on 38.46463044 meters Centerline goodness [0,1] 0.29420553462387944 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.10, Z:-0.21 [[ 0.99968905 0.00211604 -0.02484622 1.06146643] [-0.0021984 0.99999218 -0.00328789 -0.10485403] [ 0.02483907 0.00334149 0.99968588 -0.21428402] [ 0. 0. 0. 1. ]] SLAMing on 38.49463044 meters Centerline goodness [0,1] 0.29274151662049863 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.10, Z:-0.21 [[ 0.99968562 0.00201398 -0.02499212 1.06196474] [-0.00210236 0.99999163 -0.00351077 -0.10383888] [ 0.02498484 0.00356221 0.99968148 -0.21454878] [ 0. 0. 0. 1. ]] SLAMing on 38.524630439999996 meters Centerline goodness [0,1] 0.2913838795165148 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.10, Z:-0.21 [[ 0.9996774 0.00180333 -0.02533465 1.06289621] [-0.00190222 0.99999066 -0.00388001 -0.10235658] [ 0.02532741 0.00392695 0.9996715 -0.21477601] [ 0. 0. 0. 1. ]] SLAMing on 38.55463044 meters Centerline goodness [0,1] 0.29296419470478985 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.10, Z:-0.21 [[ 0.99967984 0.00172928 -0.02524335 1.06258846] [-0.00183144 0.99999022 -0.00402449 -0.10160212] [ 0.02523615 0.00406944 0.99967323 -0.21467383] [ 0. 0. 0. 1. ]] SLAMing on 38.58463044 meters Centerline goodness [0,1] 0.2970342205323194 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.10, Z:-0.21 [[ 0.99968292 0.00173715 -0.02512061 1.06214565] [-0.00183911 0.99999016 -0.00403606 -0.10128033] [ 0.02511335 0.00408098 0.99967628 -0.21443091] [ 0. 0. 0. 1. ]] SLAMing on 38.61463044 meters Centerline goodness [0,1] 0.2944837156858493 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.10, Z:-0.21 [[ 0.9996906 0.00166206 -0.02481801 1.0612648 ] [-0.00176459 0.99999 -0.00410977 -0.10103888] [ 0.02481093 0.00415229 0.99968354 -0.21418133] [ 0. 0. 0. 1. ]] SLAMing on 38.64463044 meters Centerline goodness [0,1] 0.2983867460973171 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.10, Z:-0.21 [[ 0.99969803 0.00155973 -0.02452366 1.06018309] [-0.00166406 0.99998965 -0.00423462 -0.10064281] [ 0.0245168 0.00427415 0.99969028 -0.21358453] [ 0. 0. 0. 1. ]] SLAMing on 38.67463044 meters Centerline goodness [0,1] 0.29844063946885646 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.10, Z:-0.21 [[ 0.99970331 0.00147379 -0.02431281 1.05935742] [-0.00158169 0.99998898 -0.00441926 -0.09974207] [ 0.02430603 0.0044564 0.99969463 -0.2130744 ] [ 0. 0. 0. 1. ]] SLAMing on 38.704630439999995 meters Centerline goodness [0,1] 0.29768629742657404 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.09, Z:-0.21 [[ 0.99967591 -0.00335053 -0.0252359 1.07950177] [ 0.00331949 0.99999368 -0.0012718 -0.09164677] [ 0.02524 0.00118762 0.99968071 -0.21092531] [ 0. 0. 0. 1. ]] SLAMing on 38.73463044 meters Centerline goodness [0,1] 0.3017858702296743 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.09, Z:-0.21 [[ 0.99967822 -0.00337038 -0.02514168 1.07897711] [ 0.0033313 0.99999318 -0.0015962 -0.08936397] [ 0.02514689 0.00151193 0.99968262 -0.21049737] [ 0. 0. 0. 1. ]] SLAMing on 38.76463044 meters Centerline goodness [0,1] 0.2972686805825663 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.09, Z:-0.21 [[ 0.99969798 0.00489631 -0.02408286 1.09876768] [-0.00496967 0.99998319 -0.00298731 -0.0889063 ] [ 0.02406783 0.00310609 0.9997055 -0.20923275] [ 0. 0. 0. 1. ]] SLAMing on 38.79463044 meters Centerline goodness [0,1] 0.29601230316026594 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.09, Z:-0.21 [[ 0.99969655 0.00473549 -0.0241742 1.09883087] [-0.00481996 0.99998248 -0.00343745 -0.08665005] [ 0.0241575 0.00355292 0.99970185 -0.2090611 ] [ 0. 0. 0. 1. ]] SLAMing on 38.82463044 meters Centerline goodness [0,1] 0.29838341202323704 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.08, Z:-0.21 [[ 0.99969638 0.00460194 -0.02420684 1.09895741] [-0.00469593 0.99998165 -0.00382732 -0.08473062] [ 0.02418878 0.00393983 0.99969965 -0.20917628] [ 0. 0. 0. 1. ]] SLAMing on 38.85463044 meters Centerline goodness [0,1] 0.2992114043069457 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.08, Z:-0.21 [[ 0.99970099 0.00446222 -0.02404212 1.09856509] [-0.00456467 0.99998073 -0.00420785 -0.08281213] [ 0.02402288 0.00431634 0.99970209 -0.20917637] [ 0. 0. 0. 1. ]] SLAMing on 38.884630439999995 meters Centerline goodness [0,1] 0.29938851796633603 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.08, Z:-0.21 [[ 0.99972022 0.00426536 -0.02326563 1.09602566] [-0.00438063 0.99997837 -0.00490577 -0.07911182] [ 0.0232442 0.00500632 0.99971728 -0.20818347] [ 0. 0. 0. 1. ]] SLAMing on 38.914630439999996 meters Centerline goodness [0,1] 0.3011885290589903 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.08, Z:-0.21 [[ 0.99973098 0.00420263 -0.02281013 1.09456662] [-0.00432281 0.99997702 -0.00522189 -0.07721985] [ 0.02278767 0.00531909 0.99972618 -0.20757083] [ 0. 0. 0. 1. ]] SLAMing on 38.94463044 meters Centerline goodness [0,1] 0.3009287388247548 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.07, Z:-0.21 [[ 0.99973899 0.00413896 -0.02246828 1.09337086] [-0.00426547 0.9999753 -0.00558548 -0.07489042] [ 0.02244461 0.00567986 0.99973195 -0.20700045] [ 0. 0. 0. 1. ]] SLAMing on 38.97463044 meters Centerline goodness [0,1] 0.30024781531237776 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.07, Z:-0.21 [[ 0.99970916 0.00758216 -0.02289324 1.09502288] [-0.00765138 0.99996641 -0.00293739 -0.06937871] [ 0.0228702 0.0031117 0.9997336 -0.20784789] [ 0. 0. 0. 1. ]] SLAMing on 39.00463044 meters Centerline goodness [0,1] 0.2973766640563822 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.07, Z:-0.21 [[ 0.99969743 0.00754233 -0.02341279 1.09696385] [-0.00762809 0.99996451 -0.00357581 -0.06535962] [ 0.02338499 0.00375332 0.99971949 -0.20904865] [ 0. 0. 0. 1. ]] SLAMing on 39.03463044 meters Centerline goodness [0,1] 0.2971030182306327 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.06, Z:-0.21 [[ 0.9996901 0.00741325 -0.02376427 1.09824481] [-0.00751669 0.99996265 -0.00426655 -0.06151726] [ 0.02373175 0.00444386 0.99970849 -0.20984846] [ 0. 0. 0. 1. ]] SLAMing on 39.064630439999995 meters Centerline goodness [0,1] 0.2971030182306327 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.06, Z:-0.21 [[ 0.9996901 0.00741325 -0.02376427 1.09824481] [-0.00751669 0.99996265 -0.00426655 -0.06151726] [ 0.02373175 0.00444386 0.99970849 -0.20984846] [ 0. 0. 0. 1. ]] SLAMing on 39.094630439999996 meters Centerline goodness [0,1] 0.29616226406917023 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.06, Z:-0.21 [[ 0.9996848 0.00716417 -0.02406187 1.09932226] [-0.00728799 0.99996063 -0.00506236 -0.05762621] [ 0.02402465 0.00523613 0.99969765 -0.21052698] [ 0. 0. 0. 1. ]] SLAMing on 39.12463044 meters Centerline goodness [0,1] 0.2932457908080348 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.05, Z:-0.21 [[ 0.99967856 0.00697312 -0.02437534 1.10025772] [-0.00711554 0.99995809 -0.00576086 -0.05389117] [ 0.02433415 0.00593245 0.99968628 -0.21093682] [ 0. 0. 0. 1. ]] SLAMing on 39.15463044 meters Centerline goodness [0,1] 0.2916990584780168 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.05, Z:-0.21 [[ 0.99967221 0.00687256 -0.02466241 1.10101131] [-0.0070307 0.99995524 -0.00633107 -0.05020195] [ 0.0246178 0.00650239 0.99967579 -0.21114785] [ 0. 0. 0. 1. ]] SLAMing on 39.18463044 meters Centerline goodness [0,1] 0.2934111039101318 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.04, Z:-0.21 [[ 0.99963611 0.01016572 -0.02498604 1.10190385] [-0.01026571 0.99993979 -0.0038765 -0.04368556] [ 0.02494513 0.00413159 0.99968028 -0.21125276] [ 0. 0. 0. 1. ]] SLAMing on 39.21463044 meters Centerline goodness [0,1] 0.2972194334104501 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.04, Z:-0.21 [[ 0.99970805 0.00178299 -0.02409635 1.08181046] [-0.00186958 0.99999187 -0.00357155 -0.03572865] [ 0.02408978 0.00361556 0.99970326 -0.21324928] [ 0. 0. 0. 1. ]] SLAMing on 39.24463044 meters Centerline goodness [0,1] 0.29279892772985705 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.03, Z:-0.21 [[ 0.99968239 -0.00573789 -0.02453978 1.10046729] [ 0.00566502 0.99997934 -0.00303777 -0.02604578] [ 0.0245567 0.00289779 0.99969424 -0.21157842] [ 0. 0. 0. 1. ]] SLAMing on 39.274630439999996 meters Centerline goodness [0,1] 0.29199991376894385 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.02, Z:-0.21 [[ 0.99967992 -0.00601867 -0.02457289 1.10048592] [ 0.00593123 0.99997582 -0.00362946 -0.02331535] [ 0.02459414 0.00348255 0.99969145 -0.21153369] [ 0. 0. 0. 1. ]] SLAMing on 39.30463044 meters Centerline goodness [0,1] 0.29351150834110684 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.02, Z:-0.21 [[ 0.99968578 -0.0064135 -0.02423229 1.09916755] [ 0.00630838 0.99997037 -0.00441226 -0.01929972] [ 0.02425987 0.00425801 0.99969662 -0.21082957] [ 0. 0. 0. 1. ]] SLAMing on 39.33463044 meters Centerline goodness [0,1] 0.29689679218967924 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.02, Z:-0.21 [[ 0.99968525 -0.00652564 -0.02422418 1.0990127 ] [ 0.00641459 0.99996857 -0.00465933 -0.01789618] [ 0.02425383 0.00450247 0.99969569 -0.21066711] [ 0. 0. 0. 1. ]] SLAMing on 39.36463044 meters Centerline goodness [0,1] 0.2933866436135725 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.02, Z:-0.21 [[ 0.99968062 -0.00664166 -0.0243833 1.09941838] [ 0.00652411 0.99996673 -0.00489728 -0.0164891 ] [ 0.02441501 0.00473663 0.99969069 -0.21070645] [ 0. 0. 0. 1. ]] SLAMing on 39.39463044 meters Centerline goodness [0,1] 0.29418783763261236 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.02, Z:-0.21 [[ 0.9996745 -0.00675624 -0.02460166 1.10002894] [ 0.00663202 0.99996486 -0.00512738 -0.01528002] [ 0.02463544 0.00496255 0.99968418 -0.21085298] [ 0. 0. 0. 1. ]] SLAMing on 39.42463044 meters Centerline goodness [0,1] 0.28944310552590813 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:-0.21 [[ 0.9996696 -0.00690672 -0.02475858 1.10022445] [ 0.00677753 0.999963 -0.00529822 -0.01468173] [ 0.02479425 0.00512867 0.99967942 -0.2105729 ] [ 0. 0. 0. 1. ]] SLAMing on 39.454630439999995 meters Centerline goodness [0,1] 0.29546635489737594 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.02, Z:-0.21 [[ 0.99968244 -0.00736986 -0.02409782 1.0978039 ] [ 0.00724067 0.99995897 -0.00544396 -0.01522795] [ 0.02413695 0.00526775 0.99969478 -0.20915628] [ 0. 0. 0. 1. ]] SLAMing on 39.48463044 meters Centerline goodness [0,1] 0.29793190251947654 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.02, Z:-0.21 [[ 0.99968265 -0.00735625 -0.02409313 1.09778965] [ 0.00723253 0.99996023 -0.0052184 -0.01642485] [ 0.02413055 0.00504249 0.9996961 -0.20908001] [ 0. 0. 0. 1. ]] SLAMing on 39.51463044 meters Centerline goodness [0,1] 0.2956305429374865 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.02, Z:-0.21 [[ 0.99967924 -0.00733792 -0.02423998 1.09843847] [ 0.00721978 0.99996165 -0.00495766 -0.01797203] [ 0.02427543 0.00478106 0.99969388 -0.2094826 ] [ 0. 0. 0. 1. ]] SLAMing on 39.54463044 meters Centerline goodness [0,1] 0.29548058011109435 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.02, Z:-0.21 [[ 0.9996729 -0.00732143 -0.02450501 1.0993326 ] [ 0.00721088 0.99996344 -0.00459689 -0.02020527] [ 0.02453777 0.00441869 0.99968914 -0.20984128] [ 0. 0. 0. 1. ]] SLAMing on 39.57463044 meters Centerline goodness [0,1] 0.29748120625594054 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.03, Z:-0.21 [[ 0.99962931 -0.01107285 -0.02487252 1.10021537] [ 0.01089047 0.9999129 -0.00745601 -0.0259571 ] [ 0.02495292 0.00718237 0.99966283 -0.20967783] [ 0. 0. 0. 1. ]] SLAMing on 39.60463044 meters Centerline goodness [0,1] 0.2949105677006826 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.03, Z:-0.21 [[ 0.99962645 -0.01096655 -0.02503373 1.10052563] [ 0.01079911 0.99991847 -0.00681427 -0.02960084] [ 0.02510642 0.00654138 0.99966338 -0.20950554] [ 0. 0. 0. 1. ]] SLAMing on 39.634630439999995 meters Centerline goodness [0,1] 0.29766833732839404 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.04, Z:-0.21 [[ 0.99971001 -0.00345668 -0.02383147 1.08282703] [ 0.00328833 0.99996939 -0.00709978 -0.03903913] [ 0.02385528 0.00701935 0.99969078 -0.21201721] [ 0. 0. 0. 1. ]] SLAMing on 39.664630439999996 meters Centerline goodness [0,1] 0.293874118636393 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.04, Z:-0.21 [[ 0.99970811 -0.00327433 -0.02393675 1.08325769] [ 0.00311821 0.99997364 -0.00655665 -0.04188248] [ 0.02395759 0.0064801 0.99969197 -0.2122615 ] [ 0. 0. 0. 1. ]] SLAMing on 39.69463044 meters Centerline goodness [0,1] 0.2985042177580659 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.04, Z:-0.21 [[ 0.99970552 -0.00318322 -0.02405694 1.08375175] [ 0.00303299 0.99997569 -0.00627866 -0.04353186] [ 0.02407635 0.00620385 0.99969087 -0.21256635] [ 0. 0. 0. 1. ]] SLAMing on 39.72463044 meters Centerline goodness [0,1] 0.29495128432240925 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.04, Z:-0.21 [[ 0.99969645 -0.00314345 -0.02443598 1.08490905] [ 0.0029913 0.99997593 -0.00626055 -0.04377803] [ 0.02445507 0.00618556 0.99968179 -0.21296491] [ 0. 0. 0. 1. ]] SLAMing on 39.75463044 meters Centerline goodness [0,1] 0.29790481173828676 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.04, Z:-0.21 [[ 9.99694351e-01 6.26645402e-04 -2.47145970e-02 1.08588343e+00] [-7.04704150e-04 9.99994791e-01 -3.14982357e-03 -4.05948552e-02] [ 2.47124945e-02 3.16627731e-03 9.99689585e-01 -2.13539665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78463044 meters Centerline goodness [0,1] 0.2933754625922479 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.04, Z:-0.21 [[ 9.99684007e-01 1.07103014e-03 -2.51145297e-02 1.08714130e+00] [-1.15426415e-03 9.99993889e-01 -3.29991508e-03 -3.79187541e-02] [ 2.51108420e-02 3.32786113e-03 9.99679134e-01 -2.14110409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.814630439999995 meters Centerline goodness [0,1] 0.29364026022062184 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.03, Z:-0.21 [[ 0.99967809 0.00139577 -0.02533327 1.08806076] [-0.00148823 0.9999923 -0.00363141 -0.03468034] [ 0.02532801 0.00366795 0.99967247 -0.21485007] [ 0. 0. 0. 1. ]] SLAMing on 39.844630439999996 meters Centerline goodness [0,1] 0.29513391500629427 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.03, Z:-0.22 [[ 0.99967358 0.00171283 -0.02549104 1.08864478] [-0.00181504 0.9999904 -0.00398715 -0.03122307] [ 0.02548397 0.00403211 0.9996671 -0.21531343] [ 0. 0. 0. 1. ]] SLAMing on 39.87463044 meters Centerline goodness [0,1] 0.2940127443944238 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.03, Z:-0.22 [[ 0.99967542 0.0018034 -0.02541272 1.08833374] [-0.00191676 0.99998832 -0.00443713 -0.02803433] [ 0.02540442 0.0044844 0.9996672 -0.21524088] [ 0. 0. 0. 1. ]] SLAMing on 39.90463044 meters Centerline goodness [0,1] 0.2895886500281154 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.03, Z:-0.22 [[ 0.99967426 0.00169 -0.02546586 1.08824783] [-0.00181755 0.99998592 -0.00498635 -0.02500432] [ 0.02545707 0.00503101 0.99966326 -0.21501408] [ 0. 0. 0. 1. ]] SLAMing on 39.93463044 meters Centerline goodness [0,1] 0.29118732598044506 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.02, Z:-0.21 [[ 0.99967122 0.00150106 -0.02559693 1.0883716 ] [-0.00164531 0.99998288 -0.00561527 -0.021618 ] [ 0.02558806 0.00565554 0.99965657 -0.21487358] [ 0. 0. 0. 1. ]] SLAMing on 39.96463044 meters Centerline goodness [0,1] 0.2875958831997594 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.02, Z:-0.21 [[ 0.99967367 0.00149706 -0.02550103 1.08795848] [-0.00164138 0.99998275 -0.00563944 -0.02118457] [ 0.02549215 0.00567945 0.99965889 -0.21460493] [ 0. 0. 0. 1. ]] SLAMing on 39.99463044 meters Centerline goodness [0,1] 0.29052476873865307 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.02, Z:-0.21 [[ 0.99967973 0.00149976 -0.02526257 1.08705075] [-0.00164103 0.99998313 -0.00557244 -0.02131927] [ 0.02525379 0.00561211 0.99966532 -0.21403928] [ 0. 0. 0. 1. ]] SLAMing on 40.024630439999996 meters Centerline goodness [0,1] 0.28942313917603646 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.02, Z:-0.21 [[ 0.99968799 0.00119949 -0.02494952 1.08594698] [-0.00134218 0.99998283 -0.00570352 -0.02144709] [ 0.02494225 0.00573522 0.99967244 -0.21341849] [ 0. 0. 0. 1. ]] SLAMing on 40.05463044 meters Centerline goodness [0,1] 0.28908167219184566 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.02, Z:-0.21 [[ 0.99968684 0.00110888 -0.02499977 1.08611166] [-0.00125361 0.99998254 -0.0057746 -0.02146449] [ 0.02499293 0.00580413 0.99967078 -0.21345184] [ 0. 0. 0. 1. ]] SLAMing on 40.08463044 meters Centerline goodness [0,1] 0.29353631901044486 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.02, Z:-0.21 [[ 9.99687294e-01 1.00210855e-03 -2.49861765e-02 1.08626898e+00] [-1.14897374e-03 9.99982145e-01 -5.86419443e-03 -2.14503317e-02] [ 2.49798538e-02 5.89106913e-03 9.99670597e-01 -2.13711706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.11463044 meters Centerline goodness [0,1] 0.2926063806761612 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.02, Z:-0.21 [[ 9.99688686e-01 1.01242689e-03 -2.49300422e-02 1.08612736e+00] [-1.15739533e-03 9.99982503e-01 -5.80126748e-03 -2.17290442e-02] [ 2.49237326e-02 5.82831538e-03 9.99672365e-01 -2.13706383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14463044 meters Centerline goodness [0,1] 0.2933009897987915 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.02, Z:-0.21 [[ 9.99690548e-01 1.04989500e-03 -2.48536760e-02 1.08595249e+00] [-1.19270517e-03 9.99982861e-01 -5.73191205e-03 -2.17488870e-02] [ 2.48472321e-02 5.75978140e-03 9.99674667e-01 -2.13697859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.17463044 meters Centerline goodness [0,1] 0.296288247566064 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.02, Z:-0.21 [[ 0.99969478 0.00115344 -0.02467827 1.08521561] [-0.00129032 0.99998387 -0.00553156 -0.02233396] [ 0.02467149 0.00556171 0.99968014 -0.21321863] [ 0. 0. 0. 1. ]] SLAMing on 40.204630439999995 meters Centerline goodness [0,1] 0.2959828113809493 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.02, Z:-0.21 [[ 9.99712506e-01 8.63837602e-04 -2.39615979e-02 1.08296617e+00] [-9.95609223e-04 9.99984446e-01 -5.48789888e-03 -2.37596318e-02] [ 2.39564845e-02 5.51017753e-03 9.99697817e-01 -2.12242998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.23463044 meters Centerline goodness [0,1] 0.29399781270773917 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.02, Z:-0.21 [[ 0.99968154 -0.00739879 -0.02412635 1.10356279] [ 0.00728666 0.99996225 -0.00473255 -0.02082331] [ 0.02416045 0.00455524 0.99969772 -0.21112932] [ 0. 0. 0. 1. ]] SLAMing on 40.26463044 meters Centerline goodness [0,1] 0.29468328230779184 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.02, Z:-0.21 [[ 0.99967175 -0.00737735 -0.02453489 1.10477434] [ 0.00727002 0.99996362 -0.00446078 -0.0224752 ] [ 0.02456691 0.00428095 0.99968902 -0.21145048] [ 0. 0. 0. 1. ]] SLAMing on 40.29463044 meters Centerline goodness [0,1] 0.2975713378446445 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.03, Z:-0.21 [[ 9.99673374e-01 6.70288769e-04 -2.55479233e-02 1.08651910e+00] [-8.03512787e-04 9.99986132e-01 -5.20476220e-03 -2.97462781e-02] [ 2.55440803e-02 5.22359027e-03 9.99660049e-01 -2.13659848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32463044 meters Centerline goodness [0,1] 0.2983583622969812 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.03, Z:-0.21 [[ 9.99669316e-01 7.50895961e-04 -2.57040033e-02 1.08709225e+00] [-8.75812122e-04 9.99987861e-01 -4.84888122e-03 -3.16974203e-02] [ 2.57000503e-02 4.86978965e-03 9.99657838e-01 -2.13919623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.35463044 meters Centerline goodness [0,1] 0.29715572102688426 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.03, Z:-0.21 [[ 0.99965674 -0.00755582 -0.02508613 1.10715293] [ 0.00746005 0.99996453 -0.00390879 -0.02969943] [ 0.02511477 0.0037203 0.99967765 -0.21285773] [ 0. 0. 0. 1. ]] SLAMing on 40.384630439999995 meters Centerline goodness [0,1] 0.2997021674384226 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.03, Z:-0.21 [[ 0.99967204 -0.00759578 -0.02445656 1.10493063] [ 0.00751646 0.99996619 -0.0033335 -0.03417558] [ 0.02448105 0.00314858 0.99969534 -0.21172067] [ 0. 0. 0. 1. ]] SLAMing on 40.414630439999996 meters Centerline goodness [0,1] 0.29988902669887063 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.04, Z:-0.21 [[ 0.99967485 -0.00738098 -0.02440738 1.10464364] [ 0.00731157 0.99996897 -0.00293175 -0.03570678] [ 0.02442826 0.00275234 0.9996978 -0.21145338] [ 0. 0. 0. 1. ]] SLAMing on 40.44463044 meters Centerline goodness [0,1] 0.29560774548108715 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.04, Z:-0.21 [[ 0.9996938 0.0012614 -0.02471259 1.12658458] [-0.00134112 0.99999395 -0.00320983 -0.03938709] [ 0.02470839 0.00324199 0.99968944 -0.21100071] [ 0. 0. 0. 1. ]] SLAMing on 40.47463044 meters Centerline goodness [0,1] 0.29739672372378867 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.04, Z:-0.21 [[ 0.99968694 0.00130998 -0.02498624 1.12768097] [-0.00139195 0.99999371 -0.00326327 -0.03899209] [ 0.02498181 0.00329702 0.99968247 -0.21172047] [ 0. 0. 0. 1. ]] SLAMing on 40.50463044 meters Centerline goodness [0,1] 0.2964610368579017 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.04, Z:-0.21 [[ 0.99967273 0.00164661 -0.02552866 1.12908113] [-0.00172682 0.99999364 -0.00312029 -0.0390263 ] [ 0.02552336 0.00316335 0.99966922 -0.21203011] [ 0. 0. 0. 1. ]] SLAMing on 40.53463044 meters Centerline goodness [0,1] 0.29778270028449194 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.04, Z:-0.21 [[ 0.99967552 0.00184847 -0.0254055 1.12861483] [-0.00192447 0.99999375 -0.00296748 -0.03912668] [ 0.02539985 0.00301541 0.99967282 -0.21181128] [ 0. 0. 0. 1. ]] SLAMing on 40.564630439999995 meters Centerline goodness [0,1] 0.2950508708398 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.04, Z:-0.21 [[ 0.99967934 0.00198447 -0.02524432 1.1280361 ] [-0.00205828 0.99999368 -0.00289805 -0.03897174] [ 0.02523841 0.00294908 0.99967711 -0.21157408] [ 0. 0. 0. 1. ]] SLAMing on 40.594630439999996 meters Centerline goodness [0,1] 0.2963579739608114 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.04, Z:-0.21 [[ 0.99968232 0.00206441 -0.02511981 1.12774494] [-0.00213676 0.99999365 -0.00285377 -0.03889499] [ 0.02511376 0.00290653 0.99968037 -0.21161643] [ 0. 0. 0. 1. ]] SLAMing on 40.62463044 meters Centerline goodness [0,1] 0.2987938715636206 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.04, Z:-0.21 [[ 0.9996837 0.00202441 -0.02506807 1.12783364] [-0.00209864 0.99999349 -0.00293501 -0.0387172 ] [ 0.02506197 0.00298669 0.99968144 -0.21195314] [ 0. 0. 0. 1. ]] SLAMing on 40.65463044 meters Centerline goodness [0,1] 0.2956359534964428 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.04, Z:-0.21 [[ 0.99967837 0.0018113 -0.02529588 1.12914402] [-0.00189321 0.99999304 -0.00321455 -0.03849168] [ 0.02528988 0.00326141 0.99967484 -0.21308011] [ 0. 0. 0. 1. ]] SLAMing on 40.68463044 meters Centerline goodness [0,1] 0.29182400794078933 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.04, Z:-0.21 [[ 0.99967428 0.00177306 -0.02545977 1.12980888] [-0.00185836 0.99999274 -0.00332702 -0.03790573] [ 0.02545368 0.00337325 0.99967031 -0.21351563] [ 0. 0. 0. 1. ]] SLAMing on 40.71463044 meters Centerline goodness [0,1] 0.29410873845221874 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.04, Z:-0.21 [[ 0.99967094 0.00182702 -0.02558674 1.13015913] [-0.00191417 0.99999245 -0.00338183 -0.03711262] [ 0.02558037 0.00342969 0.99966689 -0.21362326] [ 0. 0. 0. 1. ]] SLAMing on 40.74463044 meters Centerline goodness [0,1] 0.2926148654495111 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.04, Z:-0.21 [[ 0.99966592 0.00185591 -0.02578004 1.13057762] [-0.00194744 0.99999189 -0.00352591 -0.03581469] [ 0.02577329 0.00357494 0.99966142 -0.21360317] [ 0. 0. 0. 1. ]] SLAMing on 40.774630439999996 meters Centerline goodness [0,1] 0.29137790021953425 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.03, Z:-0.21 [[ 0.99965906 0.00173903 -0.02605273 1.13114867] [-0.0018428 0.99999046 -0.00395942 -0.03355019] [ 0.02604559 0.00400608 0.99965273 -0.21352061] [ 0. 0. 0. 1. ]] SLAMing on 40.80463044 meters Centerline goodness [0,1] 0.2914390191439019 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.03, Z:-0.21 [[ 0.99965584 0.00164665 -0.02618185 1.13153007] [-0.0017557 0.99998988 -0.00414256 -0.03287737] [ 0.02617476 0.0041871 0.99964861 -0.21363585] [ 0. 0. 0. 1. ]] SLAMing on 40.83463044 meters Centerline goodness [0,1] 0.2898622577655149 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.03, Z:-0.21 [[ 0.99965617 0.00159642 -0.02617253 1.1318109 ] [-0.00170809 0.99998953 -0.00424479 -0.03236124] [ 0.02616547 0.00428803 0.99964843 -0.21412116] [ 0. 0. 0. 1. ]] SLAMing on 40.86463044 meters Centerline goodness [0,1] 0.2949770297633304 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.03, Z:-0.21 [[ 0.99965364 0.00158531 -0.02626965 1.13222108] [-0.00169853 0.99998936 -0.00428808 -0.03194501] [ 0.02626258 0.00433121 0.9996457 -0.21436836] [ 0. 0. 0. 1. ]] SLAMing on 40.89463044 meters Centerline goodness [0,1] 0.2942104126161158 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.03, Z:-0.21 [[ 0.99965479 0.00156018 -0.02622728 1.13211955] [-0.00167276 0.99998948 -0.00427143 -0.03197525] [ 0.02622034 0.00431383 0.99964688 -0.21436278] [ 0. 0. 0. 1. ]] SLAMing on 40.92463044 meters Centerline goodness [0,1] 0.2974467251474717 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.03, Z:-0.21 [[ 0.99967263 0.00122411 -0.0255566 1.12970489] [-0.00133731 0.99998937 -0.00441275 -0.03254706] [ 0.02555093 0.00444548 0.99966364 -0.21293738] [ 0. 0. 0. 1. ]] SLAMing on 40.954630439999995 meters Centerline goodness [0,1] 0.2974467251474717 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.03, Z:-0.21 [[ 0.99967263 0.00122411 -0.0255566 1.12970489] [-0.00133731 0.99998937 -0.00441275 -0.03254706] [ 0.02555093 0.00444548 0.99966364 -0.21293738] [ 0. 0. 0. 1. ]] SLAMing on 40.98463044 meters Centerline goodness [0,1] 0.29754288564550757 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.03, Z:-0.21 [[ 0.99967658 0.00119182 -0.02540316 1.12899462] [-0.00130545 0.99998922 -0.00445694 -0.0323248 ] [ 0.02539757 0.00448866 0.99966735 -0.2123994 ] [ 0. 0. 0. 1. ]] SLAMing on 41.01463044 meters Centerline goodness [0,1] 0.2938849620647169 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.03, Z:-0.21 [[ 0.99967501 0.00119453 -0.02546466 1.12914192] [-0.00131006 0.99998892 -0.00452076 -0.03170345] [ 0.02545898 0.00455265 0.9996655 -0.21236598] [ 0. 0. 0. 1. ]] SLAMing on 41.04463044 meters Centerline goodness [0,1] 0.2919254658385093 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.03, Z:-0.21 [[ 0.99966827 0.00119066 -0.02572819 1.13020126] [-0.00131029 0.99998841 -0.0046337 -0.03080308] [ 0.02572237 0.00466587 0.99965824 -0.21300987] [ 0. 0. 0. 1. ]] SLAMing on 41.07463044 meters Centerline goodness [0,1] 0.2980286384667675 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.03, Z:-0.21 [[ 9.99574183e-01 9.94357346e-04 -2.91627242e-02 1.08854606e+00] [-1.14204627e-03 9.99986606e-01 -5.04808605e-03 -2.90911466e-02] [ 2.91573140e-02 5.07924166e-03 9.99561930e-01 -2.14856305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10463044 meters Centerline goodness [0,1] 0.29458224543080935 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.03, Z:-0.22 [[ 9.99564461e-01 8.93361000e-04 -2.94972856e-02 1.08950150e+00] [-1.05165224e-03 9.99985129e-01 -5.35122093e-03 -2.76418025e-02] [ 2.94920664e-02 5.37991115e-03 9.99550536e-01 -2.15148642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.134630439999995 meters Centerline goodness [0,1] 0.29734470585655715 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.03, Z:-0.22 [[ 9.99555306e-01 8.37644995e-04 -2.98075194e-02 1.09037270e+00] [-1.00478070e-03 9.99983856e-01 -5.59262920e-03 -2.62463628e-02] [ 2.98023536e-02 5.62009221e-03 9.99540011e-01 -2.15376468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.164630439999996 meters Centerline goodness [0,1] 0.2877236193933108 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.02, Z:-0.21 [[ 0.99952376 -0.0049637 -0.03045678 1.11268516] [ 0.00487604 0.99998376 -0.00295171 -0.02148378] [ 0.03047093 0.00280179 0.99953173 -0.21488664] [ 0. 0. 0. 1. ]] SLAMing on 41.19463044 meters Centerline goodness [0,1] 0.2918314852041588 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.02, Z:-0.21 [[ 0.99952036 -0.00498898 -0.03056411 1.11288888] [ 0.004898 0.99998335 -0.00305072 -0.02083251] [ 0.03057882 0.00289955 0.99952815 -0.21480445] [ 0. 0. 0. 1. ]] SLAMing on 41.22463044 meters Centerline goodness [0,1] 0.2931266553775346 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.02, Z:-0.21 [[ 0.99951781 -0.00505367 -0.03063684 1.11299486] [ 0.00495954 0.99998275 -0.00314763 -0.02052869] [ 0.03065221 0.00299416 0.99952563 -0.21467302] [ 0. 0. 0. 1. ]] SLAMing on 41.25463044 meters Centerline goodness [0,1] 0.29166036676242524 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.02, Z:-0.21 [[ 0.99951759 -0.00513686 -0.03063011 1.11252554] [ 0.00504076 0.99998213 -0.0032136 -0.02034973] [ 0.03064607 0.00305765 0.99952562 -0.21396142] [ 0. 0. 0. 1. ]] SLAMing on 41.28463044 meters Centerline goodness [0,1] 0.2929388900885338 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.02, Z:-0.21 [[ 0.99951991 -0.0050913 -0.03056175 1.11237834] [ 0.00499775 0.99998259 -0.00313636 -0.02040086] [ 0.03057718 0.00298211 0.99952796 -0.21397468] [ 0. 0. 0. 1. ]] SLAMing on 41.314630439999995 meters Centerline goodness [0,1] 0.2951270177868178 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.02, Z:-0.21 [[ 0.99952221 -0.00509357 -0.03048608 1.11207969] [ 0.0050006 0.99998261 -0.00312506 -0.02050452] [ 0.03050147 0.00297112 0.99953031 -0.21377595] [ 0. 0. 0. 1. ]] SLAMing on 41.344630439999996 meters Centerline goodness [0,1] 0.2970705841446454 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.02, Z:-0.21 [[ 0.99952277 -0.00513145 -0.0304616 1.11183749] [ 0.00503888 0.99998245 -0.00311503 -0.02086633] [ 0.03047705 0.00296005 0.99953108 -0.21349253] [ 0. 0. 0. 1. ]] SLAMing on 41.37463044 meters Centerline goodness [0,1] 0.29898884239888424 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.02, Z:-0.21 [[ 0.99951926 -0.00507339 -0.03058619 1.11183809] [ 0.00498444 0.99998313 -0.00298384 -0.02152755] [ 0.03060081 0.00282995 0.99952768 -0.2130151 ] [ 0. 0. 0. 1. ]] SLAMing on 41.40463044 meters Centerline goodness [0,1] 0.29684786384161166 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.02, Z:-0.21 [[ 0.99951433 -0.00496425 -0.03076452 1.11237445] [ 0.00487807 0.99998397 -0.00287572 -0.02156871] [ 0.0307783 0.00272425 0.99952252 -0.2131622 ] [ 0. 0. 0. 1. ]] SLAMing on 41.43463044 meters Centerline goodness [0,1] 0.29237424937043976 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.02, Z:-0.21 [[ 0.99950474 -0.00494248 -0.03107815 1.113368 ] [ 0.00485497 0.99998404 -0.00289062 -0.02143596] [ 0.03109194 0.0027383 0.99951278 -0.21348995] [ 0. 0. 0. 1. ]] SLAMing on 41.46463044 meters Centerline goodness [0,1] 0.2984957317206296 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.03, Z:-0.22 [[ 0.99948851 0.00290299 -0.03184805 1.09489843] [-0.00304195 0.99998606 -0.00431561 -0.02650258] [ 0.03183507 0.00441028 0.99948341 -0.21562474] [ 0. 0. 0. 1. ]] SLAMing on 41.49463044 meters Centerline goodness [0,1] 0.2926645091693635 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.02, Z:-0.21 [[ 0.99945476 -0.00468405 -0.03268411 1.11470176] [ 0.00456954 0.99998316 -0.00357722 -0.02054555] [ 0.03270031 0.00342592 0.99945933 -0.21411969] [ 0. 0. 0. 1. ]] SLAMing on 41.524630439999996 meters Centerline goodness [0,1] 0.2931949547691184 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.02, Z:-0.21 [[ 0.99944824 -0.00465072 -0.03288742 1.11512085] [ 0.0045331 0.99998306 -0.00364992 -0.0198438 ] [ 0.03290384 0.00349883 0.9994524 -0.21403962] [ 0. 0. 0. 1. ]] SLAMing on 41.55463044 meters Centerline goodness [0,1] 0.29587543912911485 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.02, Z:-0.21 [[ 9.99449964e-01 -8.05667025e-04 -3.31529822e-02 1.11497854e+00] [ 7.99722177e-04 9.99999662e-01 -1.92575495e-04 -1.82809474e-02] [ 3.31531261e-02 1.65956396e-04 9.99450270e-01 -2.12997747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58463044 meters Centerline goodness [0,1] 0.2915261518633874 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.02, Z:-0.21 [[ 0.9994484 0.00728023 -0.03240211 1.1350356 ] [-0.00733864 0.99997165 -0.00168406 -0.01896368] [ 0.03238894 0.00192091 0.99947349 -0.21147073] [ 0. 0. 0. 1. ]] SLAMing on 41.61463044 meters Centerline goodness [0,1] 0.2964039387498373 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.02, Z:-0.21 [[ 0.99944563 0.00715463 -0.0325154 1.13520608] [-0.00722927 0.9999715 -0.00217835 -0.01653828] [ 0.03249889 0.0024122 0.99946886 -0.21140366] [ 0. 0. 0. 1. ]] SLAMing on 41.64463044 meters Centerline goodness [0,1] 0.2930821427797169 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.01, Z:-0.21 [[ 0.99944238 0.00709067 -0.03262896 1.13557722] [-0.00718012 0.99997078 -0.00262506 -0.01394296] [ 0.03260939 0.00285788 0.99946409 -0.21163491] [ 0. 0. 0. 1. ]] SLAMing on 41.67463044 meters Centerline goodness [0,1] 0.2965496209810926 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.01, Z:-0.21 [[ 0.99942826 0.00736625 -0.03299826 1.13659514] [-0.00747085 0.99996745 -0.0030477 -0.00957951] [ 0.03297473 0.00329249 0.99945076 -0.21197632] [ 0. 0. 0. 1. ]] SLAMing on 41.704630439999995 meters Centerline goodness [0,1] 0.2927638714155568 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.01, Z:-0.21 [[ 0.99942015 0.00726706 -0.03326479 1.13717524] [-0.00738709 0.99996664 -0.00348679 -0.00710512] [ 0.03323835 0.00373049 0.99944049 -0.21194491] [ 0. 0. 0. 1. ]] SLAMing on 41.73463044 meters Centerline goodness [0,1] 0.2941380506416926 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.00, Z:-0.21 [[ 0.99942107 0.00710366 -0.03327245 1.13711672] [-0.00724071 0.99996578 -0.0040005 -0.00445559] [ 0.0332429 0.0042391 0.99943831 -0.21190437] [ 0. 0. 0. 1. ]] SLAMing on 41.76463044 meters Centerline goodness [0,1] 0.2938840177098706 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.00, Z:-0.21 [[ 0.99942698 0.00694851 -0.03312762 1.13660326] [-0.00710242 0.99996451 -0.00453043 -0.00154317] [ 0.03309497 0.00476312 0.99944086 -0.21171322] [ 0. 0. 0. 1. ]] SLAMing on 41.79463044 meters Centerline goodness [0,1] 0.2895738697815271 Centerline is valid? [False, False] Translation: X:1.14, Y:0.00, Z:-0.21 [[ 0.99943483 0.00680001 -0.03292089 1.13585193] [-0.00697063 0.99996285 -0.00507067 0.00156511] [ 0.03288519 0.00529728 0.9994451 -0.2113778 ] [ 0. 0. 0. 1. ]] SLAMing on 41.82463044 meters Centerline goodness [0,1] 0.2872875682912609 Centerline is valid? [False, False] Translation: X:1.13, Y:0.01, Z:-0.21 [[ 0.99945088 0.00660313 -0.03247047 1.13387926] [-0.00680083 0.99995898 -0.00598176 0.00946744] [ 0.03242964 0.0061993 0.9994548 -0.21025443] [ 0. 0. 0. 1. ]] SLAMing on 41.85463044 meters Centerline goodness [0,1] 0.28893309691649005 Centerline is valid? [False, False] Translation: X:1.13, Y:0.01, Z:-0.21 [[ 0.99944896 0.00638204 -0.03257359 1.13403845] [-0.00659989 0.99995654 -0.00658457 0.01257929] [ 0.03253015 0.00679592 0.99944765 -0.21016104] [ 0. 0. 0. 1. ]] SLAMing on 41.884630439999995 meters Centerline goodness [0,1] 0.29212548435823904 Centerline is valid? [False, False] Translation: X:1.12, Y:0.02, Z:-0.21 [[ 0.99948352 -0.00146447 -0.03210207 1.11503292] [ 0.00127871 0.99998233 -0.00580626 0.01973592] [ 0.03211 0.00576221 0.99946773 -0.21265246] [ 0. 0. 0. 1. ]] SLAMing on 41.914630439999996 meters Centerline goodness [0,1] 0.28795720813391945 Centerline is valid? [False, False] Translation: X:1.13, Y:0.03, Z:-0.21 [[ 0.99946411 -0.00955642 -0.03130755 1.1332986 ] [ 0.00939974 0.99994257 -0.0051479 0.03034387] [ 0.03135495 0.00485086 0.99949654 -0.21006503] [ 0. 0. 0. 1. ]] SLAMing on 41.94463044 meters Centerline goodness [0,1] 0.28989269643475246 Centerline is valid? [False, False] Translation: X:1.13, Y:0.03, Z:-0.21 [[ 0.99947124 -0.00976537 -0.0310142 1.13187704] [ 0.00960306 0.99993943 -0.00537803 0.03120248] [ 0.03106484 0.00507735 0.99950448 -0.20891763] [ 0. 0. 0. 1. ]] SLAMing on 41.97463044 meters Centerline goodness [0,1] 0.2863229471509726 Centerline is valid? [False, False] Translation: X:1.15, Y:0.03, Z:-0.21 [[ 0.99954396 -0.00272233 -0.03007412 1.14869754] [ 0.00251606 0.99997307 -0.00689468 0.02885116] [ 0.03009208 0.00681587 0.99952389 -0.20612689] [ 0. 0. 0. 1. ]] SLAMing on 42.00463044 meters Centerline goodness [0,1] 0.2940144277636966 Centerline is valid? [False, False] Translation: X:1.15, Y:0.03, Z:-0.21 [[ 0.99954188 -0.00286832 -0.03012985 1.1486497 ] [ 0.00266092 0.99997251 -0.00692143 0.02874432] [ 0.03014887 0.00683808 0.99952203 -0.20574139] [ 0. 0. 0. 1. ]] SLAMing on 42.03463044 meters Centerline goodness [0,1] 0.29613612656467314 Centerline is valid? [False, False] Translation: X:1.15, Y:0.03, Z:-0.21 [[ 0.99953466 -0.0029664 -0.03035904 1.14923483] [ 0.0027598 0.99997276 -0.0068451 0.02815159] [ 0.03037852 0.00675813 0.99951562 -0.20569943] [ 0. 0. 0. 1. ]] SLAMing on 42.064630439999995 meters Centerline goodness [0,1] 0.2940628385698808 Centerline is valid? [False, False] Translation: X:1.15, Y:0.03, Z:-0.21 [[ 0.99952744 -0.00358948 -0.03052894 1.14970733] [ 0.00337612 0.99996954 -0.00703746 0.02708338] [ 0.03055327 0.00693107 0.99950911 -0.20560212] [ 0. 0. 0. 1. ]] SLAMing on 42.094630439999996 meters Centerline goodness [0,1] 0.29810339221848925 Centerline is valid? [False, False] Translation: X:1.15, Y:0.03, Z:-0.21 [[ 0.99953065 -0.00374892 -0.03040433 1.14925203] [ 0.00353608 0.99996889 -0.00705115 0.0264031 ] [ 0.03042982 0.00694033 0.99951281 -0.20526468] [ 0. 0. 0. 1. ]] SLAMing on 42.12463044 meters Centerline goodness [0,1] 0.2941011114474765 Centerline is valid? [False, False] Translation: X:1.15, Y:0.03, Z:-0.20 [[ 0.99953592 -0.00380092 -0.03022425 1.14842387] [ 0.00359102 0.99996908 -0.00699615 0.02582285] [ 0.03024991 0.00688436 0.99951866 -0.20463079] [ 0. 0. 0. 1. ]] SLAMing on 42.15463044 meters Centerline goodness [0,1] 0.29514407568573964 Centerline is valid? [False, False] Translation: X:1.15, Y:0.03, Z:-0.20 [[ 0.99953995 -0.00380423 -0.03009011 1.14774646] [ 0.00359907 0.99996993 -0.00686926 0.02513871] [ 0.03011534 0.0067578 0.99952359 -0.20405509] [ 0. 0. 0. 1. ]] SLAMing on 42.18463044 meters Centerline goodness [0,1] 0.29496480545839276 Centerline is valid? [False, False] Translation: X:1.15, Y:0.02, Z:-0.20 [[ 0.9995382 -0.00372766 -0.03015785 1.14785947] [ 0.00352826 0.99997158 -0.00666258 0.02425939] [ 0.03018183 0.0065531 0.99952294 -0.20392643] [ 0. 0. 0. 1. ]] SLAMing on 42.21463044 meters Centerline goodness [0,1] 0.298304196948864 Centerline is valid? [False, False] Translation: X:1.15, Y:0.02, Z:-0.20 [[ 0.999536 -0.00356395 -0.03025031 1.14809196] [ 0.00338161 0.99997582 -0.00607691 0.02150191] [ 0.03027123 0.0059718 0.99952388 -0.20384376] [ 0. 0. 0. 1. ]] SLAMing on 42.244630439999995 meters Centerline goodness [0,1] 0.2961822125813449 Centerline is valid? [False, False] Translation: X:1.15, Y:0.02, Z:-0.20 [[ 0.99953153 -0.00348342 -0.03040691 1.14840939] [ 0.00331077 0.99997812 -0.00572619 0.0194472 ] [ 0.03042619 0.00562284 0.9995212 -0.20371799] [ 0. 0. 0. 1. ]] SLAMing on 42.274630439999996 meters Centerline goodness [0,1] 0.2973531394767176 Centerline is valid? [False, False] Translation: X:1.15, Y:0.02, Z:-0.20 [[ 0.99953027 -0.00346225 -0.03045069 1.1485859 ] [ 0.00329992 0.99998009 -0.00537949 0.01697145] [ 0.03046871 0.00527648 0.99952179 -0.20380747] [ 0. 0. 0. 1. ]] SLAMing on 42.30463044 meters Centerline goodness [0,1] 0.29768974036669416 Centerline is valid? [False, False] Translation: X:1.15, Y:0.01, Z:-0.20 [[ 0.99952574 -0.00337002 -0.03060954 1.14909547] [ 0.00322113 0.99998275 -0.00491237 0.01407663] [ 0.03062557 0.00481144 0.99951935 -0.20396115] [ 0. 0. 0. 1. ]] SLAMing on 42.33463044 meters Centerline goodness [0,1] 0.2971868342101831 Centerline is valid? [False, False] Translation: X:1.15, Y:0.01, Z:-0.20 [[ 0.99952431 -0.00318726 -0.03067579 1.14942234] [ 0.00305323 0.99998559 -0.00441517 0.01154575] [ 0.03068942 0.00431941 0.99951964 -0.20415785] [ 0. 0. 0. 1. ]] SLAMing on 42.36463044 meters Centerline goodness [0,1] 0.29663125554425673 Centerline is valid? [False, False] Translation: X:1.15, Y:0.01, Z:-0.20 [[ 0.99952818 -0.00294635 -0.03057361 1.1491018 ] [ 0.00282727 0.99998825 -0.00393761 0.00952062] [ 0.03058485 0.00384931 0.99952476 -0.20398029] [ 0. 0. 0. 1. ]] SLAMing on 42.39463044 meters Centerline goodness [0,1] 0.2946922265969578 Centerline is valid? [False, False] Translation: X:1.17, Y:0.00, Z:-0.20 [[ 0.99957304 0.00513186 -0.02876442 1.16706133] [-0.00527437 0.99997418 -0.00488075 0.00198733] [ 0.02873863 0.00503038 0.9995743 -0.20162442] [ 0. 0. 0. 1. ]] SLAMing on 42.42463044 meters Centerline goodness [0,1] 0.294884740155112 Centerline is valid? [False, False] Translation: X:1.17, Y:0.00, Z:-0.20 [[ 0.9995714 0.00519806 -0.0288095 1.16721541] [-0.00533907 0.99997413 -0.00482002 0.00157219] [ 0.0287837 0.00497177 0.9995733 -0.20171342] [ 0. 0. 0. 1. ]] SLAMing on 42.454630439999995 meters Centerline goodness [0,1] 0.2977128995928269 Centerline is valid? [False, False] Translation: X:1.17, Y:0.00, Z:-0.20 [[ 0.99956264 0.00535728 -0.02908318 1.16818812] [-0.00549612 0.99997387 -0.00469603 0.0012971 ] [ 0.02905727 0.00485382 0.99956596 -0.2022445 ] [ 0. 0. 0. 1. ]] SLAMing on 42.48463044 meters Centerline goodness [0,1] 0.29367941436869727 Centerline is valid? [False, False] Translation: X:1.17, Y:0.00, Z:-0.20 [[ 0.99952862 0.00599421 -0.03010987 1.17152912] [-0.00613041 0.99997138 -0.00443312 0.00162234] [ 0.03008243 0.00461562 0.99953676 -0.20367059] [ 0. 0. 0. 1. ]] SLAMing on 42.51463044 meters Centerline goodness [0,1] 0.29142340090914964 Centerline is valid? [False, False] Translation: X:1.17, Y:0.00, Z:-0.20 [[ 0.99952492 0.00608321 -0.03021483 1.17187921] [-0.00622553 0.99996995 -0.00461869 0.00289486] [ 0.03018583 0.00480459 0.99953276 -0.20389066] [ 0. 0. 0. 1. ]] SLAMing on 42.54463044 meters Centerline goodness [0,1] 0.294079417690258 Centerline is valid? [False, False] Translation: X:1.17, Y:0.00, Z:-0.20 [[ 0.99953032 0.00619205 -0.03001325 1.17120155] [-0.00633646 0.99996879 -0.00471888 0.00392366] [ 0.0299831 0.00490684 0.99953836 -0.20365734] [ 0. 0. 0. 1. ]] SLAMing on 42.57463044 meters Centerline goodness [0,1] 0.291220186657449 Centerline is valid? [False, False] Translation: X:1.17, Y:0.01, Z:-0.20 [[ 0.99953701 0.0062322 -0.02978141 1.17042309] [-0.00638124 0.99996758 -0.0049121 0.00538816] [ 0.02974983 0.00509987 0.99954437 -0.2033807 ] [ 0. 0. 0. 1. ]] SLAMing on 42.60463044 meters Centerline goodness [0,1] 0.29406034893285427 Centerline is valid? [False, False] Translation: X:1.17, Y:0.01, Z:-0.20 [[ 0.99954014 0.00624806 -0.02967259 1.17003209] [-0.00640246 0.99996644 -0.00511111 0.0068361 ] [ 0.02963966 0.00529874 0.9995466 -0.20321586] [ 0. 0. 0. 1. ]] SLAMing on 42.634630439999995 meters Centerline goodness [0,1] 0.2914510006901311 Centerline is valid? [False, False] Translation: X:1.17, Y:0.01, Z:-0.20 [[ 0.99953804 0.00622685 -0.02974778 1.17027677] [-0.00638724 0.99996556 -0.00529976 0.00796403] [ 0.02971375 0.00548731 0.99954339 -0.20333617] [ 0. 0. 0. 1. ]] SLAMing on 42.664630439999996 meters Centerline goodness [0,1] 0.29341719986986226 Centerline is valid? [False, False] Translation: X:1.17, Y:0.01, Z:-0.20 [[ 0.99952036 0.00618548 -0.03034438 1.17194994] [-0.00635366 0.99996497 -0.00544911 0.00875169] [ 0.03030961 0.00563929 0.99952465 -0.20376562] [ 0. 0. 0. 1. ]] SLAMing on 42.69463044 meters Centerline goodness [0,1] 0.29206369784576824 Centerline is valid? [False, False] Translation: X:1.17, Y:0.01, Z:-0.20 [[ 0.99950273 0.00614232 -0.03092823 1.17366674] [-0.00631517 0.99996496 -0.00549435 0.0088969 ] [ 0.0308934 0.00568694 0.99950651 -0.20424419] [ 0. 0. 0. 1. ]] SLAMing on 42.72463044 meters Centerline goodness [0,1] 0.291643212816627 Centerline is valid? [False, False] Translation: X:1.18, Y:0.01, Z:-0.20 [[ 0.99948551 0.00609487 -0.03148927 1.17523459] [-0.00627133 0.99996516 -0.00550816 0.00885352] [ 0.0314546 0.00570281 0.99948891 -0.20456531] [ 0. 0. 0. 1. ]] SLAMing on 42.75463044 meters Centerline goodness [0,1] 0.28800877249564605 Centerline is valid? [False, False] Translation: X:1.20, Y:0.01, Z:-0.20 [[ 0.99946227 -0.00180547 -0.03274002 1.19529623] [ 0.0016524 0.99998758 -0.00470189 0.01403924] [ 0.0327481 0.00464526 0.99945284 -0.20269347] [ 0. 0. 0. 1. ]] SLAMing on 42.78463044 meters Centerline goodness [0,1] 0.29343855987477174 Centerline is valid? [False, False] Translation: X:1.19, Y:0.01, Z:-0.20 [[ 0.99946873 -0.00228465 -0.03251227 1.19402763] [ 0.00212155 0.999985 -0.00505021 0.01421782] [ 0.03252332 0.00497855 0.99945858 -0.20155263] [ 0. 0. 0. 1. ]] SLAMing on 42.814630439999995 meters Centerline goodness [0,1] 0.2933955739972337 Centerline is valid? [False, False] Translation: X:1.19, Y:0.01, Z:-0.20 [[ 0.999473 -0.00228063 -0.03238093 1.19349074] [ 0.00211707 0.99998483 -0.00508444 0.01478383] [ 0.03239203 0.00501321 0.99946267 -0.20117807] [ 0. 0. 0. 1. ]] SLAMing on 42.844630439999996 meters Centerline goodness [0,1] 0.29036508965219265 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.20 [[ 0.99947936 -0.0022726 -0.03218463 1.19281689] [ 0.00210691 0.99998436 -0.00518108 0.01582448] [ 0.0321959 0.00511057 0.99946851 -0.20085852] [ 0. 0. 0. 1. ]] SLAMing on 42.87463044 meters Centerline goodness [0,1] 0.29036508965219265 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.20 [[ 0.99947936 -0.0022726 -0.03218463 1.19281689] [ 0.00210691 0.99998436 -0.00518108 0.01582448] [ 0.0321959 0.00511057 0.99946851 -0.20085852] [ 0. 0. 0. 1. ]] SLAMing on 42.90463044 meters Centerline goodness [0,1] 0.2910926262888831 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.20 [[ 0.99948487 -0.00232986 -0.03200879 1.19221603] [ 0.0021598 0.99998338 -0.00534648 0.01689148] [ 0.03202072 0.00527459 0.99947329 -0.20054548] [ 0. 0. 0. 1. ]] SLAMing on 42.93463044 meters Centerline goodness [0,1] 0.29284706393140125 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.20 [[ 0.99948729 -0.00240189 -0.03192791 1.19186158] [ 0.00222733 0.99998238 -0.00550205 0.01767263] [ 0.03194056 0.00542812 0.99947503 -0.20030143] [ 0. 0. 0. 1. ]] SLAMing on 42.96463044 meters Centerline goodness [0,1] 0.2931748565511886 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.20 [[ 0.99948738 -0.00266466 -0.03190432 1.1912928 ] [ 0.00248295 0.99998048 -0.00573361 0.01797984] [ 0.03191898 0.00565145 0.99947448 -0.19949119] [ 0. 0. 0. 1. ]] SLAMing on 42.994630439999995 meters Centerline goodness [0,1] 0.29409086967831444 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.20 [[ 0.99948439 -0.00264737 -0.03199916 1.19130194] [ 0.00246877 0.99998116 -0.00561971 0.01745252] [ 0.03201344 0.00553781 0.9994721 -0.19915421] [ 0. 0. 0. 1. ]] SLAMing on 43.024630439999996 meters Centerline goodness [0,1] 0.29500499934791113 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.20 [[ 0.99948499 -0.0026132 -0.03198327 1.19097399] [ 0.00243958 0.99998208 -0.00546624 0.0168042 ] [ 0.03199698 0.0053854 0.99947346 -0.19866523] [ 0. 0. 0. 1. ]] SLAMing on 43.05463044 meters Centerline goodness [0,1] 0.294797938233638 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.20 [[ 0.99948796 -0.00262676 -0.03188916 1.19043494] [ 0.00245747 0.99998269 -0.00534697 0.01614804] [ 0.03190265 0.00526586 0.99947711 -0.19814333] [ 0. 0. 0. 1. ]] SLAMing on 43.08463044 meters Centerline goodness [0,1] 0.2948684439797874 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.20 [[ 0.99948436 -0.00322973 -0.0319465 1.19005821] [ 0.00304634 0.99997861 -0.00578753 0.01595196] [ 0.03196451 0.00568723 0.99947282 -0.19731034] [ 0. 0. 0. 1. ]] SLAMing on 43.11463044 meters Centerline goodness [0,1] 0.2936210740492219 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.20 [[ 0.99947903 -0.00335689 -0.0320999 1.1902836 ] [ 0.0031686 0.99997749 -0.00591486 0.01606974] [ 0.03211904 0.00581007 0.99946716 -0.19708916] [ 0. 0. 0. 1. ]] SLAMing on 43.14463044 meters Centerline goodness [0,1] 0.2949322716060069 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.20 [[ 0.99948027 -0.00337938 -0.03205873 1.19003829] [ 0.00319005 0.99997718 -0.00595487 0.01641132] [ 0.03207813 0.00584951 0.99946825 -0.19690202] [ 0. 0. 0. 1. ]] SLAMing on 43.17463044 meters Centerline goodness [0,1] 0.2973786365420683 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.20 [[ 0.99948604 -0.0033105 -0.03188555 1.18949396] [ 0.00312206 0.99997738 -0.0059577 0.01716308] [ 0.03190455 0.00585509 0.99947377 -0.19669414] [ 0. 0. 0. 1. ]] SLAMing on 43.204630439999995 meters Centerline goodness [0,1] 0.2991866727720721 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.20 [[ 0.9994935 -0.00325563 -0.03165676 1.18884053] [ 0.00306536 0.99997696 -0.00605708 0.01853097] [ 0.03167575 0.00595697 0.99948045 -0.19650345] [ 0. 0. 0. 1. ]] SLAMing on 43.23463044 meters Centerline goodness [0,1] 0.29561386374981014 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.20 [[ 0.99949337 -0.00334364 -0.03165173 1.18902807] [ 0.00314408 0.99997488 -0.00635269 0.02017491] [ 0.03167218 0.00624996 0.99947877 -0.19678658] [ 0. 0. 0. 1. ]] SLAMing on 43.26463044 meters Centerline goodness [0,1] 0.2914402759810263 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.20 [[ 0.99946712 -0.00382706 -0.03241663 1.19125367] [ 0.00358757 0.99996587 -0.0074428 0.02487633] [ 0.03244401 0.00732254 0.99944673 -0.1974405 ] [ 0. 0. 0. 1. ]] SLAMing on 43.29463044 meters Centerline goodness [0,1] 0.2906369948678139 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:-0.20 [[ 0.99945402 -0.00401857 -0.03279487 1.19216956] [ 0.00375783 0.99996087 -0.0080084 0.02784933] [ 0.03282577 0.00788079 0.99943002 -0.19749861] [ 0. 0. 0. 1. ]] SLAMing on 43.32463044 meters Centerline goodness [0,1] 0.2919949064381758 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:-0.20 [[ 0.99944338 -0.00418876 -0.03309663 1.19272853] [ 0.00390723 0.99995567 -0.00856647 0.03108443] [ 0.03313105 0.00843239 0.99941544 -0.19729287] [ 0. 0. 0. 1. ]] SLAMing on 43.35463044 meters Centerline goodness [0,1] 0.29289183797380514 Centerline is valid? [False, False] Translation: X:1.19, Y:0.04, Z:-0.20 [[ 0.99946857 -0.00243286 -0.03250637 1.18983983] [ 0.00219154 0.99996979 -0.00745711 0.03789571] [ 0.03252353 0.00738191 0.99944371 -0.19563088] [ 0. 0. 0. 1. ]] SLAMing on 43.384630439999995 meters Centerline goodness [0,1] 0.29162801734365895 Centerline is valid? [False, False] Translation: X:1.19, Y:0.04, Z:-0.20 [[ 0.99946754 -0.00272932 -0.03251433 1.18981881] [ 0.00246783 0.99996431 -0.00807986 0.04068863] [ 0.03253523 0.00799532 0.99943861 -0.19556018] [ 0. 0. 0. 1. ]] SLAMing on 43.414630439999996 meters Centerline goodness [0,1] 0.2910858995137764 Centerline is valid? [False, False] Translation: X:1.19, Y:0.04, Z:-0.20 [[ 0.99946418 -0.00302617 -0.03259146 1.19004037] [ 0.00274281 0.99995808 -0.00873577 0.04378144] [ 0.03261653 0.0086417 0.99943058 -0.19563772] [ 0. 0. 0. 1. ]] SLAMing on 43.44463044 meters Centerline goodness [0,1] 0.2890267728707302 Centerline is valid? [False, False] Translation: X:1.19, Y:0.05, Z:-0.20 [[ 0.99946251 -0.00323044 -0.03262283 1.19009116] [ 0.00292951 0.99995276 -0.00926811 0.04674012] [ 0.03265123 0.00916756 0.99942476 -0.19556892] [ 0. 0. 0. 1. ]] SLAMing on 43.47463044 meters Centerline goodness [0,1] 0.293182213713888 Centerline is valid? [False, False] Translation: X:1.19, Y:0.05, Z:-0.20 [[ 0.99946612 -0.00336127 -0.03249902 1.18965577] [ 0.00304834 0.99994856 -0.00967352 0.0491583 ] [ 0.03252986 0.00956929 0.99942495 -0.19534195] [ 0. 0. 0. 1. ]] SLAMing on 43.50463044 meters Centerline goodness [0,1] 0.2915143518418377 Centerline is valid? [False, False] Translation: X:1.19, Y:0.05, Z:-0.19 [[ 0.99947525 -0.00350613 -0.03220138 1.18860362] [ 0.00318585 0.999945 -0.00999191 0.05085389] [ 0.03223464 0.00988408 0.99943145 -0.19478321] [ 0. 0. 0. 1. ]] SLAMing on 43.53463044 meters Centerline goodness [0,1] 0.29328507022715455 Centerline is valid? [False, False] Translation: X:1.19, Y:0.05, Z:-0.19 [[ 0.99948765 -0.00369299 -0.03179312 1.18712083] [ 0.00337007 0.99994225 -0.01020473 0.05150182] [ 0.03182897 0.01009236 0.99944238 -0.19396001] [ 0. 0. 0. 1. ]] SLAMing on 43.564630439999995 meters Centerline goodness [0,1] 0.2933122467991074 Centerline is valid? [False, False] Translation: X:1.18, Y:0.05, Z:-0.19 [[ 0.99950297 -0.00455392 -0.03119417 1.18497979] [ 0.00422317 0.99993426 -0.01066046 0.05076479] [ 0.03124067 0.01052342 0.99945649 -0.19281462] [ 0. 0. 0. 1. ]] SLAMing on 43.594630439999996 meters Centerline goodness [0,1] 0.2957651900790642 Centerline is valid? [False, False] Translation: X:1.19, Y:0.05, Z:-0.19 [[ 0.99949335 -0.0046705 -0.03148368 1.18576397] [ 0.00434102 0.99993519 -0.0105252 0.04945503] [ 0.0315308 0.01038319 0.99944885 -0.19292671] [ 0. 0. 0. 1. ]] SLAMing on 43.62463044 meters Centerline goodness [0,1] 0.2971055495103373 Centerline is valid? [False, False] Translation: X:1.19, Y:0.05, Z:-0.19 [[ 0.99948875 -0.0047554 -0.03161689 1.18620243] [ 0.00442963 0.99993646 -0.01036557 0.04811774] [ 0.03166417 0.01022022 0.99944631 -0.19311789] [ 0. 0. 0. 1. ]] SLAMing on 43.65463044 meters Centerline goodness [0,1] 0.29353052288142867 Centerline is valid? [False, False] Translation: X:1.21, Y:0.05, Z:-0.19 [[ 0.99943189 -0.01344682 -0.0309043 1.20680421] [ 0.0131569 0.99986769 -0.00956562 0.05055466] [ 0.03102884 0.00915358 0.99947657 -0.19199628] [ 0. 0. 0. 1. ]] SLAMing on 43.68463044 meters Centerline goodness [0,1] 0.29732836015093034 Centerline is valid? [False, False] Translation: X:1.19, Y:0.04, Z:-0.19 [[ 0.99953757 -0.00527776 -0.02994644 1.18661895] [ 0.00497095 0.99993449 -0.01031068 0.04469535] [ 0.0299989 0.01015705 0.99949832 -0.19366472] [ 0. 0. 0. 1. ]] SLAMing on 43.71463044 meters Centerline goodness [0,1] 0.29620714332183984 Centerline is valid? [False, False] Translation: X:1.19, Y:0.04, Z:-0.19 [[ 0.99952988 -0.00505557 -0.03024021 1.18752466] [ 0.0047616 0.99994079 -0.00978522 0.04289651] [ 0.03028788 0.00963663 0.99949476 -0.19399941] [ 0. 0. 0. 1. ]] SLAMing on 43.744630439999995 meters Centerline goodness [0,1] 0.2938653216071736 Centerline is valid? [False, False] Translation: X:1.19, Y:0.04, Z:-0.19 [[ 0.9995268 -0.00487111 -0.030372 1.18814071] [ 0.0045876 0.99994532 -0.00939723 0.04144819] [ 0.03041611 0.00925345 0.99949449 -0.19443612] [ 0. 0. 0. 1. ]] SLAMing on 43.774630439999996 meters Centerline goodness [0,1] 0.2947903430749682 Centerline is valid? [False, False] Translation: X:1.19, Y:0.04, Z:-0.20 [[ 0.99952071 -0.0047947 -0.03058362 1.18907114] [ 0.00451796 0.99994829 -0.00911107 0.03984483] [ 0.03062572 0.00896852 0.99949069 -0.19503268] [ 0. 0. 0. 1. ]] SLAMing on 43.80463044 meters Centerline goodness [0,1] 0.29464131746852906 Centerline is valid? [False, False] Translation: X:1.19, Y:0.04, Z:-0.20 [[ 0.99951023 -0.00482564 -0.0309196 1.19009949] [ 0.00455886 0.99995182 -0.00869309 0.03633218] [ 0.03096006 0.00854788 0.99948407 -0.19548008] [ 0. 0. 0. 1. ]] SLAMing on 43.83463044 meters Centerline goodness [0,1] 0.29916167664670656 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:-0.20 [[ 0.99950838 -0.00468905 -0.03100004 1.19016846] [ 0.00443323 0.9999556 -0.00831578 0.0344154 ] [ 0.03103765 0.00817426 0.99948479 -0.19532101] [ 0. 0. 0. 1. ]] SLAMing on 43.86463044 meters Centerline goodness [0,1] 0.2973573076755627 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:-0.20 [[ 0.99950883 -0.00452029 -0.03101085 1.19032617] [ 0.00427736 0.99995968 -0.0078955 0.03244494] [ 0.03104529 0.00775897 0.99948786 -0.19553931] [ 0. 0. 0. 1. ]] SLAMing on 43.89463044 meters Centerline goodness [0,1] 0.29435571137947447 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:-0.20 [[ 0.99950559 -0.00438627 -0.03113432 1.19095074] [ 0.0041537 0.99996302 -0.00753036 0.03057738] [ 0.0311662 0.00739731 0.99948684 -0.19606183] [ 0. 0. 0. 1. ]] SLAMing on 43.92463044 meters Centerline goodness [0,1] 0.2980624632216725 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:-0.20 [[ 0.99950255 -0.00426329 -0.03124865 1.19155935] [ 0.00404134 0.99996618 -0.00716249 0.02854944] [ 0.03127813 0.00703264 0.99948598 -0.19657728] [ 0. 0. 0. 1. ]] SLAMing on 43.954630439999995 meters Centerline goodness [0,1] 0.29822580294903256 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:-0.20 [[ 0.99950312 -0.00409123 -0.03125339 1.19169018] [ 0.00388334 0.99996995 -0.00670981 0.02624695] [ 0.0312799 0.00658511 0.99948897 -0.19681202] [ 0. 0. 0. 1. ]] SLAMing on 43.98463044 meters Centerline goodness [0,1] 0.2987171655467318 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.20 [[ 0.99950935 -0.00377707 -0.03109332 1.19057833] [ 0.00358988 0.99997511 -0.00607401 0.02344561] [ 0.03111549 0.00595941 0.99949803 -0.1957377 ] [ 0. 0. 0. 1. ]] SLAMing on 44.01463044 meters Centerline goodness [0,1] 0.2972006627714311 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.20 [[ 0.99951119 -0.00366888 -0.03104709 1.19025401] [ 0.00348793 0.99997663 -0.00588047 0.02256202] [ 0.03106794 0.0057693 0.99950062 -0.19541165] [ 0. 0. 0. 1. ]] SLAMing on 44.04463044 meters Centerline goodness [0,1] 0.29783657519593076 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.20 [[ 0.99950684 -0.00360012 -0.03119496 1.19056218] [ 0.00342214 0.99997757 -0.00575703 0.02183325] [ 0.03121499 0.00564744 0.99949674 -0.19535007] [ 0. 0. 0. 1. ]] SLAMing on 44.07463044 meters Centerline goodness [0,1] 0.2942474048442907 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:-0.19 [[ 0.99950272 0.0041808 -0.03125423 1.2098929 ] [-0.00439576 0.99996714 -0.00681213 0.01717663] [ 0.03122472 0.00694613 0.99948825 -0.19343118] [ 0. 0. 0. 1. ]] SLAMing on 44.10463044 meters Centerline goodness [0,1] 0.2966306310225567 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:-0.19 [[ 0.99951291 0.00426561 -0.0309152 1.20874811] [-0.00448152 0.99996603 -0.00691791 0.01798123] [ 0.03088464 0.00705308 0.99949807 -0.19288999] [ 0. 0. 0. 1. ]] SLAMing on 44.134630439999995 meters Centerline goodness [0,1] 0.29739525337874717 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:-0.19 [[ 0.99953005 0.00446787 -0.03032692 1.20694231] [-0.00468152 0.9999647 -0.00697766 0.01906483] [ 0.03029467 0.00711636 0.99951568 -0.19220026] [ 0. 0. 0. 1. ]] SLAMing on 44.164630439999996 meters Centerline goodness [0,1] 0.29513316561117375 Centerline is valid? [False, False] Translation: X:1.22, Y:0.03, Z:-0.19 [[ 9.99576044e-01 -7.39674930e-04 -2.91064542e-02 1.22411449e+00] [ 6.17167116e-04 9.99990915e-01 -4.21771557e-03 2.58437484e-02] [ 2.91093095e-02 4.19796390e-03 9.99567419e-01 -1.90244295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.19463044 meters Centerline goodness [0,1] 0.29456521739130437 Centerline is valid? [False, False] Translation: X:1.22, Y:0.03, Z:-0.19 [[ 9.99575401e-01 -7.34794931e-04 -2.91286406e-02 1.22418450e+00] [ 6.07885119e-04 9.99990286e-01 -4.36548975e-03 2.67666767e-02] [ 2.91315654e-02 4.34592931e-03 9.99566138e-01 -1.90326609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22463044 meters Centerline goodness [0,1] 0.29906418874390406 Centerline is valid? [False, False] Translation: X:1.23, Y:0.03, Z:-0.19 [[ 9.99569969e-01 -7.46337115e-04 -2.93141569e-02 1.22501568e+00] [ 6.17719829e-04 9.99990145e-01 -4.39635940e-03 2.68700627e-02] [ 2.93171492e-02 4.37636090e-03 9.99560580e-01 -1.90970627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.25463044 meters Centerline goodness [0,1] 0.29306061255086746 Centerline is valid? [False, False] Translation: X:1.27, Y:0.03, Z:-0.19 [[ 9.99602002e-01 -1.27641875e-03 -2.81816859e-02 1.27153347e+00] [ 1.16067327e-03 9.99990826e-01 -4.12309313e-03 2.55774723e-02] [ 2.81866901e-02 4.08874242e-03 9.99594314e-01 -1.91414751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28463044 meters Centerline goodness [0,1] 0.2932974240910473 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:-0.19 [[ 9.99544653e-01 -1.22435311e-03 -3.01494281e-02 1.22515255e+00] [ 1.09573566e-03 9.99990231e-01 -4.28215172e-03 2.38411319e-02] [ 3.01543765e-02 4.24716605e-03 9.99536230e-01 -1.91087011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.314630439999995 meters Centerline goodness [0,1] 0.29544128136956094 Centerline is valid? [False, False] Translation: X:1.22, Y:0.02, Z:-0.19 [[ 9.99546112e-01 -1.14647231e-03 -3.01040796e-02 1.22473518e+00] [ 1.02372458e-03 9.99991102e-01 -4.09254105e-03 2.30049806e-02] [ 3.01085037e-02 4.05986521e-03 9.99538391e-01 -1.90624895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.344630439999996 meters Centerline goodness [0,1] 0.2966862195762563 Centerline is valid? [False, False] Translation: X:1.22, Y:0.02, Z:-0.19 [[ 9.99551864e-01 -1.08020957e-03 -2.99149523e-02 1.22419125e+00] [ 9.65060048e-04 9.99992071e-01 -3.86340037e-03 2.17706306e-02] [ 2.99188884e-02 3.83279932e-03 9.99544981e-01 -1.90448634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.37463044 meters Centerline goodness [0,1] 0.2952874113398024 Centerline is valid? [False, False] Translation: X:1.22, Y:0.02, Z:-0.19 [[ 9.99552404e-01 -1.04283117e-03 -2.98982410e-02 1.22421418e+00] [ 9.32848364e-04 9.99992748e-01 -3.69228353e-03 2.06856215e-02] [ 2.99018747e-02 3.66274035e-03 9.99546128e-01 -1.90539003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40463044 meters Centerline goodness [0,1] 0.29261529796590346 Centerline is valid? [False, False] Translation: X:1.22, Y:0.02, Z:-0.19 [[ 9.99549617e-01 -9.73480422e-04 -2.99935861e-02 1.22481976e+00] [ 8.67661155e-04 9.99993355e-01 -3.54087628e-03 1.99349350e-02] [ 2.99968338e-02 3.51325726e-03 9.99543819e-01 -1.91121111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.43463044 meters Centerline goodness [0,1] 0.2942094313453537 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:-0.19 [[ 9.99547150e-01 -8.72289843e-04 -3.00787927e-02 1.22528892e+00] [ 7.71195285e-04 9.99994016e-01 -3.37242837e-03 1.92830287e-02] [ 3.00815545e-02 3.34770455e-03 9.99541842e-01 -1.91552045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46463044 meters Centerline goodness [0,1] 0.294488597097443 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:-0.19 [[ 9.99545659e-01 -6.57423350e-04 -3.01337452e-02 1.22565882e+00] [ 5.70542441e-04 9.99995656e-01 -2.89168417e-03 1.69008961e-02] [ 3.01355154e-02 2.87317778e-03 9.99541693e-01 -1.91872005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.494630439999995 meters Centerline goodness [0,1] 0.2942030870620881 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:-0.19 [[ 9.99546534e-01 -5.69217229e-04 -3.01065179e-02 1.22546900e+00] [ 4.89527931e-04 9.99996358e-01 -2.65421623e-03 1.55827777e-02] [ 3.01079191e-02 2.63827465e-03 9.99543172e-01 -1.91714784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.524630439999996 meters Centerline goodness [0,1] 0.29486707256299693 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:-0.19 [[ 9.99541541e-01 -4.75314306e-04 -3.02734520e-02 1.22584120e+00] [ 4.02140158e-04 9.99996983e-01 -2.42314881e-03 1.43058354e-02] [ 3.02745124e-02 2.40986372e-03 9.99538717e-01 -1.91693753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.55463044 meters Centerline goodness [0,1] 0.29706216665209406 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:-0.19 [[ 9.99534906e-01 -3.84941074e-04 -3.04930035e-02 1.22651876e+00] [ 3.18144186e-04 9.99997540e-01 -2.19538582e-03 1.30376289e-02] [ 3.04937736e-02 2.18466359e-03 9.99532569e-01 -1.91955504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58463044 meters Centerline goodness [0,1] 0.292259255238302 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:-0.19 [[ 9.99516296e-01 -1.99786746e-04 -3.10987888e-02 1.22857690e+00] [ 1.42078848e-04 9.99998264e-01 -1.85783042e-03 1.11612487e-02] [ 3.10991060e-02 1.85251330e-03 9.99514589e-01 -1.92954046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.61463044 meters Centerline goodness [0,1] 0.2924987559228889 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:-0.19 [[ 9.99510992e-01 -9.07670673e-05 -3.12692791e-02 1.22920638e+00] [ 3.57654948e-05 9.99998451e-01 -1.75951999e-03 1.10076205e-02] [ 3.12693904e-02 1.75754121e-03 9.99509448e-01 -1.93312827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64463044 meters Centerline goodness [0,1] 0.2920570352900448 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:-0.19 [[ 9.99508352e-01 8.01000550e-05 -3.13536062e-02 1.22944384e+00] [-1.31096409e-04 9.99998672e-01 -1.62443856e-03 1.10752185e-02] [ 3.13534345e-02 1.62775026e-03 9.99507035e-01 -1.93419971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.67463044 meters Centerline goodness [0,1] 0.28977923847002096 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:-0.19 [[ 9.99506386e-01 2.25909496e-04 -3.14155058e-02 1.22954004e+00] [-2.73284303e-04 9.99998832e-01 -1.50372156e-03 1.11444376e-02] [ 3.14151294e-02 1.51156466e-03 9.99505280e-01 -1.93362364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.704630439999995 meters Centerline goodness [0,1] 0.29078810922917386 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:-0.19 [[ 9.99511097e-01 3.08610665e-04 -3.12645531e-02 1.22865496e+00] [-3.48177543e-04 9.99999145e-01 -1.26011450e-03 9.53251671e-03] [ 3.12641375e-02 1.27038404e-03 9.99510350e-01 -1.92608556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.73463044 meters Centerline goodness [0,1] 0.2950986992117093 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:-0.19 [[ 9.99516282e-01 3.08464247e-04 -3.10983488e-02 1.22804514e+00] [-3.45498214e-04 9.99999238e-01 -1.18549955e-03 8.78878445e-03] [ 3.10979594e-02 1.19567053e-03 9.99515626e-01 -1.92295297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76463044 meters Centerline goodness [0,1] 0.2950986992117093 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:-0.19 [[ 9.99516282e-01 3.08464247e-04 -3.10983488e-02 1.22804514e+00] [-3.45498214e-04 9.99999238e-01 -1.18549955e-03 8.78878445e-03] [ 3.10979594e-02 1.19567053e-03 9.99515626e-01 -1.92295297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.79463044 meters Centerline goodness [0,1] 0.29343873173493606 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:-0.19 [[ 9.99523768e-01 3.31132898e-04 -3.08565797e-02 1.22744169e+00] [-3.66744189e-04 9.99999273e-01 -1.14843826e-03 8.54545078e-03] [ 3.08561770e-02 1.15920781e-03 9.99523163e-01 -1.92276951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82463044 meters Centerline goodness [0,1] 0.28997927040369287 Centerline is valid? [False, False] Translation: X:1.27, Y:0.01, Z:-0.19 [[ 9.99573102e-01 1.03773677e-03 -2.91982227e-02 1.27121574e+00] [-1.05201959e-03 9.99999334e-01 -4.73809809e-04 9.62565421e-03] [ 2.91977116e-02 5.04324643e-04 9.99573529e-01 -1.91568311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.85463044 meters Centerline goodness [0,1] 0.2989994502473887 Centerline is valid? [False, False] Translation: X:1.22, Y:0.01, Z:-0.19 [[ 9.99498222e-01 1.62407127e-03 -3.16332994e-02 1.22457748e+00] [-1.63236477e-03 9.99998640e-01 -2.36352994e-04 8.97765976e-03] [ 3.16328726e-02 2.87871481e-04 9.99499514e-01 -1.91129509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.884630439999995 meters Centerline goodness [0,1] 0.29394562980613015 Centerline is valid? [False, False] Translation: X:1.27, Y:0.01, Z:-0.19 [[ 9.99524509e-01 2.25441462e-03 -3.07518002e-02 1.26959322e+00] [-2.24769269e-03 9.99997442e-01 2.53153503e-04 1.08846823e-02] [ 3.07522922e-02 -1.83912535e-04 9.99527019e-01 -1.90441840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.914630439999996 meters Centerline goodness [0,1] 0.29183426322390904 Centerline is valid? [False, False] Translation: X:1.27, Y:0.01, Z:-0.19 [[ 9.99518609e-01 2.19696866e-03 -3.09471105e-02 1.27007110e+00] [-2.19666401e-03 9.99997586e-01 4.38424775e-05 1.19038947e-02] [ 3.09471321e-02 2.41590319e-05 9.99521023e-01 -1.90520835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94463044 meters Centerline goodness [0,1] 0.2900531674451643 Centerline is valid? [False, False] Translation: X:1.27, Y:0.01, Z:-0.19 [[ 9.99511120e-01 2.19255204e-03 -3.11883662e-02 1.27041551e+00] [-2.20394982e-03 9.99997516e-01 -3.31077214e-04 1.42454943e-02] [ 3.11875628e-02 3.99652951e-04 9.99513470e-01 -1.90273371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.97463044 meters Centerline goodness [0,1] 0.29202254498157376 Centerline is valid? [False, False] Translation: X:1.27, Y:0.02, Z:-0.19 [[ 9.99511863e-01 2.16393556e-03 -3.11665540e-02 1.27030205e+00] [-2.18031693e-03 9.99997502e-01 -4.91632285e-04 1.52251803e-02] [ 3.11654123e-02 5.59345266e-04 9.99514084e-01 -1.90225735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00463044 meters Centerline goodness [0,1] 0.29616159845762857 Centerline is valid? [False, False] Translation: X:1.27, Y:0.02, Z:-0.19 [[ 9.99516775e-01 2.13524117e-03 -3.10106082e-02 1.26975520e+00] [-2.15283616e-03 9.99997540e-01 -5.34008774e-04 1.53773845e-02] [ 3.10093916e-02 6.00511486e-04 9.99518913e-01 -1.89969993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.03463044 meters Centerline goodness [0,1] 0.2927109033458858 Centerline is valid? [False, False] Translation: X:1.29, Y:0.02, Z:-0.19 [[ 9.99527378e-01 -5.97638968e-03 -3.01546479e-02 1.28891475e+00] [ 5.99347035e-03 9.99981926e-01 4.76080617e-04 1.91551067e-02] [ 3.01512576e-02 -6.56586599e-04 9.99545132e-01 -1.88316781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.064630439999995 meters Centerline goodness [0,1] 0.29535498980786745 Centerline is valid? [False, False] Translation: X:1.29, Y:0.02, Z:-0.19 [[ 9.99552502e-01 -6.14600261e-03 -2.92749598e-02 1.28616649e+00] [ 6.17370480e-03 9.99980576e-01 8.55982231e-04 1.60058982e-02] [ 2.92691303e-02 -1.03633414e-03 9.99571030e-01 -1.87164494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.094630439999996 meters Centerline goodness [0,1] 0.2938408154413359 Centerline is valid? [False, False] Translation: X:1.29, Y:0.01, Z:-0.19 [[ 9.99557981e-01 -6.11486423e-03 -2.90938227e-02 1.28535805e+00] [ 6.15326794e-03 9.99980311e-01 1.23064772e-03 1.36559571e-02] [ 2.90857247e-02 -1.40912584e-03 9.99575928e-01 -1.86530073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12463044 meters Centerline goodness [0,1] 0.29316200488891775 Centerline is valid? [False, False] Translation: X:1.29, Y:0.01, Z:-0.19 [[ 0.99955809 -0.0060756 -0.02909842 1.28514171] [ 0.00612512 0.99997994 0.00161288 0.01111848] [ 0.02908804 -0.0017904 0.99957525 -0.18612409] [ 0. 0. 0. 1. ]] SLAMing on 45.15463044 meters Centerline goodness [0,1] 0.29571916690243527 Centerline is valid? [False, False] Translation: X:1.29, Y:0.01, Z:-0.19 [[ 0.99955634 -0.0059759 -0.02917881 1.28522488] [ 0.00603908 0.99997961 0.00207757 0.00833011] [ 0.0291658 -0.00225287 0.99957205 -0.18591493] [ 0. 0. 0. 1. ]] SLAMing on 45.18463044 meters Centerline goodness [0,1] 0.2929092827458496 Centerline is valid? [False, False] Translation: X:1.30, Y:0.00, Z:-0.18 [[ 9.99597487e-01 1.26001913e-03 -2.83421398e-02 1.30352321e+00] [-1.24144701e-03 9.99999003e-01 6.72869627e-04 1.95799501e-03] [ 2.83429594e-02 -6.37413523e-04 9.99598054e-01 -1.83750265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.21463044 meters Centerline goodness [0,1] 0.2962449651349127 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.00, Z:-0.18 [[ 9.99612771e-01 1.48322614e-03 -2.77868184e-02 1.30161331e+00] [-1.44934458e-03 9.99998182e-01 1.23943989e-03 -9.52115972e-04] [ 2.77886062e-02 -1.19868727e-03 9.99613103e-01 -1.82824664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.244630439999995 meters Centerline goodness [0,1] 0.2978247169524306 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.00, Z:-0.18 [[ 9.99621034e-01 1.62000112e-03 -2.74802435e-02 1.30078064e+00] [-1.58303609e-03 9.99997813e-01 1.36685119e-03 -1.25005778e-03] [ 2.74823977e-02 -1.32283098e-03 9.99621412e-01 -1.82655111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.274630439999996 meters Centerline goodness [0,1] 0.29336262221647935 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.00, Z:-0.18 [[ 9.99618053e-01 1.77371705e-03 -2.75790053e-02 1.30113738e+00] [-1.73625723e-03 9.99997538e-01 1.38216027e-03 -7.99176172e-04] [ 2.75813890e-02 -1.33374812e-03 9.99618671e-01 -1.82869795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30463044 meters Centerline goodness [0,1] 0.295099038899616 Centerline is valid? [False, False] Translation: X:1.30, Y:0.00, Z:-0.18 [[ 9.99611089e-01 1.85563724e-03 -2.78249495e-02 1.30189170e+00] [-1.82160040e-03 9.99997561e-01 1.24854703e-03 2.97218106e-04] [ 2.78271985e-02 -1.19737551e-03 9.99612031e-01 -1.83201897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.33463044 meters Centerline goodness [0,1] 0.29151757975703296 Centerline is valid? [False, False] Translation: X:1.30, Y:0.00, Z:-0.18 [[ 9.99596027e-01 2.07498243e-03 -2.83456642e-02 1.30324877e+00] [-2.04214870e-03 9.99997210e-01 1.18723314e-03 1.52811766e-03] [ 2.83480486e-02 -1.12886747e-03 9.99597476e-01 -1.83512496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36463044 meters Centerline goodness [0,1] 0.2938991005084083 Centerline is valid? [False, False] Translation: X:1.26, Y:0.00, Z:-0.18 [[ 9.99499902e-01 4.07827550e-03 -3.13578283e-02 1.25982046e+00] [-4.00682262e-03 9.99989232e-01 2.34113035e-03 6.21922702e-04] [ 3.13670384e-02 -2.21431430e-03 9.99505481e-01 -1.84154348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.39463044 meters Centerline goodness [0,1] 0.29061336890342293 Centerline is valid? [False, False] Translation: X:1.26, Y:0.00, Z:-0.18 [[ 9.99495001e-01 4.09739839e-03 -3.15111870e-02 1.26020295e+00] [-4.02698108e-03 9.99989252e-01 2.29781565e-03 8.84522839e-04] [ 3.15202634e-02 -2.16976030e-03 9.99500758e-01 -1.84199731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42463044 meters Centerline goodness [0,1] 0.293675154554494 Centerline is valid? [False, False] Translation: X:1.26, Y:0.00, Z:-0.18 [[ 9.99491283e-01 4.12560706e-03 -3.16252119e-02 1.26044671e+00] [-4.05362445e-03 9.99989046e-01 2.33989134e-03 5.91568444e-04] [ 3.16345189e-02 -2.21050426e-03 9.99497059e-01 -1.84196128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.454630439999995 meters Centerline goodness [0,1] 0.2917062020184594 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.00, Z:-0.18 [[ 9.99488625e-01 4.17039211e-03 -3.17032519e-02 1.26076589e+00] [-4.09383903e-03 9.99988547e-01 2.47920297e-03 -1.80959514e-04] [ 3.17132280e-02 -2.34814716e-03 9.99494251e-01 -1.84393234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48463044 meters Centerline goodness [0,1] 0.29174494180648225 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.00, Z:-0.18 [[ 9.99490898e-01 4.20420849e-03 -3.16270324e-02 1.26080821e+00] [-4.12384290e-03 9.99988102e-01 2.60584109e-03 -9.24927948e-04] [ 3.16376116e-02 -2.47408954e-03 9.99496343e-01 -1.84744975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.51463044 meters Centerline goodness [0,1] 0.29221494781875934 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.00, Z:-0.18 [[ 0.99948992 0.00426919 -0.03164913 1.26085959] [-0.00418468 0.9999875 0.00273588 -0.00137071] [ 0.03166042 -0.00260204 0.9994953 -0.18476926] [ 0. 0. 0. 1. ]] SLAMing on 45.54463044 meters Centerline goodness [0,1] 0.29557240597899503 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.00, Z:-0.18 [[ 0.99948945 0.00433499 -0.0316552 1.26089463] [-0.00424618 0.99998686 0.00287199 -0.00185916] [ 0.03166723 -0.00273611 0.99949472 -0.18479217] [ 0. 0. 0. 1. ]] SLAMing on 45.57463044 meters Centerline goodness [0,1] 0.2895280744057871 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:-0.18 [[ 0.99948654 -0.00322676 -0.03187853 1.28034383] [ 0.00335698 0.99998624 0.00403222 0.00292657] [ 0.03186508 -0.00413716 0.99948362 -0.1832272 ] [ 0. 0. 0. 1. ]] SLAMing on 45.60463044 meters Centerline goodness [0,1] 0.29082104810072096 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:-0.18 [[ 0.99948052 -0.00323787 -0.03206566 1.28091178] [ 0.0033698 0.99998608 0.00406107 0.00264278] [ 0.03205207 -0.00416701 0.99947751 -0.18341645] [ 0. 0. 0. 1. ]] SLAMing on 45.634630439999995 meters Centerline goodness [0,1] 0.2908075694700937 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:-0.18 [[ 0.99947282 -0.00328163 -0.03230045 1.28170355] [ 0.00341385 0.99998602 0.00403905 0.00240989] [ 0.03228674 -0.00414719 0.99947004 -0.18377163] [ 0. 0. 0. 1. ]] SLAMing on 45.664630439999996 meters Centerline goodness [0,1] 0.2926317156586865 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:-0.18 [[ 0.99946656 -0.00332909 -0.03248865 1.28237319] [ 0.00346382 0.99998563 0.00409162 0.00149093] [ 0.03247456 -0.00420197 0.99946373 -0.18410374] [ 0. 0. 0. 1. ]] SLAMing on 45.69463044 meters Centerline goodness [0,1] 0.29073406574431804 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:-0.18 [[ 9.99474733e-01 -3.27211897e-03 -3.22420880e-02 1.28151520e+00] [ 3.41040015e-03 9.99985218e-01 4.23478098e-03 8.31604929e-04] [ 3.22277546e-02 -4.34251500e-03 9.99471117e-01 -1.83682844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72463044 meters Centerline goodness [0,1] 0.293213356461405 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:-0.18 [[ 9.99481604e-01 -3.19100582e-03 -3.20365583e-02 1.28066013e+00] [ 3.33400704e-03 9.99984712e-01 4.41126253e-03 1.40544227e-04] [ 3.20219922e-02 -4.51578586e-03 9.99476963e-01 -1.83118866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75463044 meters Centerline goodness [0,1] 0.2912648709558584 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.00, Z:-0.18 [[ 9.99479518e-01 -3.14564586e-03 -3.21060474e-02 1.28072857e+00] [ 3.29222391e-03 9.99984394e-01 4.51359192e-03 -2.71099992e-04] [ 3.20913482e-02 -4.61694297e-03 9.99474276e-01 -1.82971085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78463044 meters Centerline goodness [0,1] 0.2929021637895558 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:-0.18 [[ 9.99461153e-01 -3.16055222e-03 -3.26713202e-02 1.28256312e+00] [ 3.30691504e-03 9.99984734e-01 4.42679226e-03 1.78114217e-04] [ 3.26568303e-02 -4.53244818e-03 9.99456346e-01 -1.83717566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.814630439999995 meters Centerline goodness [0,1] 0.29009597094933426 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:-0.18 [[ 9.99449076e-01 -3.28377962e-03 -3.30266681e-02 1.28386455e+00] [ 3.42539224e-03 9.99985178e-01 4.23216072e-03 6.75515911e-04] [ 3.30122811e-02 -4.34295842e-03 9.99445510e-01 -1.84418135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.844630439999996 meters Centerline goodness [0,1] 0.2888586486953516 Centerline is valid? [False, False] Translation: X:1.29, Y:0.00, Z:-0.19 [[ 9.99434737e-01 -3.37724704e-03 -3.34484808e-02 1.28527490e+00] [ 3.51509410e-03 9.99985567e-01 4.06322947e-03 1.23387178e-03] [ 3.34342755e-02 -4.17850724e-03 9.99432183e-01 -1.85065258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.87463044 meters Centerline goodness [0,1] 0.2910953711525549 Centerline is valid? [False, False] Translation: X:1.29, Y:0.00, Z:-0.19 [[ 0.99942299 -0.00346938 -0.03378826 1.28636102] [ 0.00360137 0.99998612 0.0038465 0.00224812] [ 0.03377444 -0.00396596 0.99942161 -0.1855126 ] [ 0. 0. 0. 1. ]] SLAMing on 45.90463044 meters Centerline goodness [0,1] 0.28663584560799915 Centerline is valid? [False, False] Translation: X:1.31, Y:0.00, Z:-0.18 [[ 9.99412858e-01 4.33192742e-03 -3.39878560e-02 1.30533654e+00] [-4.24682358e-03 9.99987665e-01 2.57574030e-03 9.35426381e-04] [ 3.39985947e-02 -2.42988755e-03 9.99418927e-01 -1.83199205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.93463044 meters Centerline goodness [0,1] 0.2885794830962577 Centerline is valid? [False, False] Translation: X:1.30, Y:0.00, Z:-0.18 [[ 0.99941885 0.00425079 -0.03382153 1.30455519] [-0.00417553 0.99998865 0.00229562 0.00257052] [ 0.03383091 -0.00215307 0.99942525 -0.18269162] [ 0. 0. 0. 1. ]] SLAMing on 45.96463044 meters Centerline goodness [0,1] 0.2936369958275382 Centerline is valid? [False, False] Translation: X:1.30, Y:0.01, Z:-0.18 [[ 0.99943579 0.00411838 -0.03333377 1.3028058 ] [-0.00406 0.9999901 0.0018187 0.00519047] [ 0.03334093 -0.00168234 0.99944262 -0.18186108] [ 0. 0. 0. 1. ]] SLAMing on 45.994630439999995 meters Centerline goodness [0,1] 0.29158195267552023 Centerline is valid? [False, False] Translation: X:1.30, Y:0.01, Z:-0.18 [[ 0.99943864 0.00402102 -0.03326021 1.30251167] [-0.00396872 0.99999078 0.00163852 0.00586751] [ 0.03326649 -0.0015056 0.99944538 -0.18170835] [ 0. 0. 0. 1. ]] SLAMing on 46.024630439999996 meters Centerline goodness [0,1] 0.2905879296908823 Centerline is valid? [False, False] Translation: X:1.30, Y:0.01, Z:-0.18 [[ 0.9994408 0.00392397 -0.03320689 1.30214043] [-0.00387621 0.99999136 0.00150253 0.00620718] [ 0.0332125 -0.00137297 0.99944737 -0.18134715] [ 0. 0. 0. 1. ]] SLAMing on 46.05463044 meters Centerline goodness [0,1] 0.29099567099567103 Centerline is valid? [False, False] Translation: X:1.30, Y:0.01, Z:-0.18 [[ 0.99944374 0.00381101 -0.03313143 1.3012531 ] [-0.00375932 0.99999162 0.00162245 0.00508952] [ 0.03313733 -0.00149699 0.99944969 -0.1803012 ] [ 0. 0. 0. 1. ]] SLAMing on 46.08463044 meters Centerline goodness [0,1] 0.2949699945444626 Centerline is valid? [False, False] Translation: X:1.30, Y:0.00, Z:-0.18 [[ 0.99945086 0.00384267 -0.03291205 1.30041434] [-0.00378375 0.99999113 0.00185237 0.00398968] [ 0.03291888 -0.00172682 0.99945654 -0.17975765] [ 0. 0. 0. 1. ]] SLAMing on 46.11463044 meters Centerline goodness [0,1] 0.29303505235091365 Centerline is valid? [False, False] Translation: X:1.32, Y:0.01, Z:-0.18 [[ 0.99950373 -0.00435367 -0.03119835 1.31889467] [ 0.00444922 0.99998562 0.00299362 0.00670357] [ 0.03118487 -0.00313094 0.99950873 -0.17805886] [ 0. 0. 0. 1. ]] SLAMing on 46.14463044 meters Centerline goodness [0,1] 0.2914815613543239 Centerline is valid? [False, False] Translation: X:1.34, Y:0.00, Z:-0.18 [[ 9.99554149e-01 2.57311235e-03 -2.97469573e-02 1.33548119e+00] [-2.54062656e-03 9.99996134e-01 1.12981571e-03 1.53685961e-03] [ 2.97497494e-02 -1.05373608e-03 9.99556823e-01 -1.75606004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.17463044 meters Centerline goodness [0,1] 0.2926325305094596 Centerline is valid? [False, False] Translation: X:1.34, Y:0.00, Z:-0.18 [[ 9.99556803e-01 2.59080958e-03 -2.96561156e-02 1.33525226e+00] [-2.55194588e-03 9.99995835e-01 1.34825233e-03 1.17266807e-04] [ 2.96594852e-02 -1.27197399e-03 9.99559251e-01 -1.75560865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.204630439999995 meters Centerline goodness [0,1] 0.2943982730706962 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.00, Z:-0.18 [[ 9.99552299e-01 2.66512478e-03 -2.98009755e-02 1.33578456e+00] [-2.62221340e-03 9.99995468e-01 1.47892044e-03 -3.83478459e-04] [ 2.98047820e-02 -1.40011381e-03 9.99554758e-01 -1.75817549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.23463044 meters Centerline goodness [0,1] 0.29663229343427755 Centerline is valid? [False, False] Translation: X:1.34, Y:0.00, Z:-0.18 [[ 0.99952983 0.00321971 -0.03049191 1.3379824 ] [-0.00317391 0.99999376 0.00155023 0.00165764] [ 0.03049671 -0.00145272 0.99953381 -0.17675916] [ 0. 0. 0. 1. ]] SLAMing on 46.26463044 meters Centerline goodness [0,1] 0.292652445593622 Centerline is valid? [False, False] Translation: X:1.34, Y:0.00, Z:-0.18 [[ 9.99510381e-01 3.22424077e-03 -3.11223849e-02 1.33977442e+00] [-3.18963855e-03 9.99994239e-01 1.16139410e-03 3.83157382e-03] [ 3.11259502e-02 -1.06155630e-03 9.99514907e-01 -1.77282487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.29463044 meters Centerline goodness [0,1] 0.290579945799458 Centerline is valid? [False, False] Translation: X:1.34, Y:0.01, Z:-0.18 [[ 9.99493880e-01 3.11050674e-03 -3.16592620e-02 1.34127966e+00] [-3.09218447e-03 9.99995022e-01 6.27677348e-04 6.46706004e-03] [ 3.16610568e-02 -5.29463389e-04 9.99498523e-01 -1.77820439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32463044 meters Centerline goodness [0,1] 0.28967107815665816 Centerline is valid? [False, False] Translation: X:1.34, Y:0.01, Z:-0.18 [[ 9.99479218e-01 3.07081335e-03 -3.21226284e-02 1.34257050e+00] [-3.06701300e-03 9.99995283e-01 1.67579714e-04 9.21234169e-03] [ 3.21229915e-02 -6.89719226e-05 9.99483921e-01 -1.78242929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.35463044 meters Centerline goodness [0,1] 0.2939252233858043 Centerline is valid? [False, False] Translation: X:1.30, Y:0.01, Z:-0.18 [[ 9.99411453e-01 4.09659395e-03 -3.40582633e-02 1.29629572e+00] [-4.06992604e-03 9.99991355e-01 8.52299360e-04 9.89631450e-03] [ 3.40614603e-02 -7.13183129e-04 9.99419486e-01 -1.77910323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.384630439999995 meters Centerline goodness [0,1] 0.2894298748189307 Centerline is valid? [False, False] Translation: X:1.32, Y:0.01, Z:-0.18 [[ 0.99944899 -0.00132555 -0.03316564 1.31741657] [ 0.00146122 0.99999066 0.00406668 0.0143427 ] [ 0.03315994 -0.0041129 0.9994416 -0.17720011] [ 0. 0. 0. 1. ]] SLAMing on 46.414630439999996 meters Centerline goodness [0,1] 0.29132070576024904 Centerline is valid? [False, False] Translation: X:1.31, Y:0.01, Z:-0.18 [[ 0.9994781 -0.00146944 -0.03227029 1.31449954] [ 0.00159974 0.99999067 0.00401228 0.014143 ] [ 0.0322641 -0.00406181 0.99947113 -0.17593823] [ 0. 0. 0. 1. ]] SLAMing on 46.44463044 meters Centerline goodness [0,1] 0.2966507177033493 Centerline is valid? [False, False] Translation: X:1.31, Y:0.01, Z:-0.18 [[ 0.99949355 -0.00159645 -0.03178197 1.31289007] [ 0.00172893 0.99998993 0.0041415 0.01270767] [ 0.03177503 -0.00419435 0.99948625 -0.17512045] [ 0. 0. 0. 1. ]] SLAMing on 46.47463044 meters Centerline goodness [0,1] 0.29209041962225446 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.17 [[ 0.99957205 -0.00197492 -0.02918586 1.35457679] [ 0.00209952 0.99998881 0.00423925 0.01233665] [ 0.02917716 -0.00429871 0.99956501 -0.1735624 ] [ 0. 0. 0. 1. ]] SLAMing on 46.50463044 meters Centerline goodness [0,1] 0.2924070036054319 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.17 [[ 0.99957135 -0.00182897 -0.02921952 1.35460803] [ 0.00197265 0.9999861 0.00488912 0.00861956] [ 0.02921017 -0.00494466 0.99956106 -0.17331469] [ 0. 0. 0. 1. ]] SLAMing on 46.53463044 meters Centerline goodness [0,1] 0.29028458853508643 Centerline is valid? [False, False] Translation: X:1.38, Y:0.01, Z:-0.17 [[ 9.99560497e-01 3.49536255e-03 -2.94380041e-02 1.37622627e+00] [-3.45529316e-03 9.99993034e-01 1.41190479e-03 5.63794764e-03] [ 2.94427342e-02 -1.30956732e-03 9.99565611e-01 -1.72581078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.564630439999995 meters Centerline goodness [0,1] 0.2965497700573222 Centerline is valid? [False, False] Translation: X:1.33, Y:0.00, Z:-0.17 [[ 9.99480556e-01 2.45265502e-03 -3.21341364e-02 1.33208884e+00] [-2.44529501e-03 9.99996974e-01 2.68336918e-04 2.58862700e-03] [ 3.21346973e-02 -1.89620088e-04 9.99483529e-01 -1.73058283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.594630439999996 meters Centerline goodness [0,1] 0.2925051223983608 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.17 [[ 0.99944534 -0.00443518 -0.03300533 1.34977228] [ 0.00449903 0.99998815 0.0018606 0.00715222] [ 0.03299668 -0.00200806 0.99945344 -0.17062551] [ 0. 0. 0. 1. ]] SLAMing on 46.62463044 meters Centerline goodness [0,1] 0.2941252643846851 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.17 [[ 0.999447 -0.00418764 -0.03298733 1.3497552 ] [ 0.00425927 0.99998872 0.00210155 0.00711505] [ 0.03297816 -0.00224089 0.99945356 -0.17068406] [ 0. 0. 0. 1. ]] SLAMing on 46.65463044 meters Centerline goodness [0,1] 0.29261406495829656 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.17 [[ 0.99944887 -0.00394604 -0.0329603 1.34968488] [ 0.00402333 0.99998931 0.00227921 0.00724052] [ 0.03295095 -0.00241057 0.99945406 -0.17068358] [ 0. 0. 0. 1. ]] SLAMing on 46.68463044 meters Centerline goodness [0,1] 0.29261406495829656 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.17 [[ 0.99944887 -0.00394604 -0.0329603 1.34968488] [ 0.00402333 0.99998931 0.00227921 0.00724052] [ 0.03295095 -0.00241057 0.99945406 -0.17068358] [ 0. 0. 0. 1. ]] SLAMing on 46.71463044 meters Centerline goodness [0,1] 0.2902721234197557 Centerline is valid? [False, False] Translation: X:1.37, Y:0.00, Z:-0.17 [[ 9.99446273e-01 4.02025094e-03 -3.30300466e-02 1.36969363e+00] [-4.00096747e-03 9.99991785e-01 6.49889721e-04 4.66061496e-03] [ 3.30323879e-02 -5.17377718e-04 9.99454148e-01 -1.68461787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.744630439999995 meters Centerline goodness [0,1] 0.29210724668891996 Centerline is valid? [False, False] Translation: X:1.37, Y:0.01, Z:-0.17 [[ 9.99443768e-01 3.90726455e-03 -3.31193120e-02 1.36983824e+00] [-3.89525844e-03 9.99992322e-01 4.27024999e-04 5.25484045e-03] [ 3.31207262e-02 -2.97779195e-04 9.99451314e-01 -1.68453785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.774630439999996 meters Centerline goodness [0,1] 0.29241447909008345 Centerline is valid? [False, False] Translation: X:1.37, Y:0.01, Z:-0.17 [[ 9.99443247e-01 3.94052642e-03 -3.31310721e-02 1.37001139e+00] [-3.92824858e-03 9.99992189e-01 4.35667140e-04 5.26589493e-03] [ 3.31325301e-02 -3.05277494e-04 9.99450920e-01 -1.68745092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80463044 meters Centerline goodness [0,1] 0.2931396531942069 Centerline is valid? [False, False] Translation: X:1.37, Y:0.00, Z:-0.17 [[ 9.99447397e-01 4.03902154e-03 -3.29937410e-02 1.36988554e+00] [-4.02157418e-03 9.99991736e-01 5.95152629e-04 4.79644911e-03] [ 3.29958722e-02 -4.62136969e-04 9.99455381e-01 -1.69075065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.83463044 meters Centerline goodness [0,1] 0.2941738714862927 Centerline is valid? [False, False] Translation: X:1.37, Y:0.00, Z:-0.17 [[ 9.99468275e-01 4.09724732e-03 -3.23478036e-02 1.36825046e+00] [-4.06363797e-03 9.99991133e-01 1.10467337e-03 1.62947986e-03] [ 3.23520429e-02 -9.72636229e-04 9.99476062e-01 -1.68787158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86463044 meters Centerline goodness [0,1] 0.29293562900155734 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.00, Z:-0.17 [[ 9.99469137e-01 4.04775543e-03 -3.23273951e-02 1.36784708e+00] [-4.00361071e-03 9.99990963e-01 1.43016505e-03 -1.01715015e-03] [ 3.23328919e-02 -1.29997953e-03 9.99476310e-01 -1.68214307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.89463044 meters Centerline goodness [0,1] 0.29594717866295994 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.00, Z:-0.17 [[ 0.99946443 0.00411865 -0.03246365 1.36788147] [-0.00405931 0.99998997 0.00189354 -0.00389637] [ 0.03247112 -0.00176075 0.99947112 -0.16772393] [ 0. 0. 0. 1. ]] SLAMing on 46.92463044 meters Centerline goodness [0,1] 0.2903682719546742 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.00, Z:-0.17 [[ 0.99946733 -0.00384777 -0.03240753 1.38822353] [ 0.0039519 0.99998723 0.00314964 -0.0021853 ] [ 0.032395 -0.00327604 0.99946978 -0.1662096 ] [ 0. 0. 0. 1. ]] SLAMing on 46.954630439999995 meters Centerline goodness [0,1] 0.2944853180545608 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.00, Z:-0.17 [[ 0.99946333 -0.00372166 -0.03254527 1.38866863] [ 0.00383798 0.99998647 0.0035123 -0.0040163 ] [ 0.03253175 -0.00363532 0.99946409 -0.16633064] [ 0. 0. 0. 1. ]] SLAMing on 46.98463044 meters Centerline goodness [0,1] 0.29677910772578886 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.01, Z:-0.17 [[ 0.99946111 -0.00376254 -0.03260872 1.38923709] [ 0.0038814 0.99998605 0.00358266 -0.00521693] [ 0.03259478 -0.0037073 0.99946177 -0.1668953 ] [ 0. 0. 0. 1. ]] SLAMing on 47.01463044 meters Centerline goodness [0,1] 0.29894376999605554 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.00, Z:-0.17 [[ 0.99946327 -0.00377985 -0.03254053 1.38889422] [ 0.00389392 0.99998649 0.0034428 -0.00455183] [ 0.03252707 -0.00356766 0.99946449 -0.16668452] [ 0. 0. 0. 1. ]] SLAMing on 47.04463044 meters Centerline goodness [0,1] 0.29254425636387127 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.00, Z:-0.17 [[ 0.99949543 0.00487895 -0.03138592 1.40903689] [-0.00479676 0.99998487 0.00269341 -0.0047695 ] [ 0.03139859 -0.0025415 0.99950371 -0.16507503] [ 0. 0. 0. 1. ]] SLAMing on 47.07463044 meters Centerline goodness [0,1] 0.29375256795623117 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.00, Z:-0.16 [[ 0.99950639 0.00520963 -0.03098131 1.40781473] [-0.00512773 0.99998315 0.00272244 -0.00314909] [ 0.03099498 -0.00256223 0.99951626 -0.16470672] [ 0. 0. 0. 1. ]] SLAMing on 47.10463044 meters Centerline goodness [0,1] 0.294854295309284 Centerline is valid? [False, False] Translation: X:1.41, Y:0.00, Z:-0.16 [[ 9.99502145e-01 5.75416837e-03 -3.10217843e-02 1.40792959e+00] [-5.67782459e-03 9.99980634e-01 2.54850159e-03 5.01541174e-04] [ 3.10358481e-02 -2.37109656e-03 9.99515460e-01 -1.64872423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.134630439999995 meters Centerline goodness [0,1] 0.29427698441935557 Centerline is valid? [False, False] Translation: X:1.41, Y:0.00, Z:-0.17 [[ 0.9994949 0.00547649 -0.03130409 1.40880152] [-0.0054193 0.99998349 0.00191149 0.0030251 ] [ 0.03131405 -0.00174088 0.99950808 -0.16530828] [ 0. 0. 0. 1. ]] SLAMing on 47.164630439999996 meters Centerline goodness [0,1] 0.29150853889943074 Centerline is valid? [False, False] Translation: X:1.41, Y:0.01, Z:-0.17 [[ 9.99486783e-01 5.28677344e-03 -3.15946446e-02 1.40971673e+00] [-5.24412704e-03 9.99985223e-01 1.43251050e-03 5.08457132e-03] [ 3.16017511e-02 -1.26608898e-03 9.99499738e-01 -1.65760116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.19463044 meters Centerline goodness [0,1] 0.29405370148929233 Centerline is valid? [False, False] Translation: X:1.41, Y:0.01, Z:-0.17 [[ 9.99477756e-01 5.16567196e-03 -3.18987613e-02 1.41061887e+00] [-5.13479766e-03 9.99986266e-01 1.04972618e-03 7.17550444e-03] [ 3.19037458e-02 -8.85384280e-04 9.99490554e-01 -1.66124538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22463044 meters Centerline goodness [0,1] 0.29265131550524903 Centerline is valid? [False, False] Translation: X:1.43, Y:0.02, Z:-0.16 [[ 9.99477478e-01 2.13022850e-04 -3.23222100e-02 1.43087578e+00] [-7.58275855e-05 9.99990984e-01 4.24577917e-03 1.72550194e-02] [ 3.23228230e-02 -4.24110974e-03 9.99468483e-01 -1.64924102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.25463044 meters Centerline goodness [0,1] 0.28988677303139476 Centerline is valid? [False, False] Translation: X:1.45, Y:0.02, Z:-0.16 [[ 0.99952704 0.00800847 -0.02969099 1.44953221] [-0.0079296 0.99996471 0.00277329 0.01843972] [ 0.02971215 -0.00253655 0.99955528 -0.16339659] [ 0. 0. 0. 1. ]] SLAMing on 47.28463044 meters Centerline goodness [0,1] 0.29259060113990754 Centerline is valid? [False, False] Translation: X:1.45, Y:0.02, Z:-0.16 [[ 0.9995375 0.00776389 -0.02940243 1.44827894] [-0.00769965 0.99996772 0.00229748 0.02044228] [ 0.02941931 -0.00207003 0.99956501 -0.16258194] [ 0. 0. 0. 1. ]] SLAMing on 47.314630439999995 meters Centerline goodness [0,1] 0.2931715636536344 Centerline is valid? [False, False] Translation: X:1.45, Y:0.02, Z:-0.16 [[ 0.99953826 0.00757158 -0.02942679 1.44810584] [-0.00751905 0.99996994 0.00189545 0.02224312] [ 0.02944026 -0.00167332 0.99956514 -0.16232993] [ 0. 0. 0. 1. ]] SLAMing on 47.344630439999996 meters Centerline goodness [0,1] 0.29251642080327345 Centerline is valid? [False, False] Translation: X:1.45, Y:0.02, Z:-0.16 [[ 9.99531984e-01 7.44687000e-03 -2.96708209e-02 1.44876189e+00] [-7.40245892e-03 9.99971311e-01 1.60635600e-03 2.38142422e-02] [ 2.96819320e-02 -1.38596717e-03 9.99558434e-01 -1.62460500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.37463044 meters Centerline goodness [0,1] 0.29469710119770876 Centerline is valid? [False, False] Translation: X:1.43, Y:0.03, Z:-0.16 [[ 9.99588198e-01 -3.63932624e-04 -2.86932220e-02 1.42858425e+00] [ 4.44245527e-04 9.99996002e-01 2.79269500e-03 2.90532659e-02] [ 2.86920909e-02 -2.80429180e-03 9.99584364e-01 -1.64610540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40463044 meters Centerline goodness [0,1] 0.2957849936267203 Centerline is valid? [False, False] Translation: X:1.43, Y:0.03, Z:-0.16 [[ 9.99593201e-01 -5.37007928e-04 -2.85156856e-02 1.42790686e+00] [ 6.12309002e-04 9.99996349e-01 2.63202327e-03 2.92363263e-02] [ 2.85141680e-02 -2.64841298e-03 9.99589880e-01 -1.64155516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.43463044 meters Centerline goodness [0,1] 0.2962309232193211 Centerline is valid? [False, False] Translation: X:1.43, Y:0.03, Z:-0.16 [[ 9.99603662e-01 -7.15197847e-04 -2.81426437e-02 1.42672506e+00] [ 7.85771597e-04 9.99996574e-01 2.49673658e-03 2.92886825e-02] [ 2.81407617e-02 -2.51786072e-03 9.99600799e-01 -1.63669134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46463044 meters Centerline goodness [0,1] 0.2991726253483399 Centerline is valid? [False, False] Translation: X:1.43, Y:0.03, Z:-0.16 [[ 9.99609888e-01 -8.16726360e-04 -2.79178147e-02 1.42591081e+00] [ 8.84142091e-04 9.99996723e-01 2.40253378e-03 2.94577170e-02] [ 2.79157610e-02 -2.42627984e-03 9.99607335e-01 -1.63235820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.494630439999995 meters Centerline goodness [0,1] 0.2981499051233396 Centerline is valid? [False, False] Translation: X:1.43, Y:0.03, Z:-0.16 [[ 9.99611819e-01 -8.54430857e-04 -2.78474818e-02 1.42550671e+00] [ 9.16558350e-04 9.99997120e-01 2.21830340e-03 3.08967650e-02] [ 2.78455062e-02 -2.24296614e-03 9.99609722e-01 -1.62934331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.524630439999996 meters Centerline goodness [0,1] 0.29794247549283637 Centerline is valid? [False, False] Translation: X:1.43, Y:0.03, Z:-0.16 [[ 9.99611692e-01 -9.24491826e-04 -2.78497866e-02 1.42551393e+00] [ 9.80237326e-04 9.99997543e-01 1.98806324e-03 3.21874890e-02] [ 2.78478803e-02 -2.01459066e-03 9.99610142e-01 -1.62947000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.55463044 meters Centerline goodness [0,1] 0.2958954902129861 Centerline is valid? [False, False] Translation: X:1.43, Y:0.03, Z:-0.16 [[ 9.99609379e-01 -1.06900878e-03 -2.79275078e-02 1.42575904e+00] [ 1.11462781e-03 9.99998070e-01 1.61796381e-03 3.38770228e-02] [ 2.79257243e-02 -1.64846058e-03 9.99608642e-01 -1.63080861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58463044 meters Centerline goodness [0,1] 0.2984502004985369 Centerline is valid? [False, False] Translation: X:1.43, Y:0.04, Z:-0.16 [[ 9.99605366e-01 -1.20925666e-03 -2.80650939e-02 1.42615106e+00] [ 1.24267060e-03 9.99998540e-01 1.17317636e-03 3.61055418e-02] [ 2.80636342e-02 -1.20758906e-03 9.99605409e-01 -1.63308283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.61463044 meters Centerline goodness [0,1] 0.29475268817204303 Centerline is valid? [False, False] Translation: X:1.43, Y:0.04, Z:-0.16 [[ 9.99599185e-01 -1.23465690e-03 -2.82832828e-02 1.42658418e+00] [ 1.25902372e-03 9.99998851e-01 8.43735410e-04 3.82281321e-02] [ 2.82822086e-02 -8.79006553e-04 9.99599592e-01 -1.63276592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64463044 meters Centerline goodness [0,1] 0.2954211345555171 Centerline is valid? [False, False] Translation: X:1.43, Y:0.04, Z:-0.16 [[ 9.99583141e-01 -1.07058451e-03 -2.88513127e-02 1.42789579e+00] [ 1.08202310e-03 9.99999342e-01 3.80857794e-04 4.24500555e-02] [ 2.88508860e-02 -4.11916817e-04 9.99583642e-01 -1.63477611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.67463044 meters Centerline goodness [0,1] 0.2945554165408344 Centerline is valid? [False, False] Translation: X:1.43, Y:0.04, Z:-0.16 [[ 9.99579430e-01 -1.18144648e-03 -2.89752756e-02 1.42852539e+00] [ 1.18184756e-03 9.99999302e-01 -3.28362253e-06 4.43908373e-02] [ 2.89752592e-02 -3.09621171e-05 9.99580129e-01 -1.64062588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.704630439999995 meters Centerline goodness [0,1] 0.2972197465382692 Centerline is valid? [False, False] Translation: X:1.43, Y:0.05, Z:-0.16 [[ 9.99580180e-01 -1.38385126e-03 -2.89404322e-02 1.42878709e+00] [ 1.37111772e-03 9.99998954e-01 -4.59831471e-04 4.62676195e-02] [ 2.89410383e-02 4.19957685e-04 9.99581032e-01 -1.64653010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.73463044 meters Centerline goodness [0,1] 0.29111859751518143 Centerline is valid? [False, False] Translation: X:1.45, Y:0.05, Z:-0.16 [[ 0.99958005 0.00632966 -0.02827818 1.44878268] [-0.00638772 0.99997767 -0.00196347 0.0459028 ] [ 0.02826512 0.00214328 0.99959816 -0.16352672] [ 0. 0. 0. 1. ]] SLAMing on 47.76463044 meters Centerline goodness [0,1] 0.29529794149512456 Centerline is valid? [False, False] Translation: X:1.45, Y:0.05, Z:-0.16 [[ 0.99957839 0.00620958 -0.02836348 1.44884039] [-0.00628126 0.9999773 -0.00243861 0.04868306] [ 0.02834769 0.00261574 0.9995947 -0.16345273] [ 0. 0. 0. 1. ]] SLAMing on 47.79463044 meters Centerline goodness [0,1] 0.292817322800749 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:-0.16 [[ 9.99580185e-01 -8.87084257e-04 -2.89597536e-02 1.46614589e+00] [ 8.62143014e-04 9.99999247e-01 -8.73713093e-04 5.51621302e-02] [ 2.89605068e-02 8.48378846e-04 9.99580197e-01 -1.60751067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82463044 meters Centerline goodness [0,1] 0.2945647466435687 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:-0.16 [[ 9.99578421e-01 -9.61961214e-04 -2.90181696e-02 1.46627722e+00] [ 9.33248393e-04 9.99999062e-01 -1.00300452e-03 5.55938161e-02] [ 2.90191072e-02 9.75500512e-04 9.99578381e-01 -1.60771900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.85463044 meters Centerline goodness [0,1] 0.2951139218574027 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:-0.16 [[ 9.99574168e-01 -1.00366462e-03 -2.91629192e-02 1.46700774e+00] [ 9.72476278e-04 9.99998940e-01 -1.08361553e-03 5.61032922e-02] [ 2.91639759e-02 1.05479384e-03 9.99574084e-01 -1.61337151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.884630439999995 meters Centerline goodness [0,1] 0.2919542709232097 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:-0.16 [[ 9.99572442e-01 -9.44121701e-04 -2.92239987e-02 1.46738321e+00] [ 9.13214839e-04 9.99999010e-01 -1.07091366e-03 5.65001129e-02] [ 2.92249808e-02 1.04376800e-03 9.99572314e-01 -1.61691652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.914630439999996 meters Centerline goodness [0,1] 0.29594033355802474 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:-0.16 [[ 9.99572935e-01 -9.54299338e-04 -2.92068044e-02 1.46747199e+00] [ 9.19577109e-04 9.99998854e-01 -1.20224913e-03 5.74305643e-02] [ 2.92079183e-02 1.17487778e-03 9.99572667e-01 -1.61904460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94463044 meters Centerline goodness [0,1] 0.29484263651525977 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:-0.16 [[ 9.99576679e-01 -9.77315865e-04 -2.90776134e-02 1.46712348e+00] [ 9.35451391e-04 9.99998506e-01 -1.45331768e-03 5.89207192e-02] [ 2.90789903e-02 1.42550177e-03 9.99576100e-01 -1.61875612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.97463044 meters Centerline goodness [0,1] 0.2941303689605952 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:-0.16 [[ 9.99580457e-01 -1.03850403e-03 -2.89453335e-02 1.46663096e+00] [ 9.84921307e-04 9.99997775e-01 -1.86536548e-03 6.12049129e-02] [ 2.89472063e-02 1.83607401e-03 9.99579256e-01 -1.61732223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00463044 meters Centerline goodness [0,1] 0.2932980293428249 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:-0.16 [[ 9.99579880e-01 -1.10994750e-03 -2.89625955e-02 1.46663402e+00] [ 1.04352208e-03 9.99996791e-01 -2.30850405e-03 6.37171719e-02] [ 2.89650649e-02 2.27731109e-03 9.99577830e-01 -1.61815292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.03463044 meters Centerline goodness [0,1] 0.2909852887170292 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:-0.16 [[ 9.99556221e-01 6.41673816e-04 -2.97816956e-02 1.46895304e+00] [-6.86255991e-04 9.99998659e-01 -1.48676860e-03 7.13626351e-02] [ 2.97807017e-02 1.50654667e-03 9.99555321e-01 -1.62503728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.064630439999995 meters Centerline goodness [0,1] 0.2885155262199173 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:-0.16 [[ 9.99557375e-01 5.44404205e-04 -2.97448688e-02 1.46877402e+00] [-6.00429832e-04 9.99998063e-01 -1.87463986e-03 7.36285596e-02] [ 2.97437906e-02 1.89166981e-03 9.99555766e-01 -1.62463754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.094630439999996 meters Centerline goodness [0,1] 0.28756009615384615 Centerline is valid? [False, False] Translation: X:1.47, Y:0.08, Z:-0.16 [[ 9.99563287e-01 4.10060501e-04 -2.95477106e-02 1.46812510e+00] [-4.75309106e-04 9.99997464e-01 -2.20125587e-03 7.53049029e-02] [ 2.95467331e-02 2.21433885e-03 9.99560947e-01 -1.62224876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12463044 meters Centerline goodness [0,1] 0.29225785552316164 Centerline is valid? [False, False] Translation: X:1.47, Y:0.08, Z:-0.16 [[ 9.99565735e-01 3.35176958e-04 -2.94657396e-02 1.46783101e+00] [-4.04192578e-04 9.99997189e-01 -2.33630776e-03 7.59174636e-02] [ 2.94648737e-02 2.34720302e-03 9.99563060e-01 -1.62104324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.15463044 meters Centerline goodness [0,1] 0.29414929098616405 Centerline is valid? [False, False] Translation: X:1.47, Y:0.08, Z:-0.16 [[ 9.99552331e-01 -1.11167763e-04 -2.99186389e-02 1.46937040e+00] [ 3.24079229e-05 9.99996533e-01 -2.63293939e-03 7.59921032e-02] [ 2.99188278e-02 2.63079110e-03 9.99548870e-01 -1.62693580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18463044 meters Centerline goodness [0,1] 0.2915512614063339 Centerline is valid? [False, False] Translation: X:1.47, Y:0.08, Z:-0.16 [[ 9.99550566e-01 -2.34068014e-04 -2.99768607e-02 1.46972555e+00] [ 1.56604189e-04 9.99996643e-01 -2.58644238e-03 7.51736453e-02] [ 2.99773654e-02 2.58058545e-03 9.99547247e-01 -1.62923946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.21463044 meters Centerline goodness [0,1] 0.2958448993754337 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:-0.16 [[ 9.99548769e-01 -3.31896633e-04 -3.00357726e-02 1.46982120e+00] [ 2.56291426e-04 9.99996789e-01 -2.52098686e-03 7.43338632e-02] [ 3.00365129e-02 2.51215140e-03 9.99545645e-01 -1.62763223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.244630439999995 meters Centerline goodness [0,1] 0.2917907091302392 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:-0.16 [[ 9.99520488e-01 -8.62189348e-03 -2.97398114e-02 1.48946981e+00] [ 8.58074002e-03 9.99962043e-01 -1.51113134e-03 7.87415572e-02] [ 2.97517113e-02 1.25521715e-03 9.99556532e-01 -1.61203902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.274630439999996 meters Centerline goodness [0,1] 0.2975830162573504 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:-0.16 [[ 9.99594869e-01 -1.52075061e-03 -2.84215677e-02 1.47158628e+00] [ 1.45667744e-03 9.99996351e-01 -2.27495434e-03 7.08442379e-02] [ 2.84249236e-02 2.23263163e-03 9.99593437e-01 -1.63127381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30463044 meters Centerline goodness [0,1] 0.2979131221329657 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:-0.16 [[ 9.99594707e-01 -1.45546638e-03 -2.84306693e-02 1.47159840e+00] [ 1.39610965e-03 9.99996805e-01 -2.10750963e-03 7.01186696e-02] [ 2.84336459e-02 2.06696314e-03 9.99593545e-01 -1.63073882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.33463044 meters Centerline goodness [0,1] 0.29600499913807965 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:-0.16 [[ 9.99601629e-01 -1.47426712e-03 -2.81852821e-02 1.47100251e+00] [ 1.41846722e-03 9.99996995e-01 -1.99964462e-03 6.91757939e-02] [ 2.81881454e-02 1.95886812e-03 9.99600716e-01 -1.62995355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36463044 meters Centerline goodness [0,1] 0.2946579958362844 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:-0.16 [[ 0.9996103 -0.00152298 -0.02787342 1.47003738] [ 0.00147147 0.99999717 -0.00186859 0.06794521] [ 0.02787618 0.00182684 0.99960971 -0.1625865 ] [ 0. 0. 0. 1. ]] SLAMing on 48.39463044 meters Centerline goodness [0,1] 0.29952339688041596 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:-0.16 [[ 0.99961803 -0.00152485 -0.02759481 1.46914047] [ 0.00147925 0.99999751 -0.00167296 0.06661072] [ 0.0275973 0.0016315 0.99961779 -0.16217685] [ 0. 0. 0. 1. ]] SLAMing on 48.42463044 meters Centerline goodness [0,1] 0.29805061927840604 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:-0.16 [[ 9.99620303e-01 -1.41366892e-03 -2.75182116e-02 1.46869262e+00] [ 1.37564860e-03 9.99998073e-01 -1.40052426e-03 6.54288222e-02] [ 2.75201385e-02 1.36213710e-03 9.99620321e-01 -1.61745464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.454630439999995 meters Centerline goodness [0,1] 0.29854227405247813 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:-0.16 [[ 9.99616772e-01 -1.21091701e-03 -2.76557847e-02 1.46909591e+00] [ 1.18169820e-03 9.99998726e-01 -1.07283627e-03 6.44490935e-02] [ 2.76570486e-02 1.03974434e-03 9.99616930e-01 -1.61807372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48463044 meters Centerline goodness [0,1] 0.30078553750134507 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:-0.16 [[ 9.99612665e-01 -1.22304558e-03 -2.78033041e-02 1.46973080e+00] [ 1.19140999e-03 9.99998624e-01 -1.15437278e-03 6.47352173e-02] [ 2.78046777e-02 1.12080052e-03 9.99612747e-01 -1.62221996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.51463044 meters Centerline goodness [0,1] 0.294691154775395 Centerline is valid? [False, False] Translation: X:1.49, Y:0.06, Z:-0.16 [[ 0.99961137 0.00669529 -0.02706071 1.48870129] [-0.00676929 0.99997359 -0.00264397 0.06228395] [ 0.02704229 0.00282613 0.9996303 -0.16019581] [ 0. 0. 0. 1. ]] SLAMing on 48.54463044 meters Centerline goodness [0,1] 0.29413894449887124 Centerline is valid? [False, False] Translation: X:1.49, Y:0.06, Z:-0.16 [[ 0.99961889 0.00673239 -0.02677225 1.48780813] [-0.00680545 0.99997336 -0.00263853 0.06245292] [ 0.02675377 0.00281972 0.99963808 -0.15992754] [ 0. 0. 0. 1. ]] SLAMing on 48.57463044 meters Centerline goodness [0,1] 0.29413894449887124 Centerline is valid? [False, False] Translation: X:1.49, Y:0.06, Z:-0.16 [[ 0.99961889 0.00673239 -0.02677225 1.48780813] [-0.00680545 0.99997336 -0.00263853 0.06245292] [ 0.02675377 0.00281972 0.99963808 -0.15992754] [ 0. 0. 0. 1. ]] SLAMing on 48.60463044 meters Centerline goodness [0,1] 0.29663542984581737 Centerline is valid? [False, False] Translation: X:1.49, Y:0.06, Z:-0.16 [[ 0.99962387 0.00679015 -0.02657072 1.48722142] [-0.00686135 0.99997311 -0.00258948 0.06251197] [ 0.02655242 0.00277082 0.99964358 -0.15976742] [ 0. 0. 0. 1. ]] SLAMing on 48.634630439999995 meters Centerline goodness [0,1] 0.2985762595041679 Centerline is valid? [False, False] Translation: X:1.49, Y:0.06, Z:-0.16 [[ 0.99962443 0.00683778 -0.02653772 1.4871973 ] [-0.00690724 0.99997295 -0.00252626 0.06233875] [ 0.02651972 0.00270861 0.99964462 -0.159874 ] [ 0. 0. 0. 1. ]] SLAMing on 48.664630439999996 meters Centerline goodness [0,1] 0.2990155687584024 Centerline is valid? [False, False] Translation: X:1.49, Y:0.06, Z:-0.16 [[ 0.99962246 0.00681653 -0.02661699 1.48760078] [-0.00688691 0.99997303 -0.00255332 0.06231111] [ 0.02659887 0.00273567 0.99964244 -0.16020439] [ 0. 0. 0. 1. ]] SLAMing on 48.69463044 meters Centerline goodness [0,1] 0.29977923989265 Centerline is valid? [False, False] Translation: X:1.49, Y:0.06, Z:-0.16 [[ 0.99962076 0.00680142 -0.02668462 1.48769669] [-0.00687325 0.999973 -0.0026008 0.06249541] [ 0.02666621 0.00278322 0.99964052 -0.16013522] [ 0. 0. 0. 1. ]] SLAMing on 48.72463044 meters Centerline goodness [0,1] 0.2977033513420435 Centerline is valid? [False, False] Translation: X:1.50, Y:0.07, Z:-0.16 [[ 9.99659204e-01 -2.46706015e-04 -2.61039454e-02 1.50375661e+00] [ 2.27871425e-04 9.99999712e-01 -7.24494973e-04 6.85076542e-02] [ 2.61041166e-02 7.18299724e-04 9.99658971e-01 -1.57110121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.75463044 meters Centerline goodness [0,1] 0.3021243456063687 Centerline is valid? [False, False] Translation: X:1.50, Y:0.07, Z:-0.16 [[ 9.99656946e-01 -2.64571275e-04 -2.61900823e-02 1.50396349e+00] [ 2.41944120e-04 9.99999595e-01 -8.67123962e-04 6.93444557e-02] [ 2.61903011e-02 8.60489955e-04 9.99656605e-01 -1.57172756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.78463044 meters Centerline goodness [0,1] 0.297896642386104 Centerline is valid? [False, False] Translation: X:1.50, Y:0.07, Z:-0.16 [[ 9.99652007e-01 -3.30155733e-04 -2.63771875e-02 1.50463281e+00] [ 3.01822565e-04 9.99999373e-01 -1.07812833e-03 7.04098718e-02] [ 2.63775269e-02 1.06979192e-03 9.99651480e-01 -1.57536338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.814630439999995 meters Centerline goodness [0,1] 0.29515870471304906 Centerline is valid? [False, False] Translation: X:1.51, Y:0.07, Z:-0.16 [[ 9.99647241e-01 -3.34277646e-04 -2.65571264e-02 1.50540876e+00] [ 3.01374188e-04 9.99999182e-01 -1.24296192e-03 7.14438132e-02] [ 2.65575202e-02 1.23451982e-03 9.99646525e-01 -1.58140430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.844630439999996 meters Centerline goodness [0,1] 0.3006753812636166 Centerline is valid? [False, False] Translation: X:1.46, Y:0.07, Z:-0.16 [[ 9.99584315e-01 -2.15833933e-04 -2.88296949e-02 1.46089111e+00] [ 1.73292656e-04 9.99998893e-01 -1.47809658e-03 6.98290529e-02] [ 2.88299820e-02 1.47248618e-03 9.99583245e-01 -1.59031165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.87463044 meters Centerline goodness [0,1] 0.29916795203232605 Centerline is valid? [False, False] Translation: X:1.46, Y:0.07, Z:-0.16 [[ 9.99581105e-01 -3.46644587e-04 -2.89395013e-02 1.46127965e+00] [ 2.89212608e-04 9.99997981e-01 -1.98871530e-03 7.25657691e-02] [ 2.89401322e-02 1.97951257e-03 9.99579187e-01 -1.59346612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90463044 meters Centerline goodness [0,1] 0.29523109833833916 Centerline is valid? [False, False] Translation: X:1.46, Y:0.07, Z:-0.16 [[ 9.99571942e-01 -4.90195350e-04 -2.92522060e-02 1.46209161e+00] [ 4.21276127e-04 9.99997121e-01 -2.36215149e-03 7.42573780e-02] [ 2.92532798e-02 2.34881710e-03 9.99569272e-01 -1.59518017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.93463044 meters Centerline goodness [0,1] 0.2985443738204222 Centerline is valid? [False, False] Translation: X:1.46, Y:0.08, Z:-0.16 [[ 9.99563811e-01 -6.05773157e-04 -2.95266177e-02 1.46290341e+00] [ 5.26634135e-04 9.99996249e-01 -2.68796322e-03 7.58891571e-02] [ 2.95281352e-02 2.67124103e-03 9.99560380e-01 -1.59855865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96463044 meters Centerline goodness [0,1] 0.2940709085833315 Centerline is valid? [False, False] Translation: X:1.46, Y:0.08, Z:-0.16 [[ 9.99568322e-01 -6.70551622e-04 -2.93720941e-02 1.46214481e+00] [ 5.85030518e-04 9.99995565e-01 -2.92014163e-03 7.73226701e-02] [ 2.93739220e-02 2.90169750e-03 9.99564282e-01 -1.59322173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.994630439999995 meters Centerline goodness [0,1] 0.29981551817688556 Centerline is valid? [False, False] Translation: X:1.46, Y:0.08, Z:-0.16 [[ 9.99578778e-01 -6.79743349e-04 -2.90138561e-02 1.46092064e+00] [ 5.96280893e-04 9.99995660e-01 -2.88519637e-03 7.72972603e-02] [ 2.90156914e-02 2.86668065e-03 9.99574846e-01 -1.58700236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.024630439999996 meters Centerline goodness [0,1] 0.30250573419310167 Centerline is valid? [False, False] Translation: X:1.46, Y:0.08, Z:-0.16 [[ 9.99584680e-01 -6.32613385e-04 -2.88108953e-02 1.46006548e+00] [ 5.54301850e-04 9.99996131e-01 -2.72602777e-03 7.67731652e-02] [ 2.88125083e-02 2.70892566e-03 9.99581163e-01 -1.58106737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.05463044 meters Centerline goodness [0,1] 0.29750752041254835 Centerline is valid? [False, False] Translation: X:1.46, Y:0.08, Z:-0.16 [[ 9.99580420e-01 -6.23547065e-04 -2.89584999e-02 1.46041832e+00] [ 5.47986694e-04 9.99996425e-01 -2.61712679e-03 7.62498473e-02] [ 2.89600283e-02 2.60015983e-03 9.99577189e-01 -1.58032762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08463044 meters Centerline goodness [0,1] 0.30244157428179386 Centerline is valid? [False, False] Translation: X:1.42, Y:0.07, Z:-0.16 [[ 9.99465523e-01 -1.18515168e-03 -3.26690043e-02 1.41954501e+00] [ 1.07894585e-03 9.99994077e-01 -3.26840335e-03 7.33879340e-02] [ 3.26726843e-02 3.23140838e-03 9.99460882e-01 -1.60121287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.11463044 meters Centerline goodness [0,1] 0.29893330460079737 Centerline is valid? [False, False] Translation: X:1.42, Y:0.07, Z:-0.16 [[ 9.99457697e-01 -1.20761055e-03 -3.29067525e-02 1.42034889e+00] [ 1.09725604e-03 9.99993715e-01 -3.37140409e-03 7.40026352e-02] [ 3.29106170e-02 3.33346863e-03 9.99452740e-01 -1.60539172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14463044 meters Centerline goodness [0,1] 0.2988304472836544 Centerline is valid? [False, False] Translation: X:1.42, Y:0.07, Z:-0.16 [[ 9.99460753e-01 -1.24327784e-03 -3.28124534e-02 1.41980505e+00] [ 1.12892928e-03 9.99993226e-01 -3.50320975e-03 7.48261032e-02] [ 3.28165866e-02 3.46427772e-03 9.99455387e-01 -1.60076102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.17463044 meters Centerline goodness [0,1] 0.30343122370190434 Centerline is valid? [False, False] Translation: X:1.42, Y:0.08, Z:-0.16 [[ 9.99473176e-01 -1.21920865e-03 -3.24327542e-02 1.41817554e+00] [ 1.10468480e-03 9.99993093e-01 -3.54880120e-03 7.55409795e-02] [ 3.24368569e-02 3.51110363e-03 9.99467620e-01 -1.58996924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.204630439999995 meters Centerline goodness [0,1] 0.29678183188031426 Centerline is valid? [False, False] Translation: X:1.44, Y:0.07, Z:-0.16 [[ 0.99952591 0.00646446 -0.03010258 1.43653005] [-0.00661127 0.99996672 -0.00478007 0.07459853] [ 0.03007068 0.00497682 0.99953538 -0.15719681] [ 0. 0. 0. 1. ]] SLAMing on 49.23463044 meters Centerline goodness [0,1] 0.30189292211730057 Centerline is valid? [False, False] Translation: X:1.44, Y:0.08, Z:-0.16 [[ 0.99952446 0.00630563 -0.03018429 1.43681859] [-0.00646158 0.99996626 -0.00507169 0.07573945] [ 0.0301513 0.00526431 0.99953148 -0.1573567 ] [ 0. 0. 0. 1. ]] SLAMing on 49.26463044 meters Centerline goodness [0,1] 0.29814962410873924 Centerline is valid? [False, False] Translation: X:1.44, Y:0.08, Z:-0.16 [[ 0.99951211 0.00621181 -0.03060973 1.43829155] [-0.00637641 0.99996572 -0.00528284 0.0765939 ] [ 0.03057586 0.00547544 0.99951745 -0.15808356] [ 0. 0. 0. 1. ]] SLAMing on 49.29463044 meters Centerline goodness [0,1] 0.2982141312808094 Centerline is valid? [False, False] Translation: X:1.44, Y:0.08, Z:-0.16 [[ 0.99950246 0.00613222 -0.03093898 1.43941314] [-0.00630536 0.99996498 -0.00550202 0.07762592] [ 0.03090416 0.00569436 0.99950613 -0.15864765] [ 0. 0. 0. 1. ]] SLAMing on 49.32463044 meters Centerline goodness [0,1] 0.29571766731224447 Centerline is valid? [False, False] Translation: X:1.46, Y:0.08, Z:-0.16 [[ 9.99491442e-01 -1.35619258e-03 -3.18593574e-02 1.45778417e+00] [ 1.21842046e-03 9.99989825e-01 -4.34340080e-03 8.44049616e-02] [ 3.18649237e-02 4.30237384e-03 9.99482924e-01 -1.56470746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.35463044 meters Centerline goodness [0,1] 0.29487674997852786 Centerline is valid? [False, False] Translation: X:1.46, Y:0.09, Z:-0.16 [[ 9.99494273e-01 -1.50473989e-03 -3.17637365e-02 1.45743698e+00] [ 1.35308269e-03 9.99987586e-01 -4.79549411e-03 8.67731723e-02] [ 3.17705581e-02 4.75008993e-03 9.99483901e-01 -1.56306282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.384630439999995 meters Centerline goodness [0,1] 0.2994051121134863 Centerline is valid? [False, False] Translation: X:1.44, Y:0.08, Z:-0.16 [[ 0.99947371 0.00654462 -0.03177211 1.43775085] [-0.00674429 0.99995815 -0.00618138 0.08269854] [ 0.03173033 0.00639241 0.99947602 -0.15789512] [ 0. 0. 0. 1. ]] SLAMing on 49.414630439999996 meters Centerline goodness [0,1] 0.29773469785153295 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.16 [[ 9.99521218e-01 -1.29623540e-03 -3.09136516e-02 1.45494149e+00] [ 1.14020957e-03 9.99986527e-01 -5.06424412e-03 8.94189994e-02] [ 3.09197995e-02 5.02657141e-03 9.99509229e-01 -1.55671459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44463044 meters Centerline goodness [0,1] 0.2965612639678389 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.16 [[ 9.99536750e-01 -1.40203353e-03 -3.04026351e-02 1.45325119e+00] [ 1.23257213e-03 9.99983605e-01 -5.59192977e-03 9.27456009e-02] [ 3.04099768e-02 5.55186587e-03 9.99522091e-01 -1.55081389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.47463044 meters Centerline goodness [0,1] 0.298423107621287 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.16 [[ 9.99538686e-01 -1.49625608e-03 -3.03344156e-02 1.45316876e+00] [ 1.31858231e-03 9.99981865e-01 -5.87632618e-03 9.43869857e-02] [ 3.03426580e-02 5.83361692e-03 9.99522532e-01 -1.55219783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50463044 meters Centerline goodness [0,1] 0.2989985074949709 Centerline is valid? [False, False] Translation: X:1.45, Y:0.10, Z:-0.16 [[ 9.99538457e-01 -1.57775741e-03 -3.03378158e-02 1.45314893e+00] [ 1.39290191e-03 9.99980343e-01 -6.11340532e-03 9.56736850e-02] [ 3.03468649e-02 6.06832612e-03 9.99521007e-01 -1.55183870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.53463044 meters Centerline goodness [0,1] 0.2968568102444703 Centerline is valid? [False, False] Translation: X:1.45, Y:0.10, Z:-0.16 [[ 0.99954028 -0.00165712 -0.03027361 1.45290793] [ 0.00146818 0.99997931 -0.00626253 0.09632576] [ 0.03028337 0.0062152 0.99952203 -0.155034 ] [ 0. 0. 0. 1. ]] SLAMing on 49.564630439999995 meters Centerline goodness [0,1] 0.2991482554368974 Centerline is valid? [False, False] Translation: X:1.45, Y:0.10, Z:-0.15 [[ 0.99953651 -0.00171947 -0.03039411 1.45301701] [ 0.00152621 0.99997848 -0.00638076 0.09681753] [ 0.03040443 0.00633141 0.99951763 -0.15477057] [ 0. 0. 0. 1. ]] SLAMing on 49.594630439999996 meters Centerline goodness [0,1] 0.29678630781516413 Centerline is valid? [False, False] Translation: X:1.45, Y:0.10, Z:-0.15 [[ 0.99952691 -0.00171013 -0.03070868 1.45371759] [ 0.00151402 0.99997832 -0.00640836 0.09713324] [ 0.03071898 0.00635884 0.99950783 -0.15472392] [ 0. 0. 0. 1. ]] SLAMing on 49.62463044 meters Centerline goodness [0,1] 0.2968399240200311 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.16 [[ 9.99494207e-01 -1.47991245e-03 -3.17669636e-02 1.45698438e+00] [ 1.28663819e-03 9.99980544e-01 -6.10370694e-03 9.66253720e-02] [ 3.17753785e-02 6.05974713e-03 9.99476665e-01 -1.55862522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.65463044 meters Centerline goodness [0,1] 0.2932461779947104 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.16 [[ 9.99487757e-01 -1.43548859e-03 -3.19712761e-02 1.45771837e+00] [ 1.24605600e-03 9.99981557e-01 -5.94422290e-03 9.57947974e-02] [ 3.19792193e-02 5.90134001e-03 9.99471112e-01 -1.56201955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68463044 meters Centerline goodness [0,1] 0.3009226867238062 Centerline is valid? [False, False] Translation: X:1.41, Y:0.09, Z:-0.16 [[ 0.99943016 -0.00180295 -0.03370617 1.41213571] [ 0.00157917 0.99997654 -0.00666458 0.09219916] [ 0.0337174 0.00660755 0.99940956 -0.15682513] [ 0. 0. 0. 1. ]] SLAMing on 49.71463044 meters Centerline goodness [0,1] 0.2978908269435454 Centerline is valid? [False, False] Translation: X:1.41, Y:0.09, Z:-0.16 [[ 0.9994373 -0.00175767 -0.03349609 1.41152217] [ 0.0015398 0.9999775 -0.00652896 0.09148419] [ 0.03350681 0.00647371 0.99941752 -0.15663212] [ 0. 0. 0. 1. ]] SLAMing on 49.744630439999995 meters Centerline goodness [0,1] 0.29575124614289106 Centerline is valid? [False, False] Translation: X:1.41, Y:0.09, Z:-0.16 [[ 0.99943145 -0.00169532 -0.03367359 1.41216391] [ 0.00147586 0.99997752 -0.00654103 0.09193907] [ 0.03368392 0.00648761 0.99941148 -0.15698395] [ 0. 0. 0. 1. ]] SLAMing on 49.774630439999996 meters Centerline goodness [0,1] 0.2966608846487424 Centerline is valid? [False, False] Translation: X:1.41, Y:0.09, Z:-0.16 [[ 0.99942535 -0.00167097 -0.03385513 1.41285391] [ 0.00144495 0.99997652 -0.00669935 0.09314583] [ 0.03386552 0.00664658 0.9994043 -0.15743449] [ 0. 0. 0. 1. ]] SLAMing on 49.80463044 meters Centerline goodness [0,1] 0.29007323895543735 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.16 [[ 9.99460192e-01 -8.42974591e-04 -3.28422502e-02 1.45753253e+00] [ 6.49667635e-04 9.99982407e-01 -5.89614961e-03 9.79201705e-02] [ 3.28466427e-02 5.87163028e-03 9.99443156e-01 -1.56438503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.83463044 meters Centerline goodness [0,1] 0.295091878819287 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.16 [[ 9.99462392e-01 -8.66032791e-04 -3.27746327e-02 1.45670493e+00] [ 6.59778601e-04 9.99979916e-01 -6.30339629e-03 1.00721088e-01] [ 3.27794334e-02 6.27838353e-03 9.99442890e-01 -1.55553380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86463044 meters Centerline goodness [0,1] 0.2983242655059848 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.15 [[ 9.99468174e-01 -8.69246534e-04 -3.25977593e-02 1.45588167e+00] [ 6.64228085e-04 9.99979936e-01 -6.29964351e-03 1.00826059e-01] [ 3.26025812e-02 6.27464085e-03 9.99448698e-01 -1.54951809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.89463044 meters Centerline goodness [0,1] 0.2932053808585383 Centerline is valid? [False, False] Translation: X:1.50, Y:0.10, Z:-0.15 [[ 0.99954227 -0.00176057 -0.03020182 1.49785708] [ 0.00156823 0.99997835 -0.00639104 0.10309044] [ 0.03021242 0.00634075 0.99952339 -0.15318205] [ 0. 0. 0. 1. ]] SLAMing on 49.92463044 meters Centerline goodness [0,1] 0.29937837076826446 Centerline is valid? [False, False] Translation: X:1.50, Y:0.10, Z:-0.15 [[ 0.99955014 -0.00186297 -0.02993421 1.49714558] [ 0.00167769 0.99997929 -0.00621363 0.10156089] [ 0.02994516 0.00616061 0.99953256 -0.15293297] [ 0. 0. 0. 1. ]] SLAMing on 49.954630439999995 meters Centerline goodness [0,1] 0.2974152761052813 Centerline is valid? [False, False] Translation: X:1.50, Y:0.10, Z:-0.15 [[ 0.9995485 -0.00205258 -0.02997627 1.49733759] [ 0.00187288 0.99998012 -0.00602151 0.09959677] [ 0.02998803 0.00596265 0.99953247 -0.15295519] [ 0. 0. 0. 1. ]] SLAMing on 49.98463044 meters Centerline goodness [0,1] 0.3011780443600587 Centerline is valid? [False, False] Translation: X:1.50, Y:0.10, Z:-0.15 [[ 0.99955434 -0.00266012 -0.02973289 1.49694183] [ 0.00248903 0.99998014 -0.00579003 0.09531547] [ 0.0297477 0.00571344 0.99954111 -0.15291491] [ 0. 0. 0. 1. ]] SLAMing on 50.01463044 meters Centerline goodness [0,1] 0.3024573438110537 Centerline is valid? [False, False] Translation: X:1.50, Y:0.09, Z:-0.15 [[ 0.99955087 -0.00269944 -0.0298457 1.49733771] [ 0.00254051 0.9999824 -0.00536167 0.09253155] [ 0.02985965 0.00528344 0.99954014 -0.15298092] [ 0. 0. 0. 1. ]] SLAMing on 50.04463044 meters Centerline goodness [0,1] 0.3025848740227782 Centerline is valid? [False, False] Translation: X:1.50, Y:0.09, Z:-0.15 [[ 0.99954391 -0.0027728 -0.03007116 1.49802743] [ 0.00262445 0.9999842 -0.00497185 0.08960024] [ 0.03008447 0.00489066 0.9995354 -0.15308983] [ 0. 0. 0. 1. ]] SLAMing on 50.07463044 meters Centerline goodness [0,1] 0.30018110473890736 Centerline is valid? [False, False] Translation: X:1.50, Y:0.09, Z:-0.15 [[ 0.99953231 -0.00275857 -0.03045581 1.49903534] [ 0.00262208 0.99998635 -0.0045204 0.086607 ] [ 0.03046786 0.00443843 0.99952589 -0.15314518] [ 0. 0. 0. 1. ]] SLAMing on 50.10463044 meters Centerline goodness [0,1] 0.3027592316501372 Centerline is valid? [False, False] Translation: X:1.50, Y:0.08, Z:-0.15 [[ 0.99952898 -0.00266467 -0.03057311 1.49939534] [ 0.00254254 0.99998864 -0.00403264 0.08378435] [ 0.03058351 0.00395301 0.9995244 -0.15316523] [ 0. 0. 0. 1. ]] SLAMing on 50.134630439999995 meters Centerline goodness [0,1] 0.3048664739635014 Centerline is valid? [False, False] Translation: X:1.50, Y:0.08, Z:-0.15 [[ 0.99953233 -0.00247576 -0.03047938 1.49924537] [ 0.00238083 0.9999922 -0.00315039 0.07835285] [ 0.03048695 0.00307635 0.99953043 -0.15314225] [ 0. 0. 0. 1. ]] SLAMing on 50.164630439999996 meters Centerline goodness [0,1] 0.30087027702382496 Centerline is valid? [False, False] Translation: X:1.50, Y:0.08, Z:-0.15 [[ 0.99953783 -0.00229407 -0.03031267 1.49890849] [ 0.00221501 0.99999406 -0.0026413 0.07569059] [ 0.03031855 0.00257294 0.99953698 -0.15318978] [ 0. 0. 0. 1. ]] SLAMing on 50.19463044 meters Centerline goodness [0,1] 0.3074344911639244 Centerline is valid? [False, False] Translation: X:1.50, Y:0.07, Z:-0.15 [[ 0.99954237 -0.00216241 -0.03017227 1.49863371] [ 0.00209598 0.99999531 -0.00223306 0.07340649] [ 0.03017696 0.0021688 0.99954222 -0.15324666] [ 0. 0. 0. 1. ]] SLAMing on 50.22463044 meters Centerline goodness [0,1] 0.30168222690702573 Centerline is valid? [False, False] Translation: X:1.52, Y:0.07, Z:-0.15 [[ 0.99953938 0.00404215 -0.03007808 1.51997265] [-0.00417828 0.9999813 -0.00446464 0.06725712] [ 0.03005947 0.00458826 0.99953758 -0.15286165] [ 0. 0. 0. 1. ]] SLAMing on 50.25463044 meters Centerline goodness [0,1] 0.2983376890450281 Centerline is valid? [False, False] Translation: X:1.52, Y:0.07, Z:-0.15 [[ 0.99953305 0.00419068 -0.03026764 1.52078388] [-0.00431999 0.99998181 -0.00420809 0.06608081] [ 0.03024945 0.00433688 0.99953297 -0.153398 ] [ 0. 0. 0. 1. ]] SLAMing on 50.28463044 meters Centerline goodness [0,1] 0.3025375654960377 Centerline is valid? [False, False] Translation: X:1.52, Y:0.07, Z:-0.15 [[ 0.99953297 0.00429303 -0.03025588 1.52099309] [-0.00441619 0.99998223 -0.00400501 0.06502506] [ 0.03023815 0.00413676 0.99953416 -0.15375187] [ 0. 0. 0. 1. ]] SLAMing on 50.314630439999995 meters Centerline goodness [0,1] 0.30003882322491593 Centerline is valid? [False, False] Translation: X:1.52, Y:0.06, Z:-0.15 [[ 0.999531 0.00439434 -0.03030634 1.52119425] [-0.00451222 0.99998251 -0.00382235 0.06421749] [ 0.03028902 0.0039573 0.99953335 -0.15391098] [ 0. 0. 0. 1. ]] SLAMing on 50.344630439999996 meters Centerline goodness [0,1] 0.29884244372990354 Centerline is valid? [False, False] Translation: X:1.54, Y:0.07, Z:-0.15 [[ 9.99526239e-01 -2.09500597e-03 -3.07068190e-02 1.53871993e+00] [ 2.05553639e-03 9.99997020e-01 -1.31687928e-03 6.73993152e-02] [ 3.07094863e-02 1.25313641e-03 9.99527567e-01 -1.51249697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.37463044 meters Centerline goodness [0,1] 0.29941791782116545 Centerline is valid? [False, False] Translation: X:1.54, Y:0.07, Z:-0.15 [[ 9.99524825e-01 -1.99380229e-03 -3.07595319e-02 1.53898750e+00] [ 1.95796158e-03 9.99997369e-01 -1.19526652e-03 6.70811144e-02] [ 3.07618341e-02 1.13447257e-03 9.99526099e-01 -1.51467571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40463044 meters Centerline goodness [0,1] 0.298085375527969 Centerline is valid? [False, False] Translation: X:1.54, Y:0.07, Z:-0.15 [[ 9.99529212e-01 -1.90585905e-03 -3.06222323e-02 1.53866260e+00] [ 1.87477321e-03 9.99997698e-01 -1.04381919e-03 6.64281032e-02] [ 3.06241512e-02 9.85918034e-04 9.99530484e-01 -1.51464461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.43463044 meters Centerline goodness [0,1] 0.30234268532739195 Centerline is valid? [False, False] Translation: X:1.54, Y:0.07, Z:-0.15 [[ 9.99534214e-01 -1.86529451e-03 -3.04610400e-02 1.53806056e+00] [ 1.83939721e-03 9.99997923e-01 -8.78177172e-04 6.53581201e-02] [ 3.04626148e-02 8.21738178e-04 9.99535569e-01 -1.51122022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46463044 meters Centerline goodness [0,1] 0.3020541751001249 Centerline is valid? [False, False] Translation: X:1.54, Y:0.06, Z:-0.15 [[ 9.99536844e-01 -1.81291059e-03 -3.03778050e-02 1.53784857e+00] [ 1.79240809e-03 9.99998147e-01 -7.02134575e-04 6.43139911e-02] [ 3.03790216e-02 6.47359954e-04 9.99538241e-01 -1.51092377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.494630439999995 meters Centerline goodness [0,1] 0.3020541751001249 Centerline is valid? [False, False] Translation: X:1.54, Y:0.06, Z:-0.15 [[ 9.99536844e-01 -1.81291059e-03 -3.03778050e-02 1.53784857e+00] [ 1.79240809e-03 9.99998147e-01 -7.02134575e-04 6.43139911e-02] [ 3.03790216e-02 6.47359954e-04 9.99538241e-01 -1.51092377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.524630439999996 meters Centerline goodness [0,1] 0.30420006971070057 Centerline is valid? [False, False] Translation: X:1.54, Y:0.06, Z:-0.15 [[ 9.99537034e-01 -1.65967655e-03 -3.03803093e-02 1.53785729e+00] [ 1.64887454e-03 9.99998568e-01 -3.80608747e-04 6.30230994e-02] [ 3.03808975e-02 3.30339220e-04 9.99538339e-01 -1.51083771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.55463044 meters Centerline goodness [0,1] 0.30100856740049886 Centerline is valid? [False, False] Translation: X:1.54, Y:0.06, Z:-0.15 [[ 9.99531146e-01 -1.21312573e-03 -3.05943976e-02 1.53846174e+00] [ 1.23031386e-03 9.99999096e-01 5.42988060e-04 5.94846335e-02] [ 3.05937112e-02 -5.80374189e-04 9.99531734e-01 -1.51155849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58463044 meters Centerline goodness [0,1] 0.30356405070998327 Centerline is valid? [False, False] Translation: X:1.54, Y:0.06, Z:-0.15 [[ 9.99528929e-01 -1.06829943e-03 -3.06721060e-02 1.53876892e+00] [ 1.09829345e-03 9.99998935e-01 9.61061749e-04 5.74558858e-02] [ 3.06710467e-02 -9.94295995e-04 9.99529038e-01 -1.51288747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.61463044 meters Centerline goodness [0,1] 0.30307748870001516 Centerline is valid? [False, False] Translation: X:1.54, Y:0.06, Z:-0.15 [[ 9.99529657e-01 -9.97300839e-04 -3.06507915e-02 1.53887244e+00] [ 1.03849835e-03 9.99998579e-01 1.32820318e-03 5.50848728e-02] [ 3.06494233e-02 -1.35940926e-03 9.99529272e-01 -1.51465403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64463044 meters Centerline goodness [0,1] 0.3027636017645532 Centerline is valid? [False, False] Translation: X:1.54, Y:0.05, Z:-0.15 [[ 9.99545916e-01 -3.60655009e-03 -2.99157817e-02 1.53562954e+00] [ 3.59053373e-03 9.99993381e-01 -5.89083527e-04 4.94052068e-02] [ 2.99177083e-02 4.81402410e-04 9.99552249e-01 -1.49707451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.674630439999994 meters Centerline goodness [0,1] 0.3023045833691633 Centerline is valid? [False, False] Translation: X:1.54, Y:0.05, Z:-0.15 [[ 9.99551080e-01 -3.37397692e-03 -2.97700464e-02 1.53517903e+00] [ 3.37528189e-03 9.99994304e-01 -6.41730536e-06 4.67391510e-02] [ 2.97698985e-02 -9.40678741e-05 9.99556774e-01 -1.49479077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.704630439999995 meters Centerline goodness [0,1] 0.30421809595363314 Centerline is valid? [False, False] Translation: X:1.53, Y:0.04, Z:-0.15 [[ 9.99555230e-01 -3.14937398e-03 -2.96550640e-02 1.53484474e+00] [ 3.16661315e-03 9.99994843e-01 5.34377516e-04 4.43528217e-02] [ 2.96532282e-02 -6.28045957e-04 9.99560049e-01 -1.49327518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.73463044 meters Centerline goodness [0,1] 0.302532732345997 Centerline is valid? [False, False] Translation: X:1.53, Y:0.04, Z:-0.15 [[ 9.99556727e-01 -3.00316452e-03 -2.96197777e-02 1.53487455e+00] [ 3.03400514e-03 9.99994901e-01 9.96328861e-04 4.17180153e-02] [ 2.96166345e-02 -1.08575377e-03 9.99560742e-01 -1.49405723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76463044 meters Centerline goodness [0,1] 0.3065688635865995 Centerline is valid? [False, False] Translation: X:1.49, Y:0.04, Z:-0.15 [[ 9.99494556e-01 -3.68137407e-03 -3.15765816e-02 1.48923112e+00] [ 3.69547073e-03 9.99993096e-01 3.88079455e-04 3.56433854e-02] [ 3.15749349e-02 -5.04573636e-04 9.99501260e-01 -1.49658110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.79463044 meters Centerline goodness [0,1] 0.3039871438498958 Centerline is valid? [False, False] Translation: X:1.51, Y:0.03, Z:-0.15 [[ 9.99478508e-01 3.16730883e-03 -3.21353560e-02 1.50737249e+00] [-3.19454673e-03 9.99994580e-01 -7.96292122e-04 2.50568550e-02] [ 3.21326598e-02 8.98534758e-04 9.99483209e-01 -1.46741788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82463044 meters Centerline goodness [0,1] 0.30263243138186446 Centerline is valid? [False, False] Translation: X:1.51, Y:0.02, Z:-0.15 [[ 9.99473864e-01 3.40718591e-03 -3.22550289e-02 1.50775508e+00] [-3.41511981e-03 9.99994150e-01 -1.90885355e-04 2.22243212e-02] [ 3.22541898e-02 3.00939711e-04 9.99479653e-01 -1.46851969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.85463044 meters Centerline goodness [0,1] 0.3022284122562674 Centerline is valid? [False, False] Translation: X:1.53, Y:0.02, Z:-0.14 [[ 9.99465457e-01 -4.12544269e-03 -3.24311671e-02 1.52663166e+00] [ 4.17430850e-03 9.99990252e-01 1.43919224e-03 2.40264181e-02] [ 3.24249137e-02 -1.57380062e-03 9.99472935e-01 -1.44920117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.884630439999995 meters Centerline goodness [0,1] 0.3033941203192939 Centerline is valid? [False, False] Translation: X:1.53, Y:0.02, Z:-0.15 [[ 0.99946582 -0.00398863 -0.03243722 1.52682488] [ 0.00404863 0.99999021 0.00178416 0.02218051] [ 0.03242978 -0.00191454 0.99947218 -0.14514132] [ 0. 0. 0. 1. ]] SLAMing on 50.914630439999996 meters Centerline goodness [0,1] 0.30222394454132484 Centerline is valid? [False, False] Translation: X:1.53, Y:0.02, Z:-0.15 [[ 0.99946548 -0.00389827 -0.03245846 1.52680208] [ 0.00396585 0.9999901 0.00201802 0.02076229] [ 0.03245027 -0.00214567 0.99947105 -0.14500795] [ 0. 0. 0. 1. ]] SLAMing on 50.94463044 meters Centerline goodness [0,1] 0.29937039803649557 Centerline is valid? [False, False] Translation: X:1.55, Y:0.02, Z:-0.14 [[ 9.99496475e-01 4.63455281e-03 -3.13897727e-02 1.54594017e+00] [-4.59869146e-03 9.99988688e-01 1.21455086e-03 1.65088781e-02] [ 3.13950466e-02 -1.06958743e-03 9.99506482e-01 -1.43000770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.97463044 meters Centerline goodness [0,1] 0.3034919400146938 Centerline is valid? [False, False] Translation: X:1.53, Y:0.02, Z:-0.15 [[ 0.99951775 -0.00284763 -0.03092183 1.52632135] [ 0.00292889 0.99999238 0.0025828 0.02001697] [ 0.03091424 -0.00267212 0.99951847 -0.14525094] [ 0. 0. 0. 1. ]] SLAMing on 51.00463044 meters Centerline goodness [0,1] 0.3069160504567203 Centerline is valid? [False, False] Translation: X:1.53, Y:0.02, Z:-0.15 [[ 0.99952139 -0.00274693 -0.03081297 1.52607815] [ 0.00283067 0.99999242 0.00267464 0.01981891] [ 0.03080539 -0.00276059 0.99952159 -0.14528892] [ 0. 0. 0. 1. ]] SLAMing on 51.03463044 meters Centerline goodness [0,1] 0.3038579646209074 Centerline is valid? [False, False] Translation: X:1.55, Y:0.02, Z:-0.14 [[ 9.99493585e-01 5.00029475e-03 -3.14256442e-02 1.54582140e+00] [-4.95803307e-03 9.99986697e-01 1.42259579e-03 1.50137758e-02] [ 3.14323395e-02 -1.26606598e-03 9.99505080e-01 -1.43191425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.064630439999995 meters Centerline goodness [0,1] 0.30433847873758435 Centerline is valid? [False, False] Translation: X:1.55, Y:0.01, Z:-0.14 [[ 9.99487579e-01 5.05202821e-03 -3.16078440e-02 1.54635133e+00] [-5.00276324e-03 9.99986145e-01 1.63752068e-03 1.36547042e-02] [ 3.16156789e-02 -1.47855502e-03 9.99499006e-01 -1.43366426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.094630439999996 meters Centerline goodness [0,1] 0.30278661735615375 Centerline is valid? [False, False] Translation: X:1.55, Y:0.01, Z:-0.14 [[ 0.99948599 0.00519269 -0.03163514 1.54650285] [-0.00513005 0.99998472 0.00206092 0.01157844] [ 0.03164536 -0.00189757 0.99949736 -0.14344169] [ 0. 0. 0. 1. ]] SLAMing on 51.12463044 meters Centerline goodness [0,1] 0.30142399965635003 Centerline is valid? [False, False] Translation: X:1.55, Y:0.01, Z:-0.14 [[ 0.99948496 0.00527191 -0.03165459 1.54649899] [-0.00519405 0.99998328 0.00254127 0.0088391 ] [ 0.03166746 -0.00237554 0.99949564 -0.14328153] [ 0. 0. 0. 1. ]] SLAMing on 51.15463044 meters Centerline goodness [0,1] 0.30319504670679354 Centerline is valid? [False, False] Translation: X:1.55, Y:0.00, Z:-0.14 [[ 9.99494911e-01 1.69189963e-03 -3.17342142e-02 1.54677801e+00] [-1.69920256e-03 9.99998536e-01 -2.03161191e-04 3.61659918e-03] [ 3.17338240e-02 2.56981434e-04 9.99496322e-01 -1.43335575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18463044 meters Centerline goodness [0,1] 0.30259639437591646 Centerline is valid? [False, False] Translation: X:1.55, Y:0.00, Z:-0.14 [[ 9.99486663e-01 1.67002185e-03 -3.19940783e-02 1.54754237e+00] [-1.66580433e-03 9.99998600e-01 1.58476356e-04 1.01402818e-03] [ 3.19942981e-02 -1.05099130e-04 9.99488046e-01 -1.43492910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.21463044 meters Centerline goodness [0,1] 0.30497020468088787 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.00, Z:-0.14 [[ 9.99481938e-01 1.72164797e-03 -3.21386359e-02 1.54807721e+00] [-1.70562817e-03 9.99998407e-01 5.25868235e-04 -1.20583480e-03] [ 3.21394900e-02 -4.70779240e-04 9.99483282e-01 -1.43735015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.244630439999995 meters Centerline goodness [0,1] 0.30418201516793064 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.00, Z:-0.14 [[ 9.99480968e-01 1.86609478e-03 -3.21607141e-02 1.54819087e+00] [-1.83742620e-03 9.99997888e-01 9.20947149e-04 -3.03009531e-03] [ 3.21623647e-02 -8.61376210e-04 9.99482286e-01 -1.43766374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.274630439999996 meters Centerline goodness [0,1] 0.3057733428367784 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.00, Z:-0.14 [[ 9.99483156e-01 2.03841822e-03 -3.20821703e-02 1.54802937e+00] [-1.99850589e-03 9.99997189e-01 1.27608311e-03 -4.28376543e-03] [ 3.20846813e-02 -1.21130717e-03 9.99484420e-01 -1.43764690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30463044 meters Centerline goodness [0,1] 0.3030009472143288 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.01, Z:-0.14 [[ 9.99489513e-01 2.13544070e-03 -3.18771606e-02 1.54728487e+00] [-2.08730314e-03 9.99996631e-01 1.54329648e-03 -5.61733105e-03] [ 3.18803488e-02 -1.47597135e-03 9.99490603e-01 -1.43330678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.33463044 meters Centerline goodness [0,1] 0.3101627708283129 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.01, Z:-0.14 [[ 9.99404384e-01 1.55144248e-03 -3.44742006e-02 1.50263192e+00] [-1.51468082e-03 9.99998256e-01 1.09244353e-03 -7.70078621e-03] [ 3.44758353e-02 -1.03957545e-03 9.99404991e-01 -1.43991190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36463044 meters Centerline goodness [0,1] 0.3061330786926516 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.01, Z:-0.14 [[ 9.99395671e-01 1.52776512e-03 -3.47269172e-02 1.50336696e+00] [-1.49372626e-03 9.99998378e-01 1.00610951e-03 -7.19817916e-03] [ 3.47283979e-02 -9.53628980e-04 9.99396332e-01 -1.44241208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.39463044 meters Centerline goodness [0,1] 0.3056639572238632 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.01, Z:-0.14 [[ 9.99393297e-01 1.56530309e-03 -3.47935129e-02 1.50359004e+00] [-1.53312516e-03 9.99998372e-01 9.51485751e-04 -6.38741181e-03] [ 3.47949456e-02 -8.97565672e-04 9.99394069e-01 -1.44376649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.424630439999994 meters Centerline goodness [0,1] 0.3090233245657892 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.01, Z:-0.14 [[ 9.99409654e-01 1.49777019e-03 -3.43234672e-02 1.50213064e+00] [-1.47270115e-03 9.99998630e-01 7.55645995e-04 -5.06437157e-03] [ 3.43245519e-02 -7.04651693e-04 9.99410491e-01 -1.43830943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.454630439999995 meters Centerline goodness [0,1] 0.3070768440869417 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.00, Z:-0.14 [[ 9.99497007e-01 1.22419121e-03 -3.16896560e-02 1.54412699e+00] [-1.21608041e-03 9.99999223e-01 2.75216749e-04 -1.85387569e-03] [ 3.16899683e-02 -2.36541147e-04 9.99497719e-01 -1.42237350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48463044 meters Centerline goodness [0,1] 0.3056455592987576 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.00, Z:-0.14 [[ 9.99501618e-01 1.18742837e-03 -3.15452938e-02 1.54370396e+00] [-1.18026315e-03 9.99999273e-01 2.45760188e-04 -1.64792802e-03] [ 3.15455627e-02 -2.08405958e-04 9.99502293e-01 -1.42132119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.51463044 meters Centerline goodness [0,1] 0.3072765791863029 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.00, Z:-0.14 [[ 9.99477579e-01 9.97899000e-04 -3.23043884e-02 1.54583863e+00] [-9.93401565e-04 9.99999495e-01 1.55270062e-04 -1.42264758e-03] [ 3.23045270e-02 -1.23097715e-04 9.99478065e-01 -1.42652823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54463044 meters Centerline goodness [0,1] 0.30641161120576244 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.00, Z:-0.14 [[ 9.99459316e-01 7.52216598e-04 -3.28711013e-02 1.54752212e+00] [-7.52969499e-04 9.99999716e-01 -1.05258413e-05 -1.46268728e-03] [ 3.28710840e-02 3.52710868e-05 9.99459599e-01 -1.43181206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.57463044 meters Centerline goodness [0,1] 0.3083750027058034 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.00, Z:-0.14 [[ 9.99445948e-01 5.14935750e-04 -3.32796131e-02 1.54879960e+00] [-5.19613669e-04 9.99999856e-01 -1.31915592e-04 -1.78913092e-03] [ 3.32795404e-02 1.49135046e-04 9.99446072e-01 -1.43665096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.60463044 meters Centerline goodness [0,1] 0.3057309841364989 Centerline is valid? [False, False] Translation: X:1.57, Y:0.00, Z:-0.14 [[ 9.99414703e-01 -7.79884563e-03 -3.33081049e-02 1.56924264e+00] [ 7.82640912e-03 9.99969130e-01 6.97231743e-04 2.34539246e-03] [ 3.33016391e-02 -9.57506512e-04 9.99444888e-01 -1.42282198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.634630439999995 meters Centerline goodness [0,1] 0.30670452345615284 Centerline is valid? [False, False] Translation: X:1.57, Y:0.00, Z:-0.14 [[ 9.99421315e-01 -7.84088068e-03 -3.30991934e-02 1.56874334e+00] [ 7.87260887e-03 9.99968667e-01 8.28361447e-04 1.75924776e-03] [ 3.30916613e-02 -1.08845909e-03 9.99451728e-01 -1.42250012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.664630439999996 meters Centerline goodness [0,1] 0.30700713869778073 Centerline is valid? [False, False] Translation: X:1.57, Y:0.00, Z:-0.14 [[ 9.99426329e-01 -8.26019003e-03 -3.28448179e-02 1.56792269e+00] [ 8.29048149e-03 9.99965324e-01 7.86178095e-04 1.07327291e-03] [ 3.28371850e-02 -1.05802644e-03 9.99460154e-01 -1.41864810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.69463044 meters Centerline goodness [0,1] 0.31091099385111853 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.00, Z:-0.14 [[ 9.99462380e-01 -1.23175275e-03 -3.27633118e-02 1.55089722e+00] [ 1.20421912e-03 9.99998905e-01 -8.60099142e-04 -4.95469141e-03] [ 3.27643354e-02 8.20182529e-04 9.99462769e-01 -1.44547812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72463044 meters Centerline goodness [0,1] 0.3070408538034437 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.01, Z:-0.14 [[ 9.99444191e-01 -1.53290261e-03 -3.33010265e-02 1.55230669e+00] [ 1.50165681e-03 9.99998409e-01 -9.63273623e-04 -5.66790841e-03] [ 3.33024501e-02 9.12731514e-04 9.99444903e-01 -1.44773354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.75463044 meters Centerline goodness [0,1] 0.30960221856313375 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.01, Z:-0.14 [[ 9.99437454e-01 -1.68559866e-03 -3.34952766e-02 1.55271362e+00] [ 1.65650891e-03 9.99998226e-01 -8.96204604e-04 -6.76307350e-03] [ 3.34967278e-02 8.40215224e-04 9.99438474e-01 -1.44696226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78463044 meters Centerline goodness [0,1] 0.3083762082104493 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.01, Z:-0.14 [[ 9.99452583e-01 -2.25346478e-03 -3.30069245e-02 1.55127642e+00] [ 2.22595629e-03 9.99997144e-01 -8.70138169e-04 -9.14714143e-03] [ 3.30087911e-02 7.96189869e-04 9.99454744e-01 -1.44197499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.814630439999995 meters Centerline goodness [0,1] 0.31137828890050534 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.01, Z:-0.14 [[ 9.99455681e-01 -2.29842921e-03 -3.29098747e-02 1.55107453e+00] [ 2.27791485e-03 9.99997187e-01 -6.60829196e-04 -1.06454602e-02] [ 3.29113010e-02 5.85503601e-04 9.99458105e-01 -1.44214442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.844630439999996 meters Centerline goodness [0,1] 0.31120484533852477 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.01, Z:-0.14 [[ 9.99451839e-01 -2.33623880e-03 -3.30236810e-02 1.55144769e+00] [ 2.32075260e-03 9.99997178e-01 -5.07264720e-04 -1.19630241e-02] [ 3.30247729e-02 4.30346864e-04 9.99454441e-01 -1.44365243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.87463044 meters Centerline goodness [0,1] 0.30978966502207217 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.01, Z:-0.14 [[ 9.99449697e-01 -2.35362066e-03 -3.30872006e-02 1.55157740e+00] [ 2.34136953e-03 9.99997175e-01 -4.09008258e-04 -1.27963920e-02] [ 3.30880698e-02 3.31313816e-04 9.99452385e-01 -1.44320633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90463044 meters Centerline goodness [0,1] 0.3087270057863374 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.01, Z:-0.14 [[ 9.99447245e-01 -2.23069328e-03 -3.31696815e-02 1.55133611e+00] [ 2.21919066e-03 9.99997464e-01 -3.83591973e-04 -1.21369906e-02] [ 3.31704530e-02 3.09770093e-04 9.99449661e-01 -1.43656500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.93463044 meters Centerline goodness [0,1] 0.30875635891330233 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.01, Z:-0.14 [[ 9.99447986e-01 -2.24362339e-03 -3.31464768e-02 1.55102878e+00] [ 2.22478871e-03 9.99997342e-01 -6.05097114e-04 -1.06605589e-02] [ 3.31477463e-02 5.31019185e-04 9.99450321e-01 -1.43279633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96463044 meters Centerline goodness [0,1] 0.31070580617310595 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.01, Z:-0.14 [[ 9.99450880e-01 -2.30257685e-03 -3.30550541e-02 1.55066815e+00] [ 2.27418072e-03 9.99997012e-01 -8.96627047e-04 -9.01095762e-03] [ 3.30570199e-02 8.20961525e-04 9.99453130e-01 -1.43049041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.994630439999995 meters Centerline goodness [0,1] 0.3106867584654023 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.01, Z:-0.14 [[ 9.99455734e-01 -2.43281470e-03 -3.28985937e-02 1.55011087e+00] [ 2.39093865e-03 9.99996281e-01 -1.31216279e-03 -6.97460252e-03] [ 3.29016636e-02 1.23279011e-03 9.99457833e-01 -1.42785489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.024630439999996 meters Centerline goodness [0,1] 0.31243527787366243 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.00, Z:-0.14 [[ 0.99946094 -0.00244695 -0.03273913 1.54962804] [ 0.00238761 0.99999544 -0.00185164 -0.00324744] [ 0.03274351 0.00177247 0.99946222 -0.14263914] [ 0. 0. 0. 1. ]] SLAMing on 52.05463044 meters Centerline goodness [0,1] 0.31416248877991115 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.00, Z:-0.14 [[ 0.99944129 0.00596538 -0.03288657 1.52923384] [-0.00606223 0.99997757 -0.00284596 -0.00494588] [ 0.03286885 0.00304373 0.99945504 -0.14443508] [ 0. 0. 0. 1. ]] SLAMing on 52.08463044 meters Centerline goodness [0,1] 0.30905000865201593 Centerline is valid? [False, False] Translation: X:1.55, Y:0.00, Z:-0.14 [[ 9.99468759e-01 -1.63808222e-03 -3.25502205e-02 1.54811639e+00] [ 1.58606892e-03 9.99997424e-01 -1.62369599e-03 6.40474663e-04] [ 3.25527964e-02 1.57120653e-03 9.99468782e-01 -1.42285493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.11463044 meters Centerline goodness [0,1] 0.31408327883148024 Centerline is valid? [False, False] Translation: X:1.55, Y:0.00, Z:-0.14 [[ 9.99476151e-01 -1.68658210e-03 -3.23199359e-02 1.54732425e+00] [ 1.63094457e-03 9.99997143e-01 -1.74774722e-03 1.36691357e-03] [ 3.23227913e-02 1.69411964e-03 9.99476046e-01 -1.41906355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14463044 meters Centerline goodness [0,1] 0.3128323598640049 Centerline is valid? [False, False] Translation: X:1.55, Y:0.00, Z:-0.14 [[ 0.99948485 -0.00176624 -0.03204539 1.54658103] [ 0.00170811 0.99999685 -0.00184117 0.00169251] [ 0.03204854 0.00178548 0.99948472 -0.14174104] [ 0. 0. 0. 1. ]] SLAMing on 52.174630439999994 meters Centerline goodness [0,1] 0.31295041643291766 Centerline is valid? [False, False] Translation: X:1.55, Y:0.00, Z:-0.14 [[ 0.99948176 -0.00233233 -0.03210559 1.54704263] [ 0.00226068 0.99999487 -0.00226782 0.00219452] [ 0.03211072 0.00219406 0.99948191 -0.1422386 ] [ 0. 0. 0. 1. ]] SLAMing on 52.204630439999995 meters Centerline goodness [0,1] 0.30986971800805696 Centerline is valid? [False, False] Translation: X:1.55, Y:0.00, Z:-0.14 [[ 0.99947658 -0.0024986 -0.032254 1.54765799] [ 0.00242348 0.99999426 -0.00236777 0.00210119] [ 0.03225973 0.00228836 0.9994769 -0.14264472] [ 0. 0. 0. 1. ]] SLAMing on 52.23463044 meters Centerline goodness [0,1] 0.31350402150584256 Centerline is valid? [False, False] Translation: X:1.55, Y:0.00, Z:-0.14 [[ 0.9994756 -0.00262569 -0.03227421 1.54779164] [ 0.00254742 0.99999371 -0.00246595 0.00226427] [ 0.03228049 0.00238244 0.99947601 -0.14276463] [ 0. 0. 0. 1. ]] SLAMing on 52.26463044 meters Centerline goodness [0,1] 0.30774194936218724 Centerline is valid? [False, False] Translation: X:1.55, Y:0.00, Z:-0.14 [[ 0.99947616 -0.00265222 -0.03225479 1.54765799] [ 0.00257398 0.99999364 -0.0024671 0.00237217] [ 0.03226113 0.00238279 0.99947663 -0.14268644] [ 0. 0. 0. 1. ]] SLAMing on 52.29463044 meters Centerline goodness [0,1] 0.31218538448186084 Centerline is valid? [False, False] Translation: X:1.55, Y:0.00, Z:-0.14 [[ 0.99947916 -0.00275238 -0.0321534 1.54734332] [ 0.00267209 0.9999932 -0.00253995 0.00294614] [ 0.03216017 0.00245272 0.99947972 -0.14251319] [ 0. 0. 0. 1. ]] SLAMing on 52.32463044 meters Centerline goodness [0,1] 0.3105663969538315 Centerline is valid? [False, False] Translation: X:1.55, Y:0.00, Z:-0.14 [[ 0.99947366 -0.00276572 -0.03232257 1.54793478] [ 0.00268568 0.99999322 -0.00251931 0.00286786] [ 0.03232932 0.00243118 0.99947431 -0.14280174] [ 0. 0. 0. 1. ]] SLAMing on 52.35463044 meters Centerline goodness [0,1] 0.3101100501006294 Centerline is valid? [False, False] Translation: X:1.55, Y:0.00, Z:-0.14 [[ 0.99946668 -0.00280845 -0.032534 1.54863334] [ 0.00272734 0.99999306 -0.00253711 0.00284319] [ 0.0325409 0.00244703 0.99946741 -0.14309502] [ 0. 0. 0. 1. ]] SLAMing on 52.384630439999995 meters Centerline goodness [0,1] 0.3101100501006294 Centerline is valid? [False, False] Translation: X:1.55, Y:0.00, Z:-0.14 [[ 0.99946668 -0.00280845 -0.032534 1.54863334] [ 0.00272734 0.99999306 -0.00253711 0.00284319] [ 0.0325409 0.00244703 0.99946741 -0.14309502] [ 0. 0. 0. 1. ]] SLAMing on 52.414630439999996 meters Centerline goodness [0,1] 0.31106160235334834 Centerline is valid? [False, False] Translation: X:1.55, Y:0.00, Z:-0.14 [[ 0.99946134 -0.00283505 -0.03269532 1.54932952] [ 0.00275244 0.99999291 -0.00257144 0.00297354] [ 0.03270238 0.00248006 0.99946206 -0.14358575] [ 0. 0. 0. 1. ]] SLAMing on 52.44463044 meters Centerline goodness [0,1] 0.3066621026057935 Centerline is valid? [False, False] Translation: X:1.55, Y:0.00, Z:-0.14 [[ 0.99944163 -0.00296338 -0.03328128 1.55146462] [ 0.00287315 0.99999207 -0.0027584 0.00370094] [ 0.03328919 0.00266124 0.99944222 -0.1446726 ] [ 0. 0. 0. 1. ]] SLAMing on 52.47463044 meters Centerline goodness [0,1] 0.30988753819151016 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.00, Z:-0.15 [[ 9.99404556e-01 5.05710809e-03 -3.41314974e-02 1.53303714e+00] [-5.20152929e-03 9.99977886e-01 -4.14385018e-03 -3.20092886e-06] [ 3.41097867e-02 4.31891873e-03 9.99408760e-01 -1.46929634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50463044 meters Centerline goodness [0,1] 0.3095994639344617 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.00, Z:-0.15 [[ 9.99394420e-01 5.00715469e-03 -3.44343064e-02 1.53395585e+00] [-5.15338706e-03 9.99978071e-01 -4.15926425e-03 -1.34947738e-04] [ 3.44127252e-02 4.33419879e-03 9.99398309e-01 -1.47242270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.53463044 meters Centerline goodness [0,1] 0.30351430840900795 Centerline is valid? [False, False] Translation: X:1.56, Y:0.00, Z:-0.15 [[ 0.99933345 -0.00246443 -0.03642221 1.555398 ] [ 0.00236512 0.99999337 -0.00276934 0.00229782] [ 0.03642879 0.00268135 0.99933265 -0.14535339] [ 0. 0. 0. 1. ]] SLAMing on 52.564630439999995 meters Centerline goodness [0,1] 0.3077006202857204 Centerline is valid? [False, False] Translation: X:1.56, Y:0.00, Z:-0.15 [[ 0.99932604 -0.00240272 -0.03662915 1.55627602] [ 0.00230686 0.9999938 -0.0026591 0.00171844] [ 0.03663532 0.00257281 0.99932539 -0.1459035 ] [ 0. 0. 0. 1. ]] SLAMing on 52.594630439999996 meters Centerline goodness [0,1] 0.30419053361471204 Centerline is valid? [False, False] Translation: X:1.56, Y:0.00, Z:-0.15 [[ 0.99931845 -0.00237806 -0.03683711 1.55699331] [ 0.00228195 0.99999388 -0.00265087 0.00159086] [ 0.03684319 0.002565 0.99931777 -0.14621453] [ 0. 0. 0. 1. ]] SLAMing on 52.62463044 meters Centerline goodness [0,1] 0.3058861439312567 Centerline is valid? [False, False] Translation: X:1.56, Y:0.00, Z:-0.15 [[ 0.99931171 -0.00224797 -0.03702772 1.55742177] [ 0.00215352 0.99999433 -0.0025905 0.00162678] [ 0.03703333 0.00250898 0.99931088 -0.14615726] [ 0. 0. 0. 1. ]] SLAMing on 52.65463044 meters Centerline goodness [0,1] 0.30654723267990824 Centerline is valid? [False, False] Translation: X:1.56, Y:0.00, Z:-0.15 [[ 0.99931362 -0.00202767 -0.0369889 1.55710299] [ 0.00193353 0.9999948 -0.00258058 0.00240052] [ 0.03699394 0.00250729 0.99931234 -0.14579058] [ 0. 0. 0. 1. ]] SLAMing on 52.68463044 meters Centerline goodness [0,1] 0.30960074602589405 Centerline is valid? [False, False] Translation: X:1.56, Y:0.00, Z:-0.14 [[ 9.99320125e-01 1.78932734e-03 -3.68250677e-02 1.55580720e+00] [-1.76546890e-03 9.99998210e-01 6.80393618e-04 4.68519354e-03] [ 3.68262192e-02 -6.14917524e-04 9.99321496e-01 -1.44616433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.71463044 meters Centerline goodness [0,1] 0.3130408380142705 Centerline is valid? [False, False] Translation: X:1.56, Y:0.01, Z:-0.14 [[ 9.99319709e-01 1.96724591e-03 -3.68272788e-02 1.55581656e+00] [-1.95143437e-03 9.99997988e-01 4.65283588e-04 6.51561055e-03] [ 3.68281200e-02 -3.93101042e-04 9.99321537e-01 -1.44590586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.744630439999995 meters Centerline goodness [0,1] 0.30565697349770193 Centerline is valid? [False, False] Translation: X:1.58, Y:0.01, Z:-0.14 [[ 9.99290418e-01 1.04608367e-02 -3.61832936e-02 1.57615123e+00] [-1.04892952e-02 9.99944808e-01 -5.96762433e-04 5.32893770e-03] [ 3.61750540e-02 9.75876229e-04 9.99344992e-01 -1.43075297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.774630439999996 meters Centerline goodness [0,1] 0.3111893397835993 Centerline is valid? [False, False] Translation: X:1.58, Y:0.01, Z:-0.14 [[ 9.99294863e-01 1.06430620e-02 -3.60069630e-02 1.57554328e+00] [-1.06802603e-02 9.99942611e-01 -8.40893871e-04 7.40960616e-03] [ 3.59959469e-02 1.22486466e-03 9.99351185e-01 -1.42787263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80463044 meters Centerline goodness [0,1] 0.31052212636877996 Centerline is valid? [False, False] Translation: X:1.58, Y:0.01, Z:-0.14 [[ 9.99296378e-01 1.08479227e-02 -3.59036480e-02 1.57509891e+00] [-1.08923139e-02 9.99940135e-01 -1.04102321e-03 9.54063157e-03] [ 3.58902057e-02 1.43136453e-03 9.99354714e-01 -1.42472827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.83463044 meters Centerline goodness [0,1] 0.3117920229156721 Centerline is valid? [False, False] Translation: X:1.57, Y:0.01, Z:-0.14 [[ 0.99925456 0.01468833 -0.03570117 1.57448507] [-0.01462131 0.99989082 0.00213771 0.01306565] [ 0.03572867 -0.00161412 0.99936022 -0.14216858] [ 0. 0. 0. 1. ]] SLAMing on 52.86463044 meters Centerline goodness [0,1] 0.311129903076823 Centerline is valid? [False, False] Translation: X:1.57, Y:0.02, Z:-0.14 [[ 9.99255551e-01 1.46007309e-02 -3.57094048e-02 1.57447500e+00] [-1.45470932e-02 9.99892634e-01 1.76142913e-03 1.50420014e-02] [ 3.57312890e-02 -1.24064979e-03 9.99360664e-01 -1.42144135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.89463044 meters Centerline goodness [0,1] 0.30989436160500805 Centerline is valid? [False, False] Translation: X:1.57, Y:0.02, Z:-0.14 [[ 9.99260582e-01 1.44726001e-02 -3.56206969e-02 1.57404279e+00] [-1.44309628e-02 9.99894852e-01 1.42574613e-03 1.65496989e-02] [ 3.56375857e-02 -9.10650954e-04 9.99364365e-01 -1.41828264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.924630439999994 meters Centerline goodness [0,1] 0.3129306235645881 Centerline is valid? [False, False] Translation: X:1.59, Y:0.02, Z:-0.14 [[ 0.99937895 0.00676966 -0.03458164 1.59110683] [-0.0066765 0.99997377 0.00280853 0.02241133] [ 0.03459974 -0.0025759 0.99939793 -0.13849986] [ 0. 0. 0. 1. ]] SLAMing on 52.954630439999995 meters Centerline goodness [0,1] 0.3126322608507882 Centerline is valid? [False, False] Translation: X:1.61, Y:0.03, Z:-0.14 [[ 9.99434117e-01 -9.99710219e-04 -3.36221241e-02 1.60900259e+00] [ 1.14925215e-03 9.99989533e-01 4.42869249e-03 2.62423405e-02] [ 3.36173448e-02 -4.46482667e-03 9.99424804e-01 -1.35999082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98463044 meters Centerline goodness [0,1] 0.31022321620575455 Centerline is valid? [False, False] Translation: X:1.61, Y:0.03, Z:-0.14 [[ 9.99443285e-01 -9.44229016e-04 -3.33501043e-02 1.60814575e+00] [ 1.10000344e-03 9.99988570e-01 4.65284370e-03 2.50590108e-02] [ 3.33453297e-02 -4.68693862e-03 9.99432900e-01 -1.35641642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.01463044 meters Centerline goodness [0,1] 0.3142102528576377 Centerline is valid? [False, False] Translation: X:1.61, Y:0.02, Z:-0.14 [[ 9.99454827e-01 -1.02002797e-03 -3.30001307e-02 1.60728255e+00] [ 1.18238365e-03 9.99987292e-01 4.90070896e-03 2.29341439e-02] [ 3.29947125e-02 -4.93705604e-03 9.99443332e-01 -1.35519254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04463044 meters Centerline goodness [0,1] 0.3138668847942139 Centerline is valid? [False, False] Translation: X:1.61, Y:0.02, Z:-0.14 [[ 9.99468712e-01 -1.22740559e-03 -3.25697414e-02 1.60610778e+00] [ 1.39680072e-03 9.99985615e-01 5.17875404e-03 1.96407971e-02] [ 3.25629164e-02 -5.22149606e-03 9.99456048e-01 -1.35213270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.07463044 meters Centerline goodness [0,1] 0.3124798729040984 Centerline is valid? [False, False] Translation: X:1.61, Y:0.01, Z:-0.14 [[ 0.99945667 -0.00458552 -0.03263943 1.60617195] [ 0.00467882 0.99998518 0.00278268 0.01335155] [ 0.03262618 -0.00293388 0.99946332 -0.13502171] [ 0. 0. 0. 1. ]] SLAMing on 53.10463044 meters Centerline goodness [0,1] 0.3126939655172414 Centerline is valid? [False, False] Translation: X:1.61, Y:0.01, Z:-0.14 [[ 0.99944985 -0.00429453 -0.03288706 1.6070358 ] [ 0.00441357 0.99998397 0.00354785 0.00975243] [ 0.0328713 -0.00369105 0.99945278 -0.13538704] [ 0. 0. 0. 1. ]] SLAMing on 53.134630439999995 meters Centerline goodness [0,1] 0.3145015105740181 Centerline is valid? [False, False] Translation: X:1.61, Y:0.01, Z:-0.14 [[ 0.99944408 -0.00408039 -0.03308891 1.60790883] [ 0.00421985 0.9999825 0.00414581 0.00658857] [ 0.03307142 -0.00428313 0.99944381 -0.13589618] [ 0. 0. 0. 1. ]] SLAMing on 53.164630439999996 meters Centerline goodness [0,1] 0.31453173584987715 Centerline is valid? [False, False] Translation: X:1.61, Y:0.00, Z:-0.14 [[ 0.99944242 -0.00391646 -0.03315874 1.60830154] [ 0.00407134 0.99998111 0.00460493 0.00393883] [ 0.03314007 -0.00473736 0.99943949 -0.13617024] [ 0. 0. 0. 1. ]] SLAMing on 53.19463044 meters Centerline goodness [0,1] 0.31037731808642766 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.00, Z:-0.13 [[ 0.9994096 0.00441544 -0.03407284 1.62974511] [-0.00428223 0.9999829 0.00398178 -0.00332898] [ 0.03408984 -0.00383352 0.99941142 -0.13452476] [ 0. 0. 0. 1. ]] SLAMing on 53.22463044 meters Centerline goodness [0,1] 0.3120377621160707 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.01, Z:-0.14 [[ 0.99927659 0.00581843 -0.03758242 1.58744066] [-0.00563865 0.99997216 0.00488776 -0.00500285] [ 0.03760981 -0.00467231 0.99928158 -0.13594826] [ 0. 0. 0. 1. ]] SLAMing on 53.25463044 meters Centerline goodness [0,1] 0.310568895774163 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.00, Z:-0.14 [[ 0.99924998 0.0061766 -0.0382272 1.58922755] [-0.00598883 0.99996944 0.00502433 -0.00454869] [ 0.03825706 -0.00479162 0.99925644 -0.1363803 ] [ 0. 0. 0. 1. ]] SLAMing on 53.28463044 meters Centerline goodness [0,1] 0.3099305465683102 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.00, Z:-0.14 [[ 0.99925284 0.00643118 -0.03811046 1.58898547] [-0.00624248 0.99996767 0.00506843 -0.00396035] [ 0.03814182 -0.00482674 0.99926068 -0.13647994] [ 0. 0. 0. 1. ]] SLAMing on 53.314630439999995 meters Centerline goodness [0,1] 0.31254856254856256 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.00, Z:-0.14 [[ 0.99926097 0.00658675 -0.03786982 1.58841777] [-0.00640229 0.99996705 0.00499026 -0.00305379] [ 0.03790144 -0.00474412 0.99927022 -0.13648655] [ 0. 0. 0. 1. ]] SLAMing on 53.344630439999996 meters Centerline goodness [0,1] 0.31233743714236173 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.00, Z:-0.14 [[ 9.99263551e-01 6.98514817e-03 -3.77301465e-02 1.58848362e+00] [-6.80218420e-03 9.99964487e-01 4.97547416e-03 -1.58828144e-03] [ 3.77635610e-02 -4.71516257e-03 9.99275578e-01 -1.37150008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.37463044 meters Centerline goodness [0,1] 0.30997583707283394 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.00, Z:-0.14 [[ 9.99248542e-01 6.96188162e-03 -3.81298309e-02 1.58992770e+00] [-6.78443568e-03 9.99965555e-01 4.78114785e-03 -4.88757823e-04] [ 3.81618033e-02 -4.51886563e-03 9.99261356e-01 -1.37959947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40463044 meters Centerline goodness [0,1] 0.3093959731543624 Centerline is valid? [False, False] Translation: X:1.59, Y:0.00, Z:-0.14 [[ 9.99227727e-01 6.97327507e-03 -3.86694171e-02 1.59163431e+00] [-6.79653424e-03 9.99965857e-01 4.70013629e-03 8.32277275e-05] [ 3.87008721e-02 -4.43368848e-03 9.99241004e-01 -1.38643221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.43463044 meters Centerline goodness [0,1] 0.31102844638949667 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.00, Z:-0.14 [[ 9.99211583e-01 7.00207142e-03 -3.90791980e-02 1.59295340e+00] [-6.82180257e-03 9.99965476e-01 4.74435373e-03 -8.34049576e-07] [ 3.91110691e-02 -4.47402263e-03 9.99224853e-01 -1.39194921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46463044 meters Centerline goodness [0,1] 0.3074990796682475 Centerline is valid? [False, False] Translation: X:1.61, Y:0.00, Z:-0.14 [[ 9.99225218e-01 -9.65864829e-04 -3.93450120e-02 1.61284922e+00] [ 1.18628190e-03 9.99983733e-01 5.57919965e-03 4.60735579e-03] [ 3.93389832e-02 -5.62155126e-03 9.99210109e-01 -1.37680334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.494630439999995 meters Centerline goodness [0,1] 0.30735642073564207 Centerline is valid? [False, False] Translation: X:1.61, Y:0.00, Z:-0.14 [[ 9.99223941e-01 -9.59538895e-04 -3.93775895e-02 1.61273950e+00] [ 1.18308852e-03 9.99983315e-01 5.65416766e-03 4.22245414e-03] [ 3.93715071e-02 -5.69636687e-03 9.99208405e-01 -1.37390099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.524630439999996 meters Centerline goodness [0,1] 0.30845512612320014 Centerline is valid? [False, False] Translation: X:1.61, Y:0.00, Z:-0.14 [[ 9.99236416e-01 -8.90891395e-04 -3.90613734e-02 1.61166886e+00] [ 1.12684435e-03 9.99981251e-01 6.01896951e-03 2.46837529e-03] [ 3.90552788e-02 -6.05838961e-03 9.99218685e-01 -1.36828419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.55463044 meters Centerline goodness [0,1] 0.3100837419186879 Centerline is valid? [False, False] Translation: X:1.61, Y:0.00, Z:-0.14 [[ 9.99239894e-01 -8.32723408e-04 -3.89735866e-02 1.61135653e+00] [ 1.07491131e-03 9.99980242e-01 6.19361301e-03 1.65466345e-03] [ 3.89676590e-02 -6.23079836e-03 9.99221046e-01 -1.36641301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58463044 meters Centerline goodness [0,1] 0.3099048396451356 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.00, Z:-0.14 [[ 9.99273691e-01 4.38565853e-03 -3.78530868e-02 1.63226428e+00] [-4.28655374e-03 9.99987171e-01 2.69890494e-03 -1.42613830e-03] [ 3.78644376e-02 -2.53468541e-03 9.99279670e-01 -1.35363990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.61463044 meters Centerline goodness [0,1] 0.31295948946812413 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.00, Z:-0.13 [[ 0.99927949 0.00440585 -0.03769731 1.63159604] [-0.00430314 0.99998681 0.0028053 -0.00208588] [ 0.03770917 -0.00264107 0.99928527 -0.13494094] [ 0. 0. 0. 1. ]] SLAMing on 53.64463044 meters Centerline goodness [0,1] 0.31295430944963654 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.00, Z:-0.13 [[ 0.99928409 0.00444027 -0.03757116 1.63098866] [-0.00433825 0.99998668 0.00279642 -0.00175172] [ 0.03758307 -0.00263143 0.99929004 -0.13450339] [ 0. 0. 0. 1. ]] SLAMing on 53.674630439999994 meters Centerline goodness [0,1] 0.3094350137174211 Centerline is valid? [False, False] Translation: X:1.65, Y:0.00, Z:-0.13 [[ 0.99927527 -0.00211386 -0.03800619 1.64790415] [ 0.0022896 0.99998689 0.00458104 0.0042101 ] [ 0.037996 -0.00466474 0.999267 -0.13160374] [ 0. 0. 0. 1. ]] SLAMing on 53.704630439999995 meters Centerline goodness [0,1] 0.31095893360897564 Centerline is valid? [False, False] Translation: X:1.65, Y:0.01, Z:-0.13 [[ 9.99283694e-01 -1.60720854e-03 -3.78089321e-02 1.64736578e+00] [ 1.78700371e-03 9.99987254e-01 4.72204856e-03 5.56648148e-03] [ 3.78008609e-02 -4.78623084e-03 9.99273830e-01 -1.31539631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.73463044 meters Centerline goodness [0,1] 0.30892163802904515 Centerline is valid? [False, False] Translation: X:1.65, Y:0.01, Z:-0.13 [[ 0.99927638 -0.00166497 -0.03799932 1.64778623] [ 0.00183684 0.99998824 0.00448858 0.0065401 ] [ 0.0379914 -0.00455513 0.99926768 -0.13156264] [ 0. 0. 0. 1. ]] SLAMing on 53.76463044 meters Centerline goodness [0,1] 0.3101147931557289 Centerline is valid? [False, False] Translation: X:1.65, Y:0.01, Z:-0.13 [[ 0.99926946 -0.00175176 -0.03817683 1.64812684] [ 0.00191922 0.9999887 0.00435019 0.00677608] [ 0.03816878 -0.00442028 0.99926153 -0.13149797] [ 0. 0. 0. 1. ]] SLAMing on 53.79463044 meters Centerline goodness [0,1] 0.3109285590428299 Centerline is valid? [False, False] Translation: X:1.65, Y:0.01, Z:-0.13 [[ 0.9992667 -0.00175256 -0.03824899 1.64811229] [ 0.00192317 0.99998836 0.00442411 0.00621993] [ 0.03824079 -0.00449443 0.99925845 -0.1312343 ] [ 0. 0. 0. 1. ]] SLAMing on 53.82463044 meters Centerline goodness [0,1] 0.308165548098434 Centerline is valid? [False, False] Translation: X:1.65, Y:0.00, Z:-0.13 [[ 9.99272624e-01 -1.56858856e-03 -3.81020079e-02 1.64758306e+00] [ 1.75351885e-03 9.99986843e-01 4.82062411e-03 4.74099547e-03] [ 3.80939450e-02 -4.88393029e-03 9.99262227e-01 -1.30968139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.85463044 meters Centerline goodness [0,1] 0.31217772430388446 Centerline is valid? [False, False] Translation: X:1.65, Y:0.00, Z:-0.13 [[ 0.99930469 -0.00171282 -0.03724507 1.64541738] [ 0.00190604 0.99998491 0.00515276 0.00204951] [ 0.03723568 -0.00522016 0.99929288 -0.13057351] [ 0. 0. 0. 1. ]] SLAMing on 53.884630439999995 meters Centerline goodness [0,1] 0.3153461380221303 Centerline is valid? [False, False] Translation: X:1.64, Y:0.00, Z:-0.13 [[ 9.99311041e-01 -1.84453765e-03 -3.70680608e-02 1.64484145e+00] [ 2.03798242e-03 9.99984499e-01 5.18153016e-03 9.22256215e-04] [ 3.70579287e-02 -5.25350435e-03 9.99299310e-01 -1.30298536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.914630439999996 meters Centerline goodness [0,1] 0.3145407665807206 Centerline is valid? [False, False] Translation: X:1.65, Y:0.00, Z:-0.13 [[ 9.99305474e-01 -1.91095520e-03 -3.72144935e-02 1.64512111e+00] [ 2.10698248e-03 9.99984109e-01 5.22899193e-03 1.07964039e-04] [ 3.72039098e-02 -5.30377055e-03 9.99293620e-01 -1.30178824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94463044 meters Centerline goodness [0,1] 0.3136522551084667 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.00, Z:-0.13 [[ 9.99293897e-01 -1.88873397e-03 -3.75251906e-02 1.64600225e+00] [ 2.08819976e-03 9.99983896e-01 5.27703427e-03 -8.26648666e-06] [ 3.75146194e-02 -5.35166823e-03 9.99281749e-01 -1.30403998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.97463044 meters Centerline goodness [0,1] 0.3085200060136165 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.00, Z:-0.13 [[ 0.99923791 0.00628552 -0.038524 1.66709216] [-0.00611124 0.99997056 0.00463996 -0.00227994] [ 0.03855203 -0.00440099 0.9992469 -0.12894731] [ 0. 0. 0. 1. ]] SLAMing on 54.00463044 meters Centerline goodness [0,1] 0.30852204494767543 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.00, Z:-0.13 [[ 9.99221481e-01 6.55716136e-03 -3.89028898e-02 1.66851430e+00] [-6.38542542e-03 9.99969320e-01 4.53709081e-03 -2.57311451e-04] [ 3.89314467e-02 -4.28514710e-03 9.99232696e-01 -1.29696787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.03463044 meters Centerline goodness [0,1] 0.3097239675867747 Centerline is valid? [False, False] Translation: X:1.67, Y:0.00, Z:-0.13 [[ 9.99227763e-01 6.44516925e-03 -3.87599995e-02 1.66813578e+00] [-6.28255587e-03 9.99970952e-01 4.31573220e-03 5.21590832e-04] [ 3.87866893e-02 -4.06888756e-03 9.99239229e-01 -1.29670801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.064630439999995 meters Centerline goodness [0,1] 0.3078774852229984 Centerline is valid? [False, False] Translation: X:1.67, Y:0.00, Z:-0.13 [[ 9.99225518e-01 6.35213664e-03 -3.88331568e-02 1.66834676e+00] [-6.19538028e-03 9.99972173e-01 4.15567068e-03 9.89464169e-04] [ 3.88584736e-02 -3.91186602e-03 9.99237067e-01 -1.29760485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.094630439999996 meters Centerline goodness [0,1] 0.31008323218311085 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.00, Z:-0.13 [[ 9.99209213e-01 6.49649608e-03 -3.92268376e-02 1.66963696e+00] [-6.32604899e-03 9.99970010e-01 4.46772749e-03 -1.92639294e-04] [ 3.92546857e-02 -4.21604357e-03 9.99220343e-01 -1.30292906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12463044 meters Centerline goodness [0,1] 0.30557584088663603 Centerline is valid? [False, False] Translation: X:1.69, Y:0.00, Z:-0.13 [[ 9.99205860e-01 -1.32610631e-03 -3.98232356e-02 1.68956346e+00] [ 1.54254402e-03 9.99984205e-01 5.40472566e-03 3.31970412e-03] [ 3.98154393e-02 -5.46186265e-03 9.99192123e-01 -1.28702350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.15463044 meters Centerline goodness [0,1] 0.30969432314410483 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.00, Z:-0.13 [[ 9.99195447e-01 4.33792878e-03 -3.98703016e-02 1.66766920e+00] [-4.24432249e-03 9.99988035e-01 2.43211537e-03 -1.56613223e-03] [ 3.98803749e-02 -2.26093618e-03 9.99201903e-01 -1.29520046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18463044 meters Centerline goodness [0,1] 0.3104754440961337 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.00, Z:-0.13 [[ 0.99920562 0.00426749 -0.03962217 1.66671065] [-0.00416835 0.99998797 0.00258444 -0.00315466] [ 0.03963272 -0.00241723 0.99921139 -0.12893464] [ 0. 0. 0. 1. ]] SLAMing on 54.21463044 meters Centerline goodness [0,1] 0.3070746434842191 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.00, Z:-0.13 [[ 0.99930122 0.0037822 -0.03718556 1.70882053] [-0.00370927 0.99999106 0.00203004 -0.00327366] [ 0.03719291 -0.00189069 0.99930632 -0.12684635] [ 0. 0. 0. 1. ]] SLAMing on 54.244630439999995 meters Centerline goodness [0,1] 0.3124484032152943 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.00, Z:-0.13 [[ 0.99928092 -0.00447065 -0.03765173 1.68812099] [ 0.00459931 0.99998387 0.00333127 -0.00195192] [ 0.03763623 -0.00350205 0.99928537 -0.12813174] [ 0. 0. 0. 1. ]] SLAMing on 54.274630439999996 meters Centerline goodness [0,1] 0.3102112371223271 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.00, Z:-0.13 [[ 0.99927452 -0.00415275 -0.03785758 1.68906864] [ 0.00430651 0.9999828 0.00398103 -0.00473889] [ 0.0378404 -0.00414117 0.99927521 -0.12871492] [ 0. 0. 0. 1. ]] SLAMing on 54.30463044 meters Centerline goodness [0,1] 0.3102112371223271 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.00, Z:-0.13 [[ 0.99927452 -0.00415275 -0.03785758 1.68906864] [ 0.00430651 0.9999828 0.00398103 -0.00473889] [ 0.0378404 -0.00414117 0.99927521 -0.12871492] [ 0. 0. 0. 1. ]] SLAMing on 54.33463044 meters Centerline goodness [0,1] 0.30688822794085957 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.01, Z:-0.13 [[ 0.99927335 -0.00404237 -0.03790015 1.68924941] [ 0.00420772 0.99998197 0.0042841 -0.00650115] [ 0.03788215 -0.00444046 0.99927235 -0.12877428] [ 0. 0. 0. 1. ]] SLAMing on 54.36463044 meters Centerline goodness [0,1] 0.30750059085147063 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.01, Z:-0.13 [[ 0.9992738 -0.00391025 -0.03790219 1.68924532] [ 0.00408784 0.99998102 0.00460926 -0.00824915] [ 0.03788345 -0.00476085 0.99927082 -0.12871844] [ 0. 0. 0. 1. ]] SLAMing on 54.39463044 meters Centerline goodness [0,1] 0.30987161506095584 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.01, Z:-0.13 [[ 0.99926871 -0.00342436 -0.03808292 1.68939662] [ 0.00363392 0.99997863 0.00543482 -0.01145319] [ 0.0380635 -0.00556923 0.9992598 -0.12829788] [ 0. 0. 0. 1. ]] SLAMing on 54.424630439999994 meters Centerline goodness [0,1] 0.310346328827358 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.01, Z:-0.13 [[ 0.99926171 -0.00323191 -0.03828293 1.69006536] [ 0.00345548 0.99997735 0.00577536 -0.01282025] [ 0.0382634 -0.00590338 0.99925025 -0.12857191] [ 0. 0. 0. 1. ]] SLAMing on 54.454630439999995 meters Centerline goodness [0,1] 0.3088100935392647 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.01, Z:-0.13 [[ 0.99925477 -0.00317674 -0.03846822 1.69073281] [ 0.00340685 0.99997669 0.00591779 -0.01377252] [ 0.03844853 -0.00604443 0.9992423 -0.12887595] [ 0. 0. 0. 1. ]] SLAMing on 54.48463044 meters Centerline goodness [0,1] 0.30918796927216696 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.01, Z:-0.13 [[ 0.99925117 -0.00316781 -0.03856241 1.69096248] [ 0.00340095 0.99997633 0.00598185 -0.01447415] [ 0.03854255 -0.00610852 0.99923829 -0.12889119] [ 0. 0. 0. 1. ]] SLAMing on 54.51463044 meters Centerline goodness [0,1] 0.3100825727944372 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.01, Z:-0.13 [[ 0.99925812 -0.00306513 -0.03839037 1.69044024] [ 0.0033022 0.99997586 0.00611327 -0.01488631] [ 0.0383707 -0.0062355 0.99924412 -0.12875384] [ 0. 0. 0. 1. ]] SLAMing on 54.54463044 meters Centerline goodness [0,1] 0.3092174965945209 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.02, Z:-0.13 [[ 0.99930406 0.00623109 -0.03677717 1.70993726] [-0.00601467 0.99996396 0.00599237 -0.01774338] [ 0.03681318 -0.005767 0.99930552 -0.12729759] [ 0. 0. 0. 1. ]] SLAMing on 54.57463044 meters Centerline goodness [0,1] 0.30387673106513935 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.01, Z:-0.13 [[ 9.99321482e-01 -1.10954930e-03 -3.68150148e-02 1.72863481e+00] [ 1.36095131e-03 9.99975923e-01 6.80443272e-03 -1.18909756e-02] [ 3.68065786e-02 -6.84991923e-03 9.99298931e-01 -1.25642316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.60463044 meters Centerline goodness [0,1] 0.3087235282688945 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.01, Z:-0.13 [[ 9.99319846e-01 -1.23490375e-03 -3.68554070e-02 1.72885781e+00] [ 1.47867478e-03 9.99977207e-01 6.58772935e-03 -1.13914770e-02] [ 3.68464318e-02 -6.63774584e-03 9.99298895e-01 -1.25866558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.634630439999995 meters Centerline goodness [0,1] 0.307571351642434 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.01, Z:-0.13 [[ 9.99310856e-01 -1.38306181e-03 -3.70931296e-02 1.72942324e+00] [ 1.61829349e-03 9.99978767e-01 6.31237669e-03 -1.06607105e-02] [ 3.70836116e-02 -6.36805412e-03 9.99291876e-01 -1.25935368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.664630439999996 meters Centerline goodness [0,1] 0.30688173436116695 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.01, Z:-0.13 [[ 9.99306624e-01 -1.43763348e-03 -3.72048995e-02 1.72972602e+00] [ 1.66744457e-03 9.99979719e-01 6.14661171e-03 -9.81746291e-03] [ 3.71953083e-02 -6.20438690e-03 9.99288754e-01 -1.26053577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.69463044 meters Centerline goodness [0,1] 0.3083188908145581 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.01, Z:-0.13 [[ 9.99302077e-01 -1.17168907e-03 -3.73361288e-02 1.73057387e+00] [ 1.40069222e-03 9.99980365e-01 6.10798671e-03 -7.51036658e-03] [ 3.73282390e-02 -6.15602023e-03 9.99284097e-01 -1.26900535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72463044 meters Centerline goodness [0,1] 0.3060939447333362 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.01, Z:-0.13 [[ 0.99930685 0.0067659 -0.03660666 1.74952185] [-0.00660055 0.99996747 0.00463603 -0.00861532] [ 0.03663684 -0.00439119 0.999319 -0.12519384] [ 0. 0. 0. 1. ]] SLAMing on 54.75463044 meters Centerline goodness [0,1] 0.3079307280490713 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.01, Z:-0.13 [[ 0.99930901 0.0065821 -0.036581 1.74932845] [-0.00642734 0.9999699 0.00434659 -0.00774365] [ 0.03660851 -0.00410847 0.99932124 -0.12501178] [ 0. 0. 0. 1. ]] SLAMing on 54.78463044 meters Centerline goodness [0,1] 0.30876153829525066 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.01, Z:-0.12 [[ 0.99931957 0.00624059 -0.03635185 1.74835809] [-0.0061031 0.9999738 0.00389208 -0.00645475] [ 0.03637519 -0.00366758 0.99933147 -0.1244225 ] [ 0. 0. 0. 1. ]] SLAMing on 54.814630439999995 meters Centerline goodness [0,1] 0.30727896588187054 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.01, Z:-0.12 [[ 0.99932688 0.00615924 -0.03616425 1.74773477] [-0.00602547 0.9999746 0.00380682 -0.00610674] [ 0.03618678 -0.00358635 0.99933861 -0.12415313] [ 0. 0. 0. 1. ]] SLAMing on 54.844630439999996 meters Centerline goodness [0,1] 0.3068834268756855 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.01, Z:-0.12 [[ 0.99933686 0.00606363 -0.03590372 1.74699348] [-0.0059341 0.9999755 0.0037131 -0.00569802] [ 0.03592535 -0.00349758 0.99934836 -0.12395098] [ 0. 0. 0. 1. ]] SLAMing on 54.87463044 meters Centerline goodness [0,1] 0.3118265582655827 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.01, Z:-0.12 [[ 0.9993402 0.00601563 -0.03581867 1.74666385] [-0.00588658 0.9999758 0.0037073 -0.00578 ] [ 0.0358401 -0.003494 0.99935143 -0.12374277] [ 0. 0. 0. 1. ]] SLAMing on 54.90463044 meters Centerline goodness [0,1] 0.30923236067410886 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.00, Z:-0.12 [[ 9.99333429e-01 -1.79064626e-03 -3.64621948e-02 1.76578260e+00] [ 1.96169283e-03 9.99987237e-01 4.65583072e-03 -8.20734345e-04] [ 3.64533925e-02 -4.72425490e-03 9.99324187e-01 -1.21371190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.93463044 meters Centerline goodness [0,1] 0.3096514161220043 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.00, Z:-0.12 [[ 9.99316592e-01 -1.82745424e-03 -3.69189686e-02 1.76700733e+00] [ 2.00244686e-03 9.99986934e-01 4.70349025e-03 -1.22798392e-03] [ 3.69098907e-02 -4.77420412e-03 9.99307193e-01 -1.21581042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96463044 meters Centerline goodness [0,1] 0.3097625671216925 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.00, Z:-0.12 [[ 0.99928512 -0.00184462 -0.03776033 1.76919224] [ 0.00203457 0.99998547 0.00499238 -0.00273496] [ 0.03775058 -0.00506563 0.99927435 -0.12180692] [ 0. 0. 0. 1. ]] SLAMing on 54.994630439999995 meters Centerline goodness [0,1] 0.30870243564184796 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.00, Z:-0.12 [[ 9.99290100e-01 -1.75297039e-03 -3.76327460e-02 1.76848220e+00] [ 1.95239500e-03 9.99984244e-01 5.26313507e-03 -3.97646226e-03] [ 3.76229269e-02 -5.33287276e-03 9.99277777e-01 -1.21121343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.024630439999996 meters Centerline goodness [0,1] 0.30926742778066074 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.00, Z:-0.12 [[ 9.99303948e-01 -1.74933570e-03 -3.72633794e-02 1.76717485e+00] [ 1.95137658e-03 9.99983590e-01 5.38628901e-03 -4.82767346e-03] [ 3.72533455e-02 -5.45525475e-03 9.99290963e-01 -1.20443147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.05463044 meters Centerline goodness [0,1] 0.30696359595174905 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.00, Z:-0.12 [[ 0.99930787 -0.00176666 -0.03715731 1.76659332] [ 0.00196795 0.99998358 0.00538155 -0.00495028] [ 0.03714719 -0.00545095 0.99929494 -0.11992552] [ 0. 0. 0. 1. ]] SLAMing on 55.08463044 meters Centerline goodness [0,1] 0.30853566418474154 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.00, Z:-0.12 [[ 9.99277321e-01 -1.62712674e-03 -3.79761478e-02 1.76913231e+00] [ 1.82511053e-03 9.99984922e-01 5.17928671e-03 -3.40966755e-03] [ 3.79671478e-02 -5.24485441e-03 9.99265224e-01 -1.20922208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.11463044 meters Centerline goodness [0,1] 0.30824597427861233 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.00, Z:-0.12 [[ 9.99259000e-01 -1.62738498e-03 -3.84552104e-02 1.77072447e+00] [ 1.81843476e-03 9.99986176e-01 4.93365681e-03 -1.90365370e-03] [ 3.84466498e-02 -4.99992926e-03 9.99248145e-01 -1.21691498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14463044 meters Centerline goodness [0,1] 0.31021533385430233 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.00, Z:-0.12 [[ 9.99246215e-01 -1.58027115e-03 -3.87879446e-02 1.77158073e+00] [ 1.76623134e-03 9.99987109e-01 4.76047908e-03 -6.31214618e-04] [ 3.87799217e-02 -4.82539919e-03 9.99236125e-01 -1.21863594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.174630439999994 meters Centerline goodness [0,1] 0.3067063056076176 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.00, Z:-0.12 [[ 9.99242994e-01 6.62589438e-03 -3.83345440e-02 1.79115508e+00] [-6.50243341e-03 9.99973266e-01 3.34440424e-03 -1.07386807e-03] [ 3.83556789e-02 -3.09260469e-03 9.99259365e-01 -1.19735638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.204630439999995 meters Centerline goodness [0,1] 0.30761605103228307 Centerline is valid? [False, False] Translation: X:1.79, Y:0.00, Z:-0.12 [[ 9.99272184e-01 6.85601465e-03 -3.75246206e-02 1.78880307e+00] [-6.74228469e-03 9.99972289e-01 3.15651723e-03 1.48885052e-03] [ 3.75452218e-02 -2.90121819e-03 9.99290718e-01 -1.19205197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.23463044 meters Centerline goodness [0,1] 0.3096481910996467 Centerline is valid? [False, False] Translation: X:1.79, Y:0.00, Z:-0.12 [[ 0.99928218 0.00679946 -0.03726779 1.78805037] [-0.00669376 0.99997321 0.00296042 0.00264632] [ 0.03728692 -0.00270883 0.99930093 -0.11902189] [ 0. 0. 0. 1. ]] SLAMing on 55.26463044 meters Centerline goodness [0,1] 0.3095217353427999 Centerline is valid? [False, False] Translation: X:1.79, Y:0.00, Z:-0.12 [[ 0.99929203 0.00672068 -0.03701725 1.78728455] [-0.00662235 0.99997421 0.00277829 0.00350954] [ 0.03703497 -0.00253118 0.99931076 -0.11877384] [ 0. 0. 0. 1. ]] SLAMing on 55.29463044 meters Centerline goodness [0,1] 0.3104665007035393 Centerline is valid? [False, False] Translation: X:1.79, Y:0.00, Z:-0.12 [[ 0.99929401 0.0065705 -0.03699078 1.78715596] [-0.00648236 0.99997586 0.00250227 0.00456997] [ 0.03700632 -0.00226072 0.99931247 -0.11866717] [ 0. 0. 0. 1. ]] SLAMing on 55.32463044 meters Centerline goodness [0,1] 0.30773719472660466 Centerline is valid? [False, False] Translation: X:1.79, Y:0.01, Z:-0.12 [[ 0.99928916 0.00644027 -0.03714429 1.78766716] [-0.00636047 0.9999772 0.00226604 0.00546766] [ 0.03715804 -0.00202818 0.99930734 -0.11891264] [ 0. 0. 0. 1. ]] SLAMing on 55.35463044 meters Centerline goodness [0,1] 0.3079571289379669 Centerline is valid? [False, False] Translation: X:1.79, Y:0.01, Z:-0.12 [[ 0.99928317 0.0063287 -0.03732409 1.78842119] [-0.00625675 0.99997834 0.00204421 0.00633322] [ 0.03733621 -0.00180922 0.99930112 -0.11939582] [ 0. 0. 0. 1. ]] SLAMing on 55.384630439999995 meters Centerline goodness [0,1] 0.30723099490896544 Centerline is valid? [False, False] Translation: X:1.79, Y:0.01, Z:-0.12 [[ 9.99282725e-01 6.15748540e-03 -3.73647133e-02 1.78866064e+00] [-6.09899994e-03 9.99979991e-01 1.67904189e-03 8.18547966e-03] [ 3.73743044e-02 -1.44995017e-03 9.99300285e-01 -1.19640862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.414630439999996 meters Centerline goodness [0,1] 0.30845009700366455 Centerline is valid? [False, False] Translation: X:1.79, Y:0.01, Z:-0.12 [[ 9.99284805e-01 6.15639394e-03 -3.73092231e-02 1.78845766e+00] [-6.09919357e-03 9.99980044e-01 1.64676787e-03 8.62288323e-03] [ 3.73186167e-02 -1.41803393e-03 9.99302412e-01 -1.19520546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44463044 meters Centerline goodness [0,1] 0.3061374813145865 Centerline is valid? [False, False] Translation: X:1.79, Y:0.01, Z:-0.12 [[ 9.99266570e-01 6.06657198e-03 -3.78089680e-02 1.78991222e+00] [-6.01324609e-03 9.99980759e-01 1.52396276e-03 9.19098761e-03] [ 3.78174858e-02 -1.29549041e-03 9.99283823e-01 -1.19904558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.47463044 meters Centerline goodness [0,1] 0.3088714938030006 Centerline is valid? [False, False] Translation: X:1.79, Y:0.01, Z:-0.12 [[ 9.99245576e-01 5.92983524e-03 -3.83812034e-02 1.79157806e+00] [-5.87947353e-03 9.99981701e-01 1.42488529e-03 8.96509314e-03] [ 3.83889504e-02 -1.19814905e-03 9.99262154e-01 -1.20392101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50463044 meters Centerline goodness [0,1] 0.3062821565999395 Centerline is valid? [False, False] Translation: X:1.79, Y:0.01, Z:-0.12 [[ 9.99222422e-01 5.79392595e-03 -3.89997709e-02 1.79329043e+00] [-5.74309681e-03 9.99982507e-01 1.41522612e-03 8.27028549e-03] [ 3.90072884e-02 -1.19014621e-03 9.99238217e-01 -1.20736348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.53463044 meters Centerline goodness [0,1] 0.30691286235028636 Centerline is valid? [False, False] Translation: X:1.79, Y:0.01, Z:-0.12 [[ 9.99210380e-01 5.77213797e-03 -3.93102928e-02 1.79402088e+00] [-5.71668216e-03 9.99982500e-01 1.52298052e-03 7.39181324e-03] [ 3.93183958e-02 -1.29705349e-03 9.99225891e-01 -1.20703406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.564630439999995 meters Centerline goodness [0,1] 0.30453596262728466 Centerline is valid? [False, False] Translation: X:1.81, Y:0.01, Z:-0.12 [[ 0.99925037 -0.00207416 -0.03865752 1.8127126 ] [ 0.0021812 0.9999939 0.00272692 0.0108369 ] [ 0.03865163 -0.0028092 0.9992488 -0.11869265] [ 0. 0. 0. 1. ]] SLAMing on 55.594630439999996 meters Centerline goodness [0,1] 0.30944752338067194 Centerline is valid? [False, False] Translation: X:1.81, Y:0.01, Z:-0.12 [[ 0.99926116 -0.00205999 -0.03837837 1.81168038] [ 0.00217225 0.99999348 0.00288363 0.0098447 ] [ 0.03837218 -0.00296486 0.99925912 -0.11808892] [ 0. 0. 0. 1. ]] SLAMing on 55.62463044 meters Centerline goodness [0,1] 0.30704152023948983 Centerline is valid? [False, False] Translation: X:1.81, Y:0.01, Z:-0.12 [[ 0.99927026 -0.00203713 -0.03814174 1.81076632] [ 0.00215359 0.99999314 0.0030126 0.00900729] [ 0.03813534 -0.00309254 0.9992678 -0.11753424] [ 0. 0. 0. 1. ]] SLAMing on 55.65463044 meters Centerline goodness [0,1] 0.30634061891365505 Centerline is valid? [False, False] Translation: X:1.81, Y:0.01, Z:-0.12 [[ 0.99925366 -0.00193724 -0.03857931 1.8119882 ] [ 0.0020599 0.99999295 0.00313977 0.00883037] [ 0.03857296 -0.0032169 0.99925061 -0.11784378] [ 0. 0. 0. 1. ]] SLAMing on 55.68463044 meters Centerline goodness [0,1] 0.30727524085194624 Centerline is valid? [False, False] Translation: X:1.81, Y:0.01, Z:-0.12 [[ 0.99924157 -0.00188315 -0.038894 1.81304048] [ 0.00200592 0.99999313 0.00311785 0.00936338] [ 0.03888786 -0.00319351 0.99923848 -0.11829327] [ 0. 0. 0. 1. ]] SLAMing on 55.71463044 meters Centerline goodness [0,1] 0.30751752791482734 Centerline is valid? [False, False] Translation: X:1.81, Y:0.01, Z:-0.12 [[ 0.99923441 -0.00195307 -0.03907393 1.8137341 ] [ 0.00207024 0.99999348 0.00295845 0.00996809] [ 0.03906789 -0.00303708 0.99923194 -0.11867683] [ 0. 0. 0. 1. ]] SLAMing on 55.744630439999995 meters Centerline goodness [0,1] 0.3053443359543766 Centerline is valid? [False, False] Translation: X:1.81, Y:0.01, Z:-0.12 [[ 0.99923873 -0.00214627 -0.03895313 1.81317636] [ 0.00224699 0.99999424 0.00254229 0.01134694] [ 0.03894745 -0.00262788 0.9992378 -0.11834287] [ 0. 0. 0. 1. ]] SLAMing on 55.774630439999996 meters Centerline goodness [0,1] 0.3107727877505616 Centerline is valid? [False, False] Translation: X:1.81, Y:0.01, Z:-0.12 [[ 0.99925258 -0.0021395 -0.03859673 1.81206 ] [ 0.00223485 0.99999456 0.00242759 0.01220445] [ 0.03859133 -0.00251204 0.99925192 -0.11800006] [ 0. 0. 0. 1. ]] SLAMing on 55.80463044 meters Centerline goodness [0,1] 0.30771554980036686 Centerline is valid? [False, False] Translation: X:1.83, Y:0.01, Z:-0.12 [[ 9.99289271e-01 6.16217374e-03 -3.71884578e-02 1.83166769e+00] [-6.11443925e-03 9.99980331e-01 1.39718084e-03 1.13459660e-02] [ 3.71963360e-02 -1.16880126e-03 9.99307293e-01 -1.16459314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.83463044 meters Centerline goodness [0,1] 0.30713440223824384 Centerline is valid? [False, False] Translation: X:1.83, Y:0.01, Z:-0.12 [[ 9.99295475e-01 6.18204547e-03 -3.70180395e-02 1.83096390e+00] [-6.13955348e-03 9.99980357e-01 1.26143980e-03 1.24596288e-02] [ 3.70251106e-02 -1.03327685e-03 9.99313801e-01 -1.16062351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86463044 meters Centerline goodness [0,1] 0.30895561244413594 Centerline is valid? [False, False] Translation: X:1.83, Y:0.01, Z:-0.12 [[ 9.99298965e-01 6.16344782e-03 -3.69268287e-02 1.83056920e+00] [-6.12771650e-03 9.99980641e-01 1.08072525e-03 1.36630651e-02] [ 3.69327749e-02 -8.53690489e-04 9.99317388e-01 -1.15811019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.89463044 meters Centerline goodness [0,1] 0.3059056729795532 Centerline is valid? [False, False] Translation: X:1.83, Y:0.02, Z:-0.12 [[ 9.99297585e-01 6.48553389e-03 -3.69090101e-02 1.83009054e+00] [-6.45430279e-03 9.99978705e-01 9.65254619e-04 1.63628057e-02] [ 3.69144843e-02 -7.26354683e-04 9.99318164e-01 -1.15335699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.924630439999994 meters Centerline goodness [0,1] 0.3096409300712939 Centerline is valid? [False, False] Translation: X:1.83, Y:0.02, Z:-0.12 [[ 9.99309774e-01 6.48546222e-03 -3.65774984e-02 1.82916218e+00] [-6.46390007e-03 9.99978858e-01 7.07718617e-04 1.81389536e-02] [ 3.65813150e-02 -4.70796837e-04 9.99330569e-01 -1.15165941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.954630439999995 meters Centerline goodness [0,1] 0.309216659800967 Centerline is valid? [False, False] Translation: X:1.83, Y:0.02, Z:-0.11 [[ 9.99320010e-01 6.41522035e-03 -3.63092582e-02 1.82836185e+00] [-6.40503882e-03 9.99979409e-01 3.96725184e-04 1.98184795e-02] [ 3.63110556e-02 -1.63893207e-04 9.99340523e-01 -1.14970640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98463044 meters Centerline goodness [0,1] 0.30523542264684456 Centerline is valid? [False, False] Translation: X:1.85, Y:0.03, Z:-0.11 [[ 9.99361486e-01 -7.72554715e-04 -3.57214576e-02 1.84606851e+00] [ 8.26325206e-04 9.99998548e-01 1.49053248e-03 2.73712079e-02] [ 3.57202542e-02 -1.51909830e-03 9.99360674e-01 -1.13079678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.01463044 meters Centerline goodness [0,1] 0.3053835569315445 Centerline is valid? [False, False] Translation: X:1.85, Y:0.03, Z:-0.11 [[ 9.99366064e-01 -7.72170698e-04 -3.55931850e-02 1.84573429e+00] [ 8.11054307e-04 9.99999090e-01 1.07801970e-03 3.04463565e-02] [ 3.55923202e-02 -1.10620431e-03 9.99365780e-01 -1.13181591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04463044 meters Centerline goodness [0,1] 0.3061727860836453 Centerline is valid? [False, False] Translation: X:1.85, Y:0.03, Z:-0.11 [[ 9.99358226e-01 -8.35584938e-04 -3.58111395e-02 1.84652517e+00] [ 8.65939272e-04 9.99999279e-01 8.32120937e-04 3.19813620e-02] [ 3.58104184e-02 -8.62597176e-04 9.99358229e-01 -1.13628811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.07463044 meters Centerline goodness [0,1] 0.30650369503499986 Centerline is valid? [False, False] Translation: X:1.85, Y:0.03, Z:-0.11 [[ 9.99349248e-01 -9.43536757e-04 -3.60581632e-02 1.84742725e+00] [ 9.64647125e-04 9.99999373e-01 5.68060351e-04 3.32700061e-02] [ 3.60576046e-02 -6.02474088e-04 9.99349532e-01 -1.14142729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.10463044 meters Centerline goodness [0,1] 0.30579722628994743 Centerline is valid? [False, False] Translation: X:1.85, Y:0.03, Z:-0.11 [[ 9.99337094e-01 -1.07142534e-03 -3.63898952e-02 1.84835808e+00] [ 1.08706792e-03 9.99999325e-01 4.10077315e-04 3.37293296e-02] [ 3.63894313e-02 -4.49363760e-04 9.99337584e-01 -1.14324428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.134630439999995 meters Centerline goodness [0,1] 0.3053667531465083 Centerline is valid? [False, False] Translation: X:1.85, Y:0.03, Z:-0.11 [[ 9.99347184e-01 -1.53386723e-03 -3.60950629e-02 1.84729886e+00] [ 1.54079241e-03 9.99998800e-01 1.64043592e-04 3.33915618e-02] [ 3.60947680e-02 -2.19551501e-04 9.99348347e-01 -1.13677368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.164630439999996 meters Centerline goodness [0,1] 0.3072513737743777 Centerline is valid? [False, False] Translation: X:1.85, Y:0.03, Z:-0.11 [[ 9.99356574e-01 -1.62376719e-03 -3.58301754e-02 1.84636524e+00] [ 1.63185726e-03 9.99998649e-01 1.96546356e-04 3.28655011e-02] [ 3.58298078e-02 -2.54889625e-04 9.99357874e-01 -1.13144712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.19463044 meters Centerline goodness [0,1] 0.3072513737743777 Centerline is valid? [False, False] Translation: X:1.85, Y:0.03, Z:-0.11 [[ 9.99356574e-01 -1.62376719e-03 -3.58301754e-02 1.84636524e+00] [ 1.63185726e-03 9.99998649e-01 1.96546356e-04 3.28655011e-02] [ 3.58298078e-02 -2.54889625e-04 9.99357874e-01 -1.13144712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22463044 meters Centerline goodness [0,1] 0.30936245521647165 Centerline is valid? [False, False] Translation: X:1.85, Y:0.03, Z:-0.11 [[ 9.99359333e-01 -1.72366260e-03 -3.57484655e-02 1.84587383e+00] [ 1.72969345e-03 9.99998495e-01 1.37776294e-04 3.27110029e-02] [ 3.57481742e-02 -1.99521912e-04 9.99360810e-01 -1.12659011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.25463044 meters Centerline goodness [0,1] 0.3068736427941777 Centerline is valid? [False, False] Translation: X:1.85, Y:0.03, Z:-0.11 [[ 9.99358895e-01 -1.85238567e-03 -3.57542770e-02 1.84593090e+00] [ 1.85208108e-03 9.99998284e-01 -4.16396751e-05 3.31118117e-02] [ 3.57542928e-02 -2.46068402e-05 9.99360611e-01 -1.12679394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28463044 meters Centerline goodness [0,1] 0.30759085897131 Centerline is valid? [False, False] Translation: X:1.85, Y:0.03, Z:-0.11 [[ 9.99356447e-01 -1.99328133e-03 -3.58150546e-02 1.84612829e+00] [ 1.98159290e-03 9.99997971e-01 -3.61848857e-04 3.44114778e-02] [ 3.58157032e-02 2.90645130e-04 9.99358370e-01 -1.12801523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.314630439999995 meters Centerline goodness [0,1] 0.3043599716354729 Centerline is valid? [False, False] Translation: X:1.85, Y:0.04, Z:-0.11 [[ 9.99347276e-01 -2.01151410e-03 -3.60690317e-02 1.84689718e+00] [ 1.98971979e-03 9.99997816e-01 -6.40124096e-04 3.61937856e-02] [ 3.60702405e-02 5.67939006e-04 9.99349096e-01 -1.13127079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.344630439999996 meters Centerline goodness [0,1] 0.3053207359522625 Centerline is valid? [False, False] Translation: X:1.85, Y:0.04, Z:-0.11 [[ 0.99933371 0.00196802 -0.03644538 1.84827331] [-0.00186546 0.9999942 0.00284789 0.03872861] [ 0.03645077 -0.002778 0.99933159 -0.11390553] [ 0. 0. 0. 1. ]] SLAMing on 56.37463044 meters Centerline goodness [0,1] 0.3065604985286481 Centerline is valid? [False, False] Translation: X:1.85, Y:0.04, Z:-0.11 [[ 0.99933242 0.00194306 -0.03648192 1.84860112] [-0.00185184 0.99999507 0.00253416 0.04060689] [ 0.03648666 -0.00246491 0.9993311 -0.1143185 ] [ 0. 0. 0. 1. ]] SLAMing on 56.40463044 meters Centerline goodness [0,1] 0.3051276503678061 Centerline is valid? [False, False] Translation: X:1.85, Y:0.04, Z:-0.11 [[ 9.99327701e-01 1.78537724e-03 -3.66191101e-02 1.84900008e+00] [-1.71029841e-03 9.99996371e-01 2.08148661e-03 4.25436126e-02] [ 3.66226934e-02 -2.01745762e-03 9.99327128e-01 -1.14532282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.43463044 meters Centerline goodness [0,1] 0.3054110301768991 Centerline is valid? [False, False] Translation: X:1.85, Y:0.05, Z:-0.11 [[ 9.99319969e-01 1.77941462e-03 -3.68297989e-02 1.84945187e+00] [-1.72827724e-03 9.99997498e-01 1.42026846e-03 4.61970236e-02] [ 3.68322340e-02 -1.35565053e-03 9.99320544e-01 -1.14745586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46463044 meters Centerline goodness [0,1] 0.29694490604627377 Centerline is valid? [False, False] Translation: X:1.89, Y:0.05, Z:-0.11 [[ 9.99354492e-01 3.18907585e-03 -3.57830729e-02 1.89440863e+00] [-3.12250528e-03 9.99993289e-01 1.91612321e-03 5.24676283e-02] [ 3.57889435e-02 -1.80315351e-03 9.99357744e-01 -1.13832752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.494630439999995 meters Centerline goodness [0,1] 0.30144883725951677 Centerline is valid? [False, False] Translation: X:1.87, Y:0.06, Z:-0.12 [[ 0.9993487 -0.00368512 -0.03589709 1.87498064] [ 0.00382671 0.99998517 0.00387632 0.05783999] [ 0.03588228 -0.00401117 0.99934797 -0.11641051] [ 0. 0. 0. 1. ]] SLAMing on 56.524630439999996 meters Centerline goodness [0,1] 0.2991086806751636 Centerline is valid? [False, False] Translation: X:1.88, Y:0.06, Z:-0.12 [[ 0.99934746 -0.00354502 -0.03594568 1.87526175] [ 0.00368238 0.99998617 0.00375561 0.05971242] [ 0.03593187 -0.00388552 0.99934669 -0.1167438 ] [ 0. 0. 0. 1. ]] SLAMing on 56.55463044 meters Centerline goodness [0,1] 0.2982761960100717 Centerline is valid? [False, False] Translation: X:1.88, Y:0.06, Z:-0.12 [[ 0.99934827 -0.00360049 -0.03591757 1.87507024] [ 0.0037273 0.99998705 0.00346429 0.06153347] [ 0.03590464 -0.00359591 0.99934875 -0.11665021] [ 0. 0. 0. 1. ]] SLAMing on 56.58463044 meters Centerline goodness [0,1] 0.3017499025425564 Centerline is valid? [False, False] Translation: X:1.87, Y:0.06, Z:-0.12 [[ 0.99935419 -0.00398067 -0.03571207 1.87397917] [ 0.0040849 0.99998761 0.00284621 0.0636198 ] [ 0.0357003 -0.00299025 0.99935807 -0.11584509] [ 0. 0. 0. 1. ]] SLAMing on 56.61463044 meters Centerline goodness [0,1] 0.2994571773220748 Centerline is valid? [False, False] Translation: X:1.87, Y:0.06, Z:-0.12 [[ 0.99935362 -0.00405401 -0.03571996 1.87373918] [ 0.00415298 0.99998774 0.00269693 0.06449538] [ 0.03570859 -0.00284353 0.9993582 -0.11547741] [ 0. 0. 0. 1. ]] SLAMing on 56.64463044 meters Centerline goodness [0,1] 0.30287867957632075 Centerline is valid? [False, False] Translation: X:1.87, Y:0.07, Z:-0.12 [[ 0.99935421 -0.00404494 -0.03570437 1.87355835] [ 0.00414268 0.99998787 0.00266405 0.06513912] [ 0.03569316 -0.00281024 0.99935884 -0.11526861] [ 0. 0. 0. 1. ]] SLAMing on 56.674630439999994 meters Centerline goodness [0,1] 0.30413111614138955 Centerline is valid? [False, False] Translation: X:1.87, Y:0.07, Z:-0.11 [[ 0.99935793 -0.00401716 -0.03560328 1.87302874] [ 0.00411463 0.99998798 0.00266467 0.0656705 ] [ 0.03559215 -0.00280945 0.99936245 -0.11482798] [ 0. 0. 0. 1. ]] SLAMing on 56.704630439999995 meters Centerline goodness [0,1] 0.3027713027713028 Centerline is valid? [False, False] Translation: X:1.89, Y:0.06, Z:-0.11 [[ 9.99431090e-01 3.36703463e-03 -3.35582895e-02 1.89151912e+00] [-3.32446591e-03 9.99993597e-01 1.32421756e-03 6.43480590e-02] [ 3.35625333e-02 -1.21190081e-03 9.99435885e-01 -1.13172159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.73463044 meters Centerline goodness [0,1] 0.3089714682161131 Centerline is valid? [False, False] Translation: X:1.89, Y:0.06, Z:-0.11 [[ 9.99450122e-01 -5.41322948e-04 -3.31535980e-02 1.88958551e+00] [ 4.64859307e-04 9.99997215e-01 -2.31400976e-03 6.40756566e-02] [ 3.31547583e-02 2.29732558e-03 9.99447590e-01 -1.11810729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76463044 meters Centerline goodness [0,1] 0.30780537362471094 Centerline is valid? [False, False] Translation: X:1.89, Y:0.06, Z:-0.11 [[ 9.99445433e-01 -7.52432984e-04 -3.32905409e-02 1.88965327e+00] [ 6.77937362e-04 9.99997241e-01 -2.24897240e-03 6.28093384e-02] [ 3.32921412e-02 2.22515629e-03 9.99443186e-01 -1.11354899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.79463044 meters Centerline goodness [0,1] 0.30520750499688365 Centerline is valid? [False, False] Translation: X:1.89, Y:0.06, Z:-0.11 [[ 9.99438814e-01 -8.31903883e-04 -3.34867967e-02 1.89010944e+00] [ 7.64634220e-04 9.99997664e-01 -2.02159746e-03 6.12225414e-02] [ 3.34884002e-02 1.99485781e-03 9.99437115e-01 -1.11209574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82463044 meters Centerline goodness [0,1] 0.30600025752178206 Centerline is valid? [False, False] Translation: X:1.89, Y:0.06, Z:-0.11 [[ 9.99445435e-01 -1.47246334e-03 -3.32664124e-02 1.88980965e+00] [ 1.41063247e-03 9.99997234e-01 -1.88205107e-03 5.78391866e-02] [ 3.32690916e-02 1.83408066e-03 9.99444748e-01 -1.11257844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.85463044 meters Centerline goodness [0,1] 0.30864091436428476 Centerline is valid? [False, False] Translation: X:1.89, Y:0.06, Z:-0.11 [[ 9.99449022e-01 -1.65447842e-03 -3.31498794e-02 1.88951681e+00] [ 1.60047751e-03 9.99997349e-01 -1.65546175e-03 5.56244576e-02] [ 3.31525305e-02 1.60149399e-03 9.99449021e-01 -1.11092399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.884630439999995 meters Centerline goodness [0,1] 0.30799974215174375 Centerline is valid? [False, False] Translation: X:1.89, Y:0.05, Z:-0.11 [[ 9.99444755e-01 -1.85213446e-03 -3.32678598e-02 1.88977212e+00] [ 1.80644398e-03 9.99997384e-01 -1.40341623e-03 5.31716822e-02] [ 3.32703721e-02 1.34254046e-03 9.99445486e-01 -1.10939410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.914630439999996 meters Centerline goodness [0,1] 0.30674518201284795 Centerline is valid? [False, False] Translation: X:1.89, Y:0.05, Z:-0.11 [[ 9.99427793e-01 -1.91124497e-03 -3.37703053e-02 1.89096685e+00] [ 1.87871696e-03 9.99997740e-01 -9.94918750e-04 5.02556810e-02] [ 3.37721306e-02 9.30904606e-04 9.99429125e-01 -1.10850152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94463044 meters Centerline goodness [0,1] 0.3123020864963345 Centerline is valid? [False, False] Translation: X:1.89, Y:0.05, Z:-0.11 [[ 9.99415656e-01 -1.80874723e-03 -3.41332030e-02 1.89189173e+00] [ 1.79251792e-03 9.99998265e-01 -5.06064997e-04 4.75872444e-02] [ 3.41340591e-02 4.44584902e-04 9.99417164e-01 -1.10861014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.97463044 meters Centerline goodness [0,1] 0.31112937410787667 Centerline is valid? [False, False] Translation: X:1.89, Y:0.05, Z:-0.11 [[ 9.99414539e-01 -1.71433731e-03 -3.41707544e-02 1.89200089e+00] [ 1.71300824e-03 9.99998530e-01 -6.81708228e-05 4.52023469e-02] [ 3.41708211e-02 9.59612745e-06 9.99416007e-01 -1.10807448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00463044 meters Centerline goodness [0,1] 0.31290399290918136 Centerline is valid? [False, False] Translation: X:1.89, Y:0.04, Z:-0.11 [[ 9.99460451e-01 -3.98579588e-03 -3.26024602e-02 1.88672052e+00] [ 3.93445489e-03 9.99990917e-01 -1.63876029e-03 3.95335449e-02] [ 3.26086958e-02 1.50960319e-03 9.99467055e-01 -1.08855315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.03463044 meters Centerline goodness [0,1] 0.3127454788726315 Centerline is valid? [False, False] Translation: X:1.89, Y:0.04, Z:-0.11 [[ 9.99469379e-01 -3.92487846e-03 -3.23350489e-02 1.88607216e+00] [ 3.88556346e-03 9.99991634e-01 -1.27861039e-03 3.72574157e-02] [ 3.23397968e-02 1.15229205e-03 9.99476268e-01 -1.08762860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.064630439999995 meters Centerline goodness [0,1] 0.3125312466036301 Centerline is valid? [False, False] Translation: X:1.89, Y:0.04, Z:-0.11 [[ 9.99465167e-01 -3.78399252e-03 -3.24817146e-02 1.88650716e+00] [ 3.75781300e-03 9.99992564e-01 -8.66985826e-04 3.51359906e-02] [ 3.24847538e-02 7.44461924e-04 9.99471954e-01 -1.08882735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.094630439999996 meters Centerline goodness [0,1] 0.31107936095596833 Centerline is valid? [False, False] Translation: X:1.89, Y:0.03, Z:-0.11 [[ 9.99452486e-01 -3.60436253e-03 -3.28897625e-02 1.88777471e+00] [ 3.59107684e-03 9.99993445e-01 -4.63008074e-04 3.33378282e-02] [ 3.28912157e-02 3.44644907e-04 9.99458878e-01 -1.09360202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12463044 meters Centerline goodness [0,1] 0.3121443773617687 Centerline is valid? [False, False] Translation: X:1.89, Y:0.03, Z:-0.11 [[ 9.99424946e-01 -3.46596845e-03 -3.37307763e-02 1.89057545e+00] [ 3.46651785e-03 9.99993991e-01 -4.21931058e-05 3.08375760e-02] [ 3.37307198e-02 -7.47594957e-05 9.99430955e-01 -1.10546179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.15463044 meters Centerline goodness [0,1] 0.31045694962282144 Centerline is valid? [False, False] Translation: X:1.89, Y:0.03, Z:-0.11 [[ 9.99420293e-01 -3.40588338e-03 -3.38744293e-02 1.89117551e+00] [ 3.41114192e-03 9.99994177e-01 9.74454874e-05 3.00484652e-02] [ 3.38739001e-02 -2.12939483e-04 9.99426092e-01 -1.10958161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18463044 meters Centerline goodness [0,1] 0.3098239489732153 Centerline is valid? [False, False] Translation: X:1.89, Y:0.03, Z:-0.11 [[ 9.99416886e-01 -3.30455560e-03 -3.39848257e-02 1.89159513e+00] [ 3.31513136e-03 9.99994472e-01 2.54846729e-04 2.93996188e-02] [ 3.39837957e-02 -3.67362285e-04 9.99422316e-01 -1.11224918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.21463044 meters Centerline goodness [0,1] 0.3092203170494986 Centerline is valid? [False, False] Translation: X:1.89, Y:0.03, Z:-0.11 [[ 9.99418993e-01 -3.16642818e-03 -3.39359619e-02 1.89157996e+00] [ 3.18317082e-03 9.99994837e-01 4.39343496e-04 2.88299899e-02] [ 3.39343955e-02 -5.47112198e-04 9.99423913e-01 -1.11372041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.244630439999995 meters Centerline goodness [0,1] 0.3103210068432528 Centerline is valid? [False, False] Translation: X:1.89, Y:0.03, Z:-0.11 [[ 9.99428005e-01 -2.97251696e-03 -3.36871923e-02 1.89118317e+00] [ 3.00052873e-03 9.99995193e-01 7.81002025e-04 2.72453506e-02] [ 3.36847088e-02 -8.81634683e-04 9.99432120e-01 -1.11657836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.274630439999996 meters Centerline goodness [0,1] 0.311099951967163 Centerline is valid? [False, False] Translation: X:1.89, Y:0.03, Z:-0.11 [[ 9.99428075e-01 -2.90437804e-03 -3.36910511e-02 1.89122224e+00] [ 2.93939426e-03 9.99995190e-01 9.89849657e-04 2.59593195e-02] [ 3.36880142e-02 -1.08831482e-03 9.99431805e-01 -1.11677464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30463044 meters Centerline goodness [0,1] 0.3073854863612969 Centerline is valid? [False, False] Translation: X:1.94, Y:0.03, Z:-0.11 [[ 9.99480353e-01 -2.95861014e-03 -3.20978309e-02 1.93525553e+00] [ 2.98695096e-03 9.99995190e-01 8.35037586e-04 2.60426206e-02] [ 3.20952060e-02 -9.30478308e-04 9.99484383e-01 -1.10569921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.33463044 meters Centerline goodness [0,1] 0.3084542831301951 Centerline is valid? [False, False] Translation: X:1.94, Y:0.02, Z:-0.11 [[ 9.99480387e-01 -2.83045255e-03 -3.21083330e-02 1.93518525e+00] [ 2.86810312e-03 9.99995252e-01 1.12661422e-03 2.46678759e-02] [ 3.21049917e-02 -1.21811883e-03 9.99483760e-01 -1.10444890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36463044 meters Centerline goodness [0,1] 0.310250747044303 Centerline is valid? [False, False] Translation: X:1.94, Y:0.02, Z:-0.11 [[ 9.99482664e-01 -2.67552622e-03 -3.20506867e-02 1.93503078e+00] [ 2.72482679e-03 9.99995171e-01 1.49462743e-03 2.30192810e-02] [ 3.20465330e-02 -1.58118677e-03 9.99485127e-01 -1.10375571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.39463044 meters Centerline goodness [0,1] 0.31288489895047267 Centerline is valid? [False, False] Translation: X:1.93, Y:0.02, Z:-0.11 [[ 0.99949341 -0.00259724 -0.0317204 1.9341146 ] [ 0.00266209 0.99999445 0.00200233 0.01966797] [ 0.03171502 -0.00208576 0.99949478 -0.11004858] [ 0. 0. 0. 1. ]] SLAMing on 57.424630439999994 meters Centerline goodness [0,1] 0.3115382103911368 Centerline is valid? [False, False] Translation: X:1.93, Y:0.02, Z:-0.11 [[ 0.99949716 -0.00259646 -0.0316021 1.93368259] [ 0.00266526 0.99999417 0.00213502 0.01849489] [ 0.03159637 -0.00221817 0.99949825 -0.10980932] [ 0. 0. 0. 1. ]] SLAMing on 57.454630439999995 meters Centerline goodness [0,1] 0.31360869565217386 Centerline is valid? [False, False] Translation: X:1.93, Y:0.02, Z:-0.11 [[ 0.99949577 -0.00252635 -0.03165161 1.93385241] [ 0.00260189 0.99999386 0.00234581 0.01737456] [ 0.03164549 -0.00242698 0.99949621 -0.10990078] [ 0. 0. 0. 1. ]] SLAMing on 57.48463044 meters Centerline goodness [0,1] 0.3112318919035967 Centerline is valid? [False, False] Translation: X:1.93, Y:0.02, Z:-0.11 [[ 0.99948987 -0.00236495 -0.03184963 1.9346903 ] [ 0.00244961 0.99999357 0.00261941 0.01633849] [ 0.03184323 -0.0026961 0.99948924 -0.11045826] [ 0. 0. 0. 1. ]] SLAMing on 57.51463044 meters Centerline goodness [0,1] 0.3108375562756911 Centerline is valid? [False, False] Translation: X:1.94, Y:0.01, Z:-0.11 [[ 0.99948933 -0.00219266 -0.03187914 1.93525069] [ 0.00228806 0.99999301 0.00295645 0.01493914] [ 0.03187244 -0.00302788 0.99948736 -0.11116268] [ 0. 0. 0. 1. ]] SLAMing on 57.54463044 meters Centerline goodness [0,1] 0.31100261401196827 Centerline is valid? [False, False] Translation: X:1.95, Y:0.01, Z:-0.11 [[ 9.99492162e-01 5.46984405e-03 -3.13926601e-02 1.95359405e+00] [-5.42871751e-03 9.99984291e-01 1.39515155e-03 1.08372684e-02] [ 3.13997982e-02 -1.22402115e-03 9.99506155e-01 -1.08685905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.57463044 meters Centerline goodness [0,1] 0.3135620668062963 Centerline is valid? [False, False] Translation: X:1.95, Y:0.01, Z:-0.11 [[ 9.99495512e-01 5.47531030e-03 -3.12848530e-02 1.95312468e+00] [-5.43225246e-03 9.99984178e-01 1.46114504e-03 1.03556490e-02] [ 3.12923582e-02 -1.29046069e-03 9.99509441e-01 -1.08327117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.604630439999994 meters Centerline goodness [0,1] 0.30930052482147463 Centerline is valid? [False, False] Translation: X:1.95, Y:0.01, Z:-0.11 [[ 9.99493622e-01 5.50808278e-03 -3.13394406e-02 1.95328839e+00] [-5.46420895e-03 9.99983968e-01 1.48542777e-03 1.04768471e-02] [ 3.13471200e-02 -1.31343033e-03 9.99507695e-01 -1.08399495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.634630439999995 meters Centerline goodness [0,1] 0.3115664786114173 Centerline is valid? [False, False] Translation: X:1.95, Y:0.01, Z:-0.11 [[ 9.99489404e-01 5.55312595e-03 -3.14657645e-02 1.95382728e+00] [-5.50793171e-03 9.99983672e-01 1.52279455e-03 1.05511699e-02] [ 3.14737070e-02 -1.34870573e-03 9.99503670e-01 -1.08746980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.664630439999996 meters Centerline goodness [0,1] 0.31120726958026823 Centerline is valid? [False, False] Translation: X:1.95, Y:0.01, Z:-0.11 [[ 9.99484417e-01 5.48922762e-03 -3.16349407e-02 1.95442064e+00] [-5.44113947e-03 9.99983907e-01 1.60598318e-03 9.59614128e-03] [ 3.16432472e-02 -1.43302503e-03 9.99498200e-01 -1.09013918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.69463044 meters Centerline goodness [0,1] 0.31390822990096445 Centerline is valid? [False, False] Translation: X:1.95, Y:0.01, Z:-0.11 [[ 9.99488624e-01 5.45983214e-03 -3.15068218e-02 1.95375653e+00] [-5.40590777e-03 9.99983774e-01 1.79644352e-03 8.21882836e-03] [ 3.15161188e-02 -1.62520189e-03 9.99501922e-01 -1.08470278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72463044 meters Centerline goodness [0,1] 0.3126057713169885 Centerline is valid? [False, False] Translation: X:1.95, Y:0.01, Z:-0.11 [[ 9.99491583e-01 5.44870760e-03 -3.14147669e-02 1.95324294e+00] [-5.38556341e-03 9.99983305e-01 2.09428077e-03 6.31782580e-03] [ 3.14256536e-02 -1.92402978e-03 9.99504240e-01 -1.07955806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75463044 meters Centerline goodness [0,1] 0.31466655126152243 Centerline is valid? [False, False] Translation: X:1.95, Y:0.00, Z:-0.11 [[ 9.99501917e-01 2.59091644e-03 -3.14516179e-02 1.95470294e+00] [-2.59126863e-03 9.99996642e-01 2.95619369e-05 1.39861696e-03] [ 3.14515888e-02 5.19523782e-05 9.99505275e-01 -1.09342415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78463044 meters Centerline goodness [0,1] 0.31426288281283743 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.00, Z:-0.11 [[ 9.99495158e-01 2.62535918e-03 -3.16628687e-02 1.95559698e+00] [-2.61565357e-03 9.99996519e-01 3.47946034e-04 -6.55155407e-04] [ 3.16636720e-02 -2.64951281e-04 9.99498545e-01 -1.09880717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.814630439999995 meters Centerline goodness [0,1] 0.30890131154590406 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.00, Z:-0.11 [[ 9.99487821e-01 2.66175735e-03 -3.18906130e-02 1.95635661e+00] [-2.64526278e-03 9.99996345e-01 5.59402314e-04 -2.07223903e-03] [ 3.18919855e-02 -4.74756748e-04 9.99491209e-01 -1.10166902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.844630439999996 meters Centerline goodness [0,1] 0.3149034316261424 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.00, Z:-0.11 [[ 9.99480345e-01 2.67936543e-03 -3.21226011e-02 1.95696843e+00] [-2.66087389e-03 9.99996269e-01 6.18389736e-04 -2.58592641e-03] [ 3.21241382e-02 -5.32594196e-04 9.99483745e-01 -1.10235233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.87463044 meters Centerline goodness [0,1] 0.31549369404691896 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.00, Z:-0.11 [[ 9.99454717e-01 2.88785806e-03 -3.28926968e-02 1.95908855e+00] [-2.87404162e-03 9.99995761e-01 4.67318355e-04 -9.88562421e-04] [ 3.28939069e-02 -3.72528554e-04 9.99458780e-01 -1.10819544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90463044 meters Centerline goodness [0,1] 0.3134289552368159 Centerline is valid? [False, False] Translation: X:1.96, Y:0.00, Z:-0.11 [[ 9.99444678e-01 3.01653531e-03 -3.31848737e-02 1.96000522e+00] [-3.00605568e-03 9.99995415e-01 3.65682212e-04 3.20926468e-04] [ 3.31858246e-02 -2.65723562e-04 9.99449164e-01 -1.11219723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.93463044 meters Centerline goodness [0,1] 0.3112495688168334 Centerline is valid? [False, False] Translation: X:1.96, Y:0.00, Z:-0.11 [[ 9.99442361e-01 3.07444303e-03 -3.32492863e-02 1.96011119e+00] [-3.06832165e-03 9.99995265e-01 2.35128253e-04 1.60156642e-03] [ 3.32498517e-02 -1.32977632e-04 9.99447062e-01 -1.11152794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96463044 meters Centerline goodness [0,1] 0.31191495771556454 Centerline is valid? [False, False] Translation: X:1.96, Y:0.00, Z:-0.11 [[ 9.99445542e-01 3.03492976e-03 -3.31571605e-02 1.95978239e+00] [-3.03481306e-03 9.99995393e-01 5.38462978e-05 2.61445918e-03] [ 3.31571712e-02 4.68093414e-05 9.99450149e-01 -1.11021456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.994630439999995 meters Centerline goodness [0,1] 0.3112551100287031 Centerline is valid? [False, False] Translation: X:1.96, Y:0.00, Z:-0.11 [[ 9.99450543e-01 2.97166183e-03 -3.30118507e-02 1.95924326e+00] [-2.97575943e-03 9.99995570e-01 -7.49946138e-05 3.08949828e-03] [ 3.30114816e-02 1.73188734e-04 9.99454958e-01 -1.10716976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.024630439999996 meters Centerline goodness [0,1] 0.311752150572408 Centerline is valid? [False, False] Translation: X:1.96, Y:0.00, Z:-0.11 [[ 9.99452704e-01 2.91809370e-03 -3.29511336e-02 1.95884504e+00] [-2.92447311e-03 9.99995713e-01 -1.45408296e-04 3.15661480e-03] [ 3.29505680e-02 2.41693419e-04 9.99456953e-01 -1.10346291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.05463044 meters Centerline goodness [0,1] 0.3117197889408434 Centerline is valid? [False, False] Translation: X:1.96, Y:0.00, Z:-0.11 [[ 9.99458107e-01 2.96770721e-03 -3.27824040e-02 1.95807320e+00] [-2.97137960e-03 9.99995583e-01 -6.33061810e-05 2.94778720e-03] [ 3.27820713e-02 1.60680842e-04 9.99462511e-01 -1.09808976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08463044 meters Centerline goodness [0,1] 0.31071029323243615 Centerline is valid? [False, False] Translation: X:1.96, Y:0.00, Z:-0.11 [[ 9.99462180e-01 2.98285032e-03 -3.26565893e-02 1.95762609e+00] [-2.98546223e-03 9.99995543e-01 -3.12206249e-05 2.79082148e-03] [ 3.26563506e-02 1.28698848e-04 9.99466631e-01 -1.09599783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.11463044 meters Centerline goodness [0,1] 0.31071029323243615 Centerline is valid? [False, False] Translation: X:1.96, Y:0.00, Z:-0.11 [[ 9.99462180e-01 2.98285032e-03 -3.26565893e-02 1.95762609e+00] [-2.98546223e-03 9.99995543e-01 -3.12206249e-05 2.79082148e-03] [ 3.26563506e-02 1.28698848e-04 9.99466631e-01 -1.09599783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14463044 meters Centerline goodness [0,1] 0.31171364269638835 Centerline is valid? [False, False] Translation: X:1.96, Y:0.00, Z:-0.11 [[ 9.99465784e-01 2.94222031e-03 -3.25498094e-02 1.95718028e+00] [-2.94536703e-03 9.99995661e-01 -4.87261798e-05 2.60166062e-03] [ 3.25495248e-02 1.44571285e-04 9.99470113e-01 -1.09283231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.174630439999994 meters Centerline goodness [0,1] 0.3149891857645337 Centerline is valid? [False, False] Translation: X:1.91, Y:0.00, Z:-0.11 [[ 9.99408942e-01 2.26886268e-03 -3.43018684e-02 1.91085358e+00] [-2.28078710e-03 9.99997351e-01 -3.08506651e-04 2.33227671e-04] [ 3.43010776e-02 3.86559564e-04 9.99411470e-01 -1.09481083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.204630439999995 meters Centerline goodness [0,1] 0.31210094582602865 Centerline is valid? [False, False] Translation: X:1.93, Y:0.00, Z:-0.11 [[ 9.99393667e-01 -4.42391925e-03 -3.45358743e-02 1.92887098e+00] [ 4.48169693e-03 9.99988684e-01 1.59574206e-03 4.98251862e-03] [ 3.45284240e-02 -1.74955383e-03 9.99402185e-01 -1.07024845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.23463044 meters Centerline goodness [0,1] 0.31541759635997724 Centerline is valid? [False, False] Translation: X:1.93, Y:0.01, Z:-0.11 [[ 9.99388033e-01 -4.26385421e-03 -3.47185573e-02 1.92965107e+00] [ 4.32547977e-03 9.99989200e-01 1.70008696e-03 5.22573248e-03] [ 3.47109335e-02 -1.84922098e-03 9.99395683e-01 -1.07565987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26463044 meters Centerline goodness [0,1] 0.3125855736422315 Centerline is valid? [False, False] Translation: X:1.95, Y:0.00, Z:-0.11 [[ 9.99365343e-01 3.92169025e-03 -3.54052352e-02 1.94992057e+00] [-3.90535777e-03 9.99992233e-01 5.30446666e-04 2.76064691e-03] [ 3.54070404e-02 -3.91839905e-04 9.99372897e-01 -1.05669583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.29463044 meters Centerline goodness [0,1] 0.3105754041245591 Centerline is valid? [False, False] Translation: X:1.95, Y:0.00, Z:-0.11 [[ 9.99361952e-01 3.84327249e-03 -3.55094205e-02 1.95015573e+00] [-3.83500680e-03 9.99992601e-01 3.00882722e-04 3.57360951e-03] [ 3.55103142e-02 -1.64511875e-04 9.99369296e-01 -1.05689385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32463044 meters Centerline goodness [0,1] 0.3115036622145627 Centerline is valid? [False, False] Translation: X:1.95, Y:0.00, Z:-0.11 [[ 9.99369159e-01 3.74661029e-03 -3.53163855e-02 1.94927524e+00] [-3.74509950e-03 9.99992981e-01 1.08931181e-04 4.00274942e-03] [ 3.53165458e-02 2.34009149e-05 9.99376176e-01 -1.05109247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.354630439999994 meters Centerline goodness [0,1] 0.3122370152989664 Centerline is valid? [False, False] Translation: X:1.95, Y:0.00, Z:-0.10 [[ 9.99388994e-01 4.01000487e-03 -3.47211503e-02 1.94728587e+00] [-4.00249763e-03 9.99991949e-01 2.85719383e-04 3.78993504e-03] [ 3.47220165e-02 -1.46573485e-04 9.99396998e-01 -1.04262400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.384630439999995 meters Centerline goodness [0,1] 0.3164166123070232 Centerline is valid? [False, False] Translation: X:1.95, Y:0.00, Z:-0.10 [[ 9.99391276e-01 4.11930344e-03 -3.46425994e-02 1.94714508e+00] [-4.10989185e-03 9.99991496e-01 3.42882623e-04 4.01128010e-03] [ 3.46437172e-02 -2.00296565e-04 9.99399706e-01 -1.04361297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.414630439999996 meters Centerline goodness [0,1] 0.3150884359654078 Centerline is valid? [False, False] Translation: X:1.95, Y:0.00, Z:-0.10 [[ 9.99387177e-01 4.18832131e-03 -3.47523898e-02 1.94768386e+00] [-4.17939824e-03 9.99991212e-01 3.29401814e-04 4.36793841e-03] [ 3.47534641e-02 -1.83955872e-04 9.99395899e-01 -1.04820939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44463044 meters Centerline goodness [0,1] 0.3132689022940045 Centerline is valid? [False, False] Translation: X:1.95, Y:0.01, Z:-0.11 [[ 9.99379178e-01 4.13764527e-03 -3.49876908e-02 1.94846143e+00] [-4.13553225e-03 9.99991440e-01 1.32761636e-04 5.26200890e-03] [ 3.49879407e-02 1.20135096e-05 9.99387734e-01 -1.05182558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.47463044 meters Centerline goodness [0,1] 0.310835195050696 Centerline is valid? [False, False] Translation: X:1.95, Y:0.01, Z:-0.10 [[ 9.99378855e-01 4.29287794e-03 -3.49782130e-02 1.94812570e+00] [-4.29561015e-03 9.99990774e-01 -2.96232200e-06 6.76596256e-03] [ 3.49778776e-02 1.53213249e-04 9.99388075e-01 -1.04850266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50463044 meters Centerline goodness [0,1] 0.3127246121069961 Centerline is valid? [False, False] Translation: X:1.95, Y:0.01, Z:-0.10 [[ 9.99389544e-01 4.42376156e-03 -3.46550029e-02 1.94710570e+00] [-4.42500704e-03 9.99990209e-01 4.07583302e-05 7.33203553e-03] [ 3.46548439e-02 1.12615182e-04 9.99399334e-01 -1.04518357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.53463044 meters Centerline goodness [0,1] 0.3127464712854219 Centerline is valid? [False, False] Translation: X:1.95, Y:0.01, Z:-0.10 [[ 9.99397363e-01 4.50632999e-03 -3.44180598e-02 1.94653157e+00] [-4.50733963e-03 9.99989841e-01 4.82555406e-05 7.76726343e-03] [ 3.44179276e-02 1.06907425e-04 9.99407522e-01 -1.04543099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.564630439999995 meters Centerline goodness [0,1] 0.3108667529107374 Centerline is valid? [False, False] Translation: X:1.95, Y:0.01, Z:-0.11 [[ 9.99403476e-01 4.44644062e-03 -3.42479511e-02 1.94656575e+00] [-4.45317555e-03 9.99990077e-01 -1.20375615e-04 8.19814266e-03] [ 3.42470761e-02 2.72815947e-04 9.99413360e-01 -1.05166048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.594630439999996 meters Centerline goodness [0,1] 0.3089826025246769 Centerline is valid? [False, False] Translation: X:1.95, Y:0.01, Z:-0.11 [[ 9.99403651e-01 4.41186942e-03 -3.42473018e-02 1.94662468e+00] [-4.41956644e-03 9.99990223e-01 -1.49049717e-04 8.00725300e-03] [ 3.42463093e-02 3.00319057e-04 9.99413378e-01 -1.05276078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62463044 meters Centerline goodness [0,1] 0.3167788755792603 Centerline is valid? [False, False] Translation: X:1.93, Y:0.01, Z:-0.11 [[ 9.99395007e-01 -4.18329168e-03 -3.45270988e-02 1.92550412e+00] [ 4.21002480e-03 9.99990892e-01 7.01599171e-04 9.92603322e-03] [ 3.45238493e-02 -8.46534651e-04 9.99403516e-01 -1.06551115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.65463044 meters Centerline goodness [0,1] 0.3125378296584522 Centerline is valid? [False, False] Translation: X:1.94, Y:0.01, Z:-0.10 [[ 9.99438573e-01 3.64443164e-03 -3.33054977e-02 1.94445636e+00] [-3.66600144e-03 9.99993108e-01 -5.86591734e-04 6.88283129e-03] [ 3.33031304e-02 7.08360408e-04 9.99445046e-01 -1.04457442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68463044 meters Centerline goodness [0,1] 0.31489027871603215 Centerline is valid? [False, False] Translation: X:1.94, Y:0.01, Z:-0.10 [[ 9.99448599e-01 3.69262254e-03 -3.29979224e-02 1.94340035e+00] [-3.70655996e-03 9.99993065e-01 -3.61211536e-04 5.63728163e-03] [ 3.29963598e-02 4.83321142e-04 9.99455355e-01 -1.03914004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.71463044 meters Centerline goodness [0,1] 0.313234850768767 Centerline is valid? [False, False] Translation: X:1.96, Y:0.01, Z:-0.10 [[ 9.99481236e-01 -4.16627611e-03 -3.19359017e-02 1.96267858e+00] [ 4.19086169e-03 9.99990971e-01 7.02943354e-04 8.82535761e-03] [ 3.19326847e-02 -8.36417639e-04 9.99489672e-01 -1.02386681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.744630439999995 meters Centerline goodness [0,1] 0.311834434094185 Centerline is valid? [False, False] Translation: X:1.96, Y:0.01, Z:-0.10 [[ 9.99469735e-01 -4.19566590e-03 -3.22900323e-02 1.96388478e+00] [ 4.23364336e-03 9.99990424e-01 1.10785532e-03 5.91276878e-03] [ 3.22850749e-02 -1.24397235e-03 9.99477927e-01 -1.02778348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.774630439999996 meters Centerline goodness [0,1] 0.30949046644403744 Centerline is valid? [False, False] Translation: X:1.96, Y:0.00, Z:-0.10 [[ 9.99461295e-01 -4.04921944e-03 -3.25687579e-02 1.96493441e+00] [ 4.09831557e-03 9.99990564e-01 1.44084592e-03 4.47835454e-03] [ 3.25626162e-02 -1.57354678e-03 9.99468459e-01 -1.03309236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80463044 meters Centerline goodness [0,1] 0.3124138821908371 Centerline is valid? [False, False] Translation: X:1.97, Y:0.00, Z:-0.10 [[ 9.99449394e-01 -3.92693704e-03 -3.29467536e-02 1.96623113e+00] [ 3.98506235e-03 9.99990617e-01 1.69873986e-03 3.38725132e-03] [ 3.29397736e-02 -1.82909939e-03 9.99455665e-01 -1.03845322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.83463044 meters Centerline goodness [0,1] 0.31026252983293556 Centerline is valid? [False, False] Translation: X:1.97, Y:0.00, Z:-0.10 [[ 9.99439797e-01 -3.88668879e-03 -3.32413155e-02 1.96724450e+00] [ 3.94812556e-03 9.99990617e-01 1.78276615e-03 2.97481640e-03] [ 3.32340746e-02 -1.91300833e-03 9.99445765e-01 -1.04275559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86463044 meters Centerline goodness [0,1] 0.31236267919685 Centerline is valid? [False, False] Translation: X:1.97, Y:0.00, Z:-0.10 [[ 9.99429125e-01 -3.98220461e-03 -3.35494632e-02 1.96798671e+00] [ 4.04452830e-03 9.99990219e-01 1.79000526e-03 1.96063726e-03] [ 3.35420069e-02 -1.92467514e-03 9.99435455e-01 -1.04279323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.89463044 meters Centerline goodness [0,1] 0.311362059996532 Centerline is valid? [False, False] Translation: X:1.97, Y:0.00, Z:-0.10 [[ 9.99423233e-01 -3.97122230e-03 -3.37258206e-02 1.96836035e+00] [ 4.03660986e-03 9.99990103e-01 1.87093087e-03 1.30838923e-03] [ 3.37180569e-02 -2.00598976e-03 9.99429372e-01 -1.04228924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.924630439999994 meters Centerline goodness [0,1] 0.3109232741574499 Centerline is valid? [False, False] Translation: X:1.97, Y:0.00, Z:-0.10 [[ 9.99416618e-01 -3.89443259e-03 -3.39301776e-02 1.96905844e+00] [ 3.96782156e-03 9.99989932e-01 2.09587532e-03 1.77748000e-04] [ 3.39216738e-02 -2.22928152e-03 9.99422008e-01 -1.04528051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.954630439999995 meters Centerline goodness [0,1] 0.3130189089328407 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.00, Z:-0.10 [[ 9.99408239e-01 -3.79507335e-03 -3.41872569e-02 1.96982521e+00] [ 3.88011426e-03 9.99989540e-01 2.42150179e-03 -1.45157987e-03] [ 3.41777096e-02 -2.55271930e-03 9.99412511e-01 -1.04719649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98463044 meters Centerline goodness [0,1] 0.3103522614581986 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.01, Z:-0.10 [[ 0.99939737 -0.00376066 -0.03450735 1.97071567] [ 0.00386881 0.99998781 0.00306803 -0.00574124] [ 0.03449539 -0.00319968 0.99939973 -0.10470233] [ 0. 0. 0. 1. ]] SLAMing on 59.01463044 meters Centerline goodness [0,1] 0.3126513317191283 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.01, Z:-0.10 [[ 0.99940102 -0.00377195 -0.03440025 1.97023691] [ 0.0038871 0.99998706 0.00328128 -0.00739814] [ 0.03438742 -0.00341303 0.99940275 -0.10427569] [ 0. 0. 0. 1. ]] SLAMing on 59.04463044 meters Centerline goodness [0,1] 0.31480757536269655 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.01, Z:-0.10 [[ 0.99940535 -0.00376314 -0.03427514 1.96962642] [ 0.00388266 0.99998661 0.0034213 -0.00841842] [ 0.03426181 -0.00355235 0.99940658 -0.10375929] [ 0. 0. 0. 1. ]] SLAMing on 59.07463044 meters Centerline goodness [0,1] 0.313589151136928 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.01, Z:-0.10 [[ 9.99424001e-01 4.35133327e-03 -3.36560978e-02 1.98791548e+00] [-4.28380790e-03 9.99988665e-01 2.07818254e-03 -1.12540622e-02] [ 3.36647591e-02 -1.93280925e-03 9.99431312e-01 -1.01297575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.104630439999994 meters Centerline goodness [0,1] 0.3119721055139256 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.01, Z:-0.10 [[ 9.99424278e-01 4.39024919e-03 -3.36428012e-02 1.98792743e+00] [-4.32496427e-03 9.99988621e-01 2.01305901e-03 -1.04976976e-02] [ 3.36512562e-02 -1.86639613e-03 9.99431893e-01 -1.01384985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.134630439999995 meters Centerline goodness [0,1] 0.31142396560988717 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.01, Z:-0.10 [[ 9.99401455e-01 4.65697514e-03 -3.42789108e-02 1.98977896e+00] [-4.60063744e-03 9.99987934e-01 1.72220187e-03 -7.36448158e-03] [ 3.42865174e-02 -1.56346622e-03 9.99410822e-01 -1.02027119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.164630439999996 meters Centerline goodness [0,1] 0.3130211394857727 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.01, Z:-0.10 [[ 9.99394935e-01 4.51659693e-03 -3.44871595e-02 1.99046275e+00] [-4.47538939e-03 9.99989176e-01 1.27196793e-03 -5.14489955e-03] [ 3.44925312e-02 -1.11685484e-03 9.99404332e-01 -1.02415553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.19463044 meters Centerline goodness [0,1] 0.31426151908628996 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.00, Z:-0.10 [[ 9.99390103e-01 4.40628225e-03 -3.46411244e-02 1.99083024e+00] [-4.38069463e-03 9.99990073e-01 8.14513361e-04 -2.61404209e-03] [ 3.46443695e-02 -6.62264404e-04 9.99399484e-01 -1.02527503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22463044 meters Centerline goodness [0,1] 0.31192127137258285 Centerline is valid? [False, False] Translation: X:2.01, Y:0.01, Z:-0.10 [[ 9.99362844e-01 -1.63204046e-03 -3.56545005e-02 2.00633419e+00] [ 1.69928217e-03 9.99996834e-01 1.85570292e-03 8.59887357e-03] [ 3.56513590e-02 -1.91510761e-03 9.99362453e-01 -9.92720770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.25463044 meters Centerline goodness [0,1] 0.3098274892991483 Centerline is valid? [False, False] Translation: X:2.01, Y:0.01, Z:-0.10 [[ 9.99366723e-01 -1.80187385e-03 -3.55373795e-02 2.00592452e+00] [ 1.85574474e-03 9.99997179e-01 1.48296739e-03 1.03021518e-02] [ 3.55346071e-02 -1.54797656e-03 9.99367248e-01 -9.91179113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28463044 meters Centerline goodness [0,1] 0.31695245603661604 Centerline is valid? [False, False] Translation: X:2.01, Y:0.01, Z:-0.10 [[ 9.99363704e-01 -1.98276315e-03 -3.56125927e-02 2.00607157e+00] [ 2.02514695e-03 9.99997283e-01 1.15410271e-03 1.15484894e-02] [ 3.56102077e-02 -1.22548909e-03 9.99365004e-01 -9.90821078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.314630439999995 meters Centerline goodness [0,1] 0.3117498215791864 Centerline is valid? [False, False] Translation: X:2.03, Y:0.01, Z:-0.10 [[ 9.99365186e-01 5.76676225e-03 -3.51563484e-02 2.02581676e+00] [-5.78116376e-03 9.99983242e-01 -3.08001095e-04 1.08735739e-02] [ 3.51539831e-02 5.11050179e-04 9.99381777e-01 -9.74928972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.344630439999996 meters Centerline goodness [0,1] 0.3104405735482332 Centerline is valid? [False, False] Translation: X:2.03, Y:0.01, Z:-0.10 [[ 9.99364580e-01 5.71199453e-03 -3.51825018e-02 2.02589540e+00] [-5.73020679e-03 9.99983495e-01 -4.16839428e-04 1.16162733e-02] [ 3.51795401e-02 6.18177571e-04 9.99380817e-01 -9.75251269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.37463044 meters Centerline goodness [0,1] 0.3108378302840066 Centerline is valid? [False, False] Translation: X:2.04, Y:0.02, Z:-0.10 [[ 9.99382308e-01 -1.81721962e-03 -3.50955792e-02 2.04471679e+00] [ 1.84802618e-03 9.99997935e-01 8.45371496e-04 1.74414364e-02] [ 3.50939705e-02 -9.09706866e-04 9.99383603e-01 -9.54196852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40463044 meters Centerline goodness [0,1] 0.310945434900054 Centerline is valid? [False, False] Translation: X:2.04, Y:0.02, Z:-0.10 [[ 9.99378702e-01 -1.86520120e-03 -3.51956169e-02 2.04483508e+00] [ 1.89766881e-03 9.99997804e-01 8.89107597e-04 1.70344230e-02] [ 3.51938813e-02 -9.55344820e-04 9.99380047e-01 -9.52046576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.43463044 meters Centerline goodness [0,1] 0.3145977161217489 Centerline is valid? [False, False] Translation: X:2.04, Y:0.02, Z:-0.09 [[ 9.99378710e-01 -2.29130077e-03 -3.51702095e-02 2.04455802e+00] [ 2.32087697e-03 9.99996987e-01 8.00142241e-04 1.58391982e-02] [ 3.51682701e-02 -8.81270849e-04 9.99381016e-01 -9.47180037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46463044 meters Centerline goodness [0,1] 0.31573245509501 Centerline is valid? [False, False] Translation: X:2.05, Y:0.01, Z:-0.09 [[ 9.99370745e-01 -2.31202112e-03 -3.53944802e-02 2.04524905e+00] [ 2.34650693e-03 9.99996812e-01 9.32818763e-04 1.48028454e-02] [ 3.53922106e-02 -1.01528517e-03 9.99372984e-01 -9.48594355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.494630439999995 meters Centerline goodness [0,1] 0.31325091793947035 Centerline is valid? [False, False] Translation: X:2.05, Y:0.01, Z:-0.10 [[ 9.99361188e-01 -2.33740037e-03 -3.56616419e-02 2.04605587e+00] [ 2.37389095e-03 9.99996701e-01 9.80937112e-04 1.42747594e-02] [ 3.56592315e-02 -1.06496733e-03 9.99363440e-01 -9.50945191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.524630439999996 meters Centerline goodness [0,1] 0.3100892451973982 Centerline is valid? [False, False] Translation: X:2.05, Y:0.01, Z:-0.10 [[ 9.99353919e-01 -2.33690329e-03 -3.58648025e-02 2.04668435e+00] [ 2.37234132e-03 9.99996739e-01 9.45576991e-04 1.44516654e-02] [ 3.58624758e-02 -1.03004962e-03 9.99356204e-01 -9.52856446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.55463044 meters Centerline goodness [0,1] 0.3139071700727398 Centerline is valid? [False, False] Translation: X:2.05, Y:0.02, Z:-0.10 [[ 9.99339755e-01 -2.00394671e-03 -3.62772526e-02 2.04783291e+00] [ 2.03260738e-03 9.99997651e-01 7.53181512e-04 1.70379988e-02] [ 3.62756580e-02 -8.26421639e-04 9.99341480e-01 -9.56686304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58463044 meters Centerline goodness [0,1] 0.3109741542067229 Centerline is valid? [False, False] Translation: X:2.05, Y:0.02, Z:-0.10 [[ 9.99341502e-01 -1.83048225e-03 -3.62382658e-02 2.04788246e+00] [ 1.85199446e-03 9.99998128e-01 5.60073908e-04 1.91428112e-02] [ 3.62371728e-02 -6.26818169e-04 9.99343021e-01 -9.59421198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.61463044 meters Centerline goodness [0,1] 0.3129861711322386 Centerline is valid? [False, False] Translation: X:2.05, Y:0.02, Z:-0.10 [[ 9.99342177e-01 -1.60011487e-03 -3.62305436e-02 2.04800721e+00] [ 1.61394240e-03 9.99998635e-01 3.52410605e-04 2.16706444e-02] [ 3.62299303e-02 -4.10652792e-04 9.99343396e-01 -9.62417749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64463044 meters Centerline goodness [0,1] 0.3075713855032517 Centerline is valid? [False, False] Translation: X:2.05, Y:0.02, Z:-0.10 [[ 9.99357283e-01 -1.42015907e-03 -3.58190579e-02 2.04701718e+00] [ 1.42575759e-03 9.99998975e-01 1.30757632e-04 2.40921955e-02] [ 3.58188355e-02 -1.81742886e-04 9.99358283e-01 -9.63081494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.674630439999994 meters Centerline goodness [0,1] 0.3083687083080655 Centerline is valid? [False, False] Translation: X:2.05, Y:0.03, Z:-0.10 [[ 9.99362243e-01 -1.48187258e-03 -3.56778947e-02 2.04655226e+00] [ 1.47118359e-03 9.99998865e-01 -3.25847859e-04 2.68313268e-02] [ 3.56783371e-02 2.73151314e-04 9.99363288e-01 -9.62205212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.704630439999995 meters Centerline goodness [0,1] 0.31035749794665635 Centerline is valid? [False, False] Translation: X:2.05, Y:0.03, Z:-0.10 [[ 9.99358579e-01 -1.65978125e-03 -3.57725420e-02 2.04643369e+00] [ 1.62139247e-03 9.99998078e-01 -1.10211870e-03 3.09737432e-02] [ 3.57743025e-02 1.04341044e-03 9.99359350e-01 -9.59409014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.73463044 meters Centerline goodness [0,1] 0.3045115194557939 Centerline is valid? [False, False] Translation: X:2.07, Y:0.03, Z:-0.09 [[ 0.99935933 0.00596757 -0.03528895 2.06589749] [-0.00607086 0.99997759 -0.00282057 0.0305131 ] [ 0.03527133 0.003033 0.99937317 -0.09384208] [ 0. 0. 0. 1. ]] SLAMing on 59.76463044 meters Centerline goodness [0,1] 0.31043098063710184 Centerline is valid? [False, False] Translation: X:2.07, Y:0.03, Z:-0.09 [[ 0.99936118 0.00586127 -0.03525452 2.06564437] [-0.00597007 0.99997773 -0.00298181 0.03116005] [ 0.03523625 0.00319037 0.99937392 -0.09361749] [ 0. 0. 0. 1. ]] SLAMing on 59.79463044 meters Centerline goodness [0,1] 0.3123840345199569 Centerline is valid? [False, False] Translation: X:2.07, Y:0.03, Z:-0.09 [[ 0.99936841 0.00541873 -0.03512005 2.06524993] [-0.00553179 0.99997982 -0.00312302 0.03078902] [ 0.03510242 0.00331533 0.99937822 -0.09334451] [ 0. 0. 0. 1. ]] SLAMing on 59.82463044 meters Centerline goodness [0,1] 0.31131527422165806 Centerline is valid? [False, False] Translation: X:2.07, Y:0.03, Z:-0.09 [[ 0.99936446 0.00530796 -0.03524916 2.06536248] [-0.00541782 0.99998076 -0.00302189 0.02992379] [ 0.03523245 0.00321094 0.99937399 -0.09293994] [ 0. 0. 0. 1. ]] SLAMing on 59.854630439999994 meters Centerline goodness [0,1] 0.3131339289567957 Centerline is valid? [False, False] Translation: X:2.07, Y:0.03, Z:-0.09 [[ 0.99935955 0.00521948 -0.03540129 2.06554391] [-0.00532617 0.99998155 -0.00292027 0.02907842] [ 0.0353854 0.00310695 0.99936891 -0.09256589] [ 0. 0. 0. 1. ]] SLAMing on 59.884630439999995 meters Centerline goodness [0,1] 0.31109589627284007 Centerline is valid? [False, False] Translation: X:2.09, Y:0.03, Z:-0.09 [[ 9.99357647e-01 -2.60005518e-03 -3.57426028e-02 2.08503504e+00] [ 2.53560015e-03 9.99995077e-01 -1.84852172e-03 3.33482243e-02] [ 3.57472331e-02 1.75670537e-03 9.99359319e-01 -9.03159112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.914630439999996 meters Centerline goodness [0,1] 0.3170103655210038 Centerline is valid? [False, False] Translation: X:2.04, Y:0.03, Z:-0.09 [[ 0.9992546 -0.0038159 -0.03841475 2.04073632] [ 0.00371934 0.99998974 -0.00258472 0.0302538 ] [ 0.03842422 0.00243992 0.99925854 -0.09069999] [ 0. 0. 0. 1. ]] SLAMing on 59.94463044 meters Centerline goodness [0,1] 0.3112242696241315 Centerline is valid? [False, False] Translation: X:2.06, Y:0.03, Z:-0.09 [[ 0.9992612 0.00366516 -0.03825738 2.06020959] [-0.0038234 0.99998443 -0.00406393 0.02687345] [ 0.03824189 0.0042072 0.99925965 -0.08858029] [ 0. 0. 0. 1. ]] SLAMing on 59.97463044 meters Centerline goodness [0,1] 0.317142111671595 Centerline is valid? [False, False] Translation: X:2.06, Y:0.03, Z:-0.09 [[ 0.99925769 0.00365959 -0.03834948 2.05983873] [-0.00381212 0.99998511 -0.003905 0.02613803] [ 0.03833462 0.00404829 0.99925676 -0.08769063] [ 0. 0. 0. 1. ]] SLAMing on 60.00463044 meters Centerline goodness [0,1] 0.317142111671595 Centerline is valid? [False, False] Translation: X:2.06, Y:0.03, Z:-0.09 [[ 0.99925769 0.00365959 -0.03834948 2.05983873] [-0.00381212 0.99998511 -0.003905 0.02613803] [ 0.03833462 0.00404829 0.99925676 -0.08769063] [ 0. 0. 0. 1. ]] SLAMing on 60.03463044 meters Centerline goodness [0,1] 0.3123574226316016 Centerline is valid? [False, False] Translation: X:2.08, Y:0.03, Z:-0.09 [[ 0.99925151 -0.0037908 -0.03849748 2.07912558] [ 0.00369644 0.99998999 -0.00252189 0.03115611] [ 0.03850665 0.0023777 0.99925551 -0.08544118] [ 0. 0. 0. 1. ]] SLAMing on 60.064630439999995 meters Centerline goodness [0,1] 0.31437591903814543 Centerline is valid? [False, False] Translation: X:2.08, Y:0.03, Z:-0.09 [[ 0.99923646 -0.00378078 -0.03888694 2.08001474] [ 0.00368835 0.9999902 -0.0024485 0.03076167] [ 0.03889581 0.0023032 0.99924062 -0.0853431 ] [ 0. 0. 0. 1. ]] SLAMing on 60.094630439999996 meters Centerline goodness [0,1] 0.3127417298675482 Centerline is valid? [False, False] Translation: X:2.08, Y:0.03, Z:-0.09 [[ 0.9992255 -0.00386521 -0.03915944 2.08076788] [ 0.00377081 0.9999898 -0.00248435 0.03049039] [ 0.03916864 0.00233476 0.99922989 -0.08544508] [ 0. 0. 0. 1. ]] SLAMing on 60.12463044 meters Centerline goodness [0,1] 0.3156273054723777 Centerline is valid? [False, False] Translation: X:2.08, Y:0.03, Z:-0.08 [[ 0.99924178 -0.00396111 -0.038732 2.0791925 ] [ 0.00386942 0.99998953 -0.00244206 0.02970436] [ 0.03874127 0.00229034 0.99924665 -0.08455209] [ 0. 0. 0. 1. ]] SLAMing on 60.15463044 meters Centerline goodness [0,1] 0.3149186763881099 Centerline is valid? [False, False] Translation: X:2.10, Y:0.03, Z:-0.08 [[ 0.99931948 0.00393343 -0.03667555 2.09684013] [-0.00406884 0.99998518 -0.00361831 0.02640219] [ 0.03666077 0.00376508 0.99932068 -0.08238351] [ 0. 0. 0. 1. ]] SLAMing on 60.18463044 meters Centerline goodness [0,1] 0.31722442229862047 Centerline is valid? [False, False] Translation: X:2.10, Y:0.03, Z:-0.08 [[ 0.99933222 0.00393906 -0.0363263 2.09559406] [-0.00406937 0.99998555 -0.00351374 0.02571883] [ 0.03631193 0.00365922 0.9993338 -0.08172544] [ 0. 0. 0. 1. ]] SLAMing on 60.21463044 meters Centerline goodness [0,1] 0.31541295869335684 Centerline is valid? [False, False] Translation: X:2.11, Y:0.03, Z:-0.08 [[ 0.99935491 -0.00391665 -0.03569894 2.11467745] [ 0.00382621 0.9999893 -0.00260135 0.02922644] [ 0.03570874 0.00246308 0.9993592 -0.07990237] [ 0. 0. 0. 1. ]] SLAMing on 60.244630439999995 meters Centerline goodness [0,1] 0.3160491689750693 Centerline is valid? [False, False] Translation: X:2.11, Y:0.03, Z:-0.08 [[ 0.99935661 -0.00390355 -0.03565296 2.1142159 ] [ 0.00381996 0.99998979 -0.00241255 0.02764423] [ 0.03566201 0.00227481 0.99936132 -0.07934986] [ 0. 0. 0. 1. ]] SLAMing on 60.274630439999996 meters Centerline goodness [0,1] 0.31345866776280207 Centerline is valid? [False, False] Translation: X:2.11, Y:0.03, Z:-0.08 [[ 9.99358386e-01 -3.76525647e-03 -3.56179660e-02 2.11407866e+00] [ 3.68960973e-03 9.99990797e-01 -2.18932771e-03 2.69284599e-02] [ 3.56258816e-02 2.05650661e-03 9.99363081e-01 -7.92403128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30463044 meters Centerline goodness [0,1] 0.3133933753197343 Centerline is valid? [False, False] Translation: X:2.11, Y:0.03, Z:-0.08 [[ 9.99358184e-01 -3.62412961e-03 -3.56382632e-02 2.11398018e+00] [ 3.55743712e-03 9.99991801e-01 -1.93460597e-03 2.59964868e-02] [ 3.56449822e-02 1.80658343e-03 9.99362883e-01 -7.90511757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.33463044 meters Centerline goodness [0,1] 0.31492855757419025 Centerline is valid? [False, False] Translation: X:2.11, Y:0.02, Z:-0.08 [[ 9.99361017e-01 -3.53452140e-03 -3.55677551e-02 2.11379726e+00] [ 3.47788629e-03 9.99992584e-01 -1.65406024e-03 2.44117542e-02] [ 3.55733377e-02 1.52930272e-03 9.99365898e-01 -7.89661113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36463044 meters Centerline goodness [0,1] 0.3121501340482574 Centerline is valid? [False, False] Translation: X:2.11, Y:0.02, Z:-0.08 [[ 9.99357611e-01 -3.46782218e-03 -3.56698656e-02 2.11391286e+00] [ 3.42370040e-03 9.99993297e-01 -1.29795502e-03 2.20165370e-02] [ 3.56741275e-02 1.17499829e-03 9.99362785e-01 -7.87137306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.39463044 meters Centerline goodness [0,1] 0.3137347433449881 Centerline is valid? [False, False] Translation: X:2.11, Y:0.02, Z:-0.08 [[ 9.99345461e-01 -3.27620485e-03 -3.60265902e-02 2.11495532e+00] [ 3.26203526e-03 9.99994577e-01 -4.52081201e-04 1.54843471e-02] [ 3.60278759e-02 3.34265289e-04 9.99350729e-01 -7.88670432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.424630439999994 meters Centerline goodness [0,1] 0.31428202256869675 Centerline is valid? [False, False] Translation: X:2.12, Y:0.01, Z:-0.08 [[ 9.99336235e-01 -3.03125587e-03 -3.63029061e-02 2.11589225e+00] [ 3.03983052e-03 9.99995363e-01 1.81004129e-04 1.23843239e-02] [ 3.63021892e-02 -2.91238667e-04 9.99340816e-01 -7.91875693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.454630439999995 meters Centerline goodness [0,1] 0.319178052436084 Centerline is valid? [False, False] Translation: X:2.12, Y:0.01, Z:-0.08 [[ 9.99332683e-01 -2.83341287e-03 -3.64164888e-02 2.11639537e+00] [ 2.86251601e-03 9.99995624e-01 7.47061012e-04 9.39473252e-03] [ 3.64142127e-02 -8.50805268e-04 9.99336420e-01 -7.94543426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48463044 meters Centerline goodness [0,1] 0.3154144241119483 Centerline is valid? [False, False] Translation: X:2.14, Y:0.00, Z:-0.08 [[ 9.99304930e-01 4.29139387e-03 -3.70302728e-02 2.13573913e+00] [-4.32059838e-03 9.99990415e-01 -7.08677586e-04 2.06676836e-03] [ 3.70268766e-02 8.68177942e-04 9.99313893e-01 -7.71549464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.51463044 meters Centerline goodness [0,1] 0.31458086731948776 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.00, Z:-0.08 [[ 9.99329765e-01 9.34826527e-04 -3.65943509e-02 2.13432478e+00] [-1.05975993e-03 9.99993676e-01 -3.39475978e-03 -3.05143861e-03] [ 3.65909460e-02 3.43126572e-03 9.99324436e-01 -7.66403831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54463044 meters Centerline goodness [0,1] 0.31364478731198553 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.01, Z:-0.08 [[ 9.99329052e-01 1.16375460e-03 -3.66072493e-02 2.13419736e+00] [-1.26975847e-03 9.99995068e-01 -2.87259156e-03 -5.54677425e-03] [ 3.66037258e-02 2.91714657e-03 9.99325601e-01 -7.63815139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57463044 meters Centerline goodness [0,1] 0.3161333448335346 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.01, Z:-0.08 [[ 9.99321079e-01 1.36984999e-03 -3.68171850e-02 2.13488369e+00] [-1.46087730e-03 9.99995942e-01 -2.44562542e-03 -7.44778264e-03] [ 3.68136855e-02 2.49775042e-03 9.99319025e-01 -7.66294453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.604630439999994 meters Centerline goodness [0,1] 0.31357573149741824 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.01, Z:-0.08 [[ 9.99307439e-01 1.45558894e-03 -3.71822954e-02 2.13620611e+00] [-1.53788700e-03 9.99996431e-01 -2.18486160e-03 -9.03120004e-03] [ 3.71789824e-02 2.24053062e-03 9.99306111e-01 -7.72549404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.634630439999995 meters Centerline goodness [0,1] 0.31295531680321664 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.01, Z:-0.08 [[ 9.99293128e-01 1.44523897e-03 -3.75653515e-02 2.13767564e+00] [-1.52375420e-03 9.99996714e-01 -2.06155074e-03 -1.03258442e-02] [ 3.75622486e-02 2.11733385e-03 9.99292047e-01 -7.80523274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.664630439999996 meters Centerline goodness [0,1] 0.31240018990893004 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.01, Z:-0.08 [[ 9.99275020e-01 1.57047731e-03 -3.80390231e-02 2.13910345e+00] [-1.63395082e-03 9.99997324e-01 -1.63761129e-03 -1.29093571e-02] [ 3.80363495e-02 1.69857795e-03 9.99274913e-01 -7.84844537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.69463044 meters Centerline goodness [0,1] 0.31353795322145905 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.01, Z:-0.08 [[ 9.99277261e-01 1.72913698e-03 -3.79732339e-02 2.13880007e+00] [-1.77762103e-03 9.99997647e-01 -1.24306918e-03 -1.46486269e-02] [ 3.79709951e-02 1.30967278e-03 9.99277983e-01 -7.82424663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72463044 meters Centerline goodness [0,1] 0.31356703353843485 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.02, Z:-0.08 [[ 9.99282199e-01 1.83258388e-03 -3.78381968e-02 2.13826544e+00] [-1.86489899e-03 9.99997926e-01 -8.18756939e-04 -1.69163724e-02] [ 3.78366179e-02 8.88733649e-04 9.99283544e-01 -7.78655474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.75463044 meters Centerline goodness [0,1] 0.31245120999219356 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.02, Z:-0.08 [[ 9.99292225e-01 1.81097994e-03 -3.75735290e-02 2.13732789e+00] [-1.82934578e-03 9.99998223e-01 -4.54423501e-04 -1.94135718e-02] [ 3.75726393e-02 5.22836848e-04 9.99293762e-01 -7.73290502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78463044 meters Centerline goodness [0,1] 0.312490557078414 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.02, Z:-0.08 [[ 9.99329374e-01 -7.66120712e-03 -3.58065467e-02 2.15619430e+00] [ 7.67074208e-03 9.99970571e-01 1.28921152e-04 -2.35610408e-02] [ 3.58045053e-02 -4.03497479e-04 9.99358732e-01 -7.55036815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.814630439999995 meters Centerline goodness [0,1] 0.3113199395117736 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.03, Z:-0.08 [[ 9.99311500e-01 -7.76970390e-03 -3.62788837e-02 2.15732270e+00] [ 7.79792810e-03 9.99969393e-01 6.36544872e-04 -2.72798143e-02] [ 3.62728275e-02 -9.19006738e-04 9.99341502e-01 -7.54450146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.844630439999996 meters Centerline goodness [0,1] 0.31295614474630185 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.03, Z:-0.08 [[ 9.99287550e-01 -8.00507771e-03 -3.68823967e-02 2.15882722e+00] [ 8.04729052e-03 9.99967124e-01 9.96212206e-04 -3.09819182e-02] [ 3.68732094e-02 -1.29230582e-03 9.99319116e-01 -7.54644903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.87463044 meters Centerline goodness [0,1] 0.3118656538769504 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.03, Z:-0.08 [[ 9.99256109e-01 -8.20203225e-03 -3.76822970e-02 2.16090047e+00] [ 8.25895552e-03 9.99964976e-01 1.35519255e-03 -3.45177708e-02] [ 3.76698619e-02 -1.66540085e-03 9.99288851e-01 -7.56651412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90463044 meters Centerline goodness [0,1] 0.30888138799905407 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.04, Z:-0.08 [[ 9.99204842e-01 -1.01924715e-02 -3.85460515e-02 2.16444305e+00] [ 1.02194399e-02 9.99947654e-01 5.02669841e-04 -4.28942139e-02] [ 3.85389103e-02 -8.96189197e-04 9.99256698e-01 -7.71676689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.93463044 meters Centerline goodness [0,1] 0.306564786913474 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.05, Z:-0.08 [[ 9.99205999e-01 -1.00587212e-02 -3.85511814e-02 2.16432808e+00] [ 1.01087101e-02 9.99948298e-01 1.10197878e-03 -4.62310814e-02] [ 3.85381037e-02 -1.49080652e-03 9.99256019e-01 -7.69103296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96463044 meters Centerline goodness [0,1] 0.307807158004068 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.05, Z:-0.08 [[ 9.99210857e-01 -9.94171111e-03 -3.84554959e-02 2.16389696e+00] [ 1.00117345e-02 9.99948555e-01 1.62874369e-03 -4.92832926e-02] [ 3.84373251e-02 -2.01246459e-03 9.99258986e-01 -7.65226043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.994630439999995 meters Centerline goodness [0,1] 0.3081751509922347 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.05, Z:-0.08 [[ 9.99209620e-01 -9.82629892e-03 -3.85172593e-02 2.16381453e+00] [ 9.91544458e-03 9.99948585e-01 2.12408446e-03 -5.21732310e-02] [ 3.84944071e-02 -2.50432138e-03 9.99255677e-01 -7.61362952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.024630439999996 meters Centerline goodness [0,1] 0.31104955505147447 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.06, Z:-0.08 [[ 9.99294156e-01 -2.57472845e-03 -3.74774642e-02 2.14529000e+00] [ 2.63677015e-03 9.99995234e-01 1.60610696e-03 -6.04416937e-02] [ 3.74731503e-02 -1.70379276e-03 9.99296182e-01 -7.84730582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.05463044 meters Centerline goodness [0,1] 0.307256284885985 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.06, Z:-0.08 [[ 9.99284061e-01 -2.47663638e-03 -3.77522510e-02 2.14604184e+00] [ 2.55607251e-03 9.99994620e-01 2.05602218e-03 -6.31988599e-02] [ 3.77469559e-02 -2.15104769e-03 9.99285015e-01 -7.86117536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08463044 meters Centerline goodness [0,1] 0.304183082520614 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.07, Z:-0.08 [[ 0.99926835 -0.00276103 -0.03814621 2.14697199] [ 0.00285273 0.99999317 0.00234977 -0.07059527] [ 0.03813946 -0.00245687 0.99926941 -0.0785081 ] [ 0. 0. 0. 1. ]] SLAMing on 61.11463044 meters Centerline goodness [0,1] 0.3051161587862592 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.07, Z:-0.08 [[ 0.99927474 -0.00262495 -0.03798808 2.14642779] [ 0.00273389 0.9999923 0.00281619 -0.07333665] [ 0.03798039 -0.002918 0.99927422 -0.07820642] [ 0. 0. 0. 1. ]] SLAMing on 61.14463044 meters Centerline goodness [0,1] 0.30738660907127435 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.08, Z:-0.08 [[ 0.99928132 -0.002454 -0.03782625 2.14589148] [ 0.0025786 0.99999141 0.00324547 -0.07547435] [ 0.03781796 -0.00334068 0.99927906 -0.07794672] [ 0. 0. 0. 1. ]] SLAMing on 61.174630439999994 meters Centerline goodness [0,1] 0.30829628022990996 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.08, Z:-0.08 [[ 9.99303466e-01 -2.09356065e-03 -3.72585472e-02 2.14404407e+00] [ 2.24293150e-03 9.99989613e-01 3.96768872e-03 -7.89397756e-02] [ 3.72498536e-02 -4.04849346e-03 9.99297782e-01 -7.70965533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.204630439999995 meters Centerline goodness [0,1] 0.310498335998617 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.08, Z:-0.08 [[ 9.99302638e-01 -2.00543665e-03 -3.72855942e-02 2.14378703e+00] [ 2.16471553e-03 9.99988702e-01 4.23198158e-03 -8.05913704e-02] [ 3.72766860e-02 -4.30974306e-03 9.99295689e-01 -7.65689953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.23463044 meters Centerline goodness [0,1] 0.3082279442070327 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.08, Z:-0.08 [[ 9.99296747e-01 -1.92157028e-03 -3.74475543e-02 2.14412704e+00] [ 2.09048388e-03 9.99987815e-01 4.47203776e-03 -8.20077672e-02] [ 3.74385047e-02 -4.54717629e-03 9.99288588e-01 -7.65202494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26463044 meters Centerline goodness [0,1] 0.31001510900064755 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.08, Z:-0.08 [[ 9.99286713e-01 -1.75072858e-03 -3.77226866e-02 2.14479787e+00] [ 1.93384234e-03 9.99986522e-01 4.81826665e-03 -8.36207534e-02] [ 3.77137427e-02 -4.88777957e-03 9.99276630e-01 -7.65426927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.29463044 meters Centerline goodness [0,1] 0.30908218042159474 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.09, Z:-0.08 [[ 9.99288696e-01 -1.55259958e-03 -3.76787985e-02 2.14472745e+00] [ 1.75128984e-03 9.99984733e-01 5.24083225e-03 -8.55030832e-02] [ 3.76700864e-02 -5.30309092e-03 9.99276159e-01 -7.65711242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32463044 meters Centerline goodness [0,1] 0.3082252390304966 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.09, Z:-0.07 [[ 0.99929742 0.00641855 -0.03692504 2.16346605] [-0.00627295 0.99997209 0.00405776 -0.09160128] [ 0.03695006 -0.00382328 0.9993098 -0.07480652] [ 0. 0. 0. 1. ]] SLAMing on 61.354630439999994 meters Centerline goodness [0,1] 0.30970409051349 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.10, Z:-0.07 [[ 9.99331185e-01 2.79993766e-03 -3.64601458e-02 2.16175137e+00] [-2.76069187e-03 9.99995555e-01 1.12670240e-03 -9.59408310e-02] [ 3.64631384e-02 -1.02529362e-03 9.99334473e-01 -7.40048796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.384630439999995 meters Centerline goodness [0,1] 0.3098981013760669 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.10, Z:-0.07 [[ 9.99324884e-01 2.75948330e-03 -3.66355302e-02 2.16183667e+00] [-2.70596729e-03 9.99995198e-01 1.51027157e-03 -9.87080802e-02] [ 3.66395219e-02 -1.41011741e-03 9.99327552e-01 -7.35673980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.414630439999996 meters Centerline goodness [0,1] 0.31000216497077293 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.10, Z:-0.07 [[ 9.99314184e-01 2.80027412e-03 -3.69231723e-02 2.16211574e+00] [-2.72946579e-03 9.99994339e-01 1.96798897e-03 -1.01338420e-01] [ 3.69284742e-02 -1.86585875e-03 9.99316169e-01 -7.30226250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44463044 meters Centerline goodness [0,1] 0.30865428379462057 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.10, Z:-0.07 [[ 0.99931453 0.00293835 -0.03690303 2.16178131] [-0.00284732 0.99999277 0.00251919 -0.10409405] [ 0.03691016 -0.00241239 0.99931568 -0.07262284] [ 0. 0. 0. 1. ]] SLAMing on 61.47463044 meters Centerline goodness [0,1] 0.31004347731096105 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.11, Z:-0.07 [[ 9.99364478e-01 9.28992292e-04 -3.56339191e-02 2.15825323e+00] [-8.80345743e-04 9.99998659e-01 1.38084118e-03 -1.10342552e-01] [ 3.56351541e-02 -1.34859345e-03 9.99363956e-01 -7.18239932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50463044 meters Centerline goodness [0,1] 0.31048074437839235 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.11, Z:-0.07 [[ 0.99938023 -0.00713369 -0.03447125 2.17882546] [ 0.00721462 0.9999715 0.00222396 -0.11062254] [ 0.0344544 -0.00247128 0.99940322 -0.07058573] [ 0. 0. 0. 1. ]] SLAMing on 61.53463044 meters Centerline goodness [0,1] 0.30883303875501145 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.11, Z:-0.07 [[ 0.99937574 -0.00715664 -0.03459649 2.17913123] [ 0.00725164 0.99997027 0.00262126 -0.11324314] [ 0.0345767 -0.00287051 0.99939792 -0.07062451] [ 0. 0. 0. 1. ]] SLAMing on 61.564630439999995 meters Centerline goodness [0,1] 0.30909756780628617 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.12, Z:-0.07 [[ 0.99936765 -0.00707755 -0.0348456 2.1796072 ] [ 0.00719188 0.99996915 0.00315693 -0.11626748] [ 0.03482218 -0.00340554 0.99938772 -0.07049662] [ 0. 0. 0. 1. ]] SLAMing on 61.594630439999996 meters Centerline goodness [0,1] 0.308136777198051 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.12, Z:-0.07 [[ 0.99936074 -0.00700282 -0.03505823 2.18008547] [ 0.00713577 0.99996781 0.00366848 -0.1192291 ] [ 0.03503141 -0.00391631 0.99937854 -0.07050813] [ 0. 0. 0. 1. ]] SLAMing on 61.62463044 meters Centerline goodness [0,1] 0.30399101589495503 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.12, Z:-0.07 [[ 9.99321194e-01 -1.07782171e-02 -3.52275561e-02 2.18081024e+00] [ 1.08074317e-02 9.99941394e-01 6.38991469e-04 -1.23751663e-01] [ 3.52186043e-02 -1.01927712e-03 9.99379113e-01 -7.08375452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.65463044 meters Centerline goodness [0,1] 0.3074205712799618 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.13, Z:-0.07 [[ 9.99318371e-01 -1.07670290e-02 -3.53109706e-02 2.18099648e+00] [ 1.08065975e-02 9.99941175e-01 9.29903089e-04 -1.25863993e-01] [ 3.52988812e-02 -1.31086069e-03 9.99375941e-01 -7.08323114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68463044 meters Centerline goodness [0,1] 0.3075956497248581 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.13, Z:-0.07 [[ 9.99316964e-01 -1.07017147e-02 -3.53705979e-02 2.18116502e+00] [ 1.07484956e-02 9.99941592e-01 1.13270102e-03 -1.26938330e-01] [ 3.53564101e-02 -1.51210806e-03 9.99373623e-01 -7.08863690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.71463044 meters Centerline goodness [0,1] 0.3069619564033884 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.13, Z:-0.07 [[ 9.99318311e-01 -1.05744285e-02 -3.53708288e-02 2.18117466e+00] [ 1.06261374e-02 9.99942729e-01 1.27423591e-03 -1.27087994e-01] [ 3.53553288e-02 -1.64922257e-03 9.99373444e-01 -7.09032437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.744630439999995 meters Centerline goodness [0,1] 0.30599888751016213 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.13, Z:-0.07 [[ 9.99398123e-01 -8.34749770e-04 -3.46798818e-02 2.20236137e+00] [ 8.73596360e-04 9.99999008e-01 1.10501014e-03 -1.27349875e-01] [ 3.46789250e-02 -1.13464128e-03 9.99397861e-01 -7.02315266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.774630439999996 meters Centerline goodness [0,1] 0.30658791066655167 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.13, Z:-0.07 [[ 9.99400923e-01 -9.13674391e-04 -3.45971254e-02 2.20223621e+00] [ 9.39149888e-04 9.99999300e-01 7.20103570e-04 -1.25323400e-01] [ 3.45964433e-02 -7.52164059e-04 9.99401081e-01 -7.02669286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80463044 meters Centerline goodness [0,1] 0.3049594967252671 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.12, Z:-0.07 [[ 9.99400378e-01 -1.03121802e-03 -3.46095561e-02 2.20241325e+00] [ 1.04206124e-03 9.99999413e-01 2.95264651e-04 -1.23175503e-01] [ 3.46092313e-02 -3.31152881e-04 9.99400866e-01 -7.04717420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.83463044 meters Centerline goodness [0,1] 0.3070494500736122 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.12, Z:-0.07 [[ 9.99401078e-01 -1.09815518e-03 -3.45872722e-02 2.20265045e+00] [ 1.09695330e-03 9.99999397e-01 -5.37252727e-05 -1.21091222e-01] [ 3.45873103e-02 1.57524731e-05 9.99401680e-01 -7.09017032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86463044 meters Centerline goodness [0,1] 0.3038580379366578 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.12, Z:-0.07 [[ 9.99359587e-01 8.62464685e-04 -3.57725029e-02 2.20718226e+00] [-8.10245320e-04 9.99998585e-01 1.47423391e-03 -1.16778685e-01] [ 3.57737238e-02 -1.44430529e-03 9.99358872e-01 -7.28443256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.89463044 meters Centerline goodness [0,1] 0.3044127513147359 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.12, Z:-0.07 [[ 9.99350556e-01 6.57885629e-04 -3.60282444e-02 2.20808745e+00] [-6.18980442e-04 9.99999213e-01 1.09099579e-03 -1.15241672e-01] [ 3.60289338e-02 -1.06798647e-03 9.99350177e-01 -7.33235640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.924630439999994 meters Centerline goodness [0,1] 0.3044127513147359 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.12, Z:-0.07 [[ 9.99350556e-01 6.57885629e-04 -3.60282444e-02 2.20808745e+00] [-6.18980442e-04 9.99999213e-01 1.09099579e-03 -1.15241672e-01] [ 3.60289338e-02 -1.06798647e-03 9.99350177e-01 -7.33235640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.954630439999995 meters Centerline goodness [0,1] 0.30444056622067095 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.11, Z:-0.07 [[ 9.99337847e-01 4.61812510e-04 -3.63820604e-02 2.20905496e+00] [-4.33368825e-04 9.99999594e-01 7.89687362e-04 -1.14092557e-01] [ 3.63824103e-02 -7.73397617e-04 9.99337642e-01 -7.35368147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98463044 meters Centerline goodness [0,1] 0.30560142534329915 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.11, Z:-0.07 [[ 9.99333409e-01 3.47856475e-04 -3.65050300e-02 2.20945173e+00] [-3.27937289e-04 9.99999794e-01 5.51642168e-04 -1.12906718e-01] [ 3.65052144e-02 -5.39303088e-04 9.99333317e-01 -7.37130057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.01463044 meters Centerline goodness [0,1] 0.30555192968716005 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.11, Z:-0.07 [[ 9.99334500e-01 2.77837015e-04 -3.64757439e-02 2.20941899e+00] [-2.65605589e-04 9.99999907e-01 3.40175662e-04 -1.11600452e-01] [ 3.64758350e-02 -3.30261114e-04 9.99334481e-01 -7.37803865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04463044 meters Centerline goodness [0,1] 0.3038092154958455 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.11, Z:-0.07 [[ 9.99339047e-01 1.82530001e-04 -3.63515714e-02 2.20908689e+00] [-1.79269240e-04 9.99999980e-01 9.29600927e-05 -1.10276134e-01] [ 3.63515876e-02 -8.63819318e-05 9.99339059e-01 -7.37176499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.07463044 meters Centerline goodness [0,1] 0.3037225773017792 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.11, Z:-0.07 [[ 9.99351465e-01 -5.56375345e-05 -3.60089852e-02 2.20805754e+00] [ 3.74078525e-05 9.99999871e-01 -5.06927230e-04 -1.07437253e-01] [ 3.60090087e-02 5.05251451e-04 9.99351338e-01 -7.33430475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.104630439999994 meters Centerline goodness [0,1] 0.30489329596895887 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.11, Z:-0.07 [[ 9.99352122e-01 -1.51943752e-04 -3.59904729e-02 2.20805637e+00] [ 1.20357319e-04 9.99999606e-01 -8.79798107e-04 -1.05372177e-01] [ 3.59905924e-02 8.74896388e-04 9.99351746e-01 -7.33744170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.134630439999995 meters Centerline goodness [0,1] 0.30571062406325344 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.10, Z:-0.07 [[ 9.99333236e-01 3.46002566e-03 -3.63470989e-02 2.20891108e+00] [-3.38303204e-03 9.99991902e-01 2.17957672e-03 -1.02178187e-01] [ 3.63543460e-02 -2.05516005e-03 9.99336849e-01 -7.33548221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.164630439999996 meters Centerline goodness [0,1] 0.3061034892513773 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.10, Z:-0.07 [[ 9.99325942e-01 3.34466253e-03 -3.65578301e-02 2.20947475e+00] [-3.28219365e-03 9.99993050e-01 1.76865039e-03 -9.99532146e-02] [ 3.65634915e-02 -1.64746833e-03 9.99329974e-01 -7.34451384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.19463044 meters Centerline goodness [0,1] 0.30398025962879516 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.10, Z:-0.07 [[ 9.99322368e-01 3.16713323e-03 -3.66711538e-02 2.20969334e+00] [-3.12184717e-03 9.99994292e-01 1.29211774e-03 -9.77051438e-02] [ 3.66750368e-02 -1.17676042e-03 9.99326552e-01 -7.33574927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22463044 meters Centerline goodness [0,1] 0.30879934210526316 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.10, Z:-0.07 [[ 9.99325986e-01 3.03228209e-03 -3.65838698e-02 2.20940758e+00] [-3.00302266e-03 9.99995126e-01 8.54713441e-04 -9.54163764e-02] [ 3.65862832e-02 -7.44275162e-04 9.99330221e-01 -7.32312291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.25463044 meters Centerline goodness [0,1] 0.3043881601656886 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.09, Z:-0.07 [[ 9.99330426e-01 2.95813014e-03 -3.64684599e-02 2.20902745e+00] [-2.94252083e-03 9.99995555e-01 4.81687157e-04 -9.30461126e-02] [ 3.64697227e-02 -3.74055429e-04 9.99334688e-01 -7.30603383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28463044 meters Centerline goodness [0,1] 0.3097960780903517 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.09, Z:-0.07 [[ 9.99338392e-01 2.94499695e-03 -3.62505915e-02 2.20848451e+00] [-2.93858754e-03 9.99995656e-01 2.30087468e-04 -9.11207051e-02] [ 3.62511116e-02 -1.23409704e-04 9.99342705e-01 -7.30333040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.314630439999995 meters Centerline goodness [0,1] 0.3105740312949483 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.09, Z:-0.07 [[ 9.99346346e-01 2.76652580e-03 -3.60447817e-02 2.20808169e+00] [-2.77621751e-03 9.99996122e-01 -2.18831910e-04 -8.88007007e-02] [ 3.60440365e-02 3.18757024e-04 9.99350152e-01 -7.31182699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.344630439999996 meters Centerline goodness [0,1] 0.31017862205840663 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.09, Z:-0.07 [[ 9.99342430e-01 2.67645273e-03 -3.61599922e-02 2.20829483e+00] [-2.68984798e-03 9.99996331e-01 -3.21800470e-04 -8.85297157e-02] [ 3.61589983e-02 4.18853746e-04 9.99345962e-01 -7.30974411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.37463044 meters Centerline goodness [0,1] 0.30735491119657754 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.08, Z:-0.07 [[ 9.99326049e-01 -4.73019383e-03 -3.64015634e-02 2.22763367e+00] [ 4.76580233e-03 9.99988246e-01 8.91504904e-04 -8.48231122e-02] [ 3.63969185e-02 -1.06438673e-03 9.99336846e-01 -7.08080305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40463044 meters Centerline goodness [0,1] 0.3082938029328308 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.09, Z:-0.07 [[ 9.99329330e-01 -4.62987275e-03 -3.63242867e-02 2.22736649e+00] [ 4.67295524e-03 9.99988475e-01 1.10124224e-03 -8.54742418e-02] [ 3.63187694e-02 -1.27024543e-03 9.99339449e-01 -7.07156267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.43463044 meters Centerline goodness [0,1] 0.310695837131571 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.09, Z:-0.07 [[ 9.99344295e-01 -4.79256885e-03 -3.58888754e-02 2.22612886e+00] [ 4.83227481e-03 9.99987805e-01 1.01969930e-03 -8.57078805e-02] [ 3.58835507e-02 -1.19245559e-03 9.99355267e-01 -7.03584077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46463044 meters Centerline goodness [0,1] 0.3089441450799628 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.08, Z:-0.07 [[ 9.99341266e-01 -4.96945496e-03 -3.59491149e-02 2.22622119e+00] [ 4.99861507e-03 9.99987247e-01 7.21317657e-04 -8.48238545e-02] [ 3.59450718e-02 -9.00538288e-04 9.99353361e-01 -7.02529865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.494630439999995 meters Centerline goodness [0,1] 0.31351727739576984 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.08, Z:-0.07 [[ 9.99332297e-01 -5.10788310e-03 -3.61782988e-02 2.22675175e+00] [ 5.12289819e-03 9.99986826e-01 3.22342573e-04 -8.28770296e-02] [ 3.61761757e-02 -5.07465086e-04 9.99345299e-01 -7.02259456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.524630439999996 meters Centerline goodness [0,1] 0.30867909834292384 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.08, Z:-0.07 [[ 9.99333552e-01 3.44668734e-03 -3.63396756e-02 2.24647923e+00] [-3.47854431e-03 9.99993619e-01 -8.13455068e-04 -8.32176092e-02] [ 3.63366400e-02 9.39322114e-04 9.99339165e-01 -6.86227529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.55463044 meters Centerline goodness [0,1] 0.3122294019102322 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.08, Z:-0.07 [[ 9.99328271e-01 3.54819508e-03 -3.64748940e-02 2.24698156e+00] [-3.59276088e-03 9.99992877e-01 -1.15634919e-03 -8.02048311e-02] [ 3.64705312e-02 1.28661801e-03 9.99333901e-01 -6.88506891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58463044 meters Centerline goodness [0,1] 0.31085615326334015 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.08, Z:-0.07 [[ 9.99318145e-01 3.52095121e-03 -3.67538741e-02 2.24792048e+00] [-3.58459916e-03 9.99992188e-01 -1.66598154e-03 -7.67365469e-02] [ 3.67477211e-02 1.79659348e-03 9.99322959e-01 -6.92040457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.61463044 meters Centerline goodness [0,1] 0.31339770275277345 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.07, Z:-0.07 [[ 0.9993333 0.003692 -0.03632258 2.24680226] [-0.0037809 0.99999002 -0.00237907 -0.0689107 ] [ 0.03631343 0.00251481 0.99933729 -0.06897161] [ 0. 0. 0. 1. ]] SLAMing on 62.64463044 meters Centerline goodness [0,1] 0.3105753471922712 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.06, Z:-0.07 [[ 9.99360830e-01 -3.24061080e-03 -3.56009951e-02 2.26414314e+00] [ 3.20235485e-03 9.99994232e-01 -1.13154442e-03 -6.16577337e-02] [ 3.56044566e-02 1.01681415e-03 9.99365443e-01 -6.62674939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.674630439999994 meters Centerline goodness [0,1] 0.312400894932337 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.06, Z:-0.07 [[ 9.99369544e-01 -3.30841419e-03 -3.53492394e-02 2.26335684e+00] [ 3.26026153e-03 9.99993677e-01 -1.41975296e-03 -5.97598619e-02] [ 3.53537131e-02 1.30361010e-03 9.99374012e-01 -6.60135389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.704630439999995 meters Centerline goodness [0,1] 0.3121084232509572 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.06, Z:-0.07 [[ 9.99371959e-01 -3.45754664e-03 -3.52665939e-02 2.26321896e+00] [ 3.40055134e-03 9.99992814e-01 -1.67598071e-03 -5.86248391e-02] [ 3.52721353e-02 1.55500226e-03 9.99376535e-01 -6.61108070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.73463044 meters Centerline goodness [0,1] 0.3110114210172724 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.06, Z:-0.07 [[ 0.99932487 -0.00483602 -0.03642001 2.26660153] [ 0.00473087 0.99998439 -0.00297273 -0.05690771] [ 0.03643382 0.00279842 0.99933215 -0.06714492] [ 0. 0. 0. 1. ]] SLAMing on 62.76463044 meters Centerline goodness [0,1] 0.3095429902675869 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.06, Z:-0.07 [[ 0.99931306 -0.00503027 -0.03671641 2.26729421] [ 0.00491773 0.99998293 -0.00315491 -0.05653802] [ 0.03673165 0.00297219 0.99932075 -0.06716091] [ 0. 0. 0. 1. ]] SLAMing on 62.79463044 meters Centerline goodness [0,1] 0.307609212288813 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.06, Z:-0.07 [[ 0.99930833 -0.00502033 -0.03684639 2.26725968] [ 0.004905 0.99998279 -0.0032199 -0.0555528 ] [ 0.03686193 0.00303694 0.99931575 -0.06674671] [ 0. 0. 0. 1. ]] SLAMing on 62.82463044 meters Centerline goodness [0,1] 0.31212127793584254 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.05, Z:-0.06 [[ 9.99360624e-01 -2.59963467e-03 -3.56592788e-02 2.26274263e+00] [ 2.55252815e-03 9.99995809e-01 -1.36647896e-03 -4.97758080e-02] [ 3.56626816e-02 1.27458395e-03 9.99363071e-01 -6.46117134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.854630439999994 meters Centerline goodness [0,1] 0.30956783487422057 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.05, Z:-0.06 [[ 0.99940126 0.00530329 -0.03419055 2.2819642 ] [-0.00541103 0.99998068 -0.00305963 -0.04937512] [ 0.03417366 0.00324281 0.99941065 -0.06340738] [ 0. 0. 0. 1. ]] SLAMing on 62.884630439999995 meters Centerline goodness [0,1] 0.31467476831613916 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.04, Z:-0.07 [[ 0.99941268 -0.00267192 -0.03416365 2.26347933] [ 0.00259078 0.99999372 -0.00241889 -0.03958832] [ 0.0341699 0.00232896 0.99941332 -0.0655928 ] [ 0. 0. 0. 1. ]] SLAMing on 62.914630439999996 meters Centerline goodness [0,1] 0.3139235577859012 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.04, Z:-0.06 [[ 0.99941706 0.00551058 -0.03369223 2.28350764] [-0.00564278 0.99997674 -0.00383013 -0.03871556] [ 0.03367034 0.00401801 0.99942492 -0.06459913] [ 0. 0. 0. 1. ]] SLAMing on 62.94463044 meters Centerline goodness [0,1] 0.3130512230090803 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.04, Z:-0.06 [[ 0.99941525 0.00541452 -0.03376151 2.2838266 ] [-0.00556577 0.99997489 -0.00438732 -0.03503057] [ 0.03373691 0.00457266 0.99942029 -0.06476486] [ 0. 0. 0. 1. ]] SLAMing on 62.97463044 meters Centerline goodness [0,1] 0.3148590021691974 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.03, Z:-0.06 [[ 0.99941729 0.00530879 -0.03371779 2.28374345] [-0.00547629 0.99997311 -0.00487728 -0.03179773] [ 0.03369099 0.00505909 0.99941949 -0.06473958] [ 0. 0. 0. 1. ]] SLAMing on 63.00463044 meters Centerline goodness [0,1] 0.311229345099057 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.03, Z:-0.07 [[ 0.9994118 0.00480836 -0.03395486 2.28450534] [-0.00500863 0.99997055 -0.00581542 -0.0277558 ] [ 0.03392589 0.00598207 0.99940645 -0.06501959] [ 0. 0. 0. 1. ]] SLAMing on 63.03463044 meters Centerline goodness [0,1] 0.31279723303069606 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.03, Z:-0.07 [[ 0.99940668 0.0046567 -0.03412621 2.28504351] [-0.00486301 0.99997038 -0.00596509 -0.02739983] [ 0.03409742 0.0061275 0.99939973 -0.06526014] [ 0. 0. 0. 1. ]] SLAMing on 63.064630439999995 meters Centerline goodness [0,1] 0.3111198052512606 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.03, Z:-0.07 [[ 0.99940403 0.00457029 -0.03421548 2.28519825] [-0.00477733 0.99997076 -0.00597191 -0.02750025] [ 0.03418719 0.00613181 0.99939664 -0.06525332] [ 0. 0. 0. 1. ]] SLAMing on 63.094630439999996 meters Centerline goodness [0,1] 0.31110582228088013 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:-0.06 [[ 0.99941063 -0.0042554 -0.034063 2.30563736] [ 0.00407181 0.99997682 -0.00545706 -0.02458103] [ 0.03408543 0.00531515 0.99940479 -0.06383212] [ 0. 0. 0. 1. ]] SLAMing on 63.12463044 meters Centerline goodness [0,1] 0.3072428143260668 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.03, Z:-0.06 [[ 0.99940838 -0.00443391 -0.03410607 2.305912 ] [ 0.00424771 0.99997569 -0.00552985 -0.02501422] [ 0.03412976 0.0053817 0.99940292 -0.06411301] [ 0. 0. 0. 1. ]] SLAMing on 63.15463044 meters Centerline goodness [0,1] 0.3067842809005644 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.03, Z:-0.06 [[ 0.99940661 -0.00457213 -0.03413983 2.30590798] [ 0.00438251 0.99997456 -0.00562707 -0.02508323] [ 0.03416469 0.00547411 0.99940122 -0.0639978 ] [ 0. 0. 0. 1. ]] SLAMing on 63.18463044 meters Centerline goodness [0,1] 0.310420372218125 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:-0.06 [[ 0.99940412 -0.00455026 -0.03421563 2.30590763] [ 0.00435911 0.99997449 -0.00565926 -0.02466239] [ 0.0342405 0.00550673 0.99939845 -0.06372842] [ 0. 0. 0. 1. ]] SLAMing on 63.21463044 meters Centerline goodness [0,1] 0.30983482673000107 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:-0.06 [[ 9.99410837e-01 -9.23844985e-04 -3.43092600e-02 2.30556842e+00] [ 8.41306103e-04 9.99996718e-01 -2.42009055e-03 -2.26990120e-02] [ 3.43113832e-02 2.38980013e-03 9.99408334e-01 -6.29928601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.244630439999995 meters Centerline goodness [0,1] 0.3140841107335339 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:-0.06 [[ 9.99408202e-01 -1.03473135e-03 -3.43827695e-02 2.30562502e+00] [ 9.37965705e-04 9.99995555e-01 -2.83037510e-03 -2.05823260e-02] [ 3.43855454e-02 2.79645023e-03 9.99404730e-01 -6.27829718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.274630439999996 meters Centerline goodness [0,1] 0.3097097010740629 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:-0.06 [[ 9.99403410e-01 -1.12278283e-03 -3.45190415e-02 2.30621721e+00] [ 1.01357869e-03 9.99994427e-01 -3.18092771e-03 -1.87522235e-02] [ 3.45224206e-02 3.14404223e-03 9.99398978e-01 -6.31541510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30463044 meters Centerline goodness [0,1] 0.30729144235324524 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:-0.06 [[ 9.99390074e-01 -1.13608152e-03 -3.49025545e-02 2.30760436e+00] [ 1.01714788e-03 9.99993617e-01 -3.42515805e-03 -1.70439391e-02] [ 3.49062230e-02 3.38756790e-03 9.99384851e-01 -6.38836908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.33463044 meters Centerline goodness [0,1] 0.3069242738589212 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:-0.07 [[ 9.99370277e-01 -9.39779166e-04 -3.54706274e-02 2.30987252e+00] [ 8.19362231e-04 9.99993853e-01 -3.40921877e-03 -1.57157321e-02] [ 3.54736133e-02 3.37800861e-03 9.99364904e-01 -6.52502207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36463044 meters Centerline goodness [0,1] 0.30411949550170037 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:-0.07 [[ 9.99370371e-01 -1.01600169e-03 -3.54658896e-02 2.30981477e+00] [ 8.95309724e-04 9.99993755e-01 -3.41875909e-03 -1.60827473e-02] [ 3.54691416e-02 3.38485358e-03 9.99365040e-01 -6.51775867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39463044 meters Centerline goodness [0,1] 0.30730646689055374 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:-0.06 [[ 9.99372934e-01 -1.19299012e-03 -3.53880583e-02 2.30917188e+00] [ 1.07296270e-03 9.99993608e-01 -3.41054620e-03 -1.71257515e-02] [ 3.53919009e-02 3.37043749e-03 9.99367827e-01 -6.45858840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.424630439999994 meters Centerline goodness [0,1] 0.3084712964953773 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:-0.06 [[ 9.99374397e-01 -1.33773438e-03 -3.53415622e-02 2.30870282e+00] [ 1.22217075e-03 9.99993837e-01 -3.29130830e-03 -1.85963460e-02] [ 3.53457473e-02 3.24605582e-03 9.99369872e-01 -6.41090230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.454630439999995 meters Centerline goodness [0,1] 0.3073080000865108 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:-0.06 [[ 9.99367391e-01 -1.37314153e-03 -3.55377663e-02 2.30916569e+00] [ 1.26431481e-03 9.99994443e-01 -3.08457480e-03 -2.00045851e-02] [ 3.55418044e-02 3.03769254e-03 9.99363574e-01 -6.41894572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48463044 meters Centerline goodness [0,1] 0.3044761330346373 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:-0.07 [[ 9.99343442e-01 -1.45331395e-03 -3.62018246e-02 2.31146012e+00] [ 1.35176147e-03 9.99995083e-01 -2.82949397e-03 -2.18455402e-02] [ 3.62057587e-02 2.77870002e-03 9.99340493e-01 -6.53067095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.51463044 meters Centerline goodness [0,1] 0.3046632124352332 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:-0.07 [[ 9.99340644e-01 -1.43569916e-03 -3.62796846e-02 2.31183360e+00] [ 1.33353051e-03 9.99995078e-01 -2.84018054e-03 -2.17184234e-02] [ 3.62835836e-02 2.78992778e-03 9.99337640e-01 -6.55525907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54463044 meters Centerline goodness [0,1] 0.3076607682347864 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:-0.07 [[ 9.99346345e-01 -1.37294751e-03 -3.61247607e-02 2.31135084e+00] [ 1.26732675e-03 9.99994856e-01 -2.94651351e-03 -2.07672825e-02] [ 3.61286203e-02 2.89880563e-03 9.99342944e-01 -6.53160712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.57463044 meters Centerline goodness [0,1] 0.30774375903510476 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:-0.06 [[ 9.99370897e-01 -1.15884846e-03 -3.54466793e-02 2.30953155e+00] [ 1.05171176e-03 9.99994823e-01 -3.04097147e-03 -1.92961911e-02] [ 3.54500198e-02 3.00177870e-03 9.99366942e-01 -6.48488181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.604630439999994 meters Centerline goodness [0,1] 0.310389723114313 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.02, Z:-0.06 [[ 9.99412747e-01 1.19026026e-03 -3.42453544e-02 2.30489354e+00] [-1.23493698e-03 9.99998414e-01 -1.28348469e-03 -1.53970353e-02] [ 3.42437724e-02 1.32502181e-03 9.99412632e-01 -6.27688982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.634630439999995 meters Centerline goodness [0,1] 0.31132198102170805 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.01, Z:-0.06 [[ 9.99418752e-01 1.16770018e-03 -3.40704420e-02 2.30442348e+00] [-1.21542403e-03 9.99998309e-01 -1.38006324e-03 -1.48974243e-02] [ 3.40687729e-02 1.42067111e-03 9.99418481e-01 -6.26985445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.664630439999996 meters Centerline goodness [0,1] 0.3124075845872837 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.02, Z:-0.06 [[ 9.99417089e-01 1.11538661e-03 -3.41209214e-02 2.30451484e+00] [-1.16440713e-03 9.99998318e-01 -1.41683296e-03 -1.50218259e-02] [ 3.41192837e-02 1.45573771e-03 9.99416708e-01 -6.26643496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.69463044 meters Centerline goodness [0,1] 0.3099265741081678 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:-0.06 [[ 9.99408008e-01 1.07120518e-03 -3.43873075e-02 2.30520474e+00] [-1.11773653e-03 9.99998486e-01 -1.33395962e-03 -1.58385076e-02] [ 3.43858265e-02 1.37160587e-03 9.99407691e-01 -6.28268627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72463044 meters Centerline goodness [0,1] 0.30770398317396297 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:-0.06 [[ 9.99385214e-01 9.52577024e-04 -3.50469325e-02 2.30710123e+00] [-9.86401389e-04 9.99999064e-01 -9.47838431e-04 -1.84197126e-02] [ 3.50459968e-02 9.81826055e-04 9.99385218e-01 -6.35492183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75463044 meters Centerline goodness [0,1] 0.3081136299419679 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:-0.06 [[ 9.99385033e-01 9.77909641e-04 -3.50513860e-02 2.30711047e+00] [-9.99244242e-04 9.99999326e-01 -5.91153747e-04 -2.05103047e-02] [ 3.50507842e-02 6.25815102e-04 9.99385337e-01 -6.36437106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78463044 meters Centerline goodness [0,1] 0.30484501956063803 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.02, Z:-0.06 [[ 9.99392495e-01 -7.47555204e-03 -3.40405227e-02 2.32721232e+00] [ 7.49052968e-03 9.99971897e-01 3.12486386e-04 -2.05155502e-02] [ 3.40372301e-02 -5.67278094e-04 9.99420405e-01 -6.20508435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.814630439999995 meters Centerline goodness [0,1] 0.30484501956063803 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.02, Z:-0.06 [[ 9.99392495e-01 -7.47555204e-03 -3.40405227e-02 2.32721232e+00] [ 7.49052968e-03 9.99971897e-01 3.12486386e-04 -2.05155502e-02] [ 3.40372301e-02 -5.67278094e-04 9.99420405e-01 -6.20508435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.844630439999996 meters Centerline goodness [0,1] 0.30783151998276415 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.02, Z:-0.06 [[ 9.99398789e-01 -7.55048755e-03 -3.38386120e-02 2.32649730e+00] [ 7.57373829e-03 9.99971163e-01 5.58978495e-04 -2.24691964e-02] [ 3.38334156e-02 -8.14927222e-04 9.99427154e-01 -6.17510173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.87463044 meters Centerline goodness [0,1] 0.30840137516115174 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.02, Z:-0.06 [[ 9.99397951e-01 -7.48966672e-03 -3.38768490e-02 2.32644135e+00] [ 7.52567322e-03 9.99971244e-01 9.35478038e-04 -2.45912680e-02] [ 3.38688684e-02 -1.18986093e-03 9.99425577e-01 -6.16120470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90463044 meters Centerline goodness [0,1] 0.3058934586256463 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.03, Z:-0.06 [[ 9.99392906e-01 -7.40341936e-03 -3.40442229e-02 2.32705163e+00] [ 7.45302378e-03 9.99971341e-01 1.33038484e-03 -2.67060534e-02] [ 3.40333978e-02 -1.58330958e-03 9.99419442e-01 -6.19834135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.93463044 meters Centerline goodness [0,1] 0.3064983576994912 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.03, Z:-0.06 [[ 9.99386926e-01 -7.65486615e-03 -3.41639556e-02 2.32765671e+00] [ 7.71910599e-03 9.99968678e-01 1.74883797e-03 -3.05486128e-02] [ 3.41494984e-02 -2.01148099e-03 9.99414712e-01 -6.25605819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96463044 meters Centerline goodness [0,1] 0.30622081964378345 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.03, Z:-0.06 [[ 9.99384867e-01 -7.57859965e-03 -3.42410999e-02 2.32793236e+00] [ 7.65684806e-03 9.99968365e-01 2.15466748e-03 -3.29558636e-02] [ 3.42236874e-02 -2.41552097e-03 9.99411279e-01 -6.27487767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.994630439999995 meters Centerline goodness [0,1] 0.3014566454059645 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.04, Z:-0.06 [[ 0.99938815 -0.00747616 -0.03416778 2.32776031] [ 0.00757714 0.9999673 0.00282712 -0.03722853] [ 0.03414552 -0.00308428 0.99941211 -0.06282889] [ 0. 0. 0. 1. ]] SLAMing on 64.02463044 meters Centerline goodness [0,1] 0.3051427833053366 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.04, Z:-0.06 [[ 0.99939297 -0.00735857 -0.0340522 2.32734315] [ 0.00746932 0.99996722 0.0031263 -0.03875012] [ 0.03402808 -0.00337875 0.99941517 -0.0626074 ] [ 0. 0. 0. 1. ]] SLAMing on 64.05463044 meters Centerline goodness [0,1] 0.30911662315056576 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.04, Z:-0.07 [[ 9.99465230e-01 2.27020881e-04 -3.26986633e-02 2.30776431e+00] [-1.55039219e-04 9.99997559e-01 2.20388270e-03 -4.37675785e-02] [ 3.26990838e-02 -2.19763455e-03 9.99462826e-01 -6.51692912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08463044 meters Centerline goodness [0,1] 0.3067410123451433 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.04, Z:-0.07 [[ 9.99462787e-01 2.60903659e-04 -3.27729926e-02 2.30797444e+00] [-1.85259229e-04 9.99997312e-01 2.31114849e-03 -4.44517829e-02] [ 3.27735075e-02 -2.30383541e-03 9.99460149e-01 -6.52227413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.11463044 meters Centerline goodness [0,1] 0.3051273242581698 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.04, Z:-0.07 [[ 9.99455785e-01 3.39229217e-04 -3.29851364e-02 2.30854658e+00] [-2.59763853e-04 9.99997054e-01 2.41338194e-03 -4.47294372e-02] [ 3.29858579e-02 -2.40350019e-03 9.99452929e-01 -6.53416069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14463044 meters Centerline goodness [0,1] 0.3035505520675471 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.04, Z:-0.07 [[ 9.99448116e-01 5.04140204e-04 -3.32145829e-02 2.30927540e+00] [-4.19195747e-04 9.99996624e-01 2.56435863e-03 -4.49603646e-02] [ 3.32157636e-02 -2.54901999e-03 9.99444954e-01 -6.56069278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.17463044 meters Centerline goodness [0,1] 0.3036222426667238 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.05, Z:-0.06 [[ 9.99420714e-01 8.29737607e-03 -3.30059221e-02 2.32819288e+00] [-8.25933741e-03 9.99965061e-01 1.28865575e-03 -5.03874858e-02] [ 3.30154614e-02 -1.01530220e-03 9.99454325e-01 -6.38977885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20463044 meters Centerline goodness [0,1] 0.3068631907019025 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.04, Z:-0.07 [[ 9.99466947e-01 4.61972822e-04 -3.26436661e-02 2.30955342e+00] [-3.88190087e-04 9.99997356e-01 2.26654809e-03 -4.39873881e-02] [ 3.26446269e-02 -2.25266795e-03 9.99464484e-01 -6.56326098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23463044 meters Centerline goodness [0,1] 0.30942952874113394 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.04, Z:-0.07 [[ 9.99473956e-01 5.08302762e-04 -3.24276497e-02 2.30871889e+00] [-4.36346457e-04 9.99997427e-01 2.22601809e-03 -4.33562775e-02] [ 3.24286978e-02 -2.21069742e-03 9.99471607e-01 -6.51471249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26463043999999 meters Centerline goodness [0,1] 0.3082080674813453 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.04, Z:-0.06 [[ 9.99477095e-01 5.80326862e-04 -3.23295591e-02 2.30820420e+00] [-5.10072847e-04 9.99997491e-01 2.18126323e-03 -4.25042966e-02] [ 3.23307438e-02 -2.16363220e-03 9.99474883e-01 -6.47037978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29463043999999 meters Centerline goodness [0,1] 0.3053665746516835 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.04, Z:-0.06 [[ 9.99462435e-01 5.77663965e-04 -3.27796796e-02 2.30933305e+00] [-5.14018014e-04 9.99997967e-01 1.95002195e-03 -4.07809709e-02] [ 3.27807394e-02 -1.93212434e-03 9.99460700e-01 -6.48089466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32463043999999 meters Centerline goodness [0,1] 0.30865222807439296 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.04, Z:-0.07 [[ 9.99448790e-01 4.76697260e-04 -3.31947135e-02 2.31071977e+00] [-4.20030551e-04 9.99998443e-01 1.71405279e-03 -3.97482016e-02] [ 3.31954789e-02 -1.69916519e-03 9.99447434e-01 -6.54493508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35463044 meters Centerline goodness [0,1] 0.3039731514561005 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.04, Z:-0.07 [[ 9.99434105e-01 4.22658143e-04 -3.36346671e-02 2.31197807e+00] [-3.70332941e-04 9.99998712e-01 1.56190715e-03 -3.90001504e-02] [ 3.36352839e-02 -1.54856725e-03 9.99432974e-01 -6.58058049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38463044 meters Centerline goodness [0,1] 0.3082737797858245 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.04, Z:-0.07 [[ 9.99436005e-01 3.83097313e-04 -3.35786451e-02 2.31184817e+00] [-3.38145934e-04 9.99999039e-01 1.34435809e-03 -3.76945184e-02] [ 3.35791279e-02 -1.33224540e-03 9.99435174e-01 -6.57814272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41463044 meters Centerline goodness [0,1] 0.30561527216441653 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.04, Z:-0.06 [[ 9.99507562e-01 8.26485761e-03 -3.02708795e-02 2.33022134e+00] [-8.27301634e-03 9.99965768e-01 -1.44287406e-04 -3.61364995e-02] [ 3.02686507e-02 3.94647835e-04 9.99541722e-01 -6.45325755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44463044 meters Centerline goodness [0,1] 0.3114586505416105 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.03, Z:-0.07 [[ 9.99595112e-01 8.43921060e-04 -2.84411511e-02 2.31029435e+00] [-8.33425012e-04 9.99999580e-01 3.80896561e-04 -2.67581065e-02] [ 2.84414606e-02 -3.57038774e-04 9.99595396e-01 -6.62615328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47463044 meters Centerline goodness [0,1] 0.30996414212756707 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:-0.07 [[ 9.99594225e-01 6.92366228e-04 -2.84764136e-02 2.31043278e+00] [-6.96033179e-04 9.99999751e-01 -1.18859439e-04 -2.40876900e-02] [ 2.84763243e-02 1.38631738e-04 9.99594458e-01 -6.62790872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50463044 meters Centerline goodness [0,1] 0.30642895732036735 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.02, Z:-0.07 [[ 9.99547956e-01 2.40012407e-03 -2.99687083e-02 2.31584972e+00] [-2.37267400e-03 9.99996733e-01 9.51484841e-04 -1.75509569e-02] [ 2.99708940e-02 -8.79948753e-04 9.99550385e-01 -6.85444597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.53463044 meters Centerline goodness [0,1] 0.3070215298063399 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.01, Z:-0.07 [[ 9.99541718e-01 2.19262757e-03 -3.01918357e-02 2.31655712e+00] [-2.18088895e-03 9.99997533e-01 4.21725962e-04 -1.48747880e-02] [ 3.01926859e-02 -3.55687652e-04 9.99544034e-01 -6.87746316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56463044 meters Centerline goodness [0,1] 0.30536391859261813 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.01, Z:-0.07 [[ 9.99537714e-01 1.97583281e-03 -3.03389980e-02 2.31697028e+00] [-1.97940537e-03 9.99998037e-01 -8.77214781e-05 -1.22822646e-02] [ 3.03387651e-02 1.47734101e-04 9.99539663e-01 -6.88669409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59463044 meters Centerline goodness [0,1] 0.3058785319909061 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.01, Z:-0.07 [[ 9.99542394e-01 1.80481545e-03 -3.01951133e-02 2.31638307e+00] [-1.82130267e-03 9.99998207e-01 -5.18528443e-04 -1.00521397e-02] [ 3.01941233e-02 5.73285602e-04 9.99543889e-01 -6.84756552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62463044 meters Centerline goodness [0,1] 0.30788102475032564 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.01, Z:-0.07 [[ 9.99551716e-01 1.68477014e-03 -2.98919505e-02 2.31541457e+00] [-1.71091790e-03 9.99998176e-01 -8.49187222e-04 -8.14618046e-03] [ 2.98904653e-02 8.99949218e-04 9.99552775e-01 -6.80934290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65463043999999 meters Centerline goodness [0,1] 0.3062985332182916 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.01, Z:-0.07 [[ 9.99554597e-01 1.54806865e-03 -2.98028703e-02 2.31527665e+00] [-1.58329237e-03 9.99998076e-01 -1.15832781e-03 -6.41174273e-03] [ 2.98010197e-02 1.20499855e-03 9.99555125e-01 -6.81642590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68463043999999 meters Centerline goodness [0,1] 0.3047528270005633 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.00, Z:-0.07 [[ 9.99552803e-01 1.29003898e-03 -2.98752249e-02 2.31634189e+00] [-1.34046396e-03 9.99997711e-01 -1.66788626e-03 -3.90625345e-03] [ 2.98730048e-02 1.70718705e-03 9.99552244e-01 -6.94316954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71463044 meters Centerline goodness [0,1] 0.30152099400171384 Centerline is valid? [False, False] Translation: X:2.34, Y:0.00, Z:-0.07 [[ 9.99522729e-01 -6.81276802e-03 -3.01313721e-02 2.33637305e+00] [ 6.77940938e-03 9.99976289e-01 -1.20912898e-03 7.27052604e-04] [ 3.01388952e-02 1.00427899e-03 9.99545216e-01 -6.80801051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74463044 meters Centerline goodness [0,1] 0.3030459251621772 Centerline is valid? [False, False] Translation: X:2.34, Y:0.00, Z:-0.07 [[ 9.99522937e-01 -6.99014101e-03 -3.00838340e-02 2.33625442e+00] [ 6.94602736e-03 9.99974643e-01 -1.57061421e-03 2.22561980e-03] [ 3.00940500e-02 1.36090179e-03 9.99546145e-01 -6.80259585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77463044 meters Centerline goodness [0,1] 0.3037788496896022 Centerline is valid? [False, False] Translation: X:2.33, Y:0.01, Z:-0.07 [[ 9.99542630e-01 -4.67706736e-03 -2.98773438e-02 2.33497578e+00] [ 4.68342500e-03 9.99989023e-01 1.42814695e-04 7.28373231e-03] [ 2.98763479e-02 -2.82677674e-04 9.99553562e-01 -6.72538034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80463044 meters Centerline goodness [0,1] 0.30430657091716806 Centerline is valid? [False, False] Translation: X:2.34, Y:0.01, Z:-0.07 [[ 9.99533065e-01 -4.62017100e-03 -3.02044168e-02 2.33598387e+00] [ 4.61786414e-03 9.99989327e-01 -1.46130468e-04 9.59279171e-03] [ 3.02047695e-02 6.58234168e-06 9.99543732e-01 -6.75412583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83463044 meters Centerline goodness [0,1] 0.3001566221116093 Centerline is valid? [False, False] Translation: X:2.36, Y:0.01, Z:-0.07 [[ 9.99533192e-01 3.50709531e-03 -3.03495998e-02 2.35566000e+00] [-3.54950710e-03 9.99992798e-01 -1.34367866e-03 8.28216748e-03] [ 3.03446688e-02 1.45077754e-03 9.99538442e-01 -6.58069058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86463044 meters Centerline goodness [0,1] 0.30332487418813714 Centerline is valid? [False, False] Translation: X:2.36, Y:0.01, Z:-0.07 [[ 9.99533927e-01 3.38564107e-03 -3.03391968e-02 2.35551071e+00] [-3.44345626e-03 9.99992353e-01 -1.85358144e-03 1.09415846e-02] [ 3.03326892e-02 1.95718923e-03 9.99537942e-01 -6.55060708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.89463044 meters Centerline goodness [0,1] 0.3045927582351423 Centerline is valid? [False, False] Translation: X:2.35, Y:0.02, Z:-0.06 [[ 0.99955049 0.00348417 -0.02977721 2.35350769] [-0.00356004 0.99999055 -0.00249527 0.01613744] [ 0.02976823 0.00260016 0.99955345 -0.06444877] [ 0. 0. 0. 1. ]] SLAMing on 64.92463044 meters Centerline goodness [0,1] 0.304159295853648 Centerline is valid? [False, False] Translation: X:2.35, Y:0.02, Z:-0.06 [[ 0.99955252 0.00337377 -0.02972166 2.35314169] [-0.00346295 0.99998965 -0.00294934 0.01868275] [ 0.02971141 0.00305094 0.99955386 -0.06403583] [ 0. 0. 0. 1. ]] SLAMing on 64.95463044 meters Centerline goodness [0,1] 0.3065199533053742 Centerline is valid? [False, False] Translation: X:2.35, Y:0.02, Z:-0.06 [[ 0.99955824 0.0032914 -0.02953804 2.35265578] [-0.00338984 0.99998886 -0.00328319 0.02055176] [ 0.0295269 0.00338187 0.99955826 -0.06388184] [ 0. 0. 0. 1. ]] SLAMing on 64.98463044 meters Centerline goodness [0,1] 0.30713942412723383 Centerline is valid? [False, False] Translation: X:2.35, Y:0.02, Z:-0.06 [[ 0.9995606 0.0032032 -0.02946772 2.35247951] [-0.00330763 0.99998842 -0.0034958 0.02158373] [ 0.02945618 0.00359173 0.99955962 -0.06391117] [ 0. 0. 0. 1. ]] SLAMing on 65.01463043999999 meters Centerline goodness [0,1] 0.3069973504756114 Centerline is valid? [False, False] Translation: X:2.37, Y:0.03, Z:-0.06 [[ 9.99535979e-01 -4.69243587e-03 -3.00966357e-02 2.37173278e+00] [ 4.62134627e-03 9.99986366e-01 -2.43116976e-03 2.55233967e-02] [ 3.01076335e-02 2.29095467e-03 9.99544037e-01 -6.17533756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04463043999999 meters Centerline goodness [0,1] 0.30462375339981873 Centerline is valid? [False, False] Translation: X:2.37, Y:0.03, Z:-0.06 [[ 9.99530942e-01 -4.72385099e-03 -3.02585644e-02 2.37244573e+00] [ 4.65186546e-03 9.99986181e-01 -2.44896761e-03 2.55702109e-02] [ 3.02697148e-02 2.30706013e-03 9.99539105e-01 -6.22876451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07463043999999 meters Centerline goodness [0,1] 0.30589455040283386 Centerline is valid? [False, False] Translation: X:2.37, Y:0.03, Z:-0.06 [[ 9.99518449e-01 -4.66234720e-03 -3.06778708e-02 2.37393337e+00] [ 4.59016789e-03 9.99986530e-01 -2.42281847e-03 2.60543920e-02] [ 3.06887535e-02 2.28083519e-03 9.99526387e-01 -6.30291455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10463044 meters Centerline goodness [0,1] 0.30352712760220046 Centerline is valid? [False, False] Translation: X:2.37, Y:0.03, Z:-0.06 [[ 9.99516583e-01 -4.62581160e-03 -3.07441381e-02 2.37404510e+00] [ 4.55448378e-03 9.99986773e-01 -2.38967018e-03 2.61572170e-02] [ 3.07547856e-02 2.24849129e-03 9.99524431e-01 -6.29718459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13463044 meters Centerline goodness [0,1] 0.30501771976834646 Centerline is valid? [False, False] Translation: X:2.37, Y:0.03, Z:-0.06 [[ 9.99517579e-01 -4.65170134e-03 -3.07078267e-02 2.37377658e+00] [ 4.57839424e-03 9.99986500e-01 -2.45712674e-03 2.64947870e-02] [ 3.07188420e-02 2.31534884e-03 9.99525383e-01 -6.26935952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16463044 meters Centerline goodness [0,1] 0.30488836815726095 Centerline is valid? [False, False] Translation: X:2.37, Y:0.03, Z:-0.06 [[ 0.99951788 -0.004739 -0.03068462 2.37349032] [ 0.00466082 0.99998571 -0.00261878 0.02699013] [ 0.03069659 0.0024745 0.99952569 -0.0623216 ] [ 0. 0. 0. 1. ]] SLAMing on 65.19463044 meters Centerline goodness [0,1] 0.30723441233977844 Centerline is valid? [False, False] Translation: X:2.37, Y:0.03, Z:-0.06 [[ 0.99951808 -0.00489543 -0.03065366 2.37312627] [ 0.00480568 0.99998395 -0.00300089 0.02852052] [ 0.03066785 0.00285213 0.99952556 -0.06187837] [ 0. 0. 0. 1. ]] SLAMing on 65.22463044 meters Centerline goodness [0,1] 0.3062964394622686 Centerline is valid? [False, False] Translation: X:2.39, Y:0.03, Z:-0.06 [[ 0.99956076 0.00317783 -0.02946508 2.39229992] [-0.0032914 0.99998734 -0.00380669 0.02535499] [ 0.02945261 0.00390199 0.99955856 -0.06065269] [ 0. 0. 0. 1. ]] SLAMing on 65.25463044 meters Centerline goodness [0,1] 0.3120263089119262 Centerline is valid? [False, False] Translation: X:2.37, Y:0.03, Z:-0.06 [[ 9.99596753e-01 -2.56733165e-03 -2.82796789e-02 2.36976089e+00] [ 2.53892856e-03 9.99996236e-01 -1.04022534e-03 3.02090789e-02] [ 2.82822430e-02 9.68005784e-04 9.99599509e-01 -6.13787646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28463044 meters Centerline goodness [0,1] 0.30525976121329457 Centerline is valid? [False, False] Translation: X:2.39, Y:0.03, Z:-0.06 [[ 9.99611842e-01 5.04206645e-03 -2.73997046e-02 2.38843626e+00] [-5.10565822e-03 9.99984432e-01 -2.25142785e-03 2.57352400e-02] [ 2.73879262e-02 2.39044746e-03 9.99622022e-01 -5.98028092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31463044 meters Centerline goodness [0,1] 0.307501616727743 Centerline is valid? [False, False] Translation: X:2.39, Y:0.03, Z:-0.06 [[ 0.99960899 0.00487632 -0.02753335 2.38880672] [-0.00494485 0.99998484 -0.00242134 0.02580766] [ 0.02752112 0.00255654 0.99961795 -0.05992141] [ 0. 0. 0. 1. ]] SLAMing on 65.34463044 meters Centerline goodness [0,1] 0.30820981358102384 Centerline is valid? [False, False] Translation: X:2.39, Y:0.03, Z:-0.06 [[ 0.99958798 0.0043486 -0.02837189 2.39098083] [-0.00442905 0.99998635 -0.00277336 0.02521651] [ 0.02835944 0.00289788 0.99959359 -0.06045798] [ 0. 0. 0. 1. ]] SLAMing on 65.37463044 meters Centerline goodness [0,1] 0.3082568410114306 Centerline is valid? [False, False] Translation: X:2.39, Y:0.02, Z:-0.06 [[ 0.99958585 0.00441824 -0.02843616 2.39101452] [-0.00449418 0.9999865 -0.00260701 0.02468789] [ 0.02842426 0.00273373 0.99959221 -0.06033779] [ 0. 0. 0. 1. ]] SLAMing on 65.40463043999999 meters Centerline goodness [0,1] 0.30421725513750053 Centerline is valid? [False, False] Translation: X:2.41, Y:0.03, Z:-0.06 [[ 9.99606359e-01 -3.16422729e-03 -2.78767713e-02 2.40957837e+00] [ 3.14194758e-03 9.99994709e-01 -8.42987383e-04 2.75914923e-02] [ 2.78792912e-02 7.55068195e-04 9.99611012e-01 -5.80477203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43463043999999 meters Centerline goodness [0,1] 0.305939524838013 Centerline is valid? [False, False] Translation: X:2.41, Y:0.03, Z:-0.06 [[ 9.99609778e-01 -3.12180420e-03 -2.77587269e-02 2.40921289e+00] [ 3.10204929e-03 9.99994904e-01 -7.54698958e-04 2.73494679e-02] [ 2.77609415e-02 6.68295519e-04 9.99614367e-01 -5.78958709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46463044 meters Centerline goodness [0,1] 0.3081124428357789 Centerline is valid? [False, False] Translation: X:2.41, Y:0.03, Z:-0.06 [[ 9.99611421e-01 -3.20073822e-03 -2.76904549e-02 2.40886341e+00] [ 3.18008474e-03 9.99994632e-01 -7.89875442e-04 2.70725255e-02] [ 2.76928344e-02 7.01510520e-04 9.99616234e-01 -5.76539329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49463044 meters Centerline goodness [0,1] 0.30645751296451706 Centerline is valid? [False, False] Translation: X:2.41, Y:0.03, Z:-0.06 [[ 9.99610732e-01 -3.29114753e-03 -2.77047337e-02 2.40885234e+00] [ 3.27159967e-03 9.99994366e-01 -7.50876843e-04 2.62447664e-02] [ 2.77070489e-02 6.59945753e-04 9.99615868e-01 -5.76358344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52463044 meters Centerline goodness [0,1] 0.3069575903926177 Centerline is valid? [False, False] Translation: X:2.41, Y:0.02, Z:-0.06 [[ 9.99606593e-01 -3.31787841e-03 -2.78505078e-02 2.40923138e+00] [ 3.30847233e-03 9.99994453e-01 -3.83808172e-04 2.41223411e-02] [ 2.78516268e-02 2.91514545e-04 9.99612026e-01 -5.78171404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55463044 meters Centerline goodness [0,1] 0.3070258825562805 Centerline is valid? [False, False] Translation: X:2.41, Y:0.02, Z:-0.06 [[ 9.99603418e-01 -3.22701419e-03 -2.79748581e-02 2.40987889e+00] [ 3.22522647e-03 9.99994793e-01 -1.09026177e-04 2.29042994e-02] [ 2.79750643e-02 1.87576860e-05 9.99608621e-01 -5.84008862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58463044 meters Centerline goodness [0,1] 0.30510413294485805 Centerline is valid? [False, False] Translation: X:2.41, Y:0.02, Z:-0.06 [[ 9.99600229e-01 -3.19072038e-03 -2.80927278e-02 2.41036043e+00] [ 3.19535243e-03 9.99994888e-01 1.19993663e-04 2.15289743e-02] [ 2.80922013e-02 -2.09711859e-04 9.99605314e-01 -5.87549297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.61463044 meters Centerline goodness [0,1] 0.30439003343760107 Centerline is valid? [False, False] Translation: X:2.41, Y:0.02, Z:-0.06 [[ 9.99598318e-01 -3.21407941e-03 -2.81579929e-02 2.41058933e+00] [ 3.22164045e-03 9.99994786e-01 2.23159352e-04 2.06263193e-02] [ 2.81571288e-02 -3.13784641e-04 9.99603460e-01 -5.89045585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64463044 meters Centerline goodness [0,1] 0.3069164891535887 Centerline is valid? [False, False] Translation: X:2.41, Y:0.02, Z:-0.06 [[ 9.99596011e-01 -3.11567161e-03 -2.82507947e-02 2.41064400e+00] [ 3.12390684e-03 9.99995090e-01 2.47373813e-04 2.10691687e-02] [ 2.82498853e-02 -3.35526728e-04 9.99600836e-01 -5.86571799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.67463044 meters Centerline goodness [0,1] 0.3012655512655512 Centerline is valid? [False, False] Translation: X:2.43, Y:0.02, Z:-0.06 [[ 9.99599225e-01 5.03478413e-03 -2.78575109e-02 2.43066190e+00] [-5.05196217e-03 9.99987090e-01 -5.46291930e-04 1.80665722e-02] [ 2.78544008e-02 6.86808081e-04 9.99611755e-01 -5.73277642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70463044 meters Centerline goodness [0,1] 0.3062879885790919 Centerline is valid? [False, False] Translation: X:2.43, Y:0.02, Z:-0.06 [[ 9.99600046e-01 5.05884994e-03 -2.78236514e-02 2.43060065e+00] [-5.08259053e-03 9.99986777e-01 -7.82596226e-04 1.97443969e-02] [ 2.78193244e-02 9.23699450e-04 9.99612541e-01 -5.72628437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73463044 meters Centerline goodness [0,1] 0.30867595743297427 Centerline is valid? [False, False] Translation: X:2.43, Y:0.02, Z:-0.06 [[ 9.99599750e-01 4.98289595e-03 -2.78479771e-02 2.43061702e+00] [-5.01772510e-03 9.99986714e-01 -1.18094817e-03 2.18166448e-02] [ 2.78417226e-02 1.32020899e-03 9.99611472e-01 -5.71463277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76463043999999 meters Centerline goodness [0,1] 0.30867595743297427 Centerline is valid? [False, False] Translation: X:2.43, Y:0.02, Z:-0.06 [[ 9.99599750e-01 4.98289595e-03 -2.78479771e-02 2.43061702e+00] [-5.01772510e-03 9.99986714e-01 -1.18094817e-03 2.18166448e-02] [ 2.78417226e-02 1.32020899e-03 9.99611472e-01 -5.71463277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79463043999999 meters Centerline goodness [0,1] 0.30894167716159293 Centerline is valid? [False, False] Translation: X:2.43, Y:0.02, Z:-0.06 [[ 9.99601739e-01 4.86748174e-03 -2.77969483e-02 2.43036001e+00] [-4.91350623e-03 9.99986668e-01 -1.58767533e-03 2.37069126e-02] [ 2.77888497e-02 1.72362350e-03 9.99612329e-01 -5.68600364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82463043999999 meters Centerline goodness [0,1] 0.309366028449932 Centerline is valid? [False, False] Translation: X:2.45, Y:0.03, Z:-0.05 [[ 9.99620160e-01 -2.77260396e-03 -2.74198632e-02 2.44810797e+00] [ 2.76546723e-03 9.99996132e-01 -2.98193948e-04 2.75966375e-02] [ 2.74205839e-02 2.22251948e-04 9.99623960e-01 -5.42655971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85463044 meters Centerline goodness [0,1] 0.3106745817593092 Centerline is valid? [False, False] Translation: X:2.45, Y:0.03, Z:-0.05 [[ 9.99635024e-01 -2.69062691e-03 -2.68808396e-02 2.44637220e+00] [ 2.68303736e-03 9.99996350e-01 -3.18404350e-04 2.79078478e-02] [ 2.68815982e-02 2.46165843e-04 9.99638594e-01 -5.35266069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88463044 meters Centerline goodness [0,1] 0.31189752496743384 Centerline is valid? [False, False] Translation: X:2.45, Y:0.03, Z:-0.05 [[ 9.99637381e-01 -2.71504824e-03 -2.67905628e-02 2.44621510e+00] [ 2.70642851e-03 9.99996274e-01 -3.57999671e-04 2.79048007e-02] [ 2.67914349e-02 2.85363111e-04 9.99641004e-01 -5.36065534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91463044 meters Centerline goodness [0,1] 0.3107153624187088 Centerline is valid? [False, False] Translation: X:2.46, Y:0.02, Z:-0.05 [[ 9.99562056e-01 2.87234871e-03 -2.94524220e-02 2.46145513e+00] [-2.90384136e-03 9.99995257e-01 -1.02655568e-03 2.20873251e-02] [ 2.94493337e-02 1.11163127e-03 9.99565656e-01 -5.11207048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94463044 meters Centerline goodness [0,1] 0.3094272899775746 Centerline is valid? [False, False] Translation: X:2.46, Y:0.02, Z:-0.05 [[ 9.99560818e-01 2.91323476e-03 -2.94904101e-02 2.46163617e+00] [-2.94447008e-03 9.99995149e-01 -1.01579785e-03 2.20588960e-02] [ 2.94873078e-02 1.10218536e-03 9.99564547e-01 -5.12483653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97463044 meters Centerline goodness [0,1] 0.31103324465208837 Centerline is valid? [False, False] Translation: X:2.46, Y:0.02, Z:-0.05 [[ 9.99548862e-01 3.44989322e-03 -2.98357293e-02 2.46221530e+00] [-3.47339816e-03 9.99993697e-01 -7.36020370e-04 2.26048051e-02] [ 2.98330020e-02 8.39319690e-04 9.99554545e-01 -5.08352986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00463044 meters Centerline goodness [0,1] 0.30933494715455945 Centerline is valid? [False, False] Translation: X:2.46, Y:0.02, Z:-0.05 [[ 9.99543568e-01 3.74046238e-03 -2.99777328e-02 2.46254006e+00] [-3.76311560e-03 9.99992675e-01 -6.99286067e-04 2.35312630e-02] [ 2.99748976e-02 8.11776565e-04 9.99550322e-01 -5.07184193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.03463044 meters Centerline goodness [0,1] 0.31056734517106976 Centerline is valid? [False, False] Translation: X:2.46, Y:0.02, Z:-0.05 [[ 9.99539923e-01 3.90539805e-03 -3.00780612e-02 2.46275259e+00] [-3.93330664e-03 9.99991887e-01 -8.68761336e-04 2.49625188e-02] [ 3.00744243e-02 9.86667877e-04 9.99547175e-01 -5.06240179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06463044 meters Centerline goodness [0,1] 0.3139202081526453 Centerline is valid? [False, False] Translation: X:2.46, Y:0.03, Z:-0.05 [[ 9.99565703e-01 4.28520452e-03 -2.91554909e-02 2.46056179e+00] [-4.32118154e-03 9.99989978e-01 -1.17107572e-03 2.75429993e-02] [ 2.91501804e-02 1.29655330e-03 9.99574202e-01 -5.04102670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09463044 meters Centerline goodness [0,1] 0.31186884964118433 Centerline is valid? [False, False] Translation: X:2.48, Y:0.03, Z:-0.05 [[ 9.99588220e-01 -2.09598193e-03 -2.86181449e-02 2.47782362e+00] [ 2.12197180e-03 9.99997363e-01 8.77821269e-04 3.26388563e-02] [ 2.86162296e-02 -9.38186696e-04 9.99590032e-01 -4.81371092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12463044 meters Centerline goodness [0,1] 0.31656020510146443 Centerline is valid? [False, False] Translation: X:2.48, Y:0.03, Z:-0.05 [[ 9.99594403e-01 -1.81892949e-03 -2.84204481e-02 2.47724554e+00] [ 1.84520161e-03 9.99997894e-01 8.98210466e-04 3.38790965e-02] [ 2.84187545e-02 -9.50287611e-04 9.99595654e-01 -4.79214898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15463043999999 meters Centerline goodness [0,1] 0.3112226296939673 Centerline is valid? [False, False] Translation: X:2.50, Y:0.03, Z:-0.05 [[ 9.99588795e-01 6.60760175e-03 -2.79030627e-02 2.49757324e+00] [-6.60623886e-03 9.99978169e-01 1.41029586e-04 3.22235027e-02] [ 2.79033854e-02 4.33627030e-05 9.99610624e-01 -4.63431459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18463043999999 meters Centerline goodness [0,1] 0.31384901820701006 Centerline is valid? [False, False] Translation: X:2.50, Y:0.03, Z:-0.05 [[ 9.99584601e-01 6.59333101e-03 -2.80562376e-02 2.49778135e+00] [-6.59991801e-03 9.99978210e-01 -1.42181116e-04 3.39866587e-02] [ 2.80546888e-02 3.27290922e-04 9.99606336e-01 -4.60869835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21463044 meters Centerline goodness [0,1] 0.3144138704390581 Centerline is valid? [False, False] Translation: X:2.50, Y:0.04, Z:-0.05 [[ 9.99581966e-01 6.70333675e-03 -2.81239800e-02 2.49785848e+00] [-6.72570774e-03 9.99977137e-01 -7.00920685e-04 3.78028169e-02] [ 2.81186385e-02 8.89781346e-04 9.99604197e-01 -4.59300772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24463044 meters Centerline goodness [0,1] 0.31608492420601986 Centerline is valid? [False, False] Translation: X:2.48, Y:0.05, Z:-0.05 [[ 9.99615756e-01 -8.00786806e-04 -2.77073800e-02 2.47883391e+00] [ 8.06986529e-04 9.99999652e-01 2.12575939e-04 4.50943994e-02] [ 2.77072001e-02 -2.34853741e-04 9.99616054e-01 -4.79553582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27463044 meters Centerline goodness [0,1] 0.31349343469246715 Centerline is valid? [False, False] Translation: X:2.50, Y:0.04, Z:-0.05 [[ 9.99610122e-01 7.30265458e-03 -2.69495063e-02 2.49849846e+00] [-7.32551663e-03 9.99972887e-01 -7.49698156e-04 4.31732534e-02] [ 2.69433008e-02 9.46824922e-04 9.99636515e-01 -4.65405608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30463044 meters Centerline goodness [0,1] 0.31469488873435325 Centerline is valid? [False, False] Translation: X:2.50, Y:0.04, Z:-0.05 [[ 9.99610553e-01 7.33152285e-03 -2.69256686e-02 2.49848310e+00] [-7.35496528e-03 9.99972654e-01 -7.71700258e-04 4.36655751e-02] [ 2.69192745e-02 9.69437078e-04 9.99637141e-01 -4.66059480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33463044 meters Centerline goodness [0,1] 0.3153774220907727 Centerline is valid? [False, False] Translation: X:2.50, Y:0.04, Z:-0.05 [[ 9.99606488e-01 7.25355953e-03 -2.70971520e-02 2.49892906e+00] [-7.27538060e-03 9.99973284e-01 -7.06786382e-04 4.28791595e-02] [ 2.70913014e-02 9.03650347e-04 9.99632555e-01 -4.67288483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36463044 meters Centerline goodness [0,1] 0.3100023646252069 Centerline is valid? [False, False] Translation: X:2.52, Y:0.04, Z:-0.05 [[ 9.99635289e-01 -1.19354442e-03 -2.69789566e-02 2.51938453e+00] [ 1.19336831e-03 9.99999288e-01 -2.26284080e-05 4.49407007e-02] [ 2.69789644e-02 -9.57567661e-06 9.99636001e-01 -4.54854979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.39463044 meters Centerline goodness [0,1] 0.31409743977530513 Centerline is valid? [False, False] Translation: X:2.52, Y:0.04, Z:-0.05 [[ 9.99629512e-01 -1.24475866e-03 -2.71898871e-02 2.51992047e+00] [ 1.24697635e-03 9.99999220e-01 6.46074218e-05 4.39522086e-02] [ 2.71897855e-02 -9.84886317e-05 9.99630285e-01 -4.55686105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42463044 meters Centerline goodness [0,1] 0.3121937531029422 Centerline is valid? [False, False] Translation: X:2.52, Y:0.04, Z:-0.05 [[ 9.99624997e-01 -1.22536896e-03 -2.73562404e-02 2.52029594e+00] [ 1.23222729e-03 9.99999213e-01 2.33848037e-04 4.28689278e-02] [ 2.73559323e-02 -2.67469449e-04 9.99625721e-01 -4.55821442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45463044 meters Centerline goodness [0,1] 0.3169872426092475 Centerline is valid? [False, False] Translation: X:2.50, Y:0.04, Z:-0.05 [[ 9.99602488e-01 6.70730282e-03 -2.73839009e-02 2.50190680e+00] [-6.73265564e-03 9.99976988e-01 -8.33732863e-04 3.76895792e-02] [ 2.73776787e-02 1.01776782e-03 9.99624643e-01 -4.76246535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48463044 meters Centerline goodness [0,1] 0.31304891996288386 Centerline is valid? [False, False] Translation: X:2.52, Y:0.04, Z:-0.05 [[ 9.99601502e-01 -1.43218965e-03 -2.81919471e-02 2.52358363e+00] [ 1.44126552e-03 9.99998916e-01 3.01613880e-04 3.83237652e-02] [ 2.81914846e-02 -3.42125769e-04 9.99602483e-01 -4.62422551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51463043999999 meters Centerline goodness [0,1] 0.3098979635768717 Centerline is valid? [False, False] Translation: X:2.52, Y:0.04, Z:-0.05 [[ 9.99594083e-01 -1.40138294e-03 -2.84553066e-02 2.52459991e+00] [ 1.41627703e-03 9.99998870e-01 5.03272919e-04 3.69150108e-02] [ 2.84545692e-02 -5.43369230e-04 9.99594939e-01 -4.67999756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54463043999999 meters Centerline goodness [0,1] 0.31488296135002725 Centerline is valid? [False, False] Translation: X:2.53, Y:0.04, Z:-0.05 [[ 9.99590827e-01 -1.37496586e-03 -2.85707707e-02 2.52501395e+00] [ 1.39579341e-03 9.99998775e-01 7.09050088e-04 3.54127526e-02] [ 2.85697608e-02 -7.48638857e-04 9.99591521e-01 -4.70316858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57463043999999 meters Centerline goodness [0,1] 0.31064740502942745 Centerline is valid? [False, False] Translation: X:2.57, Y:0.03, Z:-0.05 [[ 9.99647368e-01 -1.89859897e-03 -2.64865137e-02 2.56783529e+00] [ 1.91019622e-03 9.99998090e-01 4.12560040e-04 3.27614401e-02] [ 2.64856798e-02 -4.63008996e-04 9.99649086e-01 -4.59385955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60463044 meters Centerline goodness [0,1] 0.31358212193534385 Centerline is valid? [False, False] Translation: X:2.54, Y:0.03, Z:-0.05 [[ 9.99712815e-01 4.25531118e-03 -2.35834449e-02 2.54355632e+00] [-4.28233165e-03 9.99990231e-01 -1.09535375e-03 2.56094061e-02] [ 2.35785534e-02 1.19603132e-03 9.99721272e-01 -4.58827807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63463044 meters Centerline goodness [0,1] 0.3123531567262302 Centerline is valid? [False, False] Translation: X:2.56, Y:0.03, Z:-0.04 [[ 9.99726659e-01 -3.23877095e-03 -2.31542038e-02 2.56146558e+00] [ 3.25385658e-03 9.99994518e-01 6.13883179e-04 2.75830526e-02] [ 2.31520886e-02 -6.89055839e-04 9.99731717e-01 -4.34922282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66463044 meters Centerline goodness [0,1] 0.31606577291856475 Centerline is valid? [False, False] Translation: X:2.56, Y:0.03, Z:-0.04 [[ 9.99727427e-01 -3.13854184e-03 -2.31348661e-02 2.56140622e+00] [ 3.15743105e-03 9.99994711e-01 7.79999503e-04 2.68421869e-02] [ 2.31322957e-02 -8.52833641e-04 9.99732049e-01 -4.34504697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69463044 meters Centerline goodness [0,1] 0.31459028749865403 Centerline is valid? [False, False] Translation: X:2.58, Y:0.02, Z:-0.04 [[ 9.99717667e-01 4.76139671e-03 -2.32790655e-02 2.58036106e+00] [-4.77083686e-03 9.99988558e-01 -3.49999506e-04 2.19428007e-02] [ 2.32771327e-02 4.60961313e-04 9.99728945e-01 -4.14923203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72463044 meters Centerline goodness [0,1] 0.31638332758025545 Centerline is valid? [False, False] Translation: X:2.58, Y:0.02, Z:-0.04 [[ 9.99720180e-01 4.78710592e-03 -2.31655998e-02 2.57987616e+00] [-4.79782571e-03 9.99988407e-01 -4.07188321e-04 2.22394274e-02] [ 2.31633820e-02 5.18218892e-04 9.99731559e-01 -4.11558011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.75463044 meters Centerline goodness [0,1] 0.318658144186451 Centerline is valid? [False, False] Translation: X:2.58, Y:0.02, Z:-0.04 [[ 9.99722893e-01 4.96962624e-03 -2.30095669e-02 2.57941518e+00] [-4.97911683e-03 9.99987541e-01 -3.55189340e-04 2.26958822e-02] [ 2.30075151e-02 4.69658236e-04 9.99735182e-01 -4.09594026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78463044 meters Centerline goodness [0,1] 0.3179223250583859 Centerline is valid? [False, False] Translation: X:2.58, Y:0.02, Z:-0.04 [[ 9.99735671e-01 5.69460838e-03 -2.22746575e-02 2.57720759e+00] [-5.69540349e-03 9.99983781e-01 2.77442068e-05 2.33302240e-02] [ 2.22744542e-02 9.91262891e-05 9.99751889e-01 -4.01326325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.81463044 meters Centerline goodness [0,1] 0.31946401855987516 Centerline is valid? [False, False] Translation: X:2.58, Y:0.02, Z:-0.04 [[ 9.99740281e-01 5.73059951e-03 -2.20574376e-02 2.57644919e+00] [-5.73361822e-03 9.99983560e-01 -7.36169238e-05 2.40405461e-02] [ 2.20566531e-02 2.00066730e-04 9.99756702e-01 -3.97445465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84463044 meters Centerline goodness [0,1] 0.31960095666975497 Centerline is valid? [False, False] Translation: X:2.59, Y:0.03, Z:-0.04 [[ 9.99755144e-01 -1.14935274e-03 -2.20982135e-02 2.59264628e+00] [ 1.18219059e-03 9.99998216e-01 1.47298954e-03 2.87311273e-02] [ 2.20964811e-02 -1.49875317e-03 9.99754720e-01 -3.70033316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87463044 meters Centerline goodness [0,1] 0.31692599456919957 Centerline is valid? [False, False] Translation: X:2.59, Y:0.03, Z:-0.04 [[ 9.99754982e-01 -1.07822452e-03 -2.21091129e-02 2.59263073e+00] [ 1.11132617e-03 9.99998280e-01 1.48496285e-03 2.89871729e-02] [ 2.21074737e-02 -1.50916945e-03 9.99754461e-01 -3.69686008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90463043999999 meters Centerline goodness [0,1] 0.32144109396914444 Centerline is valid? [False, False] Translation: X:2.55, Y:0.03, Z:-0.04 [[ 9.99695104e-01 -6.54364617e-04 -2.46834078e-02 2.54880538e+00] [ 6.99457873e-04 9.99998102e-01 1.81827550e-03 2.78370318e-02] [ 2.46821711e-02 -1.83498612e-03 9.99693665e-01 -3.75893439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93463043999999 meters Centerline goodness [0,1] 0.318528001388678 Centerline is valid? [False, False] Translation: X:2.55, Y:0.03, Z:-0.04 [[ 9.99691478e-01 -5.95636424e-04 -2.48313310e-02 2.54941244e+00] [ 6.43813170e-04 9.99997926e-01 1.93221021e-03 2.71407168e-02] [ 2.48301286e-02 -1.94760081e-03 9.99689788e-01 -3.79901931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96463044 meters Centerline goodness [0,1] 0.3200621267473148 Centerline is valid? [False, False] Translation: X:2.55, Y:0.02, Z:-0.04 [[ 9.99693228e-01 -6.08986056e-04 -2.47604511e-02 2.54947227e+00] [ 6.63134255e-04 9.99997407e-01 2.17873039e-03 2.49233021e-02] [ 2.47590600e-02 -2.19448152e-03 9.99691039e-01 -3.83065500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99463044 meters Centerline goodness [0,1] 0.3190086600809434 Centerline is valid? [False, False] Translation: X:2.55, Y:0.02, Z:-0.04 [[ 9.99695893e-01 -4.82400330e-04 -2.46553904e-02 2.54919785e+00] [ 5.46067580e-04 9.99996534e-01 2.57561766e-03 2.29392996e-02] [ 2.46540625e-02 -2.58829791e-03 9.99692692e-01 -3.82538380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02463044 meters Centerline goodness [0,1] 0.3192714785594749 Centerline is valid? [False, False] Translation: X:2.55, Y:0.02, Z:-0.04 [[ 9.99694241e-01 -3.09805573e-04 -2.47250523e-02 2.54933598e+00] [ 3.83772891e-04 9.99995466e-01 2.98690490e-03 2.11486173e-02] [ 2.47240148e-02 -2.99548044e-03 9.99689827e-01 -3.82118198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05463044 meters Centerline goodness [0,1] 0.3166828426614904 Centerline is valid? [False, False] Translation: X:2.55, Y:0.02, Z:-0.04 [[ 9.99690212e-01 -1.29151301e-04 -2.48890095e-02 2.54979479e+00] [ 2.13734488e-04 9.99994211e-01 3.39578489e-03 1.92921773e-02] [ 2.48884268e-02 -3.40005256e-03 9.99684453e-01 -3.83066517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08463044 meters Centerline goodness [0,1] 0.31921964694203464 Centerline is valid? [False, False] Translation: X:2.55, Y:0.02, Z:-0.04 [[ 9.99685864e-01 6.60292474e-05 -2.50633045e-02 2.55026503e+00] [ 3.19852678e-05 9.99992354e-01 3.91025702e-03 1.64109277e-02] [ 2.50633711e-02 -3.90983033e-03 9.99678219e-01 -3.83570981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.11463044 meters Centerline goodness [0,1] 0.32006317748112245 Centerline is valid? [False, False] Translation: X:2.55, Y:0.02, Z:-0.04 [[ 9.99682570e-01 1.46455623e-04 -2.51940114e-02 2.55071263e+00] [-4.29149049e-05 9.99991552e-01 4.11022689e-03 1.52064196e-02] [ 2.51944005e-02 -4.10784098e-03 9.99674131e-01 -3.85656460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14463044 meters Centerline goodness [0,1] 0.3182917529142608 Centerline is valid? [False, False] Translation: X:2.55, Y:0.01, Z:-0.04 [[ 9.99678162e-01 2.36252789e-04 -2.53676255e-02 2.55138142e+00] [-1.26509927e-04 9.99990628e-01 4.32761686e-03 1.39659748e-02] [ 2.53684102e-02 -4.32301481e-03 9.99668823e-01 -3.89754864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.17463044 meters Centerline goodness [0,1] 0.3184183142559833 Centerline is valid? [False, False] Translation: X:2.55, Y:0.01, Z:-0.04 [[ 9.99670424e-01 3.66106347e-04 -2.56692137e-02 2.55241651e+00] [-2.48705933e-04 9.99989496e-01 4.57663164e-03 1.27597087e-02] [ 2.56706196e-02 -4.56873921e-03 9.99660015e-01 -3.94923130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20463044 meters Centerline goodness [0,1] 0.3137840704899223 Centerline is valid? [False, False] Translation: X:2.55, Y:0.01, Z:-0.04 [[ 9.99663245e-01 4.95469828e-04 -2.59451551e-02 2.55348951e+00] [-3.70120136e-04 9.99988238e-01 4.83591265e-03 1.15269162e-02] [ 2.59472460e-02 -4.82468131e-03 9.99651671e-01 -4.01423488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23463044 meters Centerline goodness [0,1] 0.3162693900319681 Centerline is valid? [False, False] Translation: X:2.57, Y:0.00, Z:-0.04 [[ 0.99957955 0.00823604 -0.02780092 2.57341606] [-0.00812148 0.99995807 0.00423114 0.00399814] [ 0.0278346 -0.00400358 0.99960452 -0.0379242 ] [ 0. 0. 0. 1. ]] SLAMing on 67.26463043999999 meters Centerline goodness [0,1] 0.31816205877238746 Centerline is valid? [False, False] Translation: X:2.55, Y:0.01, Z:-0.04 [[ 9.99595688e-01 -1.48859884e-04 -2.84330537e-02 2.55373707e+00] [ 2.97301685e-04 9.99986349e-01 5.21659167e-03 6.31131899e-03] [ 2.84318890e-02 -5.22293573e-03 9.99582087e-01 -3.92558037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29463043999999 meters Centerline goodness [0,1] 0.3143030671120559 Centerline is valid? [False, False] Translation: X:2.55, Y:0.01, Z:-0.04 [[ 9.99590696e-01 -4.50174805e-05 -2.86083527e-02 2.55428447e+00] [ 2.00125406e-04 9.99985297e-01 5.41893053e-03 5.33653946e-03] [ 2.86076881e-02 -5.42243780e-03 9.99576009e-01 -3.94433611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32463043999999 meters Centerline goodness [0,1] 0.31572321583608265 Centerline is valid? [False, False] Translation: X:2.56, Y:0.00, Z:-0.04 [[ 9.99584442e-01 4.26498069e-05 -2.88260431e-02 2.55503132e+00] [ 1.17837123e-04 9.99984504e-01 5.56570669e-03 4.65902381e-03] [ 2.88258338e-02 -5.56679059e-03 9.99568948e-01 -3.97890302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35463044 meters Centerline goodness [0,1] 0.3137419174668643 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.00, Z:-0.04 [[ 9.99524689e-01 8.35948034e-03 -2.96734642e-02 2.57633463e+00] [-8.22221905e-03 9.99954940e-01 4.74473484e-03 -2.81972113e-04] [ 2.97117906e-02 -4.49849789e-03 9.99548385e-01 -3.85554263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38463044 meters Centerline goodness [0,1] 0.31427650660650985 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.00, Z:-0.04 [[ 9.99529290e-01 8.44762129e-03 -2.94929844e-02 2.57571205e+00] [-8.30880499e-03 9.99953835e-01 4.82614279e-03 -4.90873954e-04] [ 2.95323923e-02 -4.57881962e-03 9.99553336e-01 -3.82986463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41463044 meters Centerline goodness [0,1] 0.31333476487008805 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.00, Z:-0.04 [[ 9.99535387e-01 8.60864979e-03 -2.92387020e-02 2.57484925e+00] [-8.46564936e-03 9.99951610e-01 5.01106748e-03 -9.07836215e-04] [ 2.92804257e-02 -4.76121467e-03 9.99559897e-01 -3.79259204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44463044 meters Centerline goodness [0,1] 0.3088883682293553 Centerline is valid? [False, False] Translation: X:2.59, Y:0.00, Z:-0.04 [[ 9.99590176e-01 1.23594852e-03 -2.85998522e-02 2.59237619e+00] [-1.05455653e-03 9.99979240e-01 6.35662451e-03 2.90103987e-03] [ 2.86071150e-02 -6.32385926e-03 9.99570729e-01 -3.54915238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47463044 meters Centerline goodness [0,1] 0.3156674539033215 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.00, Z:-0.04 [[ 9.99557783e-01 7.07272546e-04 -2.97277180e-02 2.54536991e+00] [-5.14454793e-04 9.99978786e-01 6.49327507e-03 -3.52570708e-03] [ 2.97316798e-02 -6.47511007e-03 9.99536943e-01 -3.50275644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50463044 meters Centerline goodness [0,1] 0.3176980600411835 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.01, Z:-0.04 [[ 9.99557106e-01 7.75241871e-04 -2.97487865e-02 2.54549101e+00] [-5.74178695e-04 9.99976941e-01 6.76664911e-03 -5.24492556e-03] [ 2.97533463e-02 -6.74657109e-03 9.99534503e-01 -3.50993932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.53463044 meters Centerline goodness [0,1] 0.31588389132643135 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.01, Z:-0.04 [[ 9.99555310e-01 8.79452802e-04 -2.98061735e-02 2.54563989e+00] [-6.70044275e-04 9.99975030e-01 7.03493618e-03 -6.67599517e-03] [ 2.98116162e-02 -7.01183636e-03 9.99530941e-01 -3.50913087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56463044 meters Centerline goodness [0,1] 0.3156170524591577 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.01, Z:-0.04 [[ 9.99558917e-01 9.62704119e-04 -2.96824112e-02 2.54536297e+00] [-7.47646914e-04 9.99973399e-01 7.25552145e-03 -7.88920311e-03] [ 2.96886065e-02 -7.23012920e-03 9.99533047e-01 -3.50809822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59463044 meters Centerline goodness [0,1] 0.3150008623663332 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.01, Z:-0.03 [[ 9.99562357e-01 1.07653490e-03 -2.95624028e-02 2.54488004e+00] [-8.54112402e-04 9.99971243e-01 7.53542746e-03 -9.38793951e-03] [ 2.95696648e-02 -7.50688001e-03 9.99534533e-01 -3.47431368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62463044 meters Centerline goodness [0,1] 0.31479762547220724 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.01, Z:-0.03 [[ 9.99566883e-01 1.12291614e-03 -2.94072294e-02 2.54440875e+00] [-8.97040984e-04 9.99970006e-01 7.69300630e-03 -1.04202595e-02] [ 2.94149859e-02 -7.66329484e-03 9.99537909e-01 -3.45467980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65463043999999 meters Centerline goodness [0,1] 0.31479762547220724 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.01, Z:-0.03 [[ 9.99566883e-01 1.12291614e-03 -2.94072294e-02 2.54440875e+00] [-8.97040984e-04 9.99970006e-01 7.69300630e-03 -1.04202595e-02] [ 2.94149859e-02 -7.66329484e-03 9.99537909e-01 -3.45467980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68463043999999 meters Centerline goodness [0,1] 0.317363461911641 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.01, Z:-0.03 [[ 9.99574572e-01 1.29823801e-03 -2.91374350e-02 2.54370052e+00] [-1.06411455e-03 9.99967038e-01 8.04921138e-03 -1.21116345e-02] [ 2.91469244e-02 -8.01478145e-03 9.99543006e-01 -3.44260544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71463044 meters Centerline goodness [0,1] 0.3164852255054432 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.01, Z:-0.03 [[ 9.99575268e-01 1.38655101e-03 -2.91094533e-02 2.54359212e+00] [-1.14689564e-03 9.99965327e-01 8.24798796e-03 -1.29484948e-02] [ 2.91198803e-02 -8.21109928e-03 9.99542200e-01 -3.43686855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74463044 meters Centerline goodness [0,1] 0.31166865620736695 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.02, Z:-0.03 [[ 0.99950983 0.00974319 -0.02975169 2.56455466] [-0.00951954 0.99992543 0.00764987 -0.0178666 ] [ 0.02982401 -0.0073629 0.99952805 -0.03305176] [ 0. 0. 0. 1. ]] SLAMing on 67.77463044 meters Centerline goodness [0,1] 0.31424258760107815 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.01, Z:-0.04 [[ 9.99510642e-01 1.27027994e-03 -3.12548181e-02 2.54630212e+00] [-1.00100339e-03 9.99962263e-01 8.62966028e-03 -1.49286705e-02] [ 3.12646008e-02 -8.59415111e-03 9.99474194e-01 -3.53067021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80463044 meters Centerline goodness [0,1] 0.31176798661461236 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.01, Z:-0.04 [[ 9.99501653e-01 1.24987700e-03 -3.15417645e-02 2.54747523e+00] [-9.80920014e-04 9.99963043e-01 8.54104523e-03 -1.47033320e-02] [ 3.15512741e-02 -8.50584888e-03 9.99465941e-01 -3.60465143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83463044 meters Centerline goodness [0,1] 0.3134834128337398 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.01, Z:-0.04 [[ 9.99499781e-01 1.23063040e-03 -3.16018040e-02 2.54767896e+00] [-9.63731154e-04 9.99963753e-01 8.45953986e-03 -1.43363628e-02] [ 3.16110691e-02 -8.42485260e-03 9.99464738e-01 -3.61602526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86463044 meters Centerline goodness [0,1] 0.3124004991179381 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.01, Z:-0.04 [[ 9.99503460e-01 1.24046134e-03 -3.14848398e-02 2.54719756e+00] [-9.75775465e-04 9.99964069e-01 8.42074540e-03 -1.39971569e-02] [ 3.14941541e-02 -8.38584202e-03 9.99468757e-01 -3.58676011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.89463044 meters Centerline goodness [0,1] 0.31199845097997037 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.01, Z:-0.04 [[ 9.99507107e-01 1.30044832e-03 -3.13664055e-02 2.54655929e+00] [-1.03577949e-03 9.99963738e-01 8.45274437e-03 -1.37747212e-02] [ 3.13762604e-02 -8.41608940e-03 9.99472211e-01 -3.53626468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92463044 meters Centerline goodness [0,1] 0.3125903861512228 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.01, Z:-0.04 [[ 9.99507157e-01 1.32092238e-03 -3.13639773e-02 2.54638415e+00] [-1.05693299e-03 9.99963891e-01 8.43204900e-03 -1.34468196e-02] [ 3.13739828e-02 -8.39474370e-03 9.99472462e-01 -3.51490785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.95463044 meters Centerline goodness [0,1] 0.31188902135038477 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.01, Z:-0.04 [[ 9.99502148e-01 1.28150613e-03 -3.15248015e-02 2.54702124e+00] [-1.01918921e-03 9.99964739e-01 8.33563172e-03 -1.30345357e-02] [ 3.15343721e-02 -8.29935207e-03 9.99468211e-01 -3.55497545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98463044 meters Centerline goodness [0,1] 0.31385346877026155 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.01, Z:-0.04 [[ 9.99497497e-01 1.27116826e-03 -3.16723424e-02 2.54755606e+00] [-1.00809732e-03 9.99964875e-01 8.32059909e-03 -1.30025961e-02] [ 3.16818068e-02 -8.28448916e-03 9.99463671e-01 -3.58343310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01463043999999 meters Centerline goodness [0,1] 0.3137178656297256 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.01, Z:-0.04 [[ 9.99494623e-01 1.27901762e-03 -3.17625981e-02 2.54782158e+00] [-1.01574082e-03 9.99965008e-01 8.30364626e-03 -1.27062656e-02] [ 3.17721072e-02 -8.26718722e-03 9.99460948e-01 -3.59506087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04463043999999 meters Centerline goodness [0,1] 0.31017557516000693 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.01, Z:-0.04 [[ 9.99484984e-01 1.20038394e-03 -3.20675336e-02 2.54840757e+00] [-9.38123917e-04 9.99966004e-01 8.19215977e-03 -1.20380724e-02] [ 3.20762771e-02 -8.15785735e-03 9.99452131e-01 -3.57655456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07463043999999 meters Centerline goodness [0,1] 0.3109829835017708 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.01, Z:-0.04 [[ 9.99480236e-01 1.16814717e-03 -3.22163373e-02 2.54855012e+00] [-9.03331493e-04 9.99965698e-01 8.23324895e-03 -1.24623292e-02] [ 3.22248499e-02 -8.19986758e-03 9.99447008e-01 -3.54432486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10463044 meters Centerline goodness [0,1] 0.3101352508132169 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.01, Z:-0.04 [[ 9.99476899e-01 1.06963368e-03 -3.23231122e-02 2.54870785e+00] [-8.02599627e-04 9.99965454e-01 8.27324255e-03 -1.31245473e-02] [ 3.23308449e-02 -8.24297229e-03 9.99443230e-01 -3.52713805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13463044 meters Centerline goodness [0,1] 0.311875 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.01, Z:-0.04 [[ 9.99469985e-01 1.05360721e-03 -3.25367232e-02 2.54922397e+00] [-7.77637585e-04 9.99963629e-01 8.49327876e-03 -1.46228918e-02] [ 3.25444884e-02 -8.46347542e-03 9.99434453e-01 -3.52275090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16463044 meters Centerline goodness [0,1] 0.31066307277628036 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.02, Z:-0.04 [[ 9.99461984e-01 1.00149823e-03 -3.27832236e-02 2.55005675e+00] [-7.14417312e-04 9.99961310e-01 8.76748864e-03 -1.66564347e-02] [ 3.27907358e-02 -8.73935069e-03 9.99424030e-01 -3.55124672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19463044 meters Centerline goodness [0,1] 0.31298533218291635 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.02, Z:-0.04 [[ 9.99450489e-01 9.58705884e-04 -3.31330701e-02 2.55106156e+00] [-6.57060981e-04 9.99958253e-01 9.11373261e-03 -1.91241388e-02] [ 3.31404243e-02 -9.08695407e-03 9.99409395e-01 -3.56888180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22463044 meters Centerline goodness [0,1] 0.3134452494035763 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.03, Z:-0.04 [[ 0.99947538 0.00542277 -0.03193044 2.53151792] [-0.00522206 0.9999661 0.00636597 -0.02871208] [ 0.03196388 -0.00619589 0.99946982 -0.03727951] [ 0. 0. 0. 1. ]] SLAMing on 68.25463044 meters Centerline goodness [0,1] 0.30844653694145086 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.03, Z:-0.04 [[ 0.99952547 -0.00255338 -0.03069714 2.55123709] [ 0.00277661 0.99997 0.00723163 -0.027117 ] [ 0.03067775 -0.00731343 0.99950257 -0.03594249] [ 0. 0. 0. 1. ]] SLAMing on 68.28463044 meters Centerline goodness [0,1] 0.3122302158273381 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.03, Z:-0.04 [[ 9.99538896e-01 -2.52609858e-03 -3.02591289e-02 2.54989903e+00] [ 2.75431360e-03 9.99968061e-01 7.50271681e-03 -2.88691588e-02] [ 3.02392099e-02 -7.58260040e-03 9.99513929e-01 -3.53732843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31463044 meters Centerline goodness [0,1] 0.31244749822301676 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.03, Z:-0.03 [[ 0.99957933 0.00376388 -0.02875763 2.57001832] [-0.00362795 0.99998201 0.00477734 -0.03230935] [ 0.0287751 -0.004671 0.999575 -0.03445566] [ 0. 0. 0. 1. ]] SLAMing on 68.34463044 meters Centerline goodness [0,1] 0.31166709655231706 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.04, Z:-0.03 [[ 0.99957718 0.00403761 -0.02879523 2.56992895] [-0.00388171 0.99997752 0.00546799 -0.03554735] [ 0.02881666 -0.0053539 0.99957038 -0.03415951] [ 0. 0. 0. 1. ]] SLAMing on 68.37463044 meters Centerline goodness [0,1] 0.3145374258625915 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.04, Z:-0.03 [[ 0.99957504 0.00425571 -0.02883792 2.57009496] [-0.00408722 0.99997425 0.00589899 -0.03720704] [ 0.02886228 -0.00577861 0.99956669 -0.03421808] [ 0. 0. 0. 1. ]] SLAMing on 68.40463043999999 meters Centerline goodness [0,1] 0.31259595631960213 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.04, Z:-0.03 [[ 0.99957317 0.00438225 -0.02888367 2.57031534] [-0.00420165 0.99997126 0.00631046 -0.03940271] [ 0.0289105 -0.00618641 0.99956286 -0.03432345] [ 0. 0. 0. 1. ]] SLAMing on 68.43463043999999 meters Centerline goodness [0,1] 0.3138009787928222 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.04, Z:-0.03 [[ 9.99585812e-01 8.83288557e-04 -2.87649683e-02 2.57011564e+00] [-7.94419347e-04 9.99994877e-01 3.10077601e-03 -4.14881992e-02] [ 2.87675598e-02 -3.07664026e-03 9.99581393e-01 -3.44079233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46463044 meters Centerline goodness [0,1] 0.31175420868181725 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.05, Z:-0.03 [[ 9.99573395e-01 6.11416060e-03 -2.85595169e-02 2.59099000e+00] [-6.13126903e-03 9.99981073e-01 -5.11511554e-04 -4.69211123e-02] [ 2.85558489e-02 6.86399422e-04 9.99591963e-01 -3.34023366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49463044 meters Centerline goodness [0,1] 0.3127749485318019 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.06, Z:-0.03 [[ 9.99609973e-01 4.18855245e-03 -2.76108323e-02 2.58751827e+00] [-4.23034194e-03 9.99989993e-01 -1.45527907e-03 -5.51009249e-02] [ 2.76044605e-02 1.57151473e-03 9.99617689e-01 -3.18835292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52463044 meters Centerline goodness [0,1] 0.3153829369408684 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.06, Z:-0.03 [[ 9.99614606e-01 4.51286744e-03 -2.73911233e-02 2.58674708e+00] [-4.53318514e-03 9.99989494e-01 -6.79710823e-04 -5.85517425e-02] [ 2.73877681e-02 8.03617900e-04 9.99624562e-01 -3.14361103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55463044 meters Centerline goodness [0,1] 0.31471861471861473 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.06, Z:-0.03 [[ 9.99644566e-01 -2.98092125e-03 -2.64925460e-02 2.60534356e+00] [ 3.00417553e-03 9.99995136e-01 8.38008945e-04 -5.84466662e-02] [ 2.64899191e-02 -9.17299347e-04 9.99648660e-01 -2.98250810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58463044 meters Centerline goodness [0,1] 0.31360048573163324 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.06, Z:-0.03 [[ 9.99642922e-01 -2.85422487e-03 -2.65684245e-02 2.60569546e+00] [ 2.89077756e-03 9.99994927e-01 1.33748750e-03 -6.15851686e-02] [ 2.65644722e-02 -1.41381332e-03 9.99646102e-01 -2.99784494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.61463044 meters Centerline goodness [0,1] 0.31562248734163456 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.07, Z:-0.03 [[ 9.99629066e-01 -2.83426670e-03 -2.70868532e-02 2.60757491e+00] [ 2.88323266e-03 9.99994279e-01 1.76885406e-03 -6.71128183e-02] [ 2.70816849e-02 -1.84629563e-03 9.99631519e-01 -3.07685156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64463044 meters Centerline goodness [0,1] 0.31429869736443505 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.07, Z:-0.03 [[ 9.99618473e-01 -2.59574323e-03 -2.74985532e-02 2.60890082e+00] [ 2.65572668e-03 9.99994173e-01 2.14503453e-03 -6.86512411e-02] [ 2.74928250e-02 -2.21724478e-03 9.99619542e-01 -3.12948502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.67463044 meters Centerline goodness [0,1] 0.3110203022637349 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.07, Z:-0.03 [[ 9.99607210e-01 -2.34763859e-03 -2.79269401e-02 2.61034472e+00] [ 2.41547956e-03 9.99994213e-01 2.39574349e-03 -6.92240656e-02] [ 2.79211541e-02 -2.46225942e-03 9.99607096e-01 -3.19902155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70463044 meters Centerline goodness [0,1] 0.31099381300566775 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.07, Z:-0.03 [[ 9.99596966e-01 -2.13480164e-03 -2.83081036e-02 2.61162482e+00] [ 2.20901276e-03 9.99994205e-01 2.59053683e-03 -6.96692477e-02] [ 2.83024093e-02 -2.65202572e-03 9.99595889e-01 -3.25906864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73463044 meters Centerline goodness [0,1] 0.30992751747346625 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.07, Z:-0.03 [[ 9.99592714e-01 -2.07316147e-03 -2.84624128e-02 2.61227882e+00] [ 2.14791989e-03 9.99994323e-01 2.59624420e-03 -6.97599474e-02] [ 2.84568688e-02 -2.65632177e-03 9.99591492e-01 -3.30366839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76463043999999 meters Centerline goodness [0,1] 0.31287756964666 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.07, Z:-0.03 [[ 9.99589946e-01 -2.03523981e-03 -2.85621853e-02 2.61274830e+00] [ 2.10951072e-03 9.99994471e-01 2.57043173e-03 -6.96198317e-02] [ 2.85567960e-02 -2.62962995e-03 9.99588713e-01 -3.34344319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79463043999999 meters Centerline goodness [0,1] 0.30792979123038067 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.07, Z:-0.03 [[ 9.99579836e-01 -1.51456353e-03 -2.89457653e-02 2.61422636e+00] [ 1.60690844e-03 9.99993693e-01 3.16727829e-03 -7.08566655e-02] [ 2.89407857e-02 -3.21246070e-03 9.99575966e-01 -3.43300896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82463043999999 meters Centerline goodness [0,1] 0.3075804596453916 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.07, Z:-0.03 [[ 9.99580494e-01 -1.36826027e-03 -2.89303283e-02 2.61417010e+00] [ 1.47105949e-03 9.99992679e-01 3.53235256e-03 -7.25470032e-02] [ 2.89252834e-02 -3.57342895e-03 9.99575189e-01 -3.42846021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85463044 meters Centerline goodness [0,1] 0.31081051834217077 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.08, Z:-0.03 [[ 9.99579591e-01 -1.38712914e-03 -2.89606119e-02 2.61395970e+00] [ 1.50038998e-03 9.99991310e-01 3.88949375e-03 -7.50841002e-02] [ 2.89549650e-02 -3.93131079e-03 9.99572986e-01 -3.37760919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88463044 meters Centerline goodness [0,1] 0.3091093642017968 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.08, Z:-0.03 [[ 9.99572316e-01 -5.05717102e-03 -2.88029556e-02 2.61291741e+00] [ 5.09141322e-03 9.99986416e-01 1.11562769e-03 -8.09018350e-02] [ 2.87969224e-02 -1.26179831e-03 9.99584486e-01 -3.27225468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91463044 meters Centerline goodness [0,1] 0.30890841733436725 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.08, Z:-0.03 [[ 9.99568032e-01 -4.99488989e-03 -2.89620674e-02 2.61317332e+00] [ 5.04355904e-03 9.99985989e-01 1.60763660e-03 -8.40607510e-02] [ 2.89536316e-02 -1.75301405e-03 9.99579219e-01 -3.24749835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94463044 meters Centerline goodness [0,1] 0.3084310944952946 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.09, Z:-0.03 [[ 9.99567621e-01 -4.86468241e-03 -2.89983806e-02 2.61329602e+00] [ 4.92637932e-03 9.99985751e-01 2.05653440e-03 -8.66051441e-02] [ 2.89879630e-02 -2.19850222e-03 9.99577343e-01 -3.24710776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97463044 meters Centerline goodness [0,1] 0.31163455912627036 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.09, Z:-0.03 [[ 9.99569334e-01 -4.69340212e-03 -2.89675488e-02 2.61334535e+00] [ 4.76571980e-03 9.99985696e-01 2.42797149e-03 -8.83221769e-02] [ 2.89557390e-02 -2.56497707e-03 9.99577404e-01 -3.25905433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00463044 meters Centerline goodness [0,1] 0.31019681067971583 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.09, Z:-0.03 [[ 9.99588435e-01 3.84411310e-03 -2.84285710e-02 2.63223186e+00] [-3.80571512e-03 9.99991772e-01 1.40466583e-03 -9.21538111e-02] [ 2.84337368e-02 -1.29589667e-03 9.99594840e-01 -3.10629569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.03463044 meters Centerline goodness [0,1] 0.30974007674131243 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.09, Z:-0.03 [[ 9.99590066e-01 4.00292150e-03 -2.83491809e-02 2.63220260e+00] [-3.96074588e-03 9.99990965e-01 1.54371662e-03 -9.22424332e-02] [ 2.83551041e-02 -1.43079990e-03 9.99596889e-01 -3.12888981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06463044 meters Centerline goodness [0,1] 0.30633530775173834 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.09, Z:-0.03 [[ 9.99592160e-01 4.58179962e-03 -2.81872274e-02 2.63180797e+00] [-4.52764680e-03 9.99987781e-01 1.98470695e-03 -9.29165932e-02] [ 2.81959765e-02 -1.85627570e-03 9.99600691e-01 -3.12040412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09463044 meters Centerline goodness [0,1] 0.3095478900819866 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.09, Z:-0.03 [[ 9.99594357e-01 4.59283888e-03 -2.81074116e-02 2.63143788e+00] [-4.54042874e-03 9.99987833e-01 1.92817669e-03 -9.27659802e-02] [ 2.81159254e-02 -1.79977484e-03 9.99603049e-01 -3.09417133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12463044 meters Centerline goodness [0,1] 0.3087777992236591 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.09, Z:-0.03 [[ 9.99594518e-01 4.59997670e-03 -2.81005171e-02 2.63122269e+00] [-4.55098744e-03 9.99988011e-01 1.80706461e-03 -9.22369032e-02] [ 2.81084926e-02 -1.67844678e-03 9.99603469e-01 -3.07163604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15463043999999 meters Centerline goodness [0,1] 0.313343458450857 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.09, Z:-0.03 [[ 9.99639493e-01 -1.83535729e-03 -2.67864963e-02 2.61053500e+00] [ 1.94125709e-03 9.99990401e-01 3.92800847e-03 -8.72931991e-02] [ 2.67790299e-02 -3.97859187e-03 9.99633460e-01 -3.22317745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18463043999999 meters Centerline goodness [0,1] 0.3114415885842001 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.09, Z:-0.03 [[ 9.99645982e-01 6.96512726e-03 -2.56787570e-02 2.63015671e+00] [-6.89671057e-03 9.99972431e-01 2.75193346e-03 -8.77793079e-02] [ 2.56972166e-02 -2.57386027e-03 9.99666459e-01 -3.12682545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21463044 meters Centerline goodness [0,1] 0.31152111878362776 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.08, Z:-0.03 [[ 9.99681630e-01 -1.34406381e-03 -2.51958561e-02 2.60988024e+00] [ 1.44405504e-03 9.99991153e-01 3.95078346e-03 -8.32838043e-02] [ 2.51903231e-02 -3.98590986e-03 9.99674727e-01 -3.33041764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24463044 meters Centerline goodness [0,1] 0.31172613141205396 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.08, Z:-0.03 [[ 9.99686702e-01 7.25028073e-03 -2.39568556e-02 2.62933210e+00] [-7.19069182e-03 9.99970838e-01 2.57255385e-03 -8.27495582e-02] [ 2.39748087e-02 -2.39948151e-03 9.99709683e-01 -3.21322163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27463044 meters Centerline goodness [0,1] 0.3101148732951856 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.08, Z:-0.03 [[ 9.99689298e-01 7.24596608e-03 -2.38496118e-02 2.62892941e+00] [-7.19304247e-03 9.99971475e-01 2.30409701e-03 -8.08577998e-02] [ 2.38656269e-02 -2.13182985e-03 9.99712902e-01 -3.19501819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30463044 meters Centerline goodness [0,1] 0.3102995044171515 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.08, Z:-0.03 [[ 9.99687243e-01 7.17725739e-03 -2.39562640e-02 2.62904138e+00] [-7.13424057e-03 9.99972783e-01 1.88062519e-03 -7.82902104e-02] [ 2.39691097e-02 -1.70912726e-03 9.99711239e-01 -3.18351314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33463044 meters Centerline goodness [0,1] 0.3103410960090035 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.07, Z:-0.03 [[ 9.99667308e-01 7.40014235e-03 -2.47085189e-02 2.63142332e+00] [-7.37080065e-03 9.99972018e-01 1.27837838e-03 -7.19591015e-02] [ 2.47172877e-02 -1.09583150e-03 9.99693881e-01 -3.29009021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36463044 meters Centerline goodness [0,1] 0.3094841209707099 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.07, Z:-0.03 [[ 9.99670551e-01 7.26358903e-03 -2.46176537e-02 2.63154813e+00] [-7.24831897e-03 9.99973479e-01 7.09465325e-04 -6.88456574e-02] [ 2.46221541e-02 -5.30794986e-04 9.99696688e-01 -3.35157747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.39463044 meters Centerline goodness [0,1] 0.3103530379445443 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.07, Z:-0.03 [[ 9.99673784e-01 7.19101284e-03 -2.45074394e-02 2.63150989e+00] [-7.18670308e-03 9.99974140e-01 2.63928865e-04 -6.59844561e-02] [ 2.45087035e-02 -8.77150777e-05 9.99699613e-01 -3.39284241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42463044 meters Centerline goodness [0,1] 0.31068403908794784 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.06, Z:-0.03 [[ 9.99674729e-01 7.12775286e-03 -2.44873739e-02 2.63164760e+00] [-7.13408028e-03 9.99974537e-01 -1.71042983e-04 -6.31344313e-02] [ 2.44855313e-02 3.45682239e-04 9.99700125e-01 -3.42820948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45463044 meters Centerline goodness [0,1] 0.3089745821727019 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.06, Z:-0.03 [[ 9.99670354e-01 6.81885872e-03 -2.47524987e-02 2.63227430e+00] [-6.84788777e-03 9.99975961e-01 -1.08819676e-03 -5.79597133e-02] [ 2.47444834e-02 1.25734037e-03 9.99693018e-01 -3.44507010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48463044 meters Centerline goodness [0,1] 0.3083430951451256 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.06, Z:-0.03 [[ 9.99669760e-01 6.61179101e-03 -2.48325410e-02 2.63212654e+00] [-6.64985174e-03 9.99976838e-01 -1.45042861e-03 -5.64628582e-02] [ 2.48223759e-02 1.61508234e-03 9.99690573e-01 -3.39773414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51463043999999 meters Centerline goodness [0,1] 0.30785832991604256 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.05, Z:-0.03 [[ 9.99687363e-01 -6.51355333e-04 -2.49950350e-02 2.65012533e+00] [ 6.40267495e-04 9.99999693e-01 -4.51602085e-04 -4.98641770e-02] [ 2.49953214e-02 4.35457389e-04 9.99687473e-01 -3.14270976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54463043999999 meters Centerline goodness [0,1] 0.30785832991604256 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.05, Z:-0.03 [[ 9.99687363e-01 -6.51355333e-04 -2.49950350e-02 2.65012533e+00] [ 6.40267495e-04 9.99999693e-01 -4.51602085e-04 -4.98641770e-02] [ 2.49953214e-02 4.35457389e-04 9.99687473e-01 -3.14270976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57463043999999 meters Centerline goodness [0,1] 0.3100019539306572 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.05, Z:-0.03 [[ 9.99688234e-01 -7.27095590e-04 -2.49580704e-02 2.64984491e+00] [ 7.12595021e-04 9.99999572e-01 -5.89886177e-04 -4.91093955e-02] [ 2.49584887e-02 5.71917274e-04 9.99688325e-01 -3.11251337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60463044 meters Centerline goodness [0,1] 0.3083284622545518 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.05, Z:-0.03 [[ 9.99686362e-01 -9.04154219e-04 -2.50271965e-02 2.65016794e+00] [ 8.81743280e-04 9.99999200e-01 -9.06484444e-04 -4.76407262e-02] [ 2.50279961e-02 8.84132573e-04 9.99686360e-01 -3.13898603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63463044 meters Centerline goodness [0,1] 0.3061372922326566 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.04, Z:-0.03 [[ 9.99677287e-01 -1.36568724e-03 -2.53664674e-02 2.65170297e+00] [ 1.31807836e-03 9.99997339e-01 -1.89346825e-03 -4.24853601e-02] [ 2.53689858e-02 1.85942221e-03 9.99676426e-01 -3.25118222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66463044 meters Centerline goodness [0,1] 0.30794530032889045 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.04, Z:-0.03 [[ 9.99679794e-01 -1.51251218e-03 -2.52590867e-02 2.65142433e+00] [ 1.45309668e-03 9.99996135e-01 -2.37043173e-03 -3.96696863e-02] [ 2.52625744e-02 2.33296881e-03 9.99678128e-01 -3.25486449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69463044 meters Centerline goodness [0,1] 0.3089800155722814 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.04, Z:-0.03 [[ 9.99689334e-01 -1.52387423e-03 -2.48779789e-02 2.65003391e+00] [ 1.45713659e-03 9.99995292e-01 -2.70050668e-03 -3.69711801e-02] [ 2.48819770e-02 2.66341711e-03 9.99686848e-01 -3.18672341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72463044 meters Centerline goodness [0,1] 0.3076705902792859 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.03, Z:-0.03 [[ 9.99697734e-01 -1.60471413e-03 -2.45329506e-02 2.64876053e+00] [ 1.52924956e-03 9.99994043e-01 -3.09450136e-03 -3.43512352e-02] [ 2.45377702e-02 3.05604899e-03 9.99694232e-01 -3.12387498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.75463044 meters Centerline goodness [0,1] 0.30791953254705795 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.03, Z:-0.03 [[ 9.99696879e-01 -2.11807063e-03 -2.45288412e-02 2.64839126e+00] [ 2.01791061e-03 9.99989529e-01 -4.10738981e-03 -2.99959120e-02] [ 2.45372841e-02 4.05664777e-03 9.99690685e-01 -3.07587935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78463044 meters Centerline goodness [0,1] 0.3073087549646002 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.03, Z:-0.03 [[ 9.99693927e-01 -2.31740829e-03 -2.46309261e-02 2.64882212e+00] [ 2.20750195e-03 9.99987491e-01 -4.48838198e-03 -2.83781127e-02] [ 2.46410194e-02 4.43263539e-03 9.99686537e-01 -3.10837296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81463044 meters Centerline goodness [0,1] 0.3102014294996751 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.03, Z:-0.03 [[ 9.99696400e-01 -2.39191342e-03 -2.45231874e-02 2.64871814e+00] [ 2.27725932e-03 9.99986352e-01 -4.70219574e-03 -2.71711472e-02] [ 2.45340999e-02 4.64492250e-03 9.99688203e-01 -3.13191104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84463044 meters Centerline goodness [0,1] 0.3073906485671192 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.03, Z:-0.03 [[ 9.99702375e-01 -2.35982993e-03 -2.42815295e-02 2.64791033e+00] [ 2.24420472e-03 9.99986019e-01 -4.78800774e-03 -2.60855609e-02] [ 2.42924889e-02 4.73208998e-03 9.99693694e-01 -3.10014510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87463043999999 meters Centerline goodness [0,1] 0.3081296068132201 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.03, Z:-0.03 [[ 9.99709978e-01 -2.33536291e-03 -2.39688667e-02 2.64684986e+00] [ 2.21931886e-03 9.99985694e-01 -4.86690890e-03 -2.51592826e-02] [ 2.39798898e-02 4.81230282e-03 9.99700859e-01 -3.05143118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90463043999999 meters Centerline goodness [0,1] 0.3067433328327147 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.02, Z:-0.03 [[ 9.99708951e-01 -2.38435248e-03 -2.40068156e-02 2.64665259e+00] [ 2.26417248e-03 9.99984776e-01 -5.03201590e-03 -2.41467242e-02] [ 2.40184483e-02 4.97619577e-03 9.99699131e-01 -3.00806611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93463043999999 meters Centerline goodness [0,1] 0.30975684022793515 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.03, Z:-0.03 [[ 0.99964555 0.00526247 -0.02609753 2.6278966 ] [-0.00543118 0.99996478 -0.00639779 -0.02600348] [ 0.02606294 0.00653726 0.99963893 -0.03166398] [ 0. 0. 0. 1. ]] SLAMing on 69.96463044 meters Centerline goodness [0,1] 0.30881204442901766 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.02, Z:-0.03 [[ 0.99963717 0.00513862 -0.02644078 2.62909353] [-0.00531759 0.9999634 -0.00670306 -0.02467647] [ 0.02640537 0.00684123 0.99962791 -0.03232534] [ 0. 0. 0. 1. ]] SLAMing on 69.99463044 meters Centerline goodness [0,1] 0.30621212121212116 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.02, Z:-0.03 [[ 0.99963324 0.00511068 -0.02659438 2.62980076] [-0.00529554 0.99996228 -0.00688515 -0.02356677] [ 0.02655819 0.00702346 0.9996226 -0.03289791] [ 0. 0. 0. 1. ]] SLAMing on 70.02463044 meters Centerline goodness [0,1] 0.3053825095384881 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.02, Z:-0.03 [[ 0.99963115 0.00514053 -0.0266673 2.63004312] [-0.00532881 0.99996134 -0.00699392 -0.02258519] [ 0.02663032 0.00713344 0.9996199 -0.0330214 ] [ 0. 0. 0. 1. ]] SLAMing on 70.05463044 meters Centerline goodness [0,1] 0.3075492506974028 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.02, Z:-0.03 [[ 0.99963039 0.00529782 -0.02666486 2.63005724] [-0.00549156 0.99995902 -0.00719779 -0.02050132] [ 0.02662563 0.00734156 0.99961852 -0.03313091] [ 0. 0. 0. 1. ]] SLAMing on 70.08463044 meters Centerline goodness [0,1] 0.30680610097415983 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.02, Z:-0.03 [[ 0.99962861 0.00521132 -0.02674868 2.63032023] [-0.00541334 0.99995733 -0.00748553 -0.01910189] [ 0.02670853 0.00762755 0.99961416 -0.03329993] [ 0. 0. 0. 1. ]] SLAMing on 70.11463044 meters Centerline goodness [0,1] 0.30792689568039733 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.02, Z:-0.03 [[ 0.99963089 0.00513278 -0.02667849 2.63027343] [-0.00534115 0.99995574 -0.00774496 -0.01779389] [ 0.02663755 0.00788459 0.99961406 -0.03350162] [ 0. 0. 0. 1. ]] SLAMing on 70.14463044 meters Centerline goodness [0,1] 0.30337920260234985 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.01, Z:-0.03 [[ 9.99649396e-01 -1.90995990e-03 -2.64090329e-02 2.64817878e+00] [ 1.73383768e-03 9.99976117e-01 -6.69030514e-03 -1.09086351e-02] [ 2.64211804e-02 6.64217051e-03 9.99628833e-01 -3.17423980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.17463044 meters Centerline goodness [0,1] 0.3058907641311177 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.02, Z:-0.03 [[ 0.99966437 0.00558885 -0.02529667 2.62856848] [-0.00578127 0.99995486 -0.00753965 -0.01602826] [ 0.02525339 0.00768336 0.99965156 -0.03363169] [ 0. 0. 0. 1. ]] SLAMing on 70.20463044 meters Centerline goodness [0,1] 0.3079358924647796 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.01, Z:-0.03 [[ 9.99684238e-01 -1.19550081e-03 -2.50997003e-02 2.64513988e+00] [ 1.04499508e-03 9.99981402e-01 -6.00857644e-03 -9.45601003e-03] [ 2.51064167e-02 5.98045010e-03 9.99666896e-01 -3.09690223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23463044 meters Centerline goodness [0,1] 0.30828981723237603 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.01, Z:-0.03 [[ 9.99683039e-01 -1.38490018e-03 -2.51376825e-02 2.64557828e+00] [ 1.21945206e-03 9.99977504e-01 -6.59581414e-03 -6.58963652e-03] [ 2.51462516e-02 6.56306933e-03 9.99662239e-01 -3.15825788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26463043999999 meters Centerline goodness [0,1] 0.3057815475160117 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.00, Z:-0.03 [[ 9.99676012e-01 -1.56392516e-03 -2.54052277e-02 2.64665096e+00] [ 1.38576778e-03 9.99974338e-01 -7.02871931e-03 -4.66210072e-03] [ 2.54155682e-02 6.99123635e-03 9.99652525e-01 -3.23415497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29463043999999 meters Centerline goodness [0,1] 0.30773071662722795 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.00, Z:-0.03 [[ 9.99674636e-01 -1.64659774e-03 -2.54541083e-02 2.64693479e+00] [ 1.46187116e-03 9.99972474e-01 -7.27414613e-03 -3.32264682e-03] [ 2.54653852e-02 7.23456875e-03 9.99649526e-01 -3.26444284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32463043999999 meters Centerline goodness [0,1] 0.3058399078481233 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.00, Z:-0.03 [[ 9.99678103e-01 -1.61867275e-03 -2.53193800e-02 2.64644892e+00] [ 1.43337130e-03 9.99972071e-01 -7.33499990e-03 -2.33220956e-03] [ 2.53305458e-02 7.29634671e-03 9.99652503e-01 -3.24078468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35463044 meters Centerline goodness [0,1] 0.3053183229813664 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.00, Z:-0.03 [[ 9.99682036e-01 -1.70194596e-03 -2.51580885e-02 2.64599051e+00] [ 1.51205339e-03 9.99970241e-01 -7.56507029e-03 -6.02608608e-04] [ 2.51702151e-02 7.52462450e-03 9.99654861e-01 -3.22098997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38463044 meters Centerline goodness [0,1] 0.30820701602425293 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.00, Z:-0.03 [[ 9.99680477e-01 -1.85108360e-03 -2.52094590e-02 2.64601087e+00] [ 1.65667166e-03 9.99968746e-01 -7.73056779e-03 -2.19086985e-04] [ 2.52229811e-02 7.68633390e-03 9.99652300e-01 -3.20551347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41463044 meters Centerline goodness [0,1] 0.309463469577837 Centerline is valid? [False, False] Translation: X:2.65, Y:0.00, Z:-0.03 [[ 9.99677399e-01 -1.98582657e-03 -2.53210375e-02 2.64626353e+00] [ 1.78609271e-03 9.99967134e-01 -7.90823765e-03 2.75291457e-04] [ 2.53359097e-02 7.86046072e-03 9.99648090e-01 -3.20112785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44463044 meters Centerline goodness [0,1] 0.30775192129679463 Centerline is valid? [False, False] Translation: X:2.65, Y:0.00, Z:-0.03 [[ 9.99670299e-01 -2.03976006e-03 -2.55955693e-02 2.64704128e+00] [ 1.83389252e-03 9.99965804e-01 -8.06399039e-03 1.15545273e-03] [ 2.56111426e-02 8.01439216e-03 9.99639855e-01 -3.22186834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47463044 meters Centerline goodness [0,1] 0.30593152435195015 Centerline is valid? [False, False] Translation: X:2.65, Y:0.00, Z:-0.03 [[ 9.99662900e-01 -2.09405199e-03 -2.58785923e-02 2.64797907e+00] [ 1.88068044e-03 9.99964062e-01 -8.26668892e-03 2.31753006e-03] [ 2.58949731e-02 8.21523286e-03 9.99630912e-01 -3.26275198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50463044 meters Centerline goodness [0,1] 0.3071294031046353 Centerline is valid? [False, False] Translation: X:2.65, Y:0.01, Z:-0.03 [[ 9.99653369e-01 -2.40257401e-03 -2.62177155e-02 2.64922818e+00] [ 2.16666794e-03 9.99956948e-01 -9.02266507e-03 5.74728775e-03] [ 2.62382644e-02 8.96273246e-03 9.99615538e-01 -3.33860653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.53463044 meters Centerline goodness [0,1] 0.30814509122502176 Centerline is valid? [False, False] Translation: X:2.65, Y:0.01, Z:-0.03 [[ 9.99655343e-01 -2.54394635e-03 -2.61289775e-02 2.64885190e+00] [ 2.29790498e-03 9.99952782e-01 -9.44213168e-03 7.84314676e-03] [ 2.61517640e-02 9.37883547e-03 9.99613987e-01 -3.31868318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56463044 meters Centerline goodness [0,1] 0.3058659517426273 Centerline is valid? [False, False] Translation: X:2.67, Y:0.01, Z:-0.03 [[ 0.99964886 -0.00759305 -0.02538695 2.66902896] [ 0.00743742 0.999953 -0.00621929 0.01347536] [ 0.02543298 0.00602829 0.99965835 -0.03207737] [ 0. 0. 0. 1. ]] SLAMing on 70.59463044 meters Centerline goodness [0,1] 0.3048838311996207 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:-0.03 [[ 0.99966881 -0.00410632 -0.02540507 2.66885695] [ 0.00403353 0.99998762 -0.00291553 0.01503839] [ 0.02541673 0.00281209 0.99967299 -0.03182163] [ 0. 0. 0. 1. ]] SLAMing on 70.62463043999999 meters Centerline goodness [0,1] 0.3073564866097609 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:-0.03 [[ 0.99967068 -0.00410567 -0.02533148 2.66880528] [ 0.00402731 0.99998695 -0.00314356 0.01678653] [ 0.02534405 0.0030405 0.99967416 -0.03202491] [ 0. 0. 0. 1. ]] SLAMing on 70.65463043999999 meters Centerline goodness [0,1] 0.3084264179590066 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:-0.03 [[ 0.99966941 -0.00422493 -0.02536171 2.66897492] [ 0.0041383 0.99998543 -0.00346734 0.01829133] [ 0.02537599 0.00336123 0.99967233 -0.03222799] [ 0. 0. 0. 1. ]] SLAMing on 70.68463043999999 meters Centerline goodness [0,1] 0.3036327722432154 Centerline is valid? [False, False] Translation: X:2.69, Y:0.02, Z:-0.03 [[ 0.99969653 0.00343039 -0.02439437 2.68849761] [-0.00356399 0.99997888 -0.00543554 0.01892144] [ 0.02437521 0.00552083 0.99968764 -0.03052593] [ 0. 0. 0. 1. ]] SLAMing on 70.71463044 meters Centerline goodness [0,1] 0.3075805542304523 Centerline is valid? [False, False] Translation: X:2.69, Y:0.02, Z:-0.03 [[ 0.99969999 0.00344896 -0.02424928 2.68783394] [-0.00358221 0.99997871 -0.00545405 0.01937327] [ 0.02422995 0.00553928 0.99969107 -0.03005315] [ 0. 0. 0. 1. ]] SLAMing on 70.74463044 meters Centerline goodness [0,1] 0.30782246518287126 Centerline is valid? [False, False] Translation: X:2.69, Y:0.02, Z:-0.03 [[ 0.99970657 0.00345395 -0.02397581 2.68686604] [-0.00358678 0.99997844 -0.00549961 0.01997525] [ 0.0239563 0.005584 0.99969741 -0.02953313] [ 0. 0. 0. 1. ]] SLAMing on 70.77463044 meters Centerline goodness [0,1] 0.308377436427004 Centerline is valid? [False, False] Translation: X:2.71, Y:0.03, Z:-0.03 [[ 0.99972532 -0.00432454 -0.02303426 2.70547181] [ 0.00422245 0.99998106 -0.00447888 0.02590083] [ 0.02305319 0.00438038 0.99972464 -0.02759948] [ 0. 0. 0. 1. ]] SLAMing on 70.80463044 meters Centerline goodness [0,1] 0.3107229099136337 Centerline is valid? [False, False] Translation: X:2.69, Y:0.02, Z:-0.03 [[ 0.99973395 0.00300173 -0.02286951 2.68829117] [-0.00313724 0.99997772 -0.00589175 0.02078209] [ 0.02285131 0.00596193 0.9997211 -0.03062241] [ 0. 0. 0. 1. ]] SLAMing on 70.83463044 meters Centerline goodness [0,1] 0.3098075555459776 Centerline is valid? [False, False] Translation: X:2.71, Y:0.03, Z:-0.03 [[ 0.99970661 -0.00445471 -0.02380859 2.70835299] [ 0.00433986 0.99997871 -0.00487365 0.02599688] [ 0.02382979 0.0047689 0.99970466 -0.02945114] [ 0. 0. 0. 1. ]] SLAMing on 70.86463044 meters Centerline goodness [0,1] 0.308557258598944 Centerline is valid? [False, False] Translation: X:2.71, Y:0.03, Z:-0.03 [[ 0.99970028 -0.00442834 -0.02407791 2.70933211] [ 0.00431498 0.99997937 -0.00475808 0.02547798] [ 0.02409848 0.00465275 0.99969876 -0.02993581] [ 0. 0. 0. 1. ]] SLAMing on 70.89463044 meters Centerline goodness [0,1] 0.30800394409671616 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.03 [[ 0.99969748 -0.00444558 -0.02419049 2.70953132] [ 0.00433364 0.99997967 -0.00467779 0.02478655] [ 0.0242108 0.00457154 0.99969642 -0.02982556] [ 0. 0. 0. 1. ]] SLAMing on 70.92463044 meters Centerline goodness [0,1] 0.3045717827601684 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.03 [[ 0.99969734 -0.00443642 -0.02419786 2.70926073] [ 0.00432762 0.9999803 -0.00454666 0.02392309] [ 0.02421756 0.00444057 0.99969685 -0.02938084] [ 0. 0. 0. 1. ]] SLAMing on 70.95463044 meters Centerline goodness [0,1] 0.3070201738981454 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.03 [[ 0.99970326 -0.00431798 -0.0239737 2.70825951] [ 0.00421801 0.9999822 -0.00421911 0.02264824] [ 0.02399149 0.00411674 0.99970369 -0.02865067] [ 0. 0. 0. 1. ]] SLAMing on 70.98463044 meters Centerline goodness [0,1] 0.3117883163910824 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.03 [[ 0.99964311 -0.00525618 -0.02619225 2.66377901] [ 0.0051406 0.99997676 -0.00447813 0.01934856] [ 0.02621518 0.00434189 0.99964689 -0.02934825] [ 0. 0. 0. 1. ]] SLAMing on 71.01463043999999 meters Centerline goodness [0,1] 0.31118919036155035 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.03 [[ 0.99963648 -0.00532509 -0.02643017 2.66459101] [ 0.00521006 0.99997666 -0.00441936 0.01841788] [ 0.02645309 0.00428005 0.99964089 -0.0297191 ] [ 0. 0. 0. 1. ]] SLAMing on 71.04463043999999 meters Centerline goodness [0,1] 0.31299255453476726 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:-0.03 [[ 0.99962893 -0.00533701 -0.02671178 2.66548302] [ 0.00522554 0.99997735 -0.00424111 0.01708866] [ 0.02673381 0.00409995 0.99963418 -0.03007979] [ 0. 0. 0. 1. ]] SLAMing on 71.07463043999999 meters Centerline goodness [0,1] 0.3150792098572267 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:-0.03 [[ 0.99962351 -0.00524599 -0.02693162 2.66621042] [ 0.00514204 0.99997907 -0.00392773 0.0155597 ] [ 0.02695166 0.00378777 0.99962956 -0.03035941] [ 0. 0. 0. 1. ]] SLAMing on 71.10463044 meters Centerline goodness [0,1] 0.31255141360349825 Centerline is valid? [False, False] Translation: X:2.67, Y:0.01, Z:-0.03 [[ 0.99962415 -0.00514485 -0.02692736 2.66639787] [ 0.00504945 0.99998074 -0.00360974 0.01407119] [ 0.02694542 0.00347241 0.99963088 -0.03060947] [ 0. 0. 0. 1. ]] SLAMing on 71.13463044 meters Centerline goodness [0,1] 0.3101474414570685 Centerline is valid? [False, False] Translation: X:2.67, Y:0.01, Z:-0.03 [[ 0.99962587 -0.00524662 -0.02684368 2.66608346] [ 0.00516225 0.99998152 -0.00321145 0.01066385] [ 0.02686004 0.00307167 0.99963448 -0.03034218] [ 0. 0. 0. 1. ]] SLAMing on 71.16463044 meters Centerline goodness [0,1] 0.30818109610802225 Centerline is valid? [False, False] Translation: X:2.68, Y:0.01, Z:-0.03 [[ 9.99632086e-01 1.80239067e-03 -2.70637168e-02 2.68477859e+00] [-1.93718399e-03 9.99985847e-01 -4.95519965e-03 5.15831010e-03] [ 2.70544025e-02 5.00580396e-03 9.99621429e-01 -2.80779550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19463044 meters Centerline goodness [0,1] 0.31333565611253866 Centerline is valid? [False, False] Translation: X:2.67, Y:0.01, Z:-0.03 [[ 0.99956708 -0.00666408 -0.02865741 2.66572893] [ 0.00656015 0.99997157 -0.00371905 0.00561438] [ 0.02868138 0.00352944 0.99958237 -0.02944024] [ 0. 0. 0. 1. ]] SLAMing on 71.22463044 meters Centerline goodness [0,1] 0.30917594559224215 Centerline is valid? [False, False] Translation: X:2.69, Y:0.00, Z:-0.03 [[ 9.99570932e-01 1.12217255e-03 -2.92693206e-02 2.68574699e+00] [-1.25445435e-03 9.99989081e-01 -4.50149870e-03 1.59028683e-04] [ 2.92639495e-02 4.53628427e-03 9.99561426e-01 -2.79830399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.25463044 meters Centerline goodness [0,1] 0.3109533732742902 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.00, Z:-0.03 [[ 9.99590824e-01 1.48436859e-03 -2.85653863e-02 2.68421277e+00] [-1.59063112e-03 9.99991899e-01 -3.69761163e-03 -3.30239726e-03] [ 2.85596663e-02 3.74153565e-03 9.99585087e-01 -2.79977552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28463044 meters Centerline goodness [0,1] 0.3132154006243496 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.01, Z:-0.03 [[ 9.99603136e-01 1.58415451e-03 -2.81257981e-02 2.68299600e+00] [-1.67964396e-03 9.99992905e-01 -3.37178333e-03 -5.05870848e-03] [ 2.81202571e-02 3.41768652e-03 9.99598705e-01 -2.76537866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31463044 meters Centerline goodness [0,1] 0.3103724036570342 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.01, Z:-0.03 [[ 9.99608953e-01 1.58344753e-03 -2.79183393e-02 2.68243161e+00] [-1.67196089e-03 9.99993649e-01 -3.14737912e-03 -6.88044770e-03] [ 2.79131783e-02 3.19282672e-03 9.99605252e-01 -2.75004791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34463044 meters Centerline goodness [0,1] 0.3129163140879603 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.01, Z:-0.03 [[ 9.99606525e-01 1.60607720e-03 -2.80038580e-02 2.68267278e+00] [-1.68861918e-03 9.99994299e-01 -2.92412223e-03 -8.56954437e-03] [ 2.79990020e-02 2.97025951e-03 9.99603538e-01 -2.75649226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37463043999999 meters Centerline goodness [0,1] 0.31340981184547867 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.01, Z:-0.03 [[ 9.99601788e-01 1.67197013e-03 -2.81685914e-02 2.68323343e+00] [-1.74852786e-03 9.99994844e-01 -2.69342785e-03 -9.90351058e-03] [ 2.81639429e-02 2.74160886e-03 9.99599558e-01 -2.78470237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40463043999999 meters Centerline goodness [0,1] 0.3096392261164257 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.03 [[ 9.99610807e-01 -3.84267859e-03 -2.76309429e-02 2.70472073e+00] [ 3.85940520e-03 9.99992400e-01 5.52053395e-04 -8.76128775e-03] [ 2.76286116e-02 -6.58477544e-04 9.99618040e-01 -2.75270869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43463043999999 meters Centerline goodness [0,1] 0.3096392261164257 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.03 [[ 9.99610807e-01 -3.84267859e-03 -2.76309429e-02 2.70472073e+00] [ 3.85940520e-03 9.99992400e-01 5.52053395e-04 -8.76128775e-03] [ 2.76286116e-02 -6.58477544e-04 9.99618040e-01 -2.75270869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46463044 meters Centerline goodness [0,1] 0.3103276953319076 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.03 [[ 9.99617847e-01 -3.75485254e-03 -2.73872265e-02 2.70402968e+00] [ 3.77545779e-03 9.99992627e-01 7.00696306e-04 -9.19328307e-03] [ 2.73843936e-02 -8.03827851e-04 9.99624654e-01 -2.73021339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49463044 meters Centerline goodness [0,1] 0.312381158167675 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.03 [[ 9.99627035e-01 -3.71544159e-03 -2.70552558e-02 2.70306577e+00] [ 3.73794662e-03 9.99992709e-01 7.81289587e-04 -9.59740527e-03] [ 2.70521557e-02 -8.82129295e-04 9.99633634e-01 -2.69723466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52463044 meters Centerline goodness [0,1] 0.3119410722771849 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.03 [[ 9.99635900e-01 -3.75553893e-03 -2.67201029e-02 2.70196302e+00] [ 3.77726679e-03 9.99992575e-01 7.62738020e-04 -9.80839065e-03] [ 2.67170400e-02 -8.63389264e-04 9.99642663e-01 -2.65183169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55463044 meters Centerline goodness [0,1] 0.3123364122087867 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.03 [[ 9.99641522e-01 -3.68601640e-03 -2.65186762e-02 2.70112744e+00] [ 3.70914439e-03 9.99992782e-01 8.23002857e-04 -9.67786540e-03] [ 2.65154512e-02 -9.21069428e-04 9.99647979e-01 -2.59806977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58463044 meters Centerline goodness [0,1] 0.3134254794814101 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:-0.02 [[ 9.99625678e-01 4.22418765e-03 -2.70307393e-02 2.72041470e+00] [-4.23407128e-03 9.99990989e-01 -3.08418963e-04 -1.26339071e-02] [ 2.70291929e-02 4.22753592e-04 9.99634555e-01 -2.42226831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.61463044 meters Centerline goodness [0,1] 0.30976872033843705 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:-0.02 [[ 9.99613664e-01 4.16354020e-03 -2.74806843e-02 2.72181136e+00] [-4.17440361e-03 9.99991230e-01 -3.37953680e-04 -1.28673638e-02] [ 2.74790362e-02 4.52538584e-04 9.99622278e-01 -2.47227093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64463044 meters Centerline goodness [0,1] 0.3093720592009581 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:-0.03 [[ 9.99594440e-01 3.98135918e-03 -2.81975953e-02 2.72389681e+00] [-3.99374032e-03 9.99991952e-01 -3.82780370e-04 -1.37037799e-02] [ 2.81958443e-02 4.95239003e-04 9.99602295e-01 -2.53081956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.67463044 meters Centerline goodness [0,1] 0.3104454553257231 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.02, Z:-0.03 [[ 9.99575265e-01 3.87374303e-03 -2.88839650e-02 2.72566827e+00] [-3.88285746e-03 9.99992428e-01 -2.59472140e-04 -1.52693359e-02] [ 2.88827412e-02 3.71514252e-04 9.99582738e-01 -2.55462738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70463044 meters Centerline goodness [0,1] 0.3122248855959904 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.02, Z:-0.03 [[ 9.99519181e-01 -4.82618191e-03 -3.06286478e-02 2.70566513e+00] [ 4.85459101e-03 9.99987852e-01 8.53238576e-04 -1.54492402e-02] [ 3.06241578e-02 -1.00151788e-03 9.99530469e-01 -2.66209550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73463044 meters Centerline goodness [0,1] 0.31379962192816635 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.02, Z:-0.03 [[ 9.99526309e-01 -4.59979765e-03 -3.04302366e-02 2.70500260e+00] [ 4.65806466e-03 9.99987451e-01 1.84416098e-03 -2.13789349e-02] [ 3.04213719e-02 -1.98503343e-03 9.99535192e-01 -2.61473790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76463043999999 meters Centerline goodness [0,1] 0.3099675675675676 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.03, Z:-0.02 [[ 9.99542964e-01 2.99203648e-03 -3.00817265e-02 2.72250018e+00] [-2.97470848e-03 9.99995383e-01 6.20766607e-04 -2.92179293e-02] [ 3.00834449e-02 -5.30998528e-04 9.99547250e-01 -2.37507573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79463043999999 meters Centerline goodness [0,1] 0.30985703536493603 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.03, Z:-0.02 [[ 9.99545163e-01 3.11310129e-03 -2.99962511e-02 2.72232664e+00] [-3.07981043e-03 9.99994589e-01 1.15597175e-03 -3.24198138e-02] [ 2.99996875e-02 -1.06306320e-03 9.99549343e-01 -2.37309075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82463043999999 meters Centerline goodness [0,1] 0.3132452603585828 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.04, Z:-0.02 [[ 9.99542272e-01 3.27447935e-03 -3.00753210e-02 2.72266235e+00] [-3.22557601e-03 9.99993396e-01 1.67440095e-03 -3.54914670e-02] [ 3.00806052e-02 -1.57662429e-03 9.99546233e-01 -2.39175450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85463044 meters Centerline goodness [0,1] 0.31375579598145287 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:-0.02 [[ 9.99439318e-01 3.18174679e-03 -3.33305561e-02 2.68066857e+00] [-3.11243567e-03 9.99992885e-01 2.13118476e-03 -4.40041272e-02] [ 3.33370999e-02 -2.02625063e-03 9.99442110e-01 -2.49910759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88463044 meters Centerline goodness [0,1] 0.3116778640227861 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.05, Z:-0.03 [[ 9.99428462e-01 3.32590379e-03 -3.36405566e-02 2.68155897e+00] [-3.24764495e-03 9.99991893e-01 2.38069864e-03 -4.52127730e-02] [ 3.36482018e-02 -2.27008539e-03 9.99431161e-01 -2.52570761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91463044 meters Centerline goodness [0,1] 0.3109375 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.05, Z:-0.03 [[ 9.99423644e-01 3.52744304e-03 -3.37629586e-02 2.68203758e+00] [-3.43849679e-03 9.99990465e-01 2.69213415e-03 -4.64724533e-02] [ 3.37721330e-02 -2.57448870e-03 9.99426243e-01 -2.55907124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94463044 meters Centerline goodness [0,1] 0.3072653342225856 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.05, Z:-0.03 [[ 0.99942369 0.00371064 -0.03374202 2.68200868] [-0.00361256 0.99998907 0.00296723 -0.04757988] [ 0.03375266 -0.00284362 0.99942617 -0.02562529] [ 0. 0. 0. 1. ]] SLAMing on 71.97463044 meters Centerline goodness [0,1] 0.30862232165906545 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.05, Z:-0.03 [[ 0.99943119 0.00388112 -0.03349973 2.68140542] [-0.00377416 0.99998758 0.00325573 -0.04893397] [ 0.03351195 -0.00312745 0.99943342 -0.02557039] [ 0. 0. 0. 1. ]] SLAMing on 72.00463044 meters Centerline goodness [0,1] 0.3108177942379743 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.05, Z:-0.02 [[ 9.99468698e-01 1.83428469e-03 -3.25416349e-02 2.67806830e+00] [-1.78272684e-03 9.99997110e-01 1.61330912e-03 -5.35897067e-02] [ 3.25445001e-02 -1.55443912e-03 9.99469079e-01 -2.44449260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.03463044 meters Centerline goodness [0,1] 0.31105592744547617 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.06, Z:-0.02 [[ 9.99459508e-01 1.83369298e-03 -3.28227084e-02 2.67882267e+00] [-1.77249074e-03 9.99996636e-01 1.89363083e-03 -5.57457337e-02] [ 3.28260703e-02 -1.83442939e-03 9.99459396e-01 -2.45643033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06463044 meters Centerline goodness [0,1] 0.3120297500648621 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.06, Z:-0.02 [[ 9.99450462e-01 1.86425640e-03 -3.30953059e-02 2.67951219e+00] [-1.78967088e-03 9.99995792e-01 2.28313870e-03 -5.82686939e-02] [ 3.30994230e-02 -2.22265433e-03 9.99449593e-01 -2.46391686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09463044 meters Centerline goodness [0,1] 0.31125599810642735 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.06, Z:-0.02 [[ 9.99441380e-01 2.01045856e-03 -3.33599347e-02 2.68006624e+00] [-1.91523413e-03 9.99994001e-01 2.88616443e-03 -6.13631417e-02] [ 3.33655371e-02 -2.82066008e-03 9.99439235e-01 -2.44824672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12463043999999 meters Centerline goodness [0,1] 0.3120513707515351 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.06, Z:-0.02 [[ 9.99440274e-01 2.04152877e-03 -3.33911862e-02 2.68003946e+00] [-1.93028603e-03 9.99992481e-01 3.36339719e-03 -6.41845607e-02] [ 3.33978016e-02 -3.29706007e-03 9.99436699e-01 -2.42576440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15463043999999 meters Centerline goodness [0,1] 0.31275942580422 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.07, Z:-0.02 [[ 9.99449105e-01 -1.20461977e-03 -3.31667732e-02 2.67875632e+00] [ 1.24277757e-03 9.99998589e-01 1.12989152e-03 -7.07578992e-02] [ 3.31653653e-02 -1.17048799e-03 9.99449193e-01 -2.32230059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18463043999999 meters Centerline goodness [0,1] 0.31169334021683015 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.07, Z:-0.02 [[ 9.99444496e-01 -1.37947193e-03 -3.32985826e-02 2.67895097e+00] [ 1.42908164e-03 9.99997904e-01 1.46609065e-03 -7.41414601e-02] [ 3.32964904e-02 -1.51286262e-03 9.99444373e-01 -2.29791337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21463044 meters Centerline goodness [0,1] 0.31396099702957514 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.08, Z:-0.02 [[ 9.99446391e-01 -1.42914183e-03 -3.32395736e-02 2.67870393e+00] [ 1.49353067e-03 9.99997056e-01 1.91236545e-03 -7.72669936e-02] [ 3.32367427e-02 -1.96095107e-03 9.99445583e-01 -2.27738677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24463044 meters Centerline goodness [0,1] 0.3165021953658218 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.08, Z:-0.02 [[ 9.99446543e-01 -1.32908035e-03 -3.32391632e-02 2.67868992e+00] [ 1.41193829e-03 9.99995954e-01 2.46943266e-03 -8.03572151e-02] [ 3.32357467e-02 -2.51499759e-03 9.99444376e-01 -2.26811089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27463044 meters Centerline goodness [0,1] 0.31998607999651996 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.09, Z:-0.02 [[ 9.99437679e-01 -1.43525990e-03 -3.35002386e-02 2.67925149e+00] [ 1.54125516e-03 9.99993887e-01 3.13840618e-03 -8.61334880e-02] [ 3.34955294e-02 -3.18827380e-03 9.99433782e-01 -2.25367449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30463044 meters Centerline goodness [0,1] 0.3143484437556503 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.09, Z:-0.02 [[ 9.99428895e-01 4.31607275e-03 -3.35149956e-02 2.70028789e+00] [-4.31750807e-03 9.99990679e-01 2.95449842e-05 -9.11750090e-02] [ 3.35148107e-02 1.15173153e-04 9.99438214e-01 -2.17306860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33463044 meters Centerline goodness [0,1] 0.3170324427480916 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.09, Z:-0.02 [[ 9.99428999e-01 4.37495535e-03 -3.35042500e-02 2.70029217e+00] [-4.36294266e-03 9.99990389e-01 4.31643251e-04 -9.38041390e-02] [ 3.35058164e-02 -2.85219661e-04 9.99438482e-01 -2.17456362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36463044 meters Centerline goodness [0,1] 0.31518409835714434 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.09, Z:-0.02 [[ 9.99455736e-01 -3.21380258e-03 -3.28314459e-02 2.72006168e+00] [ 3.26722116e-03 9.99993425e-01 1.57353677e-03 -9.31115235e-02] [ 3.28261730e-02 -1.67994795e-03 9.99459664e-01 -2.00637632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.39463044 meters Centerline goodness [0,1] 0.31734693877551023 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.10, Z:-0.02 [[ 9.99530420e-01 3.04415873e-03 -3.04905334e-02 2.70243529e+00] [-3.01618519e-03 9.99994987e-01 9.63401442e-04 -1.01276353e-01] [ 3.04933133e-02 -8.70983953e-04 9.99534591e-01 -2.30354567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42463044 meters Centerline goodness [0,1] 0.3205175202156334 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.10, Z:-0.02 [[ 9.99532461e-01 3.19159734e-03 -3.04084418e-02 2.70213615e+00] [-3.15059016e-03 9.99994062e-01 1.39636404e-03 -1.03606965e-01] [ 3.04127179e-02 -1.29990665e-03 9.99536581e-01 -2.28738025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45463044 meters Centerline goodness [0,1] 0.31795003093729335 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.11, Z:-0.02 [[ 9.99561674e-01 -4.45989072e-03 -2.92671913e-02 2.72217827e+00] [ 4.53148475e-03 9.99986900e-01 2.38035140e-03 -1.05236443e-01] [ 2.92561918e-02 -2.51193186e-03 9.99568790e-01 -2.12251222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48463044 meters Centerline goodness [0,1] 0.32019353305829756 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.11, Z:-0.02 [[ 9.99626097e-01 2.05392672e-03 -2.72662210e-02 2.70431043e+00] [-2.00444905e-03 9.99996295e-01 1.84182203e-03 -1.12891915e-01] [ 2.72699029e-02 -1.78647962e-03 9.99626511e-01 -2.38915122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51463043999999 meters Centerline goodness [0,1] 0.32233452885555913 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.11, Z:-0.02 [[ 9.99632091e-01 2.30907761e-03 -2.70249981e-02 2.70371509e+00] [-2.24705605e-03 9.99994772e-01 2.32511396e-03 -1.14687675e-01] [ 2.70302257e-02 -2.26353184e-03 9.99632054e-01 -2.38321640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54463043999999 meters Centerline goodness [0,1] 0.3219820905803341 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.11, Z:-0.02 [[ 0.99964732 -0.00486326 -0.02610702 2.72280592] [ 0.00496592 0.99998019 0.00386874 -0.11288525] [ 0.02608769 -0.00399702 0.99965167 -0.02237937] [ 0. 0. 0. 1. ]] SLAMing on 72.57463043999999 meters Centerline goodness [0,1] 0.3224263834737091 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.12, Z:-0.02 [[ 9.99619174e-01 -7.28087693e-03 -2.66175817e-02 2.72594376e+00] [ 7.34164320e-03 9.99970661e-01 2.18592366e-03 -1.19294188e-01] [ 2.66008853e-02 -2.38050799e-03 9.99643299e-01 -2.44437852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60463044 meters Centerline goodness [0,1] 0.31973581973581977 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.12, Z:-0.02 [[ 9.99607436e-01 -7.30238435e-03 -2.70490015e-02 2.72701467e+00] [ 7.37556455e-03 9.99969403e-01 2.60668621e-03 -1.22511559e-01] [ 2.70291388e-02 -2.80516457e-03 9.99630710e-01 -2.45382664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63463044 meters Centerline goodness [0,1] 0.32263082839980983 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.13, Z:-0.02 [[ 0.99959863 -0.00716025 -0.02740988 2.72784937] [ 0.00725048 0.99996861 0.0031941 -0.12584484] [ 0.02738615 -0.00339155 0.99961918 -0.02453122] [ 0. 0. 0. 1. ]] SLAMing on 72.66463044 meters Centerline goodness [0,1] 0.3180198276420657 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.13, Z:-0.02 [[ 0.99958871 -0.00690157 -0.02783481 2.72883891] [ 0.0070125 0.99996785 0.00388947 -0.12922608] [ 0.02780707 -0.00408306 0.99960497 -0.02447775] [ 0. 0. 0. 1. ]] SLAMing on 72.69463044 meters Centerline goodness [0,1] 0.3222127733804322 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.14, Z:-0.03 [[ 9.99656444e-01 -1.14752513e-03 -2.61854381e-02 2.71337974e+00] [ 1.23697203e-03 9.99993455e-01 3.39996001e-03 -1.41443557e-01] [ 2.61813652e-02 -3.43118259e-03 9.99651321e-01 -2.76392053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72463044 meters Centerline goodness [0,1] 0.3197113822019024 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.14, Z:-0.03 [[ 9.99654723e-01 -9.98406899e-04 -2.62571576e-02 2.71336991e+00] [ 1.10020838e-03 9.99991934e-01 3.86293382e-03 -1.44174240e-01] [ 2.62530891e-02 -3.89048838e-03 9.99647758e-01 -2.73341538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.75463044 meters Centerline goodness [0,1] 0.3175640805092035 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.15, Z:-0.03 [[ 9.99654616e-01 -8.08513895e-04 -2.62677676e-02 2.71345160e+00] [ 9.22726514e-04 9.99990173e-01 4.33618386e-03 -1.46626580e-01] [ 2.62640036e-02 -4.35892417e-03 9.99645538e-01 -2.74297632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78463044 meters Centerline goodness [0,1] 0.317979642460012 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.15, Z:-0.03 [[ 9.99652162e-01 -5.56650594e-04 -2.63675176e-02 2.71394847e+00] [ 6.85871836e-04 9.99987799e-01 4.89198349e-03 -1.49236662e-01] [ 2.63644727e-02 -4.90836660e-03 9.99640347e-01 -2.77616450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81463044 meters Centerline goodness [0,1] 0.3181327693370166 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.15, Z:-0.03 [[ 9.99647373e-01 -3.03235292e-04 -2.65525532e-02 2.71460693e+00] [ 4.49011604e-04 9.99984860e-01 5.48431517e-03 -1.52013407e-01] [ 2.65504881e-02 -5.49430366e-03 9.99632375e-01 -2.80302928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84463044 meters Centerline goodness [0,1] 0.3176668972673815 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.15, Z:-0.03 [[ 9.99639608e-01 -1.01379952e-04 -2.68448141e-02 2.71560394e+00] [ 2.63580178e-04 9.99981732e-01 6.03867422e-03 -1.54958597e-01] [ 2.68437115e-02 -6.04357369e-03 9.99621374e-01 -2.84304104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87463043999999 meters Centerline goodness [0,1] 0.3204989388886482 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.16, Z:-0.03 [[ 9.99624689e-01 5.15447578e-05 -2.73948712e-02 2.71775612e+00] [ 1.30741425e-04 9.99977865e-01 6.65219310e-03 -1.61503741e-01] [ 2.73946077e-02 -6.65327810e-03 9.99602556e-01 -2.94227697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90463043999999 meters Centerline goodness [0,1] 0.3181945915566028 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.16, Z:-0.03 [[ 9.99624869e-01 1.69581367e-04 -2.73878218e-02 2.71767694e+00] [ 1.80911717e-05 9.99976525e-01 6.85201519e-03 -1.62617817e-01] [ 2.73883409e-02 -6.84994026e-03 9.99601399e-01 -2.92665999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93463043999999 meters Centerline goodness [0,1] 0.3186145694223065 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.16, Z:-0.03 [[ 9.99640843e-01 1.02294128e-03 -2.67794279e-02 2.71610063e+00] [-8.26196261e-04 9.99972596e-01 7.35690543e-03 -1.62466015e-01] [ 2.67862198e-02 -7.33213808e-03 9.99614295e-01 -2.89973431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96463044 meters Centerline goodness [0,1] 0.32079847414278906 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.16, Z:-0.03 [[ 9.99647451e-01 1.36741491e-03 -2.65161053e-02 2.71566428e+00] [-1.17163717e-03 9.99971952e-01 7.39748305e-03 -1.61365999e-01] [ 2.65254770e-02 -7.36380782e-03 9.99621015e-01 -2.92631167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99463044 meters Centerline goodness [0,1] 0.3164551516455152 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.16, Z:-0.03 [[ 9.99651675e-01 1.61480863e-03 -2.63423947e-02 2.71524650e+00] [-1.42429497e-03 9.99972709e-01 7.24936781e-03 -1.59556802e-01] [ 2.63533821e-02 -7.20932333e-03 9.99626693e-01 -2.92487912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02463044 meters Centerline goodness [0,1] 0.32370357469412636 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.16, Z:-0.03 [[ 9.99663186e-01 1.72633380e-03 -2.58946833e-02 2.71414025e+00] [-1.54593851e-03 9.99974410e-01 6.98490112e-03 -1.57550752e-01] [ 2.59060790e-02 -6.94251692e-03 9.99640274e-01 -2.91586169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05463044 meters Centerline goodness [0,1] 0.31915806638487776 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.16, Z:-0.03 [[ 0.99963821 0.01082159 -0.02462398 2.73384686] [-0.01068083 0.9999259 0.00584048 -0.15748275] [ 0.02468535 -0.00557537 0.99967972 -0.02839577] [ 0. 0. 0. 1. ]] SLAMing on 73.08463044 meters Centerline goodness [0,1] 0.3212935559828044 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.15, Z:-0.03 [[ 9.99715271e-01 2.68651842e-03 -2.37099171e-02 2.71565366e+00] [-2.51876899e-03 9.99971608e-01 7.10210483e-03 -1.51165138e-01] [ 2.37283239e-02 -7.04036285e-03 9.99693653e-01 -3.11458265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.11463044 meters Centerline goodness [0,1] 0.3202014789411639 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.15, Z:-0.03 [[ 9.99723199e-01 2.29405065e-03 -2.34150161e-02 2.71488015e+00] [-2.14593151e-03 9.99977542e-01 6.34898597e-03 -1.48431094e-01] [ 2.34290552e-02 -6.29698155e-03 9.99705670e-01 -3.10606760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14463044 meters Centerline goodness [0,1] 0.32692307692307687 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.15, Z:-0.03 [[ 9.99674041e-01 -1.84279861e-04 -2.55299361e-02 2.67019368e+00] [ 3.31755685e-04 9.99983284e-01 5.77246905e-03 -1.50028640e-01] [ 2.55284456e-02 -5.77905717e-03 9.99657392e-01 -3.13440000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.17463044 meters Centerline goodness [0,1] 0.3225924727704087 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.15, Z:-0.03 [[ 0.99965004 0.0076593 -0.0253207 2.68982781] [-0.00755893 0.9999632 0.00405739 -0.15181987] [ 0.02535085 -0.00386457 0.99967115 -0.03031449] [ 0. 0. 0. 1. ]] SLAMing on 73.20463044 meters Centerline goodness [0,1] 0.32188647638683077 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.15, Z:-0.03 [[ 0.99964026 0.00756163 -0.02573277 2.69129281] [-0.00746064 0.99996409 0.00401842 -0.1517052 ] [ 0.02576223 -0.00382499 0.99966078 -0.03104361] [ 0. 0. 0. 1. ]] SLAMing on 73.23463044 meters Centerline goodness [0,1] 0.3228735682243805 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.15, Z:-0.03 [[ 9.99583171e-01 -1.86790634e-03 -2.88096359e-02 2.67477591e+00] [ 2.01100503e-03 9.99985782e-01 4.93886859e-03 -1.50089043e-01] [ 2.88000009e-02 -4.99474625e-03 9.99572715e-01 -3.35286431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26463043999999 meters Centerline goodness [0,1] 0.323493714781101 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.15, Z:-0.03 [[ 9.99564868e-01 -2.03192942e-03 -2.94269665e-02 2.67641349e+00] [ 2.17906271e-03 9.99985282e-01 4.96874254e-03 -1.51026855e-01] [ 2.94164373e-02 -5.03070368e-03 9.99554583e-01 -3.38134338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29463043999999 meters Centerline goodness [0,1] 0.3229748603351955 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.15, Z:-0.03 [[ 9.99552117e-01 -2.03544553e-03 -2.98567055e-02 2.67735381e+00] [ 2.18998485e-03 9.99984370e-01 5.14424730e-03 -1.52129186e-01] [ 2.98457680e-02 -5.20732901e-03 9.99540952e-01 -3.37215757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32463043999999 meters Centerline goodness [0,1] 0.3209732988802756 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.16, Z:-0.03 [[ 0.9995318 0.00623323 -0.02995532 2.69670048] [-0.00611695 0.9999734 0.00397159 -0.15589141] [ 0.02997928 -0.0037865 0.99954335 -0.0321595 ] [ 0. 0. 0. 1. ]] SLAMing on 73.35463044 meters Centerline goodness [0,1] 0.3209732988802756 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.16, Z:-0.03 [[ 0.9995318 0.00623323 -0.02995532 2.69670048] [-0.00611695 0.9999734 0.00397159 -0.15589141] [ 0.02997928 -0.0037865 0.99954335 -0.0321595 ] [ 0. 0. 0. 1. ]] SLAMing on 73.38463044 meters Centerline goodness [0,1] 0.3202267858302136 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.16, Z:-0.03 [[ 0.99952936 0.00624418 -0.03003459 2.69691258] [-0.00612788 0.99997337 0.00396278 -0.15577268] [ 0.03005854 -0.00377687 0.999541 -0.03214329] [ 0. 0. 0. 1. ]] SLAMing on 73.41463044 meters Centerline goodness [0,1] 0.32020997375328086 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.16, Z:-0.03 [[ 0.99952958 0.00617405 -0.03004178 2.69696891] [-0.00606322 0.99997448 0.00377876 -0.15506746] [ 0.03006434 -0.00359483 0.9995415 -0.03215835] [ 0. 0. 0. 1. ]] SLAMing on 73.44463044 meters Centerline goodness [0,1] 0.32020043441794444 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.15, Z:-0.03 [[ 0.99954632 0.00659202 -0.02938871 2.6952785 ] [-0.00648662 0.99997219 0.00368031 -0.15287315] [ 0.02941215 -0.00348801 0.99956128 -0.03193112] [ 0. 0. 0. 1. ]] SLAMing on 73.47463044 meters Centerline goodness [0,1] 0.3234994472503414 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.15, Z:-0.03 [[ 0.99955875 0.00690468 -0.02888994 2.69424319] [-0.00680339 0.99997037 0.00360276 -0.15092078] [ 0.02891396 -0.00340463 0.99957611 -0.0321036 ] [ 0. 0. 0. 1. ]] SLAMing on 73.50463044 meters Centerline goodness [0,1] 0.3216751335156962 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.15, Z:-0.03 [[ 0.99956179 0.00710114 -0.02873667 2.69408379] [-0.00700668 0.99996972 0.00338615 -0.14865301] [ 0.02875985 -0.00318332 0.99958128 -0.0324071 ] [ 0. 0. 0. 1. ]] SLAMing on 73.53463044 meters Centerline goodness [0,1] 0.32143862460212635 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.15, Z:-0.03 [[ 0.99955634 0.00712024 -0.02892102 2.69470639] [-0.00703588 0.99997069 0.00301761 -0.14634342] [ 0.02894166 -0.00281279 0.99957714 -0.0327608 ] [ 0. 0. 0. 1. ]] SLAMing on 73.56463044 meters Centerline goodness [0,1] 0.3206475618512957 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.14, Z:-0.03 [[ 9.99554915e-01 7.02231485e-03 -2.89941264e-02 2.69505556e+00] [-6.94823898e-03 9.99972337e-01 2.65481947e-03 -1.44579694e-01] [ 2.90119673e-02 -2.45217973e-03 9.99576056e-01 -3.30479609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59463044 meters Centerline goodness [0,1] 0.3228760164817197 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.14, Z:-0.03 [[ 9.99553464e-01 6.90163302e-03 -2.90730262e-02 2.69533016e+00] [-6.83613981e-03 9.99973868e-01 2.35150775e-03 -1.43294995e-01] [ 2.90884957e-02 -2.15171045e-03 9.99574524e-01 -3.32066329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62463043999999 meters Centerline goodness [0,1] 0.32142702609147156 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.14, Z:-0.03 [[ 9.99549352e-01 2.22661013e-04 -3.00173702e-02 2.71345115e+00] [-1.25999615e-04 9.99994801e-01 3.22203517e-03 -1.36763634e-01] [ 3.00179316e-02 -3.21680099e-03 9.99544184e-01 -3.05474324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65463043999999 meters Centerline goodness [0,1] 0.32327435942130034 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.14, Z:-0.03 [[ 9.99550793e-01 1.69783146e-04 -2.99696987e-02 2.71311380e+00] [-7.38509241e-05 9.99994871e-01 3.20205173e-03 -1.36882580e-01] [ 2.99700887e-02 -3.19840005e-03 9.99545679e-01 -3.02119039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68463043999999 meters Centerline goodness [0,1] 0.3178836341808515 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.13, Z:-0.03 [[ 9.99625492e-01 3.84132901e-04 -2.73628919e-02 2.75491959e+00] [-3.27501047e-04 9.99997795e-01 2.07411040e-03 -1.34216605e-01] [ 2.73636283e-02 -2.06437226e-03 9.99623414e-01 -2.91641971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71463044 meters Centerline goodness [0,1] 0.31870446388273976 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:-0.03 [[ 9.99643095e-01 -3.22318361e-06 -2.67148561e-02 2.75308713e+00] [ 5.84347325e-05 9.99997864e-01 2.06591793e-03 -1.35563664e-01] [ 2.67147924e-02 -2.06674167e-03 9.99640960e-01 -2.85375324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74463044 meters Centerline goodness [0,1] 0.32217789757412396 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:-0.03 [[ 9.99645389e-01 -4.10560577e-06 -2.66288757e-02 2.75289911e+00] [ 6.19920830e-05 9.99997637e-01 2.17299839e-03 -1.36169945e-01] [ 2.66288038e-02 -2.17387860e-03 9.99643027e-01 -2.84924830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77463044 meters Centerline goodness [0,1] 0.3231077606867402 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:-0.03 [[ 9.99644511e-01 -1.98008253e-05 -2.66618015e-02 2.75307518e+00] [ 7.77699034e-05 9.99997636e-01 2.17320193e-03 -1.36248954e-01] [ 2.66616955e-02 -2.17450287e-03 9.99642149e-01 -2.86219375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80463044 meters Centerline goodness [0,1] 0.3222798152204559 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:-0.03 [[ 9.99637039e-01 -1.20762058e-04 -2.69402126e-02 2.75384918e+00] [ 1.75642101e-04 9.99997914e-01 2.03474801e-03 -1.35982491e-01] [ 2.69399107e-02 -2.03874131e-03 9.99634976e-01 -2.87724193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83463044 meters Centerline goodness [0,1] 0.32431260300112763 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:-0.03 [[ 9.99630064e-01 -2.87173825e-04 -2.71965622e-02 2.75461507e+00] [ 3.35971386e-04 9.99998342e-01 1.78970226e-03 -1.35391251e-01] [ 2.71960032e-02 -1.79817745e-03 9.99628503e-01 -2.90173857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86463044 meters Centerline goodness [0,1] 0.3205125439523696 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.13, Z:-0.03 [[ 9.99623348e-01 -4.37300882e-04 -2.74403105e-02 2.75528916e+00] [ 4.79547972e-04 9.99998710e-01 1.53303776e-03 -1.34636366e-01] [ 2.74396047e-02 -1.54561929e-03 9.99622268e-01 -2.91399359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.89463044 meters Centerline goodness [0,1] 0.3214439655172414 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.13, Z:-0.03 [[ 9.99624288e-01 -3.83582214e-04 -2.74068572e-02 2.75513225e+00] [ 4.23800926e-04 9.99998842e-01 1.46167541e-03 -1.33728788e-01] [ 2.74062648e-02 -1.47274129e-03 9.99623293e-01 -2.90677439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92463044 meters Centerline goodness [0,1] 0.32385674692534216 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.13, Z:-0.03 [[ 9.99630283e-01 -3.23983499e-04 -2.71880746e-02 2.75459156e+00] [ 3.64019135e-04 9.99998857e-01 1.46760751e-03 -1.33315534e-01] [ 2.71875680e-02 -1.47696189e-03 9.99629259e-01 -2.90467119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95463044 meters Centerline goodness [0,1] 0.32289750968216535 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.13, Z:-0.03 [[ 9.99636145e-01 -3.49568049e-04 -2.69713893e-02 2.75406992e+00] [ 3.87784144e-04 9.99998928e-01 1.41169490e-03 -1.33135942e-01] [ 2.69708669e-02 -1.42164032e-03 9.99635209e-01 -2.89912038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98463044 meters Centerline goodness [0,1] 0.32062741727546196 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.13, Z:-0.03 [[ 9.99635408e-01 -5.16604978e-04 -2.69960071e-02 2.75413485e+00] [ 5.50480219e-04 9.99999070e-01 1.24740745e-03 -1.33185681e-01] [ 2.69953375e-02 -1.26181342e-03 9.99634763e-01 -2.89710144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01463043999999 meters Centerline goodness [0,1] 0.32268710510888676 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.13, Z:-0.03 [[ 9.99625470e-01 -7.22901650e-04 -2.73568590e-02 2.75495202e+00] [ 7.57970581e-04 9.99998904e-01 1.27155827e-03 -1.34697277e-01] [ 2.73559098e-02 -1.29181773e-03 9.99624922e-01 -2.89600500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04463043999999 meters Centerline goodness [0,1] 0.3276710658129709 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.14, Z:-0.03 [[ 9.99620167e-01 -6.05799387e-04 -2.75527603e-02 2.75545758e+00] [ 6.49104442e-04 9.99998568e-01 1.56279700e-03 -1.35859080e-01] [ 2.75517741e-02 -1.58008801e-03 9.99619129e-01 -2.90123754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07463043999999 meters Centerline goodness [0,1] 0.32198676353288636 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.14, Z:-0.03 [[ 9.99616773e-01 -4.59567433e-04 -2.76784409e-02 2.75593527e+00] [ 5.10427905e-04 9.99998194e-01 1.83051106e-03 -1.36675812e-01] [ 2.76775497e-02 -1.84393740e-03 9.99615203e-01 -2.92503423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10463044 meters Centerline goodness [0,1] 0.32095036099149477 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.14, Z:-0.03 [[ 9.99619102e-01 -3.12043420e-04 -2.75962446e-02 2.75574045e+00] [ 3.68464770e-04 9.99997852e-01 2.03946855e-03 -1.37252413e-01] [ 2.75955490e-02 -2.04885997e-03 9.99617071e-01 -2.91820446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13463044 meters Centerline goodness [0,1] 0.3222186182289978 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:-0.03 [[ 9.99644612e-01 1.16550160e-04 -2.66577523e-02 2.75315415e+00] [-6.07847212e-05 9.99997808e-01 2.09270403e-03 -1.36035838e-01] [ 2.66579377e-02 -2.09033992e-03 9.99642428e-01 -2.85269082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16463044 meters Centerline goodness [0,1] 0.321838580622717 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.13, Z:-0.03 [[ 9.99645971e-01 2.67564324e-04 -2.66056626e-02 2.75309756e+00] [-2.17237427e-04 9.99998182e-01 1.89445833e-03 -1.34281968e-01] [ 2.66061212e-02 -1.88800789e-03 9.99644212e-01 -2.86260186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19463044 meters Centerline goodness [0,1] 0.31836391832514865 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.13, Z:-0.03 [[ 9.99635479e-01 5.97093632e-04 -2.69917137e-02 2.75416553e+00] [-5.48227997e-04 9.99998198e-01 1.81775783e-03 -1.32426802e-01] [ 2.69927504e-02 -1.80229761e-03 9.99634005e-01 -2.90126849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22463044 meters Centerline goodness [0,1] 0.321771137815308 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.13, Z:-0.03 [[ 9.99629473e-01 8.73447532e-04 -2.72057569e-02 2.75504915e+00] [-8.26388925e-04 9.99998143e-01 1.74092509e-03 -1.30618963e-01] [ 2.72072270e-02 -1.71779749e-03 9.99628339e-01 -2.96483126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.25463044 meters Centerline goodness [0,1] 0.3211058987055859 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.13, Z:-0.03 [[ 9.99625567e-01 9.47069040e-04 -2.73464449e-02 2.75558613e+00] [-9.06058177e-04 9.99998446e-01 1.51203016e-03 -1.28807140e-01] [ 2.73478344e-02 -1.48668654e-03 9.99624872e-01 -3.00197890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28463044 meters Centerline goodness [0,1] 0.3196871431341708 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.13, Z:-0.03 [[ 9.99627486e-01 8.11271128e-04 -2.72805831e-02 2.75517304e+00] [-7.82619312e-04 9.99999131e-01 1.06092478e-03 -1.26731819e-01] [ 2.72814201e-02 -1.03917926e-03 9.99627253e-01 -2.97142475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31463044 meters Centerline goodness [0,1] 0.3202415605856541 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.13, Z:-0.03 [[ 9.99630362e-01 7.38291324e-04 -2.71770787e-02 2.75465145e+00] [-7.11272014e-04 9.99999243e-01 1.00384831e-03 -1.26790860e-01] [ 2.71777992e-02 -9.84146958e-04 9.99630131e-01 -2.93027013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34463044 meters Centerline goodness [0,1] 0.3238427985503787 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.13, Z:-0.03 [[ 9.99627617e-01 6.40167941e-04 -2.72803611e-02 2.75476404e+00] [-6.14155054e-04 9.99999349e-01 9.61907043e-04 -1.26998444e-01] [ 2.72809592e-02 -9.44794473e-04 9.99627359e-01 -2.91005893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37463043999999 meters Centerline goodness [0,1] 0.3178815119679411 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.13, Z:-0.03 [[ 9.99618271e-01 5.35096378e-04 -2.76229398e-02 2.75578259e+00] [-5.10575747e-04 9.99999469e-01 8.94736390e-04 -1.27035887e-01] [ 2.76234039e-02 -8.80291239e-04 9.99618013e-01 -2.94238877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40463043999999 meters Centerline goodness [0,1] 0.31830113171823227 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.13, Z:-0.03 [[ 9.99592263e-01 3.26683779e-04 -2.85517248e-02 2.75857752e+00] [-3.08209389e-04 9.99999740e-01 6.51448343e-04 -1.26097230e-01] [ 2.85519302e-02 -6.42382813e-04 9.99592104e-01 -3.03258739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43463043999999 meters Centerline goodness [0,1] 0.31518215998962795 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.12, Z:-0.03 [[ 9.99589898e-01 2.98356152e-04 -2.86347114e-02 2.75886005e+00] [-2.84316589e-04 9.99999837e-01 4.94368994e-04 -1.24990861e-01] [ 2.86348543e-02 -4.86024929e-04 9.99589820e-01 -3.04620929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46463044 meters Centerline goodness [0,1] 0.31607400547071873 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.12, Z:-0.03 [[ 9.99593506e-01 2.62181757e-04 -2.85088448e-02 2.75843065e+00] [-2.55110394e-04 9.99999936e-01 2.51677930e-04 -1.23359998e-01] [ 2.85089090e-02 -2.44302722e-04 9.99593509e-01 -3.02529833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49463044 meters Centerline goodness [0,1] 0.3145669037540022 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.12, Z:-0.03 [[ 9.99599277e-01 1.97971906e-04 -2.83062799e-02 2.75784397e+00] [-1.99750880e-04 9.99999978e-01 -6.00196889e-05 -1.21474399e-01] [ 2.83062674e-02 6.56498419e-05 9.99599295e-01 -3.01199497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52463044 meters Centerline goodness [0,1] 0.3140424800068794 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.12, Z:-0.03 [[ 9.99602288e-01 3.94969949e-05 -2.82004256e-02 2.75750395e+00] [-5.42143567e-05 9.99999863e-01 -5.21119987e-04 -1.19150597e-01] [ 2.82004012e-02 5.22441600e-04 9.99602153e-01 -3.00138036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55463044 meters Centerline goodness [0,1] 0.31587568429673696 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.12, Z:-0.03 [[ 9.99600546e-01 -1.52250272e-04 -2.82617368e-02 2.75772657e+00] [ 1.22991628e-04 9.99999455e-01 -1.03700952e-03 -1.16653097e-01] [ 2.82618793e-02 1.03311933e-03 9.99600019e-01 -3.01954641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58463044 meters Centerline goodness [0,1] 0.3154800642110287 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.11, Z:-0.03 [[ 9.99586099e-01 -6.61623185e-04 -2.87609516e-02 2.75949524e+00] [ 5.97600216e-04 9.99997325e-01 -2.23457647e-03 -1.11074121e-01] [ 2.87623531e-02 2.21646403e-03 9.99583821e-01 -3.11903248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.61463044 meters Centerline goodness [0,1] 0.31586683960224815 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.11, Z:-0.03 [[ 9.99583019e-01 -8.70628172e-04 -2.88622561e-02 2.75985345e+00] [ 7.92306018e-04 9.99995973e-01 -2.72497841e-03 -1.08810694e-01] [ 2.88645124e-02 2.70097441e-03 9.99579684e-01 -3.13831796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64463044 meters Centerline goodness [0,1] 0.3134180699830097 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.11, Z:-0.03 [[ 9.99587915e-01 -1.03321009e-03 -2.86868053e-02 2.75929037e+00] [ 9.44754973e-04 9.99994758e-01 -3.09685995e-03 -1.06932202e-01] [ 2.86898547e-02 3.06848178e-03 9.99583652e-01 -3.12096066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.67463044 meters Centerline goodness [0,1] 0.31657384039683234 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.10, Z:-0.03 [[ 9.99611470e-01 -1.06372591e-03 -2.78527775e-02 2.75640945e+00] [ 9.70259235e-04 9.99993854e-01 -3.36903975e-03 -1.04294696e-01] [ 2.78561900e-02 3.34070636e-03 9.99606359e-01 -2.98742398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70463044 meters Centerline goodness [0,1] 0.3147191736604261 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.10, Z:-0.03 [[ 9.99615965e-01 -1.20432986e-03 -2.76852161e-02 2.75597389e+00] [ 1.10300167e-03 9.99992639e-01 -3.67499077e-03 -1.02643690e-01] [ 2.76894382e-02 3.64304260e-03 9.99609936e-01 -2.97914794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73463044 meters Centerline goodness [0,1] 0.3125631815542125 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.10, Z:-0.03 [[ 9.99617975e-01 -1.34750720e-03 -2.76059360e-02 2.75589029e+00] [ 1.23639502e-03 9.99991068e-01 -4.04161179e-03 -1.00744208e-01] [ 2.76111356e-02 4.00593595e-03 9.99610713e-01 -2.99572928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76463043999999 meters Centerline goodness [0,1] 0.31448786187199795 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.10, Z:-0.03 [[ 9.99613867e-01 -1.52415342e-03 -2.77451423e-02 2.75654808e+00] [ 1.39994328e-03 9.99988914e-01 -4.49569895e-03 -9.84811571e-02] [ 2.77516868e-02 4.45512139e-03 9.99604920e-01 -3.04524608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79463043999999 meters Centerline goodness [0,1] 0.31540729180214155 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.10, Z:-0.03 [[ 9.99606172e-01 -1.71859357e-03 -2.80097791e-02 2.75743834e+00] [ 1.57858670e-03 9.99986155e-01 -5.01984554e-03 -9.58872264e-02] [ 2.80180183e-02 4.97365272e-03 9.99595045e-01 -3.08913520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82463043999999 meters Centerline goodness [0,1] 0.31549056726940405 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.09, Z:-0.03 [[ 9.99592543e-01 -1.91473197e-03 -2.84795026e-02 2.75889735e+00] [ 1.74983056e-03 9.99981568e-01 -5.81397443e-03 -9.08059994e-02] [ 2.84901098e-02 5.76177118e-03 9.99577469e-01 -3.15033827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85463044 meters Centerline goodness [0,1] 0.3134815904469346 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.09, Z:-0.03 [[ 9.99593799e-01 -1.97398784e-03 -2.84313367e-02 2.75856137e+00] [ 1.80125395e-03 9.99979774e-01 -6.09980611e-03 -8.89846212e-02] [ 2.84428026e-02 6.04611630e-03 9.99577136e-01 -3.11845023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88463044 meters Centerline goodness [0,1] 0.313017193328474 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.09, Z:-0.03 [[ 9.99597679e-01 -1.99505752e-03 -2.82930976e-02 2.75764680e+00] [ 1.81957567e-03 9.99978959e-01 -6.22667531e-03 -8.80541165e-02] [ 2.83049248e-02 6.17268875e-03 9.99580276e-01 -3.03264705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91463044 meters Centerline goodness [0,1] 0.3150646430578977 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.09, Z:-0.03 [[ 9.99603153e-01 -2.01038858e-03 -2.80979389e-02 2.75664787e+00] [ 1.83462269e-03 9.99978599e-01 -6.27985337e-03 -8.76325376e-02] [ 2.81099626e-02 6.22581211e-03 9.99585449e-01 -2.95099240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94463044 meters Centerline goodness [0,1] 0.3130182599355532 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.09, Z:-0.03 [[ 9.99598096e-01 -2.21597385e-03 -2.82619114e-02 2.75702931e+00] [ 2.03367452e-03 9.99976953e-01 -6.47746693e-03 -8.72493100e-02] [ 2.82756140e-02 6.41738808e-03 9.99579565e-01 -2.94780418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97463044 meters Centerline goodness [0,1] 0.31493400239991276 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.09, Z:-0.03 [[ 0.99951301 -0.0031289 -0.03104775 2.71406585] [ 0.00294072 0.99997704 -0.00610485 -0.08985888] [ 0.03106614 0.00601057 0.99949926 -0.03081407] [ 0. 0. 0. 1. ]] SLAMing on 75.00463044 meters Centerline goodness [0,1] 0.31141688842733817 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.09, Z:-0.03 [[ 0.99950881 -0.00313702 -0.03118164 2.71467399] [ 0.0029458 0.99997658 -0.00617673 -0.08938869] [ 0.03120029 0.00608184 0.99949465 -0.03127419] [ 0. 0. 0. 1. ]] SLAMing on 75.03463044 meters Centerline goodness [0,1] 0.31386336918186963 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.09, Z:-0.03 [[ 0.99950496 -0.0032112 -0.03129721 2.71495609] [ 0.00301434 0.99997539 -0.00633527 -0.08878638] [ 0.03131678 0.0062378 0.99949004 -0.03128672] [ 0. 0. 0. 1. ]] SLAMing on 75.06463044 meters Centerline goodness [0,1] 0.3118207980756841 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:-0.03 [[ 0.99951835 0.00508238 -0.03061429 2.7343823 ] [-0.00532387 0.99995532 -0.00781173 -0.090335 ] [ 0.03057322 0.00797095 0.99950075 -0.02972178] [ 0. 0. 0. 1. ]] SLAMing on 75.09463044 meters Centerline goodness [0,1] 0.31236563763006275 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:-0.03 [[ 0.9995156 0.00503638 -0.03071171 2.73449948] [-0.00528423 0.99995408 -0.00799443 -0.08939854] [ 0.03067003 0.00815284 0.99949631 -0.02959508] [ 0. 0. 0. 1. ]] SLAMing on 75.12463043999999 meters Centerline goodness [0,1] 0.31082335167799724 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.09, Z:-0.03 [[ 0.99950801 0.00506366 -0.0309532 2.73560435] [-0.00531688 0.99995303 -0.00810388 -0.08862231] [ 0.03091071 0.00826446 0.99948798 -0.03042247] [ 0. 0. 0. 1. ]] SLAMing on 75.15463043999999 meters Centerline goodness [0,1] 0.31249189819815926 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.09, Z:-0.03 [[ 0.99950565 0.00501809 -0.03103653 2.73608305] [-0.00527279 0.99995305 -0.0081303 -0.08878829] [ 0.03099427 0.00828993 0.99948518 -0.0308304 ] [ 0. 0. 0. 1. ]] SLAMing on 75.18463043999999 meters Centerline goodness [0,1] 0.3117700493122243 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.09, Z:-0.03 [[ 0.99950588 0.00503082 -0.03102718 2.73593641] [-0.00528379 0.99995342 -0.00807648 -0.08919132] [ 0.0309851 0.00823643 0.99948591 -0.03064256] [ 0. 0. 0. 1. ]] SLAMing on 75.21463044 meters Centerline goodness [0,1] 0.3135350110835833 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:-0.03 [[ 0.99951443 0.00510271 -0.03073865 2.73480874] [-0.0053504 0.99995384 -0.00798099 -0.08947797] [ 0.0306965 0.00814158 0.99949559 -0.02994616] [ 0. 0. 0. 1. ]] SLAMing on 75.24463044 meters Centerline goodness [0,1] 0.3135350110835833 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:-0.03 [[ 0.99951443 0.00510271 -0.03073865 2.73480874] [-0.0053504 0.99995384 -0.00798099 -0.08947797] [ 0.0306965 0.00814158 0.99949559 -0.02994616] [ 0. 0. 0. 1. ]] SLAMing on 75.27463044 meters Centerline goodness [0,1] 0.31630857465621 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:-0.03 [[ 0.99956309 0.00600153 -0.02894143 2.72904634] [-0.00620773 0.99995595 -0.00704016 -0.09093836] [ 0.0288979 0.00721674 0.99955632 -0.02762955] [ 0. 0. 0. 1. ]] SLAMing on 75.30463044 meters Centerline goodness [0,1] 0.31512233043252935 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:-0.03 [[ 9.99618945e-01 -1.15864207e-03 -2.75793664e-02 2.74627373e+00] [ 9.96443409e-04 9.99982133e-01 -5.89417655e-03 -8.59297166e-02] [ 2.75857029e-02 5.86444927e-03 9.99602240e-01 -2.54347279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33463044 meters Centerline goodness [0,1] 0.3180964308077645 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:-0.03 [[ 9.99625613e-01 -1.17668281e-03 -2.73358433e-02 2.74563556e+00] [ 1.01507887e-03 9.99981932e-01 -5.92492113e-03 -8.59611958e-02] [ 2.73423212e-02 5.89495488e-03 9.99608747e-01 -2.53279663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36463044 meters Centerline goodness [0,1] 0.313564070514202 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:-0.03 [[ 9.99623844e-01 -1.14313376e-03 -2.74019002e-02 2.74586153e+00] [ 9.81503775e-04 9.99982047e-01 -5.91121990e-03 -8.58997339e-02] [ 2.74081655e-02 5.88210129e-03 9.99607019e-01 -2.54669020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.39463044 meters Centerline goodness [0,1] 0.3163269740558863 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:-0.03 [[ 9.99607877e-01 -8.65550399e-04 -2.79882710e-02 2.74758198e+00] [ 7.08466022e-04 9.99983946e-01 -5.62193668e-03 -8.63025384e-02] [ 2.79926877e-02 5.59990345e-03 9.99592442e-01 -2.60275106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42463044 meters Centerline goodness [0,1] 0.3124035659180524 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.08, Z:-0.02 [[ 0.99955537 -0.00751837 -0.02885385 2.76634363] [ 0.00739248 0.9999627 -0.00446725 -0.08100266] [ 0.02888636 0.00425197 0.99957366 -0.02398092] [ 0. 0. 0. 1. ]] SLAMing on 75.45463044 meters Centerline goodness [0,1] 0.31317749586794597 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.08, Z:-0.02 [[ 0.99955244 -0.00749585 -0.02896089 2.76654688] [ 0.0073713 0.99996313 -0.00440511 -0.08138703] [ 0.02899284 0.00418966 0.99957084 -0.02390382] [ 0. 0. 0. 1. ]] SLAMing on 75.48463044 meters Centerline goodness [0,1] 0.31258466103334837 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.08, Z:-0.02 [[ 0.99954962 -0.00744887 -0.02906999 2.76683488] [ 0.00732745 0.99996399 -0.00428117 -0.0820394 ] [ 0.02910083 0.00406623 0.99956821 -0.02397111] [ 0. 0. 0. 1. ]] SLAMing on 75.51463043999999 meters Centerline goodness [0,1] 0.31264033530782886 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.08, Z:-0.02 [[ 0.99954385 -0.00736572 -0.02928878 2.76768754] [ 0.00724773 0.9999652 -0.00413247 -0.08255887] [ 0.0293182 0.0039183 0.99956245 -0.02444597] [ 0. 0. 0. 1. ]] SLAMing on 75.54463043999999 meters Centerline goodness [0,1] 0.3112567081187094 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.08, Z:-0.03 [[ 0.99953483 -0.00733355 -0.02960301 2.76927808] [ 0.00721701 0.99996579 -0.00404187 -0.08297492] [ 0.02963164 0.00382634 0.99955356 -0.02565596] [ 0. 0. 0. 1. ]] SLAMing on 75.57463043999999 meters Centerline goodness [0,1] 0.31297892200490585 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:-0.03 [[ 9.99625523e-01 -1.78184756e-03 -2.73063953e-02 2.75392494e+00] [ 1.64182356e-03 9.99985394e-01 -5.14944574e-03 -8.88241460e-02] [ 2.73151719e-02 5.10268511e-03 9.99613847e-01 -2.89655228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60463044 meters Centerline goodness [0,1] 0.31007751937984496 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:-0.03 [[ 9.99626343e-01 -1.79616858e-03 -2.72754230e-02 2.75351668e+00] [ 1.65825124e-03 9.99985731e-01 -5.07824651e-03 -8.94063058e-02] [ 2.72841552e-02 5.03111948e-03 9.99615057e-01 -2.84798987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63463044 meters Centerline goodness [0,1] 0.3160848287112561 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.10, Z:-0.03 [[ 0.99964782 0.00575097 -0.02590675 2.73374389] [-0.0058782 0.99997102 -0.00483757 -0.09672656] [ 0.02587818 0.00498816 0.99965266 -0.02970861] [ 0. 0. 0. 1. ]] SLAMing on 75.66463044 meters Centerline goodness [0,1] 0.3127729493665413 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:-0.03 [[ 9.99635021e-01 -7.35367743e-04 -2.70052567e-02 2.75180145e+00] [ 6.42324385e-04 9.99993829e-01 -3.45389254e-03 -9.21398977e-02] [ 2.70076299e-02 3.43528581e-03 9.99629325e-01 -2.75009557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69463044 meters Centerline goodness [0,1] 0.3114531169055431 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:-0.03 [[ 9.99630874e-01 -7.71201143e-04 -2.71573355e-02 2.75230377e+00] [ 6.78577655e-04 9.99993923e-01 -3.41967577e-03 -9.27333153e-02] [ 2.71598077e-02 3.39998511e-03 9.99625322e-01 -2.76886029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72463044 meters Centerline goodness [0,1] 0.3114655172413793 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:-0.03 [[ 9.99625912e-01 -8.26640870e-04 -2.73377364e-02 2.75266404e+00] [ 7.33037432e-04 9.99993836e-01 -3.43380889e-03 -9.32174626e-02] [ 2.73404064e-02 3.41248476e-03 9.99620356e-01 -2.76099353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.75463044 meters Centerline goodness [0,1] 0.3106691864960055 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:-0.03 [[ 9.99621289e-01 -8.39134124e-04 -2.75059129e-02 2.75300518e+00] [ 7.43539760e-04 9.99993649e-01 -3.48545501e-03 -9.29816225e-02] [ 2.75086630e-02 3.46368329e-03 9.99615564e-01 -2.75159108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78463044 meters Centerline goodness [0,1] 0.3129564804010545 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:-0.03 [[ 9.99621622e-01 -7.38854597e-04 -2.74966633e-02 2.75293766e+00] [ 6.44026005e-04 9.99993816e-01 -3.45742706e-03 -9.25554551e-02] [ 2.74990478e-02 3.43841028e-03 9.99615916e-01 -2.74890292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81463044 meters Centerline goodness [0,1] 0.3147316562758862 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:-0.03 [[ 9.99651473e-01 -2.56723079e-04 -2.63982432e-02 2.75007442e+00] [ 1.71276188e-04 9.99994740e-01 -3.23905022e-03 -9.16175817e-02] [ 2.63989359e-02 3.23339993e-03 9.99646258e-01 -2.69592247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84463044 meters Centerline goodness [0,1] 0.3140916442048518 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:-0.03 [[ 9.99655198e-01 -2.74824789e-04 -2.62565947e-02 2.74976639e+00] [ 1.82592571e-04 9.99993805e-01 -3.51505878e-03 -9.00345165e-02] [ 2.62573980e-02 3.50905252e-03 9.99649056e-01 -2.70108305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87463043999999 meters Centerline goodness [0,1] 0.3119651703948356 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:-0.03 [[ 9.99647110e-01 -4.12239428e-04 -2.65609822e-02 2.75081759e+00] [ 3.06685257e-04 9.99992041e-01 -3.97798229e-03 -8.78154251e-02] [ 2.65624107e-02 3.96843264e-03 9.99639280e-01 -2.75762655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90463043999999 meters Centerline goodness [0,1] 0.3101627237988923 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:-0.03 [[ 9.99633980e-01 -5.56902093e-04 -2.70480369e-02 2.75248270e+00] [ 4.36641798e-04 9.99989995e-01 -4.45187736e-03 -8.55121452e-02] [ 2.70502456e-02 4.43843758e-03 9.99624222e-01 -2.84259917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93463043999999 meters Centerline goodness [0,1] 0.3106326410530216 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.08, Z:-0.03 [[ 9.99535032e-01 4.35119746e-04 -3.04881985e-02 2.70989983e+00] [-5.18275606e-04 9.99996168e-01 -2.71962761e-03 -8.39542217e-02] [ 3.04868983e-02 2.73416436e-03 9.99531427e-01 -2.90864191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96463044 meters Centerline goodness [0,1] 0.3103941100043309 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.08, Z:-0.03 [[ 9.99546167e-01 4.76602099e-04 -3.01203189e-02 2.70870972e+00] [-5.64218480e-04 9.99995635e-01 -2.90044740e-03 -8.21658808e-02] [ 3.01188050e-02 2.91612552e-03 9.99542072e-01 -2.86446704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99463044 meters Centerline goodness [0,1] 0.3123678874940684 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.08, Z:-0.03 [[ 9.99559698e-01 3.62070206e-04 -2.96694855e-02 2.70719380e+00] [-4.57567454e-04 9.99994737e-01 -3.21197632e-03 -8.05956352e-02] [ 2.96681664e-02 3.22413787e-03 9.99554603e-01 -2.79727531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02463044 meters Centerline goodness [0,1] 0.3109497230782492 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.08, Z:-0.03 [[ 9.99566706e-01 1.74712995e-04 -2.94341701e-02 2.70629608e+00] [-2.81373670e-04 9.99993410e-01 -3.61959955e-03 -7.89201343e-02] [ 2.94333438e-02 3.62631319e-03 9.99560167e-01 -2.75194977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05463044 meters Centerline goodness [0,1] 0.31135586618773536 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.08, Z:-0.03 [[ 9.99571679e-01 -2.71417639e-05 -2.92653074e-02 2.70600655e+00] [-9.41029528e-05 9.99991419e-01 -4.14156516e-03 -7.65258628e-02] [ 2.92651687e-02 4.14254519e-03 9.99563099e-01 -2.77395988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08463044 meters Centerline goodness [0,1] 0.3120191892125508 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.07, Z:-0.03 [[ 9.99574951e-01 -9.90089352e-05 -2.91531825e-02 2.70601262e+00] [-3.42972989e-05 9.99989547e-01 -4.57207789e-03 -7.38204200e-02] [ 2.91533305e-02 4.57113440e-03 9.99564499e-01 -2.82054447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.11463044 meters Centerline goodness [0,1] 0.30670919678027064 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.07, Z:-0.03 [[ 9.99567876e-01 3.67273960e-03 -2.91645688e-02 2.70600392e+00] [-3.71976837e-03 9.99991867e-01 -1.55844031e-03 -6.83003632e-02] [ 2.91586079e-02 1.66625231e-03 9.99573409e-01 -2.82463240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14463044 meters Centerline goodness [0,1] 0.31009683079522565 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.06, Z:-0.03 [[ 9.99576354e-01 3.48489136e-03 -2.88958249e-02 2.70505139e+00] [-3.54914613e-03 9.99991341e-01 -2.17267932e-03 -6.49327354e-02] [ 2.88880031e-02 2.27431438e-03 9.99580067e-01 -2.78661047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.17463044 meters Centerline goodness [0,1] 0.30983701853725754 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.06, Z:-0.03 [[ 0.99958219 0.00323151 -0.02872285 2.70418321] [-0.00331238 0.99999068 -0.0027685 -0.06222162] [ 0.02871363 0.00286249 0.99958358 -0.02724303] [ 0. 0. 0. 1. ]] SLAMing on 76.20463044 meters Centerline goodness [0,1] 0.3130730713372206 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.06, Z:-0.03 [[ 0.99958802 0.00278081 -0.02856659 2.70279512] [-0.00288488 0.99998935 -0.00360254 -0.05882279] [ 0.02855627 0.00368347 0.9995854 -0.02590721] [ 0. 0. 0. 1. ]] SLAMing on 76.23463044 meters Centerline goodness [0,1] 0.3092381523695261 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.05, Z:-0.02 [[ 9.99576993e-01 -4.14616871e-03 -2.87861784e-02 2.72126455e+00] [ 4.08087281e-03 9.99988966e-01 -2.32668553e-03 -5.15497355e-02] [ 2.87955076e-02 2.20822859e-03 9.99582884e-01 -2.37989885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26463043999999 meters Centerline goodness [0,1] 0.311041788522779 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.05, Z:-0.02 [[ 9.99572655e-01 -4.17148401e-03 -2.89327904e-02 2.72188014e+00] [ 4.10379719e-03 9.99988703e-01 -2.39843548e-03 -5.08640436e-02] [ 2.89424686e-02 2.27867622e-03 9.99578482e-01 -2.41809049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29463043999999 meters Centerline goodness [0,1] 0.3094858766792973 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.05, Z:-0.02 [[ 9.99560891e-01 -4.30803491e-03 -2.93166406e-02 2.72316869e+00] [ 4.23689330e-03 9.99987928e-01 -2.48835001e-03 -5.07880258e-02] [ 2.93270066e-02 2.36304587e-03 9.99567078e-01 -2.47002666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32463043999999 meters Centerline goodness [0,1] 0.30747311136821354 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.05, Z:-0.02 [[ 9.99553075e-01 -4.50262471e-03 -2.95529462e-02 2.72386401e+00] [ 4.42725510e-03 9.99986780e-01 -2.61526327e-03 -5.09750605e-02] [ 2.95643310e-02 2.48325601e-03 9.99559795e-01 -2.48357628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35463044 meters Centerline goodness [0,1] 0.3094920074109182 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.05, Z:-0.02 [[ 9.99556444e-01 -4.66047910e-03 -2.94142088e-02 2.72336401e+00] [ 4.58657682e-03 9.99986155e-01 -2.57943934e-03 -5.19395594e-02] [ 2.94258229e-02 2.44338469e-03 9.99563980e-01 -2.45229313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38463044 meters Centerline goodness [0,1] 0.31314446977097576 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.05, Z:-0.02 [[ 9.99562009e-01 -4.84623975e-03 -2.91942407e-02 2.72242093e+00] [ 4.78089784e-03 9.99985909e-01 -2.30756508e-03 -5.38851001e-02] [ 2.92050123e-02 2.16697971e-03 9.99571094e-01 -2.37481093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41463044 meters Centerline goodness [0,1] 0.3094926806267012 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.06, Z:-0.02 [[ 9.99539730e-01 2.68251608e-03 -3.02180918e-02 2.74281520e+00] [-2.78851617e-03 9.99990105e-01 -3.46624009e-03 -5.74734092e-02] [ 3.02084945e-02 3.54890832e-03 9.99537319e-01 -2.22106676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44463044 meters Centerline goodness [0,1] 0.31316115298564196 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.06, Z:-0.02 [[ 9.99470433e-01 -5.88658018e-03 -3.20031519e-02 2.72418747e+00] [ 5.82128612e-03 9.99980781e-01 -2.13303000e-03 -5.64286951e-02] [ 3.20150931e-02 1.94560091e-03 9.99485492e-01 -2.42282836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47463044 meters Centerline goodness [0,1] 0.30857400916109334 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.06, Z:-0.02 [[ 9.99459716e-01 1.75257035e-03 -3.28207973e-02 2.74444893e+00] [-1.86854796e-03 9.99992118e-01 -3.50332358e-03 -5.99690383e-02] [ 3.28143987e-02 3.56275802e-03 9.99455113e-01 -2.27658063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50463044 meters Centerline goodness [0,1] 0.31066457215167775 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.03 [[ 9.99412940e-01 -6.40882604e-03 -3.36556389e-02 2.72598897e+00] [ 6.34798552e-03 9.99978019e-01 -1.91427922e-03 -5.71229118e-02] [ 3.36671674e-02 1.69950991e-03 9.99431655e-01 -2.51966635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.53463044 meters Centerline goodness [0,1] 0.30802696474338265 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.06, Z:-0.02 [[ 9.99454969e-01 1.92981697e-03 -3.29551195e-02 2.74562319e+00] [-2.03414297e-03 9.99993025e-01 -3.13246611e-03 -5.85676449e-02] [ 3.29488445e-02 3.19779424e-03 9.99451924e-01 -2.37259859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56463044 meters Centerline goodness [0,1] 0.3121429967638947 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.06, Z:-0.02 [[ 9.99454370e-01 1.91377748e-03 -3.29742425e-02 2.74577089e+00] [-2.02163398e-03 9.99992714e-01 -3.23790231e-03 -5.79666902e-02] [ 3.29678057e-02 3.30279746e-03 9.99450957e-01 -2.38758786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59463044 meters Centerline goodness [0,1] 0.3117781402936378 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.06, Z:-0.02 [[ 9.99453170e-01 1.88354080e-03 -3.30123305e-02 2.74584724e+00] [-1.99488229e-03 9.99992432e-01 -3.34011205e-03 -5.75265379e-02] [ 3.30057894e-02 3.40414129e-03 9.99449363e-01 -2.39092597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62463043999999 meters Centerline goodness [0,1] 0.3104152189020153 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.06, Z:-0.02 [[ 9.99454616e-01 1.86641107e-03 -3.29694977e-02 2.74556115e+00] [-1.97635666e-03 9.99992594e-01 -3.30249296e-03 -5.79598075e-02] [ 3.29630897e-02 3.36585132e-03 9.99450902e-01 -2.36047694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65463043999999 meters Centerline goodness [0,1] 0.3106327744726879 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.06, Z:-0.02 [[ 9.99454121e-01 1.79947815e-03 -3.29882202e-02 2.74575235e+00] [-1.90950280e-03 9.99992718e-01 -3.30407009e-03 -5.83635165e-02] [ 3.29820344e-02 3.36525756e-03 9.99450279e-01 -2.37769012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68463043999999 meters Centerline goodness [0,1] 0.30907877169559417 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.06, Z:-0.02 [[ 9.99452025e-01 1.73429655e-03 -3.30551478e-02 2.74599742e+00] [-1.84378259e-03 9.99992914e-01 -3.28202988e-03 -5.89448595e-02] [ 3.30492215e-02 3.34117792e-03 9.99448140e-01 -2.38625667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71463044 meters Centerline goodness [0,1] 0.31254359958144406 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.06, Z:-0.02 [[ 9.99455864e-01 1.68275293e-03 -3.29415148e-02 2.74586611e+00] [-1.79185917e-03 9.99993006e-01 -3.28287841e-03 -5.92865244e-02] [ 3.29357602e-02 3.34011863e-03 9.99451889e-01 -2.40623507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74463044 meters Centerline goodness [0,1] 0.31076407769101944 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.06, Z:-0.02 [[ 9.99475343e-01 1.81016938e-03 -3.23382386e-02 2.74402948e+00] [-1.90941769e-03 9.99993561e-01 -3.03845162e-03 -5.98335715e-02] [ 3.23325302e-02 3.09860468e-03 9.99472364e-01 -2.33633490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77463044 meters Centerline goodness [0,1] 0.30939584277666254 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.06, Z:-0.02 [[ 9.99482261e-01 1.88617965e-03 -3.21193546e-02 2.74343510e+00] [-1.98284595e-03 9.99993600e-01 -2.97801063e-03 -5.97068344e-02] [ 3.21135319e-02 3.04015653e-03 9.99479604e-01 -2.31805402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80463044 meters Centerline goodness [0,1] 0.31124162892004936 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.06, Z:-0.02 [[ 9.99482522e-01 1.86731714e-03 -3.21123186e-02 2.74355532e+00] [-1.96806159e-03 9.99993240e-01 -3.10593101e-03 -5.89131888e-02] [ 3.21063018e-02 3.16752278e-03 9.99479441e-01 -2.33669429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83463044 meters Centerline goodness [0,1] 0.30919310032947867 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.06, Z:-0.02 [[ 9.99477408e-01 1.82269120e-03 -3.22736428e-02 2.74415300e+00] [-1.93178486e-03 9.99992525e-01 -3.34941259e-03 -5.76304918e-02] [ 3.22672966e-02 3.41000795e-03 9.99473458e-01 -2.36726043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86463044 meters Centerline goodness [0,1] 0.30969624905415627 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.06, Z:-0.02 [[ 9.99489791e-01 2.46324916e-03 -3.18447908e-02 2.74326842e+00] [-2.56957025e-03 9.99991259e-01 -3.29823474e-03 -5.50698255e-02] [ 3.18363881e-02 3.37837938e-03 9.99487384e-01 -2.39721719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.89463044 meters Centerline goodness [0,1] 0.30836757966305917 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.05, Z:-0.02 [[ 9.99496247e-01 2.54466974e-03 -3.16350488e-02 2.74282194e+00] [-2.65906631e-03 9.99990076e-01 -3.57458946e-03 -5.28779102e-02] [ 3.16256387e-02 3.65690844e-03 9.99493095e-01 -2.40836467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92463044 meters Centerline goodness [0,1] 0.3083062625045716 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.05, Z:-0.02 [[ 9.99502936e-01 2.56935483e-03 -3.14210112e-02 2.74227780e+00] [-2.69082411e-03 9.99989067e-01 -3.82418830e-03 -5.10737243e-02] [ 3.14108420e-02 3.90683585e-03 9.99498922e-01 -2.40758093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95463044 meters Centerline goodness [0,1] 0.30944316195982824 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.05, Z:-0.02 [[ 9.99509159e-01 2.51467177e-03 -3.12268798e-02 2.74182825e+00] [-2.64503872e-03 9.99987956e-01 -4.13422506e-03 -4.92839413e-02] [ 3.12161075e-02 4.21479212e-03 9.99503772e-01 -2.41561595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98463044 meters Centerline goodness [0,1] 0.31242644815412113 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.05, Z:-0.02 [[ 9.99528793e-01 2.59819451e-03 -3.05849959e-02 2.74018367e+00] [-2.73286121e-03 9.99986752e-01 -4.36205314e-03 -4.69533378e-02] [ 3.05732572e-02 4.44358226e-03 9.99522651e-01 -2.39697417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01463043999999 meters Centerline goodness [0,1] 0.30892837910608506 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.04, Z:-0.02 [[ 0.99951469 -0.00429435 -0.03085351 2.75847293] [ 0.00419648 0.99998596 -0.0032363 -0.04033432] [ 0.03086698 0.00310526 0.99951868 -0.02192884] [ 0. 0. 0. 1. ]] SLAMing on 77.04463043999999 meters Centerline goodness [0,1] 0.3065868005429747 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.04, Z:-0.02 [[ 0.99950809 -0.0043572 -0.03105775 2.75911925] [ 0.00425505 0.99998532 -0.00335462 -0.03984882] [ 0.03107191 0.00322082 0.99951196 -0.02218282] [ 0. 0. 0. 1. ]] SLAMing on 77.07463043999999 meters Centerline goodness [0,1] 0.30818719741796663 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.04, Z:-0.02 [[ 0.99950019 -0.00441663 -0.03130276 2.75994866] [ 0.00431101 0.99998479 -0.00344082 -0.03956687] [ 0.03131748 0.00330415 0.99950403 -0.02251683] [ 0. 0. 0. 1. ]] SLAMing on 77.10463044 meters Centerline goodness [0,1] 0.30912827168505297 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.04, Z:-0.02 [[ 0.99949339 -0.00447777 -0.03151047 2.76059789] [ 0.00436893 0.99998425 -0.00352185 -0.03939367] [ 0.03152575 0.0033824 0.99949722 -0.02276703] [ 0. 0. 0. 1. ]] SLAMing on 77.13463044 meters Centerline goodness [0,1] 0.31212312514966145 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.04, Z:-0.02 [[ 0.99949013 -0.00446027 -0.03161616 2.76072959] [ 0.00435134 0.99998436 -0.0035132 -0.0391408 ] [ 0.03163134 0.00337383 0.99949391 -0.02262181] [ 0. 0. 0. 1. ]] SLAMing on 77.16463044 meters Centerline goodness [0,1] 0.31212312514966145 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.04, Z:-0.02 [[ 0.99949013 -0.00446027 -0.03161616 2.76072959] [ 0.00435134 0.99998436 -0.0035132 -0.0391408 ] [ 0.03163134 0.00337383 0.99949391 -0.02262181] [ 0. 0. 0. 1. ]] SLAMing on 77.19463044 meters Centerline goodness [0,1] 0.30881780851523666 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.04, Z:-0.02 [[ 0.99949214 -0.00436982 -0.03156523 2.76058059] [ 0.00426474 0.99998514 -0.00339566 -0.03920836] [ 0.03157959 0.00325932 0.99949593 -0.02254601] [ 0. 0. 0. 1. ]] SLAMing on 77.22463044 meters Centerline goodness [0,1] 0.3066649433458274 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.04, Z:-0.02 [[ 0.99949404 -0.00431801 -0.03151225 2.76056218] [ 0.00421637 0.99998569 -0.00329131 -0.03954161] [ 0.03152601 0.00315677 0.99949795 -0.02270218] [ 0. 0. 0. 1. ]] SLAMing on 77.25463044 meters Centerline goodness [0,1] 0.30937121080893815 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.04, Z:-0.02 [[ 0.99949278 -0.00436307 -0.03154588 2.7606589 ] [ 0.00426077 0.99998545 -0.00330924 -0.0396875 ] [ 0.03155986 0.00317315 0.99949683 -0.02272457] [ 0. 0. 0. 1. ]] SLAMing on 77.28463044 meters Centerline goodness [0,1] 0.3073998876841332 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.04, Z:-0.02 [[ 0.99947766 -0.00457077 -0.0319924 2.76192549] [ 0.00446037 0.99998385 -0.00352123 -0.03959863] [ 0.03200798 0.00337669 0.99948191 -0.02304383] [ 0. 0. 0. 1. ]] SLAMing on 77.31463044 meters Centerline goodness [0,1] 0.3094177226194875 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.04, Z:-0.02 [[ 0.99946632 -0.00462085 -0.03233777 2.76312088] [ 0.00450401 0.99998307 -0.00368504 -0.03868642] [ 0.03235425 0.00353742 0.9994702 -0.02365092] [ 0. 0. 0. 1. ]] SLAMing on 77.34463044 meters Centerline goodness [0,1] 0.307126905314282 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.04, Z:-0.02 [[ 0.99945872 -0.0045972 -0.03257511 2.76405693] [ 0.00447519 0.9999827 -0.00381745 -0.03743421] [ 0.0325921 0.0036696 0.999462 -0.02422681] [ 0. 0. 0. 1. ]] SLAMing on 77.37463043999999 meters Centerline goodness [0,1] 0.3085429974362317 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.04, Z:-0.02 [[ 0.99946286 -0.00457325 -0.03245116 2.76372612] [ 0.00444731 0.9999823 -0.00395208 -0.03609634] [ 0.03246866 0.00380564 0.99946551 -0.02422986] [ 0. 0. 0. 1. ]] SLAMing on 77.40463043999999 meters Centerline goodness [0,1] 0.30643173710950167 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.03, Z:-0.02 [[ 0.99947706 -0.0045422 -0.03201532 2.76222609] [ 0.00441419 0.99998198 -0.00406789 -0.03491524] [ 0.03203322 0.00392444 0.9994791 -0.02348508] [ 0. 0. 0. 1. ]] SLAMing on 77.43463043999999 meters Centerline goodness [0,1] 0.3101948959972033 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.03, Z:-0.02 [[ 0.99949031 -0.0045869 -0.03159235 2.76070443] [ 0.00445748 0.99998139 -0.00416584 -0.03447435] [ 0.03161087 0.00402289 0.99949216 -0.02269958] [ 0. 0. 0. 1. ]] SLAMing on 77.46463044 meters Centerline goodness [0,1] 0.3082945820266032 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.04, Z:-0.02 [[ 0.99953945 0.00300442 -0.03019712 2.77941663] [-0.0031856 0.9999772 -0.00595358 -0.03677382] [ 0.03017854 0.00604703 0.99952623 -0.02085368] [ 0. 0. 0. 1. ]] SLAMing on 77.49463044 meters Centerline goodness [0,1] 0.3076425429138273 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.04, Z:-0.02 [[ 0.99953227 0.00304134 -0.03043026 2.78029141] [-0.00321971 0.99997791 -0.00581421 -0.03738075] [ 0.0304119 0.00590947 0.99951998 -0.02128085] [ 0. 0. 0. 1. ]] SLAMing on 77.52463044 meters Centerline goodness [0,1] 0.3100382575428223 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.04, Z:-0.02 [[ 0.99952908 0.0030752 -0.03053118 2.78095768] [-0.0032512 0.99997838 -0.00571655 -0.03779892] [ 0.03051294 0.00581312 0.99951747 -0.02190781] [ 0. 0. 0. 1. ]] SLAMing on 77.55463044 meters Centerline goodness [0,1] 0.30564955920074144 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.03, Z:-0.02 [[ 0.99950351 -0.00390483 -0.03126481 2.79956366] [ 0.00376001 0.99998193 -0.00468964 -0.03222483] [ 0.03128256 0.00456976 0.99950013 -0.02018942] [ 0. 0. 0. 1. ]] SLAMing on 77.58463044 meters Centerline goodness [0,1] 0.30576881370635434 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.03, Z:-0.02 [[ 0.99950703 -0.00401124 -0.03113867 2.79920185] [ 0.00385813 0.99998018 -0.00497554 -0.03103292] [ 0.03115801 0.00485295 0.99950269 -0.02012035] [ 0. 0. 0. 1. ]] SLAMing on 77.61463044 meters Centerline goodness [0,1] 0.3078147518767881 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.03, Z:-0.02 [[ 0.99955383 0.00429944 -0.02955751 2.8177709 ] [-0.00448937 0.99996968 -0.00636224 -0.03117358] [ 0.02952926 0.0064921 0.99954283 -0.01837428] [ 0. 0. 0. 1. ]] SLAMing on 77.64463044 meters Centerline goodness [0,1] 0.30766756721986366 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.03, Z:-0.02 [[ 0.99956533 0.00438321 -0.02915355 2.81652537] [-0.00457495 0.99996832 -0.00651341 -0.02941142] [ 0.02912408 0.00664396 0.99955372 -0.01795359] [ 0. 0. 0. 1. ]] SLAMing on 77.67463044 meters Centerline goodness [0,1] 0.31052380125086865 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:-0.02 [[ 9.99613544e-01 -2.82323673e-03 -2.76548567e-02 2.79612681e+00] [ 2.69044485e-03 9.99984679e-01 -4.83778894e-03 -2.36937423e-02] [ 2.76680912e-02 4.76151549e-03 9.99605825e-01 -2.03795608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70463044 meters Centerline goodness [0,1] 0.30901028886305915 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:-0.02 [[ 9.99609894e-01 -2.80385976e-03 -2.77884366e-02 2.79655508e+00] [ 2.66114031e-03 9.99983086e-01 -5.17158120e-03 -2.13727851e-02] [ 2.78024669e-02 5.09561481e-03 9.99600449e-01 -2.06187409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73463044 meters Centerline goodness [0,1] 0.3080208623983173 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:-0.02 [[ 9.99602254e-01 -2.80485596e-03 -2.80618308e-02 2.79754495e+00] [ 2.64952196e-03 9.99980971e-01 -5.57107171e-03 -1.87078427e-02] [ 2.80769229e-02 5.49450540e-03 9.99590665e-01 -2.12319236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76463043999999 meters Centerline goodness [0,1] 0.30717194131460457 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:-0.02 [[ 9.99570521e-01 -8.39472133e-04 -2.92927969e-02 2.80196555e+00] [ 7.08278421e-04 9.99989674e-01 -4.48879073e-03 -1.19284635e-02] [ 2.92962627e-02 4.46611544e-03 9.99560795e-01 -2.32241847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79463043999999 meters Centerline goodness [0,1] 0.31087382872085423 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:-0.02 [[ 9.99570637e-01 -1.00308162e-03 -2.92837098e-02 2.80197354e+00] [ 8.58583953e-04 9.99987397e-01 -4.94656145e-03 -9.67363225e-03] [ 2.92883026e-02 4.91929506e-03 9.99558901e-01 -2.33404442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82463043999999 meters Centerline goodness [0,1] 0.30846525326461227 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.01, Z:-0.02 [[ 9.99571037e-01 -1.17919341e-03 -2.92634687e-02 2.80171490e+00] [ 1.02306714e-03 9.99985167e-01 -5.34959277e-03 -7.81236938e-03] [ 2.92693429e-02 5.31735950e-03 9.99557418e-01 -2.30612231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85463044 meters Centerline goodness [0,1] 0.30703940865529245 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.00, Z:-0.02 [[ 9.99568203e-01 -1.44737178e-03 -2.93481133e-02 2.80196948e+00] [ 1.27325317e-03 9.99981484e-01 -5.95069230e-03 -4.36173599e-03] [ 2.93561827e-02 5.91075524e-03 9.99551538e-01 -2.32151252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88463044 meters Centerline goodness [0,1] 0.3085661120366965 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.00, Z:-0.02 [[ 9.99566120e-01 -1.55778139e-03 -2.94133358e-02 2.80229333e+00] [ 1.37518579e-03 9.99979666e-01 -6.22712736e-03 -2.80850578e-03] [ 2.94224382e-02 6.18397674e-03 9.99547937e-01 -2.34561735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91463044 meters Centerline goodness [0,1] 0.3083056047707532 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.00, Z:-0.02 [[ 9.99565736e-01 -1.71858441e-03 -2.94174336e-02 2.80229192e+00] [ 1.52566075e-03 9.99977192e-01 -6.57933015e-03 -1.13754166e-03] [ 2.94280698e-02 6.53159197e-03 9.99545560e-01 -2.34401772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94463044 meters Centerline goodness [0,1] 0.3083360363282517 Centerline is valid? [False, False] Translation: X:2.80, Y:0.00, Z:-0.02 [[ 9.99565633e-01 -1.95177470e-03 -2.94063822e-02 2.80210497e+00] [ 1.74568673e-03 9.99973749e-01 -7.03231713e-03 6.54397304e-04] [ 2.94193357e-02 6.97792820e-03 9.99542801e-01 -2.32178991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97463044 meters Centerline goodness [0,1] 0.30875635891330233 Centerline is valid? [False, False] Translation: X:2.80, Y:0.00, Z:-0.02 [[ 9.99560369e-01 -2.14412954e-03 -2.95714488e-02 2.80214202e+00] [ 1.92482756e-03 9.99970452e-01 -7.44247759e-03 2.42080116e-03] [ 2.95865326e-02 7.38228571e-03 9.99534961e-01 -2.27319157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00463044 meters Centerline goodness [0,1] 0.3103839194227038 Centerline is valid? [False, False] Translation: X:2.80, Y:0.00, Z:-0.02 [[ 9.99556196e-01 -2.23248620e-03 -2.97056811e-02 2.80233714e+00] [ 2.00399648e-03 9.99968197e-01 -7.71933513e-03 4.00692422e-03] [ 2.97219697e-02 7.65637918e-03 9.99528881e-01 -2.25761436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.03463044 meters Centerline goodness [0,1] 0.3118113993233278 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:-0.02 [[ 9.99537436e-01 1.76666646e-04 -3.04119019e-02 2.80503388e+00] [-3.48177890e-04 9.99984066e-01 -5.63440605e-03 7.79948552e-03] [ 3.04104219e-02 5.64238853e-03 9.99521570e-01 -2.36748263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06463044 meters Centerline goodness [0,1] 0.310790273556231 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.02 [[ 9.99541520e-01 1.37612233e-04 -3.02775513e-02 2.80465442e+00] [-3.13183730e-04 9.99983165e-01 -5.79406913e-03 8.86356489e-03] [ 3.02762442e-02 5.80089511e-03 9.99524736e-01 -2.35609592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09463044 meters Centerline goodness [0,1] 0.3049053227970777 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-0.02 [[ 9.99614351e-01 5.53681588e-04 -2.77640613e-02 2.84675738e+00] [-7.23703738e-04 9.99981047e-01 -6.11414688e-03 1.36213974e-02] [ 2.77601497e-02 6.13188192e-03 9.99595805e-01 -2.22049462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12463043999999 meters Centerline goodness [0,1] 0.3070989643762623 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-0.02 [[ 9.99616659e-01 4.48034611e-04 -2.76827588e-02 2.84653265e+00] [-6.23186245e-04 9.99979842e-01 -6.31879841e-03 1.44257476e-02] [ 2.76793698e-02 6.33362767e-03 9.99596788e-01 -2.21750018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15463043999999 meters Centerline goodness [0,1] 0.3093264473570002 Centerline is valid? [False, False] Translation: X:2.85, Y:0.02, Z:-0.02 [[ 9.99616997e-01 3.16673108e-04 -2.76723648e-02 2.84660182e+00] [-4.97229647e-04 9.99978633e-01 -6.51815868e-03 1.53089906e-02] [ 2.76697094e-02 6.52942172e-03 9.99595795e-01 -2.23116563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18463043999999 meters Centerline goodness [0,1] 0.30831603528801244 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-0.02 [[ 9.99616244e-01 3.45611140e-04 -2.76992025e-02 2.84665949e+00] [-5.23355798e-04 9.99979319e-01 -6.40996664e-03 1.49296708e-02] [ 2.76964143e-02 6.42200331e-03 9.99595752e-01 -2.22532538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21463044 meters Centerline goodness [0,1] 0.30855533896469567 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-0.02 [[ 9.99614337e-01 3.19854718e-04 -2.77682541e-02 2.84692189e+00] [-4.95538784e-04 9.99979905e-01 -6.32014463e-03 1.43013829e-02] [ 2.77656745e-02 6.33146743e-03 9.99594408e-01 -2.23475764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24463044 meters Centerline goodness [0,1] 0.31191938621609216 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-0.02 [[ 9.99602681e-01 -3.01080060e-06 -2.81865198e-02 2.84802342e+00] [-1.74336610e-04 9.99980206e-01 -6.28946334e-03 1.24521394e-02] [ 2.81859808e-02 6.29187836e-03 9.99582894e-01 -2.25200952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27463044 meters Centerline goodness [0,1] 0.30742869536926576 Centerline is valid? [False, False] Translation: X:2.87, Y:0.02, Z:-0.02 [[ 0.99956803 -0.0076197 -0.02838481 2.86718922] [ 0.00748179 0.9999597 -0.0049614 0.01569992] [ 0.02842147 0.00474688 0.99958476 -0.02044456] [ 0. 0. 0. 1. ]] SLAMing on 78.30463044 meters Centerline goodness [0,1] 0.3080110497237569 Centerline is valid? [False, False] Translation: X:2.87, Y:0.01, Z:-0.02 [[ 0.99956716 -0.00749191 -0.0284494 2.86737975] [ 0.0073633 0.9999622 -0.00462296 0.01423899] [ 0.02848296 0.00441148 0.99958454 -0.02044637] [ 0. 0. 0. 1. ]] SLAMing on 78.33463044 meters Centerline goodness [0,1] 0.3113622506750283 Centerline is valid? [False, False] Translation: X:2.87, Y:0.01, Z:-0.02 [[ 0.99956731 -0.00735184 -0.02848074 2.86757646] [ 0.00723197 0.99996456 -0.00430966 0.01289734] [ 0.02851141 0.00410183 0.99958505 -0.02058816] [ 0. 0. 0. 1. ]] SLAMing on 78.36463044 meters Centerline goodness [0,1] 0.3094219113206318 Centerline is valid? [False, False] Translation: X:2.87, Y:0.01, Z:-0.02 [[ 0.99956526 -0.00728659 -0.02856909 2.86799785] [ 0.00717259 0.99996591 -0.00409077 0.011586 ] [ 0.02859792 0.00388407 0.99958345 -0.02085042] [ 0. 0. 0. 1. ]] SLAMing on 78.39463044 meters Centerline goodness [0,1] 0.30962097859592763 Centerline is valid? [False, False] Translation: X:2.87, Y:0.01, Z:-0.02 [[ 0.99954611 -0.0072814 -0.02923292 2.87042355] [ 0.0071733 0.99996705 -0.0038013 0.00902348] [ 0.02925963 0.00358987 0.9995654 -0.02211447] [ 0. 0. 0. 1. ]] SLAMing on 78.42463044 meters Centerline goodness [0,1] 0.3067854902554563 Centerline is valid? [False, False] Translation: X:2.87, Y:0.01, Z:-0.02 [[ 0.99953276 -0.00711458 -0.02972601 2.87195622] [ 0.00701309 0.99996922 -0.00351724 0.00800614] [ 0.02975012 0.00330712 0.9995519 -0.02266263] [ 0. 0. 0. 1. ]] SLAMing on 78.45463044 meters Centerline goodness [0,1] 0.30391523452642455 Centerline is valid? [False, False] Translation: X:2.87, Y:0.01, Z:-0.02 [[ 0.99952622 -0.00696236 -0.02998089 2.87283861] [ 0.00686547 0.99997088 -0.00333342 0.00764917] [ 0.03000322 0.00312601 0.99954491 -0.02309862] [ 0. 0. 0. 1. ]] SLAMing on 78.48463044 meters Centerline goodness [0,1] 0.30787357315807684 Centerline is valid? [False, False] Translation: X:2.87, Y:0.01, Z:-0.02 [[ 0.99952465 -0.00685152 -0.0300587 2.87299692] [ 0.00675847 0.99997205 -0.00319628 0.00738412] [ 0.03007976 0.00299161 0.99954302 -0.02305539] [ 0. 0. 0. 1. ]] SLAMing on 78.51463043999999 meters Centerline goodness [0,1] 0.3050964335739683 Centerline is valid? [False, False] Translation: X:2.87, Y:0.01, Z:-0.02 [[ 0.99952968 -0.00677183 -0.0299092 2.87255823] [ 0.00668262 0.99997292 -0.00308163 0.0065977 ] [ 0.02992926 0.00288031 0.99954787 -0.02293231] [ 0. 0. 0. 1. ]] SLAMing on 78.54463043999999 meters Centerline goodness [0,1] 0.30908225314319104 Centerline is valid? [False, False] Translation: X:2.87, Y:0.01, Z:-0.02 [[ 9.99530819e-01 -6.70359194e-03 -2.98865130e-02 2.87244482e+00] [ 6.61695626e-03 9.99973617e-01 -2.99678221e-03 6.23364938e-03] [ 2.99058137e-02 2.79761843e-03 9.99548806e-01 -2.28241433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57463043999999 meters Centerline goodness [0,1] 0.3066379310344828 Centerline is valid? [False, False] Translation: X:2.87, Y:0.01, Z:-0.02 [[ 9.99530888e-01 -6.62709090e-03 -2.99012676e-02 2.87242348e+00] [ 6.54076499e-03 9.99974157e-01 -2.98392016e-03 6.40313312e-03] [ 2.99202695e-02 2.78694320e-03 9.99548403e-01 -2.27981489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60463044 meters Centerline goodness [0,1] 0.3059501705600415 Centerline is valid? [False, False] Translation: X:2.87, Y:0.01, Z:-0.02 [[ 9.99527182e-01 -6.54244766e-03 -3.00434433e-02 2.87285905e+00] [ 6.45436430e-03 9.99974586e-01 -3.02790943e-03 7.00716908e-03] [ 3.00624897e-02 2.83256645e-03 9.99544008e-01 -2.29841666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63463044 meters Centerline goodness [0,1] 0.30559754675420037 Centerline is valid? [False, False] Translation: X:2.87, Y:0.01, Z:-0.02 [[ 0.99951394 -0.00643592 -0.03050352 2.87418384] [ 0.00634097 0.99997475 -0.00320837 0.00852045] [ 0.0305234 0.00301339 0.99952951 -0.02348635] [ 0. 0. 0. 1. ]] SLAMing on 78.66463044 meters Centerline goodness [0,1] 0.30709190642412676 Centerline is valid? [False, False] Translation: X:2.87, Y:0.01, Z:-0.02 [[ 9.99526827e-01 -2.84233458e-03 -3.06274755e-02 2.87478691e+00] [ 2.83785146e-03 9.99995955e-01 -1.89843307e-04 1.13745396e-02] [ 3.06278912e-02 1.02837252e-04 9.99530851e-01 -2.40312957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69463044 meters Centerline goodness [0,1] 0.3047940811700808 Centerline is valid? [False, False] Translation: X:2.89, Y:0.01, Z:-0.02 [[ 9.99568785e-01 5.60787657e-03 -2.88235190e-02 2.89405079e+00] [-5.65305826e-03 9.99982917e-01 -1.48627954e-03 1.23027879e-02] [ 2.88146917e-02 1.64857967e-03 9.99583411e-01 -2.26154810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72463044 meters Centerline goodness [0,1] 0.3046806320890242 Centerline is valid? [False, False] Translation: X:2.89, Y:0.01, Z:-0.02 [[ 9.99583652e-01 5.54876314e-03 -2.83149187e-02 2.89260338e+00] [-5.60402894e-03 9.99982544e-01 -1.87284438e-03 1.44322702e-02] [ 2.83040325e-02 2.03074225e-03 9.99597298e-01 -2.23561215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.75463044 meters Centerline goodness [0,1] 0.30596037861389536 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.02 [[ 9.99594812e-01 5.42491820e-03 -2.79424738e-02 2.89146522e+00] [-5.49132689e-03 9.99982277e-01 -2.30043440e-03 1.65587990e-02] [ 2.79294989e-02 2.45294355e-03 9.99606886e-01 -2.20668807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78463044 meters Centerline goodness [0,1] 0.3052480260899416 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.02 [[ 9.99600139e-01 5.28185305e-03 -2.77788398e-02 2.89085328e+00] [-5.35864021e-03 9.99982023e-01 -2.69051551e-03 1.84444744e-02] [ 2.77641295e-02 2.83829649e-03 9.99610473e-01 -2.18312876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.81463044 meters Centerline goodness [0,1] 0.30798822290516004 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.02 [[ 9.99603259e-01 5.28706671e-03 -2.76653333e-02 2.88998428e+00] [-5.36811357e-03 9.99981513e-01 -2.85609615e-03 2.00671172e-02] [ 2.76497215e-02 3.00347368e-03 9.99613161e-01 -2.10271575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84463044 meters Centerline goodness [0,1] 0.31290462741690206 Centerline is valid? [False, False] Translation: X:2.87, Y:0.02, Z:-0.02 [[ 9.99638201e-01 -2.76377453e-03 -2.67549896e-02 2.86984372e+00] [ 2.72366325e-03 9.99995112e-01 -1.53553381e-03 2.30819085e-02] [ 2.67591027e-02 1.46210667e-03 9.99640842e-01 -2.31236668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87463043999999 meters Centerline goodness [0,1] 0.30927012337158144 Centerline is valid? [False, False] Translation: X:2.87, Y:0.02, Z:-0.02 [[ 9.99639828e-01 -2.77083368e-03 -2.66933823e-02 2.86956423e+00] [ 2.72984371e-03 9.99995039e-01 -1.57190392e-03 2.33614921e-02] [ 2.66976054e-02 1.49846900e-03 9.99642432e-01 -2.29111388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90463043999999 meters Centerline goodness [0,1] 0.3076642335766423 Centerline is valid? [False, False] Translation: X:2.87, Y:0.02, Z:-0.02 [[ 9.99638365e-01 -2.82979924e-03 -2.67419554e-02 2.86973515e+00] [ 2.78531294e-03 9.99994675e-01 -1.70064216e-03 2.39856382e-02] [ 2.67466254e-02 1.62554243e-03 9.99640923e-01 -2.29997240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93463043999999 meters Centerline goodness [0,1] 0.3087522713506965 Centerline is valid? [False, False] Translation: X:2.87, Y:0.03, Z:-0.02 [[ 9.99632534e-01 -2.92125630e-03 -2.69492858e-02 2.87043638e+00] [ 2.87018002e-03 9.99994011e-01 -1.93376100e-03 2.51321552e-02] [ 2.69547734e-02 1.85570110e-03 9.99634932e-01 -2.33431744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96463044 meters Centerline goodness [0,1] 0.3095444122355384 Centerline is valid? [False, False] Translation: X:2.87, Y:0.03, Z:-0.02 [[ 9.99626466e-01 -2.97367216e-03 -2.71677312e-02 2.87126423e+00] [ 2.91497864e-03 9.99993332e-01 -2.19976187e-03 2.67109406e-02] [ 2.71740914e-02 2.11974683e-03 9.99628469e-01 -2.38463667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99463044 meters Centerline goodness [0,1] 0.3038172514932882 Centerline is valid? [False, False] Translation: X:2.89, Y:0.03, Z:-0.02 [[ 0.99959742 0.00602384 -0.02772571 2.89438554] [-0.00611127 0.99997661 -0.00306974 0.0307932 ] [ 0.02770657 0.00323795 0.99961085 -0.0232006 ] [ 0. 0. 0. 1. ]] SLAMing on 79.02463044 meters Centerline goodness [0,1] 0.30672632170492375 Centerline is valid? [False, False] Translation: X:2.89, Y:0.03, Z:-0.02 [[ 0.9995942 0.00590363 -0.02786707 2.89477869] [-0.00600733 0.99997533 -0.00363914 0.03393878] [ 0.0278449 0.00380507 0.99960501 -0.02340685] [ 0. 0. 0. 1. ]] SLAMing on 79.05463044 meters Centerline goodness [0,1] 0.30672632170492375 Centerline is valid? [False, False] Translation: X:2.89, Y:0.03, Z:-0.02 [[ 0.9995942 0.00590363 -0.02786707 2.89477869] [-0.00600733 0.99997533 -0.00363914 0.03393878] [ 0.0278449 0.00380507 0.99960501 -0.02340685] [ 0. 0. 0. 1. ]] SLAMing on 79.08463044 meters Centerline goodness [0,1] 0.3050176342038644 Centerline is valid? [False, False] Translation: X:2.90, Y:0.04, Z:-0.02 [[ 0.99959107 0.00577661 -0.02800574 2.89513262] [-0.00589848 0.99997348 -0.00427114 0.03748771] [ 0.02798033 0.00443458 0.99959864 -0.0235907 ] [ 0. 0. 0. 1. ]] SLAMing on 79.11463044 meters Centerline goodness [0,1] 0.3053907716202515 Centerline is valid? [False, False] Translation: X:2.90, Y:0.04, Z:-0.02 [[ 0.99958531 0.00567641 -0.02823097 2.895793 ] [-0.00581642 0.99997118 -0.00487973 0.04119544] [ 0.02820245 0.00504191 0.99958952 -0.02392611] [ 0. 0. 0. 1. ]] SLAMing on 79.14463044 meters Centerline goodness [0,1] 0.302688600935728 Centerline is valid? [False, False] Translation: X:2.90, Y:0.05, Z:-0.03 [[ 0.9995366 0.00795739 -0.02938125 2.89997072] [-0.00806427 0.99996128 -0.00352112 0.04903844] [ 0.02935209 0.00375643 0.99956208 -0.02567602] [ 0. 0. 0. 1. ]] SLAMing on 79.17463044 meters Centerline goodness [0,1] 0.30323502663375346 Centerline is valid? [False, False] Translation: X:2.90, Y:0.05, Z:-0.03 [[ 0.99953707 0.00767847 -0.02943945 2.89998159] [-0.00780309 0.99996107 -0.00412051 0.05179862] [ 0.02940666 0.00434832 0.99955807 -0.025516 ] [ 0. 0. 0. 1. ]] SLAMing on 79.20463044 meters Centerline goodness [0,1] 0.301432947073061 Centerline is valid? [False, False] Translation: X:2.92, Y:0.06, Z:-0.02 [[ 9.99573867e-01 -3.08971656e-04 -2.91888396e-02 2.91891208e+00] [ 2.07894801e-04 9.99993972e-01 -3.46583094e-03 5.98874256e-02] [ 2.91897345e-02 3.45828583e-03 9.99567906e-01 -2.33805810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23463044 meters Centerline goodness [0,1] 0.30667012380890646 Centerline is valid? [False, False] Translation: X:2.92, Y:0.06, Z:-0.02 [[ 9.99578769e-01 -6.24193541e-04 -2.90154126e-02 2.91781478e+00] [ 5.15110464e-04 9.99992773e-01 -3.76680998e-03 6.09363188e-02] [ 2.90175541e-02 3.75027714e-03 9.99571867e-01 -2.22928778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26463043999999 meters Centerline goodness [0,1] 0.30953360916751516 Centerline is valid? [False, False] Translation: X:2.92, Y:0.06, Z:-0.02 [[ 9.99600246e-01 -1.61707625e-03 -2.82264597e-02 2.91512475e+00] [ 1.50051437e-03 9.99990262e-01 -4.15021861e-03 6.15556368e-02] [ 2.82328960e-02 4.10620534e-03 9.99592938e-01 -2.08413467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29463043999999 meters Centerline goodness [0,1] 0.31309897241752294 Centerline is valid? [False, False] Translation: X:2.92, Y:0.06, Z:-0.02 [[ 9.99591600e-01 -1.99798355e-03 -2.85068715e-02 2.91581009e+00] [ 1.87620661e-03 9.99989004e-01 -4.29795378e-03 6.13357561e-02] [ 2.85151452e-02 4.24271372e-03 9.99584357e-01 -2.07199804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32463043999999 meters Centerline goodness [0,1] 0.3150852378145941 Centerline is valid? [False, False] Translation: X:2.92, Y:0.06, Z:-0.02 [[ 9.99576817e-01 -2.43933184e-03 -2.89868377e-02 2.91715752e+00] [ 2.30944395e-03 9.99987147e-01 -4.51356081e-03 6.10484361e-02] [ 2.89974752e-02 4.44470727e-03 9.99569603e-01 -2.09594751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35463044 meters Centerline goodness [0,1] 0.31036114516788194 Centerline is valid? [False, False] Translation: X:2.94, Y:0.06, Z:-0.02 [[ 0.99950223 -0.01126228 -0.02946964 2.93866648] [ 0.01114221 0.99992895 -0.0042355 0.06487617] [ 0.02951525 0.00390504 0.9995567 -0.01977008] [ 0. 0. 0. 1. ]] SLAMing on 79.38463044 meters Centerline goodness [0,1] 0.3131731565865783 Centerline is valid? [False, False] Translation: X:2.94, Y:0.06, Z:-0.02 [[ 0.99945077 -0.01522952 -0.0294315 2.93792679] [ 0.01501026 0.99985803 -0.00765636 0.06276367] [ 0.02954392 0.00721038 0.99953748 -0.01860042] [ 0. 0. 0. 1. ]] SLAMing on 79.41463044 meters Centerline goodness [0,1] 0.3136892866452342 Centerline is valid? [False, False] Translation: X:2.95, Y:0.06, Z:-0.02 [[ 0.99955738 -0.00839749 -0.02853998 2.95473306] [ 0.00813458 0.99992352 -0.00931552 0.05767199] [ 0.02861603 0.00907924 0.99954924 -0.01599777] [ 0. 0. 0. 1. ]] SLAMing on 79.44463044 meters Centerline goodness [0,1] 0.3181362943609841 Centerline is valid? [False, False] Translation: X:2.95, Y:0.06, Z:-0.02 [[ 0.99957063 -0.0085033 -0.02804011 2.95325808] [ 0.00825241 0.99992499 -0.00905104 0.05580631] [ 0.02811497 0.00881575 0.99956582 -0.01536683] [ 0. 0. 0. 1. ]] SLAMing on 79.47463044 meters Centerline goodness [0,1] 0.315461078359654 Centerline is valid? [False, False] Translation: X:2.97, Y:0.05, Z:-0.01 [[ 9.99638453e-01 -9.32562256e-04 -2.68718178e-02 2.97148750e+00] [ 6.70594844e-04 9.99952183e-01 -9.75614206e-03 5.00496561e-02] [ 2.68796311e-02 9.73459465e-03 9.99591278e-01 -1.40082008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50463044 meters Centerline goodness [0,1] 0.3171459459459459 Centerline is valid? [False, False] Translation: X:2.97, Y:0.05, Z:-0.01 [[ 9.99644639e-01 -1.07299121e-03 -2.66353797e-02 2.97116683e+00] [ 8.28881249e-04 9.99957572e-01 -9.17422586e-03 4.55901523e-02] [ 2.66440935e-02 9.14888814e-03 9.99603116e-01 -1.42006655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.53463044 meters Centerline goodness [0,1] 0.31591305659076707 Centerline is valid? [False, False] Translation: X:2.97, Y:0.04, Z:-0.01 [[ 9.99642183e-01 -9.98682163e-04 -2.67303085e-02 2.97147875e+00] [ 7.66530863e-04 9.99961915e-01 -8.69378451e-03 4.26511990e-02] [ 2.67379728e-02 8.67018412e-03 9.99604876e-01 -1.43155725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56463044 meters Centerline goodness [0,1] 0.31688378914675175 Centerline is valid? [False, False] Translation: X:2.97, Y:0.04, Z:-0.01 [[ 9.99636191e-01 -9.62361495e-04 -2.69547747e-02 2.97214761e+00] [ 7.41098871e-04 9.99965962e-01 -8.21744894e-03 3.93836058e-02] [ 2.69617653e-02 8.19448320e-03 9.99602878e-01 -1.45059618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59463044 meters Centerline goodness [0,1] 0.31847506061655695 Centerline is valid? [False, False] Translation: X:2.97, Y:0.04, Z:-0.01 [[ 9.99629734e-01 -8.86202309e-04 -2.71957517e-02 2.97286292e+00] [ 6.76533728e-04 9.99969988e-01 -7.71784077e-03 3.62115683e-02] [ 2.72017750e-02 7.69658427e-03 9.99600333e-01 -1.47495793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62463043999999 meters Centerline goodness [0,1] 0.3159373056883724 Centerline is valid? [False, False] Translation: X:2.98, Y:0.03, Z:-0.02 [[ 9.99591768e-01 -2.58466892e-03 -2.84537509e-02 2.97753695e+00] [ 2.33840176e-03 9.99959552e-01 -8.68487329e-03 2.92287981e-02] [ 2.84750475e-02 8.61479155e-03 9.99557381e-01 -1.66356394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65463043999999 meters Centerline goodness [0,1] 0.31672382924566966 Centerline is valid? [False, False] Translation: X:2.98, Y:0.03, Z:-0.02 [[ 9.99590911e-01 -2.32998557e-03 -2.85058150e-02 2.97781811e+00] [ 2.10028085e-03 9.99965106e-01 -8.08545968e-03 2.63383130e-02] [ 2.85236593e-02 8.02228179e-03 9.99560926e-01 -1.68525245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68463043999999 meters Centerline goodness [0,1] 0.320203580050895 Centerline is valid? [False, False] Translation: X:2.98, Y:0.02, Z:-0.02 [[ 9.99591235e-01 -2.11814773e-03 -2.85109932e-02 2.97791620e+00] [ 1.90386268e-03 9.99969754e-01 -7.54092351e-03 2.35076795e-02] [ 2.85261036e-02 7.48356002e-03 9.99565034e-01 -1.69813849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71463044 meters Centerline goodness [0,1] 0.31884120171673824 Centerline is valid? [False, False] Translation: X:3.00, Y:0.02, Z:-0.02 [[ 0.99955942 -0.00988561 -0.02798635 2.99766082] [ 0.00970907 0.99993215 -0.00643704 0.02439671] [ 0.02804808 0.00616248 0.99958758 -0.01583881] [ 0. 0. 0. 1. ]] SLAMing on 79.74463044 meters Centerline goodness [0,1] 0.31859838274932617 Centerline is valid? [False, False] Translation: X:3.00, Y:0.02, Z:-0.02 [[ 0.9995586 -0.00940636 -0.02818029 2.99843237] [ 0.00925628 0.9999423 -0.00545142 0.01962314] [ 0.02822994 0.00518817 0.99958799 -0.01623867] [ 0. 0. 0. 1. ]] SLAMing on 79.77463044 meters Centerline goodness [0,1] 0.3173157656784861 Centerline is valid? [False, False] Translation: X:3.00, Y:0.02, Z:-0.02 [[ 0.99955305 -0.00923953 -0.02843102 2.99926665] [ 0.00909672 0.99994537 -0.00514815 0.01811633] [ 0.02847703 0.00488722 0.9995825 -0.01659169] [ 0. 0. 0. 1. ]] SLAMing on 79.80463044 meters Centerline goodness [0,1] 0.3184736864939911 Centerline is valid? [False, False] Translation: X:2.98, Y:0.01, Z:-0.02 [[ 9.99575102e-01 -1.60433014e-03 -2.91039620e-02 2.98162663e+00] [ 1.41846574e-03 9.99978477e-01 -6.40574571e-03 1.13144933e-02] [ 2.91136125e-02 6.36174095e-03 9.99555864e-01 -1.92992771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83463044 meters Centerline goodness [0,1] 0.31473373163945384 Centerline is valid? [False, False] Translation: X:2.98, Y:0.01, Z:-0.02 [[ 9.99559621e-01 -1.47056981e-03 -2.96378279e-02 2.98337301e+00] [ 1.29112687e-03 9.99980727e-01 -6.07275227e-03 9.55998175e-03] [ 2.96461871e-02 6.03181176e-03 9.99542256e-01 -2.00568077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86463044 meters Centerline goodness [0,1] 0.31202101093601997 Centerline is valid? [False, False] Translation: X:2.98, Y:0.01, Z:-0.02 [[ 9.99548935e-01 -1.27146003e-03 -3.00051609e-02 2.98452981e+00] [ 1.10329770e-03 9.99983597e-01 -5.62033774e-03 7.44546791e-03] [ 3.00118147e-02 5.58469798e-03 9.99533942e-01 -2.04972122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.89463044 meters Centerline goodness [0,1] 0.31565020974507907 Centerline is valid? [False, False] Translation: X:2.99, Y:0.00, Z:-0.02 [[ 9.99538821e-01 -9.93257101e-04 -3.03505978e-02 2.98513224e+00] [ 8.49812540e-04 9.99988411e-01 -4.73878528e-03 2.97623558e-03] [ 3.03549528e-02 4.71080753e-03 9.99528081e-01 -2.01538871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92463044 meters Centerline goodness [0,1] 0.3198612050716889 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.00, Z:-0.02 [[ 9.99538974e-01 4.63931785e-03 -3.00052642e-02 2.96230168e+00] [-4.85708340e-03 9.99962364e-01 -7.18876900e-03 -2.82489069e-03] [ 2.99707839e-02 7.33119286e-03 9.99523890e-01 -2.02737446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95463044 meters Centerline goodness [0,1] 0.3170952709699689 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.00, Z:-0.02 [[ 9.99556615e-01 -3.35235134e-03 -2.95860517e-02 2.98243094e+00] [ 3.17124793e-03 9.99975961e-01 -6.16604439e-03 -1.41077739e-03] [ 2.96060112e-02 6.06948576e-03 9.99543218e-01 -1.86899076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98463044 meters Centerline goodness [0,1] 0.3182063166972081 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.00, Z:-0.02 [[ 0.99955631 -0.00327769 -0.02960456 2.98217636] [ 0.00310814 0.99997851 -0.00577142 -0.00368507] [ 0.02962285 0.00567684 0.99954503 -0.01824687] [ 0. 0. 0. 1. ]] SLAMing on 80.01463043999999 meters Centerline goodness [0,1] 0.3214799007011889 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.01, Z:-0.02 [[ 0.99958597 -0.00341486 -0.0285696 2.97919007] [ 0.00326436 0.99998056 -0.00531285 -0.00724838] [ 0.02858718 0.00521739 0.99957769 -0.01724228] [ 0. 0. 0. 1. ]] SLAMing on 80.04463043999999 meters Centerline goodness [0,1] 0.31575902994986926 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.01, Z:-0.02 [[ 0.99965587 -0.00327869 -0.02602678 3.02098415] [ 0.0031377 0.99998019 -0.00545602 -0.00808492] [ 0.02604415 0.00537247 0.99964636 -0.01567186] [ 0. 0. 0. 1. ]] SLAMing on 80.07463043999999 meters Centerline goodness [0,1] 0.3157477276624936 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.01, Z:-0.02 [[ 0.99966175 -0.00322982 -0.02580593 3.02011863] [ 0.00309613 0.99998159 -0.00521872 -0.00940047] [ 0.02582231 0.00513705 0.99965335 -0.01515112] [ 0. 0. 0. 1. ]] SLAMing on 80.10463044 meters Centerline goodness [0,1] 0.3200034868263343 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.02, Z:-0.02 [[ 0.99969754 0.00413703 -0.02424288 2.9997614 ] [-0.00428335 0.99997291 -0.00598658 -0.01544605] [ 0.02421746 0.00608861 0.99968817 -0.01668972] [ 0. 0. 0. 1. ]] SLAMing on 80.13463044 meters Centerline goodness [0,1] 0.32003884752347034 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.01, Z:-0.01 [[ 0.99972054 -0.00334248 -0.02340222 3.01816611] [ 0.003235 0.99998405 -0.004629 -0.0116708 ] [ 0.02341732 0.00455201 0.99971541 -0.01434358] [ 0. 0. 0. 1. ]] SLAMing on 80.16463044 meters Centerline goodness [0,1] 0.32184552968342006 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.01, Z:-0.01 [[ 0.99971972 -0.00330129 -0.02344332 3.0179892 ] [ 0.00319462 0.99998438 -0.00458644 -0.01161497] [ 0.0234581 0.00451026 0.99971465 -0.01394123] [ 0. 0. 0. 1. ]] SLAMing on 80.19463044 meters Centerline goodness [0,1] 0.3189071462457411 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.01, Z:-0.01 [[ 0.99971624 -0.0033558 -0.02358345 3.01857746] [ 0.00324423 0.99998337 -0.00476722 -0.0106116 ] [ 0.02359905 0.00468936 0.99971051 -0.01429269] [ 0. 0. 0. 1. ]] SLAMing on 80.22463044 meters Centerline goodness [0,1] 0.3188434005925733 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.01, Z:-0.01 [[ 0.99971713 -0.0034104 -0.02353783 3.01850721] [ 0.00329628 0.99998263 -0.0048856 -0.01007692] [ 0.02355408 0.00480663 0.99971101 -0.01435656] [ 0. 0. 0. 1. ]] SLAMing on 80.25463044 meters Centerline goodness [0,1] 0.3203294792662784 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.01, Z:-0.01 [[ 0.99971601 -0.00345362 -0.02357896 3.01861185] [ 0.00333742 0.9999821 -0.00496601 -0.00968153] [ 0.02359569 0.00488591 0.99970964 -0.01439036] [ 0. 0. 0. 1. ]] SLAMing on 80.28463044 meters Centerline goodness [0,1] 0.3220272650185898 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.01, Z:-0.01 [[ 0.99971057 -0.00340827 -0.02381496 3.01933973] [ 0.00329161 0.9999824 -0.00493599 -0.00925282] [ 0.02383137 0.00485618 0.9997042 -0.01465892] [ 0. 0. 0. 1. ]] SLAMing on 80.31463044 meters Centerline goodness [0,1] 0.32016378446661153 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.01, Z:-0.01 [[ 0.9997084 -0.00341042 -0.02390586 3.01961193] [ 0.00329383 0.9999825 -0.00491456 -0.00930664] [ 0.0239222 0.00483438 0.99970213 -0.01473729] [ 0. 0. 0. 1. ]] SLAMing on 80.34463044 meters Centerline goodness [0,1] 0.3201291711517761 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.01, Z:-0.01 [[ 0.99970449 -0.0035019 -0.02405573 3.02009063] [ 0.00338284 0.99998184 -0.00498806 -0.00936007] [ 0.02407276 0.00490521 0.99969817 -0.01493829] [ 0. 0. 0. 1. ]] SLAMing on 80.37463043999999 meters Centerline goodness [0,1] 0.32056737588652484 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.01, Z:-0.02 [[ 0.99970218 0.00405933 -0.02406403 3.00074166] [-0.0042095 0.99997196 -0.00619317 -0.01438954] [ 0.02403822 0.00629262 0.99969124 -0.01685429] [ 0. 0. 0. 1. ]] SLAMing on 80.40463043999999 meters Centerline goodness [0,1] 0.3202367324016675 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.01, Z:-0.02 [[ 0.99970274 -0.00370287 -0.0240981 3.02043375] [ 0.00357512 0.99997934 -0.00534244 -0.01043807] [ 0.02411738 0.00525469 0.99969532 -0.01560896] [ 0. 0. 0. 1. ]] SLAMing on 80.43463043999999 meters Centerline goodness [0,1] 0.3197801484430788 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.01, Z:-0.02 [[ 0.99969705 -0.00361666 -0.02434599 3.02167628] [ 0.00348874 0.9999799 -0.00529469 -0.01016281] [ 0.02436465 0.00520815 0.99968957 -0.01659918] [ 0. 0. 0. 1. ]] SLAMing on 80.46463044 meters Centerline goodness [0,1] 0.3187768193836418 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.01, Z:-0.02 [[ 0.99969074 -0.00355316 -0.02461313 3.02272714] [ 0.00342358 0.99998007 -0.00530481 -0.00964409] [ 0.02463149 0.0052189 0.99968298 -0.01724767] [ 0. 0. 0. 1. ]] SLAMing on 80.49463044 meters Centerline goodness [0,1] 0.3175528674614916 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.01, Z:-0.02 [[ 0.99968037 -0.00352181 -0.02503507 3.02418578] [ 0.00338766 0.99997969 -0.00539863 -0.00888549] [ 0.02505357 0.00531209 0.999672 -0.01797801] [ 0. 0. 0. 1. ]] SLAMing on 80.52463044 meters Centerline goodness [0,1] 0.31590503045827323 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:-0.02 [[ 0.99966787 -0.00356173 -0.02552367 3.02571486] [ 0.00341962 0.99997842 -0.00560941 -0.0079046 ] [ 0.0255431 0.00552027 0.99965848 -0.01855304] [ 0. 0. 0. 1. ]] SLAMing on 80.55463044 meters Centerline goodness [0,1] 0.3130086524458151 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.01, Z:-0.02 [[ 0.99964813 -0.00350055 -0.02629394 3.02760269] [ 0.00334424 0.99997649 -0.00598627 -0.00555185] [ 0.02631428 0.00589623 0.99963633 -0.01875042] [ 0. 0. 0. 1. ]] SLAMing on 80.58463044 meters Centerline goodness [0,1] 0.31728839888670735 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.00, Z:-0.02 [[ 0.99964695 -0.00345767 -0.02634425 3.02773235] [ 0.00329735 0.9999758 -0.00612654 -0.00423822] [ 0.0263648 0.00603751 0.99963416 -0.01879611] [ 0. 0. 0. 1. ]] SLAMing on 80.61463044 meters Centerline goodness [0,1] 0.31447963800904977 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.00, Z:-0.02 [[ 9.99647912e-01 -3.43168978e-03 -2.63111373e-02 3.02769094e+00] [ 3.26679907e-03 9.99974772e-01 -6.30737990e-03 -2.79806299e-03] [ 2.63321185e-02 6.21920595e-03 9.99633903e-01 -1.88225469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64463044 meters Centerline goodness [0,1] 0.3142844764091677 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.00, Z:-0.02 [[ 9.99649512e-01 -3.49727497e-03 -2.62416164e-02 3.02753885e+00] [ 3.32628980e-03 9.99972973e-01 -6.55662628e-03 -1.43163306e-03] [ 2.62638375e-02 6.46704104e-03 9.99634127e-01 -1.88390164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.67463044 meters Centerline goodness [0,1] 0.31873363484884554 Centerline is valid? [False, False] Translation: X:3.03, Y:0.00, Z:-0.02 [[ 9.99662890e-01 -3.53690810e-03 -2.57215294e-02 3.02545179e+00] [ 3.36098569e-03 9.99970688e-01 -6.87951918e-03 5.23040046e-04] [ 2.57451077e-02 6.79075033e-03 9.99645475e-01 -1.75365161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70463044 meters Centerline goodness [0,1] 0.31798160383469365 Centerline is valid? [False, False] Translation: X:3.02, Y:0.00, Z:-0.02 [[ 9.99669571e-01 -3.55777946e-03 -2.54576188e-02 3.02410123e+00] [ 3.37834618e-03 9.99969174e-01 -7.08785487e-03 1.92286638e-03] [ 2.54820511e-02 6.99950819e-03 9.99650775e-01 -1.64433805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73463044 meters Centerline goodness [0,1] 0.3177499622982959 Centerline is valid? [False, False] Translation: X:3.02, Y:0.00, Z:-0.02 [[ 0.99966965 -0.00359828 -0.02544883 3.02377828] [ 0.00341354 0.99996754 -0.00729886 0.00332632] [ 0.02547426 0.00720958 0.99964948 -0.01596556] [ 0. 0. 0. 1. ]] SLAMing on 80.76463043999999 meters Centerline goodness [0,1] 0.3168323235807766 Centerline is valid? [False, False] Translation: X:3.02, Y:0.00, Z:-0.02 [[ 0.99966459 -0.00369881 -0.02563248 3.02421024] [ 0.00350502 0.99996497 -0.00760098 0.00490016] [ 0.0256597 0.00750859 0.99964254 -0.01597938] [ 0. 0. 0. 1. ]] SLAMing on 80.79463043999999 meters Centerline goodness [0,1] 0.3175197489449194 Centerline is valid? [False, False] Translation: X:3.02, Y:0.01, Z:-0.02 [[ 0.99966128 -0.00382077 -0.02574341 3.02427156] [ 0.00361953 0.99996256 -0.0078593 0.00609326] [ 0.02577248 0.00776346 0.99963769 -0.01571429] [ 0. 0. 0. 1. ]] SLAMing on 80.82463043999999 meters Centerline goodness [0,1] 0.31816712983907447 Centerline is valid? [False, False] Translation: X:3.02, Y:0.01, Z:-0.02 [[ 0.99966235 -0.00378758 -0.02570664 3.02390984] [ 0.0035904 0.99996382 -0.00771188 0.00537307] [ 0.02573492 0.00761698 0.99963978 -0.01527049] [ 0. 0. 0. 1. ]] SLAMing on 80.85463044 meters Centerline goodness [0,1] 0.3159405389195905 Centerline is valid? [False, False] Translation: X:3.02, Y:0.00, Z:-0.01 [[ 0.99966142 -0.00377298 -0.02574499 3.02359659] [ 0.00358228 0.99996584 -0.00744944 0.00375396] [ 0.02577222 0.00735469 0.99964079 -0.01467312] [ 0. 0. 0. 1. ]] SLAMing on 80.88463044 meters Centerline goodness [0,1] 0.3198466871945048 Centerline is valid? [False, False] Translation: X:3.02, Y:0.00, Z:-0.01 [[ 9.99658453e-01 -3.69284820e-03 -2.58715913e-02 3.02363016e+00] [ 3.51206016e-03 9.99969123e-01 -7.02985560e-03 1.32202168e-03] [ 2.58967527e-02 6.93659200e-03 9.99640556e-01 -1.42352162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91463044 meters Centerline goodness [0,1] 0.31732278385758206 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.00, Z:-0.01 [[ 9.99656050e-01 -3.65334340e-03 -2.59698630e-02 3.02384156e+00] [ 3.48278156e-03 9.99972089e-01 -6.60988366e-03 -1.45684295e-03] [ 2.59932863e-02 6.51716283e-03 9.99640873e-01 -1.41792574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94463044 meters Centerline goodness [0,1] 0.320307951090121 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.01, Z:-0.01 [[ 0.99966406 -0.00364816 -0.02566051 3.0232551 ] [ 0.00349812 0.99997654 -0.00588955 -0.00852173] [ 0.0256814 0.0057978 0.99965337 -0.01428598] [ 0. 0. 0. 1. ]] SLAMing on 80.97463044 meters Centerline goodness [0,1] 0.320307951090121 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.01, Z:-0.01 [[ 0.99966406 -0.00364816 -0.02566051 3.0232551 ] [ 0.00349812 0.99997654 -0.00588955 -0.00852173] [ 0.0256814 0.0057978 0.99965337 -0.01428598] [ 0. 0. 0. 1. ]] SLAMing on 81.00463044 meters Centerline goodness [0,1] 0.3199564980967917 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.01, Z:-0.01 [[ 0.99967041 -0.00344172 -0.02544066 3.02279982] [ 0.00330632 0.99998016 -0.00536228 -0.0111358 ] [ 0.02545861 0.0052764 0.99966195 -0.01432182] [ 0. 0. 0. 1. ]] SLAMing on 81.03463044 meters Centerline goodness [0,1] 0.3210935811540955 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.01, Z:-0.01 [[ 0.99967655 -0.0032328 -0.02522595 3.02222316] [ 0.00310923 0.99998298 -0.00493602 -0.01303468] [ 0.02524148 0.00485599 0.99966959 -0.01417372] [ 0. 0. 0. 1. ]] SLAMing on 81.06463044 meters Centerline goodness [0,1] 0.3188233770718232 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.02, Z:-0.01 [[ 9.99681570e-01 -2.88027498e-03 -2.50691539e-02 3.02191909e+00] [ 2.77028501e-03 9.99986390e-01 -4.42108722e-03 -1.51220095e-02] [ 2.50815466e-02 4.35023072e-03 9.99675943e-01 -1.42538976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09463044 meters Centerline goodness [0,1] 0.3151677966824442 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.02, Z:-0.01 [[ 0.99965788 0.00520402 -0.02563289 3.04188997] [-0.00534509 0.99997093 -0.00543802 -0.02026044] [ 0.02560384 0.00557317 0.99965663 -0.01266077] [ 0. 0. 0. 1. ]] SLAMing on 81.12463043999999 meters Centerline goodness [0,1] 0.3163999570400602 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.02, Z:-0.01 [[ 0.99965614 0.00533111 -0.02567453 3.04232733] [-0.00546633 0.99997154 -0.00519958 -0.02147533] [ 0.02564608 0.00533814 0.99965683 -0.01317482] [ 0. 0. 0. 1. ]] SLAMing on 81.15463043999999 meters Centerline goodness [0,1] 0.3163137694596576 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.02, Z:-0.01 [[ 0.99965243 0.00547139 -0.02578939 3.04275296] [-0.0055991 0.9999724 -0.00488266 -0.02307437] [ 0.02576197 0.00502536 0.99965547 -0.01343623] [ 0. 0. 0. 1. ]] SLAMing on 81.18463043999999 meters Centerline goodness [0,1] 0.31602659908592723 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.03, Z:-0.01 [[ 0.99963953 0.00573916 -0.02622741 3.04401172] [-0.00585212 0.99997392 -0.00423235 -0.0263814 ] [ 0.02620244 0.00438431 0.99964704 -0.01382152] [ 0. 0. 0. 1. ]] SLAMing on 81.21463044 meters Centerline goodness [0,1] 0.3160939614897612 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.03, Z:-0.01 [[ 0.99963146 0.00586105 -0.02650661 3.04487706] [-0.0059673 0.99997447 -0.00393101 -0.02781648] [ 0.02648289 0.00408773 0.99964091 -0.01416918] [ 0. 0. 0. 1. ]] SLAMing on 81.24463044 meters Centerline goodness [0,1] 0.31411101268284247 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.02, Z:-0.01 [[ 9.99626013e-01 -1.28368885e-03 -2.73164263e-02 3.06453184e+00] [ 1.21028703e-03 9.99995613e-01 -2.70345855e-03 -2.43907724e-02] [ 2.73197769e-02 2.66938678e-03 9.99623181e-01 -1.24939781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27463044 meters Centerline goodness [0,1] 0.3145121453577028 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:-0.01 [[ 9.99621369e-01 -1.16830434e-03 -2.74909723e-02 3.06515418e+00] [ 1.09971931e-03 9.99996246e-01 -2.50980713e-03 -2.51944002e-02] [ 2.74938013e-02 2.47862448e-03 9.99618901e-01 -1.27821782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30463044 meters Centerline goodness [0,1] 0.3149943970347384 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:-0.01 [[ 9.99620338e-01 -1.13193069e-03 -2.75299490e-02 3.06526157e+00] [ 1.06627547e-03 9.99996553e-01 -2.39942813e-03 -2.59647650e-02] [ 2.75325701e-02 2.36916265e-03 9.99618099e-01 -1.28086386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33463044 meters Centerline goodness [0,1] 0.31513840830449824 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:-0.01 [[ 9.99619471e-01 -1.11275198e-03 -2.75621884e-02 3.06531927e+00] [ 1.04994515e-03 9.99996820e-01 -2.29309908e-03 -2.67244359e-02] [ 2.75646524e-02 2.26328770e-03 9.99617461e-01 -1.27928116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36463044 meters Centerline goodness [0,1] 0.316923076923077 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:-0.01 [[ 9.99614491e-01 -8.60695461e-04 -2.77511782e-02 3.06555706e+00] [ 8.12164499e-04 9.99998121e-01 -1.76001328e-03 -2.89300076e-02] [ 2.77526409e-02 1.73679625e-03 9.99613312e-01 -1.24978433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.39463044 meters Centerline goodness [0,1] 0.31450650111788836 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:-0.01 [[ 9.99612007e-01 -7.36242286e-04 -2.78441043e-02 3.06577781e+00] [ 6.96237338e-04 9.99998712e-01 -1.44641519e-03 -3.03958177e-02] [ 2.78451333e-02 1.42646788e-03 9.99611231e-01 -1.24697455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42463044 meters Centerline goodness [0,1] 0.3153472011117384 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:-0.01 [[ 9.99605651e-01 -6.96661681e-04 -2.80723588e-02 3.06645151e+00] [ 6.63749021e-04 9.99999081e-01 -1.18172361e-03 -3.22073578e-02] [ 2.80731563e-02 1.16262459e-03 9.99605195e-01 -1.26744169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45463044 meters Centerline goodness [0,1] 0.3160999306037474 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:-0.01 [[ 9.99598449e-01 -7.30697017e-04 -2.83267961e-02 3.06710776e+00] [ 7.03200502e-04 9.99999272e-01 -9.80638762e-04 -3.40603923e-02] [ 2.83274920e-02 9.60325568e-04 9.99598235e-01 -1.27861503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48463044 meters Centerline goodness [0,1] 0.3154395950555061 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.04, Z:-0.01 [[ 9.99596099e-01 -4.27534706e-04 -2.84157561e-02 3.06725352e+00] [ 4.23832774e-04 9.99999901e-01 -1.36300321e-04 -3.81372733e-02] [ 2.84158116e-02 1.24201741e-04 9.99596182e-01 -1.26899892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51463043999999 meters Centerline goodness [0,1] 0.3130527137159702 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.04, Z:-0.01 [[ 9.99598569e-01 -2.04009092e-04 -2.83312346e-02 3.06710104e+00] [ 2.12703423e-04 9.99999931e-01 3.03868147e-04 -3.98573392e-02] [ 2.83311707e-02 -3.09772316e-04 9.99598544e-01 -1.27227684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54463043999999 meters Centerline goodness [0,1] 0.3146984517717173 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.04, Z:-0.01 [[ 9.99601140e-01 -1.38784359e-04 -2.82407805e-02 3.06689163e+00] [ 1.52118329e-04 9.99999878e-01 4.70005159e-04 -4.07999837e-02] [ 2.82407119e-02 -4.74113633e-04 9.99601039e-01 -1.26841400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57463043999999 meters Centerline goodness [0,1] 0.3163863818366772 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.04, Z:-0.01 [[ 9.99609475e-01 -2.02514933e-04 -2.79437929e-02 3.06607049e+00] [ 2.10458841e-04 9.99999938e-01 2.81340875e-04 -4.06674252e-02] [ 2.79437342e-02 -2.87112023e-04 9.99609456e-01 -1.25055194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60463044 meters Centerline goodness [0,1] 0.3131661034572394 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.04, Z:-0.01 [[ 9.99617785e-01 -1.15555601e-04 -2.76454557e-02 3.06533855e+00] [ 1.21154865e-04 9.99999972e-01 2.00863369e-04 -3.97270287e-02] [ 2.76454317e-02 -2.04135978e-04 9.99617771e-01 -1.24795159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63463044 meters Centerline goodness [0,1] 0.31552445723253986 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.04, Z:-0.01 [[ 9.99630010e-01 1.64211733e-04 -2.71995581e-02 3.06424735e+00] [-1.55737983e-04 9.99999939e-01 3.13658094e-04 -3.88608765e-02] [ 2.71996080e-02 -3.09306040e-04 9.99629974e-01 -1.23798988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66463044 meters Centerline goodness [0,1] 0.31447802731214813 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.04, Z:-0.01 [[ 9.99635987e-01 3.72718606e-04 -2.69769369e-02 3.06372732e+00] [-3.64303755e-04 9.99999883e-01 3.16841722e-04 -3.76413912e-02] [ 2.69770519e-02 -3.06898588e-04 9.99636006e-01 -1.23890664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69463044 meters Centerline goodness [0,1] 0.3118489304239722 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.04, Z:-0.01 [[ 9.99636904e-01 3.94681701e-04 -2.69426016e-02 3.06382732e+00] [-3.90277106e-04 9.99999910e-01 1.68739015e-04 -3.65934499e-02] [ 2.69426658e-02 -1.58162666e-04 9.99636968e-01 -1.26467528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72463044 meters Centerline goodness [0,1] 0.3145809414466131 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.04, Z:-0.01 [[ 9.99638851e-01 3.02343977e-04 -2.68714877e-02 3.06376018e+00] [-3.04099198e-04 9.99999952e-01 -6.12325679e-05 -3.57366663e-02] [ 2.68714679e-02 6.93820517e-05 9.99638895e-01 -1.28278005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.75463044 meters Centerline goodness [0,1] 0.31472992258789945 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:-0.01 [[ 9.99648837e-01 2.16359728e-04 -2.64982152e-02 3.06283506e+00] [-2.25021535e-04 9.99999922e-01 -3.23901215e-04 -3.48098287e-02] [ 2.64981431e-02 3.29750142e-04 9.99648808e-01 -1.27761881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78463044 meters Centerline goodness [0,1] 0.3144571292919265 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:-0.01 [[ 9.99651727e-01 2.28950897e-04 -2.63888673e-02 3.06272097e+00] [-2.39280425e-04 9.99999896e-01 -3.88278005e-04 -3.41688603e-02] [ 2.63887756e-02 3.94457117e-04 9.99651678e-01 -1.30128291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81463044 meters Centerline goodness [0,1] 0.30972749297828095 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:-0.01 [[ 9.99646146e-01 2.64286390e-04 -2.65991217e-02 3.06351195e+00] [-2.76260607e-04 9.99999862e-01 -4.46499607e-04 -3.33485003e-02] [ 2.65990001e-02 4.53689901e-04 9.99646081e-01 -1.34515457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84463044 meters Centerline goodness [0,1] 0.3147200416359457 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:-0.01 [[ 9.99641483e-01 2.20917797e-04 -2.67741875e-02 3.06439645e+00] [-2.42112914e-04 9.99999660e-01 -7.88385812e-04 -3.12221276e-02] [ 2.67740042e-02 7.94585539e-04 9.99641196e-01 -1.41524116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87463043999999 meters Centerline goodness [0,1] 0.31474723044032216 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.03, Z:-0.01 [[ 9.99638784e-01 1.33350718e-04 -2.68753444e-02 3.06483932e+00] [-1.63785844e-04 9.99999348e-01 -1.13025720e-03 -2.94778042e-02] [ 2.68751761e-02 1.13425073e-03 9.99638154e-01 -1.44616352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90463043999999 meters Centerline goodness [0,1] 0.31297660452355747 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.03, Z:-0.01 [[ 9.99635987e-01 9.89843792e-05 -2.69793381e-02 3.06527659e+00] [-1.39504887e-04 9.99998865e-01 -1.50003081e-03 -2.71895870e-02] [ 2.69791590e-02 1.50324853e-03 9.99634866e-01 -1.48315855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93463043999999 meters Centerline goodness [0,1] 0.31176154094479713 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.02, Z:-0.02 [[ 9.99635168e-01 1.41900425e-04 -2.70094572e-02 3.06561015e+00] [-1.91682977e-04 9.99998288e-01 -1.84057244e-03 -2.46414381e-02] [ 2.70091497e-02 1.84507820e-03 9.99633484e-01 -1.52729397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96463044 meters Centerline goodness [0,1] 0.3139512237346086 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.02, Z:-0.02 [[ 9.99637464e-01 1.66242474e-04 -2.69242201e-02 3.06552201e+00] [-2.27079696e-04 9.99997428e-01 -2.25653054e-03 -2.17705394e-02] [ 2.69237758e-02 2.26182641e-03 9.99634931e-01 -1.54733426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99463044 meters Centerline goodness [0,1] 0.31503958931523535 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.02, Z:-0.02 [[ 9.99638724e-01 1.29569807e-04 -2.68775899e-02 3.06550100e+00] [-2.03002877e-04 9.99996255e-01 -2.72941941e-03 -1.88316758e-02] [ 2.68771356e-02 2.73388956e-03 9.99635006e-01 -1.57308668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02463044 meters Centerline goodness [0,1] 0.3141717350075207 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.01, Z:-0.02 [[ 9.99623261e-01 3.54590976e-03 -2.72169670e-02 3.06657059e+00] [-3.55218052e-03 9.99993674e-01 -1.82053270e-04 -1.32328379e-02] [ 2.72161493e-02 2.78664264e-04 9.99629533e-01 -1.62591974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05463044 meters Centerline goodness [0,1] 0.31184507799892414 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.01, Z:-0.02 [[ 9.99593623e-01 -1.32312798e-03 -2.84752197e-02 3.08792103e+00] [ 1.38839473e-03 9.99996454e-01 2.27240499e-03 -5.70852180e-03] [ 2.84721121e-02 -2.31101638e-03 9.99591916e-01 -1.52828085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08463044 meters Centerline goodness [0,1] 0.3153566689146562 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.00, Z:-0.02 [[ 9.99596075e-01 -1.46385471e-03 -2.83821212e-02 3.08776550e+00] [ 1.51348756e-03 9.99997363e-01 1.72733294e-03 -2.69832165e-03] [ 2.83795178e-02 -1.76959121e-03 9.99595654e-01 -1.54777659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.11463044 meters Centerline goodness [0,1] 0.3088551522449682 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.00, Z:-0.01 [[ 9.99614429e-01 6.72561820e-03 -2.69399141e-02 3.10691973e+00] [-6.72337287e-03 9.99977383e-01 1.73925998e-04 -1.42910147e-03] [ 2.69404746e-02 7.26815043e-06 9.99637040e-01 -1.38880180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14463044 meters Centerline goodness [0,1] 0.3138684542724067 Centerline is valid? [False, False] Translation: X:3.08, Y:0.01, Z:-0.02 [[ 9.99710309e-01 -5.05886668e-04 -2.40633137e-02 3.08434111e+00] [ 5.28597306e-04 9.99999421e-01 9.37435351e-04 7.23824242e-03] [ 2.40628255e-02 -9.49883587e-04 9.99709997e-01 -1.53159862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.17463044 meters Centerline goodness [0,1] 0.31213935294244777 Centerline is valid? [False, False] Translation: X:3.08, Y:0.01, Z:-0.02 [[ 9.99705403e-01 -5.61628910e-04 -2.42650524e-02 3.08488761e+00] [ 5.80349797e-04 9.99999539e-01 7.64481190e-04 8.35197207e-03] [ 2.42646119e-02 -7.78338194e-04 9.99705268e-01 -1.54369894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20463044 meters Centerline goodness [0,1] 0.31212055974165764 Centerline is valid? [False, False] Translation: X:3.09, Y:0.01, Z:-0.02 [[ 9.99697933e-01 -6.69974176e-04 -2.45681655e-02 3.08585834e+00] [ 6.83841644e-04 9.99999612e-01 5.56051379e-04 9.42157716e-03] [ 2.45677835e-02 -5.72684148e-04 9.99698002e-01 -1.58451605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23463044 meters Centerline goodness [0,1] 0.3127508956705659 Centerline is valid? [False, False] Translation: X:3.09, Y:0.01, Z:-0.02 [[ 9.99690325e-01 -8.07562647e-04 -2.48717200e-02 3.08680572e+00] [ 8.16344073e-04 9.99999608e-01 3.42917204e-04 1.02295553e-02] [ 2.48714333e-02 -3.63114892e-04 9.99690592e-01 -1.61959320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26463043999999 meters Centerline goodness [0,1] 0.3114679396766844 Centerline is valid? [False, False] Translation: X:3.09, Y:0.01, Z:-0.02 [[ 9.99688767e-01 -9.58972385e-04 -2.49288700e-02 3.08692908e+00] [ 9.62117784e-04 9.99999531e-01 1.14181119e-04 1.10398419e-02] [ 2.49287488e-02 -1.38130092e-04 9.99689221e-01 -1.61462280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29463043999999 meters Centerline goodness [0,1] 0.31356114334837737 Centerline is valid? [False, False] Translation: X:3.11, Y:0.01, Z:-0.01 [[ 9.99702334e-01 6.69758884e-03 -2.34602846e-02 3.10536102e+00] [-6.73769505e-03 9.99975972e-01 -1.63090812e-03 1.00768258e-02] [ 2.34487977e-02 1.78849090e-03 9.99723439e-01 -1.44463656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32463043999999 meters Centerline goodness [0,1] 0.3153651082645166 Centerline is valid? [False, False] Translation: X:3.08, Y:0.02, Z:-0.01 [[ 9.99824221e-01 5.92215854e-04 -1.87397001e-02 3.08004104e+00] [-5.96941633e-04 9.99999791e-01 -2.46587362e-04 1.73295985e-02] [ 1.87395501e-02 2.57730524e-04 9.99824366e-01 -1.45616431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35463044 meters Centerline goodness [0,1] 0.3131337050351969 Centerline is valid? [False, False] Translation: X:3.08, Y:0.02, Z:-0.01 [[ 9.99828501e-01 4.56024294e-04 -1.85137902e-02 3.07926355e+00] [-4.67637337e-04 9.99999697e-01 -6.22940077e-04 1.94244637e-02] [ 1.85135005e-02 6.31490983e-04 9.99828411e-01 -1.42162480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38463044 meters Centerline goodness [0,1] 0.3160770593062935 Centerline is valid? [False, False] Translation: X:3.08, Y:0.02, Z:-0.01 [[ 9.99828781e-01 2.89715909e-04 -1.85020078e-02 3.07928460e+00] [-3.08286419e-04 9.99999452e-01 -1.00085808e-03 2.11860217e-02] [ 1.85017077e-02 1.00639063e-03 9.99828322e-01 -1.43264206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41463044 meters Centerline goodness [0,1] 0.3171013104619269 Centerline is valid? [False, False] Translation: X:3.08, Y:0.02, Z:-0.02 [[ 9.99821826e-01 -4.90796159e-05 -1.88762569e-02 3.08067974e+00] [ 1.57929739e-05 9.99998445e-01 -1.76355830e-03 2.45932553e-02] [ 1.88763141e-02 1.76294597e-03 9.99820272e-01 -1.51945736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44463044 meters Centerline goodness [0,1] 0.31034482758620685 Centerline is valid? [False, False] Translation: X:3.10, Y:0.03, Z:-0.01 [[ 9.99777318e-01 -7.05681065e-03 -1.98876005e-02 3.09956138e+00] [ 7.04012026e-03 9.99974805e-01 -9.09124641e-04 3.22987104e-02] [ 1.98935150e-02 7.68911095e-04 9.99801809e-01 -1.35670155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47463044 meters Centerline goodness [0,1] 0.31340130628785756 Centerline is valid? [False, False] Translation: X:3.10, Y:0.03, Z:-0.01 [[ 9.99775330e-01 -7.16463412e-03 -1.99488607e-02 3.09970717e+00] [ 7.14175136e-03 9.99973755e-01 -1.21807755e-03 3.39963219e-02] [ 1.99570643e-02 1.07533408e-03 9.99800260e-01 -1.36506298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50463044 meters Centerline goodness [0,1] 0.3141719331659597 Centerline is valid? [False, False] Translation: X:3.10, Y:0.04, Z:-0.01 [[ 9.99775105e-01 -7.27478987e-03 -1.99202678e-02 3.09938625e+00] [ 7.24643339e-03 9.99972626e-01 -1.49531271e-03 3.53713825e-02] [ 1.99306006e-02 1.35062553e-03 9.99800454e-01 -1.32749675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.53463044 meters Centerline goodness [0,1] 0.3173676182174766 Centerline is valid? [False, False] Translation: X:3.10, Y:0.04, Z:-0.01 [[ 9.99776830e-01 -7.38522952e-03 -1.97926466e-02 3.09873703e+00] [ 7.35164901e-03 9.99971412e-01 -1.76884133e-03 3.66582639e-02] [ 1.98051440e-02 1.62293798e-03 9.99802542e-01 -1.27735427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56463044 meters Centerline goodness [0,1] 0.31326570089842243 Centerline is valid? [False, False] Translation: X:3.12, Y:0.04, Z:-0.01 [[ 9.99834060e-01 4.82709658e-04 -1.82104078e-02 3.11793042e+00] [-5.40308872e-04 9.99994867e-01 -3.15819576e-03 3.63701894e-02] [ 1.82087898e-02 3.16751093e-03 9.99829189e-01 -1.13667238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59463044 meters Centerline goodness [0,1] 0.3141137267548103 Centerline is valid? [False, False] Translation: X:3.12, Y:0.04, Z:-0.01 [[ 9.99834509e-01 4.55086297e-04 -1.81864467e-02 3.11803564e+00] [-5.14766569e-04 9.99994498e-01 -3.27703303e-03 3.75815791e-02] [ 1.81848553e-02 3.28585248e-03 9.99829243e-01 -1.16388838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62463043999999 meters Centerline goodness [0,1] 0.3146375715674624 Centerline is valid? [False, False] Translation: X:3.12, Y:0.04, Z:-0.01 [[ 9.99832619e-01 3.87221004e-04 -1.82916276e-02 3.11878072e+00] [-4.48566815e-04 9.99994289e-01 -3.34978071e-03 3.77518908e-02] [ 1.82902260e-02 3.35742503e-03 9.99827083e-01 -1.23515924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65463043999999 meters Centerline goodness [0,1] 0.3142937413554634 Centerline is valid? [False, False] Translation: X:3.12, Y:0.04, Z:-0.01 [[ 9.99830326e-01 2.62353730e-04 -1.84187770e-02 3.11939347e+00] [-3.25052607e-04 9.99994163e-01 -3.40116259e-03 3.73599802e-02] [ 1.84177772e-02 3.40657257e-03 9.99824575e-01 -1.27834213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68463043999999 meters Centerline goodness [0,1] 0.31479205743483607 Centerline is valid? [False, False] Translation: X:3.12, Y:0.04, Z:-0.01 [[ 9.99828281e-01 1.46569906e-04 -1.85306788e-02 3.11953570e+00] [-2.08248897e-04 9.99994445e-01 -3.32659400e-03 3.61782449e-02] [ 1.85300883e-02 3.32988176e-03 9.99822758e-01 -1.25590221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71463044 meters Centerline goodness [0,1] 0.3182782661412549 Centerline is valid? [False, False] Translation: X:3.12, Y:0.03, Z:-0.01 [[ 9.99838381e-01 -3.20446852e-04 -1.79752634e-02 3.11719439e+00] [ 2.65375262e-04 9.99995264e-01 -3.06604477e-03 3.25414740e-02] [ 1.79761608e-02 3.06077904e-03 9.99833731e-01 -1.09035589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74463044 meters Centerline goodness [0,1] 0.31534407404233444 Centerline is valid? [False, False] Translation: X:3.14, Y:0.03, Z:-0.01 [[ 9.99815661e-01 -8.04377750e-03 -1.74339202e-02 3.13710339e+00] [ 8.01882639e-03 9.99966723e-01 -1.50061572e-03 3.35193472e-02] [ 1.74454107e-02 1.36053952e-03 9.99846892e-01 -9.30916201e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77463044 meters Centerline goodness [0,1] 0.3164014953921057 Centerline is valid? [False, False] Translation: X:3.12, Y:0.02, Z:-0.01 [[ 9.99858149e-01 -1.05904328e-03 -1.68095069e-02 3.11895330e+00] [ 1.01784954e-03 9.99996459e-01 -2.45898774e-03 2.41144832e-02] [ 1.68120516e-02 2.44152938e-03 9.99855687e-01 -1.15384365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80463044 meters Centerline goodness [0,1] 0.31707792629823006 Centerline is valid? [False, False] Translation: X:3.12, Y:0.02, Z:-0.01 [[ 9.99853653e-01 -1.10433557e-03 -1.70719918e-02 3.11970365e+00] [ 1.06905373e-03 9.99997274e-01 -2.07563843e-03 2.08931848e-02] [ 1.70742374e-02 2.05708379e-03 9.99852108e-01 -1.17163525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83463044 meters Centerline goodness [0,1] 0.3172197543767964 Centerline is valid? [False, False] Translation: X:3.12, Y:0.02, Z:-0.01 [[ 9.99850665e-01 -1.05272423e-03 -1.72493465e-02 3.12012777e+00] [ 1.02518783e-03 9.99998186e-01 -1.60513857e-03 1.75937998e-02] [ 1.72510050e-02 1.58721504e-03 9.99849931e-01 -1.17011408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86463044 meters Centerline goodness [0,1] 0.3172197543767964 Centerline is valid? [False, False] Translation: X:3.12, Y:0.02, Z:-0.01 [[ 9.99850665e-01 -1.05272423e-03 -1.72493465e-02 3.12012777e+00] [ 1.02518783e-03 9.99998186e-01 -1.60513857e-03 1.75937998e-02] [ 1.72510050e-02 1.58721504e-03 9.99849931e-01 -1.17011408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.89463044 meters Centerline goodness [0,1] 0.31443232566128476 Centerline is valid? [False, False] Translation: X:3.14, Y:0.01, Z:-0.01 [[ 9.99827325e-01 -8.40376518e-03 -1.65739615e-02 3.14084962e+00] [ 8.41157218e-03 9.99964542e-01 4.01383515e-04 1.34212140e-02] [ 1.65700007e-02 -5.40727279e-04 9.99862562e-01 -1.06805339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92463044 meters Centerline goodness [0,1] 0.31438878448145513 Centerline is valid? [False, False] Translation: X:3.13, Y:0.00, Z:-0.01 [[ 9.99905545e-01 -2.73298098e-03 -1.34696380e-02 3.12536115e+00] [ 2.73752339e-03 9.99996202e-01 3.18807038e-04 3.99866395e-03] [ 1.34687156e-02 -3.55650374e-04 9.99909229e-01 -1.34466462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.95463044 meters Centerline goodness [0,1] 0.31811542067281484 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.01, Z:-0.02 [[ 9.99940329e-01 2.89589251e-03 -1.05334246e-02 3.10850117e+00] [-2.90161361e-03 9.99995651e-01 -5.27895364e-04 -6.13225733e-03] [ 1.05318501e-02 5.58427792e-04 9.99944383e-01 -1.61728627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98463044 meters Centerline goodness [0,1] 0.31913272525415237 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.01, Z:-0.02 [[ 9.99939104e-01 3.02635886e-03 -1.06126881e-02 3.10832916e+00] [-3.02575673e-03 9.99995420e-01 7.27923623e-05 -1.01974368e-02] [ 1.06128598e-02 -4.06765170e-05 9.99943681e-01 -1.56559383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01463043999999 meters Centerline goodness [0,1] 0.3135860809794866 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.02, Z:-0.02 [[ 9.99937226e-01 -2.37425188e-03 -1.09502257e-02 3.13185903e+00] [ 2.41393449e-03 9.99990563e-01 3.61211625e-03 -1.64075019e-02] [ 1.09415463e-02 -3.63832263e-03 9.99933520e-01 -1.61321980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04463043999999 meters Centerline goodness [0,1] 0.31238535079957697 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.02, Z:-0.02 [[ 9.99935478e-01 -2.09265499e-03 -1.11651170e-02 3.13298763e+00] [ 2.13969813e-03 9.99988878e-01 4.20312325e-03 -1.90795451e-02] [ 1.11561972e-02 -4.22674203e-03 9.99928834e-01 -1.70074762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07463043999999 meters Centerline goodness [0,1] 0.31350917878584283 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.02, Z:-0.02 [[ 9.99934189e-01 -1.95141963e-03 -1.13052548e-02 3.13371829e+00] [ 2.00279394e-03 9.99987712e-01 4.53474796e-03 -2.09816401e-02] [ 1.12962667e-02 -4.55709162e-03 9.99925811e-01 -1.75603230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10463044 meters Centerline goodness [0,1] 0.3132046131916548 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.02, Z:-0.02 [[ 9.99935479e-01 -1.86585847e-03 -1.12051823e-02 3.13346469e+00] [ 1.91968346e-03 9.99986663e-01 4.79474756e-03 -2.27429842e-02] [ 1.11960865e-02 -4.81594860e-03 9.99925724e-01 -1.75761619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13463044 meters Centerline goodness [0,1] 0.3137682882026236 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:-0.02 [[ 9.99940117e-01 -1.44764332e-03 -1.08473904e-02 3.13245287e+00] [ 1.50613613e-03 9.99984361e-01 5.38611211e-03 -2.51835204e-02] [ 1.08394236e-02 -5.40212723e-03 9.99926659e-01 -1.72732207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16463044 meters Centerline goodness [0,1] 0.31294987354905646 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:-0.02 [[ 9.99937675e-01 -1.36301780e-03 -1.10809659e-02 3.13334444e+00] [ 1.42370576e-03 9.99984022e-01 5.47073262e-03 -2.55021532e-02] [ 1.10733322e-02 -5.48616770e-03 9.99923639e-01 -1.78418208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19463044 meters Centerline goodness [0,1] 0.3124295988215926 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:-0.02 [[ 9.99934971e-01 -1.37756694e-03 -1.13206308e-02 3.13434258e+00] [ 1.43893183e-03 9.99984307e-01 5.41426771e-03 -2.54077106e-02] [ 1.13129946e-02 -5.43020524e-03 9.99921261e-01 -1.85794417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22463044 meters Centerline goodness [0,1] 0.31413270637408564 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.03, Z:-0.02 [[ 9.99933253e-01 -1.32488409e-03 -1.14775417e-02 3.13505794e+00] [ 1.38780769e-03 9.99984043e-01 5.47609544e-03 -2.56538405e-02] [ 1.14701034e-02 -5.49165855e-03 9.99919136e-01 -1.91540075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.25463044 meters Centerline goodness [0,1] 0.31162296397510136 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.03, Z:-0.02 [[ 9.99933958e-01 -1.29008118e-03 -1.14199158e-02 3.13509574e+00] [ 1.35314618e-03 9.99983869e-01 5.51636737e-03 -2.56896563e-02] [ 1.14126150e-02 -5.53145587e-03 9.99919574e-01 -1.94283748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28463044 meters Centerline goodness [0,1] 0.3148629899410337 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:-0.02 [[ 9.99938565e-01 -1.28979682e-03 -1.10092372e-02 3.13400571e+00] [ 1.35115221e-03 9.99983589e-01 5.56746589e-03 -2.59078739e-02] [ 1.10018756e-02 -5.58199900e-03 9.99923897e-01 -1.92424721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.31463044 meters Centerline goodness [0,1] 0.3113074053428241 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.03, Z:-0.02 [[ 0.99993186 0.00651037 -0.00968923 3.15289064] [-0.00647169 0.99997099 0.00401813 -0.02837798] [ 0.00971511 -0.00395515 0.99994499 -0.0181035 ] [ 0. 0. 0. 1. ]] SLAMing on 83.34463044 meters Centerline goodness [0,1] 0.31278351406229754 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.03, Z:-0.02 [[ 0.99993278 0.00648457 -0.00961183 3.15255807] [-0.00644505 0.99997068 0.00413638 -0.02922546] [ 0.00963837 -0.00407415 0.99994525 -0.01786122] [ 0. 0. 0. 1. ]] SLAMing on 83.37463043999999 meters Centerline goodness [0,1] 0.3131156374609333 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.03, Z:-0.02 [[ 0.99993217 0.00648516 -0.0096746 3.15274812] [-0.00644336 0.9999698 0.00434635 -0.03047982] [ 0.00970249 -0.00428372 0.99994375 -0.01792383] [ 0. 0. 0. 1. ]] SLAMing on 83.40463043999999 meters Centerline goodness [0,1] 0.31185622548808345 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.03, Z:-0.02 [[ 9.99947900e-01 2.97339260e-03 -9.76505716e-03 3.15372245e+00] [-2.96182040e-03 9.99994895e-01 1.19930994e-03 -3.22012048e-02] [ 9.76857332e-03 -1.17032511e-03 9.99951601e-01 -1.89300302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43463043999999 meters Centerline goodness [0,1] 0.3158730849582173 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.03, Z:-0.02 [[ 9.99946058e-01 2.99293282e-03 -9.94598271e-03 3.15410551e+00] [-2.97839605e-03 9.99994475e-01 1.47606254e-03 -3.39386883e-02] [ 9.95034551e-03 -1.44635984e-03 9.99949448e-01 -1.88384299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46463044 meters Centerline goodness [0,1] 0.319076936512095 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.04, Z:-0.02 [[ 9.99944411e-01 3.03675299e-03 -1.00971717e-02 3.15426963e+00] [-3.01932583e-03 9.99993927e-01 1.74073988e-03 -3.54164441e-02] [ 1.01023966e-02 -1.71015646e-03 9.99947507e-01 -1.85160077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49463044 meters Centerline goodness [0,1] 0.31373055322445287 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.03, Z:-0.02 [[ 9.99937246e-01 -4.42833869e-03 -1.02904330e-02 3.17423787e+00] [ 4.45812225e-03 9.99985935e-01 2.87316178e-03 -3.24223266e-02] [ 1.02775649e-02 -2.91885749e-03 9.99942924e-01 -1.72270087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52463044 meters Centerline goodness [0,1] 0.3128225996444711 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.03, Z:-0.02 [[ 0.99993619 -0.00432153 -0.01043774 3.17464445] [ 0.00435494 0.99998546 0.00318076 -0.03391227] [ 0.01042384 -0.00322602 0.99994047 -0.0172808 ] [ 0. 0. 0. 1. ]] SLAMing on 83.55463044 meters Centerline goodness [0,1] 0.312206572769953 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.04, Z:-0.02 [[ 0.99993713 -0.00419046 -0.01040072 3.17442912] [ 0.00422754 0.99998478 0.00354543 -0.03600711] [ 0.0103857 -0.00358918 0.99993963 -0.01703251] [ 0. 0. 0. 1. ]] SLAMing on 83.58463044 meters Centerline goodness [0,1] 0.3168735891647856 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.04, Z:-0.02 [[ 0.99993563 -0.00413511 -0.010566 3.17478834] [ 0.00417404 0.99998457 0.00366495 -0.03666193] [ 0.01055068 -0.00370882 0.99993746 -0.01698303] [ 0. 0. 0. 1. ]] SLAMing on 83.61463044 meters Centerline goodness [0,1] 0.3128347422081693 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.04, Z:-0.02 [[ 9.99936231e-01 4.21749675e-03 -1.04760303e-02 3.19443455e+00] [-4.19222226e-03 9.99988252e-01 2.43339048e-03 -4.00155494e-02] [ 1.04861700e-02 -2.38931746e-03 9.99942164e-01 -1.54718708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64463044 meters Centerline goodness [0,1] 0.3165553435114504 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.04, Z:-0.02 [[ 9.99934746e-01 4.30729712e-03 -1.05806655e-02 3.19469341e+00] [-4.28092920e-03 9.99987678e-01 2.51347049e-03 -4.02037081e-02] [ 1.05913614e-02 -2.46801140e-03 9.99940864e-01 -1.55131461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.67463044 meters Centerline goodness [0,1] 0.3143808398668242 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.04, Z:-0.02 [[ 9.99936208e-01 4.53483950e-03 -1.03448166e-02 3.19427823e+00] [-4.50788857e-03 9.99986389e-01 2.62709131e-03 -4.03537044e-02] [ 1.03565892e-02 -2.58029045e-03 9.99943040e-01 -1.57317199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70463044 meters Centerline goodness [0,1] 0.31490212266713014 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.04, Z:-0.02 [[ 0.99993574 -0.00390057 -0.0106439 3.17509727] [ 0.00394149 0.99998491 0.00382613 -0.0376864 ] [ 0.01062882 -0.00386784 0.99993603 -0.01716426] [ 0. 0. 0. 1. ]] SLAMing on 83.73463044 meters Centerline goodness [0,1] 0.31402090742536914 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.04, Z:-0.02 [[ 9.99931319e-01 4.32010022e-03 -1.08946424e-02 3.19490131e+00] [-4.29278645e-03 9.99987587e-01 2.52922259e-03 -4.15575574e-02] [ 1.09054337e-02 -2.48228051e-03 9.99937453e-01 -1.57885855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76463043999999 meters Centerline goodness [0,1] 0.3197105429499335 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.04, Z:-0.02 [[ 0.99992003 -0.00415284 -0.01194508 3.17649391] [ 0.00420094 0.99998316 0.00400455 -0.03975343] [ 0.01192825 -0.00405441 0.99992064 -0.01743025] [ 0. 0. 0. 1. ]] SLAMing on 83.79463043999999 meters Centerline goodness [0,1] 0.3157165136024952 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.04, Z:-0.02 [[ 9.99920410e-01 3.92363335e-03 -1.19908054e-02 3.19526451e+00] [-3.89271067e-03 9.99989040e-01 2.60111765e-03 -4.41382760e-02] [ 1.20008799e-02 -2.55423389e-03 9.99924725e-01 -1.56712893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82463043999999 meters Centerline goodness [0,1] 0.31635202363624515 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.05, Z:-0.02 [[ 9.99922239e-01 3.95116574e-03 -1.18281230e-02 3.19449666e+00] [-3.91798381e-03 9.99988328e-01 2.82720019e-03 -4.56988550e-02] [ 1.18391556e-02 -2.78063795e-03 9.99926048e-01 -1.50182180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85463044 meters Centerline goodness [0,1] 0.31778167110072897 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.05, Z:-0.01 [[ 0.9999299 0.00395544 -0.01115976 3.19219391] [-0.00391871 0.99998684 0.00331181 -0.04938393] [ 0.01117271 -0.00326784 0.99993224 -0.01381268] [ 0. 0. 0. 1. ]] SLAMing on 83.88463044 meters Centerline goodness [0,1] 0.31720117872276354 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.05, Z:-0.01 [[ 0.99992991 0.00405633 -0.01112277 3.19213323] [-0.00401544 0.99998511 0.00369595 -0.05142976] [ 0.01113759 -0.00365103 0.99993131 -0.01383026] [ 0. 0. 0. 1. ]] SLAMing on 83.91463044 meters Centerline goodness [0,1] 0.31787229413684326 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.05, Z:-0.02 [[ 0.99992164 -0.00462248 -0.01163391 3.17263873] [ 0.00468342 0.99997543 0.00521653 -0.05100168] [ 0.01160951 -0.0052706 0.99991872 -0.01541974] [ 0. 0. 0. 1. ]] SLAMing on 83.94463044 meters Centerline goodness [0,1] 0.3183229476518228 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.05, Z:-0.02 [[ 0.99992058 -0.00456867 -0.01174561 3.17307147] [ 0.00463412 0.99997385 0.00555126 -0.0530279 ] [ 0.01171994 -0.00560525 0.99991561 -0.01557749] [ 0. 0. 0. 1. ]] SLAMing on 83.97463044 meters Centerline goodness [0,1] 0.318030158592599 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.06, Z:-0.02 [[ 0.99991138 -0.0049092 -0.01237498 3.17458262] [ 0.00498061 0.99997108 0.00574677 -0.05645228] [ 0.01234641 -0.00580789 0.99990691 -0.01557276] [ 0. 0. 0. 1. ]] SLAMing on 84.00463044 meters Centerline goodness [0,1] 0.3174514401256211 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.06, Z:-0.01 [[ 9.99904838e-01 1.72220708e-03 -1.36875835e-02 3.19575835e+00] [-1.67570376e-03 9.99992788e-01 3.40822508e-03 -6.11394516e-02] [ 1.36933544e-02 -3.38496441e-03 9.99900512e-01 -1.44086529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.03463044 meters Centerline goodness [0,1] 0.31666164507381744 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.06, Z:-0.01 [[ 9.99898379e-01 1.78298084e-03 -1.41439739e-02 3.19697121e+00] [-1.72938309e-03 9.99991282e-01 3.80076712e-03 -6.33476506e-02] [ 1.41506272e-02 -3.77592054e-03 9.99892745e-01 -1.45834713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06463044 meters Centerline goodness [0,1] 0.3167734230810987 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.07, Z:-0.01 [[ 9.99894244e-01 1.90105573e-03 -1.44183009e-02 3.19766449e+00] [-1.83831760e-03 9.99988791e-01 4.36329027e-03 -6.64338554e-02] [ 1.44264341e-02 -4.33632341e-03 9.99886531e-01 -1.46259824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09463044 meters Centerline goodness [0,1] 0.31256545621647036 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.07, Z:-0.01 [[ 9.99926031e-01 1.52357781e-03 -1.20669545e-02 3.24070404e+00] [-1.48127756e-03 9.99992730e-01 3.51362403e-03 -6.88133340e-02] [ 1.20722201e-02 -3.49548962e-03 9.99921018e-01 -1.44441010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12463043999999 meters Centerline goodness [0,1] 0.32096732252752014 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.08, Z:-0.02 [[ 9.99949743e-01 -4.32356530e-03 -9.04538251e-03 3.20134958e+00] [ 4.34531024e-03 9.99987713e-01 2.38571212e-03 -8.07475247e-02] [ 9.03495659e-03 -2.42489722e-03 9.99956244e-01 -1.63438382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15463043999999 meters Centerline goodness [0,1] 0.3198387548772338 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.08, Z:-0.02 [[ 9.99949514e-01 -4.13083312e-03 -9.16001016e-03 3.20161248e+00] [ 4.15905801e-03 9.99986656e-01 3.06441169e-03 -8.46326801e-02] [ 9.14722935e-03 -3.10235399e-03 9.99953351e-01 -1.62525017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18463043999999 meters Centerline goodness [0,1] 0.3190903418748252 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.09, Z:-0.02 [[ 0.99994991 -0.00392721 -0.00920607 3.2019755 ] [ 0.00396018 0.9999858 0.00356579 -0.08705526] [ 0.00919194 -0.00360207 0.99995127 -0.01654686] [ 0. 0. 0. 1. ]] SLAMing on 84.21463044 meters Centerline goodness [0,1] 0.31895433316035293 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.09, Z:-0.02 [[ 0.99994931 -0.0037494 -0.00934482 3.20245625] [ 0.00378593 0.99998525 0.0038944 -0.08854037] [ 0.00933008 -0.00392958 0.99994875 -0.01673252] [ 0. 0. 0. 1. ]] SLAMing on 84.24463044 meters Centerline goodness [0,1] 0.32021288150320404 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.09, Z:-0.02 [[ 0.99994844 -0.00357857 -0.00950327 3.20289317] [ 0.0036171 0.99998529 0.00404069 -0.08901696] [ 0.00948867 -0.00407486 0.99994668 -0.01682055] [ 0. 0. 0. 1. ]] SLAMing on 84.27463044 meters Centerline goodness [0,1] 0.3216802993386704 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.09, Z:-0.02 [[ 9.99948037e-01 -2.33494077e-03 -9.92322790e-03 3.20370336e+00] [ 2.38416686e-03 9.99984898e-01 4.95176255e-03 -8.95667292e-02] [ 9.91151597e-03 -4.97516387e-03 9.99938503e-01 -1.67732565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30463044 meters Centerline goodness [0,1] 0.32034360394668515 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.09, Z:-0.02 [[ 9.99949169e-01 -1.73011486e-03 -9.93312016e-03 3.20394887e+00] [ 1.78253531e-03 9.99984520e-01 5.27091481e-03 -8.90055321e-02] [ 9.92384711e-03 -5.28835302e-03 9.99936773e-01 -1.71698233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33463044 meters Centerline goodness [0,1] 0.31941000150949905 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.09, Z:-0.02 [[ 9.99950342e-01 -1.45838386e-03 -9.85830301e-03 3.20393619e+00] [ 1.51046978e-03 9.99984930e-01 5.27807817e-03 -8.82900988e-02] [ 9.85045699e-03 -5.29270674e-03 9.99937476e-01 -1.74739192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36463044 meters Centerline goodness [0,1] 0.32201110532708654 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.09, Z:-0.02 [[ 9.99952482e-01 -1.51529607e-03 -9.63005600e-03 3.20325502e+00] [ 1.56414339e-03 9.99985940e-01 5.06687547e-03 -8.77112313e-02] [ 9.62224279e-03 -5.08169749e-03 9.99940793e-01 -1.72625821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.39463044 meters Centerline goodness [0,1] 0.31711888231034635 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.09, Z:-0.02 [[ 9.99954171e-01 5.89558850e-03 -7.54308967e-03 3.22286329e+00] [-5.87739877e-03 9.99979772e-01 2.43134211e-03 -8.79754455e-02] [ 7.55727128e-03 -2.38689694e-03 9.99968595e-01 -1.69699914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42463044 meters Centerline goodness [0,1] 0.32254240575899307 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.08, Z:-0.02 [[ 9.99986852e-01 -1.08606201e-03 -5.01165471e-03 3.19830699e+00] [ 1.10680386e-03 9.99990827e-01 4.13780855e-03 -8.36223942e-02] [ 5.00711482e-03 -4.14330107e-03 9.99978881e-01 -1.64811490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.45463044 meters Centerline goodness [0,1] 0.31994513266749536 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.08, Z:-0.02 [[ 9.99987049e-01 -1.00087550e-03 -4.98989833e-03 3.19838505e+00] [ 1.02066149e-03 9.99991621e-01 3.96424091e-03 -8.16843671e-02] [ 4.98588881e-03 -3.96928256e-03 9.99979693e-01 -1.67309075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48463043999999 meters Centerline goodness [0,1] 0.3208374746121603 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.08, Z:-0.02 [[ 9.99986684e-01 -9.94505794e-04 -5.06386312e-03 3.19884148e+00] [ 1.01305235e-03 9.99992784e-01 3.66128507e-03 -7.94463290e-02] [ 5.06018541e-03 -3.66636628e-03 9.99980476e-01 -1.72575757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51463043999999 meters Centerline goodness [0,1] 0.3200572072462512 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.08, Z:-0.02 [[ 9.99985517e-01 -1.13562810e-03 -5.26075423e-03 3.19956536e+00] [ 1.15243314e-03 9.99994240e-01 3.19248702e-03 -7.70741684e-02] [ 5.25709845e-03 -3.19850345e-03 9.99981066e-01 -1.77579945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54463043999999 meters Centerline goodness [0,1] 0.3213430822126474 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.07, Z:-0.02 [[ 9.99982974e-01 -1.44207468e-03 -5.65441520e-03 3.20063518e+00] [ 1.45639445e-03 9.99995741e-01 2.52919377e-03 -7.42681351e-02] [ 5.65074383e-03 -2.53738576e-03 9.99980815e-01 -1.81486323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57463043999999 meters Centerline goodness [0,1] 0.31931615098077215 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.08, Z:-0.02 [[ 9.99962636e-01 6.45849257e-03 -5.74583949e-03 3.22020609e+00] [-6.45382207e-03 9.99978829e-01 8.31020203e-04 -7.54761551e-02] [ 5.75108498e-03 -7.93906527e-04 9.99983147e-01 -1.68699525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60463044 meters Centerline goodness [0,1] 0.3189074905074215 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.08, Z:-0.02 [[ 9.99961922e-01 6.28783718e-03 -6.05132071e-03 3.22091518e+00] [-6.28404616e-03 9.99980047e-01 6.45287956e-04 -7.50380375e-02] [ 6.05525743e-03 -6.07236606e-04 9.99981482e-01 -1.68495710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63463044 meters Centerline goodness [0,1] 0.3193587364605359 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.07, Z:-0.02 [[ 9.99961046e-01 6.13452659e-03 -6.34618349e-03 3.22150056e+00] [-6.13133436e-03 9.99981067e-01 5.22348680e-04 -7.48740778e-02] [ 6.34926770e-03 -4.83417760e-04 9.99979726e-01 -1.66871950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66463044 meters Centerline goodness [0,1] 0.31791982105987615 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.07, Z:-0.02 [[ 9.99960448e-01 6.01968445e-03 -6.54724543e-03 3.22183930e+00] [-6.01695246e-03 9.99981803e-01 4.36891426e-04 -7.47587273e-02] [ 6.54975624e-03 -3.97479681e-04 9.99978471e-01 -1.64442637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69463044 meters Centerline goodness [0,1] 0.31824901973388187 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.07, Z:-0.02 [[ 9.99960804e-01 5.93771381e-03 -6.56772372e-03 3.22166877e+00] [-5.93557559e-03 9.99982325e-01 3.45009505e-04 -7.43024211e-02] [ 6.56965620e-03 -3.06012762e-04 9.99978373e-01 -1.60797447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72463044 meters Centerline goodness [0,1] 0.31898335776493925 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.07, Z:-0.02 [[ 9.99962364e-01 5.85152147e-03 -6.40549839e-03 3.22124769e+00] [-5.85149768e-03 9.99982880e-01 2.24547599e-05 -7.19567609e-02] [ 6.40552012e-03 1.50278443e-05 9.99979484e-01 -1.59899898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.75463044 meters Centerline goodness [0,1] 0.3161137440758294 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.07, Z:-0.02 [[ 9.99962751e-01 5.73932658e-03 -6.44645714e-03 3.22140987e+00] [-5.74140081e-03 9.99983472e-01 -3.03303571e-04 -7.02076582e-02] [ 6.44460983e-03 3.40303967e-04 9.99979175e-01 -1.60729511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78463044 meters Centerline goodness [0,1] 0.3161137440758294 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.07, Z:-0.02 [[ 9.99962751e-01 5.73932658e-03 -6.44645714e-03 3.22140987e+00] [-5.74140081e-03 9.99983472e-01 -3.03303571e-04 -7.02076582e-02] [ 6.44460983e-03 3.40303967e-04 9.99979175e-01 -1.60729511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81463044 meters Centerline goodness [0,1] 0.3191924021472192 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.06, Z:-0.02 [[ 9.99993216e-01 -7.47456203e-04 -3.60679002e-03 3.20614914e+00] [ 7.47777964e-04 9.99999717e-01 8.78622544e-05 -6.35919169e-02] [ 3.60672332e-03 -9.05587365e-05 9.99993492e-01 -1.89884690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84463044 meters Centerline goodness [0,1] 0.31575108861193935 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.06, Z:-0.02 [[ 9.99990448e-01 -9.68373616e-04 -4.26213407e-03 3.20778678e+00] [ 9.65532479e-04 9.99999310e-01 -6.68606725e-04 -5.90575632e-02] [ 4.26277859e-03 6.64485109e-04 9.99990694e-01 -1.92801555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87463043999999 meters Centerline goodness [0,1] 0.3216491258589197 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.06, Z:-0.02 [[ 9.99976166e-01 -1.53560056e-03 -6.73123269e-03 3.16263440e+00] [ 1.53674837e-03 9.99998806e-01 1.65350597e-04 -6.03994323e-02] [ 6.73097073e-03 -1.75690866e-04 9.99977331e-01 -1.78636728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90463043999999 meters Centerline goodness [0,1] 0.3177351527634741 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.06, Z:-0.02 [[ 9.99965910e-01 6.76211163e-03 -4.73833408e-03 3.18142820e+00] [-6.76710822e-03 9.99976563e-01 -1.03926487e-03 -6.04472182e-02] [ 4.73119540e-03 1.07129426e-03 9.99988234e-01 -1.72117236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93463043999999 meters Centerline goodness [0,1] 0.3201029589894445 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.06, Z:-0.02 [[ 9.99992372e-01 -1.85539731e-03 -3.43713682e-03 3.16074823e+00] [ 1.85470052e-03 9.99998259e-01 -2.05901364e-04 -5.58358947e-02] [ 3.43751286e-03 1.99524934e-04 9.99994072e-01 -1.81425250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96463044 meters Centerline goodness [0,1] 0.3206211315017917 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.06, Z:-0.02 [[ 9.99992451e-01 -1.99980224e-03 -3.33139635e-03 3.16019061e+00] [ 1.99842025e-03 9.99997916e-01 -4.18116774e-04 -5.51908169e-02] [ 3.33222555e-03 4.11456088e-04 9.99994363e-01 -1.76126606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99463044 meters Centerline goodness [0,1] 0.3181051630199775 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.05, Z:-0.02 [[ 9.99990741e-01 -2.32017921e-03 -3.62418282e-03 3.16092168e+00] [ 2.31672561e-03 9.99996859e-01 -9.56840028e-04 -5.32937406e-02] [ 3.62639147e-03 9.48434931e-04 9.99992975e-01 -1.77041893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02463044 meters Centerline goodness [0,1] 0.32077432766012737 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.05, Z:-0.02 [[ 9.99990858e-01 -2.35892422e-03 -3.56628904e-03 3.16063788e+00] [ 2.35489621e-03 9.99996585e-01 -1.13324665e-03 -5.21645895e-02] [ 3.56895011e-03 1.12483805e-03 9.99992999e-01 -1.74713823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05463044 meters Centerline goodness [0,1] 0.3204921382633198 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.05, Z:-0.02 [[ 9.99991764e-01 -2.30412427e-03 -3.34124711e-03 3.15965977e+00] [ 2.30006853e-03 9.99996614e-01 -1.21717554e-03 -5.09959732e-02] [ 3.34404032e-03 1.20948042e-03 9.99993677e-01 -1.67568696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08463044 meters Centerline goodness [0,1] 0.3240071416129594 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.05, Z:-0.02 [[ 9.99983235e-01 5.35301173e-03 -2.20781794e-03 3.13856221e+00] [-5.35715314e-03 9.99983894e-01 -1.87416779e-03 -5.44687224e-02] [ 2.19774994e-03 1.88596399e-03 9.99995807e-01 -1.70340009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11463044 meters Centerline goodness [0,1] 0.3215287063796748 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.05, Z:-0.02 [[ 9.99994387e-01 -1.61724448e-03 -2.93438629e-03 3.15737575e+00] [ 1.61315345e-03 9.99997724e-01 -1.39600271e-03 -4.56052570e-02] [ 2.93663729e-03 1.39126126e-03 9.99994720e-01 -1.55061855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14463044 meters Centerline goodness [0,1] 0.3169383689295431 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.04, Z:-0.02 [[ 9.99992587e-01 -1.80013141e-03 -3.40370688e-03 3.15886759e+00] [ 1.79412016e-03 9.99996827e-01 -1.76831766e-03 -4.42013822e-02] [ 3.40687929e-03 1.76219789e-03 9.99992644e-01 -1.61593626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.17463044 meters Centerline goodness [0,1] 0.3167763087406519 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.04, Z:-0.02 [[ 9.99990699e-01 -1.99757652e-03 -3.82241814e-03 3.16016981e+00] [ 1.98954601e-03 9.99995808e-01 -2.10354668e-03 -4.31115438e-02] [ 3.82660411e-03 2.09592224e-03 9.99990482e-01 -1.66631319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20463044 meters Centerline goodness [0,1] 0.31637703829094255 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.04, Z:-0.02 [[ 9.99989385e-01 -2.10883674e-03 -4.09667957e-03 3.16101263e+00] [ 2.09946585e-03 9.99995173e-01 -2.29039259e-03 -4.24233817e-02] [ 4.10148987e-03 2.28176744e-03 9.99988986e-01 -1.70050805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23463043999999 meters Centerline goodness [0,1] 0.32174496935040175 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.05, Z:-0.02 [[ 0.99998255 0.00492549 -0.00326186 3.14256964] [-0.00493665 0.99998196 -0.00342044 -0.04666962] [ 0.00324495 0.00343649 0.99998883 -0.01892372] [ 0. 0. 0. 1. ]] SLAMing on 85.26463043999999 meters Centerline goodness [0,1] 0.3205626543541287 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.04, Z:-0.02 [[ 9.99994135e-01 -2.55028668e-03 -2.28587170e-03 3.16045889e+00] [ 2.54436695e-03 9.99993412e-01 -2.58888329e-03 -3.87532584e-02] [ 2.29245904e-03 2.58305202e-03 9.99994036e-01 -1.71474216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29463043999999 meters Centerline goodness [0,1] 0.32262414895699654 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.04, Z:-0.02 [[ 9.99985744e-01 4.98615721e-03 -1.91049653e-03 3.14024357e+00] [-4.99320459e-03 9.99980682e-01 -3.70192958e-03 -4.16118591e-02] [ 1.89200121e-03 3.71141631e-03 9.99991323e-01 -1.78821037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32463043999999 meters Centerline goodness [0,1] 0.3178815027047831 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.03, Z:-0.02 [[ 9.99994435e-01 -1.94190627e-03 -2.71278240e-03 3.15867158e+00] [ 1.93360251e-03 9.99993448e-01 -3.06025190e-03 -3.34286349e-02] [ 2.71870735e-03 3.05498943e-03 9.99991638e-01 -1.61939065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35463044 meters Centerline goodness [0,1] 0.3227513227513228 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.03, Z:-0.02 [[ 9.99993162e-01 -2.06654207e-03 -3.06669718e-03 3.15974989e+00] [ 2.05579973e-03 9.99991755e-01 -3.50193061e-03 -3.09853768e-02] [ 3.07390879e-03 3.49560215e-03 9.99989166e-01 -1.66236760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38463044 meters Centerline goodness [0,1] 0.32295466388744143 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.02, Z:-0.02 [[ 9.99989289e-01 -1.33896854e-03 -4.43040928e-03 3.16390976e+00] [ 1.32390714e-03 9.99993341e-01 -3.40073917e-03 -2.44490967e-02] [ 4.43493326e-03 3.39483729e-03 9.99984403e-01 -1.82830589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41463044 meters Centerline goodness [0,1] 0.3232908964073945 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.02, Z:-0.02 [[ 9.99988586e-01 -1.44693339e-03 -4.55359452e-03 3.16438188e+00] [ 1.42978495e-03 9.99991883e-01 -3.76691816e-03 -2.24213659e-02] [ 4.55900804e-03 3.76036451e-03 9.99982537e-01 -1.86165309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44463044 meters Centerline goodness [0,1] 0.3193649422183821 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.02, Z:-0.02 [[ 9.99988459e-01 -1.50748417e-03 -4.56179121e-03 3.16421831e+00] [ 1.48940188e-03 9.99991032e-01 -3.96466202e-03 -2.11710851e-02] [ 4.56772696e-03 3.95782192e-03 9.99981736e-01 -1.83401046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47463044 meters Centerline goodness [0,1] 0.32047030449201086 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.02, Z:-0.02 [[ 9.99988484e-01 -1.56512959e-03 -4.53680285e-03 3.16368990e+00] [ 1.54677776e-03 9.99990619e-01 -4.04579206e-03 -2.06848473e-02] [ 4.54309248e-03 4.03872804e-03 9.99981524e-01 -1.76274055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50463044 meters Centerline goodness [0,1] 0.3200438681375395 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.02, Z:-0.02 [[ 9.99988347e-01 -1.54926463e-03 -4.57222553e-03 3.16331207e+00] [ 1.53142681e-03 9.99991213e-01 -3.90226691e-03 -2.13885841e-02] [ 4.57823100e-03 3.89521941e-03 9.99981933e-01 -1.68783655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.53463044 meters Centerline goodness [0,1] 0.3225918225918226 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.02, Z:-0.02 [[ 9.99988075e-01 -1.54324571e-03 -4.63345232e-03 3.16322213e+00] [ 1.52598637e-03 9.99991893e-01 -3.72616904e-03 -2.23362330e-02] [ 4.63916515e-03 3.71905402e-03 9.99982323e-01 -1.64713703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56463044 meters Centerline goodness [0,1] 0.3220320740501561 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.02, Z:-0.02 [[ 9.99986535e-01 -1.60089212e-03 -4.93625744e-03 3.16364303e+00] [ 1.58423823e-03 9.99993047e-01 -3.37585464e-03 -2.45565268e-02] [ 4.94162750e-03 3.36798898e-03 9.99982118e-01 -1.59190063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59463044 meters Centerline goodness [0,1] 0.3220701454234388 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.03, Z:-0.02 [[ 9.99986171e-01 -1.59069277e-03 -5.01266585e-03 3.16372273e+00] [ 1.57445096e-03 9.99993504e-01 -3.24243572e-03 -2.54118853e-02] [ 5.01779101e-03 3.23449868e-03 9.99982180e-01 -1.57125462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62463043999999 meters Centerline goodness [0,1] 0.3227378039538358 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.03, Z:-0.02 [[ 0.9999738 0.00570076 -0.00446068 3.14422928] [-0.00572008 0.99997426 -0.0043314 -0.03156439] [ 0.00443588 0.0043568 0.99998067 -0.01706271] [ 0. 0. 0. 1. ]] SLAMing on 85.65463043999999 meters Centerline goodness [0,1] 0.3212520947020152 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.03, Z:-0.02 [[ 9.99988650e-01 -1.39250076e-03 -4.55630928e-03 3.16208840e+00] [ 1.37775333e-03 9.99993808e-01 -3.23824489e-03 -2.70433199e-02] [ 4.56079032e-03 3.23193067e-03 9.99984377e-01 -1.52044274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68463043999999 meters Centerline goodness [0,1] 0.3235805960408963 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.03, Z:-0.02 [[ 9.99956712e-01 7.78429313e-03 -5.09687179e-03 3.14021575e+00] [-7.79946032e-03 9.99965195e-01 -2.96270103e-03 -3.00204606e-02] [ 5.07363185e-03 3.00232564e-03 9.99982622e-01 -1.52273251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71463044 meters Centerline goodness [0,1] 0.32024979612858917 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.03, Z:-0.01 [[ 9.99975141e-01 3.30346485e-03 -6.22926034e-03 3.16174155e+00] [-3.30281038e-03 9.99994539e-01 1.15348821e-04 -2.56673977e-02] [ 6.22960738e-03 -9.47718882e-05 9.99980591e-01 -1.47419865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74463044 meters Centerline goodness [0,1] 0.3197205571607228 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.02, Z:-0.01 [[ 9.99973589e-01 3.38412851e-03 -6.43183758e-03 3.16230756e+00] [-3.38452495e-03 9.99994271e-01 -5.07524375e-05 -2.44810496e-02] [ 6.43162898e-03 7.25198118e-05 9.99979314e-01 -1.49246238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77463044 meters Centerline goodness [0,1] 0.3146245397722408 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.02, Z:-0.02 [[ 9.99972890e-01 3.28214836e-03 -6.59146497e-03 3.16276829e+00] [-3.28518594e-03 9.99994502e-01 -4.50061146e-04 -2.28468364e-02] [ 6.58995157e-03 4.71703133e-04 9.99978175e-01 -1.51416945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80463044 meters Centerline goodness [0,1] 0.3170427681065979 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.02, Z:-0.02 [[ 9.99972100e-01 3.10852000e-03 -6.79243402e-03 3.16326425e+00] [-3.11496855e-03 9.99994708e-01 -9.38998535e-04 -2.10268997e-02] [ 6.78947917e-03 9.60130555e-04 9.99976490e-01 -1.52743602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83463044 meters Centerline goodness [0,1] 0.3154763187962144 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.02, Z:-0.02 [[ 9.99973071e-01 3.03078484e-03 -6.68363802e-03 3.16306427e+00] [-3.04000882e-03 9.99994440e-01 -1.37035664e-03 -1.88252507e-02] [ 6.67944761e-03 1.39063805e-03 9.99976725e-01 -1.54207001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86463044 meters Centerline goodness [0,1] 0.3135618671700704 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.02, Z:-0.01 [[ 9.99955711e-01 6.79663545e-03 -6.51019179e-03 3.16219214e+00] [-6.78467752e-03 9.99975259e-01 1.85712934e-03 -1.51848164e-02] [ 6.52265296e-03 -1.81287754e-03 9.99977084e-01 -1.47843837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.89463044 meters Centerline goodness [0,1] 0.3164420018607872 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.01, Z:-0.02 [[ 9.99987282e-01 -7.12568126e-04 -4.99289757e-03 3.14367034e+00] [ 7.27622473e-04 9.99995193e-01 3.01398483e-03 -8.70654200e-03] [ 4.99072590e-03 -3.01757944e-03 9.99982993e-01 -1.72564771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92463044 meters Centerline goodness [0,1] 0.31429870720457354 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.01, Z:-0.02 [[ 9.99987918e-01 -8.38466820e-04 -4.84355394e-03 3.14340362e+00] [ 8.51374380e-04 9.99996091e-01 2.66344769e-03 -7.05743256e-03] [ 4.84130179e-03 -2.66753919e-03 9.99984723e-01 -1.74228190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.95463044 meters Centerline goodness [0,1] 0.31346950985000643 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.01, Z:-0.02 [[ 9.99974829e-01 6.76244377e-03 -2.14726255e-03 3.16219713e+00] [-6.76025322e-03 9.99976623e-01 1.02578303e-03 -6.43014166e-03] [ 2.15414915e-03 -1.01124117e-03 9.99997169e-01 -1.68999908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98463043999999 meters Centerline goodness [0,1] 0.31424556852572416 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:-0.02 [[ 9.99997517e-01 -1.75139654e-03 -1.37812320e-03 3.14091857e+00] [ 1.75439435e-03 9.99996091e-01 2.17708781e-03 -3.23807241e-03] [ 1.37430487e-03 -2.17950018e-03 9.99996681e-01 -1.80969973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01463043999999 meters Centerline goodness [0,1] 0.31360196095295434 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:-0.02 [[ 9.99997080e-01 -1.83641071e-03 -1.57067687e-03 3.14155001e+00] [ 1.83984050e-03 9.99995920e-01 2.18498687e-03 -3.56579420e-03] [ 1.56665793e-03 -2.18787029e-03 9.99996379e-01 -1.83198657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04463043999999 meters Centerline goodness [0,1] 0.3126791525679433 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:-0.02 [[ 9.99995636e-01 -2.00861644e-03 -2.16636163e-03 3.14320543e+00] [ 2.01320050e-03 9.99995735e-01 2.11591561e-03 -4.05650279e-03] [ 2.16210233e-03 -2.12026770e-03 9.99995415e-01 -1.87183036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07463043999999 meters Centerline goodness [0,1] 0.31269410359430994 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:-0.02 [[ 9.99993652e-01 -2.20889031e-03 -2.79584057e-03 3.14498558e+00] [ 2.21433069e-03 9.99995658e-01 1.94428796e-03 -4.22333836e-03] [ 2.79153372e-03 -1.95046653e-03 9.99994201e-01 -1.92457922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10463044 meters Centerline goodness [0,1] 0.3117354657445429 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.00, Z:-0.02 [[ 9.99992312e-01 -2.27047912e-03 -3.19704870e-03 3.14596584e+00] [ 2.27656861e-03 9.99995599e-01 1.90237351e-03 -4.23876271e-03] [ 3.19271533e-03 -1.90963718e-03 9.99993080e-01 -1.93071541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13463044 meters Centerline goodness [0,1] 0.3096640559259499 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:-0.02 [[ 9.99994471e-01 -1.84222059e-03 -2.76850530e-03 3.14424742e+00] [ 1.84891057e-03 9.99995373e-01 2.41584662e-03 -4.43721923e-03] [ 2.76404196e-03 -2.42095198e-03 9.99993250e-01 -1.81678616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16463044 meters Centerline goodness [0,1] 0.3092879794951996 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:-0.02 [[ 9.99995493e-01 -1.77100352e-03 -2.42438166e-03 3.14324376e+00] [ 1.77702657e-03 9.99995335e-01 2.48446780e-03 -4.44452342e-03] [ 2.41997035e-03 -2.48876480e-03 9.99993975e-01 -1.78285843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19463044 meters Centerline goodness [0,1] 0.3093018750134544 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.01, Z:-0.02 [[ 9.99980947e-01 6.06453381e-03 -1.15200655e-03 3.16220310e+00] [-6.06362235e-03 9.99981302e-01 7.93039245e-04 -7.32731983e-03] [ 1.15679442e-03 -7.86038803e-04 9.99999022e-01 -1.69729202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22463044 meters Centerline goodness [0,1] 0.3113824306186951 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.01, Z:-0.02 [[ 9.99981607e-01 5.96828732e-03 -1.07960601e-03 3.16201536e+00] [-5.96739317e-03 9.99981851e-01 8.29548406e-04 -8.39814279e-03] [ 1.08453740e-03 -8.23090715e-04 9.99999073e-01 -1.69516018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.25463044 meters Centerline goodness [0,1] 0.3088873459468843 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.01, Z:-0.02 [[ 9.99981739e-01 5.90739858e-03 -1.27416393e-03 3.16263239e+00] [-5.90598068e-03 9.99981939e-01 1.11371948e-03 -1.06855811e-02] [ 1.28072010e-03 -1.10617396e-03 9.99998568e-01 -1.72178224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28463044 meters Centerline goodness [0,1] 0.307184608416194 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.01, Z:-0.02 [[ 9.99981487e-01 5.89689615e-03 -1.50050350e-03 3.16330948e+00] [-5.89506759e-03 9.99981880e-01 1.22015088e-03 -1.14255328e-02] [ 1.50767141e-03 -1.21128272e-03 9.99998130e-01 -1.74005731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.31463044 meters Centerline goodness [0,1] 0.3083365881178666 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.01, Z:-0.02 [[ 9.99981368e-01 5.84968023e-03 -1.74496160e-03 3.16401879e+00] [-5.84758720e-03 9.99982180e-01 1.20217328e-03 -1.16581786e-02] [ 1.75196283e-03 -1.19194707e-03 9.99997755e-01 -1.76274524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34463044 meters Centerline goodness [0,1] 0.3068444099311892 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.01, Z:-0.02 [[ 9.99981190e-01 5.88418026e-03 -1.73098453e-03 3.16392011e+00] [-5.88239184e-03 9.99982161e-01 1.03646457e-03 -1.00834096e-02] [ 1.73705240e-03 -1.02626274e-03 9.99997965e-01 -1.75396769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37463043999999 meters Centerline goodness [0,1] 0.311470408785845 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.00, Z:-0.02 [[ 9.99997960e-01 -1.97003276e-03 -4.46266337e-04 3.14300336e+00] [ 1.97102116e-03 9.99995581e-01 2.22532441e-03 -4.54758236e-03] [ 4.41880403e-04 -2.22619947e-03 9.99997424e-01 -1.87030010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40463043999999 meters Centerline goodness [0,1] 0.3093051762327692 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.00, Z:-0.02 [[ 9.99978796e-01 6.43876802e-03 9.74843260e-04 3.16256211e+00] [-6.43962967e-03 9.99978875e-01 8.83342133e-04 -4.11937980e-03] [-9.69135031e-04 -8.89601032e-04 9.99999135e-01 -1.78988718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43463043999999 meters Centerline goodness [0,1] 0.31131585777316373 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.00, Z:-0.02 [[ 9.99979850e-01 6.27967807e-03 9.29720796e-04 3.16262981e+00] [-6.28004447e-03 9.99980204e-01 3.91701873e-04 -1.85204351e-03] [-9.27242629e-04 -3.97532669e-04 9.99999491e-01 -1.79011619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46463044 meters Centerline goodness [0,1] 0.3074990336296869 Centerline is valid? [False, False] Translation: X:3.18, Y:0.01, Z:-0.02 [[ 9.99999522e-01 -2.87783762e-04 -9.34164189e-04 3.17977971e+00] [ 2.88438309e-04 9.99999713e-01 7.00617511e-04 5.69392413e-03] [ 9.33962294e-04 -7.00886625e-04 9.99999318e-01 -1.60026262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49463044 meters Centerline goodness [0,1] 0.31010739650095276 Centerline is valid? [False, False] Translation: X:3.18, Y:0.01, Z:-0.02 [[ 9.99999564e-01 -3.60596391e-04 -8.60929857e-04 3.17952635e+00] [ 3.60909632e-04 9.99999869e-01 3.63713315e-04 7.64689577e-03] [ 8.60798590e-04 -3.64023874e-04 9.99999563e-01 -1.59610420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52463044 meters Centerline goodness [0,1] 0.31108164507434133 Centerline is valid? [False, False] Translation: X:3.18, Y:0.01, Z:-0.02 [[ 9.99999987e-01 -1.56195476e-04 -4.87243070e-05 3.17731433e+00] [ 1.56203934e-04 9.99999973e-01 1.73650054e-04 1.08971078e-02] [ 4.86971823e-05 -1.73657663e-04 9.99999984e-01 -1.54685829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55463044 meters Centerline goodness [0,1] 0.31028883211362746 Centerline is valid? [False, False] Translation: X:3.18, Y:0.01, Z:-0.02 [[ 9.99999966e-01 -2.62222895e-04 -1.06454232e-05 3.17729216e+00] [ 2.62221243e-04 9.99999954e-01 -1.54880238e-04 1.26862560e-02] [ 1.06860358e-05 1.54877441e-04 9.99999988e-01 -1.55671393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58463044 meters Centerline goodness [0,1] 0.31133944315040163 Centerline is valid? [False, False] Translation: X:3.18, Y:0.01, Z:-0.02 [[ 9.99999884e-01 -4.48675496e-04 -1.74433828e-04 3.17792227e+00] [ 4.48569694e-04 9.99999716e-01 -6.06111391e-04 1.46582871e-02] [ 1.74705726e-04 6.06033075e-04 9.99999801e-01 -1.60333281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61463044 meters Centerline goodness [0,1] 0.3077270381836945 Centerline is valid? [False, False] Translation: X:3.20, Y:0.02, Z:-0.01 [[ 9.99971311e-01 -7.31346952e-03 -1.97225050e-03 3.19711256e+00] [ 7.31301106e-03 9.99973231e-01 -2.39562658e-04 2.31241109e-02] [ 1.97394973e-03 2.25132696e-04 9.99998026e-01 -1.48005378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64463044 meters Centerline goodness [0,1] 0.3095279341706366 Centerline is valid? [False, False] Translation: X:3.18, Y:0.02, Z:-0.02 [[ 9.99995475e-01 6.77156948e-04 -2.93109705e-03 3.17836515e+00] [-6.80092290e-04 9.99999268e-01 -1.00056760e-03 2.25331245e-02] [ 2.93041736e-03 1.00255649e-03 9.99995204e-01 -1.58317335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.67463044 meters Centerline goodness [0,1] 0.3095279341706366 Centerline is valid? [False, False] Translation: X:3.18, Y:0.02, Z:-0.02 [[ 9.99995475e-01 6.77156948e-04 -2.93109705e-03 3.17836515e+00] [-6.80092290e-04 9.99999268e-01 -1.00056760e-03 2.25331245e-02] [ 2.93041736e-03 1.00255649e-03 9.99995204e-01 -1.58317335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70463044 meters Centerline goodness [0,1] 0.309189963535336 Centerline is valid? [False, False] Translation: X:3.18, Y:0.02, Z:-0.02 [[ 9.99996248e-01 7.19797126e-04 -2.64314386e-03 3.17749530e+00] [-7.22462226e-04 9.99999232e-01 -1.00749069e-03 2.33690090e-02] [ 2.64241664e-03 1.00939648e-03 9.99995999e-01 -1.54496107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73463043999999 meters Centerline goodness [0,1] 0.30882511947754254 Centerline is valid? [False, False] Translation: X:3.18, Y:0.02, Z:-0.01 [[ 9.99997115e-01 6.30858463e-04 -2.31785452e-03 3.17639315e+00] [-6.33317315e-04 9.99999237e-01 -1.06025027e-03 2.35352340e-02] [ 2.31718388e-03 1.06171515e-03 9.99996752e-01 -1.47948089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76463043999999 meters Centerline goodness [0,1] 0.3101673658262336 Centerline is valid? [False, False] Translation: X:3.18, Y:0.02, Z:-0.01 [[ 9.99998022e-01 4.58686970e-04 -1.93553709e-03 3.17519297e+00] [-4.60913610e-04 9.99999232e-01 -1.15010985e-03 2.33791694e-02] [ 1.93500807e-03 1.15099969e-03 9.99997465e-01 -1.42260086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79463043999999 meters Centerline goodness [0,1] 0.3110360699460134 Centerline is valid? [False, False] Translation: X:3.17, Y:0.02, Z:-0.01 [[ 9.99998378e-01 2.55197568e-04 -1.78307485e-03 3.17477203e+00] [-2.57325354e-04 9.99999255e-01 -1.19319609e-03 2.27986801e-02] [ 1.78276903e-03 1.19365298e-03 9.99997698e-01 -1.40405329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82463043999999 meters Centerline goodness [0,1] 0.31060394014425663 Centerline is valid? [False, False] Translation: X:3.18, Y:0.02, Z:-0.01 [[ 9.99998141e-01 -2.92682803e-04 -1.90592488e-03 3.17525530e+00] [ 2.90362377e-04 9.99999217e-01 -1.21764328e-03 2.08744462e-02] [ 1.90627977e-03 1.21708760e-03 9.99997442e-01 -1.42562789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85463044 meters Centerline goodness [0,1] 0.31121196985819455 Centerline is valid? [False, False] Translation: X:3.18, Y:0.02, Z:-0.01 [[ 9.99997822e-01 -3.10604739e-04 -2.06405804e-03 3.17580464e+00] [ 3.08561875e-04 9.99999462e-01 -9.89976895e-04 1.94301828e-02] [ 2.06436442e-03 9.89337849e-04 9.99997380e-01 -1.44840022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88463044 meters Centerline goodness [0,1] 0.3128308600190922 Centerline is valid? [False, False] Translation: X:3.18, Y:0.02, Z:-0.01 [[ 9.99997376e-01 -3.03989559e-04 -2.27077452e-03 3.17641509e+00] [ 3.02206016e-04 9.99999646e-01 -7.85735386e-04 1.81846590e-02] [ 2.27101257e-03 7.85047082e-04 9.99997113e-01 -1.46810459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91463044 meters Centerline goodness [0,1] 0.31282428225527503 Centerline is valid? [False, False] Translation: X:3.18, Y:0.02, Z:-0.01 [[ 9.99996166e-01 -5.79038638e-04 -2.70792359e-03 3.17759125e+00] [ 5.77491094e-04 9.99999670e-01 -5.72234305e-04 1.58283817e-02] [ 2.70825404e-03 5.70668309e-04 9.99996170e-01 -1.49089594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94463044 meters Centerline goodness [0,1] 0.31261082039527743 Centerline is valid? [False, False] Translation: X:3.18, Y:0.01, Z:-0.01 [[ 9.99995988e-01 -6.01989339e-04 -2.76805122e-03 3.17771732e+00] [ 6.01074412e-04 9.99999764e-01 -3.31351187e-04 1.41818174e-02] [ 2.76825004e-03 3.29686053e-04 9.99996114e-01 -1.48617932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97463044 meters Centerline goodness [0,1] 0.31231458825057923 Centerline is valid? [False, False] Translation: X:3.18, Y:0.01, Z:-0.01 [[ 9.99995909e-01 -5.92981221e-04 -2.79815810e-03 3.17768744e+00] [ 5.92898382e-04 9.99999824e-01 -3.04345480e-05 1.23404847e-02] [ 2.79817565e-03 2.87754000e-05 9.99996085e-01 -1.47046143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00463044 meters Centerline goodness [0,1] 0.31120511049723754 Centerline is valid? [False, False] Translation: X:3.18, Y:0.01, Z:-0.01 [[ 9.99995979e-01 -5.52933762e-04 -2.78137523e-03 3.17764350e+00] [ 5.53735220e-04 9.99999805e-01 2.87389904e-04 1.05398050e-02] [ 2.78121578e-03 -2.88928894e-04 9.99996091e-01 -1.46730927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.03463044 meters Centerline goodness [0,1] 0.3138058972856864 Centerline is valid? [False, False] Translation: X:3.18, Y:0.01, Z:-0.01 [[ 9.99996057e-01 -5.19347037e-04 -2.75977675e-03 3.17766511e+00] [ 5.21066816e-04 9.99999671e-01 6.22476426e-04 8.61404186e-03] [ 2.75945256e-03 -6.23912000e-04 9.99995998e-01 -1.47553214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06463044 meters Centerline goodness [0,1] 0.3156217950116743 Centerline is valid? [False, False] Translation: X:3.18, Y:0.01, Z:-0.01 [[ 9.99995929e-01 -5.50274149e-04 -2.79976909e-03 3.17771618e+00] [ 5.52972328e-04 9.99999383e-01 9.63031943e-04 6.26980426e-03] [ 2.79923744e-03 -9.64576218e-04 9.99995617e-01 -1.46345668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09463044 meters Centerline goodness [0,1] 0.3144100054377379 Centerline is valid? [False, False] Translation: X:3.18, Y:0.00, Z:-0.01 [[ 9.99995675e-01 -6.62583351e-04 -2.86548616e-03 3.17772481e+00] [ 6.66132596e-04 9.99999012e-01 1.23784188e-03 3.95397938e-03] [ 2.86466315e-03 -1.23974532e-03 9.99995128e-01 -1.43683686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12463043999999 meters Centerline goodness [0,1] 0.3131420168248956 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.00, Z:-0.01 [[ 9.99987540e-01 -3.97909978e-03 -3.01448073e-03 3.17744618e+00] [ 3.97524843e-03 9.99991276e-01 -1.28253240e-03 -1.38733924e-03] [ 3.01955776e-03 1.27053311e-03 9.99994634e-01 -1.35284971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15463043999999 meters Centerline goodness [0,1] 0.3163813542731604 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.00, Z:-0.01 [[ 9.99987334e-01 -3.91201395e-03 -3.16662754e-03 3.17787750e+00] [ 3.90961299e-03 9.99992066e-01 -7.64040652e-04 -4.40887316e-03] [ 3.16959135e-03 7.51650687e-04 9.99994694e-01 -1.36736446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18463043999999 meters Centerline goodness [0,1] 0.31701591165985565 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.01, Z:-0.01 [[ 9.99987542e-01 -3.81213715e-03 -3.22243588e-03 3.17819460e+00] [ 3.81140001e-03 9.99992709e-01 -2.34863002e-04 -7.29339011e-03] [ 3.22330772e-03 2.22578084e-04 9.99994780e-01 -1.39592944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21463044 meters Centerline goodness [0,1] 0.3149827288428325 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.01, Z:-0.01 [[ 9.99987708e-01 -3.74000816e-03 -3.25528714e-03 3.17834278e+00] [ 3.74071837e-03 9.99992981e-01 2.12107614e-04 -9.93697800e-03] [ 3.25447101e-03 -2.24282119e-04 9.99994679e-01 -1.40359565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24463044 meters Centerline goodness [0,1] 0.31482239407190404 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.01, Z:-0.01 [[ 9.99988530e-01 -3.59449273e-03 -3.16534272e-03 3.17777468e+00] [ 3.59683691e-03 9.99993261e-01 7.35197466e-04 -1.27966515e-02] [ 3.16267873e-03 -7.46574255e-04 9.99994720e-01 -1.34557129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27463044 meters Centerline goodness [0,1] 0.31343956704750453 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.01, Z:-0.01 [[ 9.99988487e-01 -3.48830951e-03 -3.29498587e-03 3.17811454e+00] [ 3.49102494e-03 9.99993571e-01 8.18716241e-04 -1.27836040e-02] [ 3.29210875e-03 -8.30209694e-04 9.99994236e-01 -1.34840357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30463044 meters Centerline goodness [0,1] 0.3137809793328188 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.01, Z:-0.01 [[ 9.99988100e-01 -3.40712617e-03 -3.49165901e-03 3.17904725e+00] [ 3.40995588e-03 9.99993862e-01 8.04788378e-04 -1.22726641e-02] [ 3.48889556e-03 -8.16685204e-04 9.99993580e-01 -1.42273141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33463044 meters Centerline goodness [0,1] 0.3121448252109523 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.01, Z:-0.02 [[ 9.99988019e-01 -3.36379881e-03 -3.55634053e-03 3.17974825e+00] [ 3.36653945e-03 9.99994041e-01 7.64927992e-04 -1.17301503e-02] [ 3.55374627e-03 -7.76891388e-04 9.99993384e-01 -1.50691870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36463044 meters Centerline goodness [0,1] 0.3111029838865822 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.01, Z:-0.02 [[ 9.99988254e-01 -3.33166737e-03 -3.52026550e-03 3.18002838e+00] [ 3.33430204e-03 9.99994165e-01 7.42825971e-04 -1.13533172e-02] [ 3.51777011e-03 -7.54554874e-04 9.99993528e-01 -1.56591364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.39463044 meters Centerline goodness [0,1] 0.3160873430622113 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.01, Z:-0.02 [[ 9.99988717e-01 -3.43601152e-03 -3.28021883e-03 3.17944705e+00] [ 3.43868865e-03 9.99993759e-01 8.10852176e-04 -1.23294754e-02] [ 3.27741226e-03 -8.22122678e-04 9.99994291e-01 -1.56538267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42463044 meters Centerline goodness [0,1] 0.3133587296152035 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.01, Z:-0.02 [[ 9.99993712e-01 2.37250987e-03 -2.63556321e-03 3.20085720e+00] [-2.37814000e-03 9.99994893e-01 -2.13513987e-03 -1.49635413e-02] [ 2.63048411e-03 2.14139418e-03 9.99994247e-01 -1.55623789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.45463044 meters Centerline goodness [0,1] 0.31451560991309946 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.02, Z:-0.02 [[ 9.99993202e-01 2.23370198e-03 -2.93378799e-03 3.20153435e+00] [-2.23963612e-03 9.99995450e-01 -2.02096580e-03 -1.61915721e-02] [ 2.92926040e-03 2.02752268e-03 9.99993654e-01 -1.55990362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48463043999999 meters Centerline goodness [0,1] 0.31398326053747017 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.02, Z:-0.02 [[ 9.99991806e-01 1.69439233e-03 -3.67653821e-03 3.20394934e+00] [-1.70216872e-03 9.99996319e-01 -2.11304126e-03 -1.74985984e-02] [ 3.67294436e-03 2.11928203e-03 9.99991009e-01 -1.67457618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51463043999999 meters Centerline goodness [0,1] 0.3104727990389565 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.02, Z:-0.02 [[ 9.99991650e-01 1.69466684e-03 -3.71857574e-03 3.20419611e+00] [-1.70198383e-03 9.99996620e-01 -1.96540425e-03 -1.81564788e-02] [ 3.71523246e-03 1.97171679e-03 9.99991155e-01 -1.69920691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54463043999999 meters Centerline goodness [0,1] 0.31632187900232267 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.01, Z:-0.02 [[ 9.99973595e-01 -6.54799536e-03 -3.15168003e-03 3.18385819e+00] [ 6.54574960e-03 9.99978315e-01 -7.22347741e-04 -1.38146892e-02] [ 3.15634162e-03 7.01698559e-04 9.99994773e-01 -1.82204852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57463043999999 meters Centerline goodness [0,1] 0.3140449679721422 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.02, Z:-0.02 [[ 9.99997630e-01 1.38902407e-03 -1.67661346e-03 3.20198697e+00] [-1.39233491e-03 9.99997080e-01 -1.97517184e-03 -1.74760257e-02] [ 1.67386500e-03 1.97750156e-03 9.99996644e-01 -1.71735129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60463044 meters Centerline goodness [0,1] 0.3171461651047469 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.02, Z:-0.02 [[ 9.99993288e-01 6.66910253e-04 -3.60270228e-03 3.15644232e+00] [-6.74636796e-04 9.99997474e-01 -2.14386260e-03 -1.63450926e-02] [ 3.60126342e-03 2.14627872e-03 9.99991212e-01 -1.63012844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63463044 meters Centerline goodness [0,1] 0.3149899808235117 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.01, Z:-0.02 [[ 9.99964753e-01 -6.77912811e-03 -4.95331103e-03 3.17649827e+00] [ 6.77099797e-03 9.99975705e-01 -1.65628371e-03 -1.11695851e-02] [ 4.96441885e-03 1.62268647e-03 9.99986361e-01 -1.50936066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66463044 meters Centerline goodness [0,1] 0.3172572820814027 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.01, Z:-0.02 [[ 9.99970074e-01 1.08770679e-03 -7.65952964e-03 3.15845400e+00] [-1.11006203e-03 9.99995135e-01 -2.91497051e-03 -1.15308961e-02] [ 7.65632174e-03 2.92338583e-03 9.99966417e-01 -1.66029978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69463044 meters Centerline goodness [0,1] 0.31358344113842174 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.01, Z:-0.01 [[ 9.99945738e-01 -6.09464713e-03 -8.44841432e-03 3.17772180e+00] [ 6.07908717e-03 9.99979781e-01 -1.86621926e-03 -5.71814397e-03] [ 8.45961744e-03 1.81475935e-03 9.99962570e-01 -1.48525054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72463044 meters Centerline goodness [0,1] 0.31587650399251543 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.01, Z:-0.02 [[ 9.99969776e-01 1.65070530e-03 -7.59747929e-03 3.15816595e+00] [-1.67197922e-03 9.99994697e-01 -2.79462945e-03 -8.79088275e-03] [ 7.59282589e-03 2.80724781e-03 9.99967234e-01 -1.64321944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.75463044 meters Centerline goodness [0,1] 0.31580319888734354 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.01, Z:-0.02 [[ 9.99970324e-01 1.57667753e-03 -7.54092673e-03 3.15784923e+00] [-1.59869877e-03 9.99994473e-01 -2.91509443e-03 -8.31685443e-03] [ 7.53628889e-03 2.92706359e-03 9.99967318e-01 -1.61496637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78463044 meters Centerline goodness [0,1] 0.31416409677279244 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.01, Z:-0.02 [[ 9.99971993e-01 1.43509772e-03 -7.34538054e-03 3.15728060e+00] [-1.45712067e-03 9.99994457e-01 -2.99373107e-03 -8.43680323e-03] [ 7.34104353e-03 3.00435033e-03 9.99968541e-01 -1.59680959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81463044 meters Centerline goodness [0,1] 0.3160944298453453 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.01, Z:-0.01 [[ 9.99954988e-01 -6.26339362e-03 -7.12685109e-03 3.17619499e+00] [ 6.25079792e-03 9.99978865e-01 -1.78826321e-03 -5.29758871e-03] [ 7.13790106e-03 1.74363421e-03 9.99973005e-01 -1.42911509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84463044 meters Centerline goodness [0,1] 0.3133408071748879 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.01, Z:-0.01 [[ 9.99955669e-01 -6.22263936e-03 -7.06669608e-03 3.17584173e+00] [ 6.21134113e-03 9.99979398e-01 -1.61962273e-03 -6.17440884e-03] [ 7.07662882e-03 1.57565727e-03 9.99973719e-01 -1.39539703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87463043999999 meters Centerline goodness [0,1] 0.31756188998771895 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.01, Z:-0.01 [[ 9.99956851e-01 -6.16066746e-03 -6.95279799e-03 3.17534092e+00] [ 6.15075869e-03 9.99980039e-01 -1.44563266e-03 -6.91771847e-03] [ 6.96156527e-03 1.40280530e-03 9.99974784e-01 -1.35814941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90463043999999 meters Centerline goodness [0,1] 0.31602670043570646 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.01, Z:-0.01 [[ 9.99957631e-01 -6.08068174e-03 -6.91102033e-03 3.17491396e+00] [ 6.07218222e-03 9.99980783e-01 -1.25016862e-03 -7.73511533e-03] [ 6.91848939e-03 1.20815068e-03 9.99975337e-01 -1.30836344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93463043999999 meters Centerline goodness [0,1] 0.31895925086586563 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.01, Z:-0.01 [[ 9.99958429e-01 -5.90927963e-03 -6.94409844e-03 3.17472509e+00] [ 5.90385565e-03 9.99982251e-01 -8.01332525e-04 -9.63364406e-03] [ 6.94871049e-03 7.60302258e-04 9.99975568e-01 -1.26964280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96463044 meters Centerline goodness [0,1] 0.31786054982221834 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.01, Z:-0.01 [[ 9.99972853e-01 2.06545337e-03 -7.07297661e-03 3.15500747e+00] [-2.07620894e-03 9.99996699e-01 -1.51365206e-03 -1.44614441e-02] [ 7.06982688e-03 1.52829595e-03 9.99973841e-01 -1.44457934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99463044 meters Centerline goodness [0,1] 0.3200810386894388 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.02, Z:-0.01 [[ 9.99972116e-01 2.11050126e-03 -7.16326921e-03 3.15531862e+00] [-2.12002270e-03 9.99996879e-01 -1.32187044e-03 -1.55451247e-02] [ 7.16045704e-03 1.33701988e-03 9.99973470e-01 -1.46887873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02463044 meters Centerline goodness [0,1] 0.3175524595803234 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.01, Z:-0.01 [[ 9.99961444e-01 -5.54447069e-03 -6.80948675e-03 3.17488600e+00] [ 5.54259619e-03 9.99984596e-01 -2.94117810e-04 -1.28285117e-02] [ 6.81101259e-03 2.56364235e-04 9.99976772e-01 -1.34748034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05463044 meters Centerline goodness [0,1] 0.3194300294066771 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.01, Z:-0.01 [[ 9.99966959e-01 -5.35316324e-03 -6.11757542e-03 3.17272919e+00] [ 5.35146749e-03 9.99985638e-01 -2.93529244e-04 -1.19968084e-02] [ 6.11905887e-03 2.60781540e-04 9.99981244e-01 -1.25077000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08463044 meters Centerline goodness [0,1] 0.3226044332624821 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.01, Z:-0.01 [[ 9.99968194e-01 -5.41162553e-03 -5.85872841e-03 3.17170904e+00] [ 5.40806014e-03 9.99985182e-01 -6.24232020e-04 -1.03732176e-02] [ 5.86201970e-03 5.92527810e-04 9.99982643e-01 -1.17599138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11463044 meters Centerline goodness [0,1] 0.32092723760463615 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.01, Z:-0.01 [[ 9.99984503e-01 2.60064597e-03 -4.92246190e-03 3.19092418e+00] [-2.61166070e-03 9.99994097e-01 -2.23254383e-03 -1.17190844e-02] [ 4.91662679e-03 2.24536503e-03 9.99985392e-01 -1.04269349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14463044 meters Centerline goodness [0,1] 0.3214254859611231 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.01, Z:-0.01 [[ 9.99984703e-01 2.54122694e-03 -4.91273362e-03 3.19095130e+00] [-2.55409296e-03 9.99993321e-01 -2.61441655e-03 -9.34548663e-03] [ 4.90605698e-03 2.62692414e-03 9.99984515e-01 -1.04851339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.17463044 meters Centerline goodness [0,1] 0.3214974327866722 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.01, Z:-0.01 [[ 9.99984798e-01 2.51429510e-03 -4.90725734e-03 3.19111089e+00] [-2.52864378e-03 9.99992540e-01 -2.91996041e-03 -7.18162950e-03] [ 4.89987909e-03 2.93232472e-03 9.99983696e-01 -1.07203087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20463044 meters Centerline goodness [0,1] 0.3223467943833678 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.01, Z:-0.01 [[ 9.99985951e-01 2.41861085e-03 -4.71674058e-03 3.19083647e+00] [-2.43393165e-03 9.99991772e-01 -3.24514401e-03 -5.35850242e-03] [ 4.70885303e-03 3.25657865e-03 9.99983611e-01 -1.09647203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23463043999999 meters Centerline goodness [0,1] 0.3217601589152308 Centerline is valid? [False, False] Translation: X:3.21, Y:0.00, Z:-0.01 [[ 9.99969301e-01 -6.33868912e-03 -4.60634127e-03 3.21082865e+00] [ 6.32296342e-03 9.99974160e-01 -3.42050454e-03 5.28863155e-04] [ 4.62790375e-03 3.39127381e-03 9.99983541e-01 -1.01080753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26463043999999 meters Centerline goodness [0,1] 0.31974854141100995 Centerline is valid? [False, False] Translation: X:3.21, Y:0.00, Z:-0.01 [[ 9.99965909e-01 -6.57685711e-03 -4.99261591e-03 3.21196533e+00] [ 6.55865285e-03 9.99971816e-01 -3.65389454e-03 1.08117914e-03] [ 5.01650634e-03 3.62102513e-03 9.99980861e-01 -1.05567765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29463043999999 meters Centerline goodness [0,1] 0.32242960265331344 Centerline is valid? [False, False] Translation: X:3.21, Y:0.00, Z:-0.01 [[ 9.99962256e-01 -6.67567927e-03 -5.56068702e-03 3.21359329e+00] [ 6.65502131e-03 9.99970916e-01 -3.72525665e-03 1.60960226e-03] [ 5.58539391e-03 3.68810955e-03 9.99977600e-01 -1.11334421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32463043999999 meters Centerline goodness [0,1] 0.3183750998294804 Centerline is valid? [False, False] Translation: X:3.22, Y:0.00, Z:-0.01 [[ 9.99957741e-01 -6.79766752e-03 -6.18927281e-03 3.21543200e+00] [ 6.77392754e-03 9.99969651e-01 -3.84858204e-03 2.37446151e-03] [ 6.21524635e-03 3.80649372e-03 9.99973440e-01 -1.18161015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35463044 meters Centerline goodness [0,1] 0.31448687402064956 Centerline is valid? [False, False] Translation: X:3.22, Y:0.00, Z:-0.01 [[ 0.99994591 -0.00735537 -0.00735402 3.218586 ] [ 0.00732375 0.99996386 -0.00431694 0.00358715] [ 0.00738551 0.00426285 0.99996364 -0.01262653] [ 0. 0. 0. 1. ]] SLAMing on 88.38463044 meters Centerline goodness [0,1] 0.3159832888276337 Centerline is valid? [False, False] Translation: X:3.22, Y:0.00, Z:-0.01 [[ 0.99994364 -0.00750032 -0.00751377 3.21895764] [ 0.00746743 0.99996246 -0.00439613 0.00351122] [ 0.00754646 0.00433977 0.99996211 -0.01269204] [ 0. 0. 0. 1. ]] SLAMing on 88.41463044 meters Centerline goodness [0,1] 0.31642993244413653 Centerline is valid? [False, False] Translation: X:3.22, Y:0.00, Z:-0.01 [[ 0.99994265 -0.00754402 -0.00760151 3.21917764] [ 0.00751092 0.99996223 -0.00437307 0.00332967] [ 0.00763422 0.00431572 0.99996155 -0.01274535] [ 0. 0. 0. 1. ]] SLAMing on 88.44463044 meters Centerline goodness [0,1] 0.3155054821721488 Centerline is valid? [False, False] Translation: X:3.22, Y:0.00, Z:-0.01 [[ 9.99942299e-01 -7.47785281e-03 -7.71241237e-03 3.21936506e+00] [ 7.44573085e-03 9.99963521e-01 -4.18530687e-03 2.63144260e-03] [ 7.74342815e-03 4.12764082e-03 9.99961500e-01 -1.27041572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47463044 meters Centerline goodness [0,1] 0.3172385319107325 Centerline is valid? [False, False] Translation: X:3.22, Y:0.00, Z:-0.01 [[ 9.99942186e-01 -7.45799746e-03 -7.74615434e-03 3.21944022e+00] [ 7.42638364e-03 9.99964011e-01 -4.10200334e-03 2.28359412e-03] [ 7.77646829e-03 4.04424027e-03 9.99961585e-01 -1.27043384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50463044 meters Centerline goodness [0,1] 0.3159240638002774 Centerline is valid? [False, False] Translation: X:3.22, Y:0.00, Z:-0.01 [[ 0.99993945 -0.00761549 -0.00794336 3.21991174] [ 0.00758047 0.99996146 -0.00442958 0.00350309] [ 0.00797679 0.0043691 0.99995864 -0.01271304] [ 0. 0. 0. 1. ]] SLAMing on 88.53463044 meters Centerline goodness [0,1] 0.3166018130040651 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:-0.01 [[ 9.99960874e-01 -4.63518358e-03 -7.53432586e-03 3.21863903e+00] [ 4.62306850e-03 9.99987994e-01 -1.62460687e-03 5.05860687e-03] [ 7.54176575e-03 1.58971160e-03 9.99970297e-01 -1.23123160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56463044 meters Centerline goodness [0,1] 0.3143555336434375 Centerline is valid? [False, False] Translation: X:3.24, Y:0.00, Z:-0.01 [[ 9.99973464e-01 4.14974952e-03 -5.98763058e-03 3.23858994e+00] [-4.16308925e-03 9.99988876e-01 -2.21714038e-03 4.64657542e-03] [ 5.97836340e-03 2.24200858e-03 9.99979616e-01 -1.15731406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59463044 meters Centerline goodness [0,1] 0.3143555336434375 Centerline is valid? [False, False] Translation: X:3.24, Y:0.00, Z:-0.01 [[ 9.99973464e-01 4.14974952e-03 -5.98763058e-03 3.23858994e+00] [-4.16308925e-03 9.99988876e-01 -2.21714038e-03 4.64657542e-03] [ 5.97836340e-03 2.24200858e-03 9.99979616e-01 -1.15731406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62463043999999 meters Centerline goodness [0,1] 0.3176409614097221 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:-0.01 [[ 9.99996913e-01 1.80176237e-04 -2.47831216e-03 3.21947301e+00] [-1.79602032e-04 9.99999957e-01 2.31912580e-04 1.34149621e-02] [ 2.47835384e-03 -2.31466754e-04 9.99996902e-01 -1.27044722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65463043999999 meters Centerline goodness [0,1] 0.3213668194000173 Centerline is valid? [False, False] Translation: X:3.22, Y:0.02, Z:-0.01 [[ 9.99995730e-01 2.62340128e-03 -1.28759004e-03 3.21527757e+00] [-2.62161542e-03 9.99995602e-01 1.38671410e-03 2.25543346e-02] [ 1.29122228e-03 -1.38333261e-03 9.99998210e-01 -1.05740091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68463043999999 meters Centerline goodness [0,1] 0.31999310731055874 Centerline is valid? [False, False] Translation: X:3.22, Y:0.03, Z:-0.01 [[ 9.99996099e-01 2.42301759e-03 -1.38988298e-03 3.21575970e+00] [-2.42219315e-03 9.99996890e-01 5.94551323e-04 2.66296907e-02] [ 1.39131927e-03 -5.91182438e-04 9.99998857e-01 -1.09058498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71463044 meters Centerline goodness [0,1] 0.31818770505957517 Centerline is valid? [False, False] Translation: X:3.22, Y:0.03, Z:-0.01 [[ 9.99995888e-01 2.23260458e-03 -1.79967276e-03 3.21713806e+00] [-2.23280663e-03 9.99997501e-01 -1.10271940e-04 3.03528579e-02] [ 1.79942207e-03 1.14289807e-04 9.99998375e-01 -1.15796558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74463044 meters Centerline goodness [0,1] 0.3201260985036599 Centerline is valid? [False, False] Translation: X:3.22, Y:0.03, Z:-0.01 [[ 9.99995412e-01 2.08004545e-03 -2.20227358e-03 3.21870601e+00] [-2.08154221e-03 9.99997604e-01 -6.77566716e-04 3.36108914e-02] [ 2.20085893e-03 6.82147733e-04 9.99997345e-01 -1.25285481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77463044 meters Centerline goodness [0,1] 0.3185487370887944 Centerline is valid? [False, False] Translation: X:3.22, Y:0.04, Z:-0.01 [[ 9.99994763e-01 1.92651396e-03 -2.60045390e-03 3.22006983e+00] [-1.92944262e-03 9.99997507e-01 -1.12417166e-03 3.59593953e-02] [ 2.59828169e-03 1.12918320e-03 9.99995987e-01 -1.32201006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80463044 meters Centerline goodness [0,1] 0.316911940007369 Centerline is valid? [False, False] Translation: X:3.22, Y:0.04, Z:-0.01 [[ 9.99994277e-01 1.75041935e-03 -2.89504135e-03 3.22102242e+00] [-1.75485697e-03 9.99997288e-01 -1.53100482e-03 3.79311911e-02] [ 2.89235360e-03 1.53607644e-03 9.99994637e-01 -1.36858613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83463044 meters Centerline goodness [0,1] 0.3208852005532503 Centerline is valid? [False, False] Translation: X:3.20, Y:0.05, Z:-0.01 [[ 9.99971076e-01 -7.03467719e-03 -2.89139979e-03 3.20051676e+00] [ 7.03043066e-03 9.99974197e-01 -1.47622532e-03 4.61243382e-02] [ 2.90170995e-03 1.45585484e-03 9.99994730e-01 -1.42707718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86463044 meters Centerline goodness [0,1] 0.3143654713334765 Centerline is valid? [False, False] Translation: X:3.24, Y:0.05, Z:-0.01 [[ 9.99970629e-01 -7.61148589e-03 -8.97903745e-04 3.24370313e+00] [ 7.60970608e-03 9.99969107e-01 -1.96922663e-03 4.66017608e-02] [ 9.12864746e-04 1.96233600e-03 9.99997658e-01 -1.41556564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.89463044 meters Centerline goodness [0,1] 0.3180779009892528 Centerline is valid? [False, False] Translation: X:3.24, Y:0.05, Z:-0.01 [[ 9.99969914e-01 -7.72134584e-03 -7.42729926e-04 3.24336068e+00] [ 7.71967620e-03 9.99967727e-01 -2.22516481e-03 4.78980559e-02] [ 7.59887223e-04 2.21936423e-03 9.99997248e-01 -1.41648717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92463044 meters Centerline goodness [0,1] 0.32133603327018967 Centerline is valid? [False, False] Translation: X:3.22, Y:0.05, Z:-0.01 [[ 9.99999030e-01 8.03146069e-04 -1.13781337e-03 3.22228176e+00] [-8.06704687e-04 9.99994774e-01 -3.13059412e-03 4.75948798e-02] [ 1.13529310e-03 3.13150896e-03 9.99994452e-01 -1.48725600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.95463044 meters Centerline goodness [0,1] 0.3205508520451248 Centerline is valid? [False, False] Translation: X:3.22, Y:0.05, Z:-0.01 [[ 9.99998459e-01 1.03319872e-03 -1.41957977e-03 3.22291768e+00] [-1.03829564e-03 9.99993001e-01 -3.59440883e-03 5.33179404e-02] [ 1.41585609e-03 3.59587723e-03 9.99992532e-01 -1.46574679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98463043999999 meters Centerline goodness [0,1] 0.321376866397286 Centerline is valid? [False, False] Translation: X:3.22, Y:0.06, Z:-0.01 [[ 9.99998175e-01 1.07102493e-03 -1.58178350e-03 3.22320861e+00] [-1.07740714e-03 9.99991261e-01 -4.03948919e-03 5.64461657e-02] [ 1.57744329e-03 4.04118604e-03 9.99990590e-01 -1.44167929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01463043999999 meters Centerline goodness [0,1] 0.3213325236401492 Centerline is valid? [False, False] Translation: X:3.22, Y:0.06, Z:-0.01 [[ 9.99998232e-01 1.22694865e-03 -1.42519854e-03 3.22276510e+00] [-1.23329056e-03 9.99989305e-01 -4.45751954e-03 5.98751139e-02] [ 1.41971415e-03 4.45926935e-03 9.99989050e-01 -1.40980914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04463043999999 meters Centerline goodness [0,1] 0.32246801127738023 Centerline is valid? [False, False] Translation: X:3.22, Y:0.06, Z:-0.01 [[ 9.99998016e-01 1.33971617e-03 -1.47424806e-03 3.22282073e+00] [-1.34701012e-03 9.99986803e-01 -4.95775520e-03 6.34930759e-02] [ 1.46758662e-03 4.95973119e-03 9.99986624e-01 -1.39062874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07463043999999 meters Centerline goodness [0,1] 0.32130239455663623 Centerline is valid? [False, False] Translation: X:3.22, Y:0.07, Z:-0.01 [[ 9.99997469e-01 1.45944579e-03 -1.71259156e-03 3.22343683e+00] [-1.46878066e-03 9.99984003e-01 -5.46218811e-03 6.71511762e-02] [ 1.70459240e-03 5.46468970e-03 9.99983616e-01 -1.39147789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10463044 meters Centerline goodness [0,1] 0.32001302365964834 Centerline is valid? [False, False] Translation: X:3.22, Y:0.07, Z:-0.01 [[ 9.99988104e-01 4.43901702e-03 -2.02175781e-03 3.22464208e+00] [-4.44622891e-03 9.99983719e-01 -3.57672498e-03 7.47521745e-02] [ 2.00584775e-03 3.58567163e-03 9.99991560e-01 -1.43946683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13463044 meters Centerline goodness [0,1] 0.32276954874267993 Centerline is valid? [False, False] Translation: X:3.24, Y:0.08, Z:-0.01 [[ 9.99994139e-01 -1.93455700e-03 -2.82466760e-03 3.24254032e+00] [ 1.92889085e-03 9.99996125e-01 -2.00729953e-03 8.26692119e-02] [ 2.82853989e-03 2.00183929e-03 9.99993996e-01 -1.20399637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16463044 meters Centerline goodness [0,1] 0.32111749847574256 Centerline is valid? [False, False] Translation: X:3.24, Y:0.09, Z:-0.01 [[ 9.99998154e-01 -3.34131030e-04 -1.89194472e-03 3.23874149e+00] [ 3.32623739e-04 9.99999627e-01 -7.96947403e-04 8.59568228e-02] [ 1.89221030e-03 7.96316626e-04 9.99997893e-01 -1.00614439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19463044 meters Centerline goodness [0,1] 0.3233636284191208 Centerline is valid? [False, False] Translation: X:3.24, Y:0.09, Z:-0.01 [[ 9.99996780e-01 2.19658862e-03 -1.27118277e-03 3.23572103e+00] [-2.19558863e-03 9.99997280e-01 7.87518574e-04 9.29572034e-02] [ 1.27290916e-03 -7.84725044e-04 9.99998882e-01 -8.04212080e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22463044 meters Centerline goodness [0,1] 0.3235465555579543 Centerline is valid? [False, False] Translation: X:3.26, Y:0.10, Z:-0.01 [[ 9.99995272e-01 -3.04906915e-03 -3.98530522e-04 3.25666393e+00] [ 3.05053655e-03 9.99988373e-01 3.73481557e-03 9.85702477e-02] [ 3.87138177e-04 -3.73601364e-03 9.99992946e-01 -7.83111051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.25463044 meters Centerline goodness [0,1] 0.3221074689417752 Centerline is valid? [False, False] Translation: X:3.28, Y:0.10, Z:-0.01 [[ 9.99986051e-01 5.20266741e-03 9.11601615e-04 3.27579306e+00] [-5.20484077e-03 9.99983579e-01 2.39817906e-03 1.00123757e-01] [-8.99109718e-04 -2.40289035e-03 9.99996709e-01 -6.59683930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28463044 meters Centerline goodness [0,1] 0.32493167324628003 Centerline is valid? [False, False] Translation: X:3.26, Y:0.11, Z:-0.01 [[ 9.99994622e-01 -1.56949367e-03 2.87983771e-03 3.25528683e+00] [ 1.56015651e-03 9.99993529e-01 3.24164017e-03 1.09535974e-01] [-2.88490681e-03 -3.23712973e-03 9.99990599e-01 -7.95420634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.31463044 meters Centerline goodness [0,1] 0.32320430107526876 Centerline is valid? [False, False] Translation: X:3.27, Y:0.11, Z:-0.01 [[ 9.99969328e-01 6.57226554e-03 4.26014585e-03 3.27430188e+00] [-6.58011532e-03 9.99976674e-01 1.83121823e-03 1.11308380e-01] [-4.24801122e-03 -1.85919431e-03 9.99989249e-01 -6.78620386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34463044 meters Centerline goodness [0,1] 0.3249507223774557 Centerline is valid? [False, False] Translation: X:3.26, Y:0.12, Z:-0.01 [[ 9.99980530e-01 -3.98655464e-04 6.22735150e-03 3.25512753e+00] [ 3.83442251e-04 9.99996940e-01 2.44396968e-03 1.20517914e-01] [-6.22830675e-03 -2.44153426e-03 9.99977623e-01 -8.53288699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37463043999999 meters Centerline goodness [0,1] 0.32595700280416495 Centerline is valid? [False, False] Translation: X:3.25, Y:0.13, Z:-0.01 [[ 9.99979020e-01 -5.83587532e-04 6.45122529e-03 3.25461061e+00] [ 5.73600113e-04 9.99998634e-01 1.54988483e-03 1.26867198e-01] [-6.45212098e-03 -1.54615189e-03 9.99977990e-01 -8.55263694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40463043999999 meters Centerline goodness [0,1] 0.32370814118863944 Centerline is valid? [False, False] Translation: X:3.26, Y:0.13, Z:-0.01 [[ 9.99979533e-01 -8.02152894e-04 6.34751583e-03 3.25501491e+00] [ 7.96080526e-04 9.99999223e-01 9.59121377e-04 1.29765311e-01] [-6.34828026e-03 -9.54048613e-04 9.99979394e-01 -8.82031864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43463043999999 meters Centerline goodness [0,1] 0.3214278053070768 Centerline is valid? [False, False] Translation: X:3.26, Y:0.13, Z:-0.01 [[ 9.99980619e-01 -1.00070153e-03 6.14494615e-03 3.25585424e+00] [ 9.97917026e-04 9.99999398e-01 4.56186616e-04 1.32153472e-01] [-6.14539896e-03 -4.50045628e-04 9.99981016e-01 -9.41132527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46463044 meters Centerline goodness [0,1] 0.32277070746025627 Centerline is valid? [False, False] Translation: X:3.26, Y:0.13, Z:-0.01 [[ 9.99982380e-01 -1.15292813e-03 5.82332598e-03 3.25712140e+00] [ 1.15282557e-03 9.99999335e-01 2.09683482e-05 1.34430313e-01] [-5.82334629e-03 -1.42546996e-05 9.99983044e-01 -1.02316671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49463044 meters Centerline goodness [0,1] 0.3219356085826586 Centerline is valid? [False, False] Translation: X:3.26, Y:0.14, Z:-0.01 [[ 9.99987141e-01 -1.11803945e-03 4.94654630e-03 3.26006970e+00] [ 1.12035883e-03 9.99999264e-01 -4.66142146e-04 1.38579749e-01] [-4.94602149e-03 4.71678059e-04 9.99987657e-01 -1.16325734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52463044 meters Centerline goodness [0,1] 0.31896090556993983 Centerline is valid? [False, False] Translation: X:3.26, Y:0.14, Z:-0.01 [[ 9.99988615e-01 -1.18704205e-03 4.62167695e-03 3.26112449e+00] [ 1.19100903e-03 9.99998925e-01 -8.55683806e-04 1.40876243e-01] [-4.62065625e-03 8.61178524e-04 9.99988954e-01 -1.21223837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55463044 meters Centerline goodness [0,1] 0.31715210355987056 Centerline is valid? [False, False] Translation: X:3.26, Y:0.14, Z:-0.01 [[ 9.99989854e-01 -1.30126383e-03 4.31251324e-03 3.26218259e+00] [ 1.30730089e-03 9.99998169e-01 -1.39737106e-03 1.43637542e-01] [-4.31068700e-03 1.40299464e-03 9.99989725e-01 -1.26674158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58463044 meters Centerline goodness [0,1] 0.3160068478493473 Centerline is valid? [False, False] Translation: X:3.26, Y:0.15, Z:-0.01 [[ 9.99992276e-01 -1.39574622e-03 3.67422279e-03 3.26409945e+00] [ 1.40290904e-03 9.99997119e-01 -1.94762626e-03 1.46459744e-01] [-3.67149381e-03 1.95276582e-03 9.99991353e-01 -1.34182698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61463044 meters Centerline goodness [0,1] 0.3173913982675567 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:-0.01 [[ 9.99994871e-01 -1.35128526e-03 2.90373771e-03 3.26637419e+00] [ 1.35804848e-03 9.99996367e-01 -2.32843423e-03 1.49036545e-01] [-2.90058079e-03 2.33236570e-03 9.99993073e-01 -1.43348854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64463044 meters Centerline goodness [0,1] 0.313386505712438 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:-0.02 [[ 9.99994049e-01 2.29770409e-03 2.57347008e-03 3.26765178e+00] [-2.29980132e-03 9.99997026e-01 8.12279360e-04 1.52527342e-01] [-2.57159604e-03 -8.18192996e-04 9.99996359e-01 -1.51100770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.67463044 meters Centerline goodness [0,1] 0.316713757878722 Centerline is valid? [False, False] Translation: X:3.27, Y:0.15, Z:-0.01 [[ 9.99993642e-01 2.24039956e-03 2.77432169e-03 3.26706668e+00] [-2.24156040e-03 9.99997401e-01 4.15385689e-04 1.54772503e-01] [-2.77338385e-03 -4.21601858e-04 9.99996065e-01 -1.49362916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70463044 meters Centerline goodness [0,1] 0.31402339765155296 Centerline is valid? [False, False] Translation: X:3.27, Y:0.16, Z:-0.01 [[ 9.99993453e-01 2.12542872e-03 2.92867628e-03 3.26665180e+00] [-2.12539317e-03 9.99997741e-01 -1.52506122e-05 1.56867513e-01] [-2.92870208e-03 9.02592380e-06 9.99995711e-01 -1.48498514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73463043999999 meters Centerline goodness [0,1] 0.3170518398670661 Centerline is valid? [False, False] Translation: X:3.27, Y:0.16, Z:-0.01 [[ 9.99993346e-01 2.01924447e-03 3.03832070e-03 3.26632612e+00] [-2.01809127e-03 9.99997890e-01 -3.82571402e-04 1.58566579e-01] [-3.03908680e-03 3.76437247e-04 9.99995311e-01 -1.48242089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76463043999999 meters Centerline goodness [0,1] 0.3140195361246181 Centerline is valid? [False, False] Translation: X:3.31, Y:0.16, Z:-0.02 [[ 9.99986437e-01 2.54504445e-03 4.54403783e-03 3.30960078e+00] [-2.54538486e-03 9.99996758e-01 6.91308140e-05 1.61737548e-01] [-4.54384715e-03 -8.06962015e-05 9.99989673e-01 -1.50228480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79463043999999 meters Centerline goodness [0,1] 0.31429868753919 Centerline is valid? [False, False] Translation: X:3.31, Y:0.16, Z:-0.02 [[ 9.99987146e-01 2.52619226e-03 4.39613516e-03 3.30999515e+00] [-2.52512997e-03 9.99996781e-01 -2.47175072e-04 1.63732598e-01] [-4.39674542e-03 2.36071082e-04 9.99990306e-01 -1.51756786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82463043999999 meters Centerline goodness [0,1] 0.3125983403383985 Centerline is valid? [False, False] Translation: X:3.31, Y:0.17, Z:-0.02 [[ 9.99987447e-01 2.83783822e-03 4.12953170e-03 3.31067579e+00] [-2.83552438e-03 9.99995820e-01 -5.66064152e-04 1.67602065e-01] [-4.13112084e-03 5.54347658e-04 9.99991313e-01 -1.53792565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85463044 meters Centerline goodness [0,1] 0.313457601551557 Centerline is valid? [False, False] Translation: X:3.31, Y:0.17, Z:-0.02 [[ 9.99987546e-01 2.78623522e-03 4.14056177e-03 3.31054906e+00] [-2.78238808e-03 9.99995692e-01 -9.34604469e-04 1.69826404e-01] [-4.14314796e-03 9.23072180e-04 9.99990991e-01 -1.52627181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88463044 meters Centerline goodness [0,1] 0.31347346136398 Centerline is valid? [False, False] Translation: X:3.31, Y:0.17, Z:-0.02 [[ 9.99988215e-01 2.67491949e-03 4.05138148e-03 3.31062129e+00] [-2.66933344e-03 9.99995480e-01 -1.38358207e-03 1.72308555e-01] [-4.05506414e-03 1.37275128e-03 9.99990836e-01 -1.51367637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91463044 meters Centerline goodness [0,1] 0.31389637485873245 Centerline is valid? [False, False] Translation: X:3.31, Y:0.17, Z:-0.01 [[ 9.99988534e-01 2.55033657e-03 4.05298435e-03 3.31049190e+00] [-2.54295804e-03 9.99995102e-01 -1.82462848e-03 1.74705277e-01] [-4.05761792e-03 1.81430100e-03 9.99990122e-01 -1.49734462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94463044 meters Centerline goodness [0,1] 0.31516087628081013 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:-0.01 [[ 9.99987690e-01 2.37515458e-03 4.35638677e-03 3.30933727e+00] [-2.36485789e-03 9.99994402e-01 -2.36721457e-03 1.77686513e-01] [-4.36198489e-03 2.35688320e-03 9.99987709e-01 -1.42658888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97463044 meters Centerline goodness [0,1] 0.3126537597604022 Centerline is valid? [False, False] Translation: X:3.33, Y:0.18, Z:-0.01 [[ 9.99968569e-01 -5.73508624e-03 5.47452255e-03 3.32843606e+00] [ 5.74226508e-03 9.99982673e-01 -1.29650222e-03 1.83222313e-01] [-5.46699214e-03 1.32789763e-03 9.99984174e-01 -1.34983196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00463044 meters Centerline goodness [0,1] 0.31457316679923464 Centerline is valid? [False, False] Translation: X:3.33, Y:0.18, Z:-0.01 [[ 9.99966943e-01 -5.80266768e-03 5.69584818e-03 3.32775366e+00] [ 5.81036689e-03 9.99982227e-01 -1.33610712e-03 1.83278941e-01] [-5.68799397e-03 1.36915792e-03 9.99982886e-01 -1.31518398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.03463044 meters Centerline goodness [0,1] 0.3155285873002307 Centerline is valid? [False, False] Translation: X:3.33, Y:0.18, Z:-0.01 [[ 9.99965983e-01 -5.92181324e-03 5.74148305e-03 3.32766759e+00] [ 5.93003582e-03 9.99981414e-01 -1.41617105e-03 1.83337576e-01] [-5.73299004e-03 1.45017008e-03 9.99982515e-01 -1.31405721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06463044 meters Centerline goodness [0,1] 0.31755181347150263 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:-0.01 [[ 9.99983250e-01 2.12716592e-03 5.38280654e-03 3.30869014e+00] [-2.11291079e-03 9.99994250e-01 -2.65257275e-03 1.78440043e-01] [-5.38841805e-03 2.64115493e-03 9.99981994e-01 -1.40074726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09463044 meters Centerline goodness [0,1] 0.3164454135402638 Centerline is valid? [False, False] Translation: X:3.33, Y:0.18, Z:-0.01 [[ 9.99968775e-01 -5.97225691e-03 5.17500702e-03 3.32793308e+00] [ 5.98014298e-03 9.99980979e-01 -1.50974551e-03 1.83320882e-01] [-5.16589200e-03 1.54064565e-03 9.99985470e-01 -1.28205591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12463043999999 meters Centerline goodness [0,1] 0.3172506098482395 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:-0.01 [[ 9.99983688e-01 2.29113023e-03 5.23199174e-03 3.30898119e+00] [-2.27805856e-03 9.99994273e-01 -2.50300683e-03 1.80017070e-01] [-5.23769649e-03 2.49104722e-03 9.99983180e-01 -1.37401322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15463043999999 meters Centerline goodness [0,1] 0.3208466575300746 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:-0.01 [[ 9.99983107e-01 2.29342267e-03 5.34092906e-03 3.30864222e+00] [-2.27958264e-03 9.99994032e-01 -2.59596133e-03 1.80775176e-01] [-5.34685082e-03 2.58374239e-03 9.99982368e-01 -1.35767201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18463043999999 meters Centerline goodness [0,1] 0.31855536332179935 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:-0.01 [[ 9.99982977e-01 2.33955931e-03 5.34523967e-03 3.30867950e+00] [-2.32556068e-03 9.99993854e-01 -2.62361250e-03 1.81205040e-01] [-5.35134492e-03 2.61113716e-03 9.99982272e-01 -1.36290021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21463044 meters Centerline goodness [0,1] 0.31864955236759784 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:-0.01 [[ 9.99983477e-01 2.34332602e-03 5.24929940e-03 3.30905084e+00] [-2.32949685e-03 9.99993804e-01 -2.63904655e-03 1.81214445e-01] [-5.25545102e-03 2.62677472e-03 9.99982740e-01 -1.38613244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24463044 meters Centerline goodness [0,1] 0.3165856177647717 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:-0.01 [[ 9.99983886e-01 2.31093126e-03 5.18527090e-03 3.30937252e+00] [-2.29708153e-03 9.99993783e-01 -2.67534349e-03 1.81022453e-01] [-5.19142119e-03 2.66338939e-03 9.99982978e-01 -1.41650331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27463044 meters Centerline goodness [0,1] 0.3196393435533741 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:-0.01 [[ 9.99983953e-01 2.33510042e-03 5.16145148e-03 3.30958401e+00] [-2.32203230e-03 9.99994087e-01 -2.53641493e-03 1.80087107e-01] [-5.16734375e-03 2.52438917e-03 9.99983463e-01 -1.44163378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30463044 meters Centerline goodness [0,1] 0.31429241061916735 Centerline is valid? [False, False] Translation: X:3.33, Y:0.18, Z:-0.01 [[ 9.99971272e-01 -5.42032716e-03 5.29865967e-03 3.32961440e+00] [ 5.42472892e-03 9.99984953e-01 -8.16713412e-04 1.81939878e-01] [-5.29415308e-03 8.45433742e-04 9.99985628e-01 -1.36529830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33463044 meters Centerline goodness [0,1] 0.3187230258734737 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:-0.01 [[ 9.99987130e-01 2.65175944e-03 4.32531159e-03 3.31137833e+00] [-2.64270654e-03 9.99994309e-01 -2.09738053e-03 1.75517177e-01] [-4.33084872e-03 2.08592301e-03 9.99988446e-01 -1.49819361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36463044 meters Centerline goodness [0,1] 0.31535902114414516 Centerline is valid? [False, False] Translation: X:3.33, Y:0.18, Z:-0.01 [[ 9.99977477e-01 -5.64229467e-03 3.63450057e-03 3.33182015e+00] [ 5.64675274e-03 9.99983316e-01 -1.21750521e-03 1.77812067e-01] [-3.62757041e-03 1.23800092e-03 9.99992654e-01 -1.46724119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.39463044 meters Centerline goodness [0,1] 0.3166385171711923 Centerline is valid? [False, False] Translation: X:3.32, Y:0.17, Z:-0.02 [[ 9.99995316e-01 2.08525013e-03 2.24035403e-03 3.31554964e+00] [-2.07949184e-03 9.99994537e-01 -2.56951957e-03 1.67856606e-01] [-2.24569988e-03 2.56484874e-03 9.99994189e-01 -1.73290046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42463044 meters Centerline goodness [0,1] 0.31309297912713474 Centerline is valid? [False, False] Translation: X:3.32, Y:0.17, Z:-0.02 [[ 9.99995367e-01 2.24870220e-03 2.05146976e-03 3.31630229e+00] [-2.24425581e-03 9.99995133e-01 -2.16715324e-03 1.65902617e-01] [-2.05633306e-03 2.16253917e-03 9.99995547e-01 -1.78135566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45463044 meters Centerline goodness [0,1] 0.31251066007163564 Centerline is valid? [False, False] Translation: X:3.34, Y:0.17, Z:-0.02 [[ 9.99982897e-01 -5.55539118e-03 1.82835296e-03 3.33638425e+00] [ 5.55708355e-03 9.99984134e-01 -9.21849781e-04 1.68254070e-01] [-1.82320272e-03 9.31994325e-04 9.99997904e-01 -1.73281972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48463043999999 meters Centerline goodness [0,1] 0.31251066007163564 Centerline is valid? [False, False] Translation: X:3.34, Y:0.17, Z:-0.02 [[ 9.99982897e-01 -5.55539118e-03 1.82835296e-03 3.33638425e+00] [ 5.55708355e-03 9.99984134e-01 -9.21849781e-04 1.68254070e-01] [-1.82320272e-03 9.31994325e-04 9.99997904e-01 -1.73281972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51463043999999 meters Centerline goodness [0,1] 0.3154366769736415 Centerline is valid? [False, False] Translation: X:3.32, Y:0.16, Z:-0.02 [[ 9.99995922e-01 2.53912964e-03 1.30701985e-03 3.31748272e+00] [-2.53635755e-03 9.99994540e-01 -2.11822677e-03 1.61120138e-01] [-1.31239116e-03 2.11490307e-03 9.99996902e-01 -1.88578816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54463043999999 meters Centerline goodness [0,1] 0.3153521583901331 Centerline is valid? [False, False] Translation: X:3.32, Y:0.16, Z:-0.02 [[ 9.99995825e-01 2.64839390e-03 1.15559107e-03 3.31788527e+00] [-2.64629867e-03 9.99994859e-01 -1.81089459e-03 1.59361740e-01] [-1.16038109e-03 1.80782899e-03 9.99997693e-01 -1.89301094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57463043999999 meters Centerline goodness [0,1] 0.3173457407487933 Centerline is valid? [False, False] Translation: X:3.32, Y:0.16, Z:-0.02 [[ 9.99995493e-01 2.78563635e-03 1.11969015e-03 3.31791074e+00] [-2.78403646e-03 9.99995105e-01 -1.42790372e-03 1.57408694e-01] [-1.12366229e-03 1.42478003e-03 9.99998354e-01 -1.88419990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60463044 meters Centerline goodness [0,1] 0.3151159289370672 Centerline is valid? [False, False] Translation: X:3.34, Y:0.16, Z:-0.02 [[ 9.99986664e-01 -4.52072436e-03 2.49698070e-03 3.33662592e+00] [ 4.51847186e-03 9.99989380e-01 9.06994790e-04 1.56032373e-01] [-2.50105446e-03 -8.95700158e-04 9.99996471e-01 -1.74645844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63463044 meters Centerline goodness [0,1] 0.31918565281024047 Centerline is valid? [False, False] Translation: X:3.32, Y:0.15, Z:-0.02 [[ 9.99988047e-01 3.44361127e-03 3.47100560e-03 3.31663815e+00] [-3.44468357e-03 9.99994021e-01 3.03002398e-04 1.47464864e-01] [-3.46994142e-03 -3.14955292e-04 9.99993930e-01 -1.84104574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66463044 meters Centerline goodness [0,1] 0.31897988785694187 Centerline is valid? [False, False] Translation: X:3.34, Y:0.15, Z:-0.02 [[ 9.99977674e-01 -4.63630194e-03 4.81217915e-03 3.33527099e+00] [ 4.62821386e-03 9.99987861e-01 1.69052858e-03 1.47889995e-01] [-4.81995854e-03 -1.66821904e-03 9.99986992e-01 -1.75273735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69463044 meters Centerline goodness [0,1] 0.3164676777455093 Centerline is valid? [False, False] Translation: X:3.33, Y:0.15, Z:-0.02 [[ 9.99976938e-01 -4.51249651e-03 5.07560249e-03 3.33441159e+00] [ 4.50151928e-03 9.99987509e-01 2.17209382e-03 1.45037739e-01] [-5.08534066e-03 -2.14919580e-03 9.99984760e-01 -1.70303772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72463044 meters Centerline goodness [0,1] 0.3200302669981624 Centerline is valid? [False, False] Translation: X:3.33, Y:0.14, Z:-0.02 [[ 9.99976593e-01 -4.38330667e-03 5.25354767e-03 3.33380386e+00] [ 4.36963190e-03 9.99987043e-01 2.61161599e-03 1.42460380e-01] [-5.26492711e-03 -2.58859879e-03 9.99982790e-01 -1.66610899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75463044 meters Centerline goodness [0,1] 0.31867278959963785 Centerline is valid? [False, False] Translation: X:3.33, Y:0.14, Z:-0.02 [[ 9.99977104e-01 -4.25843636e-03 5.25901185e-03 3.33374676e+00] [ 4.24283726e-03 9.99986577e-01 2.97376867e-03 1.40514723e-01] [-5.27160486e-03 -2.95138745e-03 9.99981750e-01 -1.65639734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78463044 meters Centerline goodness [0,1] 0.3190159177228694 Centerline is valid? [False, False] Translation: X:3.35, Y:0.13, Z:-0.01 [[ 9.99983710e-01 3.44851061e-03 4.54843395e-03 3.35245817e+00] [-3.45935308e-03 9.99991189e-01 2.37807138e-03 1.33438160e-01] [-4.54019307e-03 -2.39376728e-03 9.99986828e-01 -1.42569295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.81463044 meters Centerline goodness [0,1] 0.3223325439415995 Centerline is valid? [False, False] Translation: X:3.31, Y:0.13, Z:-0.01 [[ 9.99991420e-01 3.64295143e-03 1.97200223e-03 3.30807672e+00] [-3.64766629e-03 9.99990485e-01 2.39260547e-03 1.30645627e-01] [-1.96326732e-03 -2.39977815e-03 9.99995193e-01 -1.34222202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84463044 meters Centerline goodness [0,1] 0.3221127710005002 Centerline is valid? [False, False] Translation: X:3.31, Y:0.13, Z:-0.01 [[ 9.99991443e-01 3.72677546e-03 1.79600009e-03 3.30858362e+00] [-3.73139609e-03 9.99989720e-01 2.57628359e-03 1.29841346e-01] [-1.78638039e-03 -2.58296313e-03 9.99995069e-01 -1.35736181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87463043999999 meters Centerline goodness [0,1] 0.31927333923061985 Centerline is valid? [False, False] Translation: X:3.31, Y:0.13, Z:-0.01 [[ 9.99991633e-01 3.74016741e-03 1.65686712e-03 3.30897055e+00] [-3.74447979e-03 9.99989590e-01 2.60732090e-03 1.29607600e-01] [-1.64709805e-03 -2.61350319e-03 9.99995228e-01 -1.36821161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90463043999999 meters Centerline goodness [0,1] 0.31850172203563865 Centerline is valid? [False, False] Translation: X:3.31, Y:0.13, Z:-0.01 [[ 9.99991791e-01 3.76226187e-03 1.50455634e-03 3.30933897e+00] [-3.76623366e-03 9.99989408e-01 2.64577933e-03 1.29430918e-01] [-1.49458629e-03 -2.65142412e-03 9.99995368e-01 -1.37070915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93463043999999 meters Centerline goodness [0,1] 0.3189738314151611 Centerline is valid? [False, False] Translation: X:3.31, Y:0.13, Z:-0.01 [[ 9.99992234e-01 3.74606203e-03 1.22411659e-03 3.31015074e+00] [-3.74926261e-03 9.99989532e-01 2.62285525e-03 1.29465648e-01] [-1.21427840e-03 -2.62742442e-03 9.99995811e-01 -1.39698984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96463044 meters Centerline goodness [0,1] 0.3154989838485399 Centerline is valid? [False, False] Translation: X:3.31, Y:0.13, Z:-0.02 [[ 9.99993140e-01 3.70315060e-03 7.80113875e-05 3.31394549e+00] [-3.70332690e-03 9.99990272e-01 2.39604357e-03 1.30531414e-01] [-6.91377184e-05 -2.39631604e-03 9.99997126e-01 -1.58205203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99463044 meters Centerline goodness [0,1] 0.3200356925219814 Centerline is valid? [False, False] Translation: X:3.27, Y:0.13, Z:-0.02 [[ 9.99991158e-01 3.02083655e-03 -2.92564419e-03 3.27163558e+00] [-3.01672449e-03 9.99994457e-01 1.40892033e-03 1.30096769e-01] [ 2.92988409e-03 -1.40008201e-03 9.99994728e-01 -1.61228499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02463044 meters Centerline goodness [0,1] 0.31692578973399566 Centerline is valid? [False, False] Translation: X:3.29, Y:0.14, Z:-0.02 [[ 9.99982384e-01 -5.18308540e-03 -2.89273637e-03 3.29142767e+00] [ 5.18939108e-03 9.99984166e-01 2.17659961e-03 1.35232980e-01] [ 2.88140907e-03 -2.19157281e-03 9.99993447e-01 -1.54329159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05463044 meters Centerline goodness [0,1] 0.3194989272014044 Centerline is valid? [False, False] Translation: X:3.27, Y:0.13, Z:-0.02 [[ 9.99996400e-01 2.14426621e-03 -1.61331946e-03 3.27292416e+00] [-2.14260327e-03 9.99997172e-01 1.03177713e-03 1.29597417e-01] [ 1.61552730e-03 -1.02831671e-03 9.99998166e-01 -1.70591186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08463044 meters Centerline goodness [0,1] 0.32104173477171194 Centerline is valid? [False, False] Translation: X:3.27, Y:0.13, Z:-0.02 [[ 9.99996555e-01 2.17989799e-03 -1.46211371e-03 3.27234748e+00] [-2.17810956e-03 9.99996879e-01 1.22366106e-03 1.28791913e-01] [ 1.46477660e-03 -1.22047221e-03 9.99998182e-01 -1.66246108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11463044 meters Centerline goodness [0,1] 0.3196633083613192 Centerline is valid? [False, False] Translation: X:3.29, Y:0.13, Z:-0.02 [[ 9.99983181e-01 -5.77851740e-03 -4.96918689e-04 3.29168617e+00] [ 5.77979736e-03 9.99979880e-01 2.61411859e-03 1.32207665e-01] [ 4.81802961e-04 -2.61694671e-03 9.99996460e-01 -1.55014482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14463044 meters Centerline goodness [0,1] 0.3200881571271148 Centerline is valid? [False, False] Translation: X:3.29, Y:0.13, Z:-0.01 [[ 9.99981537e-01 -6.07639011e-03 5.32915184e-05 3.29004308e+00] [ 6.07621958e-03 9.99977719e-01 2.76442343e-03 1.29829964e-01] [-7.00880462e-05 -2.76404858e-03 9.99996178e-01 -1.47216282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.17463044 meters Centerline goodness [0,1] 0.3217618031762449 Centerline is valid? [False, False] Translation: X:3.29, Y:0.13, Z:-0.01 [[ 9.99981683e-01 -6.05251451e-03 2.41730771e-05 3.28998119e+00] [ 6.05241574e-03 9.99977254e-01 2.97660731e-03 1.28415405e-01] [-4.21884862e-05 -2.97640648e-03 9.99995570e-01 -1.44484182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20463044 meters Centerline goodness [0,1] 0.3192541775091937 Centerline is valid? [False, False] Translation: X:3.29, Y:0.13, Z:-0.01 [[ 9.99982113e-01 -5.98110166e-03 -3.49616181e-06 3.29005755e+00] [ 5.98108174e-03 9.99976893e-01 3.23101708e-03 1.26946099e-01] [-1.58289606e-05 -3.23098020e-03 9.99994780e-01 -1.43939783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23463043999999 meters Centerline goodness [0,1] 0.3195216366428062 Centerline is valid? [False, False] Translation: X:3.27, Y:0.12, Z:-0.02 [[ 9.99997671e-01 4.46375573e-04 2.11173912e-03 3.27333260e+00] [-4.50749191e-04 9.99997754e-01 2.07107526e-03 1.17214187e-01] [-2.11080990e-03 -2.07202230e-03 9.99995626e-01 -1.73273241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26463043999999 meters Centerline goodness [0,1] 0.3229924234200986 Centerline is valid? [False, False] Translation: X:3.27, Y:0.11, Z:-0.02 [[ 9.99997419e-01 5.83492831e-04 2.19585491e-03 3.27314598e+00] [-5.89036916e-04 9.99996639e-01 2.52499663e-03 1.14624173e-01] [-2.19437421e-03 -2.52628355e-03 9.99994401e-01 -1.72883414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29463043999999 meters Centerline goodness [0,1] 0.32276830923703437 Centerline is valid? [False, False] Translation: X:3.27, Y:0.11, Z:-0.02 [[ 9.99997216e-01 7.17800904e-04 2.24780915e-03 3.27296274e+00] [-7.24524016e-04 9.99995263e-01 2.99157737e-03 1.11955391e-01] [-2.24565115e-03 -2.99319763e-03 9.99992999e-01 -1.71479206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32463043999999 meters Centerline goodness [0,1] 0.3212752781396143 Centerline is valid? [False, False] Translation: X:3.27, Y:0.11, Z:-0.02 [[ 9.99997285e-01 9.12401503e-04 2.14395627e-03 3.27325954e+00] [-9.19940865e-04 9.99993388e-01 3.51821424e-03 1.09075334e-01] [-2.14073207e-03 -3.52017701e-03 9.99991513e-01 -1.71828473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35463044 meters Centerline goodness [0,1] 0.32163095160554944 Centerline is valid? [False, False] Translation: X:3.23, Y:0.10, Z:-0.02 [[ 9.99999495e-01 8.11056439e-04 -5.93218889e-04 3.23006409e+00] [-8.08978627e-04 9.99993567e-01 3.49450049e-03 1.03778190e-01] [ 5.96049310e-04 -3.49401882e-03 9.99993718e-01 -1.67950919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38463044 meters Centerline goodness [0,1] 0.31968172751712776 Centerline is valid? [False, False] Translation: X:3.23, Y:0.10, Z:-0.02 [[ 9.99999077e-01 1.01369436e-03 -9.04546970e-04 3.23119512e+00] [-1.01007294e-03 9.99991509e-01 3.99508233e-03 1.01316669e-01] [ 9.08589083e-04 -3.99416499e-03 9.99991611e-01 -1.74117434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41463044 meters Centerline goodness [0,1] 0.321116210599238 Centerline is valid? [False, False] Translation: X:3.23, Y:0.10, Z:-0.02 [[ 9.99998260e-01 1.48544218e-03 -1.12888490e-03 3.23211260e+00] [-1.47968194e-03 9.99985969e-01 5.08640890e-03 9.57232316e-02] [ 1.13642462e-03 -5.08472966e-03 9.99986427e-01 -1.78958397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44463044 meters Centerline goodness [0,1] 0.32147728010737553 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.02 [[ 9.99998198e-01 1.67581203e-03 -8.91528216e-04 3.23141125e+00] [-1.67076418e-03 9.99982739e-01 5.63295186e-03 9.28923379e-02] [ 9.00952596e-04 -5.63145218e-03 9.99983737e-01 -1.75890806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47463044 meters Centerline goodness [0,1] 0.3200730318977554 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.02 [[ 9.99998012e-01 1.85979797e-03 -7.19414353e-04 3.23078432e+00] [-1.85531114e-03 9.99979133e-01 6.18796030e-03 8.99344485e-02] [ 7.30907697e-04 -6.18661326e-03 9.99980596e-01 -1.71493615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50463044 meters Centerline goodness [0,1] 0.32150838594892495 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.02 [[ 9.99997479e-01 2.11303254e-03 -7.59022613e-04 3.23072559e+00] [-2.10777993e-03 9.99974278e-01 6.85563281e-03 8.66112067e-02] [ 7.73489265e-04 -6.85401567e-03 9.99976212e-01 -1.68376708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.53463044 meters Centerline goodness [0,1] 0.3198632934247576 Centerline is valid? [False, False] Translation: X:3.23, Y:0.08, Z:-0.02 [[ 9.99996531e-01 2.33661731e-03 -1.21567675e-03 3.23200122e+00] [-2.32741531e-03 9.99969042e-01 7.51657653e-03 8.31117443e-02] [ 1.23320248e-03 -7.51372108e-03 9.99971011e-01 -1.71350044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56463044 meters Centerline goodness [0,1] 0.3199143839318531 Centerline is valid? [False, False] Translation: X:3.24, Y:0.08, Z:-0.02 [[ 9.99993740e-01 8.12057185e-04 -3.44401080e-03 3.23993394e+00] [-7.88591073e-04 9.99976504e-01 6.80949338e-03 7.50948678e-02] [ 3.44945958e-03 -6.80673483e-03 9.99970884e-01 -2.07224764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59463044 meters Centerline goodness [0,1] 0.31461761858664083 Centerline is valid? [False, False] Translation: X:3.24, Y:0.07, Z:-0.02 [[ 9.99992778e-01 1.00732321e-03 -3.66456927e-03 3.24085379e+00] [-9.79997464e-04 9.99971761e-01 7.45090921e-03 7.13882418e-02] [ 3.67197126e-03 -7.44726413e-03 9.99965527e-01 -2.12141736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62463043999999 meters Centerline goodness [0,1] 0.3190655548540201 Centerline is valid? [False, False] Translation: X:3.22, Y:0.06, Z:-0.02 [[ 9.99976451e-01 6.56212260e-03 -2.00889610e-03 3.21836885e+00] [-6.55216703e-03 9.99966417e-01 4.92284797e-03 6.36116104e-02] [ 2.04113296e-03 -4.90956942e-03 9.99985865e-01 -2.14301610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65463043999999 meters Centerline goodness [0,1] 0.31824751385982697 Centerline is valid? [False, False] Translation: X:3.24, Y:0.06, Z:-0.02 [[ 9.99999144e-01 -1.30856004e-03 -2.09525314e-05 3.23651303e+00] [ 1.30866392e-03 9.99980344e-01 6.13181571e-03 6.41166729e-02] [ 1.29282706e-05 -6.13183788e-03 9.99981200e-01 -2.02311307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68463043999999 meters Centerline goodness [0,1] 0.32030305646693147 Centerline is valid? [False, False] Translation: X:3.23, Y:0.06, Z:-0.02 [[ 9.99999427e-01 -9.99423441e-04 3.83235417e-04 3.23485441e+00] [ 9.96787717e-04 9.99976266e-01 6.81715460e-03 6.01380816e-02] [-3.90039546e-04 -6.81676869e-03 9.99976689e-01 -1.90431885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71463044 meters Centerline goodness [0,1] 0.323250554516592 Centerline is valid? [False, False] Translation: X:3.22, Y:0.05, Z:-0.02 [[ 9.99975190e-01 7.03920164e-03 -2.64386777e-04 3.21640256e+00] [-7.03751077e-03 9.99957662e-01 5.92860188e-03 5.32579246e-02] [ 3.06108207e-04 -5.92659416e-03 9.99982391e-01 -2.06712887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74463044 meters Centerline goodness [0,1] 0.3237038163296335 Centerline is valid? [False, False] Translation: X:3.22, Y:0.05, Z:-0.02 [[ 9.99974086e-01 7.17265190e-03 -6.17017683e-04 3.21767547e+00] [-7.16868793e-03 9.99955065e-01 6.20310879e-03 5.17540245e-02] [ 6.61482697e-04 -6.19852483e-03 9.99980570e-01 -2.14120481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77463044 meters Centerline goodness [0,1] 0.31607664547173053 Centerline is valid? [False, False] Translation: X:3.24, Y:0.05, Z:-0.02 [[ 9.99999260e-01 -6.10848711e-04 -1.05166180e-03 3.23821543e+00] [ 6.18111475e-04 9.99975868e-01 6.91956954e-03 5.39622264e-02] [ 1.04740961e-03 -6.92021447e-03 9.99975506e-01 -2.12993147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80463044 meters Centerline goodness [0,1] 0.31730562368228565 Centerline is valid? [False, False] Translation: X:3.24, Y:0.05, Z:-0.02 [[ 9.99999418e-01 -5.10399468e-04 -9.50358620e-04 3.23801401e+00] [ 5.17316512e-04 9.99973276e-01 7.29238693e-03 5.16824810e-02] [ 9.46611193e-04 -7.29287433e-03 9.99972959e-01 -2.12689912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83463044 meters Centerline goodness [0,1] 0.3187208356522111 Centerline is valid? [False, False] Translation: X:3.24, Y:0.05, Z:-0.02 [[ 9.99999579e-01 -4.11736721e-04 -8.20472503e-04 3.23731858e+00] [ 4.18024998e-04 9.99970430e-01 7.67883883e-03 4.93838922e-02] [ 8.17286581e-04 -7.67917857e-03 9.99970181e-01 -2.06042712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86463044 meters Centerline goodness [0,1] 0.3186860435119099 Centerline is valid? [False, False] Translation: X:3.24, Y:0.05, Z:-0.02 [[ 9.99999594e-01 -1.97225169e-04 -8.78735058e-04 3.23712035e+00] [ 2.04572167e-04 9.99964961e-01 8.36864991e-03 4.53317700e-02] [ 8.77053760e-04 -8.36882628e-03 9.99964596e-01 -1.99875826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.89463044 meters Centerline goodness [0,1] 0.32363233280445125 Centerline is valid? [False, False] Translation: X:3.22, Y:0.04, Z:-0.02 [[ 9.99972674e-01 7.33630286e-03 -9.11477972e-04 3.21843101e+00] [-7.32941381e-03 9.99946167e-01 7.34455946e-03 3.77454052e-02] [ 9.65310817e-04 -7.33767817e-03 9.99972613e-01 -2.12537214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92463044 meters Centerline goodness [0,1] 0.32244339765993013 Centerline is valid? [False, False] Translation: X:3.22, Y:0.04, Z:-0.02 [[ 9.99972484e-01 7.37853112e-03 -7.67633613e-04 3.21781962e+00] [-7.37249921e-03 9.99944060e-01 7.58437717e-03 3.61241199e-02] [ 8.23552235e-04 -7.57850910e-03 9.99970944e-01 -2.07922841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.95463044 meters Centerline goodness [0,1] 0.31951662923751467 Centerline is valid? [False, False] Translation: X:3.26, Y:0.04, Z:-0.02 [[ 9.99969297e-01 7.61859017e-03 1.83359114e-03 3.25908497e+00] [-7.63183117e-03 9.99944040e-01 7.32606804e-03 3.69089229e-02] [-1.77767422e-03 -7.33983677e-03 9.99971483e-01 -2.01261648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98463043999999 meters Centerline goodness [0,1] 0.32376924745174585 Centerline is valid? [False, False] Translation: X:3.24, Y:0.04, Z:-0.02 [[ 9.99996618e-01 -8.80678829e-04 2.44704857e-03 3.23768248e+00] [ 8.60775064e-04 9.99966638e-01 8.12296674e-03 3.93704087e-02] [-2.45412066e-03 -8.12083292e-03 9.99964014e-01 -2.04822900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01463043999999 meters Centerline goodness [0,1] 0.32241542566927783 Centerline is valid? [False, False] Translation: X:3.24, Y:0.04, Z:-0.02 [[ 9.99996582e-01 -7.77239927e-04 2.49624890e-03 3.23761565e+00] [ 7.56431695e-04 9.99965053e-01 8.32595448e-03 3.85214993e-02] [-2.50263292e-03 -8.32403778e-03 9.99962223e-01 -2.05361164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04463043999999 meters Centerline goodness [0,1] 0.3226898365745332 Centerline is valid? [False, False] Translation: X:3.24, Y:0.04, Z:-0.02 [[ 9.99997290e-01 -6.57068200e-04 2.23366139e-03 3.23828951e+00] [ 6.37824151e-04 9.99962770e-01 8.60529526e-03 3.70653966e-02] [-2.23923250e-03 -8.60384726e-03 9.99960479e-01 -2.06072218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07463043999999 meters Centerline goodness [0,1] 0.32170467095432986 Centerline is valid? [False, False] Translation: X:3.24, Y:0.04, Z:-0.02 [[ 9.99997862e-01 -6.14021071e-04 1.97433403e-03 3.23890364e+00] [ 5.96760154e-04 9.99961703e-01 8.73138813e-03 3.63864275e-02] [-1.97961968e-03 -8.73019126e-03 9.99959932e-01 -2.06412486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10463044 meters Centerline goodness [0,1] 0.31816327844921966 Centerline is valid? [False, False] Translation: X:3.26, Y:0.03, Z:-0.02 [[ 9.99972137e-01 7.28996967e-03 1.60685513e-03 3.25833824e+00] [-7.30185122e-03 9.99945089e-01 7.51679388e-03 3.25398993e-02] [-1.55196970e-03 -7.52831745e-03 9.99970457e-01 -1.92698899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13463044 meters Centerline goodness [0,1] 0.31873935631291905 Centerline is valid? [False, False] Translation: X:3.26, Y:0.03, Z:-0.02 [[ 9.99971516e-01 7.37351279e-03 1.61173477e-03 3.25828841e+00] [-7.38572584e-03 9.99943019e-01 7.70773280e-03 3.16466284e-02] [-1.55480987e-03 -7.71941709e-03 9.99968996e-01 -1.91801410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16463044 meters Centerline goodness [0,1] 0.3189738314151611 Centerline is valid? [False, False] Translation: X:3.26, Y:0.03, Z:-0.02 [[ 9.99970959e-01 7.41676310e-03 1.75298896e-03 3.25789273e+00] [-7.43019158e-03 9.99942113e-01 7.78215570e-03 3.12977278e-02] [-1.69516908e-03 -7.79495474e-03 9.99968182e-01 -1.90828445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19463044 meters Centerline goodness [0,1] 0.3187005955603681 Centerline is valid? [False, False] Translation: X:3.26, Y:0.03, Z:-0.02 [[ 9.99970562e-01 7.42479839e-03 1.93604310e-03 3.25752063e+00] [-7.43965109e-03 9.99942054e-01 7.78077983e-03 3.12470228e-02] [-1.87816019e-03 -7.79495426e-03 9.99967855e-01 -1.91323188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22463044 meters Centerline goodness [0,1] 0.31669216349572304 Centerline is valid? [False, False] Translation: X:3.26, Y:0.03, Z:-0.02 [[ 9.99969981e-01 7.60131159e-03 1.50223245e-03 3.25918015e+00] [-7.61275968e-03 9.99940851e-01 7.76788752e-03 3.19317849e-02] [-1.44309746e-03 -7.77909047e-03 9.99968701e-01 -2.02355453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.25463044 meters Centerline goodness [0,1] 0.31908208373060587 Centerline is valid? [False, False] Translation: X:3.26, Y:0.03, Z:-0.02 [[ 9.99969679e-01 7.65908661e-03 1.40676526e-03 3.25965245e+00] [-7.66969875e-03 9.99940942e-01 7.69987708e-03 3.27534578e-02] [-1.34770816e-03 -7.71043308e-03 9.99969366e-01 -2.06931633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28463044 meters Centerline goodness [0,1] 0.3157432026760443 Centerline is valid? [False, False] Translation: X:3.28, Y:0.04, Z:-0.02 [[ 9.99998920e-01 6.80751956e-04 1.30265676e-03 3.27788238e+00] [-6.92358848e-04 9.99959882e-01 8.93056010e-03 3.86867457e-02] [-1.29652500e-03 -8.93145235e-03 9.99959273e-01 -1.92645573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.31463044 meters Centerline goodness [0,1] 0.31897860892957863 Centerline is valid? [False, False] Translation: X:3.26, Y:0.03, Z:-0.02 [[ 9.99962397e-01 8.52386932e-03 1.59650264e-03 3.25794791e+00] [-8.53650916e-03 9.99930876e-01 8.08519775e-03 3.37618852e-02] [-1.52747511e-03 -8.09852228e-03 9.99966040e-01 -2.00469585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34463044 meters Centerline goodness [0,1] 0.3164389789776787 Centerline is valid? [False, False] Translation: X:3.26, Y:0.03, Z:-0.02 [[ 9.99962806e-01 8.48177546e-03 1.56369895e-03 3.25788085e+00] [-8.49403241e-03 9.99931876e-01 8.00591656e-03 3.39167848e-02] [-1.49568804e-03 -8.01890091e-03 9.99966730e-01 -1.98279257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37463043999999 meters Centerline goodness [0,1] 0.31665449233016796 Centerline is valid? [False, False] Translation: X:3.28, Y:0.04, Z:-0.02 [[ 9.99999123e-01 1.11581327e-03 7.13296388e-04 3.27611282e+00] [-1.12201474e-03 9.99961057e-01 8.75365043e-03 3.87684878e-02] [-7.03501171e-04 -8.75444308e-03 9.99961432e-01 -1.82570674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40463043999999 meters Centerline goodness [0,1] 0.31665449233016796 Centerline is valid? [False, False] Translation: X:3.28, Y:0.04, Z:-0.02 [[ 9.99999123e-01 1.11581327e-03 7.13296388e-04 3.27611282e+00] [-1.12201474e-03 9.99961057e-01 8.75365043e-03 3.87684878e-02] [-7.03501171e-04 -8.75444308e-03 9.99961432e-01 -1.82570674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43463043999999 meters Centerline goodness [0,1] 0.31572515810912205 Centerline is valid? [False, False] Translation: X:3.28, Y:0.04, Z:-0.02 [[ 9.99999158e-01 1.05175770e-03 7.59895736e-04 3.27599302e+00] [-1.05829834e-03 9.99961952e-01 8.65877863e-03 3.88473158e-02] [-7.50759886e-04 -8.65957554e-03 9.99962223e-01 -1.82656509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46463044 meters Centerline goodness [0,1] 0.3170144634759623 Centerline is valid? [False, False] Translation: X:3.28, Y:0.04, Z:-0.02 [[ 9.99999218e-01 1.04050408e-03 6.93666444e-04 3.27638848e+00] [-1.04644204e-03 9.99962338e-01 8.61556744e-03 3.91227050e-02] [-6.84675786e-04 -8.61628658e-03 9.99962645e-01 -1.86588166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49463044 meters Centerline goodness [0,1] 0.31713990262398206 Centerline is valid? [False, False] Translation: X:3.28, Y:0.04, Z:-0.02 [[ 9.99999359e-01 1.01909008e-03 4.94341353e-04 3.27730623e+00] [-1.02324753e-03 9.99963487e-01 8.48402058e-03 3.99655820e-02] [-4.85677322e-04 -8.48452097e-03 9.99963888e-01 -1.93803092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52463044 meters Centerline goodness [0,1] 0.3170003892228517 Centerline is valid? [False, False] Translation: X:3.28, Y:0.04, Z:-0.02 [[ 9.99999491e-01 9.62804696e-04 3.00408515e-04 3.27822698e+00] [-9.65251327e-04 9.99965475e-01 8.25336660e-03 4.11658238e-02] [-2.92451764e-04 -8.25365237e-03 9.99965895e-01 -2.01745007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55463044 meters Centerline goodness [0,1] 0.31678451323618173 Centerline is valid? [False, False] Translation: X:3.28, Y:0.04, Z:-0.02 [[ 9.99999644e-01 8.42559283e-04 5.46018589e-05 3.27898521e+00] [-8.42964939e-04 9.99968341e-01 7.91237583e-03 4.26414632e-02] [-4.79334846e-05 -7.91241904e-03 9.99968695e-01 -2.05290058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58463044 meters Centerline goodness [0,1] 0.31566332699948174 Centerline is valid? [False, False] Translation: X:3.28, Y:0.04, Z:-0.02 [[ 9.99999742e-01 7.05474345e-04 -1.35219540e-04 3.27939794e+00] [-7.04431185e-04 9.99971134e-01 7.56531253e-03 4.41118098e-02] [ 1.40552771e-04 -7.56521533e-03 9.99971373e-01 -2.05609309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61463044 meters Centerline goodness [0,1] 0.3180266562302959 Centerline is valid? [False, False] Translation: X:3.28, Y:0.05, Z:-0.02 [[ 9.99999810e-01 6.13159298e-04 -6.94543742e-05 3.27878237e+00] [-6.12659571e-04 9.99975452e-01 6.98000487e-03 4.76304978e-02] [ 7.37325241e-05 -6.97996099e-03 9.99975637e-01 -2.00107010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64463044 meters Centerline goodness [0,1] 0.3192212204364302 Centerline is valid? [False, False] Translation: X:3.28, Y:0.05, Z:-0.02 [[ 9.99999810e-01 5.99203906e-04 1.45860651e-04 3.27806073e+00] [-6.00170922e-04 9.99977224e-01 6.72251016e-03 4.95053178e-02] [-1.41829174e-04 -6.72259642e-03 9.99977393e-01 -1.97076019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.67463044 meters Centerline goodness [0,1] 0.3190458603984272 Centerline is valid? [False, False] Translation: X:3.28, Y:0.05, Z:-0.02 [[ 9.99999774e-01 5.39594785e-04 4.01214763e-04 3.27735622e+00] [-5.42132814e-04 9.99979673e-01 6.35289409e-03 5.18428099e-02] [-3.97778619e-04 -6.35311017e-03 9.99979740e-01 -1.96143499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70463044 meters Centerline goodness [0,1] 0.31913507880682557 Centerline is valid? [False, False] Translation: X:3.28, Y:0.06, Z:-0.02 [[ 9.99999772e-01 2.29988470e-04 6.34117974e-04 3.27707064e+00] [-2.33436394e-04 9.99985161e-01 5.44265332e-03 5.61822615e-02] [-6.32856817e-04 -5.44280010e-03 9.99984988e-01 -2.01433598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73463043999999 meters Centerline goodness [0,1] 0.31439817603028475 Centerline is valid? [False, False] Translation: X:3.30, Y:0.06, Z:-0.02 [[ 9.99965975e-01 8.21730991e-03 7.24743015e-04 3.29674362e+00] [-8.21996408e-03 9.99959227e-01 3.73860879e-03 5.76121272e-02] [-6.93992158e-04 -3.74443894e-03 9.99992749e-01 -1.89943276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76463043999999 meters Centerline goodness [0,1] 0.31692261040958214 Centerline is valid? [False, False] Translation: X:3.28, Y:0.06, Z:-0.02 [[ 9.99998710e-01 5.10973396e-04 1.52252031e-03 3.27778227e+00] [-5.18460981e-04 9.99987755e-01 4.92155881e-03 6.39823728e-02] [-1.51998688e-03 -4.92234183e-03 9.99986730e-01 -2.10746420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79463043999999 meters Centerline goodness [0,1] 0.3155456454441149 Centerline is valid? [False, False] Translation: X:3.28, Y:0.07, Z:-0.02 [[ 9.99998556e-01 4.73857158e-04 1.63229475e-03 3.27719708e+00] [-4.81289243e-04 9.99989507e-01 4.55577207e-03 6.66067621e-02] [-1.63011884e-03 -4.55655109e-03 9.99988290e-01 -2.06697052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82463043999999 meters Centerline goodness [0,1] 0.3147155455645858 Centerline is valid? [False, False] Translation: X:3.28, Y:0.07, Z:-0.02 [[ 9.99998203e-01 4.17076389e-04 1.84960313e-03 3.27632828e+00] [-4.24873854e-04 9.99991017e-01 4.21736345e-03 6.87660711e-02] [-1.84782756e-03 -4.21814172e-03 9.99989396e-01 -2.01253708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85463044 meters Centerline goodness [0,1] 0.3177124012843877 Centerline is valid? [False, False] Translation: X:3.28, Y:0.07, Z:-0.02 [[ 9.99997924e-01 2.97556566e-04 2.01589221e-03 3.27564455e+00] [-3.05393082e-04 9.99992394e-01 3.88817636e-03 7.04440732e-02] [-2.01471993e-03 -3.88878393e-03 9.99990409e-01 -1.96824220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88463044 meters Centerline goodness [0,1] 0.3140045648335559 Centerline is valid? [False, False] Translation: X:3.28, Y:0.07, Z:-0.02 [[ 9.99997894e-01 2.08315438e-04 2.04161240e-03 3.27550937e+00] [-2.15546388e-04 9.99993703e-01 3.54220393e-03 7.25848353e-02] [-2.04086165e-03 -3.54263653e-03 9.99991642e-01 -1.96308677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91463044 meters Centerline goodness [0,1] 0.31758535895371354 Centerline is valid? [False, False] Translation: X:3.26, Y:0.07, Z:-0.02 [[ 9.99968234e-01 7.74301444e-03 1.89128221e-03 3.25703503e+00] [-7.74710499e-03 9.99967647e-01 2.16518063e-03 6.82417256e-02] [-1.87445600e-03 -2.17976381e-03 9.99995868e-01 -2.11861437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94463044 meters Centerline goodness [0,1] 0.31335038583066444 Centerline is valid? [False, False] Translation: X:3.28, Y:0.07, Z:-0.02 [[ 9.99999142e-01 2.31836241e-05 1.30981927e-03 3.27668073e+00] [-2.65904567e-05 9.99996617e-01 2.60103686e-03 7.47791984e-02] [-1.30975454e-03 -2.60106946e-03 9.99995759e-01 -2.03697474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97463044 meters Centerline goodness [0,1] 0.316023128397254 Centerline is valid? [False, False] Translation: X:3.28, Y:0.08, Z:-0.02 [[ 9.99999462e-01 -2.26669438e-04 1.01235879e-03 3.27728964e+00] [ 2.24320629e-04 9.99997284e-01 2.31964616e-03 7.50406258e-02] [-1.01288184e-03 -2.31941781e-03 9.99996797e-01 -2.02697682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00463044 meters Centerline goodness [0,1] 0.3151705468327016 Centerline is valid? [False, False] Translation: X:3.28, Y:0.07, Z:-0.02 [[ 9.99999386e-01 -1.92805154e-04 1.09168164e-03 3.27702871e+00] [ 1.90092436e-04 9.99996896e-01 2.48445738e-03 7.42797882e-02] [-1.09215727e-03 -2.48424833e-03 9.99996318e-01 -2.00958325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.03463044 meters Centerline goodness [0,1] 0.31514838487528785 Centerline is valid? [False, False] Translation: X:3.28, Y:0.07, Z:-0.02 [[ 9.99999322e-01 -9.93539832e-05 1.15987434e-03 3.27670635e+00] [ 9.60966058e-05 9.99996053e-01 2.80810623e-03 7.27666388e-02] [-1.16014876e-03 -2.80799287e-03 9.99995385e-01 -1.97556889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06463044 meters Centerline goodness [0,1] 0.31425762885716724 Centerline is valid? [False, False] Translation: X:3.28, Y:0.07, Z:-0.02 [[ 9.99999312e-01 -5.02715788e-05 1.17209870e-03 3.27653800e+00] [ 4.65959059e-05 9.99995082e-01 3.13579207e-03 7.09057350e-02] [-1.17225058e-03 -3.13573529e-03 9.99994396e-01 -1.94483271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09463044 meters Centerline goodness [0,1] 0.3166064903898126 Centerline is valid? [False, False] Translation: X:3.26, Y:0.06, Z:-0.02 [[ 9.99984120e-01 5.48596367e-03 1.28970608e-03 3.25558819e+00] [-5.48642293e-03 9.99984887e-01 3.52833293e-04 6.46688447e-02] [-1.28775096e-03 -3.59903563e-04 9.99999106e-01 -1.99892958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12463043999999 meters Centerline goodness [0,1] 0.31166495375128467 Centerline is valid? [False, False] Translation: X:3.28, Y:0.07, Z:-0.02 [[ 9.99997368e-01 -2.26519164e-03 3.63722329e-04 3.27569934e+00] [ 2.26473769e-03 9.99996662e-01 1.24366247e-03 6.80244912e-02] [-3.66538248e-04 -1.24283547e-03 9.99999161e-01 -1.91511607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15463043999999 meters Centerline goodness [0,1] 0.312298330337614 Centerline is valid? [False, False] Translation: X:3.26, Y:0.06, Z:-0.02 [[ 9.99994811e-01 2.59728088e-03 -1.90600772e-03 3.25587312e+00] [-2.60105013e-03 9.99994661e-01 -1.97775995e-03 6.17417816e-02] [ 1.90086075e-03 1.98270731e-03 9.99996228e-01 -1.97760161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18463043999999 meters Centerline goodness [0,1] 0.316341436825466 Centerline is valid? [False, False] Translation: X:3.26, Y:0.06, Z:-0.02 [[ 9.99994576e-01 2.61218835e-03 -2.00627691e-03 3.25604601e+00] [-2.61579566e-03 9.99994963e-01 -1.79749815e-03 6.05241107e-02] [ 2.00157141e-03 1.80273641e-03 9.99996372e-01 -1.96643986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21463044 meters Centerline goodness [0,1] 0.31371152268704394 Centerline is valid? [False, False] Translation: X:3.27, Y:0.06, Z:-0.02 [[ 9.99986987e-01 -4.94790583e-03 -1.24225419e-03 3.27470332e+00] [ 4.94732752e-03 9.99987652e-01 -4.68176504e-04 6.43986565e-02] [ 1.24455534e-03 4.62024573e-04 9.99999119e-01 -1.82176639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24463044 meters Centerline goodness [0,1] 0.3136429981969606 Centerline is valid? [False, False] Translation: X:3.27, Y:0.06, Z:-0.02 [[ 9.99987368e-01 -4.86875274e-03 -1.24827271e-03 3.27439738e+00] [ 4.86834641e-03 9.99988096e-01 -3.28353746e-04 6.41132509e-02] [ 1.24985653e-03 3.22272574e-04 9.99999167e-01 -1.77220243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27463044 meters Centerline goodness [0,1] 0.31266416914266026 Centerline is valid? [False, False] Translation: X:3.27, Y:0.06, Z:-0.02 [[ 9.99987549e-01 -4.80544244e-03 -1.34504192e-03 3.27444634e+00] [ 4.80506288e-03 9.99988415e-01 -2.85279645e-04 6.43375604e-02] [ 1.34639723e-03 2.78813082e-04 9.99999055e-01 -1.74624442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30463044 meters Centerline goodness [0,1] 0.31235136582753076 Centerline is valid? [False, False] Translation: X:3.28, Y:0.07, Z:-0.02 [[ 9.99986924e-01 -4.86675706e-03 -1.57070496e-03 3.27516998e+00] [ 4.86600562e-03 9.99988045e-01 -4.81876693e-04 6.52722729e-02] [ 1.57303136e-03 4.74227332e-04 9.99998650e-01 -1.77738193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33463044 meters Centerline goodness [0,1] 0.31585439750692523 Centerline is valid? [False, False] Translation: X:3.26, Y:0.06, Z:-0.02 [[ 9.99992997e-01 2.81485949e-03 -2.46617093e-03 3.25634266e+00] [-2.82008243e-03 9.99993783e-01 -2.11692055e-03 6.33795174e-02] [ 2.46019676e-03 2.12386053e-03 9.99994718e-01 -1.95257494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36463044 meters Centerline goodness [0,1] 0.3151627987530309 Centerline is valid? [False, False] Translation: X:3.26, Y:0.06, Z:-0.02 [[ 9.99993669e-01 2.84410275e-03 -2.13831870e-03 3.25543155e+00] [-2.84901838e-03 9.99993298e-01 -2.29930900e-03 6.49450711e-02] [ 2.13176490e-03 2.30538655e-03 9.99995070e-01 -1.93727010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.39463044 meters Centerline goodness [0,1] 0.3161831663848055 Centerline is valid? [False, False] Translation: X:3.25, Y:0.07, Z:-0.02 [[ 9.99994446e-01 2.99480711e-03 -1.46225001e-03 3.25336383e+00] [-2.99822134e-03 9.99992771e-01 -2.33833514e-03 6.63308608e-02] [ 1.45523658e-03 2.34270630e-03 9.99996197e-01 -1.85264591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42463044 meters Centerline goodness [0,1] 0.3139369671919401 Centerline is valid? [False, False] Translation: X:3.27, Y:0.07, Z:-0.02 [[ 9.99991774e-01 -4.05159823e-03 -1.88617493e-04 3.26995713e+00] [ 4.05144227e-03 9.99991457e-01 -8.20043033e-04 7.33199887e-02] [ 1.91938367e-04 8.19272115e-04 9.99999646e-01 -1.63655717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.45463044 meters Centerline goodness [0,1] 0.3135459019901562 Centerline is valid? [False, False] Translation: X:3.27, Y:0.07, Z:-0.02 [[ 9.99991342e-01 -4.15588362e-03 -2.09771219e-04 3.26981446e+00] [ 4.15564799e-03 9.99990748e-01 -1.11148427e-03 7.46364488e-02] [ 2.14388477e-04 1.11060291e-03 9.99999360e-01 -1.61003247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48463043999999 meters Centerline goodness [0,1] 0.31379681446405505 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:-0.02 [[ 9.99989746e-01 -4.41656391e-03 -1.00099644e-03 3.27200092e+00] [ 4.41507026e-03 9.99989144e-01 -1.48948710e-03 7.56427697e-02] [ 1.00756399e-03 1.48505236e-03 9.99998390e-01 -1.67385488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51463043999999 meters Centerline goodness [0,1] 0.31392908906050576 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:-0.02 [[ 9.99989366e-01 -4.38907101e-03 -1.41553259e-03 3.27331970e+00] [ 4.38702798e-03 9.99989336e-01 -1.44318853e-03 7.55763397e-02] [ 1.42185175e-03 1.43696320e-03 9.99997957e-01 -1.73170490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54463043999999 meters Centerline goodness [0,1] 0.31384548611111107 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:-0.02 [[ 9.99989281e-01 -4.32893124e-03 -1.64240195e-03 3.27411403e+00] [ 4.32666922e-03 9.99989690e-01 -1.37832988e-03 7.56478650e-02] [ 1.64835172e-03 1.37120897e-03 9.99997701e-01 -1.77362147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57463043999999 meters Centerline goodness [0,1] 0.31355821828601194 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:-0.02 [[ 9.99989265e-01 -4.33370014e-03 -1.63950966e-03 3.27404639e+00] [ 4.33140683e-03 9.99989640e-01 -1.39975498e-03 7.58848309e-02] [ 1.64555879e-03 1.39263857e-03 9.99997676e-01 -1.76314426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60463044 meters Centerline goodness [0,1] 0.310507877146603 Centerline is valid? [False, False] Translation: X:3.29, Y:0.08, Z:-0.02 [[ 9.99993195e-01 3.49440001e-03 1.18252036e-03 3.29221212e+00] [-3.49112411e-03 9.99990094e-01 -2.76108002e-03 7.58673520e-02] [-1.19215697e-03 2.75693290e-03 9.99995489e-01 -1.64344660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63463044 meters Centerline goodness [0,1] 0.3128779638894932 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:-0.02 [[ 9.99993880e-01 -2.78907606e-03 2.11188768e-03 3.26840886e+00] [ 2.78917725e-03 9.99996109e-01 -4.49706360e-05 7.76711199e-02] [-2.11175404e-03 5.08607898e-05 9.99997769e-01 -1.63166079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66463044 meters Centerline goodness [0,1] 0.3119175434829289 Centerline is valid? [False, False] Translation: X:3.29, Y:0.08, Z:-0.02 [[ 9.99980364e-01 5.37626277e-03 3.21993910e-03 3.28832652e+00] [-5.37245100e-03 9.99984859e-01 -1.19128512e-03 7.80241114e-02] [-3.22629500e-03 1.17396276e-03 9.99994106e-01 -1.55971541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69463044 meters Centerline goodness [0,1] 0.31104913108774945 Centerline is valid? [False, False] Translation: X:3.29, Y:0.08, Z:-0.02 [[ 9.99981119e-01 5.27595155e-03 3.15046349e-03 3.28857345e+00] [-5.27098169e-03 9.99984854e-01 -1.58372679e-03 8.00719154e-02] [-3.15877144e-03 1.56709085e-03 9.99993783e-01 -1.58193394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72463044 meters Centerline goodness [0,1] 0.31391557995881947 Centerline is valid? [False, False] Translation: X:3.29, Y:0.08, Z:-0.02 [[ 9.99982577e-01 5.10024104e-03 2.97204323e-03 3.28909383e+00] [-5.09407872e-03 9.99984867e-01 -2.07732443e-03 8.22666170e-02] [-2.98259311e-03 2.06214842e-03 9.99993426e-01 -1.60618009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75463044 meters Centerline goodness [0,1] 0.31327540742661997 Centerline is valid? [False, False] Translation: X:3.27, Y:0.09, Z:-0.02 [[ 9.99991405e-01 -2.81515646e-03 3.04382439e-03 3.27089480e+00] [ 2.81851715e-03 9.99995423e-01 -1.10037518e-03 8.74034734e-02] [-3.04071273e-03 1.10894479e-03 9.99994762e-01 -1.80322781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78463044 meters Centerline goodness [0,1] 0.31284271912263906 Centerline is valid? [False, False] Translation: X:3.27, Y:0.09, Z:-0.02 [[ 9.99992289e-01 -2.83589328e-03 2.71659381e-03 3.27186863e+00] [ 2.83978654e-03 9.99994945e-01 -1.43035543e-03 8.97964615e-02] [-2.71252374e-03 1.43805895e-03 9.99995287e-01 -1.85527480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.81463044 meters Centerline goodness [0,1] 0.31376664261821996 Centerline is valid? [False, False] Translation: X:3.27, Y:0.09, Z:-0.02 [[ 9.99992789e-01 -2.87204859e-03 2.48471406e-03 3.27256705e+00] [ 2.87587142e-03 9.99994685e-01 -1.53633428e-03 9.04479574e-02] [-2.48028843e-03 1.54346892e-03 9.99995733e-01 -1.88544428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84463044 meters Centerline goodness [0,1] 0.30564962064383383 Centerline is valid? [False, False] Translation: X:3.32, Y:0.09, Z:-0.02 [[ 9.99991637e-01 -2.71520943e-03 3.05846763e-03 3.31763933e+00] [ 2.72074182e-03 9.99994668e-01 -1.80617306e-03 9.46316763e-02] [-3.05354719e-03 1.81447925e-03 9.99993692e-01 -1.97372656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87463043999999 meters Centerline goodness [0,1] 0.30929535883297876 Centerline is valid? [False, False] Translation: X:3.30, Y:0.09, Z:-0.02 [[ 9.99993105e-01 3.20171896e-03 1.88140355e-03 3.29659962e+00] [-3.19272617e-03 9.99983557e-01 -4.76355328e-03 9.12723167e-02] [-1.89662418e-03 4.75751363e-03 9.99986884e-01 -1.96205674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90463043999999 meters Centerline goodness [0,1] 0.30717081203618557 Centerline is valid? [False, False] Translation: X:3.32, Y:0.10, Z:-0.02 [[ 9.99988546e-01 -4.53882485e-03 1.51875445e-03 3.31624424e+00] [ 4.54489933e-03 9.99981590e-01 -4.02039328e-03 9.66418886e-02] [-1.50047862e-03 4.02724982e-03 9.99990765e-01 -1.87355269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93463043999999 meters Centerline goodness [0,1] 0.3116781499271881 Centerline is valid? [False, False] Translation: X:3.27, Y:0.09, Z:-0.02 [[ 9.99987773e-01 -4.93868020e-03 -2.49647993e-04 3.27014692e+00] [ 4.93763508e-03 9.99979703e-01 -4.02667280e-03 9.30526757e-02] [ 2.69529375e-04 4.02539090e-03 9.99991862e-01 -1.74841087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96463044 meters Centerline goodness [0,1] 0.3069713698806008 Centerline is valid? [False, False] Translation: X:3.31, Y:0.10, Z:-0.02 [[ 9.99989939e-01 -3.93385380e-03 2.15555819e-03 3.31290304e+00] [ 3.94083344e-03 9.99986975e-01 -3.24334929e-03 9.66605149e-02] [-2.14277125e-03 3.25181136e-03 9.99992417e-01 -1.74854209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99463044 meters Centerline goodness [0,1] 0.3105760702619681 Centerline is valid? [False, False] Translation: X:3.29, Y:0.09, Z:-0.02 [[ 9.99989256e-01 3.82556548e-03 2.61772698e-03 3.29398328e+00] [-3.81430874e-03 9.99983516e-01 -4.29175984e-03 9.18844671e-02] [-2.63410224e-03 4.28172892e-03 9.99987364e-01 -1.91435122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02463044 meters Centerline goodness [0,1] 0.311497413027948 Centerline is valid? [False, False] Translation: X:3.29, Y:0.09, Z:-0.02 [[ 9.99989505e-01 3.77305257e-03 2.59873310e-03 3.29423438e+00] [-3.76155863e-03 9.99983185e-01 -4.41367805e-03 9.22846730e-02] [-2.61534244e-03 4.40385644e-03 9.99986883e-01 -1.94954285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05463044 meters Centerline goodness [0,1] 0.3109579570496478 Centerline is valid? [False, False] Translation: X:3.29, Y:0.09, Z:-0.02 [[ 9.99989541e-01 3.78192061e-03 2.57182441e-03 3.29433858e+00] [-3.77019751e-03 9.99982551e-01 -4.54795457e-03 9.32848292e-02] [-2.58897954e-03 4.53821072e-03 9.99986351e-01 -1.96085768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08463044 meters Centerline goodness [0,1] 0.30779615978055885 Centerline is valid? [False, False] Translation: X:3.31, Y:0.10, Z:-0.02 [[ 9.99992915e-01 -1.52366265e-03 3.44214123e-03 3.31280866e+00] [ 1.52809386e-03 9.99998007e-01 -1.28507606e-03 9.95371525e-02] [-3.44017634e-03 1.29032687e-03 9.99993250e-01 -1.80189506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11463044 meters Centerline goodness [0,1] 0.3112083531909363 Centerline is valid? [False, False] Translation: X:3.31, Y:0.10, Z:-0.02 [[ 9.99992264e-01 -1.52774540e-03 3.62455731e-03 3.31198843e+00] [ 1.53293733e-03 9.99997802e-01 -1.43008506e-03 1.00559819e-01] [-3.62236454e-03 1.43563022e-03 9.99992409e-01 -1.73923892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14463044 meters Centerline goodness [0,1] 0.31211963136845766 Centerline is valid? [False, False] Translation: X:3.31, Y:0.10, Z:-0.02 [[ 9.99991134e-01 -1.56082657e-03 3.91107592e-03 3.31107237e+00] [ 1.56691077e-03 9.99997566e-01 -1.55305220e-03 1.01177022e-01] [-3.90864235e-03 1.55916674e-03 9.99991146e-01 -1.70128360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.17463044 meters Centerline goodness [0,1] 0.3134480810188204 Centerline is valid? [False, False] Translation: X:3.31, Y:0.10, Z:-0.02 [[ 9.99990335e-01 -1.57832578e-03 4.10345246e-03 3.31055538e+00] [ 1.58496918e-03 9.99997438e-01 -1.61623111e-03 1.01472433e-01] [-4.10089101e-03 1.62271934e-03 9.99990275e-01 -1.68920204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20463044 meters Centerline goodness [0,1] 0.31108187386765596 Centerline is valid? [False, False] Translation: X:3.31, Y:0.10, Z:-0.02 [[ 9.99989722e-01 -1.52497150e-03 4.26975742e-03 3.31009395e+00] [ 1.53145396e-03 9.99997679e-01 -1.51537008e-03 1.01298619e-01] [-4.26743662e-03 1.52189344e-03 9.99989736e-01 -1.67539208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23463043999999 meters Centerline goodness [0,1] 0.3121666738932489 Centerline is valid? [False, False] Translation: X:3.31, Y:0.10, Z:-0.02 [[ 9.99991236e-01 -1.43267767e-03 3.93395852e-03 3.31097953e+00] [ 1.43721866e-03 9.99998304e-01 -1.15172241e-03 9.95233996e-02] [-3.93230181e-03 1.15736628e-03 9.99991599e-01 -1.68805010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26463043999999 meters Centerline goodness [0,1] 0.3105706469054954 Centerline is valid? [False, False] Translation: X:3.31, Y:0.10, Z:-0.02 [[ 9.99992593e-01 -1.41081509e-03 3.58094619e-03 3.31187378e+00] [ 1.41423800e-03 9.99998545e-01 -9.53512911e-04 9.83121370e-02] [-3.57959575e-03 9.58570158e-04 9.99993134e-01 -1.69774876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29463043999999 meters Centerline goodness [0,1] 0.3105706469054954 Centerline is valid? [False, False] Translation: X:3.31, Y:0.10, Z:-0.02 [[ 9.99992593e-01 -1.41081509e-03 3.58094619e-03 3.31187378e+00] [ 1.41423800e-03 9.99998545e-01 -9.53512911e-04 9.83121370e-02] [-3.57959575e-03 9.58570158e-04 9.99993134e-01 -1.69774876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32463043999999 meters Centerline goodness [0,1] 0.308918560362905 Centerline is valid? [False, False] Translation: X:3.31, Y:0.10, Z:-0.02 [[ 9.99992949e-01 -1.37610655e-03 3.49411119e-03 3.31201517e+00] [ 1.37862655e-03 9.99998791e-01 -7.18906520e-04 9.67655915e-02] [-3.49311768e-03 7.23718525e-04 9.99993637e-01 -1.68410448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35463044 meters Centerline goodness [0,1] 0.30975635934313617 Centerline is valid? [False, False] Translation: X:3.31, Y:0.10, Z:-0.02 [[ 9.99992289e-01 -1.31059561e-03 3.70183162e-03 3.31131353e+00] [ 1.31239662e-03 9.99999022e-01 -4.84131918e-04 9.53518662e-02] [-3.70119350e-03 4.88986456e-04 9.99993031e-01 -1.64416263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38463044 meters Centerline goodness [0,1] 0.31078960380076104 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:-0.02 [[ 9.99991478e-01 -1.21659401e-03 3.94517743e-03 3.31066383e+00] [ 1.21765566e-03 9.99999223e-01 -2.66709656e-04 9.44110100e-02] [-3.94484988e-03 2.71511250e-04 9.99992182e-01 -1.62843753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41463044 meters Centerline goodness [0,1] 0.3118591603791836 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:-0.02 [[ 9.99991424e-01 -1.14508639e-03 3.98001380e-03 3.31070137e+00] [ 1.14567665e-03 9.99999333e-01 -1.46029479e-04 9.38121434e-02] [-3.97984393e-03 1.50588036e-04 9.99992069e-01 -1.64636578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44463044 meters Centerline goodness [0,1] 0.31112637362637363 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:-0.02 [[ 9.99992873e-01 -1.06071778e-03 3.62328683e-03 3.31218180e+00] [ 1.06136723e-03 9.99999421e-01 -1.77323444e-04 9.38105938e-02] [-3.62309664e-03 1.81167818e-04 9.99993420e-01 -1.75231362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47463044 meters Centerline goodness [0,1] 0.3104882147627871 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:-0.02 [[ 9.99993518e-01 -1.03142801e-03 3.44955169e-03 3.31257384e+00] [ 1.03196073e-03 9.99999456e-01 -1.52654341e-04 9.35300427e-02] [-3.44939236e-03 1.56213153e-04 9.99994039e-01 -1.75722700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50463044 meters Centerline goodness [0,1] 0.311948624805397 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:-0.02 [[ 9.99993948e-01 -9.29043083e-04 3.35264614e-03 3.31260211e+00] [ 9.29049174e-04 9.99999568e-01 -2.59212191e-07 9.30536134e-02] [-3.35264445e-03 3.37398374e-06 9.99994380e-01 -1.73340414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.53463044 meters Centerline goodness [0,1] 0.3112314523990036 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:-0.02 [[ 9.99993951e-01 -8.44551639e-04 3.37421889e-03 3.31222942e+00] [ 8.43982401e-04 9.99999629e-01 1.70122474e-04 9.24154240e-02] [-3.37436131e-03 -1.67273664e-04 9.99994293e-01 -1.68545934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56463044 meters Centerline goodness [0,1] 0.31214372084988773 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:-0.02 [[ 9.99994695e-01 -1.09073417e-03 3.06939740e-03 3.31282958e+00] [ 1.08986235e-03 9.99999365e-01 2.85696175e-04 9.01476594e-02] [-3.06970707e-03 -2.82349439e-04 9.99995249e-01 -1.65754858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59463044 meters Centerline goodness [0,1] 0.31429630598805003 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:-0.02 [[ 9.99995503e-01 -1.16533079e-03 2.76325833e-03 3.31381681e+00] [ 1.16398843e-03 9.99999204e-01 4.87346388e-04 8.82002795e-02] [-2.76382405e-03 -4.84127795e-04 9.99996063e-01 -1.69859239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62463043999999 meters Centerline goodness [0,1] 0.31190218567409655 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:-0.02 [[ 9.99996220e-01 -1.19327164e-03 2.47726517e-03 3.31464290e+00] [ 1.19137030e-03 9.99998995e-01 7.68849949e-04 8.61770497e-02] [-2.47818013e-03 -7.65895702e-04 9.99996636e-01 -1.71406155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65463043999999 meters Centerline goodness [0,1] 0.31336336012757793 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:-0.02 [[ 9.99996126e-01 -1.12148218e-03 2.54743958e-03 3.31448457e+00] [ 1.11865196e-03 9.99998756e-01 1.11215721e-03 8.44347829e-02] [-2.54868367e-03 -1.10930320e-03 9.99996137e-01 -1.70411346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68463043999999 meters Centerline goodness [0,1] 0.31332025946598285 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:-0.02 [[ 9.99996106e-01 -1.04525594e-03 2.58757933e-03 3.31428688e+00] [ 1.04170776e-03 9.99998516e-01 1.37220005e-03 8.31725589e-02] [-2.58900979e-03 -1.36949920e-03 9.99995711e-01 -1.67892198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71463044 meters Centerline goodness [0,1] 0.31228123244457884 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:-0.02 [[ 9.99996767e-01 -1.01555556e-03 2.33141912e-03 3.31490144e+00] [ 1.01209745e-03 9.99998387e-01 1.48396505e-03 8.24956152e-02] [-2.33292241e-03 -1.48160062e-03 9.99996181e-01 -1.67867382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74463044 meters Centerline goodness [0,1] 0.31510104423273966 Centerline is valid? [False, False] Translation: X:3.32, Y:0.08, Z:-0.02 [[ 9.99998775e-01 -8.14575473e-04 1.33695894e-03 3.31766075e+00] [ 8.12656531e-04 9.99998640e-01 1.43521945e-03 8.35518083e-02] [-1.33812621e-03 -1.43413120e-03 9.99998076e-01 -1.78296889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77463044 meters Centerline goodness [0,1] 0.31459600347523897 Centerline is valid? [False, False] Translation: X:3.32, Y:0.08, Z:-0.02 [[ 9.99999228e-01 -6.03854076e-04 1.08602552e-03 3.31828836e+00] [ 6.02356702e-04 9.99998868e-01 1.37856355e-03 8.49747415e-02] [-1.08685674e-03 -1.37790831e-03 9.99998460e-01 -1.79631174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80463044 meters Centerline goodness [0,1] 0.31440338138073043 Centerline is valid? [False, False] Translation: X:3.32, Y:0.09, Z:-0.02 [[ 9.99999290e-01 -3.37954899e-04 1.14299389e-03 3.31801671e+00] [ 3.36377893e-04 9.99998992e-01 1.37962640e-03 8.62516731e-02] [-1.14345899e-03 -1.37924094e-03 9.99998395e-01 -1.78585724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83463044 meters Centerline goodness [0,1] 0.3109352146605868 Centerline is valid? [False, False] Translation: X:3.32, Y:0.09, Z:-0.02 [[ 9.99999057e-01 -1.29000642e-04 1.36731763e-03 3.31710611e+00] [ 1.27152331e-04 9.99999078e-01 1.35177998e-03 8.74643103e-02] [-1.36749075e-03 -1.35160485e-03 9.99998152e-01 -1.73611979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86463044 meters Centerline goodness [0,1] 0.31346993472528417 Centerline is valid? [False, False] Translation: X:3.32, Y:0.09, Z:-0.02 [[ 9.99998627e-01 -1.08898379e-04 1.65377357e-03 3.31608736e+00] [ 1.06870119e-04 9.99999242e-01 1.22648270e-03 8.82742596e-02] [-1.65390588e-03 -1.22630427e-03 9.99997880e-01 -1.68708246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.89463044 meters Centerline goodness [0,1] 0.3113839285714286 Centerline is valid? [False, False] Translation: X:3.32, Y:0.09, Z:-0.02 [[ 9.99998431e-01 -2.27450846e-04 1.75702702e-03 3.31570150e+00] [ 2.25503474e-04 9.99999360e-01 1.10845252e-03 8.79601908e-02] [-1.75727802e-03 -1.10805457e-03 9.99997842e-01 -1.66523331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92463044 meters Centerline goodness [0,1] 0.3159776391055642 Centerline is valid? [False, False] Translation: X:3.32, Y:0.09, Z:-0.02 [[ 9.99998494e-01 -2.51547202e-04 1.71692215e-03 3.31578952e+00] [ 2.49486726e-04 9.99999249e-01 1.20020698e-03 8.71157747e-02] [-1.71722277e-03 -1.19977682e-03 9.99997806e-01 -1.66515130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.95463044 meters Centerline goodness [0,1] 0.31663179690701637 Centerline is valid? [False, False] Translation: X:3.32, Y:0.09, Z:-0.02 [[ 9.99998435e-01 -2.82456970e-04 1.74656296e-03 3.31566231e+00] [ 2.80099419e-04 9.99999050e-01 1.34992052e-03 8.61392758e-02] [-1.74694260e-03 -1.34942920e-03 9.99997564e-01 -1.64792338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98463043999999 meters Centerline goodness [0,1] 0.3107908430948455 Centerline is valid? [False, False] Translation: X:3.32, Y:0.08, Z:-0.02 [[ 9.99998290e-01 -2.48156853e-04 1.83232831e-03 3.31530937e+00] [ 2.45228839e-04 9.99998693e-01 1.59802626e-03 8.48538054e-02] [-1.83272248e-03 -1.59757419e-03 9.99997044e-01 -1.61400893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01463043999999 meters Centerline goodness [0,1] 0.31368780234968896 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:-0.02 [[ 9.99997928e-01 -2.48802288e-04 2.02022159e-03 3.31438827e+00] [ 2.45081593e-04 9.99998274e-01 1.84176535e-03 8.36106136e-02] [-2.02067634e-03 -1.84126642e-03 9.99996263e-01 -1.52839323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04463043999999 meters Centerline goodness [0,1] 0.31218005486316613 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:-0.02 [[ 9.99998309e-01 -2.64110053e-04 1.82000452e-03 3.31491022e+00] [ 2.60884367e-04 9.99998395e-01 1.77236007e-03 8.40129671e-02] [-1.82046970e-03 -1.77188226e-03 9.99996773e-01 -1.53638154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07463043999999 meters Centerline goodness [0,1] 0.30812241239489524 Centerline is valid? [False, False] Translation: X:3.34, Y:0.08, Z:-0.01 [[ 9.99970844e-01 7.55610805e-03 1.10308852e-03 3.33586264e+00] [-7.55657676e-03 9.99971360e-01 4.21359607e-04 8.29626401e-02] [-1.09987308e-03 -4.29682895e-04 9.99999303e-01 -1.44163793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10463044 meters Centerline goodness [0,1] 0.3125719873954146 Centerline is valid? [False, False] Translation: X:3.32, Y:0.09, Z:-0.02 [[ 9.99999680e-01 -7.81329697e-04 -1.71185674e-04 3.31663031e+00] [ 7.81532806e-04 9.99998987e-01 1.18964329e-03 8.71041805e-02] [ 1.70255997e-04 -1.18977669e-03 9.99999278e-01 -1.55139893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13463044 meters Centerline goodness [0,1] 0.3098131844535108 Centerline is valid? [False, False] Translation: X:3.34, Y:0.09, Z:-0.01 [[ 9.99974536e-01 7.13113748e-03 -2.72231713e-04 3.33720341e+00] [-7.13119412e-03 9.99974551e-01 -2.07658249e-04 8.64568114e-02] [ 2.70743946e-04 2.09594298e-04 9.99999941e-01 -1.49085208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16463044 meters Centerline goodness [0,1] 0.3098436657681941 Centerline is valid? [False, False] Translation: X:3.34, Y:0.09, Z:-0.02 [[ 9.99975087e-01 7.04924797e-03 -3.66441939e-04 3.33755804e+00] [-7.04938195e-03 9.99975086e-01 -3.65641087e-04 8.70834497e-02] [ 3.63855315e-04 3.68215166e-04 9.99999866e-01 -1.51245632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19463044 meters Centerline goodness [0,1] 0.31354783170128053 Centerline is valid? [False, False] Translation: X:3.34, Y:0.09, Z:-0.01 [[ 9.99977700e-01 6.67637642e-03 1.58534679e-04 3.33601062e+00] [-6.67631947e-03 9.99977649e-01 -3.57066319e-04 8.54900642e-02] [-1.60915045e-04 3.55999928e-04 9.99999924e-01 -1.44770881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22463044 meters Centerline goodness [0,1] 0.3126711368879498 Centerline is valid? [False, False] Translation: X:3.33, Y:0.08, Z:-0.01 [[ 9.99992312e-01 3.88893234e-03 5.02885419e-04 3.33371313e+00] [-3.88753761e-03 9.99988675e-01 -2.74531341e-03 8.30237620e-02] [-5.13556062e-04 2.74333731e-03 9.99996105e-01 -1.26697052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25463044 meters Centerline goodness [0,1] 0.31495756947593445 Centerline is valid? [False, False] Translation: X:3.33, Y:0.08, Z:-0.01 [[ 9.99993253e-01 3.64669535e-03 4.42223801e-04 3.33362037e+00] [-3.64560322e-03 9.99990364e-01 -2.44579394e-03 8.01429484e-02] [-4.51138605e-04 2.44416527e-03 9.99996911e-01 -1.21577895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28463044 meters Centerline goodness [0,1] 0.31254310344827585 Centerline is valid? [False, False] Translation: X:3.33, Y:0.08, Z:-0.01 [[ 9.99994047e-01 3.44718332e-03 -1.54397685e-04 3.33498379e+00] [-3.44749587e-03 9.99991911e-01 -2.07199641e-03 7.68454722e-02] [ 1.47253885e-04 2.07251636e-03 9.99997841e-01 -1.20534556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31463044 meters Centerline goodness [0,1] 0.31172053683165757 Centerline is valid? [False, False] Translation: X:3.34, Y:0.07, Z:-0.01 [[ 9.99994470e-01 3.28607869e-03 -5.11710660e-04 3.33597583e+00] [-3.28690200e-03 9.99993292e-01 -1.61649302e-03 7.30119541e-02] [ 5.06395304e-04 1.61816603e-03 9.99998563e-01 -1.22201421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34463044 meters Centerline goodness [0,1] 0.3123787349631354 Centerline is valid? [False, False] Translation: X:3.34, Y:0.07, Z:-0.01 [[ 9.99994910e-01 3.16527617e-03 -4.01629886e-04 3.33594737e+00] [-3.16569576e-03 9.99994440e-01 -1.04841726e-03 6.84052282e-02] [ 3.98309123e-04 1.04968336e-03 9.99999370e-01 -1.23715980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37463043999999 meters Centerline goodness [0,1] 0.3154689667128987 Centerline is valid? [False, False] Translation: X:3.34, Y:0.06, Z:-0.01 [[ 9.99999978e-01 -7.38044966e-05 -1.96198345e-04 3.33523354e+00] [ 7.31880992e-05 9.99995068e-01 -3.13985836e-03 5.81953972e-02] [ 1.96429113e-04 3.13984393e-03 9.99995051e-01 -1.18443226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40463043999999 meters Centerline goodness [0,1] 0.31164944013781226 Centerline is valid? [False, False] Translation: X:3.34, Y:0.05, Z:-0.01 [[ 9.99999678e-01 -7.58827688e-05 -7.98618575e-04 3.33655998e+00] [ 7.38770037e-05 9.99996844e-01 -2.51127312e-03 5.28521741e-02] [ 7.98806617e-04 2.51121331e-03 9.99996528e-01 -1.17007395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43463043999999 meters Centerline goodness [0,1] 0.3114895824327829 Centerline is valid? [False, False] Translation: X:3.34, Y:0.05, Z:-0.01 [[ 9.99998928e-01 3.23923490e-05 -1.46389373e-03 3.33798326e+00] [-3.50181412e-05 9.99998391e-01 -1.79371409e-03 4.78870322e-02] [ 1.46383327e-03 1.79376343e-03 9.99997320e-01 -1.15086671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46463044 meters Centerline goodness [0,1] 0.3113404278189831 Centerline is valid? [False, False] Translation: X:3.34, Y:0.04, Z:-0.01 [[ 9.99997864e-01 2.57113452e-04 -2.05094355e-03 3.33925044e+00] [-2.59174549e-04 9.99999462e-01 -1.00474791e-03 4.29512245e-02] [ 2.05068411e-03 1.00527731e-03 9.99997392e-01 -1.13339695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49463044 meters Centerline goodness [0,1] 0.3114761165718227 Centerline is valid? [False, False] Translation: X:3.34, Y:0.03, Z:-0.01 [[ 9.99998328e-01 6.39814860e-04 -1.71304091e-03 3.33800916e+00] [-6.39001792e-04 9.99999683e-01 4.75139877e-04 3.17687707e-02] [ 1.71334437e-03 -4.74044446e-04 9.99998420e-01 -1.04640382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52463044 meters Centerline goodness [0,1] 0.3164351199635883 Centerline is valid? [False, False] Translation: X:3.34, Y:0.03, Z:-0.01 [[ 9.99998556e-01 8.96356302e-04 -1.44356317e-03 3.33720607e+00] [-8.94562047e-04 9.99998827e-01 1.24310139e-03 2.75208469e-02] [ 1.44467574e-03 -1.24180824e-03 9.99998185e-01 -1.00748490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55463044 meters Centerline goodness [0,1] 0.3148565903963906 Centerline is valid? [False, False] Translation: X:3.34, Y:0.02, Z:-0.01 [[ 9.99998394e-01 1.13188157e-03 -1.38933375e-03 3.33708965e+00] [-1.12921201e-03 9.99997518e-01 1.92074419e-03 2.36497811e-02] [ 1.39150436e-03 -1.91917225e-03 9.99997190e-01 -1.00064455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58463044 meters Centerline goodness [0,1] 0.3129667782642287 Centerline is valid? [False, False] Translation: X:3.34, Y:0.02, Z:-0.01 [[ 9.99997913e-01 1.37876249e-03 -1.50744582e-03 3.33743240e+00] [-1.37492795e-03 9.99995824e-01 2.54182098e-03 2.03530515e-02] [ 1.51094409e-03 -2.53974305e-03 9.99995633e-01 -1.00636574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61463044 meters Centerline goodness [0,1] 0.3151302388072639 Centerline is valid? [False, False] Translation: X:3.34, Y:0.02, Z:-0.01 [[ 9.99997500e-01 1.58902315e-03 -1.57334800e-03 3.33756298e+00] [-1.58424544e-03 9.99994145e-01 3.03325643e-03 1.79118575e-02] [ 1.57815870e-03 -3.03075628e-03 9.99994162e-01 -9.98253561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64463044 meters Centerline goodness [0,1] 0.3149667501511356 Centerline is valid? [False, False] Translation: X:3.34, Y:0.01, Z:-0.01 [[ 9.99997088e-01 1.88591247e-03 -1.50559173e-03 3.33720633e+00] [-1.88022021e-03 9.99991114e-01 3.77324963e-03 1.36487390e-02] [ 1.51269437e-03 -3.77040780e-03 9.99991748e-01 -9.59628285e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.67463044 meters Centerline goodness [0,1] 0.3161708867625681 Centerline is valid? [False, False] Translation: X:3.34, Y:0.01, Z:-0.01 [[ 9.99997116e-01 1.97838687e-03 -1.36164004e-03 3.33673050e+00] [-1.97283939e-03 9.99989798e-01 4.06347757e-03 1.18264166e-02] [ 1.36966528e-03 -4.06077956e-03 9.99990817e-01 -9.32890248e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70463044 meters Centerline goodness [0,1] 0.3171182398315464 Centerline is valid? [False, False] Translation: X:3.34, Y:0.01, Z:-0.01 [[ 9.99997264e-01 2.04219576e-03 -1.14042620e-03 3.33611377e+00] [-2.03726653e-03 9.99988650e-01 4.30683117e-03 1.02693729e-02] [ 1.14920865e-03 -4.30449604e-03 9.99990075e-01 -9.10284849e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73463043999999 meters Centerline goodness [0,1] 0.31951393852751964 Centerline is valid? [False, False] Translation: X:3.34, Y:0.01, Z:-0.01 [[ 9.99997411e-01 2.09171910e-03 -8.95747287e-04 3.33542942e+00] [-2.08765311e-03 9.99987622e-01 4.51634727e-03 8.92969716e-03] [ 9.05183130e-04 -4.51446557e-03 9.99989400e-01 -8.84727429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76463043999999 meters Centerline goodness [0,1] 0.3224686138314854 Centerline is valid? [False, False] Translation: X:3.34, Y:0.01, Z:-0.01 [[ 9.99997484e-01 2.11719907e-03 -7.40744113e-04 3.33502779e+00] [-2.11368902e-03 9.99986685e-01 4.70766377e-03 7.65206839e-03] [ 7.50701311e-04 -4.70608622e-03 9.99988645e-01 -8.72134697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79463043999999 meters Centerline goodness [0,1] 0.32105398899587345 Centerline is valid? [False, False] Translation: X:3.34, Y:0.01, Z:-0.01 [[ 9.99997429e-01 2.14257742e-03 -7.42585283e-04 3.33510347e+00] [-2.13894798e-03 9.99985930e-01 4.85438307e-03 6.70335034e-03] [ 7.52975727e-04 -4.85278224e-03 9.99987942e-01 -8.80975567e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82463043999999 meters Centerline goodness [0,1] 0.32392835405616904 Centerline is valid? [False, False] Translation: X:3.31, Y:0.00, Z:-0.01 [[ 9.99978477e-01 6.54964396e-03 -3.83172740e-04 3.31430771e+00] [-6.54914786e-03 9.99977732e-01 1.28193230e-03 1.95431692e-03] [ 3.91560408e-04 -1.27939525e-03 9.99999105e-01 -9.88822081e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85463044 meters Centerline goodness [0,1] 0.32134436489904405 Centerline is valid? [False, False] Translation: X:3.33, Y:0.01, Z:-0.01 [[ 9.99999122e-01 -1.28907160e-03 -3.05769753e-04 3.33490662e+00] [ 1.28968908e-03 9.99997112e-01 2.02792024e-03 5.02950603e-03] [ 3.03154735e-04 -2.02831281e-03 9.99997897e-01 -9.21929649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88463044 meters Centerline goodness [0,1] 0.3237511372990771 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.00, Z:-0.01 [[ 9.99982919e-01 5.83739105e-03 2.95608348e-04 3.31620605e+00] [-5.83768054e-03 9.99982472e-01 9.88084830e-04 -1.13085224e-03] [-2.89835329e-04 -9.89793619e-04 9.99999468e-01 -1.09463565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91463044 meters Centerline goodness [0,1] 0.3272224741422124 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.00, Z:-0.01 [[ 9.99982985e-01 5.83124085e-03 1.59448350e-04 3.31654881e+00] [-5.83141149e-03 9.99982401e-01 1.09152274e-03 -1.70859140e-03] [-1.53080612e-04 -1.09243398e-03 9.99999392e-01 -1.09708657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94463044 meters Centerline goodness [0,1] 0.32142627276823066 Centerline is valid? [False, False] Translation: X:3.34, Y:0.00, Z:-0.01 [[ 9.99995622e-01 -1.59780489e-03 -2.49055968e-03 3.33876377e+00] [ 1.60210520e-03 9.99997228e-01 1.72560642e-03 2.54940736e-03] [ 2.48779560e-03 -1.72958901e-03 9.99995410e-01 -9.96558428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97463044 meters Centerline goodness [0,1] 0.32114628773809006 Centerline is valid? [False, False] Translation: X:3.34, Y:0.00, Z:-0.01 [[ 9.99994034e-01 -1.66139327e-03 -3.02848972e-03 3.34032041e+00] [ 1.66662885e-03 9.99997120e-01 1.72707253e-03 2.29204414e-03] [ 3.02561165e-03 -1.73210960e-03 9.99993923e-01 -1.04851186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00463044 meters Centerline goodness [0,1] 0.3199654091449573 Centerline is valid? [False, False] Translation: X:3.34, Y:0.00, Z:-0.01 [[ 9.99992414e-01 -1.74676281e-03 -3.48160870e-03 3.34172245e+00] [ 1.75275928e-03 9.99996985e-01 1.72001928e-03 1.92477109e-03] [ 3.47859374e-03 -1.72610865e-03 9.99992460e-01 -1.10613755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.03463044 meters Centerline goodness [0,1] 0.32556047909445884 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.00, Z:-0.01 [[ 9.99988018e-01 3.54890252e-03 -3.37194386e-03 3.31936623e+00] [-3.55312852e-03 9.99992909e-01 -1.24812117e-03 -1.84368437e-03] [ 3.36749049e-03 1.26008716e-03 9.99993536e-01 -1.11441689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06463044 meters Centerline goodness [0,1] 0.3233703945934162 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.00, Z:-0.01 [[ 9.99988294e-01 3.45776131e-03 -3.38457306e-03 3.31911830e+00] [-3.46154379e-03 9.99993390e-01 -1.11234461e-03 -3.26113015e-03] [ 3.38070446e-03 1.12404744e-03 9.99993654e-01 -1.06658940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09463044 meters Centerline goodness [0,1] 0.32239282325541274 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.00, Z:-0.01 [[ 9.99987134e-01 -4.31270339e-03 -2.67076861e-03 3.33871569e+00] [ 4.31280716e-03 9.99990699e-01 3.30967404e-05 -1.19989239e-03] [ 2.67060103e-03 -4.46148245e-05 9.99996433e-01 -9.06108767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12463043999999 meters Centerline goodness [0,1] 0.3208942463879627 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.01, Z:-0.01 [[ 9.99990375e-01 2.50843222e-03 -3.59977100e-03 3.35812146e+00] [-2.51260632e-03 9.99996176e-01 -1.15549323e-03 -8.34229791e-03] [ 3.59685875e-03 1.16452691e-03 9.99992853e-01 -7.40746524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15463043999999 meters Centerline goodness [0,1] 0.3247222827270747 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.01, Z:-0.01 [[ 9.99980204e-01 1.34250835e-03 -6.14730910e-03 3.31441800e+00] [-1.35059117e-03 9.99998229e-01 -1.31089189e-03 -1.05568250e-02] [ 6.14553832e-03 1.31916844e-03 9.99980246e-01 -7.27901910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18463043999999 meters Centerline goodness [0,1] 0.32253600311378283 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.01, Z:-0.01 [[ 9.99979090e-01 1.29126280e-03 -6.33661389e-03 3.31522431e+00] [-1.29970764e-03 9.99998273e-01 -1.32876777e-03 -1.09297195e-02] [ 6.33488716e-03 1.33697573e-03 9.99979041e-01 -7.82099199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21463044 meters Centerline goodness [0,1] 0.32253600311378283 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.01, Z:-0.01 [[ 9.99979090e-01 1.29126280e-03 -6.33661389e-03 3.31522431e+00] [-1.29970764e-03 9.99998273e-01 -1.32876777e-03 -1.09297195e-02] [ 6.33488716e-03 1.33697573e-03 9.99979041e-01 -7.82099199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24463044 meters Centerline goodness [0,1] 0.3219952679676138 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.01, Z:-0.01 [[ 9.99979101e-01 1.27865074e-03 -6.33741945e-03 3.31546413e+00] [-1.28747722e-03 9.99998207e-01 -1.38887176e-03 -1.06708159e-02] [ 6.33563220e-03 1.39700202e-03 9.99978954e-01 -8.13938784e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27463044 meters Centerline goodness [0,1] 0.3228731423648503 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.01, Z:-0.01 [[ 9.99980150e-01 1.39739766e-03 -6.14385151e-03 3.31482576e+00] [-1.40556217e-03 9.99998135e-01 -1.32477396e-03 -1.03541382e-02] [ 6.14198882e-03 1.33338322e-03 9.99980249e-01 -7.81019639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30463044 meters Centerline goodness [0,1] 0.32570234805126974 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.01, Z:-0.01 [[ 9.99984521e-01 -4.42230441e-03 -3.37639880e-03 3.29049601e+00] [ 4.42739888e-03 9.99989070e-01 1.50286804e-03 -7.78637720e-03] [ 3.36971575e-03 -1.51779345e-03 9.99993171e-01 -7.26051706e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33463044 meters Centerline goodness [0,1] 0.32501350621285796 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.01, Z:-0.01 [[ 9.99990070e-01 3.77554553e-03 -2.36734961e-03 3.30926089e+00] [-3.77517751e-03 9.99992861e-01 1.59903087e-04 -1.11362527e-02] [ 2.36793643e-03 -1.50964334e-04 9.99997185e-01 -5.89079173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36463044 meters Centerline goodness [0,1] 0.32533925809754083 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.01, Z:-0.01 [[ 9.99990188e-01 3.72712874e-03 -2.39427476e-03 3.30937065e+00] [-3.72683630e-03 9.99993047e-01 1.26593072e-04 -1.13210847e-02] [ 2.39472994e-03 -1.17668760e-04 9.99997126e-01 -5.94306298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.39463044 meters Centerline goodness [0,1] 0.3259296177515819 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.01, Z:-0.01 [[ 9.99990551e-01 3.60676225e-03 -2.42664445e-03 3.30961468e+00] [-3.60637688e-03 9.99993484e-01 1.63163644e-04 -1.22219480e-02] [ 2.42721712e-03 -1.54410708e-04 9.99997042e-01 -6.17432309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42463044 meters Centerline goodness [0,1] 0.32571453354729585 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.01, Z:-0.01 [[ 9.99991003e-01 3.61756846e-03 -2.21535454e-03 3.30877747e+00] [-3.61689147e-03 9.99993411e-01 3.09518886e-04 -1.30310359e-02] [ 2.21645965e-03 -3.01503404e-04 9.99997498e-01 -5.56886571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.45463044 meters Centerline goodness [0,1] 0.32800137598899204 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.01, Z:-0.00 [[ 9.99992092e-01 -3.89910107e-03 -7.82673638e-04 3.32694431e+00] [ 3.90038703e-03 9.99991035e-01 1.64829379e-03 -1.01509200e-02] [ 7.76239757e-04 -1.65133349e-03 9.99998335e-01 -3.66781413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48463043999999 meters Centerline goodness [0,1] 0.32672801198373636 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.01, Z:-0.00 [[ 9.99992164e-01 -3.93865357e-03 -3.98551759e-04 3.32547957e+00] [ 3.93934685e-03 9.99990703e-01 1.75392255e-03 -1.08832789e-02] [ 3.91639960e-04 -1.75547884e-03 9.99998382e-01 -2.73045957e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51463043999999 meters Centerline goodness [0,1] 0.33038762369819796 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.02, Z:-0.00 [[ 9.99994888e-01 2.87234160e-03 1.40453122e-03 3.30573189e+00] [-2.87365185e-03 9.99995437e-01 9.31746248e-04 -1.69064779e-02] [-1.40184852e-03 -9.35777619e-04 9.99998580e-01 -4.02586188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54463043999999 meters Centerline goodness [0,1] 0.32932334074857994 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.02, Z:-0.00 [[ 9.99995542e-01 2.72458851e-03 1.22197772e-03 3.30610360e+00] [-2.72573624e-03 9.99995845e-01 9.38559665e-04 -1.75818053e-02] [-1.21941545e-03 -9.41886270e-04 9.99998813e-01 -3.94428526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57463043999999 meters Centerline goodness [0,1] 0.32916549895444847 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.02, Z:-0.00 [[ 9.99997032e-01 2.36971822e-03 5.66387724e-04 3.30804061e+00] [-2.37013861e-03 9.99996915e-01 7.42724606e-04 -1.77783563e-02] [-5.64625929e-04 -7.44064819e-04 9.99999564e-01 -4.64040310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60463044 meters Centerline goodness [0,1] 0.3281830879982809 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.02, Z:-0.00 [[ 9.99997226e-01 2.31189655e-03 4.51229939e-04 3.30839034e+00] [-2.31219685e-03 9.99997105e-01 6.66131601e-04 -1.73801922e-02] [-4.49688605e-04 -6.67173085e-04 9.99999676e-01 -4.79651588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63463044 meters Centerline goodness [0,1] 0.3264493922770786 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.02, Z:-0.00 [[ 9.99997366e-01 2.26817266e-03 3.50302375e-04 3.30873703e+00] [-2.26837707e-03 9.99997257e-01 5.84205817e-04 -1.68322137e-02] [-3.48976334e-04 -5.84998896e-04 9.99999768e-01 -4.98949126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66463044 meters Centerline goodness [0,1] 0.3271223334784501 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.01, Z:-0.01 [[ 9.99982857e-01 -5.84784095e-03 -2.98137513e-04 3.28996463e+00] [ 5.84843877e-03 9.99980806e-01 2.04539234e-03 -1.23106063e-02] [ 2.86170661e-04 -2.04710091e-03 9.99997864e-01 -6.83457711e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69463044 meters Centerline goodness [0,1] 0.3272239993083773 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.02, Z:-0.01 [[ 9.99997654e-01 1.95433103e-03 -9.34279131e-04 3.30899407e+00] [-1.95366225e-03 9.99997835e-01 7.16202099e-04 -1.59561697e-02] [ 9.35676805e-04 -7.14375153e-04 9.99999307e-01 -5.58101147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72463044 meters Centerline goodness [0,1] 0.32396644309775924 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.02, Z:-0.01 [[ 9.99997538e-01 1.78154463e-03 -1.32288855e-03 3.31027960e+00] [-1.78081602e-03 9.99998262e-01 5.51749654e-04 -1.58416342e-02] [ 1.32386922e-03 -5.49392475e-04 9.99998973e-01 -6.18883060e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75463044 meters Centerline goodness [0,1] 0.3232999848743491 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.02, Z:-0.01 [[ 9.99995622e-01 1.02000026e-03 -2.77759109e-03 3.31419518e+00] [-1.01977722e-03 9.99999477e-01 8.17145614e-05 -1.66083573e-02] [ 2.77767299e-03 -7.88816796e-05 9.99996139e-01 -7.24970467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78463044 meters Centerline goodness [0,1] 0.3208021666236781 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.02, Z:-0.01 [[ 9.99994031e-01 8.49445453e-04 -3.34922704e-03 3.31578398e+00] [-8.49141526e-04 9.99999635e-01 9.21665078e-05 -1.73410737e-02] [ 3.34930411e-03 -8.93219899e-05 9.99994387e-01 -7.71443218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81463044 meters Centerline goodness [0,1] 0.3210100356102299 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.02, Z:-0.01 [[ 9.99993549e-01 7.68418733e-04 -3.50876175e-03 3.31638178e+00] [-7.68105525e-04 9.99999701e-01 9.06113182e-05 -1.75326969e-02] [ 3.50883032e-03 -8.79156344e-05 9.99993840e-01 -8.08403607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84463044 meters Centerline goodness [0,1] 0.3214409122322046 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.02, Z:-0.01 [[ 9.99993853e-01 6.71666314e-04 -3.44145337e-03 3.31625770e+00] [-6.71718341e-04 9.99999774e-01 -1.39619590e-05 -1.71105340e-02] [ 3.44144321e-03 1.62735605e-05 9.99994078e-01 -8.13091512e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87463043999999 meters Centerline goodness [0,1] 0.3223828108247202 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.01, Z:-0.01 [[ 9.99995082e-01 4.52094351e-04 -3.10348168e-03 3.31521916e+00] [-4.53495826e-04 9.99999796e-01 -4.50892561e-04 -1.49973452e-02] [ 3.10327720e-03 4.52297760e-04 9.99995083e-01 -7.63144541e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90463043999999 meters Centerline goodness [0,1] 0.31990373665098093 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.01, Z:-0.01 [[ 9.99994971e-01 3.22147456e-04 -3.15507710e-03 3.31535457e+00] [-3.24544702e-04 9.99999659e-01 -7.59323087e-04 -1.34713581e-02] [ 3.15483141e-03 7.60343232e-04 9.99994734e-01 -7.66024911e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93463043999999 meters Centerline goodness [0,1] 0.3226622828837793 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.01, Z:-0.01 [[ 9.99994829e-01 1.82020253e-04 -3.21070926e-03 3.31567599e+00] [-1.85669912e-04 9.99999337e-01 -1.13645299e-03 -1.15383323e-02] [ 3.21050028e-03 1.13704325e-03 9.99994200e-01 -7.94412247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96463044 meters Centerline goodness [0,1] 0.3204950666435866 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.01, Z:-0.01 [[ 9.99994592e-01 6.00590520e-05 -3.28823570e-03 3.31604885e+00] [-6.50001678e-05 9.99998869e-01 -1.50257850e-03 -9.57130614e-03] [ 3.28814174e-03 1.50278411e-03 9.99993465e-01 -8.26169895e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99463044 meters Centerline goodness [0,1] 0.3217297762478485 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.01, Z:-0.01 [[ 9.99994303e-01 -4.30742827e-05 -3.37516083e-03 3.31642090e+00] [ 3.68684819e-05 9.99998309e-01 -1.83870883e-03 -7.59483883e-03] [ 3.37523432e-03 1.83857391e-03 9.99992614e-01 -8.46867472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02463044 meters Centerline goodness [0,1] 0.3253642542288233 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.01, Z:-0.01 [[ 9.99994005e-01 -1.51652091e-04 -3.45941552e-03 3.31680702e+00] [ 1.44010756e-04 9.99997550e-01 -2.20899372e-03 -5.39222986e-03] [ 3.45974204e-03 2.20848228e-03 9.99991576e-01 -8.78782523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05463044 meters Centerline goodness [0,1] 0.3210415863634417 Centerline is valid? [False, False] Translation: X:3.34, Y:0.01, Z:-0.01 [[ 9.99959755e-01 -6.81309881e-03 -5.83690215e-03 3.33710762e+00] [ 6.80124852e-03 9.99974775e-01 -2.04768578e-03 5.95928196e-03] [ 5.85070600e-03 2.00790515e-03 9.99980869e-01 -7.54111757e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08463044 meters Centerline goodness [0,1] 0.32145771593007777 Centerline is valid? [False, False] Translation: X:3.34, Y:0.01, Z:-0.01 [[ 9.99958215e-01 -7.00967616e-03 -5.86790748e-03 3.33720880e+00] [ 6.99472387e-03 9.99972247e-01 -2.56480348e-03 8.65413713e-03] [ 5.88572307e-03 2.52365192e-03 9.99979495e-01 -7.61142142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11463044 meters Centerline goodness [0,1] 0.32073970540802066 Centerline is valid? [False, False] Translation: X:3.34, Y:0.01, Z:-0.01 [[ 9.99956617e-01 -7.19783394e-03 -5.91223779e-03 3.33705192e+00] [ 7.17982865e-03 9.99969540e-01 -3.06102790e-03 1.13874159e-02] [ 5.93409047e-03 3.01844625e-03 9.99977838e-01 -7.23199547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14463044 meters Centerline goodness [0,1] 0.32345486449600314 Centerline is valid? [False, False] Translation: X:3.34, Y:0.02, Z:-0.01 [[ 0.99995864 -0.00710071 -0.00568287 3.33621891] [ 0.00708077 0.99996873 -0.0035206 0.01926761] [ 0.00570769 0.00348021 0.99997765 -0.00674565] [ 0. 0. 0. 1. ]] SLAMing on 97.17463044 meters Centerline goodness [0,1] 0.3207639988022415 Centerline is valid? [False, False] Translation: X:3.36, Y:0.02, Z:-0.01 [[ 9.99990097e-01 1.04288911e-03 -4.32642957e-03 3.35592573e+00] [-1.06277087e-03 9.99988875e-01 -4.59566782e-03 1.88320417e-02] [ 4.32158866e-03 4.60022031e-03 9.99980081e-01 -6.44088364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20463044 meters Centerline goodness [0,1] 0.323961510374157 Centerline is valid? [False, False] Translation: X:3.36, Y:0.02, Z:-0.01 [[ 9.99990620e-01 8.87012023e-04 -4.23937298e-03 3.35573522e+00] [-9.08573277e-04 9.99986650e-01 -5.08673676e-03 2.16091654e-02] [ 4.23480439e-03 5.09054082e-03 9.99978076e-01 -6.38442597e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23463043999999 meters Centerline goodness [0,1] 0.3215151320163867 Centerline is valid? [False, False] Translation: X:3.36, Y:0.02, Z:-0.01 [[ 9.99991245e-01 7.20565224e-04 -4.12199240e-03 3.35553041e+00] [-7.43834691e-04 9.99983782e-01 -5.64645406e-03 2.46015378e-02] [ 4.11785691e-03 5.64947070e-03 9.99975563e-01 -6.40805349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26463043999999 meters Centerline goodness [0,1] 0.3237698696679895 Centerline is valid? [False, False] Translation: X:3.33, Y:0.03, Z:-0.01 [[ 9.99981873e-01 -5.08403783e-03 -3.22572379e-03 3.33434493e+00] [ 5.07405253e-03 9.99982334e-01 -3.09619145e-03 3.20841899e-02] [ 3.24140796e-03 3.07976783e-03 9.99990004e-01 -7.04346060e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29463043999999 meters Centerline goodness [0,1] 0.32166377072741703 Centerline is valid? [False, False] Translation: X:3.35, Y:0.03, Z:-0.01 [[ 9.99991487e-01 3.25354973e-03 -2.53771121e-03 3.35473481e+00] [-3.26442551e-03 9.99985455e-01 -4.29336370e-03 3.30163776e-02] [ 2.52370563e-03 4.30161132e-03 9.99987563e-01 -6.41894469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32463043999999 meters Centerline goodness [0,1] 0.32207663462781777 Centerline is valid? [False, False] Translation: X:3.36, Y:0.04, Z:-0.01 [[ 9.99977057e-01 6.22450229e-03 -2.67243832e-03 3.35650100e+00] [-6.23087397e-03 9.99977750e-01 -2.38255135e-03 4.15136544e-02] [ 2.65754866e-03 2.39914831e-03 9.99993591e-01 -7.95372827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35463044 meters Centerline goodness [0,1] 0.3228409484250606 Centerline is valid? [False, False] Translation: X:3.36, Y:0.05, Z:-0.01 [[ 9.99976769e-01 6.14139779e-03 -2.95710852e-03 3.35744969e+00] [-6.15046793e-03 9.99976379e-01 -3.06796976e-03 4.58430502e-02] [ 2.93819705e-03 3.08608609e-03 9.99990921e-01 -8.35589680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38463044 meters Centerline goodness [0,1] 0.3198905620543312 Centerline is valid? [False, False] Translation: X:3.36, Y:0.05, Z:-0.01 [[ 9.99976050e-01 6.09198054e-03 -3.28444337e-03 3.35836568e+00] [-6.10418016e-03 9.99974460e-01 -3.71722348e-03 5.01947062e-02] [ 3.26171423e-03 3.73718328e-03 9.99987697e-01 -8.53543698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41463044 meters Centerline goodness [0,1] 0.32197472692225315 Centerline is valid? [False, False] Translation: X:3.38, Y:0.06, Z:-0.01 [[ 9.99988644e-01 1.88442813e-04 -4.76205630e-03 3.37537029e+00] [-1.99153822e-04 9.99997451e-01 -2.24886633e-03 5.89270998e-02] [ 4.76162038e-03 2.24978917e-03 9.99986133e-01 -5.72547987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44463044 meters Centerline goodness [0,1] 0.3246589351378403 Centerline is valid? [False, False] Translation: X:3.33, Y:0.06, Z:-0.00 [[ 9.99979157e-01 1.42134928e-03 -6.29797072e-03 3.32924738e+00] [-1.43133946e-03 9.99997724e-01 -1.58202937e-03 6.39486504e-02] [ 6.29570777e-03 1.59101093e-03 9.99978916e-01 -4.72345282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47463044 meters Centerline goodness [0,1] 0.32272394013887096 Centerline is valid? [False, False] Translation: X:3.33, Y:0.07, Z:-0.00 [[ 9.99980117e-01 1.36730135e-03 -6.15591397e-03 3.32869035e+00] [-1.37999916e-03 9.99996928e-01 -2.05892602e-03 6.70722676e-02] [ 6.15307989e-03 2.06738024e-03 9.99978933e-01 -4.30649076e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50463044 meters Centerline goodness [0,1] 0.3238994386976064 Centerline is valid? [False, False] Translation: X:3.33, Y:0.07, Z:-0.00 [[ 9.99980191e-01 1.05990542e-03 -6.20440176e-03 3.32913362e+00] [-1.07766126e-03 9.99995332e-01 -2.85917092e-03 7.05528410e-02] [ 6.20134234e-03 2.86580053e-03 9.99976665e-01 -4.75139637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.53463044 meters Centerline goodness [0,1] 0.32270711485313963 Centerline is valid? [False, False] Translation: X:3.33, Y:0.07, Z:-0.01 [[ 9.99978398e-01 1.01162931e-03 -6.49460373e-03 3.33048202e+00] [-1.03073005e-03 9.99995152e-01 -2.93834493e-03 7.07902878e-02] [ 6.49159972e-03 2.94497564e-03 9.99974593e-01 -5.77500125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56463044 meters Centerline goodness [0,1] 0.32223538279315167 Centerline is valid? [False, False] Translation: X:3.33, Y:0.07, Z:-0.01 [[ 9.99976621e-01 1.00294255e-03 -6.76400183e-03 3.33150675e+00] [-1.02288024e-03 9.99995141e-01 -2.94480301e-03 7.08073405e-02] [ 6.76101549e-03 2.95165293e-03 9.99972788e-01 -6.36642497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59463044 meters Centerline goodness [0,1] 0.3246620593732342 Centerline is valid? [False, False] Translation: X:3.33, Y:0.07, Z:-0.01 [[ 9.99975910e-01 1.01099020e-03 -6.86714689e-03 3.33187709e+00] [-1.03114718e-03 9.99995169e-01 -2.93237125e-03 7.07077844e-02] [ 6.86414911e-03 2.93938165e-03 9.99972121e-01 -6.55689689e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62463043999999 meters Centerline goodness [0,1] 0.323928155088295 Centerline is valid? [False, False] Translation: X:3.33, Y:0.07, Z:-0.01 [[ 9.99974639e-01 1.02331654e-03 -7.04794181e-03 3.33202984e+00] [-1.04386541e-03 9.99995214e-01 -2.91252318e-03 7.05204383e-02] [ 7.04492764e-03 2.91980642e-03 9.99970921e-01 -6.14414709e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65463043999999 meters Centerline goodness [0,1] 0.32448811739751526 Centerline is valid? [False, False] Translation: X:3.33, Y:0.07, Z:-0.01 [[ 9.99974524e-01 1.01486028e-03 -7.06554174e-03 3.33172001e+00] [-1.03544108e-03 9.99995230e-01 -2.90979252e-03 7.01926070e-02] [ 7.06255501e-03 2.91703434e-03 9.99970805e-01 -5.62527104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68463043999999 meters Centerline goodness [0,1] 0.32697790836870166 Centerline is valid? [False, False] Translation: X:3.33, Y:0.07, Z:-0.01 [[ 9.99973263e-01 1.16979350e-03 -7.21840697e-03 3.33195980e+00] [-1.18986745e-03 9.99995435e-01 -2.77727068e-03 6.99205675e-02] [ 7.21512518e-03 2.78578537e-03 9.99970090e-01 -5.42739075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71463044 meters Centerline goodness [0,1] 0.32632976986217854 Centerline is valid? [False, False] Translation: X:3.33, Y:0.07, Z:-0.01 [[ 9.99973822e-01 1.30390390e-03 -7.11726265e-03 3.33190908e+00] [-1.32343095e-03 9.99995372e-01 -2.73959784e-03 7.02944172e-02] [ 7.11365753e-03 2.74894533e-03 9.99970919e-01 -5.66711201e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74463044 meters Centerline goodness [0,1] 0.3274939910352742 Centerline is valid? [False, False] Translation: X:3.33, Y:0.07, Z:-0.01 [[ 9.99974817e-01 1.39221154e-03 -6.95890419e-03 3.33191522e+00] [-1.41175990e-03 9.99995069e-01 -2.80499223e-03 7.09450639e-02] [ 6.95496474e-03 2.81474589e-03 9.99971852e-01 -6.19815892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77463044 meters Centerline goodness [0,1] 0.32845188284518834 Centerline is valid? [False, False] Translation: X:3.33, Y:0.07, Z:-0.01 [[ 9.99977088e-01 1.62211563e-03 -6.57211928e-03 3.33088518e+00] [-1.64193514e-03 9.99994118e-01 -3.01142277e-03 7.23981619e-02] [ 6.56719575e-03 3.02214477e-03 9.99973869e-01 -5.88329736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80463044 meters Centerline goodness [0,1] 0.32661055984846854 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:-0.01 [[ 9.99974406e-01 -3.67278822e-03 -6.13981562e-03 3.35248120e+00] [ 3.67251730e-03 9.99993255e-01 -5.53999459e-05 7.45456893e-02] [ 6.13997768e-03 3.28499489e-05 9.99981150e-01 -5.52004297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83463044 meters Centerline goodness [0,1] 0.3253559657928182 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:-0.01 [[ 9.99973258e-01 -3.50492803e-03 -6.41858902e-03 3.35312605e+00] [ 3.50548576e-03 9.99993853e-01 7.56458348e-05 7.46513716e-02] [ 6.41828443e-03 -9.81440844e-05 9.99979398e-01 -5.56642720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86463044 meters Centerline goodness [0,1] 0.3239869323467688 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:-0.01 [[ 9.99971719e-01 -3.28347336e-03 -6.76605855e-03 3.35430041e+00] [ 3.28574693e-03 9.99994549e-01 3.24937127e-04 7.44164466e-02] [ 6.76495475e-03 -3.47159494e-04 9.99977057e-01 -6.14928439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.89463044 meters Centerline goodness [0,1] 0.32735007488116685 Centerline is valid? [False, False] Translation: X:3.36, Y:0.07, Z:-0.01 [[ 9.99970863e-01 -3.09229809e-03 -6.97924928e-03 3.35534546e+00] [ 3.09682395e-03 9.99995001e-01 6.37760866e-04 7.34214156e-02] [ 6.97724225e-03 -6.59355790e-04 9.99975441e-01 -6.99854871e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92463044 meters Centerline goodness [0,1] 0.32651515151515154 Centerline is valid? [False, False] Translation: X:3.36, Y:0.07, Z:-0.01 [[ 9.99973028e-01 -2.85800817e-03 -6.76567433e-03 3.35532071e+00] [ 2.86673774e-03 9.99995071e-01 1.28092741e-03 6.99885256e-02] [ 6.76198008e-03 -1.30028828e-03 9.99976292e-01 -7.61634220e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95463044 meters Centerline goodness [0,1] 0.3296572086056053 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:-0.01 [[ 9.99976400e-01 -2.74227586e-03 -6.29921969e-03 3.35393918e+00] [ 2.75238565e-03 9.99994937e-01 1.59681945e-03 6.83506684e-02] [ 6.29480888e-03 -1.61411964e-03 9.99978885e-01 -7.07468057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98463043999999 meters Centerline goodness [0,1] 0.3267198898237611 Centerline is valid? [False, False] Translation: X:3.37, Y:0.06, Z:-0.01 [[ 9.99976106e-01 5.09371539e-03 -4.67354633e-03 3.37213444e+00] [-5.09253456e-03 9.99986998e-01 2.64527941e-04 6.37104658e-02] [ 4.67483299e-03 -2.40721424e-04 9.99989044e-01 -5.28948048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01463043999999 meters Centerline goodness [0,1] 0.3300043140638481 Centerline is valid? [False, False] Translation: X:3.37, Y:0.06, Z:-0.00 [[ 9.99977024e-01 5.08892836e-03 -4.47823307e-03 3.37147495e+00] [-5.08765766e-03 9.99987014e-01 2.95095198e-04 6.31437653e-02] [ 4.47967664e-03 -2.72304702e-04 9.99989929e-01 -4.95644236e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04463043999999 meters Centerline goodness [0,1] 0.32904934125548957 Centerline is valid? [False, False] Translation: X:3.37, Y:0.06, Z:-0.00 [[ 9.99977073e-01 5.10994235e-03 -4.44323039e-03 3.37133144e+00] [-5.10856604e-03 9.99986900e-01 3.21049203e-04 6.27680475e-02] [ 4.44481273e-03 -2.98343307e-04 9.99990077e-01 -4.85831355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07463043999999 meters Centerline goodness [0,1] 0.3322915094949669 Centerline is valid? [False, False] Translation: X:3.37, Y:0.06, Z:-0.01 [[ 9.99976108e-01 5.28462039e-03 -4.45611263e-03 3.37151167e+00] [-5.28283339e-03 9.99985961e-01 4.12696544e-04 6.29893693e-02] [ 4.45823101e-03 -3.89145783e-04 9.99989986e-01 -5.10694454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10463044 meters Centerline goodness [0,1] 0.3322915094949669 Centerline is valid? [False, False] Translation: X:3.37, Y:0.06, Z:-0.01 [[ 9.99976108e-01 5.28462039e-03 -4.45611263e-03 3.37151167e+00] [-5.28283339e-03 9.99985961e-01 4.12696544e-04 6.29893693e-02] [ 4.45823101e-03 -3.89145783e-04 9.99989986e-01 -5.10694454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13463044 meters Centerline goodness [0,1] 0.32997246254255297 Centerline is valid? [False, False] Translation: X:3.37, Y:0.06, Z:-0.01 [[ 9.99969920e-01 6.42257163e-03 -4.34844570e-03 3.37203392e+00] [-6.41756565e-03 9.99978730e-01 1.16418714e-03 6.38756694e-02] [ 4.35583028e-03 -1.13624569e-03 9.99989868e-01 -6.13371968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16463044 meters Centerline goodness [0,1] 0.32912131899517494 Centerline is valid? [False, False] Translation: X:3.37, Y:0.07, Z:-0.01 [[ 9.99969546e-01 6.46966212e-03 -4.36478198e-03 3.37230080e+00] [-6.46563367e-03 9.99978659e-01 9.36424801e-04 6.53467505e-02] [ 4.37074718e-03 -9.08175202e-04 9.99990036e-01 -6.51483174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19463044 meters Centerline goodness [0,1] 0.32498390212491957 Centerline is valid? [False, False] Translation: X:3.39, Y:0.07, Z:-0.01 [[ 9.99981808e-01 -3.80999659e-04 -6.01988145e-03 3.39090319e+00] [ 3.89316071e-04 9.99998971e-01 1.38037957e-03 7.18352074e-02] [ 6.01934933e-03 -1.38269810e-03 9.99980928e-01 -5.13235433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22463044 meters Centerline goodness [0,1] 0.3285751194936055 Centerline is valid? [False, False] Translation: X:3.39, Y:0.07, Z:-0.01 [[ 9.99979554e-01 -4.06426298e-04 -6.38166593e-03 3.39202061e+00] [ 4.13706759e-04 9.99999265e-01 1.13956167e-03 7.30923132e-02] [ 6.38119809e-03 -1.14217851e-03 9.99978988e-01 -5.65043210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.25463044 meters Centerline goodness [0,1] 0.32435592119506385 Centerline is valid? [False, False] Translation: X:3.39, Y:0.07, Z:-0.01 [[ 9.99977222e-01 -3.58325940e-04 -6.73994465e-03 3.39314378e+00] [ 3.65083868e-04 9.99999432e-01 1.00146460e-03 7.43340469e-02] [ 6.73958197e-03 -1.00390244e-03 9.99976785e-01 -6.21046402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28463044 meters Centerline goodness [0,1] 0.32000085418980095 Centerline is valid? [False, False] Translation: X:3.42, Y:0.07, Z:-0.01 [[ 9.99937405e-01 8.35090463e-03 -7.44636656e-03 3.41616212e+00] [-8.34704221e-03 9.99965012e-01 5.49627147e-04 7.36905003e-02] [ 7.45069591e-03 -4.87437607e-04 9.99972124e-01 -6.66113678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.31463044 meters Centerline goodness [0,1] 0.32162872909122264 Centerline is valid? [False, False] Translation: X:3.40, Y:0.08, Z:-0.01 [[ 9.99976483e-01 -5.46958289e-05 -6.85791262e-03 3.39627957e+00] [ 6.28437093e-05 9.99999292e-01 1.18788932e-03 7.72871969e-02] [ 6.85784279e-03 -1.18829236e-03 9.99975779e-01 -8.31526663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34463044 meters Centerline goodness [0,1] 0.32334759866856866 Centerline is valid? [False, False] Translation: X:3.40, Y:0.08, Z:-0.01 [[ 9.99976438e-01 -2.27528719e-04 -6.86093565e-03 3.39602421e+00] [ 2.35033905e-04 9.99999375e-01 1.09311486e-03 7.68213763e-02] [ 6.86068265e-03 -1.09470165e-03 9.99975866e-01 -7.86651255e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37463043999999 meters Centerline goodness [0,1] 0.32529963805023954 Centerline is valid? [False, False] Translation: X:3.40, Y:0.08, Z:-0.01 [[ 9.99975920e-01 -2.99710063e-04 -6.93317422e-03 3.39591039e+00] [ 3.08028890e-04 9.99999234e-01 1.19882166e-03 7.57478443e-02] [ 6.93280961e-03 -1.20092841e-03 9.99975247e-01 -7.43026126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40463043999999 meters Centerline goodness [0,1] 0.32595643220981896 Centerline is valid? [False, False] Translation: X:3.40, Y:0.07, Z:-0.01 [[ 9.99973165e-01 -3.18818701e-04 -7.31902594e-03 3.39673733e+00] [ 3.28981603e-04 9.99998983e-01 1.38739731e-03 7.44765087e-02] [ 7.31857618e-03 -1.38976791e-03 9.99972253e-01 -7.28815538e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43463043999999 meters Centerline goodness [0,1] 0.3229616268333011 Centerline is valid? [False, False] Translation: X:3.40, Y:0.07, Z:-0.01 [[ 9.99970139e-01 -3.40377502e-04 -7.72050016e-03 3.39783882e+00] [ 3.52961259e-04 9.99998612e-01 1.62861082e-03 7.29493222e-02] [ 7.71993510e-03 -1.63128722e-03 9.99968870e-01 -7.51544445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46463044 meters Centerline goodness [0,1] 0.32362026136731825 Centerline is valid? [False, False] Translation: X:3.40, Y:0.07, Z:-0.01 [[ 9.99967093e-01 -8.96585752e-04 -8.06286574e-03 3.39905739e+00] [ 9.10164173e-04 9.99998174e-01 1.68055721e-03 6.94266019e-02] [ 8.06134425e-03 -1.68784044e-03 9.99966082e-01 -7.99642718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49463044 meters Centerline goodness [0,1] 0.3215678710728216 Centerline is valid? [False, False] Translation: X:3.40, Y:0.07, Z:-0.01 [[ 9.99965361e-01 -8.51668284e-04 -8.27961081e-03 3.39988524e+00] [ 8.67907833e-04 9.99997706e-01 1.95799535e-03 6.76957821e-02] [ 8.27792426e-03 -1.96511347e-03 9.99963806e-01 -8.42833830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52463044 meters Centerline goodness [0,1] 0.3210569315445476 Centerline is valid? [False, False] Translation: X:3.40, Y:0.07, Z:-0.01 [[ 9.99962930e-01 -7.54216978e-04 -8.57733277e-03 3.40079147e+00] [ 7.73173928e-04 9.99997266e-01 2.20702064e-03 6.65058655e-02] [ 8.57564475e-03 -2.21357059e-03 9.99960778e-01 -8.70344770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55463044 meters Centerline goodness [0,1] 0.3221709504916336 Centerline is valid? [False, False] Translation: X:3.40, Y:0.07, Z:-0.01 [[ 9.99960787e-01 -6.69464784e-04 -8.83043681e-03 3.40147173e+00] [ 6.90620747e-04 9.99996898e-01 2.39296857e-03 6.56704651e-02] [ 8.82880741e-03 -2.39897322e-03 9.99958148e-01 -8.83669014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58463044 meters Centerline goodness [0,1] 0.3199192578594743 Centerline is valid? [False, False] Translation: X:3.40, Y:0.06, Z:-0.01 [[ 9.99960049e-01 -5.51263601e-04 -8.92169180e-03 3.40155111e+00] [ 5.74546425e-04 9.99996436e-01 2.60733451e-03 6.44759815e-02] [ 8.92022268e-03 -2.61235627e-03 9.99956802e-01 -8.60017984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61463044 meters Centerline goodness [0,1] 0.3191253096438028 Centerline is valid? [False, False] Translation: X:3.40, Y:0.06, Z:-0.01 [[ 9.99963425e-01 -4.18634495e-04 -8.54250087e-03 3.40020791e+00] [ 4.42771821e-04 9.99995915e-01 2.82386171e-03 6.36854959e-02] [ 8.54128380e-03 -2.82754081e-03 9.99959525e-01 -7.82684677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64463044 meters Centerline goodness [0,1] 0.3255738061568585 Centerline is valid? [False, False] Translation: X:3.36, Y:0.06, Z:-0.01 [[ 9.99992478e-01 -8.31991879e-04 -3.78841719e-03 3.35731996e+00] [ 8.44091184e-04 9.99994545e-01 3.19328445e-03 6.06548182e-02] [ 3.78573973e-03 -3.19645820e-03 9.99987725e-01 -9.52591143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.67463044 meters Centerline goodness [0,1] 0.32580749702927514 Centerline is valid? [False, False] Translation: X:3.36, Y:0.06, Z:-0.01 [[ 9.99994341e-01 -6.82068847e-04 -3.29432416e-03 3.35571094e+00] [ 6.93570987e-04 9.99993664e-01 3.49162276e-03 5.93254732e-02] [ 3.29192176e-03 -3.49388785e-03 9.99988478e-01 -8.68920025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70463044 meters Centerline goodness [0,1] 0.32434640522875813 Centerline is valid? [False, False] Translation: X:3.35, Y:0.06, Z:-0.01 [[ 9.99995523e-01 -6.12942847e-04 -2.92902168e-03 3.35493862e+00] [ 6.24121328e-04 9.99992520e-01 3.81706666e-03 5.64659434e-02] [ 2.92666013e-03 -3.81887764e-03 9.99988425e-01 -8.70094832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73463043999999 meters Centerline goodness [0,1] 0.3271746664356264 Centerline is valid? [False, False] Translation: X:3.36, Y:0.06, Z:-0.01 [[ 9.99995645e-01 -5.48631683e-04 -2.89968341e-03 3.35504211e+00] [ 5.59891789e-04 9.99992301e-01 3.88383490e-03 5.60247694e-02] [ 2.89753029e-03 -3.88544150e-03 9.99988254e-01 -8.98885475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76463043999999 meters Centerline goodness [0,1] 0.3230451790396768 Centerline is valid? [False, False] Translation: X:3.35, Y:0.06, Z:-0.01 [[ 9.99996219e-01 -2.93915683e-04 -2.73430109e-03 3.35487470e+00] [ 3.04824623e-04 9.99991993e-01 3.99010218e-03 5.65620329e-02] [ 2.73310644e-03 -3.99092057e-03 9.99988301e-01 -9.31870275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79463043999999 meters Centerline goodness [0,1] 0.32390552128779904 Centerline is valid? [False, False] Translation: X:3.35, Y:0.06, Z:-0.01 [[ 9.99996954e-01 6.19499481e-05 -2.46737197e-03 3.35436677e+00] [-5.19348187e-05 9.99991761e-01 4.05888423e-03 5.78517316e-02] [ 2.46760309e-03 -4.05874372e-03 9.99988719e-01 -9.51841459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82463043999999 meters Centerline goodness [0,1] 0.326321256979613 Centerline is valid? [False, False] Translation: X:3.35, Y:0.06, Z:-0.01 [[ 9.99997255e-01 3.39632672e-04 -2.31822287e-03 3.35416885e+00] [-3.30376554e-04 9.99991977e-01 3.99197996e-03 5.95700788e-02] [ 2.31956008e-03 -3.99120312e-03 9.99989345e-01 -9.80976533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85463044 meters Centerline goodness [0,1] 0.32601009012116766 Centerline is valid? [False, False] Translation: X:3.36, Y:0.06, Z:-0.01 [[ 9.99996432e-01 4.79452404e-04 -2.62790699e-03 3.35508907e+00] [-4.69637124e-04 9.99992917e-01 3.73436316e-03 6.15986085e-02] [ 2.62967883e-03 -3.73311567e-03 9.99989574e-01 -1.02781198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88463044 meters Centerline goodness [0,1] 0.32565383866571485 Centerline is valid? [False, False] Translation: X:3.36, Y:0.07, Z:-0.01 [[ 9.99991262e-01 1.02151933e-03 -4.05361807e-03 3.35912582e+00] [-1.00706171e-03 9.99993131e-01 3.56703819e-03 6.51247305e-02] [ 4.05723403e-03 -3.56292477e-03 9.99985422e-01 -1.18286345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91463044 meters Centerline goodness [0,1] 0.3255458181261883 Centerline is valid? [False, False] Translation: X:3.36, Y:0.07, Z:-0.01 [[ 9.99989664e-01 1.01433083e-03 -4.43215184e-03 3.36028127e+00] [-9.99246526e-04 9.99993706e-01 3.40427057e-03 6.61370392e-02] [ 4.43557700e-03 -3.39980657e-03 9.99984383e-01 -1.24002418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94463044 meters Centerline goodness [0,1] 0.3220734845699704 Centerline is valid? [False, False] Translation: X:3.36, Y:0.07, Z:-0.01 [[ 9.99988341e-01 8.90962410e-04 -4.74604332e-03 3.36107743e+00] [-8.75438898e-04 9.99994264e-01 3.27190605e-03 6.62338853e-02] [ 4.74893124e-03 -3.26771303e-03 9.99983385e-01 -1.25221715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97463044 meters Centerline goodness [0,1] 0.32307692307692304 Centerline is valid? [False, False] Translation: X:3.36, Y:0.07, Z:-0.01 [[ 9.99988101e-01 7.00828852e-04 -4.82766159e-03 3.36103583e+00] [-6.84971470e-04 9.99994368e-01 3.28556293e-03 6.50816857e-02] [ 4.82993702e-03 -3.28221702e-03 9.99982949e-01 -1.21392144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00463044 meters Centerline goodness [0,1] 0.3218569332988178 Centerline is valid? [False, False] Translation: X:3.36, Y:0.06, Z:-0.01 [[ 9.99988196e-01 4.25571498e-04 -4.84001841e-03 3.36084173e+00] [-4.09280026e-04 9.99994250e-01 3.36648637e-03 6.33044521e-02] [ 4.84142326e-03 -3.36446571e-03 9.99982620e-01 -1.16584130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.03463044 meters Centerline goodness [0,1] 0.32218727108200107 Centerline is valid? [False, False] Translation: X:3.36, Y:0.06, Z:-0.01 [[ 9.99988727e-01 2.91520322e-04 -4.73931434e-03 3.36048621e+00] [-2.74292335e-04 9.99993354e-01 3.63536593e-03 6.10708959e-02] [ 4.74034263e-03 -3.63402499e-03 9.99982161e-01 -1.12669351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06463044 meters Centerline goodness [0,1] 0.32397221862732406 Centerline is valid? [False, False] Translation: X:3.36, Y:0.06, Z:-0.01 [[ 9.99988516e-01 -2.04784542e-04 -4.78813978e-03 3.36066479e+00] [ 2.23225377e-04 9.99992559e-01 3.85113982e-03 5.73055453e-02] [ 4.78731550e-03 -3.85216442e-03 9.99981121e-01 -1.11243352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09463044 meters Centerline goodness [0,1] 0.3254237288135593 Centerline is valid? [False, False] Translation: X:3.36, Y:0.06, Z:-0.01 [[ 9.99986567e-01 -2.64696047e-04 -5.17654059e-03 3.36181516e+00] [ 2.85638828e-04 9.99991777e-01 4.04538904e-03 5.54337912e-02] [ 5.17542722e-03 -4.04681332e-03 9.99978419e-01 -1.14707434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12463043999999 meters Centerline goodness [0,1] 0.3241295739294138 Centerline is valid? [False, False] Translation: X:3.36, Y:0.05, Z:-0.01 [[ 9.99983893e-01 -3.47687082e-04 -5.66512304e-03 3.36328993e+00] [ 3.71278702e-04 9.99991262e-01 4.16384205e-03 5.38451419e-02] [ 5.66362582e-03 -4.16587832e-03 9.99975284e-01 -1.19596286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15463043999999 meters Centerline goodness [0,1] 0.322246081168134 Centerline is valid? [False, False] Translation: X:3.36, Y:0.05, Z:-0.01 [[ 9.99982080e-01 -3.52824844e-04 -5.97625695e-03 3.36434175e+00] [ 3.78514151e-04 9.99990692e-01 4.29797588e-03 5.25944351e-02] [ 5.97468489e-03 -4.30016096e-03 9.99972906e-01 -1.24412738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18463043999999 meters Centerline goodness [0,1] 0.3226274841254362 Centerline is valid? [False, False] Translation: X:3.35, Y:0.04, Z:-0.01 [[ 0.99995242 0.00744935 -0.00629814 3.34592577] [-0.00742636 0.99996571 0.00366533 0.0449256 ] [ 0.00632522 -0.00361838 0.99997345 -0.014303 ] [ 0. 0. 0. 1. ]] SLAMing on 99.21463044 meters Centerline goodness [0,1] 0.32162008981122203 Centerline is valid? [False, False] Translation: X:3.35, Y:0.04, Z:-0.01 [[ 0.99995205 0.00752575 -0.006266 3.34588687] [-0.00750182 0.99996451 0.00383314 0.04412268] [ 0.00629462 -0.00378595 0.99997302 -0.01431511] [ 0. 0. 0. 1. ]] SLAMing on 99.24463044 meters Centerline goodness [0,1] 0.32098176535634526 Centerline is valid? [False, False] Translation: X:3.35, Y:0.04, Z:-0.01 [[ 0.99995197 0.00755784 -0.00623976 3.34581439] [-0.0075331 0.9999637 0.0039805 0.0430321 ] [ 0.00626962 -0.00393331 0.99997261 -0.014276 ] [ 0. 0. 0. 1. ]] SLAMing on 99.27463044 meters Centerline goodness [0,1] 0.321207767328457 Centerline is valid? [False, False] Translation: X:3.35, Y:0.04, Z:-0.01 [[ 0.99995147 0.00758129 -0.00629205 3.34585511] [-0.00755542 0.99996295 0.00412508 0.04185558] [ 0.00632309 -0.00407734 0.9999717 -0.01417225] [ 0. 0. 0. 1. ]] SLAMing on 99.30463044 meters Centerline goodness [0,1] 0.3205822466750422 Centerline is valid? [False, False] Translation: X:3.35, Y:0.04, Z:-0.01 [[ 0.99995063 0.00764996 -0.00634103 3.34582105] [-0.00762274 0.99996168 0.00430527 0.04087898] [ 0.00637373 -0.00425672 0.99997063 -0.01391703] [ 0. 0. 0. 1. ]] SLAMing on 99.33463044 meters Centerline goodness [0,1] 0.32390427883990114 Centerline is valid? [False, False] Translation: X:3.35, Y:0.04, Z:-0.01 [[ 0.99994927 0.00785671 -0.00630343 3.3456284 ] [-0.00782715 0.99995832 0.0046997 0.0391145 ] [ 0.00634009 -0.00465013 0.99996909 -0.01371107] [ 0. 0. 0. 1. ]] SLAMing on 99.36463044 meters Centerline goodness [0,1] 0.32288339959590695 Centerline is valid? [False, False] Translation: X:3.35, Y:0.04, Z:-0.01 [[ 0.99994956 0.00788088 -0.0062269 3.34532504] [-0.00785071 0.9999574 0.00485462 0.0378989 ] [ 0.0062649 -0.00480549 0.99996883 -0.01349712] [ 0. 0. 0. 1. ]] SLAMing on 99.39463044 meters Centerline goodness [0,1] 0.32270510458437196 Centerline is valid? [False, False] Translation: X:3.34, Y:0.04, Z:-0.01 [[ 9.99970973e-01 4.82194728e-03 -5.89927813e-03 3.34452547e+00] [-4.81169653e-03 9.99986891e-01 1.75058781e-03 3.75309713e-02] [ 5.90764204e-03 -1.72215146e-03 9.99981067e-01 -1.35166305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42463044 meters Centerline goodness [0,1] 0.3194468304415049 Centerline is valid? [False, False] Translation: X:3.36, Y:0.04, Z:-0.01 [[ 9.99979673e-01 -2.63043773e-03 -5.80812699e-03 3.36327033e+00] [ 2.64722696e-03 9.99992335e-01 2.88484986e-03 4.06022346e-02] [ 5.80049406e-03 -2.90016665e-03 9.99978971e-01 -1.20343509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45463044 meters Centerline goodness [0,1] 0.32552546045503794 Centerline is valid? [False, False] Translation: X:3.35, Y:0.03, Z:-0.01 [[ 9.99991245e-01 2.80762351e-03 -3.10278235e-03 3.34766609e+00] [-2.80068847e-03 9.99993576e-01 2.23719343e-03 3.32616381e-02] [ 3.10904361e-03 -2.22848392e-03 9.99992684e-01 -1.43617875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48463043999999 meters Centerline goodness [0,1] 0.32680394380944067 Centerline is valid? [False, False] Translation: X:3.35, Y:0.03, Z:-0.01 [[ 9.99991226e-01 2.92126553e-03 -3.00248307e-03 3.34720518e+00] [-2.91354798e-03 9.99992449e-01 2.57155670e-03 3.16853427e-02] [ 3.00997260e-03 -2.56278626e-03 9.99992186e-01 -1.39514886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51463043999999 meters Centerline goodness [0,1] 0.32197107659346547 Centerline is valid? [False, False] Translation: X:3.39, Y:0.03, Z:-0.01 [[ 9.99994130e-01 3.29709381e-03 -9.32232641e-04 3.39001476e+00] [-3.29466096e-03 9.99991194e-01 2.59930442e-03 2.91501785e-02] [ 9.40794582e-04 -2.59621777e-03 9.99996187e-01 -1.31090048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54463043999999 meters Centerline goodness [0,1] 0.3254634146341463 Centerline is valid? [False, False] Translation: X:3.37, Y:0.03, Z:-0.01 [[ 9.99986343e-01 -5.20331796e-03 -4.88206225e-04 3.36930918e+00] [ 5.20517651e-03 9.99978902e-01 3.88614026e-03 2.87758459e-02] [ 4.67975101e-04 -3.88862839e-03 9.99992330e-01 -1.38695044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57463043999999 meters Centerline goodness [0,1] 0.32649524510971994 Centerline is valid? [False, False] Translation: X:3.37, Y:0.03, Z:-0.01 [[ 9.99987350e-01 -5.02074189e-03 -3.01776373e-04 3.36863943e+00] [ 5.02203909e-03 9.99977427e-01 4.46359495e-03 2.57371808e-02] [ 2.79359003e-04 -4.46505402e-03 9.99989993e-01 -1.33498305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60463044 meters Centerline goodness [0,1] 0.32545297670405526 Centerline is valid? [False, False] Translation: X:3.37, Y:0.02, Z:-0.01 [[ 9.99988350e-01 -4.82626523e-03 -8.09178344e-05 3.36788716e+00] [ 4.82661240e-03 9.99975594e-01 5.05125244e-03 2.26173088e-02] [ 5.65371755e-05 -5.05158415e-03 9.99987239e-01 -1.28515185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63463044 meters Centerline goodness [0,1] 0.32354893270815943 Centerline is valid? [False, False] Translation: X:3.39, Y:0.01, Z:-0.01 [[ 9.99998638e-01 1.65017531e-03 3.25498956e-05 3.38832704e+00] [-1.65025612e-03 9.99995094e-01 2.66250296e-03 1.41371242e-02] [-2.81561393e-05 -2.66255305e-03 9.99996455e-01 -1.21988730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66463044 meters Centerline goodness [0,1] 0.32739779703078065 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.01 [[ 9.99995136e-01 8.03865943e-04 -3.01349869e-03 3.34626263e+00] [-7.95901013e-04 9.99996190e-01 2.64335213e-03 8.54986042e-03] [ 3.01561211e-03 -2.64094082e-03 9.99991966e-01 -1.27513810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69463044 meters Centerline goodness [0,1] 0.3255496292441785 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.01 [[ 9.99993194e-01 9.39834534e-04 -3.56770335e-03 3.34801089e+00] [-9.30045545e-04 9.99995802e-01 2.74444717e-03 8.19012704e-03] [ 3.57026770e-03 -2.74111036e-03 9.99989870e-01 -1.35213622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72463044 meters Centerline goodness [0,1] 0.32132748525376487 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.01 [[ 9.99991418e-01 1.20201394e-03 -3.96469137e-03 3.34945678e+00] [-1.19090157e-03 9.99995360e-01 2.80400528e-03 8.80261076e-03] [ 3.96804342e-03 -2.79925966e-03 9.99988209e-01 -1.44341319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75463044 meters Centerline goodness [0,1] 0.3208890992813186 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.01 [[ 9.99990636e-01 1.47900653e-03 -4.06703284e-03 3.34995691e+00] [-1.46756641e-03 9.99994963e-01 2.81443739e-03 9.84355005e-03] [ 4.07117492e-03 -2.80844239e-03 9.99987769e-01 -1.49085179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78463044 meters Centerline goodness [0,1] 0.325426821321517 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.02 [[ 9.99991083e-01 1.64353497e-03 -3.88995771e-03 3.34973182e+00] [-1.63306197e-03 9.99995038e-01 2.69396554e-03 1.11949307e-02] [ 3.89436603e-03 -2.68758898e-03 9.99988805e-01 -1.52881074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.81463044 meters Centerline goodness [0,1] 0.31950711558486633 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.02 [[ 9.99989486e-01 1.98534880e-03 -4.13346327e-03 3.35044052e+00] [-1.97451533e-03 9.99994610e-01 2.62335295e-03 1.28817870e-02] [ 4.13864926e-03 -2.61516378e-03 9.99988016e-01 -1.57489418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84463044 meters Centerline goodness [0,1] 0.3201115386278155 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.02 [[ 9.99988347e-01 2.02884765e-03 -4.38052757e-03 3.35135066e+00] [-2.01770594e-03 9.99994722e-01 2.54638557e-03 1.36731834e-02] [ 4.38567068e-03 -2.53751728e-03 9.99987163e-01 -1.63265637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87463043999999 meters Centerline goodness [0,1] 0.31925146401019944 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.02 [[ 9.99987300e-01 2.05873129e-03 -4.60007701e-03 3.35221383e+00] [-2.04700405e-03 9.99994647e-01 2.55261315e-03 1.38369963e-02] [ 4.60530753e-03 -2.54316436e-03 9.99986162e-01 -1.69244461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90463043999999 meters Centerline goodness [0,1] 0.31949227803409364 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.02 [[ 9.99986772e-01 2.04429759e-03 -4.71985642e-03 3.35268985e+00] [-2.03170687e-03 9.99994369e-01 2.67086129e-03 1.28327524e-02] [ 4.72528988e-03 -2.66123660e-03 9.99985295e-01 -1.71891184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93463043999999 meters Centerline goodness [0,1] 0.3183832270614936 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.02 [[ 9.99986936e-01 1.37434072e-03 -4.92325559e-03 3.35325737e+00] [-1.36200357e-03 9.99995927e-01 2.50837019e-03 1.04374210e-02] [ 4.92668289e-03 -2.50163193e-03 9.99984735e-01 -1.71089398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96463044 meters Centerline goodness [0,1] 0.31920824599693154 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.02 [[ 9.99986740e-01 1.25435691e-03 -4.99463091e-03 3.35324616e+00] [-1.24084451e-03 9.99995565e-01 2.70756521e-03 8.66137005e-03] [ 4.99800501e-03 -2.70133175e-03 9.99983861e-01 -1.67300754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99463044 meters Centerline goodness [0,1] 0.32018742678641154 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.02 [[ 9.99987310e-01 1.22984279e-03 -4.88539109e-03 3.35275319e+00] [-1.21497022e-03 9.99994623e-01 3.04609683e-03 6.56856151e-03] [ 4.88911104e-03 -3.04012257e-03 9.99983427e-01 -1.62342047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02463044 meters Centerline goodness [0,1] 0.32018742678641154 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.02 [[ 9.99987310e-01 1.22984279e-03 -4.88539109e-03 3.35275319e+00] [-1.21497022e-03 9.99994623e-01 3.04609683e-03 6.56856151e-03] [ 4.88911104e-03 -3.04012257e-03 9.99983427e-01 -1.62342047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05463044 meters Centerline goodness [0,1] 0.31985849260106125 Centerline is valid? [False, False] Translation: X:3.35, Y:0.00, Z:-0.02 [[ 9.99986980e-01 1.26476176e-03 -4.94362098e-03 3.35277874e+00] [-1.24753128e-03 9.99993142e-01 3.48692645e-03 4.16191112e-03] [ 4.94799721e-03 -3.48071373e-03 9.99981701e-01 -1.59129045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08463044 meters Centerline goodness [0,1] 0.32013515855137753 Centerline is valid? [False, False] Translation: X:3.35, Y:0.00, Z:-0.02 [[ 9.99985904e-01 1.32497475e-03 -5.14157840e-03 3.35321889e+00] [-1.30506809e-03 9.99991648e-01 3.87312766e-03 1.97442039e-03] [ 5.14666725e-03 -3.86636295e-03 9.99979281e-01 -1.57786498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11463044 meters Centerline goodness [0,1] 0.32133503603818103 Centerline is valid? [False, False] Translation: X:3.36, Y:0.00, Z:-0.02 [[ 9.99979453e-01 1.44860362e-04 -6.40874773e-03 3.35783704e+00] [-1.25904466e-04 9.99995617e-01 2.95812046e-03 4.65159036e-05] [ 6.40914816e-03 -2.95725279e-03 9.99975088e-01 -1.77988765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14463044 meters Centerline goodness [0,1] 0.31797784473975155 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.00, Z:-0.02 [[ 9.99978047e-01 1.17115480e-04 -6.62510730e-03 3.35837150e+00] [-9.69653423e-05 9.99995369e-01 3.04172034e-03 -8.83842196e-04] [ 6.62543286e-03 -3.04101116e-03 9.99973428e-01 -1.78276970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.17463044 meters Centerline goodness [0,1] 0.32104398218224284 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.00, Z:-0.02 [[ 9.99978266e-01 1.88619381e-04 -6.59032417e-03 3.35825096e+00] [-1.67907392e-04 9.99995046e-01 3.14319954e-03 -1.10236617e-03] [ 6.59088439e-03 -3.14202466e-03 9.99973344e-01 -1.77400099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20463044 meters Centerline goodness [0,1] 0.31774839829437096 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.00, Z:-0.02 [[ 9.99979397e-01 2.91738566e-04 -6.41256233e-03 3.35757805e+00] [-2.71370708e-04 9.99994917e-01 3.17688378e-03 -6.07909766e-04] [ 6.41345656e-03 -3.17507814e-03 9.99974393e-01 -1.73559220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23463043999999 meters Centerline goodness [0,1] 0.31889500377684254 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.00, Z:-0.02 [[ 9.99981211e-01 3.74262011e-04 -6.11866543e-03 3.35673106e+00] [-3.54860689e-04 9.99994907e-01 3.17162033e-03 -1.20252324e-05] [ 6.11982129e-03 -3.16938946e-03 9.99976251e-01 -1.71351115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26463043999999 meters Centerline goodness [0,1] 0.31679070066699555 Centerline is valid? [False, False] Translation: X:3.36, Y:0.00, Z:-0.02 [[ 9.99982012e-01 3.77567427e-04 -5.98615408e-03 3.35638180e+00] [-3.59143813e-04 9.99995197e-01 3.07848082e-03 6.09734660e-04] [ 5.98728767e-03 -3.07627556e-03 9.99977344e-01 -1.71072086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29463043999999 meters Centerline goodness [0,1] 0.3171549556133525 Centerline is valid? [False, False] Translation: X:3.36, Y:0.00, Z:-0.02 [[ 9.99982227e-01 2.59662538e-04 -5.95638265e-03 3.35689368e+00] [-2.43031326e-04 9.99996071e-01 2.79272043e-03 1.57760908e-03] [ 5.95708441e-03 -2.79122320e-03 9.99978361e-01 -1.79941392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32463043999999 meters Centerline goodness [0,1] 0.31792247386759587 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.00, Z:-0.02 [[ 9.99953663e-01 7.45994014e-03 -6.08451828e-03 3.33800632e+00] [-7.45143626e-03 9.99971231e-01 1.41910034e-03 -3.69764053e-03] [ 6.09492963e-03 -1.37369618e-03 9.99980482e-01 -1.97241147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35463044 meters Centerline goodness [0,1] 0.31648051837326285 Centerline is valid? [False, False] Translation: X:3.38, Y:0.00, Z:-0.02 [[ 9.99963876e-01 7.45945156e-03 -4.07464204e-03 3.38054485e+00] [-7.45973583e-03 9.99972174e-01 -5.45737489e-05 1.11136101e-03] [ 4.07412157e-03 8.49675307e-05 9.99991697e-01 -1.93276548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38463044 meters Centerline goodness [0,1] 0.3154338016723338 Centerline is valid? [False, False] Translation: X:3.38, Y:0.00, Z:-0.02 [[ 9.99964547e-01 7.40790888e-03 -4.00339087e-03 3.38027429e+00] [-7.40834434e-03 9.99972553e-01 -9.39555234e-05 1.02888528e-03] [ 4.00258498e-03 1.23610691e-04 9.99991982e-01 -1.91881166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41463044 meters Centerline goodness [0,1] 0.31755695630660674 Centerline is valid? [False, False] Translation: X:3.36, Y:0.00, Z:-0.02 [[ 9.99993208e-01 -8.79130449e-04 -3.57931987e-03 3.36082475e+00] [ 8.84127370e-04 9.99998637e-01 1.39471046e-03 3.38924517e-03] [ 3.57808886e-03 -1.39786556e-03 9.99992622e-01 -2.09727927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44463044 meters Centerline goodness [0,1] 0.318915888656504 Centerline is valid? [False, False] Translation: X:3.36, Y:0.00, Z:-0.02 [[ 9.99993724e-01 -8.01861655e-04 -3.45098958e-03 3.36060841e+00] [ 8.07406766e-04 9.99998385e-01 1.60572462e-03 2.53485033e-03] [ 3.44969644e-03 -1.60850089e-03 9.99992756e-01 -2.10515909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47463044 meters Centerline goodness [0,1] 0.3180862364239415 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.00, Z:-0.02 [[ 9.99993889e-01 -7.81087253e-04 -3.40774123e-03 3.36063483e+00] [ 7.88262222e-04 9.99997475e-01 2.10465611e-03 -4.98016004e-04] [ 3.40608870e-03 -2.10732945e-03 9.99991979e-01 -2.11353926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50463044 meters Centerline goodness [0,1] 0.318202363272422 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.00, Z:-0.02 [[ 9.99992767e-01 -7.63675071e-04 -3.72594118e-03 3.36156597e+00] [ 7.72502108e-04 9.99996897e-01 2.36821216e-03 -2.21053730e-03] [ 3.72412108e-03 -2.37107332e-03 9.99990254e-01 -2.13688117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.53463044 meters Centerline goodness [0,1] 0.31377365745289876 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.00, Z:-0.02 [[ 9.99991274e-01 -7.06690350e-04 -4.11731629e-03 3.36275299e+00] [ 7.17724441e-04 9.99996154e-01 2.67906219e-03 -3.93866385e-03] [ 4.11540719e-03 -2.68199392e-03 9.99987935e-01 -2.17185631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56463044 meters Centerline goodness [0,1] 0.31599491061223606 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.01, Z:-0.02 [[ 9.99990824e-01 -6.11444584e-04 -4.24005756e-03 3.36322548e+00] [ 6.24184377e-04 9.99995293e-01 3.00395519e-03 -5.64185993e-03] [ 4.23820086e-03 -3.00657420e-03 9.99986499e-01 -2.19653223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59463043999999 meters Centerline goodness [0,1] 0.3173890631040852 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.01, Z:-0.02 [[ 9.99991192e-01 -7.52454138e-04 -4.12915982e-03 3.36302394e+00] [ 7.66222075e-04 9.99994149e-01 3.33375099e-03 -9.09820276e-03] [ 4.12662717e-03 -3.33688548e-03 9.99985918e-01 -2.18913217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62463043999999 meters Centerline goodness [0,1] 0.3178044478857487 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.01, Z:-0.02 [[ 9.99991283e-01 -7.60625800e-04 -4.10553848e-03 3.36283316e+00] [ 7.75351457e-04 9.99993268e-01 3.58637928e-03 -1.11052638e-02] [ 4.10278295e-03 -3.58953126e-03 9.99985141e-01 -2.16027691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65463043999999 meters Centerline goodness [0,1] 0.3173697804563065 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.01, Z:-0.02 [[ 9.99990933e-01 -6.97212560e-04 -4.20091060e-03 3.36295440e+00] [ 7.13625358e-04 9.99992114e-01 3.90673063e-03 -1.30582929e-02] [ 4.19815365e-03 -3.90969308e-03 9.99983545e-01 -2.14307454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68463043999999 meters Centerline goodness [0,1] 0.3207875179277674 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.02, Z:-0.02 [[ 9.99990585e-01 -5.50592935e-04 -4.30425746e-03 3.36322487e+00] [ 5.69326675e-04 9.99990366e-01 4.35236154e-03 -1.53134188e-02] [ 4.30181962e-03 -4.35477109e-03 9.99981265e-01 -2.14395591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71463044 meters Centerline goodness [0,1] 0.31896626297577857 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.02, Z:-0.02 [[ 9.99989263e-01 -4.71596814e-04 -4.61002768e-03 3.36406435e+00] [ 4.93134198e-04 9.99988965e-01 4.67183598e-03 -1.70528895e-02] [ 4.60777359e-03 -4.67405918e-03 9.99978461e-01 -2.15663578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74463044 meters Centerline goodness [0,1] 0.3204170286707211 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.02, Z:-0.02 [[ 9.99986934e-01 -8.33845002e-04 -5.04338838e-03 3.36572496e+00] [ 8.57397463e-04 9.99988730e-01 4.66960983e-03 -2.02986301e-02] [ 5.03943781e-03 -4.67387301e-03 9.99976379e-01 -2.23989738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77463044 meters Centerline goodness [0,1] 0.3184165232358004 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.02, Z:-0.02 [[ 9.99973105e-01 5.83952787e-03 -4.43727037e-03 3.38645916e+00] [-5.83131564e-03 9.99981265e-01 1.86142909e-03 -2.31138458e-02] [ 4.44805710e-03 -1.83550391e-03 9.99988423e-01 -2.23353408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80463044 meters Centerline goodness [0,1] 0.32268936611502397 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.02, Z:-0.02 [[ 9.99973035e-01 5.93301127e-03 -4.32770714e-03 3.38628200e+00] [-5.92394014e-03 9.99980236e-01 2.10587546e-03 -2.43152733e-02] [ 4.34011579e-03 -2.08018160e-03 9.99988418e-01 -2.24467351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83463044 meters Centerline goodness [0,1] 0.3204635718471255 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.03, Z:-0.02 [[ 9.99972087e-01 6.11504792e-03 -4.29326726e-03 3.38632380e+00] [-6.10473483e-03 9.99978459e-01 2.41116370e-03 -2.52220944e-02] [ 4.30791916e-03 -2.38488714e-03 9.99987877e-01 -2.25981599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86463044 meters Centerline goodness [0,1] 0.3161764705882353 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.02, Z:-0.02 [[ 9.99986196e-01 -8.17095178e-04 -5.19040615e-03 3.40650838e+00] [ 8.33217770e-04 9.99994833e-01 3.10482686e-03 -2.00016924e-02] [ 5.18784239e-03 -3.10910874e-03 9.99981710e-01 -2.21481541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89463044 meters Centerline goodness [0,1] 0.3161176571772598 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.02, Z:-0.02 [[ 9.99985031e-01 -9.86086675e-04 -5.38191304e-03 3.40725238e+00] [ 1.00128609e-03 9.99995516e-01 2.82220298e-03 -1.93917118e-02] [ 5.37910597e-03 -2.82754957e-03 9.99981535e-01 -2.26113814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92463044 meters Centerline goodness [0,1] 0.31660524604378926 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.02, Z:-0.02 [[ 9.99984949e-01 -1.02176868e-03 -5.39051055e-03 3.40755265e+00] [ 1.03596346e-03 9.99996002e-01 2.63115656e-03 -1.84794484e-02] [ 5.38780057e-03 -2.63670133e-03 9.99982010e-01 -2.30855726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.95463044 meters Centerline goodness [0,1] 0.31893471906463133 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.02, Z:-0.02 [[ 9.99986330e-01 -9.28594324e-04 -5.14568787e-03 3.40724767e+00] [ 9.41441235e-04 9.99996445e-01 2.49477683e-03 -1.70708995e-02] [ 5.14335294e-03 -2.49958709e-03 9.99983649e-01 -2.35386723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98463043999999 meters Centerline goodness [0,1] 0.3156910376851474 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.02, Z:-0.02 [[ 9.99987439e-01 -6.93375739e-04 -4.96401433e-03 3.40697231e+00] [ 7.05592225e-04 9.99996726e-01 2.45968131e-03 -1.53405013e-02] [ 4.96229259e-03 -2.46315298e-03 9.99984654e-01 -2.37977594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01463043999999 meters Centerline goodness [0,1] 0.31681457968949067 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.01, Z:-0.02 [[ 9.99987405e-01 -6.33750210e-04 -4.97882110e-03 3.40752357e+00] [ 6.43977506e-04 9.99997686e-01 2.05282567e-03 -1.24277336e-02] [ 4.97750860e-03 -2.05600606e-03 9.99985499e-01 -2.47076569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04463043999999 meters Centerline goodness [0,1] 0.3182811046951708 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.01, Z:-0.03 [[ 9.99986631e-01 -7.32377992e-04 -5.11866163e-03 3.40801971e+00] [ 7.41756337e-04 9.99998049e-01 1.83052873e-03 -1.15940455e-02] [ 5.11731100e-03 -1.83430106e-03 9.99985224e-01 -2.50515289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07463043999999 meters Centerline goodness [0,1] 0.31716506788506094 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.01, Z:-0.02 [[ 9.99987200e-01 -7.60434908e-04 -5.00215770e-03 3.40764544e+00] [ 7.69006465e-04 9.99998239e-01 1.71187196e-03 -1.08406059e-02] [ 5.00084713e-03 -1.71569674e-03 9.99986024e-01 -2.49074550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10463044 meters Centerline goodness [0,1] 0.32032172050531105 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.02, Z:-0.03 [[ 9.99986169e-01 4.96035638e-03 -1.74830860e-03 3.39059457e+00] [-4.95822458e-03 9.99986962e-01 1.22158363e-03 -1.59032598e-02] [ 1.75434530e-03 -1.21289823e-03 9.99997726e-01 -2.70611584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13463044 meters Centerline goodness [0,1] 0.31652181358907394 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.01, Z:-0.03 [[ 9.99980320e-01 6.18856235e-03 1.02980854e-03 3.43191426e+00] [-6.18973680e-03 9.99980192e-01 1.14120607e-03 -1.20082726e-02] [-1.02272572e-03 -1.14755785e-03 9.99998819e-01 -2.65359467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16463044 meters Centerline goodness [0,1] 0.3187944873542329 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.01, Z:-0.03 [[ 9.99996858e-01 -2.25040846e-03 1.10450944e-03 3.41185734e+00] [ 2.24756659e-03 9.99994178e-01 2.56749539e-03 -9.51350021e-03] [-1.11028092e-03 -2.56500486e-03 9.99996094e-01 -2.75658789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19463044 meters Centerline goodness [0,1] 0.3195094470445484 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.01, Z:-0.03 [[ 9.99997116e-01 -2.33358396e-03 5.67548917e-04 3.41356785e+00] [ 2.33203288e-03 9.99993586e-01 2.71841976e-03 -1.10418372e-02] [-5.73888937e-04 -2.71708838e-03 9.99996144e-01 -2.82979887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22463044 meters Centerline goodness [0,1] 0.31822713480710885 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.01, Z:-0.03 [[ 9.99997213e-01 -2.33587038e-03 3.43045629e-04 3.41415595e+00] [ 2.33485393e-03 9.99992970e-01 2.93409332e-03 -1.26510002e-02] [-3.49896879e-04 -2.93328419e-03 9.99995637e-01 -2.83636599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.25463044 meters Centerline goodness [0,1] 0.3194619223258841 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.01, Z:-0.03 [[ 9.99997292e-01 -2.30665013e-03 3.08462465e-04 3.41411393e+00] [ 2.30562670e-03 9.99991969e-01 3.27802534e-03 -1.48185121e-02] [-3.16021246e-04 -3.27730526e-03 9.99994580e-01 -2.81367420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28463044 meters Centerline goodness [0,1] 0.3176075971423593 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.02, Z:-0.03 [[ 9.99997348e-01 -2.28308608e-03 3.01853359e-04 3.41402990e+00] [ 2.28196138e-03 9.99990643e-01 3.67524045e-03 -1.74214049e-02] [-3.10241425e-04 -3.67454189e-03 9.99993201e-01 -2.78666706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.31463044 meters Centerline goodness [0,1] 0.31696786930770404 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.02, Z:-0.03 [[ 9.99983623e-01 -5.67282605e-03 7.56733143e-04 3.41331500e+00] [ 5.67207255e-03 9.99983419e-01 9.94183231e-04 -2.25572702e-02] [-7.62360425e-04 -9.89874704e-04 9.99999219e-01 -2.80358033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34463043999999 meters Centerline goodness [0,1] 0.317403939296093 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.03, Z:-0.03 [[ 9.99997854e-01 2.05883566e-03 -2.29070683e-04 3.43234717e+00] [-2.05889067e-03 9.99997852e-01 -2.40126968e-04 -2.89784539e-02] [ 2.28575809e-04 2.40598084e-04 9.99999945e-01 -2.61936974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37463043999999 meters Centerline goodness [0,1] 0.3198386679320162 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.03, Z:-0.03 [[ 9.99997566e-01 2.13646295e-03 -5.50207942e-04 3.43347556e+00] [-2.13640469e-03 9.99997712e-01 1.06453659e-04 -3.09570376e-02] [ 5.50434117e-04 -1.05277933e-04 9.99999843e-01 -2.67545288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40463043999999 meters Centerline goodness [0,1] 0.3173366888681578 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.03, Z:-0.03 [[ 9.99997153e-01 2.18908539e-03 -9.50002271e-04 3.43485188e+00] [-2.18877170e-03 9.99997550e-01 3.31110932e-04 -3.22944081e-02] [ 9.50724773e-04 -3.29030651e-04 9.99999494e-01 -2.74632389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43463043999999 meters Centerline goodness [0,1] 0.31507263269226615 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.03, Z:-0.03 [[ 9.99996553e-01 2.28445781e-03 -1.29439402e-03 3.43583527e+00] [-2.28368673e-03 9.99997214e-01 5.96869520e-04 -3.36609088e-02] [ 1.29575393e-03 -5.93911472e-04 9.99998984e-01 -2.77452834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46463044 meters Centerline goodness [0,1] 0.3171661294537852 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.04, Z:-0.03 [[ 9.99996214e-01 2.38668970e-03 -1.36991595e-03 3.43595618e+00] [-2.38543098e-03 9.99996732e-01 9.19729499e-04 -3.53881240e-02] [ 1.37210659e-03 -9.16458177e-04 9.99998639e-01 -2.76180188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49463044 meters Centerline goodness [0,1] 0.31724899337576307 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.04, Z:-0.03 [[ 9.99996287e-01 2.59282753e-03 -8.39121508e-04 3.43388193e+00] [-2.59135726e-03 9.99995114e-01 1.74852699e-03 -4.05955212e-02] [ 8.43651037e-04 -1.74634603e-03 9.99998119e-01 -2.61949357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52463044 meters Centerline goodness [0,1] 0.3182972626826145 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.04, Z:-0.03 [[ 9.99996359e-01 2.67233240e-03 -3.75705606e-04 3.43250153e+00] [-2.67149382e-03 9.99993978e-01 2.21508403e-03 -4.35746763e-02] [ 3.81622785e-04 -2.21407227e-03 9.99997476e-01 -2.55674660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55463044 meters Centerline goodness [0,1] 0.32070218181027166 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.05, Z:-0.03 [[ 9.99996323e-01 2.71162846e-03 2.11097769e-05 3.43135778e+00] [-2.71167514e-03 9.99992762e-01 2.66897098e-03 -4.67227489e-02] [-1.38723665e-05 -2.66901841e-03 9.99996438e-01 -2.50848326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58463044 meters Centerline goodness [0,1] 0.320534223706177 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.05, Z:-0.03 [[ 9.99994460e-01 2.32792533e-03 2.37928875e-03 3.47426964e+00] [-2.32948913e-03 9.99997072e-01 6.54694309e-04 -4.77331102e-02] [-2.37775771e-03 -6.60233209e-04 9.99996955e-01 -2.60134790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61463044 meters Centerline goodness [0,1] 0.31857118010261765 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.05, Z:-0.03 [[ 9.99998438e-01 1.71570656e-03 -4.23903473e-04 3.43079389e+00] [-1.71507448e-03 9.99997424e-01 1.48697720e-03 -5.23376447e-02] [ 4.26453597e-04 -1.48624785e-03 9.99998805e-01 -2.58551402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64463044 meters Centerline goodness [0,1] 0.32202243268013786 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.05, Z:-0.03 [[ 9.99998004e-01 1.90646054e-03 -5.97862758e-04 3.43179202e+00] [-1.90555539e-03 9.99997043e-01 1.51090672e-03 -5.14348628e-02] [ 6.00741475e-04 -1.50976444e-03 9.99998680e-01 -2.68348160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.67463044 meters Centerline goodness [0,1] 0.31805395032383277 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.05, Z:-0.03 [[ 9.99997317e-01 2.15866446e-03 -8.40646382e-04 3.43288270e+00] [-2.15738091e-03 9.99996510e-01 1.52478499e-03 -5.01714906e-02] [ 8.43934948e-04 -1.52296730e-03 9.99998484e-01 -2.76982655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70463044 meters Centerline goodness [0,1] 0.3171395846389904 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.05, Z:-0.03 [[ 9.99996872e-01 2.29775044e-03 -9.87807659e-04 3.43344822e+00] [-2.29635489e-03 9.99996367e-01 1.41159938e-03 -4.87592952e-02] [ 9.91047574e-04 -1.40932661e-03 9.99998516e-01 -2.81090626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73463043999999 meters Centerline goodness [0,1] 0.3168487141997076 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.05, Z:-0.03 [[ 9.99996685e-01 2.38910502e-03 -9.60325740e-04 3.43320169e+00] [-2.38789754e-03 9.99996360e-01 1.25654644e-03 -4.75594031e-02] [ 9.63324265e-04 -1.25424912e-03 9.99998749e-01 -2.79466995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76463043999999 meters Centerline goodness [0,1] 0.3199947947166374 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.05, Z:-0.03 [[ 9.99996819e-01 2.32927373e-03 -9.67298562e-04 3.43316098e+00] [-2.32814170e-03 9.99996606e-01 1.16978034e-03 -4.73647001e-02] [ 9.70020017e-04 -1.16752461e-03 9.99998848e-01 -2.78924057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79463043999999 meters Centerline goodness [0,1] 0.3186267063087307 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.05, Z:-0.03 [[ 9.99996868e-01 2.26104165e-03 -1.07305482e-03 3.43344386e+00] [-2.25984600e-03 9.99996826e-01 1.11415415e-03 -4.74025895e-02] [ 1.07557057e-03 -1.11172572e-03 9.99998804e-01 -2.79732221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82463043999999 meters Centerline goodness [0,1] 0.31635099237630393 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.05, Z:-0.03 [[ 9.99996934e-01 2.15927210e-03 -1.21225750e-03 3.43413819e+00] [-2.15787868e-03 9.99997011e-01 1.14957283e-03 -4.81840368e-02] [ 1.21473612e-03 -1.14695340e-03 9.99998604e-01 -2.85144851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85463044 meters Centerline goodness [0,1] 0.3161590982984719 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.05, Z:-0.03 [[ 9.99996834e-01 2.04891915e-03 -1.46109307e-03 3.43486249e+00] [-2.04706155e-03 9.99997096e-01 1.27174498e-03 -4.95107859e-02] [ 1.46369453e-03 -1.26875000e-03 9.99998124e-01 -2.87112037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88463044 meters Centerline goodness [0,1] 0.3195466684035694 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.05, Z:-0.03 [[ 9.99996812e-01 1.99762312e-03 -1.54475035e-03 3.43504805e+00] [-1.99519653e-03 9.99996776e-01 1.57081209e-03 -5.15026846e-02] [ 1.54788326e-03 -1.56772500e-03 9.99997573e-01 -2.86218190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91463044 meters Centerline goodness [0,1] 0.3195466684035694 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.05, Z:-0.03 [[ 9.99996812e-01 1.99762312e-03 -1.54475035e-03 3.43504805e+00] [-1.99519653e-03 9.99996776e-01 1.57081209e-03 -5.15026846e-02] [ 1.54788326e-03 -1.56772500e-03 9.99997573e-01 -2.86218190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94463044 meters Centerline goodness [0,1] 0.31997309144568375 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.06, Z:-0.03 [[ 9.99997882e-01 1.69893038e-03 -1.16163537e-03 3.43374756e+00] [-1.69633709e-03 9.99996075e-01 2.22980339e-03 -5.70174519e-02] [ 1.16541909e-03 -2.22782814e-03 9.99996839e-01 -2.76086984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97463044 meters Centerline goodness [0,1] 0.31672994830212153 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.06, Z:-0.03 [[ 9.99982455e-01 -5.82214415e-03 -1.09177786e-03 3.45392850e+00] [ 5.82582104e-03 9.99977265e-01 3.39542200e-03 -5.62645845e-02] [ 1.07198440e-03 -3.40172293e-03 9.99993640e-01 -2.62839672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00463044 meters Centerline goodness [0,1] 0.31916324892042613 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.07, Z:-0.03 [[ 9.99999465e-01 5.42571225e-04 -8.80774678e-04 3.43681844e+00] [-5.40372642e-04 9.99996743e-01 2.49451364e-03 -6.61122501e-02] [ 8.82125261e-04 -2.49403635e-03 9.99996501e-01 -2.79948433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.03463044 meters Centerline goodness [0,1] 0.3174065848767761 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.07, Z:-0.03 [[ 9.99999201e-01 5.46254313e-04 -1.13973560e-03 3.43751516e+00] [-5.42958896e-04 9.99995677e-01 2.88969532e-03 -6.88545105e-02] [ 1.14130918e-03 -2.88907418e-03 9.99995175e-01 -2.80675473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06463044 meters Centerline goodness [0,1] 0.31850745622578625 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.07, Z:-0.03 [[ 9.99999432e-01 6.96633677e-04 -8.06385051e-04 3.43661506e+00] [-6.93916055e-04 9.99994096e-01 3.36551755e-03 -7.16112244e-02] [ 8.08724823e-04 -3.36495608e-03 9.99994011e-01 -2.77137683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09463043999999 meters Centerline goodness [0,1] 0.3178836434025164 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.07, Z:-0.03 [[ 9.99999560e-01 7.39490087e-04 -5.77423089e-04 3.43594158e+00] [-7.37546112e-04 9.99994084e-01 3.35962467e-03 -7.15578869e-02] [ 5.79904083e-04 -3.35919732e-03 9.99994190e-01 -2.74809229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12463043999999 meters Centerline goodness [0,1] 0.3174123596468672 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.07, Z:-0.03 [[ 9.99999518e-01 7.95318120e-04 -5.75642817e-04 3.43616437e+00] [-7.93417290e-04 9.99994257e-01 3.29482990e-03 -7.09935667e-02] [ 5.78259949e-04 -3.29437159e-03 9.99994406e-01 -2.78652974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15463043999999 meters Centerline goodness [0,1] 0.3163849098808449 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.07, Z:-0.03 [[ 9.99999328e-01 8.10651606e-04 -8.28804093e-04 3.43723592e+00] [-8.08046697e-04 9.99994748e-01 3.13849202e-03 -6.99336720e-02] [ 8.31343964e-04 -3.13782019e-03 9.99994731e-01 -2.86331518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18463043999999 meters Centerline goodness [0,1] 0.3181857488758215 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.07, Z:-0.03 [[ 9.99999083e-01 8.08737280e-04 -1.08636838e-03 3.43833783e+00] [-8.05465313e-04 9.99995149e-01 3.00890807e-03 -6.91714640e-02] [ 1.08879652e-03 -3.00803027e-03 9.99994883e-01 -2.94943401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21463044 meters Centerline goodness [0,1] 0.3172876400146196 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.07, Z:-0.03 [[ 9.99998961e-01 7.58355362e-04 -1.22569356e-03 3.43891323e+00] [-7.54792354e-04 9.99995496e-01 2.90478551e-03 -6.88402613e-02] [ 1.22789090e-03 -2.90385735e-03 9.99995030e-01 -2.98756890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24463044 meters Centerline goodness [0,1] 0.3174408602150538 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.07, Z:-0.03 [[ 9.99998976e-01 3.70998763e-04 -1.38229415e-03 3.43912467e+00] [-3.67229676e-04 9.99996217e-01 2.72594641e-03 -7.00328390e-02] [ 1.38330025e-03 -2.72543600e-03 9.99995329e-01 -2.96859393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27463044 meters Centerline goodness [0,1] 0.31552634414395 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.07, Z:-0.03 [[ 9.99998773e-01 2.58464891e-04 -1.54512385e-03 3.43953094e+00] [-2.54082615e-04 9.99995947e-01 2.83572076e-03 -7.12417733e-02] [ 1.54585052e-03 -2.83532470e-03 9.99994786e-01 -2.97076882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30463044 meters Centerline goodness [0,1] 0.31741645799153784 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.07, Z:-0.03 [[ 9.99998331e-01 2.08540892e-04 -1.81497770e-03 3.44029420e+00] [-2.02999868e-04 9.99995320e-01 3.05259187e-03 -7.25719528e-02] [ 1.81560580e-03 -3.05221833e-03 9.99993694e-01 -2.99380571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33463044 meters Centerline goodness [0,1] 0.3172262585443446 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.07, Z:-0.03 [[ 9.99997663e-01 1.94288898e-04 -2.15307267e-03 3.44120166e+00] [-1.87126504e-04 9.99994450e-01 3.32629419e-03 -7.40918571e-02] [ 2.15370699e-03 -3.32588352e-03 9.99992150e-01 -3.01164860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36463044 meters Centerline goodness [0,1] 0.3185538287405859 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.08, Z:-0.03 [[ 9.99991789e-01 4.05200651e-03 -5.28957991e-05 3.42128893e+00] [-4.05197621e-03 9.99991633e-01 5.60964049e-04 -8.18618065e-02] [ 5.51683865e-05 -5.60745111e-04 9.99999841e-01 -3.14985805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.39463044 meters Centerline goodness [0,1] 0.3140113188132396 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.08, Z:-0.03 [[ 9.99993576e-01 -3.53040431e-03 6.20421190e-04 3.44142406e+00] [ 3.52960699e-03 9.99992950e-01 1.28155813e-03 -7.97503737e-02] [-6.24941235e-04 -1.27936006e-03 9.99998986e-01 -3.06109009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42463044 meters Centerline goodness [0,1] 0.317392148822755 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.08, Z:-0.03 [[ 9.99993736e-01 -3.48685141e-03 6.08016334e-04 3.44136138e+00] [ 3.48587324e-03 9.99992640e-01 1.60248718e-03 -8.17790182e-02] [-6.13599494e-04 -1.60035768e-03 9.99998531e-01 -3.04518192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.45463044 meters Centerline goodness [0,1] 0.31770687463644787 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.08, Z:-0.03 [[ 9.99993973e-01 -3.42657560e-03 5.59464509e-04 3.44160530e+00] [ 3.42550013e-03 9.99992305e-01 1.91208628e-03 -8.34861706e-02] [-5.66012112e-04 -1.91015831e-03 9.99998015e-01 -3.06303908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48463043999999 meters Centerline goodness [0,1] 0.31522953920220087 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.09, Z:-0.03 [[ 9.99993396e-01 -3.61555848e-03 -3.67738605e-04 3.44451120e+00] [ 3.61641759e-03 9.99990669e-01 2.36300643e-03 -8.77657186e-02] [ 3.59191586e-04 -2.36432072e-03 9.99997140e-01 -3.16588255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51463043999999 meters Centerline goodness [0,1] 0.31901893660354463 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.10, Z:-0.03 [[ 9.99995433e-01 2.91616286e-03 -7.93624542e-04 3.42812462e+00] [-2.91540321e-03 9.99995293e-01 9.56671481e-04 -9.51669370e-02] [ 7.96410615e-04 -9.54353376e-04 9.99999227e-01 -3.45315179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54463043999999 meters Centerline goodness [0,1] 0.31792208920850806 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.10, Z:-0.03 [[ 9.99995104e-01 2.89650839e-03 -1.18387194e-03 3.42927524e+00] [-2.89522486e-03 9.99995221e-01 1.08445688e-03 -9.63165872e-02] [ 1.18700743e-03 -1.08102400e-03 9.99998711e-01 -3.49190805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57463043999999 meters Centerline goodness [0,1] 0.31444673894338326 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.09, Z:-0.03 [[ 9.99990603e-01 -3.85818115e-03 -1.97713820e-03 3.44848857e+00] [ 3.86235865e-03 9.99990308e-01 2.11345706e-03 -9.25542914e-02] [ 1.96896494e-03 -2.12107362e-03 9.99995812e-01 -3.36324146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60463044 meters Centerline goodness [0,1] 0.31919072873698684 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.10, Z:-0.03 [[ 9.99992123e-01 3.65894487e-03 -1.53815989e-03 3.42844865e+00] [-3.65625960e-03 9.99991793e-01 1.74497116e-03 -9.85267667e-02] [ 1.54453202e-03 -1.73933350e-03 9.99997295e-01 -3.48207322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63463044 meters Centerline goodness [0,1] 0.319338284650196 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.10, Z:-0.03 [[ 9.99992221e-01 3.84604734e-03 -8.75541522e-04 3.42656365e+00] [-3.84428144e-03 9.99990591e-01 2.00974401e-03 -9.97475164e-02] [ 8.83262855e-04 -2.00636255e-03 9.99997597e-01 -3.41487643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66463044 meters Centerline goodness [0,1] 0.32121120232190425 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.10, Z:-0.03 [[ 9.99992182e-01 3.85326345e-03 -8.87711406e-04 3.42643537e+00] [-3.85141587e-03 9.99990433e-01 2.07367615e-03 -1.00395856e-01] [ 8.95693333e-04 -2.07024100e-03 9.99997456e-01 -3.38887535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69463044 meters Centerline goodness [0,1] 0.31779331779331776 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.10, Z:-0.03 [[ 9.99991552e-01 3.98208215e-03 -1.01919144e-03 3.42694984e+00] [-3.97975146e-03 9.99989484e-01 2.27871041e-03 -1.01164959e-01] [ 1.02825473e-03 -2.27463503e-03 9.99996884e-01 -3.42342140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72463044 meters Centerline goodness [0,1] 0.31757280716870584 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.10, Z:-0.04 [[ 9.99989854e-01 4.25776729e-03 -1.47114758e-03 3.42857361e+00] [-4.25383248e-03 9.99987395e-01 2.66750982e-03 -1.02265974e-01] [ 1.48248667e-03 -2.66122474e-03 9.99995360e-01 -3.50744274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.75463044 meters Centerline goodness [0,1] 0.31499262237238845 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.10, Z:-0.03 [[ 9.99989568e-01 4.28264686e-03 -1.58860445e-03 3.42873876e+00] [-4.27820393e-03 9.99986957e-01 2.78968132e-03 -1.03142476e-01] [ 1.60053095e-03 -2.78285585e-03 9.99994847e-01 -3.49225773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78463044 meters Centerline goodness [0,1] 0.32215566262968265 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.10, Z:-0.03 [[ 9.99983923e-01 -5.10862750e-03 -2.46088405e-03 3.40822907e+00] [ 5.11730511e-03 9.99980666e-01 3.53292100e-03 -1.02000934e-01] [ 2.44278809e-03 -3.54545729e-03 9.99990731e-01 -3.48922322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.81463044 meters Centerline goodness [0,1] 0.3213721116573186 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.10, Z:-0.03 [[ 9.99982433e-01 -5.22297114e-03 -2.80268003e-03 3.40883336e+00] [ 5.23319743e-03 9.99979631e-01 3.65390931e-03 -1.03655591e-01] [ 2.78353868e-03 -3.66851210e-03 9.99989397e-01 -3.46406086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84463043999999 meters Centerline goodness [0,1] 0.3182483637616259 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.11, Z:-0.03 [[ 9.99989551e-01 2.53505441e-03 -3.80411974e-03 3.42781128e+00] [-2.52664080e-03 9.99994355e-01 2.21488840e-03 -1.09897951e-01] [ 3.80971313e-03 -2.20525361e-03 9.99990311e-01 -3.28316141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87463043999999 meters Centerline goodness [0,1] 0.31675910400275165 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.11, Z:-0.03 [[ 9.99988472e-01 2.58003192e-03 -4.04969001e-03 3.42840755e+00] [-2.56913881e-03 9.99993074e-01 2.69276312e-03 -1.12553709e-01] [ 4.05660938e-03 -2.68232786e-03 9.99988174e-01 -3.28405914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90463043999999 meters Centerline goodness [0,1] 0.32042743971445986 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.12, Z:-0.03 [[ 0.99996175 -0.00762636 -0.0042811 3.40674657] [ 0.00764239 0.9999638 0.0037406 -0.11694399] [ 0.00425241 -0.00377317 0.99998384 -0.03283684] [ 0. 0. 0. 1. ]] SLAMing on 102.93463043999999 meters Centerline goodness [0,1] 0.3235713668194 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.12, Z:-0.03 [[ 9.99991534e-01 -3.60230354e-04 -4.09902223e-03 3.42461858e+00] [ 3.67342562e-04 9.99998428e-01 1.73447803e-03 -1.22975328e-01] [ 4.09839098e-03 -1.73596909e-03 9.99990095e-01 -3.10665964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96463044 meters Centerline goodness [0,1] 0.32210517189057963 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.13, Z:-0.03 [[ 9.99990624e-01 -6.12880056e-04 -4.28679227e-03 3.42487874e+00] [ 6.20869231e-04 9.99998073e-01 1.86258963e-03 -1.25219879e-01] [ 4.28564246e-03 -1.86523370e-03 9.99989077e-01 -3.07917751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99463044 meters Centerline goodness [0,1] 0.3232382061735586 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.13, Z:-0.03 [[ 9.99988802e-01 -8.83649411e-04 -4.64917550e-03 3.42566934e+00] [ 8.92513367e-04 9.99997788e-01 1.90483599e-03 -1.26909718e-01] [ 4.64748201e-03 -1.90896411e-03 9.99987378e-01 -3.06782756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02463044 meters Centerline goodness [0,1] 0.31876727888386447 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.13, Z:-0.03 [[ 9.99986949e-01 -1.05665539e-03 -4.99856930e-03 3.42652164e+00] [ 1.06676543e-03 9.99997390e-01 2.02035330e-03 -1.28430337e-01] [ 4.99642144e-03 -2.02565923e-03 9.99985466e-01 -3.07523166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05463044 meters Centerline goodness [0,1] 0.31885026737967914 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.13, Z:-0.03 [[ 9.99985886e-01 -1.05792063e-03 -5.20650908e-03 3.42711824e+00] [ 1.06964294e-03 9.99996898e-01 2.24920369e-03 -1.29704132e-01] [ 5.20411345e-03 -2.25474106e-03 9.99983917e-01 -3.09538199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08463044 meters Centerline goodness [0,1] 0.3163773036923143 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.13, Z:-0.03 [[ 9.99983335e-01 -1.15068544e-03 -5.65743909e-03 3.42822101e+00] [ 1.16427480e-03 9.99996444e-01 2.39932807e-03 -1.30743063e-01] [ 5.65465810e-03 -2.40587490e-03 9.99981118e-01 -3.09432943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11463044 meters Centerline goodness [0,1] 0.3216734507302845 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.03 [[ 9.99965973e-01 -3.27021340e-03 -7.57351608e-03 3.38327028e+00] [ 3.28996665e-03 9.99991215e-01 2.59721313e-03 -1.32924268e-01] [ 7.56495611e-03 -2.62204137e-03 9.99967948e-01 -3.00453087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14463044 meters Centerline goodness [0,1] 0.3204039876365853 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.03 [[ 9.99967182e-01 -3.31921093e-03 -7.39042316e-03 3.38258964e+00] [ 3.33866143e-03 9.99990992e-01 2.62107171e-03 -1.33367496e-01] [ 7.38165670e-03 -2.64565981e-03 9.99969255e-01 -2.96734962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.17463044 meters Centerline goodness [0,1] 0.32269743298946585 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.03 [[ 9.99968445e-01 -3.30947029e-03 -7.22187227e-03 3.38182967e+00] [ 3.32955483e-03 9.99990618e-01 2.77082155e-03 -1.34237120e-01] [ 7.21263456e-03 -2.79477974e-03 9.99970083e-01 -2.90731406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20463044 meters Centerline goodness [0,1] 0.32239494620642073 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.14, Z:-0.03 [[ 9.99978194e-01 3.91719580e-03 -5.31665985e-03 3.40154363e+00] [-3.91458278e-03 9.99992212e-01 5.01794918e-04 -1.36798880e-01] [ 5.31858407e-03 -4.80971471e-04 9.99985741e-01 -2.91094258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23463043999999 meters Centerline goodness [0,1] 0.32212849078068995 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.14, Z:-0.03 [[ 9.99977715e-01 3.66756363e-03 -5.57830743e-03 3.40237101e+00] [-3.66419117e-03 9.99993098e-01 6.14667555e-04 -1.38407224e-01] [ 5.58052326e-03 -5.94213873e-04 9.99984252e-01 -2.94341590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26463043999999 meters Centerline goodness [0,1] 0.32531032394792614 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.14, Z:-0.03 [[ 9.99976588e-01 3.50744788e-03 -5.87549774e-03 3.40334821e+00] [-3.50410342e-03 9.99993693e-01 5.79419750e-04 -1.39025881e-01] [ 5.87749297e-03 -5.58817833e-04 9.99982571e-01 -2.99166400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29463043999999 meters Centerline goodness [0,1] 0.3242496136516988 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.14, Z:-0.03 [[ 9.99975358e-01 3.39233256e-03 -6.14610757e-03 3.40427671e+00] [-3.38856464e-03 9.99994065e-01 6.23366335e-04 -1.39850942e-01] [ 6.14818575e-03 -6.02524492e-04 9.99980918e-01 -3.04320154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32463043999999 meters Centerline goodness [0,1] 0.32215756101797965 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.14, Z:-0.03 [[ 9.99974166e-01 3.33619269e-03 -6.36683303e-03 3.40482271e+00] [-3.33136749e-03 9.99994156e-01 7.68318909e-04 -1.40863339e-01] [ 6.36935908e-03 -7.47088800e-04 9.99979436e-01 -3.05732066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35463044 meters Centerline goodness [0,1] 0.3205304560890685 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.14, Z:-0.03 [[ 9.99973935e-01 -3.98499755e-03 -6.02076101e-03 3.42482706e+00] [ 3.99654572e-03 9.99990195e-01 1.90724537e-03 -1.38721091e-01] [ 6.01310161e-03 -1.93125791e-03 9.99980056e-01 -2.94722587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38463044 meters Centerline goodness [0,1] 0.3219387423319533 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.14, Z:-0.03 [[ 9.99973742e-01 -4.45817877e-03 -5.71311663e-03 3.42387025e+00] [ 4.46916925e-03 9.99988185e-01 1.91240760e-03 -1.40747744e-01] [ 5.70452327e-03 -1.93789027e-03 9.99981851e-01 -2.90490522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41463044 meters Centerline goodness [0,1] 0.322667703003217 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.14, Z:-0.03 [[ 9.99971691e-01 -4.54584946e-03 -5.99598296e-03 3.42429727e+00] [ 4.55813057e-03 9.99987539e-01 2.03615053e-03 -1.42028048e-01] [ 5.98665221e-03 -2.06342336e-03 9.99979951e-01 -2.87362403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44463044 meters Centerline goodness [0,1] 0.31951429185471736 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.14, Z:-0.03 [[ 9.99968228e-01 -4.65692288e-03 -6.46968164e-03 3.42535641e+00] [ 4.67050729e-03 9.99986917e-01 2.08618370e-03 -1.42805672e-01] [ 6.45988180e-03 -2.11633411e-03 9.99976895e-01 -2.87764562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47463044 meters Centerline goodness [0,1] 0.3176118245281393 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.14, Z:-0.03 [[ 9.99960310e-01 -4.93755424e-03 -7.41613654e-03 3.42790269e+00] [ 4.95414969e-03 9.99985262e-01 2.22104813e-03 -1.44684045e-01] [ 7.40506069e-03 -2.25770063e-03 9.99970033e-01 -2.94042962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50463044 meters Centerline goodness [0,1] 0.31570925639704617 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.15, Z:-0.03 [[ 9.99957501e-01 -5.00720083e-03 -7.74101655e-03 3.42859955e+00] [ 5.02633992e-03 9.99984354e-01 2.45495104e-03 -1.46580871e-01] [ 7.72860301e-03 -2.49375569e-03 9.99967024e-01 -2.93439976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.53463044 meters Centerline goodness [0,1] 0.3199422401344857 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.15, Z:-0.03 [[ 9.99956161e-01 -5.04661231e-03 -7.88715387e-03 3.42890118e+00] [ 5.06823907e-03 9.99983445e-01 2.72444514e-03 -1.48645783e-01] [ 7.87327408e-03 -2.76429969e-03 9.99965184e-01 -2.93238652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56463044 meters Centerline goodness [0,1] 0.3200034773537338 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.15, Z:-0.03 [[ 9.99955311e-01 -5.00629989e-03 -8.01953919e-03 3.42918687e+00] [ 5.03085880e-03 9.99982709e-01 3.04514343e-03 -1.50550913e-01] [ 8.00415562e-03 -3.08535252e-03 9.99963206e-01 -2.93458654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59463043999999 meters Centerline goodness [0,1] 0.31712158808933 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.16, Z:-0.03 [[ 9.99958055e-01 3.22538689e-03 -8.57237138e-03 3.44788673e+00] [-3.20958729e-03 9.99993127e-01 1.85620249e-03 -1.57124995e-01] [ 8.57829943e-03 -1.82861085e-03 9.99961534e-01 -2.81022714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62463043999999 meters Centerline goodness [0,1] 0.3134136958194409 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.16, Z:-0.03 [[ 9.99954885e-01 3.29920699e-03 -8.90748850e-03 3.44891488e+00] [-3.28061747e-03 9.99992412e-01 2.10075860e-03 -1.58292432e-01] [ 8.91435175e-03 -2.07144177e-03 9.99958121e-01 -2.84012430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65463043999999 meters Centerline goodness [0,1] 0.31549387401062556 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.16, Z:-0.03 [[ 9.99919377e-01 2.30170627e-03 -1.24876398e-02 3.40682369e+00] [-2.27243396e-03 9.99994638e-01 2.35778526e-03 -1.58455656e-01] [ 1.24929997e-02 -2.32921784e-03 9.99919247e-01 -2.79282473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68463043999999 meters Centerline goodness [0,1] 0.3157747328507411 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.16, Z:-0.03 [[ 9.99918069e-01 2.25714376e-03 -1.26000554e-02 3.40684668e+00] [-2.23141238e-03 9.99995397e-01 2.05584894e-03 -1.57155253e-01] [ 1.26046377e-02 -2.02756458e-03 9.99918503e-01 -2.74588555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71463044 meters Centerline goodness [0,1] 0.3178507155711715 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.16, Z:-0.03 [[ 9.99920454e-01 2.43424262e-03 -1.23757566e-02 3.40595899e+00] [-2.41140027e-03 9.99995362e-01 1.86032062e-03 -1.55367358e-01] [ 1.23802277e-02 -1.83032974e-03 9.99921687e-01 -2.68058080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74463044 meters Centerline goodness [0,1] 0.3200086523902228 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.15, Z:-0.03 [[ 0.99990657 0.00645617 -0.01204901 3.40448057] [-0.00639468 0.99996637 0.00513468 -0.15153728] [ 0.01208175 -0.00505715 0.99991422 -0.02559596] [ 0. 0. 0. 1. ]] SLAMing on 103.77463044 meters Centerline goodness [0,1] 0.31939911380092945 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.15, Z:-0.03 [[ 0.99990617 0.00658085 -0.01201393 3.40460469] [-0.00652419 0.99996744 0.00474902 -0.14869902] [ 0.0120448 -0.0046702 0.99991655 -0.02576584] [ 0. 0. 0. 1. ]] SLAMing on 103.80463044 meters Centerline goodness [0,1] 0.3189178727339197 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.15, Z:-0.03 [[ 0.99990516 0.00658744 -0.01209468 3.40509211] [-0.0065364 0.99996959 0.00425467 -0.14579592] [ 0.01212234 -0.00417521 0.9999178 -0.0261274 ] [ 0. 0. 0. 1. ]] SLAMing on 103.83463044 meters Centerline goodness [0,1] 0.3189178727339197 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.15, Z:-0.03 [[ 0.99990516 0.00658744 -0.01209468 3.40509211] [-0.0065364 0.99996959 0.00425467 -0.14579592] [ 0.01212234 -0.00417521 0.9999178 -0.0261274 ] [ 0. 0. 0. 1. ]] SLAMing on 103.86463044 meters Centerline goodness [0,1] 0.3210118829390325 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.14, Z:-0.03 [[ 0.99990603 0.0065467 -0.01204424 3.40516248] [-0.00650186 0.9999718 0.00375814 -0.14300989] [ 0.01206851 -0.00367947 0.9999204 -0.02635887] [ 0. 0. 0. 1. ]] SLAMing on 103.89463044 meters Centerline goodness [0,1] 0.3236836449602407 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.14, Z:-0.03 [[ 9.99908330e-01 6.49175664e-03 -1.18822900e-02 3.40494863e+00] [-6.45293086e-03 9.99973725e-01 3.30296164e-03 -1.40394220e-01] [ 1.19034198e-02 -3.22598327e-03 9.99923948e-01 -2.65667230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92463044 meters Centerline goodness [0,1] 0.3199146606900416 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.14, Z:-0.03 [[ 9.99911038e-01 6.49212799e-03 -1.16520066e-02 3.40444244e+00] [-6.45794857e-03 9.99974741e-01 2.96858316e-03 -1.38104134e-01] [ 1.16709847e-02 -2.89307101e-03 9.99927707e-01 -2.65885612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.95463044 meters Centerline goodness [0,1] 0.32220955985120514 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.13, Z:-0.03 [[ 9.99912157e-01 6.40718078e-03 -1.16028346e-02 3.40448102e+00] [-6.37977318e-03 9.99976775e-01 2.39762223e-03 -1.34323178e-01] [ 1.16179272e-02 -2.32338816e-03 9.99929810e-01 -2.67656469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98463043999999 meters Centerline goodness [0,1] 0.3208964919878735 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.13, Z:-0.03 [[ 9.99909251e-01 6.17670183e-03 -1.19723680e-02 3.40563551e+00] [-6.15369854e-03 9.99979150e-01 1.95725297e-03 -1.32646030e-01] [ 1.19842077e-02 -1.88340100e-03 9.99926413e-01 -2.72367627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01463043999999 meters Centerline goodness [0,1] 0.3205128205128205 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.13, Z:-0.03 [[ 9.99899699e-01 -4.66537808e-04 -1.41553863e-02 3.42539722e+00] [ 4.95292135e-04 9.99997821e-01 2.02789698e-03 -1.25934121e-01] [ 1.41544093e-02 -2.03470463e-03 9.99897751e-01 -2.57754100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04463043999999 meters Centerline goodness [0,1] 0.3193259061393793 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.03 [[ 9.99856192e-01 -1.74508215e-03 -1.68686278e-02 3.38114230e+00] [ 1.78991600e-03 9.99994905e-01 2.64309203e-03 -1.25551082e-01] [ 1.68639294e-02 -2.67290536e-03 9.99854221e-01 -2.52033973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07463043999999 meters Centerline goodness [0,1] 0.3235772005459391 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.12, Z:-0.02 [[ 9.99872370e-01 -1.31683754e-03 -1.59219570e-02 3.37800722e+00] [ 1.36218443e-03 9.99995046e-01 2.83756281e-03 -1.23723910e-01] [ 1.59181415e-02 -2.85888930e-03 9.99869211e-01 -2.38827600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10463044 meters Centerline goodness [0,1] 0.31991219953087 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.12, Z:-0.02 [[ 9.99876927e-01 -1.34760134e-03 -1.56305752e-02 3.37709159e+00] [ 1.39081730e-03 9.99995240e-01 2.75429451e-03 -1.23225250e-01] [ 1.56267891e-02 -2.77569481e-03 9.99874042e-01 -2.34450155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13463044 meters Centerline goodness [0,1] 0.3221079969700249 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.12, Z:-0.02 [[ 9.99877937e-01 -1.44324308e-03 -1.55572357e-02 3.37685007e+00] [ 1.48434340e-03 9.99995438e-01 2.63065544e-03 -1.23122174e-01] [ 1.55533680e-02 -2.65342661e-03 9.99875518e-01 -2.33150916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16463044 meters Centerline goodness [0,1] 0.32504056246619795 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.12, Z:-0.02 [[ 9.99876249e-01 -1.54047105e-03 -1.56561286e-02 3.37717192e+00] [ 1.58018327e-03 9.99995565e-01 2.52447471e-03 -1.23139484e-01] [ 1.56521703e-02 -2.54890185e-03 9.99874248e-01 -2.34370795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19463044 meters Centerline goodness [0,1] 0.32170013647884577 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.12, Z:-0.02 [[ 9.99873861e-01 -1.54251931e-03 -1.58076829e-02 3.37773942e+00] [ 1.58245758e-03 9.99995587e-01 2.51431308e-03 -1.23111917e-01] [ 1.58037347e-02 -2.53901092e-03 9.99871889e-01 -2.37538829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22463044 meters Centerline goodness [0,1] 0.32310300606429454 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.12, Z:-0.02 [[ 9.99872044e-01 -1.45437707e-03 -1.59304679e-02 3.37824636e+00] [ 1.49631055e-03 9.99995447e-01 2.62067883e-03 -1.23251601e-01] [ 1.59265839e-02 -2.64418043e-03 9.99869668e-01 -2.40776377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.25463044 meters Centerline goodness [0,1] 0.321974350684341 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.12, Z:-0.02 [[ 9.99869309e-01 -1.17112458e-03 -1.61242966e-02 3.37901453e+00] [ 1.21960771e-03 9.99994764e-01 2.99733197e-03 -1.24225042e-01] [ 1.61207019e-02 -3.01660557e-03 9.99865502e-01 -2.44927813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28463044 meters Centerline goodness [0,1] 0.32174044941385516 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.02 [[ 9.99869664e-01 -1.12238218e-03 -1.61057387e-02 3.37899345e+00] [ 1.17337004e-03 9.99994329e-01 3.15671871e-03 -1.25258801e-01] [ 1.61021043e-02 -3.17520527e-03 9.99865311e-01 -2.44884037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.31463044 meters Centerline goodness [0,1] 0.32289135716765016 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.02 [[ 9.99867097e-01 -1.09769774e-03 -1.62660390e-02 3.37924643e+00] [ 1.15143867e-03 9.99993909e-01 3.29487622e-03 -1.26334311e-01] [ 1.62623231e-02 -3.31316767e-03 9.99862270e-01 -2.43051994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34463043999999 meters Centerline goodness [0,1] 0.320129659643436 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.02 [[ 9.99863443e-01 -1.05995581e-03 -1.64915704e-02 3.38000400e+00] [ 1.11623224e-03 9.99993585e-01 3.40360564e-03 -1.27073216e-01] [ 1.64878569e-02 -3.42154927e-03 9.99858212e-01 -2.46064447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37463043999999 meters Centerline goodness [0,1] 0.3195099779230336 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.02 [[ 9.99859569e-01 -9.98658819e-04 -1.67285459e-02 3.38082482e+00] [ 1.05697354e-03 9.99993395e-01 3.47746247e-03 -1.27446230e-01] [ 1.67249626e-02 -3.49465576e-03 9.99854021e-01 -2.49739482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40463043999999 meters Centerline goodness [0,1] 0.3194006649682629 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.03 [[ 9.99855367e-01 -8.88502055e-04 -1.69840065e-02 3.38162807e+00] [ 9.48897875e-04 9.99993255e-01 3.54831299e-03 -1.27545781e-01] [ 1.69807392e-02 -3.56391588e-03 9.99849465e-01 -2.52256904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43463043999999 meters Centerline goodness [0,1] 0.31905564195610847 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.03 [[ 9.99853101e-01 -3.95349137e-04 -1.71353297e-02 3.38233659e+00] [ 4.60756274e-04 9.99992623e-01 3.81331261e-03 -1.27415551e-01] [ 1.71336957e-02 -3.82064765e-03 9.99845908e-01 -2.57600996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46463044 meters Centerline goodness [0,1] 0.3198676649834581 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.03 [[ 9.99849846e-01 -3.17376130e-04 -1.73258623e-02 3.38282439e+00] [ 3.83936935e-04 9.99992559e-01 3.83851117e-03 -1.27367830e-01] [ 1.73245152e-02 -3.84458684e-03 9.99842528e-01 -2.57789538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49463044 meters Centerline goodness [0,1] 0.3207979920373897 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.03 [[ 9.99848849e-01 -2.73929339e-04 -1.73840435e-02 3.38298400e+00] [ 3.40511852e-04 9.99992618e-01 3.82724919e-03 -1.27216428e-01] [ 1.73828668e-02 -3.83259017e-03 9.99841561e-01 -2.58166647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52463044 meters Centerline goodness [0,1] 0.322253301242438 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.03 [[ 9.99850506e-01 -1.83880259e-04 -1.72896715e-02 3.38258966e+00] [ 2.52484733e-04 9.99992104e-01 3.96584637e-03 -1.27738321e-01] [ 1.72888058e-02 -3.96961888e-03 9.99842657e-01 -2.55884446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55463044 meters Centerline goodness [0,1] 0.3215817984832069 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.03 [[ 9.99851381e-01 -1.23257271e-04 -1.72394824e-02 3.38226075e+00] [ 1.95097765e-04 9.99991305e-01 4.16558741e-03 -1.28755314e-01] [ 1.72388191e-02 -4.16833171e-03 9.99842712e-01 -2.52422696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58463044 meters Centerline goodness [0,1] 0.3216170231095604 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.02 [[ 9.99853708e-01 -2.46459537e-04 -1.71027016e-02 3.38163413e+00] [ 3.20810081e-04 9.99990510e-01 4.34469079e-03 -1.30770146e-01] [ 1.71014685e-02 -4.34954191e-03 9.99844299e-01 -2.47424637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61463044 meters Centerline goodness [0,1] 0.3238163526932186 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.02 [[ 9.99854274e-01 -1.95743228e-04 -1.70702468e-02 3.38140353e+00] [ 2.72927766e-04 9.99989750e-01 4.51937063e-03 -1.31616026e-01] [ 1.70691872e-02 -4.52337098e-03 9.99844079e-01 -2.44872279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64463044 meters Centerline goodness [0,1] 0.324217235884405 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.02 [[ 9.99851424e-01 -1.57196328e-04 -1.72367141e-02 3.38172112e+00] [ 2.37389867e-04 9.99989158e-01 4.65053683e-03 -1.32249183e-01] [ 1.72357962e-02 -4.65393770e-03 9.99840621e-01 -2.43563570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.67463044 meters Centerline goodness [0,1] 0.3198728895998616 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.02 [[ 9.99848686e-01 -1.49202488e-04 -1.73949165e-02 3.38195525e+00] [ 2.30849056e-04 9.99988967e-01 4.69178936e-03 -1.32416630e-01] [ 1.73940245e-02 -4.69509503e-03 9.99837689e-01 -2.41111633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70463044 meters Centerline goodness [0,1] 0.31945613467141465 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.02 [[ 9.99849779e-01 -1.98126130e-04 -1.73314933e-02 3.38149800e+00] [ 2.77526575e-04 9.99989478e-01 4.57899606e-03 -1.32119108e-01] [ 1.73304038e-02 -4.58311815e-03 9.99839313e-01 -2.36229721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73463043999999 meters Centerline goodness [0,1] 0.3230533163320438 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.02 [[ 9.99852009e-01 -2.56834050e-04 -1.72015900e-02 3.38120323e+00] [ 3.33552519e-04 9.99990011e-01 4.45724330e-03 -1.31755055e-01] [ 1.72002734e-02 -4.46232130e-03 9.99842107e-01 -2.35763870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76463043999999 meters Centerline goodness [0,1] 0.32252548646133206 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.02 [[ 9.99854906e-01 -2.83500832e-04 -1.70319160e-02 3.38082589e+00] [ 3.57697588e-04 9.99990460e-01 4.35344801e-03 -1.31240728e-01] [ 1.70305193e-02 -4.35890863e-03 9.99845469e-01 -2.35892141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79463043999999 meters Centerline goodness [0,1] 0.321852705993922 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.02 [[ 9.99856077e-01 -2.71833120e-04 -1.69632510e-02 3.38068430e+00] [ 3.44374190e-04 9.99990809e-01 4.27359151e-03 -1.30635546e-01] [ 1.69619333e-02 -4.27881815e-03 9.99846981e-01 -2.36402827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82463043999999 meters Centerline goodness [0,1] 0.3245902343666087 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.02 [[ 9.99856980e-01 -2.62592150e-04 -1.69100888e-02 3.38067632e+00] [ 3.33596284e-04 9.99991140e-01 4.19623753e-03 -1.29976332e-01] [ 1.69088371e-02 -4.20127853e-03 9.99848209e-01 -2.38057017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85463044 meters Centerline goodness [0,1] 0.32507666393124 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.02 [[ 9.99857144e-01 -2.75862919e-04 -1.69001363e-02 3.38063525e+00] [ 3.45259192e-04 9.99991521e-01 4.10347515e-03 -1.29395657e-01] [ 1.68988610e-02 -4.10872387e-03 9.99848762e-01 -2.37647239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88463044 meters Centerline goodness [0,1] 0.3266212487064505 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.02 [[ 9.99863430e-01 -2.93233126e-04 -1.65237599e-02 3.37906679e+00] [ 3.60578404e-04 9.99991641e-01 4.07283120e-03 -1.29328505e-01] [ 1.65224275e-02 -4.07823308e-03 9.99855178e-01 -2.27256693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91463044 meters Centerline goodness [0,1] 0.3257152676346765 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.02 [[ 9.99868630e-01 -2.81934642e-04 -1.62062979e-02 3.37788067e+00] [ 3.50122628e-04 9.99991098e-01 4.20481597e-03 -1.30151042e-01] [ 1.62049681e-02 -4.20993778e-03 9.99859828e-01 -2.20377290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94463044 meters Centerline goodness [0,1] 0.32780298120544393 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.02 [[ 9.99871111e-01 -2.09159786e-04 -1.60535633e-02 3.37738476e+00] [ 2.80886072e-04 9.99989989e-01 4.46581083e-03 -1.31516879e-01] [ 1.60524685e-02 -4.46974446e-03 9.99861160e-01 -2.18294234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97463044 meters Centerline goodness [0,1] 0.31886812600106784 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.02 [[ 9.99858074e-01 -2.87329953e-04 -1.68448532e-02 3.38017506e+00] [ 3.69815675e-04 9.99987957e-01 4.89388039e-03 -1.34775496e-01] [ 1.68432441e-02 -4.89941532e-03 9.99846139e-01 -2.30948350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00463044 meters Centerline goodness [0,1] 0.32301573577727827 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.14, Z:-0.03 [[ 9.99830004e-01 5.98929369e-03 -1.74382175e-02 3.36453319e+00] [-5.93046087e-03 9.99976554e-01 3.42354662e-03 -1.41962308e-01] [ 1.74583133e-02 -3.31954796e-03 9.99842081e-01 -2.64362771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03463044 meters Centerline goodness [0,1] 0.3206097037355088 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.14, Z:-0.03 [[ 0.99981806 0.00586933 -0.01814944 3.36662232] [-0.00580537 0.99997676 0.00357436 -0.14383497] [ 0.01816999 -0.00346834 0.9998289 -0.02702264] [ 0. 0. 0. 1. ]] SLAMing on 105.06463044 meters Centerline goodness [0,1] 0.32504583951803023 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.14, Z:-0.03 [[ 0.99979738 -0.0034636 -0.01982942 3.34704437] [ 0.00355729 0.99998267 0.00469131 -0.14413295] [ 0.01981283 -0.0047609 0.99979237 -0.02764112] [ 0. 0. 0. 1. ]] SLAMing on 105.09463043999999 meters Centerline goodness [0,1] 0.318544216514394 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.15, Z:-0.03 [[ 9.99804513e-01 3.30199545e-03 -1.94944206e-02 3.36819441e+00] [-3.26466061e-03 9.99992776e-01 1.94666889e-03 -1.48472354e-01] [ 1.95007077e-02 -1.88264567e-03 9.99808071e-01 -2.71721367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12463043999999 meters Centerline goodness [0,1] 0.3207203692867824 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.15, Z:-0.03 [[ 9.99805234e-01 3.42551697e-03 -1.94360715e-02 3.36766997e+00] [-3.37885680e-03 9.99991332e-01 2.43303107e-03 -1.51130108e-01] [ 1.94442374e-02 -2.36688549e-03 9.99808141e-01 -2.65468117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15463043999999 meters Centerline goodness [0,1] 0.3171718040826862 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.15, Z:-0.03 [[ 0.99982414 -0.003982 -0.01832565 3.38709286] [ 0.00404972 0.9999851 0.00365939 -0.15217412] [ 0.0183108 -0.00373296 0.99982537 -0.02507207] [ 0. 0. 0. 1. ]] SLAMing on 105.18463043999999 meters Centerline goodness [0,1] 0.31818084261584356 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.15, Z:-0.03 [[ 0.99982031 -0.00401861 -0.0185255 3.38755636] [ 0.00409143 0.99998405 0.00389462 -0.1540627 ] [ 0.01850955 -0.00396972 0.9998208 -0.02505062] [ 0. 0. 0. 1. ]] SLAMing on 105.21463044 meters Centerline goodness [0,1] 0.31926047974664584 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.16, Z:-0.03 [[ 0.99981615 -0.00406291 -0.01873905 3.38807748] [ 0.00414052 0.999983 0.00410446 -0.15569569] [ 0.01872206 -0.00418129 0.99981598 -0.02507459] [ 0. 0. 0. 1. ]] SLAMing on 105.24463044 meters Centerline goodness [0,1] 0.3171361552863199 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.16, Z:-0.02 [[ 0.99981258 -0.00405653 -0.01893023 3.38845392] [ 0.00414012 0.99998184 0.00437878 -0.15741537] [ 0.01891212 -0.00445633 0.99981122 -0.02499745] [ 0. 0. 0. 1. ]] SLAMing on 105.27463044 meters Centerline goodness [0,1] 0.3190184049079755 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.16, Z:-0.02 [[ 0.99981918 -0.0047278 -0.01841876 3.38660321] [ 0.0048102 0.99997861 0.00443206 -0.16180962] [ 0.01839742 -0.00451985 0.99982054 -0.02386449] [ 0. 0. 0. 1. ]] SLAMing on 105.30463044 meters Centerline goodness [0,1] 0.31868131868131866 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.16, Z:-0.02 [[ 0.99981939 -0.00502024 -0.01832987 3.38585415] [ 0.00510488 0.99997651 0.00457389 -0.16410138] [ 0.01830648 -0.00466663 0.99982153 -0.02298583] [ 0. 0. 0. 1. ]] SLAMing on 105.33463044 meters Centerline goodness [0,1] 0.3195208805438653 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.17, Z:-0.02 [[ 0.99982044 -0.00529093 -0.01819612 3.38498228] [ 0.00537822 0.99997425 0.00475179 -0.16654035] [ 0.01817051 -0.0048488 0.99982315 -0.02212482] [ 0. 0. 0. 1. ]] SLAMing on 105.36463044 meters Centerline goodness [0,1] 0.3231508123661381 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.17, Z:-0.02 [[ 0.99982215 -0.00539576 -0.01807057 3.38419616] [ 0.00548838 0.99997204 0.00507951 -0.1690205 ] [ 0.01804265 -0.00517779 0.99982381 -0.0213623 ] [ 0. 0. 0. 1. ]] SLAMing on 105.39463044 meters Centerline goodness [0,1] 0.3194501215498139 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.18, Z:-0.02 [[ 9.99838053e-01 2.69519294e-03 -1.77933509e-02 3.40159309e+00] [-2.63011480e-03 9.99989771e-01 3.67982986e-03 -1.75619126e-01] [ 1.78030867e-02 -3.63243536e-03 9.99834914e-01 -1.93670041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42463044 meters Centerline goodness [0,1] 0.32069267396920975 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.18, Z:-0.02 [[ 9.99840922e-01 2.74789795e-03 -1.76232708e-02 3.40127353e+00] [-2.67650401e-03 9.99988122e-01 4.07342544e-03 -1.77964170e-01] [ 1.76342548e-02 -4.02560870e-03 9.99836400e-01 -1.94445981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.45463044 meters Centerline goodness [0,1] 0.3167431487755715 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.18, Z:-0.02 [[ 9.99838676e-01 2.70488996e-03 -1.77568492e-02 3.40188314e+00] [-2.63247648e-03 9.99988129e-01 4.10016720e-03 -1.78563755e-01] [ 1.77677290e-02 -4.05276126e-03 9.99833928e-01 -1.98266296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48463043999999 meters Centerline goodness [0,1] 0.3192842259027733 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.18, Z:-0.02 [[ 9.99833547e-01 2.65696243e-03 -1.80504375e-02 3.40282475e+00] [-2.58348709e-03 9.99988288e-01 4.09265722e-03 -1.79010231e-01] [ 1.80611001e-02 -4.04534291e-03 9.99828701e-01 -2.01443050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51463043999999 meters Centerline goodness [0,1] 0.32053146913875075 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.18, Z:-0.02 [[ 9.99827538e-01 2.69253654e-03 -1.83751286e-02 3.40371186e+00] [-2.61555328e-03 9.99987708e-01 4.21228328e-03 -1.79774003e-01] [ 1.83862444e-02 -4.16349569e-03 9.99822290e-01 -2.02753146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54463043999999 meters Centerline goodness [0,1] 0.31911546005129643 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.18, Z:-0.02 [[ 9.99821622e-01 2.71274496e-03 -1.86913400e-02 3.40461040e+00] [-2.63401237e-03 9.99987561e-01 4.23558126e-03 -1.79984091e-01] [ 1.87025975e-02 -4.18559250e-03 9.99816330e-01 -2.04689583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57463043999999 meters Centerline goodness [0,1] 0.31843744592490053 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.18, Z:-0.02 [[ 9.99817019e-01 2.73232127e-03 -1.89331184e-02 3.40533812e+00] [-2.65381561e-03 9.99987783e-01 4.17035778e-03 -1.79630481e-01] [ 1.89442818e-02 -4.11934968e-03 9.99812055e-01 -2.06182203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60463044 meters Centerline goodness [0,1] 0.3214449016918153 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.18, Z:-0.02 [[ 9.99814939e-01 3.03587947e-03 -1.89966170e-02 3.40575773e+00] [-2.96009942e-03 9.99987555e-01 4.01598161e-03 -1.77763134e-01] [ 1.90085726e-02 -3.95900653e-03 9.99811482e-01 -2.09539973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63463044 meters Centerline goodness [0,1] 0.3193752292192522 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.18, Z:-0.02 [[ 9.99820466e-01 3.10302829e-03 -1.86924186e-02 3.40516302e+00] [-3.03271017e-03 9.99988223e-01 3.78902531e-03 -1.76013479e-01] [ 1.87039559e-02 -3.73165637e-03 9.99818102e-01 -2.10646229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66463044 meters Centerline goodness [0,1] 0.32398142698319277 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.17, Z:-0.02 [[ 9.99829753e-01 3.29688950e-03 -1.81547500e-02 3.40410592e+00] [-3.23044000e-03 9.99987980e-01 3.68828273e-03 -1.74310294e-01] [ 1.81666917e-02 -3.62900698e-03 9.99828386e-01 -2.12844110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69463044 meters Centerline goodness [0,1] 0.3204694734575213 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.17, Z:-0.02 [[ 9.99833630e-01 -2.64575313e-03 -1.80475067e-02 3.42154927e+00] [ 2.73535397e-03 9.99984048e-01 4.94184403e-03 -1.67349145e-01] [ 1.80341439e-02 -4.99038817e-03 9.99824918e-01 -1.95231793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72463044 meters Centerline goodness [0,1] 0.3204694734575213 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.17, Z:-0.02 [[ 9.99833630e-01 -2.64575313e-03 -1.80475067e-02 3.42154927e+00] [ 2.73535397e-03 9.99984048e-01 4.94184403e-03 -1.67349145e-01] [ 1.80341439e-02 -4.99038817e-03 9.99824918e-01 -1.95231793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75463044 meters Centerline goodness [0,1] 0.3239518885475706 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.17, Z:-0.02 [[ 9.99839942e-01 -2.51156683e-03 -1.77139122e-02 3.42078580e+00] [ 2.59599234e-03 9.99985374e-01 4.74467362e-03 -1.65166667e-01] [ 1.77017365e-02 -4.78989938e-03 9.99831839e-01 -1.95370563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78463044 meters Centerline goodness [0,1] 0.3196157062898072 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.17, Z:-0.02 [[ 9.99839414e-01 4.66405926e-03 -1.73029759e-02 3.44089206e+00] [-4.63476175e-03 9.99987758e-01 1.73292096e-03 -1.66716276e-01] [ 1.73108465e-02 -1.65244750e-03 9.99848791e-01 -1.88001200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.81463044 meters Centerline goodness [0,1] 0.32301294895826604 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.17, Z:-0.02 [[ 9.99835520e-01 4.47894728e-03 -1.75747772e-02 3.44134356e+00] [-4.45214396e-03 9.99988866e-01 1.56393104e-03 -1.66701034e-01] [ 1.75815863e-02 -1.48542837e-03 9.99844329e-01 -1.85831791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84463043999999 meters Centerline goodness [0,1] 0.32212993368102505 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.17, Z:-0.02 [[ 9.99833357e-01 4.38967484e-03 -1.77197611e-02 3.44156273e+00] [-4.36296768e-03 9.99989288e-01 1.54557371e-03 -1.66894319e-01] [ 1.77263558e-02 -1.46800541e-03 9.99841798e-01 -1.84307259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87463043999999 meters Centerline goodness [0,1] 0.32140146998243824 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.16, Z:-0.02 [[ 9.99837284e-01 -4.30790170e-03 -1.75170561e-02 3.42270035e+00] [ 4.36660992e-03 9.99984973e-01 3.31462295e-03 -1.63021159e-01] [ 1.75025138e-02 -3.39057376e-03 9.99841070e-01 -2.02067663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90463043999999 meters Centerline goodness [0,1] 0.3236980410893454 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.16, Z:-0.02 [[ 9.99843036e-01 -4.18507640e-03 -1.72159211e-02 3.42189477e+00] [ 4.24436116e-03 9.99985184e-01 3.40850530e-03 -1.62587423e-01] [ 1.72014011e-02 -3.48104087e-03 9.99845985e-01 -2.00711298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93463043999999 meters Centerline goodness [0,1] 0.32179960690295684 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.16, Z:-0.02 [[ 9.99871013e-01 4.58500273e-03 -1.53926796e-02 3.44022504e+00] [-4.55720639e-03 9.99987922e-01 1.84040603e-03 -1.62817658e-01] [ 1.54009319e-02 -1.77002102e-03 9.99879832e-01 -1.91961675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96463044 meters Centerline goodness [0,1] 0.3253571893863725 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.16, Z:-0.02 [[ 9.99873438e-01 4.51415134e-03 -1.52554953e-02 3.43988043e+00] [-4.49031465e-03 9.99988644e-01 1.59639059e-03 -1.61567781e-01] [ 1.52625284e-02 -1.52768657e-03 9.99882354e-01 -1.91401564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99463044 meters Centerline goodness [0,1] 0.3227822101143759 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.16, Z:-0.02 [[ 9.99875293e-01 4.51324227e-03 -1.51337377e-02 3.43956441e+00] [-4.49224442e-03 9.99988900e-01 1.42119300e-03 -1.60372501e-01] [ 1.51399839e-02 -1.35303132e-03 9.99884468e-01 -1.90511103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02463044 meters Centerline goodness [0,1] 0.32214477211796244 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.15, Z:-0.02 [[ 9.99855290e-01 -9.96595335e-04 -1.69825168e-02 3.45776750e+00] [ 1.03602365e-03 9.99996788e-01 2.31306096e-03 -1.53270290e-01] [ 1.69801571e-02 -2.33032053e-03 9.99853111e-01 -1.76075631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05463044 meters Centerline goodness [0,1] 0.32158835491812054 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.15, Z:-0.02 [[ 9.99850695e-01 -1.06819973e-03 -1.72466516e-02 3.45872214e+00] [ 1.10737737e-03 9.99996828e-01 2.26221855e-03 -1.53581942e-01] [ 1.72441804e-02 -2.28097934e-03 9.99848706e-01 -1.80613837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08463044 meters Centerline goodness [0,1] 0.3222546453246363 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.15, Z:-0.02 [[ 9.99847359e-01 -1.14905544e-03 -1.74338166e-02 3.45938035e+00] [ 1.18942708e-03 9.99996635e-01 2.30551666e-03 -1.54699260e-01] [ 1.74311088e-02 -2.32590099e-03 9.99845361e-01 -1.83792281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11463044 meters Centerline goodness [0,1] 0.32014851697643476 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.16, Z:-0.02 [[ 9.99845547e-01 -1.16307587e-03 -1.75365215e-02 3.45969660e+00] [ 1.20660660e-03 9.99996217e-01 2.47191400e-03 -1.56201660e-01] [ 1.75335802e-02 -2.49269188e-03 9.99843168e-01 -1.84740919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14463044 meters Centerline goodness [0,1] 0.3219166308551783 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.16, Z:-0.02 [[ 9.99847242e-01 -1.06098468e-03 -1.74461112e-02 3.45935191e+00] [ 1.11034754e-03 9.99995407e-01 2.82000521e-03 -1.58075481e-01] [ 1.74430391e-02 -2.83894568e-03 9.99843828e-01 -1.82901375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.17463044 meters Centerline goodness [0,1] 0.3223579165408018 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.16, Z:-0.02 [[ 9.99848474e-01 -8.95602668e-04 -1.73846932e-02 3.45924471e+00] [ 9.57093766e-04 9.99993315e-01 3.52908502e-03 -1.62556019e-01] [ 1.73814163e-02 -3.54518905e-03 9.99842647e-01 -1.82538737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20463044 meters Centerline goodness [0,1] 0.31991830592282056 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.17, Z:-0.02 [[ 9.99842251e-01 -9.00492385e-04 -1.77387061e-02 3.46040518e+00] [ 9.69491197e-04 9.99991997e-01 3.88151662e-03 -1.65329541e-01] [ 1.77350689e-02 -3.89810184e-03 9.99835122e-01 -1.86716355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23463043999999 meters Centerline goodness [0,1] 0.31849352110238605 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.17, Z:-0.02 [[ 9.99836664e-01 -7.80156827e-04 -1.80565028e-02 3.46144846e+00] [ 8.58916699e-04 9.99990150e-01 4.35451230e-03 -1.68253872e-01] [ 1.80529278e-02 -4.36931008e-03 9.99827486e-01 -1.90410568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26463043999999 meters Centerline goodness [0,1] 0.3200735055669658 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.17, Z:-0.02 [[ 9.99831287e-01 -6.50025873e-04 -1.83568602e-02 3.46242329e+00] [ 7.38849742e-04 9.99988051e-01 4.83236138e-03 -1.71137080e-01] [ 1.83534997e-02 -4.84510906e-03 9.99819821e-01 -1.93840560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29463043999999 meters Centerline goodness [0,1] 0.3164751941467172 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.18, Z:-0.02 [[ 0.99979219 0.00788705 -0.01879818 3.48170767] [-0.00781981 0.99996277 0.00364785 -0.17879231] [ 0.01882626 -0.0035001 0.99981664 -0.01770013] [ 0. 0. 0. 1. ]] SLAMing on 106.32463043999999 meters Centerline goodness [0,1] 0.3207793621421574 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.19, Z:-0.02 [[ 0.9997682 0.00663805 -0.02048108 3.43699795] [-0.00652932 0.99996426 0.00537133 -0.18990035] [ 0.02051601 -0.00523636 0.99977581 -0.01686585] [ 0. 0. 0. 1. ]] SLAMing on 106.35463044 meters Centerline goodness [0,1] 0.3169938833996322 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.19, Z:-0.02 [[ 9.99798202e-01 -1.11381552e-04 -2.00883577e-02 3.45654894e+00] [ 2.39263880e-04 9.99979723e-01 6.36370103e-03 -1.89788232e-01] [ 2.00872416e-02 -6.36722327e-03 9.99777956e-01 -1.55825351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38463044 meters Centerline goodness [0,1] 0.31959495852633846 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.19, Z:-0.02 [[ 9.99797784e-01 7.05299037e-05 -2.01093525e-02 3.45672081e+00] [ 6.82966087e-05 9.99976173e-01 6.90280910e-03 -1.93011079e-01] [ 2.01093602e-02 -6.90278664e-03 9.99773957e-01 -1.56578135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41463044 meters Centerline goodness [0,1] 0.3233050018477056 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.20, Z:-0.02 [[ 9.99796236e-01 2.99865057e-04 -2.01840647e-02 3.45716901e+00] [-1.48662839e-04 9.99971922e-01 7.49225153e-03 -1.96091791e-01] [ 2.01857446e-02 -7.48772426e-03 9.99768208e-01 -1.59509911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44463044 meters Centerline goodness [0,1] 0.3202158661629789 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.20, Z:-0.02 [[ 9.99795621e-01 6.36295709e-04 -2.02067139e-02 3.45742357e+00] [-4.70551787e-04 9.99966219e-01 8.20611400e-03 -1.99272862e-01] [ 2.02112528e-02 -8.19492854e-03 9.99762146e-01 -1.61942636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47463044 meters Centerline goodness [0,1] 0.32050043992360355 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.21, Z:-0.02 [[ 9.99795760e-01 1.15067559e-03 -2.01770541e-02 3.45776658e+00] [-9.63493524e-04 9.99956436e-01 9.28424550e-03 -2.05645647e-01] [ 2.01868583e-02 -9.26290883e-03 9.99753314e-01 -1.65856563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50463044 meters Centerline goodness [0,1] 0.3206344404347732 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.21, Z:-0.02 [[ 9.99790425e-01 1.21246297e-03 -2.04361249e-02 3.45865860e+00] [-1.01578322e-03 9.99953098e-01 9.63175608e-03 -2.08076469e-01] [ 2.04468446e-02 -9.60897883e-03 9.99744764e-01 -1.68875140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.53463044 meters Centerline goodness [0,1] 0.31611358193636674 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.21, Z:-0.02 [[ 0.9997417 0.00887627 -0.02092226 3.48010837] [-0.00872713 0.99993593 0.00720879 -0.21273239] [ 0.02098491 -0.00702433 0.99975512 -0.01667206] [ 0. 0. 0. 1. ]] SLAMing on 106.56463044 meters Centerline goodness [0,1] 0.3169720533585376 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.21, Z:-0.02 [[ 0.99973624 0.00905612 -0.02110541 3.48092424] [-0.00889724 0.99993146 0.00760977 -0.21461976] [ 0.02117288 -0.00741999 0.99974829 -0.01719172] [ 0. 0. 0. 1. ]] SLAMing on 106.59463043999999 meters Centerline goodness [0,1] 0.31994140582925834 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.22, Z:-0.02 [[ 0.99974229 0.00955339 -0.0205935 3.47926887] [-0.00937987 0.99991983 0.00850609 -0.21797054] [ 0.02067311 -0.00831074 0.99975175 -0.01644044] [ 0. 0. 0. 1. ]] SLAMing on 106.62463043999999 meters Centerline goodness [0,1] 0.31795903516469404 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.22, Z:-0.02 [[ 0.99974933 0.00969147 -0.02018315 3.47781183] [-0.00951344 0.99991515 0.00889836 -0.21998264] [ 0.02026768 -0.00870412 0.9997567 -0.01570098] [ 0. 0. 0. 1. ]] SLAMing on 106.65463043999999 meters Centerline goodness [0,1] 0.3203687388529557 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.22, Z:-0.02 [[ 0.99979273 0.00708597 -0.01908616 3.47463188] [-0.00696375 0.99995487 0.00646254 -0.22159752] [ 0.0191311 -0.00632829 0.99979696 -0.01501294] [ 0. 0. 0. 1. ]] SLAMing on 106.68463043999999 meters Centerline goodness [0,1] 0.3196804272455154 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.22, Z:-0.02 [[ 9.99823185e-01 3.87868178e-03 -1.83998327e-02 3.47368684e+00] [-3.81700667e-03 9.99986983e-01 3.38587431e-03 -2.22228229e-01] [ 1.84127259e-02 -3.31504335e-03 9.99824976e-01 -1.57617565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71463044 meters Centerline goodness [0,1] 0.3149243216702602 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.22, Z:-0.02 [[ 9.99816222e-01 3.73120676e-03 -1.88042692e-02 3.47499989e+00] [-3.66735369e-03 9.99987396e-01 3.42900973e-03 -2.23292260e-01] [ 1.88168265e-02 -3.35941765e-03 9.99817304e-01 -1.62556910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74463044 meters Centerline goodness [0,1] 0.31989311035924406 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.22, Z:-0.02 [[ 0.99981135 0.00368837 -0.01907014 3.47593038] [-0.00362064 0.99998702 0.00358461 -0.22453945] [ 0.01908311 -0.00351489 0.99981172 -0.01673617] [ 0. 0. 0. 1. ]] SLAMing on 106.77463044 meters Centerline goodness [0,1] 0.3191962838932699 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.23, Z:-0.02 [[ 0.9998104 0.00362287 -0.01913225 3.47565279] [-0.003549 0.99998612 0.0038936 -0.22645272] [ 0.01914609 -0.00382496 0.99980938 -0.01614239] [ 0. 0. 0. 1. ]] SLAMing on 106.80463044 meters Centerline goodness [0,1] 0.317090395480226 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.22, Z:-0.01 [[ 9.99814132e-01 -3.26632430e-03 -1.90008412e-02 3.49416978e+00] [ 3.35796938e-03 9.99982874e-01 4.79330772e-03 -2.23396229e-01] [ 1.89848593e-02 -4.85622105e-03 9.99807978e-01 -1.38117441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83463044 meters Centerline goodness [0,1] 0.32098526406367645 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.22, Z:-0.01 [[ 9.99817996e-01 -3.28390243e-03 -1.87933960e-02 3.49324116e+00] [ 3.37845101e-03 9.99981786e-01 5.00141086e-03 -2.24825163e-01] [ 1.87766295e-02 -5.06399314e-03 9.99810879e-01 -1.31252046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86463044 meters Centerline goodness [0,1] 0.3137405230428486 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.23, Z:-0.01 [[ 9.99847654e-01 3.48096795e-03 -1.71041163e-02 3.51280303e+00] [-3.45011986e-03 9.99992369e-01 1.83272523e-03 -2.28049232e-01] [ 1.71103654e-02 -1.77343477e-03 9.99852034e-01 -1.28091051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89463044 meters Centerline goodness [0,1] 0.31812845524984523 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.23, Z:-0.01 [[ 9.99854062e-01 3.21750325e-03 -1.67780327e-02 3.51177041e+00] [-3.18071436e-03 9.99992480e-01 2.21890608e-03 -2.31793900e-01] [ 1.67850459e-02 -2.16521612e-03 9.99856777e-01 -1.23351154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92463044 meters Centerline goodness [0,1] 0.3187657349428701 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.23, Z:-0.01 [[ 9.99851888e-01 3.23086637e-03 -1.69045136e-02 3.51204904e+00] [-3.18765345e-03 9.99991584e-01 2.58261540e-03 -2.33998791e-01] [ 1.69127155e-02 -2.52834716e-03 9.99853773e-01 -1.22848304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.95463044 meters Centerline goodness [0,1] 0.32126160673891035 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.24, Z:-0.01 [[ 9.99846246e-01 3.17153944e-03 -1.72460423e-02 3.51294669e+00] [-3.12243935e-03 9.99990997e-01 2.87321703e-03 -2.36226263e-01] [ 1.72549995e-02 -2.81892554e-03 9.99847148e-01 -1.24518796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98463043999999 meters Centerline goodness [0,1] 0.3169615882606819 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.24, Z:-0.01 [[ 9.99838928e-01 3.10225947e-03 -1.76775290e-02 3.51420931e+00] [-3.04799029e-03 9.99990562e-01 3.09606877e-03 -2.38157347e-01] [ 1.76869670e-02 -3.04168914e-03 9.99838947e-01 -1.28027812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01463043999999 meters Centerline goodness [0,1] 0.3142012087959193 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.24, Z:-0.01 [[ 9.99834244e-01 3.02721803e-03 -1.79532861e-02 3.51519988e+00] [-2.97011031e-03 9.99990448e-01 3.20671747e-03 -2.39450525e-01] [ 1.79628220e-02 -3.15286269e-03 9.99833684e-01 -1.32622389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04463043999999 meters Centerline goodness [0,1] 0.312881341468618 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.24, Z:-0.01 [[ 9.99832569e-01 3.04905450e-03 -1.80426342e-02 3.51566502e+00] [-2.98712726e-03 9.99989559e-01 3.45822752e-03 -2.41152470e-01] [ 1.80529902e-02 -3.40375286e-03 9.99831238e-01 -1.35866969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07463043999999 meters Centerline goodness [0,1] 0.3168301919270161 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.24, Z:-0.01 [[ 9.99830799e-01 3.14021090e-03 -1.81249026e-02 3.51594368e+00] [-3.07487499e-03 9.99988679e-01 3.63150233e-03 -2.41718975e-01] [ 1.81361010e-02 -3.57515607e-03 9.99829135e-01 -1.37085813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10463044 meters Centerline goodness [0,1] 0.31532821751490925 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.24, Z:-0.01 [[ 9.99829190e-01 3.17639105e-03 -1.82071791e-02 3.51636948e+00] [-3.10869793e-03 9.99988155e-01 3.74503344e-03 -2.42258811e-01] [ 1.82188591e-02 -3.68779313e-03 9.99827222e-01 -1.39883967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13463044 meters Centerline goodness [0,1] 0.315678467663833 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.24, Z:-0.01 [[ 9.99828805e-01 3.13108143e-03 -1.82361411e-02 3.51659776e+00] [-3.05936341e-03 9.99987482e-01 3.95931217e-03 -2.44355356e-01] [ 1.82483098e-02 -3.90284338e-03 9.99825868e-01 -1.41575537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16463044 meters Centerline goodness [0,1] 0.313227918048117 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.24, Z:-0.01 [[ 0.99982712 -0.00390306 -0.01817966 3.53614942] [ 0.00398496 0.99998206 0.00447102 -0.24213695] [ 0.01816189 -0.00454269 0.99982474 -0.01276182] [ 0. 0. 0. 1. ]] SLAMing on 107.19463044 meters Centerline goodness [0,1] 0.31144766719506445 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.24, Z:-0.01 [[ 0.99983023 -0.00382449 -0.01802441 3.53569384] [ 0.00391067 0.99998108 0.00474823 -0.24352674] [ 0.01800591 -0.00481792 0.99982627 -0.01268596] [ 0. 0. 0. 1. ]] SLAMing on 107.22463044 meters Centerline goodness [0,1] 0.3125120287406711 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.24, Z:-0.01 [[ 0.99983208 -0.00372921 -0.01794178 3.53536166] [ 0.00382019 0.99998001 0.00503914 -0.24481976] [ 0.01792263 -0.00510683 0.99982633 -0.01254335] [ 0. 0. 0. 1. ]] SLAMing on 107.25463044 meters Centerline goodness [0,1] 0.31485225170975095 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.25, Z:-0.01 [[ 0.99983249 -0.00369649 -0.01792585 3.5353522 ] [ 0.00379051 0.99997922 0.00521381 -0.24567598] [ 0.01790621 -0.00528088 0.99982572 -0.01258249] [ 0. 0. 0. 1. ]] SLAMing on 107.28463044 meters Centerline goodness [0,1] 0.31393317082641237 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.25, Z:-0.01 [[ 0.99983232 -0.00375001 -0.01792373 3.53552769] [ 0.00384451 0.99997888 0.00524098 -0.2461064 ] [ 0.0179037 -0.00530901 0.99982562 -0.01286189] [ 0. 0. 0. 1. ]] SLAMing on 107.31463044 meters Centerline goodness [0,1] 0.31445468476829763 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.25, Z:-0.01 [[ 0.99982518 -0.00395338 -0.01827532 3.53707175] [ 0.00404735 0.99997876 0.00510806 -0.2461848 ] [ 0.01825473 -0.00518113 0.99981994 -0.0139669 ] [ 0. 0. 0. 1. ]] SLAMing on 107.34463043999999 meters Centerline goodness [0,1] 0.312402354200107 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.25, Z:-0.01 [[ 9.99822865e-01 4.36672415e-03 -1.83076811e-02 3.55628845e+00] [-4.30962924e-03 9.99985730e-01 3.15692513e-03 -2.49338182e-01] [ 1.83212053e-02 -3.07746661e-03 9.99827416e-01 -1.36412791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37463043999999 meters Centerline goodness [0,1] 0.31328158689090124 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.25, Z:-0.01 [[ 9.99820716e-01 4.33020995e-03 -1.84332827e-02 3.55708982e+00] [-4.27355389e-03 9.99986026e-01 3.11185692e-03 -2.49151995e-01] [ 1.84465001e-02 -3.03252338e-03 9.99825250e-01 -1.43866421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40463043999999 meters Centerline goodness [0,1] 0.3114256825075834 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.25, Z:-0.01 [[ 9.99815767e-01 4.19676702e-03 -1.87301617e-02 3.55821356e+00] [-4.14283551e-03 9.99987163e-01 2.91726742e-03 -2.48478636e-01] [ 1.87421643e-02 -2.83913398e-03 9.99820319e-01 -1.49925435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43463043999999 meters Centerline goodness [0,1] 0.30869788106630214 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.25, Z:-0.02 [[ 9.99800578e-01 3.82838308e-03 -1.95996985e-02 3.56096260e+00] [-3.78123005e-03 9.99989869e-01 2.44229773e-03 -2.47101856e-01] [ 1.96088500e-02 -2.36769971e-03 9.99804924e-01 -1.59957422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46463044 meters Centerline goodness [0,1] 0.31156539026709307 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.24, Z:-0.02 [[ 0.99976651 -0.00526086 -0.02095836 3.54407391] [ 0.00534547 0.99997778 0.00398305 -0.24242985] [ 0.02093694 -0.00409416 0.99977242 -0.01798221] [ 0. 0. 0. 1. ]] SLAMing on 107.49463044 meters Centerline goodness [0,1] 0.31179666278618545 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.24, Z:-0.02 [[ 0.99976553 -0.00530115 -0.02099468 3.54442426] [ 0.00538305 0.99997811 0.00384618 -0.24164361] [ 0.02097383 -0.0039583 0.99977219 -0.01837024] [ 0. 0. 0. 1. ]] SLAMing on 107.52463044 meters Centerline goodness [0,1] 0.31071875134738924 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.24, Z:-0.02 [[ 0.99977385 -0.00527834 -0.02060091 3.54354283] [ 0.00535691 0.99997858 0.00376041 -0.24081942] [ 0.02058062 -0.00386992 0.99978071 -0.01841241] [ 0. 0. 0. 1. ]] SLAMing on 107.55463044 meters Centerline goodness [0,1] 0.3172409289772109 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.24, Z:-0.02 [[ 0.9997846 -0.00526297 -0.02007601 3.54220448] [ 0.00533548 0.99997943 0.00355961 -0.23945444] [ 0.02005686 -0.00366596 0.99979212 -0.01818814] [ 0. 0. 0. 1. ]] SLAMing on 107.58463044 meters Centerline goodness [0,1] 0.3133166587606192 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.24, Z:-0.02 [[ 9.99833055e-01 2.96893897e-03 -1.80290515e-02 3.56091532e+00] [-2.94879860e-03 9.99994998e-01 1.14358761e-03 -2.39103244e-01] [ 1.80323566e-02 -1.09023265e-03 9.99836809e-01 -1.78346828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61463044 meters Centerline goodness [0,1] 0.3108646310650508 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.23, Z:-0.02 [[ 9.99833604e-01 4.33233994e-03 -1.77199280e-02 3.56005861e+00] [-4.30677029e-03 9.99989629e-01 1.48089486e-03 -2.30631205e-01] [ 1.77261600e-02 -1.40433278e-03 9.99841893e-01 -1.77236158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64463044 meters Centerline goodness [0,1] 0.3108646310650508 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.23, Z:-0.02 [[ 9.99833604e-01 4.33233994e-03 -1.77199280e-02 3.56005861e+00] [-4.30677029e-03 9.99989629e-01 1.48089486e-03 -2.30631205e-01] [ 1.77261600e-02 -1.40433278e-03 9.99841893e-01 -1.77236158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.67463044 meters Centerline goodness [0,1] 0.3162795745604515 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.22, Z:-0.02 [[ 9.99834078e-01 -2.60693920e-03 -1.80283407e-02 3.54010028e+00] [ 2.68841570e-03 9.99986276e-01 4.49659824e-03 -2.23612936e-01] [ 1.80163710e-02 -4.54431983e-03 9.99827365e-01 -1.87801134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70463044 meters Centerline goodness [0,1] 0.3180878159218059 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.22, Z:-0.02 [[ 9.99834597e-01 -2.59383055e-03 -1.80014069e-02 3.54050635e+00] [ 2.66649289e-03 9.99988390e-01 4.01365382e-03 -2.20124210e-01] [ 1.79907872e-02 -4.06099057e-03 9.99829905e-01 -1.94762698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73463043999999 meters Centerline goodness [0,1] 0.3124798035287275 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.22, Z:-0.02 [[ 9.99824904e-01 7.40803590e-03 -1.71837591e-02 3.56185067e+00] [-7.35916554e-03 9.99968700e-01 2.90547824e-03 -2.15238945e-01] [ 1.72047452e-02 -2.77851137e-03 9.99848127e-01 -1.98709386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76463043999999 meters Centerline goodness [0,1] 0.3137136965114281 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.21, Z:-0.02 [[ 9.99825504e-01 7.26492897e-03 -1.72099749e-02 3.56220628e+00] [-7.22483883e-03 9.99971043e-01 2.39050201e-03 -2.12333670e-01] [ 1.72268434e-02 -2.26574558e-03 9.99849040e-01 -2.02815530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79463043999999 meters Centerline goodness [0,1] 0.3134097642663919 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.21, Z:-0.02 [[ 9.99827183e-01 7.13622045e-03 -1.71661980e-02 3.56237353e+00] [-7.10363543e-03 9.99972851e-01 1.95843676e-03 -2.09736952e-01] [ 1.71797078e-02 -1.83615590e-03 9.99850732e-01 -2.07021697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82463043999999 meters Centerline goodness [0,1] 0.31328190834251635 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.21, Z:-0.02 [[ 9.99829170e-01 7.01352026e-03 -1.71009453e-02 3.56240514e+00] [-6.98685849e-03 9.99974282e-01 1.61832949e-03 -2.07833316e-01] [ 1.71118557e-02 -1.49857115e-03 9.99852458e-01 -2.09370491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85463044 meters Centerline goodness [0,1] 0.3138026463720488 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.21, Z:-0.02 [[ 9.99835047e-01 6.85751536e-03 -1.68182312e-02 3.56169253e+00] [-6.83628165e-03 9.99975762e-01 1.31970797e-03 -2.06574000e-01] [ 1.68268734e-02 -1.20451612e-03 9.99857693e-01 -2.08561795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88463044 meters Centerline goodness [0,1] 0.313507266228624 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.20, Z:-0.02 [[ 9.99875238e-01 -2.06465525e-04 -1.57944968e-02 3.58022808e+00] [ 2.36794432e-04 9.99998132e-01 1.91837387e-03 -2.02339181e-01] [ 1.57940712e-02 -1.92187458e-03 9.99873419e-01 -1.90553476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91463044 meters Centerline goodness [0,1] 0.3134591411253923 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.20, Z:-0.02 [[ 9.99884954e-01 -2.15608964e-04 -1.51667845e-02 3.57857624e+00] [ 2.45361036e-04 9.99998049e-01 1.95982641e-03 -2.02260355e-01] [ 1.51663324e-02 -1.96332228e-03 9.99883057e-01 -1.88316113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94463044 meters Centerline goodness [0,1] 0.31293173724632084 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.20, Z:-0.02 [[ 9.99885567e-01 -1.60303889e-04 -1.51270545e-02 3.57874960e+00] [ 1.92333002e-04 9.99997743e-01 2.11590863e-03 -2.02735326e-01] [ 1.51266812e-02 -2.11857593e-03 9.99883341e-01 -1.92622619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97463044 meters Centerline goodness [0,1] 0.3145460027567195 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.20, Z:-0.02 [[ 9.99886686e-01 -1.36085585e-04 -1.50531542e-02 3.57881614e+00] [ 1.70392895e-04 9.99997391e-01 2.27781873e-03 -2.03617825e-01] [ 1.50528049e-02 -2.28012557e-03 9.99884100e-01 -1.96159448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00463044 meters Centerline goodness [0,1] 0.31477706453851495 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.20, Z:-0.02 [[ 9.99887158e-01 -1.45300132e-04 -1.50216652e-02 3.57880383e+00] [ 1.82119270e-04 9.99996983e-01 2.44973010e-03 -2.04995981e-01] [ 1.50212639e-02 -2.45218940e-03 9.99884167e-01 -1.96759341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.03463044 meters Centerline goodness [0,1] 0.3172947363845786 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.21, Z:-0.02 [[ 9.99887931e-01 -1.60118624e-04 -1.49699803e-02 3.57858072e+00] [ 1.99179729e-04 9.99996580e-01 2.60784115e-03 -2.06397959e-01] [ 1.49695116e-02 -2.61053061e-03 9.99884543e-01 -1.94745043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06463044 meters Centerline goodness [0,1] 0.31530638627941054 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.21, Z:-0.02 [[ 9.99888358e-01 -3.50311439e-05 -1.49422172e-02 3.57870726e+00] [ 7.80731684e-05 9.99995850e-01 2.87999117e-03 -2.07925702e-01] [ 1.49420543e-02 -2.88083623e-03 9.99884211e-01 -1.96759396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09463043999999 meters Centerline goodness [0,1] 0.31307898979043525 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.21, Z:-0.02 [[ 9.99886388e-01 5.96735946e-05 -1.50734301e-02 3.57969614e+00] [-1.56799011e-05 9.99995740e-01 2.91872656e-03 -2.07791068e-01] [ 1.50735401e-02 -2.91815860e-03 9.99882129e-01 -2.06210654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12463043999999 meters Centerline goodness [0,1] 0.31157817900770735 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.21, Z:-0.02 [[ 9.99882275e-01 1.52180435e-04 -1.53431778e-02 3.58106266e+00] [-1.07004577e-04 9.99995657e-01 2.94513921e-03 -2.07638573e-01] [ 1.53435594e-02 -2.94315071e-03 9.99877949e-01 -2.16353185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15463043999999 meters Centerline goodness [0,1] 0.31212428088168753 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.21, Z:-0.02 [[ 9.99876924e-01 1.79910794e-04 -1.56876886e-02 3.58263717e+00] [-1.34923596e-04 9.99995876e-01 2.86868656e-03 -2.07213743e-01] [ 1.56881400e-02 -2.86621685e-03 9.99872825e-01 -2.27449458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18463043999999 meters Centerline goodness [0,1] 0.3145286938457543 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.21, Z:-0.02 [[ 9.99873274e-01 2.30547145e-04 -1.59180094e-02 3.58376173e+00] [-1.86858965e-04 9.99996212e-01 2.74600830e-03 -2.06467855e-01] [ 1.59185822e-02 -2.74268589e-03 9.99869530e-01 -2.36109386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21463044 meters Centerline goodness [0,1] 0.31876814282908095 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.21, Z:-0.02 [[ 9.99871859e-01 2.89388714e-04 -1.60056991e-02 3.58427470e+00] [-2.47097987e-04 9.99996474e-01 2.64414385e-03 -2.05715423e-01] [ 1.60064078e-02 -2.63985005e-03 9.99868404e-01 -2.40413436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24463044 meters Centerline goodness [0,1] 0.31592323763165264 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.21, Z:-0.02 [[ 9.99845386e-01 8.79025660e-03 -1.52294088e-02 3.60432642e+00] [-8.78220971e-03 9.99961259e-01 5.95176987e-04 -2.07383524e-01] [ 1.52340506e-02 -4.61337102e-04 9.99883849e-01 -2.36443691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27463044 meters Centerline goodness [0,1] 0.31378614082570777 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.21, Z:-0.02 [[ 9.99845436e-01 8.78940009e-03 -1.52266583e-02 3.60472516e+00] [-8.78287379e-03 9.99961307e-01 4.95428760e-04 -2.07283680e-01] [ 1.52304237e-02 -3.61618367e-04 9.99883945e-01 -2.42033357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30463044 meters Centerline goodness [0,1] 0.3150974305914813 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.21, Z:-0.02 [[ 9.99845720e-01 8.78739726e-03 -1.52091479e-02 3.60499084e+00] [-8.78082591e-03 9.99961323e-01 4.98791552e-04 -2.07434270e-01] [ 1.52129428e-02 -3.65165719e-04 9.99884210e-01 -2.46220160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33463044 meters Centerline goodness [0,1] 0.316941906642651 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.20, Z:-0.03 [[ 9.99879882e-01 -1.09202652e-04 -1.54986726e-02 3.58727261e+00] [ 1.43774081e-04 9.99997504e-01 2.22950910e-03 -2.03744904e-01] [ 1.54983904e-02 -2.23146961e-03 9.99877403e-01 -2.68618023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36463044 meters Centerline goodness [0,1] 0.3175830345959487 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.20, Z:-0.03 [[ 9.99888652e-01 2.85649124e-05 -1.49225875e-02 3.58602350e+00] [ 2.71554141e-06 9.99997803e-01 2.09615716e-03 -2.02364605e-01] [ 1.49226146e-02 -2.09596428e-03 9.99886455e-01 -2.69591214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39463044 meters Centerline goodness [0,1] 0.3173705869612302 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.20, Z:-0.03 [[ 9.99893645e-01 5.30123876e-05 -1.45840792e-02 3.58543265e+00] [-2.64460791e-05 9.99998340e-01 1.82178338e-03 -2.00442948e-01] [ 1.45841516e-02 -1.82120393e-03 9.99891987e-01 -2.72588729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42463044 meters Centerline goodness [0,1] 0.3196130128777809 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.20, Z:-0.03 [[ 9.99899654e-01 1.85443492e-04 -1.41650261e-02 3.58483948e+00] [-1.63325367e-04 9.99998766e-01 1.56260106e-03 -1.97927011e-01] [ 1.41652984e-02 -1.56013076e-03 9.99898450e-01 -2.78513999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45463044 meters Centerline goodness [0,1] 0.3165106090542049 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.20, Z:-0.03 [[ 0.99988766 0.00370781 -0.01452277 3.58608973] [-0.00363828 0.99998181 0.00481151 -0.19598977] [ 0.01454035 -0.00475813 0.99988296 -0.02842528] [ 0. 0. 0. 1. ]] SLAMing on 108.48463043999999 meters Centerline goodness [0,1] 0.3179702552334769 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.19, Z:-0.03 [[ 9.99888764e-01 3.64690422e-03 -1.44623808e-02 3.58651174e+00] [-3.58448025e-03 9.99984158e-01 4.33987485e-03 -1.93043837e-01] [ 1.44779788e-02 -4.28755197e-03 9.99885996e-01 -2.92878952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51463043999999 meters Centerline goodness [0,1] 0.31849803396275334 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.19, Z:-0.03 [[ 9.99887509e-01 3.44014864e-03 -1.45991549e-02 3.58733657e+00] [-3.38533405e-03 9.99987134e-01 3.77769489e-03 -1.90406961e-01] [ 1.46119629e-02 -3.72784691e-03 9.99886290e-01 -3.00438827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54463043999999 meters Centerline goodness [0,1] 0.3169492258455151 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.19, Z:-0.03 [[ 9.99881287e-01 2.99834763e-03 -1.51136359e-02 3.58868474e+00] [-2.95654721e-03 9.99991745e-01 2.78732697e-03 -1.86066523e-01] [ 1.51218685e-02 -2.74231190e-03 9.99881897e-01 -3.04228203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57463043999999 meters Centerline goodness [0,1] 0.31825320652648115 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.18, Z:-0.03 [[ 9.99878099e-01 2.84201726e-03 -1.53528517e-02 3.58929723e+00] [-2.80477842e-03 9.99993074e-01 2.44651970e-03 -1.84354328e-01] [ 1.53596984e-02 -2.40316012e-03 9.99879145e-01 -3.05747509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60463044 meters Centerline goodness [0,1] 0.31828083474927027 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.18, Z:-0.03 [[ 9.99875651e-01 2.64360760e-03 -1.55465211e-02 3.59008251e+00] [-2.61175606e-03 9.99994450e-01 2.06873547e-03 -1.82592072e-01] [ 1.55519038e-02 -2.02787451e-03 9.99877005e-01 -3.11372022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63463044 meters Centerline goodness [0,1] 0.31597702142363515 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.18, Z:-0.03 [[ 9.99871327e-01 2.35808362e-03 -1.58672301e-02 3.59116325e+00] [-2.33200090e-03 9.99995900e-01 1.66211255e-03 -1.81179350e-01] [ 1.58710845e-02 -1.62489629e-03 9.99872726e-01 -3.16342033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66463044 meters Centerline goodness [0,1] 0.31544564701823985 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.18, Z:-0.03 [[ 9.99870198e-01 2.08556862e-03 -1.59761713e-02 3.59150779e+00] [-2.06392840e-03 9.99996930e-01 1.37089943e-03 -1.80530413e-01] [ 1.59789814e-02 -1.33774781e-03 9.99871433e-01 -3.18006953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69463044 meters Centerline goodness [0,1] 0.3168747552964719 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.18, Z:-0.03 [[ 9.99875567e-01 1.34045395e-03 -1.57179420e-02 3.59051115e+00] [-1.33013242e-03 9.99998893e-01 6.67108170e-04 -1.79420739e-01] [ 1.57188188e-02 -6.46118215e-04 9.99876243e-01 -3.11737801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72463044 meters Centerline goodness [0,1] 0.3168777184975681 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.17, Z:-0.03 [[ 9.99859816e-01 -5.48701615e-03 -1.58190041e-02 3.60935506e+00] [ 5.50975710e-03 9.99983849e-01 1.39434781e-03 -1.73809305e-01] [ 1.58110978e-02 -1.48131121e-03 9.99873900e-01 -2.91417673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.75463044 meters Centerline goodness [0,1] 0.31717907874926354 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.18, Z:-0.03 [[ 9.99880590e-01 1.54477976e-03 -1.53759316e-02 3.58986111e+00] [-1.53319707e-03 9.99998532e-01 7.65059513e-04 -1.76591970e-01] [ 1.53770908e-02 -7.41393824e-04 9.99881491e-01 -3.06301416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78463044 meters Centerline goodness [0,1] 0.3167427701674277 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.18, Z:-0.03 [[ 9.99880971e-01 1.42925077e-03 -1.53623237e-02 3.59017931e+00] [-1.42219445e-03 9.99998878e-01 4.70241432e-04 -1.75019517e-01] [ 1.53629785e-02 -4.48337248e-04 9.99881882e-01 -3.12020106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.81463044 meters Centerline goodness [0,1] 0.31281501340482576 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.17, Z:-0.03 [[ 9.99855726e-01 -4.91853564e-03 -1.62583946e-02 3.60854044e+00] [ 4.92869027e-03 9.99987683e-01 5.84567848e-04 -1.65578735e-01] [ 1.62553191e-02 -6.64616101e-04 9.99867653e-01 -3.03239294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84463043999999 meters Centerline goodness [0,1] 0.3151632302405498 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.16, Z:-0.03 [[ 9.99855190e-01 -5.09597290e-03 -1.62366884e-02 3.60871146e+00] [ 5.09890192e-03 9.99986991e-01 1.39002725e-04 -1.63629917e-01] [ 1.62357688e-02 -2.21771877e-04 9.99868167e-01 -3.06662781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87463043999999 meters Centerline goodness [0,1] 0.31400112112457423 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.16, Z:-0.03 [[ 9.99854382e-01 -5.21624997e-03 -1.62482461e-02 3.60880431e+00] [ 5.21252732e-03 9.99986378e-01 -2.71452694e-04 -1.61502382e-01] [ 1.62494408e-02 1.86718739e-04 9.99867952e-01 -3.07751622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90463043999999 meters Centerline goodness [0,1] 0.31799861315766664 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.16, Z:-0.03 [[ 9.99854842e-01 -5.29436770e-03 -1.61945672e-02 3.60876267e+00] [ 5.28363648e-03 9.99985793e-01 -7.05357857e-04 -1.58910350e-01] [ 1.61980715e-02 6.19689263e-04 9.99868611e-01 -3.09286699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93463043999999 meters Centerline goodness [0,1] 0.3147282165687074 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.16, Z:-0.03 [[ 9.99878099e-01 3.57869752e-03 -1.51980283e-02 3.62795663e+00] [-3.61590931e-03 9.99990530e-01 -2.42168875e-03 -1.57661804e-01] [ 1.51892179e-02 2.47634823e-03 9.99881571e-01 -3.00593588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96463044 meters Centerline goodness [0,1] 0.3156101033196005 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.15, Z:-0.03 [[ 9.99880020e-01 3.46145488e-03 -1.50984756e-02 3.62802437e+00] [-3.50746029e-03 9.99989284e-01 -3.02160853e-03 -1.54154418e-01] [ 1.50878547e-02 3.07420330e-03 9.99881446e-01 -3.04757645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99463044 meters Centerline goodness [0,1] 0.3154103310686941 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.14, Z:-0.03 [[ 9.99876257e-01 4.93873878e-03 -1.49358532e-02 3.62797864e+00] [-4.98041439e-03 9.99983804e-01 -2.75439903e-03 -1.44324178e-01] [ 1.49220080e-02 2.82844493e-03 9.99884660e-01 -3.10517517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02463044 meters Centerline goodness [0,1] 0.3188595059310044 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.14, Z:-0.03 [[ 9.99881603e-01 4.87811104e-03 -1.45939465e-02 3.62741720e+00] [-4.92859350e-03 9.99981988e-01 -3.42517293e-03 -1.39583107e-01] [ 1.45769752e-02 3.49669503e-03 9.99887636e-01 -3.13719371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05463044 meters Centerline goodness [0,1] 0.3171324422843257 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.14, Z:-0.03 [[ 0.9998859 0.00491872 -0.01428273 3.62678945] [-0.00497586 0.99997975 -0.00396813 -0.13501348] [ 0.01426292 0.00403874 0.99989012 -0.03153884] [ 0. 0. 0. 1. ]] SLAMing on 109.08463044 meters Centerline goodness [0,1] 0.3170016481517156 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.13, Z:-0.03 [[ 0.99988659 0.00482959 -0.01426454 3.62688309] [-0.00489568 0.99997743 -0.0046017 -0.1305586 ] [ 0.01424199 0.00467101 0.99988767 -0.03175486] [ 0. 0. 0. 1. ]] SLAMing on 109.11463044 meters Centerline goodness [0,1] 0.3128503665373006 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.12, Z:-0.03 [[ 0.99988433 0.0043532 -0.01457345 3.62807714] [-0.00443829 0.99997326 -0.00581136 -0.12240584] [ 0.01454776 0.00587537 0.99987691 -0.0324618 ] [ 0. 0. 0. 1. ]] SLAMing on 109.14463044 meters Centerline goodness [0,1] 0.3188041352333054 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.12, Z:-0.03 [[ 0.99988219 0.00409193 -0.01479409 3.62889397] [-0.00418538 0.99997145 -0.00629143 -0.12036257] [ 0.01476793 0.00635261 0.99987077 -0.03291294] [ 0. 0. 0. 1. ]] SLAMing on 109.17463044 meters Centerline goodness [0,1] 0.31643243243243246 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.12, Z:-0.03 [[ 0.99987939 0.00389673 -0.01503416 3.62978642] [-0.0039969 0.99996998 -0.00663864 -0.11887646] [ 0.01500784 0.00669793 0.99986494 -0.03343939] [ 0. 0. 0. 1. ]] SLAMing on 109.20463044 meters Centerline goodness [0,1] 0.3151312957382695 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.12, Z:-0.03 [[ 0.99987659 0.0036793 -0.01527323 3.63066344] [-0.00378561 0.99996877 -0.00693759 -0.11770466] [ 0.01524723 0.00699456 0.99985929 -0.03393349] [ 0. 0. 0. 1. ]] SLAMing on 109.23463043999999 meters Centerline goodness [0,1] 0.31510957818290886 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.12, Z:-0.03 [[ 9.99874502e-01 3.50970711e-03 -1.54487123e-02 3.63118063e+00] [-3.62114956e-03 9.99967583e-01 -7.19165277e-03 -1.16595644e-01] [ 1.54229709e-02 7.24669233e-03 9.99854798e-01 -3.40713770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26463043999999 meters Centerline goodness [0,1] 0.3131410669069997 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.12, Z:-0.03 [[ 9.99871182e-01 3.33231671e-03 -1.57008086e-02 3.63195901e+00] [-3.45101109e-03 9.99965628e-01 -7.53874357e-03 -1.15059438e-01] [ 1.56751474e-02 7.59195611e-03 9.99848314e-01 -3.43496387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29463043999999 meters Centerline goodness [0,1] 0.3153515251585991 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.11, Z:-0.04 [[ 0.99983091 -0.00518738 -0.01764219 3.6146727 ] [ 0.00507861 0.99996785 -0.00620472 -0.10687225] [ 0.01767381 0.00611407 0.99982511 -0.03629415] [ 0. 0. 0. 1. ]] SLAMing on 109.32463043999999 meters Centerline goodness [0,1] 0.3158994904846928 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.10, Z:-0.04 [[ 0.99983034 -0.00530141 -0.01764051 3.61494611] [ 0.00518484 0.99996447 -0.00664723 -0.10421656] [ 0.01767513 0.00655464 0.9998223 -0.03670675] [ 0. 0. 0. 1. ]] SLAMing on 109.35463044 meters Centerline goodness [0,1] 0.32120687790634805 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.10, Z:-0.04 [[ 9.99828992e-01 -3.04126260e-03 -1.82410993e-02 3.61720849e+00] [ 2.95666741e-03 9.99984758e-01 -4.66279220e-03 -1.01309216e-01] [ 1.82550021e-02 4.60806196e-03 9.99822745e-01 -3.75942339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38463044 meters Centerline goodness [0,1] 0.31865403462920616 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.10, Z:-0.04 [[ 9.99829535e-01 -3.18886817e-03 -1.81860476e-02 3.61719840e+00] [ 3.09479890e-03 9.99981699e-01 -5.19840664e-03 -9.83638270e-02] [ 1.82022918e-02 5.14123833e-03 9.99821106e-01 -3.77607601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41463044 meters Centerline goodness [0,1] 0.32244570635918335 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.10, Z:-0.04 [[ 9.99827454e-01 -3.36216050e-03 -1.82690304e-02 3.61754275e+00] [ 3.25813344e-03 9.99978327e-01 -5.72095883e-03 -9.57007357e-02] [ 1.82878693e-02 5.66044877e-03 9.99816740e-01 -3.79810832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44463044 meters Centerline goodness [0,1] 0.3198242081790825 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.09, Z:-0.04 [[ 9.99825910e-01 -3.68075180e-03 -1.82921146e-02 3.61790164e+00] [ 3.56110460e-03 9.99972082e-01 -6.56919112e-03 -9.11996477e-02] [ 1.83157835e-02 6.50290735e-03 9.99811104e-01 -3.84626771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47463044 meters Centerline goodness [0,1] 0.3182406767955801 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.09, Z:-0.04 [[ 0.99982584 -0.00375519 -0.01828059 3.61792183] [ 0.00363014 0.99996982 -0.00686899 -0.08936801] [ 0.01830583 0.00680144 0.9998093 -0.03857065] [ 0. 0. 0. 1. ]] SLAMing on 109.50463044 meters Centerline goodness [0,1] 0.32084309133489464 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.09, Z:-0.04 [[ 0.99982842 -0.00382925 -0.01812367 3.61750936] [ 0.00369912 0.99996718 -0.00720823 -0.08721946] [ 0.01815067 0.00713995 0.99980977 -0.03852226] [ 0. 0. 0. 1. ]] SLAMing on 109.53463044 meters Centerline goodness [0,1] 0.32084309133489464 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.09, Z:-0.04 [[ 0.99982842 -0.00382925 -0.01812367 3.61750936] [ 0.00369912 0.99996718 -0.00720823 -0.08721946] [ 0.01815067 0.00713995 0.99980977 -0.03852226] [ 0. 0. 0. 1. ]] SLAMing on 109.56463044 meters Centerline goodness [0,1] 0.3194408378776076 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.08, Z:-0.04 [[ 0.99983426 -0.00393498 -0.01777559 3.61672422] [ 0.00380006 0.99996376 -0.00761783 -0.08470972] [ 0.01780492 0.00754902 0.99981298 -0.03857515] [ 0. 0. 0. 1. ]] SLAMing on 109.59463043999999 meters Centerline goodness [0,1] 0.32194942249767045 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.08, Z:-0.04 [[ 0.99984199 -0.00433497 -0.01723976 3.61573364] [ 0.00418578 0.99995356 -0.0086806 -0.07890509] [ 0.01727659 0.00860707 0.9998137 -0.03885443] [ 0. 0. 0. 1. ]] SLAMing on 109.62463043999999 meters Centerline goodness [0,1] 0.3232663163836901 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.08, Z:-0.04 [[ 0.99984022 -0.00460898 -0.01727126 3.61624524] [ 0.00444695 0.99994585 -0.00940839 -0.07529876] [ 0.01731369 0.00933008 0.99980657 -0.03952681] [ 0. 0. 0. 1. ]] SLAMing on 109.65463043999999 meters Centerline goodness [0,1] 0.3210082215491129 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.07, Z:-0.04 [[ 9.99838794e-01 -1.39389848e-03 -1.79009502e-02 3.61796530e+00] [ 1.27652046e-03 9.99977623e-01 -6.56683647e-03 -7.25954229e-02] [ 1.79097032e-02 6.54292693e-03 9.99818200e-01 -3.99552587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68463043999999 meters Centerline goodness [0,1] 0.3208546934907164 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.07, Z:-0.04 [[ 9.99836177e-01 -1.51280362e-03 -1.80369326e-02 3.61867740e+00] [ 1.38256202e-03 9.99972899e-01 -7.23111313e-03 -6.83332750e-02] [ 1.80473830e-02 7.20499133e-03 9.99811172e-01 -4.05380385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71463044 meters Centerline goodness [0,1] 0.3201569035389983 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.06, Z:-0.04 [[ 9.99836538e-01 -1.61853018e-03 -1.80077257e-02 3.61889524e+00] [ 1.47571920e-03 9.99967381e-01 -7.94100324e-03 -6.33719760e-02] [ 1.80199911e-02 7.91313084e-03 9.99806312e-01 -4.09638559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74463044 meters Centerline goodness [0,1] 0.31935616824659974 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.06, Z:-0.04 [[ 9.99823448e-01 1.57830340e-03 -1.87238541e-02 3.62076516e+00] [-1.67663592e-03 9.99984880e-01 -5.23718906e-03 -5.97787254e-02] [ 1.87153051e-02 5.26765751e-03 9.99810977e-01 -4.12400258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77463044 meters Centerline goodness [0,1] 0.320890833856886 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.05, Z:-0.04 [[ 9.99803002e-01 1.87312766e-03 -1.97597637e-02 3.62387587e+00] [-1.99350914e-03 9.99979564e-01 -6.07431592e-03 -4.95985139e-02] [ 1.97479819e-02 6.11251057e-03 9.99786304e-01 -4.23248777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80463044 meters Centerline goodness [0,1] 0.32082096183437725 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.05, Z:-0.04 [[ 9.99799436e-01 1.62977737e-03 -1.99607410e-02 3.62446489e+00] [-1.76672741e-03 9.99975010e-01 -6.84525842e-03 -4.56078829e-02] [ 1.99490860e-02 6.87915070e-03 9.99777331e-01 -4.25343319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83463044 meters Centerline goodness [0,1] 0.321705342218942 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.04, Z:-0.04 [[ 9.99801261e-01 1.45831609e-03 -1.98824734e-02 3.62433577e+00] [-1.60768867e-03 9.99970591e-01 -7.49886390e-03 -4.18402271e-02] [ 1.98709529e-02 7.52933841e-03 9.99774202e-01 -4.26719279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86463044 meters Centerline goodness [0,1] 0.319167821267752 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.04, Z:-0.04 [[ 9.99803892e-01 1.26795633e-03 -1.97628467e-02 3.62399568e+00] [-1.42910089e-03 9.99965833e-01 -8.14192542e-03 -3.81842817e-02] [ 1.97518479e-02 8.16857183e-03 9.99771543e-01 -4.25900078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89463044 meters Centerline goodness [0,1] 0.3238038906414301 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.03, Z:-0.04 [[ 9.99806903e-01 1.01950349e-03 -1.96244253e-02 3.62377070e+00] [-1.19273221e-03 9.99960414e-01 -8.81751973e-03 -3.47002765e-02] [ 1.96146590e-02 8.83922377e-03 9.99768540e-01 -4.27362483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92463044 meters Centerline goodness [0,1] 0.3240197994008076 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.02, Z:-0.04 [[ 0.99977231 -0.00570708 -0.02056095 3.64206825] [ 0.00553598 0.99994966 -0.00836878 -0.02489909] [ 0.02060768 0.00825305 0.99975358 -0.04087551] [ 0. 0. 0. 1. ]] SLAMing on 109.95463044 meters Centerline goodness [0,1] 0.3229288848342673 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.02, Z:-0.04 [[ 9.99775368e-01 -2.90879159e-03 -2.09941216e-02 3.64308257e+00] [ 2.77666269e-03 9.99976173e-01 -6.32002224e-03 -1.83744110e-02] [ 2.10120051e-02 6.26030896e-03 9.99759623e-01 -4.10190561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98463043999999 meters Centerline goodness [0,1] 0.32011687046856396 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.01, Z:-0.04 [[ 9.99771082e-01 -3.12192790e-03 -2.11668878e-02 3.64345921e+00] [ 2.97501822e-03 9.99971294e-01 -6.96848299e-03 -1.47221001e-02] [ 2.11880353e-02 6.90391590e-03 9.99751671e-01 -4.10017828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01463043999999 meters Centerline goodness [0,1] 0.31994489646562485 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.01, Z:-0.04 [[ 9.99765589e-01 -3.34200907e-03 -2.13915304e-02 3.64393535e+00] [ 3.17906968e-03 9.99965712e-01 -7.64648449e-03 -1.08218653e-02] [ 2.14163516e-02 7.57668691e-03 9.99741934e-01 -4.09112056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04463043999999 meters Centerline goodness [0,1] 0.3220700152207001 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.00, Z:-0.04 [[ 9.99755654e-01 -2.81915738e-03 -2.19245108e-02 3.64515662e+00] [ 2.64051563e-03 9.99963116e-01 -8.17272363e-03 -6.78429645e-04] [ 2.19467423e-02 8.11283465e-03 9.99726224e-01 -4.09935560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07463043999999 meters Centerline goodness [0,1] 0.31745449048781016 Centerline is valid? [False, False] Translation: X:3.65, Y:0.00, Z:-0.04 [[ 9.99750615e-01 -3.10552098e-03 -2.21147672e-02 3.64581517e+00] [ 2.90783224e-03 9.99955579e-01 -8.96577223e-03 3.38243029e-03] [ 2.21416282e-02 8.89923027e-03 9.99715235e-01 -4.13283166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10463044 meters Centerline goodness [0,1] 0.3204657392205996 Centerline is valid? [False, False] Translation: X:3.65, Y:0.01, Z:-0.04 [[ 9.99739455e-01 -9.98277143e-04 -2.28040654e-02 3.64884594e+00] [ 8.33819698e-04 9.99973587e-01 -7.22013037e-03 7.43732477e-03] [ 2.28106707e-02 7.19923472e-03 9.99713881e-01 -4.28979232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13463044 meters Centerline goodness [0,1] 0.31922943872697396 Centerline is valid? [False, False] Translation: X:3.65, Y:0.01, Z:-0.04 [[ 9.99737807e-01 -1.04926683e-03 -2.28739203e-02 3.64940285e+00] [ 8.77404498e-04 9.99971323e-01 -7.52220387e-03 9.77120940e-03] [ 2.28811571e-02 7.50016192e-03 9.99710058e-01 -4.35143168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16463044 meters Centerline goodness [0,1] 0.3174094467865439 Centerline is valid? [False, False] Translation: X:3.65, Y:0.01, Z:-0.04 [[ 9.99738883e-01 -1.04781257e-03 -2.28269318e-02 3.64964414e+00] [ 8.74533356e-04 9.99970740e-01 -7.59965967e-03 1.09094884e-02] [ 2.28342269e-02 7.57771235e-03 9.99710546e-01 -4.40024585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19463044 meters Centerline goodness [0,1] 0.3204761285286848 Centerline is valid? [False, False] Translation: X:3.65, Y:0.01, Z:-0.04 [[ 9.99738575e-01 -1.15744500e-03 -2.28351175e-02 3.64960251e+00] [ 9.81017536e-04 9.99969597e-01 -7.73583643e-03 1.15036463e-02] [ 2.28433771e-02 7.71141243e-03 9.99709315e-01 -4.38880573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22463044 meters Centerline goodness [0,1] 0.31970316852367686 Centerline is valid? [False, False] Translation: X:3.65, Y:0.01, Z:-0.04 [[ 9.99739865e-01 -1.75767317e-03 -2.27401051e-02 3.64910259e+00] [ 1.56585322e-03 9.99963069e-01 -8.45037323e-03 1.31908918e-02] [ 2.27541183e-02 8.41256732e-03 9.99705696e-01 -4.33757290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25463044 meters Centerline goodness [0,1] 0.31663335267694026 Centerline is valid? [False, False] Translation: X:3.67, Y:0.02, Z:-0.04 [[ 0.99968019 -0.0087443 -0.02372865 3.6683594 ] [ 0.00856039 0.99993262 -0.00784089 0.02055056] [ 0.02379562 0.00763526 0.99968769 -0.04145982] [ 0. 0. 0. 1. ]] SLAMing on 110.28463044 meters Centerline goodness [0,1] 0.3171734660751001 Centerline is valid? [False, False] Translation: X:3.67, Y:0.02, Z:-0.04 [[ 0.99968584 -0.00553856 -0.02444477 3.67032035] [ 0.00542125 0.99997348 -0.00486237 0.02222996] [ 0.02447105 0.00472832 0.99968936 -0.04190104] [ 0. 0. 0. 1. ]] SLAMing on 110.31463044 meters Centerline goodness [0,1] 0.3183240611961057 Centerline is valid? [False, False] Translation: X:3.67, Y:0.03, Z:-0.04 [[ 9.99670872e-01 -2.90273841e-03 -2.54896400e-02 3.67421125e+00] [ 2.83605331e-03 9.99992462e-01 -2.65192624e-03 2.58180462e-02] [ 2.54971457e-02 2.57876344e-03 9.99671569e-01 -4.35674723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34463043999999 meters Centerline goodness [0,1] 0.3166424402837741 Centerline is valid? [False, False] Translation: X:3.68, Y:0.03, Z:-0.04 [[ 9.99647993e-01 -1.36414167e-03 -2.64958496e-02 3.67688384e+00] [ 1.30891386e-03 9.99996935e-01 -2.10162657e-03 3.41374719e-02] [ 2.64986353e-02 2.06620600e-03 9.99646714e-01 -4.41348764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37463043999999 meters Centerline goodness [0,1] 0.3164334526521315 Centerline is valid? [False, False] Translation: X:3.68, Y:0.04, Z:-0.04 [[ 9.99655532e-01 -1.42020958e-03 -2.62068814e-02 3.67597186e+00] [ 1.35508101e-03 9.99995950e-01 -2.50276257e-03 3.67303829e-02] [ 2.62103297e-02 2.46638800e-03 9.99653408e-01 -4.38221098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40463043999999 meters Centerline goodness [0,1] 0.31638663681613666 Centerline is valid? [False, False] Translation: X:3.67, Y:0.04, Z:-0.04 [[ 9.99664738e-01 -1.53933524e-03 -2.58465199e-02 3.67480094e+00] [ 1.46440773e-03 9.99994671e-01 -2.91761799e-03 3.91001096e-02] [ 2.58508734e-02 2.87878998e-03 9.99661665e-01 -4.33305435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43463043999999 meters Centerline goodness [0,1] 0.3160796258955768 Centerline is valid? [False, False] Translation: X:3.69, Y:0.04, Z:-0.04 [[ 0.99974998 0.00521844 -0.02174263 3.69418151] [-0.00534159 0.99997 -0.00561006 0.04473532] [ 0.0217127 0.00572479 0.99974786 -0.04347664] [ 0. 0. 0. 1. ]] SLAMing on 110.46463044 meters Centerline goodness [0,1] 0.31933080699336835 Centerline is valid? [False, False] Translation: X:3.69, Y:0.05, Z:-0.04 [[ 0.99975784 0.0050669 -0.02141489 3.69331821] [-0.00519951 0.99996762 -0.00614132 0.04760954] [ 0.02138308 0.00625118 0.99975181 -0.04332742] [ 0. 0. 0. 1. ]] SLAMing on 110.49463044 meters Centerline goodness [0,1] 0.31809187887130075 Centerline is valid? [False, False] Translation: X:3.69, Y:0.05, Z:-0.04 [[ 0.9997639 0.00492434 -0.02116357 3.69291852] [-0.00506956 0.99996393 -0.00681391 0.0513553 ] [ 0.02112925 0.00691959 0.99975281 -0.04362407] [ 0. 0. 0. 1. ]] SLAMing on 110.52463044 meters Centerline goodness [0,1] 0.31839117742458645 Centerline is valid? [False, False] Translation: X:3.69, Y:0.06, Z:-0.04 [[ 0.99976422 0.00480843 -0.02117502 3.69310043] [-0.00496787 0.99995966 -0.00748383 0.05535369] [ 0.02113818 0.00758726 0.99974777 -0.04390579] [ 0. 0. 0. 1. ]] SLAMing on 110.55463044 meters Centerline goodness [0,1] 0.3182345360824742 Centerline is valid? [False, False] Translation: X:3.71, Y:0.07, Z:-0.04 [[ 9.99722554e-01 -4.51324261e-04 -2.35502081e-02 3.71042620e+00] [ 3.00472490e-04 9.99979419e-01 -6.40868424e-03 6.53429305e-02] [ 2.35526158e-02 6.39982998e-03 9.99702114e-01 -4.11837165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58463044 meters Centerline goodness [0,1] 0.3163682809083628 Centerline is valid? [False, False] Translation: X:3.71, Y:0.08, Z:-0.04 [[ 9.99701888e-01 1.14017917e-03 -2.43892504e-02 3.71253810e+00] [-1.28580320e-03 9.99981436e-01 -5.95597985e-03 7.50760941e-02] [ 2.43820068e-02 5.98556407e-03 9.99684796e-01 -4.15560406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61463044 meters Centerline goodness [0,1] 0.3146851640421361 Centerline is valid? [False, False] Translation: X:3.71, Y:0.08, Z:-0.04 [[ 9.99699833e-01 9.05184244e-04 -2.44831657e-02 3.71281056e+00] [-1.06681528e-03 9.99977720e-01 -6.58946564e-03 7.83982556e-02] [ 2.44766556e-02 6.61360671e-03 9.99678525e-01 -4.16825588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64463044 meters Centerline goodness [0,1] 0.31599948235700115 Centerline is valid? [False, False] Translation: X:3.71, Y:0.08, Z:-0.04 [[ 9.99697970e-01 6.56740377e-04 -2.45669822e-02 3.71321102e+00] [-8.31880628e-04 9.99974310e-01 -7.11955050e-03 8.08627943e-02] [ 2.45616754e-02 7.13783698e-03 9.99672834e-01 -4.19905856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.67463044 meters Centerline goodness [0,1] 0.3124652317172323 Centerline is valid? [False, False] Translation: X:3.73, Y:0.09, Z:-0.04 [[ 0.99966584 -0.00686361 -0.02492183 3.73249282] [ 0.0067047 0.99995669 -0.00645466 0.0882688 ] [ 0.02496505 0.00628541 0.99966857 -0.04039003] [ 0. 0. 0. 1. ]] SLAMing on 110.70463044 meters Centerline goodness [0,1] 0.3162310213940649 Centerline is valid? [False, False] Translation: X:3.73, Y:0.09, Z:-0.04 [[ 0.9996635 -0.00703972 -0.02496647 3.73251159] [ 0.00687379 0.99995376 -0.00672571 0.0892709 ] [ 0.02501267 0.00655183 0.99966566 -0.04026836] [ 0. 0. 0. 1. ]] SLAMing on 110.73463043999999 meters Centerline goodness [0,1] 0.31622287542145755 Centerline is valid? [False, False] Translation: X:3.73, Y:0.09, Z:-0.04 [[ 0.99965996 -0.00718061 -0.02506811 3.73248666] [ 0.0070089 0.99995142 -0.00693066 0.09000953] [ 0.02511665 0.0067526 0.99966172 -0.03985569] [ 0. 0. 0. 1. ]] SLAMing on 110.76463043999999 meters Centerline goodness [0,1] 0.3143808342581108 Centerline is valid? [False, False] Translation: X:3.73, Y:0.09, Z:-0.04 [[ 0.99965842 -0.00738827 -0.02506911 3.73203073] [ 0.00720658 0.99994716 -0.00733042 0.09179635] [ 0.02512194 0.00714726 0.99965884 -0.03914466] [ 0. 0. 0. 1. ]] SLAMing on 110.79463043999999 meters Centerline goodness [0,1] 0.3134798266232506 Centerline is valid? [False, False] Translation: X:3.75, Y:0.09, Z:-0.04 [[ 9.99687968e-01 9.17791711e-04 -2.49624572e-02 3.75208090e+00] [-1.12960562e-03 9.99963470e-01 -8.47252176e-03 9.05641398e-02] [ 2.49537693e-02 8.49807579e-03 9.99652486e-01 -3.79194145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82463043999999 meters Centerline goodness [0,1] 0.31671331554166937 Centerline is valid? [False, False] Translation: X:3.75, Y:0.09, Z:-0.04 [[ 9.99681925e-01 8.14321314e-04 -2.52068410e-02 3.75307765e+00] [-1.03628544e-03 9.99960796e-01 -8.79389998e-03 9.22856642e-02] [ 2.51986917e-02 8.81722434e-03 9.99643578e-01 -3.85567546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85463044 meters Centerline goodness [0,1] 0.3108414655024825 Centerline is valid? [False, False] Translation: X:3.78, Y:0.10, Z:-0.04 [[ 0.99961755 -0.00444885 -0.02729381 3.77614663] [ 0.00426645 0.9999682 -0.00673727 0.09858421] [ 0.02732291 0.00661824 0.99960475 -0.03819175] [ 0. 0. 0. 1. ]] SLAMing on 110.88463044 meters Centerline goodness [0,1] 0.3108646310650508 Centerline is valid? [False, False] Translation: X:3.78, Y:0.10, Z:-0.04 [[ 0.99960696 -0.00461512 -0.02765188 3.77735822] [ 0.00441559 0.99996381 -0.00727248 0.10147562] [ 0.02768445 0.00714752 0.99959116 -0.03874746] [ 0. 0. 0. 1. ]] SLAMing on 110.91463044 meters Centerline goodness [0,1] 0.31182094741416777 Centerline is valid? [False, False] Translation: X:3.76, Y:0.11, Z:-0.04 [[ 0.99956253 0.00417657 -0.02927985 3.75542433] [-0.00440797 0.99995953 -0.00784297 0.10627735] [ 0.02924591 0.0079686 0.99954048 -0.03912427] [ 0. 0. 0. 1. ]] SLAMing on 110.94463044 meters Centerline goodness [0,1] 0.310634793350816 Centerline is valid? [False, False] Translation: X:3.76, Y:0.11, Z:-0.04 [[ 0.99956478 0.00403944 -0.02922208 3.75522509] [-0.00428911 0.99995479 -0.00848629 0.11062695] [ 0.02918648 0.00860793 0.99953692 -0.03901241] [ 0. 0. 0. 1. ]] SLAMing on 110.97463044 meters Centerline goodness [0,1] 0.30949516648764774 Centerline is valid? [False, False] Translation: X:3.78, Y:0.12, Z:-0.04 [[ 9.99564227e-01 -1.42368879e-03 -2.94843986e-02 3.77555289e+00] [ 1.24779132e-03 9.99981321e-01 -5.98332123e-03 1.18573691e-01] [ 2.94923663e-02 5.94392348e-03 9.99547333e-01 -3.76152790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00463044 meters Centerline goodness [0,1] 0.3101608897527265 Centerline is valid? [False, False] Translation: X:3.78, Y:0.12, Z:-0.04 [[ 9.99562979e-01 -1.68319829e-03 -2.95130162e-02 3.77557365e+00] [ 1.48718073e-03 9.99976700e-01 -6.66242569e-03 1.22171473e-01] [ 2.95235427e-02 6.61562288e-03 9.99542192e-01 -3.75720419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.03463044 meters Centerline goodness [0,1] 0.3097518878101403 Centerline is valid? [False, False] Translation: X:3.78, Y:0.13, Z:-0.04 [[ 9.99556862e-01 -1.91563066e-03 -2.97053874e-02 3.77613229e+00] [ 1.70187652e-03 9.99972491e-01 -7.21941805e-03 1.25190679e-01] [ 2.97184000e-02 7.16566395e-03 9.99532626e-01 -3.77544723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06463044 meters Centerline goodness [0,1] 0.30960915568991576 Centerline is valid? [False, False] Translation: X:3.78, Y:0.13, Z:-0.04 [[ 9.99544050e-01 -2.30990618e-03 -3.01057637e-02 3.77720291e+00] [ 2.07103363e-03 9.99966148e-01 -7.96321409e-03 1.29590213e-01] [ 3.01231389e-02 7.89723322e-03 9.99514997e-01 -3.79366957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09463043999999 meters Centerline goodness [0,1] 0.3102568537576753 Centerline is valid? [False, False] Translation: X:3.78, Y:0.13, Z:-0.04 [[ 9.99546959e-01 -2.49159537e-03 -2.99944885e-02 3.77674101e+00] [ 2.24575455e-03 9.99963635e-01 -8.22709942e-03 1.30846046e-01] [ 3.00138963e-02 8.15601195e-03 9.99516206e-01 -3.76293398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12463043999999 meters Centerline goodness [0,1] 0.31277369066386407 Centerline is valid? [False, False] Translation: X:3.78, Y:0.13, Z:-0.04 [[ 9.99557406e-01 -2.83154659e-03 -2.96137378e-02 3.77552144e+00] [ 2.57803252e-03 9.99959736e-01 -8.59537167e-03 1.31866003e-01] [ 2.96368837e-02 8.51522224e-03 9.99524460e-01 -3.70334683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15463043999999 meters Centerline goodness [0,1] 0.3132229972704822 Centerline is valid? [False, False] Translation: X:3.77, Y:0.13, Z:-0.04 [[ 9.99569648e-01 -3.41373147e-03 -2.91352889e-02 3.77414575e+00] [ 3.14935687e-03 9.99953497e-01 -9.11510385e-03 1.32595069e-01] [ 2.91650505e-02 9.01942372e-03 9.99533916e-01 -3.65642349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18463043999999 meters Centerline goodness [0,1] 0.31102826166141717 Centerline is valid? [False, False] Translation: X:3.79, Y:0.14, Z:-0.04 [[ 0.99953626 -0.01235822 -0.0278305 3.79389948] [ 0.01211038 0.99988565 -0.00905629 0.13892328] [ 0.02793924 0.00871506 0.99957163 -0.03520997] [ 0. 0. 0. 1. ]] SLAMing on 111.21463044 meters Centerline goodness [0,1] 0.31061933502065897 Centerline is valid? [False, False] Translation: X:3.77, Y:0.14, Z:-0.04 [[ 0.99961655 -0.00410664 -0.02738413 3.77406785] [ 0.00384126 0.99994522 -0.00973638 0.13704474] [ 0.02742261 0.00962746 0.99957757 -0.0370478 ] [ 0. 0. 0. 1. ]] SLAMing on 111.24463044 meters Centerline goodness [0,1] 0.3097270909051808 Centerline is valid? [False, False] Translation: X:3.77, Y:0.14, Z:-0.04 [[ 0.9996156 -0.00425395 -0.02739627 3.77430833] [ 0.00397492 0.99993976 -0.01023156 0.1398385 ] [ 0.02743815 0.01011873 0.99957229 -0.03730598] [ 0. 0. 0. 1. ]] SLAMing on 111.27463044 meters Centerline goodness [0,1] 0.3124388919065725 Centerline is valid? [False, False] Translation: X:3.77, Y:0.14, Z:-0.04 [[ 0.99961189 -0.00443856 -0.02750219 3.77461409] [ 0.00414253 0.99993297 -0.01081143 0.14281549] [ 0.02754833 0.0106933 0.99956328 -0.03736933] [ 0. 0. 0. 1. ]] SLAMing on 111.30463044 meters Centerline goodness [0,1] 0.3092635459533608 Centerline is valid? [False, False] Translation: X:3.79, Y:0.14, Z:-0.04 [[ 9.99631499e-01 3.49619019e-03 -2.69191736e-02 3.79495442e+00] [-3.82821208e-03 9.99917118e-01 -1.22923893e-02 1.43140189e-01] [ 2.68739659e-02 1.23909119e-02 9.99562032e-01 -3.58980207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33463044 meters Centerline goodness [0,1] 0.3088901776317202 Centerline is valid? [False, False] Translation: X:3.79, Y:0.15, Z:-0.03 [[ 0.99963395 0.00506923 -0.02657572 3.79231149] [-0.00537347 0.99992071 -0.01138888 0.14958655] [ 0.02651588 0.01152751 0.99958192 -0.03377894] [ 0. 0. 0. 1. ]] SLAMing on 111.36463044 meters Centerline goodness [0,1] 0.3104338842975206 Centerline is valid? [False, False] Translation: X:3.79, Y:0.15, Z:-0.03 [[ 0.99962997 0.0049765 -0.02674258 3.79278412] [-0.0052916 0.99991726 -0.01172488 0.15164883] [ 0.02668202 0.01186205 0.99957359 -0.03385293] [ 0. 0. 0. 1. ]] SLAMing on 111.39463044 meters Centerline goodness [0,1] 0.3088374902908432 Centerline is valid? [False, False] Translation: X:3.79, Y:0.15, Z:-0.03 [[ 0.9996278 0.00481298 -0.02685338 3.79331253] [-0.005139 0.99991377 -0.01208505 0.15336983] [ 0.0267929 0.01221855 0.99956633 -0.03422578] [ 0. 0. 0. 1. ]] SLAMing on 111.42463044 meters Centerline goodness [0,1] 0.3062412718874208 Centerline is valid? [False, False] Translation: X:3.81, Y:0.16, Z:-0.03 [[ 9.99607798e-01 -3.06875854e-03 -2.78358360e-02 3.81276089e+00] [ 2.75005850e-03 9.99930317e-01 -1.14803369e-02 1.59666600e-01] [ 2.78691267e-02 1.13992841e-02 9.99546581e-01 -3.21156871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.45463044 meters Centerline goodness [0,1] 0.3062412718874208 Centerline is valid? [False, False] Translation: X:3.81, Y:0.16, Z:-0.03 [[ 9.99607798e-01 -3.06875854e-03 -2.78358360e-02 3.81276089e+00] [ 2.75005850e-03 9.99930317e-01 -1.14803369e-02 1.59666600e-01] [ 2.78691267e-02 1.13992841e-02 9.99546581e-01 -3.21156871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48463043999999 meters Centerline goodness [0,1] 0.30592147607809483 Centerline is valid? [False, False] Translation: X:3.81, Y:0.16, Z:-0.03 [[ 9.99609782e-01 -3.53521378e-03 -2.77089547e-02 3.81214560e+00] [ 3.20456177e-03 9.99923241e-01 -1.19683740e-02 1.61199440e-01] [ 2.77491385e-02 1.18749087e-02 9.99544382e-01 -3.16276328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51463043999999 meters Centerline goodness [0,1] 0.3107165230164388 Centerline is valid? [False, False] Translation: X:3.81, Y:0.16, Z:-0.03 [[ 9.99611636e-01 -3.62013405e-03 -2.76309866e-02 3.81163279e+00] [ 3.28879488e-03 9.99922257e-01 -1.20276190e-02 1.61444362e-01] [ 2.76723801e-02 1.19320753e-02 9.99545829e-01 -3.11543446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54463043999999 meters Centerline goodness [0,1] 0.30898353847152216 Centerline is valid? [False, False] Translation: X:3.81, Y:0.16, Z:-0.03 [[ 9.99606908e-01 -3.68241137e-03 -2.77933405e-02 3.81202549e+00] [ 3.34821817e-03 9.99921655e-01 -1.20611935e-02 1.61630177e-01] [ 2.78355773e-02 1.19633942e-02 9.99540924e-01 -3.11741504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57463043999999 meters Centerline goodness [0,1] 0.3078449987054458 Centerline is valid? [False, False] Translation: X:3.81, Y:0.16, Z:-0.03 [[ 9.99602517e-01 -3.72012570e-03 -2.79457994e-02 3.81259774e+00] [ 3.38363643e-03 9.99921328e-01 -1.20784356e-02 1.61801219e-01] [ 2.79885341e-02 1.19790762e-02 9.99536464e-01 -3.14761687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60463044 meters Centerline goodness [0,1] 0.3061979448350459 Centerline is valid? [False, False] Translation: X:3.81, Y:0.16, Z:-0.03 [[ 9.99599861e-01 -4.04051402e-03 -2.79962825e-02 3.81317175e+00] [ 3.69584651e-03 9.99916881e-01 -1.23520155e-02 1.62148587e-01] [ 2.80438640e-02 1.22436030e-02 9.99531708e-01 -3.21061689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63463044 meters Centerline goodness [0,1] 0.30872643041153425 Centerline is valid? [False, False] Translation: X:3.81, Y:0.16, Z:-0.03 [[ 0.99959648 -0.00419027 -0.02809468 3.81343789] [ 0.00383577 0.9999125 -0.01266017 0.16338719] [ 0.02814528 0.0125473 0.99952509 -0.03212708] [ 0. 0. 0. 1. ]] SLAMing on 111.66463044 meters Centerline goodness [0,1] 0.3057824591573517 Centerline is valid? [False, False] Translation: X:3.81, Y:0.17, Z:-0.03 [[ 0.99958894 -0.00425843 -0.02835182 3.81408096] [ 0.003892 0.99990835 -0.01296701 0.16512811] [ 0.02840444 0.01285133 0.9995139 -0.03215242] [ 0. 0. 0. 1. ]] SLAMing on 111.69463044 meters Centerline goodness [0,1] 0.30631371615333003 Centerline is valid? [False, False] Translation: X:3.82, Y:0.17, Z:-0.03 [[ 9.99581153e-01 -1.47150408e-03 -2.89024818e-02 3.81560277e+00] [ 1.17174450e-03 9.99945382e-01 -1.03856129e-02 1.67174405e-01] [ 2.89161856e-02 1.03473966e-02 9.99528282e-01 -3.24745987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72463044 meters Centerline goodness [0,1] 0.30589991562276886 Centerline is valid? [False, False] Translation: X:3.82, Y:0.17, Z:-0.03 [[ 9.99569199e-01 -1.50671461e-03 -2.93111829e-02 3.81667266e+00] [ 1.19419911e-03 9.99942291e-01 -1.06765740e-02 1.69163700e-01] [ 2.93255779e-02 1.06369711e-02 9.99513314e-01 -3.26255742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75463044 meters Centerline goodness [0,1] 0.3046063051921283 Centerline is valid? [False, False] Translation: X:3.82, Y:0.17, Z:-0.03 [[ 9.99550807e-01 -1.49086703e-03 -2.99326219e-02 3.81861906e+00] [ 1.16313656e-03 9.99939224e-01 -1.09633673e-02 1.71558225e-01] [ 2.99471476e-02 1.09236269e-02 9.99491792e-01 -3.33264845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78463044 meters Centerline goodness [0,1] 0.3063570052596264 Centerline is valid? [False, False] Translation: X:3.82, Y:0.17, Z:-0.03 [[ 9.99550875e-01 -1.56312559e-03 -2.99266668e-02 3.81860776e+00] [ 1.23178985e-03 9.99937781e-01 -1.10868249e-02 1.72086458e-01] [ 2.99421349e-02 1.10449821e-02 9.99490609e-01 -3.33225789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.81463044 meters Centerline goodness [0,1] 0.3026539896082616 Centerline is valid? [False, False] Translation: X:3.82, Y:0.17, Z:-0.03 [[ 9.99559663e-01 -1.64989574e-03 -2.96269858e-02 3.81760053e+00] [ 1.31644819e-03 9.99935616e-01 -1.12708393e-02 1.72845170e-01] [ 2.96436740e-02 1.12268739e-02 9.99497479e-01 -3.28706292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84463043999999 meters Centerline goodness [0,1] 0.3102382765749102 Centerline is valid? [False, False] Translation: X:3.82, Y:0.17, Z:-0.03 [[ 9.99571693e-01 -1.67675318e-03 -2.92167437e-02 3.81601658e+00] [ 1.34279567e-03 9.99933588e-01 -1.14462204e-02 1.74012947e-01] [ 2.92339958e-02 1.14020857e-02 9.99507562e-01 -3.19371222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87463043999999 meters Centerline goodness [0,1] 0.3066983291615857 Centerline is valid? [False, False] Translation: X:3.86, Y:0.18, Z:-0.03 [[ 9.99661877e-01 1.35758797e-04 -2.60021680e-02 3.85602368e+00] [-3.93993730e-04 9.99950654e-01 -9.92641897e-03 1.78807235e-01] [ 2.59995373e-02 9.93330731e-03 9.99612602e-01 -2.92656200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90463043999999 meters Centerline goodness [0,1] 0.3090483314902751 Centerline is valid? [False, False] Translation: X:3.84, Y:0.19, Z:-0.03 [[ 0.99963238 -0.00692768 -0.02621296 3.83912902] [ 0.00670592 0.99994106 -0.00853868 0.18740549] [ 0.02627057 0.00835976 0.99961991 -0.03200472] [ 0. 0. 0. 1. ]] SLAMing on 111.93463043999999 meters Centerline goodness [0,1] 0.3072787965491828 Centerline is valid? [False, False] Translation: X:3.84, Y:0.19, Z:-0.03 [[ 0.9996149 -0.00706264 -0.02683583 3.84108667] [ 0.00682 0.99993513 -0.00912267 0.19066577] [ 0.02689852 0.00893614 0.99959823 -0.03274835] [ 0. 0. 0. 1. ]] SLAMing on 111.96463044 meters Centerline goodness [0,1] 0.3057822613815946 Centerline is valid? [False, False] Translation: X:3.84, Y:0.19, Z:-0.03 [[ 0.99960165 -0.00723116 -0.02728094 3.84264256] [ 0.00696814 0.99992844 -0.00972393 0.19381939] [ 0.0273493 0.00952996 0.99958051 -0.03353072] [ 0. 0. 0. 1. ]] SLAMing on 111.99463044 meters Centerline goodness [0,1] 0.30509318383514794 Centerline is valid? [False, False] Translation: X:3.84, Y:0.20, Z:-0.03 [[ 0.99959624 -0.00737694 -0.02743966 3.84346156] [ 0.00709807 0.99992231 -0.01024675 0.19677129] [ 0.02751311 0.01004784 0.99957094 -0.0342043 ] [ 0. 0. 0. 1. ]] SLAMing on 112.02463044 meters Centerline goodness [0,1] 0.30822392651328046 Centerline is valid? [False, False] Translation: X:3.84, Y:0.20, Z:-0.03 [[ 0.99961318 -0.00423314 -0.02748753 3.84376735] [ 0.00403445 0.99996536 -0.00727991 0.19862806] [ 0.0275174 0.0071662 0.99959564 -0.03452915] [ 0. 0. 0. 1. ]] SLAMing on 112.05463044 meters Centerline goodness [0,1] 0.3045076207977516 Centerline is valid? [False, False] Translation: X:3.84, Y:0.20, Z:-0.03 [[ 0.99961171 -0.00440008 -0.02751478 3.84366219] [ 0.0041875 0.99996097 -0.00777905 0.20183582] [ 0.02754794 0.00766081 0.99959113 -0.03422709] [ 0. 0. 0. 1. ]] SLAMing on 112.08463044 meters Centerline goodness [0,1] 0.3047207518634547 Centerline is valid? [False, False] Translation: X:3.84, Y:0.20, Z:-0.03 [[ 0.9996108 -0.00451115 -0.02752992 3.84325054] [ 0.0042935 0.9999591 -0.00795981 0.20257362] [ 0.02756471 0.00783852 0.99958929 -0.03355644] [ 0. 0. 0. 1. ]] SLAMing on 112.11463044 meters Centerline goodness [0,1] 0.3118241835369464 Centerline is valid? [False, False] Translation: X:3.82, Y:0.20, Z:-0.03 [[ 9.99596617e-01 3.60770198e-03 -2.81706969e-02 3.82297584e+00] [-3.87144615e-03 9.99949135e-01 -9.31343689e-03 2.00070891e-01] [ 2.81356638e-02 9.41874134e-03 9.99559739e-01 -3.44763560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14463044 meters Centerline goodness [0,1] 0.3045051253337927 Centerline is valid? [False, False] Translation: X:3.84, Y:0.21, Z:-0.03 [[ 9.99550482e-01 -3.88662728e-03 -2.97275532e-02 3.84389581e+00] [ 3.62262874e-03 9.99953571e-01 -8.92930955e-03 2.09322384e-01] [ 2.97608778e-02 8.81760378e-03 9.99518154e-01 -3.30183670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17463044 meters Centerline goodness [0,1] 0.3031208356617805 Centerline is valid? [False, False] Translation: X:3.84, Y:0.21, Z:-0.03 [[ 9.99563592e-01 -8.08521512e-04 -2.95291539e-02 3.84378436e+00] [ 6.28534051e-04 9.99981173e-01 -6.10401966e-03 2.11131780e-01] [ 2.95335332e-02 6.08279574e-03 9.99545282e-01 -3.34420101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20463044 meters Centerline goodness [0,1] 0.30615871364798686 Centerline is valid? [False, False] Translation: X:3.84, Y:0.21, Z:-0.03 [[ 9.99567545e-01 -8.55206983e-04 -2.93937289e-02 3.84336895e+00] [ 6.61733467e-04 9.99978059e-01 -6.59123320e-03 2.14349851e-01] [ 2.93987209e-02 6.56893197e-03 9.99546179e-01 -3.32562035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23463043999999 meters Centerline goodness [0,1] 0.30323687031082525 Centerline is valid? [False, False] Translation: X:3.86, Y:0.22, Z:-0.03 [[ 9.99569562e-01 -5.89978230e-03 -2.87381879e-02 3.86410151e+00] [ 5.80690354e-03 9.99977647e-01 -3.31427977e-03 2.20125313e-01] [ 2.87570991e-02 3.14597329e-03 9.99581478e-01 -3.20951344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26463043999999 meters Centerline goodness [0,1] 0.30845520623522205 Centerline is valid? [False, False] Translation: X:3.82, Y:0.23, Z:-0.03 [[ 9.99524052e-01 -3.90030842e-03 -3.06015822e-02 3.81773090e+00] [ 3.81575082e-03 9.99988741e-01 -2.82108902e-03 2.25164311e-01] [ 3.06122407e-02 2.70297832e-03 9.99527681e-01 -3.15735298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29463043999999 meters Centerline goodness [0,1] 0.30369651902144623 Centerline is valid? [False, False] Translation: X:3.84, Y:0.23, Z:-0.03 [[ 9.99517947e-01 4.72962425e-03 -3.06839531e-02 3.84052799e+00] [-4.84308641e-03 9.99981704e-01 -3.62450252e-03 2.27630677e-01] [ 3.06662491e-02 3.77136035e-03 9.99522565e-01 -3.10233465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32463043999999 meters Centerline goodness [0,1] 0.3030009263448157 Centerline is valid? [False, False] Translation: X:3.84, Y:0.24, Z:-0.03 [[ 9.99503026e-01 6.95362112e-03 -3.07465025e-02 3.84191655e+00] [-7.04727978e-03 9.99970849e-01 -2.93883982e-03 2.39054704e-01] [ 3.07251707e-02 3.15405850e-03 9.99522894e-01 -3.24037819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35463044 meters Centerline goodness [0,1] 0.3028752330977059 Centerline is valid? [False, False] Translation: X:3.84, Y:0.24, Z:-0.03 [[ 9.99512774e-01 6.83244000e-03 -3.04554062e-02 3.84102416e+00] [-6.94640723e-03 9.99969256e-01 -3.63787008e-03 2.43341374e-01] [ 3.04296144e-02 3.84765327e-03 9.99529506e-01 -3.21457008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38463044 meters Centerline goodness [0,1] 0.3030072739116274 Centerline is valid? [False, False] Translation: X:3.84, Y:0.25, Z:-0.03 [[ 0.99951509 0.00670423 -0.03040794 3.84069264] [-0.00683503 0.99996782 -0.00419929 0.2467952 ] [ 0.03037881 0.00440509 0.99952875 -0.03185798] [ 0. 0. 0. 1. ]] SLAMing on 112.41463044 meters Centerline goodness [0,1] 0.30396609143203146 Centerline is valid? [False, False] Translation: X:3.86, Y:0.26, Z:-0.03 [[ 9.99495372e-01 -2.88790963e-04 -3.17634613e-02 3.85847329e+00] [ 1.99489992e-04 9.99996019e-01 -2.81457013e-03 2.55474899e-01] [ 3.17641477e-02 2.80681333e-03 9.99491451e-01 -2.85821875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44463044 meters Centerline goodness [0,1] 0.303060581706019 Centerline is valid? [False, False] Translation: X:3.86, Y:0.26, Z:-0.03 [[ 9.99490202e-01 -7.11425761e-04 -3.19191012e-02 3.85867032e+00] [ 5.88375446e-04 9.99992360e-01 -3.86429529e-03 2.60475903e-01] [ 3.19216065e-02 3.84354487e-03 9.99482985e-01 -2.83485858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47463044 meters Centerline goodness [0,1] 0.30086262669829633 Centerline is valid? [False, False] Translation: X:3.86, Y:0.26, Z:-0.03 [[ 9.99491766e-01 -9.10786576e-04 -3.18650158e-02 3.85841518e+00] [ 7.72387798e-04 9.99990217e-01 -4.35532254e-03 2.62828406e-01] [ 3.18686708e-02 4.32849686e-03 9.99482692e-01 -2.81721412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50463044 meters Centerline goodness [0,1] 0.3036126224156692 Centerline is valid? [False, False] Translation: X:3.86, Y:0.27, Z:-0.03 [[ 9.99497122e-01 -1.01419933e-03 -3.16934305e-02 3.85763940e+00] [ 8.63687248e-04 9.99988287e-01 -4.76232856e-03 2.65184561e-01] [ 3.16978893e-02 4.73256048e-03 9.99486291e-01 -2.76339118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.53463044 meters Centerline goodness [0,1] 0.3046937495946209 Centerline is valid? [False, False] Translation: X:3.86, Y:0.27, Z:-0.03 [[ 9.99501879e-01 -9.90410712e-04 -3.15438297e-02 3.85695074e+00] [ 8.31434030e-04 9.99986890e-01 -5.05258408e-03 2.67627226e-01] [ 3.15484203e-02 5.02384067e-03 9.99489599e-01 -2.71539612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56463044 meters Centerline goodness [0,1] 0.3051619762622866 Centerline is valid? [False, False] Translation: X:3.86, Y:0.27, Z:-0.03 [[ 9.99505666e-01 -1.03390364e-03 -3.14222011e-02 3.85647354e+00] [ 8.64757081e-04 9.99985067e-01 -5.39613994e-03 2.69948307e-01] [ 3.14273110e-02 5.36629988e-03 9.99491634e-01 -2.68602764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59463043999999 meters Centerline goodness [0,1] 0.3050010778184954 Centerline is valid? [False, False] Translation: X:3.86, Y:0.27, Z:-0.03 [[ 9.99503535e-01 -1.20405425e-03 -3.14838567e-02 3.85662099e+00] [ 1.01541546e-03 9.99981443e-01 -6.00690593e-03 2.73014080e-01] [ 3.14905051e-02 5.97195452e-03 9.99486210e-01 -2.68644342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62463043999999 meters Centerline goodness [0,1] 0.3034918437107871 Centerline is valid? [False, False] Translation: X:3.86, Y:0.27, Z:-0.03 [[ 9.99500959e-01 -1.21426373e-03 -3.15651412e-02 3.85687589e+00] [ 1.02008906e-03 9.99980464e-01 -6.16692968e-03 2.74124143e-01] [ 3.15720128e-02 6.13165288e-03 9.99482672e-01 -2.69876609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65463043999999 meters Centerline goodness [0,1] 0.3047703755125062 Centerline is valid? [False, False] Translation: X:3.86, Y:0.28, Z:-0.03 [[ 9.99501015e-01 -1.13272450e-03 -3.15663900e-02 3.85683914e+00] [ 9.34485873e-04 9.99979755e-01 -6.29409911e-03 2.75577161e-01] [ 3.15728804e-02 6.26146010e-03 9.99481839e-01 -2.69265847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68463043999999 meters Centerline goodness [0,1] 0.3028823300635236 Centerline is valid? [False, False] Translation: X:3.86, Y:0.28, Z:-0.03 [[ 9.99496949e-01 -1.04233958e-03 -3.16979817e-02 3.85724212e+00] [ 8.37909020e-04 9.99978770e-01 -6.46192385e-03 2.77341262e-01] [ 3.17040443e-02 6.43211315e-03 9.99476604e-01 -2.70857648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71463044 meters Centerline goodness [0,1] 0.3027544754821413 Centerline is valid? [False, False] Translation: X:3.86, Y:0.28, Z:-0.03 [[ 9.99485624e-01 -1.11732941e-03 -3.20505752e-02 3.85832793e+00] [ 8.91374541e-04 9.99974657e-01 -7.06336952e-03 2.80611846e-01] [ 3.20576551e-02 7.03116722e-03 9.99461290e-01 -2.74951721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74463044 meters Centerline goodness [0,1] 0.3015914201695209 Centerline is valid? [False, False] Translation: X:3.86, Y:0.28, Z:-0.03 [[ 9.99480124e-01 -1.20497009e-03 -3.22184815e-02 3.85885865e+00] [ 9.68635143e-04 9.99972519e-01 -7.34998643e-03 2.81984758e-01] [ 3.22264526e-02 7.31495739e-03 9.99453824e-01 -2.77439364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77463044 meters Centerline goodness [0,1] 0.29887278582930754 Centerline is valid? [False, False] Translation: X:3.86, Y:0.28, Z:-0.03 [[ 9.99471997e-01 -1.22138963e-03 -3.24690030e-02 3.85959352e+00] [ 9.76785351e-04 9.99971034e-01 -7.54826534e-03 2.83330671e-01] [ 3.24772819e-02 7.51256458e-03 9.99444239e-01 -2.79917456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80463044 meters Centerline goodness [0,1] 0.30056964629946503 Centerline is valid? [False, False] Translation: X:3.86, Y:0.28, Z:-0.03 [[ 9.99462607e-01 -1.03150945e-03 -3.27632770e-02 3.86053190e+00] [ 7.90133188e-04 9.99972460e-01 -7.37937364e-03 2.83758625e-01] [ 3.27699866e-02 7.34952066e-03 9.99435897e-01 -2.83543719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83463044 meters Centerline goodness [0,1] 0.3002186478470764 Centerline is valid? [False, False] Translation: X:3.86, Y:0.28, Z:-0.03 [[ 9.99466480e-01 -1.02585102e-03 -3.26451217e-02 3.86028390e+00] [ 7.89151715e-04 9.99973315e-01 -7.26273786e-03 2.83074212e-01] [ 3.26517010e-02 7.23310109e-03 9.99440618e-01 -2.83444978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86463044 meters Centerline goodness [0,1] 0.30462969026258924 Centerline is valid? [False, False] Translation: X:3.86, Y:0.28, Z:-0.03 [[ 9.99476930e-01 -1.10150981e-03 -3.23210892e-02 3.85950514e+00] [ 8.67992144e-04 9.99973428e-01 -7.23807336e-03 2.82507774e-01] [ 3.23282032e-02 7.20623289e-03 9.99451328e-01 -2.82698116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.89463044 meters Centerline goodness [0,1] 0.30466776974658194 Centerline is valid? [False, False] Translation: X:3.86, Y:0.28, Z:-0.03 [[ 9.99482494e-01 -1.18615569e-03 -3.21455689e-02 3.85892827e+00] [ 9.53367385e-04 9.99973220e-01 -7.25605180e-03 2.82088120e-01] [ 3.21533148e-02 7.22165021e-03 9.99456859e-01 -2.80065786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92463044 meters Centerline goodness [0,1] 0.30114530983758603 Centerline is valid? [False, False] Translation: X:3.86, Y:0.28, Z:-0.03 [[ 9.99479363e-01 -1.21538332e-03 -3.22416892e-02 3.85919322e+00] [ 9.79838659e-04 9.99972726e-01 -7.32038737e-03 2.82322556e-01] [ 3.22497069e-02 7.28498445e-03 9.99453293e-01 -2.80549110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.95463044 meters Centerline goodness [0,1] 0.2988562583308251 Centerline is valid? [False, False] Translation: X:3.86, Y:0.28, Z:-0.03 [[ 9.99465144e-01 -1.16081972e-03 -3.26814805e-02 3.86048144e+00] [ 9.17497928e-04 9.99971758e-01 -7.45926234e-03 2.83699975e-01] [ 3.26892164e-02 7.42528751e-03 9.99437982e-01 -2.84251226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98463043999999 meters Centerline goodness [0,1] 0.2988064974794261 Centerline is valid? [False, False] Translation: X:3.86, Y:0.28, Z:-0.03 [[ 9.99453950e-01 -1.15441911e-03 -3.30222486e-02 3.86154922e+00] [ 9.03261110e-04 9.99970562e-01 -7.61962762e-03 2.84924402e-01] [ 3.30300728e-02 7.58563921e-03 9.99425571e-01 -2.87839492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01463043999999 meters Centerline goodness [0,1] 0.3007363642287725 Centerline is valid? [False, False] Translation: X:3.86, Y:0.29, Z:-0.03 [[ 9.99444026e-01 -1.12553420e-03 -3.33222424e-02 3.86252472e+00] [ 8.66783078e-04 9.99969371e-01 -7.77854476e-03 2.86244285e-01] [ 3.33299768e-02 7.74533694e-03 9.99414390e-01 -2.92443477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04463043999999 meters Centerline goodness [0,1] 0.30216630196936545 Centerline is valid? [False, False] Translation: X:3.86, Y:0.29, Z:-0.03 [[ 9.99440793e-01 -1.13164788e-03 -3.34188589e-02 3.86295287e+00] [ 8.65978331e-04 9.99967919e-01 -7.96309368e-03 2.87404386e-01] [ 3.34267982e-02 7.92970066e-03 9.99409710e-01 -2.95383213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07463043999999 meters Centerline goodness [0,1] 0.2989261308167914 Centerline is valid? [False, False] Translation: X:3.86, Y:0.29, Z:-0.03 [[ 9.99450763e-01 -1.11312599e-03 -3.31199757e-02 3.86184161e+00] [ 8.39276688e-04 9.99965358e-01 -8.28115652e-03 2.89559799e-01] [ 3.31280463e-02 8.24881138e-03 9.99417075e-01 -2.89929500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10463044 meters Centerline goodness [0,1] 0.2985738980121002 Centerline is valid? [False, False] Translation: X:3.86, Y:0.29, Z:-0.03 [[ 9.99452897e-01 -1.10720818e-03 -3.30557168e-02 3.86141734e+00] [ 8.31040473e-04 9.99964649e-01 -8.36718285e-03 2.90179877e-01] [ 3.30638125e-02 8.33513451e-03 9.99418486e-01 -2.85962765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13463044 meters Centerline goodness [0,1] 0.29843905391966097 Centerline is valid? [False, False] Translation: X:3.86, Y:0.29, Z:-0.03 [[ 9.99452727e-01 -1.07152137e-03 -3.30620370e-02 3.86137594e+00] [ 7.96291168e-04 9.99964932e-01 -8.33670398e-03 2.90139444e-01] [ 3.30698105e-02 8.30581452e-03 9.99418531e-01 -2.85356653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16463044 meters Centerline goodness [0,1] 0.29526755601383425 Centerline is valid? [False, False] Translation: X:3.86, Y:0.29, Z:-0.03 [[ 9.99448084e-01 -1.05652792e-03 -3.32025856e-02 3.86185275e+00] [ 7.80059521e-04 9.99964929e-01 -8.33856361e-03 2.90189726e-01] [ 3.32102311e-02 8.30806142e-03 9.99413857e-01 -2.87513729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19463044 meters Centerline goodness [0,1] 0.2996426080892608 Centerline is valid? [False, False] Translation: X:3.86, Y:0.29, Z:-0.03 [[ 9.99432345e-01 -1.03019753e-03 -3.36738190e-02 3.86354494e+00] [ 7.50966612e-04 9.99965241e-01 -8.30382209e-03 2.90013623e-01] [ 3.36812031e-02 8.27382047e-03 9.99398379e-01 -2.96361668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22463044 meters Centerline goodness [0,1] 0.29934295841618397 Centerline is valid? [False, False] Translation: X:3.86, Y:0.29, Z:-0.03 [[ 9.99428700e-01 -9.89529984e-04 -3.37830408e-02 3.86386792e+00] [ 7.09702631e-04 9.99965352e-01 -8.29405861e-03 2.90152970e-01] [ 3.37900775e-02 8.26534430e-03 9.99394774e-01 -2.97140998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.25463044 meters Centerline goodness [0,1] 0.2971638089075811 Centerline is valid? [False, False] Translation: X:3.86, Y:0.29, Z:-0.03 [[ 9.99433612e-01 -1.00487495e-03 -3.36369638e-02 3.86322179e+00] [ 7.22260633e-04 9.99964349e-01 -8.41299405e-03 2.90842748e-01] [ 3.36442187e-02 8.38393437e-03 9.99398707e-01 -2.93037833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28463044 meters Centerline goodness [0,1] 0.2962875282470677 Centerline is valid? [False, False] Translation: X:3.86, Y:0.29, Z:-0.03 [[ 9.99440176e-01 -1.05869038e-03 -3.34396960e-02 3.86234995e+00] [ 7.71159202e-04 9.99962634e-01 -8.61022569e-03 2.91865717e-01] [ 3.34475621e-02 8.57961815e-03 9.99403648e-01 -2.87211690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.31463044 meters Centerline goodness [0,1] 0.2944381042613208 Centerline is valid? [False, False] Translation: X:3.86, Y:0.29, Z:-0.03 [[ 9.99439333e-01 -1.20024490e-03 -3.34600968e-02 3.86219054e+00] [ 9.00221511e-04 9.99959272e-01 -8.98022599e-03 2.93521923e-01] [ 3.34695125e-02 8.94506958e-03 9.99399709e-01 -2.84546337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34463043999999 meters Centerline goodness [0,1] 0.2944381042613208 Centerline is valid? [False, False] Translation: X:3.86, Y:0.29, Z:-0.03 [[ 9.99439333e-01 -1.20024490e-03 -3.34600968e-02 3.86219054e+00] [ 9.00221511e-04 9.99959272e-01 -8.98022599e-03 2.93521923e-01] [ 3.34695125e-02 8.94506958e-03 9.99399709e-01 -2.84546337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37463043999999 meters Centerline goodness [0,1] 0.2993367593446655 Centerline is valid? [False, False] Translation: X:3.82, Y:0.29, Z:-0.03 [[ 9.99347125e-01 -4.39605048e-04 -3.61265843e-02 3.81868101e+00] [ 9.35326991e-05 9.99954101e-01 -9.58056909e-03 2.94409928e-01] [ 3.61291378e-02 9.57093517e-03 9.99301297e-01 -2.95141334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40463043999999 meters Centerline goodness [0,1] 0.2923412338643526 Centerline is valid? [False, False] Translation: X:3.85, Y:0.30, Z:-0.03 [[ 0.99920802 0.00904254 -0.03875003 3.84667004] [-0.00941468 0.9999112 -0.0094321 0.29929252] [ 0.0386613 0.00978944 0.99920442 -0.03057148] [ 0. 0. 0. 1. ]] SLAMing on 113.43463043999999 meters Centerline goodness [0,1] 0.2914323875999052 Centerline is valid? [False, False] Translation: X:3.85, Y:0.30, Z:-0.03 [[ 0.9991753 0.00939486 -0.03950272 3.84891344] [-0.00978359 0.99990549 -0.00965895 0.30330838] [ 0.03940825 0.01003746 0.99917278 -0.03121795] [ 0. 0. 0. 1. ]] SLAMing on 113.46463044 meters Centerline goodness [0,1] 0.29037815487983465 Centerline is valid? [False, False] Translation: X:3.85, Y:0.31, Z:-0.03 [[ 0.99916121 0.0095967 -0.03980929 3.8497161 ] [-0.01000414 0.99989947 -0.0100481 0.30763907] [ 0.03970885 0.01043793 0.99915677 -0.03136509] [ 0. 0. 0. 1. ]] SLAMing on 113.49463044 meters Centerline goodness [0,1] 0.29001663534037636 Centerline is valid? [False, False] Translation: X:3.85, Y:0.31, Z:-0.03 [[ 0.99916923 0.00973016 -0.03957493 3.84881396] [-0.01015032 0.99989409 -0.01042983 0.31137471] [ 0.03946926 0.01082286 0.99916217 -0.03096379] [ 0. 0. 0. 1. ]] SLAMing on 113.52463044 meters Centerline goodness [0,1] 0.2947719929743913 Centerline is valid? [False, False] Translation: X:3.85, Y:0.32, Z:-0.03 [[ 0.99919893 0.00979048 -0.03880273 3.84568422] [-0.01022261 0.99988775 -0.01095369 0.31804846] [ 0.03869114 0.01134158 0.99918685 -0.02929481] [ 0. 0. 0. 1. ]] SLAMing on 113.55463044 meters Centerline goodness [0,1] 0.2925300892413406 Centerline is valid? [False, False] Translation: X:3.86, Y:0.32, Z:-0.03 [[ 9.99234927e-01 1.29460476e-03 -3.90881533e-02 3.86465316e+00] [-1.69721994e-03 9.99945835e-01 -1.02687585e-02 3.24474526e-01] [ 3.90727421e-02 1.03272434e-02 9.99183001e-01 -2.72846137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58463044 meters Centerline goodness [0,1] 0.29169450971093536 Centerline is valid? [False, False] Translation: X:3.87, Y:0.32, Z:-0.03 [[ 9.99221998e-01 1.24338062e-03 -3.94189294e-02 3.86567820e+00] [-1.64893121e-03 9.99946032e-01 -1.02573769e-02 3.24270740e-01] [ 3.94040482e-02 1.03143958e-02 9.99170123e-01 -2.76078330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61463044 meters Centerline goodness [0,1] 0.29087071694699895 Centerline is valid? [False, False] Translation: X:3.87, Y:0.32, Z:-0.03 [[ 9.99206442e-01 1.18370039e-03 -3.98131203e-02 3.86700066e+00] [-1.59102503e-03 9.99946705e-01 -1.02007868e-02 3.23749864e-01] [ 3.97989238e-02 1.02560355e-02 9.99155073e-01 -2.80729421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64463044 meters Centerline goodness [0,1] 0.2929767340726245 Centerline is valid? [False, False] Translation: X:3.87, Y:0.32, Z:-0.03 [[ 9.99189056e-01 5.36666669e-04 -4.02609330e-02 3.86839403e+00] [-9.60152645e-04 9.99944413e-01 -1.04999350e-02 3.22644433e-01] [ 4.02530600e-02 1.05300767e-02 9.99134029e-01 -2.84311220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67463044 meters Centerline goodness [0,1] 0.2937267295869772 Centerline is valid? [False, False] Translation: X:3.87, Y:0.32, Z:-0.03 [[ 9.99197165e-01 4.52682263e-04 -4.00602025e-02 3.86752992e+00] [-8.68691024e-04 9.99945876e-01 -1.03677920e-02 3.21371616e-01] [ 4.00533410e-02 1.03942683e-02 9.99143478e-01 -2.78033344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70463044 meters Centerline goodness [0,1] 0.2982087789515123 Centerline is valid? [False, False] Translation: X:3.87, Y:0.32, Z:-0.03 [[ 9.99210850e-01 4.49544539e-04 -3.97174529e-02 3.86637308e+00] [-8.52170516e-04 9.99948419e-01 -1.01209077e-02 3.19877069e-01] [ 3.97108544e-02 1.01467668e-02 9.99159693e-01 -2.72147263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73463043999999 meters Centerline goodness [0,1] 0.29836840033244394 Centerline is valid? [False, False] Translation: X:3.87, Y:0.32, Z:-0.03 [[ 9.99220827e-01 5.82183866e-04 -3.94639014e-02 3.86554734e+00] [-9.66618991e-04 9.99952263e-01 -9.72305677e-03 3.18268530e-01] [ 3.94563569e-02 9.75362739e-03 9.99173690e-01 -2.67927800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76463043999999 meters Centerline goodness [0,1] 0.29789416257501367 Centerline is valid? [False, False] Translation: X:3.87, Y:0.32, Z:-0.03 [[ 9.99227682e-01 7.07754914e-04 -3.92878870e-02 3.86519983e+00] [-1.07529873e-03 9.99955852e-01 -9.33480060e-03 3.16565510e-01] [ 3.92795458e-02 9.36983738e-03 9.99184329e-01 -2.68170560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79463043999999 meters Centerline goodness [0,1] 0.2983098898702432 Centerline is valid? [False, False] Translation: X:3.87, Y:0.31, Z:-0.03 [[ 9.99213383e-01 2.11406616e-04 -3.96556548e-02 3.86668423e+00] [-5.78486836e-04 9.99957093e-01 -9.24544672e-03 3.13262318e-01] [ 3.96519987e-02 9.26111437e-03 9.99170631e-01 -2.75963726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82463043999999 meters Centerline goodness [0,1] 0.296554117060265 Centerline is valid? [False, False] Translation: X:3.87, Y:0.31, Z:-0.03 [[ 9.99195664e-01 2.97147335e-04 -4.00990866e-02 3.86803765e+00] [-6.52418375e-04 9.99960651e-01 -8.84703365e-03 3.10928563e-01] [ 4.00948799e-02 8.86607904e-03 9.99156541e-01 -2.79623902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85463044 meters Centerline goodness [0,1] 0.2963842930580155 Centerline is valid? [False, False] Translation: X:3.87, Y:0.31, Z:-0.03 [[ 9.99182992e-01 4.68441006e-04 -4.04119892e-02 3.86906070e+00] [-8.09554733e-04 9.99964182e-01 -8.42495258e-03 3.08930129e-01] [ 4.04065951e-02 8.45078505e-03 9.99147582e-01 -2.83332623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88463044 meters Centerline goodness [0,1] 0.2958882079367149 Centerline is valid? [False, False] Translation: X:3.87, Y:0.31, Z:-0.03 [[ 9.99177962e-01 6.30478309e-04 -4.05339755e-02 3.86936344e+00] [-9.58642076e-04 9.99966920e-01 -8.07709035e-03 3.07354668e-01] [ 4.05275423e-02 8.10930825e-03 9.99145514e-01 -2.83291382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91463044 meters Centerline goodness [0,1] 0.2965767023760173 Centerline is valid? [False, False] Translation: X:3.87, Y:0.31, Z:-0.03 [[ 9.99174166e-01 6.84742665e-04 -4.06265589e-02 3.86947565e+00] [-1.00705689e-03 9.99968179e-01 -7.91364952e-03 3.06359286e-01] [ 4.06198473e-02 7.94802741e-03 9.99143061e-01 -2.81527057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94463044 meters Centerline goodness [0,1] 0.29533689978557964 Centerline is valid? [False, False] Translation: X:3.87, Y:0.31, Z:-0.03 [[ 9.99174094e-01 7.87545397e-04 -4.06264660e-02 3.86933986e+00] [-1.10923951e-03 9.99968208e-01 -7.89640492e-03 3.06247136e-01] [ 4.06189556e-02 7.93494772e-03 9.99143201e-01 -2.79652965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97463044 meters Centerline goodness [0,1] 0.2956453986667821 Centerline is valid? [False, False] Translation: X:3.87, Y:0.31, Z:-0.03 [[ 9.99171764e-01 9.23687328e-04 -4.06808755e-02 3.86957381e+00] [-1.24993000e-03 9.99967259e-01 -7.99485437e-03 3.07443291e-01] [ 4.06721589e-02 8.03908099e-03 9.99140205e-01 -2.81555043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00463044 meters Centerline goodness [0,1] 0.29307519834425666 Centerline is valid? [False, False] Translation: X:3.87, Y:0.31, Z:-0.03 [[ 9.99170646e-01 1.19841405e-03 -4.07011567e-02 3.86956840e+00] [-1.52535483e-03 9.99966815e-01 -8.00261017e-03 3.08832486e-01] [ 4.06902156e-02 8.05805688e-03 9.99139317e-01 -2.81278880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03463044 meters Centerline goodness [0,1] 0.29684439608269864 Centerline is valid? [False, False] Translation: X:3.87, Y:0.31, Z:-0.03 [[ 9.99181516e-01 1.37423451e-03 -4.04278348e-02 3.86865251e+00] [-1.70193070e-03 9.99965969e-01 -8.07240739e-03 3.10160972e-01] [ 4.04153656e-02 8.13460562e-03 9.99149852e-01 -2.77959742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06463044 meters Centerline goodness [0,1] 0.2946894262683737 Centerline is valid? [False, False] Translation: X:3.89, Y:0.31, Z:-0.03 [[ 9.99198661e-01 -3.99228727e-03 -3.98258300e-02 3.88918158e+00] [ 3.80603960e-03 9.99981470e-01 -4.75127877e-03 3.14417845e-01] [ 3.98440604e-02 4.59589270e-03 9.99195341e-01 -2.68799986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09463043999999 meters Centerline goodness [0,1] 0.29532584073880463 Centerline is valid? [False, False] Translation: X:3.87, Y:0.31, Z:-0.03 [[ 0.99917956 0.0050161 -0.04018759 3.86901262] [-0.00526137 0.99996816 -0.00599985 0.31254992] [ 0.04015621 0.00620637 0.99917414 -0.02848064] [ 0. 0. 0. 1. ]] SLAMing on 114.12463043999999 meters Centerline goodness [0,1] 0.2948854845387784 Centerline is valid? [False, False] Translation: X:3.87, Y:0.31, Z:-0.03 [[ 0.99918335 0.00499055 -0.04009651 3.8686149 ] [-0.00524833 0.99996622 -0.00632623 0.31432638] [ 0.04006359 0.0065315 0.99917578 -0.02833584] [ 0. 0. 0. 1. ]] SLAMing on 114.15463043999999 meters Centerline goodness [0,1] 0.2935877168287243 Centerline is valid? [False, False] Translation: X:3.88, Y:0.32, Z:-0.02 [[ 9.99172943e-01 -1.20842243e-03 -4.06444410e-02 3.88358831e+00] [ 1.03010593e-03 9.99989755e-01 -4.40788632e-03 3.21728288e-01] [ 4.06493512e-02 4.36237266e-03 9.99163950e-01 -2.49415545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18463043999999 meters Centerline goodness [0,1] 0.2905248190279214 Centerline is valid? [False, False] Translation: X:3.88, Y:0.33, Z:-0.02 [[ 9.99176161e-01 2.59386183e-03 -4.05002493e-02 3.88298671e+00] [-2.65510586e-03 9.99995412e-01 -1.45847389e-03 3.26499792e-01] [ 4.04962804e-02 1.56480480e-03 9.99178464e-01 -2.47838336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21463044 meters Centerline goodness [0,1] 0.29202220734051976 Centerline is valid? [False, False] Translation: X:3.88, Y:0.33, Z:-0.03 [[ 9.99166584e-01 2.57662316e-03 -4.07369434e-02 3.88366567e+00] [-2.65659526e-03 9.99994649e-01 -1.90912310e-03 3.29424840e-01] [ 4.07318063e-02 2.01575358e-03 9.99168082e-01 -2.51120439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24463044 meters Centerline goodness [0,1] 0.2881007952973721 Centerline is valid? [False, False] Translation: X:3.88, Y:0.33, Z:-0.03 [[ 9.99167511e-01 2.46922961e-03 -4.07208450e-02 3.88378360e+00] [-2.56608159e-03 9.99994002e-01 -2.32634047e-03 3.31777052e-01] [ 4.07148565e-02 2.42889683e-03 9.99167854e-01 -2.54500699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27463044 meters Centerline goodness [0,1] 0.29141777266112046 Centerline is valid? [False, False] Translation: X:3.88, Y:0.33, Z:-0.03 [[ 9.99168907e-01 2.33253315e-03 -4.06946456e-02 3.88379979e+00] [-2.44361418e-03 9.99993423e-01 -2.68009463e-03 3.33497586e-01] [ 4.06881266e-02 2.77730923e-03 9.99168035e-01 -2.56099202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30463044 meters Centerline goodness [0,1] 0.2861773608397914 Centerline is valid? [False, False] Translation: X:3.90, Y:0.34, Z:-0.02 [[ 9.99169046e-01 -5.82934467e-03 -4.03390202e-02 3.90292951e+00] [ 5.76656808e-03 9.99981975e-01 -1.67240700e-03 3.40449609e-01] [ 4.03480421e-02 1.43839960e-03 9.99184651e-01 -2.40564941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33463044 meters Centerline goodness [0,1] 0.29097952646842407 Centerline is valid? [False, False] Translation: X:3.90, Y:0.34, Z:-0.02 [[ 9.99168460e-01 -5.90471703e-03 -4.03425739e-02 3.90254130e+00] [ 5.83860189e-03 9.99981413e-01 -1.75646753e-03 3.40801456e-01] [ 4.03521954e-02 1.51946273e-03 9.99184363e-01 -2.34494749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36463044 meters Centerline goodness [0,1] 0.29527507809788267 Centerline is valid? [False, False] Translation: X:3.90, Y:0.34, Z:-0.02 [[ 9.99191286e-01 -6.27945349e-03 -3.97157663e-02 3.89984125e+00] [ 6.20886927e-03 9.99978919e-01 -1.90032956e-03 3.40600279e-01] [ 3.97268621e-02 1.65220274e-03 9.99209211e-01 -2.16179576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.39463044 meters Centerline goodness [0,1] 0.29451207603671636 Centerline is valid? [False, False] Translation: X:3.90, Y:0.34, Z:-0.02 [[ 9.99185334e-01 -6.31673584e-03 -3.98593309e-02 3.90006014e+00] [ 6.24828019e-03 9.99978783e-01 -1.84177405e-03 3.40165290e-01] [ 3.98701192e-02 1.59122135e-03 9.99203604e-01 -2.13627750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42463044 meters Centerline goodness [0,1] 0.29188665014545845 Centerline is valid? [False, False] Translation: X:3.90, Y:0.34, Z:-0.02 [[ 9.99167334e-01 -6.37762102e-03 -4.02984425e-02 3.90130569e+00] [ 6.30863223e-03 9.99978410e-01 -1.83888184e-03 3.39923146e-01] [ 4.03093001e-02 1.58312262e-03 9.99185996e-01 -2.16088949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.45463044 meters Centerline goodness [0,1] 0.2899747009133399 Centerline is valid? [False, False] Translation: X:3.90, Y:0.34, Z:-0.02 [[ 9.99148089e-01 -6.35767688e-03 -4.07759150e-02 3.90296917e+00] [ 6.28878575e-03 9.99978574e-01 -1.81755319e-03 3.39968241e-01] [ 4.07865967e-02 1.55957380e-03 9.99166663e-01 -2.23128544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48463043999999 meters Centerline goodness [0,1] 0.2927292340884574 Centerline is valid? [False, False] Translation: X:3.90, Y:0.34, Z:-0.02 [[ 9.99132274e-01 -6.33613716e-03 -4.11649361e-02 3.90425346e+00] [ 6.26618116e-03 9.99978696e-01 -1.82821476e-03 3.40320538e-01] [ 4.11756429e-02 1.56868143e-03 9.99150692e-01 -2.27908539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51463043999999 meters Centerline goodness [0,1] 0.2964908456843941 Centerline is valid? [False, False] Translation: X:3.90, Y:0.34, Z:-0.02 [[ 9.99137795e-01 -6.47754180e-03 -4.10086444e-02 3.90393040e+00] [ 6.39303704e-03 9.99977163e-01 -2.19146335e-03 3.42187225e-01] [ 4.10219032e-02 1.92740408e-03 9.99156388e-01 -2.28359495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54463043999999 meters Centerline goodness [0,1] 0.2901027559224386 Centerline is valid? [False, False] Translation: X:3.92, Y:0.34, Z:-0.02 [[ 9.99201567e-01 8.77024860e-04 -3.99432003e-02 3.92365525e+00] [-1.02192586e-03 9.99992971e-01 -3.60740325e-03 3.41428970e-01] [ 3.99397557e-02 3.64534197e-03 9.99195440e-01 -2.09512347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57463043999999 meters Centerline goodness [0,1] 0.29279999999999995 Centerline is valid? [False, False] Translation: X:3.92, Y:0.34, Z:-0.02 [[ 9.99199329e-01 7.79624194e-04 -4.00011523e-02 3.92362155e+00] [-9.38352980e-04 9.99991761e-01 -3.94948367e-03 3.43301690e-01] [ 3.99977436e-02 3.98385664e-03 9.99191828e-01 -2.07936247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60463044 meters Centerline goodness [0,1] 0.29024306597505034 Centerline is valid? [False, False] Translation: X:3.92, Y:0.35, Z:-0.02 [[ 9.99186862e-01 8.10938307e-04 -4.03107540e-02 3.92436565e+00] [-9.81472616e-04 9.99990653e-01 -4.21088170e-03 3.45578734e-01] [ 4.03069624e-02 4.24702157e-03 9.99178318e-01 -2.08670436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63463044 meters Centerline goodness [0,1] 0.2948376335001408 Centerline is valid? [False, False] Translation: X:3.92, Y:0.35, Z:-0.02 [[ 9.99191395e-01 9.33652661e-04 -4.01955795e-02 3.92317573e+00] [-1.10393544e-03 9.99990510e-01 -4.21436877e-03 3.47113563e-01] [ 4.01912633e-02 4.25533434e-03 9.99182943e-01 -1.96420673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66463044 meters Centerline goodness [0,1] 0.2957311142332216 Centerline is valid? [False, False] Translation: X:3.92, Y:0.35, Z:-0.02 [[ 9.99208095e-01 8.18718911e-04 -3.97808010e-02 3.92156135e+00] [-9.82010488e-04 9.99991172e-01 -4.08541661e-03 3.45956484e-01] [ 3.97771050e-02 4.12124652e-03 9.99200079e-01 -1.86111744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69463044 meters Centerline goodness [0,1] 0.29605717740542403 Centerline is valid? [False, False] Translation: X:3.92, Y:0.34, Z:-0.02 [[ 9.99216798e-01 6.25970016e-04 -3.95651271e-02 3.92067707e+00] [-7.82926223e-04 9.99991886e-01 -3.95166422e-03 3.44290879e-01] [ 3.95623325e-02 3.97954585e-03 9.99209180e-01 -1.79535544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72463044 meters Centerline goodness [0,1] 0.2960881780851524 Centerline is valid? [False, False] Translation: X:3.92, Y:0.34, Z:-0.02 [[ 9.99212981e-01 5.45587502e-04 -3.96625969e-02 3.92104775e+00] [-6.94653980e-04 9.99992747e-01 -3.74467988e-03 3.42481382e-01] [ 3.96602662e-02 3.76928453e-03 9.99206113e-01 -1.80302609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.75463044 meters Centerline goodness [0,1] 0.29450729063615644 Centerline is valid? [False, False] Translation: X:3.92, Y:0.34, Z:-0.02 [[ 9.99195523e-01 4.88770446e-04 -4.01007304e-02 3.92243127e+00] [-6.29632112e-04 9.99993676e-01 -3.50014155e-03 3.40475899e-01] [ 4.00987661e-02 3.52257447e-03 9.99189512e-01 -1.83975724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78463044 meters Centerline goodness [0,1] 0.29330224399426696 Centerline is valid? [False, False] Translation: X:3.92, Y:0.34, Z:-0.02 [[ 9.99190616e-01 3.92644641e-04 -4.02238640e-02 3.92272556e+00] [-5.18973073e-04 9.99994966e-01 -3.13024029e-03 3.37405378e-01] [ 4.02224325e-02 3.14858183e-03 9.99185790e-01 -1.82588013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.81463044 meters Centerline goodness [0,1] 0.3017233856893543 Centerline is valid? [False, False] Translation: X:3.88, Y:0.33, Z:-0.02 [[ 9.99092186e-01 1.32613419e-03 -4.25798781e-02 3.87708808e+00] [-1.46789330e-03 9.99993484e-01 -3.29815816e-03 3.34592648e-01] [ 4.25752268e-02 3.35766676e-03 9.99087622e-01 -1.82963631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84463043999999 meters Centerline goodness [0,1] 0.29843520359643816 Centerline is valid? [False, False] Translation: X:3.88, Y:0.33, Z:-0.02 [[ 9.99094577e-01 1.39464254e-03 -4.25215408e-02 3.87707812e+00] [-1.53407542e-03 9.99993553e-01 -3.24665760e-03 3.34656899e-01] [ 4.25167387e-02 3.30894926e-03 9.99090275e-01 -1.84579747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87463043999999 meters Centerline goodness [0,1] 0.29789997835029225 Centerline is valid? [False, False] Translation: X:3.88, Y:0.34, Z:-0.02 [[ 9.99094180e-01 1.42719474e-03 -4.25297874e-02 3.87705036e+00] [-1.56955884e-03 9.99993276e-01 -3.31419389e-03 3.35143411e-01] [ 4.25247714e-02 3.37794483e-03 9.99089702e-01 -1.84286004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90463043999999 meters Centerline goodness [0,1] 0.2958047390910268 Centerline is valid? [False, False] Translation: X:3.88, Y:0.34, Z:-0.02 [[ 9.99090118e-01 1.36825835e-03 -4.26270400e-02 3.87719367e+00] [-1.52195790e-03 9.99992457e-01 -3.57343755e-03 3.36398453e-01] [ 4.26218291e-02 3.63506270e-03 9.99084664e-01 -1.83689162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93463043999999 meters Centerline goodness [0,1] 0.30153292045504454 Centerline is valid? [False, False] Translation: X:3.83, Y:0.34, Z:-0.02 [[ 9.98969285e-01 3.95943313e-03 -4.52182554e-02 3.83306099e+00] [-4.10511265e-03 9.99986678e-01 -3.12929083e-03 3.37303015e-01] [ 4.52052628e-02 3.31169146e-03 9.98972230e-01 -1.88683428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96463044 meters Centerline goodness [0,1] 0.2950482175750352 Centerline is valid? [False, False] Translation: X:3.86, Y:0.34, Z:-0.02 [[ 9.98970428e-01 -1.71932141e-03 -4.53335128e-02 3.85503730e+00] [ 1.71646246e-03 9.99998522e-01 -1.01991265e-04 3.41920381e-01] [ 4.53336212e-02 2.40729843e-05 9.98971903e-01 -1.84888932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99463044 meters Centerline goodness [0,1] 0.2968624120887495 Centerline is valid? [False, False] Translation: X:3.86, Y:0.34, Z:-0.02 [[ 9.98964801e-01 -1.65179257e-03 -4.54598437e-02 3.85545541e+00] [ 1.64611927e-03 9.99998632e-01 -1.62233276e-04 3.42610381e-01] [ 4.54600495e-02 8.72330070e-05 9.98966154e-01 -1.86877234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02463044 meters Centerline goodness [0,1] 0.2945644433895087 Centerline is valid? [False, False] Translation: X:3.87, Y:0.34, Z:-0.02 [[ 9.98941951e-01 5.68993794e-03 -4.56355453e-02 3.87488024e+00] [-5.75471828e-03 9.99982612e-01 -1.28826124e-03 3.39822395e-01] [ 4.56274216e-02 1.54951790e-03 9.98957325e-01 -1.63066036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05463044 meters Centerline goodness [0,1] 0.29796947693377973 Centerline is valid? [False, False] Translation: X:3.87, Y:0.34, Z:-0.02 [[ 9.98947090e-01 5.63407853e-03 -4.55298728e-02 3.87449592e+00] [-5.70210667e-03 9.99982812e-01 -1.36440482e-03 3.39918123e-01] [ 4.55214030e-02 1.62258442e-03 9.98962046e-01 -1.61075968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08463044 meters Centerline goodness [0,1] 0.29981507668878493 Centerline is valid? [False, False] Translation: X:3.87, Y:0.34, Z:-0.02 [[ 9.98937760e-01 5.60209817e-03 -4.57380287e-02 3.87443862e+00] [-5.67409240e-03 9.99982859e-01 -1.44437821e-03 3.40253430e-01] [ 4.57291532e-02 1.70236573e-03 9.98952425e-01 -1.53561535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11463044 meters Centerline goodness [0,1] 0.2961535963981904 Centerline is valid? [False, False] Translation: X:3.88, Y:0.34, Z:-0.02 [[ 9.98924438e-01 5.58156144e-03 -4.60305626e-02 3.87527337e+00] [-5.65657660e-03 9.99982877e-01 -1.49958507e-03 3.40352169e-01] [ 4.60214044e-02 1.75834757e-03 9.98938906e-01 -1.55257110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14463044 meters Centerline goodness [0,1] 0.2952223981262605 Centerline is valid? [False, False] Translation: X:3.88, Y:0.34, Z:-0.02 [[ 9.98920797e-01 5.50155780e-03 -4.61191297e-02 3.87558101e+00] [-5.58081511e-03 9.99983163e-01 -1.58994986e-03 3.40316022e-01] [ 4.61096060e-02 1.84561632e-03 9.98934682e-01 -1.56629453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.17463044 meters Centerline goodness [0,1] 0.2971558343246459 Centerline is valid? [False, False] Translation: X:3.88, Y:0.34, Z:-0.02 [[ 9.98928254e-01 5.45673523e-03 -4.59626715e-02 3.87513239e+00] [-5.53769131e-03 9.99983332e-01 -1.63419659e-03 3.40222934e-01] [ 4.59529880e-02 1.88697224e-03 9.98941821e-01 -1.55569249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20463043999999 meters Centerline goodness [0,1] 0.2943747054539223 Centerline is valid? [False, False] Translation: X:3.89, Y:0.34, Z:-0.01 [[ 9.99086319e-01 -4.75386550e-04 -4.27352481e-02 3.89394549e+00] [ 5.45157824e-04 9.99998538e-01 1.62100074e-03 3.41824888e-01] [ 4.27344150e-02 -1.64281711e-03 9.99085117e-01 -1.47250281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23463043999999 meters Centerline goodness [0,1] 0.29738576166070885 Centerline is valid? [False, False] Translation: X:3.89, Y:0.34, Z:-0.01 [[ 9.99092496e-01 -3.84964783e-04 -4.25914980e-02 3.89339026e+00] [ 4.60625280e-04 9.99998333e-01 1.76662299e-03 3.41337277e-01] [ 4.25907469e-02 -1.78463850e-03 9.99091009e-01 -1.44180853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26463043999999 meters Centerline goodness [0,1] 0.29738576166070885 Centerline is valid? [False, False] Translation: X:3.89, Y:0.34, Z:-0.01 [[ 9.99092496e-01 -3.84964783e-04 -4.25914980e-02 3.89339026e+00] [ 4.60625280e-04 9.99998333e-01 1.76662299e-03 3.41337277e-01] [ 4.25907469e-02 -1.78463850e-03 9.99091009e-01 -1.44180853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29463043999999 meters Centerline goodness [0,1] 0.29581765401569726 Centerline is valid? [False, False] Translation: X:3.89, Y:0.34, Z:-0.01 [[ 9.99082771e-01 -3.42291993e-04 -4.28193882e-02 3.89405308e+00] [ 4.19980098e-04 9.99998282e-01 1.80533814e-03 3.41139385e-01] [ 4.28186967e-02 -1.82166553e-03 9.99081198e-01 -1.45690975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32463043999999 meters Centerline goodness [0,1] 0.2981269510926119 Centerline is valid? [False, False] Translation: X:3.90, Y:0.34, Z:-0.02 [[ 9.99059641e-01 -2.68623003e-04 -4.33562152e-02 3.89577698e+00] [ 3.49662249e-04 9.99998206e-01 1.86157668e-03 3.40942619e-01] [ 4.33556373e-02 -1.87498617e-03 9.99057943e-01 -1.52479739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35463044 meters Centerline goodness [0,1] 0.29208230098028654 Centerline is valid? [False, False] Translation: X:3.90, Y:0.34, Z:-0.02 [[ 9.99029740e-01 -1.19901020e-04 -4.40404909e-02 3.89790755e+00] [ 2.08310584e-04 9.99997973e-01 2.00287712e-03 3.40553164e-01] [ 4.40401614e-02 -2.01010790e-03 9.99027739e-01 -1.59629969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38463044 meters Centerline goodness [0,1] 0.2979705997138026 Centerline is valid? [False, False] Translation: X:3.90, Y:0.34, Z:-0.02 [[ 9.99016896e-01 -1.89221752e-05 -4.43310309e-02 3.89876656e+00] [ 1.15442036e-04 9.99997629e-01 2.17469371e-03 3.39767854e-01] [ 4.43308846e-02 -2.17767343e-03 9.99014530e-01 -1.62140363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41463044 meters Centerline goodness [0,1] 0.29703955193218434 Centerline is valid? [False, False] Translation: X:3.90, Y:0.34, Z:-0.02 [[ 9.99035306e-01 3.16876025e-05 -4.39141914e-02 3.89713848e+00] [ 7.89965971e-05 9.99996825e-01 2.51872772e-03 3.37717764e-01] [ 4.39141318e-02 -2.51976699e-03 9.99032132e-01 -1.51778508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44463044 meters Centerline goodness [0,1] 0.3019777152700551 Centerline is valid? [False, False] Translation: X:3.90, Y:0.34, Z:-0.01 [[ 9.99046047e-01 4.18696472e-06 -4.36691696e-02 3.89624280e+00] [ 1.10809648e-04 9.99996533e-01 2.63093831e-03 3.36782041e-01] [ 4.36690292e-02 -2.63326748e-03 9.99042583e-01 -1.46496704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.47463044 meters Centerline goodness [0,1] 0.2978412001463593 Centerline is valid? [False, False] Translation: X:3.92, Y:0.33, Z:-0.01 [[ 9.99056547e-01 7.24023392e-03 -4.28204945e-02 3.91578328e+00] [-7.18392588e-03 9.99973117e-01 1.46871481e-03 3.33502837e-01] [ 4.28299772e-02 -1.15970989e-03 9.99081702e-01 -1.28578060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50463044 meters Centerline goodness [0,1] 0.3021888626157885 Centerline is valid? [False, False] Translation: X:3.92, Y:0.33, Z:-0.01 [[ 9.99052827e-01 7.16646316e-03 -4.29195944e-02 3.91604693e+00] [-7.11302396e-03 9.99973725e-01 1.39768734e-03 3.33569978e-01] [ 4.29284831e-02 -1.09107539e-03 9.99077552e-01 -1.28890174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.53463044 meters Centerline goodness [0,1] 0.29578713010397073 Centerline is valid? [False, False] Translation: X:3.92, Y:0.34, Z:-0.01 [[ 9.99034085e-01 7.17864116e-03 -4.33516370e-02 3.91726350e+00] [-7.13277128e-03 9.99973826e-01 1.21267948e-03 3.35192066e-01] [ 4.33592078e-02 -9.02290825e-04 9.99059140e-01 -1.31882310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56463044 meters Centerline goodness [0,1] 0.29829699533571974 Centerline is valid? [False, False] Translation: X:3.92, Y:0.34, Z:-0.01 [[ 9.99031090e-01 7.15560475e-03 -4.34244095e-02 3.91758969e+00] [-7.11427138e-03 9.99974081e-01 1.10631307e-03 3.35917127e-01] [ 4.34312003e-02 -7.96308116e-04 9.99056103e-01 -1.34039980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59463043999999 meters Centerline goodness [0,1] 0.29850325379609544 Centerline is valid? [False, False] Translation: X:3.92, Y:0.34, Z:-0.01 [[ 9.99027178e-01 7.10583676e-03 -4.35224735e-02 3.91785213e+00] [-7.07035017e-03 9.99974535e-01 9.69242703e-04 3.36619326e-01] [ 4.35282524e-02 -6.60580675e-04 9.99051978e-01 -1.34561385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62463043999999 meters Centerline goodness [0,1] 0.29882342744469237 Centerline is valid? [False, False] Translation: X:3.92, Y:0.34, Z:-0.01 [[ 9.99026115e-01 7.09402223e-03 -4.35487899e-02 3.91780976e+00] [-7.06289238e-03 9.99974680e-01 8.68650527e-04 3.37384033e-01] [ 4.35538495e-02 -5.60224145e-04 9.99050924e-01 -1.33292248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65463043999999 meters Centerline goodness [0,1] 0.29267715858273136 Centerline is valid? [False, False] Translation: X:3.94, Y:0.34, Z:-0.01 [[ 9.99068571e-01 -5.38339309e-04 -4.31474275e-02 3.93542666e+00] [ 6.39284652e-04 9.99997091e-01 2.32578086e-03 3.44138263e-01] [ 4.31460499e-02 -2.35119805e-03 9.99066009e-01 -1.10189774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68463043999999 meters Centerline goodness [0,1] 0.2986461779557722 Centerline is valid? [False, False] Translation: X:3.93, Y:0.35, Z:-0.01 [[ 9.99077096e-01 -6.02050378e-04 -4.29487264e-02 3.93371236e+00] [ 6.78932313e-04 9.99998193e-01 1.77552258e-03 3.47912740e-01] [ 4.29475798e-02 -1.80304322e-03 9.99075700e-01 -9.41449188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71463044 meters Centerline goodness [0,1] 0.29617958126483923 Centerline is valid? [False, False] Translation: X:3.93, Y:0.35, Z:-0.01 [[ 9.99072826e-01 -6.59083009e-04 -4.30471029e-02 3.93367200e+00] [ 7.23241757e-04 9.99998651e-01 1.47487431e-03 3.49808693e-01] [ 4.30460727e-02 -1.50464031e-03 9.99071955e-01 -9.07133375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74463044 meters Centerline goodness [0,1] 0.30077742209446656 Centerline is valid? [False, False] Translation: X:3.93, Y:0.35, Z:-0.01 [[ 9.99073279e-01 -7.77576575e-04 -4.30346110e-02 3.93351273e+00] [ 8.27264992e-04 9.99999012e-01 1.13681851e-03 3.51629710e-01] [ 4.30336845e-02 -1.17136602e-03 9.99072935e-01 -8.91551191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77463044 meters Centerline goodness [0,1] 0.29631068799516436 Centerline is valid? [False, False] Translation: X:3.93, Y:0.35, Z:-0.01 [[ 9.99068410e-01 -8.57273668e-04 -4.31459934e-02 3.93396296e+00] [ 8.97204976e-04 9.99999187e-01 9.06136919e-04 3.52861896e-01] [ 4.31451815e-02 -9.44003571e-04 9.99068367e-01 -9.18212417e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80463044 meters Centerline goodness [0,1] 0.29456797557094316 Centerline is valid? [False, False] Translation: X:3.93, Y:0.35, Z:-0.01 [[ 9.99067290e-01 -9.40757533e-04 -4.31701800e-02 3.93427618e+00] [ 9.74199795e-04 9.99999241e-01 7.53629697e-04 3.53578557e-01] [ 4.31694383e-02 -7.94983160e-04 9.99067449e-01 -9.51949839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83463044 meters Centerline goodness [0,1] 0.3001635947213437 Centerline is valid? [False, False] Translation: X:3.93, Y:0.35, Z:-0.01 [[ 9.99068546e-01 -9.70137036e-04 -4.31404654e-02 3.93410623e+00] [ 1.00041565e-03 9.99999268e-01 6.80277253e-04 3.54062417e-01] [ 4.31397739e-02 -7.22802003e-04 9.99068785e-01 -9.34289092e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86463044 meters Centerline goodness [0,1] 0.29829994585814834 Centerline is valid? [False, False] Translation: X:3.93, Y:0.35, Z:-0.01 [[ 9.99069249e-01 -1.11403799e-03 -4.31206881e-02 3.93312849e+00] [ 1.13816469e-03 9.99999209e-01 5.34969190e-04 3.54496599e-01] [ 4.31200580e-02 -5.83549711e-04 9.99069727e-01 -7.92573847e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.89463044 meters Centerline goodness [0,1] 0.29784526454284665 Centerline is valid? [False, False] Translation: X:3.93, Y:0.35, Z:-0.01 [[ 9.99055039e-01 -1.17800473e-03 -4.34469927e-02 3.93367832e+00] [ 1.20097621e-03 9.99999153e-01 5.02626187e-04 3.54390127e-01] [ 4.34463638e-02 -5.54330030e-04 9.99055607e-01 -7.52308561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92463044 meters Centerline goodness [0,1] 0.299889339727038 Centerline is valid? [False, False] Translation: X:3.93, Y:0.35, Z:-0.01 [[ 9.99040692e-01 -1.22951039e-03 -4.37742439e-02 3.93453461e+00] [ 1.25006957e-03 9.99999121e-01 4.42293435e-04 3.54526551e-01] [ 4.37736616e-02 -4.96589989e-04 9.99041350e-01 -7.60104896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95463043999999 meters Centerline goodness [0,1] 0.2978396397956533 Centerline is valid? [False, False] Translation: X:3.94, Y:0.35, Z:-0.01 [[ 9.99028655e-01 -1.27219966e-03 -4.40468735e-02 3.93564403e+00] [ 1.28925054e-03 9.99999105e-01 3.58702365e-04 3.54828020e-01] [ 4.40463777e-02 -4.15141397e-04 9.99029401e-01 -8.22053909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98463043999999 meters Centerline goodness [0,1] 0.2956375694414538 Centerline is valid? [False, False] Translation: X:3.94, Y:0.36, Z:-0.01 [[ 9.99023527e-01 -1.36881705e-03 -4.41601599e-02 3.93617008e+00] [ 1.37479213e-03 9.99999049e-01 1.04934773e-04 3.55937969e-01] [ 4.41599743e-02 -1.65543347e-04 9.99024459e-01 -8.54891094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01463043999999 meters Centerline goodness [0,1] 0.295209619479877 Centerline is valid? [False, False] Translation: X:3.94, Y:0.36, Z:-0.01 [[ 9.99030629e-01 -1.41313011e-03 -4.39977777e-02 3.93519745e+00] [ 1.41512933e-03 9.99998999e-01 1.42927501e-05 3.56353078e-01] [ 4.39977134e-02 -7.65414407e-05 9.99031629e-01 -7.73526490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04463043999999 meters Centerline goodness [0,1] 0.2966531001039141 Centerline is valid? [False, False] Translation: X:3.93, Y:0.36, Z:-0.01 [[ 9.99038035e-01 -1.41880166e-03 -4.38291227e-02 3.93419358e+00] [ 1.41915939e-03 9.99998993e-01 -2.29531928e-05 3.56580462e-01] [ 4.38291111e-02 -3.92693985e-05 9.99039042e-01 -6.88792303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07463043999999 meters Centerline goodness [0,1] 0.29609661419020916 Centerline is valid? [False, False] Translation: X:3.93, Y:0.36, Z:-0.01 [[ 9.99037155e-01 -1.35609227e-03 -4.38511639e-02 3.93386736e+00] [ 1.35830297e-03 9.99999077e-01 2.06178218e-05 3.56697267e-01] [ 4.38510955e-02 -8.01611364e-05 9.99038075e-01 -6.34653168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10463044 meters Centerline goodness [0,1] 0.296455005843397 Centerline is valid? [False, False] Translation: X:3.93, Y:0.36, Z:-0.01 [[ 9.99034763e-01 -1.33878924e-03 -4.39061386e-02 3.93390068e+00] [ 1.34157522e-03 9.99999100e-01 3.39874037e-05 3.56602632e-01] [ 4.39060535e-02 -9.28579855e-05 9.99035660e-01 -6.21962510e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13463044 meters Centerline goodness [0,1] 0.2977167165863611 Centerline is valid? [False, False] Translation: X:3.93, Y:0.36, Z:-0.01 [[ 9.99031350e-01 -1.37216753e-03 -4.39827214e-02 3.93411096e+00] [ 1.37478061e-03 9.99999055e-01 2.91637065e-05 3.56199061e-01] [ 4.39826398e-02 -8.96020496e-05 9.99032291e-01 -6.25338500e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16463044 meters Centerline goodness [0,1] 0.3026684777845938 Centerline is valid? [False, False] Translation: X:3.93, Y:0.35, Z:-0.01 [[ 9.99034255e-01 -1.37801714e-03 -4.39164939e-02 3.93402791e+00] [ 1.39020514e-03 9.99999003e-01 2.46986593e-04 3.54444253e-01] [ 4.39161098e-02 -3.07801002e-04 9.99035175e-01 -6.30748933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19463044 meters Centerline goodness [0,1] 0.2972523437162483 Centerline is valid? [False, False] Translation: X:3.95, Y:0.35, Z:-0.00 [[ 9.99030502e-01 6.06037996e-03 -4.36042071e-02 3.95391811e+00] [-6.08424557e-03 9.99981405e-01 -4.14630828e-04 3.50442240e-01] [ 4.36008835e-02 6.79527549e-04 9.99048798e-01 -4.35027681e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22463044 meters Centerline goodness [0,1] 0.3006225782576516 Centerline is valid? [False, False] Translation: X:3.95, Y:0.35, Z:-0.00 [[ 9.99036319e-01 6.20681245e-03 -4.34500646e-02 3.95346249e+00] [-6.21586873e-03 9.99980679e-01 -7.33276377e-05 3.48964417e-01] [ 4.34487700e-02 3.43336872e-04 9.99055597e-01 -4.15303302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.25463044 meters Centerline goodness [0,1] 0.2979284125029702 Centerline is valid? [False, False] Translation: X:3.97, Y:0.35, Z:-0.00 [[ 9.99084898e-01 -1.79690160e-03 -4.27333397e-02 3.97190147e+00] [ 1.86755018e-03 9.99996955e-01 1.61337864e-03 3.52202471e-01] [ 4.27303105e-02 -1.69170889e-03 9.99085211e-01 -2.21802981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28463044 meters Centerline goodness [0,1] 0.29748708973444826 Centerline is valid? [False, False] Translation: X:3.97, Y:0.35, Z:-0.00 [[ 9.99083090e-01 -1.71311918e-03 -4.27790084e-02 3.97183846e+00] [ 1.79618486e-03 9.99996575e-01 1.90337783e-03 3.50522029e-01] [ 4.27756012e-02 -1.97847161e-03 9.99082746e-01 -1.88192761e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.31463044 meters Centerline goodness [0,1] 0.29485852311939265 Centerline is valid? [False, False] Translation: X:3.97, Y:0.35, Z:-0.00 [[ 9.99076231e-01 -1.65314630e-03 -4.29412629e-02 3.97225589e+00] [ 1.74461561e-03 9.99996288e-01 2.09271496e-03 3.49321543e-01] [ 4.29376439e-02 -2.16569777e-03 9.99075407e-01 -1.88409009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34463043999999 meters Centerline goodness [0,1] 0.2984253338553221 Centerline is valid? [False, False] Translation: X:3.97, Y:0.35, Z:-0.00 [[ 9.99063606e-01 -1.40437132e-03 -4.32427789e-02 3.97302822e+00] [ 1.50072736e-03 9.99996463e-01 2.19587493e-03 3.49629077e-01] [ 4.32395421e-02 -2.25871435e-03 9.99062180e-01 -2.03941012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37463043999999 meters Centerline goodness [0,1] 0.29627868781605216 Centerline is valid? [False, False] Translation: X:3.97, Y:0.35, Z:-0.00 [[ 9.99058215e-01 -1.15678355e-03 -4.33744731e-02 3.97337095e+00] [ 1.25225888e-03 9.99996853e-01 2.17408083e-03 3.50997428e-01] [ 4.33718217e-02 -2.22634938e-03 9.99056519e-01 -2.17308194e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40463043999999 meters Centerline goodness [0,1] 0.29529024717544694 Centerline is valid? [False, False] Translation: X:3.97, Y:0.35, Z:-0.00 [[ 9.99055203e-01 -1.07251416e-03 -4.34459478e-02 3.97380173e+00] [ 1.15776154e-03 9.99997454e-01 1.93703379e-03 3.52892995e-01] [ 4.34437596e-02 -1.98550373e-03 9.99053901e-01 -2.65601002e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43463043999999 meters Centerline goodness [0,1] 0.2951992049088238 Centerline is valid? [False, False] Translation: X:3.97, Y:0.35, Z:-0.00 [[ 9.99048431e-01 -1.03074966e-03 -4.36024126e-02 3.97444958e+00] [ 1.10438302e-03 9.99998005e-01 1.66469041e-03 3.54755402e-01] [ 4.36006097e-02 -1.71126010e-03 9.99047576e-01 -3.19281599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46463044 meters Centerline goodness [0,1] 0.2920273937201189 Centerline is valid? [False, False] Translation: X:3.98, Y:0.36, Z:-0.00 [[ 9.99039677e-01 -1.02664827e-03 -4.38026205e-02 3.97512925e+00] [ 1.09185649e-03 9.99998331e-01 1.46478453e-03 3.56017887e-01] [ 4.38010436e-02 -1.51120404e-03 9.99039131e-01 -3.58847731e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49463044 meters Centerline goodness [0,1] 0.29386818988272967 Centerline is valid? [False, False] Translation: X:3.98, Y:0.36, Z:-0.00 [[ 9.99028823e-01 -8.49955725e-04 -4.40532416e-02 3.97520635e+00] [ 9.23061195e-04 9.99998231e-01 1.63916470e-03 3.56160993e-01] [ 4.40517705e-02 -1.67823661e-03 9.99027840e-01 -2.92614797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52463044 meters Centerline goodness [0,1] 0.29328530445848877 Centerline is valid? [False, False] Translation: X:3.97, Y:0.36, Z:-0.00 [[ 9.99025438e-01 -7.83215398e-04 -4.41311832e-02 3.97492764e+00] [ 8.66205944e-04 9.99997892e-01 1.86145078e-03 3.55168388e-01] [ 4.41296322e-02 -1.89786337e-03 9.99024011e-01 -2.18539270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55463044 meters Centerline goodness [0,1] 0.2934432954079319 Centerline is valid? [False, False] Translation: X:3.97, Y:0.35, Z:-0.00 [[ 9.99019360e-01 -9.12549351e-04 -4.42660690e-02 3.97492829e+00] [ 9.96030164e-04 9.99997767e-01 1.86386789e-03 3.54450889e-01] [ 4.42642693e-02 -1.90613044e-03 9.99018038e-01 -1.65447732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58463044 meters Centerline goodness [0,1] 0.29663900145188205 Centerline is valid? [False, False] Translation: X:3.97, Y:0.35, Z:-0.00 [[ 9.99018182e-01 -1.14964943e-03 -4.42871412e-02 3.97496601e+00] [ 1.23070678e-03 9.99997617e-01 1.80304598e-03 3.53527219e-01] [ 4.42849628e-02 -1.85578021e-03 9.99017216e-01 -1.52774763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61463044 meters Centerline goodness [0,1] 0.2970003034375135 Centerline is valid? [False, False] Translation: X:3.98, Y:0.35, Z:-0.00 [[ 9.99016200e-01 -1.31082973e-03 -4.43273456e-02 3.97513133e+00] [ 1.39369377e-03 9.99997339e-01 1.83851310e-03 3.52483826e-01] [ 4.43248177e-02 -1.89848312e-03 9.99015368e-01 -1.52243951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64463044 meters Centerline goodness [0,1] 0.2948573654820138 Centerline is valid? [False, False] Translation: X:3.98, Y:0.35, Z:-0.00 [[ 9.99009129e-01 -1.32153367e-03 -4.44861007e-02 3.97562701e+00] [ 1.40787685e-03 9.99997186e-01 1.90962741e-03 3.52027758e-01] [ 4.44834519e-02 -1.97036617e-03 9.99008178e-01 -1.61267074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.67463044 meters Centerline goodness [0,1] 0.29612309548951576 Centerline is valid? [False, False] Translation: X:3.98, Y:0.35, Z:-0.00 [[ 9.99006463e-01 -1.17472929e-03 -4.45500512e-02 3.97549831e+00] [ 1.27518541e-03 9.99996708e-01 2.22655286e-03 3.50976134e-01] [ 4.45472889e-02 -2.28115027e-03 9.99004672e-01 -1.08735882e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70463043999999 meters Centerline goodness [0,1] 0.2969638242894057 Centerline is valid? [False, False] Translation: X:3.97, Y:0.35, Z:-0.00 [[ 9.99022874e-01 -1.29635164e-03 -4.41771129e-02 3.97416562e+00] [ 1.40005236e-03 9.99996337e-01 2.31652618e-03 3.49538291e-01] [ 4.41739480e-02 -2.37611292e-03 9.99021029e-01 -3.63136119e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73463043999999 meters Centerline goodness [0,1] 0.29887209859338937 Centerline is valid? [False, False] Translation: X:3.97, Y:0.35, Z:0.00 [[ 9.99064382e-01 -3.35207106e-03 -4.31175739e-02 3.96939210e+00] [ 3.38242819e-03 9.99994080e-01 6.31118753e-04 3.46911668e-01] [ 4.31152031e-02 -7.76370364e-04 9.99069806e-01 2.09740486e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76463043999999 meters Centerline goodness [0,1] 0.3033161931322991 Centerline is valid? [False, False] Translation: X:3.97, Y:0.34, Z:0.00 [[ 9.99089676e-01 -3.69416046e-03 -4.24990870e-02 3.96756223e+00] [ 3.72955010e-03 9.99992761e-01 7.53458233e-04 3.44358558e-01] [ 4.24959960e-02 -9.11274816e-04 9.99096222e-01 2.81270268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79463043999999 meters Centerline goodness [0,1] 0.3005890094716175 Centerline is valid? [False, False] Translation: X:3.99, Y:0.34, Z:0.00 [[ 9.99063664e-01 -1.27494619e-02 -4.13430251e-02 3.98758688e+00] [ 1.28478753e-02 9.99915225e-01 2.11557661e-03 3.42198401e-01] [ 4.13125478e-02 -2.64476575e-03 9.99142772e-01 4.23116211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82463043999999 meters Centerline goodness [0,1] 0.30224843346848507 Centerline is valid? [False, False] Translation: X:3.99, Y:0.34, Z:0.00 [[ 9.99058134e-01 -1.25897995e-02 -4.15252011e-02 3.98833904e+00] [ 1.27085198e-02 9.99915873e-01 2.59624940e-03 3.39682386e-01] [ 4.14890215e-02 -3.12152792e-03 9.99134084e-01 3.94252871e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85463044 meters Centerline goodness [0,1] 0.30338229525345417 Centerline is valid? [False, False] Translation: X:3.97, Y:0.33, Z:0.00 [[ 9.99135394e-01 -5.15162022e-03 -4.12544077e-02 3.97150311e+00] [ 5.19501918e-03 9.99986059e-01 9.44847763e-04 3.31547537e-01] [ 4.12489650e-02 -1.15834828e-03 9.99148228e-01 1.36743395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88463044 meters Centerline goodness [0,1] 0.3041689343637749 Centerline is valid? [False, False] Translation: X:3.97, Y:0.33, Z:0.00 [[ 9.99134988e-01 -5.15309053e-03 -4.12640461e-02 3.97136018e+00] [ 5.20326069e-03 9.99985849e-01 1.10852438e-03 3.30083877e-01] [ 4.12577498e-02 -1.32227308e-03 9.99147662e-01 1.64701945e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91463044 meters Centerline goodness [0,1] 0.3058607658533389 Centerline is valid? [False, False] Translation: X:3.97, Y:0.33, Z:0.00 [[ 9.99134026e-01 -5.07748917e-03 -4.12967006e-02 3.97097668e+00] [ 5.13419722e-03 9.99986017e-01 1.26724325e-03 3.29277317e-01] [ 4.12896888e-02 -1.47817126e-03 9.99146124e-01 2.28628040e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94463044 meters Centerline goodness [0,1] 0.30337954939341416 Centerline is valid? [False, False] Translation: X:3.99, Y:0.33, Z:0.00 [[ 9.99154937e-01 2.69251391e-03 -4.10141767e-02 3.99034334e+00] [-2.67394856e-03 9.99996296e-01 5.07508300e-04 3.26613039e-01] [ 4.10153912e-02 -3.97409625e-04 9.99158436e-01 4.74688840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97463044 meters Centerline goodness [0,1] 0.30293272996257936 Centerline is valid? [False, False] Translation: X:3.99, Y:0.33, Z:0.00 [[ 9.99172480e-01 3.09827432e-03 -4.05556025e-02 3.98960533e+00] [-3.06904034e-03 9.99994984e-01 7.83076214e-04 3.26663537e-01] [ 4.05578253e-02 -6.57961422e-04 9.99176976e-01 4.32143414e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00463044 meters Centerline goodness [0,1] 0.30007982567797886 Centerline is valid? [False, False] Translation: X:3.99, Y:0.33, Z:0.00 [[ 9.99170503e-01 3.03253832e-03 -4.06092288e-02 3.98991097e+00] [-3.00865142e-03 9.99995263e-01 6.49315502e-04 3.26657950e-01] [ 4.06110056e-02 -5.26597882e-04 9.99174894e-01 4.02941440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.03463044 meters Centerline goodness [0,1] 0.30086631782356643 Centerline is valid? [False, False] Translation: X:3.99, Y:0.33, Z:0.00 [[ 9.99166579e-01 3.00584991e-03 -4.07076491e-02 3.99020052e+00] [-2.98585881e-03 9.99995390e-01 5.51879727e-04 3.26796279e-01] [ 4.07091203e-02 -4.29872486e-04 9.99170948e-01 3.83198863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06463044 meters Centerline goodness [0,1] 0.30104370515329415 Centerline is valid? [False, False] Translation: X:3.99, Y:0.33, Z:0.00 [[ 9.99153665e-01 3.05178942e-03 -4.10200050e-02 3.99093094e+00] [-3.03385164e-03 9.99995273e-01 4.99537076e-04 3.27220065e-01] [ 4.10213356e-02 -3.74665691e-04 9.99158201e-01 3.75282855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09463043999999 meters Centerline goodness [0,1] 0.2986474457784243 Centerline is valid? [False, False] Translation: X:3.99, Y:0.33, Z:0.00 [[ 9.99144460e-01 3.16738516e-03 -4.12348947e-02 3.99159238e+00] [-3.15039755e-03 9.99994924e-01 4.76946323e-04 3.27954310e-01] [ 4.12361960e-02 -3.46631965e-04 9.99149366e-01 3.45013991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12463043999999 meters Centerline goodness [0,1] 0.2986689212625737 Centerline is valid? [False, False] Translation: X:3.99, Y:0.33, Z:0.00 [[ 9.99145959e-01 3.56696567e-03 -4.11658742e-02 3.99138641e+00] [-3.54591178e-03 9.99993542e-01 5.84445339e-04 3.29446462e-01] [ 4.11676930e-02 -4.37975640e-04 9.99152155e-01 3.41241699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15463043999999 meters Centerline goodness [0,1] 0.2986689212625737 Centerline is valid? [False, False] Translation: X:3.99, Y:0.33, Z:0.00 [[ 9.99145959e-01 3.56696567e-03 -4.11658742e-02 3.99138641e+00] [-3.54591178e-03 9.99993542e-01 5.84445339e-04 3.29446462e-01] [ 4.11676930e-02 -4.37975640e-04 9.99152155e-01 3.41241699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18463043999999 meters Centerline goodness [0,1] 0.29491627696485145 Centerline is valid? [False, False] Translation: X:3.99, Y:0.33, Z:0.00 [[ 9.99141343e-01 3.54866695e-03 -4.12793318e-02 3.99177319e+00] [-3.53490203e-03 9.99993670e-01 4.06443582e-04 3.30545837e-01] [ 4.12805129e-02 -2.60176192e-04 9.99147562e-01 3.17704951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21463044 meters Centerline goodness [0,1] 0.29542452523765184 Centerline is valid? [False, False] Translation: X:3.99, Y:0.33, Z:0.00 [[ 9.99137547e-01 3.54200425e-03 -4.13716908e-02 3.99216226e+00] [-3.53344415e-03 9.99993718e-01 2.80029265e-04 3.31475640e-01] [ 4.13724227e-02 -1.33603195e-04 9.99143786e-01 2.87333338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24463044 meters Centerline goodness [0,1] 0.2951495501685526 Centerline is valid? [False, False] Translation: X:4.01, Y:0.34, Z:0.01 [[ 9.99121695e-01 -3.55677872e-03 -4.17515119e-02 4.00984431e+00] [ 3.64273454e-03 9.99991399e-01 1.98284971e-03 3.38276025e-01] [ 4.17441002e-02 -2.13319784e-03 9.99126058e-01 5.07194757e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27463044 meters Centerline goodness [0,1] 0.29741444702108755 Centerline is valid? [False, False] Translation: X:4.01, Y:0.34, Z:0.01 [[ 9.99138186e-01 -3.72271604e-03 -4.13403701e-02 4.00824831e+00] [ 3.80119909e-03 9.99991119e-01 1.82001721e-03 3.38562469e-01] [ 4.13332275e-02 -1.97559168e-03 9.99143464e-01 5.95534550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30463044 meters Centerline goodness [0,1] 0.2992556155319519 Centerline is valid? [False, False] Translation: X:4.01, Y:0.34, Z:0.01 [[ 9.99136023e-01 -3.83731552e-03 -4.13821605e-02 4.00807244e+00] [ 3.91693373e-03 9.99990630e-01 1.84306534e-03 3.37769872e-01] [ 4.13747004e-02 -2.00356415e-03 9.99141692e-01 6.43054979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33463044 meters Centerline goodness [0,1] 0.2982448537378115 Centerline is valid? [False, False] Translation: X:4.01, Y:0.34, Z:0.01 [[ 9.99123927e-01 -3.80018031e-03 -4.16765813e-02 4.00883034e+00] [ 3.88830472e-03 9.99990373e-01 2.03362542e-03 3.36682292e-01] [ 4.16684520e-02 -2.19389506e-03 9.99129084e-01 6.43885058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36463044 meters Centerline goodness [0,1] 0.29636669978830954 Centerline is valid? [False, False] Translation: X:4.01, Y:0.34, Z:0.01 [[ 9.99115648e-01 -3.71872274e-03 -4.18818948e-02 4.00949661e+00] [ 3.81641105e-03 9.99990180e-01 2.25275800e-03 3.35729222e-01] [ 4.18731062e-02 -2.41060430e-03 9.99120029e-01 6.26354217e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.39463044 meters Centerline goodness [0,1] 0.29870753645969783 Centerline is valid? [False, False] Translation: X:4.01, Y:0.34, Z:0.01 [[ 9.99117101e-01 -3.70669302e-03 -4.18482888e-02 4.00951177e+00] [ 3.80866647e-03 9.99989969e-01 2.35727574e-03 3.35055886e-01] [ 4.18391313e-02 -2.51458068e-03 9.99121196e-01 6.14182277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42463044 meters Centerline goodness [0,1] 0.30240955945111947 Centerline is valid? [False, False] Translation: X:4.01, Y:0.33, Z:0.01 [[ 9.99131608e-01 -3.78482629e-03 -4.14934283e-02 4.00825597e+00] [ 3.88863954e-03 9.99989507e-01 2.42149443e-03 3.34181616e-01] [ 4.14838280e-02 -2.58074461e-03 9.99135843e-01 6.81824636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45463043999999 meters Centerline goodness [0,1] 0.30013435617388284 Centerline is valid? [False, False] Translation: X:4.03, Y:0.33, Z:0.01 [[ 9.99168711e-01 3.63604940e-03 -4.06037650e-02 4.02744068e+00] [-3.58476857e-03 9.99992683e-01 1.33569380e-03 3.31653640e-01] [ 4.06083245e-02 -1.18902835e-03 9.99174434e-01 9.14192841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48463043999999 meters Centerline goodness [0,1] 0.2925288094932099 Centerline is valid? [False, False] Translation: X:4.05, Y:0.34, Z:0.01 [[ 9.99197378e-01 -2.92871941e-03 -3.99502551e-02 4.04788261e+00] [ 3.08709636e-03 9.99987617e-01 3.90324026e-03 3.35069029e-01] [ 3.99383289e-02 -4.02343772e-03 9.99194046e-01 9.95424997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51463043999999 meters Centerline goodness [0,1] 0.2988675315659305 Centerline is valid? [False, False] Translation: X:4.03, Y:0.33, Z:0.01 [[ 9.99175159e-01 5.23338179e-03 -4.02692507e-02 4.02996230e+00] [-5.13073588e-03 9.99983321e-01 2.65191587e-03 3.28893062e-01] [ 4.02824576e-02 -2.44311758e-03 9.99185346e-01 7.75763483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54463043999999 meters Centerline goodness [0,1] 0.2967438228084257 Centerline is valid? [False, False] Translation: X:4.03, Y:0.33, Z:0.01 [[ 9.99169347e-01 5.15889084e-03 -4.04227826e-02 4.03071649e+00] [-5.05933248e-03 9.99983912e-01 2.56483863e-03 3.28823819e-01] [ 4.04353640e-02 -2.35819584e-03 9.99179373e-01 7.19170204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57463043999999 meters Centerline goodness [0,1] 0.2961986471592505 Centerline is valid? [False, False] Translation: X:4.03, Y:0.33, Z:0.01 [[ 9.99164801e-01 5.04230735e-03 -4.05496594e-02 4.03132517e+00] [-4.95131555e-03 9.99984995e-01 2.34407578e-03 3.29376992e-01] [ 4.05608705e-02 -2.14134385e-03 9.99174775e-01 6.69845189e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60463044 meters Centerline goodness [0,1] 0.2940973866620743 Centerline is valid? [False, False] Translation: X:4.03, Y:0.33, Z:0.01 [[ 9.99152372e-01 5.18830930e-03 -4.08364827e-02 4.03206900e+00] [-5.10936653e-03 9.99984872e-01 2.03727440e-03 3.32147086e-01] [ 4.08464349e-02 -1.82689900e-03 9.99163766e-01 6.39162807e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63463044 meters Centerline goodness [0,1] 0.2978723404255319 Centerline is valid? [False, False] Translation: X:4.01, Y:0.34, Z:0.00 [[ 9.99171023e-01 -2.09716846e-03 -4.06554873e-02 4.01226448e+00] [ 2.21810002e-03 9.99993249e-01 2.92966525e-03 3.37822999e-01] [ 4.06490688e-02 -3.01741457e-03 9.99168929e-01 4.26931406e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66463044 meters Centerline goodness [0,1] 0.29327016678564477 Centerline is valid? [False, False] Translation: X:4.03, Y:0.34, Z:0.01 [[ 9.99177212e-01 5.65775088e-03 -4.01607797e-02 4.03252147e+00] [-5.58313868e-03 9.99982474e-01 1.96975192e-03 3.38005689e-01] [ 4.01712202e-02 -1.74390803e-03 9.99191289e-01 5.77065168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69463044 meters Centerline goodness [0,1] 0.29624720224255197 Centerline is valid? [False, False] Translation: X:4.03, Y:0.34, Z:0.01 [[ 9.99188070e-01 5.47057987e-03 -3.99158183e-02 4.03165106e+00] [-5.41123256e-03 9.99984088e-01 1.59470108e-03 3.39529157e-01] [ 3.99239071e-02 -1.37741252e-03 9.99201774e-01 6.12771125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72463044 meters Centerline goodness [0,1] 0.29561081081081086 Centerline is valid? [False, False] Translation: X:4.05, Y:0.35, Z:0.01 [[ 9.99238085e-01 -2.92921283e-03 -3.89187433e-02 4.04909731e+00] [ 3.02403402e-03 9.99992601e-01 2.37774415e-03 3.45420821e-01] [ 3.89114904e-02 -2.49362412e-03 9.99239550e-01 8.25178805e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.75463044 meters Centerline goodness [0,1] 0.29558416868302795 Centerline is valid? [False, False] Translation: X:4.05, Y:0.35, Z:0.01 [[ 9.99240764e-01 -3.05882785e-03 -3.88399232e-02 4.04845712e+00] [ 3.14791566e-03 9.99992553e-01 2.23276904e-03 3.45679533e-01] [ 3.88328043e-02 -2.35333864e-03 9.99242951e-01 8.87533422e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78463044 meters Centerline goodness [0,1] 0.29557106544310885 Centerline is valid? [False, False] Translation: X:4.05, Y:0.35, Z:0.01 [[ 9.99227761e-01 -2.92953880e-03 -3.91829080e-02 4.04891641e+00] [ 3.02114967e-03 9.99992839e-01 2.27902433e-03 3.46808823e-01] [ 3.91759510e-02 -2.39564181e-03 9.99229456e-01 9.34538113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.81463044 meters Centerline goodness [0,1] 0.29845045357871436 Centerline is valid? [False, False] Translation: X:4.05, Y:0.35, Z:0.01 [[ 9.99233533e-01 -2.91161097e-03 -3.90367697e-02 4.04840219e+00] [ 3.00046455e-03 9.99993039e-01 2.21775755e-03 3.47541153e-01] [ 3.90300407e-02 -2.33318615e-03 9.99235314e-01 9.59600614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84463043999999 meters Centerline goodness [0,1] 0.2967701433086548 Centerline is valid? [False, False] Translation: X:4.05, Y:0.35, Z:0.01 [[ 9.99243284e-01 -2.98471922e-03 -3.87808029e-02 4.04746367e+00] [ 3.06734450e-03 9.99993151e-01 2.07124669e-03 3.48107270e-01] [ 3.87743552e-02 -2.18863342e-03 9.99245595e-01 1.00777963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87463043999999 meters Centerline goodness [0,1] 0.29669405447370123 Centerline is valid? [False, False] Translation: X:4.05, Y:0.35, Z:0.01 [[ 9.99253859e-01 -3.04986609e-03 -3.85022604e-02 4.04638898e+00] [ 3.12836885e-03 9.99993149e-01 1.97883038e-03 3.48310751e-01] [ 3.84959615e-02 -2.09780317e-03 9.99256554e-01 1.06257631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90463043999999 meters Centerline goodness [0,1] 0.30043243243243245 Centerline is valid? [False, False] Translation: X:4.05, Y:0.35, Z:0.01 [[ 9.99266492e-01 -2.90568241e-03 -3.81842262e-02 4.04511852e+00] [ 2.99335923e-03 9.99993013e-01 2.23918297e-03 3.47402544e-01] [ 3.81774530e-02 -2.35183962e-03 9.99268208e-01 1.13590493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93463043999999 meters Centerline goodness [0,1] 0.2981636493413795 Centerline is valid? [False, False] Translation: X:4.05, Y:0.35, Z:0.01 [[ 9.99258446e-01 -2.84855609e-03 -3.83984811e-02 4.04586077e+00] [ 2.94706406e-03 9.99992510e-01 2.50905500e-03 3.45703052e-01] [ 3.83910463e-02 -2.62035718e-03 9.99259356e-01 1.10818117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96463044 meters Centerline goodness [0,1] 0.29927653601122994 Centerline is valid? [False, False] Translation: X:4.05, Y:0.34, Z:0.01 [[ 9.99240729e-01 -2.90717602e-03 -3.88524511e-02 4.04743504e+00] [ 3.01744260e-03 9.99991584e-01 2.77974731e-03 3.43135408e-01] [ 3.88440429e-02 -2.89487177e-03 9.99241092e-01 1.04373899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99463044 meters Centerline goodness [0,1] 0.2957510369876851 Centerline is valid? [False, False] Translation: X:4.05, Y:0.34, Z:0.01 [[ 9.99215512e-01 -2.96372291e-03 -3.94914822e-02 4.04944642e+00] [ 3.09086959e-03 9.99990234e-01 3.15893132e-03 3.39700187e-01] [ 3.94817343e-02 -3.27851620e-03 9.99214914e-01 9.92278403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02463044 meters Centerline goodness [0,1] 0.2989641572400642 Centerline is valid? [False, False] Translation: X:4.05, Y:0.34, Z:0.01 [[ 9.99200320e-01 -3.02155644e-03 -3.98696672e-02 4.05055275e+00] [ 3.16694229e-03 9.99988563e-01 3.58387414e-03 3.36280353e-01] [ 3.98583823e-02 -3.70727313e-03 9.99198462e-01 9.76570894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05463044 meters Centerline goodness [0,1] 0.29820661674256 Centerline is valid? [False, False] Translation: X:4.05, Y:0.33, Z:0.01 [[ 9.99198087e-01 -2.88636947e-03 -3.99356036e-02 4.05068137e+00] [ 3.05935636e-03 9.99986198e-01 4.27121097e-03 3.32337407e-01] [ 3.99227241e-02 -4.38996307e-03 9.99193127e-01 1.00618971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08463044 meters Centerline goodness [0,1] 0.3040119773471912 Centerline is valid? [False, False] Translation: X:4.05, Y:0.32, Z:0.01 [[ 9.99232901e-01 -4.35590597e-03 -3.89183112e-02 4.04698484e+00] [ 4.50836577e-03 9.99982501e-01 3.83052738e-03 3.24581494e-01] [ 3.89009447e-02 -4.00304697e-03 9.99235053e-01 1.19172070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.11463044 meters Centerline goodness [0,1] 0.30026295370290546 Centerline is valid? [False, False] Translation: X:4.06, Y:0.32, Z:0.02 [[ 9.99130208e-01 1.39622580e-03 -4.16758662e-02 4.06432079e+00] [-1.26893552e-03 9.99994450e-01 3.08058962e-03 3.17657446e-01] [ 4.16799361e-02 -3.02502616e-03 9.99126435e-01 1.52091425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14463044 meters Centerline goodness [0,1] 0.29964233387916916 Centerline is valid? [False, False] Translation: X:4.07, Y:0.32, Z:0.01 [[ 9.99114019e-01 1.53452643e-03 -4.20573756e-02 4.06551999e+00] [-1.39213683e-03 9.99993201e-01 3.41468235e-03 3.15806525e-01] [ 4.20623296e-02 -3.35310738e-03 9.99109362e-01 1.48282678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.17463044 meters Centerline goodness [0,1] 0.300191905470384 Centerline is valid? [False, False] Translation: X:4.07, Y:0.31, Z:0.01 [[ 9.99102389e-01 1.71596859e-03 -4.23257774e-02 4.06636511e+00] [-1.56163229e-03 9.99992012e-01 3.67918422e-03 3.14784601e-01] [ 4.23317527e-02 -3.60978444e-03 9.99097088e-01 1.44896018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20463043999999 meters Centerline goodness [0,1] 0.2975823986566489 Centerline is valid? [False, False] Translation: X:4.07, Y:0.31, Z:0.01 [[ 9.99096104e-01 1.97482579e-03 -4.24626330e-02 4.06690110e+00] [-1.80821485e-03 9.99990517e-01 3.96175754e-03 3.14194267e-01] [ 4.24700542e-02 -3.88139496e-03 9.99090201e-01 1.41525515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23463043999999 meters Centerline goodness [0,1] 0.29759668329338607 Centerline is valid? [False, False] Translation: X:4.07, Y:0.31, Z:0.01 [[ 9.99119134e-01 2.34584523e-03 -4.18981241e-02 4.06551957e+00] [-2.16998006e-03 9.99988646e-01 4.24243329e-03 3.13537327e-01] [ 4.19076005e-02 -4.14777819e-03 9.99112881e-01 1.41494948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26463043999999 meters Centerline goodness [0,1] 0.2990133638463698 Centerline is valid? [False, False] Translation: X:4.06, Y:0.31, Z:0.01 [[ 9.99131013e-01 2.31412919e-03 -4.16156561e-02 4.06434895e+00] [-2.14445708e-03 9.99989208e-01 4.12130089e-03 3.13862529e-01] [ 4.16247442e-02 -4.02847654e-03 9.99125193e-01 1.47575523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29463043999999 meters Centerline goodness [0,1] 0.30170226607394557 Centerline is valid? [False, False] Translation: X:4.06, Y:0.31, Z:0.02 [[ 9.99133107e-01 2.19225260e-03 -4.15719656e-02 4.06372841e+00] [-2.03460032e-03 9.99990580e-01 3.83420431e-03 3.14808778e-01] [ 4.15799796e-02 -3.74629813e-03 9.99128155e-01 1.53574624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32463043999999 meters Centerline goodness [0,1] 0.3003498250874562 Centerline is valid? [False, False] Translation: X:4.06, Y:0.32, Z:0.02 [[ 9.99134866e-01 2.09561235e-03 -4.15346690e-02 4.06351008e+00] [-1.94825862e-03 9.99991666e-01 3.58788857e-03 3.15782226e-01] [ 4.15418417e-02 -3.50386428e-03 9.99130621e-01 1.54108675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35463044 meters Centerline goodness [0,1] 0.29947252367158117 Centerline is valid? [False, False] Translation: X:4.06, Y:0.32, Z:0.02 [[ 9.99130795e-01 2.07928950e-03 -4.16332810e-02 4.06379003e+00] [-1.93966419e-03 9.99992360e-01 3.39380865e-03 3.17063222e-01] [ 4.16400196e-02 -3.31010415e-03 9.99127195e-01 1.52047588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38463044 meters Centerline goodness [0,1] 0.2964095057688996 Centerline is valid? [False, False] Translation: X:4.06, Y:0.32, Z:0.02 [[ 9.99137733e-01 2.16083291e-03 -4.14622881e-02 4.06327935e+00] [-2.02372848e-03 9.99992346e-01 3.34841342e-03 3.18058724e-01] [ 4.14692061e-02 -3.26161778e-03 9.99134459e-01 1.52971081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41463044 meters Centerline goodness [0,1] 0.30229785389117714 Centerline is valid? [False, False] Translation: X:4.06, Y:0.32, Z:0.02 [[ 9.99161020e-01 2.17138403e-03 -4.08967213e-02 4.06126439e+00] [-2.04778855e-03 9.99993210e-01 3.06378572e-03 3.20565122e-01] [ 4.09030962e-02 -2.97746742e-03 9.99158682e-01 1.61610615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44463044 meters Centerline goodness [0,1] 0.3041237113402062 Centerline is valid? [False, False] Translation: X:4.06, Y:0.32, Z:0.02 [[ 9.99160780e-01 2.07954516e-03 -4.09073414e-02 4.06093605e+00] [-1.96490537e-03 9.99994030e-01 2.84243275e-03 3.21686725e-01] [ 4.09130082e-02 -2.75966827e-03 9.99158901e-01 1.66025155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47463044 meters Centerline goodness [0,1] 0.29789288473092435 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:0.02 [[ 9.99124430e-01 9.21633415e-03 -4.08097133e-02 4.08080658e+00] [-9.16690956e-03 9.99957006e-01 1.39806459e-03 3.20878818e-01] [ 4.08208438e-02 -1.02274154e-03 9.99165959e-01 1.88389303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50463044 meters Centerline goodness [0,1] 0.297356450090121 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:0.02 [[ 9.99113909e-01 9.00834894e-03 -4.11126167e-02 4.08148123e+00] [-8.97277131e-03 9.99959193e-01 1.04981677e-03 3.22220211e-01] [ 4.11203961e-02 -6.79992434e-04 9.99153967e-01 1.89264810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.53463044 meters Centerline goodness [0,1] 0.29975631321299956 Centerline is valid? [False, False] Translation: X:4.08, Y:0.33, Z:0.02 [[ 9.99110921e-01 8.68616325e-03 -4.12543216e-02 4.08134851e+00] [-8.67833250e-03 9.99962275e-01 3.68901822e-04 3.25793632e-01] [ 4.12559696e-02 -1.05551194e-05 9.99148610e-01 1.95441360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56463044 meters Centerline goodness [0,1] 0.30393587593387206 Centerline is valid? [False, False] Translation: X:4.06, Y:0.33, Z:0.02 [[ 9.99235106e-01 1.40998045e-03 -3.90796017e-02 4.06084802e+00] [-1.37989627e-03 9.99998731e-01 7.96780559e-04 3.32699775e-01] [ 3.90806756e-02 -7.42245310e-04 9.99235783e-01 1.70995610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59463043999999 meters Centerline goodness [0,1] 0.3034322052354197 Centerline is valid? [False, False] Translation: X:4.06, Y:0.34, Z:0.02 [[ 9.99240578e-01 1.22330222e-03 -3.89457359e-02 4.06035255e+00] [-1.21761614e-03 9.99999244e-01 1.69719191e-04 3.36284259e-01] [ 3.89459140e-02 -1.22169346e-04 9.99241313e-01 1.72357260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62463043999999 meters Centerline goodness [0,1] 0.30267256213107974 Centerline is valid? [False, False] Translation: X:4.06, Y:0.34, Z:0.02 [[ 9.99237729e-01 1.01526266e-03 -3.90247449e-02 4.06053519e+00] [-1.03663839e-03 9.99999324e-01 -5.27517178e-04 3.40298182e-01] [ 3.90241830e-02 5.67569616e-04 9.99238105e-01 1.71131211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65463043999999 meters Centerline goodness [0,1] 0.3018454665712489 Centerline is valid? [False, False] Translation: X:4.06, Y:0.34, Z:0.02 [[ 9.99221974e-01 8.89405694e-04 -3.94291295e-02 4.06158250e+00] [-9.35607179e-04 9.99998897e-01 -1.15332342e-03 3.44199583e-01] [ 3.94280602e-02 1.18931628e-03 9.99221704e-01 1.68003153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68463043999999 meters Centerline goodness [0,1] 0.3017250755944223 Centerline is valid? [False, False] Translation: X:4.06, Y:0.35, Z:0.02 [[ 9.99211283e-01 7.26832886e-04 -3.97024390e-02 4.06205457e+00] [-7.97993437e-04 9.99998104e-01 -1.77652908e-03 3.47755674e-01] [ 3.97010724e-02 1.80681019e-03 9.99209968e-01 1.69082032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71463044 meters Centerline goodness [0,1] 0.2988250989843346 Centerline is valid? [False, False] Translation: X:4.08, Y:0.36, Z:0.02 [[ 9.99191237e-01 -7.29876505e-03 -3.95423795e-02 4.08005035e+00] [ 7.26151510e-03 9.99973046e-01 -1.08557098e-03 3.59229527e-01] [ 3.95492370e-02 7.97555420e-04 9.99217305e-01 1.99148664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74463044 meters Centerline goodness [0,1] 0.30359358335328557 Centerline is valid? [False, False] Translation: X:4.06, Y:0.35, Z:0.02 [[ 9.99219845e-01 4.31008303e-04 -3.94907126e-02 4.06154534e+00] [-5.40265104e-04 9.99996056e-01 -2.75601535e-03 3.54792009e-01] [ 3.94893690e-02 2.77520069e-03 9.99216137e-01 1.84151588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77463044 meters Centerline goodness [0,1] 0.30225823878984337 Centerline is valid? [False, False] Translation: X:4.06, Y:0.36, Z:0.02 [[ 9.99213251e-01 3.14973781e-04 -3.96582956e-02 4.06186087e+00] [-4.32553617e-04 9.99995537e-01 -2.95627759e-03 3.55886469e-01] [ 3.96571875e-02 2.97110608e-03 9.99208927e-01 1.85425936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80463044 meters Centerline goodness [0,1] 0.30210444607356934 Centerline is valid? [False, False] Translation: X:4.06, Y:0.36, Z:0.02 [[ 9.99208491e-01 2.78615249e-04 -3.97782992e-02 4.06205296e+00] [-4.01354288e-04 9.99995184e-01 -3.07762544e-03 3.56960651e-01] [ 3.97772501e-02 3.09115466e-03 9.99203791e-01 1.87123881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83463044 meters Centerline goodness [0,1] 0.3023691982667558 Centerline is valid? [False, False] Translation: X:4.06, Y:0.36, Z:0.02 [[ 9.99210579e-01 2.08570211e-04 -3.97262442e-02 4.06187297e+00] [-3.40115992e-04 9.99994482e-01 -3.30457710e-03 3.58431196e-01] [ 3.97253357e-02 3.31547993e-03 9.99205137e-01 1.88163850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86463044 meters Centerline goodness [0,1] 0.29986900594841837 Centerline is valid? [False, False] Translation: X:4.06, Y:0.36, Z:0.02 [[ 9.99211356e-01 6.52094058e-05 -3.97071934e-02 4.06168809e+00] [-2.09269356e-04 9.99993412e-01 -3.62391114e-03 3.59955633e-01] [ 3.97066955e-02 3.62936266e-03 9.99204787e-01 1.90235429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.89463044 meters Centerline goodness [0,1] 0.30601695648412497 Centerline is valid? [False, False] Translation: X:4.06, Y:0.36, Z:0.02 [[ 9.99229804e-01 -1.90591363e-04 -3.92398163e-02 4.05988033e+00] [ 2.78825571e-05 9.99991401e-01 -4.14702865e-03 3.62169315e-01] [ 3.92402692e-02 4.14274052e-03 9.99221216e-01 1.99377372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92463044 meters Centerline goodness [0,1] 0.30458735495065614 Centerline is valid? [False, False] Translation: X:4.06, Y:0.36, Z:0.02 [[ 9.99234502e-01 -1.76565235e-04 -3.91200687e-02 4.05940396e+00] [ 1.16495967e-05 9.99991113e-01 -4.21581536e-03 3.62835090e-01] [ 3.91204655e-02 4.21213242e-03 9.99225624e-01 2.02010392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95463043999999 meters Centerline goodness [0,1] 0.3037371022283881 Centerline is valid? [False, False] Translation: X:4.06, Y:0.36, Z:0.02 [[ 9.99233413e-01 -1.09537593e-04 -3.91480976e-02 4.05947270e+00] [-5.38701315e-05 9.99991291e-01 -4.17301182e-03 3.63120601e-01] [ 3.91482137e-02 4.17192176e-03 9.99224706e-01 2.01802268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98463043999999 meters Centerline goodness [0,1] 0.3057395624509719 Centerline is valid? [False, False] Translation: X:4.06, Y:0.36, Z:0.02 [[ 9.99224727e-01 -1.03986315e-04 -3.93691917e-02 4.06008307e+00] [-6.16609035e-05 9.99991152e-01 -4.20629653e-03 3.63412197e-01] [ 3.93692807e-02 4.20546304e-03 9.99215879e-01 2.00545820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01463043999999 meters Centerline goodness [0,1] 0.30104791064728964 Centerline is valid? [False, False] Translation: X:4.06, Y:0.36, Z:0.02 [[ 9.99219003e-01 -1.53289569e-04 -3.95140538e-02 4.06056030e+00] [-1.54844571e-05 9.99990880e-01 -4.27089905e-03 3.63547418e-01] [ 3.95143481e-02 4.26817534e-03 9.99209887e-01 1.98485022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04463043999999 meters Centerline goodness [0,1] 0.30445448676565523 Centerline is valid? [False, False] Translation: X:4.06, Y:0.36, Z:0.02 [[ 9.99230628e-01 -3.10273667e-04 -3.92180662e-02 4.05933432e+00] [ 1.39644438e-04 9.99990514e-01 -4.35344577e-03 3.63085298e-01] [ 3.92190449e-02 4.34461976e-03 9.99221192e-01 2.06001474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07463043999999 meters Centerline goodness [0,1] 0.30445448676565523 Centerline is valid? [False, False] Translation: X:4.06, Y:0.36, Z:0.02 [[ 9.99230628e-01 -3.10273667e-04 -3.92180662e-02 4.05933432e+00] [ 1.39644438e-04 9.99990514e-01 -4.35344577e-03 3.63085298e-01] [ 3.92190449e-02 4.34461976e-03 9.99221192e-01 2.06001474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10463044 meters Centerline goodness [0,1] 0.30354345073294275 Centerline is valid? [False, False] Translation: X:4.06, Y:0.36, Z:0.02 [[ 9.99240061e-01 -2.91280719e-04 -3.89771209e-02 4.05839429e+00] [ 1.25376971e-04 9.99990923e-01 -4.25881591e-03 3.62600215e-01] [ 3.89780077e-02 4.25069263e-03 9.99231028e-01 2.11204822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13463044 meters Centerline goodness [0,1] 0.3033053052622524 Centerline is valid? [False, False] Translation: X:4.06, Y:0.36, Z:0.02 [[ 9.99243213e-01 -2.38832215e-04 -3.88965957e-02 4.05790043e+00] [ 7.77822673e-05 9.99991419e-01 -4.14192450e-03 3.62196618e-01] [ 3.88972512e-02 4.13576448e-03 9.99234657e-01 2.15939908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16463044 meters Centerline goodness [0,1] 0.30801449684237936 Centerline is valid? [False, False] Translation: X:4.06, Y:0.36, Z:0.02 [[ 9.99243210e-01 -2.53670132e-04 -3.88965709e-02 4.05784627e+00] [ 9.28599244e-05 9.99991442e-01 -4.13605388e-03 3.62053273e-01] [ 3.88972872e-02 4.12931182e-03 9.99234682e-01 2.16638824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19463044 meters Centerline goodness [0,1] 0.3040236201805996 Centerline is valid? [False, False] Translation: X:4.06, Y:0.36, Z:0.02 [[ 9.99214781e-01 -3.13605730e-04 -3.96197429e-02 4.05995249e+00] [ 1.46954739e-04 9.99991131e-01 -4.20910357e-03 3.61729680e-01] [ 3.96207115e-02 4.19997619e-03 9.99205964e-01 2.10555213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22463044 meters Centerline goodness [0,1] 0.30297124047124047 Centerline is valid? [False, False] Translation: X:4.06, Y:0.36, Z:0.02 [[ 9.99201796e-01 -2.61955771e-04 -3.99462535e-02 4.06085061e+00] [ 9.75139496e-05 9.99991514e-01 -4.11846970e-03 3.61294832e-01] [ 3.99469933e-02 4.11128701e-03 9.99193342e-01 2.08562376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.25463044 meters Centerline goodness [0,1] 0.3026843899702214 Centerline is valid? [False, False] Translation: X:4.06, Y:0.36, Z:0.02 [[ 9.99193182e-01 -6.43551812e-05 -4.01619402e-02 4.06139290e+00] [-9.03181835e-05 9.99992587e-01 -3.84941605e-03 3.60710161e-01] [ 4.01618902e-02 3.84993763e-03 9.99185769e-01 2.08186841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28463044 meters Centerline goodness [0,1] 0.3008355946073997 Centerline is valid? [False, False] Translation: X:4.06, Y:0.36, Z:0.02 [[ 9.99188276e-01 1.51996024e-04 -4.02835723e-02 4.06141357e+00] [-2.91271106e-04 9.99994001e-01 -3.45152017e-03 3.59332295e-01] [ 4.02828060e-02 3.46045193e-03 9.99182326e-01 2.12216602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31463044 meters Centerline goodness [0,1] 0.3084657588144003 Centerline is valid? [False, False] Translation: X:4.04, Y:0.36, Z:0.02 [[ 9.99153904e-01 -7.35397611e-03 -4.04647421e-02 4.04104306e+00] [ 7.27152083e-03 9.99971176e-01 -2.18451196e-03 3.60122691e-01] [ 4.04796406e-02 1.88842344e-03 9.99178579e-01 1.96473407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34463043999999 meters Centerline goodness [0,1] 0.306039539430806 Centerline is valid? [False, False] Translation: X:4.06, Y:0.35, Z:0.02 [[ 9.99127727e-01 -9.16495927e-04 -4.17485919e-02 4.05915300e+00] [ 7.77474954e-04 9.99994100e-01 -3.34607059e-03 3.54446255e-01] [ 4.17514122e-02 3.31069342e-03 9.99122544e-01 2.28812902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37463043999999 meters Centerline goodness [0,1] 0.3045592048401037 Centerline is valid? [False, False] Translation: X:4.06, Y:0.35, Z:0.02 [[ 9.99133417e-01 -1.50063445e-03 -4.15952244e-02 4.05865194e+00] [ 1.36011941e-03 9.99993274e-01 -3.40624687e-03 3.49186887e-01] [ 4.16000561e-02 3.34672060e-03 9.99128738e-01 2.32369159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40463043999999 meters Centerline goodness [0,1] 0.31180230267478004 Centerline is valid? [False, False] Translation: X:4.06, Y:0.35, Z:0.02 [[ 9.99132934e-01 -1.48035974e-03 -4.16075634e-02 4.05882213e+00] [ 1.35130129e-03 9.99994189e-01 -3.12975590e-03 3.47279861e-01] [ 4.16119548e-02 3.07081784e-03 9.99129128e-01 2.31011815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43463043999999 meters Centerline goodness [0,1] 0.30510155677260775 Centerline is valid? [False, False] Translation: X:4.10, Y:0.35, Z:0.02 [[ 9.99171344e-01 -2.28852947e-03 -4.06372752e-02 4.10268598e+00] [ 2.18402456e-03 9.99994194e-01 -2.61586029e-03 3.48012208e-01] [ 4.06430257e-02 2.52493983e-03 9.99170541e-01 2.42347035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46463044 meters Centerline goodness [0,1] 0.3067819754210287 Centerline is valid? [False, False] Translation: X:4.10, Y:0.35, Z:0.02 [[ 9.99168735e-01 -2.20232241e-03 -4.07061340e-02 4.10303212e+00] [ 2.10567586e-03 9.99994862e-01 -2.41697262e-03 3.47052704e-01] [ 4.07112478e-02 2.32924955e-03 9.99168239e-01 2.39901650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49463044 meters Centerline goodness [0,1] 0.30891871931882353 Centerline is valid? [False, False] Translation: X:4.10, Y:0.35, Z:0.02 [[ 9.99161427e-01 -2.11451771e-03 -4.08897596e-02 4.10361142e+00] [ 2.02117570e-03 9.99995257e-01 -2.32397770e-03 3.46836895e-01] [ 4.08944798e-02 2.23938349e-03 9.99160961e-01 2.37618584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52463044 meters Centerline goodness [0,1] 0.3030211805182238 Centerline is valid? [False, False] Translation: X:4.12, Y:0.34, Z:0.03 [[ 9.99063535e-01 4.83245967e-03 -4.29965046e-02 4.12360356e+00] [-4.96972332e-03 9.99982889e-01 -3.08611983e-03 3.43735479e-01] [ 4.29808553e-02 3.29691052e-03 9.99070456e-01 2.60777567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55463044 meters Centerline goodness [0,1] 0.3046422293118042 Centerline is valid? [False, False] Translation: X:4.12, Y:0.35, Z:0.03 [[ 9.99046042e-01 4.93203999e-03 -4.33898658e-02 4.12456513e+00] [-5.07872084e-03 9.99981754e-01 -3.27094720e-03 3.45122206e-01] [ 4.33729416e-02 3.48819187e-03 9.99052862e-01 2.58535725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58463044 meters Centerline goodness [0,1] 0.3033952815730968 Centerline is valid? [False, False] Translation: X:4.14, Y:0.35, Z:0.03 [[ 9.99097264e-01 -2.48748984e-03 -4.24083650e-02 4.14116950e+00] [ 2.42753403e-03 9.99995980e-01 -1.46521186e-03 3.51162319e-01] [ 4.24118392e-02 1.36094141e-03 9.99099286e-01 2.82383811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.61463044 meters Centerline goodness [0,1] 0.30600125251041954 Centerline is valid? [False, False] Translation: X:4.14, Y:0.35, Z:0.03 [[ 9.99118223e-01 -2.37157170e-03 -4.19183893e-02 4.13932606e+00] [ 2.31704003e-03 9.99996405e-01 -1.34943785e-03 3.51146574e-01] [ 4.19214389e-02 1.25112136e-03 9.99120127e-01 2.91953152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64463044 meters Centerline goodness [0,1] 0.30634951498260854 Centerline is valid? [False, False] Translation: X:4.14, Y:0.35, Z:0.03 [[ 9.99134875e-01 -2.30216816e-03 -4.15235034e-02 4.13784562e+00] [ 2.25248883e-03 9.99996690e-01 -1.24316095e-03 3.50855390e-01] [ 4.15262279e-02 1.14855423e-03 9.99136754e-01 2.99743781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.67463044 meters Centerline goodness [0,1] 0.30587751034467814 Centerline is valid? [False, False] Translation: X:4.14, Y:0.35, Z:0.03 [[ 9.99137211e-01 -2.30810256e-03 -4.14669399e-02 4.13745275e+00] [ 2.26319294e-03 9.99996801e-01 -1.12993372e-03 3.49981887e-01] [ 4.14694152e-02 1.03511114e-03 9.99139238e-01 3.03704278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70463043999999 meters Centerline goodness [0,1] 0.30835753608739 Centerline is valid? [False, False] Translation: X:4.14, Y:0.35, Z:0.03 [[ 9.99122004e-01 -2.57345182e-03 -4.18162561e-02 4.13834417e+00] [ 2.53220404e-03 9.99996254e-01 -1.03934252e-03 3.47368502e-01] [ 4.18187741e-02 9.32542693e-04 9.99124777e-01 3.03706000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73463043999999 meters Centerline goodness [0,1] 0.30581310103928583 Centerline is valid? [False, False] Translation: X:4.14, Y:0.35, Z:0.03 [[ 9.99121127e-01 -2.48961126e-03 -4.18422737e-02 4.13830275e+00] [ 2.46326114e-03 9.99996734e-01 -6.81293722e-04 3.45260919e-01] [ 4.18438332e-02 5.77626504e-04 9.99123996e-01 3.06251592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76463043999999 meters Centerline goodness [0,1] 0.3052962836102072 Centerline is valid? [False, False] Translation: X:4.14, Y:0.34, Z:0.03 [[ 9.99123306e-01 -2.32438967e-03 -4.17997151e-02 4.13818548e+00] [ 2.31915440e-03 9.99997296e-01 -1.73737394e-04 3.42751986e-01] [ 4.18000059e-02 7.66450867e-05 9.99125995e-01 3.07981855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79463043999999 meters Centerline goodness [0,1] 0.3100381745618601 Centerline is valid? [False, False] Translation: X:4.14, Y:0.34, Z:0.03 [[ 9.99114101e-01 -2.14972123e-03 -4.20284720e-02 4.13885905e+00] [ 2.16418820e-03 9.99997614e-01 2.98722357e-04 3.40494463e-01] [ 4.20277296e-02 -3.89415242e-04 9.99116369e-01 3.07226868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82463043999999 meters Centerline goodness [0,1] 0.3078083579387487 Centerline is valid? [False, False] Translation: X:4.14, Y:0.34, Z:0.03 [[ 9.99082051e-01 -2.08447564e-03 -4.27867991e-02 4.14146553e+00] [ 2.12221773e-03 9.99997398e-01 8.36693365e-04 3.35647639e-01] [ 4.27849437e-02 -9.26728227e-04 9.99083875e-01 2.97993325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85463044 meters Centerline goodness [0,1] 0.3114408162377358 Centerline is valid? [False, False] Translation: X:4.14, Y:0.33, Z:0.03 [[ 9.99081008e-01 -2.03018005e-03 -4.28137630e-02 4.14146686e+00] [ 2.08130406e-03 9.99997173e-01 1.14956134e-03 3.33408463e-01] [ 4.28113082e-02 -1.23761336e-03 9.99082409e-01 2.99729869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88463044 meters Centerline goodness [0,1] 0.3066970916840678 Centerline is valid? [False, False] Translation: X:4.16, Y:0.33, Z:0.03 [[ 9.99101549e-01 5.19765504e-03 -4.20604201e-02 4.16021065e+00] [-5.20274730e-03 9.99986466e-01 -1.16069052e-05 3.28715942e-01] [ 4.20597905e-02 2.30426214e-04 9.99115069e-01 3.25154035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91463044 meters Centerline goodness [0,1] 0.3099102209944752 Centerline is valid? [False, False] Translation: X:4.16, Y:0.33, Z:0.03 [[ 9.99110176e-01 5.32773058e-03 -4.18386436e-02 4.15940574e+00] [-5.32299099e-03 9.99985808e-01 2.24684676e-04 3.27758778e-01] [ 4.18392469e-02 -1.77802288e-06 9.99124355e-01 3.29174313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94463044 meters Centerline goodness [0,1] 0.31057416164626117 Centerline is valid? [False, False] Translation: X:4.16, Y:0.33, Z:0.03 [[ 9.99119917e-01 5.49947337e-03 -4.15830208e-02 4.15833192e+00] [-5.48712911e-03 9.99984861e-01 4.10988374e-04 3.27462879e-01] [ 4.15846515e-02 -1.82455266e-04 9.99134968e-01 3.35744683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97463044 meters Centerline goodness [0,1] 0.30534220856801497 Centerline is valid? [False, False] Translation: X:4.18, Y:0.33, Z:0.03 [[ 9.99219388e-01 1.16507745e-03 -3.94874194e-02 4.17838360e+00] [-9.90983896e-04 9.99989705e-01 4.42812252e-03 3.31118906e-01] [ 3.94921720e-02 -4.38553448e-03 9.99210256e-01 3.38604152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00463044 meters Centerline goodness [0,1] 0.31245383044366226 Centerline is valid? [False, False] Translation: X:4.13, Y:0.33, Z:0.03 [[ 9.99149692e-01 2.23067696e-03 -4.11693619e-02 4.13289717e+00] [-2.06408070e-03 9.99989511e-01 4.08867081e-03 3.28801178e-01] [ 4.11780506e-02 -4.00021730e-03 9.99143817e-01 3.28645667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.03463044 meters Centerline goodness [0,1] 0.31102866193668777 Centerline is valid? [False, False] Translation: X:4.13, Y:0.33, Z:0.03 [[ 9.99145933e-01 2.07144501e-03 -4.12687936e-02 4.13325107e+00] [-1.92117114e-03 9.99991381e-01 3.68067042e-03 3.30349827e-01] [ 4.12760622e-02 -3.59824247e-03 9.99141301e-01 3.25227566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06463044 meters Centerline goodness [0,1] 0.30860110353781245 Centerline is valid? [False, False] Translation: X:4.13, Y:0.33, Z:0.03 [[ 9.99128509e-01 2.00360092e-03 -4.16918195e-02 4.13438094e+00] [-1.86639313e-03 9.99992715e-01 3.32966386e-03 3.32049888e-01] [ 4.16981871e-02 -3.24894877e-03 9.99124970e-01 3.21454120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09463043999999 meters Centerline goodness [0,1] 0.3075469649256163 Centerline is valid? [False, False] Translation: X:4.14, Y:0.33, Z:0.03 [[ 9.99109860e-01 2.05954312e-03 -4.21336616e-02 4.13543135e+00] [-1.92765507e-03 9.99993116e-01 3.17061824e-03 3.33370616e-01] [ 4.21399015e-02 -3.08657678e-03 9.99106952e-01 3.19530491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12463043999999 meters Centerline goodness [0,1] 0.30397046440831665 Centerline is valid? [False, False] Translation: X:4.14, Y:0.33, Z:0.03 [[ 9.99098339e-01 2.17311609e-03 -4.24003169e-02 4.13625639e+00] [-2.04465994e-03 9.99993189e-01 3.07273501e-03 3.34833538e-01] [ 4.24067055e-02 -2.98327022e-03 9.99095977e-01 3.15696037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15463043999999 meters Centerline goodness [0,1] 0.3045716994139952 Centerline is valid? [False, False] Translation: X:4.14, Y:0.34, Z:0.03 [[ 9.99101303e-01 2.13507633e-03 -4.23323549e-02 4.13601763e+00] [-2.01777353e-03 9.99994006e-01 2.81353045e-03 3.36720430e-01] [ 4.23381083e-02 -2.72558483e-03 9.99099623e-01 3.16426462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18463043999999 meters Centerline goodness [0,1] 0.30598980825703925 Centerline is valid? [False, False] Translation: X:4.14, Y:0.34, Z:0.03 [[ 9.99104577e-01 1.98254583e-03 -4.22624332e-02 4.13561570e+00] [-1.87121978e-03 9.99994675e-01 2.67355703e-03 3.36735937e-01] [ 4.22675086e-02 -2.59208076e-03 9.99102967e-01 3.19746467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21463044 meters Centerline goodness [0,1] 0.3044523119836927 Centerline is valid? [False, False] Translation: X:4.14, Y:0.34, Z:0.03 [[ 9.99101593e-01 1.84565509e-03 -4.23391159e-02 4.13545248e+00] [-1.73596856e-03 9.99995042e-01 2.62728648e-03 3.36292074e-01] [ 4.23437550e-02 -2.55142674e-03 9.99099843e-01 3.24870035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24463044 meters Centerline goodness [0,1] 0.3066689591437598 Centerline is valid? [False, False] Translation: X:4.14, Y:0.34, Z:0.03 [[ 9.99097733e-01 1.81720992e-03 -4.24313332e-02 4.13532476e+00] [-1.70278087e-03 9.99994816e-01 2.73279159e-03 3.35570704e-01] [ 4.24360793e-02 -2.65807461e-03 9.99095648e-01 3.30701952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27463044 meters Centerline goodness [0,1] 0.3075531823271036 Centerline is valid? [False, False] Translation: X:4.14, Y:0.33, Z:0.03 [[ 9.99097307e-01 1.93232648e-03 -4.24362810e-02 4.13504171e+00] [-1.80758716e-03 9.99993933e-01 2.97762403e-03 3.34810817e-01] [ 4.24417773e-02 -2.89822888e-03 9.99094738e-01 3.35298404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30463044 meters Centerline goodness [0,1] 0.31197082193565195 Centerline is valid? [False, False] Translation: X:4.13, Y:0.33, Z:0.03 [[ 9.99099014e-01 2.00358961e-03 -4.23927499e-02 4.13487260e+00] [-1.86710088e-03 9.99992946e-01 3.25897315e-03 3.33537980e-01] [ 4.23989805e-02 -3.17688532e-03 9.99095708e-01 3.37814541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33463044 meters Centerline goodness [0,1] 0.30957645120735244 Centerline is valid? [False, False] Translation: X:4.14, Y:0.33, Z:0.03 [[ 9.99096940e-01 1.92736498e-03 -4.24451396e-02 4.13515865e+00] [-1.79223990e-03 9.99993205e-01 3.22134606e-03 3.33238474e-01] [ 4.24510599e-02 -3.14236512e-03 9.99093606e-01 3.35734701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36463044 meters Centerline goodness [0,1] 0.309349725008088 Centerline is valid? [False, False] Translation: X:4.14, Y:0.33, Z:0.03 [[ 9.99089245e-01 1.89975444e-03 -4.26271190e-02 4.13589286e+00] [-1.76654526e-03 9.99993439e-01 3.16243764e-03 3.33410371e-01] [ 4.26328472e-02 -3.08425470e-03 9.99086046e-01 3.31084052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.39463044 meters Centerline goodness [0,1] 0.3118277223834355 Centerline is valid? [False, False] Translation: X:4.14, Y:0.33, Z:0.03 [[ 9.99081558e-01 1.87160381e-03 -4.28081551e-02 4.13655154e+00] [-1.74399688e-03 9.99993925e-01 3.01805395e-03 3.34193162e-01] [ 4.28135436e-02 -2.94062475e-03 9.99078752e-01 3.27055295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42463044 meters Centerline goodness [0,1] 0.3035867329448063 Centerline is valid? [False, False] Translation: X:4.18, Y:0.34, Z:0.03 [[ 9.99138990e-01 2.13106299e-03 -4.14335237e-02 4.17985267e+00] [-1.98396351e-03 9.99991584e-01 3.59104754e-03 3.38662054e-01] [ 4.14408278e-02 -3.50575302e-03 9.99134809e-01 3.40793322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45463043999999 meters Centerline goodness [0,1] 0.30881209503239737 Centerline is valid? [False, False] Translation: X:4.18, Y:0.34, Z:0.04 [[ 9.99178347e-01 2.54212697e-03 -4.04495893e-02 4.17673453e+00] [-2.39316308e-03 9.99990177e-01 3.73069972e-03 3.40161424e-01] [ 4.04586759e-02 -3.63083191e-03 9.99174616e-01 3.51244441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48463043999999 meters Centerline goodness [0,1] 0.30933772110242697 Centerline is valid? [False, False] Translation: X:4.18, Y:0.34, Z:0.04 [[ 9.99191026e-01 2.50245825e-03 -4.01376480e-02 4.17553574e+00] [-2.35920652e-03 9.99990679e-01 3.61598022e-03 3.40869802e-01] [ 4.01463228e-02 -3.51836199e-03 9.99187617e-01 3.57489757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51463043999999 meters Centerline goodness [0,1] 0.30946512734033815 Centerline is valid? [False, False] Translation: X:4.17, Y:0.34, Z:0.04 [[ 9.99195190e-01 2.44006173e-03 -4.00377174e-02 4.17499466e+00] [-2.30243500e-03 9.99991283e-01 3.48317751e-03 3.41444063e-01] [ 4.00458675e-02 -3.38818998e-03 9.99192098e-01 3.61679354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54463043999999 meters Centerline goodness [0,1] 0.30870701008225565 Centerline is valid? [False, False] Translation: X:4.18, Y:0.34, Z:0.04 [[ 9.99192913e-01 2.37216986e-03 -4.00985821e-02 4.17514703e+00] [-2.24184671e-03 9.99992059e-01 3.29472192e-03 3.42353436e-01] [ 4.01060793e-02 -3.20216792e-03 9.99190296e-01 3.60938068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57463043999999 meters Centerline goodness [0,1] 0.3107832058414465 Centerline is valid? [False, False] Translation: X:4.18, Y:0.34, Z:0.04 [[ 9.99186305e-01 2.32228241e-03 -4.02657987e-02 4.17563989e+00] [-2.20049674e-03 9.99992871e-01 3.06860044e-03 3.43741772e-01] [ 4.02726377e-02 -2.97749878e-03 9.99184292e-01 3.58718026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60463044 meters Centerline goodness [0,1] 0.30493476295052324 Centerline is valid? [False, False] Translation: X:4.18, Y:0.35, Z:0.04 [[ 9.99177719e-01 2.34254249e-03 -4.04771316e-02 4.17617471e+00] [-2.23147319e-03 9.99993621e-01 2.78896378e-03 3.45791446e-01] [ 4.04834067e-02 -2.69634683e-03 9.99176573e-01 3.56974275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63463044 meters Centerline goodness [0,1] 0.3026039208957144 Centerline is valid? [False, False] Translation: X:4.18, Y:0.35, Z:0.04 [[ 9.99190120e-01 2.38030715e-03 -4.01676345e-02 4.17524038e+00] [-2.29444040e-03 9.99994984e-01 2.18367431e-03 3.50936419e-01] [ 4.01726308e-02 -2.08974355e-03 9.99190569e-01 3.57135794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66463044 meters Centerline goodness [0,1] 0.3066941521102311 Centerline is valid? [False, False] Translation: X:4.17, Y:0.35, Z:0.04 [[ 9.99195835e-01 2.26810084e-03 -4.00317233e-02 4.17481956e+00] [-2.19875695e-03 9.99996005e-01 1.77616602e-03 3.53196445e-01] [ 4.00355919e-02 -1.68671766e-03 9.99196831e-01 3.57328790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69463044 meters Centerline goodness [0,1] 0.3008262339997432 Centerline is valid? [False, False] Translation: X:4.19, Y:0.35, Z:0.04 [[ 9.99187061e-01 9.81547127e-03 -3.91008162e-02 4.19494406e+00] [-9.80351891e-03 9.99951821e-01 4.97409744e-04 3.54168040e-01] [ 3.91038147e-02 -1.13679789e-04 9.99235147e-01 3.72483209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72463044 meters Centerline goodness [0,1] 0.304380713621923 Centerline is valid? [False, False] Translation: X:4.17, Y:0.36, Z:0.03 [[ 9.99290898e-01 2.46299019e-03 -3.75717311e-02 4.17481067e+00] [-2.42262199e-03 9.99996438e-01 1.11991953e-03 3.58998051e-01] [ 3.75743556e-02 -1.02810329e-03 9.99293306e-01 3.45918840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.75463044 meters Centerline goodness [0,1] 0.30466204992125645 Centerline is valid? [False, False] Translation: X:4.17, Y:0.36, Z:0.03 [[ 9.99287693e-01 2.39123379e-03 -3.76615050e-02 4.17483968e+00] [-2.35659294e-03 9.99996758e-01 9.64159970e-04 3.59890264e-01] [ 3.76636885e-02 -8.74720355e-04 9.99290089e-01 3.48608133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78463044 meters Centerline goodness [0,1] 0.30522304512573195 Centerline is valid? [False, False] Translation: X:4.18, Y:0.36, Z:0.04 [[ 9.99269065e-01 1.92753595e-03 -3.81787932e-02 4.17580143e+00] [-1.90237237e-03 9.99997949e-01 6.95415612e-04 3.59532838e-01] [ 3.81800553e-02 -6.22277027e-04 9.99270682e-01 3.53027234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81463044 meters Centerline goodness [0,1] 0.305148407987048 Centerline is valid? [False, False] Translation: X:4.18, Y:0.36, Z:0.04 [[ 9.99260175e-01 1.74756713e-03 -3.84193680e-02 4.17645966e+00] [-1.72080198e-03 9.99998253e-01 7.29714898e-04 3.58456568e-01] [ 3.84205761e-02 -6.63062912e-04 9.99261437e-01 3.53160487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84463043999999 meters Centerline goodness [0,1] 0.30692578133425363 Centerline is valid? [False, False] Translation: X:4.18, Y:0.36, Z:0.04 [[ 9.99253910e-01 1.62300795e-03 -3.85874285e-02 4.17705258e+00] [-1.59241440e-03 9.99998393e-01 8.23559072e-04 3.57340097e-01] [ 3.85887031e-02 -7.61497445e-04 9.99254888e-01 3.51573788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87463043999999 meters Centerline goodness [0,1] 0.309134604975426 Centerline is valid? [False, False] Translation: X:4.18, Y:0.36, Z:0.04 [[ 9.99253156e-01 1.55250083e-03 -3.86098412e-02 4.17725019e+00] [-1.51630167e-03 9.99998383e-01 9.66828286e-04 3.56199110e-01] [ 3.86112798e-02 -9.07562049e-04 9.99253894e-01 3.50647505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90463043999999 meters Centerline goodness [0,1] 0.3123091912958753 Centerline is valid? [False, False] Translation: X:4.18, Y:0.35, Z:0.04 [[ 9.99266174e-01 1.29944573e-03 -3.82808698e-02 4.17623467e+00] [-1.25691451e-03 9.99998566e-01 1.13507637e-03 3.54006328e-01] [ 3.82822899e-02 -1.08612764e-03 9.99266374e-01 3.56660117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93463043999999 meters Centerline goodness [0,1] 0.3102844544354142 Centerline is valid? [False, False] Translation: X:4.18, Y:0.35, Z:0.04 [[ 9.99265284e-01 1.25089428e-03 -3.83057208e-02 4.17600031e+00] [-1.20437635e-03 9.99998509e-01 1.23743764e-03 3.52973507e-01] [ 3.83072116e-02 -1.19039397e-03 9.99265300e-01 3.61617348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96463044 meters Centerline goodness [0,1] 0.3102844544354142 Centerline is valid? [False, False] Translation: X:4.18, Y:0.35, Z:0.04 [[ 9.99265284e-01 1.25089428e-03 -3.83057208e-02 4.17600031e+00] [-1.20437635e-03 9.99998509e-01 1.23743764e-03 3.52973507e-01] [ 3.83072116e-02 -1.19039397e-03 9.99265300e-01 3.61617348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99463044 meters Centerline goodness [0,1] 0.30984157051833994 Centerline is valid? [False, False] Translation: X:4.18, Y:0.35, Z:0.04 [[ 9.99259873e-01 1.27854522e-03 -3.84457030e-02 4.17608360e+00] [-1.22418190e-03 9.99998217e-01 1.43753627e-03 3.51770714e-01] [ 3.84474724e-02 -1.38940777e-03 9.99259657e-01 3.65904924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02463044 meters Centerline goodness [0,1] 0.3093238587424634 Centerline is valid? [False, False] Translation: X:4.18, Y:0.35, Z:0.04 [[ 9.99249342e-01 1.36621195e-03 -3.87154467e-02 4.17673484e+00] [-1.30180992e-03 9.99997727e-01 1.68863173e-03 3.50646424e-01] [ 3.87176657e-02 -1.63696400e-03 9.99248849e-01 3.66367720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05463044 meters Centerline goodness [0,1] 0.31385798713714586 Centerline is valid? [False, False] Translation: X:4.18, Y:0.35, Z:0.04 [[ 9.99238795e-01 1.45491722e-03 -3.89834979e-02 4.17767342e+00] [-1.37881891e-03 9.99997091e-01 1.97887935e-03 3.49192027e-01] [ 3.89862637e-02 -1.92362183e-03 9.99237895e-01 3.62870516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08463044 meters Centerline goodness [0,1] 0.31182748856458287 Centerline is valid? [False, False] Translation: X:4.18, Y:0.35, Z:0.04 [[ 9.99230757e-01 1.41007591e-03 -3.91906267e-02 4.17843716e+00] [-1.32341025e-03 9.99996622e-01 2.23724210e-03 3.47002740e-01] [ 3.91936489e-02 -2.18365584e-03 9.99229248e-01 3.60071014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11463044 meters Centerline goodness [0,1] 0.3125725837670438 Centerline is valid? [False, False] Translation: X:4.20, Y:0.34, Z:0.04 [[ 9.99256773e-01 -8.50607027e-03 -3.75971756e-02 4.19813752e+00] [ 8.60041167e-03 9.99960259e-01 2.34824528e-03 3.44473376e-01] [ 3.75757071e-02 -2.66985119e-03 9.99290217e-01 3.73483124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14463044 meters Centerline goodness [0,1] 0.3154162162162162 Centerline is valid? [False, False] Translation: X:4.20, Y:0.34, Z:0.04 [[ 9.99271261e-01 -8.59468367e-03 -3.71897521e-02 4.19685536e+00] [ 8.70277250e-03 9.99958361e-01 2.74550498e-03 3.41441640e-01] [ 3.71646068e-02 -3.06715818e-03 9.99304450e-01 3.80705049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.17463044 meters Centerline goodness [0,1] 0.31347038837039265 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.04 [[ 9.99268900e-01 -2.74911036e-03 -3.81327629e-02 4.21263085e+00] [ 2.80771565e-03 9.99994958e-01 1.48340752e-03 3.34548673e-01] [ 3.81284926e-02 -1.58938896e-03 9.99271581e-01 4.17805405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20463043999999 meters Centerline goodness [0,1] 0.31687038396752043 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.04 [[ 9.99270020e-01 -2.65418187e-03 -3.81101284e-02 4.21238217e+00] [ 2.73061558e-03 9.99994363e-01 1.95369011e-03 3.31761552e-01] [ 3.81047282e-02 -2.05632807e-03 9.99271635e-01 4.21708545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23463043999999 meters Centerline goodness [0,1] 0.3146536871123363 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.04 [[ 9.99271691e-01 -2.53837735e-03 -3.80741984e-02 4.21231804e+00] [ 2.63056872e-03 9.99993728e-01 2.37145936e-03 3.29324824e-01] [ 3.80679399e-02 -2.46988900e-03 9.99272101e-01 4.22552071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26463043999999 meters Centerline goodness [0,1] 0.31612668209479733 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.04 [[ 9.99275041e-01 -2.36503093e-03 -3.79973537e-02 4.21230205e+00] [ 2.47405532e-03 9.99992956e-01 2.82249802e-03 3.26891763e-01] [ 3.79904108e-02 -2.91445938e-03 9.99273854e-01 4.21385062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29463043999999 meters Centerline goodness [0,1] 0.31731788007870776 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.04 [[ 9.99281537e-01 -2.02906707e-03 -3.78456480e-02 4.21190967e+00] [ 2.16615313e-03 9.99991240e-01 3.58158821e-03 3.23240305e-01] [ 3.78380492e-02 -3.66099444e-03 9.99277178e-01 4.23002942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32463043999999 meters Centerline goodness [0,1] 0.3154513814291239 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.04 [[ 9.99271442e-01 -1.83251961e-03 -3.81212137e-02 4.21277276e+00] [ 1.98514876e-03 9.99990164e-01 3.96631850e-03 3.21378785e-01] [ 3.81135704e-02 -4.03910508e-03 9.99265251e-01 4.20203132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35463044 meters Centerline goodness [0,1] 0.31793119851240026 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.04 [[ 9.99253393e-01 -1.85207994e-03 -3.85904970e-02 4.21441110e+00] [ 2.01958113e-03 9.99988707e-01 4.30194679e-03 3.17151798e-01] [ 3.85820937e-02 -4.37667157e-03 9.99245849e-01 4.13423676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38463044 meters Centerline goodness [0,1] 0.3160795331748433 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.04 [[ 9.99250978e-01 -1.76352703e-03 -3.86571280e-02 4.21464300e+00] [ 1.94339974e-03 9.99987458e-01 4.61594495e-03 3.15125566e-01] [ 3.86485028e-02 -4.68761376e-03 9.99241872e-01 4.12579520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41463044 meters Centerline goodness [0,1] 0.3172331673522407 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.04 [[ 9.99254414e-01 -1.58972898e-03 -3.85757674e-02 4.21439723e+00] [ 1.78539301e-03 9.99985714e-01 5.03828166e-03 3.13119222e-01] [ 3.85672068e-02 -5.10339809e-03 9.99242976e-01 4.13902242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44463044 meters Centerline goodness [0,1] 0.3177840675842102 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.04 [[ 9.99261881e-01 -1.41861758e-03 -3.83885460e-02 4.21399916e+00] [ 1.63082762e-03 9.99983560e-01 5.49720267e-03 3.10802192e-01] [ 3.83801165e-02 -5.55575018e-03 9.99247767e-01 4.14495248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.47463044 meters Centerline goodness [0,1] 0.31654877943586646 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.04 [[ 9.99271742e-01 -1.32231138e-03 -3.81344712e-02 4.21360894e+00] [ 1.54856676e-03 9.99981371e-01 5.90416637e-03 3.08145292e-01] [ 3.81259537e-02 -5.95892039e-03 9.99255174e-01 4.12742590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50463044 meters Centerline goodness [0,1] 0.31822018308914235 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.04 [[ 9.99273084e-01 -1.31459230e-03 -3.80995341e-02 4.21366809e+00] [ 1.55306106e-03 9.99979386e-01 6.23017903e-03 3.05246645e-01] [ 3.80905586e-02 -6.28482111e-03 9.99254527e-01 4.11667956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.53463044 meters Centerline goodness [0,1] 0.31507463642770195 Centerline is valid? [False, False] Translation: X:4.24, Y:0.30, Z:0.04 [[ 9.99163873e-01 3.48484057e-03 -4.07358669e-02 4.23641281e+00] [-3.31778302e-03 9.99985810e-01 4.16787955e-03 2.96140716e-01] [ 4.07498133e-02 -4.02924191e-03 9.99161257e-01 4.29343929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56463044 meters Centerline goodness [0,1] 0.3184492152734061 Centerline is valid? [False, False] Translation: X:4.19, Y:0.29, Z:0.04 [[ 9.99049745e-01 4.02404361e-03 -4.33983240e-02 4.19280606e+00] [-3.83164164e-03 9.99982463e-01 4.51566825e-03 2.90742318e-01] [ 4.34157341e-02 -4.34509038e-03 9.99047644e-01 4.16982202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59463043999999 meters Centerline goodness [0,1] 0.316197929051644 Centerline is valid? [False, False] Translation: X:4.19, Y:0.29, Z:0.04 [[ 9.99041414e-01 4.18588388e-03 -4.35744281e-02 4.19356525e+00] [-3.97794389e-03 9.99980289e-01 4.85768124e-03 2.89173882e-01] [ 4.35939029e-02 -4.67968811e-03 9.99038374e-01 4.12625018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62463043999999 meters Centerline goodness [0,1] 0.3157803680716248 Centerline is valid? [False, False] Translation: X:4.19, Y:0.29, Z:0.04 [[ 9.99037808e-01 4.23275045e-03 -4.36525111e-02 4.19403331e+00] [-4.01768650e-03 9.99979362e-01 5.01328263e-03 2.87953484e-01] [ 4.36728301e-02 -4.83307679e-03 9.99034196e-01 4.08965533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65463043999999 meters Centerline goodness [0,1] 0.3149905123339658 Centerline is valid? [False, False] Translation: X:4.19, Y:0.29, Z:0.04 [[ 9.99037228e-01 4.21126801e-03 -4.36678680e-02 4.19429351e+00] [-3.99466389e-03 9.99979288e-01 5.04633852e-03 2.87066795e-01] [ 4.36882151e-02 -4.86704159e-03 9.99033359e-01 4.05438979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68463043999999 meters Centerline goodness [0,1] 0.3115021809665012 Centerline is valid? [False, False] Translation: X:4.19, Y:0.29, Z:0.04 [[ 0.9990397 0.00455473 -0.04357677 4.1939487 ] [-0.00432714 0.99997651 0.00531563 0.28652029] [ 0.04359996 -0.00512197 0.99903594 0.04061595] [ 0. 0. 0. 1. ]] SLAMing on 121.71463044 meters Centerline goodness [0,1] 0.31630721016779473 Centerline is valid? [False, False] Translation: X:4.18, Y:0.29, Z:0.04 [[ 9.99146777e-01 -1.08397674e-03 -4.12861122e-02 4.17708999e+00] [ 1.36078747e-03 9.99976781e-01 6.67718085e-03 2.91086456e-01] [ 4.12779157e-02 -6.72766535e-03 9.99125053e-01 3.76636525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74463044 meters Centerline goodness [0,1] 0.31417583129874904 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.04 [[ 0.99910426 0.00682971 -0.04176168 4.19707658] [-0.00658885 0.99996087 0.00590238 0.28981543] [ 0.04180036 -0.00562193 0.99911017 0.03977412] [ 0. 0. 0. 1. ]] SLAMing on 121.77463044 meters Centerline goodness [0,1] 0.31063428840635576 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.04 [[ 0.99909916 0.00681396 -0.0418861 4.19746791] [-0.00657734 0.99996164 0.00578416 0.29042021] [ 0.04192391 -0.00550345 0.99910565 0.0396259 ] [ 0. 0. 0. 1. ]] SLAMing on 121.80463044 meters Centerline goodness [0,1] 0.31320002599709695 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.04 [[ 0.99910072 0.00669005 -0.04186875 4.19737833] [-0.00645972 0.99996326 0.00563407 0.29061677] [ 0.0419049 -0.00535854 0.99910723 0.03966048] [ 0. 0. 0. 1. ]] SLAMing on 121.83463044 meters Centerline goodness [0,1] 0.31299723279142166 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.04 [[ 0.9991018 0.00661283 -0.04185519 4.19733358] [-0.00638533 0.99996412 0.00556676 0.29046278] [ 0.0418905 -0.0052945 0.99910818 0.03966158] [ 0. 0. 0. 1. ]] SLAMing on 121.86463044 meters Centerline goodness [0,1] 0.31258226700904124 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.04 [[ 0.99911726 0.0065575 -0.04149327 4.19640816] [-0.00632622 0.99996373 0.00570283 0.28938102] [ 0.04152916 -0.0054353 0.99912251 0.03985115] [ 0. 0. 0. 1. ]] SLAMing on 121.89463044 meters Centerline goodness [0,1] 0.3122894895932291 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.04 [[ 0.9991232 0.00654768 -0.0413517 4.19597902] [-0.00631035 0.99996288 0.00586703 0.28827759] [ 0.04138858 -0.00560095 0.99912743 0.0400983 ] [ 0. 0. 0. 1. ]] SLAMing on 121.92463044 meters Centerline goodness [0,1] 0.31353909022475535 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.04 [[ 0.99912528 0.00650467 -0.04130819 4.19566548] [-0.00626191 0.99996237 0.00600349 0.28713246] [ 0.04134569 -0.00573957 0.99912842 0.0404911 ] [ 0. 0. 0. 1. ]] SLAMing on 121.95463043999999 meters Centerline goodness [0,1] 0.3143380372724335 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.04 [[ 0.99912556 0.00647446 -0.04130615 4.19520414] [-0.00622434 0.99996153 0.00618102 0.28562521] [ 0.04134458 -0.00591851 0.99912742 0.04122004] [ 0. 0. 0. 1. ]] SLAMing on 121.98463043999999 meters Centerline goodness [0,1] 0.3183137017148796 Centerline is valid? [False, False] Translation: X:4.19, Y:0.28, Z:0.04 [[ 0.99912893 0.00644112 -0.04122972 4.19456665] [-0.00618543 0.99996086 0.00632622 0.28437352] [ 0.04126885 -0.00606569 0.99912967 0.04195587] [ 0. 0. 0. 1. ]] SLAMing on 122.01463043999999 meters Centerline goodness [0,1] 0.3153021547186835 Centerline is valid? [False, False] Translation: X:4.21, Y:0.29, Z:0.04 [[ 9.99156876e-01 -1.58833494e-03 -4.10245496e-02 4.21316918e+00] [ 1.89900194e-03 9.99969809e-01 7.53485080e-03 2.87797633e-01] [ 4.10113432e-02 -7.60640369e-03 9.99129727e-01 4.42373921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04463043999999 meters Centerline goodness [0,1] 0.31909744931327666 Centerline is valid? [False, False] Translation: X:4.20, Y:0.28, Z:0.04 [[ 0.99915543 0.00564035 -0.0407015 4.19649257] [-0.00538751 0.99996552 0.00631904 0.2788471 ] [ 0.04073574 -0.00609442 0.99915137 0.04109504] [ 0. 0. 0. 1. ]] SLAMing on 122.07463043999999 meters Centerline goodness [0,1] 0.31673259408166354 Centerline is valid? [False, False] Translation: X:4.22, Y:0.28, Z:0.04 [[ 9.99165453e-01 -2.49347218e-03 -4.07698374e-02 4.21596976e+00] [ 2.79873592e-03 9.99968465e-01 7.43212908e-03 2.81391884e-01] [ 4.07500199e-02 -7.54003063e-03 9.99140923e-01 4.25253557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10463044 meters Centerline goodness [0,1] 0.31852637962401453 Centerline is valid? [False, False] Translation: X:4.22, Y:0.28, Z:0.04 [[ 9.99172390e-01 -2.38985927e-03 -4.06057054e-02 4.21563926e+00] [ 2.70986140e-03 9.99965693e-01 7.82750610e-03 2.79098037e-01] [ 4.05856057e-02 -7.93106382e-03 9.99144588e-01 4.25694998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13463044 meters Centerline goodness [0,1] 0.3175900696336663 Centerline is valid? [False, False] Translation: X:4.21, Y:0.28, Z:0.04 [[ 9.99183178e-01 -2.33433067e-03 -4.03426370e-02 4.21480837e+00] [ 2.66694054e-03 9.99962882e-01 8.19277384e-03 2.76697646e-01] [ 4.03220149e-02 -8.29367321e-03 9.99152316e-01 4.29714823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16463044 meters Centerline goodness [0,1] 0.3157410773474756 Centerline is valid? [False, False] Translation: X:4.24, Y:0.27, Z:0.04 [[ 9.99186404e-01 2.64398390e-03 -4.02434906e-02 4.23682523e+00] [-2.43627703e-03 9.99983463e-01 5.20942122e-03 2.71506379e-01] [ 4.02565987e-02 -5.10713856e-03 9.99176322e-01 4.40647166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19463044 meters Centerline goodness [0,1] 0.31699830424796616 Centerline is valid? [False, False] Translation: X:4.24, Y:0.27, Z:0.04 [[ 9.99183111e-01 2.75576928e-03 -4.03177057e-02 4.23724581e+00] [-2.53307178e-03 9.99981259e-01 5.57360803e-03 2.69275986e-01] [ 4.03323097e-02 -5.46692737e-03 9.99171365e-01 4.37801064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22463044 meters Centerline goodness [0,1] 0.316798414715575 Centerline is valid? [False, False] Translation: X:4.24, Y:0.27, Z:0.04 [[ 9.99178210e-01 2.82992815e-03 -4.04338589e-02 4.23779970e+00] [-2.59551114e-03 9.99979527e-01 5.84886128e-03 2.67540695e-01] [ 4.04495830e-02 -5.73910821e-03 9.99165098e-01 4.34234538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.25463044 meters Centerline goodness [0,1] 0.3199036186424121 Centerline is valid? [False, False] Translation: X:4.24, Y:0.27, Z:0.04 [[ 9.99175419e-01 2.93582211e-03 -4.04952337e-02 4.23809854e+00] [-2.69287024e-03 9.99978056e-01 6.05276014e-03 2.66506630e-01] [ 4.05121149e-02 -5.93872074e-03 9.99161398e-01 4.32010336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28463044 meters Centerline goodness [0,1] 0.3173303882717252 Centerline is valid? [False, False] Translation: X:4.24, Y:0.27, Z:0.04 [[ 9.99173944e-01 3.71082411e-03 -4.04680145e-02 4.23815746e+00] [-3.45468884e-03 9.99973569e-01 6.39742174e-03 2.67702789e-01] [ 4.04906845e-02 -6.25233271e-03 9.99160354e-01 4.28370623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31463044 meters Centerline goodness [0,1] 0.31415150995195606 Centerline is valid? [False, False] Translation: X:4.24, Y:0.27, Z:0.04 [[ 9.99169608e-01 3.92367896e-03 -4.05548944e-02 4.23845952e+00] [-3.67468051e-03 9.99973950e-01 6.21250937e-03 2.69700098e-01] [ 4.05782138e-02 -6.05832427e-03 9.99157998e-01 4.25418355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34463043999999 meters Centerline goodness [0,1] 0.3111736403471088 Centerline is valid? [False, False] Translation: X:4.24, Y:0.27, Z:0.04 [[ 9.99172875e-01 3.92940558e-03 -4.04737558e-02 4.23813935e+00] [-3.69556985e-03 9.99976056e-01 5.85066396e-03 2.71832144e-01] [ 4.04957763e-02 -5.69625114e-03 9.99163473e-01 4.25310564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37463043999999 meters Centerline goodness [0,1] 0.3137199861806875 Centerline is valid? [False, False] Translation: X:4.24, Y:0.27, Z:0.04 [[ 9.99180735e-01 3.91868699e-03 -4.02802937e-02 4.23759572e+00] [-3.69992724e-03 9.99978008e-01 5.50405089e-03 2.73990398e-01] [ 4.03009765e-02 -5.35050746e-03 9.99173260e-01 4.25204997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40463043999999 meters Centerline goodness [0,1] 0.3090220121769489 Centerline is valid? [False, False] Translation: X:4.26, Y:0.27, Z:0.04 [[ 9.99162111e-01 1.18444702e-02 -3.91763267e-02 4.25756685e+00] [-1.16870197e-02 9.99922691e-01 4.24560658e-03 2.74965833e-01] [ 3.92235850e-02 -3.78419474e-03 9.99223293e-01 4.40987526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43463043999999 meters Centerline goodness [0,1] 0.3146537772694905 Centerline is valid? [False, False] Translation: X:4.24, Y:0.28, Z:0.04 [[ 9.99251060e-01 3.99504025e-03 -3.84884272e-02 4.23712584e+00] [-3.81409211e-03 9.99981332e-01 4.77364497e-03 2.80114886e-01] [ 3.85067796e-02 -4.62327139e-03 9.99247644e-01 4.19639903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46463044 meters Centerline goodness [0,1] 0.31038701783759415 Centerline is valid? [False, False] Translation: X:4.24, Y:0.28, Z:0.04 [[ 9.99234335e-01 3.82123353e-03 -3.89376741e-02 4.23847738e+00] [-3.66019535e-03 9.99984455e-01 4.20624156e-03 2.83113364e-01] [ 3.89531418e-02 -4.06050150e-03 9.99232788e-01 4.13885226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49463044 meters Centerline goodness [0,1] 0.3147156392966328 Centerline is valid? [False, False] Translation: X:4.24, Y:0.28, Z:0.04 [[ 9.99225289e-01 3.70234476e-03 -3.91805431e-02 4.23912981e+00] [-3.54997296e-03 9.99985867e-01 3.95782352e-03 2.84212081e-01] [ 3.91946426e-02 -3.81566748e-03 9.99224309e-01 4.12152907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52463044 meters Centerline goodness [0,1] 0.31348811019188283 Centerline is valid? [False, False] Translation: X:4.24, Y:0.29, Z:0.04 [[ 9.99219136e-01 3.66999100e-03 -3.93401831e-02 4.23937710e+00] [-3.52226982e-03 9.99986487e-01 3.82362245e-03 2.85209490e-01] [ 3.93536842e-02 -3.68206998e-03 9.99218560e-01 4.13671927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55463044 meters Centerline goodness [0,1] 0.312514780813966 Centerline is valid? [False, False] Translation: X:4.26, Y:0.29, Z:0.04 [[ 9.99224380e-01 -3.45252751e-03 -3.92265014e-02 4.25606190e+00] [ 3.67352001e-03 9.99977778e-01 5.56307505e-03 2.92328087e-01] [ 3.92064230e-02 -5.70285955e-03 9.99214859e-01 4.44292466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58463044 meters Centerline goodness [0,1] 0.3160215262919017 Centerline is valid? [False, False] Translation: X:4.25, Y:0.30, Z:0.04 [[ 9.99239583e-01 -3.41469765e-03 -3.88406435e-02 4.25477079e+00] [ 3.61730261e-03 9.99980210e-01 5.14723391e-03 2.96052692e-01] [ 3.88222986e-02 -5.28381823e-03 9.99232160e-01 4.48822873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61463044 meters Centerline goodness [0,1] 0.3132665157883393 Centerline is valid? [False, False] Translation: X:4.26, Y:0.30, Z:0.04 [[ 9.99229988e-01 -3.66614133e-03 -3.90639311e-02 4.25558903e+00] [ 3.84698099e-03 9.99982225e-01 4.55516377e-03 2.98544493e-01] [ 3.90465369e-02 -4.70193444e-03 9.99226331e-01 4.43514651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64463044 meters Centerline goodness [0,1] 0.313052117756323 Centerline is valid? [False, False] Translation: X:4.26, Y:0.30, Z:0.04 [[ 9.99217858e-01 -3.92609633e-03 -3.93479134e-02 4.25663280e+00] [ 4.08403478e-03 9.99983921e-01 3.93431981e-03 3.01140398e-01] [ 3.93318342e-02 -4.09194086e-03 9.99217826e-01 4.36545907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.67463044 meters Centerline goodness [0,1] 0.3101132302923322 Centerline is valid? [False, False] Translation: X:4.26, Y:0.30, Z:0.04 [[ 9.99204423e-01 -4.03315444e-03 -3.96768804e-02 4.25761576e+00] [ 4.17437937e-03 9.99985242e-01 3.47717380e-03 3.03635374e-01] [ 3.96622709e-02 -3.64003379e-03 9.99206512e-01 4.31861934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70463043999999 meters Centerline goodness [0,1] 0.31513144997930775 Centerline is valid? [False, False] Translation: X:4.26, Y:0.31, Z:0.04 [[ 9.99200745e-01 -4.03317404e-03 -3.97693877e-02 4.25762665e+00] [ 4.16346816e-03 9.99986232e-01 3.19396353e-03 3.05947512e-01] [ 3.97559584e-02 -3.35698932e-03 9.99203780e-01 4.33360229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73463043999999 meters Centerline goodness [0,1] 0.31416407330567087 Centerline is valid? [False, False] Translation: X:4.28, Y:0.31, Z:0.05 [[ 9.99315684e-01 3.61418140e-03 -3.68117054e-02 4.27671998e+00] [-3.52959510e-03 9.99990980e-01 2.36253810e-03 3.09854236e-01] [ 3.68199120e-02 -2.23099096e-03 9.99319427e-01 4.52567112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76463043999999 meters Centerline goodness [0,1] 0.30963179502611615 Centerline is valid? [False, False] Translation: X:4.28, Y:0.31, Z:0.05 [[ 9.99319649e-01 3.48312059e-03 -3.67165818e-02 4.27592866e+00] [-3.40550332e-03 9.99991833e-01 2.17628521e-03 3.10544444e-01] [ 3.67238622e-02 -2.04976613e-03 9.99323349e-01 4.60765147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79463043999999 meters Centerline goodness [0,1] 0.3167155425219942 Centerline is valid? [False, False] Translation: X:4.28, Y:0.31, Z:0.05 [[ 9.99319075e-01 3.30190757e-03 -3.67489324e-02 4.27577508e+00] [-3.23085993e-03 9.99992796e-01 1.99254300e-03 3.10723437e-01] [ 3.67552468e-02 -1.87245557e-03 9.99322543e-01 4.64465700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82463043999999 meters Centerline goodness [0,1] 0.3108639022932058 Centerline is valid? [False, False] Translation: X:4.32, Y:0.31, Z:0.05 [[ 9.99365341e-01 2.50561066e-03 -3.55336166e-02 4.31872610e+00] [-2.43897697e-03 9.99995185e-01 1.91845243e-03 3.14402114e-01] [ 3.55382524e-02 -1.83056919e-03 9.99366640e-01 4.81976040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85463044 meters Centerline goodness [0,1] 0.31477080523262035 Centerline is valid? [False, False] Translation: X:4.32, Y:0.31, Z:0.05 [[ 9.99370984e-01 2.46056611e-03 -3.53776976e-02 4.31829243e+00] [-2.38943815e-03 9.99995039e-01 2.05267020e-03 3.14119733e-01] [ 3.53825728e-02 -1.96684621e-03 9.99371905e-01 4.84550686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88463044 meters Centerline goodness [0,1] 0.31477080523262035 Centerline is valid? [False, False] Translation: X:4.32, Y:0.31, Z:0.05 [[ 9.99370984e-01 2.46056611e-03 -3.53776976e-02 4.31829243e+00] [-2.38943815e-03 9.99995039e-01 2.05267020e-03 3.14119733e-01] [ 3.53825728e-02 -1.96684621e-03 9.99371905e-01 4.84550686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91463044 meters Centerline goodness [0,1] 0.31769303852133357 Centerline is valid? [False, False] Translation: X:4.32, Y:0.31, Z:0.05 [[ 9.99378016e-01 2.38884094e-03 -3.51834325e-02 4.31773376e+00] [-2.31770996e-03 9.99995187e-01 2.06236451e-03 3.13853089e-01] [ 3.51881899e-02 -1.97953676e-03 9.99378743e-01 4.86775862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94463044 meters Centerline goodness [0,1] 0.317156894295338 Centerline is valid? [False, False] Translation: X:4.32, Y:0.31, Z:0.05 [[ 9.99383069e-01 2.25382481e-03 -3.50485634e-02 4.31722774e+00] [-2.18329233e-03 9.99995514e-01 2.05056392e-03 3.13189614e-01] [ 3.50530278e-02 -1.97277760e-03 9.99383507e-01 4.90162508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97463044 meters Centerline goodness [0,1] 0.31515591317525027 Centerline is valid? [False, False] Translation: X:4.32, Y:0.31, Z:0.05 [[ 9.99378636e-01 2.15316282e-03 -3.51810368e-02 4.31738277e+00] [-2.07908741e-03 9.99995545e-01 2.14199737e-03 3.12038521e-01] [ 3.51854921e-02 -2.06752196e-03 9.99378660e-01 4.93336812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00463044 meters Centerline goodness [0,1] 0.31695469005244603 Centerline is valid? [False, False] Translation: X:4.32, Y:0.31, Z:0.05 [[ 9.99367082e-01 2.16060853e-03 -3.55072755e-02 4.31822456e+00] [-2.07732175e-03 9.99995005e-01 2.38234997e-03 3.10454063e-01] [ 3.55122455e-02 -2.30708210e-03 9.99366578e-01 4.93327676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.03463044 meters Centerline goodness [0,1] 0.31733921951010435 Centerline is valid? [False, False] Translation: X:4.32, Y:0.31, Z:0.05 [[ 9.99346497e-01 2.22417189e-03 -3.60781312e-02 4.31994162e+00] [-2.12640950e-03 9.99993964e-01 2.74788559e-03 3.08437064e-01] [ 3.60840252e-02 -2.66937296e-03 9.99345194e-01 4.88855431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06463044 meters Centerline goodness [0,1] 0.32036756756756757 Centerline is valid? [False, False] Translation: X:4.33, Y:0.30, Z:0.05 [[ 9.99301895e-01 -3.89079402e-05 -3.73593610e-02 4.32513148e+00] [ 8.17201672e-05 9.99999342e-01 1.14443080e-03 3.03500960e-01] [ 3.73592919e-02 -1.14668488e-03 9.99301240e-01 4.66016775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09463043999999 meters Centerline goodness [0,1] 0.3145015495867769 Centerline is valid? [False, False] Translation: X:4.33, Y:0.30, Z:0.05 [[ 9.99294030e-01 -1.76073983e-04 -3.75687484e-02 4.32599402e+00] [ 2.24336871e-04 9.99999155e-01 1.28044355e-03 3.01433757e-01] [ 3.75684912e-02 -1.28796765e-03 9.99293225e-01 4.62170777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12463043999999 meters Centerline goodness [0,1] 0.3201994035309228 Centerline is valid? [False, False] Translation: X:4.33, Y:0.30, Z:0.05 [[ 9.99298157e-01 -2.77903131e-04 -3.74581935e-02 4.32562730e+00] [ 3.32983582e-04 9.99998873e-01 1.46422070e-03 2.99401375e-01] [ 3.74577443e-02 -1.47566601e-03 9.99297123e-01 4.64550915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15463043999999 meters Centerline goodness [0,1] 0.3210108650503902 Centerline is valid? [False, False] Translation: X:4.32, Y:0.30, Z:0.05 [[ 9.99307080e-01 -3.03593116e-04 -3.72191929e-02 4.32494696e+00] [ 3.68348970e-04 9.99998431e-01 1.73300625e-03 2.97417184e-01] [ 3.72186083e-02 -1.74551506e-03 9.99305623e-01 4.67495379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18463043999999 meters Centerline goodness [0,1] 0.31639095169816167 Centerline is valid? [False, False] Translation: X:4.37, Y:0.29, Z:0.05 [[ 9.99383273e-01 -1.22756398e-03 -3.50936793e-02 4.36719054e+00] [ 1.30646464e-03 9.99996670e-01 2.22544409e-03 2.94391162e-01] [ 3.50908305e-02 -2.26992025e-03 9.99381549e-01 4.84177319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21463044 meters Centerline goodness [0,1] 0.31948937278825906 Centerline is valid? [False, False] Translation: X:4.35, Y:0.29, Z:0.05 [[ 9.99411380e-01 4.50105330e-03 -3.40093145e-02 4.34607097e+00] [-4.50964577e-03 9.99989816e-01 -1.75947210e-04 2.86632466e-01] [ 3.40081762e-02 3.29213606e-04 9.99421500e-01 4.72110334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24463044 meters Centerline goodness [0,1] 0.3199445983379502 Centerline is valid? [False, False] Translation: X:4.35, Y:0.28, Z:0.05 [[ 9.99401095e-01 4.57416753e-03 -3.43005670e-02 4.34693560e+00] [-4.56588269e-03 9.99989525e-01 3.19862239e-04 2.83431933e-01] [ 3.43016708e-02 -1.63058306e-04 9.99411511e-01 4.70249367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27463044 meters Centerline goodness [0,1] 0.3201823257436971 Centerline is valid? [False, False] Translation: X:4.35, Y:0.28, Z:0.05 [[ 9.99389162e-01 4.64310109e-03 -3.46373392e-02 4.34799551e+00] [-4.61815756e-03 9.99989016e-01 8.00104193e-04 2.80123286e-01] [ 3.46406738e-02 -6.39654769e-04 9.99399627e-01 4.67167965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30463044 meters Centerline goodness [0,1] 0.3177693843882956 Centerline is valid? [False, False] Translation: X:4.35, Y:0.28, Z:0.05 [[ 9.99379071e-01 4.66381185e-03 -3.49244991e-02 4.34897116e+00] [-4.62515379e-03 9.99988599e-01 1.18761276e-03 2.77117811e-01] [ 3.49296397e-02 -1.02534416e-03 9.99389248e-01 4.63236072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33463044 meters Centerline goodness [0,1] 0.3174277886834782 Centerline is valid? [False, False] Translation: X:4.35, Y:0.27, Z:0.05 [[ 9.99371785e-01 4.71523886e-03 -3.51255170e-02 4.34964132e+00] [-4.66406476e-03 9.99987939e-01 1.53868959e-03 2.74556953e-01] [ 3.51323486e-02 -1.37389528e-03 9.99381724e-01 4.61263759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36463044 meters Centerline goodness [0,1] 0.3174482833315282 Centerline is valid? [False, False] Translation: X:4.35, Y:0.27, Z:0.05 [[ 9.99373623e-01 4.92840015e-03 -3.50438541e-02 4.34949947e+00] [-4.85283256e-03 9.99985714e-01 2.24110306e-03 2.69841062e-01] [ 3.50543985e-02 -2.06963733e-03 9.99383263e-01 4.61192075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.39463044 meters Centerline goodness [0,1] 0.3160220756262665 Centerline is valid? [False, False] Translation: X:4.35, Y:0.27, Z:0.05 [[ 9.99372406e-01 5.06366677e-03 -3.50592893e-02 4.34941890e+00] [-4.97497382e-03 9.99984201e-01 2.61657374e-03 2.67731644e-01] [ 3.50719849e-02 -2.44051255e-03 9.99381809e-01 4.63348716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42463044 meters Centerline goodness [0,1] 0.3178096434605554 Centerline is valid? [False, False] Translation: X:4.35, Y:0.27, Z:0.05 [[ 9.99372273e-01 5.21800996e-03 -3.50404523e-02 4.34920808e+00] [-5.11560907e-03 9.99982381e-01 3.01138127e-03 2.65609862e-01] [ 3.50555483e-02 -2.83023769e-03 9.99381358e-01 4.65872546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45463043999999 meters Centerline goodness [0,1] 0.31670640802560635 Centerline is valid? [False, False] Translation: X:4.37, Y:0.27, Z:0.05 [[ 9.99405786e-01 -2.22772752e-03 -3.43963944e-02 4.36740085e+00] [ 2.39273352e-03 9.99985824e-01 4.75677154e-03 2.67594266e-01] [ 3.43853100e-02 -4.83624641e-03 9.99396949e-01 4.84666368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48463043999999 meters Centerline goodness [0,1] 0.3168140453296703 Centerline is valid? [False, False] Translation: X:4.37, Y:0.27, Z:0.05 [[ 9.99412233e-01 -2.06020970e-03 -3.42190616e-02 4.36692024e+00] [ 2.23935158e-03 9.99983985e-01 5.19764881e-03 2.65271039e-01] [ 3.42078053e-02 -5.27122231e-03 9.99400841e-01 4.86372725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51463043999999 meters Centerline goodness [0,1] 0.31945492572069256 Centerline is valid? [False, False] Translation: X:4.36, Y:0.26, Z:0.05 [[ 9.99447836e-01 -4.11049040e-03 -3.29715948e-02 4.36243823e+00] [ 4.24112459e-03 9.99983428e-01 3.89306345e-03 2.58944676e-01] [ 3.29550460e-02 -4.03075048e-03 9.99448707e-01 5.05274966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54463043999999 meters Centerline goodness [0,1] 0.32234003339187756 Centerline is valid? [False, False] Translation: X:4.36, Y:0.26, Z:0.05 [[ 9.99449719e-01 -4.04595323e-03 -3.29224686e-02 4.36240065e+00] [ 4.19001156e-03 9.99981943e-01 4.30786978e-03 2.56067319e-01] [ 3.29044446e-02 -4.44344476e-03 9.99448625e-01 5.04831227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57463043999999 meters Centerline goodness [0,1] 0.3157400891391039 Centerline is valid? [False, False] Translation: X:4.38, Y:0.25, Z:0.05 [[ 9.99441178e-01 3.09739729e-03 -3.32827067e-02 4.38151551e+00] [-2.98977894e-03 9.99990142e-01 3.28274303e-03 2.50003816e-01] [ 3.32925466e-02 -3.18140062e-03 9.99440586e-01 5.28051400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60463044 meters Centerline goodness [0,1] 0.321437746189416 Centerline is valid? [False, False] Translation: X:4.38, Y:0.25, Z:0.05 [[ 9.99449808e-01 3.38311095e-03 -3.29944732e-02 4.38044237e+00] [-3.25154428e-03 9.99986551e-01 4.04037786e-03 2.45706600e-01] [ 3.30076985e-02 -3.93087188e-03 9.99447367e-01 5.34393951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63463044 meters Centerline goodness [0,1] 0.3227919486378622 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.05 [[ 9.99456898e-01 -4.35090308e-03 -3.26646513e-02 4.35983478e+00] [ 4.52565518e-03 9.99975831e-01 5.27785718e-03 2.46538839e-01] [ 3.26408984e-02 -5.42281971e-03 9.99452432e-01 5.19290413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66463044 meters Centerline goodness [0,1] 0.32276638416251535 Centerline is valid? [False, False] Translation: X:4.38, Y:0.24, Z:0.05 [[ 9.99474446e-01 3.38134099e-03 -3.22397034e-02 4.37879549e+00] [-3.25154691e-03 9.99986401e-01 4.07748662e-03 2.42001304e-01] [ 3.22530524e-02 -3.97051477e-03 9.99471848e-01 5.40371877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69463044 meters Centerline goodness [0,1] 0.3212518821251882 Centerline is valid? [False, False] Translation: X:4.38, Y:0.24, Z:0.05 [[ 9.99471894e-01 3.48799682e-03 -3.23073726e-02 4.37898396e+00] [-3.35050019e-03 9.99985103e-01 4.30905018e-03 2.40720393e-01] [ 3.23219212e-02 -4.19852869e-03 9.99468692e-01 5.39637561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72463044 meters Centerline goodness [0,1] 0.3212074303405573 Centerline is valid? [False, False] Translation: X:4.38, Y:0.24, Z:0.05 [[ 9.99466583e-01 3.62524114e-03 -3.24562457e-02 4.37934673e+00] [-3.48164208e-03 9.99983905e-01 4.47981220e-03 2.40134623e-01] [ 3.24719637e-02 -4.36442156e-03 9.99463118e-01 5.39168321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.75463044 meters Centerline goodness [0,1] 0.32059807791316286 Centerline is valid? [False, False] Translation: X:4.38, Y:0.24, Z:0.05 [[ 9.99464447e-01 3.77918676e-03 -3.25044193e-02 4.37956524e+00] [-3.63102797e-03 9.99982754e-01 4.61593293e-03 2.39893617e-01] [ 3.25213032e-02 -4.49543640e-03 9.99460933e-01 5.37159381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78463044 meters Centerline goodness [0,1] 0.32319118351701004 Centerline is valid? [False, False] Translation: X:4.36, Y:0.24, Z:0.05 [[ 9.99444709e-01 -2.00824261e-03 -3.32602081e-02 4.35976001e+00] [ 2.24401100e-03 9.99972611e-01 7.05279155e-03 2.41794242e-01] [ 3.32451334e-02 -7.12351147e-03 9.99421841e-01 5.18235128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81463044 meters Centerline goodness [0,1] 0.3197248102139406 Centerline is valid? [False, False] Translation: X:4.38, Y:0.24, Z:0.05 [[ 0.99942946 0.00605553 -0.03322763 4.38018448] [-0.00586636 0.99996604 0.00578753 0.24060889] [ 0.03326155 -0.0055893 0.99943105 0.05315459] [ 0. 0. 0. 1. ]] SLAMing on 123.84463043999999 meters Centerline goodness [0,1] 0.3191012688223003 Centerline is valid? [False, False] Translation: X:4.38, Y:0.24, Z:0.05 [[ 0.99942281 0.00608849 -0.03342106 4.3808819 ] [-0.00590489 0.99996694 0.00558954 0.24192094] [ 0.03345399 -0.00538896 0.99942573 0.05270645] [ 0. 0. 0. 1. ]] SLAMing on 123.87463043999999 meters Centerline goodness [0,1] 0.3193304535637149 Centerline is valid? [False, False] Translation: X:4.38, Y:0.24, Z:0.05 [[ 0.99941755 0.00614863 -0.03356714 4.38136052] [-0.00596989 0.99996748 0.00542264 0.24336892] [ 0.03359939 -0.00521909 0.99942175 0.05243461] [ 0. 0. 0. 1. ]] SLAMing on 123.90463043999999 meters Centerline goodness [0,1] 0.3197183402812277 Centerline is valid? [False, False] Translation: X:4.38, Y:0.25, Z:0.05 [[ 0.99941233 0.00643148 -0.03366943 4.38160694] [-0.00625736 0.99996651 0.0052743 0.24583196] [ 0.03370222 -0.00506052 0.99941911 0.05223955] [ 0. 0. 0. 1. ]] SLAMing on 123.93463043999999 meters Centerline goodness [0,1] 0.3176596886741814 Centerline is valid? [False, False] Translation: X:4.38, Y:0.25, Z:0.05 [[ 0.99941486 0.0063675 -0.03360656 4.38121885] [-0.00620381 0.99996839 0.00497296 0.24759167] [ 0.03363716 -0.00476156 0.99942277 0.05248888] [ 0. 0. 0. 1. ]] SLAMing on 123.96463044 meters Centerline goodness [0,1] 0.315547574766455 Centerline is valid? [False, False] Translation: X:4.38, Y:0.25, Z:0.05 [[ 0.99941889 0.0062997 -0.03349914 4.38090049] [-0.00614674 0.99997022 0.00466707 0.24941151] [ 0.03352755 -0.00445845 0.99942785 0.05250223] [ 0. 0. 0. 1. ]] SLAMing on 123.99463044 meters Centerline goodness [0,1] 0.3149254050814444 Centerline is valid? [False, False] Translation: X:4.38, Y:0.25, Z:0.05 [[ 9.99420963e-01 6.25477510e-03 -3.34457294e-02 4.38075506e+00] [-6.11137597e-03 9.99971698e-01 4.38802863e-03 2.51176698e-01] [ 3.34722289e-02 -4.18108837e-03 9.99430902e-01 5.24354081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02463044 meters Centerline goodness [0,1] 0.31743872152035413 Centerline is valid? [False, False] Translation: X:4.38, Y:0.25, Z:0.05 [[ 9.99425031e-01 6.17775384e-03 -3.33382958e-02 4.38053534e+00] [-6.04600187e-03 9.99973516e-01 4.05133533e-03 2.53221529e-01] [ 3.33624410e-02 -3.84744254e-03 9.99435913e-01 5.23021806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05463044 meters Centerline goodness [0,1] 0.31492409664314736 Centerline is valid? [False, False] Translation: X:4.40, Y:0.26, Z:0.05 [[ 9.99424890e-01 -1.02729976e-03 -3.38944440e-02 4.39894518e+00] [ 1.19493962e-03 9.99987153e-01 4.92605339e-03 2.61314396e-01] [ 3.38889480e-02 -4.96372218e-03 9.99413278e-01 5.40601293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08463044 meters Centerline goodness [0,1] 0.318047624178429 Centerline is valid? [False, False] Translation: X:4.40, Y:0.26, Z:0.05 [[ 9.99420751e-01 -1.16754692e-03 -3.40117523e-02 4.39932329e+00] [ 1.31976335e-03 9.99989213e-01 4.45330029e-03 2.64191795e-01] [ 3.40061860e-02 -4.49560819e-03 9.99411511e-01 5.38223364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11463044 meters Centerline goodness [0,1] 0.31943152566570765 Centerline is valid? [False, False] Translation: X:4.40, Y:0.27, Z:0.05 [[ 9.99415983e-01 -1.28761762e-03 -3.41472485e-02 4.39962738e+00] [ 1.43169711e-03 9.99990175e-01 4.19524306e-03 2.65437871e-01] [ 3.41415111e-02 -4.24168148e-03 9.99408007e-01 5.38163322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14463044 meters Centerline goodness [0,1] 0.3152400835073069 Centerline is valid? [False, False] Translation: X:4.40, Y:0.27, Z:0.05 [[ 9.99407378e-01 -1.35631458e-03 -3.43955353e-02 4.40026503e+00] [ 1.49458713e-03 9.99990904e-01 3.99468018e-03 2.66641452e-01] [ 3.43898044e-02 -4.04371997e-03 9.99400315e-01 5.37563919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.17463044 meters Centerline goodness [0,1] 0.3200980711232615 Centerline is valid? [False, False] Translation: X:4.40, Y:0.27, Z:0.05 [[ 9.99389929e-01 -1.52171939e-03 -3.48920283e-02 4.40122930e+00] [ 1.64925471e-03 9.99992064e-01 3.62665160e-03 2.68715563e-01] [ 3.48862327e-02 -3.68198493e-03 9.99384507e-01 5.39644866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20463043999999 meters Centerline goodness [0,1] 0.31538560466412313 Centerline is valid? [False, False] Translation: X:4.42, Y:0.27, Z:0.06 [[ 9.99416159e-01 5.86587486e-03 -3.36590767e-02 4.42046808e+00] [-5.78740055e-03 9.99980304e-01 2.42839987e-03 2.67536087e-01] [ 3.36726584e-02 -2.23218351e-03 9.99430423e-01 5.55552771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23463043999999 meters Centerline goodness [0,1] 0.3193376827508989 Centerline is valid? [False, False] Translation: X:4.42, Y:0.27, Z:0.06 [[ 9.99428387e-01 5.69107881e-03 -3.33243331e-02 4.41941072e+00] [-5.61734537e-03 9.99981564e-01 2.30580687e-03 2.67783038e-01] [ 3.33368412e-02 -2.11729456e-03 9.99441930e-01 5.60311228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26463043999999 meters Centerline goodness [0,1] 0.3241335881177799 Centerline is valid? [False, False] Translation: X:4.42, Y:0.27, Z:0.06 [[ 9.99446552e-01 5.46452717e-03 -3.28135586e-02 4.41794187e+00] [-5.39490490e-03 9.99983005e-01 2.20991587e-03 2.67563876e-01] [ 3.28250771e-02 -2.03166677e-03 9.99459047e-01 5.65931939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29463043999999 meters Centerline goodness [0,1] 0.3196544741717289 Centerline is valid? [False, False] Translation: X:4.44, Y:0.27, Z:0.06 [[ 9.99486136e-01 -3.01209736e-03 -3.19122521e-02 4.43717040e+00] [ 3.10484020e-03 9.99991099e-01 2.85702745e-03 2.72326154e-01] [ 3.19033624e-02 -2.95464177e-03 9.99486591e-01 5.82076819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32463043999999 meters Centerline goodness [0,1] 0.3213036153945834 Centerline is valid? [False, False] Translation: X:4.44, Y:0.27, Z:0.06 [[ 9.99487974e-01 -3.24666147e-03 -3.18315695e-02 4.43705058e+00] [ 3.33646841e-03 9.99990601e-01 2.76860671e-03 2.71972251e-01] [ 3.18222816e-02 -2.87339414e-03 9.99489413e-01 5.82218714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35463044 meters Centerline goodness [0,1] 0.32358392964910765 Centerline is valid? [False, False] Translation: X:4.44, Y:0.27, Z:0.06 [[ 9.99503084e-01 -3.58053672e-03 -3.13171594e-02 4.43582319e+00] [ 3.66978423e-03 9.99989366e-01 2.79278251e-03 2.71477360e-01] [ 3.13068267e-02 -2.90632195e-03 9.99505596e-01 5.84965183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38463044 meters Centerline goodness [0,1] 0.3280969382235205 Centerline is valid? [False, False] Translation: X:4.44, Y:0.27, Z:0.06 [[ 9.99512041e-01 -3.68399209e-03 -3.10178834e-02 4.43505144e+00] [ 3.77665445e-03 9.99988578e-01 2.92932886e-03 2.70507507e-01] [ 3.10067375e-02 -3.04504329e-03 9.99514537e-01 5.88016700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41463044 meters Centerline goodness [0,1] 0.327982099797971 Centerline is valid? [False, False] Translation: X:4.43, Y:0.27, Z:0.06 [[ 9.99519695e-01 -3.92114622e-03 -3.07409274e-02 4.43429268e+00] [ 4.01345943e-03 9.99987619e-01 2.94181359e-03 2.69378238e-01] [ 3.07290115e-02 -3.06377808e-03 9.99523057e-01 5.91424185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44463044 meters Centerline goodness [0,1] 0.32763931671800617 Centerline is valid? [False, False] Translation: X:4.45, Y:0.27, Z:0.06 [[ 9.99525378e-01 1.61335747e-03 -3.07638750e-02 4.45276488e+00] [-1.59977526e-03 9.99998612e-01 4.66106922e-04 2.65016513e-01] [ 3.07645843e-02 -4.16670411e-04 9.99526571e-01 6.13482124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47463044 meters Centerline goodness [0,1] 0.3259604688970651 Centerline is valid? [False, False] Translation: X:4.45, Y:0.26, Z:0.06 [[ 9.99520889e-01 1.32837680e-03 -3.09229263e-02 4.45319846e+00] [-1.31258931e-03 9.99998998e-01 5.30837112e-04 2.63245520e-01] [ 3.09236005e-02 -4.89993680e-04 9.99521631e-01 6.13927953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50463044 meters Centerline goodness [0,1] 0.3271707474921799 Centerline is valid? [False, False] Translation: X:4.46, Y:0.26, Z:0.06 [[ 9.99505323e-01 8.78400722e-04 -3.14378506e-02 4.45501543e+00] [-8.54326473e-04 9.99999331e-01 7.79196961e-04 2.59175285e-01] [ 3.14385141e-02 -7.51953322e-04 9.99505405e-01 6.07188174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.53463044 meters Centerline goodness [0,1] 0.32550544657628433 Centerline is valid? [False, False] Translation: X:4.46, Y:0.26, Z:0.06 [[ 9.99493447e-01 7.58002360e-04 -3.18162532e-02 4.45627763e+00] [-7.26802848e-04 9.99999244e-01 9.92169071e-04 2.57063584e-01] [ 3.18169812e-02 -9.68542342e-04 9.99493242e-01 6.02860953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56463044 meters Centerline goodness [0,1] 0.325759526261586 Centerline is valid? [False, False] Translation: X:4.46, Y:0.25, Z:0.06 [[ 9.99491991e-01 6.51533132e-04 -3.18643396e-02 4.45672293e+00] [-6.13671027e-04 9.99999094e-01 1.19799332e-03 2.54877161e-01] [ 3.18650913e-02 -1.17783050e-03 9.99491485e-01 5.98721918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59463043999999 meters Centerline goodness [0,1] 0.3267701302609518 Centerline is valid? [False, False] Translation: X:4.46, Y:0.25, Z:0.06 [[ 9.99485406e-01 6.00288299e-04 -3.20712194e-02 4.45722295e+00] [-5.54460644e-04 9.99998813e-01 1.43780827e-03 2.52744168e-01] [ 3.20720444e-02 -1.41928615e-03 9.99484552e-01 5.99069966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62463043999999 meters Centerline goodness [0,1] 0.32253725607412786 Centerline is valid? [False, False] Translation: X:4.46, Y:0.25, Z:0.06 [[ 9.99460994e-01 5.89707383e-04 -3.28233766e-02 4.45915373e+00] [-5.26918815e-04 9.99998015e-01 1.92153933e-03 2.49059518e-01] [ 3.28244446e-02 -1.90320835e-03 9.99459321e-01 5.97253993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65463043999999 meters Centerline goodness [0,1] 0.3240360776267419 Centerline is valid? [False, False] Translation: X:4.46, Y:0.25, Z:0.06 [[ 9.99449043e-01 6.71528364e-04 -3.31837334e-02 4.46009266e+00] [-5.96621495e-04 9.99997252e-01 2.26718723e-03 2.47053339e-01] [ 3.31851647e-02 -2.24613998e-03 9.99446697e-01 5.96164769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68463043999999 meters Centerline goodness [0,1] 0.32455216016859856 Centerline is valid? [False, False] Translation: X:4.46, Y:0.24, Z:0.06 [[ 9.99438400e-01 6.88398802e-04 -3.35024001e-02 4.46099774e+00] [-6.03133026e-04 9.99996554e-01 2.55510421e-03 2.44906527e-01] [ 3.35040436e-02 -2.53346286e-03 9.99435371e-01 5.93973869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71463044 meters Centerline goodness [0,1] 0.3272301701885637 Centerline is valid? [False, False] Translation: X:4.42, Y:0.24, Z:0.06 [[ 9.99351662e-01 -2.57752434e-04 -3.60026248e-02 4.41761650e+00] [ 3.23464363e-04 9.99998293e-01 1.81938552e-03 2.40881242e-01] [ 3.60020943e-02 -1.82985151e-03 9.99350039e-01 5.80787106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74463044 meters Centerline goodness [0,1] 0.3235553642526633 Centerline is valid? [False, False] Translation: X:4.46, Y:0.24, Z:0.06 [[ 9.99394994e-01 -1.49184674e-03 -3.47479471e-02 4.46112743e+00] [ 1.54199317e-03 9.99997808e-01 1.41639404e-03 2.38592339e-01] [ 3.47457579e-02 -1.46911821e-03 9.99395104e-01 5.95107435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77463044 meters Centerline goodness [0,1] 0.3235553642526633 Centerline is valid? [False, False] Translation: X:4.46, Y:0.24, Z:0.06 [[ 9.99394994e-01 -1.49184674e-03 -3.47479471e-02 4.46112743e+00] [ 1.54199317e-03 9.99997808e-01 1.41639404e-03 2.38592339e-01] [ 3.47457579e-02 -1.46911821e-03 9.99395104e-01 5.95107435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80463044 meters Centerline goodness [0,1] 0.32762799151772193 Centerline is valid? [False, False] Translation: X:4.46, Y:0.24, Z:0.06 [[ 9.99394094e-01 -1.47555495e-03 -3.47745359e-02 4.46128708e+00] [ 1.54100582e-03 9.99997091e-01 1.85542251e-03 2.35604040e-01] [ 3.47716969e-02 -1.90788606e-03 9.99393461e-01 5.94405869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83463044 meters Centerline goodness [0,1] 0.32334033479727575 Centerline is valid? [False, False] Translation: X:4.50, Y:0.23, Z:0.06 [[ 9.99466446e-01 -2.35103613e-03 -3.25775445e-02 4.50340415e+00] [ 2.42488426e-03 9.99994579e-01 2.22751801e-03 2.29876702e-01] [ 3.25721309e-02 -2.30532628e-03 9.99466729e-01 6.14973015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86463044 meters Centerline goodness [0,1] 0.32739936406307457 Centerline is valid? [False, False] Translation: X:4.46, Y:0.23, Z:0.06 [[ 9.99408126e-01 -2.55120623e-03 -3.43058023e-02 4.45712859e+00] [ 2.63631851e-03 9.99993558e-01 2.43598291e-03 2.26063358e-01] [ 3.42993666e-02 -2.52498213e-03 9.99408414e-01 6.15302097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.89463044 meters Centerline goodness [0,1] 0.3260343239131832 Centerline is valid? [False, False] Translation: X:4.48, Y:0.22, Z:0.06 [[ 9.99412565e-01 4.88421194e-03 -3.39215327e-02 4.47588669e+00] [-4.84391714e-03 9.99987462e-01 1.26996191e-03 2.20474526e-01] [ 3.39273101e-02 -1.10490279e-03 9.99423692e-01 6.38757831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92463044 meters Centerline goodness [0,1] 0.3230299275842181 Centerline is valid? [False, False] Translation: X:4.48, Y:0.22, Z:0.06 [[ 9.99415585e-01 4.94705450e-03 -3.38232870e-02 4.47559635e+00] [-4.89974498e-03 9.99986899e-01 1.48147017e-03 2.19168142e-01] [ 3.38301728e-02 -1.31487889e-03 9.99426731e-01 6.39743246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95463043999999 meters Centerline goodness [0,1] 0.3267160451296185 Centerline is valid? [False, False] Translation: X:4.48, Y:0.22, Z:0.06 [[ 9.99423501e-01 5.00471184e-03 -3.35800210e-02 4.47504444e+00] [-4.95341793e-03 9.99986435e-01 1.61053103e-03 2.18292933e-01] [ 3.35876257e-02 -1.44326668e-03 9.99434734e-01 6.39588533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98463043999999 meters Centerline goodness [0,1] 0.32715782183360753 Centerline is valid? [False, False] Translation: X:4.48, Y:0.22, Z:0.06 [[ 9.99424031e-01 4.99223180e-03 -3.35661236e-02 4.47527290e+00] [-4.94231203e-03 9.99986554e-01 1.57001341e-03 2.18432352e-01] [ 3.35735102e-02 -1.40321487e-03 9.99435266e-01 6.35993399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01463043999999 meters Centerline goodness [0,1] 0.3271400132714002 Centerline is valid? [False, False] Translation: X:4.49, Y:0.22, Z:0.07 [[ 9.99426088e-01 -2.43045343e-03 -3.37873934e-02 4.49466524e+00] [ 2.52579323e-03 9.99992948e-01 2.77936088e-03 2.22936476e-01] [ 3.37804000e-02 -2.86310574e-03 9.99425178e-01 6.53866591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04463043999999 meters Centerline goodness [0,1] 0.3268303186907838 Centerline is valid? [False, False] Translation: X:4.49, Y:0.22, Z:0.07 [[ 9.99427911e-01 -2.41993032e-03 -3.37341730e-02 4.49447207e+00] [ 2.51498320e-03 9.99992986e-01 2.77555513e-03 2.22963167e-01] [ 3.37272198e-02 -2.85880814e-03 9.99426987e-01 6.54770803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07463043999999 meters Centerline goodness [0,1] 0.33037008197607765 Centerline is valid? [False, False] Translation: X:4.49, Y:0.22, Z:0.07 [[ 9.99429832e-01 -2.43104770e-03 -3.36764024e-02 4.49404654e+00] [ 2.52666320e-03 9.99992896e-01 2.79697780e-03 2.22689355e-01] [ 3.36693636e-02 -2.88047198e-03 9.99428875e-01 6.58916957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10463044 meters Centerline goodness [0,1] 0.32823640580706126 Centerline is valid? [False, False] Translation: X:4.51, Y:0.22, Z:0.07 [[ 9.99439778e-01 4.88443264e-03 -3.31100009e-02 4.51206317e+00] [-4.84458835e-03 9.99987441e-01 1.28350946e-03 2.18427457e-01] [ 3.31158543e-02 -1.12238608e-03 9.99450889e-01 6.83397569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13463044 meters Centerline goodness [0,1] 0.3290894647572836 Centerline is valid? [False, False] Translation: X:4.51, Y:0.22, Z:0.07 [[ 9.99442108e-01 4.86569606e-03 -3.30423575e-02 4.51193242e+00] [-4.81511161e-03 9.99987111e-01 1.61029801e-03 2.16182395e-01] [ 3.30497669e-02 -1.45029700e-03 9.99452655e-01 6.83124870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16463044 meters Centerline goodness [0,1] 0.3281882211898697 Centerline is valid? [False, False] Translation: X:4.51, Y:0.21, Z:0.07 [[ 9.99437910e-01 4.82086882e-03 -3.31756462e-02 4.51234061e+00] [-4.76444567e-03 9.99987066e-01 1.77958394e-03 2.14636413e-01] [ 3.31837963e-02 -1.62052009e-03 9.99447952e-01 6.82241616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19463044 meters Centerline goodness [0,1] 0.3314660206774236 Centerline is valid? [False, False] Translation: X:4.51, Y:0.21, Z:0.07 [[ 9.99436108e-01 4.70008462e-03 -3.32471846e-02 4.51242160e+00] [-4.64212021e-03 9.99987568e-01 1.82041400e-03 2.13411087e-01] [ 3.32553274e-02 -1.66505006e-03 9.99445502e-01 6.83608155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22463044 meters Centerline goodness [0,1] 0.3346470408918695 Centerline is valid? [False, False] Translation: X:4.51, Y:0.21, Z:0.07 [[ 9.99432175e-01 4.65110762e-03 -3.33720594e-02 4.51250312e+00] [-4.58849705e-03 9.99987567e-01 1.95247774e-03 2.12048103e-01] [ 3.33807256e-02 -1.79824148e-03 9.99441091e-01 6.86487845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.25463044 meters Centerline goodness [0,1] 0.3293938483977521 Centerline is valid? [False, False] Translation: X:4.53, Y:0.21, Z:0.07 [[ 9.99468985e-01 -1.63502249e-03 -3.25434231e-02 4.53401390e+00] [ 1.78824861e-03 9.99987451e-01 4.67981044e-03 2.11729053e-01] [ 3.25353631e-02 -4.73552112e-03 9.99459366e-01 6.93745161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28463044 meters Centerline goodness [0,1] 0.32953015832318444 Centerline is valid? [False, False] Translation: X:4.53, Y:0.21, Z:0.07 [[ 9.99470032e-01 -1.47239099e-03 -3.25190149e-02 4.53422513e+00] [ 1.63529160e-03 9.99986246e-01 4.98336744e-03 2.10465526e-01] [ 3.25112302e-02 -5.03390449e-03 9.99458693e-01 6.90404558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31463044 meters Centerline goodness [0,1] 0.3328777228152391 Centerline is valid? [False, False] Translation: X:4.52, Y:0.20, Z:0.07 [[ 9.99458259e-01 6.23330290e-03 -3.23161749e-02 4.51531810e+00] [-6.11142841e-03 9.99973841e-01 3.86872029e-03 2.03934128e-01] [ 3.23394445e-02 -3.66912646e-03 9.99470209e-01 6.64858470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34463043999999 meters Centerline goodness [0,1] 0.3307367737747484 Centerline is valid? [False, False] Translation: X:4.52, Y:0.20, Z:0.07 [[ 9.99455343e-01 6.34937715e-03 -3.23836656e-02 4.51571437e+00] [-6.21642577e-03 9.99971839e-01 4.20453916e-03 2.01976580e-01] [ 3.24094498e-02 -4.00093847e-03 9.99466668e-01 6.61539252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37463043999999 meters Centerline goodness [0,1] 0.3309782025126168 Centerline is valid? [False, False] Translation: X:4.52, Y:0.20, Z:0.07 [[ 9.99451387e-01 6.45049431e-03 -3.24856282e-02 4.51589471e+00] [-6.30708579e-03 9.99969917e-01 4.51506190e-03 2.00073592e-01] [ 3.25137753e-02 -4.30769523e-03 9.99462004e-01 6.62260212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40463043999999 meters Centerline goodness [0,1] 0.3329431655611913 Centerline is valid? [False, False] Translation: X:4.52, Y:0.20, Z:0.07 [[ 0.99944737 0.00667363 -0.03256397 4.51611799] [-0.00651351 0.99996618 0.00502065 0.19727762] [ 0.03259638 -0.00480577 0.99945704 0.06618213] [ 0. 0. 0. 1. ]] SLAMing on 125.43463043999999 meters Centerline goodness [0,1] 0.3297632105297116 Centerline is valid? [False, False] Translation: X:4.52, Y:0.20, Z:0.07 [[ 0.99944461 0.00675235 -0.0326324 4.51626065] [-0.0065883 0.99996513 0.0051321 0.19663641] [ 0.03266591 -0.00491426 0.99945425 0.06622193] [ 0. 0. 0. 1. ]] SLAMing on 125.46463044 meters Centerline goodness [0,1] 0.33209091888398146 Centerline is valid? [False, False] Translation: X:4.52, Y:0.20, Z:0.07 [[ 0.99944271 0.00687034 -0.032666 4.5164638 ] [-0.00670494 0.99996416 0.00517022 0.19675155] [ 0.03270035 -0.00494832 0.99945295 0.06601067] [ 0. 0. 0. 1. ]] SLAMing on 125.49463044 meters Centerline goodness [0,1] 0.32880214769676563 Centerline is valid? [False, False] Translation: X:4.52, Y:0.20, Z:0.07 [[ 0.99943174 0.00714753 -0.03294111 4.5171853 ] [-0.00697817 0.99996185 0.00525344 0.19739598] [ 0.03297741 -0.00502058 0.99944349 0.06589756] [ 0. 0. 0. 1. ]] SLAMing on 125.52463044 meters Centerline goodness [0,1] 0.33228772309356414 Centerline is valid? [False, False] Translation: X:4.48, Y:0.20, Z:0.06 [[ 0.99928549 0.01046939 -0.0363167 4.47583109] [-0.01021327 0.9999217 0.00723061 0.19898091] [ 0.03638956 -0.00685453 0.99931417 0.06431562] [ 0. 0. 0. 1. ]] SLAMing on 125.55463044 meters Centerline goodness [0,1] 0.32937192649469416 Centerline is valid? [False, False] Translation: X:4.48, Y:0.20, Z:0.06 [[ 0.99926339 0.01056743 -0.03689184 4.47744395] [-0.01031852 0.99992274 0.006931 0.20110355] [ 0.03696223 -0.00654523 0.99929523 0.06381406] [ 0. 0. 0. 1. ]] SLAMing on 125.58463044 meters Centerline goodness [0,1] 0.3298951162841198 Centerline is valid? [False, False] Translation: X:4.48, Y:0.20, Z:0.06 [[ 0.99925316 0.01057392 -0.03716613 4.47824253] [-0.01033595 0.99992487 0.00658904 0.20320816] [ 0.03723301 -0.00619998 0.99928738 0.06347081] [ 0. 0. 0. 1. ]] SLAMing on 125.61463044 meters Centerline goodness [0,1] 0.3287567730932798 Centerline is valid? [False, False] Translation: X:4.50, Y:0.21, Z:0.07 [[ 9.99313743e-01 3.61883931e-03 -3.68639062e-02 4.49573498e+00] [-3.33352627e-03 9.99964038e-01 7.79815762e-03 2.10610596e-01] [ 3.68908007e-02 -7.66991928e-03 9.99289868e-01 6.54908811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64463044 meters Centerline goodness [0,1] 0.3280442645539098 Centerline is valid? [False, False] Translation: X:4.49, Y:0.21, Z:0.07 [[ 9.99324130e-01 3.59700386e-03 -3.65833989e-02 4.49494633e+00] [-3.31313109e-03 9.99963956e-01 7.81727155e-03 2.10433962e-01] [ 3.66101990e-02 -7.69078250e-03 9.99300028e-01 6.56648475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.67463044 meters Centerline goodness [0,1] 0.32990179186767743 Centerline is valid? [False, False] Translation: X:4.49, Y:0.21, Z:0.07 [[ 9.99325779e-01 3.55952880e-03 -3.65419918e-02 4.49484523e+00] [-3.27262498e-03 9.99963375e-01 7.90816019e-03 2.09643789e-01] [ 3.65688028e-02 -7.78324010e-03 9.99300827e-01 6.57231385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70463043999999 meters Centerline goodness [0,1] 0.32841056734517104 Centerline is valid? [False, False] Translation: X:4.50, Y:0.21, Z:0.07 [[ 9.99318314e-01 3.44657467e-03 -3.67563421e-02 4.49539191e+00] [-3.15539991e-03 9.99963206e-01 7.97682579e-03 2.08488818e-01] [ 3.67824824e-02 -7.85540714e-03 9.99292420e-01 6.57004541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73463043999999 meters Centerline goodness [0,1] 0.3258383821145149 Centerline is valid? [False, False] Translation: X:4.54, Y:0.21, Z:0.07 [[ 9.99361858e-01 2.28678403e-03 -3.56461456e-02 4.53931443e+00] [-2.03351825e-03 9.99972445e-01 7.13963431e-03 2.09175950e-01] [ 3.56614902e-02 -7.06259112e-03 9.99338970e-01 6.72090700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76463043999999 meters Centerline goodness [0,1] 0.3284754566332554 Centerline is valid? [False, False] Translation: X:4.54, Y:0.21, Z:0.07 [[ 9.99359582e-01 2.24279146e-03 -3.57126831e-02 4.53949690e+00] [-1.98387342e-03 9.99971505e-01 7.28381685e-03 2.07879726e-01] [ 3.57280015e-02 -7.20830272e-03 9.99335554e-01 6.72214436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79463043999999 meters Centerline goodness [0,1] 0.3295951094560562 Centerline is valid? [False, False] Translation: X:4.54, Y:0.20, Z:0.07 [[ 9.99379769e-01 2.19582293e-03 -3.51461961e-02 4.53801076e+00] [-1.92500958e-03 9.99968214e-01 7.73732371e-03 2.04981707e-01] [ 3.51620687e-02 -7.66486802e-03 9.99352230e-01 6.75768543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82463043999999 meters Centerline goodness [0,1] 0.3290351552476264 Centerline is valid? [False, False] Translation: X:4.54, Y:0.20, Z:0.07 [[ 9.99388844e-01 2.19140918e-03 -3.48874837e-02 4.53730694e+00] [-1.91340849e-03 9.99966170e-01 7.99988744e-03 2.03109742e-01] [ 3.49038345e-02 -7.92824425e-03 9.99359227e-01 6.78231972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85463044 meters Centerline goodness [0,1] 0.32893920263647847 Centerline is valid? [False, False] Translation: X:4.54, Y:0.20, Z:0.07 [[ 9.99394324e-01 2.19867489e-03 -3.47296845e-02 4.53679544e+00] [-1.91231370e-03 9.99963921e-01 8.27649657e-03 2.01038650e-01] [ 3.47466288e-02 -8.20506965e-03 9.99362471e-01 6.80544253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88463044 meters Centerline goodness [0,1] 0.3294576147105054 Centerline is valid? [False, False] Translation: X:4.54, Y:0.20, Z:0.07 [[ 9.99383640e-01 2.30377806e-03 -3.50290312e-02 4.53770908e+00] [-1.99504838e-03 9.99958884e-01 8.84593778e-03 1.97067124e-01] [ 3.50479700e-02 -8.77060089e-03 9.99347145e-01 6.78491845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91463044 meters Centerline goodness [0,1] 0.3307174887892377 Centerline is valid? [False, False] Translation: X:4.54, Y:0.20, Z:0.07 [[ 9.99374544e-01 2.42280836e-03 -3.52796106e-02 4.53860514e+00] [-2.10297804e-03 9.99956384e-01 9.09987264e-03 1.95870261e-01] [ 3.53001191e-02 -9.01998882e-03 9.99336050e-01 6.74132206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94463044 meters Centerline goodness [0,1] 0.3318253985515126 Centerline is valid? [False, False] Translation: X:4.54, Y:0.19, Z:0.07 [[ 9.99365906e-01 2.50398911e-03 -3.55178257e-02 4.53953630e+00] [-2.17576407e-03 9.99954603e-01 9.27677846e-03 1.94941333e-01] [ 3.55394422e-02 -9.19361770e-03 9.99325986e-01 6.68897090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97463044 meters Centerline goodness [0,1] 0.32749277069722604 Centerline is valid? [False, False] Translation: X:4.56, Y:0.19, Z:0.07 [[ 0.99932192 0.01021581 -0.03537414 4.55927989] [-0.00993523 0.99991785 0.00809837 0.19063506] [ 0.03545396 -0.00774143 0.99934133 0.06842697] [ 0. 0. 0. 1. ]] SLAMing on 126.00463044 meters Centerline goodness [0,1] 0.3279890951577308 Centerline is valid? [False, False] Translation: X:4.54, Y:0.19, Z:0.07 [[ 9.99405697e-01 2.40503235e-03 -3.43870406e-02 4.53997420e+00] [-2.09650205e-03 9.99957252e-01 9.00552745e-03 1.93807765e-01] [ 3.44072292e-02 -8.92808293e-03 9.99368016e-01 6.61285811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.03463044 meters Centerline goodness [0,1] 0.3304931187713016 Centerline is valid? [False, False] Translation: X:4.54, Y:0.19, Z:0.07 [[ 9.99409984e-01 2.52985484e-03 -3.42532165e-02 4.53949661e+00] [-2.21707136e-03 9.99955530e-01 9.16641169e-03 1.93172865e-01] [ 3.42748830e-02 -9.08506154e-03 9.99371149e-01 6.63726784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06463044 meters Centerline goodness [0,1] 0.33157917532917536 Centerline is valid? [False, False] Translation: X:4.54, Y:0.19, Z:0.07 [[ 9.99404047e-01 2.95313539e-03 -3.43922913e-02 4.53996239e+00] [-2.62392950e-03 9.99950349e-01 9.61328801e-03 1.92072719e-01] [ 3.44189730e-02 -9.51731600e-03 9.99362174e-01 6.61488064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09463043999999 meters Centerline goodness [0,1] 0.32590183576533016 Centerline is valid? [False, False] Translation: X:4.56, Y:0.19, Z:0.07 [[ 0.99934225 0.01080934 -0.03461536 4.56001479] [-0.01052514 0.99990948 0.00838181 0.18818647] [ 0.03470282 -0.00801197 0.99936556 0.06806153] [ 0. 0. 0. 1. ]] SLAMing on 126.12463043999999 meters Centerline goodness [0,1] 0.3274087128457521 Centerline is valid? [False, False] Translation: X:4.56, Y:0.19, Z:0.07 [[ 0.99933715 0.01077856 -0.03477186 4.56061937] [-0.01049347 0.9999099 0.00837086 0.18765941] [ 0.03485895 -0.00800044 0.99936022 0.06772722] [ 0. 0. 0. 1. ]] SLAMing on 126.15463043999999 meters Centerline goodness [0,1] 0.3266543802503 Centerline is valid? [False, False] Translation: X:4.56, Y:0.19, Z:0.07 [[ 0.99933371 0.01079598 -0.03486527 4.56093515] [-0.01050947 0.99990957 0.0083903 0.18725049] [ 0.0349527 -0.0080183 0.9993568 0.06755539] [ 0. 0. 0. 1. ]] SLAMing on 126.18463043999999 meters Centerline goodness [0,1] 0.3283942108890421 Centerline is valid? [False, False] Translation: X:4.56, Y:0.19, Z:0.07 [[ 0.9993286 0.01110386 -0.03491505 4.56104492] [-0.01080476 0.9999034 0.00874355 0.18630131] [ 0.03500876 -0.00836043 0.99935204 0.0675523 ] [ 0. 0. 0. 1. ]] SLAMing on 126.21463044 meters Centerline goodness [0,1] 0.3261507486023947 Centerline is valid? [False, False] Translation: X:4.56, Y:0.19, Z:0.07 [[ 0.99931967 0.01119544 -0.0351406 4.56179583] [-0.01088972 0.99990128 0.00887924 0.18571951] [ 0.03523654 -0.00849053 0.99934293 0.06721719] [ 0. 0. 0. 1. ]] SLAMing on 126.24463044 meters Centerline goodness [0,1] 0.3236221492743607 Centerline is valid? [False, False] Translation: X:4.54, Y:0.19, Z:0.07 [[ 9.99330466e-01 3.10449084e-03 -3.64552129e-02 4.54355910e+00] [-2.73268139e-03 9.99943790e-01 1.02444765e-02 1.87520570e-01] [ 3.64849676e-02 -1.01379970e-02 9.99282777e-01 6.52108471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27463044 meters Centerline goodness [0,1] 0.32793478728438075 Centerline is valid? [False, False] Translation: X:4.54, Y:0.19, Z:0.07 [[ 9.99325333e-01 3.18631619e-03 -3.65886098e-02 4.54400261e+00] [-2.80562022e-03 9.99941447e-01 1.04514018e-02 1.86328326e-01] [ 3.66197689e-02 -1.03416968e-02 9.99275759e-01 6.50367765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30463044 meters Centerline goodness [0,1] 0.32775010332600985 Centerline is valid? [False, False] Translation: X:4.54, Y:0.18, Z:0.07 [[ 9.99330397e-01 3.23080153e-03 -3.64461140e-02 4.54346177e+00] [-2.84418244e-03 9.99939191e-01 1.06548286e-02 1.84955881e-01] [ 3.64783214e-02 -1.05440347e-02 9.99278818e-01 6.53705414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33463044 meters Centerline goodness [0,1] 0.3243017656500803 Centerline is valid? [False, False] Translation: X:4.58, Y:0.19, Z:0.07 [[ 9.99424288e-01 2.97216923e-03 -3.37973211e-02 4.58405594e+00] [-2.63202597e-03 9.99945487e-01 1.01042483e-02 1.85117549e-01] [ 3.38255102e-02 -1.00094757e-02 9.99377629e-01 6.76557832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36463044 meters Centerline goodness [0,1] 0.3288919751746886 Centerline is valid? [False, False] Translation: X:4.58, Y:0.18, Z:0.07 [[ 9.99468918e-01 9.63174803e-04 -3.25722930e-02 4.57953728e+00] [-6.79727585e-04 9.99961818e-01 8.71204964e-03 1.80325081e-01] [ 3.25794406e-02 -8.68528254e-03 9.99431411e-01 6.96380914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.39463044 meters Centerline goodness [0,1] 0.3294520253110068 Centerline is valid? [False, False] Translation: X:4.58, Y:0.18, Z:0.07 [[ 9.99470345e-01 1.02247855e-03 -3.25266602e-02 4.57936568e+00] [-7.29375325e-04 9.99959037e-01 9.02175812e-03 1.78491781e-01] [ 3.25345524e-02 -8.99325556e-03 9.99430150e-01 6.97973222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42463044 meters Centerline goodness [0,1] 0.3274022113389936 Centerline is valid? [False, False] Translation: X:4.58, Y:0.18, Z:0.07 [[ 9.99472292e-01 1.08804510e-03 -3.24646572e-02 4.57906291e+00] [-7.85752041e-04 9.99956233e-01 9.32275619e-03 1.76761765e-01] [ 3.24733799e-02 -9.29232733e-03 9.99429403e-01 7.00569595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45463043999999 meters Centerline goodness [0,1] 0.3286433236963272 Centerline is valid? [False, False] Translation: X:4.58, Y:0.17, Z:0.07 [[ 9.99474115e-01 1.13825440e-03 -3.24067513e-02 4.57832977e+00] [-8.23574802e-04 9.99952401e-01 9.72200279e-03 1.74299076e-01] [ 3.24162749e-02 -9.69020075e-03 9.99427479e-01 7.10039266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48463043999999 meters Centerline goodness [0,1] 0.33209107946834404 Centerline is valid? [False, False] Translation: X:4.58, Y:0.17, Z:0.07 [[ 9.99469500e-01 1.15258127e-03 -3.25482774e-02 4.57868226e+00] [-8.32861094e-04 9.99951290e-01 9.83480212e-03 1.73516848e-01] [ 3.25580274e-02 -9.80247656e-03 9.99421776e-01 7.10136639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51463043999999 meters Centerline goodness [0,1] 0.3306684480455113 Centerline is valid? [False, False] Translation: X:4.58, Y:0.17, Z:0.07 [[ 9.99462833e-01 1.18347406e-03 -3.27512605e-02 4.57924841e+00] [-8.58599893e-04 9.99950311e-01 9.93172688e-03 1.72970977e-01] [ 3.27613871e-02 -9.89827165e-03 9.99414186e-01 7.08936849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54463043999999 meters Centerline goodness [0,1] 0.32771007055805 Centerline is valid? [False, False] Translation: X:4.58, Y:0.17, Z:0.07 [[ 9.99459685e-01 1.14058498e-03 -3.28487094e-02 4.57950641e+00] [-8.16049481e-04 9.99950746e-01 9.89141573e-03 1.72826933e-01] [ 3.28583735e-02 -9.85926507e-03 9.99411388e-01 7.08450144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57463043999999 meters Centerline goodness [0,1] 0.3318446310093831 Centerline is valid? [False, False] Translation: X:4.58, Y:0.17, Z:0.07 [[ 9.99465922e-01 1.14650930e-03 -3.26581742e-02 4.57870044e+00] [-8.21934823e-04 9.99950157e-01 9.95022888e-03 1.72418152e-01] [ 3.26679544e-02 -9.91807179e-03 9.99417048e-01 7.13641182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60463044 meters Centerline goodness [0,1] 0.3346606610527232 Centerline is valid? [False, False] Translation: X:4.56, Y:0.17, Z:0.07 [[ 0.99949031 0.00834471 -0.03081369 4.55964249] [-0.00806483 0.99992519 0.00919598 0.16624654] [ 0.03088812 -0.00894278 0.99948284 0.06923071] [ 0. 0. 0. 1. ]] SLAMing on 126.63463044 meters Centerline goodness [0,1] 0.3280605373976614 Centerline is valid? [False, False] Translation: X:4.60, Y:0.17, Z:0.07 [[ 0.99954822 0.00846464 -0.02883921 4.60335627] [-0.00820547 0.99992499 0.00909341 0.16580233] [ 0.02891402 -0.00885266 0.9995427 0.06978334] [ 0. 0. 0. 1. ]] SLAMing on 126.66463044 meters Centerline goodness [0,1] 0.32801161103047893 Centerline is valid? [False, False] Translation: X:4.60, Y:0.16, Z:0.07 [[ 0.99954423 0.00848189 -0.02897228 4.60391686] [-0.00821673 0.99992337 0.00925913 0.16443146] [ 0.0290486 -0.00901685 0.99953733 0.06944891] [ 0. 0. 0. 1. ]] SLAMing on 126.69463044 meters Centerline goodness [0,1] 0.32801161103047893 Centerline is valid? [False, False] Translation: X:4.60, Y:0.16, Z:0.07 [[ 0.99954423 0.00848189 -0.02897228 4.60391686] [-0.00821673 0.99992337 0.00925913 0.16443146] [ 0.0290486 -0.00901685 0.99953733 0.06944891] [ 0. 0. 0. 1. ]] SLAMing on 126.72463044 meters Centerline goodness [0,1] 0.33181417546273406 Centerline is valid? [False, False] Translation: X:4.61, Y:0.16, Z:0.07 [[ 0.99954915 0.00554008 -0.0295093 4.60556884] [-0.00535351 0.9999652 0.00639783 0.16314901] [ 0.02954372 -0.00623697 0.99954403 0.06883597] [ 0. 0. 0. 1. ]] SLAMing on 126.75463044 meters Centerline goodness [0,1] 0.33011178136688935 Centerline is valid? [False, False] Translation: X:4.61, Y:0.16, Z:0.07 [[ 0.99953941 0.00555182 -0.0298352 4.60667054] [-0.00535586 0.99996358 0.00664407 0.16100429] [ 0.029871 -0.00648121 0.99953275 0.06836249] [ 0. 0. 0. 1. ]] SLAMing on 126.78463044 meters Centerline goodness [0,1] 0.3306839709949263 Centerline is valid? [False, False] Translation: X:4.61, Y:0.16, Z:0.07 [[ 9.99516348e-01 3.92627805e-03 -3.08489125e-02 4.61094143e+00] [-3.75801101e-03 9.99977755e-01 5.51064052e-03 1.55628149e-01] [ 3.08698626e-02 -5.39204473e-03 9.99508868e-01 6.61688496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81463044 meters Centerline goodness [0,1] 0.3291479043990302 Centerline is valid? [False, False] Translation: X:4.61, Y:0.15, Z:0.07 [[ 9.99519652e-01 4.06318726e-03 -3.07238627e-02 4.61071691e+00] [-3.88641982e-03 9.99975564e-01 5.81095500e-03 1.54150510e-01] [ 3.07467230e-02 -5.68875789e-03 9.99511019e-01 6.61396890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84463043999999 meters Centerline goodness [0,1] 0.3317374350086655 Centerline is valid? [False, False] Translation: X:4.61, Y:0.15, Z:0.07 [[ 9.99523551e-01 4.16215179e-03 -3.05834455e-02 4.61056244e+00] [-3.98045969e-03 9.99974082e-01 5.99934732e-03 1.53273194e-01] [ 3.06076230e-02 -5.87475276e-03 9.99514212e-01 6.59511943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87463043999999 meters Centerline goodness [0,1] 0.3278635916306534 Centerline is valid? [False, False] Translation: X:4.61, Y:0.15, Z:0.07 [[ 9.99521464e-01 4.20927669e-03 -3.06451501e-02 4.61107922e+00] [-4.02774451e-03 9.99973990e-01 5.98300618e-03 1.53384681e-01] [ 3.06695371e-02 -5.85671226e-03 9.99512420e-01 6.54213399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90463043999999 meters Centerline goodness [0,1] 0.32777910021423473 Centerline is valid? [False, False] Translation: X:4.61, Y:0.15, Z:0.06 [[ 9.99513471e-01 4.26918024e-03 -3.08965161e-02 4.61204025e+00] [-4.08822966e-03 9.99974135e-01 5.91746979e-03 1.53902872e-01] [ 3.09209797e-02 -5.78827872e-03 9.99505072e-01 6.48269615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93463043999999 meters Centerline goodness [0,1] 0.3278269717898201 Centerline is valid? [False, False] Translation: X:4.62, Y:0.16, Z:0.06 [[ 0.99946983 0.00487609 -0.03219146 4.61560481] [-0.00468315 0.99997064 0.00606597 0.15557755] [ 0.03222009 -0.00591199 0.99946331 0.06376346] [ 0. 0. 0. 1. ]] SLAMing on 126.96463044 meters Centerline goodness [0,1] 0.32729874466101516 Centerline is valid? [False, False] Translation: X:4.62, Y:0.16, Z:0.06 [[ 0.99945748 0.0048742 -0.03257289 4.61686084] [-0.00468544 0.9999718 0.00586871 0.1567853 ] [ 0.03260058 -0.00571291 0.99945213 0.06315799] [ 0. 0. 0. 1. ]] SLAMing on 126.99463044 meters Centerline goodness [0,1] 0.32156090038765506 Centerline is valid? [False, False] Translation: X:4.62, Y:0.16, Z:0.06 [[ 0.9994478 0.00481954 -0.03287666 4.61805786] [-0.00463695 0.99997341 0.00562779 0.15801031] [ 0.03290291 -0.00547223 0.99944357 0.06242718] [ 0. 0. 0. 1. ]] SLAMing on 127.02463044 meters Centerline goodness [0,1] 0.3289351099555844 Centerline is valid? [False, False] Translation: X:4.60, Y:0.16, Z:0.06 [[ 9.99473063e-01 -3.19024496e-03 -3.23020068e-02 4.59917029e+00] [ 3.41087092e-03 9.99971217e-01 6.77730246e-03 1.61973235e-01] [ 3.22794558e-02 -6.88390922e-03 9.99455176e-01 6.00174422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05463044 meters Centerline goodness [0,1] 0.328113170816119 Centerline is valid? [False, False] Translation: X:4.60, Y:0.16, Z:0.06 [[ 9.99494220e-01 -3.02597028e-03 -3.16567127e-02 4.59634728e+00] [ 3.25018104e-03 9.99969983e-01 7.03350705e-03 1.61701136e-01] [ 3.16344793e-02 -7.13283969e-03 9.99474053e-01 6.18893711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08463044 meters Centerline goodness [0,1] 0.3267358510752113 Centerline is valid? [False, False] Translation: X:4.61, Y:0.16, Z:0.06 [[ 9.99549895e-01 4.62861945e-03 -2.96408893e-02 4.61486275e+00] [-4.45891691e-03 9.99973303e-01 5.78882588e-03 1.59034634e-01] [ 2.96668923e-02 -5.65405404e-03 9.99543850e-01 6.35120231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11463044 meters Centerline goodness [0,1] 0.3313662991040661 Centerline is valid? [False, False] Translation: X:4.61, Y:0.16, Z:0.06 [[ 9.99551222e-01 4.53916778e-03 -2.96099623e-02 4.61461566e+00] [-4.36928804e-03 9.99973638e-01 5.79943060e-03 1.58439513e-01] [ 2.96355063e-02 -5.66745349e-03 9.99544705e-01 6.38237822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14463044 meters Centerline goodness [0,1] 0.3307536431835819 Centerline is valid? [False, False] Translation: X:4.61, Y:0.16, Z:0.06 [[ 9.99551112e-01 4.40131666e-03 -2.96344801e-02 4.61453437e+00] [-4.23157475e-03 9.99974295e-01 5.78813179e-03 1.57650688e-01] [ 2.96591938e-02 -5.66013305e-03 9.99544044e-01 6.40872019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.17463044 meters Centerline goodness [0,1] 0.32893585227879174 Centerline is valid? [False, False] Translation: X:4.63, Y:0.16, Z:0.07 [[ 9.99558074e-01 -3.50907131e-03 -2.95185228e-02 4.63398211e+00] [ 3.70356235e-03 9.99971777e-01 6.53668795e-03 1.61099567e-01] [ 2.94947520e-02 -6.64312291e-03 9.99542860e-01 6.56313523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20463043999999 meters Centerline goodness [0,1] 0.3341363370011069 Centerline is valid? [False, False] Translation: X:4.61, Y:0.16, Z:0.06 [[ 9.99587677e-01 1.84696985e-03 -2.86542207e-02 4.61165591e+00] [-1.73267185e-03 9.99990446e-01 4.01318785e-03 1.55581732e-01] [ 2.86613592e-02 -3.96188476e-03 9.99581327e-01 6.48874556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23463043999999 meters Centerline goodness [0,1] 0.3343712833819873 Centerline is valid? [False, False] Translation: X:4.61, Y:0.15, Z:0.06 [[ 9.99582688e-01 1.68547714e-03 -2.88376488e-02 4.61219300e+00] [-1.55660110e-03 9.99988704e-01 4.49088609e-03 1.51791858e-01] [ 2.88448924e-02 -4.44412328e-03 9.99574020e-01 6.48888433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26463043999999 meters Centerline goodness [0,1] 0.33476496741054085 Centerline is valid? [False, False] Translation: X:4.61, Y:0.15, Z:0.06 [[ 9.99572808e-01 1.66878180e-03 -2.91790320e-02 4.61320779e+00] [-1.52953558e-03 9.99987340e-01 4.79380177e-03 1.49495316e-01] [ 2.91866624e-02 -4.74712353e-03 9.99562706e-01 6.46534436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29463043999999 meters Centerline goodness [0,1] 0.333080851800554 Centerline is valid? [False, False] Translation: X:4.61, Y:0.15, Z:0.06 [[ 9.99568121e-01 1.62465059e-03 -2.93416280e-02 4.61374628e+00] [-1.47689508e-03 9.99986124e-01 5.05666596e-03 1.47217528e-01] [ 2.93494362e-02 -5.01114759e-03 9.99556651e-01 6.44802365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32463043999999 meters Centerline goodness [0,1] 0.33310223801373573 Centerline is valid? [False, False] Translation: X:4.61, Y:0.14, Z:0.06 [[ 9.99568500e-01 -1.84903902e-03 -2.93154351e-02 4.61369889e+00] [ 1.91187078e-03 9.99995935e-01 2.11541480e-03 1.43816464e-01] [ 2.93114045e-02 -2.17054932e-03 9.99567972e-01 6.45703152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35463044 meters Centerline goodness [0,1] 0.33761195981432646 Centerline is valid? [False, False] Translation: X:4.61, Y:0.14, Z:0.06 [[ 9.99568492e-01 -1.70131706e-03 -2.93246645e-02 4.61376751e+00] [ 1.77579383e-03 9.99995263e-01 2.51387550e-03 1.41817849e-01] [ 2.93202487e-02 -2.56486530e-03 9.99566778e-01 6.45531377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38463044 meters Centerline goodness [0,1] 0.33557616932322964 Centerline is valid? [False, False] Translation: X:4.61, Y:0.14, Z:0.06 [[ 9.99573160e-01 -1.52096559e-03 -2.91750658e-02 4.61339712e+00] [ 1.60627503e-03 9.99994502e-01 2.90083931e-03 1.40191500e-01] [ 2.91704933e-02 -2.94646430e-03 9.99570108e-01 6.46292698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41463044 meters Centerline goodness [0,1] 0.3338119479615368 Centerline is valid? [False, False] Translation: X:4.61, Y:0.14, Z:0.06 [[ 9.99579803e-01 -1.38386836e-03 -2.89534682e-02 4.61287584e+00] [ 1.47715133e-03 9.99993787e-01 3.20068289e-03 1.38798935e-01] [ 2.89488590e-02 -3.24210662e-03 9.99575636e-01 6.47102834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44463044 meters Centerline goodness [0,1] 0.3318451745204426 Centerline is valid? [False, False] Translation: X:4.66, Y:0.14, Z:0.07 [[ 9.99630371e-01 -4.76520203e-04 -2.71826029e-02 4.65513619e+00] [ 5.66470181e-04 9.99994390e-01 3.30149645e-03 1.38929425e-01] [ 2.71808772e-02 -3.31567426e-03 9.99625033e-01 6.62304844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47463044 meters Centerline goodness [0,1] 0.33598791410380924 Centerline is valid? [False, False] Translation: X:4.66, Y:0.14, Z:0.07 [[ 9.99627222e-01 -3.40784828e-04 -2.73002006e-02 4.65553029e+00] [ 4.41554445e-04 9.99993112e-01 3.68522427e-03 1.36802349e-01] [ 2.72987567e-02 -3.69590503e-03 9.99620487e-01 6.60842038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50463044 meters Centerline goodness [0,1] 0.3350950916258718 Centerline is valid? [False, False] Translation: X:4.66, Y:0.13, Z:0.06 [[ 9.99576688e-01 -2.21493993e-03 -2.90092839e-02 4.66143259e+00] [ 2.28668422e-03 9.99994408e-01 2.44020797e-03 1.30433195e-01] [ 2.90037168e-02 -2.50551007e-03 9.99576164e-01 6.39521081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.53463044 meters Centerline goodness [0,1] 0.33790876946390525 Centerline is valid? [False, False] Translation: X:4.64, Y:0.12, Z:0.06 [[ 9.99560999e-01 4.40689050e-03 -2.92982668e-02 4.64479337e+00] [-4.37533519e-03 9.99989777e-01 1.14105820e-03 1.20476100e-01] [ 2.93029958e-02 -1.01236754e-03 9.99570062e-01 6.13783373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56463044 meters Centerline goodness [0,1] 0.33635515842894015 Centerline is valid? [False, False] Translation: X:4.67, Y:0.12, Z:0.06 [[ 9.99585627e-01 -3.44091763e-03 -2.85785753e-02 4.66538583e+00] [ 3.50677959e-03 9.99991309e-01 2.25479217e-03 1.19216637e-01] [ 2.85705684e-02 -2.35407661e-03 9.99589006e-01 6.24328011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59463043999999 meters Centerline goodness [0,1] 0.33800914833369633 Centerline is valid? [False, False] Translation: X:4.66, Y:0.11, Z:0.06 [[ 9.99591189e-01 -3.26605440e-03 -2.84040239e-02 4.66469596e+00] [ 3.35388194e-03 9.99989740e-01 3.04498905e-03 1.14432536e-01] [ 2.83937874e-02 -3.13900796e-03 9.99591886e-01 6.29844675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62463043999999 meters Centerline goodness [0,1] 0.3378647501948221 Centerline is valid? [False, False] Translation: X:4.68, Y:0.11, Z:0.07 [[ 9.99607979e-01 4.12683839e-03 -2.76921991e-02 4.68202274e+00] [-4.08482628e-03 9.99990419e-01 1.57350826e-03 1.06189157e-01] [ 2.76984274e-02 -1.45977359e-03 9.99615259e-01 6.56076718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65463043999999 meters Centerline goodness [0,1] 0.3363447739258235 Centerline is valid? [False, False] Translation: X:4.68, Y:0.10, Z:0.07 [[ 9.99628841e-01 2.17341765e-03 -2.71561536e-02 4.67984182e+00] [-2.16421684e-03 9.99997590e-01 3.68197718e-04 9.93773911e-02] [ 2.71568884e-02 -3.09289253e-04 9.99631136e-01 6.68288847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68463043999999 meters Centerline goodness [0,1] 0.3352853469326015 Centerline is valid? [False, False] Translation: X:4.68, Y:0.10, Z:0.07 [[ 9.99621796e-01 2.33664525e-03 -2.74008360e-02 4.68060404e+00] [-2.31808534e-03 9.99997062e-01 7.09093377e-04 9.77389768e-02] [ 2.74024124e-02 -6.45307719e-04 9.99624275e-01 6.65235875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71463044 meters Centerline goodness [0,1] 0.3369037730074761 Centerline is valid? [False, False] Translation: X:4.68, Y:0.10, Z:0.07 [[ 9.99617493e-01 2.52276544e-03 -2.75409240e-02 4.68117762e+00] [-2.49629160e-03 9.99996389e-01 9.95594083e-04 9.67464734e-02] [ 2.75433362e-02 -9.26463085e-04 9.99620181e-01 6.61788588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74463044 meters Centerline goodness [0,1] 0.33455285432857795 Centerline is valid? [False, False] Translation: X:4.68, Y:0.10, Z:0.07 [[ 9.99618863e-01 2.66814480e-03 -2.74774365e-02 4.68117932e+00] [-2.63759161e-03 9.99995862e-01 1.14812117e-03 9.63601927e-02] [ 2.74803862e-02 -1.07520932e-03 9.99621765e-01 6.59985843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77463044 meters Centerline goodness [0,1] 0.33702510988293655 Centerline is valid? [False, False] Translation: X:4.68, Y:0.10, Z:0.07 [[ 9.99623967e-01 2.75844630e-03 -2.72821638e-02 4.68075581e+00] [-2.72439027e-03 9.99995463e-01 1.28538116e-03 9.57201516e-02] [ 2.72855856e-02 -1.21057055e-03 9.99626946e-01 6.59756285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80463044 meters Centerline goodness [0,1] 0.3359034892031795 Centerline is valid? [False, False] Translation: X:4.68, Y:0.09, Z:0.07 [[ 9.99623655e-01 2.91295794e-03 -2.72775042e-02 4.68051273e+00] [-2.87307692e-03 9.99994746e-01 1.50112637e-03 9.45107556e-02] [ 2.72817336e-02 -1.42219106e-03 9.99626773e-01 6.63710789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83463044 meters Centerline goodness [0,1] 0.33466886636813575 Centerline is valid? [False, False] Translation: X:4.70, Y:0.10, Z:0.07 [[ 9.99572870e-01 -3.41489355e-03 -2.90244095e-02 4.69817968e+00] [ 3.49192179e-03 9.99990514e-01 2.60364063e-03 9.88475891e-02] [ 2.90152430e-02 -2.70387951e-03 9.99575312e-01 6.89423273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86463044 meters Centerline goodness [0,1] 0.3344519015659956 Centerline is valid? [False, False] Translation: X:4.70, Y:0.10, Z:0.07 [[ 9.99563419e-01 -3.30992773e-03 -2.93601024e-02 4.69910678e+00] [ 3.39530536e-03 9.99990150e-01 2.85856995e-03 9.75469262e-02] [ 2.93503516e-02 -2.95700846e-03 9.99564812e-01 6.87477484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.89463044 meters Centerline goodness [0,1] 0.33428682876088933 Centerline is valid? [False, False] Translation: X:4.70, Y:0.10, Z:0.07 [[ 9.99556050e-01 -3.24001862e-03 -2.96176342e-02 4.70003311e+00] [ 3.33338955e-03 9.99989628e-01 3.10371433e-03 9.60262521e-02] [ 2.96072709e-02 -3.20106355e-03 9.99556483e-01 6.82820870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92463044 meters Centerline goodness [0,1] 0.3328110242981025 Centerline is valid? [False, False] Translation: X:4.72, Y:0.09, Z:0.07 [[ 9.99554251e-01 3.18561334e-03 -2.96841948e-02 4.72213789e+00] [-3.17494426e-03 9.99994877e-01 4.06545959e-04 9.31574165e-02] [ 2.96853378e-02 -3.12119078e-04 9.99559245e-01 6.84438814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95463043999999 meters Centerline goodness [0,1] 0.33494584994879173 Centerline is valid? [False, False] Translation: X:4.68, Y:0.09, Z:0.07 [[ 9.99501773e-01 1.71477526e-03 -3.15161196e-02 4.67729114e+00] [-1.69747960e-03 9.99998394e-01 5.75535322e-04 8.81971183e-02] [ 3.15170559e-02 -5.21750605e-04 9.99503078e-01 6.79538121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98463043999999 meters Centerline goodness [0,1] 0.3339507236388698 Centerline is valid? [False, False] Translation: X:4.70, Y:0.09, Z:0.07 [[ 9.99546404e-01 -5.09752188e-03 -2.96816638e-02 4.69550797e+00] [ 5.17019967e-03 9.99983820e-01 2.37234298e-03 9.07967260e-02] [ 2.96690905e-02 -2.52472703e-03 9.99556587e-01 6.97327111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01463044 meters Centerline goodness [0,1] 0.33504718516108034 Centerline is valid? [False, False] Translation: X:4.69, Y:0.09, Z:0.07 [[ 9.99552217e-01 -4.96360348e-03 -2.95081072e-02 4.69494021e+00] [ 5.03981632e-03 9.99984153e-01 2.50896310e-03 9.07510446e-02] [ 2.94951861e-02 -2.65655507e-03 9.99561392e-01 7.00038273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04463044 meters Centerline goodness [0,1] 0.3355802158741168 Centerline is valid? [False, False] Translation: X:4.69, Y:0.09, Z:0.07 [[ 9.99554961e-01 -4.93226068e-03 -2.94202742e-02 4.69470000e+00] [ 5.00700100e-03 9.99984421e-01 2.46730690e-03 9.12468260e-02] [ 2.94076465e-02 -2.61351619e-03 9.99564085e-01 7.00717319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07463044 meters Centerline goodness [0,1] 0.33375931381043145 Centerline is valid? [False, False] Translation: X:4.69, Y:0.09, Z:0.07 [[ 9.99561651e-01 -4.86272311e-03 -2.92037782e-02 4.69425102e+00] [ 4.92910425e-03 9.99985429e-01 2.20147313e-03 9.30099230e-02] [ 2.91926475e-02 -2.34445658e-03 9.99571054e-01 6.99659077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10463044 meters Centerline goodness [0,1] 0.33543906713108196 Centerline is valid? [False, False] Translation: X:4.69, Y:0.09, Z:0.07 [[ 9.99567247e-01 -4.81116126e-03 -2.90201947e-02 4.69367595e+00] [ 4.87271706e-03 9.99986025e-01 2.05079087e-03 9.43613442e-02] [ 2.90099225e-02 -2.19131059e-03 9.99576722e-01 7.01333028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13463044 meters Centerline goodness [0,1] 0.332494244712666 Centerline is valid? [False, False] Translation: X:4.71, Y:0.09, Z:0.07 [[ 9.99602186e-01 3.74555824e-03 -2.79542596e-02 4.71236545e+00] [-3.72895270e-03 9.99992839e-01 6.46131972e-04 9.41901231e-02] [ 2.79564795e-02 -5.41634820e-04 9.99608995e-01 7.21247973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16463044 meters Centerline goodness [0,1] 0.3323938248670809 Centerline is valid? [False, False] Translation: X:4.71, Y:0.10, Z:0.07 [[ 9.99604258e-01 3.79216094e-03 -2.78737517e-02 4.71199611e+00] [-3.77958509e-03 9.99992730e-01 5.03843988e-04 9.55900266e-02] [ 2.78754598e-02 -3.98293379e-04 9.99611325e-01 7.23625296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.19463044 meters Centerline goodness [0,1] 0.3332403971947584 Centerline is valid? [False, False] Translation: X:4.71, Y:0.10, Z:0.07 [[ 9.99609177e-01 3.74773217e-03 -2.77028375e-02 4.71164177e+00] [-3.73998646e-03 9.99992951e-01 3.31408936e-04 9.65821050e-02] [ 2.77038843e-02 -2.27671177e-04 9.99616148e-01 7.22803341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22463044 meters Centerline goodness [0,1] 0.33303202479338845 Centerline is valid? [False, False] Translation: X:4.71, Y:0.10, Z:0.07 [[ 9.99608418e-01 3.63525085e-03 -2.77452078e-02 4.71193956e+00] [-3.63168958e-03 9.99993389e-01 1.78746121e-04 9.68692551e-02] [ 2.77456742e-02 -7.79141454e-05 9.99615012e-01 7.19945069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.25463044 meters Centerline goodness [0,1] 0.3354408602150538 Centerline is valid? [False, False] Translation: X:4.71, Y:0.10, Z:0.07 [[ 9.99600628e-01 3.38098673e-03 -2.80562669e-02 4.71310003e+00] [-3.38644950e-03 9.99994255e-01 -1.47194923e-04 9.74639116e-02] [ 2.80556081e-02 2.42147269e-04 9.99606335e-01 7.13703665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28463044 meters Centerline goodness [0,1] 0.33444988405050247 Centerline is valid? [False, False] Translation: X:4.71, Y:0.10, Z:0.07 [[ 9.99598405e-01 3.33422327e-03 -2.81409269e-02 4.71340088e+00] [-3.34364960e-03 9.99994369e-01 -2.87919025e-04 9.82001372e-02] [ 2.81398084e-02 3.81896797e-04 9.99603924e-01 7.11973987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.31463044 meters Centerline goodness [0,1] 0.3355553142981218 Centerline is valid? [False, False] Translation: X:4.71, Y:0.10, Z:0.07 [[ 9.99595773e-01 3.28328245e-03 -2.82402172e-02 4.71367498e+00] [-3.29752413e-03 9.99994458e-01 -4.57748955e-04 9.91721132e-02] [ 2.82385578e-02 5.50686718e-04 9.99601061e-01 7.11320468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34463044 meters Centerline goodness [0,1] 0.3317206971771668 Centerline is valid? [False, False] Translation: X:4.71, Y:0.10, Z:0.07 [[ 9.99593086e-01 3.46279517e-03 -2.83138129e-02 4.71404592e+00] [-3.48013297e-03 9.99993786e-01 -5.63089151e-04 1.01263686e-01] [ 2.83116871e-02 6.61395856e-04 9.99598925e-01 7.08252609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37463044 meters Centerline goodness [0,1] 0.33164081068233875 Centerline is valid? [False, False] Translation: X:4.71, Y:0.10, Z:0.07 [[ 9.99593067e-01 3.41702370e-03 -2.83200263e-02 4.71436259e+00] [-3.44074078e-03 9.99993770e-01 -7.88778082e-04 1.02585829e-01] [ 2.83171546e-02 8.85898972e-04 9.99598596e-01 7.03311743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40463044 meters Centerline goodness [0,1] 0.3307318541451668 Centerline is valid? [False, False] Translation: X:4.71, Y:0.10, Z:0.07 [[ 9.99592022e-01 3.37029882e-03 -2.83624942e-02 4.71470586e+00] [-3.40017470e-03 9.99993714e-01 -1.00519614e-03 1.03914244e-01] [ 2.83589281e-02 1.10122348e-03 9.99597198e-01 6.99422090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43463044 meters Centerline goodness [0,1] 0.33193504443531474 Centerline is valid? [False, False] Translation: X:4.71, Y:0.11, Z:0.07 [[ 9.99591020e-01 3.32723191e-03 -2.84028508e-02 4.71484984e+00] [-3.36291884e-03 9.99993615e-01 -1.20878065e-03 1.05183668e-01] [ 2.83986475e-02 1.30380277e-03 9.99595827e-01 6.98223577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46463044 meters Centerline goodness [0,1] 0.32866233849713955 Centerline is valid? [False, False] Translation: X:4.73, Y:0.11, Z:0.07 [[ 9.99558374e-01 -3.19967805e-03 -2.95435218e-02 4.73294610e+00] [ 3.19037040e-03 9.99994845e-01 -3.62181216e-04 1.13657077e-01] [ 2.95445284e-02 2.67766490e-04 9.99563429e-01 7.20003172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49463044 meters Centerline goodness [0,1] 0.3283891512962448 Centerline is valid? [False, False] Translation: X:4.73, Y:0.11, Z:0.07 [[ 9.99556882e-01 -3.29327992e-03 -2.95836661e-02 4.73322016e+00] [ 3.27889098e-03 9.99994481e-01 -5.34879470e-04 1.14510079e-01] [ 2.95852643e-02 4.37640839e-04 9.99562164e-01 7.17292044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52463043999998 meters Centerline goodness [0,1] 0.3274637275584449 Centerline is valid? [False, False] Translation: X:4.73, Y:0.12, Z:0.07 [[ 9.99553346e-01 -3.44828243e-03 -2.96853155e-02 4.73367776e+00] [ 3.42713820e-03 9.99993836e-01 -7.63128802e-04 1.15294940e-01] [ 2.96877640e-02 6.61052269e-04 9.99559003e-01 7.13954315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55463043999998 meters Centerline goodness [0,1] 0.32950571983595944 Centerline is valid? [False, False] Translation: X:4.73, Y:0.12, Z:0.07 [[ 9.99549994e-01 -3.62795100e-03 -2.97766218e-02 4.73389608e+00] [ 3.60132117e-03 9.99993066e-01 -9.47900954e-04 1.15697525e-01] [ 2.97798542e-02 8.40239215e-04 9.99556129e-01 7.14005695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58463043999998 meters Centerline goodness [0,1] 0.32950571983595944 Centerline is valid? [False, False] Translation: X:4.73, Y:0.12, Z:0.07 [[ 9.99549994e-01 -3.62795100e-03 -2.97766218e-02 4.73389608e+00] [ 3.60132117e-03 9.99993066e-01 -9.47900954e-04 1.15697525e-01] [ 2.97798542e-02 8.40239215e-04 9.99556129e-01 7.14005695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61463043999998 meters Centerline goodness [0,1] 0.3294793940310764 Centerline is valid? [False, False] Translation: X:4.73, Y:0.12, Z:0.07 [[ 9.99545306e-01 -3.75433022e-03 -2.99179914e-02 4.73403370e+00] [ 3.72559672e-03 9.99992544e-01 -1.01609491e-03 1.15623006e-01] [ 2.99215831e-02 9.04170528e-04 9.99551840e-01 7.16882177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64463044 meters Centerline goodness [0,1] 0.3301457096600108 Centerline is valid? [False, False] Translation: X:4.73, Y:0.12, Z:0.07 [[ 9.99541799e-01 -3.80229707e-03 -3.00289117e-02 4.73396999e+00] [ 3.77537677e-03 9.99992419e-01 -9.53126649e-04 1.15229675e-01] [ 3.00323081e-02 8.39319470e-04 9.99548576e-01 7.21606797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67463044 meters Centerline goodness [0,1] 0.327457935031792 Centerline is valid? [False, False] Translation: X:4.73, Y:0.11, Z:0.07 [[ 9.99537906e-01 -3.93824827e-03 -3.01407415e-02 4.73413854e+00] [ 3.91425681e-03 9.99991974e-01 -8.54942817e-04 1.14505890e-01] [ 3.01438666e-02 7.36569150e-04 9.99545299e-01 7.23699410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70463044 meters Centerline goodness [0,1] 0.3295797088967358 Centerline is valid? [False, False] Translation: X:4.73, Y:0.11, Z:0.07 [[ 9.99535385e-01 -3.92341657e-03 -3.02261491e-02 4.73451782e+00] [ 3.90022676e-03 9.99992053e-01 -8.26129989e-04 1.14544621e-01] [ 3.02291501e-02 7.07857321e-04 9.99542744e-01 7.21660912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73463044 meters Centerline goodness [0,1] 0.3289249789992892 Centerline is valid? [False, False] Translation: X:4.73, Y:0.11, Z:0.07 [[ 9.99534893e-01 -3.93397831e-03 -3.02410486e-02 4.73484816e+00] [ 3.91039578e-03 9.99992002e-01 -8.38920042e-04 1.14709668e-01] [ 3.02441071e-02 7.20275386e-04 9.99542283e-01 7.17644834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76463044 meters Centerline goodness [0,1] 0.328204684933875 Centerline is valid? [False, False] Translation: X:4.73, Y:0.12, Z:0.07 [[ 9.99540894e-01 -3.95723593e-03 -3.00389869e-02 4.73428979e+00] [ 3.92840499e-03 9.99991765e-01 -1.01873960e-03 1.15981546e-01] [ 3.00427709e-02 9.00266586e-04 9.99548209e-01 7.19139694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79463044 meters Centerline goodness [0,1] 0.3310972167947549 Centerline is valid? [False, False] Translation: X:4.73, Y:0.12, Z:0.07 [[ 9.99549481e-01 -3.88213253e-03 -2.97618017e-02 4.73335174e+00] [ 3.85261185e-03 9.99992028e-01 -1.04917716e-03 1.16741429e-01] [ 2.97656375e-02 9.34043813e-04 9.99556469e-01 7.23382118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82463044 meters Centerline goodness [0,1] 0.32909114560749286 Centerline is valid? [False, False] Translation: X:4.73, Y:0.12, Z:0.07 [[ 9.99556698e-01 -3.78043105e-03 -2.95315918e-02 4.73231905e+00] [ 3.74927466e-03 9.99992355e-01 -1.11032105e-03 1.17938365e-01] [ 2.95355635e-02 9.99106790e-04 9.99563231e-01 7.30475353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85463044 meters Centerline goodness [0,1] 0.3302895226554724 Centerline is valid? [False, False] Translation: X:4.73, Y:0.12, Z:0.07 [[ 9.99568879e-01 -3.71984461e-03 -2.91241834e-02 4.73103634e+00] [ 3.68429107e-03 9.99992401e-01 -1.27432399e-03 1.19528649e-01] [ 2.91287024e-02 1.16647263e-03 9.99574989e-01 7.35472965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88463044 meters Centerline goodness [0,1] 0.32799316458400085 Centerline is valid? [False, False] Translation: X:4.75, Y:0.12, Z:0.08 [[ 9.99601331e-01 4.45195914e-03 -2.78811503e-02 4.75035103e+00] [-4.53452581e-03 9.99985517e-01 -2.89885346e-03 1.19691726e-01] [ 2.78678409e-02 3.02412558e-03 9.99607042e-01 7.51587978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.91463044 meters Centerline goodness [0,1] 0.331051865371662 Centerline is valid? [False, False] Translation: X:4.71, Y:0.12, Z:0.07 [[ 9.99540836e-01 3.51976170e-03 -3.00953222e-02 4.70643652e+00] [-3.62102569e-03 9.99987963e-01 -3.31093688e-03 1.19924353e-01] [ 3.00833062e-02 3.41839256e-03 9.99541550e-01 7.40286899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94463044 meters Centerline goodness [0,1] 0.3276943711331285 Centerline is valid? [False, False] Translation: X:4.71, Y:0.12, Z:0.07 [[ 9.99532259e-01 3.45690148e-03 -3.03860590e-02 4.70779261e+00] [-3.57992305e-03 9.99985611e-01 -3.99514908e-03 1.24874755e-01] [ 3.03718110e-02 4.10206014e-03 9.99530253e-01 7.29583775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.97463044 meters Centerline goodness [0,1] 0.3262703677465061 Centerline is valid? [False, False] Translation: X:4.73, Y:0.13, Z:0.08 [[ 9.99501996e-01 -2.37530513e-03 -3.14661500e-02 4.72501642e+00] [ 2.30071175e-03 9.99994458e-01 -2.40658558e-03 1.32970701e-01] [ 3.14716920e-02 2.33299255e-03 9.99501921e-01 7.54797955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00463044 meters Centerline goodness [0,1] 0.3266247198758835 Centerline is valid? [False, False] Translation: X:4.72, Y:0.14, Z:0.08 [[ 9.99503552e-01 -2.41306433e-03 -3.14137914e-02 4.72480891e+00] [ 2.32859749e-03 9.99993576e-01 -2.72515233e-03 1.35328882e-01] [ 3.14201655e-02 2.65064936e-03 9.99502750e-01 7.55523788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.03463044 meters Centerline goodness [0,1] 0.3263738641280831 Centerline is valid? [False, False] Translation: X:4.73, Y:0.14, Z:0.08 [[ 9.99494889e-01 -2.75564642e-03 -3.16602654e-02 4.72553817e+00] [ 2.64725645e-03 9.99990493e-01 -3.46494025e-03 1.38623061e-01] [ 3.16695126e-02 3.37937723e-03 9.99492682e-01 7.52730610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06463044 meters Centerline goodness [0,1] 0.3248201205678356 Centerline is valid? [False, False] Translation: X:4.73, Y:0.14, Z:0.07 [[ 9.99486315e-01 -2.92134667e-03 -3.19150812e-02 4.72650615e+00] [ 2.80230243e-03 9.99988951e-01 -3.77412370e-03 1.39908327e-01] [ 3.19257541e-02 3.68274928e-03 9.99483458e-01 7.46950269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09463044 meters Centerline goodness [0,1] 0.32665478725716024 Centerline is valid? [False, False] Translation: X:4.73, Y:0.14, Z:0.07 [[ 9.99480752e-01 -2.99637506e-03 -3.20819027e-02 4.72720952e+00] [ 2.87201538e-03 9.99988186e-01 -3.92169905e-03 1.40652159e-01] [ 3.20932746e-02 3.82752300e-03 9.99477549e-01 7.42090633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12463044 meters Centerline goodness [0,1] 0.3266891745660737 Centerline is valid? [False, False] Translation: X:4.73, Y:0.14, Z:0.07 [[ 9.99481471e-01 -3.02313851e-03 -3.20569835e-02 4.72725029e+00] [ 2.89717748e-03 9.99987903e-01 -3.97500680e-03 1.41172738e-01] [ 3.20686127e-02 3.88007087e-03 9.99478138e-01 7.40658138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15463044 meters Centerline goodness [0,1] 0.3233030993423033 Centerline is valid? [False, False] Translation: X:4.73, Y:0.14, Z:0.07 [[ 9.99486826e-01 -3.07247422e-03 -3.18848693e-02 4.72648682e+00] [ 2.94548702e-03 9.99987546e-01 -4.02888547e-03 1.41519774e-01] [ 3.18968508e-02 3.93290149e-03 9.99483428e-01 7.46319181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18463044 meters Centerline goodness [0,1] 0.32445308494274483 Centerline is valid? [False, False] Translation: X:4.73, Y:0.14, Z:0.08 [[ 9.99496536e-01 -3.12369181e-03 -3.15740020e-02 4.72527953e+00] [ 2.99385060e-03 9.99986871e-01 -4.15872211e-03 1.42412984e-01] [ 3.15865780e-02 4.06210050e-03 9.99492765e-01 7.53429593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21463044 meters Centerline goodness [0,1] 0.3245211877115558 Centerline is valid? [False, False] Translation: X:4.72, Y:0.14, Z:0.08 [[ 9.99513016e-01 -3.09213131e-03 -3.10510723e-02 4.72351601e+00] [ 2.95571668e-03 9.99985783e-01 -4.43817361e-03 1.44900738e-01] [ 3.10643543e-02 4.34423412e-03 9.99507946e-01 7.60609695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24463044 meters Centerline goodness [0,1] 0.32489062365960364 Centerline is valid? [False, False] Translation: X:4.72, Y:0.15, Z:0.08 [[ 9.99508057e-01 -3.06370678e-03 -3.12131150e-02 4.72420293e+00] [ 2.91970057e-03 9.99984888e-01 -4.65817787e-03 1.46833801e-01] [ 3.12269146e-02 4.56475336e-03 9.99501897e-01 7.55585021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27463043999998 meters Centerline goodness [0,1] 0.325431822581686 Centerline is valid? [False, False] Translation: X:4.73, Y:0.15, Z:0.07 [[ 9.99500751e-01 -3.06281131e-03 -3.14462585e-02 4.72524290e+00] [ 2.90925940e-03 9.99983627e-01 -4.92758826e-03 1.48903309e-01] [ 3.14608359e-02 4.83364285e-03 9.99493297e-01 7.48053886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30463043999998 meters Centerline goodness [0,1] 0.3243301595526481 Centerline is valid? [False, False] Translation: X:4.73, Y:0.15, Z:0.07 [[ 9.99497262e-01 -3.10830846e-03 -3.15525201e-02 4.72581764e+00] [ 2.94571482e-03 9.99982150e-01 -5.19828760e-03 1.50646705e-01] [ 3.15681148e-02 5.10272949e-03 9.99488577e-01 7.42958140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33463043999998 meters Centerline goodness [0,1] 0.3245264207377866 Centerline is valid? [False, False] Translation: X:4.73, Y:0.15, Z:0.07 [[ 9.99503463e-01 -3.21731936e-03 -3.13444845e-02 4.72529837e+00] [ 3.03978463e-03 9.99979078e-01 -5.70999280e-03 1.53659711e-01] [ 3.13621996e-02 5.61187709e-03 9.99492331e-01 7.42872371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36463043999998 meters Centerline goodness [0,1] 0.32362675148285047 Centerline is valid? [False, False] Translation: X:4.74, Y:0.15, Z:0.08 [[ 9.99518932e-01 4.74079921e-03 -3.06501285e-02 4.74412086e+00] [-4.96970428e-03 9.99960296e-01 -7.39646253e-03 1.53359822e-01] [ 3.06138464e-02 7.54522640e-03 9.99502807e-01 7.62464851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39463044 meters Centerline goodness [0,1] 0.3218066185189178 Centerline is valid? [False, False] Translation: X:4.74, Y:0.16, Z:0.08 [[ 9.99517843e-01 4.68728705e-03 -3.06938094e-02 4.74437697e+00] [-4.92511372e-03 9.99958400e-01 -7.67734557e-03 1.55047727e-01] [ 3.06565466e-02 7.82481439e-03 9.99499349e-01 7.59751902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42463044 meters Centerline goodness [0,1] 0.32474505813324095 Centerline is valid? [False, False] Translation: X:4.74, Y:0.16, Z:0.08 [[ 9.99515410e-01 4.60500848e-03 -3.07853692e-02 4.74482732e+00] [-4.85440554e-03 9.99955965e-01 -8.03132928e-03 1.57126383e-01] [ 3.07470292e-02 8.17688204e-03 9.99493751e-01 7.55948805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45463044 meters Centerline goodness [0,1] 0.3246264599056091 Centerline is valid? [False, False] Translation: X:4.75, Y:0.16, Z:0.08 [[ 9.99511481e-01 4.54332198e-03 -3.09218021e-02 4.74542972e+00] [-4.80253414e-03 9.99953908e-01 -8.31372762e-03 1.58787744e-01] [ 3.08826049e-02 8.45816922e-03 9.99487231e-01 7.51542982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48463044 meters Centerline goodness [0,1] 0.32111734253666957 Centerline is valid? [False, False] Translation: X:4.76, Y:0.17, Z:0.08 [[ 9.99487399e-01 -2.12994101e-03 -3.19437475e-02 4.76366969e+00] [ 1.90289294e-03 9.99972725e-01 -7.13646394e-03 1.65763702e-01] [ 3.19580764e-02 7.07202025e-03 9.99464190e-01 7.74418839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51463044 meters Centerline goodness [0,1] 0.32084253366238036 Centerline is valid? [False, False] Translation: X:4.76, Y:0.17, Z:0.08 [[ 9.99482919e-01 -2.05287844e-03 -3.20886470e-02 4.76443307e+00] [ 1.82629887e-03 9.99973207e-01 -7.08876607e-03 1.66359680e-01] [ 3.21023396e-02 7.02649714e-03 9.99459888e-01 7.68604235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54463044 meters Centerline goodness [0,1] 0.3216780192453238 Centerline is valid? [False, False] Translation: X:4.76, Y:0.17, Z:0.08 [[ 9.99480301e-01 -2.09064741e-03 -3.21676305e-02 4.76463209e+00] [ 1.86683703e-03 9.99973854e-01 -6.98608844e-03 1.65486252e-01] [ 3.21813950e-02 6.92240606e-03 9.99458072e-01 7.68875187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57463044 meters Centerline goodness [0,1] 0.32046423495973475 Centerline is valid? [False, False] Translation: X:4.76, Y:0.16, Z:0.08 [[ 9.99481070e-01 -2.22480141e-03 -3.21347332e-02 4.76437292e+00] [ 2.00434143e-03 9.99974248e-01 -6.89107324e-03 1.64035849e-01] [ 3.21492369e-02 6.82308827e-03 9.99459790e-01 7.72371715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60463044 meters Centerline goodness [0,1] 0.32149135971870846 Centerline is valid? [False, False] Translation: X:4.76, Y:0.16, Z:0.08 [[ 9.99484585e-01 -2.34437460e-03 -3.20166793e-02 4.76382098e+00] [ 2.12824920e-03 9.99974732e-01 -6.78281108e-03 1.62474682e-01] [ 3.20317718e-02 6.71117565e-03 9.99464319e-01 7.77286993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63463044 meters Centerline goodness [0,1] 0.32823070251517783 Centerline is valid? [False, False] Translation: X:4.76, Y:0.16, Z:0.08 [[ 9.99494929e-01 -2.34155203e-03 -3.16923274e-02 4.76278392e+00] [ 2.13473236e-03 9.99976217e-01 -6.55812286e-03 1.61127456e-01] [ 3.17069298e-02 6.48715590e-03 9.99476156e-01 7.81901526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66463044 meters Centerline goodness [0,1] 0.32739459459459463 Centerline is valid? [False, False] Translation: X:4.76, Y:0.16, Z:0.08 [[ 9.99498479e-01 -2.25676295e-03 -3.15863362e-02 4.76288234e+00] [ 2.05124214e-03 9.99976526e-01 -6.53752870e-03 1.61620866e-01] [ 3.16003484e-02 6.46945877e-03 9.99479647e-01 7.77510089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.69463044 meters Centerline goodness [0,1] 0.3217840899339226 Centerline is valid? [False, False] Translation: X:4.77, Y:0.16, Z:0.08 [[ 9.99483311e-01 -5.26614865e-04 -3.21377311e-02 4.76578638e+00] [ 3.57597158e-04 9.99986077e-01 -5.26468843e-03 1.64506909e-01] [ 3.21400562e-02 5.25047586e-03 9.99469584e-01 7.59836136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72463044 meters Centerline goodness [0,1] 0.3283646951457998 Centerline is valid? [False, False] Translation: X:4.75, Y:0.16, Z:0.07 [[ 0.99944535 0.00731318 -0.03248871 4.74682753] [-0.00752295 0.99995161 -0.00633917 0.1613742 ] [ 0.03244078 0.00658007 0.999452 0.07401028] [ 0. 0. 0. 1. ]] SLAMing on 129.75463044 meters Centerline goodness [0,1] 0.3244964262508122 Centerline is valid? [False, False] Translation: X:4.75, Y:0.16, Z:0.07 [[ 0.99943372 0.00733702 -0.03283898 4.74778268] [-0.00755444 0.99995033 -0.00650161 0.16270973] [ 0.03278965 0.00674601 0.99943951 0.0737602 ] [ 0. 0. 0. 1. ]] SLAMing on 129.78463044 meters Centerline goodness [0,1] 0.32117697594501715 Centerline is valid? [False, False] Translation: X:4.77, Y:0.17, Z:0.08 [[ 9.99409405e-01 5.86429522e-04 -3.43583626e-02 4.76695812e+00] [-7.80712873e-04 9.99983782e-01 -5.64147304e-03 1.69168589e-01] [ 3.43544970e-02 5.66496523e-03 9.99393655e-01 7.55372907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.81463044 meters Centerline goodness [0,1] 0.32058627867550804 Centerline is valid? [False, False] Translation: X:4.77, Y:0.17, Z:0.08 [[ 9.99404006e-01 4.91764240e-04 -3.45165259e-02 4.76750627e+00] [-6.89726674e-04 9.99983382e-01 -5.72362163e-03 1.69004739e-01] [ 3.45131376e-02 5.74401735e-03 9.99387737e-01 7.52795603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84463044 meters Centerline goodness [0,1] 0.3226412649040954 Centerline is valid? [False, False] Translation: X:4.77, Y:0.17, Z:0.08 [[ 9.99424897e-01 1.32970548e-04 -3.39095510e-02 4.76566536e+00] [-3.28966967e-04 9.99983274e-01 -5.77446316e-03 1.67286120e-01] [ 3.39082160e-02 5.78229737e-03 9.99408224e-01 7.59522736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87463044 meters Centerline goodness [0,1] 0.32489058369805435 Centerline is valid? [False, False] Translation: X:4.76, Y:0.17, Z:0.08 [[ 9.99438220e-01 3.21749788e-04 -3.35133065e-02 4.76441024e+00] [-5.01190570e-04 9.99985584e-01 -5.34605146e-03 1.65702859e-01] [ 3.35111033e-02 5.35984470e-03 9.99423973e-01 7.64990191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90463044 meters Centerline goodness [0,1] 0.3245244726558283 Centerline is valid? [False, False] Translation: X:4.76, Y:0.16, Z:0.08 [[ 9.99450868e-01 4.95336383e-04 -3.31318289e-02 4.76329705e+00] [-6.60817296e-04 9.99987362e-01 -4.98385697e-03 1.64547457e-01] [ 3.31289415e-02 5.00301425e-03 9.99438564e-01 7.69010058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93463044 meters Centerline goodness [0,1] 0.3238321456848773 Centerline is valid? [False, False] Translation: X:4.78, Y:0.17, Z:0.08 [[ 9.99458964e-01 -6.90317447e-03 -3.21578356e-02 4.78207362e+00] [ 6.78662325e-03 9.99970006e-01 -3.73209151e-03 1.68338473e-01] [ 3.21826343e-02 3.51182919e-03 9.99475835e-01 7.84183482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96463044 meters Centerline goodness [0,1] 0.32547373885956565 Centerline is valid? [False, False] Translation: X:4.76, Y:0.16, Z:0.08 [[ 9.99512095e-01 8.71231197e-05 -3.12340348e-02 4.76407524e+00] [-2.42585033e-04 9.99987602e-01 -4.97356924e-03 1.61453243e-01] [ 3.12332142e-02 4.97871952e-03 9.99499724e-01 7.55334579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99463044 meters Centerline goodness [0,1] 0.32440191387559814 Centerline is valid? [False, False] Translation: X:4.77, Y:0.16, Z:0.07 [[ 9.99491768e-01 -4.28102912e-05 -3.18779448e-02 4.76599882e+00] [-1.18047540e-04 9.99987271e-01 -5.04415487e-03 1.60545701e-01] [ 3.18777550e-02 5.04535438e-03 9.99479041e-01 7.48416416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02463043999998 meters Centerline goodness [0,1] 0.3212514554314546 Centerline is valid? [False, False] Translation: X:4.77, Y:0.16, Z:0.07 [[ 9.99481424e-01 1.14987851e-04 -3.22004540e-02 4.76707936e+00] [-2.73007836e-04 9.99987943e-01 -4.90303015e-03 1.60569819e-01] [ 3.21995019e-02 4.90927853e-03 9.99469405e-01 7.43292220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05463043999998 meters Centerline goodness [0,1] 0.3227650049980443 Centerline is valid? [False, False] Translation: X:4.77, Y:0.16, Z:0.07 [[ 9.99478385e-01 2.65389920e-04 -3.22937775e-02 4.76755071e+00] [-4.19943065e-04 9.99988492e-01 -4.77916064e-03 1.60657547e-01] [ 3.22921375e-02 4.79022931e-03 9.99466994e-01 7.39547759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08463043999998 meters Centerline goodness [0,1] 0.32132611462220406 Centerline is valid? [False, False] Translation: X:4.77, Y:0.16, Z:0.07 [[ 9.99479839e-01 3.18664348e-04 -3.22482684e-02 4.76753739e+00] [-4.73929792e-04 9.99988333e-01 -4.80716171e-03 1.61149463e-01] [ 3.22463603e-02 4.81994463e-03 9.99468329e-01 7.38285553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11463043999998 meters Centerline goodness [0,1] 0.32490285044395717 Centerline is valid? [False, False] Translation: X:4.77, Y:0.16, Z:0.07 [[ 9.99501804e-01 4.48922535e-04 -3.15585525e-02 4.76564560e+00] [-6.04534792e-04 9.99987706e-01 -4.92153750e-03 1.62252013e-01] [ 3.15559551e-02 4.93816386e-03 9.99489788e-01 7.42414992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14463044 meters Centerline goodness [0,1] 0.326387232473925 Centerline is valid? [False, False] Translation: X:4.76, Y:0.16, Z:0.07 [[ 9.99512609e-01 5.00089003e-04 -3.12136931e-02 4.76475583e+00] [-6.56759000e-04 9.99987238e-01 -5.00922080e-03 1.63131175e-01] [ 3.12107897e-02 5.02727922e-03 9.99500182e-01 7.43530666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17463044 meters Centerline goodness [0,1] 0.3218375957978128 Centerline is valid? [False, False] Translation: X:4.76, Y:0.16, Z:0.07 [[ 9.99516721e-01 5.40384598e-04 -3.10810624e-02 4.76448590e+00] [-7.00197948e-04 9.99986590e-01 -5.13116968e-03 1.64350476e-01] [ 3.10778728e-02 5.15045279e-03 9.99503696e-01 7.42770023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20463044 meters Centerline goodness [0,1] 0.32498802629860235 Centerline is valid? [False, False] Translation: X:4.76, Y:0.17, Z:0.07 [[ 9.99520831e-01 5.68695388e-04 -3.09480913e-02 4.76445841e+00] [-7.29764684e-04 9.99986248e-01 -5.19345233e-03 1.65005107e-01] [ 3.09447122e-02 5.21354861e-03 9.99507501e-01 7.38421808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23463044 meters Centerline goodness [0,1] 0.324873646992473 Centerline is valid? [False, False] Translation: X:4.76, Y:0.17, Z:0.07 [[ 9.99519687e-01 5.58353906e-04 -3.09851990e-02 4.76496973e+00] [-7.21678264e-04 9.99985905e-01 -5.26011133e-03 1.65383986e-01] [ 3.09818253e-02 5.27994617e-03 9.99506002e-01 7.32029805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26463044 meters Centerline goodness [0,1] 0.3253529373495544 Centerline is valid? [False, False] Translation: X:4.77, Y:0.16, Z:0.07 [[ 9.99499728e-01 3.71780225e-04 -3.16252361e-02 4.76664692e+00] [-5.39376630e-04 9.99985857e-01 -5.29108551e-03 1.64505989e-01] [ 3.16228217e-02 5.30549644e-03 9.99485792e-01 7.28460058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29463044 meters Centerline goodness [0,1] 0.32345327465700235 Centerline is valid? [False, False] Translation: X:4.77, Y:0.16, Z:0.07 [[ 9.99483963e-01 2.85175555e-04 -3.21205038e-02 4.76801393e+00] [-4.53628957e-04 9.99986183e-01 -5.23725448e-03 1.63834942e-01] [ 3.21185664e-02 5.24912265e-03 9.99470282e-01 7.25592009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32463044 meters Centerline goodness [0,1] 0.3221807028533167 Centerline is valid? [False, False] Translation: X:4.77, Y:0.16, Z:0.07 [[ 9.99470509e-01 2.57816129e-04 -3.25366676e-02 4.76923358e+00] [-4.22760032e-04 9.99987095e-01 -5.06269986e-03 1.62755925e-01] [ 3.25349425e-02 5.07377441e-03 9.99457720e-01 7.22004503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35463044 meters Centerline goodness [0,1] 0.32067863500847227 Centerline is valid? [False, False] Translation: X:4.79, Y:0.17, Z:0.07 [[ 9.99430863e-01 -7.44596113e-03 -3.29014771e-02 4.78899766e+00] [ 7.31779903e-03 9.99965168e-01 -4.01403167e-03 1.66854329e-01] [ 3.29302194e-02 3.77098073e-03 9.99450539e-01 7.38491807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38463044 meters Centerline goodness [0,1] 0.32479392624728853 Centerline is valid? [False, False] Translation: X:4.79, Y:0.16, Z:0.08 [[ 0.9994422 -0.01001418 -0.031859 4.78535074] [ 0.00982698 0.99993355 -0.00602719 0.16375658] [ 0.03191724 0.00571075 0.9994742 0.07537612] [ 0. 0. 0. 1. ]] SLAMing on 130.41463044 meters Centerline goodness [0,1] 0.3224503025064823 Centerline is valid? [False, False] Translation: X:4.79, Y:0.16, Z:0.08 [[ 0.99944057 -0.01007419 -0.03189143 4.78534878] [ 0.00989093 0.99993368 -0.00589899 0.16250023] [ 0.03194875 0.00558025 0.99947393 0.07557814] [ 0. 0. 0. 1. ]] SLAMing on 130.44463044 meters Centerline goodness [0,1] 0.3218920948192642 Centerline is valid? [False, False] Translation: X:4.80, Y:0.16, Z:0.08 [[ 9.99471470e-01 -2.34941816e-03 -3.24231499e-02 4.80460883e+00] [ 2.12535240e-03 9.99973636e-01 -6.94340725e-03 1.58571297e-01] [ 3.24386081e-02 6.87082684e-03 9.99450113e-01 7.73379047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.47463044 meters Centerline goodness [0,1] 0.3240885078375335 Centerline is valid? [False, False] Translation: X:4.81, Y:0.16, Z:0.08 [[ 9.99465547e-01 -2.20753775e-03 -3.26151220e-02 4.80557037e+00] [ 1.99375673e-03 9.99976326e-01 -6.58572798e-03 1.57172943e-01] [ 3.26288882e-02 6.51718160e-03 9.99446288e-01 7.66372077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50463044 meters Centerline goodness [0,1] 0.3240885078375335 Centerline is valid? [False, False] Translation: X:4.81, Y:0.16, Z:0.08 [[ 9.99465547e-01 -2.20753775e-03 -3.26151220e-02 4.80557037e+00] [ 1.99375673e-03 9.99976326e-01 -6.58572798e-03 1.57172943e-01] [ 3.26288882e-02 6.51718160e-03 9.99446288e-01 7.66372077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.53463044 meters Centerline goodness [0,1] 0.3231446703794846 Centerline is valid? [False, False] Translation: X:4.81, Y:0.16, Z:0.08 [[ 9.99467366e-01 -2.11558157e-03 -3.25654527e-02 4.80550216e+00] [ 1.90847817e-03 9.99977767e-01 -6.38937466e-03 1.56386830e-01] [ 3.25782459e-02 6.32382100e-03 9.99449182e-01 7.66213669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56463044 meters Centerline goodness [0,1] 0.3215221969143496 Centerline is valid? [False, False] Translation: X:4.81, Y:0.16, Z:0.08 [[ 9.99468034e-01 -2.07647381e-03 -3.25474659e-02 4.80515547e+00] [ 1.87359617e-03 9.99978635e-01 -6.26254477e-03 1.55693183e-01] [ 3.25597745e-02 6.19823250e-03 9.99450571e-01 7.70526028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59463044 meters Centerline goodness [0,1] 0.3216837560712358 Centerline is valid? [False, False] Translation: X:4.80, Y:0.16, Z:0.08 [[ 9.99469781e-01 -2.10128820e-03 -3.24921869e-02 4.80483549e+00] [ 1.90017464e-03 9.99978855e-01 -6.21923776e-03 1.55026514e-01] [ 3.25045682e-02 6.15419937e-03 9.99452640e-01 7.73394440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62463044 meters Centerline goodness [0,1] 0.3250788030571268 Centerline is valid? [False, False] Translation: X:4.81, Y:0.15, Z:0.08 [[ 9.99461367e-01 -2.08779789e-03 -3.27508329e-02 4.80536918e+00] [ 1.88721757e-03 9.99979282e-01 -6.15415134e-03 1.54458712e-01] [ 3.27630030e-02 6.08902856e-03 9.99444600e-01 7.74336179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65463044 meters Centerline goodness [0,1] 0.3246444986297823 Centerline is valid? [False, False] Translation: X:4.81, Y:0.15, Z:0.08 [[ 9.99453564e-01 -2.04046967e-03 -3.29910662e-02 4.80604531e+00] [ 1.83952273e-03 9.99979580e-01 -6.12015539e-03 1.54429476e-01] [ 3.30028805e-02 6.05612330e-03 9.99436908e-01 7.72647383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68463044 meters Centerline goodness [0,1] 0.322814544674461 Centerline is valid? [False, False] Translation: X:4.81, Y:0.15, Z:0.08 [[ 9.99450305e-01 -1.62073023e-03 -3.31128657e-02 4.80652572e+00] [ 1.42827734e-03 9.99981957e-01 -5.83485475e-03 1.54785520e-01] [ 3.31217250e-02 5.78435301e-03 9.99434586e-01 7.69971685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71463044 meters Centerline goodness [0,1] 0.3267949826989619 Centerline is valid? [False, False] Translation: X:4.81, Y:0.16, Z:0.08 [[ 9.99456633e-01 -1.53297050e-03 -3.29255009e-02 4.80599540e+00] [ 1.34179790e-03 9.99982120e-01 -5.82752817e-03 1.55244701e-01] [ 3.29338456e-02 5.78018231e-03 9.99440819e-01 7.71268259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74463044 meters Centerline goodness [0,1] 0.32486607914290655 Centerline is valid? [False, False] Translation: X:4.81, Y:0.16, Z:0.08 [[ 9.99463284e-01 -1.46927440e-03 -3.27259051e-02 4.80535391e+00] [ 1.27672642e-03 9.99981758e-01 -5.90377616e-03 1.55995869e-01] [ 3.27339824e-02 5.85882549e-03 9.99446927e-01 7.73498336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77463043999998 meters Centerline goodness [0,1] 0.3248500741568686 Centerline is valid? [False, False] Translation: X:4.80, Y:0.16, Z:0.08 [[ 9.99469855e-01 -1.37452794e-03 -3.25287608e-02 4.80457288e+00] [ 1.18254217e-03 9.99981774e-01 -5.92053398e-03 1.56656931e-01] [ 3.25363059e-02 5.87892860e-03 9.99453264e-01 7.77918159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80463043999998 meters Centerline goodness [0,1] 0.3225979143022335 Centerline is valid? [False, False] Translation: X:4.80, Y:0.16, Z:0.08 [[ 9.99487194e-01 -1.17795915e-03 -3.19993859e-02 4.80281957e+00] [ 9.84434836e-04 9.99981136e-01 -6.06283263e-03 1.58387890e-01] [ 3.20059241e-02 6.02822226e-03 9.99469500e-01 7.85093159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83463043999998 meters Centerline goodness [0,1] 0.3246086900045463 Centerline is valid? [False, False] Translation: X:4.80, Y:0.16, Z:0.08 [[ 9.99489428e-01 -1.23195742e-03 -3.19274952e-02 4.80275474e+00] [ 1.03088119e-03 9.99979538e-01 -6.31359759e-03 1.59675761e-01] [ 3.19346200e-02 6.27746060e-03 9.99470246e-01 7.83327574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86463043999998 meters Centerline goodness [0,1] 0.32457980921066865 Centerline is valid? [False, False] Translation: X:4.80, Y:0.16, Z:0.08 [[ 9.99488433e-01 -1.29717810e-03 -3.19560667e-02 4.80283693e+00] [ 1.08603370e-03 9.99977473e-01 -6.62380509e-03 1.61402400e-01] [ 3.19639391e-02 6.58571120e-03 9.99467326e-01 7.82281919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89463044 meters Centerline goodness [0,1] 0.32580200068989307 Centerline is valid? [False, False] Translation: X:4.80, Y:0.16, Z:0.08 [[ 9.99480611e-01 2.50688830e-03 -3.21282531e-02 4.80333024e+00] [-2.61444562e-03 9.99991117e-01 -3.30617664e-03 1.64134426e-01] [ 3.21196795e-02 3.38845701e-03 9.99478286e-01 7.80529546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92463044 meters Centerline goodness [0,1] 0.3230517029399711 Centerline is valid? [False, False] Translation: X:4.80, Y:0.17, Z:0.08 [[ 9.99486108e-01 2.57356521e-03 -3.19514752e-02 4.80304619e+00] [-2.68851729e-03 9.99990066e-01 -3.55526738e-03 1.66464033e-01] [ 3.19420081e-02 3.63934245e-03 9.99483098e-01 7.78218225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95463044 meters Centerline goodness [0,1] 0.32165350070338705 Centerline is valid? [False, False] Translation: X:4.80, Y:0.17, Z:0.08 [[ 9.99489420e-01 2.47451647e-03 -3.18555449e-02 4.80296237e+00] [-2.60446828e-03 9.99988453e-01 -4.03856204e-03 1.69299246e-01] [ 3.18451835e-02 4.11946678e-03 9.99484324e-01 7.75633456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98463044 meters Centerline goodness [0,1] 0.3212379935965849 Centerline is valid? [False, False] Translation: X:4.82, Y:0.18, Z:0.08 [[ 9.99435387e-01 -3.91867524e-03 -3.33699026e-02 4.82096353e+00] [ 3.80319115e-03 9.99986560e-01 -3.52349733e-03 1.78662347e-01] [ 3.33832615e-02 3.39459580e-03 9.99436859e-01 7.94979171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01463044 meters Centerline goodness [0,1] 0.3194432492900783 Centerline is valid? [False, False] Translation: X:4.82, Y:0.18, Z:0.08 [[ 9.99411829e-01 -3.88303235e-03 -3.40722507e-02 4.82345898e+00] [ 3.74535594e-03 9.99984566e-01 -4.10361481e-03 1.84708326e-01] [ 3.40876593e-02 3.97358848e-03 9.99410948e-01 7.81729736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04463044 meters Centerline goodness [0,1] 0.31940453298187244 Centerline is valid? [False, False] Translation: X:4.82, Y:0.19, Z:0.08 [[ 9.99401621e-01 -3.93135788e-03 -3.43648683e-02 4.82439413e+00] [ 3.78230983e-03 9.99983162e-01 -4.40115502e-03 1.86795527e-01] [ 3.43815922e-02 4.26854288e-03 9.99399663e-01 7.77293555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07463044 meters Centerline goodness [0,1] 0.3154687835228491 Centerline is valid? [False, False] Translation: X:4.83, Y:0.19, Z:0.08 [[ 9.99393806e-01 -4.04713858e-03 -3.45780343e-02 4.82514792e+00] [ 3.88480238e-03 9.99981122e-01 -4.76067378e-03 1.89053401e-01] [ 3.45966487e-02 4.62345906e-03 9.99390662e-01 7.73147618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10463044 meters Centerline goodness [0,1] 0.3206194998693038 Centerline is valid? [False, False] Translation: X:4.81, Y:0.19, Z:0.08 [[ 9.99386427e-01 3.45380773e-03 -3.48545760e-02 4.80588400e+00] [-3.66410408e-03 9.99975458e-01 -5.97146591e-03 1.85773618e-01] [ 3.48330963e-02 6.09551277e-03 9.99374554e-01 7.57119599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13463044 meters Centerline goodness [0,1] 0.32140461714879165 Centerline is valid? [False, False] Translation: X:4.82, Y:0.19, Z:0.08 [[ 9.99404745e-01 -4.06224609e-03 -3.42586411e-02 4.82417944e+00] [ 3.89477013e-03 9.99980145e-01 -4.95389413e-03 1.92769239e-01] [ 3.42780848e-02 4.81751577e-03 9.99400723e-01 7.78812229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16463044 meters Centerline goodness [0,1] 0.32242311114969724 Centerline is valid? [False, False] Translation: X:4.82, Y:0.19, Z:0.08 [[ 9.99417760e-01 -4.14322674e-03 -3.38670241e-02 4.82292863e+00] [ 3.97243521e-03 9.99979060e-01 -5.10873595e-03 1.93831458e-01] [ 3.38874816e-02 4.97122688e-03 9.99413291e-01 7.84143600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.19463044 meters Centerline goodness [0,1] 0.3213340505648198 Centerline is valid? [False, False] Translation: X:4.84, Y:0.20, Z:0.08 [[ 9.99410271e-01 -1.16120339e-02 -3.23151685e-02 4.84066566e+00] [ 1.15049279e-02 9.99927696e-01 -3.49839483e-03 1.99369058e-01] [ 3.23534555e-02 3.12454805e-03 9.99471606e-01 8.06253266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22463044 meters Centerline goodness [0,1] 0.3242916378714582 Centerline is valid? [False, False] Translation: X:4.84, Y:0.20, Z:0.08 [[ 9.99407056e-01 -1.16069094e-02 -3.24162898e-02 4.84108533e+00] [ 1.15040717e-02 9.99928190e-01 -3.35712438e-03 1.98627990e-01] [ 3.24529279e-02 2.98221448e-03 9.99468816e-01 8.04498413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.25463044 meters Centerline goodness [0,1] 0.3242269264797911 Centerline is valid? [False, False] Translation: X:4.84, Y:0.20, Z:0.08 [[ 9.99399251e-01 -1.16611827e-02 -3.26366846e-02 4.84163675e+00] [ 1.15619843e-02 9.99927952e-01 -3.22655522e-03 1.97376000e-01] [ 3.26719587e-02 2.84727204e-03 9.99462073e-01 8.04560303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28463044 meters Centerline goodness [0,1] 0.3266744497773165 Centerline is valid? [False, False] Translation: X:4.84, Y:0.20, Z:0.08 [[ 9.99388021e-01 -1.17322331e-02 -3.29535646e-02 4.84242023e+00] [ 1.16385064e-02 9.99927666e-01 -3.03459233e-03 1.95466388e-01] [ 3.29867834e-02 2.64920496e-03 9.99452277e-01 8.04682166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.31463044 meters Centerline goodness [0,1] 0.32505682433163763 Centerline is valid? [False, False] Translation: X:4.84, Y:0.19, Z:0.08 [[ 9.99364208e-01 -1.23286369e-02 -3.34542024e-02 4.84403480e+00] [ 1.22345977e-02 9.99920611e-01 -3.01424231e-03 1.90115531e-01] [ 3.34887080e-02 2.60302718e-03 9.99435706e-01 8.00714986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34463044 meters Centerline goodness [0,1] 0.32696597578671516 Centerline is valid? [False, False] Translation: X:4.84, Y:0.19, Z:0.08 [[ 9.99363105e-01 -1.22689727e-02 -3.35090542e-02 4.84452326e+00] [ 1.21884892e-02 9.99922324e-01 -2.60506603e-03 1.87386999e-01] [ 3.35384128e-02 2.19498213e-03 9.99435019e-01 7.97162087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37463044 meters Centerline goodness [0,1] 0.3251049176799742 Centerline is valid? [False, False] Translation: X:4.86, Y:0.18, Z:0.08 [[ 9.99423979e-01 -4.78247975e-03 -3.35981793e-02 4.86339145e+00] [ 4.65759287e-03 9.99981955e-01 -3.79435589e-03 1.80959325e-01] [ 3.36157194e-02 3.63568363e-03 9.99428219e-01 8.18352935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40463044 meters Centerline goodness [0,1] 0.32316824893384477 Centerline is valid? [False, False] Translation: X:4.86, Y:0.17, Z:0.08 [[ 9.99433686e-01 -4.52210583e-03 -3.33445290e-02 4.86265127e+00] [ 4.43075494e-03 9.99986228e-01 -2.81298950e-03 1.74156020e-01] [ 3.33567904e-02 2.66365503e-03 9.99439958e-01 8.21927890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43463044 meters Centerline goodness [0,1] 0.32318703112874014 Centerline is valid? [False, False] Translation: X:4.86, Y:0.17, Z:0.08 [[ 9.99430945e-01 -4.30856964e-03 -3.34547845e-02 4.86283933e+00] [ 4.23492437e-03 9.99988452e-01 -2.27188476e-03 1.71500893e-01] [ 3.34641867e-02 2.12891345e-03 9.99437650e-01 8.23243397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46463044 meters Centerline goodness [0,1] 0.3252561912894961 Centerline is valid? [False, False] Translation: X:4.88, Y:0.17, Z:0.08 [[ 9.99428999e-01 3.38138016e-03 -3.36190875e-02 4.88260596e+00] [-3.49713830e-03 9.99988156e-01 -3.38502087e-03 1.65729009e-01] [ 3.36072433e-02 3.50065862e-03 9.99428986e-01 8.41797207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49463044 meters Centerline goodness [0,1] 0.3263511318098127 Centerline is valid? [False, False] Translation: X:4.86, Y:0.17, Z:0.08 [[ 9.99387808e-01 -4.85171051e-03 -3.46478127e-02 4.86344212e+00] [ 4.78783602e-03 9.99986683e-01 -1.92626735e-03 1.65822137e-01] [ 3.46566970e-02 1.75920005e-03 9.99397728e-01 8.23761820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52463043999998 meters Centerline goodness [0,1] 0.32376916955240576 Centerline is valid? [False, False] Translation: X:4.88, Y:0.16, Z:0.08 [[ 9.99389919e-01 2.52867782e-03 -3.48338411e-02 4.88251213e+00] [-2.65356391e-03 9.99990215e-01 -3.53943000e-03 1.59773800e-01] [ 3.48245502e-02 3.62970449e-03 9.99386850e-01 8.44363041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55463043999998 meters Centerline goodness [0,1] 0.3248484327299308 Centerline is valid? [False, False] Translation: X:4.88, Y:0.16, Z:0.08 [[ 9.99387982e-01 2.53128794e-03 -3.48891713e-02 4.88271142e+00] [-2.64830646e-03 9.99991021e-01 -3.30820233e-03 1.57735074e-01] [ 3.48804840e-02 3.39857487e-03 9.99385712e-01 8.43148209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58463043999998 meters Centerline goodness [0,1] 0.32571787431244315 Centerline is valid? [False, False] Translation: X:4.88, Y:0.15, Z:0.08 [[ 9.99398356e-01 2.73257191e-03 -3.45754034e-02 4.88180020e+00] [-2.82317181e-03 9.99992708e-01 -2.57180768e-03 1.53265550e-01] [ 3.45681236e-02 2.66787267e-03 9.99398783e-01 8.46319388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61463043999998 meters Centerline goodness [0,1] 0.32735582154515774 Centerline is valid? [False, False] Translation: X:4.88, Y:0.15, Z:0.08 [[ 9.99401058e-01 2.86606836e-03 -3.44863929e-02 4.88151197e+00] [-2.94223526e-03 9.99993343e-01 -2.15806145e-03 1.51090978e-01] [ 3.44799781e-02 2.25823598e-03 9.99402837e-01 8.47713351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64463044 meters Centerline goodness [0,1] 0.32668621700879763 Centerline is valid? [False, False] Translation: X:4.88, Y:0.15, Z:0.08 [[ 9.99397894e-01 2.91738746e-03 -3.45736526e-02 4.88185081e+00] [-2.98118923e-03 9.99993947e-01 -1.79398005e-03 1.48610518e-01] [ 3.45682095e-02 1.89597049e-03 9.99400542e-01 8.46080325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67463044 meters Centerline goodness [0,1] 0.3250426409309757 Centerline is valid? [False, False] Translation: X:4.88, Y:0.14, Z:0.08 [[ 9.99393636e-01 2.01627018e-04 -3.48183680e-02 4.88417932e+00] [-3.32129835e-04 9.99992942e-01 -3.74235945e-03 1.43107842e-01] [ 3.48173677e-02 3.75165444e-03 9.99386650e-01 8.26731035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70463044 meters Centerline goodness [0,1] 0.32490866107887384 Centerline is valid? [False, False] Translation: X:4.88, Y:0.14, Z:0.08 [[ 9.99396051e-01 2.84168267e-04 -3.47484268e-02 4.88403490e+00] [-3.99469696e-04 9.99994438e-01 -3.31127940e-03 1.40620128e-01] [ 3.47472925e-02 3.32316050e-03 9.99390605e-01 8.26904105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73463044 meters Centerline goodness [0,1] 0.3256186191382592 Centerline is valid? [False, False] Translation: X:4.88, Y:0.14, Z:0.08 [[ 9.99399461e-01 4.94340677e-04 -3.46478392e-02 4.88360339e+00] [-5.91028893e-04 9.99995960e-01 -2.78041226e-03 1.38281051e-01] [ 3.46463247e-02 2.79922039e-03 9.99395716e-01 8.30015894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76463044 meters Centerline goodness [0,1] 0.32791375038038517 Centerline is valid? [False, False] Translation: X:4.88, Y:0.14, Z:0.08 [[ 9.99400356e-01 6.29002788e-04 -3.46198236e-02 4.88353082e+00] [-7.10989097e-04 9.99996972e-01 -2.35592978e-03 1.36128596e-01] [ 3.46182368e-02 2.37913138e-03 9.99397777e-01 8.30406782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79463044 meters Centerline goodness [0,1] 0.3256974909774598 Centerline is valid? [False, False] Translation: X:4.89, Y:0.13, Z:0.08 [[ 9.99363244e-01 -1.44137678e-03 -3.56514877e-02 4.88742936e+00] [ 1.30345349e-03 9.99991578e-01 -3.89159447e-03 1.31250421e-01] [ 3.56567967e-02 3.84264642e-03 9.99356707e-01 8.15053570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82463044 meters Centerline goodness [0,1] 0.3264815456593312 Centerline is valid? [False, False] Translation: X:4.89, Y:0.13, Z:0.08 [[ 9.99355888e-01 -1.40153708e-03 -3.58586851e-02 4.88805596e+00] [ 1.27144331e-03 9.99992529e-01 -3.65050346e-03 1.29524719e-01] [ 3.58635335e-02 3.60255984e-03 9.99350203e-01 8.12749991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85463044 meters Centerline goodness [0,1] 0.32706889434462383 Centerline is valid? [False, False] Translation: X:4.89, Y:0.13, Z:0.08 [[ 9.99355273e-01 -1.26719591e-03 -3.58807994e-02 4.88822082e+00] [ 1.14639220e-03 9.99993606e-01 -3.38717987e-03 1.28437273e-01] [ 3.58848622e-02 3.34386260e-03 9.99350337e-01 8.11327466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88463044 meters Centerline goodness [0,1] 0.3261067906330104 Centerline is valid? [False, False] Translation: X:4.89, Y:0.13, Z:0.08 [[ 9.99359371e-01 -1.04043021e-03 -3.57738085e-02 4.88809097e+00] [ 9.30932374e-04 9.99994832e-01 -3.07735885e-03 1.27603942e-01] [ 3.57768253e-02 3.04208441e-03 9.99355174e-01 8.09694977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.91463044 meters Centerline goodness [0,1] 0.3263390747820111 Centerline is valid? [False, False] Translation: X:4.89, Y:0.13, Z:0.08 [[ 9.99363610e-01 -8.45074263e-04 -3.56603626e-02 4.88787938e+00] [ 7.43047106e-04 9.99995593e-01 -2.87423607e-03 1.27280346e-01] [ 3.56626344e-02 2.84590961e-03 9.99359834e-01 8.09070687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94463044 meters Centerline goodness [0,1] 0.32533936651583706 Centerline is valid? [False, False] Translation: X:4.89, Y:0.13, Z:0.08 [[ 9.99360144e-01 -8.04747324e-04 -3.57582718e-02 4.88813734e+00] [ 7.02436838e-04 9.99995624e-01 -2.87364064e-03 1.27309127e-01] [ 3.57604279e-02 2.84668400e-03 9.99356337e-01 8.08845196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.97463044 meters Centerline goodness [0,1] 0.32492712943970636 Centerline is valid? [False, False] Translation: X:4.89, Y:0.13, Z:0.08 [[ 9.99352298e-01 -7.59662479e-04 -3.59778677e-02 4.88877031e+00] [ 6.47456094e-04 9.99994891e-01 -3.13030954e-03 1.28726387e-01] [ 3.59800618e-02 3.10498795e-03 9.99347684e-01 8.06815040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00463044 meters Centerline goodness [0,1] 0.3250901037821877 Centerline is valid? [False, False] Translation: X:4.89, Y:0.13, Z:0.08 [[ 9.99352260e-01 -6.30683592e-04 -3.59814172e-02 4.88899071e+00] [ 5.15499205e-04 9.99994714e-01 -3.21040615e-03 1.30001446e-01] [ 3.59832517e-02 3.18977825e-03 9.99347302e-01 8.03332368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.03463044 meters Centerline goodness [0,1] 0.32085504170150725 Centerline is valid? [False, False] Translation: X:4.91, Y:0.13, Z:0.08 [[ 9.99338081e-01 8.15573826e-03 -3.54525587e-02 4.90967622e+00] [-8.30536733e-03 9.99957205e-01 -4.07532240e-03 1.29433599e-01] [ 3.54178043e-02 4.36707139e-03 9.99363051e-01 8.14941140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06463044 meters Centerline goodness [0,1] 0.3256367016906646 Centerline is valid? [False, False] Translation: X:4.89, Y:0.14, Z:0.08 [[ 9.99396384e-01 1.03167372e-03 -3.47246657e-02 4.89201189e+00] [-1.10952999e-03 9.99996914e-01 -2.22290767e-03 1.35553839e-01] [ 3.47222652e-02 2.26009394e-03 9.99394445e-01 7.82923557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09463044 meters Centerline goodness [0,1] 0.3224624483061561 Centerline is valid? [False, False] Translation: X:4.91, Y:0.14, Z:0.08 [[ 9.99414447e-01 1.00294229e-02 -3.27134976e-02 4.91107180e+00] [-1.01422731e-02 9.99943168e-01 -3.28553332e-03 1.37607122e-01] [ 3.26786865e-02 3.61539870e-03 9.99459370e-01 7.99191199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12463044 meters Centerline goodness [0,1] 0.32499892320282553 Centerline is valid? [False, False] Translation: X:4.91, Y:0.14, Z:0.08 [[ 9.99423390e-01 9.93572482e-03 -3.24679800e-02 4.91020804e+00] [-1.00620191e-02 9.99942424e-01 -3.72873399e-03 1.40200749e-01] [ 3.24290630e-02 4.05327739e-03 9.99465821e-01 8.02740070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15463044 meters Centerline goodness [0,1] 0.3257757336270001 Centerline is valid? [False, False] Translation: X:4.91, Y:0.15, Z:0.08 [[ 9.99379527e-01 1.35232181e-02 -3.25220411e-02 4.91003473e+00] [-1.35606824e-02 9.99907616e-01 -9.31662444e-04 1.45349624e-01] [ 3.25064375e-02 1.37210544e-03 9.99470584e-01 8.07433136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18463044 meters Centerline goodness [0,1] 0.323287376130978 Centerline is valid? [False, False] Translation: X:4.91, Y:0.15, Z:0.08 [[ 9.99382284e-01 1.35219201e-02 -3.24377553e-02 4.91020478e+00] [-1.35760992e-02 9.99906788e-01 -1.45057247e-03 1.49194395e-01] [ 3.24151172e-02 1.89005461e-03 9.99472705e-01 8.02262649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21463044 meters Centerline goodness [0,1] 0.3223997937878592 Centerline is valid? [False, False] Translation: X:4.91, Y:0.15, Z:0.08 [[ 9.99384168e-01 1.35066300e-02 -3.23860294e-02 4.91046805e+00] [-1.35778603e-02 9.99905855e-01 -1.98048822e-03 1.53195736e-01] [ 3.23562307e-02 2.41900156e-03 9.99473473e-01 7.96514808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24463044 meters Centerline goodness [0,1] 0.3252498593864924 Centerline is valid? [False, False] Translation: X:4.89, Y:0.16, Z:0.08 [[ 9.99506426e-01 5.89185798e-03 -3.08575900e-02 4.89218772e+00] [-5.93677164e-03 9.99981447e-01 -1.36409648e-03 1.61811741e-01] [ 3.08489804e-02 1.54661767e-03 9.99522860e-01 7.63757626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27463043999998 meters Centerline goodness [0,1] 0.32261208576998046 Centerline is valid? [False, False] Translation: X:4.89, Y:0.17, Z:0.08 [[ 9.99506694e-01 5.73481661e-03 -3.08784891e-02 4.89251765e+00] [-5.79981380e-03 9.99981149e-01 -2.01577901e-03 1.65660269e-01] [ 3.08663469e-02 2.19387410e-03 9.99521113e-01 7.58644243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30463043999998 meters Centerline goodness [0,1] 0.3228844225487204 Centerline is valid? [False, False] Translation: X:4.90, Y:0.17, Z:0.07 [[ 9.99450113e-01 7.92124122e-03 -3.21982104e-02 4.89729453e+00] [-7.95398001e-03 9.99967972e-01 -8.88829133e-04 1.74398662e-01] [ 3.21901385e-02 1.14444430e-03 9.99481108e-01 7.37223694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33463043999998 meters Centerline goodness [0,1] 0.32380149569878525 Centerline is valid? [False, False] Translation: X:4.91, Y:0.19, Z:0.08 [[ 9.99407212e-01 1.82686604e-03 -3.43785732e-02 4.91413041e+00] [-1.85844334e-03 9.99997880e-01 -8.86584582e-04 1.85333442e-01] [ 3.43768806e-02 9.49949656e-04 9.99408489e-01 7.58512608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36463043999998 meters Centerline goodness [0,1] 0.3211730889758164 Centerline is valid? [False, False] Translation: X:4.91, Y:0.19, Z:0.08 [[ 9.99407313e-01 1.53973663e-03 -3.43897076e-02 4.91420587e+00] [-1.59934387e-03 9.99997266e-01 -1.70584562e-03 1.89709493e-01] [ 3.43869870e-02 1.75983556e-03 9.99407043e-01 7.56767301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39463044 meters Centerline goodness [0,1] 0.3211730889758164 Centerline is valid? [False, False] Translation: X:4.91, Y:0.19, Z:0.08 [[ 9.99407313e-01 1.53973663e-03 -3.43897076e-02 4.91420587e+00] [-1.59934387e-03 9.99997266e-01 -1.70584562e-03 1.89709493e-01] [ 3.43869870e-02 1.75983556e-03 9.99407043e-01 7.56767301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42463044 meters Centerline goodness [0,1] 0.3186515695163612 Centerline is valid? [False, False] Translation: X:4.91, Y:0.19, Z:0.08 [[ 9.99410791e-01 1.37916464e-03 -3.42953209e-02 4.91378778e+00] [-1.46209605e-03 9.99996067e-01 -2.39319410e-03 1.94446165e-01] [ 3.42918854e-02 2.44192706e-03 9.99408877e-01 7.58032963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45463044 meters Centerline goodness [0,1] 0.3234515961138098 Centerline is valid? [False, False] Translation: X:4.91, Y:0.20, Z:0.08 [[ 9.99419692e-01 1.34912477e-03 -3.40361490e-02 4.91304660e+00] [-1.45101803e-03 9.99994539e-01 -2.96915449e-03 1.99165988e-01] [ 3.40319573e-02 3.01681853e-03 9.99416192e-01 7.58747563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48463044 meters Centerline goodness [0,1] 0.32010616261004665 Centerline is valid? [False, False] Translation: X:4.91, Y:0.20, Z:0.08 [[ 9.99421639e-01 1.18905364e-03 -3.39848929e-02 4.91306914e+00] [-1.31414341e-03 9.99992444e-01 -3.65864644e-03 2.04044072e-01] [ 3.39802858e-02 3.70119144e-03 9.99415650e-01 7.56054676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51463044 meters Centerline goodness [0,1] 0.3187762576753205 Centerline is valid? [False, False] Translation: X:4.92, Y:0.21, Z:0.07 [[ 9.99400665e-01 1.13869742e-03 -3.45978784e-02 4.91556321e+00] [-1.29923173e-03 9.99988494e-01 -4.61787686e-03 2.13825054e-01] [ 3.45922220e-02 4.66005987e-03 9.99390645e-01 7.40596073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54463044 meters Centerline goodness [0,1] 0.3178726436483773 Centerline is valid? [False, False] Translation: X:4.92, Y:0.22, Z:0.07 [[ 9.99396441e-01 9.16423554e-04 -3.47262733e-02 4.91616467e+00] [-1.09830072e-03 9.99985779e-01 -5.21873756e-03 2.17154755e-01] [ 3.47209969e-02 5.25372764e-03 9.99383235e-01 7.35831049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57463044 meters Centerline goodness [0,1] 0.3186557518311073 Centerline is valid? [False, False] Translation: X:4.92, Y:0.22, Z:0.07 [[ 9.99394971e-01 7.65272536e-04 -3.47722195e-02 4.91629765e+00] [-9.62050228e-04 9.99983617e-01 -5.64267005e-03 2.19741757e-01] [ 3.47673316e-02 5.67270869e-03 9.99379334e-01 7.34998574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60463044 meters Centerline goodness [0,1] 0.31676644127654074 Centerline is valid? [False, False] Translation: X:4.92, Y:0.22, Z:0.07 [[ 9.99387287e-01 4.07824736e-04 -3.49983468e-02 4.91647811e+00] [-6.33621093e-04 9.99979057e-01 -6.44078052e-03 2.24290837e-01] [ 3.49949871e-02 6.45900986e-03 9.99366615e-01 7.39319647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63463044 meters Centerline goodness [0,1] 0.31774471755066835 Centerline is valid? [False, False] Translation: X:4.92, Y:0.23, Z:0.07 [[ 9.99381254e-01 2.47028692e-04 -3.51716951e-02 4.91683447e+00] [-4.88643142e-04 9.99976343e-01 -6.86114067e-03 2.26679981e-01] [ 3.51691681e-02 6.87408178e-03 9.99357732e-01 7.39844177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66463044 meters Centerline goodness [0,1] 0.31866049316248524 Centerline is valid? [False, False] Translation: X:4.92, Y:0.23, Z:0.07 [[ 9.99377034e-01 1.52443371e-04 -3.52919214e-02 4.91691548e+00] [-4.05868318e-04 9.99974186e-01 -7.17376755e-03 2.28805590e-01] [ 3.52899168e-02 7.18362241e-03 9.99351298e-01 7.42479923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.69463044 meters Centerline goodness [0,1] 0.31842900302114807 Centerline is valid? [False, False] Translation: X:4.92, Y:0.23, Z:0.07 [[ 9.99378199e-01 8.73450660e-05 -3.52591544e-02 4.91650066e+00] [-3.49223388e-04 9.99972402e-01 -7.42115317e-03 2.30591068e-01] [ 3.52575331e-02 7.42885201e-03 9.99350648e-01 7.46945819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72463044 meters Centerline goodness [0,1] 0.31998620749105644 Centerline is valid? [False, False] Translation: X:4.92, Y:0.23, Z:0.08 [[ 9.99387669e-01 6.08651792e-06 -3.49898042e-02 4.91558639e+00] [-2.72853455e-04 9.99970935e-01 -7.61936350e-03 2.31875790e-01] [ 3.49887409e-02 7.62424502e-03 9.99358624e-01 7.51434359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.75463044 meters Centerline goodness [0,1] 0.3198276235436788 Centerline is valid? [False, False] Translation: X:4.91, Y:0.23, Z:0.08 [[ 9.99409111e-01 -2.94740714e-04 -3.43706664e-02 4.91372318e+00] [ 1.91006769e-05 9.99967842e-01 -8.01968288e-03 2.33545658e-01] [ 3.43719248e-02 8.01428763e-03 9.99376977e-01 7.58209261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78463044 meters Centerline goodness [0,1] 0.32324568059138503 Centerline is valid? [False, False] Translation: X:4.91, Y:0.23, Z:0.08 [[ 9.99412270e-01 -3.85397707e-04 -3.42777889e-02 4.91338689e+00] [ 1.08425062e-04 9.99967336e-01 -8.08172841e-03 2.33632210e-01] [ 3.42797840e-02 8.07326197e-03 9.99379667e-01 7.60162979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.81463044 meters Centerline goodness [0,1] 0.3239339007645161 Centerline is valid? [False, False] Translation: X:4.91, Y:0.23, Z:0.08 [[ 9.99408352e-01 -4.13832386e-04 -3.43914775e-02 4.91367665e+00] [ 1.36120265e-04 9.99967371e-01 -8.07697646e-03 2.33592371e-01] [ 3.43936978e-02 8.06751636e-03 9.99375800e-01 7.60226891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84463044 meters Centerline goodness [0,1] 0.3212705811268639 Centerline is valid? [False, False] Translation: X:4.91, Y:0.23, Z:0.08 [[ 9.99404375e-01 -3.99877096e-04 -3.45070297e-02 4.91396873e+00] [ 1.23988906e-04 9.99968017e-01 -7.99689960e-03 2.33223686e-01] [ 3.45091238e-02 7.98785796e-03 9.99372460e-01 7.60147832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87463044 meters Centerline goodness [0,1] 0.32008498401184626 Centerline is valid? [False, False] Translation: X:4.91, Y:0.23, Z:0.08 [[ 9.99411147e-01 -4.95634221e-04 -3.43091019e-02 4.91342810e+00] [ 2.23187530e-04 9.99968418e-01 -7.94431936e-03 2.32162598e-01] [ 3.43119558e-02 7.93198396e-03 9.99379694e-01 7.62291335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90463044 meters Centerline goodness [0,1] 0.3226775370092255 Centerline is valid? [False, False] Translation: X:4.91, Y:0.23, Z:0.08 [[ 9.99423801e-01 -4.98478642e-04 -3.39384335e-02 4.91239107e+00] [ 2.28049058e-04 9.99968200e-01 -7.97164471e-03 2.32203908e-01] [ 3.39413280e-02 7.95931183e-03 9.99392133e-01 7.64522472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93463044 meters Centerline goodness [0,1] 0.32347381535421227 Centerline is valid? [False, False] Translation: X:4.91, Y:0.23, Z:0.08 [[ 9.99435295e-01 -4.20933495e-04 -3.35993157e-02 4.91155399e+00] [ 1.52355911e-04 9.99968022e-01 -7.99570330e-03 2.32794306e-01] [ 3.36016070e-02 7.98606903e-03 9.99403399e-01 7.65112468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96463044 meters Centerline goodness [0,1] 0.32469525373908537 Centerline is valid? [False, False] Translation: X:4.91, Y:0.23, Z:0.08 [[ 9.99430273e-01 -3.39024573e-04 -3.37492999e-02 4.91228386e+00] [ 6.66242162e-05 9.99967418e-01 -8.07208650e-03 2.33775304e-01] [ 3.37509370e-02 8.06523909e-03 9.99397732e-01 7.59221696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99463044 meters Centerline goodness [0,1] 0.32112027210298577 Centerline is valid? [False, False] Translation: X:4.91, Y:0.24, Z:0.07 [[ 9.99411801e-01 -2.43171981e-04 -3.42927598e-02 4.91426006e+00] [-3.91501777e-05 9.99966117e-01 -8.23179275e-03 2.35185787e-01] [ 3.42935996e-02 8.22829339e-03 9.99377929e-01 7.48429450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02463043999998 meters Centerline goodness [0,1] 0.3189411462349011 Centerline is valid? [False, False] Translation: X:4.92, Y:0.24, Z:0.07 [[ 9.99387969e-01 -1.48413267e-04 -3.49809227e-02 4.91661941e+00] [-1.47849714e-04 9.99964147e-01 -8.46653401e-03 2.36891375e-01] [ 3.49809251e-02 8.46652415e-03 9.99352117e-01 7.36849654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05463043999998 meters Centerline goodness [0,1] 0.32420210453082876 Centerline is valid? [False, False] Translation: X:4.87, Y:0.24, Z:0.07 [[ 9.99279681e-01 2.05517890e-03 -3.78932113e-02 4.87413563e+00] [-2.31833288e-03 9.99973494e-01 -6.90198876e-03 2.36934303e-01] [ 3.78780221e-02 6.98486620e-03 9.99257958e-01 7.15597864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08463043999998 meters Centerline goodness [0,1] 0.3210445468509985 Centerline is valid? [False, False] Translation: X:4.87, Y:0.24, Z:0.07 [[ 9.99287385e-01 2.08761991e-03 -3.76877232e-02 4.87362599e+00] [-2.35516489e-03 9.99972333e-01 -7.05599580e-03 2.38276182e-01] [ 3.76719502e-02 7.13972839e-03 9.99264654e-01 7.15500576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11463043999998 meters Centerline goodness [0,1] 0.318963282937365 Centerline is valid? [False, False] Translation: X:4.87, Y:0.24, Z:0.07 [[ 9.99292480e-01 2.05115616e-03 -3.75544021e-02 4.87324132e+00] [-2.32239280e-03 9.99971524e-01 -7.18030095e-03 2.38937999e-01] [ 3.75386048e-02 7.26243681e-03 9.99268788e-01 7.16180699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14463044 meters Centerline goodness [0,1] 0.3189287627209427 Centerline is valid? [False, False] Translation: X:4.89, Y:0.24, Z:0.07 [[ 0.99926583 -0.00531381 -0.0379416 4.89146215] [ 0.00508718 0.99996865 -0.00606731 0.24453977] [ 0.03797265 0.00586984 0.99926154 0.0740799 ] [ 0. 0. 0. 1. ]] SLAMing on 133.17463044 meters Centerline goodness [0,1] 0.3185073986703839 Centerline is valid? [False, False] Translation: X:4.89, Y:0.24, Z:0.07 [[ 0.9992628 -0.00535395 -0.03801574 4.89176722] [ 0.00512498 0.99996815 -0.00611791 0.24479995] [ 0.03804728 0.00591857 0.99925841 0.07390888] [ 0. 0. 0. 1. ]] SLAMing on 133.20463044 meters Centerline goodness [0,1] 0.3222621378019661 Centerline is valid? [False, False] Translation: X:4.89, Y:0.25, Z:0.07 [[ 0.99925972 -0.00538723 -0.03809187 4.89216204] [ 0.00515542 0.99996761 -0.00618109 0.24525612] [ 0.03812394 0.00598014 0.99925512 0.07360959] [ 0. 0. 0. 1. ]] SLAMing on 133.23463044 meters Centerline goodness [0,1] 0.3214670981661273 Centerline is valid? [False, False] Translation: X:4.89, Y:0.25, Z:0.07 [[ 0.99925425 -0.00559261 -0.03820552 4.89283238] [ 0.00534717 0.99996443 -0.00652319 0.24681099] [ 0.03824064 0.00631403 0.99924861 0.07308665] [ 0. 0. 0. 1. ]] SLAMing on 133.26463044 meters Centerline goodness [0,1] 0.32080034239246735 Centerline is valid? [False, False] Translation: X:4.89, Y:0.25, Z:0.07 [[ 0.99925089 -0.00568131 -0.0382802 4.89304015] [ 0.00543021 0.99996308 -0.00666027 0.24742196] [ 0.03831663 0.00644741 0.99924485 0.0730617 ] [ 0. 0. 0. 1. ]] SLAMing on 133.29463044 meters Centerline goodness [0,1] 0.321964821964822 Centerline is valid? [False, False] Translation: X:4.89, Y:0.25, Z:0.07 [[ 0.99925097 -0.00566142 -0.03828125 4.8930853 ] [ 0.00541139 0.99996337 -0.00663193 0.24764664] [ 0.03831739 0.00641981 0.999245 0.07300434] [ 0. 0. 0. 1. ]] SLAMing on 133.32463044 meters Centerline goodness [0,1] 0.32076933006325026 Centerline is valid? [False, False] Translation: X:4.89, Y:0.25, Z:0.07 [[ 0.99925424 -0.00557633 -0.03820833 4.89288537] [ 0.00533195 0.99996469 -0.00649488 0.24749461] [ 0.0382432 0.00628631 0.99924869 0.07305953] [ 0. 0. 0. 1. ]] SLAMing on 133.35463044 meters Centerline goodness [0,1] 0.31738300109435014 Centerline is valid? [False, False] Translation: X:4.89, Y:0.25, Z:0.07 [[ 0.99923797 -0.00572689 -0.03860932 4.89408401] [ 0.0054785 0.99996363 -0.00653625 0.24708732] [ 0.03864535 0.00631975 0.999233 0.07274731] [ 0. 0. 0. 1. ]] SLAMing on 133.38463044 meters Centerline goodness [0,1] 0.3213596652864792 Centerline is valid? [False, False] Translation: X:4.90, Y:0.25, Z:0.07 [[ 0.99922245 -0.00582769 -0.0389939 4.89523595] [ 0.00557595 0.99996293 -0.00656145 0.24662692] [ 0.03903069 0.00633892 0.99921791 0.07241821] [ 0. 0. 0. 1. ]] SLAMing on 133.41463044 meters Centerline goodness [0,1] 0.32181374138191876 Centerline is valid? [False, False] Translation: X:4.90, Y:0.25, Z:0.07 [[ 0.99920853 -0.00585788 -0.03934459 4.89605435] [ 0.00560739 0.99996332 -0.00647384 0.24583031] [ 0.03938107 0.0062481 0.99920473 0.07244941] [ 0. 0. 0. 1. ]] SLAMing on 133.44463044 meters Centerline goodness [0,1] 0.3215330980459671 Centerline is valid? [False, False] Translation: X:4.90, Y:0.25, Z:0.07 [[ 0.99920386 -0.0058149 -0.03946935 4.89603842] [ 0.00557023 0.9999646 -0.00630617 0.24508849] [ 0.03950462 0.0060813 0.99920088 0.07294686] [ 0. 0. 0. 1. ]] SLAMing on 133.47463044 meters Centerline goodness [0,1] 0.32101024890190333 Centerline is valid? [False, False] Translation: X:4.90, Y:0.24, Z:0.07 [[ 0.999208 -0.00577677 -0.03936995 4.89546611] [ 0.00553857 0.99996571 -0.00615681 0.24444111] [ 0.03940417 0.00593388 0.99920573 0.07345872] [ 0. 0. 0. 1. ]] SLAMing on 133.50463044 meters Centerline goodness [0,1] 0.325627035303759 Centerline is valid? [False, False] Translation: X:4.89, Y:0.24, Z:0.07 [[ 0.99922654 -0.00586098 -0.03888401 4.89404826] [ 0.00563245 0.99996623 -0.00598418 0.24300729] [ 0.03891777 0.00576054 0.99922581 0.07398814] [ 0. 0. 0. 1. ]] SLAMing on 133.53463044 meters Centerline goodness [0,1] 0.3234049900716567 Centerline is valid? [False, False] Translation: X:4.89, Y:0.24, Z:0.07 [[ 0.99923195 -0.00584854 -0.03874669 4.89386251] [ 0.00562757 0.99996729 -0.00580941 0.24176266] [ 0.0387794 0.00558689 0.99923218 0.07382019] [ 0. 0. 0. 1. ]] SLAMing on 133.56463044 meters Centerline goodness [0,1] 0.3230364346269172 Centerline is valid? [False, False] Translation: X:4.89, Y:0.24, Z:0.07 [[ 0.99922889 -0.0058247 -0.0388291 4.89416759] [ 0.00561068 0.99996847 -0.00561874 0.24035079] [ 0.03886061 0.00539655 0.99923007 0.07370754] [ 0. 0. 0. 1. ]] SLAMing on 133.59463044 meters Centerline goodness [0,1] 0.32220839946806223 Centerline is valid? [False, False] Translation: X:4.89, Y:0.24, Z:0.07 [[ 0.99922198 -0.00578015 -0.03901323 4.89477011] [ 0.00557393 0.99996993 -0.00539252 0.23884805] [ 0.03904323 0.00517086 0.99922414 0.07351462] [ 0. 0. 0. 1. ]] SLAMing on 133.62463044 meters Centerline goodness [0,1] 0.32171547032910075 Centerline is valid? [False, False] Translation: X:4.89, Y:0.24, Z:0.07 [[ 9.99219838e-01 -5.63342744e-03 -3.90893833e-02 4.89492949e+00] [ 5.44119695e-03 9.99972584e-01 -5.02236273e-03 2.36984873e-01] [ 3.91166047e-02 4.80575144e-03 9.99223096e-01 7.35679464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65463044 meters Centerline goodness [0,1] 0.3252713851498046 Centerline is valid? [False, False] Translation: X:4.89, Y:0.24, Z:0.07 [[ 9.99222481e-01 -5.47649835e-03 -3.90440992e-02 4.89486349e+00] [ 5.29993877e-03 9.99975264e-01 -4.62412820e-03 2.35032778e-01] [ 3.90684574e-02 4.41360152e-03 9.99226789e-01 7.35836631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68463044 meters Centerline goodness [0,1] 0.3207716082276457 Centerline is valid? [False, False] Translation: X:4.94, Y:0.23, Z:0.07 [[ 9.99263846e-01 -5.18057176e-03 -3.80122026e-02 4.93970542e+00] [ 5.02341294e-03 9.99978441e-01 -4.22877712e-03 2.32277619e-01] [ 3.80332906e-02 4.03471310e-03 9.99268327e-01 7.45642244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71463044 meters Centerline goodness [0,1] 0.3212091158017292 Centerline is valid? [False, False] Translation: X:4.92, Y:0.22, Z:0.07 [[ 9.99252458e-01 2.26012026e-03 -3.85929736e-02 4.92306832e+00] [-2.47889027e-03 9.99981125e-01 -5.62173837e-03 2.24960624e-01] [ 3.85795394e-02 5.71320363e-03 9.99239200e-01 7.11103518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74463044 meters Centerline goodness [0,1] 0.3213861343357747 Centerline is valid? [False, False] Translation: X:4.92, Y:0.22, Z:0.07 [[ 9.99234529e-01 2.34022008e-03 -3.90496963e-02 4.92470620e+00] [-2.55287767e-03 9.99982178e-01 -5.39684457e-03 2.23420146e-01] [ 3.90363706e-02 5.49240255e-03 9.99222696e-01 7.03247098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77463043999998 meters Centerline goodness [0,1] 0.32283719824512114 Centerline is valid? [False, False] Translation: X:4.93, Y:0.22, Z:0.07 [[ 9.99222084e-01 2.50584389e-03 -3.93566798e-02 4.92567053e+00] [-2.71123412e-03 9.99982980e-01 -5.16618200e-03 2.22512006e-01] [ 3.93430643e-02 5.26886832e-03 9.99211871e-01 6.99626739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80463043999998 meters Centerline goodness [0,1] 0.31860664523043947 Centerline is valid? [False, False] Translation: X:4.94, Y:0.23, Z:0.07 [[ 9.99204067e-01 -2.77319386e-03 -3.97937334e-02 4.94414217e+00] [ 2.68699244e-03 9.99993927e-01 -2.21952634e-03 2.26154935e-01] [ 3.97996469e-02 2.11083428e-03 9.99205451e-01 7.21804856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83463043999998 meters Centerline goodness [0,1] 0.31973622030330373 Centerline is valid? [False, False] Translation: X:4.94, Y:0.23, Z:0.07 [[ 9.99214782e-01 -2.50259025e-03 -3.95418445e-02 4.94349121e+00] [ 2.42174253e-03 9.99994879e-01 -2.09237847e-03 2.26605443e-01] [ 3.95468783e-02 1.99497533e-03 9.99215725e-01 7.22315342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86463043999998 meters Centerline goodness [0,1] 0.3219711725749903 Centerline is valid? [False, False] Translation: X:4.94, Y:0.23, Z:0.07 [[ 9.99216732e-01 -2.04815583e-03 -3.95187044e-02 4.94370142e+00] [ 1.96574906e-03 9.99995812e-01 -2.12400431e-03 2.28605327e-01] [ 3.95228892e-02 2.04465679e-03 9.99216573e-01 7.17207820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89463044 meters Centerline goodness [0,1] 0.32004580416558637 Centerline is valid? [False, False] Translation: X:4.94, Y:0.23, Z:0.07 [[ 9.99204934e-01 -1.95587201e-03 -3.98205201e-02 4.94496637e+00] [ 1.86816666e-03 9.99995747e-01 -2.23960779e-03 2.29765855e-01] [ 3.98247312e-02 2.16343579e-03 9.99204339e-01 7.08304688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92463044 meters Centerline goodness [0,1] 0.3194676624476238 Centerline is valid? [False, False] Translation: X:4.95, Y:0.23, Z:0.07 [[ 9.99203192e-01 -1.87156558e-03 -3.98682564e-02 4.94543084e+00] [ 1.78056627e-03 9.99995728e-01 -2.31788640e-03 2.30862323e-01] [ 3.98724241e-02 2.24505141e-03 9.99202257e-01 7.02587074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95463044 meters Centerline goodness [0,1] 0.3177203457418145 Centerline is valid? [False, False] Translation: X:4.94, Y:0.23, Z:0.07 [[ 9.99210131e-01 -1.82739022e-03 -3.96960251e-02 4.94495996e+00] [ 1.73312940e-03 9.99995597e-01 -2.40884858e-03 2.31842667e-01] [ 3.97002522e-02 2.33814756e-03 9.99208899e-01 7.02942087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98463044 meters Centerline goodness [0,1] 0.32010092880603835 Centerline is valid? [False, False] Translation: X:4.94, Y:0.23, Z:0.07 [[ 9.99222369e-01 -1.83828844e-03 -3.93862637e-02 4.94374513e+00] [ 1.74309703e-03 9.99995477e-01 -2.45107216e-03 2.32144346e-01] [ 3.93905913e-02 2.38051205e-03 9.99221054e-01 7.09780595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01463044 meters Centerline goodness [0,1] 0.3218033677349267 Centerline is valid? [False, False] Translation: X:4.94, Y:0.23, Z:0.07 [[ 9.99230345e-01 -1.95363714e-03 -3.91778191e-02 4.94269318e+00] [ 1.85471695e-03 9.99995000e-01 -2.56108983e-03 2.32166488e-01] [ 3.91826267e-02 2.48645491e-03 9.99228972e-01 7.18104130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04463044 meters Centerline goodness [0,1] 0.32119585218539604 Centerline is valid? [False, False] Translation: X:4.94, Y:0.23, Z:0.07 [[ 9.99229829e-01 -2.10107339e-03 -3.91833346e-02 4.94241788e+00] [ 2.00146606e-03 9.99994666e-01 -2.58113793e-03 2.31670569e-01] [ 3.91885488e-02 2.50072590e-03 9.99228705e-01 7.22593662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07463044 meters Centerline goodness [0,1] 0.3207343645502988 Centerline is valid? [False, False] Translation: X:4.94, Y:0.23, Z:0.07 [[ 9.99230449e-01 -1.97101606e-03 -3.91742955e-02 4.94250582e+00] [ 1.88057558e-03 9.99995481e-01 -2.34538419e-03 2.31014690e-01] [ 3.91787413e-02 2.26990907e-03 9.99229640e-01 7.21693839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10463044 meters Centerline goodness [0,1] 0.31877466964132484 Centerline is valid? [False, False] Translation: X:4.94, Y:0.23, Z:0.07 [[ 9.99229151e-01 -1.89993139e-03 -3.92108842e-02 4.94281798e+00] [ 1.81576911e-03 9.99995971e-01 -2.18190224e-03 2.30409869e-01] [ 3.92148716e-02 2.10902241e-03 9.99228575e-01 7.19320510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13463044 meters Centerline goodness [0,1] 0.3225189595601816 Centerline is valid? [False, False] Translation: X:4.94, Y:0.23, Z:0.07 [[ 9.99225048e-01 -1.93243221e-03 -3.93137316e-02 4.94320623e+00] [ 1.84720170e-03 9.99995865e-01 -2.20416659e-03 2.30310914e-01] [ 3.93178285e-02 2.12983807e-03 9.99224485e-01 7.17468092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16463044 meters Centerline goodness [0,1] 0.3218806118695774 Centerline is valid? [False, False] Translation: X:4.94, Y:0.23, Z:0.07 [[ 9.99212904e-01 -1.98263777e-03 -3.96186970e-02 4.94406328e+00] [ 1.89068355e-03 9.99995432e-01 -2.35831362e-03 2.30991452e-01] [ 3.96231917e-02 2.28155098e-03 9.99212088e-01 7.15379382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.19463044 meters Centerline goodness [0,1] 0.3212553062462098 Centerline is valid? [False, False] Translation: X:4.94, Y:0.23, Z:0.07 [[ 9.99201923e-01 -1.95161060e-03 -3.98962172e-02 4.94485635e+00] [ 1.85204232e-03 9.99995078e-01 -2.53248944e-03 2.32355068e-01] [ 3.99009633e-02 2.45657884e-03 9.99200620e-01 7.12860409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22463044 meters Centerline goodness [0,1] 0.3198336299123127 Centerline is valid? [False, False] Translation: X:4.97, Y:0.23, Z:0.07 [[ 9.99223594e-01 7.33195891e-03 -3.87098394e-02 4.96617666e+00] [-7.44993532e-03 9.99968031e-01 -2.90434252e-03 2.33925683e-01] [ 3.86873073e-02 3.19047337e-03 9.99246273e-01 7.21575721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.25463044 meters Centerline goodness [0,1] 0.32088716623600344 Centerline is valid? [False, False] Translation: X:4.97, Y:0.23, Z:0.07 [[ 9.99231219e-01 7.28327884e-03 -3.85217346e-02 4.96544501e+00] [-7.40609856e-03 9.99967934e-01 -3.04658131e-03 2.34650830e-01] [ 3.84983103e-02 3.32953492e-03 9.99253118e-01 7.25444500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28463044 meters Centerline goodness [0,1] 0.32397370972955497 Centerline is valid? [False, False] Translation: X:4.97, Y:0.23, Z:0.07 [[ 9.99232929e-01 7.21780922e-03 -3.84896857e-02 4.96517298e+00] [-7.34346089e-03 9.99968156e-01 -3.12417608e-03 2.34722597e-01] [ 3.84659103e-02 3.40442712e-03 9.99254114e-01 7.28447246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.31463044 meters Centerline goodness [0,1] 0.32397370972955497 Centerline is valid? [False, False] Translation: X:4.97, Y:0.23, Z:0.07 [[ 9.99232929e-01 7.21780922e-03 -3.84896857e-02 4.96517298e+00] [-7.34346089e-03 9.99968156e-01 -3.12417608e-03 2.34722597e-01] [ 3.84659103e-02 3.40442712e-03 9.99254114e-01 7.28447246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34463044 meters Centerline goodness [0,1] 0.32264749692377437 Centerline is valid? [False, False] Translation: X:4.97, Y:0.23, Z:0.07 [[ 9.99230353e-01 7.19985916e-03 -3.85598649e-02 4.96533005e+00] [-7.32412116e-03 9.99968428e-01 -3.08228083e-03 2.34374668e-01] [ 3.85364555e-02 3.36232569e-03 9.99251538e-01 7.28868081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37463044 meters Centerline goodness [0,1] 0.3227501877078194 Centerline is valid? [False, False] Translation: X:4.98, Y:0.24, Z:0.07 [[ 9.99246796e-01 -2.23497516e-04 -3.88045119e-02 4.98422065e+00] [ 1.52840858e-04 9.99998325e-01 -1.82379319e-03 2.39192428e-01] [ 3.88048545e-02 1.81648859e-03 9.99245157e-01 7.48665463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40463044 meters Centerline goodness [0,1] 0.3247257129308301 Centerline is valid? [False, False] Translation: X:4.98, Y:0.24, Z:0.07 [[ 9.99245010e-01 -3.04998469e-04 -3.88499200e-02 4.98454135e+00] [ 2.32447882e-04 9.99998221e-01 -1.87196113e-03 2.38919991e-01] [ 3.88504219e-02 1.86151724e-03 9.99243303e-01 7.46221615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43463044 meters Centerline goodness [0,1] 0.3255727931417133 Centerline is valid? [False, False] Translation: X:4.98, Y:0.24, Z:0.07 [[ 9.99235135e-01 -5.76157152e-04 -3.91000302e-02 4.98493787e+00] [ 4.97473679e-04 9.99997832e-01 -2.02206299e-03 2.37944881e-01] [ 3.91011105e-02 2.00106515e-03 9.99233255e-01 7.49307728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46463044 meters Centerline goodness [0,1] 0.32339360462607347 Centerline is valid? [False, False] Translation: X:4.99, Y:0.24, Z:0.08 [[ 9.99223525e-01 -5.09524530e-04 -3.93965378e-02 4.98553017e+00] [ 4.37619628e-04 9.99998223e-01 -1.83376006e-03 2.37132992e-01] [ 3.93974021e-02 1.81509550e-03 9.99221972e-01 7.51542908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49463044 meters Centerline goodness [0,1] 0.32405673575687133 Centerline is valid? [False, False] Translation: X:4.99, Y:0.24, Z:0.08 [[ 9.99217664e-01 -3.21466525e-04 -3.95469023e-02 4.98582782e+00] [ 2.62884506e-04 9.99998861e-01 -1.48652141e-03 2.35975034e-01] [ 3.95473351e-02 1.47496218e-03 9.99216610e-01 7.52586724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52463043999998 meters Centerline goodness [0,1] 0.32009175492003605 Centerline is valid? [False, False] Translation: X:4.99, Y:0.23, Z:0.08 [[ 9.99218445e-01 -1.44979394e-04 -3.95281880e-02 4.98587311e+00] [ 1.08576355e-04 9.99999568e-01 -9.23083921e-04 2.32913012e-01] [ 3.95283048e-02 9.18070653e-04 9.99218029e-01 7.53311539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55463043999998 meters Centerline goodness [0,1] 0.32122605034796803 Centerline is valid? [False, False] Translation: X:4.99, Y:0.23, Z:0.08 [[ 9.99225068e-01 -2.00000829e-04 -3.93601699e-02 4.98542837e+00] [ 1.71058814e-04 9.99999713e-01 -7.38678632e-04 2.31026969e-01] [ 3.93603063e-02 7.31373302e-04 9.99224815e-01 7.55077024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58463043999998 meters Centerline goodness [0,1] 0.32457652687384164 Centerline is valid? [False, False] Translation: X:4.99, Y:0.23, Z:0.08 [[ 9.99226839e-01 -2.35480568e-04 -3.93149927e-02 4.98525408e+00] [ 2.13970050e-04 9.99999825e-01 -5.51339561e-04 2.29171429e-01] [ 3.93151156e-02 5.42501056e-04 9.99226715e-01 7.56357278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61463043999998 meters Centerline goodness [0,1] 0.3220029632174529 Centerline is valid? [False, False] Translation: X:4.99, Y:0.23, Z:0.08 [[ 9.99221091e-01 -1.71585359e-04 -3.94611396e-02 4.98569846e+00] [ 1.59455972e-04 9.99999939e-01 -3.10522668e-04 2.27631576e-01] [ 3.94611905e-02 3.03988484e-04 9.99221058e-01 7.55683716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64463044 meters Centerline goodness [0,1] 0.3257837464375162 Centerline is valid? [False, False] Translation: X:4.99, Y:0.23, Z:0.08 [[ 9.99209376e-01 -7.84157411e-05 -3.97569647e-02 4.98663180e+00] [ 7.71401846e-05 9.99999996e-01 -3.36178868e-05 2.26110691e-01] [ 3.97569672e-02 3.05244481e-05 9.99209379e-01 7.52674917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67463044 meters Centerline goodness [0,1] 0.3253069341172402 Centerline is valid? [False, False] Translation: X:4.99, Y:0.22, Z:0.07 [[ 9.99181660e-01 1.89064933e-06 -4.04476340e-02 4.98878255e+00] [ 1.31201566e-05 9.99999931e-01 3.70851581e-04 2.23259167e-01] [ 4.04476319e-02 -3.71078778e-04 9.99181591e-01 7.46123521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70463044 meters Centerline goodness [0,1] 0.3242928846858103 Centerline is valid? [False, False] Translation: X:4.99, Y:0.22, Z:0.07 [[ 9.99174324e-01 4.33170333e-05 -4.06284087e-02 4.98935873e+00] [-2.14079449e-05 9.99999854e-01 5.39690300e-04 2.22134838e-01] [ 4.06284262e-02 -5.38374920e-04 9.99174180e-01 7.44615270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73463044 meters Centerline goodness [0,1] 0.32300617470529813 Centerline is valid? [False, False] Translation: X:4.99, Y:0.22, Z:0.07 [[ 9.99172112e-01 1.10853649e-04 -4.06826573e-02 4.98948249e+00] [-8.10263091e-05 9.99999727e-01 7.34819030e-04 2.21032225e-01] [ 4.06827277e-02 -7.30914317e-04 9.99171848e-01 7.44965204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76463044 meters Centerline goodness [0,1] 0.32213311604768846 Centerline is valid? [False, False] Translation: X:4.99, Y:0.22, Z:0.07 [[ 9.99171736e-01 1.78493317e-04 -4.06916517e-02 4.98942173e+00] [-1.41628896e-04 9.99999577e-01 9.08826495e-04 2.19985154e-01] [ 4.06917967e-02 -9.02310633e-04 9.99171338e-01 7.46785695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79463044 meters Centerline goodness [0,1] 0.321191981991639 Centerline is valid? [False, False] Translation: X:4.99, Y:0.22, Z:0.08 [[ 9.99166013e-01 1.33144557e-04 -4.08321057e-02 4.98941423e+00] [-9.65657823e-05 9.99999592e-01 8.97804671e-04 2.19400991e-01] [ 4.08322086e-02 -8.93112929e-04 9.99165618e-01 7.51921644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82463044 meters Centerline goodness [0,1] 0.3263336008850901 Centerline is valid? [False, False] Translation: X:4.99, Y:0.22, Z:0.08 [[ 9.99161536e-01 1.37821078e-04 -4.09414908e-02 4.98958800e+00] [-1.02292519e-04 9.99999616e-01 8.69882216e-04 2.19479375e-01] [ 4.09415950e-02 -8.64964843e-04 9.99161167e-01 7.52841003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85463044 meters Centerline goodness [0,1] 0.32029711447897935 Centerline is valid? [False, False] Translation: X:5.01, Y:0.22, Z:0.08 [[ 9.99150797e-01 8.35894075e-03 -4.03461655e-02 5.00981243e+00] [-8.36816320e-03 9.99964985e-01 -5.97052797e-05 2.17473239e-01] [ 4.03442537e-02 3.97277875e-04 9.99185760e-01 7.68559930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88463044 meters Centerline goodness [0,1] 0.3230150364618065 Centerline is valid? [False, False] Translation: X:5.01, Y:0.22, Z:0.08 [[ 9.99151205e-01 8.46230727e-03 -4.03144918e-02 5.00989212e+00] [-8.46936586e-03 9.99964134e-01 -4.29963255e-06 2.17837507e-01] [ 4.03130095e-02 3.45734164e-04 9.99187040e-01 7.66800101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.91463044 meters Centerline goodness [0,1] 0.32332623151914264 Centerline is valid? [False, False] Translation: X:5.01, Y:0.22, Z:0.08 [[ 9.99151287e-01 8.42745191e-03 -4.03197695e-02 5.01001532e+00] [-8.43682481e-03 9.99964407e-01 -6.23120705e-05 2.18073765e-01] [ 4.03178093e-02 4.02430017e-04 9.99186826e-01 7.65557170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94463044 meters Centerline goodness [0,1] 0.3246346103952261 Centerline is valid? [False, False] Translation: X:5.01, Y:0.22, Z:0.08 [[ 9.99146127e-01 8.27804520e-03 -4.04782666e-02 5.01037469e+00] [-8.29412438e-03 9.99965577e-01 -2.29308418e-04 2.18177693e-01] [ 4.04749750e-02 5.64844395e-04 9.99180393e-01 7.65919443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.97463044 meters Centerline goodness [0,1] 0.32432432432432434 Centerline is valid? [False, False] Translation: X:5.03, Y:0.22, Z:0.08 [[ 9.99146925e-01 9.57533050e-05 -4.12966389e-02 5.03062723e+00] [-7.83364111e-05 9.99999907e-01 4.23368882e-04 2.21727766e-01] [ 4.12966756e-02 -4.19772686e-04 9.99146840e-01 7.89152728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00463044 meters Centerline goodness [0,1] 0.3229320808938644 Centerline is valid? [False, False] Translation: X:5.03, Y:0.22, Z:0.08 [[ 9.99139441e-01 1.82100432e-04 -4.14770350e-02 5.03098863e+00] [-1.51012593e-04 9.99999705e-01 7.52651220e-04 2.20240343e-01] [ 4.14771599e-02 -7.45739964e-04 9.99139174e-01 7.91323770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.03463044 meters Centerline goodness [0,1] 0.3213309413975739 Centerline is valid? [False, False] Translation: X:5.03, Y:0.22, Z:0.08 [[ 9.99137336e-01 2.72585164e-04 -4.15272248e-02 5.03105323e+00] [-2.24182823e-04 9.99999290e-01 1.17020923e-03 2.18170691e-01] [ 4.15275143e-02 -1.15989004e-03 9.99136687e-01 7.93329203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06463044 meters Centerline goodness [0,1] 0.32398753894081 Centerline is valid? [False, False] Translation: X:5.03, Y:0.22, Z:0.08 [[ 9.99141789e-01 2.27179152e-04 -4.14202168e-02 5.03073444e+00] [-1.63024144e-04 9.99998782e-01 1.55225262e-03 2.15458457e-01] [ 4.14205190e-02 -1.54416796e-03 9.99140609e-01 7.95849289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09463044 meters Centerline goodness [0,1] 0.32761205379451197 Centerline is valid? [False, False] Translation: X:5.03, Y:0.21, Z:0.08 [[ 9.99166892e-01 -2.30873223e-03 -4.07454594e-02 5.02783603e+00] [ 2.29185415e-03 9.99997267e-01 -4.60938004e-04 2.11754563e-01] [ 4.07464122e-02 3.67171343e-04 9.99169453e-01 8.10975652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12463044 meters Centerline goodness [0,1] 0.32303005772958693 Centerline is valid? [False, False] Translation: X:5.07, Y:0.21, Z:0.08 [[ 9.99252952e-01 -3.31136315e-03 -3.85041856e-02 5.06954530e+00] [ 3.25909967e-03 9.99993681e-01 -1.42003420e-03 2.10373429e-01] [ 3.85086445e-02 1.29348439e-03 9.99257430e-01 8.33889624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15463044 meters Centerline goodness [0,1] 0.32773109243697474 Centerline is valid? [False, False] Translation: X:5.03, Y:0.20, Z:0.08 [[ 9.99152632e-01 -4.29161375e-03 -4.09341023e-02 5.02557553e+00] [ 4.25740391e-03 9.99990511e-01 -9.22866200e-04 2.01266414e-01] [ 4.09376745e-02 7.47811185e-04 9.99161422e-01 8.26801735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18463044 meters Centerline goodness [0,1] 0.32511744642512386 Centerline is valid? [False, False] Translation: X:5.05, Y:0.20, Z:0.08 [[ 9.99128210e-01 3.92575288e-03 -4.15620944e-02 5.04634002e+00] [-3.99025588e-03 9.99990960e-01 -1.46912279e-03 1.97001047e-01] [ 4.15559512e-02 1.63368542e-03 9.99134843e-01 8.41223960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21463044 meters Centerline goodness [0,1] 0.32964345756642865 Centerline is valid? [False, False] Translation: X:5.00, Y:0.19, Z:0.08 [[ 9.99008280e-01 4.04227305e-03 -4.43409138e-02 5.00325355e+00] [-4.09389954e-03 9.99991044e-01 -1.07356123e-03 1.94260101e-01] [ 4.43361771e-02 1.25402381e-03 9.99015881e-01 8.24046340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24463044 meters Centerline goodness [0,1] 0.3294719944466137 Centerline is valid? [False, False] Translation: X:5.00, Y:0.20, Z:0.08 [[ 9.99006150e-01 4.00365339e-03 -4.43923652e-02 5.00348195e+00] [-4.06440211e-03 9.99990923e-01 -1.27827517e-03 1.95106872e-01] [ 4.43868445e-02 1.45743318e-03 9.99013355e-01 8.22990863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27463043999998 meters Centerline goodness [0,1] 0.3245982056412573 Centerline is valid? [False, False] Translation: X:5.00, Y:0.20, Z:0.08 [[ 9.99008535e-01 4.06988707e-03 -4.43326418e-02 5.00305056e+00] [-4.13743541e-03 9.99990415e-01 -1.43201978e-03 1.96116866e-01] [ 4.43263887e-02 1.61402342e-03 9.99015799e-01 8.26561091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30463043999998 meters Centerline goodness [0,1] 0.32497358376641583 Centerline is valid? [False, False] Translation: X:5.00, Y:0.20, Z:0.08 [[ 9.99016285e-01 5.30520035e-03 -4.40263155e-02 5.00176246e+00] [-5.34537535e-03 9.99985397e-01 -7.94846254e-04 1.98291401e-01] [ 4.40214558e-02 1.02940153e-03 9.99030055e-01 8.32795787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33463043999998 meters Centerline goodness [0,1] 0.3229636308987075 Centerline is valid? [False, False] Translation: X:5.00, Y:0.20, Z:0.08 [[ 9.98999040e-01 5.45975983e-03 -4.43971744e-02 5.00290200e+00] [-5.50839303e-03 9.99984355e-01 -9.73146019e-04 2.00099431e-01] [ 4.43911666e-02 1.21672902e-03 9.99013485e-01 8.28395734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36463043999998 meters Centerline goodness [0,1] 0.32243994671479526 Centerline is valid? [False, False] Translation: X:5.00, Y:0.20, Z:0.08 [[ 9.98985808e-01 5.35899935e-03 -4.47061052e-02 5.00391546e+00] [-5.42602503e-03 9.99984330e-01 -1.37803609e-03 2.01906036e-01] [ 4.46980198e-02 1.61921494e-03 9.98999232e-01 8.23738623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39463044 meters Centerline goodness [0,1] 0.3236067354698533 Centerline is valid? [False, False] Translation: X:5.00, Y:0.20, Z:0.08 [[ 9.98979863e-01 5.19856950e-03 -4.48576476e-02 5.00435730e+00] [-5.28168582e-03 9.99984547e-01 -1.73456710e-03 2.03109860e-01] [ 4.48479372e-02 1.96972160e-03 9.98991883e-01 8.21899939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42463044 meters Centerline goodness [0,1] 0.3217163923182441 Centerline is valid? [False, False] Translation: X:5.02, Y:0.21, Z:0.08 [[ 9.99004288e-01 -1.95121689e-03 -4.45715699e-02 5.02264821e+00] [ 1.92437927e-03 9.99997940e-01 -6.45023860e-04 2.09625976e-01] [ 4.45727367e-02 5.58608997e-04 9.99005986e-01 8.44968395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45463044 meters Centerline goodness [0,1] 0.3261288159061898 Centerline is valid? [False, False] Translation: X:5.02, Y:0.21, Z:0.09 [[ 9.99017450e-01 -1.83535392e-03 -4.42805485e-02 5.02149464e+00] [ 1.81179826e-03 9.99998195e-01 -5.72091635e-04 2.10084849e-01] [ 4.42815186e-02 4.91302105e-04 9.99018972e-01 8.51318621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48463044 meters Centerline goodness [0,1] 0.3251619268219449 Centerline is valid? [False, False] Translation: X:5.04, Y:0.21, Z:0.09 [[ 9.99093719e-01 -7.47879343e-03 -4.19023593e-02 5.04136344e+00] [ 7.58976793e-03 9.99968097e-01 2.48994656e-03 2.12817477e-01] [ 4.18824007e-02 -2.80571915e-03 9.99118608e-01 8.59718302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51463044 meters Centerline goodness [0,1] 0.3240024079807362 Centerline is valid? [False, False] Translation: X:5.04, Y:0.21, Z:0.09 [[ 9.99084833e-01 -7.64564283e-03 -4.20837414e-02 5.04202051e+00] [ 7.75507324e-03 9.99966958e-01 2.43766000e-03 2.12116968e-01] [ 4.20637134e-02 -2.76179163e-03 9.99111113e-01 8.57606468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54463044 meters Centerline goodness [0,1] 0.324952520718232 Centerline is valid? [False, False] Translation: X:5.04, Y:0.21, Z:0.09 [[ 9.99070154e-01 -7.82021329e-03 -4.23989488e-02 5.04304100e+00] [ 7.92838382e-03 9.99965729e-01 2.38369970e-03 2.11251080e-01] [ 4.23788547e-02 -2.71763836e-03 9.99097917e-01 8.54260052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.57463044 meters Centerline goodness [0,1] 0.3235161241744293 Centerline is valid? [False, False] Translation: X:5.04, Y:0.21, Z:0.09 [[ 9.99054469e-01 -7.83569464e-03 -4.27641212e-02 5.04411256e+00] [ 7.94828027e-03 9.99965378e-01 2.46331674e-03 2.10468453e-01] [ 4.27433388e-02 -2.80088882e-03 9.99082160e-01 8.51648888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60463044 meters Centerline goodness [0,1] 0.3234386797540718 Centerline is valid? [False, False] Translation: X:5.04, Y:0.21, Z:0.09 [[ 9.99048424e-01 -7.72077846e-03 -4.29259351e-02 5.04438511e+00] [ 7.84137435e-03 9.99965766e-01 2.64172549e-03 2.10073652e-01] [ 4.29040694e-02 -2.97581002e-03 9.99074765e-01 8.53260885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63463044 meters Centerline goodness [0,1] 0.3233079453003289 Centerline is valid? [False, False] Translation: X:5.04, Y:0.21, Z:0.09 [[ 9.99043463e-01 -7.44982985e-03 -4.30889621e-02 5.04457671e+00] [ 7.58425811e-03 9.99966867e-01 2.95714902e-03 2.09687080e-01] [ 4.30655041e-02 -3.28111820e-03 9.99066863e-01 8.56184191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66463044 meters Centerline goodness [0,1] 0.32382543056700364 Centerline is valid? [False, False] Translation: X:5.04, Y:0.21, Z:0.09 [[ 9.99040933e-01 -7.50626762e-03 -4.31378084e-02 5.04473848e+00] [ 7.63702643e-03 9.99966727e-01 2.86718664e-03 2.09755731e-01] [ 4.31148512e-02 -3.19388139e-03 9.99065017e-01 8.55512826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.69463044 meters Centerline goodness [0,1] 0.32593823085834195 Centerline is valid? [False, False] Translation: X:5.05, Y:0.21, Z:0.09 [[ 9.99038496e-01 -7.57921275e-03 -4.31814629e-02 5.04506062e+00] [ 7.70591484e-03 9.99966477e-01 2.76847735e-03 2.09808714e-01] [ 4.31590324e-02 -3.09856813e-03 9.99063410e-01 8.52166368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72463044 meters Centerline goodness [0,1] 0.32154734064236523 Centerline is valid? [False, False] Translation: X:5.07, Y:0.21, Z:0.09 [[ 9.99101813e-01 5.26651933e-04 -4.23708518e-02 5.06529912e+00] [-4.58187470e-04 9.99998574e-01 1.62553375e-03 2.08169441e-01] [ 4.23716474e-02 -1.60465992e-03 9.99100630e-01 8.63432421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.75463044 meters Centerline goodness [0,1] 0.3186380465255634 Centerline is valid? [False, False] Translation: X:5.06, Y:0.21, Z:0.09 [[ 9.99109103e-01 6.22172782e-04 -4.21973044e-02 5.06495710e+00] [-5.53306868e-04 9.99998496e-01 1.64365753e-03 2.08691912e-01] [ 4.21982636e-02 -1.61884514e-03 9.99107945e-01 8.61999057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78463044 meters Centerline goodness [0,1] 0.3195547805119594 Centerline is valid? [False, False] Translation: X:5.06, Y:0.21, Z:0.09 [[ 9.99114978e-01 7.39107748e-04 -4.20560850e-02 5.06427174e+00] [-6.76467261e-04 9.99998641e-01 1.50366280e-03 2.10394225e-01] [ 4.20571392e-02 -1.47388246e-03 9.99114120e-01 8.66366726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.81463044 meters Centerline goodness [0,1] 0.31846439787220404 Centerline is valid? [False, False] Translation: X:5.06, Y:0.21, Z:0.09 [[ 9.99103328e-01 6.54460063e-04 -4.23333282e-02 5.06484021e+00] [-5.99023388e-04 9.99998946e-01 1.32219966e-03 2.11152253e-01] [ 4.23341490e-02 -1.29565543e-03 9.99102668e-01 8.67606843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84463044 meters Centerline goodness [0,1] 0.31985421728566465 Centerline is valid? [False, False] Translation: X:5.02, Y:0.21, Z:0.09 [[ 9.98980620e-01 9.59929811e-06 -4.51411115e-02 5.02105443e+00] [ 5.00570482e-05 9.99999127e-01 1.32042187e-03 2.08572509e-01] [ 4.51410848e-02 -1.32133549e-03 9.98979748e-01 8.53139924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87463044 meters Centerline goodness [0,1] 0.3184333390973543 Centerline is valid? [False, False] Translation: X:5.02, Y:0.21, Z:0.08 [[ 9.98972018e-01 6.81055784e-05 -4.53310265e-02 5.02202314e+00] [-7.26368343e-06 9.99999099e-01 1.34233229e-03 2.08956536e-01] [ 4.53310770e-02 -1.34062313e-03 9.98971119e-01 8.45811984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90463044 meters Centerline goodness [0,1] 0.3199101731129813 Centerline is valid? [False, False] Translation: X:5.02, Y:0.21, Z:0.08 [[ 9.98969371e-01 1.21084872e-04 -4.53892189e-02 5.02259273e+00] [-5.74339436e-05 9.99999013e-01 1.40363732e-03 2.09084199e-01] [ 4.53893441e-02 -1.39958381e-03 9.98968392e-01 8.40016659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93463044 meters Centerline goodness [0,1] 0.31719133542913747 Centerline is valid? [False, False] Translation: X:5.02, Y:0.21, Z:0.08 [[ 9.98968839e-01 -3.07773856e-04 -4.54000345e-02 5.02297253e+00] [ 3.65732489e-04 9.99999129e-01 1.26831999e-03 2.07767916e-01] [ 4.53996046e-02 -1.28361642e-03 9.98968082e-01 8.37282250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96463044 meters Centerline goodness [0,1] 0.31971565419041637 Centerline is valid? [False, False] Translation: X:5.02, Y:0.21, Z:0.08 [[ 9.98968122e-01 -4.86313785e-04 -4.54142489e-02 5.02281360e+00] [ 5.46791075e-04 9.99998980e-01 1.31926799e-03 2.06305081e-01] [ 4.54135611e-02 -1.34273877e-03 9.98967370e-01 8.40767049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99463044 meters Centerline goodness [0,1] 0.31761728050794735 Centerline is valid? [False, False] Translation: X:5.02, Y:0.20, Z:0.08 [[ 9.98961144e-01 -5.87182190e-04 -4.55663089e-02 5.02293044e+00] [ 6.57859993e-04 9.99998604e-01 1.53611741e-03 2.04299006e-01] [ 4.55653433e-02 -1.56449785e-03 9.98960135e-01 8.45659944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02463043999998 meters Centerline goodness [0,1] 0.31751887810140234 Centerline is valid? [False, False] Translation: X:5.02, Y:0.20, Z:0.08 [[ 9.98956639e-01 -5.78861187e-04 -4.56650734e-02 5.02314584e+00] [ 6.65362060e-04 9.99998013e-01 1.87906870e-03 2.02131393e-01] [ 4.56638950e-02 -1.90749196e-03 9.98955039e-01 8.46869527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05463043999998 meters Centerline goodness [0,1] 0.31777036684135307 Centerline is valid? [False, False] Translation: X:5.02, Y:0.20, Z:0.08 [[ 9.98946737e-01 -1.85130665e-03 -4.58474535e-02 5.02391149e+00] [ 1.92045215e-03 9.99997084e-01 1.46416326e-03 1.95350920e-01] [ 4.58446092e-02 -1.55066895e-03 9.98947380e-01 8.45548046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08463043999998 meters Centerline goodness [0,1] 0.31661239189976065 Centerline is valid? [False, False] Translation: X:5.02, Y:0.19, Z:0.08 [[ 9.98934885e-01 -1.91724817e-03 -4.61022723e-02 5.02471037e+00] [ 2.00171259e-03 9.99996402e-01 1.78601307e-03 1.92528001e-01] [ 4.60986822e-02 -1.87639426e-03 9.98935128e-01 8.44407649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11463043999998 meters Centerline goodness [0,1] 0.31615616911130284 Centerline is valid? [False, False] Translation: X:5.03, Y:0.19, Z:0.08 [[ 9.98918992e-01 -1.92717513e-03 -4.64449540e-02 5.02565751e+00] [ 2.02888474e-03 9.99995646e-01 2.14285411e-03 1.89837985e-01] [ 4.64406221e-02 -2.23476912e-03 9.98918552e-01 8.43514854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14463044 meters Centerline goodness [0,1] 0.31649838929366747 Centerline is valid? [False, False] Translation: X:5.03, Y:0.19, Z:0.08 [[ 9.98903657e-01 -1.88927973e-03 -4.67751593e-02 5.02663573e+00] [ 2.00855548e-03 9.99994850e-01 2.50311091e-03 1.87331902e-01] [ 4.67701893e-02 -2.59431714e-03 9.98902307e-01 8.41338446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17463044 meters Centerline goodness [0,1] 0.31597737488440114 Centerline is valid? [False, False] Translation: X:5.03, Y:0.18, Z:0.08 [[ 9.98879638e-01 -2.00274977e-03 -4.72806209e-02 5.02821477e+00] [ 2.14514763e-03 9.99993315e-01 2.96121138e-03 1.80895098e-01] [ 4.72743742e-02 -3.05931767e-03 9.98877257e-01 8.38413261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20463044 meters Centerline goodness [0,1] 0.31597737488440114 Centerline is valid? [False, False] Translation: X:5.03, Y:0.18, Z:0.08 [[ 9.98879638e-01 -2.00274977e-03 -4.72806209e-02 5.02821477e+00] [ 2.14514763e-03 9.99993315e-01 2.96121138e-03 1.80895098e-01] [ 4.72743742e-02 -3.05931767e-03 9.98877257e-01 8.38413261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23463044 meters Centerline goodness [0,1] 0.3174568684542175 Centerline is valid? [False, False] Translation: X:5.03, Y:0.18, Z:0.08 [[ 9.98880417e-01 -1.94872355e-03 -4.72664226e-02 5.02793974e+00] [ 2.10886125e-03 9.99992204e-01 3.33834971e-03 1.78210406e-01] [ 4.72595486e-02 -3.43429048e-03 9.98876740e-01 8.42355988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26463044 meters Centerline goodness [0,1] 0.31780384025572905 Centerline is valid? [False, False] Translation: X:5.05, Y:0.17, Z:0.09 [[ 9.98920233e-01 5.67219291e-03 -4.61106672e-02 5.04548043e+00] [-5.59095675e-03 9.99982583e-01 1.89054520e-03 1.72116005e-01] [ 4.61205876e-02 -1.63070110e-03 9.98934549e-01 8.72369550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29463044 meters Centerline goodness [0,1] 0.31670694928667675 Centerline is valid? [False, False] Translation: X:5.06, Y:0.17, Z:0.09 [[ 9.99012476e-01 -1.54375552e-03 -4.44037174e-02 5.06406898e+00] [ 1.69715160e-03 9.99992722e-01 3.41708637e-03 1.73666087e-01] [ 4.43981191e-02 -3.48907175e-03 9.99007824e-01 8.95856671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32463044 meters Centerline goodness [0,1] 0.3187918015102481 Centerline is valid? [False, False] Translation: X:5.06, Y:0.17, Z:0.09 [[ 9.99024647e-01 -1.38064092e-03 -4.41344451e-02 5.06304241e+00] [ 1.54883492e-03 9.99991668e-01 3.77697831e-03 1.71940810e-01] [ 4.41288628e-02 -3.84165139e-03 9.99018461e-01 9.01633990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35463044 meters Centerline goodness [0,1] 0.319550094272154 Centerline is valid? [False, False] Translation: X:5.06, Y:0.17, Z:0.09 [[ 9.99033611e-01 -1.31138223e-03 -4.39331736e-02 5.06253109e+00] [ 1.48898460e-03 9.99990851e-01 4.01007736e-03 1.70368989e-01] [ 4.39275129e-02 -4.07161788e-03 9.99026424e-01 9.02725829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38463044 meters Centerline goodness [0,1] 0.3182229304849685 Centerline is valid? [False, False] Translation: X:5.08, Y:0.16, Z:0.09 [[ 9.99048613e-01 5.38063942e-03 -4.32772088e-02 5.08283105e+00] [-5.32058892e-03 9.99984717e-01 1.50264316e-03 1.64521038e-01] [ 4.32846326e-02 -1.27095332e-03 9.99061973e-01 9.12569708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.41463044 meters Centerline goodness [0,1] 0.3191406671704632 Centerline is valid? [False, False] Translation: X:5.08, Y:0.16, Z:0.09 [[ 9.99044579e-01 5.45091904e-03 -4.33614699e-02 5.08305331e+00] [-5.38465518e-03 9.99984150e-01 1.64482595e-03 1.63733262e-01] [ 4.33697484e-02 -1.40976789e-03 9.99058095e-01 9.12482316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44463044 meters Centerline goodness [0,1] 0.3219305453444622 Centerline is valid? [False, False] Translation: X:5.08, Y:0.16, Z:0.09 [[ 9.99037050e-01 5.58132861e-03 -4.35180671e-02 5.08337967e+00] [-5.50895087e-03 9.99983236e-01 1.78291517e-03 1.63282606e-01] [ 4.35272886e-02 -1.54145942e-03 9.99051049e-01 9.12952759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.47463044 meters Centerline goodness [0,1] 0.31862321968062146 Centerline is valid? [False, False] Translation: X:5.08, Y:0.16, Z:0.09 [[ 9.99033759e-01 5.67290737e-03 -4.35817118e-02 5.08346167e+00] [-5.59833819e-03 9.99982649e-01 1.83288099e-03 1.63318472e-01] [ 4.35913534e-02 -1.58712482e-03 9.99048184e-01 9.13628502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50463044 meters Centerline goodness [0,1] 0.31831429866793326 Centerline is valid? [False, False] Translation: X:5.08, Y:0.16, Z:0.09 [[ 9.99031648e-01 5.72553432e-03 -4.36232214e-02 5.08352669e+00] [-5.65220547e-03 9.99982399e-01 1.80411720e-03 1.63602320e-01] [ 4.36327831e-02 -1.55580277e-03 9.99046425e-01 9.13929483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.53463044 meters Centerline goodness [0,1] 0.3190535006175649 Centerline is valid? [False, False] Translation: X:5.08, Y:0.16, Z:0.09 [[ 9.99031445e-01 5.72772868e-03 -4.36275650e-02 5.08364358e+00] [-5.65983124e-03 9.99982572e-01 1.67965999e-03 1.64282267e-01] [ 4.36364253e-02 -1.43110849e-03 9.99046453e-01 9.11968392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56463044 meters Centerline goodness [0,1] 0.3178307988492072 Centerline is valid? [False, False] Translation: X:5.08, Y:0.17, Z:0.09 [[ 9.99022219e-01 6.12692178e-03 -4.37843309e-02 5.08464799e+00] [-6.05488088e-03 9.99980089e-01 1.77778795e-03 1.65633305e-01] [ 4.37943514e-02 -1.51094075e-03 9.99039425e-01 9.02364599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59463044 meters Centerline goodness [0,1] 0.31613710930754624 Centerline is valid? [False, False] Translation: X:5.08, Y:0.17, Z:0.09 [[ 9.99023267e-01 6.20731769e-03 -4.37490683e-02 5.08473765e+00] [-6.13511433e-03 9.99979588e-01 1.78447281e-03 1.66082133e-01] [ 4.37592521e-02 -1.51432432e-03 9.99040957e-01 8.99851568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62463044 meters Centerline goodness [0,1] 0.31542196631144725 Centerline is valid? [False, False] Translation: X:5.08, Y:0.17, Z:0.09 [[ 9.99029120e-01 6.26464334e-03 -4.36070191e-02 5.08439349e+00] [-6.19083932e-03 9.99979167e-01 1.82732200e-03 1.66156843e-01] [ 4.36175582e-02 -1.55558384e-03 9.99047090e-01 9.00094358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65463044 meters Centerline goodness [0,1] 0.31789078836743057 Centerline is valid? [False, False] Translation: X:5.08, Y:0.17, Z:0.09 [[ 9.99032467e-01 6.32547700e-03 -4.35214665e-02 5.08381346e+00] [-6.25000811e-03 9.99978720e-01 1.86991347e-03 1.66060214e-01] [ 4.35323685e-02 -1.59609475e-03 9.99050742e-01 9.05718797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68463044 meters Centerline goodness [0,1] 0.31559841910817077 Centerline is valid? [False, False] Translation: X:5.08, Y:0.17, Z:0.09 [[ 9.99024321e-01 6.29654023e-03 -4.37122370e-02 5.08422424e+00] [-6.22493606e-03 9.99979051e-01 1.77400695e-03 1.66420499e-01] [ 4.37224914e-02 -1.50017021e-03 9.99042588e-01 9.06203900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71463044 meters Centerline goodness [0,1] 0.31776704240472353 Centerline is valid? [False, False] Translation: X:5.08, Y:0.17, Z:0.09 [[ 9.99022313e-01 6.27437383e-03 -4.37612890e-02 5.08458413e+00] [-6.20692369e-03 9.99979331e-01 1.67702757e-03 1.66864870e-01] [ 4.37709068e-02 -1.40376498e-03 9.99040608e-01 9.02475945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74463044 meters Centerline goodness [0,1] 0.31983674527079553 Centerline is valid? [False, False] Translation: X:5.08, Y:0.17, Z:0.09 [[ 9.99025258e-01 6.25889488e-03 -4.36962171e-02 5.08454970e+00] [-6.19804250e-03 9.99979625e-01 1.52796631e-03 1.67766674e-01] [ 4.37048901e-02 -1.25564593e-03 9.99043696e-01 9.00748082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77463043999998 meters Centerline goodness [0,1] 0.3206326539443507 Centerline is valid? [False, False] Translation: X:5.08, Y:0.17, Z:0.09 [[ 9.99038705e-01 6.23712190e-03 -4.33908381e-02 5.08380023e+00] [-6.18587748e-03 9.99980002e-01 1.31516579e-03 1.69136249e-01] [ 4.33981733e-02 -1.04549112e-03 9.99057308e-01 9.01019082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80463043999998 meters Centerline goodness [0,1] 0.3199965396427181 Centerline is valid? [False, False] Translation: X:5.08, Y:0.17, Z:0.09 [[ 9.99066861e-01 6.61457962e-03 -4.26808458e-02 5.08179344e+00] [-6.57547227e-03 9.99977823e-01 1.05659788e-03 1.72909522e-01] [ 4.26868882e-02 -7.74965206e-04 9.99088199e-01 9.04770809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83463043999998 meters Centerline goodness [0,1] 0.32136232259177777 Centerline is valid? [False, False] Translation: X:5.08, Y:0.18, Z:0.09 [[ 9.99052844e-01 6.60400881e-03 -4.30093150e-02 5.08274553e+00] [-6.58398712e-03 9.99978141e-01 6.07156605e-04 1.75862895e-01] [ 4.30123845e-02 -3.23408757e-04 9.99074487e-01 9.00927531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86463043999998 meters Centerline goodness [0,1] 0.31949235274975596 Centerline is valid? [False, False] Translation: X:5.08, Y:0.18, Z:0.09 [[ 9.99030904e-01 6.60655772e-03 -4.35155780e-02 5.08438712e+00] [-6.60556151e-03 9.99978169e-01 1.66685153e-04 1.78903365e-01] [ 4.35157292e-02 1.20921208e-04 9.99052735e-01 8.93281867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89463044 meters Centerline goodness [0,1] 0.3193200591252935 Centerline is valid? [False, False] Translation: X:5.09, Y:0.18, Z:0.09 [[ 9.99008659e-01 6.56492455e-03 -4.40295531e-02 5.08619040e+00] [-6.58483394e-03 9.99978273e-01 -3.07162262e-04 1.81910787e-01] [ 4.40265799e-02 5.96785055e-04 9.99030182e-01 8.83602706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92463044 meters Centerline goodness [0,1] 0.3167162429163862 Centerline is valid? [False, False] Translation: X:5.09, Y:0.19, Z:0.09 [[ 9.98991506e-01 6.42555287e-03 -4.44374190e-02 5.08759070e+00] [-6.47163900e-03 9.99978660e-01 -8.93315633e-04 1.85168253e-01] [ 4.44307306e-02 1.17999766e-03 9.99011771e-01 8.75927471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95463044 meters Centerline goodness [0,1] 0.3136189120400328 Centerline is valid? [False, False] Translation: X:5.09, Y:0.19, Z:0.09 [[ 9.98980351e-01 6.22795674e-03 -4.47154324e-02 5.08821210e+00] [-6.29929949e-03 9.99979101e-01 -1.45475135e-03 1.87970625e-01] [ 4.47054377e-02 1.73494392e-03 9.98998706e-01 8.75530339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98463044 meters Centerline goodness [0,1] 0.3147302771169549 Centerline is valid? [False, False] Translation: X:5.10, Y:0.20, Z:0.09 [[ 9.98937156e-01 -6.61530127e-05 -4.60928912e-02 5.10416445e+00] [ 2.54507340e-05 9.99999609e-01 -8.83635241e-04 1.99369680e-01] [ 4.60929316e-02 8.81522977e-04 9.98936767e-01 9.13839199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01463044 meters Centerline goodness [0,1] 0.3168297540699688 Centerline is valid? [False, False] Translation: X:5.10, Y:0.20, Z:0.09 [[ 9.98935141e-01 -1.53583505e-04 -4.61363159e-02 5.10412219e+00] [ 9.95255998e-05 9.99999306e-01 -1.17399447e-03 2.01266143e-01] [ 4.61364642e-02 1.16815258e-03 9.98934463e-01 9.15557245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04463044 meters Centerline goodness [0,1] 0.31825672159583696 Centerline is valid? [False, False] Translation: X:5.10, Y:0.20, Z:0.09 [[ 9.98929641e-01 -2.78108872e-04 -4.62546708e-02 5.10437888e+00] [ 2.10122952e-04 9.99998891e-01 -1.47467310e-03 2.02835928e-01] [ 4.62550296e-02 1.46337550e-03 9.98928591e-01 9.15630374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.07463044 meters Centerline goodness [0,1] 0.31294455394635357 Centerline is valid? [False, False] Translation: X:5.13, Y:0.20, Z:0.09 [[ 9.98947584e-01 5.62134171e-03 -4.55206028e-02 5.12656357e+00] [-5.83589061e-03 9.99972475e-01 -4.58170230e-03 2.04647386e-01] [ 4.54935945e-02 4.84253370e-03 9.98952893e-01 9.21474844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10463044 meters Centerline goodness [0,1] 0.31803179015026495 Centerline is valid? [False, False] Translation: X:5.11, Y:0.21, Z:0.09 [[ 9.98977781e-01 -3.16672550e-03 -4.50928498e-02 5.10588846e+00] [ 2.99042398e-03 9.99987622e-01 -3.97666576e-03 2.07763520e-01] [ 4.51048846e-02 3.83775400e-03 9.98974885e-01 9.03385096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13463044 meters Centerline goodness [0,1] 0.318298275453743 Centerline is valid? [False, False] Translation: X:5.13, Y:0.21, Z:0.09 [[ 9.99133718e-01 1.37577882e-03 -4.15923135e-02 5.12624829e+00] [-1.67654171e-03 9.99972694e-01 -7.19719756e-03 2.08767833e-01] [ 4.15812761e-02 7.26069400e-03 9.99108743e-01 9.14659020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16463044 meters Centerline goodness [0,1] 0.31799360665937226 Centerline is valid? [False, False] Translation: X:5.13, Y:0.21, Z:0.09 [[ 9.99135197e-01 1.40416814e-03 -4.15558177e-02 5.12569556e+00] [-1.69330899e-03 9.99974599e-01 -6.92351038e-03 2.07465898e-01] [ 4.15450404e-02 6.98788975e-03 9.99112195e-01 9.22549398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.19463044 meters Centerline goodness [0,1] 0.3200268438940965 Centerline is valid? [False, False] Translation: X:5.12, Y:0.21, Z:0.09 [[ 9.99142152e-01 1.40797890e-03 -4.13881228e-02 5.12490274e+00] [-1.68415574e-03 9.99976545e-01 -6.63874300e-03 2.05769190e-01] [ 4.13778048e-02 6.70275201e-03 9.99121089e-01 9.29234773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22463044 meters Centerline goodness [0,1] 0.3179016309233338 Centerline is valid? [False, False] Translation: X:5.15, Y:0.21, Z:0.09 [[ 0.99915437 -0.00658165 -0.04058615 5.14511455] [ 0.00635015 0.99996284 -0.00583037 0.20805411] [ 0.04062302 0.00556771 0.99915903 0.09464038] [ 0. 0. 0. 1. ]] SLAMing on 137.25463044 meters Centerline goodness [0,1] 0.3234589935573742 Centerline is valid? [False, False] Translation: X:5.12, Y:0.20, Z:0.09 [[ 9.99223590e-01 -1.50307871e-03 -3.93694942e-02 5.12262922e+00] [ 1.16709511e-03 9.99962718e-01 -8.55570305e-03 2.01627355e-01] [ 3.93808863e-02 8.50311238e-03 9.99188092e-01 9.38231923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28463044 meters Centerline goodness [0,1] 0.31884494556095877 Centerline is valid? [False, False] Translation: X:5.14, Y:0.20, Z:0.10 [[ 0.99920927 -0.00927996 -0.0386615 5.14222761] [ 0.00899271 0.99993071 -0.0075971 0.2044818 ] [ 0.03872932 0.00724342 0.99922348 0.09578664] [ 0. 0. 0. 1. ]] SLAMing on 137.31463044 meters Centerline goodness [0,1] 0.3244547846317758 Centerline is valid? [False, False] Translation: X:5.12, Y:0.20, Z:0.09 [[ 9.99349306e-01 -1.87400657e-03 -3.60201791e-02 5.12202654e+00] [ 1.61961117e-03 9.99973551e-01 -7.09046176e-03 1.96694905e-01] [ 3.60325140e-02 7.02750935e-03 9.99325909e-01 9.42880470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34463044 meters Centerline goodness [0,1] 0.3194815749513442 Centerline is valid? [False, False] Translation: X:5.16, Y:0.20, Z:0.10 [[ 9.99427489e-01 -7.55044761e-04 -3.38248929e-02 5.16351087e+00] [ 5.30686681e-04 9.99977805e-01 -6.64141485e-03 1.99642358e-01] [ 3.38291567e-02 6.61966214e-03 9.99405708e-01 9.65240890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.37463044 meters Centerline goodness [0,1] 0.322245232548106 Centerline is valid? [False, False] Translation: X:5.16, Y:0.20, Z:0.10 [[ 9.99434273e-01 -7.63942731e-04 -3.36236565e-02 5.16278070e+00] [ 5.43364647e-04 9.99978277e-01 -6.56885382e-03 1.99225114e-01] [ 3.36279444e-02 6.54686774e-03 9.99412978e-01 9.69259915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40463044 meters Centerline goodness [0,1] 0.3191685417336333 Centerline is valid? [False, False] Translation: X:5.16, Y:0.20, Z:0.10 [[ 9.99431877e-01 -8.53046440e-04 -3.36926543e-02 5.16297892e+00] [ 6.32067651e-04 9.99978226e-01 -6.56877029e-03 1.98801809e-01] [ 3.36975242e-02 6.54374239e-03 9.99410654e-01 9.69203188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43463044 meters Centerline goodness [0,1] 0.32306622933727225 Centerline is valid? [False, False] Translation: X:5.14, Y:0.19, Z:0.09 [[ 0.99942026 0.00614501 -0.03348697 5.14476772] [-0.00641383 0.99994802 -0.00792609 0.19280889] [ 0.03343653 0.00813628 0.99940772 0.09456723] [ 0. 0. 0. 1. ]] SLAMing on 137.46463044 meters Centerline goodness [0,1] 0.32258828086333413 Centerline is valid? [False, False] Translation: X:5.16, Y:0.20, Z:0.10 [[ 9.99431335e-01 -1.46389664e-03 -3.36877479e-02 5.16405551e+00] [ 1.23067125e-03 9.99975141e-01 -6.94284583e-03 1.97442607e-01] [ 3.36970740e-02 6.89743913e-03 9.99408291e-01 9.65855263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49463044 meters Centerline goodness [0,1] 0.3210562740602967 Centerline is valid? [False, False] Translation: X:5.16, Y:0.20, Z:0.10 [[ 9.99424330e-01 -1.62031548e-03 -3.38877907e-02 5.16460921e+00] [ 1.38131822e-03 9.99974019e-01 -7.07482954e-03 1.97513775e-01] [ 3.38983737e-02 7.02394695e-03 9.99400603e-01 9.64667911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52463043999998 meters Centerline goodness [0,1] 0.3234908277597368 Centerline is valid? [False, False] Translation: X:5.17, Y:0.20, Z:0.10 [[ 9.99417082e-01 -1.78282253e-03 -3.40927812e-02 5.16530743e+00] [ 1.53588507e-03 9.99972409e-01 -7.26791880e-03 1.97981934e-01] [ 3.41047980e-02 7.21131961e-03 9.99392245e-01 9.61645162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55463043999998 meters Centerline goodness [0,1] 0.3214354995150339 Centerline is valid? [False, False] Translation: X:5.17, Y:0.20, Z:0.10 [[ 9.99401042e-01 -2.02464534e-03 -3.45464675e-02 5.16657196e+00] [ 1.75940119e-03 9.99968756e-01 -7.70656823e-03 2.00080985e-01] [ 3.45609912e-02 7.64117122e-03 9.99373379e-01 9.58525844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58463043999998 meters Centerline goodness [0,1] 0.3212614050602878 Centerline is valid? [False, False] Translation: X:5.17, Y:0.20, Z:0.10 [[ 9.99396314e-01 -2.05849087e-03 -3.46809636e-02 5.16718988e+00] [ 1.78614593e-03 9.99967341e-01 -7.88201834e-03 2.01523146e-01] [ 3.46960560e-02 7.81531482e-03 9.99367352e-01 9.53829745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61463043999998 meters Centerline goodness [0,1] 0.32095196696370354 Centerline is valid? [False, False] Translation: X:5.17, Y:0.20, Z:0.10 [[ 9.99389400e-01 -2.08793993e-03 -3.48779074e-02 5.16793146e+00] [ 1.80782116e-03 9.99965875e-01 -8.06101616e-03 2.03026981e-01] [ 3.48935481e-02 7.99304108e-03 9.99359070e-01 9.50128755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64463044 meters Centerline goodness [0,1] 0.32069249793899424 Centerline is valid? [False, False] Translation: X:5.17, Y:0.20, Z:0.09 [[ 9.99382864e-01 -2.17699168e-03 -3.50592601e-02 5.16861064e+00] [ 1.88815146e-03 9.99964023e-01 -8.26963095e-03 2.04262392e-01] [ 3.50760017e-02 8.19833027e-03 9.99351020e-01 9.46252402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67463044 meters Centerline goodness [0,1] 0.3170768664631902 Centerline is valid? [False, False] Translation: X:5.17, Y:0.21, Z:0.09 [[ 9.99344647e-01 -2.97132727e-03 -3.60755971e-02 5.17125661e+00] [ 2.64532548e-03 9.99955268e-01 -9.08099985e-03 2.05687726e-01] [ 3.61009660e-02 8.97961689e-03 9.99307804e-01 9.42192227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70463044 meters Centerline goodness [0,1] 0.3169639975037122 Centerline is valid? [False, False] Translation: X:5.17, Y:0.21, Z:0.09 [[ 9.99322477e-01 -3.25397780e-03 -3.66605778e-02 5.17253214e+00] [ 2.91804087e-03 9.99953300e-01 -9.21322110e-03 2.05202134e-01] [ 3.66888454e-02 9.10000187e-03 9.99285304e-01 9.43508831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73463044 meters Centerline goodness [0,1] 0.31568702943189597 Centerline is valid? [False, False] Translation: X:5.17, Y:0.20, Z:0.09 [[ 9.99309992e-01 -3.35145231e-03 -3.69906468e-02 5.17309853e+00] [ 3.02007606e-03 9.99954843e-01 -9.01062347e-03 2.03686431e-01] [ 3.70191750e-02 8.89269150e-03 9.99274988e-01 9.46758651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76463044 meters Centerline goodness [0,1] 0.3198078296435759 Centerline is valid? [False, False] Translation: X:5.17, Y:0.20, Z:0.10 [[ 9.99313692e-01 -3.30657825e-03 -3.68946084e-02 5.17256817e+00] [ 2.98929764e-03 9.99958107e-01 -8.65149888e-03 2.01948925e-01] [ 3.69216696e-02 8.53527231e-03 9.99281712e-01 9.51448313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79463044 meters Centerline goodness [0,1] 0.32046306793407164 Centerline is valid? [False, False] Translation: X:5.17, Y:0.20, Z:0.10 [[ 9.99345715e-01 -3.61812633e-03 -3.59868138e-02 5.17046956e+00] [ 3.31458093e-03 9.99958457e-01 -8.49099253e-03 1.99648652e-01] [ 3.60160403e-02 8.36615579e-03 9.99316192e-01 9.53753879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82463044 meters Centerline goodness [0,1] 0.3192306033553284 Centerline is valid? [False, False] Translation: X:5.17, Y:0.20, Z:0.10 [[ 9.99340967e-01 -3.78973950e-03 -3.61008175e-02 5.17089148e+00] [ 3.48090876e-03 9.99956843e-01 -8.61368894e-03 1.99227929e-01] [ 3.61319031e-02 8.48234859e-03 9.99311030e-01 9.51523368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85463044 meters Centerline goodness [0,1] 0.31961022613828727 Centerline is valid? [False, False] Translation: X:5.17, Y:0.20, Z:0.09 [[ 9.99329875e-01 -3.84288245e-03 -3.64010100e-02 5.17178231e+00] [ 3.52868615e-03 9.99955999e-01 -8.69184319e-03 1.99431389e-01] [ 3.64328101e-02 8.55757083e-03 9.99299464e-01 9.48415995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88463044 meters Centerline goodness [0,1] 0.31775174832745146 Centerline is valid? [False, False] Translation: X:5.17, Y:0.20, Z:0.09 [[ 9.99316747e-01 -3.73674521e-03 -3.67705752e-02 5.17276268e+00] [ 3.42092817e-03 9.99956754e-01 -8.64802335e-03 1.99932014e-01] [ 3.68013005e-02 8.51632507e-03 9.99286314e-01 9.46521126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91463044 meters Centerline goodness [0,1] 0.3192232162339079 Centerline is valid? [False, False] Translation: X:5.17, Y:0.20, Z:0.09 [[ 9.99308824e-01 -3.58880492e-03 -3.69999206e-02 5.17328075e+00] [ 3.27257834e-03 9.99957632e-01 -8.60370633e-03 2.00759403e-01] [ 3.70292300e-02 8.47667452e-03 9.99278231e-01 9.46523846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94463044 meters Centerline goodness [0,1] 0.31881313131313127 Centerline is valid? [False, False] Translation: X:5.17, Y:0.20, Z:0.10 [[ 9.99310333e-01 -3.65406765e-03 -3.69527653e-02 5.17288568e+00] [ 3.32864284e-03 9.99955172e-01 -8.86419879e-03 2.02080331e-01] [ 3.69834992e-02 8.73508288e-03 9.99277699e-01 9.50862316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.97463044 meters Centerline goodness [0,1] 0.3176129032258065 Centerline is valid? [False, False] Translation: X:5.19, Y:0.20, Z:0.10 [[ 9.99352425e-01 2.85219064e-03 -3.58691397e-02 5.19381350e+00] [-3.26662483e-03 9.99928528e-01 -1.15007683e-02 2.00852022e-01] [ 3.58337737e-02 1.16104917e-02 9.99290317e-01 9.58640712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00463044 meters Centerline goodness [0,1] 0.31426369203100246 Centerline is valid? [False, False] Translation: X:5.21, Y:0.21, Z:0.10 [[ 9.99338464e-01 -4.68237444e-03 -3.60653568e-02 5.21275388e+00] [ 4.30995343e-03 9.99936660e-01 -1.03971139e-02 2.05263647e-01] [ 3.61117556e-02 1.02347958e-02 9.99295347e-01 9.81020225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.03463044 meters Centerline goodness [0,1] 0.31776083397949517 Centerline is valid? [False, False] Translation: X:5.21, Y:0.20, Z:0.10 [[ 9.99345000e-01 -4.54740921e-03 -3.59011373e-02 5.21215338e+00] [ 4.18525353e-03 9.99939665e-01 -1.01562980e-02 2.04654463e-01] [ 3.59451560e-02 9.99939031e-03 9.99303737e-01 9.84018553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06463044 meters Centerline goodness [0,1] 0.3190674043615853 Centerline is valid? [False, False] Translation: X:5.21, Y:0.20, Z:0.10 [[ 9.99354512e-01 -4.42089316e-03 -3.56512985e-02 5.21131217e+00] [ 4.07165669e-03 9.99943074e-01 -9.86255859e-03 2.03685386e-01] [ 3.56928704e-02 9.71103257e-03 9.99315623e-01 9.87704559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09463044 meters Centerline goodness [0,1] 0.3212255348695916 Centerline is valid? [False, False] Translation: X:5.21, Y:0.20, Z:0.10 [[ 9.99369991e-01 -4.46186827e-03 -3.52095492e-02 5.21011103e+00] [ 4.12392767e-03 9.99944791e-01 -9.66477509e-03 2.02256750e-01] [ 3.52507283e-02 9.51348456e-03 9.99333218e-01 9.90920354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12463044 meters Centerline goodness [0,1] 0.31867498184614074 Centerline is valid? [False, False] Translation: X:5.23, Y:0.20, Z:0.10 [[ 0.99935977 -0.01437785 -0.03276165 5.23008174] [ 0.01404822 0.99984858 -0.01026959 0.20193985] [ 0.03290434 0.00980277 0.99941043 0.09970437] [ 0. 0. 0. 1. ]] SLAMing on 138.15463044 meters Centerline goodness [0,1] 0.31867498184614074 Centerline is valid? [False, False] Translation: X:5.23, Y:0.20, Z:0.10 [[ 0.99935977 -0.01437785 -0.03276165 5.23008174] [ 0.01404822 0.99984858 -0.01026959 0.20193985] [ 0.03290434 0.00980277 0.99941043 0.09970437] [ 0. 0. 0. 1. ]] SLAMing on 138.18463044 meters Centerline goodness [0,1] 0.32195893944977994 Centerline is valid? [False, False] Translation: X:5.21, Y:0.20, Z:0.10 [[ 0.99946521 -0.00680329 -0.03198442 5.21023634] [ 0.00645555 0.99991907 -0.0109629 0.19596266] [ 0.03205642 0.01075056 0.99942824 0.0977189 ] [ 0. 0. 0. 1. ]] SLAMing on 138.21463044 meters Centerline goodness [0,1] 0.3194435513257454 Centerline is valid? [False, False] Translation: X:5.21, Y:0.20, Z:0.10 [[ 0.99946142 -0.00671044 -0.03212216 5.21060054] [ 0.00636897 0.99992225 -0.01072072 0.19515189] [ 0.0321916 0.01051036 0.99942645 0.09766148] [ 0. 0. 0. 1. ]] SLAMing on 138.24463044 meters Centerline goodness [0,1] 0.31880585416396845 Centerline is valid? [False, False] Translation: X:5.21, Y:0.20, Z:0.10 [[ 0.99945948 -0.00663079 -0.03219921 5.21096915] [ 0.00629172 0.99992381 -0.01062024 0.1951958 ] [ 0.03226718 0.01041191 0.99942505 0.09736772] [ 0. 0. 0. 1. ]] SLAMing on 138.27463043999998 meters Centerline goodness [0,1] 0.319543881792266 Centerline is valid? [False, False] Translation: X:5.21, Y:0.20, Z:0.10 [[ 0.99945458 -0.00678954 -0.03231802 5.21116619] [ 0.00644091 0.99992007 -0.01087958 0.19612735] [ 0.03238931 0.01066549 0.99941842 0.09754332] [ 0. 0. 0. 1. ]] SLAMing on 138.30463043999998 meters Centerline goodness [0,1] 0.3178826464768132 Centerline is valid? [False, False] Translation: X:5.23, Y:0.19, Z:0.10 [[ 9.99501460e-01 1.02762963e-03 -3.15559144e-02 5.23008556e+00] [-1.41048443e-03 9.99925643e-01 -1.21127224e-02 1.93043121e-01] [ 3.15411206e-02 1.21511929e-02 9.99428590e-01 9.94782627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33463043999998 meters Centerline goodness [0,1] 0.3182129701019446 Centerline is valid? [False, False] Translation: X:5.23, Y:0.19, Z:0.10 [[ 9.99504562e-01 1.04999535e-03 -3.14567692e-02 5.22962242e+00] [-1.43146938e-03 9.99925685e-01 -1.21068648e-02 1.93389574e-01] [ 3.14417194e-02 1.21458960e-02 9.99431786e-01 9.98111914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36463043999998 meters Centerline goodness [0,1] 0.32035360068995256 Centerline is valid? [False, False] Translation: X:5.23, Y:0.19, Z:0.10 [[ 9.99505184e-01 1.12163702e-03 -3.14345299e-02 5.22945793e+00] [-1.50042718e-03 9.99926522e-01 -1.20291328e-02 1.93441374e-01] [ 3.14187278e-02 1.20703458e-02 9.99433425e-01 9.99639260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39463044 meters Centerline goodness [0,1] 0.3204237582493922 Centerline is valid? [False, False] Translation: X:5.23, Y:0.19, Z:0.10 [[ 9.99504284e-01 1.10555775e-03 -3.14636969e-02 5.22983183e+00] [-1.48443017e-03 9.99926646e-01 -1.20207636e-02 1.93381942e-01] [ 3.14480993e-02 1.20615104e-02 9.99432608e-01 9.95221685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42463044 meters Centerline goodness [0,1] 0.31960758722700777 Centerline is valid? [False, False] Translation: X:5.23, Y:0.19, Z:0.10 [[ 9.99496209e-01 9.83511070e-04 -3.17231806e-02 5.23086717e+00] [-1.36771316e-03 9.99925958e-01 -1.20916587e-02 1.93045017e-01] [ 3.17089394e-02 1.21289552e-02 9.99423550e-01 9.88801586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45463044 meters Centerline goodness [0,1] 0.3182340817876126 Centerline is valid? [False, False] Translation: X:5.23, Y:0.19, Z:0.10 [[ 9.99469042e-01 4.37590465e-04 -3.25797989e-02 5.23378535e+00] [-8.46533710e-04 9.99921021e-01 -1.25393141e-02 1.92952334e-01] [ 3.25717387e-02 1.25602361e-02 9.99390475e-01 9.74484558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48463044 meters Centerline goodness [0,1] 0.31770833333333337 Centerline is valid? [False, False] Translation: X:5.23, Y:0.19, Z:0.10 [[ 9.99462702e-01 4.40483764e-04 -3.27736786e-02 5.23435652e+00] [-8.54778138e-04 9.99919897e-01 -1.26281334e-02 1.93913077e-01] [ 3.27654909e-02 1.26493626e-02 9.99383018e-01 9.72951658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51463044 meters Centerline goodness [0,1] 0.3186411524403354 Centerline is valid? [False, False] Translation: X:5.23, Y:0.20, Z:0.10 [[ 9.99454617e-01 1.47742183e-03 -3.29891737e-02 5.23464189e+00] [-1.87858098e-03 9.99924632e-01 -1.21326455e-02 2.00167701e-01] [ 3.29687624e-02 1.21880014e-02 9.99382066e-01 9.76547154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54463044 meters Centerline goodness [0,1] 0.3173076923076923 Centerline is valid? [False, False] Translation: X:5.24, Y:0.20, Z:0.10 [[ 9.99450043e-01 1.36288041e-03 -3.31323852e-02 5.23503529e+00] [-1.78216542e-03 9.99918668e-01 -1.26286028e-02 2.03055368e-01] [ 3.31124792e-02 1.26807050e-02 9.99371184e-01 9.76252562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57463044 meters Centerline goodness [0,1] 0.3167151006350232 Centerline is valid? [False, False] Translation: X:5.23, Y:0.21, Z:0.10 [[ 9.99449685e-01 1.24658900e-03 -3.31477414e-02 5.23495302e+00] [-1.68155934e-03 9.99912810e-01 -1.30975333e-02 2.05854920e-01] [ 3.31285240e-02 1.31460654e-02 9.99364639e-01 9.78273132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60463044 meters Centerline goodness [0,1] 0.31842360288575433 Centerline is valid? [False, False] Translation: X:5.23, Y:0.21, Z:0.10 [[ 9.99457917e-01 1.17685153e-03 -3.29011677e-02 5.23399699e+00] [-1.62114383e-03 9.99907821e-01 -1.34804330e-02 2.08502139e-01] [ 3.28822704e-02 1.35264631e-02 9.99367696e-01 9.83727719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63463044 meters Centerline goodness [0,1] 0.31648708739524545 Centerline is valid? [False, False] Translation: X:5.25, Y:0.21, Z:0.10 [[ 0.99949214 -0.00621176 -0.03125517 5.2516568 ] [ 0.0058381 0.99991057 -0.01203222 0.21443405] [ 0.03132712 0.01184364 0.99943901 0.10082282] [ 0. 0. 0. 1. ]] SLAMing on 138.66463044 meters Centerline goodness [0,1] 0.32527682902952115 Centerline is valid? [False, False] Translation: X:5.22, Y:0.21, Z:0.10 [[ 9.99656739e-01 -3.45423334e-03 -2.59706167e-02 5.21528214e+00] [ 3.14280021e-03 9.99922782e-01 -1.20230181e-02 2.13526025e-01] [ 2.60101416e-02 1.19372706e-02 9.99590403e-01 9.72133168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.69463044 meters Centerline goodness [0,1] 0.32028118905248715 Centerline is valid? [False, False] Translation: X:5.24, Y:0.21, Z:0.10 [[ 0.99961071 -0.01340791 -0.02446756 5.23558749] [ 0.01310897 0.99983796 -0.01233753 0.21458887] [ 0.02462902 0.01201199 0.99962449 0.09783168] [ 0. 0. 0. 1. ]] SLAMing on 138.72463044 meters Centerline goodness [0,1] 0.3185461403283185 Centerline is valid? [False, False] Translation: X:5.24, Y:0.21, Z:0.10 [[ 0.99959312 -0.01384523 -0.02493798 5.23698898] [ 0.01353992 0.99983181 -0.0123704 0.21282864] [ 0.02510506 0.01202771 0.99961246 0.09738488] [ 0. 0. 0. 1. ]] SLAMing on 138.75463044 meters Centerline goodness [0,1] 0.3169669669669669 Centerline is valid? [False, False] Translation: X:5.24, Y:0.21, Z:0.10 [[ 0.99957098 -0.0141878 -0.02562353 5.23888222] [ 0.01387639 0.99982818 -0.01229054 0.21075627] [ 0.0257935 0.0119297 0.99959611 0.09690532] [ 0. 0. 0. 1. ]] SLAMing on 138.78463044 meters Centerline goodness [0,1] 0.32079588662288283 Centerline is valid? [False, False] Translation: X:5.22, Y:0.20, Z:0.09 [[ 0.99963581 -0.00693079 -0.02608099 5.22169853] [ 0.00658498 0.99988958 -0.01332172 0.20407578] [ 0.02617044 0.01314513 0.99957106 0.09432886] [ 0. 0. 0. 1. ]] SLAMing on 138.81463044 meters Centerline goodness [0,1] 0.32119969791779046 Centerline is valid? [False, False] Translation: X:5.22, Y:0.20, Z:0.09 [[ 0.99962775 -0.00695899 -0.02638037 5.22234663] [ 0.00661627 0.99989287 -0.01305629 0.2022862 ] [ 0.02646841 0.01287689 0.99956671 0.09433923] [ 0. 0. 0. 1. ]] SLAMing on 138.84463044 meters Centerline goodness [0,1] 0.32274487620208003 Centerline is valid? [False, False] Translation: X:5.22, Y:0.20, Z:0.09 [[ 0.9996299 -0.00690207 -0.02631409 5.22205523] [ 0.00656947 0.99989771 -0.01270515 0.2004474 ] [ 0.02639909 0.01252758 0.99957298 0.09448803] [ 0. 0. 0. 1. ]] SLAMing on 138.87463044 meters Centerline goodness [0,1] 0.32023478129518135 Centerline is valid? [False, False] Translation: X:5.22, Y:0.20, Z:0.09 [[ 0.99962913 -0.00686257 -0.02635356 5.22230233] [ 0.00653194 0.99989914 -0.01261162 0.20009571] [ 0.02643745 0.0124348 0.99957313 0.09429469] [ 0. 0. 0. 1. ]] SLAMing on 138.90463044 meters Centerline goodness [0,1] 0.3206591169911006 Centerline is valid? [False, False] Translation: X:5.22, Y:0.20, Z:0.09 [[ 0.99962936 -0.00685978 -0.02634543 5.22257831] [ 0.00652986 0.99989944 -0.01258841 0.19987676] [ 0.02642914 0.01241171 0.99957363 0.09389234] [ 0. 0. 0. 1. ]] SLAMing on 138.93463044 meters Centerline goodness [0,1] 0.31809072298243724 Centerline is valid? [False, False] Translation: X:5.22, Y:0.20, Z:0.09 [[ 0.99963628 -0.00685446 -0.02608302 5.22206857] [ 0.00652823 0.99989966 -0.01257174 0.19948605] [ 0.02616658 0.01239689 0.99958073 0.09376346] [ 0. 0. 0. 1. ]] SLAMing on 138.96463044 meters Centerline goodness [0,1] 0.31843214869632563 Centerline is valid? [False, False] Translation: X:5.22, Y:0.20, Z:0.09 [[ 0.99963912 -0.00681189 -0.02598523 5.22190523] [ 0.00648839 0.99990065 -0.01251334 0.19937496] [ 0.02606789 0.01234023 0.99958401 0.09365747] [ 0. 0. 0. 1. ]] SLAMing on 138.99463043999998 meters Centerline goodness [0,1] 0.3214945953587507 Centerline is valid? [False, False] Translation: X:5.20, Y:0.19, Z:0.09 [[ 9.99677644e-01 1.26002050e-03 -2.53578529e-02 5.20221507e+00] [-1.59419291e-03 9.99912102e-01 -1.31623632e-02 1.94889354e-01] [ 2.53390392e-02 1.31985456e-02 9.99591782e-01 9.13447749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02463043999998 meters Centerline goodness [0,1] 0.3167890713658651 Centerline is valid? [False, False] Translation: X:5.22, Y:0.20, Z:0.09 [[ 0.9996468 -0.00667019 -0.02572513 5.2231071 ] [ 0.00635666 0.99990476 -0.01225038 0.19708376] [ 0.02580439 0.01208253 0.99959399 0.09255179] [ 0. 0. 0. 1. ]] SLAMing on 139.05463043999998 meters Centerline goodness [0,1] 0.3193870523415978 Centerline is valid? [False, False] Translation: X:5.22, Y:0.20, Z:0.09 [[ 0.99964035 -0.00665382 -0.02597874 5.22410228] [ 0.00634236 0.99990724 -0.01205304 0.19589333] [ 0.02605653 0.01188394 0.99958983 0.09192787] [ 0. 0. 0. 1. ]] SLAMing on 139.08463043999998 meters Centerline goodness [0,1] 0.31711872136202746 Centerline is valid? [False, False] Translation: X:5.23, Y:0.19, Z:0.09 [[ 0.99962148 -0.00694937 -0.02661946 5.22632734] [ 0.00663537 0.99990758 -0.01186629 0.19320911] [ 0.02669947 0.01168516 0.99957521 0.0907268 ] [ 0. 0. 0. 1. ]] SLAMing on 139.11463043999998 meters Centerline goodness [0,1] 0.3182291214985691 Centerline is valid? [False, False] Translation: X:5.23, Y:0.19, Z:0.09 [[ 0.99961575 -0.00689248 -0.02684876 5.22717317] [ 0.00658373 0.99991138 -0.01157097 0.19160045] [ 0.02692613 0.01138976 0.99957254 0.09023925] [ 0. 0. 0. 1. ]] SLAMing on 139.14463044 meters Centerline goodness [0,1] 0.3169281513790335 Centerline is valid? [False, False] Translation: X:5.23, Y:0.19, Z:0.09 [[ 0.99961412 -0.00681191 -0.02692957 5.22756226] [ 0.00650772 0.99991421 -0.01136736 0.1907593 ] [ 0.0270047 0.01118772 0.9995727 0.08993185] [ 0. 0. 0. 1. ]] SLAMing on 139.17463044 meters Centerline goodness [0,1] 0.3162986103630292 Centerline is valid? [False, False] Translation: X:5.23, Y:0.19, Z:0.09 [[ 0.99961292 -0.00673219 -0.0269942 5.22791643] [ 0.00643081 0.9999162 -0.01123599 0.19030293] [ 0.02706758 0.01105804 0.99957244 0.08965666] [ 0. 0. 0. 1. ]] SLAMing on 139.20463044 meters Centerline goodness [0,1] 0.320193501993855 Centerline is valid? [False, False] Translation: X:5.21, Y:0.19, Z:0.09 [[ 9.99626711e-01 1.51645598e-03 -2.72789217e-02 5.20742560e+00] [-1.85224018e-03 9.99922781e-01 -1.22882378e-02 1.88320270e-01] [ 2.72581807e-02 1.23341779e-02 9.99552330e-01 8.81601122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23463044 meters Centerline goodness [0,1] 0.3144259965114026 Centerline is valid? [False, False] Translation: X:5.23, Y:0.19, Z:0.09 [[ 0.99960384 -0.00617967 -0.02745855 5.22757534] [ 0.00586783 0.99991754 -0.01142257 0.19173685] [ 0.02752687 0.01125692 0.99955768 0.08969178] [ 0. 0. 0. 1. ]] SLAMing on 139.26463044 meters Centerline goodness [0,1] 0.3183902301223408 Centerline is valid? [False, False] Translation: X:5.23, Y:0.19, Z:0.09 [[ 0.99960124 -0.00614663 -0.02756056 5.22790649] [ 0.00583661 0.99991895 -0.01131522 0.19125946] [ 0.02762788 0.01114985 0.99955609 0.08953642] [ 0. 0. 0. 1. ]] SLAMing on 139.29463044 meters Centerline goodness [0,1] 0.31966695002070666 Centerline is valid? [False, False] Translation: X:5.23, Y:0.19, Z:0.09 [[ 0.99960283 -0.00612114 -0.0275085 5.2279589 ] [ 0.00581737 0.99992137 -0.01110937 0.19002631] [ 0.02757434 0.01094493 0.99955984 0.0892046 ] [ 0. 0. 0. 1. ]] SLAMing on 139.32463044 meters Centerline goodness [0,1] 0.31793672448515564 Centerline is valid? [False, False] Translation: X:5.23, Y:0.19, Z:0.09 [[ 0.99960095 -0.00614634 -0.02757118 5.22811486] [ 0.00584801 0.99992362 -0.01088784 0.18835543] [ 0.02763599 0.01072226 0.99956055 0.08915856] [ 0. 0. 0. 1. ]] SLAMing on 139.35463044 meters Centerline goodness [0,1] 0.3157724488915725 Centerline is valid? [False, False] Translation: X:5.23, Y:0.19, Z:0.09 [[ 0.99960212 -0.00625384 -0.0275042 5.22794461] [ 0.00596101 0.99992482 -0.0107157 0.18648361] [ 0.02756915 0.01054748 0.99956425 0.08912991] [ 0. 0. 0. 1. ]] SLAMing on 139.38463044 meters Centerline goodness [0,1] 0.31824982112269895 Centerline is valid? [False, False] Translation: X:5.23, Y:0.18, Z:0.09 [[ 0.9996207 -0.00688393 -0.02666569 5.22525239] [ 0.00659826 0.99992006 -0.01078628 0.18341076] [ 0.02673781 0.01060624 0.99958621 0.0901046 ] [ 0. 0. 0. 1. ]] SLAMing on 139.41463044 meters Centerline goodness [0,1] 0.31635249967648704 Centerline is valid? [False, False] Translation: X:5.22, Y:0.18, Z:0.09 [[ 0.99962594 -0.00674152 -0.02650523 5.22472826] [ 0.00647016 0.99992591 -0.01031074 0.18112997] [ 0.02657277 0.0101354 0.9995955 0.09025883] [ 0. 0. 0. 1. ]] SLAMing on 139.44463044 meters Centerline goodness [0,1] 0.3167970092815401 Centerline is valid? [False, False] Translation: X:5.22, Y:0.18, Z:0.09 [[ 0.99962825 -0.00653006 -0.02647113 5.2245975 ] [ 0.00627268 0.99993236 -0.00979436 0.17895889] [ 0.0265333 0.00962468 0.9996016 0.09030094] [ 0. 0. 0. 1. ]] SLAMing on 139.47463044 meters Centerline goodness [0,1] 0.31694556146495434 Centerline is valid? [False, False] Translation: X:5.22, Y:0.18, Z:0.09 [[ 0.99962973 -0.00637724 -0.02645233 5.22456078] [ 0.00613221 0.99993764 -0.00933365 0.17665054] [ 0.0265102 0.00916798 0.9996065 0.09024794] [ 0. 0. 0. 1. ]] SLAMing on 139.50463044 meters Centerline goodness [0,1] 0.3159963516330785 Centerline is valid? [False, False] Translation: X:5.23, Y:0.17, Z:0.09 [[ 0.99962288 -0.00633334 -0.02672063 5.22525627] [ 0.00609991 0.9999426 -0.00880847 0.17291685] [ 0.02677488 0.00864215 0.99960413 0.09003291] [ 0. 0. 0. 1. ]] SLAMing on 139.53463044 meters Centerline goodness [0,1] 0.3165750537727855 Centerline is valid? [False, False] Translation: X:5.23, Y:0.17, Z:0.09 [[ 0.99961946 -0.00619802 -0.0268797 5.22570618] [ 0.00597086 0.99994585 -0.008523 0.17173427] [ 0.02693107 0.00835926 0.99960234 0.08989179] [ 0. 0. 0. 1. ]] SLAMing on 139.56463044 meters Centerline goodness [0,1] 0.31493815413891535 Centerline is valid? [False, False] Translation: X:5.23, Y:0.17, Z:0.09 [[ 0.99961864 -0.00603855 -0.02694638 5.22585656] [ 0.00581872 0.99994921 -0.00822912 0.17059778] [ 0.0269947 0.00806918 0.99960301 0.08990121] [ 0. 0. 0. 1. ]] SLAMing on 139.59463044 meters Centerline goodness [0,1] 0.3118869136860142 Centerline is valid? [False, False] Translation: X:5.23, Y:0.17, Z:0.09 [[ 0.99961825 -0.00596988 -0.02697617 5.22591823] [ 0.00575428 0.99995094 -0.00806297 0.16964627] [ 0.02702298 0.00790466 0.99960356 0.08992523] [ 0. 0. 0. 1. ]] SLAMing on 139.62463044 meters Centerline goodness [0,1] 0.31475091654086695 Centerline is valid? [False, False] Translation: X:5.23, Y:0.17, Z:0.09 [[ 0.9996219 -0.00587178 -0.02686216 5.22544406] [ 0.00566287 0.99995318 -0.00784658 0.16796916] [ 0.02690698 0.0076915 0.99960835 0.09023664] [ 0. 0. 0. 1. ]] SLAMing on 139.65463044 meters Centerline goodness [0,1] 0.31476052937879895 Centerline is valid? [False, False] Translation: X:5.23, Y:0.17, Z:0.09 [[ 0.9996228 -0.00572025 -0.02686137 5.2252915 ] [ 0.00551633 0.99995545 -0.00765973 0.1674549 ] [ 0.02690399 0.00750867 0.99960982 0.09048936] [ 0. 0. 0. 1. ]] SLAMing on 139.68463044 meters Centerline goodness [0,1] 0.31473579863804846 Centerline is valid? [False, False] Translation: X:5.22, Y:0.17, Z:0.09 [[ 0.99962669 -0.00555325 -0.02675134 5.22490599] [ 0.00535352 0.9999573 -0.00753224 0.16746545] [ 0.02679202 0.00738621 0.99961374 0.09067526] [ 0. 0. 0. 1. ]] SLAMing on 139.71463044 meters Centerline goodness [0,1] 0.31881321352606673 Centerline is valid? [False, False] Translation: X:5.22, Y:0.17, Z:0.09 [[ 0.99962805 -0.00549309 -0.02671299 5.22461782] [ 0.00529214 0.99995721 -0.00758751 0.16811024] [ 0.02675352 0.00744332 0.99961435 0.09106065] [ 0. 0. 0. 1. ]] SLAMing on 139.74463043999998 meters Centerline goodness [0,1] 0.31718662108952445 Centerline is valid? [False, False] Translation: X:5.23, Y:0.17, Z:0.09 [[ 0.99962349 -0.00547943 -0.02688605 5.22502004] [ 0.00527236 0.99995594 -0.00776658 0.16917999] [ 0.02692742 0.0076219 0.99960833 0.09111155] [ 0. 0. 0. 1. ]] SLAMing on 139.77463043999998 meters Centerline goodness [0,1] 0.3200191133989271 Centerline is valid? [False, False] Translation: X:5.23, Y:0.17, Z:0.09 [[ 9.99590109e-01 -3.80973600e-03 -2.83742908e-02 5.23037451e+00] [ 3.62843785e-03 9.99972691e-01 -6.43827124e-03 1.71473639e-01] [ 2.83980440e-02 6.33267789e-03 9.99576635e-01 8.89056062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80463043999998 meters Centerline goodness [0,1] 0.3120532360201782 Centerline is valid? [False, False] Translation: X:5.25, Y:0.17, Z:0.09 [[ 9.99576405e-01 4.05166058e-03 -2.88200358e-02 5.24979945e+00] [-4.27326896e-03 9.99961745e-01 -7.63195596e-03 1.67845004e-01] [ 2.87880112e-02 7.75187886e-03 9.99555481e-01 9.05189953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83463043999998 meters Centerline goodness [0,1] 0.317546870587213 Centerline is valid? [False, False] Translation: X:5.23, Y:0.17, Z:0.09 [[ 9.99578476e-01 -3.94244431e-03 -2.87633029e-02 5.23130652e+00] [ 3.75251815e-03 9.99970821e-01 -6.65406542e-03 1.73843180e-01] [ 2.87886969e-02 6.54332576e-03 9.99564103e-01 8.87300644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86463043999998 meters Centerline goodness [0,1] 0.31860404549005994 Centerline is valid? [False, False] Translation: X:5.23, Y:0.17, Z:0.09 [[ 9.99578178e-01 -3.92152171e-03 -2.87765004e-02 5.23115811e+00] [ 3.73172200e-03 9.99970949e-01 -6.64639231e-03 1.74241079e-01] [ 2.88017284e-02 6.53620281e-03 9.99563774e-01 8.89264806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89463044 meters Centerline goodness [0,1] 0.31965292841648585 Centerline is valid? [False, False] Translation: X:5.23, Y:0.17, Z:0.09 [[ 9.99579540e-01 -3.92373854e-03 -2.87288546e-02 5.23103870e+00] [ 3.73356307e-03 9.99970783e-01 -6.67031968e-03 1.74545071e-01] [ 2.87541878e-02 6.56025409e-03 9.99564985e-01 8.89377277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92463044 meters Centerline goodness [0,1] 0.31752394158686137 Centerline is valid? [False, False] Translation: X:5.23, Y:0.17, Z:0.09 [[ 9.99580591e-01 -3.98608047e-03 -2.86836917e-02 5.23106462e+00] [ 3.79459773e-03 9.99970174e-01 -6.72700490e-03 1.74759954e-01] [ 2.87096506e-02 6.61534046e-03 9.99565902e-01 8.87558415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95463044 meters Centerline goodness [0,1] 0.3140645161290323 Centerline is valid? [False, False] Translation: X:5.23, Y:0.18, Z:0.09 [[ 9.99578311e-01 -4.07202799e-03 -2.87509751e-02 5.23135748e+00] [ 3.87745914e-03 9.99969227e-01 -6.81989467e-03 1.75078865e-01] [ 2.87778611e-02 6.70553806e-03 9.99563340e-01 8.85291573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98463044 meters Centerline goodness [0,1] 0.3152605244996549 Centerline is valid? [False, False] Translation: X:5.23, Y:0.18, Z:0.09 [[ 9.99575795e-01 -4.07864341e-03 -2.88373977e-02 5.23182121e+00] [ 3.88309429e-03 9.99969110e-01 -6.83384667e-03 1.75387016e-01] [ 2.88643797e-02 6.71896938e-03 9.99560755e-01 8.81619785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01463044 meters Centerline goodness [0,1] 0.3152605244996549 Centerline is valid? [False, False] Translation: X:5.23, Y:0.18, Z:0.09 [[ 9.99575795e-01 -4.07864341e-03 -2.88373977e-02 5.23182121e+00] [ 3.88309429e-03 9.99969110e-01 -6.83384667e-03 1.75387016e-01] [ 2.88643797e-02 6.71896938e-03 9.99560755e-01 8.81619785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04463044 meters Centerline goodness [0,1] 0.3166115240837022 Centerline is valid? [False, False] Translation: X:5.23, Y:0.18, Z:0.09 [[ 9.99569580e-01 -4.07653422e-03 -2.90523243e-02 5.23258776e+00] [ 3.87940205e-03 9.99969092e-01 -6.83855614e-03 1.75758979e-01] [ 2.90793039e-02 6.72290704e-03 9.99554499e-01 8.77735478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07463044 meters Centerline goodness [0,1] 0.31678282325440454 Centerline is valid? [False, False] Translation: X:5.23, Y:0.18, Z:0.09 [[ 9.99561989e-01 -4.19993532e-03 -2.92949015e-02 5.23346521e+00] [ 3.99931356e-03 9.99968172e-01 -6.90358473e-03 1.75904339e-01] [ 2.93229638e-02 6.78340138e-03 9.99546972e-01 8.72983704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10463044 meters Centerline goodness [0,1] 0.3124744727960618 Centerline is valid? [False, False] Translation: X:5.23, Y:0.18, Z:0.09 [[ 9.99558250e-01 -4.26332468e-03 -2.94130784e-02 5.23367626e+00] [ 4.06080073e-03 9.99967660e-01 -6.94180758e-03 1.75839804e-01] [ 2.94417224e-02 6.81930039e-03 9.99543237e-01 8.73928679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13463044 meters Centerline goodness [0,1] 0.3164425836804282 Centerline is valid? [False, False] Translation: X:5.23, Y:0.18, Z:0.09 [[ 9.99556735e-01 -4.28050493e-03 -2.94620143e-02 5.23364989e+00] [ 4.07658345e-03 9.99967343e-01 -6.97809397e-03 1.76032090e-01] [ 2.94909219e-02 6.85489647e-03 9.99541543e-01 8.76065030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16463044 meters Centerline goodness [0,1] 0.31504837595024193 Centerline is valid? [False, False] Translation: X:5.23, Y:0.18, Z:0.09 [[ 9.99559856e-01 -4.30515031e-03 -2.93523430e-02 5.23315486e+00] [ 4.09846623e-03 9.99966410e-01 -7.09801533e-03 1.76841712e-01] [ 2.93819151e-02 6.97459159e-03 9.99543925e-01 8.79603728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.19463044 meters Centerline goodness [0,1] 0.3186068660980995 Centerline is valid? [False, False] Translation: X:5.23, Y:0.18, Z:0.09 [[ 9.99574689e-01 -4.47065810e-03 -2.88176122e-02 5.23141996e+00] [ 4.24970094e-03 9.99961138e-01 -7.72412614e-03 1.80346902e-01] [ 2.88510242e-02 7.59837475e-03 9.99554842e-01 8.88491172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22463044 meters Centerline goodness [0,1] 0.321858303288302 Centerline is valid? [False, False] Translation: X:5.23, Y:0.18, Z:0.09 [[ 9.99579897e-01 -4.65438395e-03 -2.86071150e-02 5.23091546e+00] [ 4.42041407e-03 9.99956309e-01 -8.23653690e-03 1.82944565e-01] [ 2.86442011e-02 8.10662141e-03 9.99556798e-01 8.89474145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.25463044 meters Centerline goodness [0,1] 0.31926479133934527 Centerline is valid? [False, False] Translation: X:5.23, Y:0.19, Z:0.09 [[ 9.99581774e-01 -4.71078413e-03 -2.85321907e-02 5.23078028e+00] [ 4.46623290e-03 9.99952798e-01 -8.62873679e-03 1.85623391e-01] [ 2.85714920e-02 8.49769662e-03 9.99555631e-01 8.89496900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28463044 meters Centerline goodness [0,1] 0.32119047619047614 Centerline is valid? [False, False] Translation: X:5.23, Y:0.19, Z:0.09 [[ 9.99605176e-01 -1.30142240e-03 -2.80677483e-02 5.22975048e+00] [ 1.14558272e-03 9.99983844e-01 -5.56763423e-03 1.87824179e-01] [ 2.80745407e-02 5.53328207e-03 9.99590518e-01 8.89088332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.31463044 meters Centerline goodness [0,1] 0.31861144526550955 Centerline is valid? [False, False] Translation: X:5.25, Y:0.19, Z:0.09 [[ 0.99963061 0.00779283 -0.02603666 5.24926132] [-0.00796152 0.99994794 -0.00638144 0.19144446] [ 0.02598557 0.00658638 0.99964062 0.08968203] [ 0. 0. 0. 1. ]] SLAMing on 140.34463044 meters Centerline goodness [0,1] 0.3196581565487623 Centerline is valid? [False, False] Translation: X:5.25, Y:0.19, Z:0.09 [[ 0.99963521 0.00767035 -0.02589622 5.24897029] [-0.00785328 0.99994488 -0.00696938 0.19489107] [ 0.02584133 0.00717021 0.99964034 0.0897818 ] [ 0. 0. 0. 1. ]] SLAMing on 140.37463044 meters Centerline goodness [0,1] 0.3176203139744359 Centerline is valid? [False, False] Translation: X:5.27, Y:0.21, Z:0.09 [[ 9.99559712e-01 2.92461908e-03 -2.95267518e-02 5.27076008e+00] [-3.08418007e-03 9.99980880e-01 -5.35985065e-03 2.05884652e-01] [ 2.95105117e-02 5.44855659e-03 9.99549620e-01 9.14754993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40463044 meters Centerline goodness [0,1] 0.31944535144430664 Centerline is valid? [False, False] Translation: X:5.25, Y:0.21, Z:0.09 [[ 9.99493105e-01 -3.20084807e-03 -3.16747272e-02 5.25144192e+00] [ 3.11472875e-03 9.99991319e-01 -2.76783359e-03 2.12739520e-01] [ 3.16833117e-02 2.66777240e-03 9.99494398e-01 9.03707284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43463044 meters Centerline goodness [0,1] 0.3173479518280312 Centerline is valid? [False, False] Translation: X:5.25, Y:0.21, Z:0.09 [[ 9.99483373e-01 -3.24119104e-03 -3.19762806e-02 5.25264574e+00] [ 3.14535579e-03 9.99990411e-01 -3.04691923e-03 2.14946761e-01] [ 3.19858496e-02 2.94476833e-03 9.99483984e-01 8.96660476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46463044 meters Centerline goodness [0,1] 0.31396472837411127 Centerline is valid? [False, False] Translation: X:5.25, Y:0.22, Z:0.09 [[ 9.99476416e-01 -3.36695424e-03 -3.21800664e-02 5.25338500e+00] [ 3.26171138e-03 9.99989161e-01 -3.32237170e-03 2.16536665e-01] [ 3.21909039e-02 3.21567007e-03 9.99476566e-01 8.93076183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49463043999998 meters Centerline goodness [0,1] 0.31784431137724556 Centerline is valid? [False, False] Translation: X:5.23, Y:0.21, Z:0.09 [[ 9.99480412e-01 4.47315411e-03 -3.19201637e-02 5.23339198e+00] [-4.61835998e-03 9.99979314e-01 -4.47675518e-03 2.14518584e-01] [ 3.18994782e-02 4.62184792e-03 9.99480396e-01 8.73493786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52463043999998 meters Centerline goodness [0,1] 0.31366559142081984 Centerline is valid? [False, False] Translation: X:5.25, Y:0.22, Z:0.09 [[ 9.99493633e-01 -3.65539668e-03 -3.16087784e-02 5.25365723e+00] [ 3.54128329e-03 9.99987012e-01 -3.66540910e-03 2.18056234e-01] [ 3.16217664e-02 3.55161742e-03 9.99493597e-01 8.91682223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55463043999998 meters Centerline goodness [0,1] 0.3140513659555231 Centerline is valid? [False, False] Translation: X:5.25, Y:0.22, Z:0.09 [[ 9.99494550e-01 -3.79031543e-03 -3.15638703e-02 5.25381657e+00] [ 3.66590388e-03 9.99985286e-01 -3.99851851e-03 2.20287277e-01] [ 3.15785615e-02 3.88078735e-03 9.99493739e-01 8.88152194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58463043999998 meters Centerline goodness [0,1] 0.31515925773553044 Centerline is valid? [False, False] Translation: X:5.25, Y:0.22, Z:0.09 [[ 9.99497896e-01 -3.82451333e-03 -3.14536162e-02 5.25378013e+00] [ 3.69498553e-03 9.99984457e-01 -4.17515195e-03 2.21653177e-01] [ 3.14690952e-02 4.05683494e-03 9.99496492e-01 8.85109854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61463043999998 meters Centerline goodness [0,1] 0.31482441363224056 Centerline is valid? [False, False] Translation: X:5.25, Y:0.22, Z:0.09 [[ 9.99499065e-01 -3.86059088e-03 -3.14120251e-02 5.25392237e+00] [ 3.72615378e-03 9.99983652e-01 -4.33720989e-03 2.22748715e-01] [ 3.14282557e-02 4.21799120e-03 9.99497110e-01 8.81957215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64463044 meters Centerline goodness [0,1] 0.3145255759468958 Centerline is valid? [False, False] Translation: X:5.25, Y:0.22, Z:0.09 [[ 9.99495064e-01 -3.88170287e-03 -3.15364872e-02 5.25436621e+00] [ 3.74334199e-03 9.99983114e-01 -4.44518389e-03 2.23586792e-01] [ 3.15532095e-02 4.32488750e-03 9.99492716e-01 8.79584611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67463044 meters Centerline goodness [0,1] 0.3141274357647871 Centerline is valid? [False, False] Translation: X:5.26, Y:0.22, Z:0.09 [[ 9.99488046e-01 -3.90176793e-03 -3.17556714e-02 5.25509193e+00] [ 3.75967476e-03 9.99982658e-01 -4.53305764e-03 2.24191798e-01] [ 3.17728076e-02 4.41134592e-03 9.99485382e-01 8.76813085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70463044 meters Centerline goodness [0,1] 0.3120607132077099 Centerline is valid? [False, False] Translation: X:5.26, Y:0.22, Z:0.09 [[ 9.99486134e-01 -3.97060685e-03 -3.18072621e-02 5.25508811e+00] [ 3.82529431e-03 9.99981974e-01 -4.62808309e-03 2.24451758e-01] [ 3.18250650e-02 4.50403274e-03 9.99483306e-01 8.78367057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73463044 meters Centerline goodness [0,1] 0.3117404537310855 Centerline is valid? [False, False] Translation: X:5.25, Y:0.22, Z:0.09 [[ 9.99488699e-01 -3.99797808e-03 -3.17231324e-02 5.25494202e+00] [ 3.85309361e-03 9.99981872e-01 -4.62697336e-03 2.24191689e-01] [ 3.17410559e-02 4.50237539e-03 9.99485985e-01 8.77509459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76463044 meters Centerline goodness [0,1] 0.3116838339869844 Centerline is valid? [False, False] Translation: X:5.25, Y:0.22, Z:0.09 [[ 9.99489543e-01 -3.99612114e-03 -3.16967443e-02 5.25490345e+00] [ 3.85201035e-03 9.99981972e-01 -4.60630981e-03 2.24008623e-01] [ 3.17145803e-02 4.48186231e-03 9.99486918e-01 8.77042066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79463044 meters Centerline goodness [0,1] 0.3131527627302275 Centerline is valid? [False, False] Translation: X:5.25, Y:0.22, Z:0.09 [[ 9.99491258e-01 -3.94056759e-03 -3.16495998e-02 5.25490693e+00] [ 3.79787913e-03 9.99982358e-01 -4.56723260e-03 2.24130112e-01] [ 3.16670389e-02 4.44470770e-03 9.99488591e-01 8.75487077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82463044 meters Centerline goodness [0,1] 0.311766598734313 Centerline is valid? [False, False] Translation: X:5.26, Y:0.22, Z:0.09 [[ 9.99488547e-01 -3.86077996e-03 -3.17449086e-02 5.25528469e+00] [ 3.71739585e-03 9.99982627e-01 -4.57453865e-03 2.24752810e-01] [ 3.17620184e-02 4.45419060e-03 9.99485535e-01 8.73497084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85463044 meters Centerline goodness [0,1] 0.31230467487122016 Centerline is valid? [False, False] Translation: X:5.26, Y:0.23, Z:0.09 [[ 9.99487389e-01 -3.79360114e-03 -3.17894329e-02 5.25527384e+00] [ 3.64820206e-03 9.99982624e-01 -4.63057226e-03 2.25591846e-01] [ 3.18064471e-02 4.51222431e-03 9.99483862e-01 8.75445430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88463044 meters Centerline goodness [0,1] 0.30995092050836925 Centerline is valid? [False, False] Translation: X:5.26, Y:0.23, Z:0.09 [[ 9.99482279e-01 -3.77395999e-03 -3.19520008e-02 5.25524159e+00] [ 3.62031838e-03 9.99981612e-01 -4.86500152e-03 2.26954417e-01] [ 3.19697736e-02 4.74680639e-03 9.99477564e-01 8.82065443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91463044 meters Centerline goodness [0,1] 0.3115650049294869 Centerline is valid? [False, False] Translation: X:5.26, Y:0.23, Z:0.09 [[ 9.99477508e-01 -3.80306995e-03 -3.20974579e-02 5.25563120e+00] [ 3.64489728e-03 9.99980932e-01 -4.98496106e-03 2.27549415e-01] [ 3.21158040e-02 4.86536452e-03 9.99472312e-01 8.81421410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94463044 meters Centerline goodness [0,1] 0.31161338930147453 Centerline is valid? [False, False] Translation: X:5.26, Y:0.23, Z:0.09 [[ 9.99478426e-01 -3.62018941e-03 -3.20900480e-02 5.25566302e+00] [ 3.46176222e-03 9.99981552e-01 -4.99114153e-03 2.28884939e-01] [ 3.21075249e-02 4.87745016e-03 9.99472520e-01 8.80993182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.97463044 meters Centerline goodness [0,1] 0.3125772927469571 Centerline is valid? [False, False] Translation: X:5.26, Y:0.23, Z:0.09 [[ 9.99485805e-01 -3.59010936e-03 -3.18627676e-02 5.25507809e+00] [ 3.42977659e-03 9.99981188e-01 -5.08520835e-03 2.29888074e-01] [ 3.18804247e-02 4.97331139e-03 9.99479317e-01 8.82096569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00463044 meters Centerline goodness [0,1] 0.3147975044020782 Centerline is valid? [False, False] Translation: X:5.25, Y:0.23, Z:0.09 [[ 9.99492820e-01 -3.65369314e-03 -3.16346726e-02 5.25453756e+00] [ 3.48757397e-03 9.99979848e-01 -5.30476067e-03 2.31076245e-01] [ 3.16534170e-02 5.19174194e-03 9.99485421e-01 8.82720424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.03463044 meters Centerline goodness [0,1] 0.3149529888725955 Centerline is valid? [False, False] Translation: X:5.27, Y:0.23, Z:0.09 [[ 9.99512584e-01 3.91324776e-03 -3.09722587e-02 5.27306836e+00] [-4.12804251e-03 9.99967852e-01 -6.87416708e-03 2.28097527e-01] [ 3.09443627e-02 6.99867130e-03 9.99496606e-01 9.03932486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06463044 meters Centerline goodness [0,1] 0.31457657696355323 Centerline is valid? [False, False] Translation: X:5.27, Y:0.23, Z:0.09 [[ 9.99511343e-01 3.82340264e-03 -3.10234739e-02 5.27307192e+00] [-4.04749835e-03 9.99966148e-01 -7.16384311e-03 2.29741504e-01] [ 3.09950334e-02 7.28590991e-03 9.99492983e-01 9.05821638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09463044 meters Centerline goodness [0,1] 0.3121127366609294 Centerline is valid? [False, False] Translation: X:5.27, Y:0.23, Z:0.09 [[ 9.99509784e-01 3.75663511e-03 -3.10818289e-02 5.27303745e+00] [-3.99137960e-03 9.99963955e-01 -7.49387244e-03 2.31827398e-01] [ 3.10525568e-02 7.61425820e-03 9.99488750e-01 9.08989019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12463044 meters Centerline goodness [0,1] 0.31656688371279984 Centerline is valid? [False, False] Translation: X:5.25, Y:0.24, Z:0.09 [[ 9.99539293e-01 -3.91031080e-03 -3.00983708e-02 5.25322067e+00] [ 3.70066973e-03 9.99968528e-01 -7.01775291e-03 2.41118434e-01] [ 3.01248651e-02 6.90313565e-03 9.99522306e-01 8.91665981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15463044 meters Centerline goodness [0,1] 0.3168910117238385 Centerline is valid? [False, False] Translation: X:5.25, Y:0.24, Z:0.09 [[ 9.99543645e-01 -4.08469383e-03 -2.99302044e-02 5.25273024e+00] [ 3.86818083e-03 9.99965959e-01 -7.28826361e-03 2.42043389e-01] [ 2.99589558e-02 7.16916213e-03 9.99525419e-01 8.92987977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18463044 meters Centerline goodness [0,1] 0.3160465015774234 Centerline is valid? [False, False] Translation: X:5.25, Y:0.24, Z:0.09 [[ 9.99549982e-01 -4.26291034e-03 -2.96927804e-02 5.25202544e+00] [ 4.04050182e-03 9.99963363e-01 -7.54630058e-03 2.42978630e-01] [ 2.97238617e-02 7.42293087e-03 9.99530586e-01 8.95536372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21463044 meters Centerline goodness [0,1] 0.31584288829867635 Centerline is valid? [False, False] Translation: X:5.25, Y:0.24, Z:0.09 [[ 9.99553269e-01 -4.31397904e-03 -2.95745103e-02 5.25163694e+00] [ 4.08863156e-03 9.99962181e-01 -7.67589550e-03 2.43926754e-01] [ 2.96065055e-02 7.55154716e-03 9.99533105e-01 8.97176043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24463043999998 meters Centerline goodness [0,1] 0.31426421584435127 Centerline is valid? [False, False] Translation: X:5.25, Y:0.25, Z:0.09 [[ 9.99552739e-01 -4.31057130e-03 -2.95929223e-02 5.25169678e+00] [ 4.08140871e-03 9.99961251e-01 -7.79987221e-03 2.45961816e-01] [ 2.96253975e-02 7.67560282e-03 9.99531601e-01 8.97194138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27463043999998 meters Centerline goodness [0,1] 0.31257772631759506 Centerline is valid? [False, False] Translation: X:5.25, Y:0.25, Z:0.09 [[ 9.99549799e-01 -4.40791476e-03 -2.96777714e-02 5.25216363e+00] [ 4.17182143e-03 9.99959197e-01 -8.01244914e-03 2.47212725e-01] [ 2.97118787e-02 7.88503156e-03 9.99527404e-01 8.94004829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30463043999998 meters Centerline goodness [0,1] 0.31654598274292156 Centerline is valid? [False, False] Translation: X:5.25, Y:0.25, Z:0.09 [[ 9.99544100e-01 -4.53099143e-03 -2.98506532e-02 5.25282619e+00] [ 4.28650940e-03 9.99956788e-01 -8.24908120e-03 2.48317375e-01] [ 2.98867398e-02 8.11736534e-03 9.99520331e-01 8.90068798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33463043999998 meters Centerline goodness [0,1] 0.3127794977640179 Centerline is valid? [False, False] Translation: X:5.26, Y:0.25, Z:0.09 [[ 9.99519196e-01 -4.68779482e-03 -3.06496588e-02 5.25569707e+00] [ 4.42598564e-03 9.99953188e-01 -8.60426418e-03 2.50629012e-01] [ 3.06885590e-02 8.46447226e-03 9.99493154e-01 8.75817569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36463043999998 meters Centerline goodness [0,1] 0.31308300480406726 Centerline is valid? [False, False] Translation: X:5.26, Y:0.25, Z:0.09 [[ 9.99511492e-01 -4.71519807e-03 -3.08957130e-02 5.25670901e+00] [ 4.44793471e-03 9.99952144e-01 -8.71352466e-03 2.51522585e-01] [ 3.09353204e-02 8.57184592e-03 9.99484632e-01 8.70175947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39463044 meters Centerline goodness [0,1] 0.31588385256881135 Centerline is valid? [False, False] Translation: X:5.26, Y:0.25, Z:0.09 [[ 9.99508988e-01 -4.76008906e-03 -3.09697332e-02 5.25694970e+00] [ 4.48829314e-03 9.99950856e-01 -8.83978559e-03 2.52406307e-01] [ 3.10102894e-02 8.69644391e-03 9.99481232e-01 8.69374355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42463044 meters Centerline goodness [0,1] 0.31030575155013895 Centerline is valid? [False, False] Translation: X:5.26, Y:0.25, Z:0.09 [[ 9.99508562e-01 -4.84763274e-03 -3.09699065e-02 5.25679315e+00] [ 4.57041760e-03 9.99948913e-01 -9.01564129e-03 2.53234131e-01] [ 3.10120289e-02 8.86966526e-03 9.99479656e-01 8.71837680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45463044 meters Centerline goodness [0,1] 0.31106686363928315 Centerline is valid? [False, False] Translation: X:5.26, Y:0.25, Z:0.09 [[ 9.99510310e-01 -4.87745262e-03 -3.09087362e-02 5.25631782e+00] [ 4.59786159e-03 9.99947929e-01 -9.11032343e-03 2.53956762e-01] [ 3.09515619e-02 8.96374811e-03 9.99480691e-01 8.76580034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48463044 meters Centerline goodness [0,1] 0.31900815688996875 Centerline is valid? [False, False] Translation: X:5.24, Y:0.25, Z:0.09 [[ 9.99511122e-01 3.47490242e-03 -3.10715715e-02 5.23599195e+00] [-3.78493753e-03 9.99943584e-01 -9.92485298e-03 2.52085711e-01] [ 3.10353306e-02 1.00376049e-02 9.99467886e-01 8.57889258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51463044 meters Centerline goodness [0,1] 0.3151826582606443 Centerline is valid? [False, False] Translation: X:5.24, Y:0.25, Z:0.09 [[ 9.99501012e-01 3.45892502e-03 -3.13968665e-02 5.23720066e+00] [-3.77217652e-03 9.99943647e-01 -9.92341547e-03 2.52200268e-01] [ 3.13607728e-02 1.00368983e-02 9.99457734e-01 8.51442652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54463044 meters Centerline goodness [0,1] 0.3150708795157111 Centerline is valid? [False, False] Translation: X:5.24, Y:0.25, Z:0.08 [[ 9.99495320e-01 3.41561316e-03 -3.15822470e-02 5.23812778e+00] [-3.73168900e-03 9.99943490e-01 -9.95450227e-03 2.52151032e-01] [ 3.15464615e-02 1.00673336e-02 9.99451584e-01 8.44436324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57463044 meters Centerline goodness [0,1] 0.3098867080852161 Centerline is valid? [False, False] Translation: X:5.26, Y:0.25, Z:0.09 [[ 9.99469177e-01 -4.55449716e-03 -3.22586508e-02 5.25920396e+00] [ 4.26273501e-03 9.99949440e-01 -9.10746820e-03 2.54535382e-01] [ 3.22984998e-02 8.96512367e-03 9.99438059e-01 8.60120437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60463044 meters Centerline goodness [0,1] 0.31524793567074494 Centerline is valid? [False, False] Translation: X:5.26, Y:0.25, Z:0.09 [[ 9.99462702e-01 -4.56334382e-03 -3.24573967e-02 5.25950400e+00] [ 4.26799681e-03 9.99948911e-01 -9.16299784e-03 2.54822540e-01] [ 3.24975523e-02 9.01954651e-03 9.99431117e-01 8.62394826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63463044 meters Centerline goodness [0,1] 0.31336694726363856 Centerline is valid? [False, False] Translation: X:5.26, Y:0.25, Z:0.09 [[ 9.99451643e-01 -4.29925499e-03 -3.28318386e-02 5.26037498e+00] [ 4.00899813e-03 9.99952345e-01 -8.90143081e-03 2.54898139e-01] [ 3.28685435e-02 8.76492687e-03 9.99421250e-01 8.62493915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66463044 meters Centerline goodness [0,1] 0.31559314682281503 Centerline is valid? [False, False] Translation: X:5.26, Y:0.25, Z:0.09 [[ 9.99451221e-01 -4.18242460e-03 -3.28597576e-02 5.26060102e+00] [ 3.89698474e-03 9.99954161e-01 -8.74585659e-03 2.54714784e-01] [ 3.28948302e-02 8.61300307e-03 9.99421706e-01 8.60772023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.69463044 meters Centerline goodness [0,1] 0.3134810412764033 Centerline is valid? [False, False] Translation: X:5.26, Y:0.25, Z:0.09 [[ 9.99449805e-01 -4.15792161e-03 -3.29059057e-02 5.26079800e+00] [ 3.87406064e-03 9.99954776e-01 -8.68550518e-03 2.54339767e-01] [ 3.29405312e-02 8.55324699e-03 9.99420714e-01 8.59590327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72463044 meters Centerline goodness [0,1] 0.3126507580978636 Centerline is valid? [False, False] Translation: X:5.26, Y:0.25, Z:0.09 [[ 9.99455379e-01 -4.47316051e-03 -3.26945759e-02 5.25984443e+00] [ 4.18102693e-03 9.99950775e-01 -8.99814284e-03 2.54045668e-01] [ 3.27332166e-02 8.85654537e-03 9.99424884e-01 8.66107727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.75463044 meters Centerline goodness [0,1] 0.31375741863604223 Centerline is valid? [False, False] Translation: X:5.26, Y:0.25, Z:0.09 [[ 9.99463582e-01 -4.50173291e-03 -3.24389046e-02 5.25871779e+00] [ 4.20874923e-03 9.99949787e-01 -9.09448958e-03 2.54481215e-01] [ 3.24782167e-02 8.95308392e-03 9.99432343e-01 8.73452101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78463044 meters Centerline goodness [0,1] 0.3183411089372864 Centerline is valid? [False, False] Translation: X:5.26, Y:0.26, Z:0.09 [[ 9.99472491e-01 -4.41655032e-03 -3.21750570e-02 5.25775868e+00] [ 4.12541946e-03 9.99950001e-01 -9.10911289e-03 2.55292621e-01] [ 3.22136792e-02 8.97157214e-03 9.99440738e-01 8.78786976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.81463044 meters Centerline goodness [0,1] 0.3192239858906526 Centerline is valid? [False, False] Translation: X:5.26, Y:0.26, Z:0.09 [[ 9.99479735e-01 -4.33004974e-03 -3.19610594e-02 5.25719073e+00] [ 4.04045468e-03 9.99950250e-01 -9.11990251e-03 2.56110230e-01] [ 3.19989590e-02 8.98602054e-03 9.99447506e-01 8.80336571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84463044 meters Centerline goodness [0,1] 0.3192530585962653 Centerline is valid? [False, False] Translation: X:5.26, Y:0.26, Z:0.09 [[ 9.99482131e-01 -4.37649831e-03 -3.18797233e-02 5.25695314e+00] [ 4.08095357e-03 9.99948149e-01 -9.32979294e-03 2.57366408e-01] [ 3.19189021e-02 9.19486166e-03 9.99448167e-01 8.81640254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87463044 meters Centerline goodness [0,1] 0.31966894286455183 Centerline is valid? [False, False] Translation: X:5.26, Y:0.26, Z:0.09 [[ 9.99483225e-01 -4.46745917e-03 -3.18327615e-02 5.25672870e+00] [ 4.16405441e-03 9.99945334e-01 -9.59113830e-03 2.58650877e-01] [ 3.18738694e-02 9.45362849e-03 9.99447190e-01 8.83465806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90463044 meters Centerline goodness [0,1] 0.31987477059268055 Centerline is valid? [False, False] Translation: X:5.25, Y:0.26, Z:0.09 [[ 9.99508382e-01 -2.26973183e-03 -3.12704624e-02 5.25346423e+00] [ 2.02594124e-03 9.99967327e-01 -7.82567328e-03 2.62013108e-01] [ 3.12872029e-02 7.75847392e-03 9.99480323e-01 9.05358138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93463044 meters Centerline goodness [0,1] 0.32137083737471706 Centerline is valid? [False, False] Translation: X:5.25, Y:0.26, Z:0.09 [[ 9.99508862e-01 -2.25460337e-03 -3.12562257e-02 5.25331223e+00] [ 2.00524736e-03 9.99965934e-01 -8.00685464e-03 2.63588164e-01] [ 3.12732132e-02 7.94024570e-03 9.99479334e-01 9.08033200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96463044 meters Centerline goodness [0,1] 0.32137083737471706 Centerline is valid? [False, False] Translation: X:5.25, Y:0.26, Z:0.09 [[ 9.99508862e-01 -2.25460337e-03 -3.12562257e-02 5.25331223e+00] [ 2.00524736e-03 9.99965934e-01 -8.00685464e-03 2.63588164e-01] [ 3.12732132e-02 7.94024570e-03 9.99479334e-01 9.08033200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99463043999998 meters Centerline goodness [0,1] 0.32115719913037866 Centerline is valid? [False, False] Translation: X:5.25, Y:0.27, Z:0.09 [[ 9.99508118e-01 -2.28302143e-03 -3.12779575e-02 5.25332253e+00] [ 2.02660731e-03 9.99964103e-01 -8.22716801e-03 2.65116678e-01] [ 3.12956175e-02 8.15973307e-03 9.99476865e-01 9.09361675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02463043999998 meters Centerline goodness [0,1] 0.32344984541394706 Centerline is valid? [False, False] Translation: X:5.25, Y:0.27, Z:0.09 [[ 9.99510979e-01 -2.35672311e-03 -3.11809112e-02 5.25327480e+00] [ 2.09380196e-03 9.99962004e-01 -8.46208490e-03 2.66381964e-01] [ 3.11996693e-02 8.39266010e-03 9.99477936e-01 9.07255091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05463043999998 meters Centerline goodness [0,1] 0.32426705872178496 Centerline is valid? [False, False] Translation: X:5.25, Y:0.27, Z:0.09 [[ 9.99507731e-01 -2.48926017e-03 -3.12745844e-02 5.25396973e+00] [ 2.21613807e-03 9.99959134e-01 -8.76466662e-03 2.67758671e-01] [ 3.12951239e-02 8.69104325e-03 9.99472401e-01 9.00955093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08463043999998 meters Centerline goodness [0,1] 0.3236354218375672 Centerline is valid? [False, False] Translation: X:5.25, Y:0.27, Z:0.09 [[ 9.99499764e-01 -2.46558794e-03 -3.15300180e-02 5.25464859e+00] [ 2.19114335e-03 9.99959441e-01 -8.73582362e-03 2.67770831e-01] [ 3.15502781e-02 8.66236686e-03 9.99464628e-01 8.99627799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11463043999998 meters Centerline goodness [0,1] 0.3254394159949595 Centerline is valid? [False, False] Translation: X:5.26, Y:0.27, Z:0.09 [[ 9.99489793e-01 -2.35074302e-03 -3.18532204e-02 5.25548864e+00] [ 2.07924446e-03 9.99961253e-01 -8.55387049e-03 2.67334157e-01] [ 3.18720941e-02 8.48327561e-03 9.99455954e-01 8.98189928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14463044 meters Centerline goodness [0,1] 0.3225827314864719 Centerline is valid? [False, False] Translation: X:5.26, Y:0.27, Z:0.09 [[ 9.99480109e-01 -2.26648800e-03 -3.21617049e-02 5.25633557e+00] [ 1.99674232e-03 9.99962584e-01 -8.41681011e-03 2.66850647e-01] [ 3.21795782e-02 8.34821564e-03 9.99447238e-01 8.96539998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17463044 meters Centerline goodness [0,1] 0.31899068686997845 Centerline is valid? [False, False] Translation: X:5.26, Y:0.27, Z:0.09 [[ 9.99476001e-01 -2.28854075e-03 -3.22875645e-02 5.25663714e+00] [ 2.01826702e-03 9.99962675e-01 -8.40093968e-03 2.66460606e-01] [ 3.23055852e-02 8.33137266e-03 9.99443314e-01 8.96929881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20463044 meters Centerline goodness [0,1] 0.3226656384551121 Centerline is valid? [False, False] Translation: X:5.26, Y:0.27, Z:0.09 [[ 9.99471353e-01 -2.29524520e-03 -3.24306298e-02 5.25674599e+00] [ 2.02103188e-03 9.99961954e-01 -8.48563248e-03 2.66743272e-01] [ 3.24488726e-02 8.41560324e-03 9.99437966e-01 9.00457240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23463044 meters Centerline goodness [0,1] 0.3218718514866342 Centerline is valid? [False, False] Translation: X:5.26, Y:0.27, Z:0.09 [[ 9.99466741e-01 -2.23652981e-03 -3.25765415e-02 5.25716616e+00] [ 1.95975594e-03 9.99961736e-01 -8.52556269e-03 2.67409672e-01] [ 3.25943627e-02 8.45717429e-03 9.99432881e-01 8.99861319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26463044 meters Centerline goodness [0,1] 0.3226596182594189 Centerline is valid? [False, False] Translation: X:5.26, Y:0.27, Z:0.09 [[ 9.99458551e-01 -2.11034695e-03 -3.28352267e-02 5.25777986e+00] [ 1.83051764e-03 9.99961773e-01 -8.54995665e-03 2.68402119e-01] [ 3.28520149e-02 8.48522182e-03 9.99424207e-01 9.00379544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29463044 meters Centerline goodness [0,1] 0.3239908868159739 Centerline is valid? [False, False] Translation: X:5.26, Y:0.27, Z:0.09 [[ 9.99447234e-01 -1.89714975e-03 -3.31907560e-02 5.25867646e+00] [ 1.61397834e-03 9.99962091e-01 -8.55634766e-03 2.69767892e-01] [ 3.32057304e-02 8.49804885e-03 9.99412409e-01 9.00374288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32463044 meters Centerline goodness [0,1] 0.3237463915321287 Centerline is valid? [False, False] Translation: X:5.26, Y:0.27, Z:0.09 [[ 9.99440331e-01 1.69018316e-03 -3.34090999e-02 5.25892528e+00] [-1.88090229e-03 9.99982111e-01 -5.67799466e-03 2.73787469e-01] [ 3.33989054e-02 5.73765611e-03 9.99425631e-01 9.05233249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35463044 meters Centerline goodness [0,1] 0.32483485169034154 Centerline is valid? [False, False] Translation: X:5.26, Y:0.28, Z:0.09 [[ 9.99438137e-01 1.83225871e-03 -3.34671953e-02 5.25882777e+00] [-2.03322103e-03 9.99980102e-01 -5.97170993e-03 2.76671436e-01] [ 3.34555877e-02 6.03640085e-03 9.99421976e-01 9.09690628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38463044 meters Centerline goodness [0,1] 0.3225488937390337 Centerline is valid? [False, False] Translation: X:5.28, Y:0.28, Z:0.09 [[ 9.99463708e-01 -3.11041692e-03 -3.25978872e-02 5.27962390e+00] [ 3.03247614e-03 9.99992425e-01 -2.44014317e-03 2.80445439e-01] [ 3.26052301e-02 2.33998223e-03 9.99465569e-01 9.20227022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41463044 meters Centerline goodness [0,1] 0.328098832024708 Centerline is valid? [False, False] Translation: X:5.26, Y:0.28, Z:0.09 [[ 9.99432703e-01 5.68469621e-03 -3.31957434e-02 5.25826585e+00] [-5.80294191e-03 9.99977153e-01 -3.46681744e-03 2.81590962e-01] [ 3.31752771e-02 3.65748369e-03 9.99442857e-01 9.09766183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44463044 meters Centerline goodness [0,1] 0.324707345311093 Centerline is valid? [False, False] Translation: X:5.28, Y:0.29, Z:0.09 [[ 9.99434444e-01 -2.15266535e-03 -3.35582715e-02 5.27862137e+00] [ 2.05840937e-03 9.99993840e-01 -2.84302078e-03 2.87709357e-01] [ 3.35641849e-02 2.77233623e-03 9.99432719e-01 9.24646490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.47463044 meters Centerline goodness [0,1] 0.32601645224339015 Centerline is valid? [False, False] Translation: X:5.28, Y:0.29, Z:0.09 [[ 9.99429412e-01 -2.34639917e-03 -3.36948914e-02 5.27918313e+00] [ 2.23864686e-03 9.99992261e-01 -3.23525311e-03 2.89299262e-01] [ 3.37022218e-02 3.15797614e-03 9.99426930e-01 9.21310679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50463044 meters Centerline goodness [0,1] 0.32411414370795666 Centerline is valid? [False, False] Translation: X:5.28, Y:0.29, Z:0.09 [[ 9.99417387e-01 -2.63379032e-03 -3.40286743e-02 5.28007562e+00] [ 2.50822134e-03 9.99989889e-01 -3.73225449e-03 2.91280224e-01] [ 3.40381602e-02 3.64472858e-03 9.99413888e-01 9.20224593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.53463044 meters Centerline goodness [0,1] 0.3253677263512056 Centerline is valid? [False, False] Translation: X:5.28, Y:0.29, Z:0.09 [[ 9.99418194e-01 -2.64664254e-03 -3.40039634e-02 5.27982669e+00] [ 2.51580589e-03 9.99989270e-01 -3.88989821e-03 2.92558593e-01] [ 3.40138937e-02 3.80208767e-03 9.99414128e-01 9.23536538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56463044 meters Centerline goodness [0,1] 0.32677199343866015 Centerline is valid? [False, False] Translation: X:5.28, Y:0.29, Z:0.09 [[ 9.99424508e-01 -2.63532505e-03 -3.38187455e-02 5.27910323e+00] [ 2.49808543e-03 9.99988476e-01 -4.09970494e-03 2.94318114e-01] [ 3.38291598e-02 4.01286347e-03 9.99419574e-01 9.28468085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59463044 meters Centerline goodness [0,1] 0.3262110409890796 Centerline is valid? [False, False] Translation: X:5.28, Y:0.30, Z:0.09 [[ 9.99435523e-01 -2.61611639e-03 -3.34931461e-02 5.27805284e+00] [ 2.47089234e-03 9.99987370e-01 -4.37659000e-03 2.96391969e-01] [ 3.35041727e-02 4.29136156e-03 9.99429365e-01 9.34103957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62463044 meters Centerline goodness [0,1] 0.3300091252770173 Centerline is valid? [False, False] Translation: X:5.28, Y:0.30, Z:0.09 [[ 9.99467173e-01 -9.44090560e-04 -3.26263388e-02 5.27518483e+00] [ 8.25101302e-04 9.99992961e-01 -3.66030184e-03 3.03349196e-01] [ 3.26295648e-02 3.63143150e-03 9.99460917e-01 9.46453451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65463044 meters Centerline goodness [0,1] 0.3288567493112947 Centerline is valid? [False, False] Translation: X:5.30, Y:0.30, Z:0.10 [[ 9.99472669e-01 6.93918680e-03 -3.17211440e-02 5.29515403e+00] [-7.10276186e-03 9.99962039e-01 -5.04688547e-03 3.03475161e-01] [ 3.16849186e-02 5.26953182e-03 9.99484016e-01 9.63013576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68463044 meters Centerline goodness [0,1] 0.32954325214807156 Centerline is valid? [False, False] Translation: X:5.29, Y:0.31, Z:0.10 [[ 0.9994722 0.0070728 -0.03170639 5.29497141] [-0.0072498 0.99995875 -0.00547121 0.30686808] [ 0.03166638 0.00569818 0.99948225 0.09664399] [ 0. 0. 0. 1. ]] SLAMing on 142.71463044 meters Centerline goodness [0,1] 0.3305673194746007 Centerline is valid? [False, False] Translation: X:5.29, Y:0.31, Z:0.10 [[ 0.9994719 0.00731535 -0.03166069 5.29464085] [-0.00750321 0.99995492 -0.00581883 0.31083162] [ 0.0316167 0.00605332 0.99948174 0.09708915] [ 0. 0. 0. 1. ]] SLAMing on 142.74463043999998 meters Centerline goodness [0,1] 0.3308554977871353 Centerline is valid? [False, False] Translation: X:5.29, Y:0.32, Z:0.10 [[ 0.99947259 0.00763565 -0.03156319 5.29430735] [-0.00783232 0.99995065 -0.00611225 0.31517042] [ 0.03151496 0.00635624 0.99948307 0.09738891] [ 0. 0. 0. 1. ]] SLAMing on 142.77463043999998 meters Centerline goodness [0,1] 0.3297733450334953 Centerline is valid? [False, False] Translation: X:5.29, Y:0.32, Z:0.10 [[ 0.99947271 0.00789208 -0.03149616 5.29406808] [-0.00810088 0.99994601 -0.00650731 0.31991764] [ 0.0314431 0.00675903 0.99948269 0.09766883] [ 0. 0. 0. 1. ]] SLAMing on 142.80463043999998 meters Centerline goodness [0,1] 0.32701411648780065 Centerline is valid? [False, False] Translation: X:5.30, Y:0.33, Z:0.10 [[ 0.99943992 0.01033499 -0.03182823 5.29558095] [-0.01051636 0.99992938 -0.00553616 0.33062195] [ 0.03176876 0.00586778 0.99947802 0.09714059] [ 0. 0. 0. 1. ]] SLAMing on 142.83463043999998 meters Centerline goodness [0,1] 0.3282228922103192 Centerline is valid? [False, False] Translation: X:5.30, Y:0.34, Z:0.10 [[ 0.99941897 0.01050946 -0.03242345 5.2972248 ] [-0.01070864 0.99992481 -0.00597572 0.3365096 ] [ 0.03235821 0.00631946 0.99945636 0.09689348] [ 0. 0. 0. 1. ]] SLAMing on 142.86463043999998 meters Centerline goodness [0,1] 0.3255184851217313 Centerline is valid? [False, False] Translation: X:5.30, Y:0.34, Z:0.10 [[ 0.99939432 0.01106753 -0.03299247 5.29870622] [-0.01127166 0.99991843 -0.00600757 0.34299768] [ 0.03292329 0.00637582 0.99943754 0.09679724] [ 0. 0. 0. 1. ]] SLAMing on 142.89463044 meters Centerline goodness [0,1] 0.32892078910044265 Centerline is valid? [False, False] Translation: X:5.30, Y:0.35, Z:0.10 [[ 9.99350478e-01 1.44563160e-02 -3.30096526e-02 5.29905219e+00] [-1.45891045e-02 9.99886408e-01 -3.78539841e-03 3.52617390e-01] [ 3.29511801e-02 4.26452098e-03 9.99447864e-01 9.67342538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92463044 meters Centerline goodness [0,1] 0.3277325480685952 Centerline is valid? [False, False] Translation: X:5.28, Y:0.36, Z:0.09 [[ 9.99475278e-01 7.68674725e-03 -3.14655729e-02 5.28163407e+00] [-7.80960628e-03 9.99962347e-01 -3.78351879e-03 3.63876345e-01] [ 3.14353052e-02 4.02726723e-03 9.99497675e-01 9.44523131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95463044 meters Centerline goodness [0,1] 0.32684766214177974 Centerline is valid? [False, False] Translation: X:5.30, Y:0.37, Z:0.10 [[ 9.99430287e-01 9.78163663e-04 -3.37363912e-02 5.30017378e+00] [-1.07899232e-03 9.99995006e-01 -2.97064454e-03 3.74992659e-01] [ 3.37333169e-02 3.00535343e-03 9.99426351e-01 9.71985956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98463044 meters Centerline goodness [0,1] 0.32296318454733874 Centerline is valid? [False, False] Translation: X:5.30, Y:0.38, Z:0.10 [[ 9.99385290e-01 2.80356783e-03 -3.49454233e-02 5.30454510e+00] [-2.86814051e-03 9.99994271e-01 -1.79782251e-03 3.81016795e-01] [ 3.49401827e-02 1.89694575e-03 9.99387605e-01 9.56404436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01463044 meters Centerline goodness [0,1] 0.3217661558246705 Centerline is valid? [False, False] Translation: X:5.31, Y:0.39, Z:0.10 [[ 9.99368097e-01 2.79058357e-03 -3.54347210e-02 5.30589661e+00] [-2.87572482e-03 9.99993099e-01 -2.35202426e-03 3.86059943e-01] [ 3.54279129e-02 2.45243852e-03 9.99369225e-01 9.53907019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04463044 meters Centerline goodness [0,1] 0.32578687001793005 Centerline is valid? [False, False] Translation: X:5.31, Y:0.39, Z:0.10 [[ 9.99356141e-01 2.39408179e-03 -3.57990587e-02 5.30684490e+00] [-2.51990383e-03 9.99990805e-01 -3.46996803e-03 3.94982865e-01] [ 3.57904221e-02 3.55794404e-03 9.99352984e-01 9.53271163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07463044 meters Centerline goodness [0,1] 0.3246409837475277 Centerline is valid? [False, False] Translation: X:5.31, Y:0.40, Z:0.10 [[ 9.99351975e-01 2.05292258e-03 -3.59362640e-02 5.30717680e+00] [-2.19863907e-03 9.99989520e-01 -4.01581068e-03 3.97192363e-01] [ 3.59276433e-02 4.09221921e-03 9.99346015e-01 9.53596876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10463044 meters Centerline goodness [0,1] 0.32001541623843777 Centerline is valid? [False, False] Translation: X:5.31, Y:0.40, Z:0.10 [[ 9.99348450e-01 1.77400584e-03 -3.60489605e-02 5.30749534e+00] [-1.93161577e-03 9.99988726e-01 -4.33775017e-03 3.98387614e-01] [ 3.60408589e-02 4.40455666e-03 9.99340611e-01 9.53392520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13463044 meters Centerline goodness [0,1] 0.32839527689425296 Centerline is valid? [False, False] Translation: X:5.29, Y:0.40, Z:0.09 [[ 9.99319718e-01 -6.10953137e-03 -3.63699652e-02 5.28709344e+00] [ 5.98775408e-03 9.99976100e-01 -3.45627592e-03 4.02930779e-01] [ 3.63902122e-02 3.23615028e-03 9.99332417e-01 9.35014480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16463044 meters Centerline goodness [0,1] 0.32287014771556166 Centerline is valid? [False, False] Translation: X:5.31, Y:0.40, Z:0.09 [[ 9.99349442e-01 7.10658532e-04 -3.60581080e-02 5.30638023e+00] [-8.67582400e-04 9.99990221e-01 -4.33651165e-03 3.99554392e-01] [ 3.60546736e-02 4.36497388e-03 9.99340286e-01 9.47307110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.19463044 meters Centerline goodness [0,1] 0.32564135898769286 Centerline is valid? [False, False] Translation: X:5.31, Y:0.40, Z:0.09 [[ 9.99343385e-01 2.52212459e-04 -3.62316889e-02 5.30718891e+00] [-4.21844097e-04 9.99988986e-01 -4.67429016e-03 3.99756711e-01] [ 3.62301110e-02 4.68650508e-03 9.99332485e-01 9.43222098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22463044 meters Centerline goodness [0,1] 0.32480027489047336 Centerline is valid? [False, False] Translation: X:5.31, Y:0.40, Z:0.09 [[ 9.99334467e-01 1.11604009e-04 -3.64775409e-02 5.30791082e+00] [-2.89774432e-04 9.99988055e-01 -4.87913650e-03 4.00210133e-01] [ 3.64765606e-02 4.88645953e-03 9.99322562e-01 9.41987479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.25463044 meters Centerline goodness [0,1] 0.3263969003722166 Centerline is valid? [False, False] Translation: X:5.31, Y:0.40, Z:0.09 [[ 9.99330501e-01 2.28925285e-05 -3.65861970e-02 5.30807216e+00] [-2.10856953e-04 9.99986800e-01 -5.13372728e-03 4.01358554e-01] [ 3.65855965e-02 5.13800471e-03 9.99317314e-01 9.43536524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28463044 meters Centerline goodness [0,1] 0.3241845493562232 Centerline is valid? [False, False] Translation: X:5.33, Y:0.40, Z:0.09 [[ 9.99355522e-01 -5.77070158e-03 -3.54293548e-02 5.32904133e+00] [ 5.69968249e-03 9.99981541e-01 -2.10520033e-03 4.04553093e-01] [ 3.54408493e-02 1.90190750e-03 9.99369966e-01 9.49809003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.31463044 meters Centerline goodness [0,1] 0.3230157023015703 Centerline is valid? [False, False] Translation: X:5.32, Y:0.41, Z:0.10 [[ 9.99403077e-01 -4.07693630e-03 -3.43055005e-02 5.32497457e+00] [ 4.05339446e-03 9.99991499e-01 -7.55760466e-04 4.06062700e-01] [ 3.43082900e-02 6.16255610e-04 9.99411107e-01 9.65997708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34463044 meters Centerline goodness [0,1] 0.32626000432619506 Centerline is valid? [False, False] Translation: X:5.32, Y:0.41, Z:0.10 [[ 9.99415116e-01 -3.67942228e-03 -3.39983455e-02 5.32403109e+00] [ 3.65390619e-03 9.99992994e-01 -8.12610785e-04 4.08368263e-01] [ 3.40010972e-02 6.87908737e-04 9.99421559e-01 9.69741845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37463044 meters Centerline goodness [0,1] 0.32481021913507235 Centerline is valid? [False, False] Translation: X:5.34, Y:0.41, Z:0.10 [[ 9.99443158e-01 5.80574387e-03 -3.28582859e-02 5.34465109e+00] [-5.84197338e-03 9.99982429e-01 -1.00670095e-03 4.10748926e-01] [ 3.28518639e-02 1.19809760e-03 9.99459514e-01 9.78658088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40463044 meters Centerline goodness [0,1] 0.32646565443675 Centerline is valid? [False, False] Translation: X:5.34, Y:0.41, Z:0.10 [[ 9.99439487e-01 5.90024458e-03 -3.29529856e-02 5.34479926e+00] [-5.94418532e-03 9.99981570e-01 -1.23562955e-03 4.12521143e-01] [ 3.29450878e-02 1.43081561e-03 9.99456139e-01 9.79117025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43463044 meters Centerline goodness [0,1] 0.32233562274001326 Centerline is valid? [False, False] Translation: X:5.34, Y:0.41, Z:0.10 [[ 9.99440835e-01 5.99823934e-03 -3.28943639e-02 5.34453885e+00] [-6.04536516e-03 9.99980838e-01 -1.33337135e-03 4.13685290e-01] [ 3.28857357e-02 1.53148421e-03 9.99457945e-01 9.80698461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46463044 meters Centerline goodness [0,1] 0.3234864121087031 Centerline is valid? [False, False] Translation: X:5.34, Y:0.41, Z:0.10 [[ 9.99444703e-01 6.00564585e-03 -3.27752536e-02 5.34410019e+00] [-6.05502036e-03 9.99980678e-01 -1.40741021e-03 4.14107568e-01] [ 3.27661679e-02 1.60508351e-03 9.99461756e-01 9.82752756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49463043999998 meters Centerline goodness [0,1] 0.3227265872417433 Centerline is valid? [False, False] Translation: X:5.34, Y:0.41, Z:0.10 [[ 9.99445983e-01 5.97477690e-03 -3.27418541e-02 5.34404352e+00] [-6.02449712e-03 9.99980844e-01 -1.42010872e-03 4.13832575e-01] [ 3.27327421e-02 1.61657517e-03 9.99462833e-01 9.82142665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52463043999998 meters Centerline goodness [0,1] 0.3205533681877837 Centerline is valid? [False, False] Translation: X:5.34, Y:0.41, Z:0.10 [[ 9.99446484e-01 5.90974601e-03 -3.27383660e-02 5.34405406e+00] [-5.95856944e-03 9.99981276e-01 -1.39395828e-03 4.13097326e-01] [ 3.27295151e-02 1.58826053e-03 9.99462984e-01 9.81784774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55463043999998 meters Centerline goodness [0,1] 0.3212208988132552 Centerline is valid? [False, False] Translation: X:5.35, Y:0.41, Z:0.10 [[ 9.99430933e-01 6.11315795e-03 -3.31728656e-02 5.34549630e+00] [-6.14636288e-03 9.99980707e-01 -8.99083594e-04 4.10738309e-01] [ 3.31667294e-02 1.10246443e-03 9.99449225e-01 9.76030288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58463043999998 meters Centerline goodness [0,1] 0.3200311297505296 Centerline is valid? [False, False] Translation: X:5.35, Y:0.41, Z:0.10 [[ 9.99419512e-01 6.24490547e-03 -3.34909062e-02 5.34663509e+00] [-6.26991066e-03 9.99980138e-01 -6.41655445e-04 4.09688373e-01] [ 3.34862339e-02 8.51267962e-04 9.99438816e-01 9.70368599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61463043999998 meters Centerline goodness [0,1] 0.31856906800575124 Centerline is valid? [False, False] Translation: X:5.37, Y:0.41, Z:0.10 [[ 9.99428250e-01 -1.85836411e-03 -3.37597401e-02 5.36604913e+00] [ 1.87975664e-03 9.99998052e-01 6.01941537e-04 4.12930691e-01] [ 3.37585557e-02 -6.65057472e-04 9.99429796e-01 9.84082218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64463044 meters Centerline goodness [0,1] 0.3160713903113149 Centerline is valid? [False, False] Translation: X:5.37, Y:0.41, Z:0.10 [[ 9.99427935e-01 -1.84128984e-03 -3.37699913e-02 5.36615495e+00] [ 1.86789275e-03 9.99997970e-01 7.56236321e-04 4.11620598e-01] [ 3.37685303e-02 -8.18882427e-04 9.99429345e-01 9.82981982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67463044 meters Centerline goodness [0,1] 0.31963648166179814 Centerline is valid? [False, False] Translation: X:5.37, Y:0.41, Z:0.10 [[ 9.99428214e-01 -1.62918309e-03 -3.37726222e-02 5.36629477e+00] [ 1.67890662e-03 9.99997548e-01 1.44399643e-03 4.07769291e-01] [ 3.37701868e-02 -1.49987186e-03 9.99428499e-01 9.81974376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70463044 meters Centerline goodness [0,1] 0.3210914263545842 Centerline is valid? [False, False] Translation: X:5.37, Y:0.41, Z:0.10 [[ 9.99424455e-01 -1.47124021e-03 -3.38909036e-02 5.36687038e+00] [ 1.53560365e-03 9.99997067e-01 1.87318550e-03 4.05514325e-01] [ 3.38880483e-02 -1.92415039e-03 9.99423783e-01 9.78394719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73463044 meters Centerline goodness [0,1] 0.3168816119825755 Centerline is valid? [False, False] Translation: X:5.37, Y:0.40, Z:0.10 [[ 9.99417003e-01 -1.40544658e-03 -3.41127474e-02 5.36772960e+00] [ 1.48102339e-03 9.99996504e-01 2.19033341e-03 4.03247844e-01] [ 3.41095498e-02 -2.23957822e-03 9.99415591e-01 9.74548630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76463044 meters Centerline goodness [0,1] 0.3164272410028046 Centerline is valid? [False, False] Translation: X:5.37, Y:0.40, Z:0.10 [[ 9.99413622e-01 -1.34795120e-03 -3.42139666e-02 5.36827389e+00] [ 1.43354842e-03 9.99995904e-01 2.47741345e-03 4.01180357e-01] [ 3.42104870e-02 -2.52500812e-03 9.99411460e-01 9.70646378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79463044 meters Centerline goodness [0,1] 0.31978237214363436 Centerline is valid? [False, False] Translation: X:5.35, Y:0.39, Z:0.10 [[ 9.99377050e-01 7.35374384e-03 -3.45171572e-02 5.34869644e+00] [-7.28968079e-03 9.99971467e-01 1.98145880e-03 3.93071038e-01] [ 3.45307435e-02 -1.72860539e-03 9.99402141e-01 9.53703750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82463044 meters Centerline goodness [0,1] 0.31978237214363436 Centerline is valid? [False, False] Translation: X:5.35, Y:0.39, Z:0.10 [[ 9.99377050e-01 7.35374384e-03 -3.45171572e-02 5.34869644e+00] [-7.28968079e-03 9.99971467e-01 1.98145880e-03 3.93071038e-01] [ 3.45307435e-02 -1.72860539e-03 9.99402141e-01 9.53703750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85463044 meters Centerline goodness [0,1] 0.3143888912772451 Centerline is valid? [False, False] Translation: X:5.37, Y:0.39, Z:0.10 [[ 9.99446345e-01 8.41832211e-04 -3.32610123e-02 5.36911937e+00] [-6.85312306e-04 9.99988640e-01 4.71692706e-03 3.94883837e-01] [ 3.32646053e-02 -4.69152133e-03 9.99435569e-01 9.56012655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88463044 meters Centerline goodness [0,1] 0.316530377632692 Centerline is valid? [False, False] Translation: X:5.37, Y:0.39, Z:0.10 [[ 9.99452771e-01 1.00369651e-03 -3.30628464e-02 5.36859651e+00] [-8.41672133e-04 9.99987572e-01 4.91405026e-03 3.94355595e-01] [ 3.30673677e-02 -4.88353307e-03 9.99441194e-01 9.57070233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91463044 meters Centerline goodness [0,1] 0.3122386515497694 Centerline is valid? [False, False] Translation: X:5.37, Y:0.39, Z:0.10 [[ 9.99453575e-01 1.06851996e-03 -3.30364843e-02 5.36864224e+00] [-9.04152131e-04 9.99987142e-01 4.98988161e-03 3.93796924e-01] [ 3.30413913e-02 -4.95728500e-03 9.99441690e-01 9.55473639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94463044 meters Centerline goodness [0,1] 0.3119552881218013 Centerline is valid? [False, False] Translation: X:5.37, Y:0.39, Z:0.10 [[ 9.99450179e-01 1.09985998e-03 -3.31380304e-02 5.36908592e+00] [-9.33680551e-04 9.99986914e-01 5.02982196e-03 3.93098353e-01] [ 3.31431289e-02 -4.99611613e-03 9.99438128e-01 9.52612192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.97463044 meters Centerline goodness [0,1] 0.3154238975202319 Centerline is valid? [False, False] Translation: X:5.37, Y:0.39, Z:0.10 [[ 9.99456027e-01 1.17711253e-03 -3.29585118e-02 5.36869999e+00] [-1.00907833e-03 9.99986412e-01 5.11452454e-03 3.92355256e-01] [ 3.29640843e-02 -5.07848466e-03 9.99443634e-01 9.51765053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00463044 meters Centerline goodness [0,1] 0.3112560054907344 Centerline is valid? [False, False] Translation: X:5.37, Y:0.39, Z:0.10 [[ 9.99459566e-01 1.28280866e-03 -3.28470878e-02 5.36822017e+00] [-1.11057662e-03 9.99985543e-01 5.26115718e-03 3.91848796e-01] [ 3.28533620e-02 -5.22183466e-03 9.99446541e-01 9.55379089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.03463044 meters Centerline goodness [0,1] 0.3141847486478916 Centerline is valid? [False, False] Translation: X:5.37, Y:0.39, Z:0.10 [[ 9.99464906e-01 1.31604128e-03 -3.26828615e-02 5.36761327e+00] [-1.14171607e-03 9.99985027e-01 5.35193148e-03 3.91344818e-01] [ 3.26894155e-02 -5.31175315e-03 9.99451443e-01 9.58457419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06463044 meters Centerline goodness [0,1] 0.311362907536077 Centerline is valid? [False, False] Translation: X:5.37, Y:0.39, Z:0.10 [[ 9.99467137e-01 1.31490439e-03 -3.26146011e-02 5.36745858e+00] [-1.13994093e-03 9.99984864e-01 5.38258873e-03 3.90994178e-01] [ 3.26211850e-02 -5.34254184e-03 9.99453508e-01 9.58723198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09463044 meters Centerline goodness [0,1] 0.31165948275862065 Centerline is valid? [False, False] Translation: X:5.37, Y:0.39, Z:0.10 [[ 9.99465588e-01 1.31375466e-03 -3.26620952e-02 5.36774678e+00] [-1.13951078e-03 9.99985024e-01 5.35278524e-03 3.91003874e-01] [ 3.26686383e-02 -5.31270584e-03 9.99452118e-01 9.56165878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12463044 meters Centerline goodness [0,1] 0.3092957987874113 Centerline is valid? [False, False] Translation: X:5.37, Y:0.39, Z:0.10 [[ 9.99462137e-01 1.40153969e-03 -3.27638959e-02 5.36815070e+00] [-1.22477454e-03 9.99984591e-01 5.41456733e-03 3.91135451e-01] [ 3.27709797e-02 -5.37152665e-03 9.99448453e-01 9.53876269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15463044 meters Centerline goodness [0,1] 0.31249055381625823 Centerline is valid? [False, False] Translation: X:5.37, Y:0.39, Z:0.10 [[ 9.99458303e-01 1.44601831e-03 -3.28786966e-02 5.36845912e+00] [-1.26721525e-03 9.99984300e-01 5.45845253e-03 3.91111009e-01] [ 3.28860734e-02 -5.41383131e-03 9.99444444e-01 9.53379238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18463044 meters Centerline goodness [0,1] 0.3108767987554557 Centerline is valid? [False, False] Translation: X:5.37, Y:0.39, Z:0.10 [[ 9.99457159e-01 1.43271599e-03 -3.29140434e-02 5.36852359e+00] [-1.25366983e-03 9.99984309e-01 5.45980379e-03 3.90926128e-01] [ 3.29213493e-02 -5.41557665e-03 9.99443273e-01 9.53310535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21463044 meters Centerline goodness [0,1] 0.30848759142875526 Centerline is valid? [False, False] Translation: X:5.37, Y:0.39, Z:0.10 [[ 9.99449994e-01 1.33582895e-03 -3.31349524e-02 5.36908038e+00] [-1.15098826e-03 9.99983675e-01 5.59686722e-03 3.88841946e-01] [ 3.31418880e-02 -5.55565097e-03 9.99435216e-01 9.53359737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24463043999998 meters Centerline goodness [0,1] 0.31173319509244857 Centerline is valid? [False, False] Translation: X:5.37, Y:0.39, Z:0.10 [[ 9.99454172e-01 1.38787521e-03 -3.30065461e-02 5.36874842e+00] [-1.19412520e-03 9.99981946e-01 5.88903606e-03 3.87105609e-01] [ 3.30141235e-02 -5.84640771e-03 9.99437786e-01 9.54079068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27463043999998 meters Centerline goodness [0,1] 0.31413034058410605 Centerline is valid? [False, False] Translation: X:5.37, Y:0.38, Z:0.10 [[ 9.99463036e-01 1.53964834e-03 -3.27302588e-02 5.36817777e+00] [-1.32980737e-03 9.99978430e-01 6.43202439e-03 3.84452885e-01] [ 3.27394559e-02 -6.38504568e-03 9.99443525e-01 9.54630400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30463043999998 meters Centerline goodness [0,1] 0.3172169811320755 Centerline is valid? [False, False] Translation: X:5.37, Y:0.38, Z:0.10 [[ 9.99470884e-01 1.70732202e-03 -3.24813399e-02 5.36763363e+00] [-1.48248495e-03 9.99974785e-01 6.94486220e-03 3.82099246e-01] [ 3.24923780e-02 -6.89303446e-03 9.99448213e-01 9.55483550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33463043999998 meters Centerline goodness [0,1] 0.31303615030575427 Centerline is valid? [False, False] Translation: X:5.37, Y:0.38, Z:0.10 [[ 9.99477774e-01 1.79847254e-03 -3.22636619e-02 5.36715256e+00] [-1.56387302e-03 9.99972168e-01 7.29508516e-03 3.80257545e-01] [ 3.22758839e-02 -7.24081921e-03 9.99452769e-01 9.56302108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36463043999998 meters Centerline goodness [0,1] 0.3153996524761077 Centerline is valid? [False, False] Translation: X:5.37, Y:0.38, Z:0.09 [[ 9.99469955e-01 -1.39554144e-03 -3.25247908e-02 5.36844779e+00] [ 1.53342426e-03 9.99989942e-01 4.21475661e-03 3.78764356e-01] [ 3.25185818e-02 -4.26239691e-03 9.99462042e-01 9.47929984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39463044 meters Centerline goodness [0,1] 0.3150233214014535 Centerline is valid? [False, False] Translation: X:5.37, Y:0.38, Z:0.09 [[ 9.99458519e-01 -1.44621702e-03 -3.28721458e-02 5.36960577e+00] [ 1.58199471e-03 9.99990324e-01 4.10484487e-03 3.78861014e-01] [ 3.28658912e-02 -4.15462573e-03 9.99451136e-01 9.42432367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42463044 meters Centerline goodness [0,1] 0.3126336017964718 Centerline is valid? [False, False] Translation: X:5.37, Y:0.38, Z:0.09 [[ 9.99442422e-01 -1.24225297e-03 -3.33661648e-02 5.37103228e+00] [ 1.37964131e-03 9.99990664e-01 4.09488716e-03 3.79715335e-01] [ 3.33607665e-02 -4.13863728e-03 9.99434806e-01 9.37778816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45463044 meters Centerline goodness [0,1] 0.3128903295515937 Centerline is valid? [False, False] Translation: X:5.37, Y:0.38, Z:0.09 [[ 9.99435433e-01 -8.84640719e-04 -3.35861870e-02 5.37176344e+00] [ 1.02427995e-03 9.99990903e-01 4.14066076e-03 3.81192561e-01] [ 3.35822185e-02 -4.17272474e-03 9.99427247e-01 9.33570282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48463044 meters Centerline goodness [0,1] 0.31242379376415264 Centerline is valid? [False, False] Translation: X:5.37, Y:0.38, Z:0.09 [[ 9.99433660e-01 -5.60245396e-04 -3.36458928e-02 5.37199166e+00] [ 6.99970632e-04 9.99991180e-01 4.14118170e-03 3.82833283e-01] [ 3.36432760e-02 -4.16238751e-03 9.99425237e-01 9.31672885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51463044 meters Centerline goodness [0,1] 0.3111260606323647 Centerline is valid? [False, False] Translation: X:5.37, Y:0.39, Z:0.09 [[ 9.99436330e-01 -4.12685944e-04 -3.35686284e-02 5.37200537e+00] [ 5.37795102e-04 9.99992944e-01 3.71802297e-03 3.85677956e-01] [ 3.35668571e-02 -3.73398028e-03 9.99429499e-01 9.28427319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54463044 meters Centerline goodness [0,1] 0.3070337310102137 Centerline is valid? [False, False] Translation: X:5.39, Y:0.38, Z:0.09 [[ 9.99430142e-01 7.04041364e-03 -3.30124704e-02 5.39194885e+00] [-6.96879024e-03 9.99973109e-01 2.28414580e-03 3.83926306e-01] [ 3.30276640e-02 -2.05278718e-03 9.99452330e-01 9.45594557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57463044 meters Centerline goodness [0,1] 0.3070045667974529 Centerline is valid? [False, False] Translation: X:5.39, Y:0.38, Z:0.09 [[ 9.99429069e-01 6.97074983e-03 -3.30597140e-02 5.39213583e+00] [-6.90513954e-03 9.99973958e-01 2.09835797e-03 3.84773760e-01] [ 3.30734802e-02 -1.86887802e-03 9.99451175e-01 9.44019404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60463044 meters Centerline goodness [0,1] 0.3064081160909208 Centerline is valid? [False, False] Translation: X:5.39, Y:0.39, Z:0.09 [[ 9.99424665e-01 6.99071507e-03 -3.31883838e-02 5.39259610e+00] [-6.92729720e-03 9.99973955e-01 2.02544701e-03 3.85416970e-01] [ 3.32016787e-02 -1.79437590e-03 9.99447062e-01 9.41564867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63463044 meters Centerline goodness [0,1] 0.31159655852458656 Centerline is valid? [False, False] Translation: X:5.37, Y:0.39, Z:0.09 [[ 9.99463565e-01 -2.18215433e-04 -3.27495705e-02 5.37369790e+00] [ 3.25225386e-04 9.99994626e-01 3.26223096e-03 3.89386989e-01] [ 3.27486827e-02 -3.27113198e-03 9.99458265e-01 9.16685223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66463044 meters Centerline goodness [0,1] 0.30982628986258753 Centerline is valid? [False, False] Translation: X:5.37, Y:0.39, Z:0.09 [[ 9.99466618e-01 -2.01155009e-04 -3.26563891e-02 5.37316420e+00] [ 3.10595100e-04 9.99994353e-01 3.34622303e-03 3.88976004e-01] [ 3.26555316e-02 -3.35458112e-03 9.99461036e-01 9.21739267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.69463044 meters Centerline goodness [0,1] 0.3104629370328085 Centerline is valid? [False, False] Translation: X:5.37, Y:0.39, Z:0.09 [[ 9.99473123e-01 -1.69114032e-04 -3.24568481e-02 5.37236206e+00] [ 2.81894460e-04 9.99993939e-01 3.47023621e-03 3.88476857e-01] [ 3.24560646e-02 -3.47755723e-03 9.99467113e-01 9.27567347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72463044 meters Centerline goodness [0,1] 0.3161541319694884 Centerline is valid? [False, False] Translation: X:5.35, Y:0.38, Z:0.09 [[ 9.99458183e-01 8.10553964e-03 -3.19004811e-02 5.35230404e+00] [-8.02392864e-03 9.99964202e-01 2.68548736e-03 3.82180218e-01] [ 3.19211064e-02 -2.42806513e-03 9.99487442e-01 9.15565030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.75463044 meters Centerline goodness [0,1] 0.31155409495805586 Centerline is valid? [False, False] Translation: X:5.37, Y:0.38, Z:0.09 [[ 9.99514428e-01 -1.13080740e-04 -3.11591922e-02 5.37214077e+00] [ 2.33987884e-04 9.99992458e-01 3.87668520e-03 3.84249821e-01] [ 3.11585188e-02 -3.88209366e-03 9.99506916e-01 9.27683603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78463044 meters Centerline goodness [0,1] 0.313502630382542 Centerline is valid? [False, False] Translation: X:5.37, Y:0.38, Z:0.09 [[ 9.99517468e-01 -9.77542894e-05 -3.10615721e-02 5.37194985e+00] [ 2.25298155e-04 9.99991559e-01 4.10268924e-03 3.82614366e-01] [ 3.10609088e-02 -4.10770768e-03 9.99509053e-01 9.27688416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.81463044 meters Centerline goodness [0,1] 0.30745049399084723 Centerline is valid? [False, False] Translation: X:5.39, Y:0.38, Z:0.09 [[ 9.99516172e-01 7.02018888e-03 -3.03008087e-02 5.39082360e+00] [-6.93462496e-03 9.99971669e-01 2.92798104e-03 3.77691617e-01] [ 3.03205053e-02 -2.71643965e-03 9.99536537e-01 9.48308095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84463044 meters Centerline goodness [0,1] 0.3122098022355976 Centerline is valid? [False, False] Translation: X:5.39, Y:0.38, Z:0.10 [[ 9.99522671e-01 7.04605748e-03 -3.00796141e-02 5.39016997e+00] [-6.95486264e-03 9.99970899e-01 3.13533115e-03 3.76322486e-01] [ 3.01008305e-02 -2.92463498e-03 9.99542589e-01 9.50872056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87463044 meters Centerline goodness [0,1] 0.31417384156102623 Centerline is valid? [False, False] Translation: X:5.39, Y:0.38, Z:0.10 [[ 9.99527149e-01 7.10326046e-03 -2.99169035e-02 5.38977991e+00] [-7.00696111e-03 9.99969931e-01 3.32250304e-03 3.75220010e-01] [ 2.99396045e-02 -3.11130541e-03 9.99546867e-01 9.51263379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90463044 meters Centerline goodness [0,1] 0.31109248753653085 Centerline is valid? [False, False] Translation: X:5.41, Y:0.38, Z:0.10 [[ 9.99565954e-01 -1.03465508e-03 -2.94420416e-02 5.40836610e+00] [ 1.16757072e-03 9.99989204e-01 4.49765099e-03 3.78609366e-01] [ 2.94370702e-02 -4.53007447e-03 9.99556370e-01 9.68198801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93463044 meters Centerline goodness [0,1] 0.31310261707988984 Centerline is valid? [False, False] Translation: X:5.41, Y:0.38, Z:0.10 [[ 9.99575757e-01 -9.80017570e-04 -2.91092182e-02 5.40729107e+00] [ 1.12215713e-03 9.99987526e-01 4.86703948e-03 3.76123955e-01] [ 2.91040853e-02 -4.89763978e-03 9.99564388e-01 9.73211669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96463044 meters Centerline goodness [0,1] 0.3136010669190561 Centerline is valid? [False, False] Translation: X:5.41, Y:0.37, Z:0.10 [[ 9.99577614e-01 -8.20489537e-04 -2.90503051e-02 5.40712176e+00] [ 9.73563881e-04 9.99985716e-01 5.25553325e-03 3.74348146e-01] [ 2.90455780e-02 -5.28159571e-03 9.99564135e-01 9.74451850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99463043999998 meters Centerline goodness [0,1] 0.3165987161693269 Centerline is valid? [False, False] Translation: X:5.41, Y:0.37, Z:0.10 [[ 9.99574662e-01 -6.76318220e-04 -2.91553992e-02 5.40749307e+00] [ 8.43234941e-04 9.99983324e-01 5.71315587e-03 3.71953858e-01] [ 2.91510491e-02 -5.73531070e-03 9.99558564e-01 9.73373746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02463043999998 meters Centerline goodness [0,1] 0.3169254152643578 Centerline is valid? [False, False] Translation: X:5.41, Y:0.37, Z:0.10 [[ 9.99569420e-01 -5.83479024e-04 -2.93365584e-02 5.40820815e+00] [ 7.64338352e-04 9.99980771e-01 6.15414514e-03 3.69278207e-01] [ 2.93324035e-02 -6.17391835e-03 9.99550645e-01 9.70006086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05463043999998 meters Centerline goodness [0,1] 0.31440831464550634 Centerline is valid? [False, False] Translation: X:5.41, Y:0.37, Z:0.10 [[ 9.99562014e-01 -6.08448560e-04 -2.95873232e-02 5.40904838e+00] [ 8.01406797e-04 9.99978487e-01 6.51023143e-03 3.66208390e-01] [ 2.95827256e-02 -6.53109152e-03 9.99540998e-01 9.67306877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08463043999998 meters Centerline goodness [0,1] 0.31094000641642605 Centerline is valid? [False, False] Translation: X:5.43, Y:0.36, Z:0.10 [[ 9.99517951e-01 3.35109062e-03 -3.08648083e-02 5.42998523e+00] [-3.24804578e-03 9.99988985e-01 3.38811906e-03 3.56795182e-01] [ 3.08758222e-02 -3.28623551e-03 9.99517826e-01 9.84508530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11463043999998 meters Centerline goodness [0,1] 0.3163121795010494 Centerline is valid? [False, False] Translation: X:5.43, Y:0.35, Z:0.10 [[ 9.99515206e-01 3.50550528e-03 -3.09364451e-02 5.43036072e+00] [-3.38587516e-03 9.99986591e-01 3.91850341e-03 3.53789830e-01] [ 3.09497666e-02 -3.81185681e-03 9.99513673e-01 9.82358761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14463044 meters Centerline goodness [0,1] 0.31487406325825085 Centerline is valid? [False, False] Translation: X:5.43, Y:0.35, Z:0.10 [[ 9.99506462e-01 3.69476378e-03 -3.11958448e-02 5.43127041e+00] [-3.55816587e-03 9.99983843e-01 4.43310008e-03 3.51187114e-01] [ 3.12117201e-02 -4.31991219e-03 9.99503460e-01 9.78493603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17463044 meters Centerline goodness [0,1] 0.3125402619712261 Centerline is valid? [False, False] Translation: X:5.43, Y:0.35, Z:0.10 [[ 9.99497961e-01 3.85991153e-03 -3.14471995e-02 5.43224189e+00] [-3.70910071e-03 9.99981347e-01 4.85260798e-03 3.49057181e-01] [ 3.14653436e-02 -4.73353095e-03 9.99493635e-01 9.73501993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20463044 meters Centerline goodness [0,1] 0.3150821953553101 Centerline is valid? [False, False] Translation: X:5.41, Y:0.35, Z:0.09 [[ 9.99474229e-01 -3.73834833e-03 -3.22070043e-02 5.41390769e+00] [ 3.94693825e-03 9.99971632e-01 6.41539900e-03 3.49315589e-01] [ 3.21821076e-02 -6.53914502e-03 9.99460630e-01 9.49019339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23463044 meters Centerline goodness [0,1] 0.31336993170225647 Centerline is valid? [False, False] Translation: X:5.43, Y:0.34, Z:0.10 [[ 9.99412702e-01 3.16694465e-03 -3.41206784e-02 5.43378866e+00] [-2.97495979e-03 9.99979466e-01 5.67594282e-03 3.40321775e-01] [ 3.41379532e-02 -5.57110171e-03 9.99401602e-01 9.75167580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26463044 meters Centerline goodness [0,1] 0.31223464171215665 Centerline is valid? [False, False] Translation: X:5.43, Y:0.34, Z:0.10 [[ 9.99406301e-01 3.35049500e-03 -3.42902196e-02 5.43439341e+00] [-3.14132441e-03 9.99976142e-01 6.15206470e-03 3.37696321e-01] [ 3.43100140e-02 -6.04069552e-03 9.99392982e-01 9.72882036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29463044 meters Centerline goodness [0,1] 0.3085579297755825 Centerline is valid? [False, False] Translation: X:5.44, Y:0.33, Z:0.10 [[ 9.99397995e-01 3.51370087e-03 -3.45152477e-02 5.43501225e+00] [-3.28511492e-03 9.99972311e-01 6.67723195e-03 3.34603141e-01] [ 3.45377538e-02 -6.55982567e-03 9.99381865e-01 9.72133521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32463044 meters Centerline goodness [0,1] 0.3072486225895317 Centerline is valid? [False, False] Translation: X:5.44, Y:0.33, Z:0.10 [[ 9.99395091e-01 3.43976846e-03 -3.46066459e-02 5.43575786e+00] [-3.19389272e-03 9.99969283e-01 7.15764548e-03 3.26988713e-01] [ 3.46302036e-02 -7.04278584e-03 9.99375379e-01 9.67495491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35463044 meters Centerline goodness [0,1] 0.3064921668493328 Centerline is valid? [False, False] Translation: X:5.44, Y:0.32, Z:0.10 [[ 9.99395679e-01 3.52952815e-03 -3.45806328e-02 5.43574013e+00] [-3.27320224e-03 9.99966770e-01 7.46622223e-03 3.24969383e-01] [ 3.46058359e-02 -7.34852082e-03 9.99374022e-01 9.67375366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38463044 meters Centerline goodness [0,1] 0.30822713965903226 Centerline is valid? [False, False] Translation: X:5.44, Y:0.32, Z:0.10 [[ 9.99398416e-01 3.58635084e-03 -3.44955721e-02 5.43551557e+00] [-3.32378932e-03 9.99965093e-01 7.66579166e-03 3.23594432e-01] [ 3.45218602e-02 -7.54652403e-03 9.99375451e-01 9.68046365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41463044 meters Centerline goodness [0,1] 0.3067921758279718 Centerline is valid? [False, False] Translation: X:5.44, Y:0.32, Z:0.10 [[ 9.99402905e-01 3.64481408e-03 -3.43591277e-02 5.43522780e+00] [-3.37879192e-03 9.99963892e-01 7.79728795e-03 3.22819733e-01] [ 3.43863068e-02 -7.67653988e-03 9.99379134e-01 9.67756930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44463044 meters Centerline goodness [0,1] 0.31091426071741035 Centerline is valid? [False, False] Translation: X:5.42, Y:0.33, Z:0.09 [[ 9.99463273e-01 -2.85636993e-03 -3.26344463e-02 5.41609931e+00] [ 3.15842039e-03 9.99952620e-01 9.20777337e-03 3.25852685e-01] [ 3.26065992e-02 -9.30590461e-03 9.99424940e-01 9.46169965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.47463044 meters Centerline goodness [0,1] 0.30587703824807466 Centerline is valid? [False, False] Translation: X:5.44, Y:0.32, Z:0.10 [[ 9.99442105e-01 4.98682749e-03 -3.30243896e-02 5.43679568e+00] [-4.71454792e-03 9.99954295e-01 8.31754559e-03 3.23469248e-01] [ 3.30643584e-02 -8.15721021e-03 9.99419936e-01 9.64594044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50463044 meters Centerline goodness [0,1] 0.3043952518447225 Centerline is valid? [False, False] Translation: X:5.44, Y:0.32, Z:0.10 [[ 9.99432035e-01 5.02075826e-03 -3.33226650e-02 5.43779084e+00] [-4.74640955e-03 9.99954231e-01 8.30709980e-03 3.23669191e-01] [ 3.33628477e-02 -8.14421864e-03 9.99410122e-01 9.60650401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.53463044 meters Centerline goodness [0,1] 0.30444079657868595 Centerline is valid? [False, False] Translation: X:5.44, Y:0.32, Z:0.10 [[ 9.99421673e-01 5.00425353e-03 -3.36344487e-02 5.43865925e+00] [-4.72729295e-03 9.99954306e-01 8.30891682e-03 3.23497580e-01] [ 3.36744917e-02 -8.14511166e-03 9.99399663e-01 9.58779638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56463044 meters Centerline goodness [0,1] 0.30623834915680415 Centerline is valid? [False, False] Translation: X:5.44, Y:0.32, Z:0.10 [[ 9.99417187e-01 5.04961109e-03 -3.37607392e-02 5.43894694e+00] [-4.76739682e-03 9.99953064e-01 8.43452382e-03 3.22887646e-01] [ 3.38017457e-02 -8.26865723e-03 9.99394352e-01 9.58925963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59463044 meters Centerline goodness [0,1] 0.3100030630551788 Centerline is valid? [False, False] Translation: X:5.44, Y:0.32, Z:0.10 [[ 9.99421505e-01 5.06677615e-03 -3.36300920e-02 5.43848016e+00] [-4.78122428e-03 9.99951881e-01 8.56595883e-03 3.22150866e-01] [ 3.36718755e-02 -8.40021046e-03 9.99397639e-01 9.61925289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62463044 meters Centerline goodness [0,1] 0.3059530194143516 Centerline is valid? [False, False] Translation: X:5.48, Y:0.32, Z:0.10 [[ 9.99531375e-01 3.68981334e-03 -3.03877574e-02 5.47838970e+00] [-3.44918090e-03 9.99962312e-01 7.96734520e-03 3.22100105e-01] [ 3.04160102e-02 -7.85879863e-03 9.99506431e-01 9.83947937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65463044 meters Centerline goodness [0,1] 0.30686667528772793 Centerline is valid? [False, False] Translation: X:5.48, Y:0.32, Z:0.10 [[ 9.99533199e-01 3.70542087e-03 -3.03257816e-02 5.47813096e+00] [-3.45899123e-03 9.99960606e-01 8.17450738e-03 3.20638658e-01] [ 3.03548770e-02 -8.06579490e-03 9.99506640e-01 9.86202503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68463044 meters Centerline goodness [0,1] 0.30892195724218596 Centerline is valid? [False, False] Translation: X:5.48, Y:0.32, Z:0.10 [[ 9.99530418e-01 3.69995639e-03 -3.04179789e-02 5.47838440e+00] [-3.44658827e-03 9.99958966e-01 8.37776748e-03 3.19149176e-01] [ 3.04477281e-02 -8.26899519e-03 9.99502156e-01 9.86295380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71463044 meters Centerline goodness [0,1] 0.3094659667693376 Centerline is valid? [False, False] Translation: X:5.48, Y:0.32, Z:0.10 [[ 9.99530213e-01 3.77233100e-03 -3.04158219e-02 5.47847082e+00] [-3.50992608e-03 9.99956202e-01 8.67603106e-03 3.17347861e-01] [ 3.04472186e-02 -8.56519788e-03 9.99499677e-01 9.85732084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74463043999998 meters Centerline goodness [0,1] 0.3094659667693376 Centerline is valid? [False, False] Translation: X:5.48, Y:0.32, Z:0.10 [[ 9.99530213e-01 3.77233100e-03 -3.04158219e-02 5.47847082e+00] [-3.50992608e-03 9.99956202e-01 8.67603106e-03 3.17347861e-01] [ 3.04472186e-02 -8.56519788e-03 9.99499677e-01 9.85732084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77463043999998 meters Centerline goodness [0,1] 0.31186329280315483 Centerline is valid? [False, False] Translation: X:5.48, Y:0.31, Z:0.10 [[ 9.99537412e-01 3.92139291e-03 -3.01593317e-02 5.47784061e+00] [-3.64671672e-03 9.99951423e-01 9.15712025e-03 3.14509440e-01] [ 3.01937753e-02 -9.04290174e-03 9.99503158e-01 9.87424529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80463043999998 meters Centerline goodness [0,1] 0.3113080790568654 Centerline is valid? [False, False] Translation: X:5.48, Y:0.31, Z:0.10 [[ 9.99537570e-01 3.96857897e-03 -3.01478986e-02 5.47781456e+00] [-3.68943078e-03 9.99949861e-01 9.30928286e-03 3.13466085e-01] [ 3.01833316e-02 -9.19374939e-03 9.99502097e-01 9.88048014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83463043999998 meters Centerline goodness [0,1] 0.3074445549262894 Centerline is valid? [False, False] Translation: X:5.48, Y:0.31, Z:0.10 [[ 9.99536372e-01 4.03517200e-03 -3.01787754e-02 5.47788157e+00] [-3.75128877e-03 9.99948241e-01 9.45742748e-03 3.12666090e-01] [ 3.02153757e-02 -9.33983345e-03 9.99499774e-01 9.88306227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86463043999998 meters Centerline goodness [0,1] 0.3059610051806788 Centerline is valid? [False, False] Translation: X:5.48, Y:0.31, Z:0.10 [[ 9.99527150e-01 4.32998922e-03 -3.04422066e-02 5.47877725e+00] [-4.03739991e-03 9.99945130e-01 9.66621189e-03 3.12306155e-01] [ 3.04823909e-02 -9.53873386e-03 9.99489788e-01 9.84428939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89463044 meters Centerline goodness [0,1] 0.30855530911518336 Centerline is valid? [False, False] Translation: X:5.48, Y:0.31, Z:0.10 [[ 9.99522004e-01 4.42147090e-03 -3.05976066e-02 5.47916145e+00] [-4.12597440e-03 9.99944307e-01 9.71391154e-03 3.12406292e-01] [ 3.06388523e-02 -9.58302339e-03 9.99484580e-01 9.83924541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92463044 meters Centerline goodness [0,1] 0.3075446467086532 Centerline is valid? [False, False] Translation: X:5.48, Y:0.31, Z:0.10 [[ 9.99519761e-01 4.51661342e-03 -3.06569243e-02 5.47939476e+00] [-4.21897541e-03 9.99943407e-01 9.76642383e-03 3.12420860e-01] [ 3.06993005e-02 -9.63239281e-03 9.99482251e-01 9.82082617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95463044 meters Centerline goodness [0,1] 0.30880058930583243 Centerline is valid? [False, False] Translation: X:5.48, Y:0.31, Z:0.10 [[ 9.99513823e-01 4.60227797e-03 -3.08372479e-02 5.47996376e+00] [-4.29980466e-03 9.99942067e-01 9.86784385e-03 3.12023779e-01] [ 3.08808759e-02 -9.73045219e-03 9.99475707e-01 9.79896753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98463044 meters Centerline goodness [0,1] 0.3076310921839377 Centerline is valid? [False, False] Translation: X:5.48, Y:0.31, Z:0.10 [[ 9.99506493e-01 4.68257737e-03 -3.10619402e-02 5.48075064e+00] [-4.37409849e-03 9.99940516e-01 9.99161613e-03 3.11351650e-01] [ 3.11068790e-02 -9.85081721e-03 9.99467520e-01 9.76148320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01463044 meters Centerline goodness [0,1] 0.30361006963042314 Centerline is valid? [False, False] Translation: X:5.48, Y:0.31, Z:0.10 [[ 9.99500684e-01 4.71256793e-03 -3.12437787e-02 5.48154357e+00] [-4.40048581e-03 9.99939816e-01 1.00498639e-02 3.10802073e-01] [ 3.12892590e-02 -9.90735806e-03 9.99461268e-01 9.71095100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04463044 meters Centerline goodness [0,1] 0.3103635024479009 Centerline is valid? [False, False] Translation: X:5.48, Y:0.31, Z:0.10 [[ 9.99497349e-01 4.72718030e-03 -3.13480895e-02 5.48188065e+00] [-4.41749313e-03 9.99940830e-01 9.94089047e-03 3.11098459e-01] [ 3.13932271e-02 -9.79741370e-03 9.99459092e-01 9.69002853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07463044 meters Centerline goodness [0,1] 0.30586025220245294 Centerline is valid? [False, False] Translation: X:5.48, Y:0.31, Z:0.10 [[ 9.99495010e-01 4.69598052e-03 -3.14272548e-02 5.48197824e+00] [-4.39194765e-03 9.99942957e-01 9.73622678e-03 3.12227558e-01] [ 3.14711832e-02 -9.59328323e-03 9.99458620e-01 9.69511926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10463044 meters Centerline goodness [0,1] 0.30721644993356423 Centerline is valid? [False, False] Translation: X:5.48, Y:0.31, Z:0.10 [[ 9.99493656e-01 4.70504740e-03 -3.14689385e-02 5.48199528e+00] [-4.40624311e-03 9.99944615e-01 9.55783054e-03 3.13514093e-01] [ 3.15121656e-02 -9.41433120e-03 9.99459031e-01 9.69971437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13463044 meters Centerline goodness [0,1] 0.30281146873526765 Centerline is valid? [False, False] Translation: X:5.53, Y:0.32, Z:0.10 [[ 0.9995307 0.00680128 -0.02986835 5.52540994] [-0.00648438 0.99992179 0.01069396 0.32119149] [ 0.02993875 -0.01049527 0.99949663 0.09796154] [ 0. 0. 0. 1. ]] SLAMing on 146.16463044 meters Centerline goodness [0,1] 0.30285542659773024 Centerline is valid? [False, False] Translation: X:5.53, Y:0.32, Z:0.10 [[ 0.99953436 0.00677337 -0.02975208 5.52528587] [-0.00646609 0.99992489 0.01041196 0.32314014] [ 0.02982037 -0.01021474 0.99950308 0.097654 ] [ 0. 0. 0. 1. ]] SLAMing on 146.19463044 meters Centerline goodness [0,1] 0.3059643687064292 Centerline is valid? [False, False] Translation: X:5.53, Y:0.32, Z:0.10 [[ 0.99953425 0.00676319 -0.02975792 5.52544684] [-0.00646132 0.99992681 0.01022881 0.32451862] [ 0.02982492 -0.01003177 0.9995048 0.09743251] [ 0. 0. 0. 1. ]] SLAMing on 146.22463044 meters Centerline goodness [0,1] 0.3013466205622731 Centerline is valid? [False, False] Translation: X:5.53, Y:0.33, Z:0.10 [[ 0.9995357 0.00668682 -0.02972675 5.52543522] [-0.00639107 0.99992924 0.01003301 0.3256023 ] [ 0.02979174 -0.00983837 0.99950771 0.09734367] [ 0. 0. 0. 1. ]] SLAMing on 146.25463044 meters Centerline goodness [0,1] 0.30731390183118434 Centerline is valid? [False, False] Translation: X:5.52, Y:0.33, Z:0.10 [[ 0.99953744 0.0065381 -0.02970109 5.52499707] [-0.00624826 0.99993205 0.00984121 0.32615936] [ 0.02976342 -0.00965107 0.99951038 0.09790309] [ 0. 0. 0. 1. ]] SLAMing on 146.28463044 meters Centerline goodness [0,1] 0.304319807531201 Centerline is valid? [False, False] Translation: X:5.54, Y:0.33, Z:0.10 [[ 9.99558826e-01 -1.60162758e-03 -2.96578672e-02 5.54358076e+00] [ 1.91303702e-03 9.99943309e-01 1.04746660e-02 3.32245400e-01] [ 2.96394093e-02 -1.05267814e-02 9.99505224e-01 1.00016586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.31463044 meters Centerline goodness [0,1] 0.304816046337016 Centerline is valid? [False, False] Translation: X:5.54, Y:0.33, Z:0.10 [[ 9.99567193e-01 -1.81981192e-03 -2.93617941e-02 5.54246537e+00] [ 2.11896348e-03 9.99946135e-01 1.01605672e-02 3.33836545e-01] [ 2.93417223e-02 -1.02183863e-02 9.99517207e-01 1.00661376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34463044 meters Centerline goodness [0,1] 0.30764424527082346 Centerline is valid? [False, False] Translation: X:5.54, Y:0.33, Z:0.10 [[ 9.99574065e-01 -1.79229995e-03 -2.91286049e-02 5.54196975e+00] [ 2.08771330e-03 9.99946668e-01 1.01144465e-02 3.34810406e-01] [ 2.91089233e-02 -1.01709505e-02 9.99524498e-01 1.00650176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37463044 meters Centerline goodness [0,1] 0.3102061989365841 Centerline is valid? [False, False] Translation: X:5.54, Y:0.34, Z:0.10 [[ 9.99578773e-01 -1.83570199e-03 -2.89638977e-02 5.54170442e+00] [ 2.12398908e-03 9.99948483e-01 9.92570065e-03 3.36170013e-01] [ 2.89441849e-02 -9.98303868e-03 9.99531177e-01 1.00489162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40463044 meters Centerline goodness [0,1] 0.3100711132375008 Centerline is valid? [False, False] Translation: X:5.54, Y:0.34, Z:0.10 [[ 9.99576992e-01 -2.04806643e-03 -2.90110641e-02 5.54205226e+00] [ 2.32646449e-03 9.99951541e-01 9.56577101e-03 3.37450454e-01] [ 2.89900669e-02 -9.62921783e-03 9.99533318e-01 1.00139683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43463044 meters Centerline goodness [0,1] 0.3080652080652081 Centerline is valid? [False, False] Translation: X:5.57, Y:0.34, Z:0.10 [[ 9.99555251e-01 3.26828809e-03 -2.96414974e-02 5.56571205e+00] [-3.08551861e-03 9.99975960e-01 6.20964558e-03 3.38677625e-01] [ 2.96610797e-02 -6.11542445e-03 9.99541306e-01 1.01118596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46463044 meters Centerline goodness [0,1] 0.3082844574780058 Centerline is valid? [False, False] Translation: X:5.57, Y:0.34, Z:0.10 [[ 9.99548152e-01 3.28608553e-03 -2.98779899e-02 5.56632521e+00] [-3.10054740e-03 9.99975636e-01 6.25407042e-03 3.38605722e-01] [ 2.98978134e-02 -6.15860641e-03 9.99533988e-01 1.01029798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49463043999998 meters Centerline goodness [0,1] 0.3069234256600678 Centerline is valid? [False, False] Translation: X:5.57, Y:0.34, Z:0.10 [[ 9.99543927e-01 3.25850450e-03 -3.00219999e-02 5.56700887e+00] [-3.07133879e-03 9.99975575e-01 6.27829187e-03 3.38422496e-01] [ 3.00417244e-02 -6.18322078e-03 9.99529521e-01 1.00573373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52463043999998 meters Centerline goodness [0,1] 0.3080615649553331 Centerline is valid? [False, False] Translation: X:5.57, Y:0.34, Z:0.10 [[ 9.99539570e-01 3.19808727e-03 -3.01731664e-02 5.56787180e+00] [-3.00888866e-03 9.99975541e-01 6.31374825e-03 3.37940942e-01] [ 3.01926203e-02 -6.22005352e-03 9.99524745e-01 9.98695394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55463043999998 meters Centerline goodness [0,1] 0.30807266473180694 Centerline is valid? [False, False] Translation: X:5.57, Y:0.34, Z:0.10 [[ 9.99534232e-01 3.15099823e-03 -3.03544176e-02 5.56857890e+00] [-2.95892647e-03 9.99975331e-01 6.37047969e-03 3.37300884e-01] [ 3.03737422e-02 -6.27769604e-03 9.99518897e-01 9.95368159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58463043999998 meters Centerline goodness [0,1] 0.30719151504699493 Centerline is valid? [False, False] Translation: X:5.57, Y:0.34, Z:0.10 [[ 9.99531156e-01 3.14031524e-03 -3.04566480e-02 5.56877953e+00] [-2.94414853e-03 9.99974647e-01 6.48355770e-03 3.36609121e-01] [ 3.04762363e-02 -6.39084902e-03 9.99515060e-01 9.96067529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61463043999998 meters Centerline goodness [0,1] 0.3084526757833531 Centerline is valid? [False, False] Translation: X:5.57, Y:0.34, Z:0.10 [[ 9.99541308e-01 3.05428575e-03 -3.01304733e-02 5.56752686e+00] [-2.85526663e-03 9.99973838e-01 6.64605899e-03 3.35232660e-01] [ 3.01499840e-02 -6.55697996e-03 9.99523879e-01 1.00480027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64463044 meters Centerline goodness [0,1] 0.3090654909130014 Centerline is valid? [False, False] Translation: X:5.57, Y:0.33, Z:0.10 [[ 9.99545350e-01 2.94744936e-03 -3.00067511e-02 5.56718492e+00] [-2.74814144e-03 9.99973904e-01 6.68117799e-03 3.34231626e-01] [ 3.00256605e-02 -6.59567760e-03 9.99527367e-01 1.00621747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67463044 meters Centerline goodness [0,1] 0.30877087018421845 Centerline is valid? [False, False] Translation: X:5.57, Y:0.33, Z:0.10 [[ 9.99544447e-01 2.88590313e-03 -3.00428063e-02 5.56740533e+00] [-2.68434156e-03 9.99973634e-01 6.74731682e-03 3.33268573e-01] [ 3.00614863e-02 -6.66359791e-03 9.99525839e-01 1.00465510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70463044 meters Centerline goodness [0,1] 0.31159216365407516 Centerline is valid? [False, False] Translation: X:5.57, Y:0.33, Z:0.10 [[ 9.99519799e-01 2.93149033e-03 -3.08476650e-02 5.57036566e+00] [-2.72205087e-03 9.99972975e-01 6.82928108e-03 3.32926870e-01] [ 3.08668514e-02 -6.74203274e-03 9.99500767e-01 9.88586913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73463044 meters Centerline goodness [0,1] 0.3102729010950809 Centerline is valid? [False, False] Translation: X:5.57, Y:0.33, Z:0.10 [[ 9.99504758e-01 2.98863670e-03 -3.13258085e-02 5.57214232e+00] [-2.77501263e-03 9.99972615e-01 6.86068557e-03 3.33031257e-01] [ 3.13454547e-02 -6.77035836e-03 9.99485680e-01 9.78833984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76463044 meters Centerline goodness [0,1] 0.30581581106169853 Centerline is valid? [False, False] Translation: X:5.57, Y:0.33, Z:0.10 [[ 9.99494867e-01 2.97928825e-03 -3.16406996e-02 5.57326109e+00] [-2.76434391e-03 9.99972821e-01 6.83485914e-03 3.33067679e-01] [ 3.16602026e-02 -6.74394085e-03 9.99475938e-01 9.73510291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79463044 meters Centerline goodness [0,1] 0.30452895827517346 Centerline is valid? [False, False] Translation: X:5.57, Y:0.33, Z:0.10 [[ 9.99488716e-01 2.79116618e-03 -3.18514766e-02 5.57365938e+00] [-2.57793114e-03 9.99974005e-01 6.73377053e-03 3.32241260e-01] [ 3.18694437e-02 -6.64821674e-03 9.99469929e-01 9.75248202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82463044 meters Centerline goodness [0,1] 0.3052493607511979 Centerline is valid? [False, False] Translation: X:5.57, Y:0.33, Z:0.10 [[ 9.99488636e-01 2.77440455e-03 -3.18554548e-02 5.57352302e+00] [-2.55988414e-03 9.99973786e-01 6.77299102e-03 3.31756025e-01] [ 3.18734108e-02 -6.68798128e-03 9.99469538e-01 9.77367764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85463044 meters Centerline goodness [0,1] 0.30676354541730455 Centerline is valid? [False, False] Translation: X:5.57, Y:0.33, Z:0.10 [[ 9.99491393e-01 2.76855050e-03 -3.17693286e-02 5.57323645e+00] [-2.55403431e-03 9.99973680e-01 6.79089975e-03 3.31509830e-01] [ 3.17872934e-02 -6.70630589e-03 9.99472157e-01 9.78584268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88463044 meters Centerline goodness [0,1] 0.3101322159744686 Centerline is valid? [False, False] Translation: X:5.57, Y:0.33, Z:0.10 [[ 9.99494962e-01 2.82097855e-03 -3.16522346e-02 5.57309562e+00] [-2.60418842e-03 9.99972885e-01 6.88826105e-03 3.31045162e-01] [ 3.16708080e-02 -6.80235383e-03 9.99475206e-01 9.76530973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91463044 meters Centerline goodness [0,1] 0.3090670000862292 Centerline is valid? [False, False] Translation: X:5.57, Y:0.33, Z:0.10 [[ 9.99500461e-01 2.85766384e-03 -3.14747851e-02 5.57285834e+00] [-2.63996282e-03 9.99972321e-01 6.95606604e-03 3.30696147e-01] [ 3.14937920e-02 -6.86949896e-03 9.99480341e-01 9.74553942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94463044 meters Centerline goodness [0,1] 0.3077601410934744 Centerline is valid? [False, False] Translation: X:5.57, Y:0.33, Z:0.10 [[ 9.99525081e-01 3.16707378e-03 -3.06526095e-02 5.57064063e+00] [-2.94899533e-03 9.99970039e-01 7.15711005e-03 3.30862436e-01] [ 3.06743582e-02 -7.06331659e-03 9.99504474e-01 9.78976583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.97463044 meters Centerline goodness [0,1] 0.3085566677429771 Centerline is valid? [False, False] Translation: X:5.57, Y:0.33, Z:0.10 [[ 9.99531954e-01 3.34391137e-03 -3.04087262e-02 5.56977376e+00] [-3.12722883e-03 9.99969402e-01 7.17043886e-03 3.31791169e-01] [ 3.04317731e-02 -7.07198772e-03 9.99511828e-01 9.83146866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00463044 meters Centerline goodness [0,1] 0.3082168208216821 Centerline is valid? [False, False] Translation: X:5.57, Y:0.33, Z:0.10 [[ 9.99537323e-01 3.52027685e-03 -3.02117074e-02 5.56887509e+00] [-3.30726692e-03 9.99969342e-01 7.09765248e-03 3.33056976e-01] [ 3.02357669e-02 -6.99445038e-03 9.99518322e-01 9.88607439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.03463044 meters Centerline goodness [0,1] 0.3045067772694232 Centerline is valid? [False, False] Translation: X:5.57, Y:0.33, Z:0.10 [[ 9.99539357e-01 3.64676469e-03 -3.01292923e-02 5.56847751e+00] [-3.43842882e-03 9.99969842e-01 6.96364771e-03 3.34393717e-01] [ 3.01537784e-02 -6.85684253e-03 9.99521752e-01 9.90799391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06463044 meters Centerline goodness [0,1] 0.30877924982794214 Centerline is valid? [False, False] Translation: X:5.57, Y:0.34, Z:0.10 [[ 9.99538735e-01 3.70421929e-03 -3.01429213e-02 5.56839620e+00] [-3.50257244e-03 9.99971153e-01 6.73974538e-03 3.35859177e-01] [ 3.01670172e-02 -6.63105881e-03 9.99522876e-01 9.91281319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09463044 meters Centerline goodness [0,1] 0.31168296225637915 Centerline is valid? [False, False] Translation: X:5.57, Y:0.34, Z:0.10 [[ 9.99545002e-01 4.30564734e-03 -2.98538254e-02 5.56785882e+00] [-4.10678123e-03 9.99968991e-01 6.71944634e-03 3.38823245e-01] [ 2.98818313e-02 -6.59378587e-03 9.99531689e-01 9.87306229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12463044 meters Centerline goodness [0,1] 0.30908539491356524 Centerline is valid? [False, False] Translation: X:5.57, Y:0.34, Z:0.10 [[ 9.99549634e-01 4.31903553e-03 -2.96963981e-02 5.56755343e+00] [-4.12930854e-03 9.99970690e-01 6.44725001e-03 3.40752940e-01] [ 2.97233736e-02 -6.32172079e-03 9.99538172e-01 9.85572029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15463044 meters Centerline goodness [0,1] 0.3096818840423001 Centerline is valid? [False, False] Translation: X:5.57, Y:0.34, Z:0.10 [[ 9.99555274e-01 4.22367299e-03 -2.95197437e-02 5.56710540e+00] [-4.04512623e-03 9.99973180e-01 6.10548831e-03 3.42534445e-01] [ 2.95447395e-02 -5.98336195e-03 9.99545551e-01 9.84806267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18463044 meters Centerline goodness [0,1] 0.30846691769768697 Centerline is valid? [False, False] Translation: X:5.57, Y:0.35, Z:0.10 [[ 9.99561659e-01 4.00883351e-03 -2.93329039e-02 5.56614438e+00] [-3.84959646e-03 9.99977558e-01 5.48307501e-03 3.45924334e-01] [ 2.93542263e-02 -5.36775171e-03 9.99554659e-01 9.91104342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21463044 meters Centerline goodness [0,1] 0.3084641111396964 Centerline is valid? [False, False] Translation: X:5.57, Y:0.35, Z:0.10 [[ 9.99562291e-01 3.93763108e-03 -2.93210140e-02 5.56607957e+00] [-3.78544709e-03 9.99979085e-01 5.24397156e-03 3.47477051e-01] [ 2.93410496e-02 -5.13068307e-03 9.99556291e-01 9.91397308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24463043999998 meters Centerline goodness [0,1] 0.3058911419423692 Centerline is valid? [False, False] Translation: X:5.57, Y:0.35, Z:0.10 [[ 9.99559470e-01 3.85106282e-03 -2.94284702e-02 5.56654595e+00] [-3.70539667e-03 9.99980621e-01 5.00276977e-03 3.48870746e-01] [ 2.94471659e-02 -4.89152175e-03 9.99554369e-01 9.88399681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27463043999998 meters Centerline goodness [0,1] 0.3119272032315511 Centerline is valid? [False, False] Translation: X:5.52, Y:0.35, Z:0.10 [[ 9.99485436e-01 3.71466386e-03 -3.18600742e-02 5.52301283e+00] [-3.56610220e-03 9.99982509e-01 4.71849745e-03 3.47056476e-01] [ 3.18770446e-02 -4.60245320e-03 9.99481201e-01 9.72823718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30463043999998 meters Centerline goodness [0,1] 0.3094449853943525 Centerline is valid? [False, False] Translation: X:5.52, Y:0.35, Z:0.10 [[ 9.99471518e-01 3.42054031e-03 -3.23262149e-02 5.52462549e+00] [-3.28870707e-03 9.99986062e-01 4.13050489e-03 3.49669913e-01] [ 3.23398929e-02 -4.02201054e-03 9.99468836e-01 9.65149951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33463043999998 meters Centerline goodness [0,1] 0.30555615168358474 Centerline is valid? [False, False] Translation: X:5.53, Y:0.35, Z:0.10 [[ 9.99463327e-01 3.24877071e-03 -3.25960680e-02 5.52549092e+00] [-3.12695810e-03 9.99987939e-01 3.78731509e-03 3.51120424e-01] [ 3.26079790e-02 -3.68335600e-03 9.99461431e-01 9.61409872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36463043999998 meters Centerline goodness [0,1] 0.3071325228357339 Centerline is valid? [False, False] Translation: X:5.53, Y:0.35, Z:0.10 [[ 9.99457006e-01 3.08884567e-03 -3.28047659e-02 5.52618137e+00] [-2.97640330e-03 9.99989530e-01 3.47590347e-03 3.52382885e-01] [ 3.28151590e-02 -3.37637586e-03 9.99455735e-01 9.58281399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39463044 meters Centerline goodness [0,1] 0.30789866516669195 Centerline is valid? [False, False] Translation: X:5.53, Y:0.35, Z:0.10 [[ 9.99448725e-01 2.98445991e-03 -3.30656657e-02 5.52704741e+00] [-2.87682578e-03 9.99990409e-01 3.30226034e-03 3.53146171e-01] [ 3.30752041e-02 -3.20531573e-03 9.99447726e-01 9.54283452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42463044 meters Centerline goodness [0,1] 0.30600633607034333 Centerline is valid? [False, False] Translation: X:5.53, Y:0.35, Z:0.10 [[ 9.99440021e-01 2.93790275e-03 -3.33318535e-02 5.52795587e+00] [-2.83283029e-03 9.99990870e-01 3.19910096e-03 3.53820094e-01] [ 3.33409478e-02 -3.10288605e-03 9.99439219e-01 9.50574992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45463044 meters Centerline goodness [0,1] 0.30614006690406825 Centerline is valid? [False, False] Translation: X:5.53, Y:0.35, Z:0.09 [[ 9.99436134e-01 2.86751991e-03 -3.34543152e-02 5.52855488e+00] [-2.76622415e-03 9.99991450e-01 3.07377466e-03 3.54441990e-01] [ 3.34628433e-02 -2.97949933e-03 9.99435521e-01 9.46478365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48463044 meters Centerline goodness [0,1] 0.30861130314552365 Centerline is valid? [False, False] Translation: X:5.53, Y:0.36, Z:0.09 [[ 9.99429099e-01 2.62299368e-03 -3.36837601e-02 5.52943390e+00] [-2.53671699e-03 9.99993392e-01 2.60385364e-03 3.56434004e-01] [ 3.36903674e-02 -2.51692093e-03 9.99429149e-01 9.41578401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51463044 meters Centerline goodness [0,1] 0.3077374228864367 Centerline is valid? [False, False] Translation: X:5.53, Y:0.36, Z:0.09 [[ 9.99426317e-01 2.47336599e-03 -3.37775042e-02 5.52978814e+00] [-2.39840171e-03 9.99994571e-01 2.25969247e-03 3.58005754e-01] [ 3.37829098e-02 -2.17738410e-03 9.99426823e-01 9.39332981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54463044 meters Centerline goodness [0,1] 0.3048094940662086 Centerline is valid? [False, False] Translation: X:5.53, Y:0.36, Z:0.09 [[ 9.99423911e-01 2.37341719e-03 -3.38557691e-02 5.53008693e+00] [-2.30835234e-03 9.99995413e-01 1.96078181e-03 3.59619376e-01] [ 3.38602675e-02 -1.88150118e-03 9.99424806e-01 9.37455830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57463044 meters Centerline goodness [0,1] 0.30949633081462447 Centerline is valid? [False, False] Translation: X:5.53, Y:0.36, Z:0.09 [[ 9.99425552e-01 2.30954986e-03 -3.38117280e-02 5.52999126e+00] [-2.25231247e-03 9.99995966e-01 1.73081690e-03 3.61010549e-01] [ 3.38155890e-02 -1.65366805e-03 9.99426721e-01 9.36778600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60463044 meters Centerline goodness [0,1] 0.30556213017751477 Centerline is valid? [False, False] Translation: X:5.53, Y:0.36, Z:0.09 [[ 9.99420649e-01 2.25734813e-03 -3.39598339e-02 5.53037853e+00] [-2.20683654e-03 9.99996402e-01 1.52480135e-03 3.62304745e-01] [ 3.39631537e-02 -1.44897415e-03 9.99422035e-01 9.36484409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63463044 meters Centerline goodness [0,1] 0.30556213017751477 Centerline is valid? [False, False] Translation: X:5.53, Y:0.36, Z:0.09 [[ 9.99420649e-01 2.25734813e-03 -3.39598339e-02 5.53037853e+00] [-2.20683654e-03 9.99996402e-01 1.52480135e-03 3.62304745e-01] [ 3.39631537e-02 -1.44897415e-03 9.99422035e-01 9.36484409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66463044 meters Centerline goodness [0,1] 0.30423297467946653 Centerline is valid? [False, False] Translation: X:5.53, Y:0.36, Z:0.09 [[ 9.99408784e-01 2.11253320e-03 -3.43164546e-02 5.53144624e+00] [-2.07313811e-03 9.99997151e-01 1.18353534e-03 3.63907957e-01] [ 3.43188571e-02 -1.11169287e-03 9.99410316e-01 9.33098525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.69463044 meters Centerline goodness [0,1] 0.3018956939440728 Centerline is valid? [False, False] Translation: X:5.53, Y:0.36, Z:0.09 [[ 9.99402350e-01 2.01637691e-03 -3.45090864e-02 5.53194127e+00] [-1.98026374e-03 9.99997455e-01 1.08062968e-03 3.64118346e-01] [ 3.45111775e-02 -1.01164675e-03 9.99403800e-01 9.32914327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72463044 meters Centerline goodness [0,1] 0.302171678231817 Centerline is valid? [False, False] Translation: X:5.53, Y:0.36, Z:0.09 [[ 9.99397746e-01 1.93568709e-03 -3.46467660e-02 5.53229781e+00] [-1.90059521e-03 9.99997647e-01 1.04575295e-03 3.63909548e-01] [ 3.46487087e-02 -9.79273665e-04 9.99399073e-01 9.33224156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.75463044 meters Centerline goodness [0,1] 0.3033099730458221 Centerline is valid? [False, False] Translation: X:5.53, Y:0.36, Z:0.09 [[ 9.99399743e-01 1.93281807e-03 -3.45892692e-02 5.53216493e+00] [-1.89478973e-03 9.99997564e-01 1.13217158e-03 3.63325019e-01] [ 3.45913732e-02 -1.06595260e-03 9.99400971e-01 9.33788985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78463044 meters Centerline goodness [0,1] 0.30384672953150726 Centerline is valid? [False, False] Translation: X:5.55, Y:0.37, Z:0.09 [[ 9.99419349e-01 -6.08104352e-03 -3.35259077e-02 5.55083171e+00] [ 6.16425730e-03 9.99978170e-01 2.37927165e-03 3.67464617e-01] [ 3.35107074e-02 -2.58455244e-03 9.99435017e-01 9.49769815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.81463044 meters Centerline goodness [0,1] 0.31165276329509906 Centerline is valid? [False, False] Translation: X:5.53, Y:0.36, Z:0.10 [[ 9.99494192e-01 -1.09969261e-04 -3.18016856e-02 5.52707010e+00] [ 1.06296196e-04 9.99999987e-01 -1.17189653e-04 3.62329651e-01] [ 3.18016981e-02 1.13749979e-04 9.99494192e-01 9.50361668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84463044 meters Centerline goodness [0,1] 0.3110162883382429 Centerline is valid? [False, False] Translation: X:5.53, Y:0.36, Z:0.10 [[ 9.99497320e-01 -1.31019734e-04 -3.17031485e-02 5.52655493e+00] [ 1.25905420e-04 9.99999979e-01 -1.63315059e-04 3.62640049e-01] [ 3.17031693e-02 1.59241366e-04 9.99497316e-01 9.54685754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87463044 meters Centerline goodness [0,1] 0.30972531872984266 Centerline is valid? [False, False] Translation: X:5.53, Y:0.36, Z:0.10 [[ 9.99497752e-01 -1.45250657e-04 -3.16894651e-02 5.52640286e+00] [ 1.35775525e-04 9.99999945e-01 -3.01151073e-04 3.63625381e-01] [ 3.16895072e-02 2.96697167e-04 9.99497717e-01 9.56229737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90463044 meters Centerline goodness [0,1] 0.3088551042095903 Centerline is valid? [False, False] Translation: X:5.53, Y:0.37, Z:0.10 [[ 9.99492264e-01 -1.24532558e-04 -3.18621799e-02 5.52680220e+00] [ 1.08969903e-04 9.99999874e-01 -4.90172560e-04 3.65266646e-01] [ 3.18622369e-02 4.86451663e-04 9.99492152e-01 9.55956550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93463044 meters Centerline goodness [0,1] 0.3113330722026374 Centerline is valid? [False, False] Translation: X:5.53, Y:0.37, Z:0.10 [[ 9.99490221e-01 -9.30637804e-05 -3.19263008e-02 5.52705009e+00] [ 7.07908549e-05 9.99999753e-01 -6.98765268e-04 3.67018848e-01] [ 3.19263580e-02 6.96148962e-04 9.99489981e-01 9.53816423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96463044 meters Centerline goodness [0,1] 0.3065674649971054 Centerline is valid? [False, False] Translation: X:5.55, Y:0.37, Z:0.10 [[ 9.99491735e-01 7.90730070e-03 -3.08827837e-02 5.54853466e+00] [-7.96529899e-03 9.99966736e-01 -1.75543888e-03 3.68896597e-01] [ 3.08678756e-02 2.00053726e-03 9.99521472e-01 9.61065302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99463043999998 meters Centerline goodness [0,1] 0.3074927088694459 Centerline is valid? [False, False] Translation: X:5.55, Y:0.37, Z:0.10 [[ 9.99493390e-01 7.80588086e-03 -3.08550058e-02 5.54829075e+00] [-7.87138856e-03 9.99967016e-01 -2.00218568e-03 3.70156830e-01] [ 3.08383592e-02 2.24404310e-03 9.99521866e-01 9.63444739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02463043999998 meters Centerline goodness [0,1] 0.31017305234887704 Centerline is valid? [False, False] Translation: X:5.53, Y:0.37, Z:0.09 [[ 9.99574288e-01 4.04527806e-04 -2.91732731e-02 5.52869586e+00] [-4.42224669e-04 9.99999076e-01 -1.28573083e-03 3.74940817e-01] [ 2.91727260e-02 1.29808462e-03 9.99573543e-01 9.40800540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05463043999998 meters Centerline goodness [0,1] 0.3107248743178791 Centerline is valid? [False, False] Translation: X:5.53, Y:0.38, Z:0.09 [[ 9.99572988e-01 2.60766840e-04 -2.92194201e-02 5.52851123e+00] [-3.04036612e-04 9.99998864e-01 -1.47642358e-03 3.75604172e-01] [ 2.92190019e-02 1.48467690e-03 9.99571931e-01 9.45306166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08463043999998 meters Centerline goodness [0,1] 0.31078960380076104 Centerline is valid? [False, False] Translation: X:5.53, Y:0.38, Z:0.09 [[ 9.99576713e-01 -2.19779587e-04 -2.90920215e-02 5.52799520e+00] [ 1.63761565e-04 9.99998128e-01 -1.92791448e-03 3.76382181e-01] [ 2.90923908e-02 1.92233426e-03 9.99574878e-01 9.49253305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11463043999998 meters Centerline goodness [0,1] 0.3113023325679707 Centerline is valid? [False, False] Translation: X:5.53, Y:0.38, Z:0.10 [[ 9.99576808e-01 -2.94036187e-04 -2.90881321e-02 5.52774974e+00] [ 2.36273143e-04 9.99997994e-01 -1.98921137e-03 3.76753525e-01] [ 2.90886586e-02 1.98149681e-03 9.99574871e-01 9.53282380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14463044 meters Centerline goodness [0,1] 0.31270428350249446 Centerline is valid? [False, False] Translation: X:5.53, Y:0.38, Z:0.10 [[ 9.99582949e-01 -3.57076312e-04 -2.88755923e-02 5.52707698e+00] [ 2.98071897e-04 9.99997859e-01 -2.04767958e-03 3.77180436e-01] [ 2.88762617e-02 2.03821859e-03 9.99580916e-01 9.56754214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17463044 meters Centerline goodness [0,1] 0.3120945715261181 Centerline is valid? [False, False] Translation: X:5.53, Y:0.38, Z:0.10 [[ 9.99591820e-01 -3.81429542e-04 -2.85665574e-02 5.52607694e+00] [ 3.22668029e-04 9.99997823e-01 -2.06158513e-03 3.77535769e-01] [ 2.85672815e-02 2.05152612e-03 9.99589767e-01 9.61417174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20463044 meters Centerline goodness [0,1] 0.315136955449261 Centerline is valid? [False, False] Translation: X:5.53, Y:0.38, Z:0.10 [[ 9.99598808e-01 -4.36811908e-04 -2.83201727e-02 5.52521433e+00] [ 3.78857189e-04 9.99997823e-01 -2.05174463e-03 3.77439265e-01] [ 2.83210073e-02 2.04019219e-03 9.99596798e-01 9.66785394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23463044 meters Centerline goodness [0,1] 0.3159177912273573 Centerline is valid? [False, False] Translation: X:5.53, Y:0.38, Z:0.10 [[ 9.99588429e-01 -5.86736247e-04 -2.86815107e-02 5.52608399e+00] [ 5.27662774e-04 9.99997724e-01 -2.06716129e-03 3.76848362e-01] [ 2.86826584e-02 2.05117634e-03 9.99586463e-01 9.67592370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26463044 meters Centerline goodness [0,1] 0.31875580115267554 Centerline is valid? [False, False] Translation: X:5.53, Y:0.38, Z:0.10 [[ 9.99575075e-01 -6.31909400e-04 -2.91422265e-02 5.52732393e+00] [ 5.73418391e-04 9.99997805e-01 -2.01540131e-03 3.76203938e-01] [ 2.91434361e-02 1.99783422e-03 9.99573243e-01 9.65919099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29463044 meters Centerline goodness [0,1] 0.3182269840584093 Centerline is valid? [False, False] Translation: X:5.53, Y:0.38, Z:0.10 [[ 9.99560229e-01 -6.76938616e-04 -2.96460853e-02 5.52851457e+00] [ 6.18551508e-04 9.99997851e-01 -1.97859765e-03 3.75594806e-01] [ 2.96473610e-02 1.95938988e-03 9.99558500e-01 9.65892660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32463044 meters Centerline goodness [0,1] 0.3208389978636629 Centerline is valid? [False, False] Translation: X:5.53, Y:0.37, Z:0.10 [[ 9.99555835e-01 -6.76673096e-04 -2.97938613e-02 5.52823951e+00] [ 6.26702171e-04 9.99998381e-01 -1.68652824e-03 3.73895138e-01] [ 2.97949543e-02 1.66710727e-03 9.99554642e-01 9.75635763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35463044 meters Centerline goodness [0,1] 0.3226564028964708 Centerline is valid? [False, False] Translation: X:5.53, Y:0.37, Z:0.10 [[ 9.99565361e-01 -6.16141255e-04 -2.94738821e-02 5.52710034e+00] [ 5.72370571e-04 9.99998721e-01 -1.49348057e-03 3.73061170e-01] [ 2.94747646e-02 1.47596146e-03 9.99564435e-01 9.82459150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38463044 meters Centerline goodness [0,1] 0.3191975730644334 Centerline is valid? [False, False] Translation: X:5.57, Y:0.37, Z:0.10 [[ 9.99635709e-01 -1.06366920e-03 -2.69688426e-02 5.56787249e+00] [ 1.02958074e-03 9.99998654e-01 -1.27784833e-03 3.74525084e-01] [ 2.69701655e-02 1.24961622e-03 9.99635458e-01 1.00100915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41463044 meters Centerline goodness [0,1] 0.32161713682305026 Centerline is valid? [False, False] Translation: X:5.57, Y:0.37, Z:0.10 [[ 9.99639723e-01 -1.12577236e-03 -2.68171112e-02 5.56762365e+00] [ 1.09133674e-03 9.99998561e-01 -1.29869236e-03 3.74138408e-01] [ 2.68185346e-02 1.26895797e-03 9.99639513e-01 9.99947044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44463044 meters Centerline goodness [0,1] 0.3192446043165468 Centerline is valid? [False, False] Translation: X:5.57, Y:0.37, Z:0.10 [[ 9.99637135e-01 -1.22347069e-03 -2.69091321e-02 5.56817172e+00] [ 1.18641409e-03 9.99998326e-01 -1.39302372e-03 3.73982359e-01] [ 2.69107913e-02 1.36059287e-03 9.99636913e-01 9.95108785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.47463044 meters Centerline goodness [0,1] 0.3193100637161307 Centerline is valid? [False, False] Translation: X:5.57, Y:0.37, Z:0.10 [[ 9.99616738e-01 -1.18673992e-03 -2.76580838e-02 5.57038236e+00] [ 1.15028179e-03 9.99998449e-01 -1.33404566e-03 3.73808107e-01] [ 2.76596241e-02 1.30171978e-03 9.99616552e-01 9.87925330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50463044 meters Centerline goodness [0,1] 0.3183159254872402 Centerline is valid? [False, False] Translation: X:5.57, Y:0.37, Z:0.10 [[ 9.99609797e-01 -1.11727479e-03 -2.79106813e-02 5.57105569e+00] [ 1.08309342e-03 9.99998645e-01 -1.23975772e-03 3.73659312e-01] [ 2.79120286e-02 1.20904409e-03 9.99609652e-01 9.86921632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.53463044 meters Centerline goodness [0,1] 0.31950073294817627 Centerline is valid? [False, False] Translation: X:5.57, Y:0.37, Z:0.10 [[ 9.99607289e-01 -1.16202890e-03 -2.79985186e-02 5.57115420e+00] [ 1.12781079e-03 9.99998598e-01 -1.23790078e-03 3.73341962e-01] [ 2.79999178e-02 1.20583762e-03 9.99607198e-01 9.88783420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56463044 meters Centerline goodness [0,1] 0.3180984441423361 Centerline is valid? [False, False] Translation: X:5.57, Y:0.37, Z:0.10 [[ 9.99608758e-01 -1.23922317e-03 -2.79427021e-02 5.57074111e+00] [ 1.20579731e-03 9.99998537e-01 -1.21304680e-03 3.72570167e-01] [ 2.79441645e-02 1.17887897e-03 9.99608790e-01 9.93224660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59463044 meters Centerline goodness [0,1] 0.3196948533361985 Centerline is valid? [False, False] Translation: X:5.57, Y:0.37, Z:0.10 [[ 9.99612071e-01 -1.26924648e-03 -2.78226075e-02 5.57011516e+00] [ 1.23976748e-03 9.99998652e-01 -1.07675859e-03 3.71364636e-01] [ 2.78239367e-02 1.04184732e-03 9.99612296e-01 9.98761429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62463044 meters Centerline goodness [0,1] 0.3201627212532999 Centerline is valid? [False, False] Translation: X:5.57, Y:0.37, Z:0.10 [[ 9.99623869e-01 -1.07287667e-03 -2.74038269e-02 5.56901540e+00] [ 1.06333547e-03 9.99999369e-01 -3.62740481e-04 3.68180485e-01] [ 2.74041988e-02 3.33464582e-04 9.99624379e-01 1.00230053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65463044 meters Centerline goodness [0,1] 0.32212477749316204 Centerline is valid? [False, False] Translation: X:5.57, Y:0.37, Z:0.10 [[ 9.99627721e-01 -1.00791687e-03 -2.72654268e-02 5.56892253e+00] [ 1.00787991e-03 9.99999492e-01 -1.50984090e-05 3.66232732e-01] [ 2.72654282e-02 -1.23874876e-05 9.99628229e-01 9.99957521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68463044 meters Centerline goodness [0,1] 0.3203180554657703 Centerline is valid? [False, False] Translation: X:5.57, Y:0.36, Z:0.10 [[ 9.99626374e-01 -1.08565831e-03 -2.73117714e-02 5.56918233e+00] [ 1.09155258e-03 9.99999384e-01 2.00906355e-04 3.64095355e-01] [ 2.73115365e-02 -2.30643526e-04 9.99626944e-01 9.98885542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71463044 meters Centerline goodness [0,1] 0.3187016804038081 Centerline is valid? [False, False] Translation: X:5.59, Y:0.36, Z:0.10 [[ 9.99625709e-01 3.58035079e-03 -2.71223672e-02 5.59076979e+00] [-3.66738458e-03 9.99988283e-01 -3.15986676e-03 3.60729126e-01] [ 2.71107360e-02 3.25815220e-03 9.99627127e-01 1.00999477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74463043999998 meters Centerline goodness [0,1] 0.3196645521986883 Centerline is valid? [False, False] Translation: X:5.59, Y:0.36, Z:0.10 [[ 9.99622070e-01 3.50803808e-03 -2.72655630e-02 5.59102803e+00] [-3.58816694e-03 9.99989385e-01 -2.89046015e-03 3.58479543e-01] [ 2.72551338e-02 2.98720115e-03 9.99624046e-01 1.01129022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77463043999998 meters Centerline goodness [0,1] 0.3196140928829657 Centerline is valid? [False, False] Translation: X:5.61, Y:0.36, Z:0.10 [[ 9.99585918e-01 -5.10624680e-03 -2.83181620e-02 5.61372356e+00] [ 5.06737197e-03 9.99986118e-01 -1.44438223e-03 3.57057566e-01] [ 2.83251442e-02 1.30028548e-03 9.99597917e-01 1.01902826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80463043999998 meters Centerline goodness [0,1] 0.3188396391719125 Centerline is valid? [False, False] Translation: X:5.62, Y:0.35, Z:0.10 [[ 9.99575222e-01 -5.08803814e-03 -2.86964549e-02 5.61525883e+00] [ 5.05947554e-03 9.99986631e-01 -1.06785750e-03 3.54557603e-01] [ 2.87015045e-02 9.22214884e-04 9.99587602e-01 1.01061702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83463043999998 meters Centerline goodness [0,1] 0.31997765699185765 Centerline is valid? [False, False] Translation: X:5.62, Y:0.35, Z:0.10 [[ 9.99562973e-01 -5.16606052e-03 -2.91062632e-02 5.61663627e+00] [ 5.14280673e-03 9.99986394e-01 -8.73730997e-04 3.52527430e-01] [ 2.91103809e-02 7.23661266e-04 9.99575941e-01 1.00566167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86463043999998 meters Centerline goodness [0,1] 0.3193456155814004 Centerline is valid? [False, False] Translation: X:5.62, Y:0.35, Z:0.10 [[ 9.99558594e-01 -5.23450465e-03 -2.92440792e-02 5.61705961e+00] [ 5.21511506e-03 9.99986128e-01 -7.39259198e-04 3.50965503e-01] [ 2.92475432e-02 5.86421647e-04 9.99572027e-01 1.00458485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89463044 meters Centerline goodness [0,1] 0.3185975937843015 Centerline is valid? [False, False] Translation: X:5.62, Y:0.35, Z:0.10 [[ 9.99557695e-01 -5.20191296e-03 -2.92806233e-02 5.61684788e+00] [ 5.18804465e-03 9.99986391e-01 -5.49585781e-04 3.49817117e-01] [ 2.92830837e-02 3.97433515e-04 9.99571080e-01 1.00927295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92463044 meters Centerline goodness [0,1] 0.3204837000021632 Centerline is valid? [False, False] Translation: X:5.62, Y:0.35, Z:0.10 [[ 9.99566603e-01 -4.93899450e-03 -2.90208987e-02 5.61563257e+00] [ 4.93358085e-03 9.99987796e-01 -2.58144396e-04 3.49769654e-01] [ 2.90218196e-02 1.14855567e-04 9.99578772e-01 1.01884608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95463044 meters Centerline goodness [0,1] 0.3214757399268192 Centerline is valid? [False, False] Translation: X:5.62, Y:0.35, Z:0.10 [[ 9.99570543e-01 -4.95981612e-03 -2.88813142e-02 5.61536034e+00] [ 4.95091312e-03 9.99987672e-01 -3.79763370e-04 3.50484300e-01] [ 2.88828418e-02 2.36611400e-04 9.99582776e-01 1.01804085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98463044 meters Centerline goodness [0,1] 0.32051032964186255 Centerline is valid? [False, False] Translation: X:5.62, Y:0.35, Z:0.10 [[ 9.99569128e-01 -5.08588202e-03 -2.89083285e-02 5.61584661e+00] [ 5.07057380e-03 9.99986963e-01 -6.02825720e-04 3.51095536e-01] [ 2.89110175e-02 4.55984166e-04 9.99581885e-01 1.01207381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01463044 meters Centerline goodness [0,1] 0.3191659291557839 Centerline is valid? [False, False] Translation: X:5.62, Y:0.35, Z:0.10 [[ 9.99564930e-01 -5.13909343e-03 -2.90437511e-02 5.61657218e+00] [ 5.12089578e-03 9.99986642e-01 -7.00906455e-04 3.51344194e-01] [ 2.90469652e-02 5.51871489e-04 9.99577896e-01 1.00594142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04463044 meters Centerline goodness [0,1] 0.31939056977846736 Centerline is valid? [False, False] Translation: X:5.62, Y:0.35, Z:0.10 [[ 9.99559321e-01 -5.00981942e-03 -2.92585890e-02 5.61705625e+00] [ 4.99291270e-03 9.99987324e-01 -6.50868185e-04 3.52075421e-01] [ 2.92614789e-02 5.04495780e-04 9.99571664e-01 1.00678026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07463044 meters Centerline goodness [0,1] 0.3219214088579314 Centerline is valid? [False, False] Translation: X:5.60, Y:0.35, Z:0.10 [[ 9.99593775e-01 3.33596812e-03 -2.83047156e-02 5.59599497e+00] [-3.37853987e-03 9.99993232e-01 -1.45636101e-03 3.47987560e-01] [ 2.82996657e-02 1.55139801e-03 9.99598280e-01 9.96353004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10463044 meters Centerline goodness [0,1] 0.32160999546053914 Centerline is valid? [False, False] Translation: X:5.61, Y:0.35, Z:0.10 [[ 9.99650238e-01 -4.64303546e-03 -2.60354475e-02 5.61447468e+00] [ 4.63023654e-03 9.99989128e-01 -5.51859967e-04 3.52465053e-01] [ 2.60377268e-02 4.31116667e-04 9.99660868e-01 1.01153027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13463044 meters Centerline goodness [0,1] 0.31986286693807586 Centerline is valid? [False, False] Translation: X:5.63, Y:0.35, Z:0.10 [[ 9.99705758e-01 2.40752039e-03 -2.41371360e-02 5.63258897e+00] [-2.46761353e-03 9.99993929e-01 -2.46017909e-03 3.50667422e-01] [ 2.41310665e-02 2.51901632e-03 9.99705630e-01 1.03412708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16463044 meters Centerline goodness [0,1] 0.3231460868437547 Centerline is valid? [False, False] Translation: X:5.63, Y:0.35, Z:0.10 [[ 9.99706429e-01 2.28576905e-03 -2.41211860e-02 5.63227832e+00] [-2.35334078e-03 9.99993385e-01 -2.77332877e-03 3.52129771e-01] [ 2.41146872e-02 2.82927997e-03 9.99705195e-01 1.03796401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.19463044 meters Centerline goodness [0,1] 0.3235964322142407 Centerline is valid? [False, False] Translation: X:5.63, Y:0.36, Z:0.10 [[ 9.99688454e-01 2.83301936e-03 -2.47985779e-02 5.63444921e+00] [-2.90116597e-03 9.99992113e-01 -2.71245848e-03 3.55469673e-01] [ 2.47906979e-02 2.78355822e-03 9.99688788e-01 1.02932567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22463044 meters Centerline goodness [0,1] 0.32145862552594673 Centerline is valid? [False, False] Translation: X:5.64, Y:0.36, Z:0.10 [[ 9.99681092e-01 2.85359650e-03 -2.50912564e-02 5.63547772e+00] [-2.92946744e-03 9.99991246e-01 -2.98756194e-03 3.57558152e-01] [ 2.50825115e-02 3.06011320e-03 9.99680701e-01 1.02417989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.25463044 meters Centerline goodness [0,1] 0.3172433035714286 Centerline is valid? [False, False] Translation: X:5.64, Y:0.36, Z:0.10 [[ 9.99678584e-01 2.77986957e-03 -2.51992100e-02 5.63592483e+00] [-2.86350744e-03 9.99990509e-01 -3.28358993e-03 3.59130401e-01] [ 2.51898428e-02 3.35469266e-03 9.99677057e-01 1.02120422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28463044 meters Centerline goodness [0,1] 0.3160773421642987 Centerline is valid? [False, False] Translation: X:5.64, Y:0.36, Z:0.10 [[ 9.99674444e-01 2.67618613e-03 -2.53740861e-02 5.63611718e+00] [-2.76730334e-03 9.99989847e-01 -3.55652108e-03 3.60311261e-01] [ 2.53643105e-02 3.62558102e-03 9.99671700e-01 1.02424474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.31463044 meters Centerline goodness [0,1] 0.3218485215286183 Centerline is valid? [False, False] Translation: X:5.64, Y:0.36, Z:0.10 [[ 9.99669776e-01 2.73850177e-03 -2.55507306e-02 5.63657371e+00] [-2.82652457e-03 9.99990193e-01 -3.40954132e-03 3.59732431e-01] [ 2.55411430e-02 3.48063517e-03 9.99667712e-01 1.02385833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34463044 meters Centerline goodness [0,1] 0.3145176838542447 Centerline is valid? [False, False] Translation: X:5.66, Y:0.36, Z:0.10 [[ 9.99658006e-01 -5.17721271e-03 -2.56333293e-02 5.65631759e+00] [ 5.12788604e-03 9.99984873e-01 -1.98967775e-03 3.63044578e-01] [ 2.56432426e-02 1.85755250e-03 9.99669432e-01 1.03841940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37463044 meters Centerline goodness [0,1] 0.32123711340206185 Centerline is valid? [False, False] Translation: X:5.64, Y:0.36, Z:0.10 [[ 9.99674222e-01 2.74828063e-03 -2.53751387e-02 5.63751977e+00] [-2.82461122e-03 9.99991592e-01 -2.97273236e-03 3.56010305e-01] [ 2.53667555e-02 3.04343881e-03 9.99673579e-01 1.01781051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40463044 meters Centerline goodness [0,1] 0.32097167389381487 Centerline is valid? [False, False] Translation: X:5.64, Y:0.35, Z:0.10 [[ 9.99675064e-01 2.76371483e-03 -2.53402308e-02 5.63741877e+00] [-2.83322311e-03 9.99992321e-01 -2.70750826e-03 3.54151199e-01] [ 2.53325535e-02 2.77842303e-03 9.99675218e-01 1.01886725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43463044 meters Centerline goodness [0,1] 0.32067347026654613 Centerline is valid? [False, False] Translation: X:5.64, Y:0.35, Z:0.10 [[ 9.99679453e-01 2.73811862e-03 -2.51693172e-02 5.63696572e+00] [-2.80198022e-03 9.99992944e-01 -2.50236224e-03 3.52356069e-01] [ 2.51622879e-02 2.57208404e-03 9.99680071e-01 1.02030523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46463044 meters Centerline goodness [0,1] 0.32340453328107654 Centerline is valid? [False, False] Translation: X:5.63, Y:0.35, Z:0.10 [[ 9.99704143e-01 1.03128373e-03 -2.43015100e-02 5.63463048e+00] [-1.12371818e-03 9.99992185e-01 -3.79030138e-03 3.47363388e-01] [ 2.42974112e-02 3.81648804e-03 9.99697489e-01 1.02380777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49463043999998 meters Centerline goodness [0,1] 0.3160263140977565 Centerline is valid? [False, False] Translation: X:5.65, Y:0.35, Z:0.10 [[ 9.99683926e-01 -6.81083998e-03 -2.42004337e-02 5.65436047e+00] [ 6.75541724e-03 9.99974371e-01 -2.37117221e-03 3.49129866e-01] [ 2.42159631e-02 2.20693872e-03 9.99704315e-01 1.03597489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52463043999998 meters Centerline goodness [0,1] 0.3218523186579164 Centerline is valid? [False, False] Translation: X:5.64, Y:0.34, Z:0.10 [[ 9.99701609e-01 1.63939760e-03 -2.43722071e-02 5.63541680e+00] [-1.70938594e-03 9.99994475e-01 -2.85108916e-03 3.41028171e-01] [ 2.43673984e-02 2.89189993e-03 9.99698888e-01 1.01594255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55463043999998 meters Centerline goodness [0,1] 0.3218523186579164 Centerline is valid? [False, False] Translation: X:5.64, Y:0.34, Z:0.10 [[ 9.99701609e-01 1.63939760e-03 -2.43722071e-02 5.63541680e+00] [-1.70938594e-03 9.99994475e-01 -2.85108916e-03 3.41028171e-01] [ 2.43673984e-02 2.89189993e-03 9.99698888e-01 1.01594255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58463043999998 meters Centerline goodness [0,1] 0.3151839178785286 Centerline is valid? [False, False] Translation: X:5.66, Y:0.34, Z:0.10 [[ 9.99696629e-01 -5.18132221e-03 -2.40791370e-02 5.65680899e+00] [ 5.17254751e-03 9.99986531e-01 -4.26681286e-04 3.40403160e-01] [ 2.40810235e-02 3.02001363e-04 9.99709964e-01 1.01646161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61463043999998 meters Centerline goodness [0,1] 0.31430158764076155 Centerline is valid? [False, False] Translation: X:5.66, Y:0.34, Z:0.10 [[ 9.99696178e-01 -4.92101990e-03 -2.41523275e-02 5.65719916e+00] [ 4.92745393e-03 9.99987839e-01 2.06887007e-04 3.37088011e-01] [ 2.41510156e-02 -3.25833631e-04 9.99708269e-01 1.01409713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64463044 meters Centerline goodness [0,1] 0.31909904483263063 Centerline is valid? [False, False] Translation: X:5.64, Y:0.33, Z:0.10 [[ 9.99753866e-01 -1.23695771e-04 -2.21854079e-02 5.63654120e+00] [ 5.84286803e-05 9.99995669e-01 -2.94251684e-03 3.25478487e-01] [ 2.21856758e-02 2.94049632e-03 9.99749543e-01 9.98274449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67463044 meters Centerline goodness [0,1] 0.3200896802983595 Centerline is valid? [False, False] Translation: X:5.64, Y:0.32, Z:0.10 [[ 9.99753337e-01 2.07952635e-05 -2.22095605e-02 5.63666692e+00] [-7.63137141e-05 9.99996875e-01 -2.49890996e-03 3.22755579e-01] [ 2.22094391e-02 2.49998847e-03 9.99750214e-01 9.97788531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70463044 meters Centerline goodness [0,1] 0.31910253088019347 Centerline is valid? [False, False] Translation: X:5.64, Y:0.32, Z:0.10 [[ 9.99750675e-01 2.88801737e-04 -2.23272281e-02 5.63714149e+00] [-3.33575232e-04 9.99997941e-01 -2.00163317e-03 3.20760303e-01] [ 2.23266040e-02 2.00858192e-03 9.99748713e-01 9.94960506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73463044 meters Centerline goodness [0,1] 0.3194934064499282 Centerline is valid? [False, False] Translation: X:5.64, Y:0.32, Z:0.10 [[ 9.99747900e-01 5.96499862e-04 -2.24450540e-02 5.63771661e+00] [-6.31936276e-04 9.99998565e-01 -1.57174755e-03 3.19493126e-01] [ 2.24440842e-02 1.58553516e-03 9.99746843e-01 9.90897462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76463044 meters Centerline goodness [0,1] 0.31510388631714936 Centerline is valid? [False, False] Translation: X:5.64, Y:0.32, Z:0.10 [[ 9.99745019e-01 1.01060502e-03 -2.25582582e-02 5.63861133e+00] [-1.03399775e-03 9.99998940e-01 -1.02535174e-03 3.17309760e-01] [ 2.25571980e-02 1.04841548e-03 9.99745004e-01 9.82852188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79463044 meters Centerline goodness [0,1] 0.31816308379791314 Centerline is valid? [False, False] Translation: X:5.64, Y:0.32, Z:0.10 [[ 9.99747244e-01 1.00250771e-03 -2.24598220e-02 5.63827627e+00] [-1.02391921e-03 9.99999032e-01 -9.41844849e-04 3.16276988e-01] [ 2.24588561e-02 9.64603836e-04 9.99747303e-01 9.84412384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82463044 meters Centerline goodness [0,1] 0.31584843066715496 Centerline is valid? [False, False] Translation: X:5.64, Y:0.32, Z:0.10 [[ 9.99747637e-01 1.03472585e-03 -2.24408525e-02 5.63817137e+00] [-1.05333992e-03 9.99999111e-01 -8.17668177e-04 3.15295037e-01] [ 2.24399865e-02 8.41099674e-04 9.99747838e-01 9.85580533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85463044 meters Centerline goodness [0,1] 0.3182957939951595 Centerline is valid? [False, False] Translation: X:5.64, Y:0.31, Z:0.10 [[ 9.99744812e-01 1.07545225e-03 -2.25644623e-02 5.63844482e+00] [-1.09117021e-03 9.99999171e-01 -6.84279345e-04 3.14462017e-01] [ 2.25637077e-02 7.08726394e-04 9.99745156e-01 9.85508711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88463044 meters Centerline goodness [0,1] 0.3169700910273082 Centerline is valid? [False, False] Translation: X:5.64, Y:0.31, Z:0.10 [[ 9.99731851e-01 1.19534162e-03 -2.31256821e-02 5.64042342e+00] [-1.20592349e-03 9.99999174e-01 -4.43640486e-04 3.13213793e-01] [ 2.31251327e-02 4.71409328e-04 9.99732467e-01 9.76033254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91463044 meters Centerline goodness [0,1] 0.3154411764705882 Centerline is valid? [False, False] Translation: X:5.64, Y:0.31, Z:0.10 [[ 9.99731467e-01 1.18733943e-03 -2.31427090e-02 5.64071915e+00] [-1.19701192e-03 9.99999202e-01 -4.04101087e-04 3.12742130e-01] [ 2.31422108e-02 4.31694671e-04 9.99732090e-01 9.72541408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94463044 meters Centerline goodness [0,1] 0.31531570333362047 Centerline is valid? [False, False] Translation: X:5.64, Y:0.31, Z:0.10 [[ 9.99736594e-01 1.24472979e-03 -2.29170976e-02 5.64007904e+00] [-1.25181080e-03 9.99999173e-01 -2.94640162e-04 3.12296320e-01] [ 2.29167119e-02 3.23250422e-04 9.99737325e-01 9.75041782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.97463044 meters Centerline goodness [0,1] 0.3181965688077364 Centerline is valid? [False, False] Translation: X:5.64, Y:0.31, Z:0.10 [[ 9.99748873e-01 1.36895825e-03 -2.23677706e-02 5.63832992e+00] [-1.37202136e-03 9.99999051e-01 -1.21596923e-04 3.12010768e-01] [ 2.23675830e-02 1.52255446e-04 9.99749803e-01 9.82438771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00463044 meters Centerline goodness [0,1] 0.3183214799853892 Centerline is valid? [False, False] Translation: X:5.64, Y:0.31, Z:0.10 [[ 9.99759704e-01 1.50155554e-03 -2.18695920e-02 5.63653075e+00] [-1.50032800e-03 9.99998872e-01 7.25374337e-05 3.11565053e-01] [ 2.18696762e-02 -3.97084420e-05 9.99760829e-01 9.92564141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.03463044 meters Centerline goodness [0,1] 0.3197576282190002 Centerline is valid? [False, False] Translation: X:5.64, Y:0.31, Z:0.10 [[ 9.99765146e-01 1.57468147e-03 -2.16142037e-02 5.63568203e+00] [-1.57017410e-03 9.99998742e-01 2.25506995e-04 3.10940339e-01] [ 2.16145316e-02 -1.91515971e-04 9.99766360e-01 9.96859500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06463044 meters Centerline goodness [0,1] 0.31887267020659116 Centerline is valid? [False, False] Translation: X:5.64, Y:0.31, Z:0.10 [[ 9.99755608e-01 1.56184864e-03 -2.20518586e-02 5.63726501e+00] [-1.55655994e-03 9.99998756e-01 2.56992874e-04 3.10162404e-01] [ 2.20522325e-02 -2.22605027e-04 9.99756795e-01 9.89519242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09463044 meters Centerline goodness [0,1] 0.31785675936862445 Centerline is valid? [False, False] Translation: X:5.64, Y:0.31, Z:0.10 [[ 9.99748770e-01 1.62219225e-03 -2.23554414e-02 5.63828535e+00] [-1.61452714e-03 9.99998632e-01 3.60919325e-04 3.09657593e-01] [ 2.23559963e-02 -3.24735184e-04 9.99750021e-01 9.84724675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12463044 meters Centerline goodness [0,1] 0.3147148305266315 Centerline is valid? [False, False] Translation: X:5.64, Y:0.31, Z:0.10 [[ 9.99745963e-01 1.73130199e-03 -2.24724558e-02 5.63885997e+00] [-1.71995472e-03 9.99998383e-01 5.24259632e-04 3.09070025e-01] [ 2.24733271e-02 -4.85474844e-04 9.99747325e-01 9.80710595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15463044 meters Centerline goodness [0,1] 0.3184735249297075 Centerline is valid? [False, False] Translation: X:5.64, Y:0.31, Z:0.10 [[ 9.99749293e-01 1.84670738e-03 -2.23145770e-02 5.63852562e+00] [-1.82966732e-03 9.99998019e-01 7.84021685e-04 3.07794940e-01] [ 2.23159807e-02 -7.42996873e-04 9.99750691e-01 9.80400186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18463044 meters Centerline goodness [0,1] 0.32234193056915883 Centerline is valid? [False, False] Translation: X:5.62, Y:0.30, Z:0.10 [[ 9.99752573e-01 7.86296588e-03 -2.08078630e-02 5.61529501e+00] [-7.89968180e-03 9.99967381e-01 -1.68291235e-03 3.01109839e-01] [ 2.07939516e-02 1.84687145e-03 9.99782077e-01 9.75468771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21463044 meters Centerline goodness [0,1] 0.3201640197865139 Centerline is valid? [False, False] Translation: X:5.62, Y:0.30, Z:0.10 [[ 9.99752246e-01 7.92702956e-03 -2.07992502e-02 5.61525548e+00] [-7.96167944e-03 9.99967051e-01 -1.58363989e-03 3.00634514e-01] [ 2.07860113e-02 1.74884450e-03 9.99782418e-01 9.75837479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24463043999998 meters Centerline goodness [0,1] 0.32146957520091846 Centerline is valid? [False, False] Translation: X:5.62, Y:0.30, Z:0.10 [[ 9.99749149e-01 8.05411316e-03 -2.08990611e-02 5.61571653e+00] [-8.08754911e-03 9.99966146e-01 -1.51585002e-03 3.00852419e-01] [ 2.08861448e-02 1.68449196e-03 9.99780442e-01 9.72562909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27463043999998 meters Centerline goodness [0,1] 0.31964250935924343 Centerline is valid? [False, False] Translation: X:5.62, Y:0.30, Z:0.10 [[ 9.99742194e-01 8.16589770e-03 -2.11864253e-02 5.61657587e+00] [-8.20092468e-03 9.99965144e-01 -1.56691625e-03 3.01782037e-01] [ 2.11728915e-02 1.74026056e-03 9.99774315e-01 9.69104380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30463043999998 meters Centerline goodness [0,1] 0.3179389560665383 Centerline is valid? [False, False] Translation: X:5.62, Y:0.30, Z:0.10 [[ 9.99738701e-01 8.20902630e-03 -2.13340316e-02 5.61707456e+00] [-8.24773040e-03 9.99964496e-01 -1.72683912e-03 3.03041577e-01] [ 2.13190985e-02 1.90234524e-03 9.99770912e-01 9.66864598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33463043999998 meters Centerline goodness [0,1] 0.316736446591519 Centerline is valid? [False, False] Translation: X:5.63, Y:0.31, Z:0.10 [[ 9.99770686e-01 1.81615843e-03 -2.13372090e-02 5.63450877e+00] [-1.82128376e-03 9.99998317e-01 -2.20775660e-04 3.10012320e-01] [ 2.13367721e-02 2.59586145e-04 9.99772311e-01 9.84298633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36463043999998 meters Centerline goodness [0,1] 0.3190314266530939 Centerline is valid? [False, False] Translation: X:5.63, Y:0.31, Z:0.10 [[ 9.99770827e-01 1.90107230e-03 -2.13232309e-02 5.63453723e+00] [-1.90837399e-03 9.99998127e-01 -3.22085033e-04 3.11152953e-01] [ 2.13225787e-02 3.62703919e-04 9.99772582e-01 9.82989282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39463044 meters Centerline goodness [0,1] 0.31338058419243986 Centerline is valid? [False, False] Translation: X:5.64, Y:0.31, Z:0.10 [[ 9.99765565e-01 1.95529200e-03 -2.15636813e-02 5.63560978e+00] [-1.96497553e-03 9.99997978e-01 -4.27887134e-04 3.12119129e-01] [ 2.15628010e-02 4.70158928e-04 9.99767385e-01 9.75179740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42463044 meters Centerline goodness [0,1] 0.31457596411008537 Centerline is valid? [False, False] Translation: X:5.64, Y:0.31, Z:0.10 [[ 9.99760070e-01 1.94059068e-03 -2.18182827e-02 5.63684663e+00] [-1.95294704e-03 9.99997944e-01 -5.45037428e-04 3.12686113e-01] [ 2.18171801e-02 5.87516608e-04 9.99761804e-01 9.65781076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45463044 meters Centerline goodness [0,1] 0.31646864255559903 Centerline is valid? [False, False] Translation: X:5.64, Y:0.31, Z:0.10 [[ 9.99753607e-01 1.88230000e-03 -2.21174604e-02 5.63793034e+00] [-1.89742377e-03 9.99997980e-01 -6.62827438e-04 3.12958463e-01] [ 2.21161681e-02 7.04630317e-04 9.99755159e-01 9.59864590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48463044 meters Centerline goodness [0,1] 0.3118964851293936 Centerline is valid? [False, False] Translation: X:5.66, Y:0.32, Z:0.10 [[ 9.99745348e-01 -5.77958016e-03 -2.18136451e-02 5.65734550e+00] [ 5.78512539e-03 9.99983248e-01 1.91112637e-04 3.19388860e-01] [ 2.18121751e-02 -3.17258642e-04 9.99762036e-01 9.74462353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51463044 meters Centerline goodness [0,1] 0.317339574800078 Centerline is valid? [False, False] Translation: X:5.64, Y:0.32, Z:0.10 [[ 9.99789800e-01 2.14965954e-03 -2.03895971e-02 5.63716895e+00] [-2.16195170e-03 9.99997494e-01 -5.80840180e-04 3.15006380e-01] [ 2.03882974e-02 6.24799412e-04 9.99791942e-01 9.65076956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54463044 meters Centerline goodness [0,1] 0.31284796573875806 Centerline is valid? [False, False] Translation: X:5.66, Y:0.32, Z:0.10 [[ 9.99811664e-01 -3.35469493e-03 -1.91149873e-02 5.65779875e+00] [ 3.39992475e-03 9.99991496e-01 2.33419053e-03 3.19516559e-01] [ 1.91069943e-02 -2.39874044e-03 9.99814567e-01 9.68965718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57463044 meters Centerline goodness [0,1] 0.3155560340187318 Centerline is valid? [False, False] Translation: X:5.66, Y:0.32, Z:0.10 [[ 9.99810700e-01 -3.33842995e-03 -1.91681758e-02 5.65805578e+00] [ 3.37983979e-03 9.99992023e-01 2.12835418e-03 3.21159956e-01] [ 1.91609175e-02 -2.19273665e-03 9.99814008e-01 9.66426927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60463044 meters Centerline goodness [0,1] 0.31186586414445405 Centerline is valid? [False, False] Translation: X:5.66, Y:0.32, Z:0.10 [[ 9.99804522e-01 -3.32573867e-03 -1.94899049e-02 5.65941318e+00] [ 3.36305066e-03 9.99992574e-01 1.88196330e-03 3.22957521e-01] [ 1.94835012e-02 -1.94714095e-03 9.99808283e-01 9.57199591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63463044 meters Centerline goodness [0,1] 0.31279210662973866 Centerline is valid? [False, False] Translation: X:5.66, Y:0.32, Z:0.09 [[ 9.99797606e-01 -3.47445294e-03 -1.98160505e-02 5.66115609e+00] [ 3.50499100e-03 9.99992723e-01 1.50655454e-03 3.24603665e-01] [ 1.98106718e-02 -1.57570470e-03 9.99802508e-01 9.42945550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66463044 meters Centerline goodness [0,1] 0.31006754583467355 Centerline is valid? [False, False] Translation: X:5.68, Y:0.32, Z:0.10 [[ 9.99806294e-01 3.68025031e-03 -1.93347014e-02 5.68066425e+00] [-3.68520918e-03 9.99993185e-01 -2.20851593e-04 3.22445148e-01] [ 1.93337568e-02 2.92061231e-04 9.99813043e-01 9.62179024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.69463044 meters Centerline goodness [0,1] 0.3124542912454291 Centerline is valid? [False, False] Translation: X:5.68, Y:0.32, Z:0.10 [[ 9.99805053e-01 3.52730379e-03 -1.94271595e-02 5.68048504e+00] [-3.53419769e-03 9.99993703e-01 -3.20537271e-04 3.22221693e-01] [ 1.94259065e-02 3.89134206e-04 9.99811224e-01 9.68432926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72463044 meters Centerline goodness [0,1] 0.3153857787956701 Centerline is valid? [False, False] Translation: X:5.68, Y:0.32, Z:0.10 [[ 9.99803283e-01 3.52349217e-03 -1.95187239e-02 5.68049487e+00] [-3.52933935e-03 9.99993737e-01 -2.65128379e-04 3.22017795e-01] [ 1.95176675e-02 3.33964424e-04 9.99809456e-01 9.71437521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.75463044 meters Centerline goodness [0,1] 0.3127496027826684 Centerline is valid? [False, False] Translation: X:5.70, Y:0.33, Z:0.10 [[ 9.99816907e-01 -3.25352736e-03 -1.88564684e-02 5.69920395e+00] [ 3.29889515e-03 9.99991737e-01 2.37534763e-03 3.26285149e-01] [ 1.88485843e-02 -2.43711823e-03 9.99819379e-01 9.85409325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78463044 meters Centerline goodness [0,1] 0.3157426880298333 Centerline is valid? [False, False] Translation: X:5.70, Y:0.33, Z:0.10 [[ 9.99818825e-01 -3.18239467e-03 -1.87667383e-02 5.69912562e+00] [ 3.23073140e-03 9.99991540e-01 2.54590472e-03 3.25612158e-01] [ 1.87584775e-02 -2.60607375e-03 9.99820648e-01 9.84433019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.81463044 meters Centerline goodness [0,1] 0.31340945186075464 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:0.10 [[ 9.99835890e-01 2.98428723e-03 -1.78685917e-02 5.72001904e+00] [-2.98579637e-03 9.99995541e-01 -5.77806362e-05 3.24139631e-01] [ 1.78683396e-02 1.11123130e-04 9.99840342e-01 9.86625430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84463044 meters Centerline goodness [0,1] 0.3180295992222102 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:0.10 [[ 9.99834233e-01 2.86910580e-03 -1.79798311e-02 5.72051978e+00] [-2.87123545e-03 9.99995874e-01 -9.26332961e-05 3.23350707e-01] [ 1.79794912e-02 1.44242269e-04 9.99838345e-01 9.83450223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87463044 meters Centerline goodness [0,1] 0.31507436457931504 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:0.10 [[ 9.99831996e-01 2.84916951e-03 -1.81069504e-02 5.72091070e+00] [-2.85054735e-03 9.99995936e-01 -5.02852538e-05 3.22732514e-01] [ 1.81067335e-02 1.01891525e-04 9.99836054e-01 9.82656654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90463044 meters Centerline goodness [0,1] 0.31789351052813253 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:0.10 [[ 9.99830383e-01 2.94544964e-03 -1.81804882e-02 5.72111086e+00] [-2.94518886e-03 9.99995662e-01 4.11182698e-05 3.22710394e-01] [ 1.81805305e-02 1.24336761e-05 9.99834720e-01 9.82121074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93463044 meters Centerline goodness [0,1] 0.3194072720151446 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:0.10 [[ 9.99830263e-01 3.27980234e-03 -1.81297829e-02 5.72125897e+00] [-3.27478063e-03 9.99994591e-01 3.06667644e-04 3.22946819e-01] [ 1.81306907e-02 -2.47244529e-04 9.99835595e-01 9.78509778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96463044 meters Centerline goodness [0,1] 0.31929176623940914 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:0.10 [[ 9.99830153e-01 3.24361062e-03 -1.81423041e-02 5.72151862e+00] [-3.24012986e-03 9.99994726e-01 2.21250137e-04 3.23184728e-01] [ 1.81429261e-02 -1.62429137e-04 9.99835390e-01 9.75389552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99463043999998 meters Centerline goodness [0,1] 0.31718355999051706 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:0.10 [[ 9.99831227e-01 3.18400122e-03 -1.80936392e-02 5.72154446e+00] [-3.18161975e-03 9.99994926e-01 1.60403737e-04 3.23061724e-01] [ 1.80940581e-02 -1.02809585e-04 9.99836284e-01 9.73576773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02463043999998 meters Centerline goodness [0,1] 0.3206416740834003 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:0.10 [[ 9.99835051e-01 3.28426360e-03 -1.78629232e-02 5.72080282e+00] [-3.27793900e-03 9.99994554e-01 3.83330972e-04 3.21962864e-01] [ 1.78640849e-02 -3.24714170e-04 9.99840372e-01 9.77529943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05463043999998 meters Centerline goodness [0,1] 0.32022131927033803 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:0.10 [[ 9.99836669e-01 3.36503959e-03 -1.77570006e-02 5.72025765e+00] [-3.35669332e-03 9.99994241e-01 4.99811043e-04 3.21715035e-01] [ 1.77585802e-02 -4.40124603e-04 9.99842207e-01 9.82617115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08463043999998 meters Centerline goodness [0,1] 0.3196096173733195 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:0.10 [[ 9.99839338e-01 3.41953264e-03 -1.75956193e-02 5.71977221e+00] [-3.40963852e-03 9.99994012e-01 5.92274926e-04 3.21490802e-01] [ 1.75975393e-02 -5.32185068e-04 9.99845010e-01 9.84452356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11463043999998 meters Centerline goodness [0,1] 0.32085862966175194 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:0.10 [[ 9.99839791e-01 3.42070395e-03 -1.75696248e-02 5.71977568e+00] [-3.41069876e-03 9.99994004e-01 5.99392625e-04 3.21367194e-01] [ 1.75715698e-02 -5.39371899e-04 9.99845463e-01 9.83783753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14463044 meters Centerline goodness [0,1] 0.32035954082737705 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:0.10 [[ 9.99838710e-01 3.33313201e-03 -1.76477871e-02 5.72027542e+00] [-3.32466284e-03 9.99994344e-01 5.09217037e-04 3.21330120e-01] [ 1.76493846e-02 -4.50461964e-04 9.99844136e-01 9.79189023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17463044 meters Centerline goodness [0,1] 0.320170227474023 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:0.10 [[ 9.99834847e-01 3.11867205e-03 -1.79039568e-02 5.72138701e+00] [-3.11325633e-03 9.99995099e-01 3.30351838e-04 3.20934608e-01] [ 1.79048993e-02 -2.74557673e-04 9.99839657e-01 9.72762745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20463044 meters Centerline goodness [0,1] 0.32064866261790925 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:0.10 [[ 9.99834668e-01 3.09055141e-03 -1.79188218e-02 5.72142349e+00] [-3.08512816e-03 9.99995186e-01 3.30291839e-04 3.20698176e-01] [ 1.79197563e-02 -2.74955370e-04 9.99839390e-01 9.72797398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23463044 meters Centerline goodness [0,1] 0.3236201651455889 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:0.10 [[ 9.99834193e-01 3.11363841e-03 -1.79413535e-02 5.72147958e+00] [-3.10705379e-03 9.99995095e-01 3.94871083e-04 3.20448614e-01] [ 1.79424950e-02 -3.39060860e-04 9.99838963e-01 9.72935813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26463044 meters Centerline goodness [0,1] 0.32100578933725055 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:0.10 [[ 9.99831091e-01 3.10629145e-03 -1.81146393e-02 5.72207759e+00] [-3.09967103e-03 9.99995119e-01 3.93539368e-04 3.20529433e-01] [ 1.81157733e-02 -3.37323474e-04 9.99835839e-01 9.70844201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29463044 meters Centerline goodness [0,1] 0.3171673819742489 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:0.10 [[ 9.99826253e-01 3.08468280e-03 -1.83833735e-02 5.72311897e+00] [-3.07847752e-03 9.99995195e-01 3.65838217e-04 3.20602261e-01] [ 1.83844137e-02 -3.09181852e-04 9.99830945e-01 9.65079229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32463044 meters Centerline goodness [0,1] 0.3162775754979653 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:0.10 [[ 9.99818164e-01 2.97438361e-03 -1.88359342e-02 5.72478771e+00] [-2.96866812e-03 9.99995539e-01 3.31389336e-04 3.19925758e-01] [ 1.88368358e-02 -2.75411440e-04 9.99822533e-01 9.56918152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35463044 meters Centerline goodness [0,1] 0.32222414464293436 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:0.10 [[ 9.99817043e-01 3.01903128e-03 -1.88882760e-02 5.72476443e+00] [-3.00999871e-03 9.99995342e-01 5.06621530e-04 3.19007768e-01] [ 1.88897175e-02 -4.49675153e-04 9.99821472e-01 9.59186969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38463044 meters Centerline goodness [0,1] 0.32356762374951276 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:0.10 [[ 9.99817787e-01 3.12989179e-03 -1.88307265e-02 5.72445723e+00] [-3.11548109e-03 9.99994831e-01 7.94563289e-04 3.17695856e-01] [ 1.88331160e-02 -7.35751737e-04 9.99822370e-01 9.62676916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41463044 meters Centerline goodness [0,1] 0.3267978099504426 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:0.10 [[ 9.99818468e-01 3.17655777e-03 -1.87866952e-02 5.72420495e+00] [-3.15865802e-03 9.99994529e-01 9.82385091e-04 3.16509663e-01] [ 1.87897130e-02 -9.22866012e-04 9.99823032e-01 9.65684063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44463044 meters Centerline goodness [0,1] 0.3267978099504426 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:0.10 [[ 9.99818468e-01 3.17655777e-03 -1.87866952e-02 5.72420495e+00] [-3.15865802e-03 9.99994529e-01 9.82385091e-04 3.16509663e-01] [ 1.87897130e-02 -9.22866012e-04 9.99823032e-01 9.65684063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.47463044 meters Centerline goodness [0,1] 0.3268488397310778 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:0.10 [[ 9.99820468e-01 3.18637933e-03 -1.86782935e-02 5.72404539e+00] [-3.16649489e-03 9.99994388e-01 1.09405315e-03 3.15547727e-01] [ 1.86816748e-02 -1.03471201e-03 9.99824947e-01 9.64680118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50463044 meters Centerline goodness [0,1] 0.3244901486346353 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:0.10 [[ 9.99822174e-01 3.18842023e-03 -1.85864262e-02 5.72401558e+00] [-3.16829610e-03 9.99994363e-01 1.11207830e-03 3.15188120e-01] [ 1.85898671e-02 -1.05299324e-03 9.99826639e-01 9.61877583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.53463044 meters Centerline goodness [0,1] 0.3229990919704242 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:0.10 [[ 9.99838400e-01 3.81087956e-03 -1.75684602e-02 5.72211879e+00] [-3.78702622e-03 9.99991862e-01 1.39080557e-03 3.16431291e-01] [ 1.75736174e-02 -1.32404860e-03 9.99844695e-01 9.55998093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56463044 meters Centerline goodness [0,1] 0.3240640787598774 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:0.10 [[ 9.99847230e-01 4.01668399e-03 -1.70112673e-02 5.72072105e+00] [-3.99680985e-03 9.99991290e-01 1.20212982e-03 3.18603763e-01] [ 1.70159477e-02 -1.13395537e-03 9.99854575e-01 9.57007596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.59463044 meters Centerline goodness [0,1] 0.32313505343841087 Centerline is valid? [False, False] Translation: X:5.72, Y:0.32, Z:0.10 [[ 9.99852645e-01 4.29238495e-03 -1.66211910e-02 5.71960692e+00] [-4.27770349e-03 9.99990429e-01 9.18749443e-04 3.21702785e-01] [ 1.66249756e-02 -8.47513534e-04 9.99861436e-01 9.58974065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62463044 meters Centerline goodness [0,1] 0.3245585597268149 Centerline is valid? [False, False] Translation: X:5.72, Y:0.33, Z:0.10 [[ 9.99852545e-01 4.67361294e-03 -1.65240978e-02 5.71929342e+00] [-4.66366311e-03 9.99988920e-01 6.40623402e-04 3.25514062e-01] [ 1.65269088e-02 -5.63466114e-04 9.99863263e-01 9.58550186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65463044 meters Centerline goodness [0,1] 0.31825538986123403 Centerline is valid? [False, False] Translation: X:5.72, Y:0.33, Z:0.10 [[ 9.99847255e-01 5.29337382e-03 -1.66567211e-02 5.71968973e+00] [-5.28473181e-03 9.99985877e-01 5.62804243e-04 3.29959413e-01] [ 1.66594650e-02 -4.74691974e-04 9.99861109e-01 9.55017318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68463044 meters Centerline goodness [0,1] 0.3171915982051894 Centerline is valid? [False, False] Translation: X:5.72, Y:0.34, Z:0.09 [[ 9.99819839e-01 9.06288712e-03 -1.66779179e-02 5.72020063e+00] [-9.01161281e-03 9.99954443e-01 3.14697390e-03 3.39050868e-01] [ 1.67056788e-02 -2.99611200e-03 9.99855961e-01 9.46492456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.71463044 meters Centerline goodness [0,1] 0.31740363179880093 Centerline is valid? [False, False] Translation: X:5.72, Y:0.34, Z:0.09 [[ 9.99825518e-01 8.87527178e-03 -1.64366568e-02 5.71961987e+00] [-8.83601207e-03 9.99957937e-01 2.45963112e-03 3.42835102e-01] [ 1.64577953e-02 -2.31396746e-03 9.99861884e-01 9.45278367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74463043999998 meters Centerline goodness [0,1] 0.31510163523642887 Centerline is valid? [False, False] Translation: X:5.72, Y:0.35, Z:0.09 [[ 9.99829826e-01 8.60592017e-03 -1.63173657e-02 5.71917443e+00] [-8.57757662e-03 9.99961581e-01 1.80621000e-03 3.45999423e-01] [ 1.63322829e-02 -1.66593918e-03 9.99865232e-01 9.46983592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77463043999998 meters Centerline goodness [0,1] 0.3116534655590616 Centerline is valid? [False, False] Translation: X:5.74, Y:0.36, Z:0.10 [[ 9.99853754e-01 4.01206384e-04 -1.70970398e-02 5.73858074e+00] [-3.65970999e-04 9.99997803e-01 2.06398452e-03 3.57853125e-01] [ 1.70978303e-02 -2.05742565e-03 9.99851705e-01 9.66680206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80463043999998 meters Centerline goodness [0,1] 0.31584869730805853 Centerline is valid? [False, False] Translation: X:5.74, Y:0.36, Z:0.10 [[ 9.99848933e-01 2.01768454e-04 -1.73801558e-02 5.73935910e+00] [-1.71257453e-04 9.99998442e-01 1.75697838e-03 3.59293676e-01] [ 1.73804833e-02 -1.75373648e-03 9.99847410e-01 9.65463552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83463043999998 meters Centerline goodness [0,1] 0.3148839719373988 Centerline is valid? [False, False] Translation: X:5.74, Y:0.36, Z:0.10 [[ 9.99843945e-01 -8.19319805e-05 -1.76657342e-02 5.74001796e+00] [ 1.07170554e-04 9.99998975e-01 1.42773192e-03 3.60331238e-01] [ 1.76655991e-02 -1.42940236e-03 9.99842929e-01 9.66738968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86463043999998 meters Centerline goodness [0,1] 0.31282161234991424 Centerline is valid? [False, False] Translation: X:5.74, Y:0.36, Z:0.10 [[ 9.99836667e-01 -4.49596946e-04 -1.80675829e-02 5.74099839e+00] [ 4.68494893e-04 9.99999348e-01 1.04173980e-03 3.61145160e-01] [ 1.80671028e-02 -1.05003421e-03 9.99836225e-01 9.67589253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89463044 meters Centerline goodness [0,1] 0.3136127917026793 Centerline is valid? [False, False] Translation: X:5.74, Y:0.36, Z:0.10 [[ 9.99832459e-01 -6.92320978e-04 -1.82914012e-02 5.74153190e+00] [ 7.06545656e-04 9.99999453e-01 7.71219261e-04 3.61788726e-01] [ 1.82908573e-02 -7.84013760e-04 9.99832401e-01 9.67971714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92463044 meters Centerline goodness [0,1] 0.3124379612446593 Centerline is valid? [False, False] Translation: X:5.74, Y:0.36, Z:0.10 [[ 9.99820779e-01 -7.73023224e-04 -1.89159028e-02 5.74328007e+00] [ 7.82937215e-04 9.99999560e-01 5.16708795e-04 3.63843125e-01] [ 1.89154951e-02 -5.31426154e-04 9.99820945e-01 9.64607146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95463044 meters Centerline goodness [0,1] 0.31092436974789917 Centerline is valid? [False, False] Translation: X:5.74, Y:0.37, Z:0.10 [[ 9.99820734e-01 -8.20003236e-04 -1.89163474e-02 5.74337942e+00] [ 8.25653248e-04 9.99999617e-01 2.90876136e-04 3.65373373e-01] [ 1.89161016e-02 -3.06442335e-04 9.99821028e-01 9.63352574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98463044 meters Centerline goodness [0,1] 0.3124162379490727 Centerline is valid? [False, False] Translation: X:5.74, Y:0.37, Z:0.10 [[ 9.99821228e-01 -1.01810321e-03 -1.88805826e-02 5.74325948e+00] [ 1.01602843e-03 9.99999477e-01 -1.19481610e-04 3.67068171e-01] [ 1.88806944e-02 1.00277041e-04 9.99821739e-01 9.63820867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01463044 meters Centerline goodness [0,1] 0.31070569627109834 Centerline is valid? [False, False] Translation: X:5.74, Y:0.37, Z:0.10 [[ 9.99820482e-01 -1.25370098e-03 -1.89058862e-02 5.74338313e+00] [ 1.24238907e-03 9.99999042e-01 -6.10060976e-04 3.69001873e-01] [ 1.89066329e-02 5.86462992e-04 9.99821082e-01 9.62438229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04463044 meters Centerline goodness [0,1] 0.3090525772308751 Centerline is valid? [False, False] Translation: X:5.74, Y:0.37, Z:0.10 [[ 9.99816384e-01 -1.40526839e-03 -1.91108396e-02 5.74411706e+00] [ 1.38716873e-03 9.99998577e-01 -9.60311919e-04 3.70530613e-01] [ 1.91121619e-02 9.33625631e-04 9.99816910e-01 9.58340444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07463044 meters Centerline goodness [0,1] 0.3066738082485271 Centerline is valid? [False, False] Translation: X:5.75, Y:0.37, Z:0.10 [[ 9.99810260e-01 -1.53620101e-03 -1.94186602e-02 5.74528095e+00] [ 1.51098360e-03 9.99997996e-01 -1.31322303e-03 3.72537442e-01] [ 1.94206387e-02 1.28363258e-03 9.99810578e-01 9.52380031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10463044 meters Centerline goodness [0,1] 0.3078319502074689 Centerline is valid? [False, False] Translation: X:5.75, Y:0.37, Z:0.10 [[ 9.99810233e-01 -1.63872764e-03 -1.94116656e-02 5.74518072e+00] [ 1.61104936e-03 9.99997663e-01 -1.44141008e-03 3.72937361e-01] [ 1.94139823e-02 1.40986340e-03 9.99810537e-01 9.54080587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13463044 meters Centerline goodness [0,1] 0.3064115733607259 Centerline is valid? [False, False] Translation: X:5.76, Y:0.37, Z:0.10 [[ 9.99815078e-01 5.30674518e-03 -1.84837495e-02 5.76392796e+00] [-5.36411008e-03 9.99980945e-01 -3.05533669e-03 3.70678228e-01] [ 1.84671834e-02 3.15392056e-03 9.99824493e-01 9.73967775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16463044 meters Centerline goodness [0,1] 0.307725432779261 Centerline is valid? [False, False] Translation: X:5.76, Y:0.37, Z:0.10 [[ 9.99815425e-01 5.28068825e-03 -1.84724225e-02 5.76361929e+00] [-5.33676848e-03 9.99981295e-01 -2.98791167e-03 3.70237452e-01] [ 1.84562988e-02 3.08594322e-03 9.99824906e-01 9.79090079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.19463044 meters Centerline goodness [0,1] 0.3056893856662598 Centerline is valid? [False, False] Translation: X:5.78, Y:0.38, Z:0.10 [[ 9.99836337e-01 -2.42525808e-03 -1.79281389e-02 5.78225700e+00] [ 2.40385774e-03 9.99996372e-01 -1.21512664e-03 3.75038968e-01] [ 1.79310209e-02 1.17183107e-03 9.99838540e-01 9.97364694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22463044 meters Centerline goodness [0,1] 0.30530309525850985 Centerline is valid? [False, False] Translation: X:5.78, Y:0.37, Z:0.10 [[ 9.99839057e-01 -2.42352582e-03 -1.77760149e-02 5.78210888e+00] [ 2.40312982e-03 9.99996430e-01 -1.16865978e-03 3.74811875e-01] [ 1.77787837e-02 1.12575362e-03 9.99841311e-01 9.94810385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.25463044 meters Centerline goodness [0,1] 0.3049342740119658 Centerline is valid? [False, False] Translation: X:5.78, Y:0.37, Z:0.10 [[ 9.99841065e-01 -2.46456398e-03 -1.76570450e-02 5.78191004e+00] [ 2.44322696e-03 9.99996259e-01 -1.22988394e-03 3.74920519e-01] [ 1.76600100e-02 1.18654830e-03 9.99843346e-01 9.93924221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28463044 meters Centerline goodness [0,1] 0.3067386609071274 Centerline is valid? [False, False] Translation: X:5.78, Y:0.38, Z:0.10 [[ 9.99841518e-01 -2.52160317e-03 -1.76232936e-02 5.78185870e+00] [ 2.49777445e-03 9.99995937e-01 -1.37399545e-03 3.75487846e-01] [ 1.76266867e-02 1.32975869e-03 9.99843754e-01 9.93743909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.31463044 meters Centerline goodness [0,1] 0.3023360770239195 Centerline is valid? [False, False] Translation: X:5.79, Y:0.38, Z:0.10 [[ 9.99827302e-01 -3.56444683e-04 -1.85805927e-02 5.78531400e+00] [ 3.59687206e-04 9.99999921e-01 1.71169660e-04 3.79514226e-01] [ 1.85805303e-02 -1.77823301e-04 9.99827351e-01 9.79154001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34463044 meters Centerline goodness [0,1] 0.30267386553541586 Centerline is valid? [False, False] Translation: X:5.79, Y:0.38, Z:0.10 [[ 9.99823531e-01 -6.96410959e-05 -1.87856986e-02 5.78602849e+00] [ 7.13623673e-05 9.99999993e-01 9.09563496e-05 3.81461012e-01] [ 1.87856922e-02 -9.22808905e-05 9.99823529e-01 9.74300869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.37463044 meters Centerline goodness [0,1] 0.3010221537935164 Centerline is valid? [False, False] Translation: X:5.79, Y:0.38, Z:0.10 [[ 9.99829727e-01 8.17324620e-05 -1.84529303e-02 5.78535095e+00] [-8.13907564e-05 9.99999997e-01 1.92686986e-05 3.82693127e-01] [ 1.84529318e-02 -1.77635197e-05 9.99829730e-01 9.71992915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40463044 meters Centerline goodness [0,1] 0.3016717652634754 Centerline is valid? [False, False] Translation: X:5.78, Y:0.38, Z:0.10 [[ 9.99837966e-01 5.15616250e-05 -1.80010736e-02 5.78416478e+00] [-5.38392762e-05 9.99999991e-01 -1.26044032e-04 3.83347853e-01] [ 1.80010670e-02 1.26992773e-04 9.99837960e-01 9.73291413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.43463044 meters Centerline goodness [0,1] 0.3013520152075012 Centerline is valid? [False, False] Translation: X:5.80, Y:0.38, Z:0.10 [[ 9.99849209e-01 7.29117320e-03 -1.57606395e-02 5.80267063e+00] [-7.31952826e-03 9.99971694e-01 -1.74217073e-03 3.81543512e-01] [ 1.57474909e-02 1.85726848e-03 9.99874276e-01 9.88809417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46463044 meters Centerline goodness [0,1] 0.30693133464371336 Centerline is valid? [False, False] Translation: X:5.78, Y:0.38, Z:0.10 [[ 9.99888686e-01 -7.74898230e-04 -1.49001422e-02 5.78163220e+00] [ 7.57767670e-04 9.99999046e-01 -1.15530239e-03 3.83010239e-01] [ 1.49010232e-02 1.14388295e-03 9.99888319e-01 9.76843386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49463043999998 meters Centerline goodness [0,1] 0.3043329410506045 Centerline is valid? [False, False] Translation: X:5.78, Y:0.38, Z:0.10 [[ 9.99882813e-01 -7.87984609e-04 -1.52885111e-02 5.78286667e+00] [ 7.72173863e-04 9.99999161e-01 -1.04003414e-03 3.82137697e-01] [ 1.52893178e-02 1.02810687e-03 9.99882583e-01 9.72876583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52463043999998 meters Centerline goodness [0,1] 0.3046881738980419 Centerline is valid? [False, False] Translation: X:5.78, Y:0.38, Z:0.10 [[ 9.99879041e-01 -8.02014425e-04 -1.55325361e-02 5.78388133e+00] [ 7.88620029e-04 9.99999312e-01 -8.68450229e-04 3.80851434e-01] [ 1.55332220e-02 8.56095913e-04 9.99878986e-01 9.67110492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55463043999998 meters Centerline goodness [0,1] 0.30636200523141444 Centerline is valid? [False, False] Translation: X:5.79, Y:0.38, Z:0.10 [[ 9.99864347e-01 -1.04748495e-03 -1.64374916e-02 5.78683889e+00] [ 1.03606500e-03 9.99999216e-01 -7.03250672e-04 3.78183121e-01] [ 1.64382154e-02 6.86124964e-04 9.99864648e-01 9.56325861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58463043999998 meters Centerline goodness [0,1] 0.30253522333090654 Centerline is valid? [False, False] Translation: X:5.79, Y:0.38, Z:0.10 [[ 9.99857801e-01 -1.03420870e-03 -1.68317491e-02 5.78798880e+00] [ 1.02675577e-03 9.99999371e-01 -4.51425344e-04 3.76410717e-01] [ 1.68322053e-02 4.34079056e-04 9.99858234e-01 9.54069653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61463043999998 meters Centerline goodness [0,1] 0.30555796034975324 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99852293e-01 -9.98442773e-04 -1.71579486e-02 5.78868443e+00] [ 9.95181267e-04 9.99999485e-01 -1.98624420e-04 3.74906958e-01] [ 1.71581381e-02 1.81519813e-04 9.99852772e-01 9.55522834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64463044 meters Centerline goodness [0,1] 0.3071118820468344 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99850084e-01 -9.65568710e-04 -1.72880383e-02 5.78892053e+00] [ 9.65319029e-04 9.99999534e-01 -2.27872355e-05 3.73841526e-01] [ 1.72880522e-02 6.09534706e-06 9.99850550e-01 9.57135731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67463044 meters Centerline goodness [0,1] 0.30609777163586116 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99851078e-01 -8.97562053e-04 -1.72341667e-02 5.78874558e+00] [ 9.01051162e-04 9.99999575e-01 1.94689088e-04 3.72740507e-01] [ 1.72339846e-02 -2.10188960e-04 9.99851462e-01 9.58281280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70463044 meters Centerline goodness [0,1] 0.30588361606184233 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99854123e-01 -8.83964910e-04 -1.70572901e-02 5.78845818e+00] [ 8.90055276e-04 9.99999543e-01 3.49465311e-04 3.71425725e-01] [ 1.70569734e-02 -3.64596263e-04 9.99854453e-01 9.57951379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73463044 meters Centerline goodness [0,1] 0.3084405057819086 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99853704e-01 -8.35285895e-04 -1.70843068e-02 5.78856326e+00] [ 8.42485084e-04 9.99999559e-01 4.14199079e-04 3.71242739e-01] [ 1.70839533e-02 -4.28531757e-04 9.99853967e-01 9.57449652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76463044 meters Centerline goodness [0,1] 0.3071300361151359 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99851025e-01 -7.65451925e-04 -1.72436190e-02 5.78909439e+00] [ 7.73510845e-04 9.99999595e-01 4.60691935e-04 3.71353588e-01] [ 1.72432594e-02 -4.73961430e-04 9.99851212e-01 9.55304879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79463044 meters Centerline goodness [0,1] 0.3062424084678119 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99846361e-01 -7.23405835e-04 -1.75137358e-02 5.78983100e+00] [ 7.31622095e-04 9.99999625e-01 4.62729696e-04 3.71567208e-01] [ 1.75133945e-02 -4.75472039e-04 9.99846516e-01 9.53382281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82463044 meters Centerline goodness [0,1] 0.30199692123492683 Centerline is valid? [False, False] Translation: X:5.81, Y:0.37, Z:0.10 [[ 9.99815609e-01 6.81715105e-03 -1.79519834e-02 5.81059516e+00] [-6.82893931e-03 9.99976505e-01 -5.95434802e-04 3.69478580e-01] [ 1.79475025e-02 7.17918015e-04 9.99838673e-01 9.67758639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85463044 meters Centerline goodness [0,1] 0.307021539662914 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99845360e-01 -1.37316266e-03 -1.75320053e-02 5.78897533e+00] [ 1.36496224e-03 9.99998953e-01 -4.79697924e-04 3.72036060e-01] [ 1.75326457e-02 4.55693218e-04 9.99846188e-01 9.65295353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88463044 meters Centerline goodness [0,1] 0.30107802326822497 Centerline is valid? [False, False] Translation: X:5.81, Y:0.37, Z:0.10 [[ 9.99840734e-01 6.00199815e-03 -1.68071999e-02 5.80845869e+00] [-6.03598876e-03 9.99979838e-01 -1.97238676e-03 3.70051394e-01] [ 1.67950228e-02 2.07352070e-03 9.99856804e-01 9.84293827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91463044 meters Centerline goodness [0,1] 0.30508840017248817 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99892146e-01 -4.41018194e-04 -1.46800094e-02 5.79161952e+00] [ 4.25692225e-04 9.99999361e-01 -1.04711103e-03 3.73216891e-01] [ 1.46804618e-02 1.04074893e-03 9.99891695e-01 9.57218693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94463044 meters Centerline goodness [0,1] 0.3028855464463237 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99889324e-01 -3.46856728e-04 -1.48734698e-02 5.79229724e+00] [ 3.32895253e-04 9.99999502e-01 -9.41148652e-04 3.73203069e-01] [ 1.48737888e-02 9.36093182e-04 9.99888941e-01 9.54782035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.97463044 meters Centerline goodness [0,1] 0.3036095248356858 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99889079e-01 -2.83483276e-04 -1.48912605e-02 5.79237957e+00] [ 2.70801626e-04 9.99999599e-01 -8.53626466e-04 3.73112659e-01] [ 1.48914965e-02 8.49499203e-04 9.99888755e-01 9.55075469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00463044 meters Centerline goodness [0,1] 0.3007571868583162 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99890679e-01 -3.24386832e-04 -1.47825898e-02 5.79184372e+00] [ 3.11950818e-04 9.99999596e-01 -8.43558901e-04 3.72824852e-01] [ 1.47828574e-02 8.38855241e-04 9.99890376e-01 9.60240859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.03463044 meters Centerline goodness [0,1] 0.3086877357263623 Centerline is valid? [False, False] Translation: X:5.77, Y:0.37, Z:0.10 [[ 9.99896916e-01 5.79523746e-03 -1.31366540e-02 5.76691470e+00] [-5.83641670e-03 9.99978167e-01 -3.09851535e-03 3.68122986e-01] [ 1.31184105e-02 3.17486693e-03 9.99908910e-01 9.81141590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06463044 meters Centerline goodness [0,1] 0.3044337515036948 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99918897e-01 -1.63125552e-03 -1.26308181e-02 5.78525404e+00] [ 1.61321975e-03 9.99997665e-01 -1.43797421e-03 3.73897756e-01] [ 1.26331343e-02 1.41748130e-03 9.99919194e-01 1.00067815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09463044 meters Centerline goodness [0,1] 0.30498653742595583 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99918212e-01 -1.62191052e-03 -1.26861427e-02 5.78522513e+00] [ 1.60310538e-03 9.99997601e-01 -1.49236588e-03 3.74556677e-01] [ 1.26885328e-02 1.47190660e-03 9.99918414e-01 1.00353243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12463044 meters Centerline goodness [0,1] 0.3018424314966015 Centerline is valid? [False, False] Translation: X:5.79, Y:0.38, Z:0.10 [[ 9.99916984e-01 -1.67693265e-03 -1.27755017e-02 5.78528311e+00] [ 1.65632381e-03 9.99997310e-01 -1.62356275e-03 3.75262177e-01] [ 1.27781899e-02 1.60226760e-03 9.99917072e-01 1.00673364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15463044 meters Centerline goodness [0,1] 0.3066131399464733 Centerline is valid? [False, False] Translation: X:5.79, Y:0.38, Z:0.10 [[ 9.99915978e-01 -1.81187664e-03 -1.28356457e-02 5.78533692e+00] [ 1.78846846e-03 9.99996717e-01 -1.83492904e-03 3.75962997e-01] [ 1.28389283e-02 1.81181872e-03 9.99915936e-01 1.00844048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18463044 meters Centerline goodness [0,1] 0.3057936235858759 Centerline is valid? [False, False] Translation: X:5.79, Y:0.38, Z:0.10 [[ 9.99909915e-01 -1.84019357e-03 -1.32957307e-02 5.78650699e+00] [ 1.81584316e-03 9.99996653e-01 -1.84328565e-03 3.76323059e-01] [ 1.32990782e-02 1.81897664e-03 9.99909909e-01 1.00823119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21463044 meters Centerline goodness [0,1] 0.30647726295882405 Centerline is valid? [False, False] Translation: X:5.79, Y:0.38, Z:0.10 [[ 9.99908547e-01 -1.81206753e-03 -1.34020133e-02 5.78687433e+00] [ 1.78920563e-03 9.99996924e-01 -1.71764909e-03 3.75889419e-01] [ 1.34050846e-02 1.69351304e-03 9.99908714e-01 1.00752524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24463043999998 meters Centerline goodness [0,1] 0.30630225080385853 Centerline is valid? [False, False] Translation: X:5.79, Y:0.38, Z:0.10 [[ 9.99905973e-01 -1.90021813e-03 -1.35806378e-02 5.78737820e+00] [ 1.87746524e-03 9.99996813e-01 -1.68794479e-03 3.75382762e-01] [ 1.35838020e-02 1.66228890e-03 9.99906354e-01 1.00730852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27463043999998 meters Centerline goodness [0,1] 0.30785457519857073 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99901807e-01 -2.07659535e-03 -1.38586977e-02 5.78819261e+00] [ 2.05241806e-03 9.99996348e-01 -1.75855154e-03 3.74830208e-01] [ 1.38622989e-02 1.72993502e-03 9.99902417e-01 1.00569926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30463043999998 meters Centerline goodness [0,1] 0.30590979116740846 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99885939e-01 -2.44838340e-03 -1.49035036e-02 5.79098822e+00] [ 2.42084560e-03 9.99995330e-01 -1.86550036e-03 3.73644643e-01] [ 1.49080015e-02 1.82920850e-03 9.99887196e-01 1.00207441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33463043999998 meters Centerline goodness [0,1] 0.30664376945368677 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99881609e-01 -2.35507331e-03 -1.52059450e-02 5.79171733e+00] [ 2.33000047e-03 9.99995897e-01 -1.66638941e-03 3.73004873e-01] [ 1.52098071e-02 1.63076227e-03 9.99882994e-01 1.00260757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36463043999998 meters Centerline goodness [0,1] 0.30664376945368677 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99881609e-01 -2.35507331e-03 -1.52059450e-02 5.79171733e+00] [ 2.33000047e-03 9.99995897e-01 -1.66638941e-03 3.73004873e-01] [ 1.52098071e-02 1.63076227e-03 9.99882994e-01 1.00260757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39463044 meters Centerline goodness [0,1] 0.30951144575706435 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99878673e-01 -2.25338825e-03 -1.54130328e-02 5.79214863e+00] [ 2.23140815e-03 9.99996469e-01 -1.44312058e-03 3.72184977e-01] [ 1.54162303e-02 1.40855272e-03 9.99880171e-01 1.00444008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42463044 meters Centerline goodness [0,1] 0.3097469642200048 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99878752e-01 -2.21400636e-03 -1.54136298e-02 5.79209561e+00] [ 2.19383007e-03 9.99996715e-01 -1.32577521e-03 3.71545527e-01] [ 1.54165144e-02 1.29179957e-03 9.99880324e-01 1.00607941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45463044 meters Centerline goodness [0,1] 0.31309993744472486 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99883576e-01 -2.18537317e-03 -1.51016387e-02 5.79098656e+00] [ 2.16948368e-03 9.99997076e-01 -1.06847193e-03 3.69627243e-01] [ 1.51039296e-02 1.03558478e-03 9.99885393e-01 1.01383962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48463044 meters Centerline goodness [0,1] 0.30867029715706873 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99883217e-01 -2.07644742e-03 -1.51406688e-02 5.79099693e+00] [ 2.06384518e-03 9.99997511e-01 -8.47921113e-04 3.68662508e-01] [ 1.51423918e-02 8.16574094e-04 9.99885014e-01 1.01584983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51463044 meters Centerline goodness [0,1] 0.3128013085399449 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99881791e-01 -1.99182391e-03 -1.52459050e-02 5.79116575e+00] [ 1.98192523e-03 9.99997815e-01 -6.64349613e-04 3.67780179e-01] [ 1.52471949e-02 6.34054837e-04 9.99883554e-01 1.01726563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54463044 meters Centerline goodness [0,1] 0.31319736700118705 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99877335e-01 -1.93714187e-03 -1.55422812e-02 5.79202037e+00] [ 1.92836059e-03 9.99997973e-01 -5.79959882e-04 3.67322047e-01] [ 1.55433731e-02 5.49917618e-04 9.99879043e-01 1.01501364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57463044 meters Centerline goodness [0,1] 0.311381239242685 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99868132e-01 -1.92095343e-03 -1.61253877e-02 5.79366019e+00] [ 1.91070467e-03 9.99997963e-01 -6.50948615e-04 3.67534156e-01] [ 1.61266053e-02 6.20051922e-04 9.99869766e-01 1.01027478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60463044 meters Centerline goodness [0,1] 0.3083531503738458 Centerline is valid? [False, False] Translation: X:5.80, Y:0.37, Z:0.10 [[ 9.99854681e-01 -1.56781843e-03 -1.69752327e-02 5.79588190e+00] [ 1.55754653e-03 9.99998596e-01 -6.18315021e-04 3.68375601e-01] [ 1.69761783e-02 5.91785453e-04 9.99855719e-01 1.00613752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63463044 meters Centerline goodness [0,1] 0.3099120360437674 Centerline is valid? [False, False] Translation: X:5.80, Y:0.37, Z:0.10 [[ 9.99854553e-01 -1.49035004e-03 -1.69897262e-02 5.79556536e+00] [ 1.47843340e-03 9.99998652e-01 -7.13941246e-04 3.69329112e-01] [ 1.69907673e-02 6.88719227e-04 9.99855409e-01 1.01086166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66463044 meters Centerline goodness [0,1] 0.3150103878116344 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99857789e-01 -1.39238841e-03 -1.68066327e-02 5.79469978e+00] [ 1.38033881e-03 9.99998782e-01 -7.28533696e-04 3.69922128e-01] [ 1.68076267e-02 7.05231243e-04 9.99858493e-01 1.01708491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69463044 meters Centerline goodness [0,1] 0.3126137117660909 Centerline is valid? [False, False] Translation: X:5.81, Y:0.37, Z:0.10 [[ 9.99871680e-01 6.53713067e-03 -1.46249707e-02 5.81373725e+00] [-6.56508318e-03 9.99976712e-01 -1.86409381e-03 3.70393775e-01] [ 1.46124443e-02 1.95986876e-03 9.99891312e-01 1.03940649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72463044 meters Centerline goodness [0,1] 0.3148227712137487 Centerline is valid? [False, False] Translation: X:5.81, Y:0.37, Z:0.10 [[ 9.99868988e-01 6.53385688e-03 -1.48092727e-02 5.81420829e+00] [-6.56363100e-03 9.99976533e-01 -1.96279314e-03 3.71083432e-01] [ 1.47961005e-02 2.05973859e-03 9.99888410e-01 1.03857129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.75463044 meters Centerline goodness [0,1] 0.3128409163832382 Centerline is valid? [False, False] Translation: X:5.81, Y:0.37, Z:0.10 [[ 9.99866185e-01 6.51966622e-03 -1.50035571e-02 5.81480542e+00] [-6.55042144e-03 9.99976542e-01 -2.00163256e-03 3.71256278e-01] [ 1.49901552e-02 2.09964433e-03 9.99885437e-01 1.03676827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78463044 meters Centerline goodness [0,1] 0.3139700487678564 Centerline is valid? [False, False] Translation: X:5.80, Y:0.37, Z:0.10 [[ 9.99903143e-01 -1.04078396e-03 -1.38788349e-02 5.79576118e+00] [ 1.02726167e-03 9.99998991e-01 -9.81403427e-04 3.74184060e-01] [ 1.38798424e-02 9.67051176e-04 9.99903203e-01 1.01358031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.81463044 meters Centerline goodness [0,1] 0.31900060621806525 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99912291e-01 -1.49138636e-03 -1.31599940e-02 5.79348198e+00] [ 1.47704437e-03 9.99998305e-01 -1.09946963e-03 3.72771974e-01] [ 1.31616114e-02 1.07993530e-03 9.99912799e-01 1.02550918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84463044 meters Centerline goodness [0,1] 0.31979027316273245 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99913432e-01 -1.51382885e-03 -1.30704517e-02 5.79275752e+00] [ 1.50239872e-03 9.99998480e-01 -8.84275946e-04 3.71394826e-01] [ 1.30717705e-02 8.64562366e-04 9.99914187e-01 1.03456394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.87463044 meters Centerline goodness [0,1] 0.32201385005806704 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99914106e-01 -1.50137344e-03 -1.30202061e-02 5.79221677e+00] [ 1.49427444e-03 9.99998730e-01 -5.54941001e-04 3.69552017e-01] [ 1.30210227e-02 5.35437574e-04 9.99915080e-01 1.04273029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90463044 meters Centerline goodness [0,1] 0.3210323358969388 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99912908e-01 -1.43749630e-03 -1.31190577e-02 5.79224903e+00] [ 1.43509424e-03 9.99998952e-01 -1.92509113e-04 3.67696692e-01] [ 1.31193207e-02 1.73665263e-04 9.99913923e-01 1.04718317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.93463044 meters Centerline goodness [0,1] 0.3199991447874797 Centerline is valid? [False, False] Translation: X:5.79, Y:0.37, Z:0.10 [[ 9.99905368e-01 -1.37905968e-03 -1.36876778e-02 5.79380375e+00] [ 1.38124746e-03 9.99999035e-01 1.50383445e-04 3.65741642e-01] [ 1.36874572e-02 -1.69275284e-04 9.99906308e-01 1.04516702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96463044 meters Centerline goodness [0,1] 0.3221620916737302 Centerline is valid? [False, False] Translation: X:5.75, Y:0.36, Z:0.10 [[ 9.99846856e-01 -1.95205887e-03 -1.73912016e-02 5.75350112e+00] [ 1.94253187e-03 9.99997954e-01 -5.64681208e-04 3.61332092e-01] [ 1.73922683e-02 5.30811767e-04 9.99848602e-01 1.03386119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99463043999998 meters Centerline goodness [0,1] 0.3183156085508647 Centerline is valid? [False, False] Translation: X:5.76, Y:0.36, Z:0.10 [[ 9.99813607e-01 -3.56476140e-03 -1.89748242e-02 5.75925588e+00] [ 3.53195481e-03 9.99992210e-01 -1.76218505e-03 3.57240085e-01] [ 1.89809581e-02 1.69483837e-03 9.99818409e-01 1.01100906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02463043999998 meters Centerline goodness [0,1] 0.3175398436487712 Centerline is valid? [False, False] Translation: X:5.76, Y:0.36, Z:0.10 [[ 9.99812875e-01 -3.43164681e-03 -1.90378183e-02 5.75928715e+00] [ 3.40495700e-03 9.99993175e-01 -1.43417341e-03 3.55718771e-01] [ 1.90426099e-02 1.36908209e-03 9.99817736e-01 1.01364795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05463043999998 meters Centerline goodness [0,1] 0.31879375336564353 Centerline is valid? [False, False] Translation: X:5.76, Y:0.35, Z:0.10 [[ 9.99814308e-01 -3.33975411e-03 -1.89788216e-02 5.75892642e+00] [ 3.31796304e-03 9.99993800e-01 -1.17955066e-03 3.54409213e-01] [ 1.89826434e-02 1.11636060e-03 9.99819190e-01 1.01756765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08463043999998 meters Centerline goodness [0,1] 0.3202110565857471 Centerline is valid? [False, False] Translation: X:5.76, Y:0.35, Z:0.10 [[ 9.99814552e-01 -3.26304841e-03 -1.89793081e-02 5.75859161e+00] [ 3.24540250e-03 9.99994272e-01 -9.60471397e-04 3.53162047e-01] [ 1.89823334e-02 8.98697786e-04 9.99819415e-01 1.02297743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11463043999998 meters Centerline goodness [0,1] 0.31566954016811055 Centerline is valid? [False, False] Translation: X:5.78, Y:0.35, Z:0.10 [[ 9.99813450e-01 4.22625420e-03 -1.88468511e-02 5.77805557e+00] [-4.26433644e-03 9.99988946e-01 -1.98088513e-03 3.48422865e-01] [ 1.88382710e-02 2.06088491e-03 9.99820420e-01 1.03948272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14463044 meters Centerline goodness [0,1] 0.3156954340946764 Centerline is valid? [False, False] Translation: X:5.78, Y:0.35, Z:0.10 [[ 9.99809332e-01 4.34844959e-03 -1.90365464e-02 5.77867309e+00] [-4.38137198e-03 9.99988977e-01 -1.68806537e-03 3.46982015e-01] [ 1.90289960e-02 1.77114970e-03 9.99817363e-01 1.03698218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17463044 meters Centerline goodness [0,1] 0.3150843002756587 Centerline is valid? [False, False] Translation: X:5.80, Y:0.35, Z:0.11 [[ 9.99809565e-01 -3.14832686e-03 -1.92593251e-02 5.79768399e+00] [ 3.14740102e-03 9.99995044e-01 -7.83829945e-05 3.49878236e-01] [ 1.92594764e-02 1.77512481e-05 9.99814519e-01 1.05103576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20463044 meters Centerline goodness [0,1] 0.3152506573559205 Centerline is valid? [False, False] Translation: X:5.80, Y:0.34, Z:0.11 [[ 9.99808354e-01 -3.00520449e-03 -1.93448486e-02 5.79783951e+00] [ 3.01778700e-03 9.99995253e-01 6.21273125e-04 3.43850744e-01] [ 1.93428897e-02 -6.79532693e-04 9.99812678e-01 1.05358200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23463044 meters Centerline goodness [0,1] 0.3147361383683064 Centerline is valid? [False, False] Translation: X:5.80, Y:0.34, Z:0.11 [[ 9.99807467e-01 -2.94650456e-03 -1.93996753e-02 5.79772521e+00] [ 2.96717039e-03 9.99995061e-01 1.03656936e-03 3.40810160e-01] [ 1.93965252e-02 -1.09393193e-03 9.99811271e-01 1.05808268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26463044 meters Centerline goodness [0,1] 0.3158360492974467 Centerline is valid? [False, False] Translation: X:5.80, Y:0.33, Z:0.11 [[ 9.99803877e-01 -2.88823929e-03 -1.95924914e-02 5.79809316e+00] [ 2.92019216e-03 9.99994452e-01 1.60245997e-03 3.34169116e-01] [ 1.95877544e-02 -1.65935953e-03 9.99806765e-01 1.06069998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29463044 meters Centerline goodness [0,1] 0.31298215621327063 Centerline is valid? [False, False] Translation: X:5.82, Y:0.33, Z:0.11 [[ 9.99797350e-01 4.79943993e-03 -1.95505483e-02 5.81779505e+00] [-4.78332934e-03 9.99988181e-01 8.70727928e-04 3.27933939e-01] [ 1.95544962e-02 -7.77034764e-04 9.99808491e-01 1.07481313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32463044 meters Centerline goodness [0,1] 0.3130421712617023 Centerline is valid? [False, False] Translation: X:5.82, Y:0.33, Z:0.11 [[ 9.99797587e-01 4.92546145e-03 -1.95070658e-02 5.81762398e+00] [-4.90231540e-03 9.99987222e-01 1.23418893e-03 3.25711731e-01] [ 1.95128955e-02 -1.13830933e-03 9.99808957e-01 1.07607764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35463044 meters Centerline goodness [0,1] 0.3134536259214812 Centerline is valid? [False, False] Translation: X:5.82, Y:0.32, Z:0.11 [[ 9.99796171e-01 4.98455274e-03 -1.95645492e-02 5.81764652e+00] [-4.95711043e-03 9.99986661e-01 1.45090095e-03 3.24003288e-01] [ 1.95715203e-02 -1.35362159e-03 9.99807543e-01 1.07785402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38463044 meters Centerline goodness [0,1] 0.3124515795816476 Centerline is valid? [False, False] Translation: X:5.82, Y:0.32, Z:0.11 [[ 9.99791009e-01 5.02258527e-03 -1.98169718e-02 5.81796909e+00] [-4.99250594e-03 9.99986310e-01 1.56703860e-03 3.22925706e-01] [ 1.98245711e-02 -1.46777475e-03 9.99802396e-01 1.08138154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41463044 meters Centerline goodness [0,1] 0.3103714010489136 Centerline is valid? [False, False] Translation: X:5.82, Y:0.32, Z:0.11 [[ 9.99782949e-01 5.17239229e-03 -2.01817044e-02 5.81876458e+00] [-5.13842867e-03 9.99985294e-01 1.73438541e-03 3.22215012e-01] [ 2.01903785e-02 -1.63030671e-03 9.99794824e-01 1.08150650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44463044 meters Centerline goodness [0,1] 0.31046111939814514 Centerline is valid? [False, False] Translation: X:5.80, Y:0.32, Z:0.11 [[ 9.99773831e-01 -9.84741943e-04 -2.12442070e-02 5.80275353e+00] [ 1.07465146e-03 9.99990513e-01 4.22118855e-03 3.24076440e-01] [ 2.12398487e-02 -4.24306397e-03 9.99765405e-01 1.05765175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.47463044 meters Centerline goodness [0,1] 0.3113762102351314 Centerline is valid? [False, False] Translation: X:5.80, Y:0.32, Z:0.11 [[ 9.99773352e-01 -9.15143945e-04 -2.12698788e-02 5.80275761e+00] [ 1.00619538e-03 9.99990375e-01 4.27046121e-03 3.23775180e-01] [ 2.12657660e-02 -4.29089497e-03 9.99764650e-01 1.05831387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50463044 meters Centerline goodness [0,1] 0.3073405278341703 Centerline is valid? [False, False] Translation: X:5.82, Y:0.32, Z:0.11 [[ 9.99758059e-01 6.71781326e-03 -2.09450140e-02 5.82230433e+00] [-6.65693056e-03 9.99973417e-01 2.97515690e-03 3.20215581e-01] [ 2.09644438e-02 -2.83500759e-03 9.99776202e-01 1.07771065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.53463044 meters Centerline goodness [0,1] 0.3082503434065934 Centerline is valid? [False, False] Translation: X:5.82, Y:0.32, Z:0.11 [[ 9.99753073e-01 6.74979454e-03 -2.11714977e-02 5.82258274e+00] [-6.68459032e-03 9.99972699e-01 3.14907125e-03 3.18898145e-01] [ 2.11921753e-02 -3.00677088e-03 9.99770899e-01 1.08132528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56463044 meters Centerline goodness [0,1] 0.3069854122485701 Centerline is valid? [False, False] Translation: X:5.82, Y:0.32, Z:0.11 [[ 9.99747583e-01 6.92490976e-03 -2.13732301e-02 5.82292287e+00] [-6.84892657e-03 9.99969971e-01 3.62621952e-03 3.16501100e-01] [ 2.13976995e-02 -3.47892052e-03 9.99764990e-01 1.08467478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59463044 meters Centerline goodness [0,1] 0.307205305999397 Centerline is valid? [False, False] Translation: X:5.82, Y:0.32, Z:0.11 [[ 9.99754412e-01 6.90573673e-03 -2.10577103e-02 5.82188381e+00] [-6.82909426e-03 9.99969802e-01 3.70938112e-03 3.15749451e-01] [ 2.10826904e-02 -3.56466505e-03 9.99771381e-01 1.08974018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62463044 meters Centerline goodness [0,1] 0.3097850690926337 Centerline is valid? [False, False] Translation: X:5.82, Y:0.31, Z:0.11 [[ 9.99760053e-01 6.85740701e-03 -2.08041547e-02 5.82067497e+00] [-6.78053961e-03 9.99969931e-01 3.76310320e-03 3.14993242e-01] [ 2.08293342e-02 -3.62113686e-03 9.99776488e-01 1.09937585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65463044 meters Centerline goodness [0,1] 0.30824518869746187 Centerline is valid? [False, False] Translation: X:5.82, Y:0.31, Z:0.11 [[ 9.99763199e-01 6.85696804e-03 -2.06525516e-02 5.81982534e+00] [-6.77956472e-03 9.99969739e-01 3.81556889e-03 3.14633786e-01] [ 2.06780898e-02 -3.67465005e-03 9.99779432e-01 1.10676633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68463044 meters Centerline goodness [0,1] 0.30793678062188623 Centerline is valid? [False, False] Translation: X:5.82, Y:0.31, Z:0.11 [[ 9.99762529e-01 6.93198090e-03 -2.06599543e-02 5.81970651e+00] [-6.85292504e-03 9.99968933e-01 3.89487169e-03 3.14590338e-01] [ 2.06863117e-02 -3.75236565e-03 9.99778974e-01 1.10908317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71463044 meters Centerline goodness [0,1] 0.3094635791658559 Centerline is valid? [False, False] Translation: X:5.82, Y:0.32, Z:0.11 [[ 9.99756763e-01 7.10898063e-03 -2.08776504e-02 5.82027110e+00] [-7.02717001e-03 9.99967352e-01 3.98932763e-03 3.15030061e-01] [ 2.09053289e-02 -3.84164648e-03 9.99774079e-01 1.10814858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74463043999998 meters Centerline goodness [0,1] 0.30944210639905034 Centerline is valid? [False, False] Translation: X:5.82, Y:0.32, Z:0.11 [[ 9.99754461e-01 7.04959847e-03 -2.10076479e-02 5.82057900e+00] [-6.96918253e-03 9.99968115e-01 3.89869275e-03 3.15185715e-01] [ 2.10344623e-02 -3.75132933e-03 9.99771713e-01 1.10786103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77463043999998 meters Centerline goodness [0,1] 0.30760398613518203 Centerline is valid? [False, False] Translation: X:5.82, Y:0.32, Z:0.11 [[ 9.99750930e-01 7.00980723e-03 -2.11882183e-02 5.82101009e+00] [-6.93092406e-03 9.99968783e-01 3.79411934e-03 3.15590953e-01] [ 2.12141530e-02 -3.64632040e-03 9.99768305e-01 1.10765509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80463043999998 meters Centerline goodness [0,1] 0.3101387360562712 Centerline is valid? [False, False] Translation: X:5.82, Y:0.32, Z:0.11 [[ 9.99747946e-01 7.02522331e-03 -2.13234921e-02 5.82136201e+00] [-6.94717187e-03 9.99968903e-01 3.73222393e-03 3.16153393e-01] [ 2.13490487e-02 -3.58314524e-03 9.99765662e-01 1.10682601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83463043999998 meters Centerline goodness [0,1] 0.30958009197575964 Centerline is valid? [False, False] Translation: X:5.82, Y:0.32, Z:0.11 [[ 9.99747638e-01 7.08472257e-03 -2.13182468e-02 5.82126937e+00] [-7.00745425e-03 9.99968613e-01 3.69703802e-03 3.16902491e-01] [ 2.13437702e-02 -3.54671839e-03 9.99765905e-01 1.10833996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86463043999998 meters Centerline goodness [0,1] 0.30933235604803067 Centerline is valid? [False, False] Translation: X:5.82, Y:0.32, Z:0.11 [[ 9.99749581e-01 6.99207258e-03 -2.12576347e-02 5.82101450e+00] [-6.91785115e-03 9.99969724e-01 3.56305375e-03 3.17146098e-01] [ 2.12819042e-02 -3.41510434e-03 9.99767682e-01 1.11039390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89463044 meters Centerline goodness [0,1] 0.3086438507780117 Centerline is valid? [False, False] Translation: X:5.82, Y:0.32, Z:0.11 [[ 9.99750852e-01 6.92189090e-03 -2.12207569e-02 5.82086549e+00] [-6.84871823e-03 9.99970356e-01 3.51890412e-03 3.16913925e-01] [ 2.12444853e-02 -3.37269241e-03 9.99768622e-01 1.11162705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92463044 meters Centerline goodness [0,1] 0.31117119867419696 Centerline is valid? [False, False] Translation: X:5.82, Y:0.32, Z:0.11 [[ 9.99748411e-01 6.90088451e-03 -2.13422488e-02 5.82111488e+00] [-6.82759956e-03 9.99970550e-01 3.50475982e-03 3.16931096e-01] [ 2.13658062e-02 -3.35816173e-03 9.99766085e-01 1.11157278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95463044 meters Centerline goodness [0,1] 0.30492048244209624 Centerline is valid? [False, False] Translation: X:5.87, Y:0.32, Z:0.11 [[ 9.99765751e-01 6.81551831e-03 -2.05424599e-02 5.86646124e+00] [-6.74200003e-03 9.99970626e-01 3.64597962e-03 3.20301236e-01] [ 2.05667057e-02 -3.50662829e-03 9.99782333e-01 1.11173982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98463044 meters Centerline goodness [0,1] 0.3095615196025254 Centerline is valid? [False, False] Translation: X:5.85, Y:0.32, Z:0.11 [[ 9.99779798e-01 -1.81677216e-03 -2.09058436e-02 5.84536170e+00] [ 1.90124681e-03 9.99990106e-01 4.02155336e-03 3.22962704e-01] [ 2.08983305e-02 -4.06041498e-03 9.99773361e-01 1.10321714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01463044 meters Centerline goodness [0,1] 0.30563158688764847 Centerline is valid? [False, False] Translation: X:5.86, Y:0.32, Z:0.11 [[ 9.99770799e-01 5.54579729e-03 -2.06783332e-02 5.86398823e+00] [-5.49803548e-03 9.99982087e-01 2.36588778e-03 3.20090396e-01] [ 2.06910835e-02 -2.25165531e-03 9.99783381e-01 1.12742547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04463044 meters Centerline goodness [0,1] 0.3061071321353519 Centerline is valid? [False, False] Translation: X:5.86, Y:0.32, Z:0.11 [[ 9.99770233e-01 5.48874210e-03 -2.07208992e-02 5.86382869e+00] [-5.44115379e-03 9.99982430e-01 2.35231453e-03 3.19801130e-01] [ 2.07334464e-02 -2.23902844e-03 9.99782532e-01 1.13161199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07463044 meters Centerline goodness [0,1] 0.3049150029012916 Centerline is valid? [False, False] Translation: X:5.86, Y:0.32, Z:0.11 [[ 9.99768830e-01 5.53235020e-03 -2.07769054e-02 5.86365792e+00] [-5.48304012e-03 9.99982017e-01 2.42952933e-03 3.19616443e-01] [ 2.07899727e-02 -2.31504709e-03 9.99781185e-01 1.13609405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10463044 meters Centerline goodness [0,1] 0.30704444348464566 Centerline is valid? [False, False] Translation: X:5.86, Y:0.32, Z:0.11 [[ 9.99768518e-01 5.51375837e-03 -2.07968633e-02 5.86354313e+00] [-5.46588821e-03 9.99982282e-01 2.35793840e-03 3.20198775e-01] [ 2.08094959e-02 -2.24371925e-03 9.99780941e-01 1.13872435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13463044 meters Centerline goodness [0,1] 0.30909875876956283 Centerline is valid? [False, False] Translation: X:5.86, Y:0.32, Z:0.11 [[ 9.99767083e-01 5.34500673e-03 -2.09095882e-02 5.86378095e+00] [-5.30226773e-03 9.99983740e-01 2.09889696e-03 3.20865790e-01] [ 2.09204668e-02 -1.98753985e-03 9.99779167e-01 1.13887779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16463044 meters Centerline goodness [0,1] 0.3090802881806971 Centerline is valid? [False, False] Translation: X:5.86, Y:0.32, Z:0.11 [[ 9.99764364e-01 5.20457168e-03 -2.10743738e-02 5.86421140e+00] [-5.16700145e-03 9.99984964e-01 1.83680434e-03 3.21682581e-01] [ 2.10836167e-02 -1.72748020e-03 9.99776223e-01 1.13779411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.19463044 meters Centerline goodness [0,1] 0.3015406251997699 Centerline is valid? [False, False] Translation: X:5.89, Y:0.33, Z:0.11 [[ 9.99766279e-01 2.60310920e-04 -2.16175996e-02 5.88600797e+00] [-1.55137060e-04 9.99988145e-01 4.86673059e-03 3.28545890e-01] [ 2.16186102e-02 -4.86223944e-03 9.99754467e-01 1.14367766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22463044 meters Centerline goodness [0,1] 0.30736108706941323 Centerline is valid? [False, False] Translation: X:5.84, Y:0.33, Z:0.11 [[ 9.99741502e-01 1.42372311e-03 -2.26914765e-02 5.83932066e+00] [-1.29258268e-03 9.99982386e-01 5.79290120e-03 3.26292871e-01] [ 2.26993243e-02 -5.76207313e-03 9.99725732e-01 1.14906440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.25463044 meters Centerline goodness [0,1] 0.30736108706941323 Centerline is valid? [False, False] Translation: X:5.84, Y:0.33, Z:0.11 [[ 9.99741502e-01 1.42372311e-03 -2.26914765e-02 5.83932066e+00] [-1.29258268e-03 9.99982386e-01 5.79290120e-03 3.26292871e-01] [ 2.26993243e-02 -5.76207313e-03 9.99725732e-01 1.14906440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28463044 meters Centerline goodness [0,1] 0.30382452914894076 Centerline is valid? [False, False] Translation: X:5.86, Y:0.33, Z:0.12 [[ 9.99736219e-01 9.30591157e-03 -2.09974583e-02 5.85857641e+00] [-9.21307532e-03 9.99947371e-01 4.51372379e-03 3.26130221e-01] [ 2.10383576e-02 -4.31908199e-03 9.99769340e-01 1.16488988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.31463044 meters Centerline goodness [0,1] 0.30598121601581807 Centerline is valid? [False, False] Translation: X:5.86, Y:0.33, Z:0.12 [[ 9.99740065e-01 9.13205294e-03 -2.08904022e-02 5.85797954e+00] [-9.04686292e-03 9.99950386e-01 4.16883026e-03 3.27350719e-01] [ 2.09274357e-02 -3.97875403e-03 9.99773080e-01 1.16965407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34463044 meters Centerline goodness [0,1] 0.30467897563167246 Centerline is valid? [False, False] Translation: X:5.86, Y:0.33, Z:0.12 [[ 9.99740551e-01 8.87676747e-03 -2.09769775e-02 5.85824226e+00] [-8.80363429e-03 9.99954853e-01 3.57613532e-03 3.29831096e-01] [ 2.10077750e-02 -3.39053386e-03 9.99773563e-01 1.16768103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37463044 meters Centerline goodness [0,1] 0.3051674334010912 Centerline is valid? [False, False] Translation: X:5.86, Y:0.33, Z:0.12 [[ 9.99736046e-01 8.89347599e-03 -2.11835801e-02 5.85892504e+00] [-8.82313306e-03 9.99955255e-01 3.41178836e-03 3.31384648e-01] [ 2.12129749e-02 -3.22398225e-03 9.99769781e-01 1.16450019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40463044 meters Centerline goodness [0,1] 0.305338217126509 Centerline is valid? [False, False] Translation: X:5.84, Y:0.34, Z:0.11 [[ 9.99782535e-01 1.02417937e-03 -2.08286964e-02 5.83868701e+00] [-9.33192586e-04 9.99989983e-01 4.37758859e-03 3.36332822e-01] [ 2.08329712e-02 -4.35719943e-03 9.99773475e-01 1.14522582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43463044 meters Centerline goodness [0,1] 0.30430128246301413 Centerline is valid? [False, False] Translation: X:5.86, Y:0.34, Z:0.12 [[ 9.99774020e-01 8.76051047e-03 -1.93690876e-02 5.85826214e+00] [-8.70164404e-03 9.99957268e-01 3.12138959e-03 3.36620006e-01] [ 1.93956049e-02 -2.95214132e-03 9.99807529e-01 1.15851467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46463044 meters Centerline goodness [0,1] 0.3082089713409498 Centerline is valid? [False, False] Translation: X:5.84, Y:0.34, Z:0.11 [[ 9.99857146e-01 1.02053722e-03 -1.68714406e-02 5.83734822e+00] [-9.66183122e-04 9.99994318e-01 3.22950053e-03 3.42128757e-01] [ 1.68746406e-02 -3.21273828e-03 9.99852452e-01 1.14323319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49463043999998 meters Centerline goodness [0,1] 0.3055027652623262 Centerline is valid? [False, False] Translation: X:5.86, Y:0.34, Z:0.12 [[ 9.99845523e-01 8.34804925e-03 -1.54674187e-02 5.85636764e+00] [-8.32666184e-03 9.99964286e-01 1.44662434e-03 3.42020130e-01] [ 1.54789428e-02 -1.31760890e-03 9.99879326e-01 1.15996438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52463043999998 meters Centerline goodness [0,1] 0.3080864622803996 Centerline is valid? [False, False] Translation: X:5.84, Y:0.35, Z:0.11 [[ 9.99907283e-01 8.75358523e-04 -1.35889512e-02 5.83712885e+00] [-8.50246689e-04 9.99997921e-01 1.85362695e-03 3.47649686e-01] [ 1.35905455e-02 -1.84190113e-03 9.99905948e-01 1.13836294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55463043999998 meters Centerline goodness [0,1] 0.3074654496921686 Centerline is valid? [False, False] Translation: X:5.84, Y:0.35, Z:0.11 [[ 9.99903421e-01 8.25541462e-04 -1.38732584e-02 5.83785834e+00] [-8.03521550e-04 9.99998409e-01 1.59271898e-03 3.49951354e-01] [ 1.38745512e-02 -1.58141770e-03 9.99902493e-01 1.13703901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58463043999998 meters Centerline goodness [0,1] 0.30859873300036755 Centerline is valid? [False, False] Translation: X:5.84, Y:0.35, Z:0.11 [[ 9.99900933e-01 7.80332233e-04 -1.40540281e-02 5.83819598e+00] [-7.58465087e-04 9.99998494e-01 1.56119721e-03 3.50148186e-01] [ 1.40552252e-02 -1.55038306e-03 9.99900018e-01 1.13860494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61463043999998 meters Centerline goodness [0,1] 0.30646231564526827 Centerline is valid? [False, False] Translation: X:5.84, Y:0.35, Z:0.11 [[ 9.99898361e-01 6.88299555e-04 -1.42405477e-02 5.83865165e+00] [-6.66484014e-04 9.99998597e-01 1.53662038e-03 3.49848249e-01] [ 1.42415854e-02 -1.52697311e-03 9.99897418e-01 1.13899547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64463044 meters Centerline goodness [0,1] 0.3108546934534119 Centerline is valid? [False, False] Translation: X:5.82, Y:0.35, Z:0.11 [[ 9.99877682e-01 6.20555803e-03 -1.43566121e-02 5.81734170e+00] [-6.22997897e-03 9.99979221e-01 -1.65692624e-03 3.45618397e-01] [ 1.43460316e-02 1.74616496e-03 9.99895566e-01 1.13611021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67463044 meters Centerline goodness [0,1] 0.30931394625662145 Centerline is valid? [False, False] Translation: X:5.84, Y:0.35, Z:0.12 [[ 9.99885878e-01 -2.03023337e-03 -1.49702539e-02 5.83795096e+00] [ 2.01868615e-03 9.99997653e-01 -7.86415335e-04 3.50032976e-01] [ 1.49718153e-02 7.56105343e-04 9.99887630e-01 1.15254469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70463044 meters Centerline goodness [0,1] 0.3075731497418245 Centerline is valid? [False, False] Translation: X:5.84, Y:0.35, Z:0.12 [[ 9.99883056e-01 -1.97280566e-03 -1.51651376e-02 5.83833024e+00] [ 1.96221406e-03 9.99997820e-01 -7.13265559e-04 3.50072008e-01] [ 1.51665117e-02 6.83424901e-04 9.99884748e-01 1.15398600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73463044 meters Centerline goodness [0,1] 0.30819756584454894 Centerline is valid? [False, False] Translation: X:5.84, Y:0.35, Z:0.12 [[ 9.99882531e-01 -1.90815822e-03 -1.52079886e-02 5.83859269e+00] [ 1.89773762e-03 9.99997955e-01 -6.99607117e-04 3.50498936e-01] [ 1.52092925e-02 6.70664163e-04 9.99884107e-01 1.15177166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76463044 meters Centerline goodness [0,1] 0.306916734310249 Centerline is valid? [False, False] Translation: X:5.84, Y:0.35, Z:0.12 [[ 9.99881472e-01 -1.90103852e-03 -1.52783470e-02 5.83883095e+00] [ 1.88884660e-03 9.99997886e-01 -8.12377135e-04 3.51320101e-01] [ 1.52798590e-02 7.83422392e-04 9.99882949e-01 1.15063883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79463044 meters Centerline goodness [0,1] 0.315559516563777 Centerline is valid? [False, False] Translation: X:5.79, Y:0.35, Z:0.12 [[ 9.99863131e-01 -1.64806425e-03 -1.64621927e-02 5.79323794e+00] [ 1.63047692e-03 9.99998086e-01 -1.08171109e-03 3.48673947e-01] [ 1.64639440e-02 1.05472181e-03 9.99863904e-01 1.15020022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82463044 meters Centerline goodness [0,1] 0.3104924592844388 Centerline is valid? [False, False] Translation: X:5.81, Y:0.35, Z:0.12 [[ 9.99874459e-01 5.94765164e-03 -1.46864741e-02 5.81271190e+00] [-5.98546633e-03 9.99978881e-01 -2.53218605e-03 3.47744110e-01] [ 1.46711033e-02 2.61977356e-03 9.99888942e-01 1.16400023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85463044 meters Centerline goodness [0,1] 0.3114648172478408 Centerline is valid? [False, False] Translation: X:5.81, Y:0.35, Z:0.12 [[ 9.99873061e-01 5.94384924e-03 -1.47828636e-02 5.81270196e+00] [-5.98075707e-03 9.99979105e-01 -2.45370813e-03 3.47093852e-01] [ 1.47679703e-02 2.54180938e-03 9.99887717e-01 1.16771359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88463044 meters Centerline goodness [0,1] 0.31474103585657376 Centerline is valid? [False, False] Translation: X:5.81, Y:0.35, Z:0.12 [[ 9.99872155e-01 5.90626298e-03 -1.48589838e-02 5.81287124e+00] [-5.94173764e-03 9.99979600e-01 -2.34440839e-03 3.45990887e-01] [ 1.48448339e-02 2.43239685e-03 9.99886851e-01 1.16797329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91463044 meters Centerline goodness [0,1] 0.3139502134020842 Centerline is valid? [False, False] Translation: X:5.81, Y:0.34, Z:0.12 [[ 9.99871861e-01 5.89216880e-03 -1.48843850e-02 5.81280595e+00] [-5.92463400e-03 9.99980164e-01 -2.13800533e-03 3.44321479e-01] [ 1.48714923e-02 2.22591590e-03 9.99886936e-01 1.17045210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94463044 meters Centerline goodness [0,1] 0.3135176881985712 Centerline is valid? [False, False] Translation: X:5.83, Y:0.34, Z:0.12 [[ 9.99899643e-01 -2.27065682e-03 -1.39838584e-02 5.83277626e+00] [ 2.25763590e-03 9.99997003e-01 -9.46854542e-04 3.44838405e-01] [ 1.39859665e-02 9.15189058e-04 9.99901773e-01 1.18333252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.97463044 meters Centerline goodness [0,1] 0.31302643200275737 Centerline is valid? [False, False] Translation: X:5.83, Y:0.34, Z:0.12 [[ 9.99900305e-01 -2.21189583e-03 -1.39458571e-02 5.83262767e+00] [ 2.20342878e-03 9.99997379e-01 -6.22473205e-04 3.42737542e-01] [ 1.39471974e-02 5.91682445e-04 9.99902558e-01 1.18500591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00463044 meters Centerline goodness [0,1] 0.3123594543079262 Centerline is valid? [False, False] Translation: X:5.83, Y:0.34, Z:0.12 [[ 9.99901027e-01 -2.15483741e-03 -1.39029831e-02 5.83243096e+00] [ 2.15147639e-03 9.99997653e-01 -2.56700327e-04 3.40278249e-01] [ 1.39035036e-02 2.26762981e-04 9.99903316e-01 1.18712041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.03463044 meters Centerline goodness [0,1] 0.3152734778121775 Centerline is valid? [False, False] Translation: X:5.83, Y:0.34, Z:0.12 [[ 9.99901601e-01 -2.12142538e-03 -1.38667765e-02 5.83227635e+00] [ 2.12346799e-03 9.99997737e-01 1.32580781e-04 3.37473296e-01] [ 1.38664638e-02 -1.62013391e-04 9.99903843e-01 1.18944455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06463044 meters Centerline goodness [0,1] 0.3192272707584355 Centerline is valid? [False, False] Translation: X:5.83, Y:0.33, Z:0.12 [[ 9.99904015e-01 -2.34404130e-03 -1.36552598e-02 5.83200757e+00] [ 2.35255968e-03 9.99997048e-01 6.07787113e-04 3.30430202e-01] [ 1.36537948e-02 -6.39853588e-04 9.99906578e-01 1.18868616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.09463044 meters Centerline goodness [0,1] 0.31820343232611425 Centerline is valid? [False, False] Translation: X:5.83, Y:0.33, Z:0.12 [[ 9.99904183e-01 -2.11642384e-03 -1.36800938e-02 5.83203742e+00] [ 2.13224743e-03 9.99997074e-01 1.14220514e-03 3.27928350e-01] [ 1.36776364e-02 -1.17126504e-03 9.99905771e-01 1.19020451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12463044 meters Centerline goodness [0,1] 0.319670714316581 Centerline is valid? [False, False] Translation: X:5.83, Y:0.33, Z:0.12 [[ 9.99906287e-01 -1.89208998e-03 -1.35586893e-02 5.83177582e+00] [ 1.91368306e-03 9.99996921e-01 1.57976662e-03 3.26042202e-01] [ 1.35556585e-02 -1.60556561e-03 9.99906829e-01 1.19063372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.15463044 meters Centerline goodness [0,1] 0.32302195887068663 Centerline is valid? [False, False] Translation: X:5.83, Y:0.32, Z:0.12 [[ 9.99908546e-01 -1.72740651e-03 -1.34132372e-02 5.83152400e+00] [ 1.75274725e-03 9.99996701e-01 1.87770772e-03 3.24583993e-01] [ 1.34099494e-02 -1.90104601e-03 9.99908275e-01 1.18971709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18463044 meters Centerline goodness [0,1] 0.3200276631151261 Centerline is valid? [False, False] Translation: X:5.85, Y:0.32, Z:0.12 [[ 9.99890818e-01 6.42940221e-03 -1.33047245e-02 5.85155871e+00] [-6.42022317e-03 9.99979122e-01 7.32505316e-04 3.19121545e-01] [ 1.33091563e-02 -6.47006039e-04 9.99911220e-01 1.20795136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21463044 meters Centerline goodness [0,1] 0.3184758548064731 Centerline is valid? [False, False] Translation: X:5.85, Y:0.32, Z:0.12 [[ 9.99888043e-01 6.64811496e-03 -1.34053835e-02 5.85195678e+00] [-6.63539490e-03 9.99977492e-01 9.93131227e-04 3.18191446e-01] [ 1.34116842e-02 -9.04070026e-04 9.99909651e-01 1.20457401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24463043999998 meters Centerline goodness [0,1] 0.3173000494102989 Centerline is valid? [False, False] Translation: X:5.85, Y:0.32, Z:0.12 [[ 9.99885644e-01 6.81610995e-03 -1.34996488e-02 5.85241130e+00] [-6.80048858e-03 9.99976153e-01 1.20273583e-03 3.17405370e-01] [ 1.35075248e-02 -1.11079408e-03 9.99908152e-01 1.20055037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27463043999998 meters Centerline goodness [0,1] 0.31878847892538853 Centerline is valid? [False, False] Translation: X:5.85, Y:0.32, Z:0.12 [[ 9.99884649e-01 6.88798025e-03 -1.35368047e-02 5.85265172e+00] [-6.87053284e-03 9.99975507e-01 1.33496972e-03 3.16629384e-01] [ 1.35456683e-02 -1.24181067e-03 9.99907482e-01 1.19835399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30463043999998 meters Centerline goodness [0,1] 0.31529766390354186 Centerline is valid? [False, False] Translation: X:5.85, Y:0.32, Z:0.12 [[ 9.99903898e-01 4.46088206e-03 -1.31261357e-02 5.85218166e+00] [-4.47599898e-03 9.99989353e-01 -1.12251345e-03 3.15236577e-01] [ 1.31209885e-02 1.18115814e-03 9.99913218e-01 1.19133466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33463043999998 meters Centerline goodness [0,1] 0.3219243243243243 Centerline is valid? [False, False] Translation: X:5.85, Y:0.31, Z:0.12 [[ 9.99904069e-01 4.42994478e-03 -1.31235799e-02 5.85230014e+00] [-4.44468848e-03 9.99989523e-01 -1.09449787e-03 3.14633183e-01] [ 1.31185939e-02 1.15272310e-03 9.99913283e-01 1.18934745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36463043999998 meters Centerline goodness [0,1] 0.31932121629770005 Centerline is valid? [False, False] Translation: X:5.85, Y:0.31, Z:0.12 [[ 9.99903707e-01 4.47386890e-03 -1.31362421e-02 5.85240336e+00] [-4.48671525e-03 9.99989485e-01 -9.48624208e-04 3.13850748e-01] [ 1.31318599e-02 1.00747144e-03 9.99913266e-01 1.18866481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39463044 meters Centerline goodness [0,1] 0.32120487168334055 Centerline is valid? [False, False] Translation: X:5.83, Y:0.32, Z:0.12 [[ 9.99904922e-01 -3.49338759e-03 -1.33395378e-02 5.83321749e+00] [ 3.50033878e-03 9.99993750e-01 4.97784619e-04 3.15378763e-01] [ 1.33377155e-02 -5.44430192e-04 9.99910901e-01 1.16859163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42463044 meters Centerline goodness [0,1] 0.3142851002557435 Centerline is valid? [False, False] Translation: X:5.86, Y:0.31, Z:0.12 [[ 9.99847188e-01 4.10537042e-03 -1.69925213e-02 5.85897933e+00] [-4.09998695e-03 9.99991533e-01 3.51638718e-04 3.12365519e-01] [ 1.69938210e-02 -2.81915868e-04 9.99855555e-01 1.16494324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45463044 meters Centerline goodness [0,1] 0.3158099436053672 Centerline is valid? [False, False] Translation: X:5.86, Y:0.31, Z:0.12 [[ 9.99836988e-01 3.94907288e-03 -1.76182209e-02 5.86083775e+00] [-3.94886168e-03 9.99992202e-01 4.67759709e-05 3.13381649e-01] [ 1.76182683e-02 2.28035717e-05 9.99844786e-01 1.15821686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48463044 meters Centerline goodness [0,1] 0.31697416974169745 Centerline is valid? [False, False] Translation: X:5.86, Y:0.31, Z:0.12 [[ 9.99828596e-01 3.76968424e-03 -1.81264607e-02 5.86231965e+00] [-3.77658178e-03 9.99992809e-01 -3.46307373e-04 3.14843563e-01] [ 1.81250249e-02 4.14704076e-04 9.99835642e-01 1.15244221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51463044 meters Centerline goodness [0,1] 0.3127812391831083 Centerline is valid? [False, False] Translation: X:5.86, Y:0.32, Z:0.12 [[ 9.99822975e-01 3.70760407e-03 -1.84464946e-02 5.86300932e+00] [-3.72045642e-03 9.99992860e-01 -6.62467847e-04 3.16669889e-01] [ 1.84439067e-02 7.30979952e-04 9.99829629e-01 1.15201195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54463044 meters Centerline goodness [0,1] 0.31571756950166974 Centerline is valid? [False, False] Translation: X:5.86, Y:0.32, Z:0.12 [[ 9.99837185e-01 4.28123504e-03 -1.75292342e-02 5.85960296e+00] [-4.28948717e-03 9.99990706e-01 -4.33192103e-04 3.19587831e-01] [ 1.75272167e-02 5.08312998e-04 9.99846257e-01 1.16926365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57463044 meters Centerline goodness [0,1] 0.313290456252428 Centerline is valid? [False, False] Translation: X:5.86, Y:0.32, Z:0.12 [[ 9.99844630e-01 4.18344932e-03 -1.71235068e-02 5.85820430e+00] [-4.19494554e-03 9.99990999e-01 -6.35506706e-04 3.20656478e-01] [ 1.71206940e-02 7.07240145e-04 9.99853180e-01 1.17651798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60463044 meters Centerline goodness [0,1] 0.31504424778761064 Centerline is valid? [False, False] Translation: X:5.86, Y:0.32, Z:0.12 [[ 9.99847535e-01 4.02698401e-03 -1.69908828e-02 5.85755869e+00] [-4.04218635e-03 9.99991460e-01 -8.60487266e-04 3.21316903e-01] [ 1.69872725e-02 9.29036386e-04 9.99855274e-01 1.18159961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63463044 meters Centerline goodness [0,1] 0.3164282618118769 Centerline is valid? [False, False] Translation: X:5.86, Y:0.32, Z:0.12 [[ 9.99849494e-01 3.81209535e-03 -1.69250780e-02 5.85714336e+00] [-3.83093328e-03 9.99992078e-01 -1.08073654e-03 3.22085501e-01] [ 1.69208241e-02 1.14541273e-03 9.99856177e-01 1.18581937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66463044 meters Centerline goodness [0,1] 0.3162545689099119 Centerline is valid? [False, False] Translation: X:5.88, Y:0.33, Z:0.12 [[ 9.99858924e-01 -3.88035202e-03 -1.63424194e-02 5.87562177e+00] [ 3.88503553e-03 9.99992421e-01 2.54848387e-04 3.27184982e-01] [ 1.63413067e-02 -3.18303314e-04 9.99866421e-01 1.20436857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69463044 meters Centerline goodness [0,1] 0.3185724155799292 Centerline is valid? [False, False] Translation: X:5.87, Y:0.33, Z:0.12 [[ 9.99862361e-01 -4.02604528e-03 -1.60950513e-02 5.87445786e+00] [ 4.03203707e-03 9.99991814e-01 3.39842082e-04 3.26125197e-01] [ 1.60935513e-02 -4.04691150e-04 9.99870409e-01 1.21475192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72463044 meters Centerline goodness [0,1] 0.3179924405119835 Centerline is valid? [False, False] Translation: X:5.87, Y:0.32, Z:0.13 [[ 9.99869158e-01 -6.07720084e-03 -1.49911766e-02 5.86918692e+00] [ 6.06295709e-03 9.99981125e-01 -9.95407753e-04 3.21957597e-01] [ 1.49969429e-02 9.04386651e-04 9.99887131e-01 1.25035427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.75463044 meters Centerline goodness [0,1] 0.3177531951455268 Centerline is valid? [False, False] Translation: X:5.87, Y:0.32, Z:0.13 [[ 9.99868869e-01 -5.96531039e-03 -1.50552130e-02 5.86914938e+00] [ 5.95750805e-03 9.99982095e-01 -5.63043435e-04 3.19824076e-01] [ 1.50583022e-02 4.73278050e-04 9.99886505e-01 1.25456626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78463044 meters Centerline goodness [0,1] 0.32082760989010994 Centerline is valid? [False, False] Translation: X:5.87, Y:0.32, Z:0.13 [[ 9.99867551e-01 -5.87762267e-03 -1.51767595e-02 5.86964144e+00] [ 5.87514085e-03 9.99982720e-01 -2.08108601e-04 3.17918110e-01] [ 1.51777204e-02 1.18915438e-04 9.99884805e-01 1.25261451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.81463044 meters Centerline goodness [0,1] 0.32056221614757097 Centerline is valid? [False, False] Translation: X:5.87, Y:0.32, Z:0.13 [[ 9.99866107e-01 -5.80453733e-03 -1.52995476e-02 5.87016753e+00] [ 5.80707091e-03 9.99983131e-01 1.21178226e-04 3.15883156e-01] [ 1.52985861e-02 -2.10007559e-04 9.99882948e-01 1.25040715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84463044 meters Centerline goodness [0,1] 0.32269357940915866 Centerline is valid? [False, False] Translation: X:5.87, Y:0.31, Z:0.13 [[ 9.99867342e-01 -5.78159117e-03 -1.52273631e-02 5.87005207e+00] [ 5.78823515e-03 9.99983171e-01 3.92282073e-04 3.13881532e-01] [ 1.52248389e-02 -4.80369592e-04 9.99883980e-01 1.25069967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87463044 meters Centerline goodness [0,1] 0.32343405524575286 Centerline is valid? [False, False] Translation: X:5.87, Y:0.31, Z:0.13 [[ 9.99868897e-01 -5.69973283e-03 -1.51559266e-02 5.86966419e+00] [ 5.71105364e-03 9.99983444e-01 7.03780415e-04 3.11881827e-01] [ 1.51516643e-02 -7.90244457e-04 9.99884895e-01 1.25498100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90463044 meters Centerline goodness [0,1] 0.32094030982558774 Centerline is valid? [False, False] Translation: X:5.87, Y:0.31, Z:0.13 [[ 9.99866313e-01 -5.40357516e-03 -1.54323655e-02 5.87002511e+00] [ 5.42418513e-03 9.99984452e-01 1.29395862e-03 3.09051526e-01] [ 1.54251335e-02 -1.37749365e-03 9.99880077e-01 1.25895789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93463044 meters Centerline goodness [0,1] 0.32216002916639863 Centerline is valid? [False, False] Translation: X:5.89, Y:0.31, Z:0.13 [[ 9.99859411e-01 2.76131698e-03 -1.65388242e-02 5.89134348e+00] [-2.74921299e-03 9.99995936e-01 7.54544369e-04 3.05373782e-01] [ 1.65408405e-02 -7.08969538e-04 9.99862940e-01 1.27179830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96463044 meters Centerline goodness [0,1] 0.318716854223257 Centerline is valid? [False, False] Translation: X:5.89, Y:0.30, Z:0.13 [[ 9.99856224e-01 2.86714660e-03 -1.67125826e-02 5.89227929e+00] [-2.85223509e-03 9.99995513e-01 9.16000214e-04 3.04567091e-01] [ 1.67151339e-02 -8.68200301e-04 9.99859915e-01 1.26373667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99463043999998 meters Centerline goodness [0,1] 0.3214478660183685 Centerline is valid? [False, False] Translation: X:5.89, Y:0.30, Z:0.13 [[ 9.99856218e-01 2.85576844e-03 -1.67149203e-02 5.89254417e+00] [-2.84001824e-03 9.99995501e-01 9.65945345e-04 3.03628353e-01] [ 1.67176036e-02 -9.18335780e-04 9.99859829e-01 1.25991357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02463043999998 meters Centerline goodness [0,1] 0.32064681944741913 Centerline is valid? [False, False] Translation: X:5.91, Y:0.30, Z:0.13 [[ 9.99877346e-01 -4.58135069e-03 -1.49767565e-02 5.91116862e+00] [ 4.61617564e-03 9.99986720e-01 2.29152421e-03 3.04974190e-01] [ 1.49660593e-02 -2.36037849e-03 9.99885216e-01 1.27263716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05463043999998 meters Centerline goodness [0,1] 0.32229751532752504 Centerline is valid? [False, False] Translation: X:5.91, Y:0.30, Z:0.13 [[ 9.99881997e-01 -4.32824201e-03 -1.47396832e-02 5.91039029e+00] [ 4.36928632e-03 9.99986664e-01 2.75354911e-03 3.03277342e-01] [ 1.47275686e-02 -2.81762608e-03 9.99887574e-01 1.27631711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08463043999998 meters Centerline goodness [0,1] 0.3237139272271017 Centerline is valid? [False, False] Translation: X:5.91, Y:0.30, Z:0.13 [[ 9.99882780e-01 -4.14309776e-03 -1.47397841e-02 5.91044947e+00] [ 4.18890939e-03 9.99986488e-01 3.07851083e-03 3.02060787e-01] [ 1.47268304e-02 -3.13989358e-03 9.99886624e-01 1.27575361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11463043999998 meters Centerline goodness [0,1] 0.32632810468844786 Centerline is valid? [False, False] Translation: X:5.91, Y:0.30, Z:0.13 [[ 9.99880381e-01 -4.05096770e-03 -1.49269645e-02 5.91116882e+00] [ 4.10059239e-03 9.99986163e-01 3.29539486e-03 3.00987475e-01] [ 1.49134084e-02 -3.35621006e-03 9.99883156e-01 1.27180979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14463044 meters Centerline goodness [0,1] 0.31724974980303644 Centerline is valid? [False, False] Translation: X:5.93, Y:0.30, Z:0.13 [[ 9.99872637e-01 2.12686951e-03 -1.58173001e-02 5.93456872e+00] [-2.11552699e-03 9.99997493e-01 7.33793665e-04 2.99915563e-01] [ 1.58188211e-02 -7.00238281e-04 9.99874629e-01 1.27289033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17463044 meters Centerline goodness [0,1] 0.31724974980303644 Centerline is valid? [False, False] Translation: X:5.93, Y:0.30, Z:0.13 [[ 9.99872637e-01 2.12686951e-03 -1.58173001e-02 5.93456872e+00] [-2.11552699e-03 9.99997493e-01 7.33793665e-04 2.99915563e-01] [ 1.58188211e-02 -7.00238281e-04 9.99874629e-01 1.27289033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20463044 meters Centerline goodness [0,1] 0.3221928608560042 Centerline is valid? [False, False] Translation: X:5.89, Y:0.29, Z:0.13 [[ 9.99815393e-01 9.88134973e-04 -1.91886148e-02 5.89245386e+00] [-9.89574900e-04 9.99999508e-01 -6.55456992e-05 2.94763213e-01] [ 1.91885406e-02 8.45221706e-05 9.99815879e-01 1.26500545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23463044 meters Centerline goodness [0,1] 0.3248196529537921 Centerline is valid? [False, False] Translation: X:5.89, Y:0.29, Z:0.13 [[ 9.99815350e-01 1.07358184e-03 -1.91862596e-02 5.89238602e+00] [-1.07228911e-03 9.99999422e-01 7.76653574e-05 2.94326492e-01] [ 1.91863319e-02 -5.70777993e-05 9.99815924e-01 1.26584069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26463044 meters Centerline goodness [0,1] 0.3236273238218763 Centerline is valid? [False, False] Translation: X:5.89, Y:0.29, Z:0.13 [[ 9.99816087e-01 1.19209345e-03 -1.91408329e-02 5.89196108e+00] [-1.18692526e-03 9.99999256e-01 2.81366347e-04 2.93733932e-01] [ 1.91411540e-02 -2.58595862e-04 9.99816758e-01 1.27073403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29463044 meters Centerline goodness [0,1] 0.3230476684385669 Centerline is valid? [False, False] Translation: X:5.89, Y:0.29, Z:0.13 [[ 9.99817258e-01 1.22517284e-03 -1.90774505e-02 5.89136561e+00] [-1.21833248e-03 9.99999189e-01 3.70175534e-04 2.93241255e-01] [ 1.90778885e-02 -3.46865210e-04 9.99817940e-01 1.27779494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32463044 meters Centerline goodness [0,1] 0.3230290678965998 Centerline is valid? [False, False] Translation: X:5.89, Y:0.29, Z:0.13 [[ 9.99811466e-01 9.11209917e-04 -1.93959208e-02 5.89190198e+00] [-9.08405269e-04 9.99999576e-01 1.53409920e-04 2.92205730e-01] [ 1.93960524e-02 -1.35761640e-04 9.99811870e-01 1.28087092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35463044 meters Centerline goodness [0,1] 0.3203841866049224 Centerline is valid? [False, False] Translation: X:5.89, Y:0.29, Z:0.13 [[ 9.99805172e-01 8.80893069e-04 -1.97190648e-02 5.89321456e+00] [-8.78731609e-04 9.99999607e-01 1.18277142e-04 2.92087359e-01] [ 1.97191612e-02 -1.00926333e-04 9.99805553e-01 1.27250714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38463044 meters Centerline goodness [0,1] 0.32533408416538523 Centerline is valid? [False, False] Translation: X:5.89, Y:0.29, Z:0.13 [[ 9.99801801e-01 9.51620424e-04 -1.98860163e-02 5.89415716e+00] [-9.48666788e-04 9.99999538e-01 1.57961304e-04 2.92204584e-01] [ 1.98861574e-02 -1.39064793e-04 9.99802241e-01 1.26395384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41463044 meters Centerline goodness [0,1] 0.3232218252679442 Centerline is valid? [False, False] Translation: X:5.89, Y:0.29, Z:0.13 [[ 9.99806808e-01 1.01943176e-03 -1.96292547e-02 5.89331477e+00] [-1.01579210e-03 9.99999465e-01 1.95389636e-04 2.92421676e-01] [ 1.96294434e-02 -1.75412647e-04 9.99807309e-01 1.26778981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44463044 meters Centerline goodness [0,1] 0.3196817977142612 Centerline is valid? [False, False] Translation: X:5.89, Y:0.29, Z:0.13 [[ 9.99811355e-01 8.91990604e-04 -1.94025396e-02 5.89223686e+00] [-8.90684959e-04 9.99999600e-01 7.59339613e-05 2.92475800e-01] [ 1.94025996e-02 -5.86380865e-05 9.99811750e-01 1.27633256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.47463044 meters Centerline goodness [0,1] 0.3258097451828036 Centerline is valid? [False, False] Translation: X:5.87, Y:0.29, Z:0.13 [[ 9.99793486e-01 7.15302948e-03 -1.90215351e-02 5.86968242e+00] [-7.19520165e-03 9.99971804e-01 -2.14956081e-03 2.88209700e-01] [ 1.90056229e-02 2.28598068e-03 9.99816764e-01 1.28257338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50463044 meters Centerline goodness [0,1] 0.3225424822542482 Centerline is valid? [False, False] Translation: X:5.89, Y:0.29, Z:0.13 [[ 9.99831084e-01 -3.10671034e-05 -1.83794248e-02 5.88771172e+00] [ 1.83240861e-05 9.99999759e-01 -6.93498580e-04 2.94285390e-01] [ 1.83794420e-02 6.93044651e-04 9.99830844e-01 1.30215052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.53463044 meters Centerline goodness [0,1] 0.32384257263557203 Centerline is valid? [False, False] Translation: X:5.89, Y:0.29, Z:0.13 [[ 9.99834523e-01 3.32100528e-05 -1.81913443e-02 5.88718027e+00] [-4.50042002e-05 9.99999789e-01 -6.47929424e-04 2.94684391e-01] [ 1.81913189e-02 6.48640894e-04 9.99834314e-01 1.30373971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56463044 meters Centerline goodness [0,1] 0.32348390424205953 Centerline is valid? [False, False] Translation: X:5.89, Y:0.29, Z:0.13 [[ 9.99844600e-01 -1.54984716e-04 -1.76281273e-02 5.88567991e+00] [ 1.40670845e-04 9.99999659e-01 -8.13227549e-04 2.94963341e-01] [ 1.76282473e-02 8.10621410e-04 9.99844282e-01 1.30765302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59463044 meters Centerline goodness [0,1] 0.3306283178139413 Centerline is valid? [False, False] Translation: X:5.86, Y:0.29, Z:0.13 [[ 9.99851631e-01 5.05483564e-03 -1.64670721e-02 5.86397100e+00] [-5.12025247e-03 9.99979158e-01 -3.93284806e-03 2.90294354e-01] [ 1.64468490e-02 4.01658011e-03 9.99856674e-01 1.30183650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62463044 meters Centerline goodness [0,1] 0.3291109090121692 Centerline is valid? [False, False] Translation: X:5.88, Y:0.29, Z:0.13 [[ 9.99864902e-01 -2.43362864e-03 -1.62559372e-02 5.88198083e+00] [ 2.39350823e-03 9.99994043e-01 -2.48704634e-03 2.94887108e-01] [ 1.62618929e-02 2.44780163e-03 9.99864770e-01 1.32713265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65463044 meters Centerline goodness [0,1] 0.3281375159663138 Centerline is valid? [False, False] Translation: X:5.88, Y:0.29, Z:0.13 [[ 9.99867418e-01 -2.01255611e-03 -1.61584617e-02 5.88121714e+00] [ 1.98466266e-03 9.99996513e-01 -1.74209449e-03 2.93184066e-01] [ 1.61619114e-02 1.70979442e-03 9.99867926e-01 1.33610829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68463044 meters Centerline goodness [0,1] 0.32770248570878024 Centerline is valid? [False, False] Translation: X:5.88, Y:0.29, Z:0.13 [[ 9.99867923e-01 -1.95811549e-03 -1.61339068e-02 5.88119906e+00] [ 1.93356530e-03 9.99996949e-01 -1.53711004e-03 2.92149470e-01] [ 1.61368674e-02 1.50571106e-03 9.99868659e-01 1.33680982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71463044 meters Centerline goodness [0,1] 0.3259379470863317 Centerline is valid? [False, False] Translation: X:5.88, Y:0.29, Z:0.13 [[ 9.99867303e-01 -2.06341311e-03 -1.61591522e-02 5.88134879e+00] [ 2.03906278e-03 9.99996761e-01 -1.52323692e-03 2.91145605e-01] [ 1.61622429e-02 1.49008526e-03 9.99868272e-01 1.33623707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74463043999998 meters Centerline goodness [0,1] 0.33042595910965267 Centerline is valid? [False, False] Translation: X:5.86, Y:0.29, Z:0.13 [[ 9.99841557e-01 3.54041504e-03 -1.74449721e-02 5.86251517e+00] [-3.62416005e-03 9.99982050e-01 -4.77125050e-03 2.85004414e-01] [ 1.74277668e-02 4.83371789e-03 9.99836441e-01 1.32678193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77463043999998 meters Centerline goodness [0,1] 0.32709456991211294 Centerline is valid? [False, False] Translation: X:5.86, Y:0.28, Z:0.13 [[ 9.99832355e-01 3.68262782e-03 -1.79360151e-02 5.86403367e+00] [-3.76558328e-03 9.99982360e-01 -4.59350326e-03 2.84738884e-01] [ 1.79187825e-02 4.66027274e-03 9.99828585e-01 1.32104706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80463043999998 meters Centerline goodness [0,1] 0.33060877525665333 Centerline is valid? [False, False] Translation: X:5.85, Y:0.29, Z:0.13 [[ 9.99795198e-01 -3.85248442e-03 -1.98675948e-02 5.84617638e+00] [ 3.80058433e-03 9.99989268e-01 -2.64939495e-03 2.86537469e-01] [ 1.98775883e-02 2.57334388e-03 9.99799110e-01 1.29944591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83463043999998 meters Centerline goodness [0,1] 0.3244808649390767 Centerline is valid? [False, False] Translation: X:5.87, Y:0.28, Z:0.13 [[ 9.99776766e-01 3.80611958e-03 -2.07829865e-02 5.86713676e+00] [-3.88207500e-03 9.99985928e-01 -3.61557129e-03 2.83155243e-01] [ 2.07689328e-02 3.69544528e-03 9.99777473e-01 1.30954516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86463043999998 meters Centerline goodness [0,1] 0.3274301712351064 Centerline is valid? [False, False] Translation: X:5.85, Y:0.28, Z:0.13 [[ 9.99819160e-01 -2.90966336e-03 -1.87931160e-02 5.85230484e+00] [ 2.84994770e-03 9.99990808e-01 -3.20352963e-03 2.83860230e-01] [ 1.88022645e-02 3.14939090e-03 9.99818262e-01 1.27429839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89463044 meters Centerline goodness [0,1] 0.32619903816992335 Centerline is valid? [False, False] Translation: X:5.85, Y:0.28, Z:0.13 [[ 9.99815539e-01 -2.85062828e-03 -1.89937106e-02 5.85294285e+00] [ 2.79218218e-03 9.99991288e-01 -3.10293834e-03 2.83365720e-01] [ 1.90023904e-02 3.04933207e-03 9.99814788e-01 1.27153954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92463044 meters Centerline goodness [0,1] 0.3255357681859342 Centerline is valid? [False, False] Translation: X:5.85, Y:0.28, Z:0.13 [[ 9.99810570e-01 -2.70681023e-03 -1.92742543e-02 5.85392087e+00] [ 2.65021579e-03 9.99992104e-01 -2.96120925e-03 2.83312820e-01] [ 1.92821175e-02 2.90956737e-03 9.99809849e-01 1.26700782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95463044 meters Centerline goodness [0,1] 0.32534925836495343 Centerline is valid? [False, False] Translation: X:5.85, Y:0.28, Z:0.13 [[ 9.99806341e-01 -2.62967207e-03 -1.95029702e-02 5.85485640e+00] [ 2.57404601e-03 9.99992549e-01 -2.87673932e-03 2.83088137e-01] [ 1.95103898e-02 2.82598067e-03 9.99805660e-01 1.26119775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98463044 meters Centerline goodness [0,1] 0.32416612868517325 Centerline is valid? [False, False] Translation: X:5.86, Y:0.28, Z:0.13 [[ 9.99799999e-01 -2.70503825e-03 -1.98152551e-02 5.85599395e+00] [ 2.64823771e-03 9.99992311e-01 -2.89218565e-03 2.82202871e-01] [ 1.98229262e-02 2.83913171e-03 9.99799475e-01 1.25563365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01463044 meters Centerline goodness [0,1] 0.32486861376755405 Centerline is valid? [False, False] Translation: X:5.86, Y:0.28, Z:0.13 [[ 9.99800919e-01 -2.65259849e-03 -1.97759087e-02 5.85589826e+00] [ 2.59695803e-03 9.99992599e-01 -2.83869830e-03 2.82050442e-01] [ 1.97832923e-02 2.78677596e-03 9.99800408e-01 1.25578471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04463044 meters Centerline goodness [0,1] 0.3192208904109589 Centerline is valid? [False, False] Translation: X:5.86, Y:0.28, Z:0.13 [[ 9.99805022e-01 -2.54181131e-03 -1.95820545e-02 5.85532984e+00] [ 2.48818063e-03 9.99993088e-01 -2.76264435e-03 2.82280391e-01] [ 1.95889412e-02 2.71338201e-03 9.99804436e-01 1.25757572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07463044 meters Centerline goodness [0,1] 0.3268774100782118 Centerline is valid? [False, False] Translation: X:5.81, Y:0.28, Z:0.13 [[ 9.99780848e-01 -2.32082238e-03 -2.08055458e-02 5.80943776e+00] [ 2.27443440e-03 9.99994875e-01 -2.25298296e-03 2.78733651e-01] [ 2.08106679e-02 2.20516836e-03 9.99781003e-01 1.25815148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10463044 meters Centerline goodness [0,1] 0.32277633851468046 Centerline is valid? [False, False] Translation: X:5.81, Y:0.28, Z:0.13 [[ 9.99779815e-01 -2.26932948e-03 -2.08607505e-02 5.80947535e+00] [ 2.22181839e-03 9.99994886e-01 -2.30042986e-03 2.79275892e-01] [ 2.08658642e-02 2.25357455e-03 9.99779744e-01 1.25912284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13463044 meters Centerline goodness [0,1] 0.32350592450305393 Centerline is valid? [False, False] Translation: X:5.81, Y:0.28, Z:0.13 [[ 9.99779548e-01 -2.25991971e-03 -2.08745886e-02 5.80961488e+00] [ 2.20883779e-03 9.99994510e-01 -2.46981927e-03 2.80258334e-01] [ 2.08800556e-02 2.42316621e-03 9.99779051e-01 1.25699709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16463044 meters Centerline goodness [0,1] 0.32747728256166164 Centerline is valid? [False, False] Translation: X:5.81, Y:0.28, Z:0.13 [[ 9.99786102e-01 -2.12789860e-03 -2.05723539e-02 5.80850190e+00] [ 2.08109498e-03 9.99995198e-01 -2.29621508e-03 2.79898192e-01] [ 2.05771412e-02 2.25291090e-03 9.99785730e-01 1.26290620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19463044 meters Centerline goodness [0,1] 0.3265076410234209 Centerline is valid? [False, False] Translation: X:5.81, Y:0.28, Z:0.13 [[ 9.99794856e-01 -1.97222972e-03 -2.01582737e-02 5.80710083e+00] [ 1.93091628e-03 9.99995996e-01 -2.06871195e-03 2.79381689e-01] [ 2.01622730e-02 2.02936363e-03 9.99794661e-01 1.26985719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22463044 meters Centerline goodness [0,1] 0.32920280875671215 Centerline is valid? [False, False] Translation: X:5.81, Y:0.28, Z:0.13 [[ 9.99800811e-01 -1.90473717e-03 -1.98672956e-02 5.80620915e+00] [ 1.86767619e-03 9.99996482e-01 -1.88381472e-03 2.78562734e-01] [ 1.98708139e-02 1.84633381e-03 9.99800851e-01 1.27382455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.25463044 meters Centerline goodness [0,1] 0.3286500485594044 Centerline is valid? [False, False] Translation: X:5.81, Y:0.28, Z:0.13 [[ 9.99797278e-01 -2.13331766e-03 -2.00212747e-02 5.80664347e+00] [ 2.09832725e-03 9.99996235e-01 -1.76850627e-03 2.76079421e-01] [ 2.00249721e-02 1.72613657e-03 9.99797990e-01 1.27404247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28463044 meters Centerline goodness [0,1] 0.32461373390557935 Centerline is valid? [False, False] Translation: X:5.81, Y:0.27, Z:0.13 [[ 9.99794273e-01 -2.14834138e-03 -2.01691788e-02 5.80716732e+00] [ 2.11672643e-03 9.99996498e-01 -1.58870562e-03 2.74571163e-01] [ 2.01725212e-02 1.54568615e-03 9.99795319e-01 1.27218664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.31463044 meters Centerline goodness [0,1] 0.3260288043827174 Centerline is valid? [False, False] Translation: X:5.81, Y:0.27, Z:0.13 [[ 9.99792599e-01 -2.07695251e-03 -2.02594671e-02 5.80741396e+00] [ 2.05136581e-03 9.99997072e-01 -1.28365075e-03 2.72973858e-01] [ 2.02620739e-02 1.24182494e-03 9.99793932e-01 1.27261979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34463044 meters Centerline goodness [0,1] 0.32559038213825675 Centerline is valid? [False, False] Translation: X:5.81, Y:0.27, Z:0.13 [[ 9.99793789e-01 -1.97074891e-03 -2.02112958e-02 5.80720978e+00] [ 1.95169913e-03 9.99997633e-01 -9.62212875e-04 2.71516836e-01] [ 2.02131442e-02 9.22568087e-04 9.99795268e-01 1.27461334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37463044 meters Centerline goodness [0,1] 0.33039885793389856 Centerline is valid? [False, False] Translation: X:5.81, Y:0.27, Z:0.13 [[ 9.99802634e-01 -2.05720387e-03 -1.97600747e-02 5.80557318e+00] [ 2.04576970e-03 9.99997728e-01 -5.98847093e-04 2.68890165e-01] [ 1.97612618e-02 5.58304339e-04 9.99804571e-01 1.28525183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40463044 meters Centerline goodness [0,1] 0.3301450832885545 Centerline is valid? [False, False] Translation: X:5.81, Y:0.27, Z:0.13 [[ 9.99801937e-01 -2.15791692e-03 -1.97846141e-02 5.80546676e+00] [ 2.14894119e-03 9.99997578e-01 -4.74921215e-04 2.67351271e-01] [ 1.97855910e-02 4.32311178e-04 9.99804153e-01 1.28879313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43463044 meters Centerline goodness [0,1] 0.33057779888195804 Centerline is valid? [False, False] Translation: X:5.81, Y:0.27, Z:0.13 [[ 9.99796214e-01 -2.27167634e-03 -2.00591744e-02 5.80614080e+00] [ 2.26447852e-03 9.99997363e-01 -3.81536022e-04 2.65969699e-01] [ 2.00599882e-02 3.36034700e-04 9.99798722e-01 1.28871794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46463044 meters Centerline goodness [0,1] 0.33111538378448446 Centerline is valid? [False, False] Translation: X:5.81, Y:0.26, Z:0.13 [[ 9.99786869e-01 -2.33521099e-03 -2.05125169e-02 5.80746062e+00] [ 2.33131918e-03 9.99997260e-01 -2.13639363e-04 2.64408830e-01] [ 2.05129596e-02 1.65772606e-04 9.99789573e-01 1.28503228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49463043999998 meters Centerline goodness [0,1] 0.3293498425298762 Centerline is valid? [False, False] Translation: X:5.81, Y:0.26, Z:0.13 [[ 9.99778310e-01 -2.38123331e-03 -2.09203623e-02 5.80877676e+00] [ 2.38264960e-03 9.99997161e-01 4.27737760e-05 2.62591922e-01] [ 2.09202010e-02 -9.26101863e-05 9.99781144e-01 1.28014464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52463043999998 meters Centerline goodness [0,1] 0.33004490113116314 Centerline is valid? [False, False] Translation: X:5.81, Y:0.26, Z:0.13 [[ 9.99775042e-01 -2.96370819e-03 -2.10019701e-02 5.80902568e+00] [ 2.96874182e-03 9.99995572e-01 2.08500247e-04 2.58877294e-01] [ 2.10012592e-02 -2.70802771e-04 9.99779413e-01 1.28204066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55463043999998 meters Centerline goodness [0,1] 0.3282472194243834 Centerline is valid? [False, False] Translation: X:5.81, Y:0.26, Z:0.13 [[ 9.99765780e-01 -3.15181530e-03 -2.14114649e-02 5.80982131e+00] [ 3.15995415e-03 9.99994947e-01 3.46293666e-04 2.56943729e-01] [ 2.14102653e-02 -4.13871805e-04 9.99770688e-01 1.28553711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58463043999998 meters Centerline goodness [0,1] 0.32999353587588887 Centerline is valid? [False, False] Translation: X:5.81, Y:0.26, Z:0.13 [[ 9.99753732e-01 -3.30434706e-03 -2.19443993e-02 5.81105950e+00] [ 3.31487914e-03 9.99994407e-01 4.43585209e-04 2.55503930e-01] [ 2.19428108e-02 -5.16219000e-04 9.99759094e-01 1.28587974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61463043999998 meters Centerline goodness [0,1] 0.3289861351819757 Centerline is valid? [False, False] Translation: X:5.81, Y:0.25, Z:0.13 [[ 9.99745380e-01 -3.34782979e-03 -2.23151812e-02 5.81201069e+00] [ 3.36141501e-03 9.99994187e-01 5.71305915e-04 2.54435875e-01] [ 2.23131389e-02 -6.46171034e-04 9.99750822e-01 1.28480919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64463044 meters Centerline goodness [0,1] 0.3277151947716914 Centerline is valid? [False, False] Translation: X:5.81, Y:0.25, Z:0.13 [[ 9.99746900e-01 -3.38069702e-03 -2.22420252e-02 5.81208570e+00] [ 3.39961954e-03 9.99993891e-01 8.12998166e-04 2.52968327e-01] [ 2.22391408e-02 -8.88406819e-04 9.99752285e-01 1.28280235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67463044 meters Centerline goodness [0,1] 0.3298003771376552 Centerline is valid? [False, False] Translation: X:5.81, Y:0.25, Z:0.13 [[ 9.99753881e-01 -3.36042955e-03 -2.19291046e-02 5.81122248e+00] [ 3.38086953e-03 9.99993884e-01 8.95086219e-04 2.52581580e-01] [ 2.19259626e-02 -9.69005363e-04 9.99759128e-01 1.28543695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70463044 meters Centerline goodness [0,1] 0.32832594834107853 Centerline is valid? [False, False] Translation: X:5.81, Y:0.25, Z:0.13 [[ 9.99757415e-01 -3.42536629e-03 -2.17572298e-02 5.81055305e+00] [ 3.44294798e-03 9.99993776e-01 7.70677560e-04 2.53038940e-01] [ 2.17544545e-02 -8.45399616e-04 9.99762986e-01 1.28978305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73463044 meters Centerline goodness [0,1] 0.3287786193837149 Centerline is valid? [False, False] Translation: X:5.81, Y:0.26, Z:0.13 [[ 9.99746485e-01 -3.51303414e-03 -2.22401517e-02 5.81144334e+00] [ 3.52280643e-03 9.99993715e-01 4.00235027e-04 2.55018214e-01] [ 2.22386059e-02 -4.78481311e-04 9.99752577e-01 1.29290661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76463044 meters Centerline goodness [0,1] 0.3297244732576985 Centerline is valid? [False, False] Translation: X:5.81, Y:0.26, Z:0.13 [[ 9.99744303e-01 -3.51267929e-03 -2.23380727e-02 5.81195655e+00] [ 3.51825040e-03 9.99993789e-01 2.10104522e-04 2.56357640e-01] [ 2.23371960e-02 -2.88641732e-04 9.99750452e-01 1.28795569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79463044 meters Centerline goodness [0,1] 0.32943075433121705 Centerline is valid? [False, False] Translation: X:5.81, Y:0.26, Z:0.13 [[ 9.99743117e-01 -3.53313491e-03 -2.23878610e-02 5.81230732e+00] [ 3.53566708e-03 9.99993747e-01 7.35223686e-05 2.57276660e-01] [ 2.23874612e-02 -1.52659505e-04 9.99749358e-01 1.28437573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82463044 meters Centerline goodness [0,1] 0.32878128634816695 Centerline is valid? [False, False] Translation: X:5.81, Y:0.26, Z:0.13 [[ 9.99745965e-01 -3.57056050e-03 -2.22543565e-02 5.81206938e+00] [ 3.57148812e-03 9.99993622e-01 1.93709178e-06 2.57532379e-01] [ 2.22542077e-02 -8.14177696e-05 9.99752341e-01 1.28352805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85463044 meters Centerline goodness [0,1] 0.33143043195137833 Centerline is valid? [False, False] Translation: X:5.81, Y:0.26, Z:0.13 [[ 9.99745474e-01 -3.57935601e-03 -2.22750169e-02 5.81212830e+00] [ 3.58284606e-03 9.99993575e-01 1.16772742e-04 2.56800089e-01] [ 2.22744558e-02 -1.96550977e-04 9.99751874e-01 1.28312750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88463044 meters Centerline goodness [0,1] 0.32853979923045507 Centerline is valid? [False, False] Translation: X:5.83, Y:0.25, Z:0.13 [[ 9.99742459e-01 4.34852635e-03 -2.22734353e-02 5.83197146e+00] [-4.36795926e-03 9.99990121e-01 -8.23893876e-04 2.53700817e-01] [ 2.22696325e-02 9.20971148e-04 9.99751577e-01 1.29801081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91463044 meters Centerline goodness [0,1] 0.3280235607721742 Centerline is valid? [False, False] Translation: X:5.83, Y:0.25, Z:0.13 [[ 9.99740915e-01 4.40833127e-03 -2.23309157e-02 5.83234926e+00] [-4.42733982e-03 9.99989878e-01 -8.01853282e-04 2.53929728e-01] [ 2.23271549e-02 9.00512086e-04 9.99750312e-01 1.29450570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94463044 meters Centerline goodness [0,1] 0.32589409777891787 Centerline is valid? [False, False] Translation: X:5.83, Y:0.25, Z:0.13 [[ 9.99740159e-01 4.38247874e-03 -2.23698232e-02 5.83268120e+00] [-4.40518330e-03 9.99989831e-01 -9.65786786e-04 2.54880431e-01] [ 2.23653632e-02 1.06407901e-03 9.99749298e-01 1.29130883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.97463044 meters Centerline goodness [0,1] 0.3271585154797769 Centerline is valid? [False, False] Translation: X:5.83, Y:0.26, Z:0.13 [[ 9.99744390e-01 4.30979670e-03 -2.21941383e-02 5.83235866e+00] [-4.33832065e-03 9.99989824e-01 -1.23721328e-03 2.56254196e-01] [ 2.21885804e-02 1.33318232e-03 9.99752914e-01 1.28976928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00463044 meters Centerline goodness [0,1] 0.3307497423565785 Centerline is valid? [False, False] Translation: X:5.83, Y:0.26, Z:0.13 [[ 9.99756378e-01 4.50155147e-03 -2.16083466e-02 5.83080677e+00] [-4.53556301e-03 9.99988551e-01 -1.52524923e-03 2.58739022e-01] [ 2.16012332e-02 1.62288366e-03 9.99765349e-01 1.29214538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.03463044 meters Centerline goodness [0,1] 0.33212972972972976 Centerline is valid? [False, False] Translation: X:5.83, Y:0.26, Z:0.13 [[ 9.99752588e-01 4.56598787e-03 -2.17695899e-02 5.83098301e+00] [-4.60374681e-03 9.99987984e-01 -1.68467969e-03 2.60232436e-01] [ 2.17616361e-02 1.78448456e-03 9.99761595e-01 1.29412008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06463044 meters Centerline goodness [0,1] 0.33212972972972976 Centerline is valid? [False, False] Translation: X:5.83, Y:0.26, Z:0.13 [[ 9.99752588e-01 4.56598787e-03 -2.17695899e-02 5.83098301e+00] [-4.60374681e-03 9.99987984e-01 -1.68467969e-03 2.60232436e-01] [ 2.17616361e-02 1.78448456e-03 9.99761595e-01 1.29412008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09463044 meters Centerline goodness [0,1] 0.3298733741062968 Centerline is valid? [False, False] Translation: X:5.83, Y:0.26, Z:0.13 [[ 9.99746716e-01 4.65813493e-03 -2.20183071e-02 5.83160923e+00] [-4.69792484e-03 9.99987423e-01 -1.75574720e-03 2.61349790e-01] [ 2.20098517e-02 1.85874284e-03 9.99756026e-01 1.29327859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12463044 meters Centerline goodness [0,1] 0.3285929108485499 Centerline is valid? [False, False] Translation: X:5.83, Y:0.26, Z:0.13 [[ 9.99742534e-01 4.68846282e-03 -2.22009982e-02 5.83219461e+00] [-4.73071325e-03 9.99987097e-01 -1.85094937e-03 2.62192004e-01] [ 2.21920337e-02 1.95549937e-03 9.99751814e-01 1.29057277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15463044 meters Centerline goodness [0,1] 0.33065370070232303 Centerline is valid? [False, False] Translation: X:5.83, Y:0.26, Z:0.13 [[ 9.99747968e-01 4.62917465e-03 -2.19675153e-02 5.83179243e+00] [-4.67878528e-03 9.99986618e-01 -2.20750366e-03 2.63951031e-01] [ 2.19570024e-02 2.30972859e-03 9.99756248e-01 1.28791129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18463044 meters Centerline goodness [0,1] 0.3304310437493282 Centerline is valid? [False, False] Translation: X:5.83, Y:0.27, Z:0.13 [[ 9.99749391e-01 4.57907955e-03 -2.19131916e-02 5.83167758e+00] [-4.63498999e-03 9.99986130e-01 -2.50134156e-03 2.65598032e-01] [ 2.19014338e-02 2.60228212e-03 9.99756748e-01 1.28738428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21463044 meters Centerline goodness [0,1] 0.327833372618767 Centerline is valid? [False, False] Translation: X:5.83, Y:0.27, Z:0.13 [[ 9.99748768e-01 4.57283714e-03 -2.19428589e-02 5.83182051e+00] [-4.63561874e-03 9.99985304e-01 -2.81112779e-03 2.67706284e-01] [ 2.19296816e-02 2.91214027e-03 9.99755274e-01 1.28558893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24463043999998 meters Centerline goodness [0,1] 0.32931008470375245 Centerline is valid? [False, False] Translation: X:5.83, Y:0.27, Z:0.13 [[ 9.99748349e-01 4.61612039e-03 -2.19529266e-02 5.83189738e+00] [-4.68556197e-03 9.99984178e-01 -3.11281899e-03 2.70128793e-01] [ 2.19382101e-02 3.21489745e-03 9.99754159e-01 1.28390699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27463043999998 meters Centerline goodness [0,1] 0.32579185520361986 Centerline is valid? [False, False] Translation: X:5.83, Y:0.28, Z:0.13 [[ 9.99737193e-01 5.52580570e-03 -2.22488156e-02 5.83302908e+00] [-5.58986110e-03 9.99980406e-01 -2.81788552e-03 2.76129053e-01] [ 2.22328086e-02 2.94151275e-03 9.99748493e-01 1.27767985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30463043999998 meters Centerline goodness [0,1] 0.32919591023308203 Centerline is valid? [False, False] Translation: X:5.81, Y:0.28, Z:0.12 [[ 9.99784840e-01 -1.56070653e-03 -2.06842233e-02 5.81469386e+00] [ 1.52568405e-03 9.99997376e-01 -1.70886973e-03 2.82850050e-01] [ 2.06868361e-02 1.67694446e-03 9.99784598e-01 1.24887629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33463043999998 meters Centerline goodness [0,1] 0.3277819347942277 Centerline is valid? [False, False] Translation: X:5.83, Y:0.28, Z:0.13 [[ 9.99789522e-01 6.35732915e-03 -1.95062972e-02 5.83410193e+00] [-6.41861056e-03 9.99974655e-01 -3.08062408e-03 2.83432921e-01] [ 1.94862183e-02 3.20517900e-03 9.99804988e-01 1.26173176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36463043999998 meters Centerline goodness [0,1] 0.32905317769131004 Centerline is valid? [False, False] Translation: X:5.81, Y:0.29, Z:0.12 [[ 9.99858683e-01 -8.78922074e-04 -1.67881193e-02 5.81491463e+00] [ 8.34268526e-04 9.99996096e-01 -2.66664851e-03 2.89678849e-01] [ 1.67903976e-02 2.65226586e-03 9.99855514e-01 1.23887509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39463044 meters Centerline goodness [0,1] 0.32964525572584813 Centerline is valid? [False, False] Translation: X:5.82, Y:0.29, Z:0.12 [[ 9.99853828e-01 -1.30440548e-03 -1.70476202e-02 5.81527154e+00] [ 1.24465399e-03 9.99993047e-01 -3.51511550e-03 2.93411270e-01] [ 1.70520868e-02 3.49338330e-03 9.99848500e-01 1.24171708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42463044 meters Centerline goodness [0,1] 0.3294137990662286 Centerline is valid? [False, False] Translation: X:5.82, Y:0.30, Z:0.12 [[ 9.99850765e-01 -1.43979681e-03 -1.72155265e-02 5.81594044e+00] [ 1.37364345e-03 9.99991630e-01 -3.85386482e-03 2.95317903e-01] [ 1.72209312e-02 3.82964169e-03 9.99844375e-01 1.23740704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45463044 meters Centerline goodness [0,1] 0.3281404020057429 Centerline is valid? [False, False] Translation: X:5.82, Y:0.30, Z:0.12 [[ 9.99850341e-01 -1.48695223e-03 -1.72361251e-02 5.81615743e+00] [ 1.41732495e-03 9.99990790e-01 -4.05112502e-03 2.96874518e-01] [ 1.72419902e-02 4.02608955e-03 9.99843240e-01 1.23490449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48463044 meters Centerline goodness [0,1] 0.3303841827463875 Centerline is valid? [False, False] Translation: X:5.82, Y:0.30, Z:0.12 [[ 9.99855067e-01 -1.54518880e-03 -1.69545821e-02 5.81522012e+00] [ 1.47313216e-03 9.99989834e-01 -4.26164645e-03 2.98377501e-01] [ 1.69609948e-02 4.23605246e-03 9.99847179e-01 1.23901606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51463044 meters Centerline goodness [0,1] 0.33065647734386805 Centerline is valid? [False, False] Translation: X:5.81, Y:0.30, Z:0.12 [[ 9.99858434e-01 -1.63238334e-03 -1.67465551e-02 5.81415913e+00] [ 1.55692107e-03 9.99988581e-01 -4.51818519e-03 3.00049695e-01] [ 1.67537393e-02 4.49147251e-03 9.99849558e-01 1.24780334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54463044 meters Centerline goodness [0,1] 0.3309455277338932 Centerline is valid? [False, False] Translation: X:5.81, Y:0.30, Z:0.13 [[ 9.99856044e-01 -1.72325129e-03 -1.68796375e-02 5.81375666e+00] [ 1.63850305e-03 9.99985991e-01 -5.03328189e-03 3.04236277e-01] [ 1.68880747e-02 5.00489998e-03 9.99844860e-01 1.25737738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57463044 meters Centerline goodness [0,1] 0.32806637651952064 Centerline is valid? [False, False] Translation: X:5.81, Y:0.31, Z:0.13 [[ 9.99851482e-01 -1.77018973e-03 -1.71429287e-02 5.81467193e+00] [ 1.67918747e-03 9.99984431e-01 -5.32138319e-03 3.06270303e-01] [ 1.71520817e-02 5.29180668e-03 9.99838888e-01 1.25251118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60463044 meters Centerline goodness [0,1] 0.33228941684665225 Centerline is valid? [False, False] Translation: X:5.82, Y:0.31, Z:0.12 [[ 9.99849383e-01 -1.86312019e-03 -1.72551373e-02 5.81536961e+00] [ 1.76617413e-03 9.99982581e-01 -5.63192445e-03 3.08052291e-01] [ 1.72653297e-02 5.60060061e-03 9.99835257e-01 1.24585480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63463044 meters Centerline goodness [0,1] 0.3315385940730531 Centerline is valid? [False, False] Translation: X:5.82, Y:0.31, Z:0.12 [[ 9.99851769e-01 -2.18089185e-03 -1.70787518e-02 5.81518494e+00] [ 2.07279414e-03 9.99977725e-01 -6.34451385e-03 3.11234400e-01] [ 1.70922081e-02 6.30817266e-03 9.99834018e-01 1.24241723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66463044 meters Centerline goodness [0,1] 0.32919974254451834 Centerline is valid? [False, False] Translation: X:5.81, Y:0.31, Z:0.12 [[ 9.99852442e-01 -2.19453453e-03 -1.70375281e-02 5.81464752e+00] [ 2.08360895e-03 9.99976537e-01 -6.52568499e-03 3.12561607e-01] [ 1.70514492e-02 6.48922253e-03 9.99833555e-01 1.24816240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.69463044 meters Centerline goodness [0,1] 0.3288889841589676 Centerline is valid? [False, False] Translation: X:5.81, Y:0.31, Z:0.13 [[ 9.99852482e-01 -2.18215421e-03 -1.70367746e-02 5.81429835e+00] [ 2.06858442e-03 9.99975543e-01 -6.68093391e-03 3.13990209e-01] [ 1.70509367e-02 6.64470635e-03 9.99832543e-01 1.25284531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72463044 meters Centerline goodness [0,1] 0.3318539482429622 Centerline is valid? [False, False] Translation: X:5.81, Y:0.31, Z:0.13 [[ 9.99852710e-01 -2.17725289e-03 -1.70240390e-02 5.81421518e+00] [ 2.06260460e-03 9.99975097e-01 -6.74915448e-03 3.14703132e-01] [ 1.70383096e-02 6.71304653e-03 9.99832301e-01 1.25355407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.75463044 meters Centerline goodness [0,1] 0.3330744168986126 Centerline is valid? [False, False] Translation: X:5.81, Y:0.32, Z:0.13 [[ 9.99849756e-01 -2.27111695e-03 -1.71845066e-02 5.81465268e+00] [ 2.15271655e-03 9.99973841e-01 -6.90531446e-03 3.15406343e-01] [ 1.71997399e-02 6.86728360e-03 9.99828490e-01 1.25284860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78463044 meters Centerline goodness [0,1] 0.3318900521304554 Centerline is valid? [False, False] Translation: X:5.81, Y:0.31, Z:0.13 [[ 9.99850843e-01 -2.22532288e-03 -1.71271604e-02 5.81456940e+00] [ 2.10966475e-03 9.99974871e-01 -6.76801531e-03 3.14763695e-01] [ 1.71417910e-02 6.73087325e-03 9.99830413e-01 1.25239633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.81463044 meters Centerline goodness [0,1] 0.3345636928154244 Centerline is valid? [False, False] Translation: X:5.81, Y:0.31, Z:0.13 [[ 9.99850021e-01 -2.21233912e-03 -1.71767506e-02 5.81464187e+00] [ 2.09856852e-03 9.99975761e-01 -6.63872477e-03 3.13827202e-01] [ 1.71910214e-02 6.60168252e-03 9.99830429e-01 1.25328244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84463044 meters Centerline goodness [0,1] 0.32621252017327784 Centerline is valid? [False, False] Translation: X:5.86, Y:0.31, Z:0.13 [[ 9.99872956e-01 -1.96818200e-03 -1.58176481e-02 5.85819394e+00] [ 1.87056232e-03 9.99979129e-01 -6.18399455e-03 3.14371887e-01] [ 1.58294892e-02 6.15362101e-03 9.99855770e-01 1.26144924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87463044 meters Centerline goodness [0,1] 0.33163760212110105 Centerline is valid? [False, False] Translation: X:5.84, Y:0.31, Z:0.13 [[ 9.99881286e-01 3.64415774e-03 -1.49711270e-02 5.83628008e+00] [-3.77520296e-03 9.99954729e-01 -8.73428076e-03 3.06636575e-01] [ 1.49386202e-02 8.78976292e-03 9.99849778e-01 1.25440818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90463044 meters Centerline goodness [0,1] 0.3304919577648797 Centerline is valid? [False, False] Translation: X:5.85, Y:0.31, Z:0.13 [[ 9.99888423e-01 -4.13496507e-03 -1.43542380e-02 5.85460187e+00] [ 4.02792524e-03 9.99963927e-01 -7.47793755e-03 3.09373641e-01] [ 1.43846413e-02 7.41928538e-03 9.99869010e-01 1.27315915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93463044 meters Centerline goodness [0,1] 0.3322397010255519 Centerline is valid? [False, False] Translation: X:5.83, Y:0.30, Z:0.13 [[ 9.99903434e-01 3.48761383e-03 -1.34520791e-02 5.83492112e+00] [-3.59792265e-03 9.99960032e-01 -8.18466663e-03 3.01349941e-01] [ 1.34229965e-02 8.23227581e-03 9.99876019e-01 1.25853788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96463044 meters Centerline goodness [0,1] 0.33127819548872184 Centerline is valid? [False, False] Translation: X:5.85, Y:0.30, Z:0.13 [[ 9.99901274e-01 -4.14000628e-03 -1.34277176e-02 5.85439048e+00] [ 4.04733950e-03 9.99967859e-01 -6.92100435e-03 3.04408446e-01] [ 1.34559390e-02 6.86597453e-03 9.99885892e-01 1.26847956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99463043999998 meters Centerline goodness [0,1] 0.32621404796449605 Centerline is valid? [False, False] Translation: X:5.86, Y:0.30, Z:0.13 [[ 9.99896769e-01 -3.96711330e-03 -1.38098739e-02 5.85591561e+00] [ 3.87697936e-03 9.99971050e-01 -6.54743927e-03 3.02753433e-01] [ 1.38354486e-02 6.49322278e-03 9.99883202e-01 1.25955212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02463043999998 meters Centerline goodness [0,1] 0.329765842900694 Centerline is valid? [False, False] Translation: X:5.84, Y:0.30, Z:0.12 [[ 9.99874165e-01 3.93063525e-03 -1.53689105e-02 5.83821532e+00] [-4.04580643e-03 9.99963916e-01 -7.46987985e-03 2.95729132e-01] [ 1.53389945e-02 7.53111951e-03 9.99853988e-01 1.23900620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05463043999998 meters Centerline goodness [0,1] 0.32897697767007095 Centerline is valid? [False, False] Translation: X:5.84, Y:0.29, Z:0.12 [[ 9.99861593e-01 3.82902447e-03 -1.61905602e-02 5.84105212e+00] [-3.94696661e-03 9.99965864e-01 -7.25895545e-03 2.92830713e-01] [ 1.61622128e-02 7.32185436e-03 9.99842574e-01 1.22512955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08463043999998 meters Centerline goodness [0,1] 0.3281643187439509 Centerline is valid? [False, False] Translation: X:5.86, Y:0.30, Z:0.12 [[ 9.99849696e-01 -3.57368163e-03 -1.69651169e-02 5.85948736e+00] [ 3.46982091e-03 9.99975084e-01 -6.14750866e-03 2.96662254e-01] [ 1.69866635e-02 6.08771874e-03 9.99837183e-01 1.24707428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11463043999998 meters Centerline goodness [0,1] 0.3303728093928038 Centerline is valid? [False, False] Translation: X:5.86, Y:0.30, Z:0.13 [[ 9.99850182e-01 -3.45465729e-03 -1.69610834e-02 5.85922201e+00] [ 3.35430397e-03 9.99976723e-01 -5.94156865e-03 2.95946001e-01] [ 1.69812147e-02 5.88378586e-03 9.99838497e-01 1.25099897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14463044 meters Centerline goodness [0,1] 0.32864618101164966 Centerline is valid? [False, False] Translation: X:5.86, Y:0.30, Z:0.13 [[ 9.99852513e-01 -3.29353569e-03 -1.68554102e-02 5.85883365e+00] [ 3.19707996e-03 9.99978379e-01 -5.74628849e-03 2.95538897e-01] [ 1.68739713e-02 5.69155289e-03 9.99841425e-01 1.25350318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17463044 meters Centerline goodness [0,1] 0.3256712381688236 Centerline is valid? [False, False] Translation: X:5.86, Y:0.29, Z:0.12 [[ 9.99853938e-01 -3.29727147e-03 -1.67699217e-02 5.85918579e+00] [ 3.20163084e-03 9.99978477e-01 -5.72675870e-03 2.94623616e-01] [ 1.67884435e-02 5.67223114e-03 9.99842975e-01 1.24590828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20463044 meters Centerline goodness [0,1] 0.3281748426588499 Centerline is valid? [False, False] Translation: X:5.86, Y:0.29, Z:0.12 [[ 9.99853789e-01 -3.28587731e-03 -1.67810650e-02 5.85944076e+00] [ 3.19135107e-03 9.99978909e-01 -5.65658662e-03 2.93910174e-01] [ 1.67992980e-02 5.60220529e-03 9.99843187e-01 1.24241477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23463044 meters Centerline goodness [0,1] 0.32707179940113307 Centerline is valid? [False, False] Translation: X:5.86, Y:0.29, Z:0.12 [[ 9.99860053e-01 -2.88064347e-03 -1.64795919e-02 5.85834932e+00] [ 2.79896960e-03 9.99983698e-01 -4.97698164e-03 2.91574708e-01] [ 1.64936601e-02 4.93015925e-03 9.99851815e-01 1.24840847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26463044 meters Centerline goodness [0,1] 0.32756997346571937 Centerline is valid? [False, False] Translation: X:5.86, Y:0.29, Z:0.13 [[ 9.99864600e-01 -2.65328021e-03 -1.62401103e-02 5.85751416e+00] [ 2.57818358e-03 9.99985896e-01 -4.64333619e-03 2.90763384e-01] [ 1.62522013e-02 4.60083750e-03 9.99857339e-01 1.25292623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29463044 meters Centerline goodness [0,1] 0.33002193265385116 Centerline is valid? [False, False] Translation: X:5.86, Y:0.29, Z:0.13 [[ 9.99867735e-01 -2.61044641e-03 -1.60529997e-02 5.85696398e+00] [ 2.53803996e-03 9.99986522e-01 -4.52918221e-03 2.89992639e-01] [ 1.60646066e-02 4.48784000e-03 9.99860884e-01 1.25500992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32463044 meters Centerline goodness [0,1] 0.3318708394570762 Centerline is valid? [False, False] Translation: X:5.86, Y:0.29, Z:0.13 [[ 9.99868168e-01 -2.68522410e-03 -1.60136046e-02 5.85688305e+00] [ 2.61259191e-03 9.99986214e-01 -4.55485182e-03 2.89272950e-01] [ 1.60256146e-02 4.51241433e-03 9.99861399e-01 1.25505165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35463044 meters Centerline goodness [0,1] 0.3340654083674002 Centerline is valid? [False, False] Translation: X:5.86, Y:0.29, Z:0.13 [[ 9.99868768e-01 -2.70110619e-03 -1.59734703e-02 5.85683572e+00] [ 2.62874580e-03 9.99986197e-01 -4.54929776e-03 2.88883553e-01] [ 1.59855380e-02 4.50671056e-03 9.99862067e-01 1.25414481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38463044 meters Centerline goodness [0,1] 0.32744420262023644 Centerline is valid? [False, False] Translation: X:5.90, Y:0.29, Z:0.13 [[ 9.99899231e-01 -1.18351291e-04 -1.41955782e-02 5.89935580e+00] [ 8.02875115e-05 9.99996400e-01 -2.68192275e-03 2.91162059e-01] [ 1.41958445e-02 2.68051276e-03 9.99895641e-01 1.26242400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41463044 meters Centerline goodness [0,1] 0.326755658734765 Centerline is valid? [False, False] Translation: X:5.90, Y:0.29, Z:0.13 [[ 9.99902132e-01 6.88300672e-05 -1.39900349e-02 5.89908496e+00] [-1.04332654e-04 9.99996776e-01 -2.53699139e-03 2.91342791e-01] [ 1.39898152e-02 2.53820272e-03 9.99898916e-01 1.25965246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44463044 meters Centerline goodness [0,1] 0.3247092837857948 Centerline is valid? [False, False] Translation: X:5.90, Y:0.29, Z:0.13 [[ 9.99900220e-01 1.36263658e-04 -1.41255899e-02 5.89952383e+00] [-1.72154032e-04 9.99996760e-01 -2.53962056e-03 2.91561723e-01] [ 1.41251981e-02 2.54179894e-03 9.99897004e-01 1.25781452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.47463044 meters Centerline goodness [0,1] 0.32739602558049696 Centerline is valid? [False, False] Translation: X:5.90, Y:0.29, Z:0.13 [[ 9.99897600e-01 7.50865310e-05 -1.43103056e-02 5.90003529e+00] [-1.12957748e-04 9.99996494e-01 -2.64563974e-03 2.91590713e-01] [ 1.43100568e-02 2.64698529e-03 9.99894102e-01 1.25638701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50463044 meters Centerline goodness [0,1] 0.3291566577939362 Centerline is valid? [False, False] Translation: X:5.90, Y:0.29, Z:0.13 [[ 9.99894032e-01 3.38492240e-05 -1.45576179e-02 5.90072933e+00] [-7.36426458e-05 9.99996263e-01 -2.73298452e-03 2.91740925e-01] [ 1.45574710e-02 2.73376698e-03 9.99890297e-01 1.25416837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.53463044 meters Centerline goodness [0,1] 0.3279074285961011 Centerline is valid? [False, False] Translation: X:5.90, Y:0.29, Z:0.13 [[ 9.99891324e-01 2.66786221e-04 -1.47400359e-02 5.90103476e+00] [-3.06722833e-04 9.99996288e-01 -2.70720293e-03 2.93092251e-01] [ 1.47392590e-02 2.71142983e-03 9.99887695e-01 1.25494085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56463044 meters Centerline goodness [0,1] 0.3291839557399724 Centerline is valid? [False, False] Translation: X:5.90, Y:0.29, Z:0.13 [[ 9.99893116e-01 3.67201499e-04 -1.46158150e-02 5.90039953e+00] [-4.08339182e-04 9.99995964e-01 -2.81171595e-03 2.94710709e-01] [ 1.46147236e-02 2.81738363e-03 9.99889230e-01 1.25992133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59463044 meters Centerline goodness [0,1] 0.32555844044374826 Centerline is valid? [False, False] Translation: X:5.90, Y:0.30, Z:0.13 [[ 9.99897729e-01 3.74802148e-04 -1.42965126e-02 5.89941097e+00] [-4.18682441e-04 9.99995211e-01 -3.06643100e-03 2.96783351e-01] [ 1.42952948e-02 3.07210309e-03 9.99893098e-01 1.26352162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62463044 meters Centerline goodness [0,1] 0.3253099460128459 Centerline is valid? [False, False] Translation: X:5.90, Y:0.30, Z:0.13 [[ 9.99902264e-01 3.62666162e-04 -1.39760936e-02 5.89832955e+00] [-4.09852561e-04 9.99994226e-01 -3.37350602e-03 2.99038456e-01] [ 1.39747894e-02 3.37890444e-03 9.99896639e-01 1.26797180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65463044 meters Centerline goodness [0,1] 0.32558835474424475 Centerline is valid? [False, False] Translation: X:5.90, Y:0.30, Z:0.13 [[ 9.99909690e-01 5.32436483e-04 -1.34286542e-02 5.89657090e+00] [-5.83299263e-04 9.99992671e-01 -3.78399830e-03 3.03522080e-01] [ 1.34265410e-02 3.79148949e-03 9.99902672e-01 1.27386212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68463044 meters Centerline goodness [0,1] 0.3277113624124933 Centerline is valid? [False, False] Translation: X:5.90, Y:0.31, Z:0.13 [[ 9.99906909e-01 4.74679908e-04 -1.36362842e-02 5.89721788e+00] [-5.31324201e-04 9.99991245e-01 -4.15061654e-03 3.05857539e-01] [ 1.36341946e-02 4.15747545e-03 9.99898407e-01 1.27067040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71463044 meters Centerline goodness [0,1] 0.3261880165289256 Centerline is valid? [False, False] Translation: X:5.90, Y:0.31, Z:0.13 [[ 9.99900642e-01 3.49624579e-04 -1.40920118e-02 5.89868697e+00] [-4.14837705e-04 9.99989219e-01 -4.62500881e-03 3.08478668e-01] [ 1.40902428e-02 4.63039518e-03 9.99890006e-01 1.26320988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74463043999998 meters Centerline goodness [0,1] 0.32020113779217185 Centerline is valid? [False, False] Translation: X:5.92, Y:0.32, Z:0.13 [[ 9.99829265e-01 -3.51370895e-03 -1.81409406e-02 5.91981015e+00] [ 3.45525435e-03 9.99988741e-01 -3.25258594e-03 3.19799662e-01] [ 1.81521650e-02 3.18934905e-03 9.99830149e-01 1.26154572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77463043999998 meters Centerline goodness [0,1] 0.32065287514515506 Centerline is valid? [False, False] Translation: X:5.92, Y:0.32, Z:0.13 [[ 9.99827724e-01 -3.57592099e-03 -1.82135843e-02 5.92010969e+00] [ 3.51030567e-03 9.99987239e-01 -3.63324548e-03 3.22546616e-01] [ 1.82263440e-02 3.56868431e-03 9.99827518e-01 1.25875895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80463043999998 meters Centerline goodness [0,1] 0.3250243849571909 Centerline is valid? [False, False] Translation: X:5.92, Y:0.33, Z:0.13 [[ 9.99829859e-01 -3.60700567e-03 -1.80898400e-02 5.91974987e+00] [ 3.53508510e-03 9.99985727e-01 -4.00614624e-03 3.25495891e-01] [ 1.81040320e-02 3.94151551e-03 9.99828340e-01 1.25944192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83463043999998 meters Centerline goodness [0,1] 0.32324449993542004 Centerline is valid? [False, False] Translation: X:5.92, Y:0.33, Z:0.13 [[ 9.99831502e-01 -3.70401664e-03 -1.79790699e-02 5.91946308e+00] [ 3.62392801e-03 9.99983375e-01 -4.48508583e-03 3.28742903e-01] [ 1.79953838e-02 4.41917525e-03 9.99828304e-01 1.25938975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86463043999998 meters Centerline goodness [0,1] 0.3244535372025412 Centerline is valid? [False, False] Translation: X:5.92, Y:0.33, Z:0.13 [[ 9.99832150e-01 -3.85400976e-03 -1.79114004e-02 5.91922444e+00] [ 3.76559140e-03 9.99980572e-01 -4.96753648e-03 3.31524806e-01] [ 1.79301974e-02 4.89925566e-03 9.99827238e-01 1.25994870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89463044 meters Centerline goodness [0,1] 0.3238945250631394 Centerline is valid? [False, False] Translation: X:5.92, Y:0.34, Z:0.13 [[ 9.99832746e-01 -4.06089914e-03 -1.78322509e-02 5.91864967e+00] [ 3.96228509e-03 9.99976682e-01 -5.56194913e-03 3.35311420e-01] [ 1.78544216e-02 5.49036241e-03 9.99825523e-01 1.26490692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92463044 meters Centerline goodness [0,1] 0.32660847074038146 Centerline is valid? [False, False] Translation: X:5.92, Y:0.34, Z:0.13 [[ 9.99834087e-01 -4.03294259e-03 -1.77632716e-02 5.91825825e+00] [ 3.93434887e-03 9.99976681e-01 -5.58187912e-03 3.36093227e-01] [ 1.77853688e-02 5.51106610e-03 9.99826639e-01 1.26840203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95463044 meters Centerline goodness [0,1] 0.3241289329027014 Centerline is valid? [False, False] Translation: X:5.92, Y:0.34, Z:0.13 [[ 9.99835156e-01 -4.09802342e-03 -1.76880632e-02 5.91806764e+00] [ 3.99889982e-03 9.99976123e-01 -5.63571887e-03 3.36401692e-01] [ 1.77107362e-02 5.56405706e-03 9.99827671e-01 1.26955643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98463044 meters Centerline goodness [0,1] 0.3241289329027014 Centerline is valid? [False, False] Translation: X:5.92, Y:0.34, Z:0.13 [[ 9.99835156e-01 -4.09802342e-03 -1.76880632e-02 5.91806764e+00] [ 3.99889982e-03 9.99976123e-01 -5.63571887e-03 3.36401692e-01] [ 1.77107362e-02 5.56405706e-03 9.99827671e-01 1.26955643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01463044 meters Centerline goodness [0,1] 0.3279624324149667 Centerline is valid? [False, False] Translation: X:5.92, Y:0.34, Z:0.13 [[ 9.99835687e-01 -4.30111292e-03 -1.76096576e-02 5.91789727e+00] [ 4.20027340e-03 9.99974593e-01 -5.75936269e-03 3.36132962e-01] [ 1.76339819e-02 5.68445097e-03 9.99828350e-01 1.27036985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04463044 meters Centerline goodness [0,1] 0.33114252467353356 Centerline is valid? [False, False] Translation: X:5.92, Y:0.34, Z:0.13 [[ 9.99838721e-01 -5.14286194e-03 -1.72070593e-02 5.91703194e+00] [ 5.03554874e-03 9.99967639e-01 -6.27410541e-03 3.35133044e-01] [ 1.72387693e-02 6.18644654e-03 9.99832262e-01 1.27230379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07463044 meters Centerline goodness [0,1] 0.32700141503366065 Centerline is valid? [False, False] Translation: X:5.92, Y:0.33, Z:0.13 [[ 9.99839640e-01 -5.15014781e-03 -1.71513881e-02 5.91683429e+00] [ 5.04533450e-03 9.99968368e-01 -6.14874257e-03 3.34505990e-01] [ 1.71825125e-02 6.06122207e-03 9.99833998e-01 1.27421164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10463044 meters Centerline goodness [0,1] 0.32691527739236237 Centerline is valid? [False, False] Translation: X:5.92, Y:0.33, Z:0.13 [[ 9.99839200e-01 -5.07860427e-03 -1.71983288e-02 5.91687954e+00] [ 4.97617385e-03 9.99969658e-01 -5.99340155e-03 3.34215998e-01] [ 1.72282451e-02 5.90685594e-03 9.99834135e-01 1.27605175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13463044 meters Centerline goodness [0,1] 0.3326930213267556 Centerline is valid? [False, False] Translation: X:5.87, Y:0.33, Z:0.13 [[ 9.99795235e-01 -4.84831578e-03 -1.96464026e-02 5.87314965e+00] [ 4.74095529e-03 9.99973595e-01 -5.50753476e-03 3.30890699e-01] [ 1.96725861e-02 5.41326430e-03 9.99791821e-01 1.27085717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16463044 meters Centerline goodness [0,1] 0.3267476879044833 Centerline is valid? [False, False] Translation: X:5.92, Y:0.34, Z:0.13 [[ 9.99787449e-01 -4.25197297e-03 -2.01736631e-02 5.91924627e+00] [ 4.14868736e-03 9.99978087e-01 -5.15891624e-03 3.35090732e-01] [ 2.01951566e-02 5.07412549e-03 9.99783181e-01 1.27784516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.19463044 meters Centerline goodness [0,1] 0.32799227799227804 Centerline is valid? [False, False] Translation: X:5.92, Y:0.34, Z:0.13 [[ 9.99784733e-01 -4.25184292e-03 -2.03078482e-02 5.91964911e+00] [ 4.14635939e-03 9.99977709e-01 -5.23350989e-03 3.35697070e-01] [ 2.03296476e-02 5.14817965e-03 9.99780077e-01 1.27645036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22463044 meters Centerline goodness [0,1] 0.32758212679904486 Centerline is valid? [False, False] Translation: X:5.92, Y:0.34, Z:0.13 [[ 9.99783865e-01 -4.25915076e-03 -2.03490050e-02 5.91988705e+00] [ 4.15243798e-03 9.99977421e-01 -5.28350620e-03 3.36090954e-01] [ 2.03710488e-02 5.19786627e-03 9.99778977e-01 1.27456956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.25463044 meters Centerline goodness [0,1] 0.327527703805515 Centerline is valid? [False, False] Translation: X:5.92, Y:0.34, Z:0.13 [[ 9.99783839e-01 -4.26257159e-03 -2.03496108e-02 5.91993777e+00] [ 4.15580485e-03 9.99977393e-01 -5.28603262e-03 3.36112754e-01] [ 2.03716829e-02 5.20032097e-03 9.99778951e-01 1.27380644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28463044 meters Centerline goodness [0,1] 0.32564354742153423 Centerline is valid? [False, False] Translation: X:5.92, Y:0.34, Z:0.13 [[ 9.99783637e-01 -4.38212572e-03 -2.03341312e-02 5.91988949e+00] [ 4.27605982e-03 9.99977041e-01 -5.25670222e-03 3.35142379e-01] [ 2.03566999e-02 5.16861490e-03 9.99779421e-01 1.27454874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.31463044 meters Centerline goodness [0,1] 0.3287621176622316 Centerline is valid? [False, False] Translation: X:5.92, Y:0.33, Z:0.13 [[ 9.99787307e-01 -4.28362879e-03 -2.01740449e-02 5.91933277e+00] [ 4.18422599e-03 9.99978911e-01 -4.96689769e-03 3.33770020e-01] [ 2.01948958e-02 4.88142850e-03 9.99784146e-01 1.27823606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34463044 meters Centerline goodness [0,1] 0.3319246194316271 Centerline is valid? [False, False] Translation: X:5.92, Y:0.33, Z:0.13 [[ 9.99800163e-01 -4.40108749e-03 -1.95003572e-02 5.91760173e+00] [ 4.31407619e-03 9.99980561e-01 -4.50185874e-03 3.30341708e-01] [ 1.95197912e-02 4.41683308e-03 9.99799715e-01 1.28314731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37463044 meters Centerline goodness [0,1] 0.33148518255861437 Centerline is valid? [False, False] Translation: X:5.92, Y:0.33, Z:0.13 [[ 9.99795041e-01 -4.40898410e-03 -1.97594868e-02 5.91834216e+00] [ 4.32663016e-03 9.99981784e-01 -4.20863153e-03 3.28195956e-01] [ 1.97776827e-02 4.12227694e-03 9.99795904e-01 1.28158433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40463044 meters Centerline goodness [0,1] 0.32974964127385265 Centerline is valid? [False, False] Translation: X:5.92, Y:0.33, Z:0.13 [[ 9.99784650e-01 -4.39904910e-03 -2.02805994e-02 5.91989617e+00] [ 4.32025637e-03 9.99982956e-01 -3.92730590e-03 3.26192995e-01] [ 2.02975301e-02 3.83884277e-03 9.99786614e-01 1.27763128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43463044 meters Centerline goodness [0,1] 0.33194217365114875 Centerline is valid? [False, False] Translation: X:5.92, Y:0.32, Z:0.13 [[ 9.99781477e-01 -4.25585342e-03 -2.04667166e-02 5.92056244e+00] [ 4.18427479e-03 9.99984984e-01 -3.53887197e-03 3.24249283e-01] [ 2.04814702e-02 3.45246028e-03 9.99784272e-01 1.27459259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46463044 meters Centerline goodness [0,1] 0.3323950980816698 Centerline is valid? [False, False] Translation: X:5.92, Y:0.32, Z:0.13 [[ 9.99782207e-01 -4.12042466e-03 -2.04587533e-02 5.92058150e+00] [ 4.05475839e-03 9.99986498e-01 -3.25013603e-03 3.22995238e-01] [ 2.04718690e-02 3.16647287e-03 9.99785415e-01 1.27464315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49463043999998 meters Centerline goodness [0,1] 0.3333765084299376 Centerline is valid? [False, False] Translation: X:5.92, Y:0.32, Z:0.13 [[ 9.99787902e-01 -4.04798688e-03 -2.01932068e-02 5.92029099e+00] [ 3.98434918e-03 9.99986972e-01 -3.19067887e-03 3.22490032e-01] [ 2.02058595e-02 3.10954534e-03 9.99791005e-01 1.27098809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52463043999998 meters Centerline goodness [0,1] 0.33051882647922337 Centerline is valid? [False, False] Translation: X:5.92, Y:0.32, Z:0.13 [[ 9.99782292e-01 -3.98134090e-03 -2.04821080e-02 5.92140140e+00] [ 3.91422584e-03 9.99986842e-01 -3.31581268e-03 3.23326954e-01] [ 2.04950399e-02 3.23491921e-03 9.99784721e-01 1.26381230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55463043999998 meters Centerline goodness [0,1] 0.32850449211193744 Centerline is valid? [False, False] Translation: X:5.92, Y:0.32, Z:0.13 [[ 9.99775373e-01 -3.83674583e-03 -2.08442719e-02 5.92261705e+00] [ 3.76714172e-03 9.99987201e-01 -3.37748447e-03 3.24319649e-01] [ 2.08569637e-02 3.29820247e-03 9.99777030e-01 1.25733633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58463043999998 meters Centerline goodness [0,1] 0.3246338272822801 Centerline is valid? [False, False] Translation: X:5.93, Y:0.33, Z:0.12 [[ 9.99764739e-01 -1.91411583e-03 -2.16056215e-02 5.92594876e+00] [ 1.87467051e-03 9.99996539e-01 -1.84580380e-03 3.25076352e-01] [ 2.16090798e-02 1.80486614e-03 9.99764867e-01 1.23909446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61463043999998 meters Centerline goodness [0,1] 0.3293241200604621 Centerline is valid? [False, False] Translation: X:5.93, Y:0.33, Z:0.12 [[ 9.99763862e-01 -1.87509142e-03 -2.16495583e-02 5.92601733e+00] [ 1.83197370e-03 9.99996299e-01 -2.01128231e-03 3.26307325e-01] [ 2.16532495e-02 1.97114594e-03 9.99763598e-01 1.23870851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64463044 meters Centerline goodness [0,1] 0.3295951094560562 Centerline is valid? [False, False] Translation: X:5.93, Y:0.33, Z:0.12 [[ 9.99765132e-01 -1.89728900e-03 -2.15888990e-02 5.92582667e+00] [ 1.84920014e-03 9.99995765e-01 -2.24722674e-03 3.27649488e-01] [ 2.15930713e-02 2.20677674e-03 9.99764407e-01 1.23862564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67463044 meters Centerline goodness [0,1] 0.3281297494463502 Centerline is valid? [False, False] Translation: X:5.93, Y:0.33, Z:0.12 [[ 9.99764425e-01 -1.96529387e-03 -2.16155451e-02 5.92588602e+00] [ 1.91117176e-03 9.99994988e-01 -2.52422438e-03 3.29153712e-01] [ 2.16203976e-02 2.48231872e-03 9.99763170e-01 1.23815730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70463044 meters Centerline goodness [0,1] 0.3276257684648022 Centerline is valid? [False, False] Translation: X:5.93, Y:0.33, Z:0.12 [[ 9.99768285e-01 -1.82857235e-03 -2.14483708e-02 5.92566169e+00] [ 1.76675075e-03 9.99994232e-01 -2.90093967e-03 3.32961239e-01] [ 2.14535517e-02 2.86237355e-03 9.99765749e-01 1.23445179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73463044 meters Centerline goodness [0,1] 0.3277956374463311 Centerline is valid? [False, False] Translation: X:5.92, Y:0.34, Z:0.12 [[ 9.99775704e-01 -1.86714663e-03 -2.10963362e-02 5.92475952e+00] [ 1.79976838e-03 9.99993221e-01 -3.21237162e-03 3.35055076e-01] [ 2.11021911e-02 3.17368258e-03 9.99772287e-01 1.23543397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76463044 meters Centerline goodness [0,1] 0.3266215866999742 Centerline is valid? [False, False] Translation: X:5.92, Y:0.34, Z:0.12 [[ 9.99782605e-01 -1.86790759e-03 -2.07666688e-02 5.92383860e+00] [ 1.79667996e-03 9.99992441e-01 -3.44803021e-03 3.36837482e-01] [ 2.07729524e-02 3.40996957e-03 9.99778404e-01 1.23734122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79463044 meters Centerline goodness [0,1] 0.3258530917853608 Centerline is valid? [False, False] Translation: X:5.92, Y:0.34, Z:0.12 [[ 9.99785735e-01 -1.89316214e-03 -2.06131009e-02 5.92335927e+00] [ 1.81712337e-03 9.99991478e-01 -3.70696206e-03 3.38749657e-01] [ 2.06199432e-02 3.66871124e-03 9.99780655e-01 1.23884554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82463044 meters Centerline goodness [0,1] 0.3264735608455368 Centerline is valid? [False, False] Translation: X:5.92, Y:0.34, Z:0.12 [[ 9.99782050e-01 -1.95430674e-03 -2.07854005e-02 5.92386823e+00] [ 1.87288516e-03 9.99990500e-01 -3.93599383e-03 3.40182978e-01] [ 2.07928952e-02 3.89620732e-03 9.99776212e-01 1.23675310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85463044 meters Centerline goodness [0,1] 0.3235218232638142 Centerline is valid? [False, False] Translation: X:5.93, Y:0.34, Z:0.12 [[ 9.99769541e-01 -2.08747962e-03 -2.13660258e-02 5.92563968e+00] [ 1.99781777e-03 9.99989113e-01 -4.21695371e-03 3.41745002e-01] [ 2.13745959e-02 4.17329645e-03 9.99762827e-01 1.23051437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88463044 meters Centerline goodness [0,1] 0.32438632222103114 Centerline is valid? [False, False] Translation: X:5.93, Y:0.34, Z:0.12 [[ 9.99766530e-01 -2.12589863e-03 -2.15026907e-02 5.92585629e+00] [ 2.03666137e-03 9.99989227e-01 -4.17109903e-03 3.41397716e-01] [ 2.15113264e-02 4.12633151e-03 9.99760089e-01 1.23258179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91463044 meters Centerline goodness [0,1] 0.3254988818166179 Centerline is valid? [False, False] Translation: X:5.93, Y:0.34, Z:0.12 [[ 9.99769685e-01 -2.22908443e-03 -2.13449829e-02 5.92530041e+00] [ 2.14110419e-03 9.99989122e-01 -4.14378970e-03 3.40818836e-01] [ 2.13539876e-02 4.09713349e-03 9.99763582e-01 1.23665546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94463044 meters Centerline goodness [0,1] 0.32751280444319586 Centerline is valid? [False, False] Translation: X:5.92, Y:0.34, Z:0.12 [[ 9.99772727e-01 -2.31622020e-03 -2.11926700e-02 5.92477548e+00] [ 2.23068147e-03 9.99989274e-01 -4.05899096e-03 3.39878169e-01] [ 2.12018442e-02 4.01079436e-03 9.99767171e-01 1.24018627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.97463044 meters Centerline goodness [0,1] 0.3286707267210398 Centerline is valid? [False, False] Translation: X:5.92, Y:0.34, Z:0.12 [[ 9.99772634e-01 -2.31235979e-03 -2.11974860e-02 5.92472077e+00] [ 2.22910092e-03 9.99989712e-01 -3.95055793e-03 3.39228178e-01] [ 2.12064030e-02 3.90240837e-03 9.99767503e-01 1.24223891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00463044 meters Centerline goodness [0,1] 0.32443901498103256 Centerline is valid? [False, False] Translation: X:5.93, Y:0.34, Z:0.12 [[ 9.99770962e-01 -2.16212086e-03 -2.12919943e-02 5.92510750e+00] [ 2.07881227e-03 9.99990101e-01 -3.93402838e-03 3.40392823e-01] [ 2.13002894e-02 3.88886528e-03 9.99765560e-01 1.24045056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.03463044 meters Centerline goodness [0,1] 0.32438830187867185 Centerline is valid? [False, False] Translation: X:5.93, Y:0.34, Z:0.12 [[ 9.99766228e-01 -2.11187058e-03 -2.15180942e-02 5.92579623e+00] [ 2.02434858e-03 9.99989594e-01 -4.08833888e-03 3.41732764e-01] [ 2.15265043e-02 4.04382302e-03 9.99760100e-01 1.23726486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06463044 meters Centerline goodness [0,1] 0.32712841143851257 Centerline is valid? [False, False] Translation: X:5.93, Y:0.34, Z:0.12 [[ 9.99757240e-01 -1.95752028e-03 -2.19460371e-02 5.92702766e+00] [ 1.86128807e-03 9.99988568e-01 -4.40451620e-03 3.44449441e-01] [ 2.19544082e-02 4.36259907e-03 9.99749454e-01 1.23186586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09463044 meters Centerline goodness [0,1] 0.32277364094176386 Centerline is valid? [False, False] Translation: X:5.93, Y:0.35, Z:0.12 [[ 9.99753454e-01 -1.93029225e-03 -2.21202502e-02 5.92746584e+00] [ 1.82883685e-03 9.99987721e-01 -4.60585164e-03 3.45994792e-01] [ 2.21288692e-02 4.56426175e-03 9.99744708e-01 1.23057093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12463044 meters Centerline goodness [0,1] 0.32204005728576623 Centerline is valid? [False, False] Translation: X:5.93, Y:0.35, Z:0.12 [[ 9.99751575e-01 -1.86658454e-03 -2.22104308e-02 5.92753540e+00] [ 1.76253904e-03 9.99987387e-01 -4.70318708e-03 3.47147870e-01] [ 2.22189296e-02 4.66287194e-03 9.99742255e-01 1.23210955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15463044 meters Centerline goodness [0,1] 0.32477988504509936 Centerline is valid? [False, False] Translation: X:5.93, Y:0.35, Z:0.12 [[ 9.99755881e-01 -1.84880521e-03 -2.20172710e-02 5.92680639e+00] [ 1.74422146e-03 9.99987110e-01 -4.76833473e-03 3.47788831e-01] [ 2.20258030e-02 4.72876769e-03 9.99746219e-01 1.23570105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18463044 meters Centerline goodness [0,1] 0.3339855639620837 Centerline is valid? [False, False] Translation: X:5.92, Y:0.35, Z:0.12 [[ 9.99771266e-01 -1.99211373e-03 -2.12943206e-02 5.92435397e+00] [ 1.88744936e-03 9.99986046e-01 -4.93409937e-03 3.47897849e-01] [ 2.13038527e-02 4.89277882e-03 9.99761075e-01 1.24845024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21463044 meters Centerline goodness [0,1] 0.3292696083719927 Centerline is valid? [False, False] Translation: X:5.92, Y:0.35, Z:0.13 [[ 9.99774626e-01 -2.00823879e-03 -2.11344261e-02 5.92378868e+00] [ 1.90545442e-03 9.99986266e-01 -4.88237688e-03 3.47316033e-01] [ 2.11439408e-02 4.84100584e-03 9.99764722e-01 1.25180337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24463043999998 meters Centerline goodness [0,1] 0.3315168029064487 Centerline is valid? [False, False] Translation: X:5.92, Y:0.35, Z:0.13 [[ 9.99777454e-01 -1.98609555e-03 -2.10023153e-02 5.92345912e+00] [ 1.88544334e-03 9.99986649e-01 -4.81115001e-03 3.46942571e-01] [ 2.10115903e-02 4.77048063e-03 9.99767851e-01 1.25229149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27463043999998 meters Centerline goodness [0,1] 0.33178164263701215 Centerline is valid? [False, False] Translation: X:5.92, Y:0.35, Z:0.12 [[ 9.99776848e-01 -1.94169736e-03 -2.10353254e-02 5.92372501e+00] [ 1.84313884e-03 9.99987239e-01 -4.70375633e-03 3.46396411e-01] [ 2.10441902e-02 4.66393565e-03 9.99767668e-01 1.24998692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30463043999998 meters Centerline goodness [0,1] 0.3289890351349605 Centerline is valid? [False, False] Translation: X:5.92, Y:0.35, Z:0.12 [[ 9.99773463e-01 -2.01319199e-03 -2.11889206e-02 5.92442900e+00] [ 1.91445035e-03 9.99987219e-01 -4.67931346e-03 3.45609241e-01] [ 2.11980701e-02 4.63768829e-03 9.99764539e-01 1.24525199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33463043999998 meters Centerline goodness [0,1] 0.332864712879853 Centerline is valid? [False, False] Translation: X:5.92, Y:0.35, Z:0.12 [[ 9.99770702e-01 -2.00194030e-03 -2.13198343e-02 5.92479954e+00] [ 1.90316549e-03 9.99987367e-01 -4.65228339e-03 3.45441758e-01] [ 2.13288786e-02 4.61064146e-03 9.99761882e-01 1.24422060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36463043999998 meters Centerline goodness [0,1] 0.32878475798146245 Centerline is valid? [False, False] Translation: X:5.93, Y:0.35, Z:0.12 [[ 9.99765053e-01 -1.88454594e-03 -2.15937036e-02 5.92559265e+00] [ 1.78744235e-03 9.99988209e-01 -4.51526606e-03 3.45322866e-01] [ 2.16019582e-02 4.47560771e-03 9.99756633e-01 1.24206823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39463044 meters Centerline goodness [0,1] 0.32966464924939154 Centerline is valid? [False, False] Translation: X:5.93, Y:0.35, Z:0.12 [[ 9.99762191e-01 -1.77892610e-03 -2.17347047e-02 5.92640083e+00] [ 1.68192783e-03 9.99988549e-01 -4.48029486e-03 3.45802010e-01] [ 2.17424259e-02 4.44267320e-03 9.99753734e-01 1.23507137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42463044 meters Centerline goodness [0,1] 0.33029011531055963 Centerline is valid? [False, False] Translation: X:5.93, Y:0.35, Z:0.12 [[ 9.99767132e-01 -1.85760436e-03 -2.14995407e-02 5.92579508e+00] [ 1.75925533e-03 9.99987907e-01 -4.59248137e-03 3.46028156e-01] [ 2.15078117e-02 4.55358875e-03 9.99758310e-01 1.23620357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45463044 meters Centerline goodness [0,1] 0.33102543703098464 Centerline is valid? [False, False] Translation: X:5.92, Y:0.35, Z:0.12 [[ 9.99773571e-01 -1.82826820e-03 -2.12005791e-02 5.92485036e+00] [ 1.73232385e-03 9.99988180e-01 -4.54303614e-03 3.45875247e-01] [ 2.12086344e-02 4.50528119e-03 9.99764921e-01 1.24023221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48463044 meters Centerline goodness [0,1] 0.33150573007374917 Centerline is valid? [False, False] Translation: X:5.92, Y:0.35, Z:0.12 [[ 9.99776335e-01 -1.76349393e-03 -2.10753590e-02 5.92439167e+00] [ 1.67029717e-03 9.99988753e-01 -4.43885721e-03 3.45620764e-01] [ 2.10829499e-02 4.40266228e-03 9.99768036e-01 1.24261408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51463044 meters Centerline goodness [0,1] 0.3268129976328814 Centerline is valid? [False, False] Translation: X:5.93, Y:0.35, Z:0.12 [[ 9.99769512e-01 -1.55887334e-03 -2.14124673e-02 5.92595836e+00] [ 1.47035535e-03 9.99990312e-01 -4.14906827e-03 3.45112570e-01] [ 2.14187277e-02 4.11662802e-03 9.99762117e-01 1.23213219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54463044 meters Centerline goodness [0,1] 0.32740426807080636 Centerline is valid? [False, False] Translation: X:5.93, Y:0.34, Z:0.12 [[ 9.99761748e-01 -1.63805546e-03 -2.17661222e-02 5.92717428e+00] [ 1.54666617e-03 9.99989921e-01 -4.21486542e-03 3.44997259e-01] [ 2.17728070e-02 4.18019629e-03 9.99754205e-01 1.22629521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57463044 meters Centerline goodness [0,1] 0.32762173300075914 Centerline is valid? [False, False] Translation: X:5.91, Y:0.34, Z:0.12 [[ 9.99735849e-01 5.81633804e-03 -2.22351665e-02 5.90912766e+00] [-5.94558683e-03 9.99965787e-01 -5.75112614e-03 3.39136712e-01] [ 2.22009552e-02 5.88180809e-03 9.99736226e-01 1.20482124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60463044 meters Centerline goodness [0,1] 0.32731498418300375 Centerline is valid? [False, False] Translation: X:5.93, Y:0.34, Z:0.12 [[ 9.99742532e-01 -1.56150543e-03 -2.26369292e-02 5.92773412e+00] [ 1.46075763e-03 9.99988958e-01 -4.46644739e-03 3.44617235e-01] [ 2.26436537e-02 4.43223035e-03 9.99733775e-01 1.22288212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63463044 meters Centerline goodness [0,1] 0.3280337792714191 Centerline is valid? [False, False] Translation: X:5.93, Y:0.35, Z:0.12 [[ 9.99741670e-01 -1.42724962e-03 -2.26838445e-02 5.92802128e+00] [ 1.32779131e-03 9.99989443e-01 -4.39900097e-03 3.45175298e-01] [ 2.26898835e-02 4.36774516e-03 9.99733010e-01 1.22032900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66463044 meters Centerline goodness [0,1] 0.3277119909943065 Centerline is valid? [False, False] Translation: X:5.93, Y:0.35, Z:0.12 [[ 9.99741920e-01 -1.19323208e-03 -2.26863137e-02 5.92836143e+00] [ 1.09392942e-03 9.99989769e-01 -4.38911235e-03 3.47007680e-01] [ 2.26913188e-02 4.36316238e-03 9.99732998e-01 1.21546858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69463044 meters Centerline goodness [0,1] 0.32828936023452315 Centerline is valid? [False, False] Translation: X:5.93, Y:0.35, Z:0.12 [[ 9.99742442e-01 -1.22151247e-03 -2.26618166e-02 5.92825628e+00] [ 1.11902947e-03 9.99989093e-01 -4.53440654e-03 3.47875770e-01] [ 2.26671083e-02 4.50787943e-03 9.99732905e-01 1.21595814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72463044 meters Centerline goodness [0,1] 0.3290596439554728 Centerline is valid? [False, False] Translation: X:5.93, Y:0.35, Z:0.12 [[ 9.99741516e-01 -1.33693522e-03 -2.26961229e-02 5.92833292e+00] [ 1.22964171e-03 9.99988007e-01 -4.74069130e-03 3.48570255e-01] [ 2.27021887e-02 4.71155780e-03 9.99731170e-01 1.21566054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.75463044 meters Centerline goodness [0,1] 0.32627418973775213 Centerline is valid? [False, False] Translation: X:5.93, Y:0.35, Z:0.12 [[ 9.99737133e-01 -1.43288238e-03 -2.28825687e-02 5.92875464e+00] [ 1.31978674e-03 9.99986844e-01 -4.95677403e-03 3.49641656e-01] [ 2.28893702e-02 4.92527095e-03 9.99725872e-01 1.21565842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78463044 meters Centerline goodness [0,1] 0.32744089553528977 Centerline is valid? [False, False] Translation: X:5.93, Y:0.35, Z:0.12 [[ 9.99738396e-01 -1.42470488e-03 -2.28278467e-02 5.92850148e+00] [ 1.31256006e-03 9.99987002e-01 -4.92686290e-03 3.49655735e-01] [ 2.28345693e-02 4.89561109e-03 9.99727271e-01 1.21766062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.81463044 meters Centerline goodness [0,1] 0.3295620199734558 Centerline is valid? [False, False] Translation: X:5.93, Y:0.35, Z:0.12 [[ 9.99740594e-01 -1.44823958e-03 -2.27298893e-02 5.92823483e+00] [ 1.33782753e-03 9.99987237e-01 -4.87202547e-03 3.49220085e-01] [ 2.27366551e-02 4.84035297e-03 9.99729771e-01 1.21875567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84463044 meters Centerline goodness [0,1] 0.32770531193684027 Centerline is valid? [False, False] Translation: X:5.95, Y:0.35, Z:0.12 [[ 9.99706040e-01 -9.53649263e-03 -2.22910048e-02 5.94807182e+00] [ 9.44940963e-03 9.99947318e-01 -4.00871775e-03 3.53519523e-01] [ 2.23280596e-02 3.79690251e-03 9.99743488e-01 1.23082050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87463044 meters Centerline goodness [0,1] 0.325712817878243 Centerline is valid? [False, False] Translation: X:5.95, Y:0.35, Z:0.12 [[ 9.99694877e-01 -9.84382029e-03 -2.26550819e-02 5.94911812e+00] [ 9.75235882e-03 9.99943857e-01 -4.14408053e-03 3.52387567e-01] [ 2.26946035e-02 3.92187558e-03 9.99734752e-01 1.22921798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90463044 meters Centerline goodness [0,1] 0.325712817878243 Centerline is valid? [False, False] Translation: X:5.95, Y:0.35, Z:0.12 [[ 9.99694877e-01 -9.84382029e-03 -2.26550819e-02 5.94911812e+00] [ 9.75235882e-03 9.99943857e-01 -4.14408053e-03 3.52387567e-01] [ 2.26946035e-02 3.92187558e-03 9.99734752e-01 1.22921798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93463044 meters Centerline goodness [0,1] 0.3229699368781427 Centerline is valid? [False, False] Translation: X:5.95, Y:0.35, Z:0.12 [[ 9.99694837e-01 -9.81229029e-03 -2.26705148e-02 5.94910446e+00] [ 9.72165644e-03 9.99944319e-01 -4.10463476e-03 3.52320949e-01] [ 2.27095283e-02 3.88298722e-03 9.99734565e-01 1.23004453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96463044 meters Centerline goodness [0,1] 0.3268325198357237 Centerline is valid? [False, False] Translation: X:5.95, Y:0.35, Z:0.12 [[ 9.99702432e-01 -9.65098994e-03 -2.24032559e-02 5.94817029e+00] [ 9.56469283e-03 9.99946432e-01 -3.95595533e-03 3.52461646e-01] [ 2.24402346e-02 3.74049790e-03 9.99741189e-01 1.23445406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99463043999998 meters Centerline goodness [0,1] 0.32865562728038167 Centerline is valid? [False, False] Translation: X:5.95, Y:0.35, Z:0.12 [[ 9.99714424e-01 -9.55325165e-03 -2.19044672e-02 5.94663312e+00] [ 9.47029436e-03 9.99947598e-01 -3.88784474e-03 3.52850659e-01] [ 2.19404610e-02 3.67929271e-03 9.99752509e-01 1.24036072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02463043999998 meters Centerline goodness [0,1] 0.32719893489091223 Centerline is valid? [False, False] Translation: X:5.97, Y:0.35, Z:0.13 [[ 9.99790083e-01 -1.99914045e-03 -2.03909886e-02 5.96523754e+00] [ 1.88621034e-03 9.99982787e-01 -5.55596603e-03 3.51120025e-01] [ 2.04017448e-02 5.51633805e-03 9.99776644e-01 1.25637378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05463043999998 meters Centerline goodness [0,1] 0.32739300952463046 Centerline is valid? [False, False] Translation: X:5.97, Y:0.35, Z:0.12 [[ 9.99783269e-01 -2.09903439e-03 -2.07125426e-02 5.96650381e+00] [ 1.98083630e-03 9.99981648e-01 -5.72546204e-03 3.51450532e-01] [ 2.07241805e-02 5.68319300e-03 9.99769078e-01 1.24791552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08463043999998 meters Centerline goodness [0,1] 0.3273595918543819 Centerline is valid? [False, False] Translation: X:5.97, Y:0.35, Z:0.12 [[ 9.99775302e-01 -2.04203871e-03 -2.10991728e-02 5.96792326e+00] [ 1.92087641e-03 9.99981559e-01 -5.76118607e-03 3.51989678e-01] [ 2.11105483e-02 5.71936264e-03 9.99760788e-01 1.23951995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11463043999998 meters Centerline goodness [0,1] 0.3243791072800205 Centerline is valid? [False, False] Translation: X:5.97, Y:0.35, Z:0.12 [[ 9.99772142e-01 -1.90561619e-03 -2.12610557e-02 5.96863425e+00] [ 1.78445951e-03 9.99982071e-01 -5.71604357e-03 3.52534514e-01] [ 2.12715671e-02 5.67680163e-03 9.99757618e-01 1.23476463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14463044 meters Centerline goodness [0,1] 0.32656313941717463 Centerline is valid? [False, False] Translation: X:5.97, Y:0.35, Z:0.12 [[ 9.99786699e-01 -1.70018735e-03 -2.05831657e-02 5.96675235e+00] [ 1.58502310e-03 9.99983007e-01 -5.61009163e-03 3.52945190e-01] [ 2.05923542e-02 5.57627020e-03 9.99772404e-01 1.23909175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17463044 meters Centerline goodness [0,1] 0.32636563359853255 Centerline is valid? [False, False] Translation: X:5.97, Y:0.35, Z:0.12 [[ 9.99791491e-01 -1.68548658e-03 -2.03502570e-02 5.96610272e+00] [ 1.57213543e-03 9.99983169e-01 -5.58472516e-03 3.52811074e-01] [ 2.03593275e-02 5.55156734e-03 9.99777314e-01 1.24073797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20463044 meters Centerline goodness [0,1] 0.32656652360515026 Centerline is valid? [False, False] Translation: X:5.97, Y:0.35, Z:0.12 [[ 9.99793607e-01 -1.59733887e-03 -2.02532075e-02 5.96604685e+00] [ 1.48850450e-03 9.99984379e-01 -5.38762222e-03 3.51853878e-01] [ 2.02614970e-02 5.35636326e-03 9.99780366e-01 1.23839501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23463044 meters Centerline goodness [0,1] 0.3280723950850256 Centerline is valid? [False, False] Translation: X:5.97, Y:0.35, Z:0.12 [[ 9.99792122e-01 -1.43649199e-03 -2.03383508e-02 5.96664719e+00] [ 1.33357015e-03 9.99986242e-01 -5.07313960e-03 3.50674946e-01] [ 2.03453585e-02 5.04496239e-03 9.99780283e-01 1.23290329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26463044 meters Centerline goodness [0,1] 0.330238611713666 Centerline is valid? [False, False] Translation: X:5.97, Y:0.35, Z:0.12 [[ 9.99784647e-01 -1.26046163e-03 -2.07140270e-02 5.96813277e+00] [ 1.16351398e-03 9.99988317e-01 -4.69167509e-03 3.49175710e-01] [ 2.07196987e-02 4.66656366e-03 9.99774433e-01 1.22487249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29463044 meters Centerline goodness [0,1] 0.33018867924528306 Centerline is valid? [False, False] Translation: X:5.97, Y:0.35, Z:0.12 [[ 9.99779413e-01 -1.24321936e-03 -2.09661551e-02 5.96904613e+00] [ 1.14509788e-03 9.99988340e-01 -4.69134996e-03 3.49089724e-01] [ 2.09717430e-02 4.66630681e-03 9.99769179e-01 1.21988509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32463044 meters Centerline goodness [0,1] 0.32430284020109135 Centerline is valid? [False, False] Translation: X:5.97, Y:0.35, Z:0.12 [[ 9.99778694e-01 -1.30820891e-03 -2.09964745e-02 5.96896922e+00] [ 1.20409717e-03 9.99986922e-01 -4.97041107e-03 3.50571498e-01] [ 2.10027023e-02 4.94402929e-03 9.99767194e-01 1.22136879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35463044 meters Centerline goodness [0,1] 0.3289252957451907 Centerline is valid? [False, False] Translation: X:5.92, Y:0.35, Z:0.12 [[ 9.99747556e-01 -4.89188766e-04 -2.24629815e-02 5.92408306e+00] [ 3.90140091e-04 9.99990184e-01 -4.41358874e-03 3.48166929e-01] [ 2.24649201e-02 4.40371084e-03 9.99737933e-01 1.21560858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38463044 meters Centerline goodness [0,1] 0.3237394596454999 Centerline is valid? [False, False] Translation: X:5.95, Y:0.35, Z:0.12 [[ 9.99728646e-01 -5.95887447e-03 -2.25194541e-02 5.94552725e+00] [ 5.92797984e-03 9.99981395e-01 -1.43841616e-03 3.53015140e-01] [ 2.25276065e-02 1.30453097e-03 9.99745370e-01 1.21828149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41463044 meters Centerline goodness [0,1] 0.3226588826168144 Centerline is valid? [False, False] Translation: X:5.95, Y:0.35, Z:0.12 [[ 9.99722303e-01 -5.97491300e-03 -2.27951231e-02 5.94648801e+00] [ 5.94001923e-03 9.99981081e-01 -1.59816025e-03 3.54046459e-01] [ 2.28042407e-02 1.46231298e-03 9.99738880e-01 1.21355621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44463044 meters Centerline goodness [0,1] 0.3230888932114374 Centerline is valid? [False, False] Translation: X:5.95, Y:0.36, Z:0.12 [[ 9.99717052e-01 -6.09336355e-03 -2.29931753e-02 5.94733439e+00] [ 6.05240038e-03 9.99979971e-01 -1.85070728e-03 3.55092961e-01] [ 2.30039918e-02 1.71101972e-03 9.99733909e-01 1.20751937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.47463044 meters Centerline goodness [0,1] 0.32077046548956656 Centerline is valid? [False, False] Translation: X:5.97, Y:0.35, Z:0.12 [[ 9.99739050e-01 1.47776078e-03 -2.27958057e-02 5.96731930e+00] [-1.55138098e-03 9.99993637e-01 -3.21220358e-03 3.54059693e-01] [ 2.27909138e-02 3.24673033e-03 9.99734981e-01 1.22202075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50463044 meters Centerline goodness [0,1] 0.3247200502501678 Centerline is valid? [False, False] Translation: X:5.95, Y:0.36, Z:0.12 [[ 9.99748178e-01 -6.23756107e-03 -2.15562933e-02 5.94690228e+00] [ 6.18628574e-03 9.99977877e-01 -2.44453833e-03 3.59309911e-01] [ 2.15710643e-02 2.31056935e-03 9.99764648e-01 1.20173259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.53463044 meters Centerline goodness [0,1] 0.32314626032836147 Centerline is valid? [False, False] Translation: X:5.97, Y:0.36, Z:0.12 [[ 9.99791895e-01 1.41646256e-03 -2.03509256e-02 5.96564885e+00] [-1.49407502e-03 9.99991668e-01 -3.79900845e-03 3.58480616e-01] [ 2.03453749e-02 3.82862366e-03 9.99785681e-01 1.21692511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56463044 meters Centerline goodness [0,1] 0.3226007121712643 Centerline is valid? [False, False] Translation: X:5.97, Y:0.36, Z:0.12 [[ 9.99794541e-01 1.31671545e-03 -2.02272559e-02 5.96532681e+00] [-1.39817822e-03 9.99990967e-01 -4.01376242e-03 3.59493759e-01] [ 2.02217882e-02 4.04121906e-03 9.99787351e-01 1.21752179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59463044 meters Centerline goodness [0,1] 0.3228877855868636 Centerline is valid? [False, False] Translation: X:5.97, Y:0.36, Z:0.12 [[ 9.99797032e-01 1.20687143e-03 -2.01106689e-02 5.96519965e+00] [-1.29284701e-03 9.99990079e-01 -4.26266971e-03 3.60739815e-01] [ 2.01053249e-02 4.28780454e-03 9.99788673e-01 1.21560931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62463044 meters Centerline goodness [0,1] 0.32712691015497997 Centerline is valid? [False, False] Translation: X:5.97, Y:0.36, Z:0.12 [[ 9.99798575e-01 1.15770432e-03 -2.00367151e-02 5.96520148e+00] [-1.24791131e-03 9.99989141e-01 -4.49016685e-03 3.62208683e-01] [ 2.00312992e-02 4.51426646e-03 9.99789162e-01 1.21300902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65463044 meters Centerline goodness [0,1] 0.3231923630969018 Centerline is valid? [False, False] Translation: X:5.97, Y:0.37, Z:0.12 [[ 9.99799881e-01 1.04907797e-03 -1.99774228e-02 5.96541081e+00] [-1.15085418e-03 9.99986415e-01 -5.08374629e-03 3.66370176e-01] [ 1.99718181e-02 5.10572004e-03 9.99787506e-01 1.20807893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68463044 meters Centerline goodness [0,1] 0.3226861650952473 Centerline is valid? [False, False] Translation: X:5.97, Y:0.37, Z:0.12 [[ 9.99800338e-01 9.12342008e-04 -1.99612596e-02 5.96525532e+00] [-1.02051636e-03 9.99984847e-01 -5.40969960e-03 3.68038891e-01] [ 1.99560216e-02 5.42899028e-03 9.99786119e-01 1.21007979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.71463044 meters Centerline goodness [0,1] 0.32495338519899697 Centerline is valid? [False, False] Translation: X:5.96, Y:0.37, Z:0.12 [[ 9.99804436e-01 7.95882156e-04 -1.97599521e-02 5.96449377e+00] [-9.07093176e-04 9.99983798e-01 -5.61977682e-03 3.68877643e-01] [ 1.97551593e-02 5.63660191e-03 9.99788959e-01 1.21418235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74463043999998 meters Centerline goodness [0,1] 0.3268771899653905 Centerline is valid? [False, False] Translation: X:5.96, Y:0.37, Z:0.12 [[ 9.99805796e-01 7.64397266e-04 -1.96923032e-02 5.96417649e+00] [-8.73778392e-04 9.99984236e-01 -5.54650632e-03 3.68725564e-01] [ 1.96877531e-02 5.56263587e-03 9.99790703e-01 1.21762985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77463043999998 meters Centerline goodness [0,1] 0.32761474793077505 Centerline is valid? [False, False] Translation: X:5.97, Y:0.37, Z:0.12 [[ 9.99797998e-01 7.41195899e-04 -2.00851457e-02 5.96555780e+00] [-8.51403068e-04 9.99984628e-01 -5.47900325e-03 3.68196666e-01] [ 2.00807759e-02 5.49499704e-03 9.99783260e-01 1.21094360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80463043999998 meters Centerline goodness [0,1] 0.3273648429211683 Centerline is valid? [False, False] Translation: X:5.97, Y:0.37, Z:0.12 [[ 9.99788134e-01 6.05469228e-04 -2.05747684e-02 5.96745992e+00] [-7.19019262e-04 9.99984551e-01 -5.51194796e-03 3.67526281e-01] [ 2.05711132e-02 5.52557382e-03 9.99773123e-01 1.20016043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83463043999998 meters Centerline goodness [0,1] 0.32417094461411833 Centerline is valid? [False, False] Translation: X:5.97, Y:0.37, Z:0.12 [[ 9.99778511e-01 5.20718823e-04 -2.10394385e-02 5.96910857e+00] [-6.35926658e-04 9.99984840e-01 -5.46948429e-03 3.66582471e-01] [ 2.10362715e-02 5.48165240e-03 9.99763685e-01 1.19222901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86463043999998 meters Centerline goodness [0,1] 0.32237576173718996 Centerline is valid? [False, False] Translation: X:5.99, Y:0.37, Z:0.12 [[ 9.99748341e-01 -7.24149831e-03 -2.12323918e-02 5.98931691e+00] [ 7.15570829e-03 9.99965936e-01 -4.11372100e-03 3.70596664e-01] [ 2.12614580e-02 3.96075294e-03 9.99766104e-01 1.20424967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89463044 meters Centerline goodness [0,1] 0.32592688842688844 Centerline is valid? [False, False] Translation: X:5.97, Y:0.37, Z:0.12 [[ 9.99793462e-01 7.59610954e-04 -2.03090277e-02 5.97045354e+00] [-8.58785384e-04 9.99987748e-01 -4.87499288e-03 3.65011144e-01] [ 2.03050757e-02 4.89142710e-03 9.99781865e-01 1.18584839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92463044 meters Centerline goodness [0,1] 0.32554785379084683 Centerline is valid? [False, False] Translation: X:5.97, Y:0.37, Z:0.12 [[ 9.99795449e-01 8.41436818e-04 -2.02077125e-02 5.97014670e+00] [-9.38595999e-04 9.99988044e-01 -4.79902168e-03 3.65008486e-01] [ 2.02034328e-02 4.81700691e-03 9.99784286e-01 1.18734447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95463044 meters Centerline goodness [0,1] 0.32806554825319956 Centerline is valid? [False, False] Translation: X:5.97, Y:0.37, Z:0.12 [[ 9.99798777e-01 8.67168316e-04 -2.00413029e-02 5.96967845e+00] [-9.63726770e-04 9.99987973e-01 -4.80881707e-03 3.65196461e-01] [ 2.00368918e-02 4.82716377e-03 9.99787588e-01 1.18838173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98463044 meters Centerline goodness [0,1] 0.32511085281329377 Centerline is valid? [False, False] Translation: X:5.97, Y:0.37, Z:0.12 [[ 9.99796774e-01 1.01202343e-03 -2.01342047e-02 5.97022908e+00] [-1.10780401e-03 9.99988122e-01 -4.74652346e-03 3.65558462e-01] [ 2.01291619e-02 4.76786360e-03 9.99786019e-01 1.18345135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01463044 meters Centerline goodness [0,1] 0.3259156636938263 Centerline is valid? [False, False] Translation: X:5.97, Y:0.37, Z:0.12 [[ 9.99793815e-01 1.04518198e-03 -2.02789121e-02 5.97071566e+00] [-1.14081211e-03 9.99988282e-01 -4.70474752e-03 3.65402060e-01] [ 2.02737572e-02 4.72691191e-03 9.99783292e-01 1.18089977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04463044 meters Centerline goodness [0,1] 0.325724167747514 Centerline is valid? [False, False] Translation: X:5.97, Y:0.37, Z:0.12 [[ 9.99790782e-01 1.02247939e-03 -2.04290617e-02 5.97127049e+00] [-1.11967705e-03 9.99988106e-01 -4.74694168e-03 3.65416135e-01] [ 2.04239651e-02 4.76882249e-03 9.99780036e-01 1.17807788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07463044 meters Centerline goodness [0,1] 0.32472731994459836 Centerline is valid? [False, False] Translation: X:5.97, Y:0.37, Z:0.12 [[ 9.99791425e-01 9.88352347e-04 -2.03992700e-02 5.97123731e+00] [-1.08598650e-03 9.99988007e-01 -4.77563641e-03 3.65269503e-01] [ 2.03943054e-02 4.79679366e-03 9.99780507e-01 1.17721728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10463044 meters Centerline goodness [0,1] 0.3245154474699782 Centerline is valid? [False, False] Translation: X:5.97, Y:0.37, Z:0.12 [[ 9.99805038e-01 1.12167612e-03 -1.97136210e-02 5.96934643e+00] [-1.21447454e-03 9.99988236e-01 -4.69598339e-03 3.65643508e-01] [ 1.97081217e-02 4.71900955e-03 9.99794639e-01 1.18233444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13463044 meters Centerline goodness [0,1] 0.32641142115509414 Centerline is valid? [False, False] Translation: X:5.97, Y:0.37, Z:0.12 [[ 9.99813286e-01 1.14641523e-03 -1.92893290e-02 5.96839299e+00] [-1.23870861e-03 9.99987840e-01 -4.77341816e-03 3.66370694e-01] [ 1.92836221e-02 4.79642076e-03 9.99802549e-01 1.18206024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16463044 meters Centerline goodness [0,1] 0.3238732651178755 Centerline is valid? [False, False] Translation: X:5.97, Y:0.37, Z:0.12 [[ 9.99810815e-01 1.12805370e-03 -1.94180627e-02 5.96894625e+00] [-1.22389347e-03 9.99987126e-01 -4.92442263e-03 3.67383963e-01] [ 1.94122577e-02 4.94725664e-03 9.99799324e-01 1.17808760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19463044 meters Centerline goodness [0,1] 0.3226983071212479 Centerline is valid? [False, False] Translation: X:5.97, Y:0.37, Z:0.12 [[ 9.99804423e-01 1.08256846e-03 -1.97469826e-02 5.97013809e+00] [-1.18321561e-03 9.99986367e-01 -5.08586592e-03 3.68141631e-01] [ 1.97412076e-02 5.10823618e-03 9.99792074e-01 1.17169259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22463044 meters Centerline goodness [0,1] 0.3233814665452496 Centerline is valid? [False, False] Translation: X:5.97, Y:0.37, Z:0.12 [[ 9.99795016e-01 1.00167040e-03 -2.02218137e-02 5.97159440e+00] [-1.11232184e-03 9.99984468e-01 -5.46137952e-03 3.69984851e-01] [ 2.02160291e-02 5.48275319e-03 9.99780602e-01 1.16472657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.25463044 meters Centerline goodness [0,1] 0.3202376880984952 Centerline is valid? [False, False] Translation: X:5.99, Y:0.38, Z:0.12 [[ 9.99787906e-01 -6.36387952e-03 -1.95868402e-02 5.98949355e+00] [ 6.28737394e-03 9.99972373e-01 -3.96507479e-03 3.76178905e-01] [ 1.96115323e-02 3.84108404e-03 9.99800297e-01 1.18486652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28463044 meters Centerline goodness [0,1] 0.3256983119162675 Centerline is valid? [False, False] Translation: X:5.97, Y:0.37, Z:0.12 [[ 9.99829727e-01 1.70055038e-03 -1.83746047e-02 5.96885514e+00] [-1.78501528e-03 9.99987912e-01 -4.58140553e-03 3.70472088e-01] [ 1.83665917e-02 4.61342439e-03 9.99820676e-01 1.17363349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.31463044 meters Centerline goodness [0,1] 0.32439510020343676 Centerline is valid? [False, False] Translation: X:5.97, Y:0.37, Z:0.12 [[ 9.99835675e-01 1.70392409e-03 -1.80476862e-02 5.96789271e+00] [-1.78662546e-03 9.99987974e-01 -4.56724897e-03 3.70540090e-01] [ 1.80396869e-02 4.59874291e-03 9.99826696e-01 1.17683323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34463044 meters Centerline goodness [0,1] 0.3239935240151106 Centerline is valid? [False, False] Translation: X:5.97, Y:0.37, Z:0.12 [[ 9.99835510e-01 1.57038782e-03 -1.80689252e-02 5.96824459e+00] [-1.65478296e-03 9.99987788e-01 -4.65673105e-03 3.70398398e-01] [ 1.80613916e-02 4.68586521e-03 9.99825899e-01 1.17295519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37463044 meters Centerline goodness [0,1] 0.3241403159919597 Centerline is valid? [False, False] Translation: X:5.97, Y:0.37, Z:0.12 [[ 9.99834061e-01 1.60602925e-03 -1.81458349e-02 5.96872574e+00] [-1.68976234e-03 9.99987992e-01 -4.60006245e-03 3.70297049e-01] [ 1.81382292e-02 4.62996127e-03 9.99824769e-01 1.16877153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40463044 meters Centerline goodness [0,1] 0.32645749647161004 Centerline is valid? [False, False] Translation: X:5.97, Y:0.37, Z:0.12 [[ 9.99834206e-01 1.69837535e-03 -1.81294288e-02 5.96886769e+00] [-1.78022572e-03 9.99988292e-01 -4.49959624e-03 3.70277879e-01] [ 1.81215746e-02 4.53112471e-03 9.99825524e-01 1.16609976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43463044 meters Centerline goodness [0,1] 0.3270099956540634 Centerline is valid? [False, False] Translation: X:5.97, Y:0.37, Z:0.12 [[ 9.99833998e-01 1.67340212e-03 -1.81432146e-02 5.96885547e+00] [-1.75603071e-03 9.99988156e-01 -4.53926757e-03 3.70393617e-01] [ 1.81354037e-02 4.57037409e-03 9.99825094e-01 1.16659913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46463044 meters Centerline goodness [0,1] 0.3213657615922447 Centerline is valid? [False, False] Translation: X:5.99, Y:0.37, Z:0.12 [[ 9.99792409e-01 -6.67018325e-03 -1.92521969e-02 5.98995574e+00] [ 6.59244873e-03 9.99969871e-01 -4.09834174e-03 3.74860700e-01] [ 1.92789535e-02 3.97057184e-03 9.99806259e-01 1.18071513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49463043999998 meters Centerline goodness [0,1] 0.3219515355708177 Centerline is valid? [False, False] Translation: X:5.99, Y:0.37, Z:0.12 [[ 9.99785739e-01 -6.69631813e-03 -1.95866086e-02 5.99102129e+00] [ 6.61840446e-03 9.99969937e-01 -4.04002722e-03 3.74220652e-01] [ 1.96130730e-02 3.90952950e-03 9.99800001e-01 1.17645114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52463043999998 meters Centerline goodness [0,1] 0.32226279738110153 Centerline is valid? [False, False] Translation: X:5.99, Y:0.37, Z:0.12 [[ 9.99781204e-01 -6.66752381e-03 -1.98264649e-02 5.99183031e+00] [ 6.59128206e-03 9.99970640e-01 -3.90831847e-03 3.73510404e-01] [ 1.98519416e-02 3.77678153e-03 9.99795797e-01 1.17323776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55463043999998 meters Centerline goodness [0,1] 0.32194639246224666 Centerline is valid? [False, False] Translation: X:5.99, Y:0.37, Z:0.12 [[ 9.99780524e-01 -6.62604909e-03 -1.98746117e-02 5.99206664e+00] [ 6.55437764e-03 9.99971788e-01 -3.66915599e-03 3.72411455e-01] [ 1.98983630e-02 3.53808498e-03 9.99795748e-01 1.17228336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58463043999998 meters Centerline goodness [0,1] 0.3221260231593873 Centerline is valid? [False, False] Translation: X:5.99, Y:0.37, Z:0.12 [[ 9.99783124e-01 -6.56170717e-03 -1.97648357e-02 5.99159723e+00] [ 6.49371461e-03 9.99972782e-01 -3.50229531e-03 3.71701670e-01] [ 1.97872788e-02 3.37318854e-03 9.99798522e-01 1.17580421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61463043999998 meters Centerline goodness [0,1] 0.3193396226415094 Centerline is valid? [False, False] Translation: X:5.99, Y:0.37, Z:0.12 [[ 9.99784950e-01 -6.46891097e-03 -1.97029523e-02 5.99124908e+00] [ 6.40482497e-03 9.99973998e-01 -3.31397796e-03 3.71062490e-01] [ 1.97238778e-02 3.18707133e-03 9.99800386e-01 1.17913691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64463044 meters Centerline goodness [0,1] 0.32281006071118823 Centerline is valid? [False, False] Translation: X:5.97, Y:0.36, Z:0.12 [[ 9.99831195e-01 7.58108268e-04 -1.83577712e-02 5.97186232e+00] [-8.36112142e-04 9.99990654e-01 -4.24179045e-03 3.62503939e-01] [ 1.83543839e-02 4.25642357e-03 9.99822484e-01 1.15984007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67463044 meters Centerline goodness [0,1] 0.31782747057944083 Centerline is valid? [False, False] Translation: X:5.99, Y:0.37, Z:0.12 [[ 9.99801514e-01 -7.23776827e-03 -1.85619850e-02 5.99181243e+00] [ 7.17605425e-03 9.99968508e-01 -3.38920837e-03 3.66430984e-01] [ 1.85859307e-02 3.25533385e-03 9.99821967e-01 1.16947939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70463044 meters Centerline goodness [0,1] 0.31835607050307324 Centerline is valid? [False, False] Translation: X:5.99, Y:0.37, Z:0.12 [[ 9.99795635e-01 -7.21685794e-03 -1.88840009e-02 5.99296426e+00] [ 7.15636278e-03 9.99969049e-01 -3.26913279e-03 3.65450469e-01] [ 1.89070093e-02 3.13332393e-03 9.99816337e-01 1.16381490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73463044 meters Centerline goodness [0,1] 0.319152611916125 Centerline is valid? [False, False] Translation: X:5.98, Y:0.36, Z:0.11 [[ 9.99804314e-01 6.59844562e-04 -1.97711504e-02 5.97571846e+00] [-7.51384302e-04 9.99989032e-01 -4.62289446e-03 3.59596045e-01] [ 1.97678832e-02 4.63684556e-03 9.99793844e-01 1.13887214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76463044 meters Centerline goodness [0,1] 0.32057270732396204 Centerline is valid? [False, False] Translation: X:5.98, Y:0.36, Z:0.11 [[ 9.99799684e-01 7.54913352e-04 -2.00005690e-02 5.97651172e+00] [-8.45288080e-04 9.99989470e-01 -4.51053926e-03 3.59268734e-01] [ 1.99969533e-02 4.52654197e-03 9.99789794e-01 1.13460116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79463044 meters Centerline goodness [0,1] 0.32057270732396204 Centerline is valid? [False, False] Translation: X:5.98, Y:0.36, Z:0.11 [[ 9.99799684e-01 7.54913352e-04 -2.00005690e-02 5.97651172e+00] [-8.45288080e-04 9.99989470e-01 -4.51053926e-03 3.59268734e-01] [ 1.99969533e-02 4.52654197e-03 9.99789794e-01 1.13460116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82463044 meters Centerline goodness [0,1] 0.31536024658589834 Centerline is valid? [False, False] Translation: X:6.00, Y:0.36, Z:0.11 [[ 9.99788063e-01 -5.20141837e-03 -1.99191772e-02 5.99802311e+00] [ 5.16405535e-03 9.99984810e-01 -1.92670898e-03 3.62556067e-01] [ 1.99288963e-02 1.82343691e-03 9.99799737e-01 1.13736101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85463044 meters Centerline goodness [0,1] 0.31796085179608513 Centerline is valid? [False, False] Translation: X:6.00, Y:0.36, Z:0.11 [[ 9.99803343e-01 -4.98530309e-03 -1.91943125e-02 5.99607818e+00] [ 4.95402945e-03 9.99986323e-01 -1.67652275e-03 3.61897375e-01] [ 1.92024080e-02 1.58110386e-03 9.99814367e-01 1.14155599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88463044 meters Centerline goodness [0,1] 0.3175213033119406 Centerline is valid? [False, False] Translation: X:6.00, Y:0.36, Z:0.11 [[ 9.99809570e-01 -4.87227112e-03 -1.88966933e-02 5.99514726e+00] [ 4.84513058e-03 9.99987164e-01 -1.48177589e-03 3.61188240e-01] [ 1.89036704e-02 1.38993677e-03 9.99820344e-01 1.14528781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91463044 meters Centerline goodness [0,1] 0.31764122893954405 Centerline is valid? [False, False] Translation: X:5.99, Y:0.36, Z:0.11 [[ 9.99813686e-01 -4.79601239e-03 -1.86973533e-02 5.99473614e+00] [ 4.77273399e-03 9.99987779e-01 -1.28943462e-03 3.60279802e-01] [ 1.87033089e-02 1.19995688e-03 9.99824358e-01 1.14491072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94463044 meters Centerline goodness [0,1] 0.31814837257617734 Centerline is valid? [False, False] Translation: X:6.00, Y:0.36, Z:0.11 [[ 9.99812771e-01 -4.71605107e-03 -1.87664959e-02 5.99518043e+00] [ 4.69668092e-03 9.99988392e-01 -1.07610688e-03 3.59090127e-01] [ 1.87713531e-02 9.87765154e-04 9.99823315e-01 1.14117109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.97463044 meters Centerline goodness [0,1] 0.3166171851469386 Centerline is valid? [False, False] Translation: X:6.00, Y:0.36, Z:0.11 [[ 9.99806217e-01 -4.67251400e-03 -1.91232016e-02 5.99679371e+00] [ 4.65937846e-03 9.99988878e-01 -7.31388287e-04 3.56578919e-01] [ 1.91264063e-02 6.42144323e-04 9.99816867e-01 1.13065098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00463044 meters Centerline goodness [0,1] 0.3197905849775009 Centerline is valid? [False, False] Translation: X:6.00, Y:0.35, Z:0.11 [[ 9.99805986e-01 -4.54713014e-03 -1.91654255e-02 5.99692701e+00] [ 4.54028366e-03 9.99989613e-01 -4.00728063e-04 3.54978455e-01] [ 1.91670486e-02 3.13633848e-04 9.99816246e-01 1.13083519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.03463044 meters Centerline goodness [0,1] 0.32250519750519746 Centerline is valid? [False, False] Translation: X:6.00, Y:0.35, Z:0.11 [[ 9.99806518e-01 -4.41389214e-03 -1.91688200e-02 5.99681898e+00] [ 4.41290570e-03 9.99990259e-01 -9.37592701e-05 3.53603535e-01] [ 1.91690471e-02 9.15093428e-06 9.99816257e-01 1.13315180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06463044 meters Centerline goodness [0,1] 0.3174151244553729 Centerline is valid? [False, False] Translation: X:6.00, Y:0.35, Z:0.11 [[ 9.99805397e-01 -4.32914984e-03 -1.92464588e-02 5.99702718e+00] [ 4.33197195e-03 9.99990611e-01 1.04941160e-04 3.52585940e-01] [ 1.92458238e-02 -1.88295857e-04 9.99814764e-01 1.13288324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09463044 meters Centerline goodness [0,1] 0.3180415023152118 Centerline is valid? [False, False] Translation: X:6.02, Y:0.35, Z:0.12 [[ 9.99768888e-01 2.98605306e-03 -2.12897758e-02 6.01758876e+00] [-2.99919587e-03 9.99995331e-01 -5.85426519e-04 3.46293424e-01] [ 2.12879283e-02 6.49143427e-04 9.99773176e-01 1.15284188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12463044 meters Centerline goodness [0,1] 0.3147404400769066 Centerline is valid? [False, False] Translation: X:6.02, Y:0.35, Z:0.12 [[ 9.99769190e-01 3.04105336e-03 -2.12677978e-02 6.01769073e+00] [-3.05013526e-03 9.99995270e-01 -3.94600236e-04 3.45172693e-01] [ 2.12664972e-02 4.59378818e-04 9.99773737e-01 1.15086356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15463044 meters Centerline goodness [0,1] 0.31811243684832846 Centerline is valid? [False, False] Translation: X:6.02, Y:0.34, Z:0.12 [[ 9.99772435e-01 3.13962118e-03 -2.11002514e-02 6.01733212e+00] [-3.14423261e-03 9.99995040e-01 -1.85376408e-04 3.44134445e-01] [ 2.10995647e-02 2.51678321e-04 9.99777348e-01 1.15053684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18463044 meters Centerline goodness [0,1] 0.319169939269083 Centerline is valid? [False, False] Translation: X:6.02, Y:0.34, Z:0.12 [[ 9.99779545e-01 3.14931008e-03 -2.07591492e-02 6.01650467e+00] [-3.15183346e-03 9.99995029e-01 -8.88379975e-05 3.42993640e-01] [ 2.07587662e-02 1.54247794e-04 9.99784502e-01 1.15101270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21463044 meters Centerline goodness [0,1] 0.31683616306127727 Centerline is valid? [False, False] Translation: X:6.02, Y:0.34, Z:0.12 [[ 9.99782279e-01 3.06482274e-03 -2.06398221e-02 6.01627194e+00] [-3.06907079e-03 9.99995275e-01 -1.74145212e-04 3.42797421e-01] [ 2.06391908e-02 2.37452372e-04 9.99786961e-01 1.15010671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24463043999998 meters Centerline goodness [0,1] 0.31933735069871916 Centerline is valid? [False, False] Translation: X:6.02, Y:0.34, Z:0.11 [[ 9.99781744e-01 3.06229937e-03 -2.06660567e-02 6.01646046e+00] [-3.06804827e-03 9.99995263e-01 -2.46480859e-04 3.43171952e-01] [ 2.06652040e-02 3.09831523e-04 9.99786404e-01 1.14772682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27463043999998 meters Centerline goodness [0,1] 0.318277536636727 Centerline is valid? [False, False] Translation: X:6.02, Y:0.34, Z:0.11 [[ 9.99772223e-01 3.40179464e-03 -2.10696398e-02 6.01776196e+00] [-3.40358706e-03 9.99994207e-01 -4.92114961e-05 3.43910836e-01] [ 2.10693503e-02 1.20912640e-04 9.99778009e-01 1.14168050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30463043999998 meters Centerline goodness [0,1] 0.3174753519610798 Centerline is valid? [False, False] Translation: X:6.02, Y:0.34, Z:0.11 [[ 9.99768306e-01 3.41422339e-03 -2.12526868e-02 6.01845568e+00] [-3.41712979e-03 9.99994157e-01 -1.00440096e-04 3.44379077e-01] [ 2.12522197e-02 1.73040014e-04 9.99774131e-01 1.13748938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33463043999998 meters Centerline goodness [0,1] 0.31983805668016196 Centerline is valid? [False, False] Translation: X:6.02, Y:0.34, Z:0.11 [[ 9.99763422e-01 3.38108248e-03 -2.14864662e-02 6.01925751e+00] [-3.38516725e-03 9.99994258e-01 -1.53739831e-04 3.44383472e-01] [ 2.14858230e-02 2.26438741e-04 9.99769127e-01 1.13331458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36463043999998 meters Centerline goodness [0,1] 0.3160779276386213 Centerline is valid? [False, False] Translation: X:6.04, Y:0.35, Z:0.11 [[ 9.99745295e-01 -4.28626695e-03 -2.21579220e-02 6.03904216e+00] [ 4.30271439e-03 9.99990502e-01 6.94660203e-04 3.49750382e-01] [ 2.21547340e-02 -7.89822480e-04 9.99754242e-01 1.14474653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39463044 meters Centerline goodness [0,1] 0.31998874726796656 Centerline is valid? [False, False] Translation: X:6.02, Y:0.34, Z:0.11 [[ 9.99743470e-01 2.50423904e-03 -2.25105078e-02 6.02347266e+00] [-2.53290866e-03 9.99996017e-01 -1.24518853e-03 3.42740214e-01] [ 2.25072999e-02 1.30188616e-03 9.99745831e-01 1.11371310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42463044 meters Centerline goodness [0,1] 0.3206126687435099 Centerline is valid? [False, False] Translation: X:6.02, Y:0.34, Z:0.11 [[ 9.99744684e-01 2.50856342e-03 -2.24560649e-02 6.02305024e+00] [-2.53487220e-03 9.99996134e-01 -1.14317818e-03 3.41982710e-01] [ 2.24531103e-02 1.19980957e-03 9.99747177e-01 1.11860466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45463044 meters Centerline goodness [0,1] 0.3183050118305012 Centerline is valid? [False, False] Translation: X:6.02, Y:0.34, Z:0.11 [[ 9.99748674e-01 2.51217781e-03 -2.22772919e-02 6.02233825e+00] [-2.53624522e-03 9.99996230e-01 -1.05216842e-03 3.41388078e-01] [ 2.22745647e-02 1.10840466e-03 9.99751277e-01 1.12359458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48463044 meters Centerline goodness [0,1] 0.32154708037060975 Centerline is valid? [False, False] Translation: X:6.02, Y:0.34, Z:0.11 [[ 9.99753400e-01 2.50747937e-03 -2.20647331e-02 6.02149615e+00] [-2.53099461e-03 9.99996258e-01 -1.03787690e-03 3.41335487e-01] [ 2.20620481e-02 1.09346668e-03 9.99756005e-01 1.12881484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51463044 meters Centerline goodness [0,1] 0.3202290733723734 Centerline is valid? [False, False] Translation: X:6.02, Y:0.34, Z:0.11 [[ 9.99750681e-01 2.44861882e-03 -2.21941315e-02 6.02221107e+00] [-2.47977510e-03 9.99995978e-01 -1.37639441e-03 3.43261408e-01] [ 2.21906720e-02 1.43108770e-03 9.99752732e-01 1.12175778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54463044 meters Centerline goodness [0,1] 0.31595349137097295 Centerline is valid? [False, False] Translation: X:6.02, Y:0.34, Z:0.11 [[ 9.99742914e-01 2.38860201e-03 -2.25477283e-02 6.02340050e+00] [-2.42670971e-03 9.99995673e-01 -1.66288012e-03 3.44788924e-01] [ 2.25436588e-02 1.71716941e-03 9.99744385e-01 1.11545387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57463044 meters Centerline goodness [0,1] 0.3140453296703297 Centerline is valid? [False, False] Translation: X:6.02, Y:0.35, Z:0.11 [[ 9.99734673e-01 2.33396100e-03 -2.29158541e-02 6.02456464e+00] [-2.38054094e-03 9.99995155e-01 -2.00558204e-03 3.46868541e-01] [ 2.29110621e-02 2.05960204e-03 9.99735386e-01 1.11042440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60463044 meters Centerline goodness [0,1] 0.31360706816338724 Centerline is valid? [False, False] Translation: X:6.03, Y:0.35, Z:0.11 [[ 9.99702711e-01 3.06874417e-03 -2.41882752e-02 6.02840701e+00] [-3.11479094e-03 9.99993408e-01 -1.86623478e-03 3.52205275e-01] [ 2.41823887e-02 1.94102139e-03 9.99705679e-01 1.09822206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63463044 meters Centerline goodness [0,1] 0.317514687710018 Centerline is valid? [False, False] Translation: X:5.98, Y:0.35, Z:0.11 [[ 9.99645509e-01 3.10821085e-03 -2.64422896e-02 5.98358641e+00] [-3.16804036e-03 9.99992515e-01 -2.22105332e-03 3.51333871e-01] [ 2.64351882e-02 2.30403621e-03 9.99647874e-01 1.09289945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66463044 meters Centerline goodness [0,1] 0.31584828623616634 Centerline is valid? [False, False] Translation: X:6.00, Y:0.36, Z:0.11 [[ 9.99650498e-01 -4.36561445e-03 -2.60734104e-02 6.00191764e+00] [ 4.33385766e-03 9.99989797e-01 -1.27436120e-03 3.59111909e-01] [ 2.60787077e-02 1.16091736e-03 9.99659219e-01 1.11052942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.69463044 meters Centerline goodness [0,1] 0.31662467971491937 Centerline is valid? [False, False] Translation: X:6.00, Y:0.36, Z:0.11 [[ 9.99656605e-01 -4.47717246e-03 -2.58191061e-02 6.00102678e+00] [ 4.43829997e-03 9.99988930e-01 -1.56268037e-03 3.60720241e-01] [ 2.58258167e-02 1.44755082e-03 9.99665410e-01 1.11415752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72463044 meters Centerline goodness [0,1] 0.320785632667141 Centerline is valid? [False, False] Translation: X:6.00, Y:0.36, Z:0.11 [[ 9.99670643e-01 -4.46442911e-03 -2.52720224e-02 5.99875976e+00] [ 4.42186838e-03 9.99988710e-01 -1.73973833e-03 3.63044436e-01] [ 2.52795040e-02 1.62741577e-03 9.99679098e-01 1.12805001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.75463044 meters Centerline goodness [0,1] 0.3205547022045302 Centerline is valid? [False, False] Translation: X:6.00, Y:0.36, Z:0.11 [[ 9.99671234e-01 -4.55162300e-03 -2.52330409e-02 5.99846516e+00] [ 4.50566676e-03 9.99988086e-01 -1.87782857e-03 3.63745004e-01] [ 2.52412874e-02 1.76351953e-03 9.99679832e-01 1.13150006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78463044 meters Centerline goodness [0,1] 0.3209668716952627 Centerline is valid? [False, False] Translation: X:6.00, Y:0.36, Z:0.11 [[ 9.99670610e-01 -4.62636187e-03 -2.52441842e-02 5.99844720e+00] [ 4.57761857e-03 9.99987546e-01 -1.98831952e-03 3.64256522e-01] [ 2.52530685e-02 1.87210634e-03 9.99679337e-01 1.13256024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.81463044 meters Centerline goodness [0,1] 0.3197962970955073 Centerline is valid? [False, False] Translation: X:6.00, Y:0.36, Z:0.11 [[ 9.99667701e-01 -4.69969081e-03 -2.53456091e-02 5.99866697e+00] [ 4.64845511e-03 9.99987033e-01 -2.08002230e-03 3.64601601e-01] [ 2.53550559e-02 1.96151318e-03 9.99676585e-01 1.13299075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84463044 meters Centerline goodness [0,1] 0.3202001386241553 Centerline is valid? [False, False] Translation: X:6.00, Y:0.36, Z:0.11 [[ 9.99663283e-01 -4.70883219e-03 -2.55176099e-02 5.99916264e+00] [ 4.65749516e-03 9.99987009e-01 -2.07088862e-03 3.64608683e-01] [ 2.55270299e-02 1.95134317e-03 9.99672228e-01 1.13195896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87463044 meters Centerline goodness [0,1] 0.32196635143577257 Centerline is valid? [False, False] Translation: X:6.00, Y:0.36, Z:0.11 [[ 9.99650721e-01 -4.80448008e-03 -2.59875620e-02 6.00048387e+00] [ 4.75453820e-03 9.99986731e-01 -1.98320988e-03 3.63536462e-01] [ 2.59967455e-02 1.85895833e-03 9.99660299e-01 1.12956381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90463044 meters Centerline goodness [0,1] 0.3181438753451339 Centerline is valid? [False, False] Translation: X:6.02, Y:0.36, Z:0.12 [[ 9.99642711e-01 2.25330274e-03 -2.66340384e-02 6.01897712e+00] [-2.33884389e-03 9.99992205e-01 -3.18100722e-03 3.59226799e-01] [ 2.66266631e-02 3.24216354e-03 9.99640190e-01 1.15473284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93463044 meters Centerline goodness [0,1] 0.3267197777150672 Centerline is valid? [False, False] Translation: X:6.00, Y:0.36, Z:0.11 [[ 9.99639864e-01 -5.92799588e-03 -2.61725213e-02 5.99766451e+00] [ 5.87139836e-03 9.99980257e-01 -2.23879801e-03 3.60692112e-01] [ 2.61852762e-02 2.08432244e-03 9.99654934e-01 1.14103585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96463044 meters Centerline goodness [0,1] 0.32086361693031207 Centerline is valid? [False, False] Translation: X:6.02, Y:0.36, Z:0.12 [[ 9.99686993e-01 1.79572064e-03 -2.49538006e-02 6.01688710e+00] [-1.87560446e-03 9.99993190e-01 -3.17823236e-03 3.57765079e-01] [ 2.49479234e-02 3.22404101e-03 9.99683553e-01 1.15826363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99463043999998 meters Centerline goodness [0,1] 0.32475856394266167 Centerline is valid? [False, False] Translation: X:6.02, Y:0.36, Z:0.12 [[ 9.99684656e-01 2.02770447e-03 -2.50295063e-02 6.01713067e+00] [-2.10108892e-03 9.99993570e-01 -2.90596708e-03 3.57124410e-01] [ 2.50234529e-02 2.95763992e-03 9.99682489e-01 1.15757383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02463043999998 meters Centerline goodness [0,1] 0.3216745587602239 Centerline is valid? [False, False] Translation: X:6.02, Y:0.36, Z:0.12 [[ 9.99675978e-01 2.09920032e-03 -2.53679322e-02 6.01840275e+00] [-2.17367200e-03 9.99993408e-01 -2.90844383e-03 3.57380188e-01] [ 2.53616595e-02 2.96264299e-03 9.99673951e-01 1.15022869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05463043999998 meters Centerline goodness [0,1] 0.31909343596322426 Centerline is valid? [False, False] Translation: X:6.02, Y:0.36, Z:0.11 [[ 9.99666278e-01 2.08420334e-03 -2.57485567e-02 6.01981178e+00] [-2.16371219e-03 9.99992976e-01 -3.06042051e-03 3.58033068e-01] [ 2.57419973e-02 3.11511164e-03 9.99663766e-01 1.14269083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08463043999998 meters Centerline goodness [0,1] 0.3198008921067942 Centerline is valid? [False, False] Translation: X:6.02, Y:0.36, Z:0.11 [[ 9.99659223e-01 2.13083717e-03 -2.60172424e-02 6.02065084e+00] [-2.21272309e-03 9.99992688e-01 -3.11898746e-03 3.58297765e-01] [ 2.60104061e-02 3.17549353e-03 9.99656629e-01 1.13868003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11463043999998 meters Centerline goodness [0,1] 0.3201527310380533 Centerline is valid? [False, False] Translation: X:6.02, Y:0.36, Z:0.11 [[ 9.99659526e-01 2.21359849e-03 -2.59986777e-02 6.02055743e+00] [-2.29190004e-03 9.99992926e-01 -2.98233907e-03 3.57852739e-01] [ 2.59918921e-02 3.04091004e-03 9.99657529e-01 1.13946348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14463044 meters Centerline goodness [0,1] 0.32014659911609356 Centerline is valid? [False, False] Translation: X:6.02, Y:0.36, Z:0.11 [[ 9.99657845e-01 2.30091313e-03 -2.60557009e-02 6.02069029e+00] [-2.37340082e-03 9.99993398e-01 -2.75144453e-03 3.56744162e-01] [ 2.60491980e-02 2.81234373e-03 9.99656706e-01 1.13989968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17463044 meters Centerline goodness [0,1] 0.32115193214764814 Centerline is valid? [False, False] Translation: X:6.02, Y:0.36, Z:0.11 [[ 9.99654728e-01 2.27405148e-03 -2.61773393e-02 6.02106671e+00] [-2.34330549e-03 9.99993835e-01 -2.61519892e-03 3.55485850e-01] [ 2.61712308e-02 2.67563747e-03 9.99653894e-01 1.13947819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20463044 meters Centerline goodness [0,1] 0.32805651861058416 Centerline is valid? [False, False] Translation: X:6.02, Y:0.35, Z:0.11 [[ 9.99652475e-01 2.14046109e-03 -2.62744860e-02 6.02139244e+00] [-2.20815012e-03 9.99994317e-01 -2.54748305e-03 3.53885069e-01] [ 2.62688839e-02 2.60461575e-03 9.99651520e-01 1.13880635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23463044 meters Centerline goodness [0,1] 0.32839607911172797 Centerline is valid? [False, False] Translation: X:6.02, Y:0.35, Z:0.11 [[ 9.99657295e-01 1.64014769e-03 -2.61266801e-02 6.02083741e+00] [-1.70840174e-03 9.99995186e-01 -2.59032014e-03 3.50806793e-01] [ 2.61223058e-02 2.63406729e-03 9.99655284e-01 1.14313009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26463044 meters Centerline goodness [0,1] 0.3270692156141073 Centerline is valid? [False, False] Translation: X:6.02, Y:0.35, Z:0.11 [[ 9.99656126e-01 1.77369527e-03 -2.61626569e-02 6.02116669e+00] [-1.83191516e-03 9.99995899e-01 -2.20150518e-03 3.48946468e-01] [ 2.61586448e-02 2.24867590e-03 9.99655275e-01 1.14051272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29463044 meters Centerline goodness [0,1] 0.3257597028141941 Centerline is valid? [False, False] Translation: X:6.02, Y:0.35, Z:0.11 [[ 9.99653274e-01 1.91539361e-03 -2.62614289e-02 6.02181156e+00] [-1.96425582e-03 9.99996387e-01 -1.83493708e-03 3.47253610e-01] [ 2.62578194e-02 1.88588503e-03 9.99653425e-01 1.13542853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32463044 meters Centerline goodness [0,1] 0.327637363827345 Centerline is valid? [False, False] Translation: X:6.02, Y:0.34, Z:0.11 [[ 9.99651513e-01 1.97777268e-03 -2.63237615e-02 6.02239895e+00] [-2.01535248e-03 9.99996988e-01 -1.40114594e-03 3.44221051e-01] [ 2.63209110e-02 1.45370931e-03 9.99652488e-01 1.13053078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35463044 meters Centerline goodness [0,1] 0.3259815490238146 Centerline is valid? [False, False] Translation: X:6.04, Y:0.35, Z:0.11 [[ 9.99650626e-01 -5.68202380e-03 -2.58135828e-02 6.04099001e+00] [ 5.68215455e-03 9.99983854e-01 -6.82861302e-05 3.48004771e-01] [ 2.58135540e-02 -7.84144942e-05 9.99666772e-01 1.14987248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38463044 meters Centerline goodness [0,1] 0.3271644742498495 Centerline is valid? [False, False] Translation: X:6.04, Y:0.35, Z:0.12 [[ 9.99648969e-01 -5.58654481e-03 -2.58984244e-02 6.04106888e+00] [ 5.59029151e-03 9.99984372e-01 7.22687141e-05 3.47477761e-01] [ 2.58976159e-02 -2.17023088e-04 9.99664577e-01 1.15162169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41463044 meters Centerline goodness [0,1] 0.32549658930027026 Centerline is valid? [False, False] Translation: X:6.04, Y:0.35, Z:0.11 [[ 9.99643821e-01 -5.50647873e-03 -2.61133868e-02 6.04186864e+00] [ 5.51143879e-03 9.99984805e-01 1.17973160e-04 3.47608048e-01] [ 2.61123404e-02 -2.61853473e-04 9.99658980e-01 1.14712844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44463044 meters Centerline goodness [0,1] 0.32289363529032955 Centerline is valid? [False, False] Translation: X:6.04, Y:0.35, Z:0.11 [[ 9.99637891e-01 -5.42141445e-03 -2.63570672e-02 6.04308728e+00] [ 5.42574132e-03 9.99985276e-01 9.26500622e-05 3.48154296e-01] [ 2.63561768e-02 -2.35623141e-04 9.99652588e-01 1.13786078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47463044 meters Centerline goodness [0,1] 0.3208684645255412 Centerline is valid? [False, False] Translation: X:6.04, Y:0.35, Z:0.11 [[ 9.99626998e-01 -5.26199847e-03 -2.67988004e-02 6.04466573e+00] [ 5.26101036e-03 9.99986155e-01 -1.07378775e-04 3.49811846e-01] [ 2.67989943e-02 -3.36500435e-05 9.99640842e-01 1.12880485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50463044 meters Centerline goodness [0,1] 0.3311519752197718 Centerline is valid? [False, False] Translation: X:6.02, Y:0.35, Z:0.11 [[ 9.99627788e-01 2.98942048e-03 -2.71173279e-02 6.02458489e+00] [-3.01937520e-03 9.99994876e-01 -1.06375477e-03 3.45514173e-01] [ 2.71140089e-02 1.14523622e-03 9.99631692e-01 1.11778391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.53463044 meters Centerline goodness [0,1] 0.32019072462528597 Centerline is valid? [False, False] Translation: X:6.07, Y:0.35, Z:0.11 [[ 9.99671452e-01 3.85135213e-03 -2.53407842e-02 6.06695683e+00] [-3.86986885e-03 9.99992280e-01 -6.81708028e-04 3.50860163e-01] [ 2.53379630e-02 7.79549565e-04 9.99678638e-01 1.13304448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56463044 meters Centerline goodness [0,1] 0.32350281999397257 Centerline is valid? [False, False] Translation: X:6.07, Y:0.35, Z:0.11 [[ 9.99670296e-01 3.86587971e-03 -2.53841338e-02 6.06715630e+00] [-3.89496775e-03 9.99991813e-01 -1.09657074e-03 3.53871896e-01] [ 2.53796867e-02 1.19507958e-03 9.99677170e-01 1.13036414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59463044 meters Centerline goodness [0,1] 0.3215415402491769 Centerline is valid? [False, False] Translation: X:6.07, Y:0.36, Z:0.11 [[ 9.99671954e-01 3.77153420e-03 -2.53329899e-02 6.06722870e+00] [-3.80718804e-03 9.99991829e-01 -1.35932318e-03 3.55258868e-01] [ 2.53276562e-02 1.45532472e-03 9.99678144e-01 1.12706149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62463044 meters Centerline goodness [0,1] 0.3202473150485644 Centerline is valid? [False, False] Translation: X:6.07, Y:0.36, Z:0.11 [[ 9.99674475e-01 3.68750201e-03 -2.52457369e-02 6.06719683e+00] [-3.72860132e-03 9.99991799e-01 -1.58109055e-03 3.56555582e-01] [ 2.52396996e-02 1.67470716e-03 9.99680025e-01 1.12485531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65463044 meters Centerline goodness [0,1] 0.32377093346552577 Centerline is valid? [False, False] Translation: X:6.07, Y:0.36, Z:0.11 [[ 9.99674811e-01 3.58361001e-03 -2.52473919e-02 6.06716963e+00] [-3.63042606e-03 9.99991774e-01 -1.80869985e-03 3.57808602e-01] [ 2.52407025e-02 1.89977047e-03 9.99679598e-01 1.12536894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68463044 meters Centerline goodness [0,1] 0.3228358305208624 Centerline is valid? [False, False] Translation: X:6.07, Y:0.36, Z:0.11 [[ 9.99663351e-01 3.23754050e-03 -2.57430252e-02 6.06827012e+00] [-3.29969820e-03 9.99991742e-01 -2.37243279e-03 3.60329255e-01] [ 2.57351317e-02 2.45657833e-03 9.99665778e-01 1.12644741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71463044 meters Centerline goodness [0,1] 0.3228358305208624 Centerline is valid? [False, False] Translation: X:6.07, Y:0.36, Z:0.11 [[ 9.99663351e-01 3.23754050e-03 -2.57430252e-02 6.06827012e+00] [-3.29969820e-03 9.99991742e-01 -2.37243279e-03 3.60329255e-01] [ 2.57351317e-02 2.45657833e-03 9.99665778e-01 1.12644741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74463043999998 meters Centerline goodness [0,1] 0.32506402743412766 Centerline is valid? [False, False] Translation: X:6.07, Y:0.36, Z:0.11 [[ 9.99653753e-01 3.07138526e-03 -2.61331225e-02 6.06916105e+00] [-3.14259060e-03 9.99991460e-01 -2.68408249e-03 3.61715992e-01] [ 2.61246554e-02 2.76527884e-03 9.99654868e-01 1.12708162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77463043999998 meters Centerline goodness [0,1] 0.3209083487302883 Centerline is valid? [False, False] Translation: X:6.09, Y:0.37, Z:0.11 [[ 9.99625006e-01 -4.29272732e-03 -2.70447715e-02 6.08833520e+00] [ 4.25250828e-03 9.99989765e-01 -1.54446738e-03 3.69482702e-01] [ 2.70511246e-02 1.42888010e-03 9.99633030e-01 1.14797291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80463043999998 meters Centerline goodness [0,1] 0.3235458974690639 Centerline is valid? [False, False] Translation: X:6.09, Y:0.37, Z:0.12 [[ 9.99621865e-01 -4.25200488e-03 -2.71670359e-02 6.08849040e+00] [ 4.21043869e-03 9.99989877e-01 -1.58704320e-03 3.70400345e-01] [ 2.71735090e-02 1.47205794e-03 9.99629648e-01 1.15004923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83463043999998 meters Centerline goodness [0,1] 0.32438546222289244 Centerline is valid? [False, False] Translation: X:6.09, Y:0.37, Z:0.12 [[ 9.99640127e-01 -4.25113713e-03 -2.64866704e-02 6.08603090e+00] [ 4.20470616e-03 9.99989525e-01 -1.80844167e-03 3.72592383e-01] [ 2.64940809e-02 1.69642220e-03 9.99647531e-01 1.16330850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86463043999998 meters Centerline goodness [0,1] 0.32413541733667806 Centerline is valid? [False, False] Translation: X:6.10, Y:0.37, Z:0.12 [[ 9.99686806e-01 3.36053006e-03 -2.47991082e-02 6.10417564e+00] [-3.44500929e-03 9.99988406e-01 -3.36460628e-03 3.72060373e-01] [ 2.47875138e-02 3.44898567e-03 9.99686793e-01 1.18429046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89463044 meters Centerline goodness [0,1] 0.3289085545722714 Centerline is valid? [False, False] Translation: X:6.09, Y:0.38, Z:0.12 [[ 9.99746679e-01 -3.21838874e-03 -2.22760136e-02 6.08607203e+00] [ 3.15963250e-03 9.99991438e-01 -2.67234027e-03 3.77328023e-01] [ 2.22844235e-02 2.60127930e-03 9.99748287e-01 1.16026327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92463044 meters Centerline goodness [0,1] 0.32546742087309466 Centerline is valid? [False, False] Translation: X:6.09, Y:0.38, Z:0.12 [[ 9.99743426e-01 -3.17900545e-03 -2.24271402e-02 6.08653189e+00] [ 3.11754443e-03 9.99991290e-01 -2.77490646e-03 3.78534322e-01] [ 2.24357663e-02 2.70427688e-03 9.99744629e-01 1.15861947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95463044 meters Centerline goodness [0,1] 0.32428976964916467 Centerline is valid? [False, False] Translation: X:6.09, Y:0.38, Z:0.12 [[ 9.99734128e-01 -3.21014141e-03 -2.28334925e-02 6.08789408e+00] [ 3.13993146e-03 9.99990234e-01 -3.11005491e-03 3.80851787e-01] [ 2.28432532e-02 3.03753244e-03 9.99734444e-01 1.15237837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98463044 meters Centerline goodness [0,1] 0.32291442121146796 Centerline is valid? [False, False] Translation: X:6.09, Y:0.38, Z:0.11 [[ 9.99729662e-01 -3.28798775e-03 -2.30172083e-02 6.08849554e+00] [ 3.21185455e-03 9.99989251e-01 -3.34385246e-03 3.81883622e-01] [ 2.30279554e-02 3.26902056e-03 9.99729477e-01 1.14966112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01463044 meters Centerline goodness [0,1] 0.3240746735728931 Centerline is valid? [False, False] Translation: X:6.09, Y:0.38, Z:0.12 [[ 9.99725112e-01 -3.34461817e-03 -2.32058895e-02 6.08887008e+00] [ 3.26322215e-03 9.99988394e-01 -3.54454064e-03 3.82959170e-01] [ 2.32174753e-02 3.46784031e-03 9.99724423e-01 1.15028913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04463044 meters Centerline goodness [0,1] 0.32148330419391746 Centerline is valid? [False, False] Translation: X:6.09, Y:0.39, Z:0.12 [[ 9.99719149e-01 -3.24416762e-03 -2.34754729e-02 6.08935927e+00] [ 3.15725042e-03 9.99988027e-01 -3.73858606e-03 3.85164798e-01] [ 2.34873204e-02 3.66341813e-03 9.99717423e-01 1.15121044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07463044 meters Centerline goodness [0,1] 0.3222258379433778 Centerline is valid? [False, False] Translation: X:6.09, Y:0.39, Z:0.11 [[ 9.99717368e-01 -3.28126341e-03 -2.35460640e-02 6.08959819e+00] [ 3.18880337e-03 9.99987062e-01 -3.96324587e-03 3.86673059e-01] [ 2.35587638e-02 3.88704197e-03 9.99714897e-01 1.14976619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10463044 meters Centerline goodness [0,1] 0.3208399672963552 Centerline is valid? [False, False] Translation: X:6.09, Y:0.39, Z:0.11 [[ 9.99715959e-01 -3.37281919e-03 -2.35928915e-02 6.08985308e+00] [ 3.27375393e-03 9.99985668e-01 -4.23630978e-03 3.88127848e-01] [ 2.36068417e-02 4.15786918e-03 9.99712673e-01 1.14723810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13463044 meters Centerline goodness [0,1] 0.3212034878701545 Centerline is valid? [False, False] Translation: X:6.09, Y:0.39, Z:0.11 [[ 9.99716654e-01 -3.48266215e-03 -2.35474571e-02 6.08980595e+00] [ 3.37700116e-03 9.99984058e-01 -4.52542854e-03 3.89597267e-01] [ 2.35628422e-02 4.44462649e-03 9.99712478e-01 1.14581738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16463044 meters Centerline goodness [0,1] 0.32525020081193146 Centerline is valid? [False, False] Translation: X:6.09, Y:0.39, Z:0.11 [[ 9.99718969e-01 -3.49405878e-03 -2.34472670e-02 6.08937640e+00] [ 3.38562110e-03 9.99983398e-01 -4.66285209e-03 3.90744088e-01] [ 2.34631700e-02 4.58215812e-03 9.99714201e-01 1.14842167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.19463044 meters Centerline goodness [0,1] 0.3233084330066065 Centerline is valid? [False, False] Translation: X:6.09, Y:0.39, Z:0.12 [[ 9.99724575e-01 -3.44910956e-03 -2.32137549e-02 6.08847693e+00] [ 3.33995884e-03 9.99983193e-01 -4.73911501e-03 3.91823976e-01] [ 2.32297105e-02 4.66027675e-03 9.99719292e-01 1.15398153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22463044 meters Centerline goodness [0,1] 0.3279819008462225 Centerline is valid? [False, False] Translation: X:6.09, Y:0.39, Z:0.12 [[ 9.99728053e-01 -3.54111632e-03 -2.30495093e-02 6.08718458e+00] [ 3.42832923e-03 9.99981966e-01 -4.93093171e-03 3.92947739e-01] [ 2.30665547e-02 4.85056945e-03 9.99722164e-01 1.16734836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.25463044 meters Centerline goodness [0,1] 0.32770657271921677 Centerline is valid? [False, False] Translation: X:6.09, Y:0.39, Z:0.12 [[ 9.99720796e-01 -3.64800963e-03 -2.33456956e-02 6.08795136e+00] [ 3.53046204e-03 9.99980893e-01 -5.07432317e-03 3.93288724e-01] [ 2.33637607e-02 4.99048531e-03 9.99714574e-01 1.16647025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28463044 meters Centerline goodness [0,1] 0.3261687732503753 Centerline is valid? [False, False] Translation: X:6.09, Y:0.39, Z:0.12 [[ 9.99715345e-01 -3.71757023e-03 -2.35670990e-02 6.08859105e+00] [ 3.59643709e-03 9.99980115e-01 -5.18022895e-03 3.93600907e-01] [ 2.35858883e-02 5.09399678e-03 9.99708836e-01 1.16484207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.31463044 meters Centerline goodness [0,1] 0.3248943337123732 Centerline is valid? [False, False] Translation: X:6.11, Y:0.39, Z:0.12 [[ 9.99723969e-01 3.79832038e-03 -2.31853135e-02 6.10866808e+00] [-3.94385090e-03 9.99972789e-01 -6.23434491e-03 3.91879243e-01] [ 2.31610026e-02 6.32406346e-03 9.99711746e-01 1.17926416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34463044 meters Centerline goodness [0,1] 0.3278199390283454 Centerline is valid? [False, False] Translation: X:6.11, Y:0.39, Z:0.12 [[ 9.99730127e-01 3.83717307e-03 -2.29117842e-02 6.10772240e+00] [-3.97819138e-03 9.99973406e-01 -6.11243333e-03 3.91693399e-01] [ 2.28877204e-02 6.20193121e-03 9.99718805e-01 1.18494665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37463044 meters Centerline goodness [0,1] 0.32565478746243026 Centerline is valid? [False, False] Translation: X:6.13, Y:0.40, Z:0.12 [[ 9.99726717e-01 -3.92401567e-03 -2.30454488e-02 6.12607195e+00] [ 3.80937776e-03 9.99980163e-01 -5.01622250e-03 3.97240811e-01] [ 2.30646754e-02 4.92706284e-03 9.99721834e-01 1.20335429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40463044 meters Centerline goodness [0,1] 0.3261176470588235 Centerline is valid? [False, False] Translation: X:6.13, Y:0.40, Z:0.12 [[ 9.99721766e-01 -3.94131255e-03 -2.32563415e-02 6.12657687e+00] [ 3.82445030e-03 9.99979848e-01 -5.06730233e-03 3.97437762e-01] [ 2.32758447e-02 4.97694970e-03 9.99716692e-01 1.20380555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43463044 meters Centerline goodness [0,1] 0.32335660762942775 Centerline is valid? [False, False] Translation: X:6.13, Y:0.40, Z:0.12 [[ 9.99709742e-01 -3.75316914e-03 -2.37980123e-02 6.12787893e+00] [ 3.63069737e-03 9.99979954e-01 -5.18742393e-03 3.99334697e-01] [ 2.38170045e-02 5.09951486e-03 9.99703329e-01 1.20290023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46463044 meters Centerline goodness [0,1] 0.3255226723160215 Centerline is valid? [False, False] Translation: X:6.13, Y:0.40, Z:0.12 [[ 9.99707100e-01 -3.67668026e-03 -2.39206267e-02 6.12834698e+00] [ 3.54991335e-03 9.99979442e-01 -5.33978885e-03 4.00919571e-01] [ 2.39397677e-02 5.25330868e-03 9.99699600e-01 1.19955454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49463043999998 meters Centerline goodness [0,1] 0.326100047313863 Centerline is valid? [False, False] Translation: X:6.13, Y:0.40, Z:0.12 [[ 9.99708792e-01 -3.70370081e-03 -2.38456296e-02 6.12829350e+00] [ 3.57047505e-03 9.99977793e-01 -5.62716402e-03 4.02816263e-01] [ 2.38659414e-02 5.54038512e-03 9.99699815e-01 1.19696422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52463043999998 meters Centerline goodness [0,1] 0.328464945446689 Centerline is valid? [False, False] Translation: X:6.13, Y:0.40, Z:0.12 [[ 9.99711813e-01 -3.75498247e-03 -2.37105491e-02 6.12798591e+00] [ 3.61544668e-03 9.99975911e-01 -5.92509542e-03 4.04598583e-01] [ 2.37322265e-02 5.83766366e-03 9.99701307e-01 1.19617368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55463043999998 meters Centerline goodness [0,1] 0.3277091818044692 Centerline is valid? [False, False] Translation: X:6.13, Y:0.41, Z:0.12 [[ 9.99714439e-01 -3.78870492e-03 -2.35941949e-02 6.12750326e+00] [ 3.64224862e-03 9.99973853e-01 -6.24718589e-03 4.06748146e-01] [ 2.36172467e-02 6.15946601e-03 9.99702099e-01 1.19826540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58463043999998 meters Centerline goodness [0,1] 0.32668076292396653 Centerline is valid? [False, False] Translation: X:6.13, Y:0.41, Z:0.12 [[ 9.99732437e-01 -1.51701227e-03 -2.30814656e-02 6.12521394e+00] [ 1.41139139e-03 9.99988462e-01 -4.59160679e-03 4.12172364e-01] [ 2.30881649e-02 4.55780126e-03 9.99723043e-01 1.20948324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61463043999998 meters Centerline goodness [0,1] 0.3298196349497786 Centerline is valid? [False, False] Translation: X:6.13, Y:0.41, Z:0.12 [[ 9.99732111e-01 -1.65319900e-03 -2.30862319e-02 6.12539231e+00] [ 1.53764423e-03 9.99986206e-01 -5.02220920e-03 4.14434987e-01] [ 2.30942162e-02 4.98536539e-03 9.99720863e-01 1.20669366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64463044 meters Centerline goodness [0,1] 0.3261225545117642 Centerline is valid? [False, False] Translation: X:6.13, Y:0.42, Z:0.12 [[ 9.99730159e-01 -1.82936514e-03 -2.31573261e-02 6.12554483e+00] [ 1.70270645e-03 9.99983491e-01 -5.48802326e-03 4.16799820e-01] [ 2.31669834e-02 5.44711224e-03 9.99716770e-01 1.20669360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67463044 meters Centerline goodness [0,1] 0.3260630617039161 Centerline is valid? [False, False] Translation: X:6.13, Y:0.42, Z:0.12 [[ 9.99731231e-01 -1.92360776e-03 -2.31033863e-02 6.12525505e+00] [ 1.79021671e-03 9.99981618e-01 -5.79295388e-03 4.18642874e-01] [ 2.31141050e-02 5.75003684e-03 9.99716297e-01 1.20871859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70463044 meters Centerline goodness [0,1] 0.33047815244497447 Centerline is valid? [False, False] Translation: X:6.13, Y:0.42, Z:0.12 [[ 9.99728663e-01 -1.95358632e-03 -2.32117014e-02 6.12523990e+00] [ 1.81465504e-03 9.99980324e-01 -6.00495481e-03 4.20378401e-01] [ 2.32229759e-02 5.96120421e-03 9.99712537e-01 1.21201764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73463044 meters Centerline goodness [0,1] 0.325674368619022 Centerline is valid? [False, False] Translation: X:6.13, Y:0.42, Z:0.12 [[ 9.99719705e-01 -2.07556243e-03 -2.35839535e-02 6.12591168e+00] [ 1.92479972e-03 9.99977581e-01 -6.41350016e-03 4.23243025e-01] [ 2.35967364e-02 6.36630810e-03 9.99701287e-01 1.21492388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76463044 meters Centerline goodness [0,1] 0.32676596753680676 Centerline is valid? [False, False] Translation: X:6.13, Y:0.42, Z:0.12 [[ 9.99715503e-01 -2.21228974e-03 -2.37490808e-02 6.12623733e+00] [ 2.05779847e-03 9.99976578e-01 -6.52761670e-03 4.23227289e-01] [ 2.37629655e-02 6.47688879e-03 9.99696640e-01 1.21633734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79463044 meters Centerline goodness [0,1] 0.32963827304550763 Centerline is valid? [False, False] Translation: X:6.13, Y:0.42, Z:0.12 [[ 9.99713131e-01 -2.30215752e-03 -2.38401993e-02 6.12615447e+00] [ 2.14886966e-03 9.99976868e-01 -6.45342942e-03 4.22302659e-01] [ 2.38545046e-02 6.40034865e-03 9.99694953e-01 1.22173176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82463044 meters Centerline goodness [0,1] 0.3270426809720234 Centerline is valid? [False, False] Translation: X:6.15, Y:0.42, Z:0.12 [[ 9.99666826e-01 -1.13164545e-02 -2.31986165e-02 6.14700270e+00] [ 1.11864621e-02 9.99921037e-01 -5.72559446e-03 4.23291226e-01] [ 2.32615781e-02 5.46417639e-03 9.99714480e-01 1.22990886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85463044 meters Centerline goodness [0,1] 0.3281605007073348 Centerline is valid? [False, False] Translation: X:6.15, Y:0.42, Z:0.12 [[ 9.99664262e-01 -1.12748457e-02 -2.33289788e-02 6.14774431e+00] [ 1.11533905e-02 9.99923595e-01 -5.32978248e-03 4.20730793e-01] [ 2.33872889e-02 5.06779586e-03 9.99713635e-01 1.22558034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88463044 meters Centerline goodness [0,1] 0.32911555565103434 Centerline is valid? [False, False] Translation: X:6.15, Y:0.42, Z:0.12 [[ 9.99659502e-01 -1.12347474e-02 -2.35512279e-02 6.14856439e+00] [ 1.11214519e-02 9.99925971e-01 -4.93607565e-03 4.17976379e-01] [ 2.36049400e-02 4.67247108e-03 9.99710445e-01 1.22276341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91463044 meters Centerline goodness [0,1] 0.33035810767003093 Centerline is valid? [False, False] Translation: X:6.13, Y:0.41, Z:0.12 [[ 9.99763985e-01 -5.63829060e-03 -2.09805758e-02 6.13365084e+00] [ 5.52751428e-03 9.99970496e-01 -5.33419793e-03 4.06105262e-01] [ 2.10100325e-02 5.21696855e-03 9.99765653e-01 1.19579993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94463044 meters Centerline goodness [0,1] 0.32666666666666666 Centerline is valid? [False, False] Translation: X:6.13, Y:0.40, Z:0.12 [[ 9.99762968e-01 -5.48143575e-03 -2.10703971e-02 6.13394598e+00] [ 5.37789477e-03 9.99973200e-01 -4.96757649e-03 4.04300997e-01] [ 2.10970619e-02 4.85308464e-03 9.99765653e-01 1.19534519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.97463044 meters Centerline goodness [0,1] 0.32880181837861244 Centerline is valid? [False, False] Translation: X:6.13, Y:0.40, Z:0.12 [[ 9.99762061e-01 -5.38614891e-03 -2.11379107e-02 6.13436325e+00] [ 5.28602234e-03 9.99974557e-01 -4.78984325e-03 4.03374931e-01] [ 2.11631717e-02 4.67696809e-03 9.99765095e-01 1.19198459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00463044 meters Centerline goodness [0,1] 0.32667296218397224 Centerline is valid? [False, False] Translation: X:6.15, Y:0.40, Z:0.12 [[ 9.99755282e-01 2.24211114e-03 -2.20079299e-02 6.15464359e+00] [-2.36948372e-03 9.99980585e-01 -5.76320675e-03 4.00216781e-01] [ 2.19945809e-02 5.81394382e-03 9.99741185e-01 1.20793543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.03463044 meters Centerline goodness [0,1] 0.3265715703834783 Centerline is valid? [False, False] Translation: X:6.16, Y:0.40, Z:0.12 [[ 9.99752813e-01 2.30790356e-03 -2.21130372e-02 6.15518615e+00] [-2.43551629e-03 9.99980527e-01 -5.74573464e-03 4.00125141e-01] [ 2.20993460e-02 5.79817103e-03 9.99738966e-01 1.20284053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06463044 meters Centerline goodness [0,1] 0.3249919311457773 Centerline is valid? [False, False] Translation: X:6.16, Y:0.40, Z:0.12 [[ 9.99751904e-01 2.64113653e-03 -2.21168351e-02 6.15524517e+00] [-2.76264883e-03 9.99981249e-01 -5.46535835e-03 3.99794285e-01] [ 2.21019856e-02 5.52510347e-03 9.99740454e-01 1.20155179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09463044 meters Centerline goodness [0,1] 0.32810474462017114 Centerline is valid? [False, False] Translation: X:6.15, Y:0.40, Z:0.12 [[ 9.99755840e-01 2.76740220e-03 -2.19226386e-02 6.15440563e+00] [-2.88228238e-03 9.99982272e-01 -5.21039055e-03 3.98772506e-01] [ 2.19078307e-02 5.27230562e-03 9.99746093e-01 1.20748855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12463044 meters Centerline goodness [0,1] 0.3241166115666996 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:0.12 [[ 9.99764262e-01 -4.87498039e-03 -2.11578709e-02 6.17235025e+00] [ 4.80194832e-03 9.99982341e-01 -3.50120219e-03 4.02164196e-01] [ 2.11745655e-02 3.39877782e-03 9.99770017e-01 1.22951566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15463044 meters Centerline goodness [0,1] 0.3281603621079858 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:0.12 [[ 9.99765495e-01 -4.88899045e-03 -2.10962526e-02 6.17216983e+00] [ 4.82678558e-03 9.99983855e-01 -2.99853461e-03 3.98063917e-01] [ 2.11105718e-02 2.89600436e-03 9.99772953e-01 1.23231337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18463044 meters Centerline goodness [0,1] 0.3263893367730839 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:0.12 [[ 9.99763314e-01 -4.89440661e-03 -2.11981087e-02 6.17283597e+00] [ 4.83536669e-03 9.99984289e-01 -2.83551191e-03 3.96511612e-01] [ 2.12116538e-02 2.73234016e-03 9.99771274e-01 1.22686797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21463044 meters Centerline goodness [0,1] 0.3278851129894773 Centerline is valid? [False, False] Translation: X:6.17, Y:0.40, Z:0.12 [[ 9.99761616e-01 -4.83530241e-03 -2.12915567e-02 6.17338828e+00] [ 4.78037914e-03 9.99985116e-01 -2.62972166e-03 3.95132562e-01] [ 2.13039553e-02 2.52731307e-03 9.99769851e-01 1.22233313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24463043999998 meters Centerline goodness [0,1] 0.3267406265604307 Centerline is valid? [False, False] Translation: X:6.17, Y:0.39, Z:0.12 [[ 9.99762028e-01 -4.75021514e-03 -2.12913906e-02 6.17364230e+00] [ 4.69870565e-03 9.99985914e-01 -2.46863838e-03 3.94324524e-01] [ 2.13028172e-02 2.36800893e-03 9.99770265e-01 1.21888830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27463043999998 meters Centerline goodness [0,1] 0.3212404291168127 Centerline is valid? [False, False] Translation: X:6.19, Y:0.39, Z:0.12 [[ 9.99762203e-01 3.09913641e-03 -2.15854643e-02 6.19460811e+00] [-3.17196292e-03 9.99989390e-01 -3.34044747e-03 3.91536454e-01] [ 2.15748828e-02 3.40812141e-03 9.99761426e-01 1.23391648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30463043999998 meters Centerline goodness [0,1] 0.3229726521185434 Centerline is valid? [False, False] Translation: X:6.18, Y:0.39, Z:0.12 [[ 9.99742720e-01 -3.63621247e-03 -2.23890900e-02 6.17738819e+00] [ 3.59833542e-03 9.99992026e-01 -1.73181823e-03 3.94413117e-01] [ 2.23952088e-02 1.65080921e-03 9.99747833e-01 1.21565454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33463043999998 meters Centerline goodness [0,1] 0.3226355720320717 Centerline is valid? [False, False] Translation: X:6.18, Y:0.39, Z:0.12 [[ 9.99738411e-01 -3.47345164e-03 -2.26062771e-02 6.17781887e+00] [ 3.43855079e-03 9.99992836e-01 -1.58254499e-03 3.94238861e-01] [ 2.26116120e-02 1.50439818e-03 9.99743193e-01 1.21616065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36463043999998 meters Centerline goodness [0,1] 0.3207139341280202 Centerline is valid? [False, False] Translation: X:6.18, Y:0.39, Z:0.12 [[ 9.99737688e-01 -3.34132166e-03 -2.26581192e-02 6.17791084e+00] [ 3.31028349e-03 9.99993531e-01 -1.40721655e-03 3.93720558e-01] [ 2.26626746e-02 1.33184262e-03 9.99742281e-01 1.21665109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39463044 meters Centerline goodness [0,1] 0.32275692254525035 Centerline is valid? [False, False] Translation: X:6.18, Y:0.39, Z:0.12 [[ 9.99740651e-01 -3.31040485e-03 -2.25315735e-02 6.17745410e+00] [ 3.28276306e-03 9.99993813e-01 -1.26367927e-03 3.92823337e-01] [ 2.25356174e-02 1.18938572e-03 9.99745333e-01 1.21939918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42463044 meters Centerline goodness [0,1] 0.323031782746509 Centerline is valid? [False, False] Translation: X:6.20, Y:0.39, Z:0.12 [[ 9.99815032e-01 1.62236434e-03 -1.91642853e-02 6.19618580e+00] [-1.70180692e-03 9.99990024e-01 -4.12976469e-03 3.89137682e-01] [ 1.91573942e-02 4.16161473e-03 9.99807819e-01 1.23418729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45463044 meters Centerline goodness [0,1] 0.3270767714426518 Centerline is valid? [False, False] Translation: X:6.19, Y:0.39, Z:0.12 [[ 9.99825800e-01 1.42924170e-03 -1.86098712e-02 6.19434797e+00] [-1.50213104e-03 9.99991254e-01 -3.90331407e-03 3.86864133e-01] [ 1.86041297e-02 3.93058857e-03 9.99819202e-01 1.24371666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48463044 meters Centerline goodness [0,1] 0.3324484157817491 Centerline is valid? [False, False] Translation: X:6.19, Y:0.38, Z:0.13 [[ 9.99834690e-01 1.20556355e-03 -1.81421938e-02 6.19289904e+00] [-1.27108257e-03 9.99992711e-01 -3.60031870e-03 3.84006565e-01] [ 1.81377211e-02 3.62278375e-03 9.99828935e-01 1.25135558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51463044 meters Centerline goodness [0,1] 0.3322969296541003 Centerline is valid? [False, False] Translation: X:6.19, Y:0.38, Z:0.13 [[ 9.99840982e-01 9.56622964e-04 -1.78071511e-02 6.19201152e+00] [-1.01574313e-03 9.99994002e-01 -3.31127524e-03 3.81023278e-01] [ 1.78038767e-02 3.32883618e-03 9.99835957e-01 1.25562301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54463044 meters Centerline goodness [0,1] 0.33280987824291186 Centerline is valid? [False, False] Translation: X:6.19, Y:0.37, Z:0.13 [[ 9.99839968e-01 -2.03420684e-03 -1.77735989e-02 6.19100938e+00] [ 1.94398470e-03 9.99985146e-01 -5.09199220e-03 3.73065192e-01] [ 1.77836931e-02 5.05662571e-03 9.99829071e-01 1.26875859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57463044 meters Centerline goodness [0,1] 0.335090002168727 Centerline is valid? [False, False] Translation: X:6.19, Y:0.37, Z:0.13 [[ 9.99834241e-01 -2.14578419e-03 -1.80800043e-02 6.19184025e+00] [ 2.06305836e-03 9.99987324e-01 -4.59295208e-03 3.69156182e-01] [ 1.80896306e-02 4.55489065e-03 9.99825994e-01 1.26846254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60463044 meters Centerline goodness [0,1] 0.335090002168727 Centerline is valid? [False, False] Translation: X:6.19, Y:0.37, Z:0.13 [[ 9.99834241e-01 -2.14578419e-03 -1.80800043e-02 6.19184025e+00] [ 2.06305836e-03 9.99987324e-01 -4.59295208e-03 3.69156182e-01] [ 1.80896306e-02 4.55489065e-03 9.99825994e-01 1.26846254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63463044 meters Centerline goodness [0,1] 0.33159492155773096 Centerline is valid? [False, False] Translation: X:6.21, Y:0.37, Z:0.13 [[ 9.99773926e-01 -1.05832670e-02 -1.84415851e-02 6.21363626e+00] [ 1.05197837e-02 9.99938413e-01 -3.53601862e-03 3.68607548e-01] [ 1.84778720e-02 3.34121773e-03 9.99823687e-01 1.27481299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66463044 meters Centerline goodness [0,1] 0.33265152330713743 Centerline is valid? [False, False] Translation: X:6.20, Y:0.36, Z:0.12 [[ 9.99830581e-01 -4.11789859e-03 -1.79402652e-02 6.19879522e+00] [ 4.03358633e-03 9.99980663e-01 -4.73326349e-03 3.57933800e-01] [ 1.79594094e-02 4.66009798e-03 9.99827857e-01 1.24165164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.69463044 meters Centerline goodness [0,1] 0.3314667009955372 Centerline is valid? [False, False] Translation: X:6.20, Y:0.35, Z:0.12 [[ 9.99823547e-01 -4.14148746e-03 -1.83227419e-02 6.20027786e+00] [ 4.06452794e-03 9.99982770e-01 -4.23546647e-03 3.53964352e-01] [ 1.83399674e-02 4.16024581e-03 9.99823153e-01 1.23408526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72463044 meters Centerline goodness [0,1] 0.3338316866007973 Centerline is valid? [False, False] Translation: X:6.18, Y:0.34, Z:0.12 [[ 9.99865861e-01 1.79367687e-03 -1.62801039e-02 6.18269658e+00] [-1.87834681e-03 9.99984783e-01 -5.18702366e-03 3.40580031e-01] [ 1.62705524e-02 5.21690756e-03 9.99854016e-01 1.20453870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.75463044 meters Centerline goodness [0,1] 0.3330823185162872 Centerline is valid? [False, False] Translation: X:6.20, Y:0.34, Z:0.12 [[ 9.99850686e-01 -5.80346282e-03 -1.62765263e-02 6.20200362e+00] [ 5.74454413e-03 9.99976786e-01 -3.66427735e-03 3.42504832e-01] [ 1.62974140e-02 3.57022900e-03 9.99860814e-01 1.21920613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78463044 meters Centerline goodness [0,1] 0.3334923767594179 Centerline is valid? [False, False] Translation: X:6.18, Y:0.33, Z:0.12 [[ 9.99883997e-01 1.93626479e-03 -1.51077156e-02 6.18363856e+00] [-2.00023669e-03 9.99989093e-01 -4.22042562e-03 3.34589293e-01] [ 1.50993789e-02 4.25015505e-03 9.99876965e-01 1.19645088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.81463044 meters Centerline goodness [0,1] 0.33262374747344425 Centerline is valid? [False, False] Translation: X:6.20, Y:0.34, Z:0.12 [[ 9.99876104e-01 -5.59324491e-03 -1.47136758e-02 6.20326017e+00] [ 5.55261201e-03 9.99980661e-01 -2.80097755e-03 3.37188431e-01] [ 1.47290578e-02 2.71893119e-03 9.99887825e-01 1.20625522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84463044 meters Centerline goodness [0,1] 0.3317278617710583 Centerline is valid? [False, False] Translation: X:6.20, Y:0.33, Z:0.12 [[ 9.99876194e-01 -5.54458049e-03 -1.47259447e-02 6.20436193e+00] [ 5.50883825e-03 9.99981784e-01 -2.46661723e-03 3.34220809e-01] [ 1.47393528e-02 2.38518900e-03 9.99888525e-01 1.19142484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87463044 meters Centerline goodness [0,1] 0.3297608522200418 Centerline is valid? [False, False] Translation: X:6.21, Y:0.33, Z:0.12 [[ 9.99872478e-01 -5.54464840e-03 -1.49761440e-02 6.20543194e+00] [ 5.51083217e-03 9.99982174e-01 -2.29833132e-03 3.32765693e-01] [ 1.49886204e-02 2.21550722e-03 9.99885210e-01 1.18406496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90463044 meters Centerline goodness [0,1] 0.3303832254993184 Centerline is valid? [False, False] Translation: X:6.21, Y:0.33, Z:0.12 [[ 9.99867788e-01 -5.43603301e-03 -1.53250259e-02 6.20652082e+00] [ 5.40701725e-03 9.99983511e-01 -1.93415681e-03 3.30729069e-01] [ 1.53352873e-02 1.85103841e-03 9.99880694e-01 1.17972931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93463044 meters Centerline goodness [0,1] 0.3289343166429465 Centerline is valid? [False, False] Translation: X:6.21, Y:0.33, Z:0.12 [[ 9.99860259e-01 -5.22955527e-03 -1.58781335e-02 6.20783554e+00] [ 5.21417306e-03 9.99985896e-01 -1.01001039e-03 3.25473691e-01] [ 1.58831915e-02 9.27077911e-04 9.99873424e-01 1.18016143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96463043999998 meters Centerline goodness [0,1] 0.33045561478859564 Centerline is valid? [False, False] Translation: X:6.21, Y:0.32, Z:0.12 [[ 9.99860060e-01 -5.11419068e-03 -1.59281168e-02 6.20771609e+00] [ 5.10636288e-03 9.99986821e-01 -5.32076749e-04 3.22757720e-01] [ 1.59306280e-02 4.50667546e-04 9.99872998e-01 1.18440774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99463043999998 meters Centerline goodness [0,1] 0.3315101792768156 Centerline is valid? [False, False] Translation: X:6.21, Y:0.32, Z:0.12 [[ 9.99861513e-01 -5.06342796e-03 -1.58529534e-02 6.20739959e+00] [ 5.06109485e-03 9.99987175e-01 -1.87288232e-04 3.20511062e-01] [ 1.58536984e-02 1.07028994e-04 9.99874316e-01 1.18717657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02463043999998 meters Centerline goodness [0,1] 0.32751859074641576 Centerline is valid? [False, False] Translation: X:6.23, Y:0.32, Z:0.12 [[ 9.99872676e-01 2.40197173e-03 -1.57753394e-02 6.22684384e+00] [-2.42159764e-03 9.99996317e-01 -1.22510430e-03 3.15039320e-01] [ 1.57723387e-02 1.26314984e-03 9.99874811e-01 1.20200192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05463043999998 meters Centerline goodness [0,1] 0.3283764908133663 Centerline is valid? [False, False] Translation: X:6.23, Y:0.31, Z:0.12 [[ 9.99873818e-01 2.47091907e-03 -1.56921254e-02 6.22668058e+00] [-2.48768939e-03 9.99996355e-01 -1.04927985e-03 3.13970646e-01] [ 1.56894755e-02 1.08818459e-03 9.99876320e-01 1.20138577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08463043999998 meters Centerline goodness [0,1] 0.3335295271728468 Centerline is valid? [False, False] Translation: X:6.21, Y:0.32, Z:0.12 [[ 9.99876542e-01 -5.20636598e-03 -1.48254489e-02 6.20555891e+00] [ 5.20609207e-03 9.99986447e-01 -5.70692566e-05 3.15219844e-01] [ 1.48255451e-02 -2.01204412e-05 9.99890095e-01 1.19366370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11463043999998 meters Centerline goodness [0,1] 0.3304089794865178 Centerline is valid? [False, False] Translation: X:6.23, Y:0.31, Z:0.12 [[ 9.99885844e-01 2.74234697e-03 -1.48586028e-02 6.22563308e+00] [-2.75804169e-03 9.99995660e-01 -1.03588289e-03 3.12116804e-01] [ 1.48556976e-02 1.07674529e-03 9.99889068e-01 1.21027255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14463044 meters Centerline goodness [0,1] 0.3291267145375586 Centerline is valid? [False, False] Translation: X:6.23, Y:0.31, Z:0.12 [[ 9.99882108e-01 2.85756685e-03 -1.50865578e-02 6.22614438e+00] [-2.87128957e-03 9.99995484e-01 -8.88017432e-04 3.11697714e-01] [ 1.50839521e-02 9.31230618e-04 9.99885797e-01 1.21003862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17463044 meters Centerline goodness [0,1] 0.33033357850560285 Centerline is valid? [False, False] Translation: X:6.23, Y:0.31, Z:0.12 [[ 9.99878734e-01 2.96840519e-03 -1.52874162e-02 6.22652997e+00] [-2.97988474e-03 9.99995295e-01 -7.28191083e-04 3.11176102e-01] [ 1.52851827e-02 7.73657517e-04 9.99882875e-01 1.21122795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20463044 meters Centerline goodness [0,1] 0.33008431630474633 Centerline is valid? [False, False] Translation: X:6.23, Y:0.31, Z:0.12 [[ 9.99878356e-01 3.01164069e-03 -1.53036710e-02 6.22649466e+00] [-3.02161252e-03 9.99995237e-01 -6.28516930e-04 3.10491903e-01] [ 1.53017052e-02 6.74682239e-04 9.99882694e-01 1.21253489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23463044 meters Centerline goodness [0,1] 0.32882844292139646 Centerline is valid? [False, False] Translation: X:6.22, Y:0.31, Z:0.12 [[ 9.99885269e-01 2.85678392e-03 -1.48757489e-02 6.22498780e+00] [-2.86655876e-03 9.99995689e-01 -6.35818622e-04 3.08722458e-01] [ 1.48738684e-02 6.78387882e-04 9.99889148e-01 1.22022396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26463044 meters Centerline goodness [0,1] 0.3330004775756523 Centerline is valid? [False, False] Translation: X:6.20, Y:0.31, Z:0.12 [[ 9.99884691e-01 -5.10974647e-03 -1.43002092e-02 6.20402255e+00] [ 5.11845348e-03 9.99986737e-01 5.72339550e-04 3.10303708e-01] [ 1.42970951e-02 -6.45468510e-04 9.99897583e-01 1.20762468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29463044 meters Centerline goodness [0,1] 0.33215532380807844 Centerline is valid? [False, False] Translation: X:6.20, Y:0.31, Z:0.12 [[ 9.99888422e-01 -4.89470282e-03 -1.41133263e-02 6.20360025e+00] [ 4.90873607e-03 9.99987491e-01 9.59856188e-04 3.08933136e-01] [ 1.41084515e-02 -1.02902768e-03 9.99899941e-01 1.20787688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32463044 meters Centerline goodness [0,1] 0.3325368725155853 Centerline is valid? [False, False] Translation: X:6.20, Y:0.31, Z:0.12 [[ 9.99889078e-01 -4.67047413e-03 -1.41427972e-02 6.20377794e+00] [ 4.69033726e-03 9.99988060e-01 1.37162605e-03 3.07495993e-01] [ 1.41362222e-02 -1.43780840e-03 9.99899045e-01 1.20662592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35463044 meters Centerline goodness [0,1] 0.3288224994055211 Centerline is valid? [False, False] Translation: X:6.21, Y:0.31, Z:0.12 [[ 9.99882779e-01 -4.51012152e-03 -1.46316937e-02 6.20528916e+00] [ 4.53655167e-03 9.99988137e-01 1.77367518e-03 3.05109777e-01] [ 1.46235206e-02 -1.83984470e-03 9.99891378e-01 1.20119237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38463044 meters Centerline goodness [0,1] 0.3271845706281651 Centerline is valid? [False, False] Translation: X:6.21, Y:0.30, Z:0.12 [[ 9.99879867e-01 -4.49253777e-03 -1.48346884e-02 6.20595086e+00] [ 4.52029721e-03 9.99988094e-01 1.83825198e-03 3.04410156e-01] [ 1.48262534e-02 -1.90508835e-03 9.99888270e-01 1.19840642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41463044 meters Centerline goodness [0,1] 0.3300564825593929 Centerline is valid? [False, False] Translation: X:6.21, Y:0.30, Z:0.12 [[ 9.99885123e-01 -4.22436754e-03 -1.45566339e-02 6.20516915e+00] [ 4.25833134e-03 9.99988281e-01 2.30301332e-03 3.02487410e-01] [ 1.45467346e-02 -2.36473573e-03 9.99891394e-01 1.20116845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44463044 meters Centerline goodness [0,1] 0.3303108808290155 Centerline is valid? [False, False] Translation: X:6.20, Y:0.30, Z:0.12 [[ 9.99889072e-01 -4.06382179e-03 -1.43293305e-02 6.20459476e+00] [ 4.10148729e-03 9.99988208e-01 2.60015250e-03 3.01300497e-01] [ 1.43185949e-02 -2.65863564e-03 9.99893949e-01 1.20220186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47463044 meters Centerline goodness [0,1] 0.33124583037424404 Centerline is valid? [False, False] Translation: X:6.20, Y:0.30, Z:0.12 [[ 9.99890485e-01 -4.00263872e-03 -1.42476965e-02 6.20453045e+00] [ 4.04230197e-03 9.99988032e-01 2.75612715e-03 3.00302510e-01] [ 1.42364942e-02 -2.81341881e-03 9.99894698e-01 1.20108392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50463044 meters Centerline goodness [0,1] 0.32732687692835105 Centerline is valid? [False, False] Translation: X:6.21, Y:0.30, Z:0.12 [[ 9.99888155e-01 -3.96554288e-03 -1.44205443e-02 6.20514981e+00] [ 4.00689869e-03 9.99987939e-01 2.84007931e-03 2.99455036e-01] [ 1.44091080e-02 -2.89754333e-03 9.99891985e-01 1.19789135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.53463044 meters Centerline goodness [0,1] 0.32964534707487114 Centerline is valid? [False, False] Translation: X:6.19, Y:0.29, Z:0.12 [[ 9.99876748e-01 3.85673524e-03 -1.52188585e-02 6.18705331e+00] [-3.83130136e-03 9.99991216e-01 1.70001025e-03 2.93491328e-01] [ 1.52252813e-02 -1.64149268e-03 9.99882741e-01 1.17860147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56463044 meters Centerline goodness [0,1] 0.3281880788411303 Centerline is valid? [False, False] Translation: X:6.19, Y:0.29, Z:0.12 [[ 9.99862717e-01 4.39713234e-03 -1.59753827e-02 6.18939608e+00] [-4.36503189e-03 9.99988385e-01 2.04368335e-03 2.93770334e-01] [ 1.59841835e-02 -1.97366973e-03 9.99870297e-01 1.16834514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.59463044 meters Centerline goodness [0,1] 0.3292997636241407 Centerline is valid? [False, False] Translation: X:6.19, Y:0.29, Z:0.12 [[ 9.99863928e-01 4.42405858e-03 -1.58919096e-02 6.18932516e+00] [-4.39399530e-03 9.99988491e-01 1.92615381e-03 2.94539190e-01] [ 1.59002482e-02 -1.85606274e-03 9.99871860e-01 1.16633825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62463044 meters Centerline goodness [0,1] 0.32802979740349214 Centerline is valid? [False, False] Translation: X:6.19, Y:0.30, Z:0.12 [[ 9.99864756e-01 4.30441004e-03 -1.58726593e-02 6.18936117e+00] [-4.27906987e-03 9.99989516e-01 1.63008384e-03 2.95596691e-01] [ 1.58795094e-02 -1.56194316e-03 9.99872693e-01 1.16485790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65463044 meters Centerline goodness [0,1] 0.3324202700058697 Centerline is valid? [False, False] Translation: X:6.19, Y:0.30, Z:0.12 [[ 9.99862201e-01 4.34768697e-03 -1.60211610e-02 6.18988613e+00] [-4.32699005e-03 9.99989759e-01 1.32628668e-03 2.97872491e-01] [ 1.60267632e-02 -1.25678051e-03 9.99870773e-01 1.16088594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68463044 meters Centerline goodness [0,1] 0.3264745049185962 Centerline is valid? [False, False] Translation: X:6.21, Y:0.30, Z:0.12 [[ 9.99874800e-01 -1.44321796e-03 -1.57575825e-02 6.21079980e+00] [ 1.50625581e-03 9.99990908e-01 3.98934252e-03 3.02622350e-01] [ 1.57516817e-02 -4.01257800e-03 9.99867883e-01 1.16059181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71463043999998 meters Centerline goodness [0,1] 0.32557738339119746 Centerline is valid? [False, False] Translation: X:6.21, Y:0.30, Z:0.12 [[ 9.99876384e-01 -1.38845928e-03 -1.56617090e-02 6.21077061e+00] [ 1.45198467e-03 9.99990763e-01 4.04545380e-03 3.02757516e-01] [ 1.56559474e-02 -4.06769428e-03 9.99869164e-01 1.15789765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74463043999998 meters Centerline goodness [0,1] 0.32729507666429447 Centerline is valid? [False, False] Translation: X:6.21, Y:0.30, Z:0.12 [[ 9.99875476e-01 -1.48662872e-03 -1.57105760e-02 6.21095466e+00] [ 1.54948181e-03 9.99990842e-01 3.98927185e-03 3.02557402e-01] [ 1.57045015e-02 -4.01311834e-03 9.99868623e-01 1.15737894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77463043999998 meters Centerline goodness [0,1] 0.3268054384713486 Centerline is valid? [False, False] Translation: X:6.21, Y:0.30, Z:0.12 [[ 9.99865091e-01 -2.00086507e-03 -1.63032681e-02 6.21240048e+00] [ 2.06082166e-03 9.99991173e-01 3.66161148e-03 3.01776345e-01] [ 1.62957978e-02 -3.69471562e-03 9.99860388e-01 1.15689023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80463043999998 meters Centerline goodness [0,1] 0.3262033239801424 Centerline is valid? [False, False] Translation: X:6.21, Y:0.30, Z:0.12 [[ 9.99862774e-01 -2.05354621e-03 -1.64382759e-02 6.21260754e+00] [ 2.11370275e-03 9.99991130e-01 3.64300323e-03 3.01683529e-01] [ 1.64306490e-02 -3.67724894e-03 9.99858246e-01 1.15879394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83463043999998 meters Centerline goodness [0,1] 0.32578814491940533 Centerline is valid? [False, False] Translation: X:6.21, Y:0.30, Z:0.12 [[ 9.99863828e-01 -2.01686336e-03 -1.63785836e-02 6.21211222e+00] [ 2.07825455e-03 9.99990876e-01 3.73210451e-03 3.01451980e-01] [ 1.63709070e-02 -3.76563517e-03 9.99858897e-01 1.16429944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86463043999998 meters Centerline goodness [0,1] 0.328416419731567 Centerline is valid? [False, False] Translation: X:6.21, Y:0.30, Z:0.12 [[ 9.99866837e-01 -2.02228595e-03 -1.61931514e-02 6.21142313e+00] [ 2.08300493e-03 9.99990860e-01 3.73368263e-03 3.01551888e-01] [ 1.61854528e-02 -3.76691585e-03 9.99861911e-01 1.16829239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89463044 meters Centerline goodness [0,1] 0.33072916666666663 Centerline is valid? [False, False] Translation: X:6.21, Y:0.30, Z:0.12 [[ 9.99866887e-01 -2.08075688e-03 -1.61826494e-02 6.21120713e+00] [ 2.13968929e-03 9.99991140e-01 3.62524255e-03 3.01979271e-01] [ 1.61749627e-02 -3.65938583e-03 9.99862480e-01 1.17132596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92463044 meters Centerline goodness [0,1] 0.32523024202184625 Centerline is valid? [False, False] Translation: X:6.25, Y:0.31, Z:0.12 [[ 9.99883012e-01 -1.28321253e-03 -1.52418950e-02 6.25440188e+00] [ 1.33889744e-03 9.99992465e-01 3.64376877e-03 3.05549687e-01] [ 1.52371045e-02 -3.66374983e-03 9.99877196e-01 1.17984917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95463044 meters Centerline goodness [0,1] 0.3277118826827691 Centerline is valid? [False, False] Translation: X:6.25, Y:0.31, Z:0.12 [[ 9.99883163e-01 -1.25443080e-03 -1.52343821e-02 6.25446371e+00] [ 1.30845442e-03 9.99992890e-01 3.53671478e-03 3.06509265e-01] [ 1.52298373e-02 -3.55623506e-03 9.99877695e-01 1.17851422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98463044 meters Centerline goodness [0,1] 0.3278249989213444 Centerline is valid? [False, False] Translation: X:6.25, Y:0.31, Z:0.12 [[ 9.99884407e-01 -1.20692294e-03 -1.51563592e-02 6.25427868e+00] [ 1.25908174e-03 9.99993317e-01 3.43230975e-03 3.07621382e-01] [ 1.51521154e-02 -3.45099610e-03 9.99879245e-01 1.17809612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01463044 meters Centerline goodness [0,1] 0.32675149603577525 Centerline is valid? [False, False] Translation: X:6.25, Y:0.31, Z:0.12 [[ 9.99893838e-01 -1.10768998e-03 -1.45288235e-02 6.25232526e+00] [ 1.15458420e-03 9.99994150e-01 3.21967714e-03 3.09405437e-01] [ 1.45251721e-02 -3.23611008e-03 9.99889267e-01 1.18539200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04463044 meters Centerline goodness [0,1] 0.3284479599974136 Centerline is valid? [False, False] Translation: X:6.25, Y:0.31, Z:0.12 [[ 9.99898841e-01 -1.17554426e-03 -1.41748174e-02 6.25116872e+00] [ 1.21838405e-03 9.99994716e-01 3.01398930e-03 3.10331549e-01] [ 1.41711994e-02 -3.03095478e-03 9.99894990e-01 1.19016913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07463044 meters Centerline goodness [0,1] 0.32854492903671106 Centerline is valid? [False, False] Translation: X:6.25, Y:0.31, Z:0.12 [[ 9.99903370e-01 -1.17485690e-03 -1.38517630e-02 6.25007285e+00] [ 1.21432949e-03 9.99995225e-01 2.84157787e-03 3.11618608e-01] [ 1.38483585e-02 -2.85812389e-03 9.99900022e-01 1.19501273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10463044 meters Centerline goodness [0,1] 0.32884457680521384 Centerline is valid? [False, False] Translation: X:6.25, Y:0.31, Z:0.12 [[ 9.99906759e-01 -1.08527841e-03 -1.36123483e-02 6.24944720e+00] [ 1.12171854e-03 9.99995807e-01 2.66964142e-03 3.13497065e-01] [ 1.36093940e-02 -2.68466172e-03 9.99903784e-01 1.19546158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13463044 meters Centerline goodness [0,1] 0.3240504154767784 Centerline is valid? [False, False] Translation: X:6.25, Y:0.32, Z:0.12 [[ 9.99909353e-01 -5.82196273e-04 -1.34516276e-02 6.24964949e+00] [ 6.15119550e-04 9.99996825e-01 2.44352336e-03 3.19080272e-01] [ 1.34501623e-02 -2.45157622e-03 9.99906537e-01 1.18636192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16463044 meters Centerline goodness [0,1] 0.32391766296765334 Centerline is valid? [False, False] Translation: X:6.25, Y:0.32, Z:0.12 [[ 9.99909080e-01 -6.92412024e-04 -1.34666995e-02 6.24988060e+00] [ 7.17551701e-04 9.99998009e-01 1.86206099e-03 3.22274562e-01] [ 1.34653834e-02 -1.87155475e-03 9.99907586e-01 1.18177439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19463044 meters Centerline goodness [0,1] 0.32487342453948076 Centerline is valid? [False, False] Translation: X:6.25, Y:0.33, Z:0.12 [[ 9.99909161e-01 -7.30087279e-04 -1.34587180e-02 6.24980935e+00] [ 7.49317125e-04 9.99998706e-01 1.42381493e-03 3.25077079e-01] [ 1.34576611e-02 -1.43377044e-03 9.99908414e-01 1.18121665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22463044 meters Centerline goodness [0,1] 0.32441284205990084 Centerline is valid? [False, False] Translation: X:6.25, Y:0.33, Z:0.12 [[ 9.99909980e-01 -6.70566941e-04 -1.34008588e-02 6.24945955e+00] [ 6.85433143e-04 9.99999155e-01 1.10478484e-03 3.27749943e-01] [ 1.34001067e-02 -1.11387078e-03 9.99909594e-01 1.18301991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.25463044 meters Centerline goodness [0,1] 0.3221599088936161 Centerline is valid? [False, False] Translation: X:6.25, Y:0.33, Z:0.12 [[ 9.99910620e-01 -2.68812028e-04 -1.33671259e-02 6.24952045e+00] [ 2.81004454e-04 9.99999546e-01 9.10250403e-04 3.34230296e-01] [ 1.33668752e-02 -9.13925267e-04 9.99910242e-01 1.17935674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28463044 meters Centerline goodness [0,1] 0.324662730054739 Centerline is valid? [False, False] Translation: X:6.25, Y:0.34, Z:0.12 [[ 9.99909971e-01 -4.14809829e-04 -1.34118349e-02 6.24987124e+00] [ 4.21444355e-04 9.99999790e-01 4.91854527e-04 3.36412289e-01] [ 1.34116281e-02 -4.97462588e-04 9.99909936e-01 1.17483193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.31463044 meters Centerline goodness [0,1] 0.32457851168031904 Centerline is valid? [False, False] Translation: X:6.25, Y:0.34, Z:0.12 [[ 9.99908625e-01 -5.94817708e-04 -1.35051314e-02 6.25038025e+00] [ 5.96267784e-04 9.99999817e-01 1.03345902e-04 3.38224583e-01] [ 1.35050675e-02 -1.11389133e-04 9.99908796e-01 1.16978642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34463044 meters Centerline goodness [0,1] 0.31981045092951943 Centerline is valid? [False, False] Translation: X:6.25, Y:0.34, Z:0.12 [[ 9.99902032e-01 -7.75965146e-04 -1.39758643e-02 6.25179039e+00] [ 7.73546649e-04 9.99999685e-01 -1.78453030e-04 3.39433765e-01] [ 1.39759984e-02 1.67624564e-04 9.99902317e-01 1.16497950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37463044 meters Centerline goodness [0,1] 0.3196164430684555 Centerline is valid? [False, False] Translation: X:6.25, Y:0.34, Z:0.12 [[ 9.99889202e-01 -1.25297292e-03 -1.48328538e-02 6.25403517e+00] [ 1.24389153e-03 9.99999033e-01 -6.21458334e-04 3.40615145e-01] [ 1.48336181e-02 6.02939016e-04 9.99889794e-01 1.16195036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40463044 meters Centerline goodness [0,1] 0.32040475782988187 Centerline is valid? [False, False] Translation: X:6.25, Y:0.34, Z:0.12 [[ 9.99887057e-01 -1.43189775e-03 -1.49606799e-02 6.25416543e+00] [ 1.42198982e-03 9.99998763e-01 -6.72881762e-04 3.40208625e-01] [ 1.49616249e-02 6.51531831e-04 9.99887856e-01 1.16556390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43463044 meters Centerline goodness [0,1] 0.32356632763471105 Centerline is valid? [False, False] Translation: X:6.23, Y:0.34, Z:0.12 [[ 9.99900532e-01 3.83916324e-03 -1.35715695e-02 6.23250947e+00] [-3.88649546e-03 9.99986451e-01 -3.46294957e-03 3.35116313e-01] [ 1.35580908e-02 3.51535096e-03 9.99901905e-01 1.15893501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46463043999998 meters Centerline goodness [0,1] 0.3210860898610064 Centerline is valid? [False, False] Translation: X:6.25, Y:0.34, Z:0.12 [[ 9.99904488e-01 -4.23381553e-03 -1.31563679e-02 6.25199568e+00] [ 4.20583453e-03 9.99988836e-01 -2.15374361e-03 3.39064250e-01] [ 1.31653395e-02 2.09820439e-03 9.99911132e-01 1.17562740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49463043999998 meters Centerline goodness [0,1] 0.3210860898610064 Centerline is valid? [False, False] Translation: X:6.25, Y:0.34, Z:0.12 [[ 9.99904488e-01 -4.23381553e-03 -1.31563679e-02 6.25199568e+00] [ 4.20583453e-03 9.99988836e-01 -2.15374361e-03 3.39064250e-01] [ 1.31653395e-02 2.09820439e-03 9.99911132e-01 1.17562740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52463043999998 meters Centerline goodness [0,1] 0.322643866299104 Centerline is valid? [False, False] Translation: X:6.25, Y:0.34, Z:0.12 [[ 9.99902199e-01 -4.18008120e-03 -1.33461435e-02 6.25264015e+00] [ 4.15372578e-03 9.99989369e-01 -2.00186847e-03 3.38533076e-01] [ 1.33543696e-02 1.94623647e-03 9.99908932e-01 1.17339237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55463043999998 meters Centerline goodness [0,1] 0.3215062797561343 Centerline is valid? [False, False] Translation: X:6.25, Y:0.34, Z:0.12 [[ 9.99899689e-01 -4.18041408e-03 -1.35327832e-02 6.25322067e+00] [ 4.15397344e-03 9.99989409e-01 -1.98134083e-03 3.38406227e-01] [ 1.35409227e-02 1.92492725e-03 9.99906465e-01 1.17151388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58463043999998 meters Centerline goodness [0,1] 0.3199801642914124 Centerline is valid? [False, False] Translation: X:6.25, Y:0.34, Z:0.12 [[ 9.99895637e-01 -4.14635531e-03 -1.38392017e-02 6.25404834e+00] [ 4.11969465e-03 9.99989604e-01 -1.95441160e-03 3.38376673e-01] [ 1.38471615e-02 1.89719435e-03 9.99902324e-01 1.17007907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61463043999998 meters Centerline goodness [0,1] 0.3216541223289212 Centerline is valid? [False, False] Translation: X:6.25, Y:0.34, Z:0.12 [[ 9.99895733e-01 -4.04017424e-03 -1.38636431e-02 6.25423011e+00] [ 4.01482423e-03 9.99990218e-01 -1.85586903e-03 3.38413305e-01] [ 1.38710055e-02 1.80001543e-03 9.99902173e-01 1.16830925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64463044 meters Centerline goodness [0,1] 0.316993533792868 Centerline is valid? [False, False] Translation: X:6.27, Y:0.34, Z:0.12 [[ 9.99902601e-01 3.88195003e-03 -1.34059366e-02 6.27442404e+00] [-3.92264952e-03 9.99987773e-01 -3.01097126e-03 3.36739811e-01] [ 1.33940842e-02 3.06326479e-03 9.99905603e-01 1.18140929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67463044 meters Centerline goodness [0,1] 0.3206897294039136 Centerline is valid? [False, False] Translation: X:6.27, Y:0.34, Z:0.12 [[ 9.99904772e-01 3.86360575e-03 -1.32483927e-02 6.27417653e+00] [-3.90405635e-03 9.99987792e-01 -3.02874409e-03 3.36548453e-01] [ 1.32365291e-02 3.08017814e-03 9.99907649e-01 1.17969207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70463044 meters Centerline goodness [0,1] 0.32256805964973123 Centerline is valid? [False, False] Translation: X:6.27, Y:0.34, Z:0.12 [[ 9.99909526e-01 3.80595901e-03 -1.29017470e-02 6.27289680e+00] [-3.84534088e-03 9.99988019e-01 -3.02901369e-03 3.36054546e-01] [ 1.28900641e-02 3.07835126e-03 9.99912181e-01 1.18721619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73463044 meters Centerline goodness [0,1] 0.320409829023112 Centerline is valid? [False, False] Translation: X:6.29, Y:0.34, Z:0.12 [[ 9.99923863e-01 -3.64278287e-03 -1.17897338e-02 6.29120940e+00] [ 3.62468560e-03 9.99992220e-01 -1.55600593e-03 3.40557336e-01] [ 1.17953103e-02 1.51315339e-03 9.99929288e-01 1.20250792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76463044 meters Centerline goodness [0,1] 0.32237468617435716 Centerline is valid? [False, False] Translation: X:6.29, Y:0.34, Z:0.12 [[ 9.99924298e-01 -3.56824676e-03 -1.17756745e-02 6.29096290e+00] [ 3.55238709e-03 9.99992755e-01 -1.36745830e-03 3.39748022e-01] [ 1.17804686e-02 1.32552302e-03 9.99929729e-01 1.20612885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79463044 meters Centerline goodness [0,1] 0.32120438114204075 Centerline is valid? [False, False] Translation: X:6.29, Y:0.34, Z:0.12 [[ 9.99923363e-01 -3.47343504e-03 -1.18828825e-02 6.29119117e+00] [ 3.46001771e-03 9.99993353e-01 -1.14950317e-03 3.38918778e-01] [ 1.18867962e-02 1.10830009e-03 9.99928735e-01 1.20673834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82463044 meters Centerline goodness [0,1] 0.31809128097492023 Centerline is valid? [False, False] Translation: X:6.31, Y:0.33, Z:0.12 [[ 9.99919930e-01 4.18054575e-03 -1.19438768e-02 6.31129105e+00] [-4.20572050e-03 9.99988986e-01 -2.08341461e-03 3.34018562e-01] [ 1.19350355e-02 2.13348040e-03 9.99926499e-01 1.22170051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85463044 meters Centerline goodness [0,1] 0.3197556447783102 Centerline is valid? [False, False] Translation: X:6.31, Y:0.33, Z:0.12 [[ 9.99921822e-01 4.20495433e-03 -1.17757725e-02 6.31084053e+00] [-4.22897230e-03 9.99989027e-01 -2.01545099e-03 3.33529469e-01] [ 1.17671685e-02 2.06509284e-03 9.99928632e-01 1.22268447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88463044 meters Centerline goodness [0,1] 0.31801861845075574 Centerline is valid? [False, False] Translation: X:6.31, Y:0.33, Z:0.12 [[ 9.99925064e-01 4.21510881e-03 -1.14934851e-02 6.30994543e+00] [-4.23898127e-03 9.99988907e-01 -2.05347309e-03 3.33726835e-01] [ 1.14847020e-02 2.10203987e-03 9.99931839e-01 1.22648439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91463044 meters Centerline goodness [0,1] 0.31948353277332586 Centerline is valid? [False, False] Translation: X:6.31, Y:0.34, Z:0.12 [[ 9.99932209e-01 4.56099600e-03 -1.07132595e-02 6.30783611e+00] [-4.58407934e-03 9.99987222e-01 -2.13108451e-03 3.35678641e-01] [ 1.07034027e-02 2.18005047e-03 9.99940340e-01 1.23054910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94463044 meters Centerline goodness [0,1] 0.31684468946507016 Centerline is valid? [False, False] Translation: X:6.31, Y:0.34, Z:0.12 [[ 9.99931221e-01 4.56214574e-03 -1.08046490e-02 6.30830317e+00] [-4.58803879e-03 9.99986660e-01 -2.37289905e-03 3.37184642e-01] [ 1.07936794e-02 2.42230799e-03 9.99938813e-01 1.22583461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97463044 meters Centerline goodness [0,1] 0.31479860829473416 Centerline is valid? [False, False] Translation: X:6.33, Y:0.34, Z:0.12 [[ 9.99924845e-01 -2.17013151e-03 -1.20662376e-02 6.32759215e+00] [ 2.15311203e-03 9.99996669e-01 -1.42331553e-03 3.44654229e-01] [ 1.20692862e-02 1.39722860e-03 9.99926187e-01 1.23531607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00463044 meters Centerline goodness [0,1] 0.31436940115023626 Centerline is valid? [False, False] Translation: X:6.33, Y:0.35, Z:0.12 [[ 9.99922460e-01 -2.16903419e-03 -1.22625402e-02 6.32844302e+00] [ 2.15031704e-03 9.99996503e-01 -1.53934635e-03 3.45447818e-01] [ 1.22658362e-02 1.51285864e-03 9.99923627e-01 1.22909326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.03463044 meters Centerline goodness [0,1] 0.31684425788397375 Centerline is valid? [False, False] Translation: X:6.33, Y:0.35, Z:0.12 [[ 9.99917657e-01 -2.08030534e-03 -1.26629751e-02 6.32964679e+00] [ 2.06113232e-03 9.99996710e-01 -1.52696291e-03 3.46190547e-01] [ 1.26661100e-02 1.50073711e-03 9.99918655e-01 1.22450202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06463044 meters Centerline goodness [0,1] 0.31495894170365124 Centerline is valid? [False, False] Translation: X:6.33, Y:0.35, Z:0.12 [[ 9.99917019e-01 -2.11375859e-03 -1.27077860e-02 6.32974825e+00] [ 2.09375269e-03 9.99996548e-01 -1.58739994e-03 3.46439332e-01] [ 1.27110975e-02 1.56066125e-03 9.99917993e-01 1.22481991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09463044 meters Centerline goodness [0,1] 0.3159157212317666 Centerline is valid? [False, False] Translation: X:6.33, Y:0.35, Z:0.12 [[ 9.99916890e-01 -2.21231210e-03 -1.27011341e-02 6.32979324e+00] [ 2.19059154e-03 9.99996115e-01 -1.72378508e-03 3.46759371e-01] [ 1.27048983e-02 1.69581882e-03 9.99917852e-01 1.22384569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12463044 meters Centerline goodness [0,1] 0.31834215167548496 Centerline is valid? [False, False] Translation: X:6.33, Y:0.35, Z:0.12 [[ 9.99914404e-01 -2.29590428e-03 -1.28807505e-02 6.33059732e+00] [ 2.27164097e-03 9.99995619e-01 -1.89800234e-03 3.47337792e-01] [ 1.28850517e-02 1.86857944e-03 9.99915238e-01 1.21847078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15463044 meters Centerline goodness [0,1] 0.3129749688720965 Centerline is valid? [False, False] Translation: X:6.33, Y:0.35, Z:0.12 [[ 9.99906265e-01 -2.24033035e-03 -1.35071474e-02 6.33307097e+00] [ 2.21175626e-03 9.99995286e-01 -2.13004561e-03 3.49481128e-01] [ 1.35118557e-02 2.09997143e-03 9.99906506e-01 1.20262694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18463044 meters Centerline goodness [0,1] 0.31376474640489105 Centerline is valid? [False, False] Translation: X:6.33, Y:0.35, Z:0.12 [[ 9.99905433e-01 -2.14929217e-03 -1.35832590e-02 6.33344239e+00] [ 2.11981378e-03 9.99995368e-01 -2.18422534e-03 3.50757353e-01] [ 1.35878906e-02 2.15522480e-03 9.99905358e-01 1.19943131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21463043999998 meters Centerline goodness [0,1] 0.31241013755659996 Centerline is valid? [False, False] Translation: X:6.33, Y:0.35, Z:0.12 [[ 9.99904528e-01 -2.07219811e-03 -1.36616651e-02 6.33335801e+00] [ 2.04103383e-03 9.99995284e-01 -2.29469627e-03 3.52471286e-01] [ 1.36663558e-02 2.26659327e-03 9.99904042e-01 1.20290567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24463043999998 meters Centerline goodness [0,1] 0.31586687139118963 Centerline is valid? [False, False] Translation: X:6.33, Y:0.35, Z:0.12 [[ 9.99906492e-01 -2.05676239e-03 -1.35195392e-02 6.33283432e+00] [ 2.02376537e-03 9.99994941e-01 -2.45391946e-03 3.54031735e-01] [ 1.35245179e-02 2.42632962e-03 9.99905596e-01 1.20547652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27463043999998 meters Centerline goodness [0,1] 0.31523313374116424 Centerline is valid? [False, False] Translation: X:6.33, Y:0.36, Z:0.12 [[ 9.99909991e-01 -2.25147660e-03 -1.32265400e-02 6.33209924e+00] [ 2.21036462e-03 9.99992683e-01 -3.12209077e-03 3.57593191e-01] [ 1.32334725e-02 3.09257427e-03 9.99907651e-01 1.20579685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30463043999998 meters Centerline goodness [0,1] 0.3135307868831364 Centerline is valid? [False, False] Translation: X:6.33, Y:0.36, Z:0.12 [[ 9.99909109e-01 -2.37133208e-03 -1.32721646e-02 6.33226522e+00] [ 2.32473198e-03 9.99991083e-01 -3.52544243e-03 3.59672877e-01] [ 1.32804063e-02 3.49426778e-03 9.99905706e-01 1.20386238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33463043999998 meters Centerline goodness [0,1] 0.31417319445640013 Centerline is valid? [False, False] Translation: X:6.33, Y:0.36, Z:0.12 [[ 9.99907632e-01 -2.42717918e-03 -1.33729840e-02 6.33257127e+00] [ 2.37528206e-03 9.99989592e-01 -3.89526034e-03 3.62193596e-01] [ 1.33822993e-02 3.86313593e-03 9.99902990e-01 1.20187913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36463043999998 meters Centerline goodness [0,1] 0.3130653374299035 Centerline is valid? [False, False] Translation: X:6.33, Y:0.37, Z:0.12 [[ 9.99905633e-01 -2.44936668e-03 -1.35176307e-02 6.33300136e+00] [ 2.39137672e-03 9.99987876e-01 -4.30444805e-03 3.65346486e-01] [ 1.35280100e-02 4.27171611e-03 9.99899368e-01 1.19912273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39463044 meters Centerline goodness [0,1] 0.3117744610281924 Centerline is valid? [False, False] Translation: X:6.33, Y:0.37, Z:0.12 [[ 9.99904046e-01 -2.53042707e-03 -1.36196974e-02 6.33322987e+00] [ 2.46625995e-03 9.99985791e-01 -4.72608248e-03 3.68231713e-01] [ 1.36314629e-02 4.69203928e-03 9.99896079e-01 1.19862572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42463044 meters Centerline goodness [0,1] 0.31492033457329005 Centerline is valid? [False, False] Translation: X:6.33, Y:0.37, Z:0.12 [[ 9.99903976e-01 -2.84569104e-03 -1.35625126e-02 6.33256922e+00] [ 2.77270499e-03 9.99981591e-01 -5.39722308e-03 3.71868322e-01] [ 1.35776218e-02 5.35909996e-03 9.99893458e-01 1.20540576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45463044 meters Centerline goodness [0,1] 0.3132212260306293 Centerline is valid? [False, False] Translation: X:6.33, Y:0.37, Z:0.12 [[ 9.99903647e-01 -2.90015035e-03 -1.35751827e-02 6.33218500e+00] [ 2.82680081e-03 9.99981320e-01 -5.41928130e-03 3.72183322e-01] [ 1.35906458e-02 5.38038480e-03 9.99893167e-01 1.21216812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48463044 meters Centerline goodness [0,1] 0.3144311081527924 Centerline is valid? [False, False] Translation: X:6.33, Y:0.37, Z:0.12 [[ 9.99904311e-01 -2.95852925e-03 -1.35135433e-02 6.33154666e+00] [ 2.88627969e-03 9.99981455e-01 -5.36283302e-03 3.71969231e-01] [ 1.35291588e-02 5.32331599e-03 9.99894306e-01 1.22027013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51463044 meters Centerline goodness [0,1] 0.31356279230155826 Centerline is valid? [False, False] Translation: X:6.33, Y:0.37, Z:0.12 [[ 9.99908476e-01 -3.57875306e-03 -1.30473011e-02 6.33028699e+00] [ 3.50344621e-03 9.99977100e-01 -5.79012823e-03 3.72211234e-01] [ 1.30677237e-02 5.74388778e-03 9.99898116e-01 1.22576645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54463044 meters Centerline goodness [0,1] 0.31684678684227485 Centerline is valid? [False, False] Translation: X:6.33, Y:0.37, Z:0.12 [[ 9.99907640e-01 -3.69380188e-03 -1.30792322e-02 6.33037800e+00] [ 3.61635192e-03 9.99975817e-01 -5.94030583e-03 3.72771478e-01] [ 1.31008583e-02 5.89245808e-03 9.99896818e-01 1.22594144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57463044 meters Centerline goodness [0,1] 0.3157849883886912 Centerline is valid? [False, False] Translation: X:6.33, Y:0.37, Z:0.12 [[ 9.99907999e-01 -3.71610301e-03 -1.30454605e-02 6.33017153e+00] [ 3.63758506e-03 9.99975159e-01 -6.03737197e-03 3.73648563e-01] [ 1.30675720e-02 5.98936256e-03 9.99896678e-01 1.22859789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60463044 meters Centerline goodness [0,1] 0.31780319378506694 Centerline is valid? [False, False] Translation: X:6.31, Y:0.37, Z:0.12 [[ 9.99913290e-01 4.54286753e-03 -1.23602409e-02 6.30942340e+00] [-4.62504951e-03 9.99967336e-01 -6.62845737e-03 3.69265012e-01] [ 1.23297249e-02 6.68504934e-03 9.99901639e-01 1.22247001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63463044 meters Centerline goodness [0,1] 0.3161660739534684 Centerline is valid? [False, False] Translation: X:6.33, Y:0.38, Z:0.12 [[ 9.99947544e-01 -1.57403844e-03 -1.01208157e-02 6.32621571e+00] [ 1.53382917e-03 9.99990906e-01 -3.97946293e-03 3.75704168e-01] [ 1.01269875e-02 3.96373058e-03 9.99940865e-01 1.24062332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66463044 meters Centerline goodness [0,1] 0.3158166559070368 Centerline is valid? [False, False] Translation: X:6.33, Y:0.38, Z:0.12 [[ 9.99946095e-01 -1.62987219e-03 -1.02543050e-02 6.32660936e+00] [ 1.58755747e-03 9.99990198e-01 -4.13331953e-03 3.76338947e-01] [ 1.02609412e-02 4.11681742e-03 9.99938881e-01 1.23925657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69463044 meters Centerline goodness [0,1] 0.3174306003873467 Centerline is valid? [False, False] Translation: X:6.33, Y:0.38, Z:0.12 [[ 9.99942274e-01 -1.78709648e-03 -1.05950028e-02 6.32784385e+00] [ 1.74142223e-03 9.99989159e-01 -4.31858302e-03 3.76338717e-01] [ 1.06026057e-02 4.29988335e-03 9.99934546e-01 1.23287326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72463044 meters Centerline goodness [0,1] 0.3168067955274335 Centerline is valid? [False, False] Translation: X:6.33, Y:0.38, Z:0.12 [[ 9.99937334e-01 -1.89038365e-03 -1.10342140e-02 6.32927526e+00] [ 1.84238062e-03 9.99988803e-01 -4.35892577e-03 3.75614765e-01] [ 1.10423305e-02 4.33832340e-03 9.99929620e-01 1.22621275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.75463044 meters Centerline goodness [0,1] 0.3175275190516511 Centerline is valid? [False, False] Translation: X:6.33, Y:0.37, Z:0.12 [[ 9.99933692e-01 -1.69222494e-03 -1.13907246e-02 6.33024311e+00] [ 1.64993702e-03 9.99991716e-01 -3.72086088e-03 3.72731304e-01] [ 1.13969268e-02 3.70182017e-03 9.99928201e-01 1.22491611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78463044 meters Centerline goodness [0,1] 0.3171928605550006 Centerline is valid? [False, False] Translation: X:6.33, Y:0.37, Z:0.12 [[ 9.99936535e-01 -1.53710754e-03 -1.11607788e-02 6.32976073e+00] [ 1.50039954e-03 9.99993440e-01 -3.29664605e-03 3.70913430e-01] [ 1.11657729e-02 3.27969120e-03 9.99932282e-01 1.22548507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.81463044 meters Centerline goodness [0,1] 0.31694094454444155 Centerline is valid? [False, False] Translation: X:6.35, Y:0.37, Z:0.12 [[ 9.99902109e-01 -9.65158396e-03 -1.01300859e-02 6.34936606e+00] [ 9.62815326e-03 9.99950865e-01 -2.35920755e-03 3.74114150e-01] [ 1.01523582e-02 2.26144259e-03 9.99945906e-01 1.23507662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84463044 meters Centerline goodness [0,1] 0.3136769611535565 Centerline is valid? [False, False] Translation: X:6.33, Y:0.37, Z:0.12 [[ 9.99949512e-01 -2.99890288e-03 -9.59058225e-03 6.33257651e+00] [ 2.95635858e-03 9.99985741e-01 -4.44715457e-03 3.66646553e-01] [ 9.60378208e-03 4.41857685e-03 9.99944120e-01 1.20379696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87463044 meters Centerline goodness [0,1] 0.31585735474301924 Centerline is valid? [False, False] Translation: X:6.33, Y:0.37, Z:0.12 [[ 9.99947294e-01 -2.84079020e-03 -9.86605661e-03 6.33381897e+00] [ 2.79818559e-03 9.99986713e-01 -4.32942342e-03 3.66899397e-01] [ 9.87822451e-03 4.30158818e-03 9.99941957e-01 1.19475831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90463044 meters Centerline goodness [0,1] 0.3132750997519681 Centerline is valid? [False, False] Translation: X:6.34, Y:0.37, Z:0.12 [[ 9.99945322e-01 -2.58675791e-03 -1.01322279e-02 6.33502343e+00] [ 2.54465499e-03 9.99988084e-01 -4.16603698e-03 3.67540037e-01] [ 1.01428837e-02 4.14002617e-03 9.99939989e-01 1.18622328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93463044 meters Centerline goodness [0,1] 0.3124596652755668 Centerline is valid? [False, False] Translation: X:6.34, Y:0.37, Z:0.12 [[ 9.99943432e-01 -2.51518558e-03 -1.03347470e-02 6.33592117e+00] [ 2.47194710e-03 9.99988148e-01 -4.19444226e-03 3.68077363e-01] [ 1.03451743e-02 4.16865804e-03 9.99937798e-01 1.18021258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96463043999998 meters Centerline goodness [0,1] 0.31199568500539376 Centerline is valid? [False, False] Translation: X:6.34, Y:0.37, Z:0.12 [[ 9.99940766e-01 -2.66357358e-03 -1.05531558e-02 6.33644791e+00] [ 2.61784664e-03 9.99987136e-01 -4.34445813e-03 3.67968411e-01] [ 1.05645919e-02 4.31657425e-03 9.99934876e-01 1.18006453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99463043999998 meters Centerline goodness [0,1] 0.3169447453954496 Centerline is valid? [False, False] Translation: X:6.34, Y:0.37, Z:0.12 [[ 9.99937548e-01 -2.71338044e-03 -1.08414783e-02 6.33727435e+00] [ 2.66633039e-03 9.99986976e-01 -4.35191817e-03 3.67619979e-01] [ 1.08531455e-02 4.32273943e-03 9.99931759e-01 1.17768345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02463043999998 meters Centerline goodness [0,1] 0.3134196141131733 Centerline is valid? [False, False] Translation: X:6.34, Y:0.37, Z:0.12 [[ 9.99933766e-01 -2.68911913e-03 -1.11906847e-02 6.33834786e+00] [ 2.64100916e-03 9.99987217e-01 -4.31166842e-03 3.67618655e-01] [ 1.12021362e-02 4.28182815e-03 9.99928086e-01 1.17387603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05463043999998 meters Centerline goodness [0,1] 0.31470096239490775 Centerline is valid? [False, False] Translation: X:6.34, Y:0.37, Z:0.12 [[ 9.99932056e-01 -2.33971413e-03 -1.14196511e-02 6.33936458e+00] [ 2.29717398e-03 9.99990379e-01 -3.73686713e-03 3.66237931e-01] [ 1.14282844e-02 3.71038031e-03 9.99927811e-01 1.16825265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08463043999998 meters Centerline goodness [0,1] 0.30916953906099465 Centerline is valid? [False, False] Translation: X:6.36, Y:0.37, Z:0.12 [[ 9.99895925e-01 -9.90173890e-03 -1.04926013e-02 6.35804452e+00] [ 9.87741498e-03 9.99948415e-01 -2.36748969e-03 3.70560954e-01] [ 1.05155023e-02 2.26360351e-03 9.99942148e-01 1.18091728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11463043999998 meters Centerline goodness [0,1] 0.31546364880422273 Centerline is valid? [False, False] Translation: X:6.34, Y:0.36, Z:0.12 [[ 9.99950084e-01 -1.86032993e-03 -9.81678130e-03 6.33763460e+00] [ 1.82913939e-03 9.99993254e-01 -3.18528986e-03 3.64021765e-01] [ 9.82264076e-03 3.16717460e-03 9.99946741e-01 1.17286168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14463044 meters Centerline goodness [0,1] 0.3149151085321298 Centerline is valid? [False, False] Translation: X:6.34, Y:0.36, Z:0.12 [[ 9.99950961e-01 -1.87999326e-03 -9.72327168e-03 6.33706235e+00] [ 1.84822538e-03 9.99992929e-01 -3.27515451e-03 3.64262928e-01] [ 9.72936019e-03 3.25702310e-03 9.99947364e-01 1.17846585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17463044 meters Centerline goodness [0,1] 0.3127618640444635 Centerline is valid? [False, False] Translation: X:6.34, Y:0.37, Z:0.12 [[ 9.99957477e-01 -1.46370006e-03 -9.10506547e-03 6.33546684e+00] [ 1.43550886e-03 9.99994159e-01 -3.10197638e-03 3.65007194e-01] [ 9.10955265e-03 3.08877407e-03 9.99953737e-01 1.18112571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20463044 meters Centerline goodness [0,1] 0.3137406051262286 Centerline is valid? [False, False] Translation: X:6.34, Y:0.37, Z:0.12 [[ 9.99957510e-01 -1.33826331e-03 -9.12074249e-03 6.33558373e+00] [ 1.30953299e-03 9.99994165e-01 -3.15524322e-03 3.66195330e-01] [ 9.12491181e-03 3.14316524e-03 9.99953427e-01 1.17957379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23463044 meters Centerline goodness [0,1] 0.3129698640759968 Centerline is valid? [False, False] Translation: X:6.34, Y:0.37, Z:0.12 [[ 9.99955778e-01 -1.24363093e-03 -9.32180587e-03 6.33605026e+00] [ 1.21322781e-03 9.99993929e-01 -3.26645110e-03 3.67526954e-01] [ 9.32581154e-03 3.25499718e-03 9.99951216e-01 1.17894175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26463044 meters Centerline goodness [0,1] 0.31159946983624776 Centerline is valid? [False, False] Translation: X:6.34, Y:0.37, Z:0.12 [[ 9.99952184e-01 -1.18166860e-03 -9.70741798e-03 6.33716094e+00] [ 1.14819813e-03 9.99993380e-01 -3.45277783e-03 3.69060095e-01] [ 9.71143376e-03 3.44146669e-03 9.99946921e-01 1.17495588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29463044 meters Centerline goodness [0,1] 0.3171388840604902 Centerline is valid? [False, False] Translation: X:6.32, Y:0.37, Z:0.12 [[ 9.99923400e-01 7.20996650e-03 -1.00603535e-02 6.31620045e+00] [-7.25555943e-03 9.99963540e-01 -4.50282679e-03 3.67384250e-01] [ 1.00275215e-02 4.57547537e-03 9.99939255e-01 1.17109480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32463044 meters Centerline goodness [0,1] 0.31988641290210695 Centerline is valid? [False, False] Translation: X:6.32, Y:0.37, Z:0.12 [[ 9.99926897e-01 7.07655131e-03 -9.80423304e-03 6.31525080e+00] [-7.12460127e-03 9.99962738e-01 -4.87471215e-03 3.69081921e-01] [ 9.76937156e-03 4.94420704e-03 9.99940055e-01 1.17633291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35463044 meters Centerline goodness [0,1] 0.3152141166343878 Centerline is valid? [False, False] Translation: X:6.33, Y:0.38, Z:0.12 [[ 9.99956740e-01 -2.40149462e-04 -9.29843579e-03 6.33263945e+00] [ 2.06173358e-04 9.99993300e-01 -3.65474527e-03 3.76857217e-01] [ 9.29925117e-03 3.65267007e-03 9.99950090e-01 1.19416230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38463044 meters Centerline goodness [0,1] 0.31425321400210326 Centerline is valid? [False, False] Translation: X:6.33, Y:0.38, Z:0.12 [[ 9.99957111e-01 -2.56338730e-04 -9.25800148e-03 6.33251369e+00] [ 2.20163025e-04 9.99992338e-01 -3.90831464e-03 3.78840882e-01] [ 9.25893240e-03 3.90610875e-03 9.99949506e-01 1.19457312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41463044 meters Centerline goodness [0,1] 0.31425321400210326 Centerline is valid? [False, False] Translation: X:6.33, Y:0.38, Z:0.12 [[ 9.99957111e-01 -2.56338730e-04 -9.25800148e-03 6.33251369e+00] [ 2.20163025e-04 9.99992338e-01 -3.90831464e-03 3.78840882e-01] [ 9.25893240e-03 3.90610875e-03 9.99949506e-01 1.19457312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44463044 meters Centerline goodness [0,1] 0.3171624020435554 Centerline is valid? [False, False] Translation: X:6.33, Y:0.38, Z:0.12 [[ 9.99957748e-01 -2.17468358e-04 -9.18991515e-03 6.33244955e+00] [ 1.79912201e-04 9.99991631e-01 -4.08729986e-03 3.80691141e-01] [ 9.19072710e-03 4.08547378e-03 9.99949418e-01 1.19261612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47463044 meters Centerline goodness [0,1] 0.31318575140102634 Centerline is valid? [False, False] Translation: X:6.33, Y:0.38, Z:0.12 [[ 9.99957277e-01 -2.33289087e-04 -9.24064321e-03 6.33255358e+00] [ 1.93623461e-04 9.99990766e-01 -4.29317994e-03 3.82303866e-01] [ 9.24155943e-03 4.29120732e-03 9.99948088e-01 1.19260727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50463044 meters Centerline goodness [0,1] 0.3133567170923802 Centerline is valid? [False, False] Translation: X:6.33, Y:0.38, Z:0.12 [[ 9.99956071e-01 -5.69646781e-04 -9.35578474e-03 6.33249001e+00] [ 5.24551719e-04 9.99988238e-01 -4.82176588e-03 3.83929759e-01] [ 9.35842140e-03 4.81664648e-03 9.99944608e-01 1.19790732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.53463044 meters Centerline goodness [0,1] 0.31800551629029483 Centerline is valid? [False, False] Translation: X:6.33, Y:0.38, Z:0.12 [[ 9.99953210e-01 -6.88216081e-04 -9.64906697e-03 6.33304721e+00] [ 6.39852230e-04 9.99987223e-01 -5.01447415e-03 3.84615897e-01] [ 9.65239472e-03 5.00806554e-03 9.99940874e-01 1.19978733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56463044 meters Centerline goodness [0,1] 0.3123125696169994 Centerline is valid? [False, False] Translation: X:6.34, Y:0.39, Z:0.12 [[ 9.99945520e-01 -6.06578444e-04 -1.04205693e-02 6.33542801e+00] [ 5.53435240e-04 9.99986832e-01 -5.10196382e-03 3.86107824e-01] [ 1.04235268e-02 5.09591875e-03 9.99932689e-01 1.19128044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59463044 meters Centerline goodness [0,1] 0.31253227750043033 Centerline is valid? [False, False] Translation: X:6.34, Y:0.39, Z:0.12 [[ 9.99944103e-01 -5.87667925e-04 -1.05567472e-02 6.33619257e+00] [ 5.33552022e-04 9.99986708e-01 -5.12827628e-03 3.86371115e-01] [ 1.05596206e-02 5.12235705e-03 9.99931126e-01 1.18464317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62463044 meters Centerline goodness [0,1] 0.3137812230835486 Centerline is valid? [False, False] Translation: X:6.34, Y:0.39, Z:0.12 [[ 9.99942904e-01 -6.12026476e-04 -1.06683699e-02 6.33657000e+00] [ 5.57211633e-04 9.99986633e-01 -5.14028638e-03 3.86238329e-01] [ 1.06713733e-02 5.13404835e-03 9.99929879e-01 1.18334236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65463044 meters Centerline goodness [0,1] 0.3150057273768614 Centerline is valid? [False, False] Translation: X:6.34, Y:0.39, Z:0.12 [[ 9.99944020e-01 -6.09478676e-04 -1.05634334e-02 6.33637177e+00] [ 5.55794077e-04 9.99986920e-01 -5.08430722e-03 3.85853769e-01] [ 1.05663940e-02 5.07815150e-03 9.99931279e-01 1.18297697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68463044 meters Centerline goodness [0,1] 0.3152400835073069 Centerline is valid? [False, False] Translation: X:6.34, Y:0.39, Z:0.12 [[ 9.99942463e-01 -4.96352420e-04 -1.07155836e-02 6.33644697e+00] [ 4.44356569e-04 9.99988120e-01 -4.85419392e-03 3.85038215e-01] [ 1.07178657e-02 4.84915308e-03 9.99930804e-01 1.18821772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71463043999998 meters Centerline goodness [0,1] 0.3116531747224668 Centerline is valid? [False, False] Translation: X:6.34, Y:0.38, Z:0.12 [[ 9.99939363e-01 -4.21665679e-04 -1.10041995e-02 6.33717496e+00] [ 3.70020421e-04 9.99988911e-01 -4.69484567e-03 3.84404926e-01] [ 1.10060572e-02 4.69048921e-03 9.99928430e-01 1.18762669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74463043999998 meters Centerline goodness [0,1] 0.30976632714200125 Centerline is valid? [False, False] Translation: X:6.34, Y:0.38, Z:0.12 [[ 9.99937118e-01 -3.81916421e-04 -1.12077326e-02 6.33786744e+00] [ 3.31008227e-04 9.99989622e-01 -4.54374192e-03 3.83483674e-01] [ 1.12093516e-02 4.53974635e-03 9.99926868e-01 1.18519138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77463043999998 meters Centerline goodness [0,1] 0.313650985556683 Centerline is valid? [False, False] Translation: X:6.34, Y:0.38, Z:0.12 [[ 9.99936499e-01 -3.86714043e-04 -1.12626810e-02 6.33818451e+00] [ 3.37408594e-04 9.99990354e-01 -4.37934307e-03 3.82206524e-01] [ 1.12642659e-02 4.37526485e-03 9.99926984e-01 1.18268721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80463043999998 meters Centerline goodness [0,1] 0.31303805096418735 Centerline is valid? [False, False] Translation: X:6.34, Y:0.38, Z:0.12 [[ 9.99936402e-01 -3.32241887e-04 -1.12730262e-02 6.33831303e+00] [ 2.85701850e-04 9.99991432e-01 -4.12980148e-03 3.80793739e-01] [ 1.12743017e-02 4.12631811e-03 9.99927929e-01 1.18220513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83463043999998 meters Centerline goodness [0,1] 0.31363763051261706 Centerline is valid? [False, False] Translation: X:6.34, Y:0.38, Z:0.12 [[ 9.99933365e-01 -1.47568249e-04 -1.15431229e-02 6.33907319e+00] [ 1.05706693e-04 9.99993417e-01 -3.62706249e-03 3.78526238e-01] [ 1.15435822e-02 3.62560062e-03 9.99926798e-01 1.18200229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86463043999998 meters Centerline goodness [0,1] 0.3143520708786719 Centerline is valid? [False, False] Translation: X:6.34, Y:0.38, Z:0.12 [[ 9.99928998e-01 -1.24170571e-04 -1.19156458e-02 6.34001395e+00] [ 8.17372271e-05 9.99993654e-01 -3.56156607e-03 3.78120849e-01] [ 1.19160124e-02 3.56033924e-03 9.99922663e-01 1.18111833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89463044 meters Centerline goodness [0,1] 0.3117187668079431 Centerline is valid? [False, False] Translation: X:6.34, Y:0.38, Z:0.12 [[ 9.99925183e-01 -1.74589432e-04 -1.22310495e-02 6.34069720e+00] [ 1.30136754e-04 9.99993384e-01 -3.63511403e-03 3.78145528e-01] [ 1.22316032e-02 3.63325035e-03 9.99918590e-01 1.18197707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92463044 meters Centerline goodness [0,1] 0.3132747933884298 Centerline is valid? [False, False] Translation: X:6.34, Y:0.38, Z:0.12 [[ 9.99925137e-01 -2.37708657e-04 -1.22336817e-02 6.34057431e+00] [ 1.92282272e-04 9.99993084e-01 -3.71426500e-03 3.78179431e-01] [ 1.22344800e-02 3.71163462e-03 9.99918267e-01 1.18414981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95463044 meters Centerline goodness [0,1] 0.314717306862322 Centerline is valid? [False, False] Translation: X:6.34, Y:0.38, Z:0.12 [[ 9.99931320e-01 -2.62133768e-04 -1.17169149e-02 6.33881027e+00] [ 2.20272227e-04 9.99993589e-01 -3.57389207e-03 3.77254626e-01] [ 1.17177766e-02 3.57106570e-03 9.99924968e-01 1.19374675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98463044 meters Centerline goodness [0,1] 0.3163617535381429 Centerline is valid? [False, False] Translation: X:6.34, Y:0.38, Z:0.12 [[ 9.99930995e-01 -1.10879068e-04 -1.17470265e-02 6.33866655e+00] [ 7.27425774e-05 9.99994726e-01 -3.24685788e-03 3.76188732e-01] [ 1.17473246e-02 3.24577932e-03 9.99925730e-01 1.19778780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01463044 meters Centerline goodness [0,1] 0.31510683760683755 Centerline is valid? [False, False] Translation: X:6.36, Y:0.38, Z:0.12 [[ 9.99905115e-01 -7.60326005e-03 -1.14870288e-02 6.35765312e+00] [ 7.58640545e-03 9.99970083e-01 -1.51013578e-03 3.79771565e-01] [ 1.14981671e-02 1.42284724e-03 9.99932882e-01 1.21550559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04463044 meters Centerline goodness [0,1] 0.31778903135437997 Centerline is valid? [False, False] Translation: X:6.34, Y:0.37, Z:0.12 [[ 9.99938203e-01 -5.13573651e-04 -1.11052584e-02 6.34135790e+00] [ 4.84604381e-04 9.99996474e-01 -2.61114193e-03 3.71412990e-01] [ 1.11065602e-02 2.60559891e-03 9.99934925e-01 1.19395121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07463044 meters Centerline goodness [0,1] 0.31580868930266526 Centerline is valid? [False, False] Translation: X:6.34, Y:0.37, Z:0.12 [[ 9.99931437e-01 -8.66940063e-04 -1.16777799e-02 6.34273704e+00] [ 8.39427329e-04 9.99996861e-01 -2.36068565e-03 3.66770054e-01] [ 1.16797898e-02 2.35072115e-03 9.99929026e-01 1.19504310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10463044 meters Centerline goodness [0,1] 0.31840076030844333 Centerline is valid? [False, False] Translation: X:6.34, Y:0.36, Z:0.12 [[ 9.99932204e-01 -8.07293964e-04 -1.16161644e-02 6.34253332e+00] [ 7.84082684e-04 9.99997687e-01 -2.00260339e-03 3.64475234e-01] [ 1.16177542e-02 1.99335959e-03 9.99930525e-01 1.19709882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13463044 meters Centerline goodness [0,1] 0.3157161832126484 Centerline is valid? [False, False] Translation: X:6.34, Y:0.36, Z:0.12 [[ 9.99933479e-01 -6.84618246e-04 -1.15138319e-02 6.34237474e+00] [ 6.66404615e-04 9.99998521e-01 -1.58565345e-03 3.62238649e-01] [ 1.15149005e-02 1.57787510e-03 9.99932456e-01 1.19737533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16463044 meters Centerline goodness [0,1] 0.3203476305776548 Centerline is valid? [False, False] Translation: X:6.34, Y:0.36, Z:0.12 [[ 9.99935311e-01 -4.74254287e-04 -1.13643386e-02 6.34227803e+00] [ 4.63782996e-04 9.99999466e-01 -9.24034305e-04 3.58315274e-01] [ 1.13647708e-02 9.18703943e-04 9.99934997e-01 1.19528299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19463044 meters Centerline goodness [0,1] 0.31580076825682957 Centerline is valid? [False, False] Translation: X:6.34, Y:0.36, Z:0.12 [[ 9.99933100e-01 -3.82028187e-04 -1.15607183e-02 6.34293018e+00] [ 3.74232551e-04 9.99999701e-01 -6.76476831e-04 3.56816297e-01] [ 1.15609733e-02 6.72105177e-04 9.99932944e-01 1.19287865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22463044 meters Centerline goodness [0,1] 0.3185697310143675 Centerline is valid? [False, False] Translation: X:6.34, Y:0.36, Z:0.12 [[ 9.99931520e-01 -2.96348994e-04 -1.16990606e-02 6.34340110e+00] [ 2.91280143e-04 9.99999863e-01 -4.34971423e-04 3.55288071e-01] [ 1.16991879e-02 4.31533932e-04 9.99931469e-01 1.19084220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.25463044 meters Centerline goodness [0,1] 0.3165705927901574 Centerline is valid? [False, False] Translation: X:6.34, Y:0.35, Z:0.12 [[ 9.99930249e-01 -1.46893582e-04 -1.18099391e-02 6.34367532e+00] [ 1.45380305e-04 9.99999981e-01 -1.28994268e-04 3.53799630e-01] [ 1.18099578e-02 1.27268338e-04 9.99930252e-01 1.19083701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28463044 meters Centerline goodness [0,1] 0.31893994755620514 Centerline is valid? [False, False] Translation: X:6.34, Y:0.35, Z:0.12 [[ 9.99933603e-01 1.55800027e-04 -1.15223475e-02 6.34266001e+00] [-1.50606630e-04 9.99999887e-01 4.51590181e-04 3.51164720e-01] [ 1.15224165e-02 -4.49824855e-04 9.99933514e-01 1.19689071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.31463044 meters Centerline goodness [0,1] 0.31477886112948306 Centerline is valid? [False, False] Translation: X:6.34, Y:0.35, Z:0.12 [[ 9.99934598e-01 2.20781212e-04 -1.14346510e-02 6.34245127e+00] [-2.13441994e-04 9.99999770e-01 6.43056476e-04 3.50010090e-01] [ 1.14347904e-02 -6.40573784e-04 9.99934415e-01 1.19732762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34463044 meters Centerline goodness [0,1] 0.3164116978136331 Centerline is valid? [False, False] Translation: X:6.34, Y:0.35, Z:0.12 [[ 9.99933318e-01 2.24012569e-04 -1.15459711e-02 6.34287355e+00] [-2.15070891e-04 9.99999676e-01 7.75677174e-04 3.48759534e-01] [ 1.15461411e-02 -7.73142248e-04 9.99933042e-01 1.19550771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.37463044 meters Centerline goodness [0,1] 0.31624223536192286 Centerline is valid? [False, False] Translation: X:6.34, Y:0.35, Z:0.12 [[ 9.99932385e-01 2.74603527e-04 -1.16254297e-02 6.34329376e+00] [-2.63659117e-04 9.99999521e-01 9.42941990e-04 3.47644049e-01] [ 1.16256831e-02 -9.39813083e-04 9.99931978e-01 1.19232795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40463044 meters Centerline goodness [0,1] 0.31493109877628 Centerline is valid? [False, False] Translation: X:6.34, Y:0.34, Z:0.12 [[ 9.99931325e-01 5.93013200e-04 -1.17044351e-02 6.34369091e+00] [-5.73888400e-04 9.99998495e-01 1.63726990e-03 3.44614251e-01] [ 1.17053884e-02 -1.63044042e-03 9.99930160e-01 1.19023756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43463044 meters Centerline goodness [0,1] 0.3175032175032175 Centerline is valid? [False, False] Translation: X:6.34, Y:0.34, Z:0.12 [[ 9.99931891e-01 6.59840406e-04 -1.16523877e-02 6.34361992e+00] [-6.37971263e-04 9.99998029e-01 1.88041234e-03 3.43231092e-01] [ 1.16536055e-02 -1.87285038e-03 9.99930341e-01 1.19032079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46463043999998 meters Centerline goodness [0,1] 0.3158967537065248 Centerline is valid? [False, False] Translation: X:6.34, Y:0.34, Z:0.12 [[ 9.99930283e-01 6.44118866e-04 -1.17904585e-02 6.34400561e+00] [-6.21100498e-04 9.99997894e-01 1.95584536e-03 3.42305262e-01] [ 1.17916935e-02 -1.94838594e-03 9.99928577e-01 1.18986153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49463043999998 meters Centerline goodness [0,1] 0.31710790342416983 Centerline is valid? [False, False] Translation: X:6.35, Y:0.34, Z:0.12 [[ 9.99923426e-01 6.77643067e-04 -1.23564869e-02 6.34524293e+00] [-6.53730220e-04 9.99997906e-01 1.93918276e-03 3.42138766e-01] [ 1.23577751e-02 -1.93095646e-03 9.99921775e-01 1.19061229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52463043999998 meters Centerline goodness [0,1] 0.31776166251758853 Centerline is valid? [False, False] Translation: X:6.35, Y:0.34, Z:0.12 [[ 9.99920374e-01 7.86202015e-04 -1.25947203e-02 6.34599556e+00] [-7.61750022e-04 9.99997816e-01 1.94612746e-03 3.42728258e-01] [ 1.25962228e-02 -1.93637847e-03 9.99918790e-01 1.18687865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55463043999998 meters Centerline goodness [0,1] 0.31765722930624596 Centerline is valid? [False, False] Translation: X:6.35, Y:0.34, Z:0.12 [[ 9.99918762e-01 8.53800385e-04 -1.27177071e-02 6.34680568e+00] [-8.29649567e-04 9.99997843e-01 1.90414636e-03 3.43425189e-01] [ 1.27193054e-02 -1.89344043e-03 9.99917314e-01 1.17859958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58463043999998 meters Centerline goodness [0,1] 0.3215101988011557 Centerline is valid? [False, False] Translation: X:6.35, Y:0.34, Z:0.12 [[ 9.99918595e-01 8.84074374e-04 -1.27288116e-02 6.34710695e+00] [-8.60711365e-04 9.99997935e-01 1.84080423e-03 3.43978540e-01] [ 1.27304128e-02 -1.82969855e-03 9.99917291e-01 1.17420681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61463043999998 meters Centerline goodness [0,1] 0.3160226907845446 Centerline is valid? [False, False] Translation: X:6.35, Y:0.35, Z:0.12 [[ 9.99918842e-01 8.64893387e-04 -1.27106686e-02 6.34680164e+00] [-8.45215188e-04 9.99998436e-01 1.55345424e-03 3.45436945e-01] [ 1.27119923e-02 -1.54258492e-03 9.99918009e-01 1.17735553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64463044 meters Centerline goodness [0,1] 0.3131181230466241 Centerline is valid? [False, False] Translation: X:6.35, Y:0.35, Z:0.12 [[ 9.99917801e-01 7.72977246e-04 -1.27981796e-02 6.34697707e+00] [-7.56378579e-04 9.99998867e-01 1.30174488e-03 3.46521174e-01] [ 1.27991713e-02 -1.29195761e-03 9.99917253e-01 1.17718102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67463044 meters Centerline goodness [0,1] 0.3151377034377486 Centerline is valid? [False, False] Translation: X:6.35, Y:0.35, Z:0.12 [[ 9.99916201e-01 7.25251146e-04 -1.29254004e-02 6.34737133e+00] [-7.11170685e-04 9.99999149e-01 1.09392663e-03 3.47628839e-01] [ 1.29261828e-02 -1.08464279e-03 9.99915865e-01 1.17488812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70463044 meters Centerline goodness [0,1] 0.3125400281798386 Centerline is valid? [False, False] Translation: X:6.35, Y:0.35, Z:0.12 [[ 9.99913020e-01 7.43113001e-04 -1.31681659e-02 6.34805964e+00] [-7.30251658e-04 9.99999252e-01 9.81481014e-04 3.48651851e-01] [ 1.31688854e-02 -9.71779570e-04 9.99912814e-01 1.17288921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73463044 meters Centerline goodness [0,1] 0.3141479099678457 Centerline is valid? [False, False] Translation: X:6.35, Y:0.35, Z:0.12 [[ 9.99913002e-01 7.42734371e-04 -1.31695740e-02 6.34824459e+00] [-7.30546540e-04 9.99999300e-01 9.30240237e-04 3.49145994e-01] [ 1.31702558e-02 -9.20538321e-04 9.99912845e-01 1.17017789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76463044 meters Centerline goodness [0,1] 0.3162155760825097 Centerline is valid? [False, False] Translation: X:6.35, Y:0.35, Z:0.12 [[ 9.99913047e-01 6.85876721e-04 -1.31692434e-02 6.34804945e+00] [-6.73334751e-04 9.99999316e-01 9.56778498e-04 3.48862797e-01] [ 1.31698906e-02 -9.47827994e-04 9.99912824e-01 1.17420110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79463044 meters Centerline goodness [0,1] 0.31330059777967545 Centerline is valid? [False, False] Translation: X:6.35, Y:0.35, Z:0.12 [[ 9.99914520e-01 6.55313423e-04 -1.30584488e-02 6.34756635e+00] [-6.41505396e-04 9.99999231e-01 1.06156244e-03 3.48040506e-01] [ 1.30591344e-02 -1.05309463e-03 9.99914171e-01 1.17853703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82463044 meters Centerline goodness [0,1] 0.3195768102285139 Centerline is valid? [False, False] Translation: X:6.35, Y:0.35, Z:0.12 [[ 9.99915836e-01 5.96288126e-04 -1.29601149e-02 6.34713923e+00] [-5.81318024e-04 9.99999160e-01 1.15882663e-03 3.47130571e-01] [ 1.29607950e-02 -1.15119515e-03 9.99915343e-01 1.18262362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85463044 meters Centerline goodness [0,1] 0.32141930461857815 Centerline is valid? [False, False] Translation: X:6.35, Y:0.35, Z:0.12 [[ 9.99917199e-01 5.25686058e-04 -1.28576307e-02 6.34671917e+00] [-5.09626561e-04 9.99999086e-01 1.25226919e-03 3.46045277e-01] [ 1.28582773e-02 -1.24561291e-03 9.99916553e-01 1.18648866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88463044 meters Centerline goodness [0,1] 0.3198627772503668 Centerline is valid? [False, False] Translation: X:6.35, Y:0.34, Z:0.12 [[ 9.99920326e-01 3.55761138e-04 -1.26180499e-02 6.34616641e+00] [-3.37269529e-04 9.99998866e-01 1.46758636e-03 3.43837848e-01] [ 1.26185577e-02 -1.46321375e-03 9.99919312e-01 1.18889480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91463044 meters Centerline goodness [0,1] 0.3169621774782123 Centerline is valid? [False, False] Translation: X:6.35, Y:0.34, Z:0.12 [[ 9.99921760e-01 4.17263367e-04 -1.25020069e-02 6.34596974e+00] [-3.95393144e-04 9.99998388e-01 1.75175762e-03 3.42224504e-01] [ 1.25027177e-02 -1.74667735e-03 9.99920312e-01 1.18907456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94463044 meters Centerline goodness [0,1] 0.3190615710344532 Centerline is valid? [False, False] Translation: X:6.35, Y:0.34, Z:0.12 [[ 9.99922692e-01 4.95224936e-04 -1.24243508e-02 6.34576002e+00] [-4.69645639e-04 9.99997765e-01 2.06163669e-03 3.40457904e-01] [ 1.24253440e-02 -2.05564226e-03 9.99920689e-01 1.19027390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97463044 meters Centerline goodness [0,1] 0.3201593797113935 Centerline is valid? [False, False] Translation: X:6.35, Y:0.34, Z:0.12 [[ 9.99922631e-01 5.28238395e-04 -1.24278974e-02 6.34574438e+00] [-4.96835947e-04 9.99996677e-01 2.52972253e-03 3.36998137e-01] [ 1.24291924e-02 -2.52335218e-03 9.99919571e-01 1.19242123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00463044 meters Centerline goodness [0,1] 0.3191059531485063 Centerline is valid? [False, False] Translation: X:6.35, Y:0.34, Z:0.12 [[ 9.99919404e-01 5.90155490e-04 -1.26821706e-02 6.34637379e+00] [-5.54654584e-04 9.99995919e-01 2.80261176e-03 3.35386764e-01] [ 1.26837728e-02 -2.79535166e-03 9.99915650e-01 1.19278451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.03463044 meters Centerline goodness [0,1] 0.31888057609797116 Centerline is valid? [False, False] Translation: X:6.35, Y:0.33, Z:0.12 [[ 9.99917010e-01 6.71433665e-04 -1.28655288e-02 6.34696833e+00] [-6.31617595e-04 9.99995000e-01 3.09860026e-03 3.33698848e-01] [ 1.28675450e-02 -3.09021701e-03 9.99912435e-01 1.19118146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06463044 meters Centerline goodness [0,1] 0.3186316881320771 Centerline is valid? [False, False] Translation: X:6.35, Y:0.33, Z:0.12 [[ 9.99914604e-01 7.32949095e-04 -1.30478883e-02 6.34764410e+00] [-6.89716845e-04 9.99994259e-01 3.31754385e-03 3.32274064e-01] [ 1.30502450e-02 -3.30826119e-03 9.99909369e-01 1.18839956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09463044 meters Centerline goodness [0,1] 0.3168594687232219 Centerline is valid? [False, False] Translation: X:6.35, Y:0.33, Z:0.12 [[ 9.99912231e-01 7.31387293e-04 -1.32286095e-02 6.34832278e+00] [-6.86027227e-04 9.99993871e-01 3.43314962e-03 3.31180536e-01] [ 1.32310394e-02 -3.42377311e-03 9.99906604e-01 1.18476502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12463044 meters Centerline goodness [0,1] 0.3179849259291345 Centerline is valid? [False, False] Translation: X:6.35, Y:0.33, Z:0.12 [[ 9.99909290e-01 8.84205856e-04 -1.34398773e-02 6.34906587e+00] [-8.34537198e-04 9.99992804e-01 3.70077750e-03 3.29944880e-01] [ 1.34430528e-02 -3.68922572e-03 9.99902832e-01 1.18097601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15463044 meters Centerline goodness [0,1] 0.3149616450718752 Centerline is valid? [False, False] Translation: X:6.35, Y:0.33, Z:0.12 [[ 9.99906398e-01 9.05035614e-04 -1.36519927e-02 6.34975383e+00] [-8.55425794e-04 9.99993012e-01 3.63929030e-03 3.30395480e-01] [ 1.36551910e-02 -3.62727139e-03 9.99900184e-01 1.17783218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18463044 meters Centerline goodness [0,1] 0.31402748117949053 Centerline is valid? [False, False] Translation: X:6.35, Y:0.33, Z:0.12 [[ 9.99904595e-01 8.76456192e-04 -1.37852686e-02 6.35009641e+00] [-8.28222385e-04 9.99993517e-01 3.50425827e-03 3.30970649e-01] [ 1.37882506e-02 -3.49250668e-03 9.99898838e-01 1.17691330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21463043999998 meters Centerline goodness [0,1] 0.3166230338172613 Centerline is valid? [False, False] Translation: X:6.35, Y:0.33, Z:0.12 [[ 9.99905229e-01 8.96976357e-04 -1.37378167e-02 6.34978210e+00] [-8.51168118e-04 9.99994060e-01 3.33994678e-03 3.31958399e-01] [ 1.37407310e-02 -3.32793706e-03 9.99900054e-01 1.17899568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24463043999998 meters Centerline goodness [0,1] 0.3126901161047084 Centerline is valid? [False, False] Translation: X:6.35, Y:0.33, Z:0.12 [[ 9.99905546e-01 9.78146674e-04 -1.37092328e-02 6.34962791e+00] [-9.32285386e-04 9.99993950e-01 3.35127638e-03 3.32492679e-01] [ 1.37124279e-02 -3.33817892e-03 9.99900408e-01 1.18012134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27463043999998 meters Centerline goodness [0,1] 0.3149397796190313 Centerline is valid? [False, False] Translation: X:6.35, Y:0.33, Z:0.12 [[ 9.99907687e-01 1.01937500e-03 -1.35490856e-02 6.34914943e+00] [-9.74421239e-04 9.99994001e-01 3.32403227e-03 3.32999669e-01] [ 1.35523928e-02 -3.31052290e-03 9.99902682e-01 1.18218719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30463043999998 meters Centerline goodness [0,1] 0.3149397796190313 Centerline is valid? [False, False] Translation: X:6.35, Y:0.33, Z:0.12 [[ 9.99907687e-01 1.01937500e-03 -1.35490856e-02 6.34914943e+00] [-9.74421239e-04 9.99994001e-01 3.32403227e-03 3.32999669e-01] [ 1.35523928e-02 -3.31052290e-03 9.99902682e-01 1.18218719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33463043999998 meters Centerline goodness [0,1] 0.3137028483448807 Centerline is valid? [False, False] Translation: X:6.35, Y:0.33, Z:0.12 [[ 9.99909206e-01 9.72049499e-04 -1.34400567e-02 6.34866372e+00] [-9.28417681e-04 9.99994280e-01 3.25225956e-03 3.33137867e-01] [ 1.34431411e-02 -3.23948629e-03 9.99904389e-01 1.18527163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36463043999998 meters Centerline goodness [0,1] 0.3146809784468012 Centerline is valid? [False, False] Translation: X:6.35, Y:0.33, Z:0.12 [[ 9.99910616e-01 7.05034392e-04 -1.33515046e-02 6.34857079e+00] [-6.64454563e-04 9.99995148e-01 3.04353714e-03 3.32563777e-01] [ 1.33535856e-02 -3.03439363e-03 9.99906233e-01 1.18436618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39463044 meters Centerline goodness [0,1] 0.31704024343204906 Centerline is valid? [False, False] Translation: X:6.35, Y:0.33, Z:0.12 [[ 9.99908485e-01 6.87566382e-04 -1.35110925e-02 6.34900376e+00] [-6.45549452e-04 9.99994943e-01 3.11392521e-03 3.31866684e-01] [ 1.35131652e-02 -3.10491816e-03 9.99903872e-01 1.18366347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42463044 meters Centerline goodness [0,1] 0.3117154811715481 Centerline is valid? [False, False] Translation: X:6.35, Y:0.33, Z:0.12 [[ 9.99906309e-01 7.31412834e-04 -1.36688486e-02 6.34949126e+00] [-6.86760646e-04 9.99994414e-01 3.27112015e-03 3.31092339e-01] [ 1.36711648e-02 -3.26142645e-03 9.99901226e-01 1.18224803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45463044 meters Centerline goodness [0,1] 0.3160047104164436 Centerline is valid? [False, False] Translation: X:6.35, Y:0.33, Z:0.12 [[ 9.99907512e-01 8.31295512e-04 -1.35748330e-02 6.34889965e+00] [-7.81544906e-04 9.99992961e-01 3.66980852e-03 3.29054781e-01] [ 1.35777881e-02 -3.65885977e-03 9.99901123e-01 1.18875883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48463044 meters Centerline goodness [0,1] 0.31864793829979754 Centerline is valid? [False, False] Translation: X:6.35, Y:0.33, Z:0.12 [[ 9.99909223e-01 8.80859878e-04 -1.34450582e-02 6.34842020e+00] [-8.28845477e-04 9.99992154e-01 3.87374519e-03 3.27894591e-01] [ 1.34483649e-02 -3.86224967e-03 9.99902107e-01 1.19232048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51463044 meters Centerline goodness [0,1] 0.3189073379753615 Centerline is valid? [False, False] Translation: X:6.35, Y:0.33, Z:0.12 [[ 9.99910728e-01 8.91839150e-04 -1.33319335e-02 6.34818391e+00] [-8.39307209e-04 9.99991865e-01 3.94538518e-03 3.27395403e-01] [ 1.33353436e-02 -3.93384338e-03 9.99903342e-01 1.19225034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54463044 meters Centerline goodness [0,1] 0.31941522476493067 Centerline is valid? [False, False] Translation: X:6.35, Y:0.33, Z:0.12 [[ 9.99910169e-01 9.14680418e-04 -1.33722594e-02 6.34854208e+00] [-8.60960513e-04 9.99991539e-01 4.02246959e-03 3.26686644e-01] [ 1.33758255e-02 -4.01059526e-03 9.99902496e-01 1.18854470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57463044 meters Centerline goodness [0,1] 0.3205991212311422 Centerline is valid? [False, False] Translation: X:6.35, Y:0.33, Z:0.12 [[ 9.99909132e-01 9.13000790e-04 -1.34496989e-02 6.34873565e+00] [-8.58723309e-04 9.99991467e-01 4.04081322e-03 3.26458314e-01] [ 1.34532734e-02 -4.02889647e-03 9.99901384e-01 1.18828674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60463044 meters Centerline goodness [0,1] 0.31569691380530596 Centerline is valid? [False, False] Translation: X:6.35, Y:0.33, Z:0.12 [[ 9.99907777e-01 9.07547712e-04 -1.35504534e-02 6.34899018e+00] [-8.52317484e-04 9.99991309e-01 4.08111391e-03 3.26094322e-01] [ 1.35540394e-02 -4.06918825e-03 9.99899860e-01 1.18836447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63463044 meters Centerline goodness [0,1] 0.3202079917148528 Centerline is valid? [False, False] Translation: X:6.35, Y:0.33, Z:0.12 [[ 9.99907845e-01 8.80792124e-04 -1.35471755e-02 6.34919441e+00] [-8.25973588e-04 9.99991451e-01 4.05155483e-03 3.26054398e-01] [ 1.35506282e-02 -4.03999184e-03 9.99900024e-01 1.18540839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66463044 meters Centerline goodness [0,1] 0.3166798554227175 Centerline is valid? [False, False] Translation: X:6.35, Y:0.33, Z:0.12 [[ 9.99908294e-01 7.79397923e-04 -1.35201874e-02 6.34963045e+00] [-7.26254382e-04 9.99991994e-01 3.93514529e-03 3.26058185e-01] [ 1.35231462e-02 -3.92496532e-03 9.99900855e-01 1.17886050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69463044 meters Centerline goodness [0,1] 0.3146933560477002 Centerline is valid? [False, False] Translation: X:6.35, Y:0.33, Z:0.12 [[ 9.99908116e-01 7.00210056e-04 -1.35376813e-02 6.34989646e+00] [-6.48591394e-04 9.99992505e-01 3.81697630e-03 3.26249896e-01] [ 1.35402525e-02 -3.80784516e-03 9.99901076e-01 1.17531703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72463044 meters Centerline goodness [0,1] 0.31605002044725683 Centerline is valid? [False, False] Translation: X:6.33, Y:0.32, Z:0.12 [[ 9.99875938e-01 8.09972116e-03 -1.35093814e-02 6.33198492e+00] [-8.06833235e-03 9.99964627e-01 2.37636833e-03 3.21030650e-01] [ 1.35281515e-02 -2.26707533e-03 9.99905920e-01 1.15366322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.75463044 meters Centerline goodness [0,1] 0.3177348910260548 Centerline is valid? [False, False] Translation: X:6.33, Y:0.32, Z:0.12 [[ 9.99873510e-01 8.10182685e-03 -1.36866199e-02 6.33255878e+00] [-8.07095629e-03 9.99964763e-01 2.30925990e-03 3.21650163e-01] [ 1.37048468e-02 -2.19850369e-03 9.99903667e-01 1.15110333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78463044 meters Centerline goodness [0,1] 0.316251579330578 Centerline is valid? [False, False] Translation: X:6.33, Y:0.32, Z:0.11 [[ 9.99869396e-01 8.05933674e-03 -1.40085093e-02 6.33361018e+00] [-8.02916640e-03 9.99965327e-01 2.20862401e-03 3.22344063e-01] [ 1.40258236e-02 -2.09585890e-03 9.99899437e-01 1.14639087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.81463044 meters Centerline goodness [0,1] 0.3152225125283762 Centerline is valid? [False, False] Translation: X:6.33, Y:0.32, Z:0.11 [[ 9.99866933e-01 7.92702479e-03 -1.42575889e-02 6.33429906e+00] [-7.89777600e-03 9.99966593e-01 2.10659082e-03 3.22200092e-01] [ 1.42738116e-02 -1.99370726e-03 9.99896136e-01 1.14537481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84463044 meters Centerline goodness [0,1] 0.31535482766735845 Centerline is valid? [False, False] Translation: X:6.34, Y:0.32, Z:0.11 [[ 9.99883781e-01 4.70839862e-03 -1.45001807e-02 6.33514855e+00] [-4.72503902e-03 9.99988217e-01 -1.11355477e-03 3.22482871e-01] [ 1.44947668e-02 1.18193927e-03 9.99894247e-01 1.14062267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87463044 meters Centerline goodness [0,1] 0.3149952040925077 Centerline is valid? [False, False] Translation: X:6.34, Y:0.32, Z:0.11 [[ 9.99874197e-01 4.01514599e-03 -1.53449746e-02 6.33737281e+00] [-4.03747256e-03 9.99990835e-01 -1.42427381e-03 3.20850154e-01] [ 1.53391153e-02 1.48604954e-03 9.99881245e-01 1.13814546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90463044 meters Centerline goodness [0,1] 0.31435744479969097 Centerline is valid? [False, False] Translation: X:6.34, Y:0.32, Z:0.11 [[ 9.99874304e-01 3.96514177e-03 -1.53510523e-02 6.33739138e+00] [-3.98568190e-03 9.99991202e-01 -1.30766468e-03 3.19791852e-01] [ 1.53457322e-02 1.36868472e-03 9.99881311e-01 1.13877153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93463044 meters Centerline goodness [0,1] 0.31478823453801497 Centerline is valid? [False, False] Translation: X:6.34, Y:0.32, Z:0.11 [[ 9.99874213e-01 3.93806036e-03 -1.53639380e-02 6.33748739e+00] [-3.95825993e-03 9.99991341e-01 -1.28455160e-03 3.19543945e-01] [ 1.53587463e-02 1.34520448e-03 9.99881143e-01 1.13807745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96463043999998 meters Centerline goodness [0,1] 0.31411633301830055 Centerline is valid? [False, False] Translation: X:6.34, Y:0.32, Z:0.11 [[ 9.99874039e-01 3.95137943e-03 -1.53718273e-02 6.33766032e+00] [-3.97198943e-03 9.99991253e-01 -1.31046510e-03 3.19994221e-01] [ 1.53665147e-02 1.37135676e-03 9.99880988e-01 1.13596219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99463043999998 meters Centerline goodness [0,1] 0.31175817607377676 Centerline is valid? [False, False] Translation: X:6.34, Y:0.32, Z:0.11 [[ 9.99868398e-01 4.04745443e-03 -1.57100108e-02 6.33882251e+00] [-4.07306121e-03 9.99990428e-01 -1.59831199e-03 3.22813423e-01] [ 1.57033913e-02 1.66208949e-03 9.99875313e-01 1.12965739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02463043999998 meters Centerline goodness [0,1] 0.3187634420281984 Centerline is valid? [False, False] Translation: X:6.29, Y:0.32, Z:0.11 [[ 9.99825765e-01 3.86146859e-03 -1.82627677e-02 6.29493665e+00] [-3.89488390e-03 9.99990805e-01 -1.79448104e-03 3.21797306e-01] [ 1.82556705e-02 1.86529974e-03 9.99831611e-01 1.12452181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05463043999998 meters Centerline goodness [0,1] 0.31232067149158493 Centerline is valid? [False, False] Translation: X:6.31, Y:0.33, Z:0.11 [[ 9.99813254e-01 -3.30916159e-03 -1.90396140e-02 6.31391558e+00] [ 3.29073448e-03 9.99994086e-01 -9.99078728e-04 3.29119657e-01] [ 1.90428075e-02 9.36237839e-04 9.99818231e-01 1.14167845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08463043999998 meters Centerline goodness [0,1] 0.3111700421309267 Centerline is valid? [False, False] Translation: X:6.31, Y:0.33, Z:0.11 [[ 9.99809757e-01 -3.41340193e-03 -1.92041125e-02 6.31416479e+00] [ 3.38977044e-03 9.99993457e-01 -1.26296070e-03 3.30317200e-01] [ 1.92082978e-02 1.19762290e-03 9.99814786e-01 1.14323115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11463043999998 meters Centerline goodness [0,1] 0.3118889197920456 Centerline is valid? [False, False] Translation: X:6.31, Y:0.33, Z:0.11 [[ 9.99807085e-01 -3.49854650e-03 -1.93275219e-02 6.31427730e+00] [ 3.47030222e-03 9.99992861e-01 -1.49469645e-03 3.31520683e-01] [ 1.93326132e-02 1.42733576e-03 9.99812089e-01 1.14536894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14463044 meters Centerline goodness [0,1] 0.3200799548081519 Centerline is valid? [False, False] Translation: X:6.27, Y:0.33, Z:0.11 [[ 9.99803267e-01 -3.21238892e-03 -1.95731384e-02 6.26690094e+00] [ 3.19118921e-03 9.99994287e-01 -1.11423965e-03 3.31176425e-01] [ 1.95766060e-02 1.05155885e-03 9.99807807e-01 1.14815889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17463044 meters Centerline goodness [0,1] 0.31801097334427786 Centerline is valid? [False, False] Translation: X:6.27, Y:0.33, Z:0.12 [[ 9.99811426e-01 -3.20974745e-03 -1.91522915e-02 6.26554663e+00] [ 3.18721867e-03 9.99994193e-01 -1.20670477e-03 3.32042131e-01] [ 1.91560535e-02 1.14543468e-03 9.99815850e-01 1.15380426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20463044 meters Centerline goodness [0,1] 0.3200910007941107 Centerline is valid? [False, False] Translation: X:6.26, Y:0.33, Z:0.12 [[ 9.99816801e-01 -3.28147049e-03 -1.88572465e-02 6.26442587e+00] [ 3.25730728e-03 9.99993834e-01 -1.31194745e-03 3.32553169e-01] [ 1.88614353e-02 1.25028326e-03 9.99821326e-01 1.16068291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23463044 meters Centerline goodness [0,1] 0.3250701186623517 Centerline is valid? [False, False] Translation: X:6.26, Y:0.33, Z:0.12 [[ 9.99820390e-01 -3.36799530e-03 -1.86505831e-02 6.26373099e+00] [ 3.34257383e-03 9.99993442e-01 -1.39404436e-03 3.32673914e-01] [ 1.86551560e-02 1.33145303e-03 9.99825091e-01 1.16406162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26463044 meters Centerline goodness [0,1] 0.3233027680916096 Centerline is valid? [False, False] Translation: X:6.26, Y:0.33, Z:0.12 [[ 9.99817462e-01 -3.47886646e-03 -1.87867142e-02 6.26372777e+00] [ 3.45255275e-03 9.99993013e-01 -1.43290756e-03 3.32520175e-01] [ 1.87915678e-02 1.36778388e-03 9.99822487e-01 1.16894909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29463044 meters Centerline goodness [0,1] 0.3211448099102947 Centerline is valid? [False, False] Translation: X:6.26, Y:0.33, Z:0.12 [[ 9.99814848e-01 -3.41829673e-03 -1.89363347e-02 6.26423685e+00] [ 3.39551299e-03 9.99993472e-01 -1.23519729e-03 3.31566016e-01] [ 1.89404333e-02 1.17067002e-03 9.99819929e-01 1.16685890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32463044 meters Centerline goodness [0,1] 0.3198515295021118 Centerline is valid? [False, False] Translation: X:6.26, Y:0.33, Z:0.12 [[ 9.99813051e-01 -3.37140404e-03 -1.90393638e-02 6.26454726e+00] [ 3.35230631e-03 9.99993846e-01 -1.03489241e-03 3.30437106e-01] [ 1.90427357e-02 9.70873159e-04 9.99818199e-01 1.16663952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35463044 meters Centerline goodness [0,1] 0.3234016005507271 Centerline is valid? [False, False] Translation: X:6.26, Y:0.33, Z:0.12 [[ 9.99811922e-01 -3.36723661e-03 -1.90992676e-02 6.26468219e+00] [ 3.35222955e-03 9.99994047e-01 -8.17701506e-04 3.28921675e-01] [ 1.91019073e-02 7.53522586e-04 9.99817258e-01 1.16751155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38463044 meters Centerline goodness [0,1] 0.32099111532821534 Centerline is valid? [False, False] Translation: X:6.26, Y:0.33, Z:0.12 [[ 9.99813509e-01 -3.54553095e-03 -1.89835981e-02 6.26469473e+00] [ 3.53683127e-03 9.99993624e-01 -4.91827930e-04 3.25378050e-01] [ 1.89852208e-02 4.24594425e-04 9.99819674e-01 1.16525153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41463044 meters Centerline goodness [0,1] 0.32015903212705465 Centerline is valid? [False, False] Translation: X:6.28, Y:0.32, Z:0.12 [[ 9.99799160e-01 3.68277318e-03 -1.96996504e-02 6.28388612e+00] [-3.71632134e-03 9.99991706e-01 -1.66664501e-03 3.19704675e-01] [ 1.96933491e-02 1.73952051e-03 9.99804554e-01 1.18481149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44463044 meters Centerline goodness [0,1] 0.31699395286224064 Centerline is valid? [False, False] Translation: X:6.28, Y:0.32, Z:0.12 [[ 9.99794384e-01 3.95829660e-03 -1.98877203e-02 6.28495920e+00] [-3.97951409e-03 9.99991554e-01 -1.02740141e-03 3.16664916e-01] [ 1.98834856e-02 1.10633363e-03 9.99801692e-01 1.17612912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.47463044 meters Centerline goodness [0,1] 0.31920156589447424 Centerline is valid? [False, False] Translation: X:6.29, Y:0.32, Z:0.12 [[ 9.99792840e-01 4.04748912e-03 -1.99473128e-02 6.28542376e+00] [-4.06509827e-03 9.99991383e-01 -8.42314109e-04 3.15672022e-01] [ 1.99437316e-02 9.23227402e-04 9.99800678e-01 1.17137688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50463044 meters Centerline goodness [0,1] 0.3222930765226445 Centerline is valid? [False, False] Translation: X:6.29, Y:0.32, Z:0.12 [[ 9.99789632e-01 4.02827554e-03 -2.01113061e-02 6.28614081e+00] [-4.04626865e-03 9.99991449e-01 -8.54064601e-04 3.15322293e-01] [ 2.01076937e-02 9.35260681e-04 9.99797382e-01 1.16645769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.53463044 meters Centerline goodness [0,1] 0.32165320913226103 Centerline is valid? [False, False] Translation: X:6.29, Y:0.32, Z:0.12 [[ 9.99784199e-01 4.04447333e-03 -2.03764058e-02 6.28704517e+00] [-4.06390074e-03 9.99991326e-01 -9.12108599e-04 3.15487095e-01] [ 2.03725400e-02 9.94719456e-04 9.99791963e-01 1.16136141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56463044 meters Centerline goodness [0,1] 0.32023588369983147 Centerline is valid? [False, False] Translation: X:6.29, Y:0.32, Z:0.12 [[ 9.99776053e-01 4.12130077e-03 -2.07571184e-02 6.28817065e+00] [-4.14360878e-03 9.99990883e-01 -1.03182122e-03 3.16477641e-01] [ 2.07526767e-02 1.11759953e-03 9.99784015e-01 1.15690101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59463044 meters Centerline goodness [0,1] 0.3174142079819636 Centerline is valid? [False, False] Translation: X:6.29, Y:0.32, Z:0.11 [[ 9.99764175e-01 4.50457052e-03 -2.12439166e-02 6.28980729e+00] [-4.53066786e-03 9.99989040e-01 -1.18049139e-03 3.19061077e-01] [ 2.12383661e-02 1.27646213e-03 9.99773626e-01 1.14713655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62463044 meters Centerline goodness [0,1] 0.31399485640805824 Centerline is valid? [False, False] Translation: X:6.31, Y:0.32, Z:0.12 [[ 9.99776230e-01 -1.43722675e-03 -2.11050717e-02 6.31044641e+00] [ 1.45934653e-03 9.99998402e-01 1.03271446e-03 3.24492822e-01] [ 2.11035538e-02 -1.06328298e-03 9.99776730e-01 1.15354027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65463044 meters Centerline goodness [0,1] 0.31590933505210017 Centerline is valid? [False, False] Translation: X:6.31, Y:0.33, Z:0.12 [[ 9.99777802e-01 -1.47892091e-03 -2.10275922e-02 6.31027871e+00] [ 1.49693570e-03 9.99998526e-01 8.41007423e-04 3.25560046e-01] [ 2.10263174e-02 -8.72297506e-04 9.99778542e-01 1.15263064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68463044 meters Centerline goodness [0,1] 0.3166724693184786 Centerline is valid? [False, False] Translation: X:6.29, Y:0.32, Z:0.11 [[ 9.99758988e-01 5.96546321e-03 -2.11276715e-02 6.29110619e+00] [-5.97832271e-03 9.99981981e-01 -5.45547300e-04 3.20667850e-01] [ 2.11240364e-02 6.71723855e-04 9.99776637e-01 1.13589363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71463043999998 meters Centerline goodness [0,1] 0.31690762965676245 Centerline is valid? [False, False] Translation: X:6.31, Y:0.33, Z:0.12 [[ 9.99788798e-01 -1.74466049e-03 -2.04771853e-02 6.31018591e+00] [ 1.75604842e-03 9.99998313e-01 5.38159224e-04 3.25540788e-01] [ 2.04762119e-02 -5.74004493e-04 9.99790176e-01 1.15156196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74463043999998 meters Centerline goodness [0,1] 0.3158735297291464 Centerline is valid? [False, False] Translation: X:6.31, Y:0.33, Z:0.12 [[ 9.99792516e-01 -1.77184508e-03 -2.02924895e-02 6.30955266e+00] [ 1.78401643e-03 9.99998239e-01 5.81708808e-04 3.25214947e-01] [ 2.02914230e-02 -6.17790247e-04 9.99793917e-01 1.15547518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77463043999998 meters Centerline goodness [0,1] 0.3156264888041924 Centerline is valid? [False, False] Translation: X:6.31, Y:0.33, Z:0.12 [[ 9.99794855e-01 -1.81642908e-03 -2.01729624e-02 6.30919187e+00] [ 1.82833074e-03 9.99998165e-01 5.71553034e-04 3.25009941e-01] [ 2.01718872e-02 -6.08318630e-04 9.99796342e-01 1.15710913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80463043999998 meters Centerline goodness [0,1] 0.31662899580238946 Centerline is valid? [False, False] Translation: X:6.31, Y:0.33, Z:0.12 [[ 9.99789988e-01 -1.87261255e-03 -2.04076633e-02 6.30974566e+00] [ 1.88137762e-03 9.99998146e-01 4.10307709e-04 3.25728667e-01] [ 2.04068572e-02 -4.48616060e-04 9.99791658e-01 1.15690696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83463043999998 meters Centerline goodness [0,1] 0.3187983869228612 Centerline is valid? [False, False] Translation: X:6.31, Y:0.33, Z:0.12 [[ 9.99786993e-01 -1.79941265e-03 -2.05604396e-02 6.31012273e+00] [ 1.80836330e-03 9.99998278e-01 4.16749359e-04 3.26145614e-01] [ 2.05596543e-02 -4.53841333e-04 9.99788525e-01 1.15588229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86463043999998 meters Centerline goodness [0,1] 0.31667815299793245 Centerline is valid? [False, False] Translation: X:6.31, Y:0.33, Z:0.12 [[ 9.99786783e-01 -1.67817869e-03 -2.05808481e-02 6.31018935e+00] [ 1.68906415e-03 9.99998443e-01 5.11540702e-04 3.26351487e-01] [ 2.05799576e-02 -5.46194006e-04 9.99788061e-01 1.15554788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89463044 meters Centerline goodness [0,1] 0.3168878011078191 Centerline is valid? [False, False] Translation: X:6.31, Y:0.33, Z:0.12 [[ 9.99793816e-01 -1.53227368e-03 -2.02478948e-02 6.30950614e+00] [ 1.54857637e-03 9.99998489e-01 7.89500276e-04 3.25216384e-01] [ 2.02466545e-02 -8.20692905e-04 9.99794679e-01 1.15498507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92463044 meters Centerline goodness [0,1] 0.31874216012803325 Centerline is valid? [False, False] Translation: X:6.31, Y:0.32, Z:0.12 [[ 9.99797312e-01 -1.56388016e-03 -2.00720990e-02 6.30909643e+00] [ 1.58329486e-03 9.99998294e-01 9.51392911e-04 3.23600805e-01] [ 2.00705769e-02 -9.82980127e-04 9.99798082e-01 1.15566814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95463044 meters Centerline goodness [0,1] 0.3200043066322136 Centerline is valid? [False, False] Translation: X:6.31, Y:0.32, Z:0.12 [[ 9.99799808e-01 -1.57983405e-03 -1.99461295e-02 6.30875203e+00] [ 1.60432020e-03 9.99997979e-01 1.21167226e-03 3.21535817e-01] [ 1.99441750e-02 -1.24342967e-03 9.99800322e-01 1.15761195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98463044 meters Centerline goodness [0,1] 0.3219447248051195 Centerline is valid? [False, False] Translation: X:6.31, Y:0.32, Z:0.12 [[ 9.99809081e-01 -1.37370247e-03 -1.94913766e-02 6.30736928e+00] [ 1.41569374e-03 9.99996707e-01 2.14071657e-03 3.16453640e-01] [ 1.94883717e-02 -2.16790169e-03 9.99807733e-01 1.16464036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01463044 meters Centerline goodness [0,1] 0.3212098999655053 Centerline is valid? [False, False] Translation: X:6.31, Y:0.31, Z:0.12 [[ 9.99811368e-01 -1.18306093e-03 -1.93862920e-02 6.30715874e+00] [ 1.23581742e-03 9.99995565e-01 2.70957534e-03 3.13589651e-01] [ 1.93830004e-02 -2.73302214e-03 9.99808397e-01 1.16535085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04463044 meters Centerline goodness [0,1] 0.32307526417942634 Centerline is valid? [False, False] Translation: X:6.31, Y:0.31, Z:0.12 [[ 9.99811566e-01 -1.04407593e-03 -1.93840526e-02 6.30723330e+00] [ 1.10698919e-03 9.99994154e-01 3.23517351e-03 3.10537544e-01] [ 1.93805615e-02 -3.25602183e-03 9.99806877e-01 1.16542832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07463044 meters Centerline goodness [0,1] 0.3197314049586777 Centerline is valid? [False, False] Translation: X:6.31, Y:0.31, Z:0.12 [[ 9.99810483e-01 -9.51027383e-04 -1.94446534e-02 6.30762971e+00] [ 1.02312979e-03 9.99992637e-01 3.69847189e-03 3.07423512e-01] [ 1.94409929e-02 -3.71766537e-03 9.99804094e-01 1.16281397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10463044 meters Centerline goodness [0,1] 0.3219933124797757 Centerline is valid? [False, False] Translation: X:6.31, Y:0.30, Z:0.11 [[ 9.99792470e-01 -1.96478863e-03 -2.02769874e-02 6.31094410e+00] [ 2.03428733e-03 9.99992126e-01 3.40740934e-03 2.99423837e-01] [ 2.02701329e-02 -3.44795142e-03 9.99788594e-01 1.14662462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13463044 meters Centerline goodness [0,1] 0.3183817062445031 Centerline is valid? [False, False] Translation: X:6.31, Y:0.30, Z:0.11 [[ 9.99785284e-01 -1.84571615e-03 -2.06392619e-02 6.31227848e+00] [ 1.92426098e-03 9.99990980e-01 3.78639071e-03 2.97109016e-01] [ 2.06320871e-02 -3.82529303e-03 9.99779818e-01 1.14052093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16463044 meters Centerline goodness [0,1] 0.3216543332398438 Centerline is valid? [False, False] Translation: X:6.31, Y:0.30, Z:0.11 [[ 9.99778297e-01 -1.71466795e-03 -2.09861016e-02 6.31347779e+00] [ 1.79944079e-03 9.99990296e-01 4.02125831e-03 2.95922005e-01] [ 2.09790028e-02 -4.05813003e-03 9.99771680e-01 1.13449597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.19463044 meters Centerline goodness [0,1] 0.3164059985840252 Centerline is valid? [False, False] Translation: X:6.31, Y:0.30, Z:0.11 [[ 9.99773581e-01 -1.57793988e-03 -2.12201921e-02 6.31433854e+00] [ 1.66593596e-03 9.99990085e-01 4.12977071e-03 2.95640745e-01] [ 2.12134651e-02 -4.16418713e-03 9.99766297e-01 1.12985416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22463044 meters Centerline goodness [0,1] 0.3164059985840252 Centerline is valid? [False, False] Translation: X:6.31, Y:0.30, Z:0.11 [[ 9.99773581e-01 -1.57793988e-03 -2.12201921e-02 6.31433854e+00] [ 1.66593596e-03 9.99990085e-01 4.12977071e-03 2.95640745e-01] [ 2.12134651e-02 -4.16418713e-03 9.99766297e-01 1.12985416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.25463044 meters Centerline goodness [0,1] 0.31735248447204967 Centerline is valid? [False, False] Translation: X:6.31, Y:0.30, Z:0.11 [[ 9.99779831e-01 -8.06817856e-04 -2.09675560e-02 6.31406386e+00] [ 9.01103980e-04 9.99989524e-01 4.48770381e-03 2.96695492e-01] [ 2.09637156e-02 -4.50560971e-03 9.99770085e-01 1.12406281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28463044 meters Centerline goodness [0,1] 0.31618042846377437 Centerline is valid? [False, False] Translation: X:6.31, Y:0.30, Z:0.11 [[ 9.99784891e-01 -6.03661278e-04 -2.07317848e-02 6.31356049e+00] [ 6.95240109e-04 9.99990032e-01 4.41039190e-03 2.98084355e-01] [ 2.07289158e-02 -4.42385675e-03 9.99775346e-01 1.12232772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.31463044 meters Centerline goodness [0,1] 0.31784065910365356 Centerline is valid? [False, False] Translation: X:6.31, Y:0.30, Z:0.11 [[ 9.99789941e-01 -5.02617429e-04 -2.04895563e-02 6.31285303e+00] [ 5.89486378e-04 9.99990863e-01 4.23385031e-03 2.99755028e-01] [ 2.04872411e-02 -4.24503927e-03 9.99781102e-01 1.12309810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34463044 meters Centerline goodness [0,1] 0.31657922577023556 Centerline is valid? [False, False] Translation: X:6.31, Y:0.30, Z:0.11 [[ 9.99792569e-01 -5.31878657e-04 -2.03601486e-02 6.31244065e+00] [ 6.12287747e-04 9.99992038e-01 3.94330704e-03 3.01482075e-01] [ 2.03578892e-02 -3.95495534e-03 9.99784934e-01 1.12365352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37463044 meters Centerline goodness [0,1] 0.31852476381953 Centerline is valid? [False, False] Translation: X:6.31, Y:0.30, Z:0.11 [[ 9.99792041e-01 -6.28324046e-04 -2.03833365e-02 6.31250395e+00] [ 7.02419166e-04 9.99993172e-01 3.62812711e-03 3.02976699e-01] [ 2.03809177e-02 -3.64169025e-03 9.99785655e-01 1.12245243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40463044 meters Centerline goodness [0,1] 0.3180915799922317 Centerline is valid? [False, False] Translation: X:6.31, Y:0.30, Z:0.11 [[ 9.99783981e-01 -9.06280104e-04 -2.07646265e-02 6.31347195e+00] [ 9.73483907e-04 9.99994321e-01 3.22657667e-03 3.04131950e-01] [ 2.07615843e-02 -3.24609370e-03 9.99779185e-01 1.12065968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43463044 meters Centerline goodness [0,1] 0.3148814110797157 Centerline is valid? [False, False] Translation: X:6.31, Y:0.30, Z:0.11 [[ 9.99777430e-01 -1.01652325e-03 -2.10726774e-02 6.31419771e+00] [ 1.08450072e-03 9.99994245e-01 3.21468163e-03 3.03711972e-01] [ 2.10692883e-02 -3.23681947e-03 9.99772778e-01 1.12102416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46463043999998 meters Centerline goodness [0,1] 0.3196691136663852 Centerline is valid? [False, False] Translation: X:6.30, Y:0.30, Z:0.11 [[ 9.99769276e-01 5.73260017e-03 -2.07010237e-02 6.29653569e+00] [-5.69904024e-03 9.99982349e-01 1.67980347e-03 2.96813729e-01] [ 2.07102880e-02 -1.56143993e-03 9.99784300e-01 1.09968637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49463043999998 meters Centerline goodness [0,1] 0.3213853599516031 Centerline is valid? [False, False] Translation: X:6.30, Y:0.30, Z:0.11 [[ 9.99767815e-01 5.62605701e-03 -2.08005455e-02 6.29680488e+00] [-5.59119179e-03 9.99982866e-01 1.73394580e-03 2.95951877e-01] [ 2.08099444e-02 -1.61724336e-03 9.99782142e-01 1.09982798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52463043999998 meters Centerline goodness [0,1] 0.31572057087670347 Centerline is valid? [False, False] Translation: X:6.32, Y:0.30, Z:0.11 [[ 9.99775409e-01 -2.52775950e-03 -2.10414581e-02 6.31678377e+00] [ 2.58396292e-03 9.99993165e-01 2.64432056e-03 2.99611054e-01] [ 2.10346301e-02 -2.69809702e-03 9.99775107e-01 1.12002926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55463043999998 meters Centerline goodness [0,1] 0.32134005826340273 Centerline is valid? [False, False] Translation: X:6.30, Y:0.29, Z:0.11 [[ 9.99768504e-01 4.76285218e-03 -2.09822436e-02 6.29868494e+00] [-4.73236082e-03 9.99987673e-01 1.50261203e-03 2.92811071e-01] [ 2.09891416e-02 -1.40296863e-03 9.99778719e-01 1.10422700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58463043999998 meters Centerline goodness [0,1] 0.320293345483738 Centerline is valid? [False, False] Translation: X:6.30, Y:0.29, Z:0.11 [[ 9.99764394e-01 4.75102482e-03 -2.11798213e-02 6.29913406e+00] [-4.71845521e-03 9.99987608e-01 1.58747473e-03 2.92202131e-01] [ 2.11871010e-02 -1.48716467e-03 9.99774422e-01 1.10441439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61463043999998 meters Centerline goodness [0,1] 0.3179255433613084 Centerline is valid? [False, False] Translation: X:6.32, Y:0.30, Z:0.11 [[ 9.99760468e-01 -2.86969212e-03 -2.16972868e-02 6.31862548e+00] [ 2.92559497e-03 9.99992481e-01 2.54518667e-03 2.96871234e-01] [ 2.16898198e-02 -2.60805449e-03 9.99761346e-01 1.11921249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64463044 meters Centerline goodness [0,1] 0.31720928228221756 Centerline is valid? [False, False] Translation: X:6.32, Y:0.30, Z:0.11 [[ 9.99766885e-01 -2.75383888e-03 -2.14147395e-02 6.31795306e+00] [ 2.81206500e-03 9.99992430e-01 2.68933611e-03 2.96637859e-01] [ 2.14071714e-02 -2.74892883e-03 9.99767061e-01 1.11953818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67463044 meters Centerline goodness [0,1] 0.3204947989879111 Centerline is valid? [False, False] Translation: X:6.32, Y:0.30, Z:0.11 [[ 9.99774705e-01 -2.63104727e-03 -2.10622220e-02 6.31684947e+00] [ 2.69130497e-03 9.99992365e-01 2.83310323e-03 2.96537485e-01] [ 2.10546071e-02 -2.88914981e-03 9.99774153e-01 1.12351035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70463044 meters Centerline goodness [0,1] 0.32056876153261693 Centerline is valid? [False, False] Translation: X:6.32, Y:0.30, Z:0.11 [[ 9.99783111e-01 -2.56565786e-03 -2.06675886e-02 6.31572024e+00] [ 2.62548634e-03 9.99992440e-01 2.86818324e-03 2.96804311e-01] [ 2.06600736e-02 -2.92182363e-03 9.99782288e-01 1.12666458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73463044 meters Centerline goodness [0,1] 0.3156067640669592 Centerline is valid? [False, False] Translation: X:6.36, Y:0.30, Z:0.11 [[ 9.99819506e-01 -2.25700740e-03 -1.88643076e-02 6.35859952e+00] [ 2.29822361e-03 9.99995019e-01 2.16348456e-03 3.01325961e-01] [ 1.88593306e-02 -2.20644846e-03 9.99819712e-01 1.14056568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76463044 meters Centerline goodness [0,1] 0.32215300381539524 Centerline is valid? [False, False] Translation: X:6.34, Y:0.30, Z:0.11 [[ 9.99798235e-01 5.03161556e-03 -1.94466741e-02 6.34026064e+00] [-5.01959924e-03 9.99987180e-01 6.66673907e-04 2.95436249e-01] [ 1.94497792e-02 -5.68924885e-04 9.99810673e-01 1.12151825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79463044 meters Centerline goodness [0,1] 0.3193765543263871 Centerline is valid? [False, False] Translation: X:6.34, Y:0.30, Z:0.11 [[ 9.99793615e-01 5.06453930e-03 -1.96742718e-02 6.34110139e+00] [-5.05111433e-03 9.99986975e-01 7.31995626e-04 2.95152788e-01] [ 1.96777227e-02 -6.32467557e-04 9.99806175e-01 1.11706088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82463044 meters Centerline goodness [0,1] 0.3200900997532983 Centerline is valid? [False, False] Translation: X:6.34, Y:0.29, Z:0.11 [[ 9.99794991e-01 5.16023342e-03 -1.95792706e-02 6.34096891e+00] [-5.14280740e-03 9.99986334e-01 9.40271077e-04 2.94284471e-01] [ 1.95838550e-02 -8.39385895e-04 9.99807866e-01 1.11594559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85463044 meters Centerline goodness [0,1] 0.32188776607181246 Centerline is valid? [False, False] Translation: X:6.34, Y:0.29, Z:0.11 [[ 9.99807052e-01 5.11129212e-03 -1.89666431e-02 6.33902224e+00] [-5.08914346e-03 9.99986311e-01 1.21585190e-03 2.91978270e-01] [ 1.89725980e-02 -1.11909334e-03 9.99819378e-01 1.12498881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88463044 meters Centerline goodness [0,1] 0.3221257201823029 Centerline is valid? [False, False] Translation: X:6.34, Y:0.29, Z:0.11 [[ 9.99810461e-01 5.08619923e-03 -1.87928945e-02 6.33867126e+00] [-5.06149077e-03 9.99986263e-01 1.36210743e-03 2.90614358e-01] [ 1.87995643e-02 -1.26672919e-03 9.99822470e-01 1.12467925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91463044 meters Centerline goodness [0,1] 0.3219509052251788 Centerline is valid? [False, False] Translation: X:6.34, Y:0.29, Z:0.11 [[ 9.99809724e-01 5.08610113e-03 -1.88320818e-02 6.33899302e+00] [-5.05863399e-03 9.99986071e-01 1.50587875e-03 2.89415895e-01] [ 1.88394786e-02 -1.41032761e-03 9.99821527e-01 1.12158481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94463044 meters Centerline goodness [0,1] 0.32256039483938004 Centerline is valid? [False, False] Translation: X:6.34, Y:0.29, Z:0.11 [[ 9.99803052e-01 5.05575089e-03 -1.91910614e-02 6.34042978e+00] [-5.02352937e-03 9.99985891e-01 1.72682301e-03 2.87294092e-01] [ 1.91995210e-02 -1.63007605e-03 9.99814343e-01 1.11324084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.97463044 meters Centerline goodness [0,1] 0.32342748223878015 Centerline is valid? [False, False] Translation: X:6.34, Y:0.29, Z:0.11 [[ 9.99799854e-01 5.06176091e-03 -1.93553617e-02 6.34097615e+00] [-5.02714315e-03 9.99985677e-01 1.83677371e-03 2.86390820e-01] [ 1.93643818e-02 -1.73910392e-03 9.99810980e-01 1.11089530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00463044 meters Centerline goodness [0,1] 0.31696256684491975 Centerline is valid? [False, False] Translation: X:6.36, Y:0.29, Z:0.11 [[ 9.99799089e-01 -2.41963059e-03 -1.98979099e-02 6.36102831e+00] [ 2.47418247e-03 9.99993247e-01 2.71742763e-03 2.90941354e-01] [ 1.98912004e-02 -2.76611273e-03 9.99798324e-01 1.12371352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.03463044 meters Centerline goodness [0,1] 0.3195638091125027 Centerline is valid? [False, False] Translation: X:6.36, Y:0.29, Z:0.11 [[ 9.99794577e-01 -2.36601718e-03 -2.01296990e-02 6.36183229e+00] [ 2.42293957e-03 9.99993134e-01 2.80386266e-03 2.90508889e-01] [ 2.01229268e-02 -2.85205973e-03 9.99793445e-01 1.11976933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06463044 meters Centerline goodness [0,1] 0.31431942507776467 Centerline is valid? [False, False] Translation: X:6.36, Y:0.29, Z:0.11 [[ 9.99782440e-01 -2.27457525e-03 -2.07340240e-02 6.36384658e+00] [ 2.33511929e-03 9.99993079e-01 2.89629029e-03 2.89997512e-01] [ 2.07272927e-02 -2.94407659e-03 9.99780832e-01 1.11090186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09463044 meters Centerline goodness [0,1] 0.3185013735966601 Centerline is valid? [False, False] Translation: X:6.36, Y:0.29, Z:0.11 [[ 9.99782483e-01 -2.32017623e-03 -2.07268962e-02 6.36420121e+00] [ 2.37962683e-03 9.99993124e-01 2.84407957e-03 2.89863942e-01] [ 2.07201549e-02 -2.89278321e-03 9.99781130e-01 1.10546601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12463044 meters Centerline goodness [0,1] 0.3170757920983621 Centerline is valid? [False, False] Translation: X:6.36, Y:0.29, Z:0.11 [[ 9.99782524e-01 -2.28891340e-03 -2.07283641e-02 6.36426858e+00] [ 2.35034246e-03 9.99992917e-01 2.93964967e-03 2.89219107e-01] [ 2.07214887e-02 -2.98772913e-03 9.99780823e-01 1.10485224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15463044 meters Centerline goodness [0,1] 0.3185547593791267 Centerline is valid? [False, False] Translation: X:6.36, Y:0.29, Z:0.11 [[ 9.99784064e-01 -2.26457997e-03 -2.06566556e-02 6.36400383e+00] [ 2.32734654e-03 9.99992746e-01 3.01503028e-03 2.88755071e-01] [ 2.06496779e-02 -3.06245442e-03 9.99782082e-01 1.10623105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18463044 meters Centerline goodness [0,1] 0.3184230477634572 Centerline is valid? [False, False] Translation: X:6.36, Y:0.29, Z:0.11 [[ 9.99784197e-01 -2.21435802e-03 -2.06556470e-02 6.36395921e+00] [ 2.28196141e-03 9.99992115e-01 3.24988102e-03 2.87377001e-01] [ 2.06482877e-02 -3.29631507e-03 9.99781367e-01 1.10769130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21463043999998 meters Centerline goodness [0,1] 0.32011300662827336 Centerline is valid? [False, False] Translation: X:6.36, Y:0.29, Z:0.11 [[ 9.99783337e-01 -2.24390383e-03 -2.06940382e-02 6.36402467e+00] [ 2.31372828e-03 9.99991709e-01 3.35080802e-03 2.86355233e-01] [ 2.06863478e-02 -3.39796241e-03 9.99780240e-01 1.10838607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24463043999998 meters Centerline goodness [0,1] 0.3182475762744802 Centerline is valid? [False, False] Translation: X:6.36, Y:0.28, Z:0.11 [[ 9.99780352e-01 -2.25292452e-03 -2.08367825e-02 6.36443310e+00] [ 2.32696759e-03 9.99991062e-01 3.52991637e-03 2.84908162e-01] [ 2.08286436e-02 -3.57762755e-03 9.99776659e-01 1.10760943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27463043999998 meters Centerline goodness [0,1] 0.3136028781908514 Centerline is valid? [False, False] Translation: X:6.37, Y:0.28, Z:0.11 [[ 9.99770012e-01 -2.11613037e-03 -2.13411650e-02 6.36589791e+00] [ 2.20401640e-03 9.99989185e-01 4.09546602e-03 2.81814430e-01] [ 2.13322677e-02 -4.14156039e-03 9.99763863e-01 1.10507647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30463043999998 meters Centerline goodness [0,1] 0.3175291073738681 Centerline is valid? [False, False] Translation: X:6.37, Y:0.28, Z:0.11 [[ 9.99767301e-01 -1.98437719e-03 -2.14803615e-02 6.36621582e+00] [ 2.07969807e-03 9.99988086e-01 4.41615344e-03 2.80428382e-01] [ 2.14713422e-02 -4.45979847e-03 9.99759517e-01 1.10566738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33463043999998 meters Centerline goodness [0,1] 0.31715259208142843 Centerline is valid? [False, False] Translation: X:6.37, Y:0.28, Z:0.11 [[ 9.99768840e-01 -1.88784424e-03 -2.14173340e-02 6.36609099e+00] [ 1.98984958e-03 9.99986775e-01 4.74243608e-03 2.78681627e-01] [ 2.14080978e-02 -4.78395709e-03 9.99759375e-01 1.10660431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36463043999998 meters Centerline goodness [0,1] 0.3153018209830313 Centerline is valid? [False, False] Translation: X:6.39, Y:0.27, Z:0.11 [[ 9.99762690e-01 5.64431559e-03 -2.10405511e-02 6.38505275e+00] [-5.57720239e-03 9.99979176e-01 3.24702452e-03 2.73940378e-01] [ 2.10584401e-02 -3.12890656e-03 9.99773350e-01 1.12581504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39463044 meters Centerline goodness [0,1] 0.3197352717804057 Centerline is valid? [False, False] Translation: X:6.36, Y:0.27, Z:0.11 [[ 9.99795434e-01 -3.41312341e-03 -1.99358913e-02 6.36188210e+00] [ 3.48837855e-03 9.99986917e-01 3.74130205e-03 2.73521291e-01] [ 1.99228609e-02 -3.81008064e-03 9.99794260e-01 1.11943809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42463044 meters Centerline goodness [0,1] 0.317638700510237 Centerline is valid? [False, False] Translation: X:6.38, Y:0.27, Z:0.11 [[ 9.99818301e-01 4.62714067e-03 -1.84919921e-02 6.38026754e+00] [-4.58034141e-03 9.99986202e-01 2.57233782e-03 2.70376404e-01] [ 1.85036395e-02 -2.48717080e-03 9.99825699e-01 1.13633388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45463044 meters Centerline goodness [0,1] 0.32310865081949425 Centerline is valid? [False, False] Translation: X:6.38, Y:0.27, Z:0.11 [[ 9.99819826e-01 4.71669583e-03 -1.83866379e-02 6.37990205e+00] [-4.66832794e-03 9.99985532e-01 2.67263415e-03 2.70333012e-01] [ 1.83989779e-02 -2.58631775e-03 9.99827379e-01 1.13871622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48463044 meters Centerline goodness [0,1] 0.3174049006168609 Centerline is valid? [False, False] Translation: X:6.40, Y:0.27, Z:0.11 [[ 9.99834334e-01 -1.09112995e-03 -1.81690403e-02 6.40146696e+00] [ 1.18146404e-03 9.99986992e-01 4.96187777e-03 2.74492502e-01] [ 1.81633899e-02 -4.98252182e-03 9.99822617e-01 1.14120747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51463044 meters Centerline goodness [0,1] 0.3230392051441966 Centerline is valid? [False, False] Translation: X:6.40, Y:0.27, Z:0.11 [[ 9.99835206e-01 -1.11048928e-03 -1.81198150e-02 6.40138372e+00] [ 1.20006363e-03 9.99987111e-01 4.93332276e-03 2.74435569e-01] [ 1.81141030e-02 -4.95425471e-03 9.99823652e-01 1.14038011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54463044 meters Centerline goodness [0,1] 0.3215568991113884 Centerline is valid? [False, False] Translation: X:6.40, Y:0.27, Z:0.11 [[ 9.99837062e-01 -1.08095488e-03 -1.80189031e-02 6.40112237e+00] [ 1.17175206e-03 9.99986667e-01 5.02920011e-03 2.73862318e-01] [ 1.80132265e-02 -5.04949435e-03 9.99824998e-01 1.14107746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57463044 meters Centerline goodness [0,1] 0.32074097869150875 Centerline is valid? [False, False] Translation: X:6.40, Y:0.27, Z:0.11 [[ 9.99838405e-01 -1.03023813e-03 -1.79471949e-02 6.40087959e+00] [ 1.12339769e-03 9.99985945e-01 5.18145051e-03 2.73085319e-01] [ 1.79416045e-02 -5.20077505e-03 9.99825510e-01 1.14212841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60463044 meters Centerline goodness [0,1] 0.32285379304355377 Centerline is valid? [False, False] Translation: X:6.38, Y:0.27, Z:0.11 [[ 9.99816307e-01 3.96079132e-03 -1.87527264e-02 6.38040557e+00] [-3.92605194e-03 9.99990509e-01 1.88895054e-03 2.67037158e-01] [ 1.87600302e-02 -1.81497938e-03 9.99822368e-01 1.13002621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63463044 meters Centerline goodness [0,1] 0.32267719267806017 Centerline is valid? [False, False] Translation: X:6.38, Y:0.27, Z:0.11 [[ 9.99808928e-01 3.81391858e-03 -1.91718842e-02 6.38165669e+00] [-3.77830644e-03 9.99991070e-01 1.89339781e-03 2.65806418e-01] [ 1.91789343e-02 -1.82059878e-03 9.99814410e-01 1.12629482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66463044 meters Centerline goodness [0,1] 0.3203465995828765 Centerline is valid? [False, False] Translation: X:6.38, Y:0.26, Z:0.11 [[ 9.99801654e-01 3.76822507e-03 -1.95564110e-02 6.38282993e+00] [-3.72971981e-03 9.99991034e-01 2.00503335e-03 2.64385585e-01] [ 1.95637911e-02 -1.93169573e-03 9.99806745e-01 1.12239292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.69463044 meters Centerline goodness [0,1] 0.31969654758588173 Centerline is valid? [False, False] Translation: X:6.38, Y:0.26, Z:0.11 [[ 9.99796775e-01 3.83342466e-03 -1.97917510e-02 6.38366637e+00] [-3.78998357e-03 9.99990327e-01 2.23195158e-03 2.63069627e-01] [ 1.98001156e-02 -2.15648758e-03 9.99801633e-01 1.11855544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72463044 meters Centerline goodness [0,1] 0.32228687620324903 Centerline is valid? [False, False] Translation: X:6.38, Y:0.26, Z:0.11 [[ 9.99794452e-01 3.98850133e-03 -1.98782630e-02 6.38413267e+00] [-3.93906119e-03 9.99989052e-01 2.52568060e-03 2.61961634e-01] [ 1.98881190e-02 -2.44685976e-03 9.99799218e-01 1.11471955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.75463044 meters Centerline goodness [0,1] 0.3223957772271895 Centerline is valid? [False, False] Translation: X:6.39, Y:0.26, Z:0.11 [[ 9.99789213e-01 4.11827093e-03 -2.01139161e-02 6.38511250e+00] [-4.06409136e-03 9.99988005e-01 2.73377072e-03 2.60833558e-01] [ 2.01249333e-02 -2.65144969e-03 9.99793957e-01 1.10900467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78463044 meters Centerline goodness [0,1] 0.32150570145127855 Centerline is valid? [False, False] Translation: X:6.39, Y:0.26, Z:0.11 [[ 9.99785266e-01 4.09723343e-03 -2.03134013e-02 6.38570512e+00] [-4.04291845e-03 9.99988144e-01 2.71419621e-03 2.60503592e-01] [ 2.03242812e-02 -2.63148796e-03 9.99789977e-01 1.10710092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.81463044 meters Centerline goodness [0,1] 0.3228440766550522 Centerline is valid? [False, False] Translation: X:6.39, Y:0.26, Z:0.11 [[ 9.99781009e-01 4.13535059e-03 -2.05142278e-02 6.38625202e+00] [-4.07832035e-03 9.99987704e-01 2.82109091e-03 2.59753094e-01] [ 2.05256417e-02 -2.73680952e-03 9.99785581e-01 1.10579874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84463044 meters Centerline goodness [0,1] 0.32211736630871024 Centerline is valid? [False, False] Translation: X:6.39, Y:0.26, Z:0.11 [[ 9.99773949e-01 4.26217707e-03 -2.08298852e-02 6.38720751e+00] [-4.19819194e-03 9.99986337e-01 3.11455845e-03 2.58408320e-01] [ 2.08428754e-02 -3.02640655e-03 9.99778183e-01 1.10234923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.87463044 meters Centerline goodness [0,1] 0.3167482734289807 Centerline is valid? [False, False] Translation: X:6.41, Y:0.26, Z:0.11 [[ 9.99776126e-01 -3.44820814e-03 -2.08760174e-02 6.40915109e+00] [ 3.53975155e-03 9.99984275e-01 4.34973655e-03 2.57986974e-01] [ 2.08606904e-02 -4.42265867e-03 9.99772610e-01 1.10642498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90463044 meters Centerline goodness [0,1] 0.321771265560166 Centerline is valid? [False, False] Translation: X:6.39, Y:0.25, Z:0.11 [[ 9.99840398e-01 7.95677495e-04 -1.78478493e-02 6.38992713e+00] [-7.61975403e-04 9.99997914e-01 1.89502076e-03 2.50039159e-01] [ 1.78493199e-02 -1.88111869e-03 9.99838919e-01 1.08149257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.93463044 meters Centerline goodness [0,1] 0.3203877235213205 Centerline is valid? [False, False] Translation: X:6.39, Y:0.25, Z:0.11 [[ 9.99840956e-01 8.35597998e-04 -1.78147193e-02 6.38937567e+00] [-7.95357876e-04 9.99997117e-01 2.26577860e-03 2.47353659e-01] [ 1.78165612e-02 -2.25124917e-03 9.99838738e-01 1.08943294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96463043999998 meters Centerline goodness [0,1] 0.3244444444444444 Centerline is valid? [False, False] Translation: X:6.39, Y:0.24, Z:0.11 [[ 9.99843713e-01 1.03588209e-03 -1.76487021e-02 6.38852569e+00] [-9.86746788e-04 9.99995614e-01 2.79255516e-03 2.44848796e-01] [ 1.76515175e-02 -2.77470392e-03 9.99840350e-01 1.09681109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99463043999998 meters Centerline goodness [0,1] 0.3208495529794242 Centerline is valid? [False, False] Translation: X:6.39, Y:0.24, Z:0.11 [[ 9.99850981e-01 1.50929599e-03 -1.71970282e-02 6.38686374e+00] [-1.44605700e-03 9.99992149e-01 3.68916271e-03 2.41348284e-01] [ 1.72024612e-02 -3.66374508e-03 9.99845314e-01 1.10723704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02463043999998 meters Centerline goodness [0,1] 0.3254570354107341 Centerline is valid? [False, False] Translation: X:6.34, Y:0.24, Z:0.11 [[ 9.99807321e-01 8.18672591e-04 -1.96125331e-02 6.34228843e+00] [-7.41836695e-04 9.99992023e-01 3.92464870e-03 2.36580985e-01] [ 1.96155897e-02 -3.90934320e-03 9.99799953e-01 1.11078343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05463043999998 meters Centerline goodness [0,1] 0.32567215958369466 Centerline is valid? [False, False] Translation: X:6.34, Y:0.24, Z:0.11 [[ 9.99801092e-01 8.03828835e-04 -1.99281149e-02 6.34303692e+00] [-7.26483639e-04 9.99992177e-01 3.88814554e-03 2.36381835e-01] [ 1.99310844e-02 -3.87289471e-03 9.99793855e-01 1.11010735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08463043999998 meters Centerline goodness [0,1] 0.3223601948863881 Centerline is valid? [False, False] Translation: X:6.34, Y:0.24, Z:0.11 [[ 9.99789784e-01 1.51660933e-03 -2.04471826e-02 6.34423998e+00] [-1.42975165e-03 9.99989896e-01 4.26185447e-03 2.37067612e-01] [ 2.04534396e-02 -4.23172417e-03 9.99781851e-01 1.10859263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11463043999998 meters Centerline goodness [0,1] 0.3223601948863881 Centerline is valid? [False, False] Translation: X:6.34, Y:0.24, Z:0.11 [[ 9.99789784e-01 1.51660933e-03 -2.04471826e-02 6.34423998e+00] [-1.42975165e-03 9.99989896e-01 4.26185447e-03 2.37067612e-01] [ 2.04534396e-02 -4.23172417e-03 9.99781851e-01 1.10859263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14463044 meters Centerline goodness [0,1] 0.32109913374089993 Centerline is valid? [False, False] Translation: X:6.34, Y:0.24, Z:0.11 [[ 9.99795262e-01 1.83216191e-03 -2.01513762e-02 6.34342734e+00] [-1.74446918e-03 9.99988937e-01 4.36841699e-03 2.37974050e-01] [ 2.01591569e-02 -4.33236916e-03 9.99787397e-01 1.11022200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17463044 meters Centerline goodness [0,1] 0.32227529121912213 Centerline is valid? [False, False] Translation: X:6.34, Y:0.24, Z:0.11 [[ 9.99803301e-01 1.98188104e-03 -1.97340370e-02 6.34230572e+00] [-1.89767657e-03 9.99989020e-01 4.28477874e-03 2.39197475e-01] [ 1.97423122e-02 -4.24648711e-03 9.99796083e-01 1.11189254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20463044 meters Centerline goodness [0,1] 0.3237026647966339 Centerline is valid? [False, False] Translation: X:6.34, Y:0.24, Z:0.11 [[ 9.99812174e-01 1.87510947e-03 -1.92899312e-02 6.34102029e+00] [-1.80255272e-03 9.99991238e-01 3.77807898e-03 2.41422984e-01] [ 1.92968465e-02 -3.74259824e-03 9.99806794e-01 1.11499247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23463044 meters Centerline goodness [0,1] 0.323705545346449 Centerline is valid? [False, False] Translation: X:6.34, Y:0.24, Z:0.11 [[ 9.99811126e-01 1.80100376e-03 -1.93511930e-02 6.34122210e+00] [-1.73268676e-03 9.99992210e-01 3.54656319e-03 2.42590001e-01] [ 1.93574296e-02 -3.51236378e-03 9.99806458e-01 1.11353163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26463044 meters Centerline goodness [0,1] 0.3198398766964936 Centerline is valid? [False, False] Translation: X:6.34, Y:0.24, Z:0.11 [[ 9.99808103e-01 1.82410572e-03 -1.95045940e-02 6.34170104e+00] [-1.75711700e-03 9.99992501e-01 3.45109615e-03 2.43657543e-01] [ 1.95107429e-02 -3.41616204e-03 9.99803811e-01 1.11125065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29463044 meters Centerline goodness [0,1] 0.32029455333948775 Centerline is valid? [False, False] Translation: X:6.34, Y:0.24, Z:0.11 [[ 9.99806474e-01 1.80033324e-03 -1.95901579e-02 6.34205464e+00] [-1.73558659e-03 9.99992977e-01 3.32156023e-03 2.44585512e-01] [ 1.95960002e-02 -3.28691701e-03 9.99802577e-01 1.10896464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32463044 meters Centerline goodness [0,1] 0.32316889596146403 Centerline is valid? [False, False] Translation: X:6.34, Y:0.25, Z:0.11 [[ 9.99806209e-01 1.68197422e-03 -1.96141803e-02 6.34206727e+00] [-1.62087793e-03 9.99993787e-01 3.13038544e-03 2.45203613e-01] [ 1.96193237e-02 -3.09798661e-03 9.99802723e-01 1.10960245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35463044 meters Centerline goodness [0,1] 0.3228478602319427 Centerline is valid? [False, False] Translation: X:6.34, Y:0.25, Z:0.11 [[ 9.99808137e-01 1.35034704e-03 -1.95414034e-02 6.34141171e+00] [-1.30206460e-03 9.99996069e-01 2.48328917e-03 2.47932996e-01] [ 1.95446799e-02 -2.45736855e-03 9.99805965e-01 1.11636987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38463044 meters Centerline goodness [0,1] 0.32568025376000687 Centerline is valid? [False, False] Translation: X:6.34, Y:0.25, Z:0.11 [[ 9.99810833e-01 1.29416853e-03 -1.94068098e-02 6.34114100e+00] [-1.25252595e-03 9.99996888e-01 2.15777314e-03 2.50294598e-01] [ 1.94095419e-02 -2.13305743e-03 9.99809342e-01 1.11523381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41463044 meters Centerline goodness [0,1] 0.321210046638997 Centerline is valid? [False, False] Translation: X:6.34, Y:0.26, Z:0.11 [[ 9.99790077e-01 4.67063144e-03 -1.99496269e-02 6.34301551e+00] [-4.57705662e-03 9.99978321e-01 4.73364262e-03 2.56631828e-01] [ 1.99713035e-02 -4.64133835e-03 9.99789780e-01 1.10651514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44463044 meters Centerline goodness [0,1] 0.3218090842427641 Centerline is valid? [False, False] Translation: X:6.34, Y:0.26, Z:0.11 [[ 9.99786805e-01 4.45078062e-03 -2.01627403e-02 6.34363001e+00] [-4.37089066e-03 9.99982429e-01 4.00459543e-03 2.60745473e-01] [ 2.01802096e-02 -3.91561254e-03 9.99788691e-01 1.10320313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47463044 meters Centerline goodness [0,1] 0.3239223158031481 Centerline is valid? [False, False] Translation: X:6.34, Y:0.26, Z:0.11 [[ 9.99783495e-01 4.19843540e-03 -2.03798012e-02 6.34399443e+00] [-4.13264036e-03 9.99986116e-01 3.26948634e-03 2.64817174e-01] [ 2.03932450e-02 -3.18455609e-03 9.99786964e-01 1.10393928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50463044 meters Centerline goodness [0,1] 0.3232323232323232 Centerline is valid? [False, False] Translation: X:6.34, Y:0.27, Z:0.11 [[ 9.99781833e-01 3.97520938e-03 -2.05057110e-02 6.34408210e+00] [-3.92233709e-03 9.99988881e-01 2.61799315e-03 2.68698778e-01] [ 2.05158901e-02 -2.53699168e-03 9.99786308e-01 1.10587629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.53463044 meters Centerline goodness [0,1] 0.32681697727963854 Centerline is valid? [False, False] Translation: X:6.32, Y:0.28, Z:0.11 [[ 9.99810432e-01 -3.99160458e-03 -1.90569504e-02 6.32328072e+00] [ 4.04599981e-03 9.99987848e-01 2.81664906e-03 2.80022427e-01] [ 1.90454759e-02 -2.89321953e-03 9.99814432e-01 1.09204345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56463044 meters Centerline goodness [0,1] 0.32115355579042726 Centerline is valid? [False, False] Translation: X:6.34, Y:0.28, Z:0.11 [[ 9.99821517e-01 3.69479171e-03 -1.85279031e-02 6.34216453e+00] [-3.67532790e-03 9.99992658e-01 1.08445447e-03 2.81552933e-01] [ 1.85317739e-02 -1.01616479e-03 9.99827756e-01 1.10439562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.59463044 meters Centerline goodness [0,1] 0.31968335472828413 Centerline is valid? [False, False] Translation: X:6.36, Y:0.29, Z:0.11 [[ 9.99797144e-01 -3.32720480e-03 -1.98645751e-02 6.35999038e+00] [ 3.35990427e-03 9.99993055e-01 1.61297192e-03 2.90478106e-01] [ 1.98590704e-02 -1.67938779e-03 9.99801379e-01 1.12851865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62463044 meters Centerline goodness [0,1] 0.32559296015221295 Centerline is valid? [False, False] Translation: X:6.36, Y:0.29, Z:0.11 [[ 9.99794265e-01 -4.01142080e-03 -1.98830449e-02 6.35922818e+00] [ 4.02960937e-03 9.99991498e-01 8.74797711e-04 2.92875102e-01] [ 1.98793667e-02 -9.54738639e-04 9.99801930e-01 1.14112875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.65463044 meters Centerline goodness [0,1] 0.325798504559796 Centerline is valid? [False, False] Translation: X:6.36, Y:0.29, Z:0.11 [[ 9.99790260e-01 -4.14240254e-03 -2.00568085e-02 6.35947483e+00] [ 4.15960991e-03 9.99991016e-01 8.16289223e-04 2.92959245e-01] [ 2.00532469e-02 -8.99546514e-04 9.99798509e-01 1.14435873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68463044 meters Centerline goodness [0,1] 0.3229157704551321 Centerline is valid? [False, False] Translation: X:6.36, Y:0.29, Z:0.11 [[ 9.99779407e-01 -4.26767279e-03 -2.05651403e-02 6.36075064e+00] [ 4.28444588e-03 9.99990524e-01 7.71617076e-04 2.92851898e-01] [ 2.05616524e-02 -8.59557094e-04 9.99788217e-01 1.14411332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71463043999998 meters Centerline goodness [0,1] 0.3256591723126052 Centerline is valid? [False, False] Translation: X:6.36, Y:0.29, Z:0.11 [[ 9.99770507e-01 -4.41151910e-03 -2.09635622e-02 6.36184870e+00] [ 4.42883207e-03 9.99989889e-01 7.79504581e-04 2.92237139e-01] [ 2.09599115e-02 -8.72169787e-04 9.99779937e-01 1.14244717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74463043999998 meters Centerline goodness [0,1] 0.3248746195722063 Centerline is valid? [False, False] Translation: X:6.36, Y:0.29, Z:0.11 [[ 9.99757346e-01 -4.92574882e-03 -2.14705673e-02 6.36304823e+00] [ 4.94300587e-03 9.99987501e-01 7.50756968e-04 2.90115927e-01] [ 2.14666009e-02 -8.56703935e-04 9.99769199e-01 1.14491849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77463043999998 meters Centerline goodness [0,1] 0.32812533672391875 Centerline is valid? [False, False] Translation: X:6.36, Y:0.29, Z:0.12 [[ 9.99755082e-01 -4.93153711e-03 -2.15744329e-02 6.36297167e+00] [ 4.95375909e-03 9.99987253e-01 9.76692332e-04 2.88616440e-01] [ 2.15693413e-02 -1.08332767e-03 9.99766768e-01 1.15062413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80463043999998 meters Centerline goodness [0,1] 0.32794257545619654 Centerline is valid? [False, False] Translation: X:6.36, Y:0.29, Z:0.12 [[ 9.99754484e-01 -4.88192641e-03 -2.16133686e-02 6.36281650e+00] [ 4.90858258e-03 9.99987256e-01 1.18043817e-03 2.87484462e-01] [ 2.16073304e-02 -1.28623936e-03 9.99765707e-01 1.15513333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83463043999998 meters Centerline goodness [0,1] 0.3241649035070847 Centerline is valid? [False, False] Translation: X:6.38, Y:0.28, Z:0.12 [[ 9.99778888e-01 3.06069707e-03 -2.08040054e-02 6.38230439e+00] [-3.06356252e-03 9.99995302e-01 -1.05866513e-04 2.84896069e-01] [ 2.08035837e-02 1.69577476e-04 9.99783568e-01 1.17099309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86463043999998 meters Centerline goodness [0,1] 0.32701757397592435 Centerline is valid? [False, False] Translation: X:6.38, Y:0.29, Z:0.12 [[ 9.99780566e-01 3.03447922e-03 -2.07270967e-02 6.38225209e+00] [-3.04338344e-03 9.99995290e-01 -3.98062934e-04 2.86433851e-01] [ 2.07257911e-02 4.61056088e-04 9.99785091e-01 1.16914898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89463044 meters Centerline goodness [0,1] 0.3269441284423362 Centerline is valid? [False, False] Translation: X:6.38, Y:0.29, Z:0.12 [[ 9.99778341e-01 2.99880329e-03 -2.08392728e-02 6.38273567e+00] [-3.01349813e-03 9.99995232e-01 -6.73784074e-04 2.88045376e-01] [ 2.08371529e-02 7.36433834e-04 9.99782612e-01 1.16521123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92463044 meters Centerline goodness [0,1] 0.3281361349256052 Centerline is valid? [False, False] Translation: X:6.38, Y:0.29, Z:0.12 [[ 9.99775216e-01 3.02861834e-03 -2.09843752e-02 6.38316318e+00] [-3.04685299e-03 9.99995008e-01 -8.37046116e-04 2.89410470e-01] [ 2.09817354e-02 9.00794269e-04 9.99779453e-01 1.16328543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95463044 meters Centerline goodness [0,1] 0.32256408061962427 Centerline is valid? [False, False] Translation: X:6.40, Y:0.30, Z:0.12 [[ 9.99765572e-01 -3.56958117e-03 -2.13555443e-02 6.40105021e+00] [ 3.58572606e-03 9.99993314e-01 7.17760428e-04 2.96269882e-01] [ 2.13528394e-02 -7.94167297e-04 9.99771687e-01 1.18396315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98463044 meters Centerline goodness [0,1] 0.32767911026812657 Centerline is valid? [False, False] Translation: X:6.40, Y:0.30, Z:0.12 [[ 9.99772141e-01 -3.55402030e-03 -2.10483814e-02 6.39973026e+00] [ 3.57349414e-03 9.99993221e-01 8.87654027e-04 2.95117525e-01] [ 2.10450839e-02 -9.62668035e-04 9.99778064e-01 1.19375472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01463044 meters Centerline goodness [0,1] 0.3275995694294941 Centerline is valid? [False, False] Translation: X:6.40, Y:0.29, Z:0.12 [[ 9.99776609e-01 -3.70631660e-03 -2.08085278e-02 6.39877693e+00] [ 3.72805677e-03 9.99992545e-01 1.00607724e-03 2.93272582e-01] [ 2.08046438e-02 -1.08342786e-03 9.99782973e-01 1.20064773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04463044 meters Centerline goodness [0,1] 0.32840528709981975 Centerline is valid? [False, False] Translation: X:6.40, Y:0.29, Z:0.12 [[ 9.99778175e-01 -3.80906120e-03 -2.07145223e-02 6.39846341e+00] [ 3.83587732e-03 9.99991856e-01 1.25497691e-03 2.90760336e-01] [ 2.07095733e-02 -1.33415689e-03 9.99784644e-01 1.20385051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07463044 meters Centerline goodness [0,1] 0.32663043478260867 Centerline is valid? [False, False] Translation: X:6.38, Y:0.28, Z:0.12 [[ 9.99809836e-01 1.88393120e-03 -1.94098759e-02 6.38160825e+00] [-1.87910913e-03 9.99998199e-01 2.66669389e-04 2.78151954e-01] [ 1.94103434e-02 -2.30145402e-04 9.99811575e-01 1.17708799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10463044 meters Centerline goodness [0,1] 0.32605891206192217 Centerline is valid? [False, False] Translation: X:6.40, Y:0.28, Z:0.12 [[ 9.99793343e-01 -5.67750870e-03 -1.95201717e-02 6.40265867e+00] [ 5.71046950e-03 9.99982361e-01 1.63322519e-03 2.79246117e-01] [ 1.95105547e-02 -1.74435701e-03 9.99808129e-01 1.18671562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13463044 meters Centerline goodness [0,1] 0.3254580728605303 Centerline is valid? [False, False] Translation: X:6.40, Y:0.28, Z:0.12 [[ 9.99788409e-01 -5.59398852e-03 -1.97950477e-02 6.40322270e+00] [ 5.63735359e-03 9.99981830e-01 2.13557984e-03 2.75982489e-01] [ 1.97827416e-02 -2.24671965e-03 9.99801778e-01 1.18895862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16463044 meters Centerline goodness [0,1] 0.32273439680529015 Centerline is valid? [False, False] Translation: X:6.42, Y:0.26, Z:0.12 [[ 9.99740330e-01 -2.49141395e-04 -2.27861792e-02 6.42247368e+00] [ 2.57411005e-04 9.99999902e-01 3.59989806e-04 2.64169278e-01] [ 2.27860873e-02 -3.65761740e-04 9.99740296e-01 1.22338764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.19463044 meters Centerline goodness [0,1] 0.32402839089414004 Centerline is valid? [False, False] Translation: X:6.42, Y:0.26, Z:0.12 [[ 9.99736530e-01 -1.38340493e-04 -2.29532614e-02 6.42289902e+00] [ 1.58972059e-04 9.99999585e-01 8.97028930e-04 2.60618194e-01] [ 2.29531278e-02 -9.00441517e-04 9.99736137e-01 1.22362858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22463044 meters Centerline goodness [0,1] 0.32360102566312565 Centerline is valid? [False, False] Translation: X:6.42, Y:0.26, Z:0.12 [[ 9.99730892e-01 5.16949850e-05 -2.31978852e-02 6.42359940e+00] [-1.54819849e-05 9.99998781e-01 1.56122436e-03 2.56713212e-01] [ 2.31979377e-02 -1.56044507e-03 9.99729674e-01 1.22290880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.25463044 meters Centerline goodness [0,1] 0.3237091584425681 Centerline is valid? [False, False] Translation: X:6.42, Y:0.25, Z:0.12 [[ 9.99729741e-01 2.69094763e-04 -2.32459252e-02 6.42376335e+00] [-2.15412108e-04 9.99997305e-01 2.31180936e-03 2.52313920e-01] [ 2.32464846e-02 -2.30617712e-03 9.99727104e-01 1.22326916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28463044 meters Centerline goodness [0,1] 0.3212601477206658 Centerline is valid? [False, False] Translation: X:6.42, Y:0.25, Z:0.12 [[ 9.99728169e-01 3.90799657e-04 -2.33117146e-02 6.42375591e+00] [-3.21342144e-04 9.99995499e-01 2.98318276e-03 2.47722334e-01] [ 2.33127755e-02 -2.97488080e-03 9.99723794e-01 1.22683715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.31463044 meters Centerline goodness [0,1] 0.32173931771192277 Centerline is valid? [False, False] Translation: X:6.42, Y:0.24, Z:0.12 [[ 9.99731478e-01 -2.54116842e-03 -2.30328837e-02 6.42190255e+00] [ 2.56844083e-03 9.99996035e-01 1.15455820e-03 2.38911525e-01] [ 2.30298584e-02 -1.21340678e-03 9.99734041e-01 1.24341059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34463044 meters Centerline goodness [0,1] 0.32120649451593397 Centerline is valid? [False, False] Translation: X:6.42, Y:0.24, Z:0.12 [[ 9.99731459e-01 -2.39372069e-03 -2.30495179e-02 6.42173986e+00] [ 2.43566884e-03 9.99995428e-01 1.79201231e-03 2.35109137e-01] [ 2.30451229e-02 -1.84767207e-03 9.99732718e-01 1.24742388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.37463044 meters Centerline goodness [0,1] 0.32298717976623204 Centerline is valid? [False, False] Translation: X:6.42, Y:0.23, Z:0.12 [[ 9.99730421e-01 -2.21943586e-03 -2.31119004e-02 6.42188655e+00] [ 2.27441576e-03 9.99994646e-01 2.35284196e-03 2.32112735e-01] [ 2.31065547e-02 -2.40477375e-03 9.99730116e-01 1.24807165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40463044 meters Centerline goodness [0,1] 0.32123840604603227 Centerline is valid? [False, False] Translation: X:6.44, Y:0.23, Z:0.13 [[ 9.99711116e-01 5.71098503e-03 -2.33467194e-02 6.44195585e+00] [-5.67846123e-03 9.99982813e-01 1.45913730e-03 2.26003789e-01] [ 2.33546512e-02 -1.32614234e-03 9.99726363e-01 1.26185743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.43463044 meters Centerline goodness [0,1] 0.3184283009123774 Centerline is valid? [False, False] Translation: X:6.44, Y:0.22, Z:0.13 [[ 9.99710319e-01 5.83812285e-03 -2.33493894e-02 6.44224133e+00] [-5.79218930e-03 9.99981156e-01 2.03437526e-03 2.21560387e-01] [ 2.33608263e-02 -1.89854186e-03 9.99725296e-01 1.25848700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46463043999998 meters Centerline goodness [0,1] 0.3190088372898978 Centerline is valid? [False, False] Translation: X:6.44, Y:0.22, Z:0.13 [[ 9.99712886e-01 5.91555924e-03 -2.32196220e-02 6.44185152e+00] [-5.86152632e-03 9.99979954e-01 2.39440876e-03 2.19311375e-01] [ 2.32333208e-02 -2.25761887e-03 9.99727521e-01 1.26069855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49463043999998 meters Centerline goodness [0,1] 0.31987082884822393 Centerline is valid? [False, False] Translation: X:6.46, Y:0.22, Z:0.13 [[ 9.99731930e-01 -1.53060531e-03 -2.31025019e-02 6.46084121e+00] [ 1.61666117e-03 9.99991823e-01 3.70674093e-03 2.21768683e-01] [ 2.30966395e-02 -3.74309618e-03 9.99726230e-01 1.28139056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52463043999998 meters Centerline goodness [0,1] 0.3184094508410735 Centerline is valid? [False, False] Translation: X:6.46, Y:0.22, Z:0.13 [[ 9.99717814e-01 -1.63555848e-03 -2.36984532e-02 6.46239905e+00] [ 1.73263985e-03 9.99990190e-01 4.07657356e-03 2.18624732e-01] [ 2.36915533e-02 -4.11648409e-03 9.99710841e-01 1.27969505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55463043999998 meters Centerline goodness [0,1] 0.3172802078822001 Centerline is valid? [False, False] Translation: X:6.45, Y:0.21, Z:0.12 [[ 9.99702201e-01 4.91573656e-03 -2.39028022e-02 6.44633779e+00] [-4.85768603e-03 9.99985111e-01 2.48606631e-03 2.11854745e-01] [ 2.39146672e-02 -2.36921365e-03 9.99711196e-01 1.24867619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58463043999998 meters Centerline goodness [0,1] 0.31756273953619296 Centerline is valid? [False, False] Translation: X:6.45, Y:0.21, Z:0.12 [[ 9.99693333e-01 4.87659961e-03 -2.42787660e-02 6.44765266e+00] [-4.81623480e-03 9.99985165e-01 2.54417546e-03 2.11234536e-01] [ 2.42908128e-02 -2.42646301e-03 9.99701990e-01 1.24250634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61463043999998 meters Centerline goodness [0,1] 0.315239589827375 Centerline is valid? [False, False] Translation: X:6.45, Y:0.21, Z:0.12 [[ 9.99683744e-01 4.90932643e-03 -2.46639715e-02 6.44933915e+00] [-4.84699007e-03 9.99984908e-01 2.58657283e-03 2.11560497e-01] [ 2.46762976e-02 -2.46620878e-03 9.99692452e-01 1.23163181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64463044 meters Centerline goodness [0,1] 0.3130854202105898 Centerline is valid? [False, False] Translation: X:6.45, Y:0.21, Z:0.12 [[ 9.99684244e-01 4.90183071e-03 -2.46451598e-02 6.44949627e+00] [-4.84157170e-03 9.99985144e-01 2.50414057e-03 2.12259714e-01] [ 2.46570685e-02 -2.38402857e-03 9.99693126e-01 1.22882283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67463044 meters Centerline goodness [0,1] 0.3135215134485865 Centerline is valid? [False, False] Translation: X:6.45, Y:0.21, Z:0.12 [[ 9.99683414e-01 4.84904405e-03 -2.46892287e-02 6.44964247e+00] [-4.79160028e-03 9.99985675e-01 2.38530145e-03 2.12988253e-01] [ 2.47004415e-02 -2.26624539e-03 9.99692329e-01 1.22842803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70463044 meters Centerline goodness [0,1] 0.31322973901098905 Centerline is valid? [False, False] Translation: X:6.45, Y:0.21, Z:0.12 [[ 9.99677778e-01 4.63644445e-03 -2.49568489e-02 6.45008415e+00] [-4.58477595e-03 9.99987227e-01 2.12713538e-03 2.13721432e-01] [ 2.49663925e-02 -2.01202841e-03 9.99686266e-01 1.23105480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73463044 meters Centerline goodness [0,1] 0.3170267934312878 Centerline is valid? [False, False] Translation: X:6.45, Y:0.21, Z:0.12 [[ 9.99670590e-01 4.51346711e-03 -2.52653938e-02 6.45087764e+00] [-4.46263613e-03 9.99987904e-01 2.06790456e-03 2.13499749e-01] [ 2.52744216e-02 -1.95447311e-03 9.99678640e-01 1.23002818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76463044 meters Centerline goodness [0,1] 0.3121090548293861 Centerline is valid? [False, False] Translation: X:6.45, Y:0.21, Z:0.12 [[ 9.99662836e-01 4.31146463e-03 -2.56051788e-02 6.45198123e+00] [-4.26260046e-03 9.99988989e-01 1.96264576e-03 2.13127268e-01] [ 2.56133587e-02 -1.85283938e-03 9.99670207e-01 1.22570173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79463044 meters Centerline goodness [0,1] 0.31279032430696774 Centerline is valid? [False, False] Translation: X:6.47, Y:0.22, Z:0.12 [[ 9.99661527e-01 -3.90893829e-03 -2.57206562e-02 6.47253676e+00] [ 3.97776982e-03 9.99988642e-01 2.62549893e-03 2.16472039e-01] [ 2.57101011e-02 -2.72692112e-03 9.99665721e-01 1.24362535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82463044 meters Centerline goodness [0,1] 0.315623367577921 Centerline is valid? [False, False] Translation: X:6.45, Y:0.21, Z:0.12 [[ 9.99693327e-01 3.41513410e-03 -2.45273020e-02 6.45251134e+00] [-3.36481364e-03 9.99992150e-01 2.09258831e-03 2.10971632e-01] [ 2.45342559e-02 -2.00941677e-03 9.99696970e-01 1.23114707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85463044 meters Centerline goodness [0,1] 0.3136887856097771 Centerline is valid? [False, False] Translation: X:6.47, Y:0.21, Z:0.12 [[ 9.99715070e-01 -4.06976107e-03 -2.35205298e-02 6.47183141e+00] [ 4.14791201e-03 9.99986035e-01 3.27483734e-03 2.14732412e-01] [ 2.35068735e-02 -3.37146533e-03 9.99717990e-01 1.24841375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88463044 meters Centerline goodness [0,1] 0.3145169925262865 Centerline is valid? [False, False] Translation: X:6.47, Y:0.21, Z:0.12 [[ 9.99716352e-01 -4.09827019e-03 -2.34610271e-02 6.47165260e+00] [ 4.17871957e-03 9.99985553e-01 3.38106725e-03 2.13917365e-01] [ 2.34468316e-02 -3.47814527e-03 9.99719035e-01 1.24976239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91463044 meters Centerline goodness [0,1] 0.31568016614745587 Centerline is valid? [False, False] Translation: X:6.46, Y:0.21, Z:0.12 [[ 9.99787829e-01 1.01485462e-03 -2.05734332e-02 6.45586986e+00] [-9.67283100e-04 9.99996836e-01 2.32209835e-03 2.08000773e-01] [ 2.05757247e-02 -2.30170533e-03 9.99785648e-01 1.22012048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94463044 meters Centerline goodness [0,1] 0.3159737985602179 Centerline is valid? [False, False] Translation: X:6.45, Y:0.21, Z:0.12 [[ 9.99796496e-01 8.16378492e-04 -2.01568871e-02 6.45431501e+00] [-7.66201008e-04 9.99996589e-01 2.49694429e-03 2.05615854e-01] [ 2.01588568e-02 -2.48099193e-03 9.99793711e-01 1.22993546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.97463044 meters Centerline goodness [0,1] 0.316354119351978 Centerline is valid? [False, False] Translation: X:6.45, Y:0.20, Z:0.12 [[ 9.99797546e-01 8.60774289e-04 -2.01028754e-02 6.45405032e+00] [-8.04876522e-04 9.99995788e-01 2.78851114e-03 2.03774326e-01] [ 2.01051910e-02 -2.77176626e-03 9.99794028e-01 1.23193192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00463044 meters Centerline goodness [0,1] 0.3173534331081521 Centerline is valid? [False, False] Translation: X:6.45, Y:0.20, Z:0.12 [[ 9.99796926e-01 8.35599034e-04 -2.01347732e-02 6.45401969e+00] [-7.74870228e-04 9.99995128e-01 3.02372871e-03 2.01892082e-01] [ 2.01372017e-02 -3.00751283e-03 9.99792703e-01 1.23389281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.03463044 meters Centerline goodness [0,1] 0.3173534331081521 Centerline is valid? [False, False] Translation: X:6.45, Y:0.20, Z:0.12 [[ 9.99796926e-01 8.35599034e-04 -2.01347732e-02 6.45401969e+00] [-7.74870228e-04 9.99995128e-01 3.02372871e-03 2.01892082e-01] [ 2.01372017e-02 -3.00751283e-03 9.99792703e-01 1.23389281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06463044 meters Centerline goodness [0,1] 0.31735451338541776 Centerline is valid? [False, False] Translation: X:6.45, Y:0.20, Z:0.12 [[ 9.99808669e-01 4.91160611e-04 -1.95546305e-02 6.45229642e+00] [-4.28334842e-04 9.99994734e-01 3.21689210e-03 1.97726209e-01] [ 1.95561075e-02 -3.20790068e-03 9.99803615e-01 1.24083228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.09463044 meters Centerline goodness [0,1] 0.3170195808112358 Centerline is valid? [False, False] Translation: X:6.45, Y:0.20, Z:0.12 [[ 9.99812363e-01 4.97596532e-04 -1.93646807e-02 6.45145232e+00] [-4.31995751e-04 9.99994155e-01 3.39168676e-03 1.96578100e-01] [ 1.93662552e-02 -3.38268489e-03 9.99806734e-01 1.24721920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12463044 meters Centerline goodness [0,1] 0.3199275440450262 Centerline is valid? [False, False] Translation: X:6.45, Y:0.20, Z:0.13 [[ 9.99814344e-01 5.57996196e-04 -1.92604917e-02 6.45075243e+00] [-4.89063307e-04 9.99993460e-01 3.58350338e-03 1.95626128e-01] [ 1.92623653e-02 -3.57341848e-03 9.99808078e-01 1.25401575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.15463044 meters Centerline goodness [0,1] 0.31709817995385803 Centerline is valid? [False, False] Translation: X:6.45, Y:0.19, Z:0.13 [[ 9.99814201e-01 5.27480920e-04 -1.92687846e-02 6.45056355e+00] [-4.55175876e-04 9.99992840e-01 3.75663748e-03 1.94337407e-01] [ 1.92706282e-02 -3.74716881e-03 9.99807282e-01 1.25794239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18463044 meters Centerline goodness [0,1] 0.3195039410555175 Centerline is valid? [False, False] Translation: X:6.45, Y:0.19, Z:0.13 [[ 9.99814118e-01 5.50060618e-04 -1.92724493e-02 6.45054060e+00] [-4.77045715e-04 9.99992693e-01 3.79295632e-03 1.94270922e-01] [ 1.92743948e-02 -3.78305744e-03 9.99807074e-01 1.25854048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21463043999998 meters Centerline goodness [0,1] 0.32013713694288115 Centerline is valid? [False, False] Translation: X:6.45, Y:0.19, Z:0.13 [[ 9.99815937e-01 5.66158081e-04 -1.91773704e-02 6.45027010e+00] [-4.93897824e-04 9.99992762e-01 3.77252279e-03 1.94609741e-01] [ 1.91793674e-02 -3.76235675e-03 9.99808980e-01 1.25964688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24463043999998 meters Centerline goodness [0,1] 0.319044558697515 Centerline is valid? [False, False] Translation: X:6.45, Y:0.20, Z:0.13 [[ 9.99816510e-01 5.27472044e-04 -1.91485567e-02 6.45033146e+00] [-4.57555031e-04 9.99993214e-01 3.65549170e-03 1.95415627e-01] [ 1.91503550e-02 -3.64605943e-03 9.99809967e-01 1.25763715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27463043999998 meters Centerline goodness [0,1] 0.31860750500548984 Centerline is valid? [False, False] Translation: X:6.45, Y:0.20, Z:0.13 [[ 9.99814242e-01 4.61734704e-04 -1.92683147e-02 6.45091012e+00] [-3.94363616e-04 9.99993797e-01 3.50012347e-03 1.96177355e-01] [ 1.92698113e-02 -3.49187457e-03 9.99808222e-01 1.25372945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30463043999998 meters Centerline goodness [0,1] 0.3178978874766841 Centerline is valid? [False, False] Translation: X:6.45, Y:0.20, Z:0.12 [[ 9.99800850e-01 6.92665145e-05 -1.99563593e-02 6.45304807e+00] [-1.04957809e-05 9.99995663e-01 2.94505238e-03 1.97879399e-01] [ 1.99564768e-02 -2.94425641e-03 9.99796514e-01 1.24494343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33463043999998 meters Centerline goodness [0,1] 0.3196852783076123 Centerline is valid? [False, False] Translation: X:6.45, Y:0.20, Z:0.12 [[ 9.99793932e-01 -4.89349984e-05 -2.03000417e-02 6.45393446e+00] [ 1.04111167e-04 9.99996304e-01 2.71698436e-03 1.99024653e-01] [ 2.02998337e-02 -2.71853793e-03 9.99790241e-01 1.24325135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36463043999998 meters Centerline goodness [0,1] 0.31449531021426724 Centerline is valid? [False, False] Translation: X:6.46, Y:0.20, Z:0.12 [[ 9.99779866e-01 -1.48302617e-04 -2.09808785e-02 6.45580709e+00] [ 1.98746557e-04 9.99997095e-01 2.40221685e-03 2.01810805e-01] [ 2.09804612e-02 -2.40585792e-03 9.99776991e-01 1.23844113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39463044 meters Centerline goodness [0,1] 0.3145985086849705 Centerline is valid? [False, False] Translation: X:6.46, Y:0.20, Z:0.12 [[ 9.99774368e-01 -2.43215612e-04 -2.12403822e-02 6.45658941e+00] [ 2.90128791e-04 9.99997526e-01 2.20562501e-03 2.02980353e-01] [ 2.12397932e-02 -2.21128980e-03 9.99771965e-01 1.23590929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42463044 meters Centerline goodness [0,1] 0.31559732123568807 Centerline is valid? [False, False] Translation: X:6.46, Y:0.20, Z:0.12 [[ 9.99770813e-01 -4.17610834e-04 -2.14043716e-02 6.45701969e+00] [ 4.58883834e-04 9.99998045e-01 1.92337559e-03 2.04176595e-01] [ 2.14035265e-02 -1.93275689e-03 9.99769050e-01 1.23537556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45463044 meters Centerline goodness [0,1] 0.317027138425494 Centerline is valid? [False, False] Translation: X:6.46, Y:0.21, Z:0.12 [[ 9.99771495e-01 -5.85731755e-04 -2.13685401e-02 6.45674026e+00] [ 6.20790269e-04 9.99998472e-01 1.63406368e-03 2.05447748e-01] [ 2.13675503e-02 -1.64695567e-03 9.99770331e-01 1.23835974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48463044 meters Centerline goodness [0,1] 0.31660298339917536 Centerline is valid? [False, False] Translation: X:6.46, Y:0.21, Z:0.12 [[ 9.99772363e-01 -7.56511346e-04 -2.13225175e-02 6.45653595e+00] [ 7.85876797e-04 9.99998754e-01 1.36885798e-03 2.06596087e-01] [ 2.13214554e-02 -1.38530325e-03 9.99771712e-01 1.24039732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51463044 meters Centerline goodness [0,1] 0.31899672285646963 Centerline is valid? [False, False] Translation: X:6.46, Y:0.21, Z:0.12 [[ 9.99778189e-01 -9.41260039e-04 -2.10401052e-02 6.45558352e+00] [ 9.62448202e-04 9.99999040e-01 9.96933458e-04 2.09278208e-01] [ 2.10391467e-02 -1.01696234e-03 9.99778135e-01 1.24533710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54463044 meters Centerline goodness [0,1] 0.3169335399449036 Centerline is valid? [False, False] Translation: X:6.46, Y:0.21, Z:0.12 [[ 9.99775578e-01 -9.66672875e-04 -2.11626908e-02 6.45587107e+00] [ 9.85961348e-04 9.99999108e-01 9.01022655e-04 2.10215500e-01] [ 2.11618009e-02 -9.21686040e-04 9.99775639e-01 1.24542508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57463044 meters Centerline goodness [0,1] 0.31814843614999133 Centerline is valid? [False, False] Translation: X:6.46, Y:0.21, Z:0.12 [[ 9.99771048e-01 -1.05813838e-03 -2.13712964e-02 6.45659127e+00] [ 1.07395910e-03 9.99999158e-01 7.28814816e-04 2.11111064e-01] [ 2.13705072e-02 -7.51599850e-04 9.99771342e-01 1.24202683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60463044 meters Centerline goodness [0,1] 0.32040093320660157 Centerline is valid? [False, False] Translation: X:6.46, Y:0.21, Z:0.12 [[ 9.99760977e-01 -1.41804604e-03 -2.18169164e-02 6.45783095e+00] [ 1.42447854e-03 9.99998946e-01 2.79302281e-04 2.12124446e-01] [ 2.18164974e-02 -3.10313251e-04 9.99761944e-01 1.23890522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63463044 meters Centerline goodness [0,1] 0.3199010859047414 Centerline is valid? [False, False] Translation: X:6.46, Y:0.21, Z:0.12 [[ 9.99759821e-01 -1.51643804e-03 -2.18632436e-02 6.45780940e+00] [ 1.52027437e-03 9.99998832e-01 1.58849229e-04 2.12477812e-01] [ 2.18629772e-02 -1.92049206e-04 9.99760958e-01 1.24088273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66463044 meters Centerline goodness [0,1] 0.3215357571600068 Centerline is valid? [False, False] Translation: X:6.46, Y:0.21, Z:0.12 [[ 9.99759709e-01 -1.51975113e-03 -2.18681073e-02 6.45758221e+00] [ 1.52318388e-03 9.99998830e-01 1.40319788e-04 2.12761613e-01] [ 2.18678685e-02 -1.73595219e-04 9.99760855e-01 1.24458129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69463044 meters Centerline goodness [0,1] 0.32292069217227015 Centerline is valid? [False, False] Translation: X:6.46, Y:0.21, Z:0.12 [[ 9.99766582e-01 -1.52603435e-03 -2.15511769e-02 6.45651528e+00] [ 1.52939967e-03 9.99998821e-01 1.39673648e-04 2.13038344e-01] [ 2.15509383e-02 -1.72601409e-04 9.99767737e-01 1.24980843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72463044 meters Centerline goodness [0,1] 0.32852664576802504 Centerline is valid? [False, False] Translation: X:6.46, Y:0.21, Z:0.13 [[ 9.99768720e-01 -1.55980543e-03 -2.14493027e-02 6.45602665e+00] [ 1.56333330e-03 9.99998767e-01 1.47707610e-04 2.12749374e-01] [ 2.14490458e-02 -1.81205857e-04 9.99769926e-01 1.25355055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75463044 meters Centerline goodness [0,1] 0.3252307626410811 Centerline is valid? [False, False] Translation: X:6.47, Y:0.21, Z:0.13 [[ 9.99782011e-01 5.94150080e-03 -2.00157122e-02 6.47416444e+00] [-5.97128753e-03 9.99981151e-01 -1.42872971e-03 2.08316152e-01] [ 2.00068461e-02 1.54793783e-03 9.99798645e-01 1.26979155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78463044 meters Centerline goodness [0,1] 0.3270228941870733 Centerline is valid? [False, False] Translation: X:6.47, Y:0.21, Z:0.13 [[ 9.99787683e-01 5.94812698e-03 -1.97283576e-02 6.47310321e+00] [-5.97634256e-03 9.99981201e-01 -1.37155461e-03 2.08026555e-01] [ 1.97198286e-02 1.48916683e-03 9.99804436e-01 1.27573093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.81463044 meters Centerline goodness [0,1] 0.32814789278634837 Centerline is valid? [False, False] Translation: X:6.47, Y:0.21, Z:0.13 [[ 9.99795656e-01 5.97431815e-03 -1.93120001e-02 6.47177043e+00] [-6.00296177e-03 9.99980966e-01 -1.42557304e-03 2.08829443e-01] [ 1.93031157e-02 1.54121093e-03 9.99812490e-01 1.28251118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84463044 meters Centerline goodness [0,1] 0.3299976224955151 Centerline is valid? [False, False] Translation: X:6.47, Y:0.21, Z:0.13 [[ 9.99797334e-01 5.79992931e-03 -1.92782857e-02 6.47176243e+00] [-5.83396247e-03 9.99981521e-01 -1.70959142e-03 2.09624226e-01] [ 1.92680140e-02 1.82171374e-03 9.99812695e-01 1.28200374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.87463044 meters Centerline goodness [0,1] 0.33168370323947005 Centerline is valid? [False, False] Translation: X:6.47, Y:0.21, Z:0.13 [[ 9.99795127e-01 5.62882798e-03 -1.94427208e-02 6.47228164e+00] [-5.66925475e-03 9.99981880e-01 -2.02478275e-03 2.10781239e-01] [ 1.94309714e-02 2.13459366e-03 9.99808922e-01 1.27994827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90463044 meters Centerline goodness [0,1] 0.3331163335720331 Centerline is valid? [False, False] Translation: X:6.47, Y:0.21, Z:0.13 [[ 9.99789661e-01 5.58083291e-03 -1.97354758e-02 6.47329662e+00] [-5.62511573e-03 9.99981783e-01 -2.18901784e-03 2.11861061e-01] [ 1.97228997e-02 2.29957174e-03 9.99802840e-01 1.27501239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.93463044 meters Centerline goodness [0,1] 0.33069082672706684 Centerline is valid? [False, False] Translation: X:6.48, Y:0.21, Z:0.13 [[ 9.99778463e-01 5.80601072e-03 -2.02315302e-02 6.47515896e+00] [-5.85319252e-03 9.99980285e-01 -2.27365754e-03 2.14891855e-01] [ 2.02179304e-02 2.39157288e-03 9.99792736e-01 1.26603078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96463043999998 meters Centerline goodness [0,1] 0.3282270976675754 Centerline is valid? [False, False] Translation: X:6.49, Y:0.22, Z:0.13 [[ 9.99778500e-01 -1.39790574e-03 -2.09999275e-02 6.49421464e+00] [ 1.36924014e-03 9.99998111e-01 -1.37934988e-03 2.20938027e-01] [ 2.10018161e-02 1.35029041e-03 9.99778526e-01 1.28727158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99463043999998 meters Centerline goodness [0,1] 0.3245559397753388 Centerline is valid? [False, False] Translation: X:6.49, Y:0.22, Z:0.13 [[ 9.99777157e-01 -1.56185083e-03 -2.10522407e-02 6.49429305e+00] [ 1.52507695e-03 9.99997283e-01 -1.76273348e-03 2.22692193e-01] [ 2.10549366e-02 1.73023438e-03 9.99776823e-01 1.28842820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02463043999998 meters Centerline goodness [0,1] 0.329277500916877 Centerline is valid? [False, False] Translation: X:6.49, Y:0.23, Z:0.13 [[ 9.99772798e-01 -1.70081998e-03 -2.12475623e-02 6.49481641e+00] [ 1.65089751e-03 9.99995836e-01 -2.36688206e-03 2.27151628e-01] [ 2.12514995e-02 2.33126676e-03 9.99771443e-01 1.28784549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05463043999998 meters Centerline goodness [0,1] 0.3287833444571232 Centerline is valid? [False, False] Translation: X:6.50, Y:0.23, Z:0.13 [[ 9.99767268e-01 -1.70622809e-03 -2.15057745e-02 6.49569896e+00] [ 1.64915573e-03 9.99995072e-01 -2.67127147e-03 2.29797531e-01] [ 2.15102263e-02 2.63518341e-03 9.99765155e-01 1.28435289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08463043999998 meters Centerline goodness [0,1] 0.32821464003795886 Centerline is valid? [False, False] Translation: X:6.50, Y:0.23, Z:0.13 [[ 9.99761365e-01 -1.78309727e-03 -2.17723022e-02 6.49668280e+00] [ 1.71622198e-03 9.99993754e-01 -3.08987532e-03 2.32648067e-01] [ 2.17776757e-02 3.05177187e-03 9.99758181e-01 1.28002955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11463043999998 meters Centerline goodness [0,1] 0.32683263580273547 Centerline is valid? [False, False] Translation: X:6.50, Y:0.24, Z:0.13 [[ 9.99755797e-01 -2.01371285e-03 -2.20066358e-02 6.49725272e+00] [ 1.92643945e-03 9.99990199e-01 -3.98625708e-03 2.39136205e-01] [ 2.20144473e-02 3.94288917e-03 9.99749878e-01 1.28075288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14463044 meters Centerline goodness [0,1] 0.3271517707676588 Centerline is valid? [False, False] Translation: X:6.50, Y:0.24, Z:0.13 [[ 9.99757013e-01 -2.08655622e-03 -2.19445048e-02 6.49699519e+00] [ 1.98910493e-03 9.99988068e-01 -4.46169632e-03 2.42249805e-01] [ 2.19535526e-02 4.41696227e-03 9.99749235e-01 1.28321304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17463044 meters Centerline goodness [0,1] 0.3271390025241535 Centerline is valid? [False, False] Translation: X:6.50, Y:0.25, Z:0.13 [[ 9.99755991e-01 -2.06436771e-03 -2.19931021e-02 6.49715442e+00] [ 1.95726708e-03 9.99986128e-01 -4.89015034e-03 2.45734606e-01] [ 2.20028921e-02 4.84591072e-03 9.99746163e-01 1.28387860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20463044 meters Centerline goodness [0,1] 0.3256915457317733 Centerline is valid? [False, False] Translation: X:6.50, Y:0.25, Z:0.13 [[ 9.99750461e-01 -1.99305755e-03 -2.22495567e-02 6.49798240e+00] [ 1.87527374e-03 9.99984126e-01 -5.31336964e-03 2.49433907e-01] [ 2.22597933e-02 5.27031974e-03 9.99738328e-01 1.28134875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23463044 meters Centerline goodness [0,1] 0.324063112125191 Centerline is valid? [False, False] Translation: X:6.50, Y:0.26, Z:0.13 [[ 9.99752836e-01 1.01918953e-03 -2.22087254e-02 6.49733505e+00] [-1.09169466e-03 9.99994114e-01 -3.25283413e-03 2.56029244e-01] [ 2.22052794e-02 3.27627529e-03 9.99748064e-01 1.28973322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26463044 meters Centerline goodness [0,1] 0.32237858246095763 Centerline is valid? [False, False] Translation: X:6.50, Y:0.26, Z:0.13 [[ 9.99759364e-01 9.95620992e-04 -2.19139949e-02 6.49634371e+00] [-1.07885153e-03 9.99992249e-01 -3.78655956e-03 2.59607394e-01] [ 2.19100551e-02 3.80929032e-03 9.99752689e-01 1.29526611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29463044 meters Centerline goodness [0,1] 0.32606029307339746 Centerline is valid? [False, False] Translation: X:6.50, Y:0.26, Z:0.13 [[ 9.99761879e-01 1.02270144e-03 -2.17976819e-02 6.49579166e+00] [-1.11598241e-03 9.99990271e-01 -4.26766381e-03 2.63180781e-01] [ 2.17931052e-02 4.29097342e-03 9.99753294e-01 1.29997328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32463044 meters Centerline goodness [0,1] 0.3272860942331395 Centerline is valid? [False, False] Translation: X:6.50, Y:0.27, Z:0.13 [[ 9.99762548e-01 1.04121834e-03 -2.17661265e-02 6.49553100e+00] [-1.14517262e-03 9.99987996e-01 -4.76404683e-03 2.66849917e-01] [ 2.17609048e-02 4.78784156e-03 9.99751739e-01 1.30362079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35463044 meters Centerline goodness [0,1] 0.3318402146628582 Centerline is valid? [False, False] Translation: X:6.49, Y:0.28, Z:0.13 [[ 9.99764294e-01 2.65134106e-03 -2.15482226e-02 6.49495987e+00] [-2.74608844e-03 9.99986687e-01 -4.36859287e-03 2.76170387e-01] [ 2.15363531e-02 4.42673649e-03 9.99758266e-01 1.30657894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38463044 meters Centerline goodness [0,1] 0.32743894587750544 Centerline is valid? [False, False] Translation: X:6.51, Y:0.29, Z:0.13 [[ 9.99739663e-01 -3.84224952e-03 -2.24909420e-02 6.51303486e+00] [ 3.76459606e-03 9.99986810e-01 -3.49397748e-03 2.85333578e-01] [ 2.25040700e-02 3.40839856e-03 9.99740941e-01 1.32894297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41463044 meters Centerline goodness [0,1] 0.3287120239623449 Centerline is valid? [False, False] Translation: X:6.51, Y:0.29, Z:0.13 [[ 9.99743364e-01 -3.89001988e-03 -2.23175486e-02 6.51227255e+00] [ 3.80025063e-03 9.99984523e-01 -4.06336411e-03 2.89356606e-01] [ 2.23330098e-02 3.97750902e-03 9.99742675e-01 1.33385419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44463044 meters Centerline goodness [0,1] 0.33414054054054054 Centerline is valid? [False, False] Translation: X:6.49, Y:0.29, Z:0.13 [[ 9.99736338e-01 5.46770270e-03 -2.23015413e-02 6.49009472e+00] [-5.56943805e-03 9.99974355e-01 -4.50225015e-03 2.94719571e-01] [ 2.22763524e-02 4.62527013e-03 9.99741152e-01 1.33428330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47463044 meters Centerline goodness [0,1] 0.3329717769052216 Centerline is valid? [False, False] Translation: X:6.49, Y:0.30, Z:0.13 [[ 9.99737297e-01 5.42022208e-03 -2.22701034e-02 6.49000873e+00] [-5.53321304e-03 9.99972115e-01 -5.01517725e-03 2.98400826e-01] [ 2.22422990e-02 5.13708498e-03 9.99739411e-01 1.33505125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50463044 meters Centerline goodness [0,1] 0.3315317633938146 Centerline is valid? [False, False] Translation: X:6.51, Y:0.30, Z:0.13 [[ 9.99752699e-01 -1.77588818e-05 -2.22382656e-02 6.51116428e+00] [-3.58361585e-05 9.99997096e-01 -2.40963604e-03 3.04646789e-01] [ 2.22382438e-02 2.40983707e-03 9.99749795e-01 1.34044072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.53463044 meters Centerline goodness [0,1] 0.33093897625056623 Centerline is valid? [False, False] Translation: X:6.51, Y:0.31, Z:0.13 [[ 9.99754719e-01 -1.91332279e-04 -2.21464454e-02 6.51099233e+00] [ 1.25395031e-04 9.99995556e-01 -2.97867912e-03 3.07748883e-01] [ 2.21469169e-02 2.97517145e-03 9.99750300e-01 1.34008131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56463044 meters Centerline goodness [0,1] 0.332424775722196 Centerline is valid? [False, False] Translation: X:6.51, Y:0.31, Z:0.13 [[ 9.99757543e-01 -3.26707673e-04 -2.20170192e-02 6.51053180e+00] [ 2.44799046e-04 9.99993040e-01 -3.72283393e-03 3.14697912e-01] [ 2.20180822e-02 3.71654155e-03 9.99750665e-01 1.34323499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.59463044 meters Centerline goodness [0,1] 0.3339026288481495 Centerline is valid? [False, False] Translation: X:6.51, Y:0.32, Z:0.13 [[ 9.99758312e-01 -4.26898806e-04 -2.19803365e-02 6.51055613e+00] [ 3.35721391e-04 9.99991325e-01 -4.15165851e-03 3.17366007e-01] [ 2.19819182e-02 4.14327583e-03 9.99749783e-01 1.34160803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62463044 meters Centerline goodness [0,1] 0.3319535174525149 Centerline is valid? [False, False] Translation: X:6.51, Y:0.32, Z:0.13 [[ 9.99755577e-01 -4.82796537e-04 -2.21032595e-02 6.51102181e+00] [ 3.83945062e-04 9.99989908e-01 -4.47628312e-03 3.19622992e-01] [ 2.21051976e-02 4.46670258e-03 9.99745672e-01 1.33902412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.65463044 meters Centerline goodness [0,1] 0.3339182806880714 Centerline is valid? [False, False] Translation: X:6.51, Y:0.32, Z:0.13 [[ 9.99752943e-01 -5.33386852e-04 -2.22208816e-02 6.51148416e+00] [ 4.28643761e-04 9.99988777e-01 -4.71821984e-03 3.21306682e-01] [ 2.22231488e-02 4.70752933e-03 9.99741952e-01 1.33654937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68463044 meters Centerline goodness [0,1] 0.3316233766233766 Centerline is valid? [False, False] Translation: X:6.51, Y:0.32, Z:0.13 [[ 9.99751054e-01 -6.24978773e-04 -2.23033312e-02 6.51170093e+00] [ 5.11648979e-04 9.99986932e-01 -5.08663922e-03 3.23789538e-01] [ 2.23062188e-02 5.07396145e-03 9.99738310e-01 1.33658944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71463043999998 meters Centerline goodness [0,1] 0.3309002433090025 Centerline is valid? [False, False] Translation: X:6.51, Y:0.33, Z:0.13 [[ 9.99748989e-01 -6.37404760e-04 -2.23953922e-02 6.51197002e+00] [ 5.19658881e-04 9.99986015e-01 -5.26302034e-03 3.25085774e-01] [ 2.23984337e-02 5.25006129e-03 9.99735338e-01 1.33618394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74463043999998 meters Centerline goodness [0,1] 0.3296122965952514 Centerline is valid? [False, False] Translation: X:6.51, Y:0.33, Z:0.13 [[ 9.99744123e-01 -7.03876534e-04 -2.26095753e-02 6.51262123e+00] [ 5.78671222e-04 9.99984466e-01 -5.54377711e-03 3.26755761e-01] [ 2.26131262e-02 5.52927507e-03 9.99729000e-01 1.33419670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77463043999998 meters Centerline goodness [0,1] 0.32844827586206893 Centerline is valid? [False, False] Translation: X:6.51, Y:0.33, Z:0.13 [[ 9.99738553e-01 -7.58123737e-04 -2.28528233e-02 6.51344358e+00] [ 6.24074182e-04 9.99982563e-01 -5.87233781e-03 3.28729028e-01] [ 2.28568767e-02 5.85654064e-03 9.99721593e-01 1.33071897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80463043999998 meters Centerline goodness [0,1] 0.3293513501751637 Centerline is valid? [False, False] Translation: X:6.52, Y:0.33, Z:0.13 [[ 9.99720270e-01 -1.67597712e-04 -2.36506544e-02 6.51591595e+00] [ 2.61683627e-05 9.99982119e-01 -5.98011664e-03 3.34955792e-01] [ 2.36512338e-02 5.97782493e-03 9.99702398e-01 1.32226106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83463043999998 meters Centerline goodness [0,1] 0.3271068169618895 Centerline is valid? [False, False] Translation: X:6.54, Y:0.34, Z:0.13 [[ 9.99696561e-01 -5.20032131e-03 -2.40778411e-02 6.53755547e+00] [ 5.13124527e-03 9.99982543e-01 -2.92975937e-03 3.40066201e-01] [ 2.40926565e-02 2.80532106e-03 9.99705794e-01 1.33005206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86463043999998 meters Centerline goodness [0,1] 0.33031508764383266 Centerline is valid? [False, False] Translation: X:6.54, Y:0.34, Z:0.13 [[ 9.99693851e-01 -5.16761378e-03 -2.41971070e-02 6.53773919e+00] [ 5.09143222e-03 9.99981890e-01 -3.20892533e-03 3.42329707e-01] [ 2.42132513e-02 3.08474499e-03 9.99702057e-01 1.33088751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89463044 meters Centerline goodness [0,1] 0.32592194387700246 Centerline is valid? [False, False] Translation: X:6.54, Y:0.34, Z:0.13 [[ 9.99693502e-01 -5.17612967e-03 -2.42097037e-02 6.53771430e+00] [ 5.09500810e-03 9.99981202e-01 -3.41127178e-03 3.43782826e-01] [ 2.42269058e-02 3.28687759e-03 9.99701082e-01 1.33132063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92463044 meters Centerline goodness [0,1] 0.32592194387700246 Centerline is valid? [False, False] Translation: X:6.54, Y:0.34, Z:0.13 [[ 9.99693502e-01 -5.17612967e-03 -2.42097037e-02 6.53771430e+00] [ 5.09500810e-03 9.99981202e-01 -3.41127178e-03 3.43782826e-01] [ 2.42269058e-02 3.28687759e-03 9.99701082e-01 1.33132063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95463044 meters Centerline goodness [0,1] 0.3271430115663172 Centerline is valid? [False, False] Translation: X:6.54, Y:0.34, Z:0.13 [[ 9.99690947e-01 -5.15756885e-03 -2.43189129e-02 6.53791285e+00] [ 5.07621063e-03 9.99981315e-01 -3.40601887e-03 3.43863546e-01] [ 2.43360253e-02 3.28151830e-03 9.99698449e-01 1.33214693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98463044 meters Centerline goodness [0,1] 0.3268735513778007 Centerline is valid? [False, False] Translation: X:6.54, Y:0.34, Z:0.13 [[ 9.99678409e-01 -5.35433287e-03 -2.47873027e-02 6.53896428e+00] [ 5.27685332e-03 9.99980989e-01 -3.19013118e-03 3.40796114e-01] [ 2.48039124e-02 3.05830631e-03 9.99687658e-01 1.33408878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01463044 meters Centerline goodness [0,1] 0.3278639039220337 Centerline is valid? [False, False] Translation: X:6.54, Y:0.34, Z:0.13 [[ 9.99678920e-01 -5.32358502e-03 -2.47732811e-02 6.53869229e+00] [ 5.25546031e-03 9.99982230e-01 -2.81422274e-03 3.38103489e-01] [ 2.47878226e-02 2.68312415e-03 9.99689134e-01 1.33784638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04463044 meters Centerline goodness [0,1] 0.328620994332263 Centerline is valid? [False, False] Translation: X:6.54, Y:0.33, Z:0.13 [[ 9.99681564e-01 -5.28375348e-03 -2.46749204e-02 6.53826166e+00] [ 5.22693094e-03 9.99983539e-01 -2.36677582e-03 3.34899779e-01] [ 2.46870196e-02 2.23704805e-03 9.99692726e-01 1.34180725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07463044 meters Centerline goodness [0,1] 0.3301140405717119 Centerline is valid? [False, False] Translation: X:6.54, Y:0.33, Z:0.13 [[ 9.99691381e-01 -4.97866375e-03 -2.43383687e-02 6.53751491e+00] [ 4.94695189e-03 9.99986835e-01 -1.36299347e-03 3.28308760e-01] [ 2.43448342e-02 1.24217208e-03 9.99702849e-01 1.34326443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10463044 meters Centerline goodness [0,1] 0.3262466177039042 Centerline is valid? [False, False] Translation: X:6.54, Y:0.33, Z:0.13 [[ 9.99692951e-01 -4.70422055e-03 -2.43284788e-02 6.53747945e+00] [ 4.68632393e-03 9.99988705e-01 -7.92585927e-04 3.25619510e-01] [ 2.43319325e-02 6.78331431e-04 9.99703705e-01 1.34434224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13463044 meters Centerline goodness [0,1] 0.3281478298238075 Centerline is valid? [False, False] Translation: X:6.54, Y:0.32, Z:0.13 [[ 9.99696440e-01 -4.48201484e-03 -2.42268208e-02 6.53729567e+00] [ 4.47507294e-03 9.99989929e-01 -3.40746775e-04 3.23393581e-01] [ 2.42281041e-02 2.32226548e-04 9.99706429e-01 1.34436442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16463044 meters Centerline goodness [0,1] 0.326911164747848 Centerline is valid? [False, False] Translation: X:6.56, Y:0.31, Z:0.14 [[ 9.99676276e-01 3.84581537e-03 -2.51506005e-02 6.55760717e+00] [-3.86809960e-03 9.99992168e-01 -8.37441231e-04 3.14555422e-01] [ 2.51471829e-02 9.34455158e-04 9.99683323e-01 1.36939089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19463044 meters Centerline goodness [0,1] 0.3270136067582382 Centerline is valid? [False, False] Translation: X:6.56, Y:0.31, Z:0.14 [[ 9.99672299e-01 4.14721360e-03 -2.52605649e-02 6.55782382e+00] [-4.15956930e-03 9.99991254e-01 -4.36604568e-04 3.12935953e-01] [ 2.52585333e-02 5.41534563e-04 9.99680806e-01 1.36992498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22463044 meters Centerline goodness [0,1] 0.327802081761955 Centerline is valid? [False, False] Translation: X:6.56, Y:0.31, Z:0.14 [[ 9.99671345e-01 4.43467775e-03 -2.52494571e-02 6.55784874e+00] [-4.43636798e-03 9.99990159e-01 -1.09247245e-05 3.11051218e-01] [ 2.52491601e-02 1.22937017e-04 9.99681182e-01 1.36937006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25463044 meters Centerline goodness [0,1] 0.3275537779699492 Centerline is valid? [False, False] Translation: X:6.56, Y:0.31, Z:0.14 [[ 9.99669168e-01 4.67080837e-03 -2.52930330e-02 6.55788114e+00] [-4.66185082e-03 9.99989048e-01 4.13105051e-04 3.08922858e-01] [ 2.52946855e-02 -2.95056036e-04 9.99679995e-01 1.37023233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28463044 meters Centerline goodness [0,1] 0.3241827235332323 Centerline is valid? [False, False] Translation: X:6.56, Y:0.30, Z:0.14 [[ 9.99667513e-01 5.11417264e-03 -2.52726771e-02 6.55793534e+00] [-5.08448985e-03 9.99986307e-01 1.23862199e-03 3.03440658e-01] [ 2.52786655e-02 -1.10971150e-03 9.99679828e-01 1.36957649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.31463044 meters Centerline goodness [0,1] 0.3266607770044604 Centerline is valid? [False, False] Translation: X:6.56, Y:0.30, Z:0.14 [[ 9.99671108e-01 5.33634843e-03 -2.50838563e-02 6.55756867e+00] [-5.29321977e-03 9.99984397e-01 1.78546299e-03 3.00435742e-01] [ 2.50929928e-02 -1.65210140e-03 9.99683756e-01 1.36913905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34463044 meters Centerline goodness [0,1] 0.3233670062494649 Centerline is valid? [False, False] Translation: X:6.58, Y:0.30, Z:0.14 [[ 9.99698969e-01 -1.94492458e-03 -2.44578976e-02 6.57584850e+00] [ 2.03066856e-03 9.99991878e-01 3.48143073e-03 3.01272871e-01] [ 2.44509279e-02 -3.53004859e-03 9.99694799e-01 1.38559566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.37463044 meters Centerline goodness [0,1] 0.32570422535211263 Centerline is valid? [False, False] Translation: X:6.58, Y:0.30, Z:0.14 [[ 9.99699258e-01 -1.64313106e-03 -2.44682021e-02 6.57608078e+00] [ 1.74651845e-03 9.99989635e-01 4.20460704e-03 2.97748470e-01] [ 2.44610398e-02 -4.24607670e-03 9.99691767e-01 1.38332347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40463044 meters Centerline goodness [0,1] 0.3232862443851312 Centerline is valid? [False, False] Translation: X:6.58, Y:0.29, Z:0.14 [[ 9.99659484e-01 -2.60540385e-03 -2.59639610e-02 6.58085321e+00] [ 2.71783448e-03 9.99987079e-01 4.29590953e-03 2.87863575e-01] [ 2.59524330e-02 -4.36501245e-03 9.99653649e-01 1.36768836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.43463044 meters Centerline goodness [0,1] 0.3237766760077603 Centerline is valid? [False, False] Translation: X:6.58, Y:0.28, Z:0.14 [[ 9.99648998e-01 -2.43944139e-03 -2.63804939e-02 6.58207154e+00] [ 2.57089269e-03 9.99984443e-01 4.95012952e-03 2.83655022e-01] [ 2.63680080e-02 -5.01621343e-03 9.99639718e-01 1.36514116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46463043999998 meters Centerline goodness [0,1] 0.3225063993632903 Centerline is valid? [False, False] Translation: X:6.58, Y:0.28, Z:0.14 [[ 9.99643390e-01 -2.24993588e-03 -2.66088266e-02 6.58263003e+00] [ 2.39992967e-03 9.99981404e-01 5.60640246e-03 2.79705748e-01] [ 2.65957177e-02 -5.66826248e-03 9.99630201e-01 1.36582150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49463043999998 meters Centerline goodness [0,1] 0.32323275769371385 Centerline is valid? [False, False] Translation: X:6.58, Y:0.27, Z:0.14 [[ 9.99643081e-01 -1.86737974e-03 -2.66500206e-02 6.58256221e+00] [ 2.04477398e-03 9.99975926e-01 6.63074071e-03 2.73021025e-01] [ 2.66369969e-02 -6.68286734e-03 9.99622834e-01 1.36985310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52463043999998 meters Centerline goodness [0,1] 0.325679312440316 Centerline is valid? [False, False] Translation: X:6.58, Y:0.27, Z:0.14 [[ 9.99646873e-01 -1.68074394e-03 -2.65199055e-02 6.58233303e+00] [ 1.86868480e-03 9.99973306e-01 7.06359401e-03 2.70939078e-01] [ 2.65073255e-02 -7.11065701e-03 9.99623329e-01 1.36979667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55463043999998 meters Centerline goodness [0,1] 0.325465865457622 Centerline is valid? [False, False] Translation: X:6.58, Y:0.27, Z:0.14 [[ 9.99653242e-01 -1.51163985e-03 -2.62890000e-02 6.58176236e+00] [ 1.70816572e-03 9.99970754e-01 7.45474347e-03 2.69119877e-01] [ 2.62769623e-02 -7.49706445e-03 9.99626588e-01 1.37109931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58463043999998 meters Centerline goodness [0,1] 0.3261319981007468 Centerline is valid? [False, False] Translation: X:6.58, Y:0.27, Z:0.14 [[ 9.99661617e-01 -1.24844621e-03 -2.59825476e-02 6.58100823e+00] [ 1.45946954e-03 9.99966094e-01 8.10435529e-03 2.65659350e-01] [ 2.59715488e-02 -8.13953365e-03 9.99629545e-01 1.37374622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61463043999998 meters Centerline goodness [0,1] 0.3259594363514362 Centerline is valid? [False, False] Translation: X:6.58, Y:0.26, Z:0.14 [[ 9.99656907e-01 -1.19118526e-03 -2.61657957e-02 6.58149781e+00] [ 1.40953276e-03 9.99964329e-01 8.32791019e-03 2.64187062e-01] [ 2.61549423e-02 -8.36193449e-03 9.99622927e-01 1.37331706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64463044 meters Centerline goodness [0,1] 0.3197363352309207 Centerline is valid? [False, False] Translation: X:6.60, Y:0.26, Z:0.14 [[ 9.99633813e-01 5.44255070e-03 -2.65069687e-02 6.60314122e+00] [-5.28886053e-03 9.99968816e-01 5.86476585e-03 2.61506030e-01] [ 2.65380613e-02 -5.72242659e-03 9.99631425e-01 1.38361924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67463044 meters Centerline goodness [0,1] 0.3219372606394423 Centerline is valid? [False, False] Translation: X:6.60, Y:0.26, Z:0.14 [[ 9.99629812e-01 5.44345083e-03 -2.66572130e-02 6.60360265e+00] [-5.28737120e-03 9.99968486e-01 5.92205208e-03 2.60823148e-01] [ 2.66886093e-02 -5.77891323e-03 9.99627092e-01 1.38207574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70463044 meters Centerline goodness [0,1] 0.32320269191777573 Centerline is valid? [False, False] Translation: X:6.60, Y:0.26, Z:0.14 [[ 9.99637984e-01 5.58280139e-03 -2.63198358e-02 6.60291216e+00] [-5.42874939e-03 9.99967735e-01 5.92090184e-03 2.61401049e-01] [ 2.63520418e-02 -5.77587458e-03 9.99636038e-01 1.38065231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73463044 meters Centerline goodness [0,1] 0.32177504355869135 Centerline is valid? [False, False] Translation: X:6.60, Y:0.26, Z:0.14 [[ 9.99647199e-01 5.62487380e-03 -2.59583904e-02 6.60211103e+00] [-5.47604294e-03 9.99968180e-01 5.80096942e-03 2.62444204e-01] [ 2.59901942e-02 -5.65677357e-03 9.99646193e-01 1.38050027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76463044 meters Centerline goodness [0,1] 0.32327984361238216 Centerline is valid? [False, False] Translation: X:6.60, Y:0.26, Z:0.14 [[ 9.99654557e-01 5.59610288e-03 -2.56797829e-02 6.60147419e+00] [-5.45414618e-03 9.99969475e-01 5.59467277e-03 2.63693742e-01] [ 2.57103074e-02 -5.45267883e-03 9.99654565e-01 1.38020661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79463044 meters Centerline goodness [0,1] 0.3267249250032608 Centerline is valid? [False, False] Translation: X:6.58, Y:0.27, Z:0.14 [[ 9.99684265e-01 -2.35016232e-03 -2.50169278e-02 6.58271875e+00] [ 2.51837942e-03 9.99974419e-01 6.69474984e-03 2.68371581e-01] [ 2.50005540e-02 -6.75563819e-03 9.99664611e-01 1.35558797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82463044 meters Centerline goodness [0,1] 0.32106225137082034 Centerline is valid? [False, False] Translation: X:6.61, Y:0.27, Z:0.14 [[ 9.99643364e-01 5.91828856e-03 -2.60407191e-02 6.60504511e+00] [-5.78055168e-03 9.99968920e-01 5.36139174e-03 2.68579136e-01] [ 2.60716400e-02 -5.20894996e-03 9.99646506e-01 1.36962325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85463044 meters Centerline goodness [0,1] 0.32241260547614947 Centerline is valid? [False, False] Translation: X:6.61, Y:0.27, Z:0.14 [[ 9.99639056e-01 5.82706717e-03 -2.62259830e-02 6.60545968e+00] [-5.69236958e-03 9.99970238e-01 5.20776640e-03 2.69019718e-01] [ 2.62555485e-02 -5.05659870e-03 9.99642475e-01 1.36999258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88463044 meters Centerline goodness [0,1] 0.3244605246155834 Centerline is valid? [False, False] Translation: X:6.61, Y:0.27, Z:0.14 [[ 9.99639184e-01 5.77832871e-03 -2.62319090e-02 6.60548499e+00] [-5.64397978e-03 9.99970590e-01 5.19273777e-03 2.68645887e-01] [ 2.62611428e-02 -5.04281178e-03 9.99642397e-01 1.36962291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91463044 meters Centerline goodness [0,1] 0.32071986942702513 Centerline is valid? [False, False] Translation: X:6.60, Y:0.27, Z:0.14 [[ 9.99648855e-01 5.80320359e-03 -2.58551568e-02 6.60449959e+00] [-5.66424207e-03 9.99969136e-01 5.44461532e-03 2.67233453e-01] [ 2.58859550e-02 -5.29625361e-03 9.99650873e-01 1.37208618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94463044 meters Centerline goodness [0,1] 0.3237029193767963 Centerline is valid? [False, False] Translation: X:6.60, Y:0.27, Z:0.14 [[ 9.99651268e-01 5.88329429e-03 -2.57435287e-02 6.60408933e+00] [-5.73837124e-03 9.99967291e-01 5.69975348e-03 2.66068099e-01] [ 2.57762200e-02 -5.55003987e-03 9.99652331e-01 1.37460552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.97463044 meters Centerline goodness [0,1] 0.3216320213246201 Centerline is valid? [False, False] Translation: X:6.60, Y:0.26, Z:0.14 [[ 9.99649923e-01 5.97817025e-03 -2.57738813e-02 6.60402204e+00] [-5.82591070e-03 9.99965157e-01 5.97856302e-03 2.64797345e-01] [ 2.58087242e-02 -5.82631373e-03 9.99649921e-01 1.37737455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00463044 meters Centerline goodness [0,1] 0.3202378151799653 Centerline is valid? [False, False] Translation: X:6.60, Y:0.26, Z:0.14 [[ 9.99647855e-01 6.04468406e-03 -2.58385071e-02 6.60407890e+00] [-5.88582403e-03 9.99963335e-01 6.21982772e-03 2.63483794e-01] [ 2.58751566e-02 -6.06555653e-03 9.99646780e-01 1.37951158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.03463044 meters Centerline goodness [0,1] 0.3230084672541904 Centerline is valid? [False, False] Translation: X:6.61, Y:0.26, Z:0.14 [[ 9.99636862e-01 6.06636824e-03 -2.62553315e-02 6.60524207e+00] [-5.89932709e-03 9.99961894e-01 6.43496941e-03 2.61852893e-01] [ 2.62933679e-02 -6.27774384e-03 9.99634558e-01 1.37732510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06463044 meters Centerline goodness [0,1] 0.32287959024220847 Centerline is valid? [False, False] Translation: X:6.61, Y:0.26, Z:0.14 [[ 9.99629148e-01 6.11605304e-03 -2.65360211e-02 6.60627694e+00] [-5.94583206e-03 9.99961270e-01 6.48888247e-03 2.61718133e-01] [ 2.65746797e-02 -6.32869733e-03 9.99626797e-01 1.37139168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.09463044 meters Centerline goodness [0,1] 0.3188867734827904 Centerline is valid? [False, False] Translation: X:6.63, Y:0.27, Z:0.14 [[ 9.99624400e-01 -7.90412952e-04 -2.73940596e-02 6.62587638e+00] [ 9.94013968e-04 9.99971981e-01 7.41948488e-03 2.67811373e-01] [ 2.73874276e-02 -7.44392820e-03 9.99597177e-01 1.38128174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12463044 meters Centerline goodness [0,1] 0.32133465534336336 Centerline is valid? [False, False] Translation: X:6.63, Y:0.27, Z:0.14 [[ 9.99624025e-01 -7.52308855e-04 -2.74087899e-02 6.62623665e+00] [ 9.55869418e-04 9.99972055e-01 7.41449016e-03 2.68206624e-01] [ 2.74024459e-02 -7.43790173e-03 9.99596811e-01 1.37648369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.15463044 meters Centerline goodness [0,1] 0.32193732193732194 Centerline is valid? [False, False] Translation: X:6.63, Y:0.27, Z:0.14 [[ 9.99625744e-01 -7.93563010e-04 -2.73448932e-02 6.62605276e+00] [ 9.95065451e-04 9.99972448e-01 7.35610462e-03 2.68372380e-01] [ 2.73383023e-02 -7.38056151e-03 9.99598992e-01 1.37747182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18463044 meters Centerline goodness [0,1] 0.32570495372890584 Centerline is valid? [False, False] Translation: X:6.62, Y:0.27, Z:0.14 [[ 9.99636898e-01 -9.06919811e-04 -2.69304589e-02 6.62439065e+00] [ 1.10654879e-03 9.99972016e-01 7.39878092e-03 2.67412849e-01] [ 2.69229952e-02 -7.42589428e-03 9.99609928e-01 1.38824353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21463043999998 meters Centerline goodness [0,1] 0.324716759994791 Centerline is valid? [False, False] Translation: X:6.62, Y:0.27, Z:0.14 [[ 9.99635043e-01 -9.40078272e-04 -2.69980944e-02 6.62423798e+00] [ 1.14300532e-03 9.99971207e-01 7.50189871e-03 2.66557974e-01] [ 2.69902647e-02 -7.53001981e-03 9.99607335e-01 1.39336838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24463043999998 meters Centerline goodness [0,1] 0.32633177823586845 Centerline is valid? [False, False] Translation: X:6.62, Y:0.27, Z:0.14 [[ 9.99629663e-01 -1.01504293e-03 -2.71938667e-02 6.62471154e+00] [ 1.22284667e-03 9.99970174e-01 7.62602661e-03 2.65235017e-01] [ 2.71853149e-02 -7.65645634e-03 9.99601089e-01 1.39350134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27463043999998 meters Centerline goodness [0,1] 0.32276323406444973 Centerline is valid? [False, False] Translation: X:6.65, Y:0.26, Z:0.14 [[ 9.99607042e-01 3.77660185e-03 -2.77758626e-02 6.64667116e+00] [-3.65571040e-03 9.99983629e-01 4.40188529e-03 2.59378674e-01] [ 2.77920321e-02 -4.29861503e-03 9.99604484e-01 1.39566148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30463043999998 meters Centerline goodness [0,1] 0.3224710889471648 Centerline is valid? [False, False] Translation: X:6.65, Y:0.26, Z:0.14 [[ 9.99603697e-01 3.78996126e-03 -2.78941943e-02 6.64684860e+00] [-3.65933144e-03 9.99982106e-01 4.73260505e-03 2.57072088e-01] [ 2.79116315e-02 -4.62865540e-03 9.99599678e-01 1.39773519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33463043999998 meters Centerline goodness [0,1] 0.325451446570732 Centerline is valid? [False, False] Translation: X:6.65, Y:0.25, Z:0.14 [[ 9.99599769e-01 3.94151552e-03 -2.80136698e-02 6.64703169e+00] [-3.79635815e-03 9.99979102e-01 5.23296004e-03 2.54449584e-01] [ 2.80337101e-02 -5.12451573e-03 9.99593843e-01 1.39957497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36463043999998 meters Centerline goodness [0,1] 0.32585534863577303 Centerline is valid? [False, False] Translation: X:6.65, Y:0.25, Z:0.14 [[ 9.99594750e-01 4.13139760e-03 -2.81649895e-02 6.64726695e+00] [-3.97159821e-03 9.99975712e-01 5.72727137e-03 2.52078907e-01] [ 2.81879670e-02 -5.61309038e-03 9.99586881e-01 1.40209331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39463044 meters Centerline goodness [0,1] 0.32301321661517335 Centerline is valid? [False, False] Translation: X:6.65, Y:0.25, Z:0.14 [[ 9.99568797e-01 2.25592654e-03 -2.92768005e-02 6.65146824e+00] [-2.13179509e-03 9.99988609e-01 4.27044603e-03 2.47506178e-01] [ 2.92861008e-02 -4.20619246e-03 9.99562220e-01 1.38622357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42463044 meters Centerline goodness [0,1] 0.3220017665180206 Centerline is valid? [False, False] Translation: X:6.65, Y:0.25, Z:0.14 [[ 9.99562808e-01 2.22189246e-03 -2.94831473e-02 6.65206401e+00] [-2.09166402e-03 9.99987924e-01 4.44715310e-03 2.45570153e-01] [ 2.94926723e-02 -4.38354000e-03 9.99555385e-01 1.38479619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45463044 meters Centerline goodness [0,1] 0.3245206774997851 Centerline is valid? [False, False] Translation: X:6.65, Y:0.24, Z:0.14 [[ 9.99570560e-01 2.50312533e-03 -2.91964144e-02 6.65120321e+00] [-2.35679669e-03 9.99984496e-01 5.04520618e-03 2.42813016e-01] [ 2.92085905e-02 -4.97422955e-03 9.99560961e-01 1.38822151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48463044 meters Centerline goodness [0,1] 0.32502919423900345 Centerline is valid? [False, False] Translation: X:6.65, Y:0.24, Z:0.14 [[ 9.99576963e-01 2.72776105e-03 -2.89560790e-02 6.65067029e+00] [-2.57446091e-03 9.99982480e-01 5.33019159e-03 2.42249326e-01] [ 2.89701112e-02 -5.25339042e-03 9.99566473e-01 1.38849691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51463044 meters Centerline goodness [0,1] 0.3295432395555844 Centerline is valid? [False, False] Translation: X:6.65, Y:0.24, Z:0.14 [[ 9.99582249e-01 2.84029902e-03 -2.87621192e-02 6.65023236e+00] [-2.68327112e-03 9.99981293e-01 5.49666416e-03 2.41689858e-01] [ 2.87771934e-02 -5.41719136e-03 9.99571172e-01 1.38856239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54463044 meters Centerline goodness [0,1] 0.32494686902947423 Centerline is valid? [False, False] Translation: X:6.65, Y:0.24, Z:0.14 [[ 9.99578955e-01 2.81445345e-03 -2.88789085e-02 6.65061058e+00] [-2.65787289e-03 9.99981568e-01 5.45892411e-03 2.41490387e-01] [ 2.88937401e-02 -5.37986919e-03 9.99568011e-01 1.38735477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57463044 meters Centerline goodness [0,1] 0.32723077586578686 Centerline is valid? [False, False] Translation: X:6.65, Y:0.24, Z:0.14 [[ 9.99566534e-01 2.78195231e-03 -2.93087868e-02 6.65175607e+00] [-2.62662785e-03 9.99982310e-01 5.33675443e-03 2.41542127e-01] [ 2.93231149e-02 -5.25745785e-03 9.99556159e-01 1.38489845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60463044 meters Centerline goodness [0,1] 0.3253596736096199 Centerline is valid? [False, False] Translation: X:6.65, Y:0.24, Z:0.14 [[ 9.99565436e-01 2.89617952e-03 -2.93351382e-02 6.65183601e+00] [-2.74058726e-03 9.99981972e-01 5.34277383e-03 2.42269011e-01] [ 2.93500830e-02 -5.26005655e-03 9.99555353e-01 1.38424504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63463044 meters Centerline goodness [0,1] 0.32750789462300467 Centerline is valid? [False, False] Translation: X:6.65, Y:0.24, Z:0.14 [[ 9.99567919e-01 3.09613660e-03 -2.92299332e-02 6.65156284e+00] [-2.93941822e-03 9.99981083e-01 5.40301859e-03 2.43169927e-01] [ 2.92461087e-02 -5.31476505e-03 9.99558112e-01 1.38452025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66463044 meters Centerline goodness [0,1] 0.32804381104331515 Centerline is valid? [False, False] Translation: X:6.65, Y:0.24, Z:0.14 [[ 9.99576858e-01 3.28569180e-03 -2.89017153e-02 6.65081657e+00] [-3.13079868e-03 9.99980503e-01 5.40292603e-03 2.44169048e-01] [ 2.89189042e-02 -5.31015438e-03 9.99567656e-01 1.38452159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.69463044 meters Centerline goodness [0,1] 0.3274090350933885 Centerline is valid? [False, False] Translation: X:6.65, Y:0.24, Z:0.14 [[ 9.99574171e-01 3.18871422e-03 -2.90053212e-02 6.65119511e+00] [-3.03671386e-03 9.99981434e-01 5.28297132e-03 2.44279967e-01] [ 2.90216286e-02 -5.19264082e-03 9.99565296e-01 1.38270824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72463044 meters Centerline goodness [0,1] 0.32183245849869846 Centerline is valid? [False, False] Translation: X:6.65, Y:0.24, Z:0.14 [[ 9.99569600e-01 3.11049870e-03 -2.91708516e-02 6.65169489e+00] [-2.96016874e-03 9.99982123e-01 5.19520011e-03 2.44328324e-01] [ 2.91864898e-02 -5.10661345e-03 9.99560939e-01 1.38137267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.75463044 meters Centerline goodness [0,1] 0.3259654141204005 Centerline is valid? [False, False] Translation: X:6.61, Y:0.24, Z:0.14 [[ 9.99499051e-01 2.15753954e-03 -3.15751714e-02 6.60773321e+00] [-1.98664889e-03 9.99983216e-01 5.44255604e-03 2.40990699e-01] [ 3.15863839e-02 -5.37710082e-03 9.99486562e-01 1.37185967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78463044 meters Centerline goodness [0,1] 0.3234933671604566 Centerline is valid? [False, False] Translation: X:6.61, Y:0.24, Z:0.14 [[ 9.99496536e-01 2.35017849e-03 -3.16409820e-02 6.60818753e+00] [-2.16951086e-03 9.99981155e-01 5.74304596e-03 2.40250125e-01] [ 3.16538829e-02 -5.67150908e-03 9.99482799e-01 1.36864778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.81463044 meters Centerline goodness [0,1] 0.3272076372315036 Centerline is valid? [False, False] Translation: X:6.61, Y:0.24, Z:0.14 [[ 9.99495904e-01 2.35275664e-03 -3.16607424e-02 6.60834054e+00] [-2.17061012e-03 9.99980904e-01 5.78621255e-03 2.39926703e-01] [ 3.16737513e-02 -5.71457261e-03 9.99481924e-01 1.36745248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84463044 meters Centerline goodness [0,1] 0.3272076372315036 Centerline is valid? [False, False] Translation: X:6.61, Y:0.24, Z:0.14 [[ 9.99495904e-01 2.35275664e-03 -3.16607424e-02 6.60834054e+00] [-2.17061012e-03 9.99980904e-01 5.78621255e-03 2.39926703e-01] [ 3.16737513e-02 -5.71457261e-03 9.99481924e-01 1.36745248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.87463044 meters Centerline goodness [0,1] 0.32681449432125476 Centerline is valid? [False, False] Translation: X:6.61, Y:0.24, Z:0.14 [[ 9.99488431e-01 2.31483305e-03 -3.18985565e-02 6.60903761e+00] [-2.12976077e-03 9.99980710e-01 5.83465748e-03 2.39335372e-01] [ 3.19114475e-02 -5.76373636e-03 9.99474081e-01 1.36558772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90463044 meters Centerline goodness [0,1] 0.3247743575382892 Centerline is valid? [False, False] Translation: X:6.61, Y:0.24, Z:0.14 [[ 9.99473156e-01 2.28745222e-03 -3.23755675e-02 6.61061458e+00] [-2.09742688e-03 9.99980383e-01 5.90215073e-03 2.38634182e-01] [ 3.23884333e-02 -5.83113584e-03 9.99458347e-01 1.35934035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.93463044 meters Centerline goodness [0,1] 0.32637837837837835 Centerline is valid? [False, False] Translation: X:6.61, Y:0.24, Z:0.14 [[ 9.99471501e-01 2.34918641e-03 -3.24221998e-02 6.61080168e+00] [-2.15623082e-03 9.99979765e-01 5.98502304e-03 2.38471161e-01] [ 3.24356037e-02 -5.91195022e-03 9.99456342e-01 1.35825879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96463043999998 meters Centerline goodness [0,1] 0.32702755351615764 Centerline is valid? [False, False] Translation: X:6.61, Y:0.24, Z:0.14 [[ 9.99473857e-01 2.35337729e-03 -3.23492065e-02 6.61052104e+00] [-2.15966491e-03 9.99979537e-01 6.02180184e-03 2.38318540e-01] [ 3.23627161e-02 -5.94877006e-03 9.99458487e-01 1.35997124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99463043999998 meters Centerline goodness [0,1] 0.3290210170968093 Centerline is valid? [False, False] Translation: X:6.61, Y:0.24, Z:0.14 [[ 9.99479966e-01 2.31349307e-03 -3.21628094e-02 6.60996322e+00] [-2.12049431e-03 9.99979550e-01 6.03349595e-03 2.37958100e-01] [ 3.21761101e-02 -5.96215727e-03 9.99464432e-01 1.36250352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02463043999998 meters Centerline goodness [0,1] 0.32871792652849297 Centerline is valid? [False, False] Translation: X:6.61, Y:0.24, Z:0.14 [[ 9.99482358e-01 2.11017787e-03 -3.21023876e-02 6.60970437e+00] [-1.92227861e-03 9.99980848e-01 5.88286132e-03 2.37576370e-01] [ 3.21141867e-02 -5.81810637e-03 9.99467272e-01 1.36488449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05463043999998 meters Centerline goodness [0,1] 0.3296772375522945 Centerline is valid? [False, False] Translation: X:6.61, Y:0.24, Z:0.14 [[ 9.99477769e-01 2.08985120e-03 -3.22462804e-02 6.61015888e+00] [-1.90140919e-03 9.99980944e-01 5.87339547e-03 2.37585055e-01] [ 3.22579404e-02 -5.80901482e-03 9.99462696e-01 1.36321351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08463043999998 meters Centerline goodness [0,1] 0.3232545707259703 Centerline is valid? [False, False] Translation: X:6.63, Y:0.24, Z:0.14 [[ 9.99438415e-01 1.00726237e-02 -3.19592991e-02 6.62965712e+00] [-9.92951807e-03 9.99939967e-01 4.63330450e-03 2.35311942e-01] [ 3.20040500e-02 -4.31336207e-03 9.99478432e-01 1.37864803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11463043999998 meters Centerline goodness [0,1] 0.32432259304336686 Centerline is valid? [False, False] Translation: X:6.63, Y:0.23, Z:0.14 [[ 9.99436320e-01 1.00993157e-02 -3.20163304e-02 6.62968401e+00] [-9.95296988e-03 9.99939295e-01 4.72705861e-03 2.34900146e-01] [ 3.20621269e-02 -4.40573649e-03 9.99476168e-01 1.38065874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14463044 meters Centerline goodness [0,1] 0.3294617746194637 Centerline is valid? [False, False] Translation: X:6.61, Y:0.24, Z:0.14 [[ 9.99597993e-01 3.51518754e-03 -2.81335433e-02 6.61262479e+00] [-3.37402220e-03 9.99981488e-01 5.06358710e-03 2.36548639e-01] [ 2.81508219e-02 -4.96662830e-03 9.99591348e-01 1.35303660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17463044 meters Centerline goodness [0,1] 0.33029858474283746 Centerline is valid? [False, False] Translation: X:6.61, Y:0.24, Z:0.14 [[ 9.99600422e-01 3.48228498e-03 -2.80512098e-02 6.61242118e+00] [-3.33915284e-03 9.99981175e-01 5.14775776e-03 2.35711766e-01] [ 2.80686077e-02 -5.05203355e-03 9.99593232e-01 1.35360246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20463044 meters Centerline goodness [0,1] 0.3300497919944819 Centerline is valid? [False, False] Translation: X:6.61, Y:0.24, Z:0.14 [[ 9.99599727e-01 3.42984620e-03 -2.80824214e-02 6.61250622e+00] [-3.28495618e-03 9.99981064e-01 5.20396538e-03 2.35060036e-01] [ 2.80997384e-02 -5.10963285e-03 9.99592065e-01 1.35417970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23463044 meters Centerline goodness [0,1] 0.3315692095865066 Centerline is valid? [False, False] Translation: X:6.61, Y:0.23, Z:0.14 [[ 9.99595442e-01 3.43873439e-03 -2.82334472e-02 6.61303050e+00] [-3.29027091e-03 9.99980525e-01 5.30320005e-03 2.34452256e-01] [ 2.82511337e-02 -5.20815891e-03 9.99587289e-01 1.35195811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26463044 meters Centerline goodness [0,1] 0.3344129026648698 Centerline is valid? [False, False] Translation: X:6.61, Y:0.23, Z:0.13 [[ 9.99591405e-01 3.41151816e-03 -2.83792966e-02 6.61363306e+00] [-3.26065027e-03 9.99980315e-01 5.36070424e-03 2.33853009e-01] [ 2.83970261e-02 -5.26597892e-03 9.99582852e-01 1.34850399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29463044 meters Centerline goodness [0,1] 0.3277580454202992 Centerline is valid? [False, False] Translation: X:6.61, Y:0.23, Z:0.13 [[ 9.99586110e-01 3.26600785e-03 -2.85822093e-02 6.61423284e+00] [-3.11392952e-03 9.99980767e-01 5.36362805e-03 2.32732875e-01] [ 2.85991773e-02 -5.27240511e-03 9.99577055e-01 1.34748075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32463044 meters Centerline goodness [0,1] 0.3280325364205634 Centerline is valid? [False, False] Translation: X:6.61, Y:0.23, Z:0.14 [[ 9.99586414e-01 3.26083085e-03 -2.85721464e-02 6.61403803e+00] [-3.10700467e-03 9.99980449e-01 5.42652421e-03 2.32124681e-01] [ 2.85892828e-02 -5.33550608e-03 9.99577003e-01 1.35040200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35463044 meters Centerline goodness [0,1] 0.3286443367500107 Centerline is valid? [False, False] Translation: X:6.61, Y:0.23, Z:0.14 [[ 9.99588515e-01 3.34345106e-03 -2.84889752e-02 6.61375875e+00] [-3.18605215e-03 9.99979420e-01 5.56850888e-03 2.31689534e-01] [ 2.85070070e-02 -5.47545016e-03 9.99578596e-01 1.35181538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38463044 meters Centerline goodness [0,1] 0.3265982467393629 Centerline is valid? [False, False] Translation: X:6.61, Y:0.23, Z:0.14 [[ 9.99596828e-01 3.53236620e-03 -2.81727399e-02 6.61320329e+00] [-3.36981664e-03 9.99977414e-01 5.81513899e-03 2.31182740e-01] [ 2.81926448e-02 -5.71785753e-03 9.99586155e-01 1.35004035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41463044 meters Centerline goodness [0,1] 0.3266980669636197 Centerline is valid? [False, False] Translation: X:6.61, Y:0.23, Z:0.13 [[ 9.99597516e-01 3.48906583e-03 -2.81537112e-02 6.61324049e+00] [-3.32733393e-03 9.99977706e-01 5.78940778e-03 2.30860661e-01] [ 2.81732831e-02 -5.69340084e-03 9.99586840e-01 1.34904339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44463044 meters Centerline goodness [0,1] 0.33133935127197345 Centerline is valid? [False, False] Translation: X:6.59, Y:0.23, Z:0.13 [[ 9.99574274e-01 -5.25473691e-03 -2.86994665e-02 6.59300822e+00] [ 5.44781177e-03 9.99963026e-01 6.65342921e-03 2.32895384e-01] [ 2.86634433e-02 -6.80694596e-03 9.99565942e-01 1.33410404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47463044 meters Centerline goodness [0,1] 0.32771207787217693 Centerline is valid? [False, False] Translation: X:6.61, Y:0.23, Z:0.14 [[ 9.99588664e-01 2.57894671e-03 -2.85631373e-02 6.61241933e+00] [-2.43518460e-03 9.99984199e-01 5.06677654e-03 2.29635079e-01] [ 2.85757529e-02 -4.99513588e-03 9.99579149e-01 1.35327620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50463044 meters Centerline goodness [0,1] 0.32862716358071264 Centerline is valid? [False, False] Translation: X:6.61, Y:0.23, Z:0.14 [[ 9.99584806e-01 2.76886723e-03 -2.86801285e-02 6.61275579e+00] [-2.61289666e-03 9.99981602e-01 5.47433020e-03 2.27941509e-01] [ 2.86947585e-02 -5.39711908e-03 9.99573650e-01 1.35249798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.53463044 meters Centerline goodness [0,1] 0.32879104767243794 Centerline is valid? [False, False] Translation: X:6.61, Y:0.23, Z:0.14 [[ 9.99584892e-01 2.87176076e-03 -2.86670087e-02 6.61275621e+00] [-2.70899161e-03 9.99979999e-01 5.71514939e-03 2.26919351e-01] [ 2.86828478e-02 -5.63511830e-03 9.99572679e-01 1.35243486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56463044 meters Centerline goodness [0,1] 0.330205732977533 Centerline is valid? [False, False] Translation: X:6.61, Y:0.23, Z:0.14 [[ 9.99586234e-01 2.89400291e-03 -2.86179149e-02 6.61263039e+00] [-2.72729884e-03 9.99979096e-01 5.86248288e-03 2.25893082e-01] [ 2.86342827e-02 -5.78200758e-03 9.99573232e-01 1.35320141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.59463044 meters Centerline goodness [0,1] 0.3286397106317013 Centerline is valid? [False, False] Translation: X:6.61, Y:0.22, Z:0.14 [[ 9.99588072e-01 2.81894829e-03 -2.85611501e-02 6.61250111e+00] [-2.64844447e-03 9.99978458e-01 6.00585278e-03 2.24055960e-01] [ 2.85774650e-02 -5.92773618e-03 9.99574004e-01 1.35385426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62463044 meters Centerline goodness [0,1] 0.32775962861072905 Centerline is valid? [False, False] Translation: X:6.61, Y:0.22, Z:0.14 [[ 9.99588234e-01 2.87614271e-03 -2.85497897e-02 6.61266273e+00] [-2.70339718e-03 9.99977817e-01 6.08743185e-03 2.23802529e-01] [ 2.85666647e-02 -6.00774383e-03 9.99573836e-01 1.35076629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.65463044 meters Centerline goodness [0,1] 0.3279060799520117 Centerline is valid? [False, False] Translation: X:6.61, Y:0.22, Z:0.13 [[ 9.99588680e-01 2.95316030e-03 -2.85262947e-02 6.61277914e+00] [-2.77760689e-03 9.99976973e-01 6.19175716e-03 2.23651191e-01] [ 2.85439231e-02 -6.10997554e-03 9.99573866e-01 1.34863072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68463044 meters Centerline goodness [0,1] 0.3297029064896565 Centerline is valid? [False, False] Translation: X:6.61, Y:0.22, Z:0.13 [[ 9.99587879e-01 2.95217390e-03 -2.85544708e-02 6.61317475e+00] [-2.77627273e-03 9.99976939e-01 6.19788225e-03 2.23631641e-01] [ 2.85721095e-02 -6.11605297e-03 9.99573023e-01 1.34384995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71463043999998 meters Centerline goodness [0,1] 0.326782223940546 Centerline is valid? [False, False] Translation: X:6.61, Y:0.22, Z:0.13 [[ 9.99586837e-01 2.86672601e-03 -2.85996139e-02 6.61342277e+00] [-2.69328797e-03 9.99977762e-01 6.10102812e-03 2.23673344e-01] [ 2.86164678e-02 -6.02148040e-03 9.99572328e-01 1.34213683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74463043999998 meters Centerline goodness [0,1] 0.3301768223975037 Centerline is valid? [False, False] Translation: X:6.61, Y:0.22, Z:0.13 [[ 9.99584504e-01 2.77498556e-03 -2.86900300e-02 6.61350994e+00] [-2.60481994e-03 9.99978806e-01 5.96684968e-03 2.24069751e-01] [ 2.87059798e-02 -5.88963812e-03 9.99570547e-01 1.34359544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77463043999998 meters Centerline goodness [0,1] 0.33136017410228513 Centerline is valid? [False, False] Translation: X:6.61, Y:0.22, Z:0.13 [[ 9.99582366e-01 2.75964884e-03 -2.87659277e-02 6.61353786e+00] [-2.59164202e-03 9.99979377e-01 5.87612771e-03 2.24713920e-01] [ 2.87815505e-02 -5.79912265e-03 9.99568903e-01 1.34564719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80463043999998 meters Centerline goodness [0,1] 0.32935488744523345 Centerline is valid? [False, False] Translation: X:6.61, Y:0.23, Z:0.13 [[ 9.99587226e-01 2.74189881e-03 -2.85982358e-02 6.61328240e+00] [-2.58205742e-03 9.99980848e-01 5.62463669e-03 2.26486706e-01] [ 2.86131102e-02 -5.54847270e-03 9.99575162e-01 1.34443989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83463043999998 meters Centerline goodness [0,1] 0.3302847730917602 Centerline is valid? [False, False] Translation: X:6.61, Y:0.23, Z:0.13 [[ 9.99587989e-01 2.63178429e-03 -2.85819251e-02 6.61340524e+00] [-2.47976820e-03 9.99982599e-01 5.35275336e-03 2.27728599e-01] [ 2.85955150e-02 -5.27967141e-03 9.99577121e-01 1.34199314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86463043999998 meters Centerline goodness [0,1] 0.32958324335996547 Centerline is valid? [False, False] Translation: X:6.61, Y:0.23, Z:0.13 [[ 9.99586751e-01 2.54765886e-03 -2.86327733e-02 6.61379683e+00] [-2.40321114e-03 9.99984219e-01 5.07811946e-03 2.29036133e-01] [ 2.86452587e-02 -5.00721033e-03 9.99577099e-01 1.33792207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89463044 meters Centerline goodness [0,1] 0.3304313929313929 Centerline is valid? [False, False] Translation: X:6.61, Y:0.23, Z:0.13 [[ 9.99586492e-01 2.50045453e-03 -2.86459928e-02 6.61373648e+00] [-2.36426303e-03 9.99985746e-01 4.78717911e-03 2.31006837e-01] [ 2.86575546e-02 -4.71747291e-03 9.99578156e-01 1.33894867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92463044 meters Centerline goodness [0,1] 0.32880528680027643 Centerline is valid? [False, False] Translation: X:6.61, Y:0.23, Z:0.13 [[ 9.99584705e-01 2.44988775e-03 -2.87126285e-02 6.61397231e+00] [-2.31713658e-03 9.99986477e-01 4.65580276e-03 2.31690414e-01] [ 2.87236464e-02 -4.58733814e-03 9.99576865e-01 1.33766757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95463044 meters Centerline goodness [0,1] 0.328117591275486 Centerline is valid? [False, False] Translation: X:6.61, Y:0.23, Z:0.13 [[ 9.99580001e-01 2.39010551e-03 -2.88809560e-02 6.61444104e+00] [-2.25963259e-03 9.99987098e-01 4.54940370e-03 2.32098924e-01] [ 2.88914570e-02 -4.48223261e-03 9.99572505e-01 1.33689078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98463044 meters Centerline goodness [0,1] 0.3278366959820659 Centerline is valid? [False, False] Translation: X:6.61, Y:0.23, Z:0.13 [[ 9.99578358e-01 2.21004674e-03 -2.89520496e-02 6.61467890e+00] [-2.08706376e-03 9.99988674e-01 4.27734619e-03 2.32882368e-01] [ 2.89611749e-02 -4.21511791e-03 9.99571650e-01 1.33622500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01463044 meters Centerline goodness [0,1] 0.3284171657972135 Centerline is valid? [False, False] Translation: X:6.61, Y:0.23, Z:0.13 [[ 9.99577995e-01 2.05029430e-03 -2.89763438e-02 6.61473856e+00] [-1.93393425e-03 9.99989956e-01 4.04314604e-03 2.33574707e-01] [ 2.89843424e-02 -3.98540147e-03 9.99571921e-01 1.33642666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04463044 meters Centerline goodness [0,1] 0.3282437816302358 Centerline is valid? [False, False] Translation: X:6.61, Y:0.24, Z:0.13 [[ 9.99577632e-01 1.87985303e-03 -2.90004123e-02 6.61475355e+00] [-1.77334273e-03 9.99991590e-01 3.69799893e-03 2.35035670e-01] [ 2.90071201e-02 -3.64500934e-03 9.99572559e-01 1.33697502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07463044 meters Centerline goodness [0,1] 0.3278921220723917 Centerline is valid? [False, False] Translation: X:6.61, Y:0.24, Z:0.13 [[ 9.99579044e-01 1.86767458e-03 -2.89524739e-02 6.61462432e+00] [-1.76460966e-03 9.99992017e-01 3.58493802e-03 2.35983789e-01] [ 2.89589383e-02 -3.53233911e-03 9.99574361e-01 1.33705966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10463044 meters Centerline goodness [0,1] 0.3278476650008616 Centerline is valid? [False, False] Translation: X:6.61, Y:0.24, Z:0.13 [[ 9.99578022e-01 1.89475932e-03 -2.89859936e-02 6.61468429e+00] [-1.79220054e-03 9.99992044e-01 3.56378902e-03 2.36628950e-01] [ 2.89925155e-02 -3.51033647e-03 9.99573465e-01 1.33714969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13463044 meters Centerline goodness [0,1] 0.3260599038791624 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99570205e-01 1.66755944e-03 -2.92681422e-02 6.61564334e+00] [-1.57271333e-03 9.99993439e-01 3.26331332e-03 2.37395898e-01] [ 2.92733919e-02 -3.21588036e-03 9.99566269e-01 1.33372471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16463044 meters Centerline goodness [0,1] 0.32784276621365904 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99567989e-01 1.48897073e-03 -2.93533380e-02 6.61586636e+00] [-1.39992387e-03 9.99994357e-01 3.05393689e-03 2.37640684e-01] [ 2.93577196e-02 -3.01152511e-03 9.99564433e-01 1.33318421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19463044 meters Centerline goodness [0,1] 0.3259934629279202 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99569359e-01 1.38570418e-03 -2.93116941e-02 6.61578403e+00] [-1.30096484e-03 9.99994920e-01 2.90984701e-03 2.38013278e-01] [ 2.93155774e-02 -2.87046043e-03 9.99566085e-01 1.33328835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22463044 meters Centerline goodness [0,1] 0.32793583209685395 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99571052e-01 1.39370134e-03 -2.92535512e-02 6.61567451e+00] [-1.31060264e-03 9.99995052e-01 2.85961810e-03 2.38645852e-01] [ 2.92573919e-02 -2.82005169e-03 9.99567933e-01 1.33280880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.25463044 meters Centerline goodness [0,1] 0.3279431766661629 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99569945e-01 1.47011886e-03 -2.92875900e-02 6.61598208e+00] [-1.38883277e-03 9.99995128e-01 2.79559398e-03 2.39993304e-01] [ 2.92915572e-02 -2.75371616e-03 9.99567117e-01 1.32992138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28463044 meters Centerline goodness [0,1] 0.32662259615384615 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99567341e-01 1.41237141e-03 -2.93791656e-02 6.61626898e+00] [-1.33373428e-03 9.99995476e-01 2.69605308e-03 2.40302408e-01] [ 2.93828406e-02 -2.65570260e-03 9.99564703e-01 1.32921302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.31463044 meters Centerline goodness [0,1] 0.3257178473177441 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99565943e-01 1.34302580e-03 -2.94299629e-02 6.61621815e+00] [-1.26749715e-03 9.99995856e-01 2.58489097e-03 2.40527371e-01] [ 2.94333125e-02 -2.54646659e-03 9.99563503e-01 1.33197083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34463044 meters Centerline goodness [0,1] 0.32679401135776975 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99566920e-01 1.29225937e-03 -2.93990116e-02 6.61601527e+00] [-1.21934046e-03 9.99996136e-01 2.49811104e-03 2.40748612e-01] [ 2.94021262e-02 -2.46118175e-03 9.99564634e-01 1.33364760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.37463044 meters Centerline goodness [0,1] 0.3260529082366067 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99564839e-01 1.37722739e-03 -2.94658510e-02 6.61632166e+00] [-1.30267431e-03 9.99995902e-01 2.54919883e-03 2.40877934e-01] [ 2.94692411e-02 -2.50970511e-03 9.99562537e-01 1.33173162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40463044 meters Centerline goodness [0,1] 0.32395940832473336 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99563553e-01 1.39287412e-03 -2.95086868e-02 6.61649345e+00] [-1.31786664e-03 9.99995852e-01 2.56117384e-03 2.40805660e-01] [ 2.95121317e-02 -2.52116751e-03 9.99561243e-01 1.33102198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.43463044 meters Centerline goodness [0,1] 0.32679088668885914 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99563264e-01 1.38482001e-03 -2.95188777e-02 6.61655816e+00] [-1.31001575e-03 9.99995882e-01 2.55330462e-03 2.40594673e-01] [ 2.95222920e-02 -2.51351930e-03 9.99560962e-01 1.33038344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46463043999998 meters Centerline goodness [0,1] 0.32502666951141457 Centerline is valid? [False, False] Translation: X:6.64, Y:0.24, Z:0.13 [[ 9.99535759e-01 9.45548102e-03 -2.89630788e-02 6.63587158e+00] [-9.42509951e-03 9.99954880e-01 1.18531586e-03 2.37618751e-01] [ 2.89729797e-02 -9.11785689e-04 9.99579779e-01 1.34864871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49463043999998 meters Centerline goodness [0,1] 0.32826129304560503 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99578330e-01 1.66365835e-03 -2.89895420e-02 6.61528826e+00] [-1.58142454e-03 9.99994662e-01 2.85936809e-03 2.39624912e-01] [ 2.89941443e-02 -2.81231760e-03 9.99575625e-01 1.33582459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52463043999998 meters Centerline goodness [0,1] 0.3239156896662182 Centerline is valid? [False, False] Translation: X:6.64, Y:0.24, Z:0.14 [[ 9.99542249e-01 9.94327483e-03 -2.85731202e-02 6.63511647e+00] [-9.89940061e-03 9.99949594e-01 1.67655774e-03 2.37053390e-01] [ 2.85883505e-02 -1.39293353e-03 9.99590299e-01 1.35017244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55463043999998 meters Centerline goodness [0,1] 0.3272066773342559 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99577216e-01 1.39000406e-03 -2.90423352e-02 6.61634640e+00] [-1.31524124e-03 9.99995773e-01 2.59321452e-03 2.40481623e-01] [ 2.90458170e-02 -2.55392047e-03 9.99574819e-01 1.32861491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58463043999998 meters Centerline goodness [0,1] 0.3229639462190631 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99568994e-01 1.35300711e-03 -2.93256841e-02 6.61720923e+00] [-1.28189349e-03 9.99996193e-01 2.44362486e-03 2.41140495e-01] [ 2.93288786e-02 -2.40497924e-03 9.99566923e-01 1.32571537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61463043999998 meters Centerline goodness [0,1] 0.32476655715026803 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99561215e-01 1.69452287e-03 -2.95720375e-02 6.61796068e+00] [-1.61909271e-03 9.99995375e-01 2.57448481e-03 2.42332535e-01] [ 2.95762632e-02 -2.52547530e-03 9.99559336e-01 1.32156655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64463044 meters Centerline goodness [0,1] 0.32597938589857167 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99564691e-01 1.75456526e-03 -2.94507931e-02 6.61766621e+00] [-1.67812326e-03 9.99995159e-01 2.62009926e-03 2.42479273e-01] [ 2.94552477e-02 -2.56953665e-03 9.99562797e-01 1.32175512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67463044 meters Centerline goodness [0,1] 0.3271319171029291 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99566578e-01 1.72801376e-03 -2.93882605e-02 6.61744636e+00] [-1.65181377e-03 9.99995212e-01 2.61695105e-03 2.42237391e-01] [ 2.93926419e-02 -2.56727287e-03 9.99564646e-01 1.32315161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70463044 meters Centerline goodness [0,1] 0.3236315315701488 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99567504e-01 1.66174806e-03 -2.93605759e-02 6.61731835e+00] [-1.58438039e-03 9.99995212e-01 2.65815473e-03 2.41435129e-01] [ 2.93648525e-02 -2.61048677e-03 9.99565351e-01 1.32445126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73463044 meters Centerline goodness [0,1] 0.3236315315701488 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99567504e-01 1.66174806e-03 -2.93605759e-02 6.61731835e+00] [-1.58438039e-03 9.99995212e-01 2.65815473e-03 2.41435129e-01] [ 2.93648525e-02 -2.61048677e-03 9.99565351e-01 1.32445126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76463044 meters Centerline goodness [0,1] 0.3287399879424684 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99566554e-01 1.65142690e-03 -2.93934683e-02 6.61731556e+00] [-1.56859773e-03 9.99994735e-01 2.84078005e-03 2.39928094e-01] [ 2.93980049e-02 -2.79344220e-03 9.99563882e-01 1.32577020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79463044 meters Centerline goodness [0,1] 0.329839197717645 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99562615e-01 1.56914216e-03 -2.95316218e-02 6.61742225e+00] [-1.47294061e-03 9.99993539e-01 3.27904970e-03 2.36541771e-01] [ 2.95365763e-02 -3.23411717e-03 9.99558468e-01 1.33024237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82463044 meters Centerline goodness [0,1] 0.32666623791454974 Centerline is valid? [False, False] Translation: X:6.62, Y:0.23, Z:0.13 [[ 9.99557339e-01 1.53134359e-03 -2.97116161e-02 6.61788536e+00] [-1.42739435e-03 9.99992788e-01 3.51950053e-03 2.34577193e-01] [ 2.97167913e-02 -3.47553239e-03 9.99552316e-01 1.33069950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85463044 meters Centerline goodness [0,1] 0.3280764584052468 Centerline is valid? [False, False] Translation: X:6.62, Y:0.23, Z:0.13 [[ 9.99554098e-01 1.46635801e-03 -2.98237151e-02 6.61815683e+00] [-1.35563655e-03 9.99992116e-01 3.73241148e-03 2.32530387e-01] [ 2.98289530e-02 -3.69031707e-03 9.99548206e-01 1.33146284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88463044 meters Centerline goodness [0,1] 0.3266546793389845 Centerline is valid? [False, False] Translation: X:6.62, Y:0.23, Z:0.13 [[ 9.99547163e-01 1.44685798e-03 -3.00561935e-02 6.61876200e+00] [-1.32361322e-03 9.99990637e-01 4.11996928e-03 2.29568842e-01] [ 3.00618731e-02 -4.07832083e-03 9.99539720e-01 1.33168561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91463044 meters Centerline goodness [0,1] 0.32706288426275487 Centerline is valid? [False, False] Translation: X:6.62, Y:0.23, Z:0.13 [[ 9.99545095e-01 1.54727436e-03 -3.01199183e-02 6.61896590e+00] [-1.41825456e-03 9.99989730e-01 4.30443005e-03 2.28884807e-01] [ 3.01262692e-02 -4.25975424e-03 9.99537024e-01 1.33118285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94463044 meters Centerline goodness [0,1] 0.3258029220570252 Centerline is valid? [False, False] Translation: X:6.62, Y:0.23, Z:0.13 [[ 9.99540179e-01 1.59921566e-03 -3.02798977e-02 6.61937889e+00] [-1.46754870e-03 9.99989374e-01 4.37005348e-03 2.28709848e-01] [ 3.02865646e-02 -4.32360682e-03 9.99531906e-01 1.33075174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97463044 meters Centerline goodness [0,1] 0.3253134019730324 Centerline is valid? [False, False] Translation: X:6.62, Y:0.23, Z:0.13 [[ 9.99540610e-01 1.62845053e-03 -3.02641130e-02 6.61925166e+00] [-1.50179381e-03 9.99990022e-01 4.20730592e-03 2.29704651e-01] [ 3.02706624e-02 -4.15992267e-03 9.99533082e-01 1.33176715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00463044 meters Centerline goodness [0,1] 0.32366639354866533 Centerline is valid? [False, False] Translation: X:6.62, Y:0.23, Z:0.13 [[ 9.99542853e-01 1.67374397e-03 -3.01874845e-02 6.61900582e+00] [-1.54958186e-03 9.99990246e-01 4.13595797e-03 2.30542284e-01] [ 3.01941126e-02 -4.08728925e-03 9.99535697e-01 1.33275802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.03463044 meters Centerline goodness [0,1] 0.3249195690194978 Centerline is valid? [False, False] Translation: X:6.62, Y:0.23, Z:0.13 [[ 9.99550228e-01 1.72895949e-03 -2.99391379e-02 6.61841624e+00] [-1.60868557e-03 9.99990542e-01 4.04090130e-03 2.31477627e-01] [ 2.99458413e-02 -3.99092116e-03 9.99543555e-01 1.33261506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06463044 meters Centerline goodness [0,1] 0.3236989265742506 Centerline is valid? [False, False] Translation: X:6.62, Y:0.23, Z:0.13 [[ 9.99552714e-01 1.70957221e-03 -2.98571528e-02 6.61815940e+00] [-1.59591599e-03 9.99991392e-01 3.83008161e-03 2.32746194e-01] [ 2.98634436e-02 -3.78071896e-03 9.99546838e-01 1.33308457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.09463044 meters Centerline goodness [0,1] 0.32387452365061253 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99552484e-01 1.67921165e-03 -2.98665698e-02 6.61818372e+00] [-1.57714168e-03 9.99992837e-01 3.44076143e-03 2.35024468e-01] [ 2.98721336e-02 -3.39211783e-03 9.99547972e-01 1.33217662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12463044 meters Centerline goodness [0,1] 0.32349320837022477 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99550938e-01 1.65288640e-03 -2.99197272e-02 6.61848700e+00] [-1.55615261e-03 9.99993488e-01 3.25610714e-03 2.36295887e-01] [ 2.99249143e-02 -3.20808528e-03 9.99547001e-01 1.32901238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.15463044 meters Centerline goodness [0,1] 0.3206945277040336 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99549256e-01 1.64508003e-03 -2.99763002e-02 6.61886429e+00] [-1.55274751e-03 9.99993980e-01 3.10320154e-03 2.37504416e-01] [ 2.99812247e-02 -3.05525716e-03 9.99545793e-01 1.32520753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18463044 meters Centerline goodness [0,1] 0.32477799436863763 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99560069e-01 1.52636069e-03 -2.96199198e-02 6.61817869e+00] [-1.44379763e-03 9.99995014e-01 2.80860381e-03 2.38983063e-01] [ 2.96240590e-02 -2.76460305e-03 9.99557288e-01 1.32340009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21463043999998 meters Centerline goodness [0,1] 0.3213533834586466 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99559077e-01 1.41266997e-03 -2.96589895e-02 6.61816061e+00] [-1.33439073e-03 9.99995575e-01 2.65893593e-03 2.39352412e-01] [ 2.96626145e-02 -2.61818687e-03 9.99556539e-01 1.32477870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24463043999998 meters Centerline goodness [0,1] 0.32596840510711966 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99557127e-01 1.35166076e-03 -2.97274676e-02 6.61809910e+00] [-1.27410095e-03 9.99995736e-01 2.62781580e-03 2.39218857e-01] [ 2.97308927e-02 -2.58877622e-03 9.99554587e-01 1.32816770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27463043999998 meters Centerline goodness [0,1] 0.3231746715485677 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99551992e-01 1.30546950e-03 -2.99016747e-02 6.61844080e+00] [-1.22613695e-03 9.99995680e-01 2.67129625e-03 2.38794572e-01] [ 2.99050328e-02 -2.63343594e-03 9.99549275e-01 1.32957427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30463043999998 meters Centerline goodness [0,1] 0.32006704775003225 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99527400e-01 1.02925325e-03 -3.07232441e-02 6.62047212e+00] [-9.45361256e-04 9.99995786e-01 2.74497152e-03 2.37048860e-01] [ 3.07259399e-02 -2.71462968e-03 9.99524160e-01 1.32859350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33463043999998 meters Centerline goodness [0,1] 0.32048043161771 Centerline is valid? [False, False] Translation: X:6.62, Y:0.24, Z:0.13 [[ 9.99523906e-01 9.62691926e-04 -3.08388587e-02 6.62075965e+00] [-8.74926848e-04 9.99995529e-01 2.85929265e-03 2.35731793e-01] [ 3.08414734e-02 -2.83094961e-03 9.99520280e-01 1.32903431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36463043999998 meters Centerline goodness [0,1] 0.320304970766496 Centerline is valid? [False, False] Translation: X:6.62, Y:0.23, Z:0.13 [[ 9.99525530e-01 9.02178616e-04 -3.07880039e-02 6.62054602e+00] [-8.10173823e-04 9.99995170e-01 3.00067647e-03 2.34256902e-01] [ 3.07905623e-02 -2.97430911e-03 9.99521433e-01 1.33136033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39463044 meters Centerline goodness [0,1] 0.3220011174625005 Centerline is valid? [False, False] Translation: X:6.62, Y:0.23, Z:0.13 [[ 9.99525456e-01 9.40517986e-04 -3.07892404e-02 6.62031381e+00] [-8.41960779e-04 9.99994481e-01 3.21383580e-03 2.32844110e-01] [ 3.07920932e-02 -3.18638736e-03 9.99520732e-01 1.33532309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42463044 meters Centerline goodness [0,1] 0.3249310067580782 Centerline is valid? [False, False] Translation: X:6.62, Y:0.23, Z:0.13 [[ 9.99522857e-01 1.05971536e-03 -3.08696466e-02 6.62045861e+00] [-9.52276457e-04 9.99993439e-01 3.49489992e-03 2.31647862e-01] [ 3.08731477e-02 -3.46383592e-03 9.99517309e-01 1.33645286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45463044 meters Centerline goodness [0,1] 0.3239245283018868 Centerline is valid? [False, False] Translation: X:6.62, Y:0.23, Z:0.13 [[ 9.99509894e-01 1.15807388e-03 -3.12830885e-02 6.62180876e+00] [-1.04649409e-03 9.99993034e-01 3.58291401e-03 2.31641174e-01] [ 3.12870198e-02 -3.54842044e-03 9.99504143e-01 1.33095179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48463044 meters Centerline goodness [0,1] 0.3234710173076093 Centerline is valid? [False, False] Translation: X:6.62, Y:0.23, Z:0.13 [[ 9.99498737e-01 1.18185798e-03 -3.16366500e-02 6.62314976e+00] [-1.07048113e-03 9.99993171e-01 3.53720674e-03 2.31979485e-01] [ 3.16406145e-02 -3.50156723e-03 9.99493177e-01 1.32365875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51463044 meters Centerline goodness [0,1] 0.3266868823490914 Centerline is valid? [False, False] Translation: X:6.62, Y:0.23, Z:0.13 [[ 9.99495509e-01 1.19582354e-03 -3.17379653e-02 6.62366663e+00] [-1.08801310e-03 9.99993581e-01 3.41394451e-03 2.32487640e-01] [ 3.17418440e-02 -3.37769088e-03 9.99490393e-01 1.31916173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54463044 meters Centerline goodness [0,1] 0.32114197198855443 Centerline is valid? [False, False] Translation: X:6.64, Y:0.23, Z:0.13 [[ 9.99507390e-01 9.21151975e-03 -3.00020741e-02 6.64249791e+00] [-9.15476810e-03 9.99956037e-01 2.02840667e-03 2.30311778e-01] [ 3.00194398e-02 -1.75274542e-03 9.99547778e-01 1.33622529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57463044 meters Centerline goodness [0,1] 0.3222072158981285 Centerline is valid? [False, False] Translation: X:6.64, Y:0.23, Z:0.13 [[ 9.99512735e-01 9.23142555e-03 -2.98173238e-02 6.64169521e+00] [-9.17266945e-03 9.99955711e-01 2.10672064e-03 2.29835550e-01] [ 2.98354513e-02 -1.83218965e-03 9.99553145e-01 1.34187818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60463044 meters Centerline goodness [0,1] 0.3239651650360176 Centerline is valid? [False, False] Translation: X:6.64, Y:0.23, Z:0.13 [[ 9.99514524e-01 9.27873573e-03 -2.97425786e-02 6.64131401e+00] [-9.21558592e-03 9.99954983e-01 2.25959055e-03 2.29009082e-01] [ 2.97622059e-02 -1.98439828e-03 9.99555038e-01 1.34513836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63463044 meters Centerline goodness [0,1] 0.3274968694675936 Centerline is valid? [False, False] Translation: X:6.64, Y:0.23, Z:0.13 [[ 9.99545618e-01 5.70976189e-03 -2.95965561e-02 6.64117316e+00] [-5.74095084e-03 9.99983051e-01 -9.68935110e-04 2.27308570e-01] [ 2.95905221e-02 1.13840722e-03 9.99561456e-01 1.34257513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66463044 meters Centerline goodness [0,1] 0.32295611613924724 Centerline is valid? [False, False] Translation: X:6.66, Y:0.23, Z:0.14 [[ 9.99569395e-01 -1.96638091e-03 -2.92772681e-02 6.66060398e+00] [ 1.96890261e-03 9.99998060e-01 5.73038649e-05 2.29222539e-01] [ 2.92770986e-02 -1.14923279e-04 9.99571327e-01 1.35845044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69463044 meters Centerline goodness [0,1] 0.3273283701951252 Centerline is valid? [False, False] Translation: X:6.64, Y:0.22, Z:0.13 [[ 9.99590936e-01 3.03501782e-03 -2.84385275e-02 6.63923290e+00] [-3.10856418e-03 9.99991937e-01 -2.54229884e-03 2.22556963e-01] [ 2.84305823e-02 2.62966186e-03 9.99592310e-01 1.34294694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72463044 meters Centerline goodness [0,1] 0.32622155107323914 Centerline is valid? [False, False] Translation: X:6.66, Y:0.22, Z:0.14 [[ 9.99577054e-01 -4.61719286e-03 -2.87122877e-02 6.65921496e+00] [ 4.57768112e-03 9.99988483e-01 -1.44170589e-03 2.23848776e-01] [ 2.87186137e-02 1.30966042e-03 9.99586678e-01 1.35965117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75463044 meters Centerline goodness [0,1] 0.3264255373921998 Centerline is valid? [False, False] Translation: X:6.66, Y:0.22, Z:0.14 [[ 9.99546581e-01 -5.28731496e-03 -2.96424809e-02 6.66190216e+00] [ 5.24610684e-03 9.99985162e-01 -1.46777044e-03 2.17432919e-01] [ 2.96498016e-02 1.31159731e-03 9.99559487e-01 1.35516473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78463044 meters Centerline goodness [0,1] 0.3267365153279007 Centerline is valid? [False, False] Translation: X:6.66, Y:0.21, Z:0.14 [[ 9.99542117e-01 -5.18973999e-03 -2.98097907e-02 6.66237522e+00] [ 5.16055673e-03 9.99986127e-01 -1.05583417e-03 2.14906921e-01] [ 2.98148566e-02 9.01515608e-04 9.99555032e-01 1.35453891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.81463044 meters Centerline goodness [0,1] 0.32571207961564863 Centerline is valid? [False, False] Translation: X:6.66, Y:0.21, Z:0.14 [[ 9.99535651e-01 -5.01107617e-03 -3.00561306e-02 6.66310273e+00] [ 4.99714899e-03 9.99987369e-01 -5.38469447e-04 2.12095572e-01] [ 3.00584492e-02 3.88024447e-04 9.99548067e-01 1.35335032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84463044 meters Centerline goodness [0,1] 0.3271758050478677 Centerline is valid? [False, False] Translation: X:6.65, Y:0.20, Z:0.13 [[ 9.99557320e-01 1.64793349e-03 -2.97060255e-02 6.64553149e+00] [-1.68102773e-03 9.99997994e-01 -1.08911865e-03 1.99593019e-01] [ 2.97041711e-02 1.13857317e-03 9.99558085e-01 1.32549163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.87463044 meters Centerline goodness [0,1] 0.3215582418521208 Centerline is valid? [False, False] Translation: X:6.69, Y:0.20, Z:0.13 [[ 9.99596559e-01 2.36331289e-03 -2.83043005e-02 6.68878789e+00] [-2.40067770e-03 9.99996291e-01 -1.28620162e-03 1.98081715e-01] [ 2.83011559e-02 1.35363222e-03 9.99598526e-01 1.33791919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90463044 meters Centerline goodness [0,1] 0.3215586307356154 Centerline is valid? [False, False] Translation: X:6.69, Y:0.20, Z:0.13 [[ 9.99594639e-01 2.51143134e-03 -2.83593047e-02 6.68884308e+00] [-2.53483629e-03 9.99996476e-01 -7.89380316e-04 1.95089460e-01] [ 2.83572222e-02 8.60946527e-04 9.99597482e-01 1.33936015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.93463044 meters Centerline goodness [0,1] 0.3229157759726379 Centerline is valid? [False, False] Translation: X:6.69, Y:0.19, Z:0.13 [[ 9.99592802e-01 2.65577651e-03 -2.84108614e-02 6.68885188e+00] [-2.66463282e-03 9.99996412e-01 -2.73867159e-04 1.91973594e-01] [ 2.84100321e-02 3.49460154e-04 9.99596292e-01 1.34149347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96463043999998 meters Centerline goodness [0,1] 0.32221079250782225 Centerline is valid? [False, False] Translation: X:6.69, Y:0.18, Z:0.13 [[ 9.99592992e-01 1.53274790e-03 -2.84868718e-02 6.68945419e+00] [-1.54736748e-03 9.99998682e-01 -4.91166953e-04 1.83217132e-01] [ 2.84860815e-02 5.35046703e-04 9.99594046e-01 1.33720862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99463043999998 meters Centerline goodness [0,1] 0.32480769230769235 Centerline is valid? [False, False] Translation: X:6.69, Y:0.18, Z:0.13 [[ 9.99590643e-01 1.61987166e-03 -2.85643727e-02 6.68968207e+00] [-1.62022808e-03 9.99998687e-01 1.06673879e-05 1.79726373e-01] [ 2.85643525e-02 3.56177776e-05 9.99591955e-01 1.33731292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02463043999998 meters Centerline goodness [0,1] 0.3247883399421284 Centerline is valid? [False, False] Translation: X:6.69, Y:0.18, Z:0.13 [[ 9.99592066e-01 1.75924657e-03 -2.85062561e-02 6.68942626e+00] [-1.74435270e-03 9.99998329e-01 5.47336618e-04 1.76500463e-01] [ 2.85071713e-02 -4.97388376e-04 9.99593464e-01 1.33974649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05463043999998 meters Centerline goodness [0,1] 0.32291285144888504 Centerline is valid? [False, False] Translation: X:6.69, Y:0.17, Z:0.13 [[ 9.99592968e-01 2.10466125e-03 -2.84511661e-02 6.68889800e+00] [-2.06233395e-03 9.99996723e-01 1.51697967e-03 1.71233959e-01] [ 2.84542656e-02 -1.45768641e-03 9.99594033e-01 1.34644965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08463043999998 meters Centerline goodness [0,1] 0.3229068066431461 Centerline is valid? [False, False] Translation: X:6.69, Y:0.17, Z:0.13 [[ 9.99592304e-01 2.20697984e-03 -2.84667434e-02 6.68898040e+00] [-2.15457922e-03 9.99995928e-01 1.87130832e-03 1.69209225e-01] [ 2.84707574e-02 -1.80921154e-03 9.99592989e-01 1.34623486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11463043999998 meters Centerline goodness [0,1] 0.32652884885403843 Centerline is valid? [False, False] Translation: X:6.69, Y:0.17, Z:0.13 [[ 9.99590537e-01 2.24905327e-03 -2.85254423e-02 6.68910664e+00] [-2.18916246e-03 9.99995334e-01 2.13061373e-03 1.67336221e-01] [ 2.85301011e-02 -2.06729449e-03 9.99590796e-01 1.34697002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14463044 meters Centerline goodness [0,1] 0.3273292195376325 Centerline is valid? [False, False] Translation: X:6.69, Y:0.17, Z:0.13 [[ 9.99591833e-01 2.26591218e-03 -2.84786498e-02 6.68883014e+00] [-2.19956991e-03 9.99994795e-01 2.36065509e-03 1.65580374e-01] [ 2.84838506e-02 -2.29705076e-03 9.99591614e-01 1.34970315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17463044 meters Centerline goodness [0,1] 0.324731781484892 Centerline is valid? [False, False] Translation: X:6.71, Y:0.17, Z:0.14 [[ 9.99611738e-01 -4.97973228e-03 -2.74148607e-02 6.70856438e+00] [ 5.08237479e-03 9.99980329e-01 3.67564070e-03 1.66695518e-01] [ 2.73960177e-02 -3.81354619e-03 9.99617384e-01 1.36960237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20463044 meters Centerline goodness [0,1] 0.3245091503408529 Centerline is valid? [False, False] Translation: X:6.71, Y:0.17, Z:0.14 [[ 9.99612327e-01 -4.92026569e-03 -2.74041310e-02 6.70852205e+00] [ 5.02829871e-03 9.99979851e-01 3.87470133e-03 1.65673692e-01] [ 2.73845143e-02 -4.01099537e-03 9.99616927e-01 1.37012123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23463044 meters Centerline goodness [0,1] 0.32302508104419037 Centerline is valid? [False, False] Translation: X:6.73, Y:0.16, Z:0.14 [[ 9.99628623e-01 2.89235231e-03 -2.70970539e-02 6.72730838e+00] [-2.83389583e-03 9.99993574e-01 2.19545404e-03 1.61471121e-01] [ 2.71032298e-02 -2.11784847e-03 9.99630397e-01 1.38702244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26463044 meters Centerline goodness [0,1] 0.3250685753471627 Centerline is valid? [False, False] Translation: X:6.73, Y:0.16, Z:0.14 [[ 9.99631103e-01 2.87688916e-03 -2.70070526e-02 6.72702344e+00] [-2.81618555e-03 9.99993423e-01 2.28546090e-03 1.60604897e-01] [ 2.70134500e-02 -2.20856093e-03 9.99632630e-01 1.38860747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29463044 meters Centerline goodness [0,1] 0.3253813313882393 Centerline is valid? [False, False] Translation: X:6.72, Y:0.16, Z:0.14 [[ 9.99649242e-01 2.80071457e-03 -2.63352992e-02 6.72496248e+00] [-2.73649526e-03 9.99993195e-01 2.47424918e-03 1.59184016e-01] [ 2.63420496e-02 -2.40131490e-03 9.99650104e-01 1.39644660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32463044 meters Centerline goodness [0,1] 0.32506044202914053 Centerline is valid? [False, False] Translation: X:6.72, Y:0.16, Z:0.14 [[ 9.99651991e-01 2.74519566e-03 -2.62366160e-02 6.72458212e+00] [-2.67856206e-03 9.99993099e-01 2.57452487e-03 1.58233265e-01] [ 2.62435025e-02 -2.50335251e-03 9.99652446e-01 1.39887924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35463044 meters Centerline goodness [0,1] 0.32456290709633184 Centerline is valid? [False, False] Translation: X:6.72, Y:0.16, Z:0.14 [[ 9.99651152e-01 2.62374978e-03 -2.62810044e-02 6.72474390e+00] [-2.55437017e-03 9.99993165e-01 2.67313868e-03 1.56833617e-01] [ 2.62878384e-02 -2.60507475e-03 9.99651021e-01 1.39810219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38463044 meters Centerline goodness [0,1] 0.32186679755020164 Centerline is valid? [False, False] Translation: X:6.73, Y:0.16, Z:0.14 [[ 9.99642020e-01 2.45055464e-03 -2.66425786e-02 6.72581391e+00] [-2.37801524e-03 9.99993380e-01 2.75402984e-03 1.55416705e-01] [ 2.66491511e-02 -2.68968750e-03 9.99641230e-01 1.39457556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41463044 meters Centerline goodness [0,1] 0.32394034200488575 Centerline is valid? [False, False] Translation: X:6.73, Y:0.15, Z:0.14 [[ 9.99628479e-01 1.95406446e-03 -2.71861343e-02 6.72762613e+00] [-1.87656276e-03 9.99994104e-01 2.87600141e-03 1.52238910e-01] [ 2.71915938e-02 -2.82391643e-03 9.99626252e-01 1.38803719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44463044 meters Centerline goodness [0,1] 0.3265512638332687 Centerline is valid? [False, False] Translation: X:6.73, Y:0.15, Z:0.14 [[ 9.99625709e-01 1.92540332e-03 -2.72898127e-02 6.72790683e+00] [-1.84014601e-03 9.99993349e-01 3.14891346e-03 1.50333231e-01] [ 2.72956941e-02 -3.09751761e-03 9.99622604e-01 1.38777737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47463044 meters Centerline goodness [0,1] 0.32493789085924785 Centerline is valid? [False, False] Translation: X:6.73, Y:0.15, Z:0.14 [[ 9.99619847e-01 1.78431799e-03 -2.75132414e-02 6.72864392e+00] [-1.69568343e-03 9.99993299e-01 3.24451854e-03 1.48780911e-01] [ 2.75188463e-02 -3.19663138e-03 9.99616174e-01 1.38522997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50463044 meters Centerline goodness [0,1] 0.32433603396733246 Centerline is valid? [False, False] Translation: X:6.73, Y:0.15, Z:0.14 [[ 9.99613090e-01 1.67883124e-03 -2.77642189e-02 6.72948706e+00] [-1.58788881e-03 9.99993303e-01 3.29724938e-03 1.47644237e-01] [ 2.77695684e-02 -3.25188714e-03 9.99609062e-01 1.38142791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.53463044 meters Centerline goodness [0,1] 0.3227525786543525 Centerline is valid? [False, False] Translation: X:6.73, Y:0.15, Z:0.14 [[ 9.99598908e-01 1.61230340e-03 -2.82740706e-02 6.73120397e+00] [-1.51554242e-03 9.99992923e-01 3.44334716e-03 1.46368334e-01] [ 2.82794222e-02 -3.39911551e-03 9.99594278e-01 1.37361053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56463044 meters Centerline goodness [0,1] 0.3241318473256164 Centerline is valid? [False, False] Translation: X:6.73, Y:0.15, Z:0.14 [[ 9.99596539e-01 1.65145631e-03 -2.83554632e-02 6.73168549e+00] [-1.55154869e-03 9.99992513e-01 3.54503952e-03 1.46058104e-01] [ 2.83611053e-02 -3.49961435e-03 9.99591617e-01 1.36972502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.59463044 meters Centerline goodness [0,1] 0.3244282186191345 Centerline is valid? [False, False] Translation: X:6.73, Y:0.15, Z:0.14 [[ 9.99593549e-01 1.63686275e-03 -2.84615017e-02 6.73218189e+00] [-1.53678282e-03 9.99992561e-01 3.53784470e-03 1.46093221e-01] [ 2.84670809e-02 -3.49266759e-03 9.99588629e-01 1.36683526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62463044 meters Centerline goodness [0,1] 0.3224607318593008 Centerline is valid? [False, False] Translation: X:6.73, Y:0.15, Z:0.14 [[ 9.99591613e-01 1.55245621e-03 -2.85341291e-02 6.73255248e+00] [-1.45423450e-03 9.99992947e-01 3.46268345e-03 1.46073533e-01] [ 2.85393035e-02 -3.41977402e-03 9.99586821e-01 1.36408701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.65463044 meters Centerline goodness [0,1] 0.32167217193599584 Centerline is valid? [False, False] Translation: X:6.73, Y:0.15, Z:0.14 [[ 9.99596750e-01 1.33772570e-03 -2.83645538e-02 6.73212431e+00] [-1.24267771e-03 9.99993555e-01 3.36830556e-03 1.45328473e-01] [ 2.83688768e-02 -3.33169929e-03 9.99591970e-01 1.36445265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68463044 meters Centerline goodness [0,1] 0.32167217193599584 Centerline is valid? [False, False] Translation: X:6.73, Y:0.15, Z:0.14 [[ 9.99596750e-01 1.33772570e-03 -2.83645538e-02 6.73212431e+00] [-1.24267771e-03 9.99993555e-01 3.36830556e-03 1.45328473e-01] [ 2.83688768e-02 -3.33169929e-03 9.99591970e-01 1.36445265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71463043999998 meters Centerline goodness [0,1] 0.32271569769951225 Centerline is valid? [False, False] Translation: X:6.73, Y:0.14, Z:0.14 [[ 9.99601306e-01 1.31831482e-03 -2.82044537e-02 6.73177056e+00] [-1.22048780e-03 9.99993181e-01 3.48542912e-03 1.44490407e-01] [ 2.82088563e-02 -3.44961631e-03 9.99596099e-01 1.36432531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74463043999998 meters Centerline goodness [0,1] 0.32217806895070344 Centerline is valid? [False, False] Translation: X:6.73, Y:0.14, Z:0.14 [[ 9.99602822e-01 1.28826751e-03 -2.81520633e-02 6.73168950e+00] [-1.18686378e-03 9.99992749e-01 3.61841285e-03 1.43458548e-01] [ 2.81565207e-02 -3.58356303e-03 9.99597103e-01 1.36353352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77463043999998 meters Centerline goodness [0,1] 0.3239083982646608 Centerline is valid? [False, False] Translation: X:6.73, Y:0.14, Z:0.14 [[ 9.99601450e-01 1.22968571e-03 -2.82033410e-02 6.73185560e+00] [-1.12427695e-03 9.99992325e-01 3.75300956e-03 1.42260655e-01] [ 2.82077395e-02 -3.71980543e-03 9.99595161e-01 1.36269045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80463043999998 meters Centerline goodness [0,1] 0.3222425481545249 Centerline is valid? [False, False] Translation: X:6.73, Y:0.14, Z:0.14 [[ 9.99582088e-01 9.49292738e-04 -2.88920060e-02 6.73368247e+00] [-8.38648719e-04 9.99992270e-01 3.84144881e-03 1.40360197e-01] [ 2.88954293e-02 -3.81561317e-03 9.99575157e-01 1.35943412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83463043999998 meters Centerline goodness [0,1] 0.320073071136901 Centerline is valid? [False, False] Translation: X:6.73, Y:0.14, Z:0.14 [[ 9.99575776e-01 8.94585627e-04 -2.91113053e-02 6.73409667e+00] [-7.82149432e-04 9.99992192e-01 3.87344422e-03 1.39730794e-01] [ 2.91145431e-02 -3.84903162e-03 9.99568671e-01 1.36075475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86463043999998 meters Centerline goodness [0,1] 0.32253351667239605 Centerline is valid? [False, False] Translation: X:6.73, Y:0.14, Z:0.14 [[ 9.99573800e-01 8.08336481e-04 -2.91815786e-02 6.73430100e+00] [-6.97312539e-04 9.99992481e-01 3.81456605e-03 1.39459573e-01] [ 2.91844427e-02 -3.79259160e-03 9.99566848e-01 1.36059038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89463044 meters Centerline goodness [0,1] 0.32240801237964234 Centerline is valid? [False, False] Translation: X:6.73, Y:0.14, Z:0.14 [[ 9.99574112e-01 7.21917407e-04 -2.91731666e-02 6.73415375e+00] [-6.14547310e-04 9.99993006e-01 3.68923871e-03 1.39685504e-01] [ 2.91756259e-02 -3.66973921e-03 9.99567564e-01 1.36266671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92463044 meters Centerline goodness [0,1] 0.3250997041039496 Centerline is valid? [False, False] Translation: X:6.73, Y:0.14, Z:0.14 [[ 9.99606737e-01 1.06156871e-03 -2.80222136e-02 6.73124867e+00] [-9.60170072e-04 9.99992944e-01 3.63171696e-03 1.42117621e-01] [ 2.80258712e-02 -3.60338265e-03 9.99600703e-01 1.36745874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95463044 meters Centerline goodness [0,1] 0.32859058080698866 Centerline is valid? [False, False] Translation: X:6.73, Y:0.14, Z:0.14 [[ 9.99619233e-01 1.18242349e-03 -2.75679299e-02 6.73030621e+00] [-1.08671181e-03 9.99993331e-01 3.48657223e-03 1.44061086e-01] [ 2.75718687e-02 -3.45528627e-03 9.99613852e-01 1.36645281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98463044 meters Centerline goodness [0,1] 0.32783084683911135 Centerline is valid? [False, False] Translation: X:6.73, Y:0.15, Z:0.14 [[ 9.99631860e-01 1.14207264e-03 -2.71079312e-02 6.72957768e+00] [-1.06154265e-03 9.99994982e-01 2.98492160e-03 1.47540783e-01] [ 2.71112042e-02 -2.95504651e-03 9.99628056e-01 1.36321871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01463044 meters Centerline goodness [0,1] 0.32930800250145564 Centerline is valid? [False, False] Translation: X:6.73, Y:0.15, Z:0.14 [[ 9.99632460e-01 9.78514988e-04 -2.70921848e-02 6.72968905e+00] [-9.07351482e-04 9.99996106e-01 2.63888585e-03 1.48982822e-01] [ 2.70946615e-02 -2.61333382e-03 9.99629456e-01 1.36121520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04463044 meters Centerline goodness [0,1] 0.32418050234142193 Centerline is valid? [False, False] Translation: X:6.75, Y:0.15, Z:0.14 [[ 9.99607304e-01 8.95423421e-03 -2.65529495e-02 6.74931060e+00] [-8.93304838e-03 9.99959680e-01 9.16386308e-04 1.47457310e-01] [ 2.65600844e-02 -6.78827664e-04 9.99646988e-01 1.37302863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07463044 meters Centerline goodness [0,1] 0.328955068600039 Centerline is valid? [False, False] Translation: X:6.73, Y:0.15, Z:0.14 [[ 9.99645263e-01 5.72059152e-04 -2.66274579e-02 6.73002069e+00] [-5.15581209e-04 9.99997603e-01 2.12785872e-03 1.53406096e-01] [ 2.66286113e-02 -2.11337527e-03 9.99643162e-01 1.35297141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10463044 meters Centerline goodness [0,1] 0.33104106557910495 Centerline is valid? [False, False] Translation: X:6.73, Y:0.16, Z:0.14 [[ 9.99655438e-01 3.73531839e-04 -2.62462371e-02 6.72923953e+00] [-3.34774085e-04 9.99998847e-01 1.48107606e-03 1.57542396e-01] [ 2.62467601e-02 -1.47177918e-03 9.99654411e-01 1.35230323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13463044 meters Centerline goodness [0,1] 0.328143120999957 Centerline is valid? [False, False] Translation: X:6.73, Y:0.16, Z:0.14 [[ 9.99658271e-01 2.08475247e-04 -2.61399623e-02 6.72908885e+00] [-1.81673715e-04 9.99999455e-01 1.02767944e-03 1.60203837e-01] [ 2.61401623e-02 -1.02257931e-03 9.99657765e-01 1.35095249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16463044 meters Centerline goodness [0,1] 0.32653367975778913 Centerline is valid? [False, False] Translation: X:6.73, Y:0.16, Z:0.13 [[ 9.99659093e-01 6.85064215e-05 -2.61092460e-02 6.72917137e+00] [-5.35979674e-05 9.99999835e-01 5.71702254e-04 1.63178500e-01] [ 2.61092808e-02 -5.70107954e-04 9.99658932e-01 1.34874345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19463044 meters Centerline goodness [0,1] 0.32792159049477776 Centerline is valid? [False, False] Translation: X:6.73, Y:0.17, Z:0.13 [[ 9.99657477e-01 -9.84245253e-05 -2.61709548e-02 6.72943051e+00] [ 1.00082172e-04 9.99999993e-01 6.20293316e-05 1.66349481e-01] [ 2.61709485e-02 -6.46273312e-05 9.99657480e-01 1.34754285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22463044 meters Centerline goodness [0,1] 0.32624403251473055 Centerline is valid? [False, False] Translation: X:6.73, Y:0.17, Z:0.13 [[ 9.99653089e-01 -5.97880389e-04 -2.63314160e-02 6.73006934e+00] [ 5.72930340e-04 9.99999380e-01 -9.55073357e-04 1.71747351e-01] [ 2.63319707e-02 9.39655965e-04 9.99652812e-01 1.34356746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.25463044 meters Centerline goodness [0,1] 0.3268295831002883 Centerline is valid? [False, False] Translation: X:6.73, Y:0.17, Z:0.13 [[ 9.99648215e-01 -8.94285841e-04 -2.65074701e-02 6.73062258e+00] [ 8.55196054e-04 9.99998530e-01 -1.48597047e-03 1.74083338e-01] [ 2.65087600e-02 1.46277865e-03 9.99647511e-01 1.34126311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28463044 meters Centerline goodness [0,1] 0.3267832876771424 Centerline is valid? [False, False] Translation: X:6.73, Y:0.18, Z:0.13 [[ 9.99646977e-01 -1.15427053e-03 -2.65440921e-02 6.73088649e+00] [ 1.10224694e-03 9.99997443e-01 -1.97444127e-03 1.76492919e-01] [ 2.65463033e-02 1.94448610e-03 9.99645694e-01 1.33855872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.31463044 meters Centerline goodness [0,1] 0.3260990302046396 Centerline is valid? [False, False] Translation: X:6.75, Y:0.19, Z:0.14 [[ 9.99646417e-01 -6.78723348e-03 -2.57094211e-02 6.75097552e+00] [ 6.80206121e-03 9.99976746e-01 4.89332896e-04 1.85662823e-01] [ 2.57055020e-02 -6.64036933e-04 9.99669338e-01 1.35092081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34463044 meters Centerline goodness [0,1] 0.32583449608243 Centerline is valid? [False, False] Translation: X:6.75, Y:0.19, Z:0.13 [[ 9.99648380e-01 -7.04353082e-03 -2.55637416e-02 6.75083999e+00] [ 7.04164364e-03 9.99975194e-01 -1.63843000e-04 1.89558975e-01] [ 2.55642615e-02 -1.62253690e-05 9.99673181e-01 1.34799267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.37463044 meters Centerline goodness [0,1] 0.32852691522509936 Centerline is valid? [False, False] Translation: X:6.75, Y:0.19, Z:0.13 [[ 9.99646357e-01 -7.36737878e-03 -2.55515605e-02 6.75084679e+00] [ 7.34653551e-03 9.99972600e-01 -9.09511890e-04 1.93472988e-01] [ 2.55575611e-02 7.21474801e-04 9.99673092e-01 1.34773609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40463044 meters Centerline goodness [0,1] 0.3289936740289743 Centerline is valid? [False, False] Translation: X:6.75, Y:0.20, Z:0.13 [[ 9.99641825e-01 -7.71110658e-03 -2.56273580e-02 6.75122513e+00] [ 7.67051921e-03 9.99969167e-01 -1.68167979e-03 1.97353789e-01] [ 2.56395355e-02 1.48450231e-03 9.99670151e-01 1.34452110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.43463044 meters Centerline goodness [0,1] 0.3235105427483854 Centerline is valid? [False, False] Translation: X:6.77, Y:0.20, Z:0.13 [[ 9.99678422e-01 -2.57959786e-04 -2.53571601e-02 6.77198843e+00] [ 1.64881543e-04 9.99993242e-01 -3.67271102e-03 2.02505479e-01] [ 2.53579362e-02 3.66734903e-03 9.99671709e-01 1.34899352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46463043999998 meters Centerline goodness [0,1] 0.32680920698490623 Centerline is valid? [False, False] Translation: X:6.77, Y:0.21, Z:0.13 [[ 9.99676056e-01 -4.58289112e-04 -2.54474672e-02 6.77236398e+00] [ 3.52199859e-04 9.99991230e-01 -4.17327690e-03 2.05427549e-01] [ 2.54491566e-02 4.16296239e-03 9.99667450e-01 1.34627713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49463043999998 meters Centerline goodness [0,1] 0.3265105125679785 Centerline is valid? [False, False] Translation: X:6.77, Y:0.21, Z:0.13 [[ 9.99673369e-01 -7.24453262e-04 -2.55466419e-02 6.77277686e+00] [ 6.03965839e-04 9.99988661e-01 -4.72377083e-03 2.08228802e-01] [ 2.55497744e-02 4.70679860e-03 9.99662471e-01 1.34464108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52463043999998 meters Centerline goodness [0,1] 0.325082720983198 Centerline is valid? [False, False] Translation: X:6.77, Y:0.21, Z:0.13 [[ 9.99683427e-01 -1.33836624e-03 -2.51247965e-02 6.77219740e+00] [ 1.19009510e-03 9.99981796e-01 -5.91541220e-03 2.14079390e-01] [ 2.51322561e-02 5.88363864e-03 9.99666821e-01 1.34044627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55463043999998 meters Centerline goodness [0,1] 0.3281152024908647 Centerline is valid? [False, False] Translation: X:6.77, Y:0.22, Z:0.13 [[ 9.99686258e-01 -1.49464450e-03 -2.50030122e-02 6.77227617e+00] [ 1.33493993e-03 9.99978610e-01 -6.40288586e-03 2.17018815e-01] [ 2.50120475e-02 6.36749949e-03 9.99666871e-01 1.33578595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58463043999998 meters Centerline goodness [0,1] 0.32377595323045183 Centerline is valid? [False, False] Translation: X:6.77, Y:0.22, Z:0.13 [[ 9.99685709e-01 -1.57442151e-03 -2.50200735e-02 6.77269716e+00] [ 1.40495061e-03 9.99975964e-01 -6.78953341e-03 2.19922618e-01] [ 2.50301617e-02 6.75224756e-03 9.99663893e-01 1.33133408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61463043999998 meters Centerline goodness [0,1] 0.3274315238774672 Centerline is valid? [False, False] Translation: X:6.77, Y:0.22, Z:0.13 [[ 9.99685867e-01 -1.64456837e-03 -2.50092548e-02 6.77294606e+00] [ 1.46409931e-03 9.99972772e-01 -7.23269078e-03 2.23161835e-01] [ 2.50204685e-02 7.19380272e-03 9.99661055e-01 1.32871541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64463044 meters Centerline goodness [0,1] 0.3250106791969244 Centerline is valid? [False, False] Translation: X:6.79, Y:0.23, Z:0.13 [[ 9.99654613e-01 -6.60217071e-03 -2.54375108e-02 6.79479736e+00] [ 6.49248141e-03 9.99969277e-01 -4.39228846e-03 2.27861794e-01] [ 2.54657279e-02 4.22561885e-03 9.99666765e-01 1.33907322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67463044 meters Centerline goodness [0,1] 0.3269193391642371 Centerline is valid? [False, False] Translation: X:6.78, Y:0.23, Z:0.13 [[ 9.99623388e-01 2.74940712e-03 -2.73042508e-02 6.77600936e+00] [-2.89219982e-03 9.99982341e-01 -5.19157341e-03 2.33779340e-01] [ 2.72894949e-02 5.26858756e-03 9.99613688e-01 1.32416617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70463044 meters Centerline goodness [0,1] 0.32357918639275085 Centerline is valid? [False, False] Translation: X:6.78, Y:0.24, Z:0.13 [[ 9.99609427e-01 2.93658604e-03 -2.77915271e-02 6.77755406e+00] [-3.09280513e-03 9.99979650e-01 -5.57979029e-03 2.37937676e-01] [ 2.77745760e-02 5.66356475e-03 9.99598168e-01 1.31950938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73463044 meters Centerline goodness [0,1] 0.3257634077495509 Centerline is valid? [False, False] Translation: X:6.78, Y:0.25, Z:0.13 [[ 9.99594001e-01 5.73805970e-03 -2.79089259e-02 6.77764006e+00] [-5.85211633e-03 9.99974849e-01 -4.00678209e-03 2.46577457e-01] [ 2.78852328e-02 4.16848162e-03 9.99602440e-01 1.32363406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76463044 meters Centerline goodness [0,1] 0.32760481886091797 Centerline is valid? [False, False] Translation: X:6.78, Y:0.25, Z:0.13 [[ 9.99600894e-01 5.71532249e-03 -2.76656413e-02 6.77691525e+00] [-5.84399293e-03 9.99972471e-01 -4.57229258e-03 2.50421199e-01] [ 2.76387476e-02 4.73214556e-03 9.99606776e-01 1.32710518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79463044 meters Centerline goodness [0,1] 0.32577089677059656 Centerline is valid? [False, False] Translation: X:6.79, Y:0.26, Z:0.14 [[ 9.99585627e-01 -2.05166584e-04 -2.87842410e-02 6.79377055e+00] [ 1.11671531e-04 9.99994713e-01 -3.24970325e-03 2.58473710e-01] [ 2.87847556e-02 3.24514228e-03 9.99580365e-01 1.35907326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82463044 meters Centerline goodness [0,1] 0.3244067432621067 Centerline is valid? [False, False] Translation: X:6.79, Y:0.26, Z:0.14 [[ 9.99585394e-01 -1.87638796e-04 -2.87924484e-02 6.79380608e+00] [ 8.39241584e-05 9.99993505e-01 -3.60331335e-03 2.61345180e-01] [ 2.87929375e-02 3.59940301e-03 9.99578917e-01 1.35949434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85463044 meters Centerline goodness [0,1] 0.3264876476906552 Centerline is valid? [False, False] Translation: X:6.79, Y:0.27, Z:0.14 [[ 9.99583401e-01 -1.12670887e-04 -2.88619304e-02 6.79425557e+00] [-4.00986009e-06 9.99991829e-01 -4.04263176e-03 2.65597848e-01] [ 2.88621500e-02 4.04106334e-03 9.99575233e-01 1.35585529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88463044 meters Centerline goodness [0,1] 0.32616806212311833 Centerline is valid? [False, False] Translation: X:6.79, Y:0.27, Z:0.14 [[ 9.99582702e-01 -1.92971097e-04 -2.88857275e-02 6.79430222e+00] [ 6.89040245e-05 9.99990770e-01 -4.29603321e-03 2.67038697e-01] [ 2.88862899e-02 4.29225014e-03 9.99573488e-01 1.35603933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91463044 meters Centerline goodness [0,1] 0.3253381347394594 Centerline is valid? [False, False] Translation: X:6.81, Y:0.27, Z:0.14 [[ 9.99555986e-01 -7.48293054e-03 -2.88415867e-02 6.81323269e+00] [ 7.39499114e-03 9.99967681e-01 -3.15450913e-03 2.72074847e-01] [ 2.88642596e-02 2.93982521e-03 9.99579017e-01 1.37766407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94463044 meters Centerline goodness [0,1] 0.3250064940687506 Centerline is valid? [False, False] Translation: X:6.79, Y:0.27, Z:0.14 [[ 9.99610838e-01 -2.23553656e-05 -2.78957411e-02 6.79426156e+00] [-9.93298443e-05 9.99990487e-01 -4.36074959e-03 2.68569972e-01] [ 2.78955732e-02 4.36182343e-03 9.99601326e-01 1.35275772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97463044 meters Centerline goodness [0,1] 0.32495823158977 Centerline is valid? [False, False] Translation: X:6.81, Y:0.27, Z:0.14 [[ 9.99589558e-01 -7.41227173e-03 -2.76726350e-02 6.81404919e+00] [ 7.32308861e-03 9.99967665e-01 -3.32274661e-03 2.73055342e-01] [ 2.76963693e-02 3.11873365e-03 9.99611517e-01 1.37329912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00463044 meters Centerline goodness [0,1] 0.3245088747199725 Centerline is valid? [False, False] Translation: X:6.81, Y:0.27, Z:0.14 [[ 9.99586110e-01 -7.39695187e-03 -2.78009846e-02 6.81443518e+00] [ 7.30706797e-03 9.99967747e-01 -3.33332260e-03 2.73232907e-01] [ 2.78247443e-02 3.12879928e-03 9.99607920e-01 1.37222534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.03463044 meters Centerline goodness [0,1] 0.3245929734361611 Centerline is valid? [False, False] Translation: X:6.83, Y:0.27, Z:0.14 [[ 9.99622798e-01 7.36918099e-04 -2.74539391e-02 6.83358453e+00] [-8.59459347e-04 9.99989721e-01 -4.45198893e-03 2.69650001e-01] [ 2.74503761e-02 4.47390517e-03 9.99613156e-01 1.38879926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06463044 meters Centerline goodness [0,1] 0.3260601604567178 Centerline is valid? [False, False] Translation: X:6.83, Y:0.27, Z:0.14 [[ 9.99624698e-01 9.21008010e-04 -2.73790861e-02 6.83350469e+00] [-1.03724402e-03 9.99990509e-01 -4.23153189e-03 2.69142996e-01] [ 2.73749289e-02 4.25834258e-03 9.99616166e-01 1.38799004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.09463044 meters Centerline goodness [0,1] 0.3231154810102178 Centerline is valid? [False, False] Translation: X:6.85, Y:0.27, Z:0.14 [[ 9.99616543e-01 -6.31127178e-03 -2.69617235e-02 6.85260909e+00] [ 6.23623794e-03 9.99976447e-01 -2.86615666e-03 2.72333694e-01] [ 2.69791776e-02 2.69691788e-03 9.99632358e-01 1.40539472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12463044 meters Centerline goodness [0,1] 0.3266027587403487 Centerline is valid? [False, False] Translation: X:6.83, Y:0.27, Z:0.14 [[ 9.99663177e-01 1.19242000e-03 -2.59251149e-02 6.83373743e+00] [-1.28881807e-03 9.99992317e-01 -3.70193653e-03 2.66507699e-01] [ 2.59205015e-02 3.73410239e-03 9.99657033e-01 1.37999367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.15463044 meters Centerline goodness [0,1] 0.3266346795189018 Centerline is valid? [False, False] Translation: X:6.85, Y:0.27, Z:0.14 [[ 9.99650314e-01 -6.22060833e-03 -2.57012231e-02 6.85286813e+00] [ 6.16118205e-03 9.99978162e-01 -2.39073890e-03 2.68892356e-01] [ 2.57155337e-02 2.23155298e-03 9.99666810e-01 1.40020858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18463044 meters Centerline goodness [0,1] 0.3262971213530289 Centerline is valid? [False, False] Translation: X:6.85, Y:0.27, Z:0.14 [[ 9.99648929e-01 -6.12727401e-03 -2.57774247e-02 6.85285408e+00] [ 6.07893356e-03 9.99979615e-01 -1.95324755e-03 2.65748537e-01] [ 2.57888673e-02 1.79586257e-03 9.99665799e-01 1.40342192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21463043999998 meters Centerline goodness [0,1] 0.3249575843480875 Centerline is valid? [False, False] Translation: X:6.87, Y:0.26, Z:0.14 [[ 9.99651268e-01 1.57599507e-03 -2.63601761e-02 6.87174509e+00] [-1.65799230e-03 9.99993854e-01 -3.08908091e-03 2.59791800e-01] [ 2.63551457e-02 3.13170861e-03 9.99647737e-01 1.42539073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24463043999998 meters Centerline goodness [0,1] 0.32602036413840707 Centerline is valid? [False, False] Translation: X:6.87, Y:0.26, Z:0.14 [[ 9.99647359e-01 1.66076362e-03 -2.65028070e-02 6.87208974e+00] [-1.73786898e-03 9.99994324e-01 -2.88656005e-03 2.58630847e-01] [ 2.64978627e-02 2.93160054e-03 9.99644571e-01 1.42599288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27463043999998 meters Centerline goodness [0,1] 0.3286768808205657 Centerline is valid? [False, False] Translation: X:6.87, Y:0.26, Z:0.14 [[ 9.99642148e-01 1.79540723e-03 -2.66899285e-02 6.87253996e+00] [-1.86842799e-03 9.99994579e-01 -2.71120521e-03 2.57332256e-01] [ 2.66849161e-02 2.76010321e-03 9.99640084e-01 1.42720684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30463043999998 meters Centerline goodness [0,1] 0.32766588569094857 Centerline is valid? [False, False] Translation: X:6.87, Y:0.26, Z:0.14 [[ 9.99641671e-01 1.91700146e-03 -2.66993240e-02 6.87243155e+00] [-1.98728206e-03 9.99994630e-01 -2.60601348e-03 2.56919056e-01] [ 2.66941848e-02 2.65813875e-03 9.99640113e-01 1.42952243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33463043999998 meters Centerline goodness [0,1] 0.329080861719121 Centerline is valid? [False, False] Translation: X:6.87, Y:0.26, Z:0.14 [[ 9.99644295e-01 2.12419946e-03 -2.65851598e-02 6.87201922e+00] [-2.19026545e-03 9.99994585e-01 -2.45619764e-03 2.56832547e-01] [ 2.65797984e-02 2.51355252e-03 9.99643535e-01 1.43208292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36463043999998 meters Centerline goodness [0,1] 0.330028664410871 Centerline is valid? [False, False] Translation: X:6.87, Y:0.26, Z:0.14 [[ 9.99647725e-01 2.33284322e-03 -2.64383124e-02 6.87162628e+00] [-2.39556388e-03 9.99994391e-01 -2.34091495e-03 2.57012652e-01] [ 2.64327031e-02 2.40342497e-03 9.99647706e-01 1.43317750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39463044 meters Centerline goodness [0,1] 0.33061057350373935 Centerline is valid? [False, False] Translation: X:6.87, Y:0.26, Z:0.14 [[ 9.99647146e-01 2.83144867e-03 -2.64114726e-02 6.87178353e+00] [-2.89216018e-03 9.99993262e-01 -2.26076295e-03 2.58263618e-01] [ 2.64048934e-02 2.33635144e-03 9.99648600e-01 1.43143644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42463044 meters Centerline goodness [0,1] 0.3285394900898577 Centerline is valid? [False, False] Translation: X:6.87, Y:0.26, Z:0.14 [[ 9.99639144e-01 2.91339993e-03 -2.67038195e-02 6.87269040e+00] [-2.97940981e-03 9.99992603e-01 -2.43247188e-03 2.59659750e-01] [ 2.66965352e-02 2.51115573e-03 9.99640430e-01 1.42878277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45463044 meters Centerline goodness [0,1] 0.32746183165012166 Centerline is valid? [False, False] Translation: X:6.87, Y:0.26, Z:0.14 [[ 9.99631632e-01 3.02102791e-03 -2.69717031e-02 6.87347742e+00] [-3.09259987e-03 9.99991806e-01 -2.61227476e-03 2.61418008e-01] [ 2.69635903e-02 2.69472517e-03 9.99632784e-01 1.42634798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48463044 meters Centerline goodness [0,1] 0.3267084775086505 Centerline is valid? [False, False] Translation: X:6.87, Y:0.26, Z:0.14 [[ 9.99617689e-01 3.61671358e-03 -2.74116019e-02 6.87492391e+00] [-3.68940736e-03 9.99989809e-01 -2.60182281e-03 2.64677993e-01] [ 2.74019126e-02 2.70196067e-03 9.99620845e-01 1.42012414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51463044 meters Centerline goodness [0,1] 0.3258936206601676 Centerline is valid? [False, False] Translation: X:6.90, Y:0.27, Z:0.14 [[ 9.99610744e-01 -1.76410693e-03 -2.78432732e-02 6.89657936e+00] [ 1.76241514e-03 9.99998443e-01 -8.53014954e-05 2.69017882e-01] [ 2.78433804e-02 3.61968850e-05 9.99612297e-01 1.42715881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54463044 meters Centerline goodness [0,1] 0.3258936206601676 Centerline is valid? [False, False] Translation: X:6.90, Y:0.27, Z:0.14 [[ 9.99610744e-01 -1.76410693e-03 -2.78432732e-02 6.89657936e+00] [ 1.76241514e-03 9.99998443e-01 -8.53014954e-05 2.69017882e-01] [ 2.78433804e-02 3.61968850e-05 9.99612297e-01 1.42715881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57463044 meters Centerline goodness [0,1] 0.3266008474758555 Centerline is valid? [False, False] Translation: X:6.90, Y:0.27, Z:0.14 [[ 9.99609822e-01 -1.78443881e-03 -2.78750641e-02 6.89675178e+00] [ 1.77952832e-03 9.99998396e-01 -2.00966458e-04 2.69717465e-01] [ 2.78753780e-02 1.51283580e-04 9.99611395e-01 1.42584354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60463044 meters Centerline goodness [0,1] 0.32426715665327754 Centerline is valid? [False, False] Translation: X:6.90, Y:0.27, Z:0.14 [[ 9.99607242e-01 -1.80371542e-03 -2.79661872e-02 6.89687985e+00] [ 1.79868834e-03 9.99998361e-01 -2.04910607e-04 2.69521643e-01] [ 2.79665109e-02 1.54527672e-04 9.99608849e-01 1.42713061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63463044 meters Centerline goodness [0,1] 0.32657117549203885 Centerline is valid? [False, False] Translation: X:6.90, Y:0.27, Z:0.14 [[ 9.99600674e-01 -1.87371828e-03 -2.81954129e-02 6.89739894e+00] [ 1.87454696e-03 9.99998243e-01 2.95853183e-06 2.67779929e-01] [ 2.81953578e-02 -5.58109758e-05 9.99602430e-01 1.42832425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66463044 meters Centerline goodness [0,1] 0.3271306047117577 Centerline is valid? [False, False] Translation: X:6.90, Y:0.27, Z:0.14 [[ 9.99593882e-01 -1.90865980e-03 -2.84328696e-02 6.89813773e+00] [ 1.91327229e-03 9.99998161e-01 1.35019087e-04 2.66552792e-01] [ 2.84325595e-02 -1.89364075e-04 9.99595695e-01 1.42605023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.69463044 meters Centerline goodness [0,1] 0.3233426905635932 Centerline is valid? [False, False] Translation: X:6.90, Y:0.27, Z:0.14 [[ 9.99587602e-01 -1.92622961e-03 -2.86516229e-02 6.89877878e+00] [ 1.93428892e-03 9.99998097e-01 2.53572790e-04 2.65505425e-01] [ 2.86510799e-02 -3.08888734e-04 9.99589426e-01 1.42526686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72463044 meters Centerline goodness [0,1] 0.32575806486323633 Centerline is valid? [False, False] Translation: X:6.90, Y:0.26, Z:0.14 [[ 9.99584584e-01 -1.91633929e-03 -2.87573827e-02 6.89901126e+00] [ 1.92732474e-03 9.99998080e-01 3.54291294e-04 2.64768209e-01] [ 2.87566486e-02 -4.09568931e-04 9.99586358e-01 1.42599876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75463044 meters Centerline goodness [0,1] 0.3229036833283191 Centerline is valid? [False, False] Translation: X:6.90, Y:0.27, Z:0.14 [[ 9.99578524e-01 -1.81164661e-03 -2.89739765e-02 6.89941174e+00] [ 1.82509508e-03 9.99998239e-01 4.37717768e-04 2.65000742e-01] [ 2.89731325e-02 -4.90413543e-04 9.99580070e-01 1.42824275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78463044 meters Centerline goodness [0,1] 0.32331930506096906 Centerline is valid? [False, False] Translation: X:6.90, Y:0.27, Z:0.14 [[ 9.99574622e-01 -1.79594182e-03 -2.91092812e-02 6.89986325e+00] [ 1.80654855e-03 9.99998311e-01 3.38080982e-04 2.65977580e-01] [ 2.91086249e-02 -3.90524500e-04 9.99576178e-01 1.42652125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.81463044 meters Centerline goodness [0,1] 0.3239919441230664 Centerline is valid? [False, False] Translation: X:6.90, Y:0.27, Z:0.14 [[ 9.99569085e-01 -1.76423034e-03 -2.93007231e-02 6.90055734e+00] [ 1.77232943e-03 9.99998398e-01 2.50444083e-04 2.66794589e-01] [ 2.93002343e-02 -3.02266697e-04 9.99570610e-01 1.42354530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84463044 meters Centerline goodness [0,1] 0.32350085234015924 Centerline is valid? [False, False] Translation: X:6.90, Y:0.27, Z:0.14 [[ 9.99559835e-01 -1.78970773e-03 -2.96130604e-02 6.90163811e+00] [ 1.79062230e-03 9.99998397e-01 4.36496990e-06 2.68339714e-01] [ 2.96130051e-02 -5.73888548e-05 9.99561437e-01 1.41849670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.87463044 meters Centerline goodness [0,1] 0.32087453119672693 Centerline is valid? [False, False] Translation: X:6.92, Y:0.27, Z:0.14 [[ 9.99564287e-01 6.25949675e-03 -2.88453594e-02 6.92112259e+00] [-6.29716066e-03 9.99979434e-01 -1.21506150e-03 2.66023796e-01] [ 2.88371605e-02 1.39617594e-03 9.99583148e-01 1.43513190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90463044 meters Centerline goodness [0,1] 0.320915243312923 Centerline is valid? [False, False] Translation: X:6.92, Y:0.27, Z:0.14 [[ 9.99564669e-01 6.23893978e-03 -2.88365719e-02 6.92082039e+00] [-6.27716273e-03 9.99979536e-01 -1.23516707e-03 2.66017089e-01] [ 2.88282757e-02 1.41564122e-03 9.99583376e-01 1.43949737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.93463044 meters Centerline goodness [0,1] 0.32157987076896744 Centerline is valid? [False, False] Translation: X:6.92, Y:0.27, Z:0.14 [[ 9.99561155e-01 6.16324662e-03 -2.89743336e-02 6.92103616e+00] [-6.20210982e-03 9.99979983e-01 -1.25161787e-03 2.65633833e-01] [ 2.89660396e-02 1.43077060e-03 9.99579372e-01 1.44139073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96463043999998 meters Centerline goodness [0,1] 0.32221267454350166 Centerline is valid? [False, False] Translation: X:6.92, Y:0.26, Z:0.14 [[ 9.99554510e-01 6.10259115e-03 -2.92154089e-02 6.92172475e+00] [-6.13940724e-03 9.99980468e-01 -1.17062361e-03 2.64496617e-01] [ 2.92076944e-02 1.34946740e-03 9.99572453e-01 1.44080138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99463043999998 meters Centerline goodness [0,1] 0.3197107693620289 Centerline is valid? [False, False] Translation: X:6.94, Y:0.27, Z:0.15 [[ 9.99571052e-01 -1.07312574e-03 -2.92670465e-02 6.94026130e+00] [ 1.08026684e-03 9.99999390e-01 2.28187396e-04 2.68068659e-01] [ 2.92667838e-02 -2.59705735e-04 9.99571602e-01 1.46310558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02463043999998 meters Centerline goodness [0,1] 0.3210666666666666 Centerline is valid? [False, False] Translation: X:6.94, Y:0.27, Z:0.15 [[ 9.99570348e-01 -1.03310515e-03 -2.92925329e-02 6.94030961e+00] [ 1.04371044e-03 9.99999395e-01 3.46760315e-04 2.67373654e-01] [ 2.92921569e-02 -3.77184251e-04 9.99570822e-01 1.46378401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05463043999998 meters Centerline goodness [0,1] 0.3203103174091505 Centerline is valid? [False, False] Translation: X:6.94, Y:0.27, Z:0.15 [[ 9.99559825e-01 -1.06992273e-03 -2.96481140e-02 6.94156724e+00] [ 1.07960783e-03 9.99999369e-01 3.10662575e-04 2.66937208e-01] [ 2.96477629e-02 -3.42534166e-04 9.99560350e-01 1.45943807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08463043999998 meters Centerline goodness [0,1] 0.32051144299989254 Centerline is valid? [False, False] Translation: X:6.94, Y:0.27, Z:0.15 [[ 9.99557113e-01 -1.02163814e-03 -2.97411024e-02 6.94193885e+00] [ 1.03162252e-03 9.99999417e-01 3.20367630e-04 2.67174561e-01] [ 2.97407578e-02 -3.50907334e-04 9.99557584e-01 1.45744701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11463043999998 meters Centerline goodness [0,1] 0.3242178247669085 Centerline is valid? [False, False] Translation: X:6.94, Y:0.27, Z:0.15 [[ 9.99558950e-01 -9.36923255e-04 -2.96821142e-02 6.94182951e+00] [ 9.47951040e-04 9.99999487e-01 3.57460094e-04 2.67563856e-01] [ 2.96817641e-02 -3.85439627e-04 9.99559325e-01 1.45769107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14463044 meters Centerline goodness [0,1] 0.32653636738324043 Centerline is valid? [False, False] Translation: X:6.94, Y:0.27, Z:0.15 [[ 9.99564212e-01 -7.97685349e-04 -2.95084752e-02 6.94118896e+00] [ 8.12967602e-04 9.99999542e-01 5.05899997e-04 2.67200602e-01] [ 2.95080581e-02 -5.29668966e-04 9.99564402e-01 1.46210903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17463044 meters Centerline goodness [0,1] 0.3227114716106605 Centerline is valid? [False, False] Translation: X:6.94, Y:0.27, Z:0.15 [[ 9.99556920e-01 -7.80372621e-04 -2.97549136e-02 6.94192953e+00] [ 7.96189696e-04 9.99999548e-01 5.19734386e-04 2.67058135e-01] [ 2.97544946e-02 -5.43194657e-04 9.99557089e-01 1.46001968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20463044 meters Centerline goodness [0,1] 0.32655032519801663 Centerline is valid? [False, False] Translation: X:6.94, Y:0.27, Z:0.15 [[ 9.99549904e-01 -7.46615559e-04 -2.99905356e-02 6.94280613e+00] [ 7.65271685e-04 9.99999521e-01 6.10593875e-04 2.66493615e-01] [ 2.99900653e-02 -6.33269957e-04 9.99549996e-01 1.45586840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23463044 meters Centerline goodness [0,1] 0.32078229099505695 Centerline is valid? [False, False] Translation: X:6.94, Y:0.27, Z:0.15 [[ 9.99544238e-01 -6.92953702e-04 -3.01800546e-02 6.94342059e+00] [ 7.15790856e-04 9.99999466e-01 7.45899724e-04 2.65766224e-01] [ 3.01795216e-02 -7.67162379e-04 9.99544200e-01 1.45370112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26463044 meters Centerline goodness [0,1] 0.3241894723200207 Centerline is valid? [False, False] Translation: X:6.94, Y:0.26, Z:0.15 [[ 9.99543148e-01 -6.12963795e-04 -3.02178643e-02 6.94355604e+00] [ 6.41091921e-04 9.99999370e-01 9.21164660e-04 2.64967830e-01] [ 3.02172806e-02 -9.40116253e-04 9.99542912e-01 1.45344161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29463044 meters Centerline goodness [0,1] 0.3263542562338779 Centerline is valid? [False, False] Translation: X:6.94, Y:0.26, Z:0.15 [[ 9.99543240e-01 -5.04323229e-04 -3.02168299e-02 6.94341358e+00] [ 5.39255311e-04 9.99999196e-01 1.14790919e-03 2.63753457e-01] [ 3.02162266e-02 -1.16367946e-03 9.99542708e-01 1.45760341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32463044 meters Centerline goodness [0,1] 0.32851369167261013 Centerline is valid? [False, False] Translation: X:6.94, Y:0.26, Z:0.15 [[ 9.99549868e-01 -5.03538086e-04 -2.99967992e-02 6.94280041e+00] [ 5.37057489e-04 9.99999240e-01 1.10938633e-03 2.63878562e-01] [ 2.99962178e-02 -1.12499697e-03 9.99549379e-01 1.45966256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35463044 meters Centerline goodness [0,1] 0.32692018960598845 Centerline is valid? [False, False] Translation: X:6.96, Y:0.26, Z:0.15 [[ 9.99578169e-01 7.94365635e-03 -2.79353420e-02 6.96189810e+00] [-7.95395747e-03 9.99968334e-01 -2.57646253e-04 2.64283354e-01] [ 2.79324108e-02 4.79734092e-04 9.99609699e-01 1.47501176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38463044 meters Centerline goodness [0,1] 0.3244610175303244 Centerline is valid? [False, False] Translation: X:6.96, Y:0.27, Z:0.15 [[ 9.99577552e-01 7.92992488e-03 -2.79612781e-02 6.96215666e+00] [-7.94833819e-03 9.99968262e-01 -5.47443944e-04 2.66206395e-01] [ 2.79560495e-02 7.69458372e-04 9.99608857e-01 1.47208482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41463044 meters Centerline goodness [0,1] 0.32329193208206397 Centerline is valid? [False, False] Translation: X:6.96, Y:0.27, Z:0.15 [[ 9.99570527e-01 7.89557213e-03 -2.82209400e-02 6.96319342e+00] [-7.92318716e-03 9.99968235e-01 -8.66839794e-04 2.68158553e-01] [ 2.82131994e-02 1.09006730e-03 9.99601334e-01 1.46575575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44463044 meters Centerline goodness [0,1] 0.32115110363764077 Centerline is valid? [False, False] Translation: X:6.96, Y:0.27, Z:0.15 [[ 9.99564126e-01 7.82365443e-03 -2.84666205e-02 6.96414523e+00] [-7.86081205e-03 9.99968391e-01 -1.19362934e-03 2.70120927e-01] [ 2.84563821e-02 1.41687982e-03 9.99594031e-01 1.46030325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47463044 meters Centerline goodness [0,1] 0.3217001571859467 Centerline is valid? [False, False] Translation: X:6.96, Y:0.27, Z:0.15 [[ 9.99559951e-01 7.85555810e-03 -2.86041037e-02 6.96477610e+00] [-7.90138275e-03 9.99967674e-01 -1.48935237e-03 2.72973106e-01] [ 2.85914794e-02 1.71470895e-03 9.99589709e-01 1.45670512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50463044 meters Centerline goodness [0,1] 0.3285828766974941 Centerline is valid? [False, False] Translation: X:6.94, Y:0.28, Z:0.14 [[ 9.99586182e-01 -3.37223200e-04 -2.87637241e-02 6.94489627e+00] [ 3.30034504e-04 9.99999913e-01 -2.54669447e-04 2.76700839e-01] [ 2.87638075e-02 2.45071039e-04 9.99586206e-01 1.44021763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.53463044 meters Centerline goodness [0,1] 0.3272606610721014 Centerline is valid? [False, False] Translation: X:6.95, Y:0.28, Z:0.14 [[ 9.99578962e-01 -4.26643468e-04 -2.90123512e-02 6.94554505e+00] [ 4.16105790e-04 9.99999845e-01 -3.69249902e-04 2.76999088e-01] [ 2.90125043e-02 3.57022226e-04 9.99578985e-01 1.44005122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56463044 meters Centerline goodness [0,1] 0.32437410318463156 Centerline is valid? [False, False] Translation: X:6.95, Y:0.28, Z:0.14 [[ 9.99571112e-01 -5.62637253e-04 -2.92792762e-02 6.94638170e+00] [ 5.47283316e-04 9.99999709e-01 -5.32407170e-04 2.77239437e-01] [ 2.92795673e-02 5.16154768e-04 9.99571128e-01 1.43737135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.59463044 meters Centerline goodness [0,1] 0.3229551225966155 Centerline is valid? [False, False] Translation: X:6.95, Y:0.28, Z:0.14 [[ 9.99557797e-01 -7.77789593e-04 -2.97255039e-02 6.94814327e+00] [ 7.56834045e-04 9.99999457e-01 -7.16213279e-04 2.77362586e-01] [ 2.97260448e-02 6.93399294e-04 9.99557843e-01 1.42848966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62463044 meters Centerline goodness [0,1] 0.3241452991452991 Centerline is valid? [False, False] Translation: X:6.95, Y:0.28, Z:0.14 [[ 9.99564023e-01 -7.48092070e-04 -2.95161787e-02 6.94745410e+00] [ 7.28105011e-04 9.99999498e-01 -6.87898010e-04 2.77495421e-01] [ 2.95166785e-02 6.66107225e-04 9.99564066e-01 1.43134421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.65463044 meters Centerline goodness [0,1] 0.3278247584619026 Centerline is valid? [False, False] Translation: X:6.95, Y:0.28, Z:0.14 [[ 9.99573063e-01 -6.35940391e-04 -2.92110956e-02 6.94639599e+00] [ 6.20020415e-04 9.99999654e-01 -5.54051990e-04 2.77497685e-01] [ 2.92114379e-02 5.35703969e-04 9.99573111e-01 1.43687409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68463044 meters Centerline goodness [0,1] 0.32705335828117943 Centerline is valid? [False, False] Translation: X:6.95, Y:0.28, Z:0.14 [[ 9.99583222e-01 -5.42512431e-04 -2.88632726e-02 6.94537566e+00] [ 5.32435641e-04 9.99999795e-01 -3.56805903e-04 2.76763735e-01] [ 2.88634603e-02 3.41289359e-04 9.99583305e-01 1.44204890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71463043999998 meters Centerline goodness [0,1] 0.32631148599216764 Centerline is valid? [False, False] Translation: X:6.95, Y:0.28, Z:0.14 [[ 9.99575854e-01 -5.43981895e-04 -2.91172991e-02 6.94616003e+00] [ 5.36194359e-04 9.99999818e-01 -2.75261209e-04 2.76048984e-01] [ 2.91174435e-02 2.59531926e-04 9.99575964e-01 1.43954480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74463043999998 meters Centerline goodness [0,1] 0.3258554806577648 Centerline is valid? [False, False] Translation: X:6.95, Y:0.28, Z:0.14 [[ 9.99565470e-01 -5.36392872e-04 -2.94717534e-02 6.94748183e+00] [ 5.32599135e-04 9.99999849e-01 -1.36574403e-04 2.75017275e-01] [ 2.94718222e-02 1.20818427e-04 9.99565604e-01 1.43305766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77463043999998 meters Centerline goodness [0,1] 0.3240388316298165 Centerline is valid? [False, False] Translation: X:6.95, Y:0.27, Z:0.14 [[ 9.99555249e-01 -5.27238970e-04 -2.98165316e-02 6.94878271e+00] [ 5.28120417e-04 9.99999860e-01 2.16872527e-05 2.73829460e-01] [ 2.98165160e-02 -3.74243263e-05 9.99555388e-01 1.42659298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80463043999998 meters Centerline goodness [0,1] 0.32397060087681595 Centerline is valid? [False, False] Translation: X:6.95, Y:0.27, Z:0.14 [[ 9.99555156e-01 -4.90210700e-04 -2.98203077e-02 6.94893283e+00] [ 5.05383212e-04 9.99999747e-01 5.01263083e-04 2.70347905e-01] [ 2.98200544e-02 -5.16110781e-04 9.99555150e-01 1.42639499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83463043999998 meters Centerline goodness [0,1] 0.3266886007354364 Centerline is valid? [False, False] Translation: X:6.95, Y:0.27, Z:0.14 [[ 9.99559476e-01 -4.83510150e-04 -2.96752576e-02 6.94850843e+00] [ 5.06622514e-04 9.99999574e-01 7.71329096e-04 2.68262310e-01] [ 2.96748720e-02 -7.86023460e-04 9.99559295e-01 1.42821838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86463043999998 meters Centerline goodness [0,1] 0.32618590504130984 Centerline is valid? [False, False] Translation: X:6.95, Y:0.27, Z:0.14 [[ 9.99561260e-01 -4.43443002e-04 -2.96157206e-02 6.94819015e+00] [ 4.75795818e-04 9.99999298e-01 1.08538222e-03 2.66110224e-01] [ 2.96152185e-02 -1.09899705e-03 9.99560769e-01 1.43186351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89463044 meters Centerline goodness [0,1] 0.32609865857072107 Centerline is valid? [False, False] Translation: X:6.95, Y:0.26, Z:0.14 [[ 9.99558173e-01 -3.66456288e-04 -2.97207656e-02 6.94845462e+00] [ 4.08166073e-04 9.99998940e-01 1.39733394e-03 2.64238558e-01] [ 2.97202220e-02 -1.40884757e-03 9.99557264e-01 1.43215921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92463044 meters Centerline goodness [0,1] 0.3238050307721999 Centerline is valid? [False, False] Translation: X:6.95, Y:0.26, Z:0.14 [[ 9.99547845e-01 -1.65746043e-04 -3.00679046e-02 6.94993970e+00] [ 2.24572239e-04 9.99998068e-01 1.95307839e-03 2.61228097e-01] [ 3.00675228e-02 -1.95894771e-03 9.99545950e-01 1.42453986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95463044 meters Centerline goodness [0,1] 0.32559347341542055 Centerline is valid? [False, False] Translation: X:6.95, Y:0.26, Z:0.14 [[ 9.99547501e-01 -8.54694429e-05 -3.00796746e-02 6.95021300e+00] [ 1.50567973e-04 9.99997652e-01 2.16194490e-03 2.60060422e-01] [ 3.00794192e-02 -2.16549566e-03 9.99545166e-01 1.42161815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98463044 meters Centerline goodness [0,1] 0.32717330220896557 Centerline is valid? [False, False] Translation: X:6.95, Y:0.26, Z:0.14 [[ 9.99547800e-01 -5.51897417e-05 -3.00697924e-02 6.95033102e+00] [ 1.23535071e-04 9.99997414e-01 2.27103695e-03 2.59202258e-01] [ 3.00695893e-02 -2.27372466e-03 9.99545222e-01 1.42002079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01463044 meters Centerline goodness [0,1] 0.3276511869693294 Centerline is valid? [False, False] Translation: X:6.95, Y:0.26, Z:0.14 [[ 9.99553963e-01 2.77651630e-04 -2.98629852e-02 6.95000838e+00] [-2.01908996e-04 9.99996756e-01 2.53932390e-03 2.58908136e-01] [ 2.98635933e-02 -2.53216167e-03 9.99550776e-01 1.41858762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04463044 meters Centerline goodness [0,1] 0.32587797587044887 Centerline is valid? [False, False] Translation: X:6.95, Y:0.26, Z:0.14 [[ 9.99548926e-01 4.62074591e-04 -3.00288203e-02 6.95052931e+00] [-3.82494893e-04 9.99996400e-01 2.65580088e-03 2.59264753e-01] [ 3.00299394e-02 -2.64311705e-03 9.99545505e-01 1.41663445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07463044 meters Centerline goodness [0,1] 0.32580394861626005 Centerline is valid? [False, False] Translation: X:6.95, Y:0.26, Z:0.14 [[ 9.99546377e-01 5.78577796e-04 -3.01115589e-02 6.95113080e+00] [-4.95635878e-04 9.99996063e-01 2.76187868e-03 2.59240826e-01] [ 3.01130383e-02 -2.74570146e-03 9.99542728e-01 1.41112621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10463044 meters Centerline goodness [0,1] 0.31975342874816026 Centerline is valid? [False, False] Translation: X:6.97, Y:0.26, Z:0.14 [[ 9.99513625e-01 6.43424847e-03 -3.05141496e-02 6.97429301e+00] [-6.45448402e-03 9.99979010e-01 -5.64698673e-04 2.57285851e-01] [ 3.05098757e-02 7.61377109e-04 9.99534175e-01 1.41029002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13463044 meters Centerline goodness [0,1] 0.32150116609966406 Centerline is valid? [False, False] Translation: X:6.97, Y:0.26, Z:0.14 [[ 9.99508293e-01 6.32158921e-03 -3.07117248e-02 6.97489616e+00] [-6.34151876e-03 9.99979740e-01 -5.51563123e-04 2.56250747e-01] [ 3.07076158e-02 7.46050894e-04 9.99528132e-01 1.40842618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16463044 meters Centerline goodness [0,1] 0.3231258187128224 Centerline is valid? [False, False] Translation: X:6.98, Y:0.26, Z:0.14 [[ 9.99506402e-01 6.30893740e-03 -3.07757991e-02 6.97522762e+00] [-6.32487608e-03 9.99979909e-01 -4.20573170e-04 2.55192598e-01] [ 3.07725275e-02 6.15018691e-04 9.99526224e-01 1.40605542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19463044 meters Centerline goodness [0,1] 0.32275246371811184 Centerline is valid? [False, False] Translation: X:6.98, Y:0.25, Z:0.14 [[ 9.99498002e-01 6.29183990e-03 -3.10508782e-02 6.97598357e+00] [-6.30250948e-03 9.99980109e-01 -2.45754232e-04 2.53886109e-01] [ 3.10487143e-02 4.41329318e-04 9.99517775e-01 1.40498756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22463044 meters Centerline goodness [0,1] 0.3229794933655006 Centerline is valid? [False, False] Translation: X:6.98, Y:0.25, Z:0.14 [[ 9.99474030e-01 4.24892016e-03 -3.21498083e-02 6.98040404e+00] [-4.30826493e-03 9.99989141e-01 -1.77683432e-03 2.50160377e-01] [ 3.21419095e-02 1.91440965e-03 9.99481482e-01 1.38544846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25463044 meters Centerline goodness [0,1] 0.3227208191713634 Centerline is valid? [False, False] Translation: X:6.98, Y:0.25, Z:0.14 [[ 9.99466359e-01 4.22625707e-03 -3.23903571e-02 6.98098858e+00] [-4.27606009e-03 9.99989779e-01 -1.46847213e-03 2.47932640e-01] [ 3.23838199e-02 1.60619161e-03 9.99474216e-01 1.38559323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28463044 meters Centerline goodness [0,1] 0.32139954660165104 Centerline is valid? [False, False] Translation: X:7.00, Y:0.25, Z:0.14 [[ 9.99473439e-01 -3.33310548e-03 -3.22759073e-02 7.00054655e+00] [ 3.32963329e-03 9.99994444e-01 -1.61325377e-04 2.49601188e-01] [ 3.22762657e-02 5.37734937e-05 9.99478984e-01 1.40616093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.31463044 meters Centerline goodness [0,1] 0.32324016563146996 Centerline is valid? [False, False] Translation: X:7.00, Y:0.25, Z:0.14 [[ 9.99474138e-01 -3.31663639e-03 -3.22559538e-02 7.00046292e+00] [ 3.32485808e-03 9.99994452e-01 2.01255175e-04 2.47098004e-01] [ 3.22551074e-02 -3.08395812e-04 9.99479621e-01 1.40737793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34463044 meters Centerline goodness [0,1] 0.32185831027604406 Centerline is valid? [False, False] Translation: X:7.02, Y:0.24, Z:0.14 [[ 9.99463498e-01 3.54674460e-03 -3.25597388e-02 7.01844555e+00] [-3.59590794e-03 9.99992481e-01 -1.45151002e-03 2.38364347e-01] [ 3.25543458e-02 1.56781310e-03 9.99468737e-01 1.43635766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.37463044 meters Centerline goodness [0,1] 0.32152922699597686 Centerline is valid? [False, False] Translation: X:7.02, Y:0.24, Z:0.14 [[ 9.99463349e-01 3.68015774e-03 -3.25495033e-02 7.01829445e+00] [-3.72037923e-03 9.99992389e-01 -1.17522381e-03 2.37135840e-01] [ 3.25449306e-02 1.29568962e-03 9.99469434e-01 1.43870340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40463044 meters Centerline goodness [0,1] 0.3229582850023629 Centerline is valid? [False, False] Translation: X:7.02, Y:0.24, Z:0.14 [[ 9.99479706e-01 4.12725203e-03 -3.19888047e-02 7.01703818e+00] [-4.15812364e-03 9.99990951e-01 -8.98611444e-04 2.37366125e-01] [ 3.19848064e-02 1.03115731e-03 9.99487823e-01 1.43932783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.43463044 meters Centerline goodness [0,1] 0.3251851691895744 Centerline is valid? [False, False] Translation: X:7.02, Y:0.24, Z:0.14 [[ 9.99486243e-01 4.26976139e-03 -3.17650634e-02 7.01651021e+00] [-4.30357722e-03 9.99990243e-01 -9.96267440e-04 2.38633178e-01] [ 3.17604997e-02 1.13245900e-03 9.99494867e-01 1.43915885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46463043999998 meters Centerline goodness [0,1] 0.3251851691895744 Centerline is valid? [False, False] Translation: X:7.02, Y:0.24, Z:0.14 [[ 9.99486243e-01 4.26976139e-03 -3.17650634e-02 7.01651021e+00] [-4.30357722e-03 9.99990243e-01 -9.96267440e-04 2.38633178e-01] [ 3.17604997e-02 1.13245900e-03 9.99494867e-01 1.43915885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49463043999998 meters Centerline goodness [0,1] 0.32379579631263045 Centerline is valid? [False, False] Translation: X:7.02, Y:0.24, Z:0.14 [[ 9.99488723e-01 4.39555812e-03 -3.16697301e-02 7.01608650e+00] [-4.43375367e-03 9.99989526e-01 -1.13593382e-03 2.40189685e-01] [ 3.16644054e-02 1.27576883e-03 9.99497743e-01 1.44211512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52463043999998 meters Centerline goodness [0,1] 0.32398398484587565 Centerline is valid? [False, False] Translation: X:7.02, Y:0.24, Z:0.14 [[ 9.99490921e-01 4.56982379e-03 -3.15755599e-02 7.01580157e+00] [-4.61066850e-03 9.99988626e-01 -1.22086487e-03 2.41787125e-01] [ 3.15696216e-02 1.36582779e-03 9.99500622e-01 1.44256298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55463043999998 meters Centerline goodness [0,1] 0.32496166886215905 Centerline is valid? [False, False] Translation: X:7.02, Y:0.24, Z:0.14 [[ 9.99493441e-01 4.69736636e-03 -3.14769242e-02 7.01566636e+00] [-4.74024348e-03 9.99987936e-01 -1.28769183e-03 2.43026973e-01] [ 3.14704957e-02 1.43624782e-03 9.99503649e-01 1.44110203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58463043999998 meters Centerline goodness [0,1] 0.3247266755974245 Centerline is valid? [False, False] Translation: X:7.02, Y:0.24, Z:0.14 [[ 9.99492504e-01 4.68547415e-03 -3.15084393e-02 7.01628214e+00] [-4.73450328e-03 9.99987695e-01 -1.48163627e-03 2.43993360e-01] [ 3.15011095e-02 1.63006116e-03 9.99502388e-01 1.43375866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61463043999998 meters Centerline goodness [0,1] 0.32689151839695973 Centerline is valid? [False, False] Translation: X:7.02, Y:0.24, Z:0.14 [[ 9.99492711e-01 4.60835856e-03 -3.15132419e-02 7.01643200e+00] [-4.66116756e-03 9.99987853e-01 -1.60251427e-03 2.44156534e-01] [ 3.15054741e-02 1.74858983e-03 9.99502050e-01 1.43140243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64463044 meters Centerline goodness [0,1] 0.3220592636935049 Centerline is valid? [False, False] Translation: X:7.03, Y:0.25, Z:0.15 [[ 9.99497916e-01 -2.37081784e-03 -3.15958157e-02 7.03497871e+00] [ 2.35631231e-03 9.99997101e-01 -4.96322716e-04 2.49143410e-01] [ 3.15969008e-02 4.21623910e-04 9.99500604e-01 1.45082837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67463044 meters Centerline goodness [0,1] 0.3257380707174734 Centerline is valid? [False, False] Translation: X:7.04, Y:0.25, Z:0.15 [[ 9.99494756e-01 -2.28941899e-03 -3.17015991e-02 7.03515100e+00] [ 2.28043640e-03 9.99997349e-01 -3.19501111e-04 2.48530041e-01] [ 3.17022466e-02 2.47046205e-04 9.99497327e-01 1.45189600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70463044 meters Centerline goodness [0,1] 0.3284183176355959 Centerline is valid? [False, False] Translation: X:7.04, Y:0.25, Z:0.15 [[ 9.99493462e-01 -2.26813521e-03 -3.17438990e-02 7.03511339e+00] [ 2.26156844e-03 9.99997413e-01 -2.42770120e-04 2.48162959e-01] [ 3.17443675e-02 1.70856148e-04 9.99496006e-01 1.45411445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73463044 meters Centerline goodness [0,1] 0.32477967858994294 Centerline is valid? [False, False] Translation: X:7.04, Y:0.25, Z:0.15 [[ 9.99489706e-01 -2.24919937e-03 -3.18632709e-02 7.03556379e+00] [ 2.24467697e-03 9.99997465e-01 -1.77701322e-04 2.47848685e-01] [ 3.18635898e-02 1.06087892e-04 9.99492221e-01 1.45191078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76463044 meters Centerline goodness [0,1] 0.32752999478351597 Centerline is valid? [False, False] Translation: X:7.04, Y:0.25, Z:0.14 [[ 9.99476748e-01 -2.28912750e-03 -3.22643822e-02 7.03730154e+00] [ 2.28044064e-03 9.99997353e-01 -3.06035613e-04 2.48550626e-01] [ 3.22649973e-02 2.32298471e-04 9.99479322e-01 1.44016750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79463044 meters Centerline goodness [0,1] 0.3257132960990605 Centerline is valid? [False, False] Translation: X:7.04, Y:0.25, Z:0.14 [[ 9.99469280e-01 -2.30451514e-03 -3.24938155e-02 7.03809826e+00] [ 2.29186868e-03 9.99997283e-01 -4.26436302e-04 2.49197890e-01] [ 3.24947099e-02 3.51738426e-04 9.99471846e-01 1.43636495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82463044 meters Centerline goodness [0,1] 0.3236740918952592 Centerline is valid? [False, False] Translation: X:7.06, Y:0.25, Z:0.15 [[ 9.99469313e-01 5.89210310e-03 -3.20370803e-02 7.05707557e+00] [-5.95774449e-03 9.99980344e-01 -1.95384572e-03 2.47689458e-01] [ 3.20249383e-02 2.14367758e-03 9.99484771e-01 1.45477037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85463044 meters Centerline goodness [0,1] 0.32652397371673936 Centerline is valid? [False, False] Translation: X:7.06, Y:0.25, Z:0.15 [[ 9.99473516e-01 5.84361910e-03 -3.19146169e-02 7.05659939e+00] [-5.91453806e-03 9.99980244e-01 -2.12819400e-03 2.48649092e-01] [ 3.19015501e-02 2.31583376e-03 9.99488333e-01 1.45729918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88463044 meters Centerline goodness [0,1] 0.32464775139934376 Centerline is valid? [False, False] Translation: X:7.07, Y:0.25, Z:0.15 [[ 9.99510563e-01 -1.08613002e-03 -3.12642579e-02 7.07498381e+00] [ 1.05775687e-03 9.99999014e-01 -9.24051651e-04 2.54596537e-01] [ 3.12652307e-02 8.90529403e-04 9.99510726e-01 1.47932651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91463044 meters Centerline goodness [0,1] 0.327698866679521 Centerline is valid? [False, False] Translation: X:7.07, Y:0.25, Z:0.15 [[ 9.99518503e-01 -9.59871387e-04 -3.10135667e-02 7.07388744e+00] [ 9.39483905e-04 9.99999333e-01 -6.71938215e-04 2.54178115e-01] [ 3.10141910e-02 6.42477931e-04 9.99518738e-01 1.48661056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94463044 meters Centerline goodness [0,1] 0.3293112008116217 Centerline is valid? [False, False] Translation: X:7.07, Y:0.25, Z:0.15 [[ 9.99514330e-01 -1.04494812e-03 -3.11450162e-02 7.07438071e+00] [ 1.02704972e-03 9.99999298e-01 -5.90671364e-04 2.53154489e-01] [ 3.11456115e-02 5.58397013e-04 9.99514702e-01 1.48463840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.97463044 meters Centerline goodness [0,1] 0.32546501138365047 Centerline is valid? [False, False] Translation: X:7.08, Y:0.25, Z:0.15 [[ 9.99501993e-01 -1.27526176e-03 -3.15299921e-02 7.07564885e+00] [ 1.25812449e-03 9.99999050e-01 -5.63356286e-04 2.51697023e-01] [ 3.15306805e-02 5.23407075e-04 9.99502647e-01 1.48007110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00463044 meters Centerline goodness [0,1] 0.32935932665469414 Centerline is valid? [False, False] Translation: X:7.08, Y:0.25, Z:0.15 [[ 9.99498115e-01 -5.03107052e-03 -3.12762967e-02 7.07544191e+00] [ 4.91924342e-03 9.99981234e-01 -3.65137807e-03 2.47976115e-01] [ 3.12940801e-02 3.49568978e-03 9.99504107e-01 1.47693303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.03463044 meters Centerline goodness [0,1] 0.327382877347304 Centerline is valid? [False, False] Translation: X:7.08, Y:0.25, Z:0.15 [[ 9.99499604e-01 -4.93137288e-03 -3.12445545e-02 7.07518167e+00] [ 4.83348073e-03 9.99983173e-01 -3.20784929e-03 2.45445871e-01] [ 3.12598479e-02 3.05522414e-03 9.99506622e-01 1.48057282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06463044 meters Centerline goodness [0,1] 0.3315719947159842 Centerline is valid? [False, False] Translation: X:7.08, Y:0.24, Z:0.15 [[ 9.99499158e-01 -4.79942206e-03 -3.12793748e-02 7.07504369e+00] [ 4.71384559e-03 9.99984944e-01 -2.80904300e-03 2.43340557e-01] [ 3.12923857e-02 2.66018997e-03 9.99506733e-01 1.48447591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.09463044 meters Centerline goodness [0,1] 0.3316320990335542 Centerline is valid? [False, False] Translation: X:7.08, Y:0.24, Z:0.15 [[ 9.99495920e-01 -4.66918200e-03 -3.14023092e-02 7.07543993e+00] [ 4.59257782e-03 9.99986301e-01 -2.51112881e-03 2.41874282e-01] [ 3.14136039e-02 2.36564545e-03 9.99503671e-01 1.48361530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12463044 meters Centerline goodness [0,1] 0.3291743119266055 Centerline is valid? [False, False] Translation: X:7.08, Y:0.24, Z:0.15 [[ 9.99469674e-01 -4.52262550e-03 -3.22477416e-02 7.07815116e+00] [ 4.45037772e-03 9.99987425e-01 -2.31182258e-03 2.40578504e-01] [ 3.22577916e-02 2.16708193e-03 9.99477233e-01 1.47344911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.15463044 meters Centerline goodness [0,1] 0.32853576468034296 Centerline is valid? [False, False] Translation: X:7.08, Y:0.24, Z:0.15 [[ 9.99460667e-01 -4.38349630e-03 -3.25447428e-02 7.07922813e+00] [ 4.31511747e-03 9.99988333e-01 -2.17101023e-03 2.40171748e-01] [ 3.25538797e-02 2.02940494e-03 9.99467922e-01 1.46776334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18463044 meters Centerline goodness [0,1] 0.32650643924710343 Centerline is valid? [False, False] Translation: X:7.10, Y:0.24, Z:0.15 [[ 9.99429135e-01 4.06014517e-03 -3.35398258e-02 7.09958975e+00] [-4.16894093e-03 9.99986271e-01 -3.17448267e-03 2.36734028e-01] [ 3.35264765e-02 3.31249602e-03 9.99432340e-01 1.48480962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21463043999998 meters Centerline goodness [0,1] 0.3300989756666811 Centerline is valid? [False, False] Translation: X:7.10, Y:0.24, Z:0.15 [[ 9.99424324e-01 4.20594275e-03 -3.36649884e-02 7.10028259e+00] [-4.31193635e-03 9.99985971e-01 -3.07649962e-03 2.36676003e-01] [ 3.36515766e-02 3.21988984e-03 9.99428439e-01 1.47876821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24463043999998 meters Centerline goodness [0,1] 0.327062385122716 Centerline is valid? [False, False] Translation: X:7.10, Y:0.24, Z:0.15 [[ 9.99426296e-01 4.43191415e-03 -3.35773278e-02 7.10018522e+00] [-4.53419226e-03 9.99985308e-01 -2.97051443e-03 2.36423348e-01] [ 3.35636695e-02 3.12105629e-03 9.99431708e-01 1.47724735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27463043999998 meters Centerline goodness [0,1] 0.3283022930347723 Centerline is valid? [False, False] Translation: X:7.10, Y:0.24, Z:0.15 [[ 9.99427189e-01 4.48948016e-03 -3.35430940e-02 7.10003338e+00] [-4.59062181e-03 9.99985145e-01 -2.93886959e-03 2.36414834e-01] [ 3.35294017e-02 3.09116983e-03 9.99432951e-01 1.47846220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30463043999998 meters Centerline goodness [0,1] 0.32512928352252 Centerline is valid? [False, False] Translation: X:7.10, Y:0.24, Z:0.15 [[ 9.99417685e-01 4.73430548e-03 -3.37916625e-02 7.10102785e+00] [-4.83592003e-03 9.99984026e-01 -2.92599258e-03 2.37797841e-01] [ 3.37772701e-02 3.08770251e-03 9.99424616e-01 1.47205503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33463043999998 meters Centerline goodness [0,1] 0.3287962661456637 Centerline is valid? [False, False] Translation: X:7.08, Y:0.24, Z:0.14 [[ 9.99377281e-01 -3.45510451e-03 -3.51156924e-02 7.08396344e+00] [ 3.40641227e-03 9.99993152e-01 -1.44635675e-03 2.42005514e-01] [ 3.51204493e-02 1.32583755e-03 9.99382207e-01 1.44276474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36463043999998 meters Centerline goodness [0,1] 0.3254156769596199 Centerline is valid? [False, False] Translation: X:7.09, Y:0.24, Z:0.14 [[ 9.99366814e-01 -3.51345175e-03 -3.54065945e-02 7.08514102e+00] [ 3.45737924e-03 9.99992671e-01 -1.64477637e-03 2.42922154e-01] [ 3.54121138e-02 1.52132090e-03 9.99371636e-01 1.43510511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39463044 meters Centerline goodness [0,1] 0.32561585876592003 Centerline is valid? [False, False] Translation: X:7.09, Y:0.24, Z:0.14 [[ 9.99363782e-01 -3.52231152e-03 -3.54911928e-02 7.08541779e+00] [ 3.46403068e-03 9.99992549e-01 -1.70347820e-03 2.43293241e-01] [ 3.54969285e-02 1.57945183e-03 9.99368537e-01 1.43362703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42463044 meters Centerline goodness [0,1] 0.32932718335173994 Centerline is valid? [False, False] Translation: X:7.08, Y:0.24, Z:0.14 [[ 9.99373507e-01 -3.34189000e-03 -3.52338757e-02 7.08422053e+00] [ 3.29647005e-03 9.99993659e-01 -1.34711199e-03 2.42391851e-01] [ 3.52381542e-02 1.23012061e-03 9.99378186e-01 1.44158674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45463044 meters Centerline goodness [0,1] 0.32817955112219455 Centerline is valid? [False, False] Translation: X:7.08, Y:0.24, Z:0.14 [[ 9.99372163e-01 -3.28201741e-03 -3.52775767e-02 7.08416524e+00] [ 3.24419480e-03 9.99994100e-01 -1.12933139e-03 2.41487399e-01] [ 3.52810751e-02 1.01417502e-03 9.99376914e-01 1.44451513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48463044 meters Centerline goodness [0,1] 0.3275452464256403 Centerline is valid? [False, False] Translation: X:7.08, Y:0.24, Z:0.14 [[ 9.99365994e-01 -3.34677704e-03 -3.54458548e-02 7.08456326e+00] [ 3.31450341e-03 9.99994037e-01 -9.69227399e-04 2.40073331e-01] [ 3.54488872e-02 8.51127497e-04 9.99371128e-01 1.44560314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51463044 meters Centerline goodness [0,1] 0.32817511920242737 Centerline is valid? [False, False] Translation: X:7.08, Y:0.24, Z:0.14 [[ 9.99363138e-01 -3.47643934e-03 -3.55138443e-02 7.08466232e+00] [ 3.45058956e-03 9.99993735e-01 -7.89144423e-04 2.38164499e-01] [ 3.55163652e-02 6.66098146e-04 9.99368873e-01 1.44714650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54463044 meters Centerline goodness [0,1] 0.32911911285624906 Centerline is valid? [False, False] Translation: X:7.08, Y:0.23, Z:0.15 [[ 9.99359931e-01 -3.95566270e-03 -3.55539219e-02 7.08451958e+00] [ 3.93906172e-03 9.99992098e-01 -5.36958964e-04 2.33875551e-01] [ 3.55557649e-02 3.96566180e-04 9.99367615e-01 1.45207256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57463044 meters Centerline goodness [0,1] 0.3300833840006948 Centerline is valid? [False, False] Translation: X:7.08, Y:0.23, Z:0.15 [[ 9.99362125e-01 -3.81644752e-03 -3.55074437e-02 7.08453599e+00] [ 3.81938581e-03 9.99992706e-01 1.49217025e-05 2.31095211e-01] [ 3.55071278e-02 -1.50528811e-04 9.99369412e-01 1.45125176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60463044 meters Centerline goodness [0,1] 0.33026482265171675 Centerline is valid? [False, False] Translation: X:7.08, Y:0.23, Z:0.15 [[ 9.99359727e-01 -3.69921288e-03 -3.55872314e-02 7.08482777e+00] [ 3.71958638e-03 9.99992954e-01 5.06305405e-04 2.28441876e-01] [ 3.55851078e-02 -6.38351012e-04 9.99366446e-01 1.45066833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63463044 meters Centerline goodness [0,1] 0.32970936024602593 Centerline is valid? [False, False] Translation: X:7.11, Y:0.22, Z:0.15 [[ 9.99346715e-01 1.42272274e-03 -3.61125933e-02 7.10559115e+00] [-1.52789407e-03 9.99994671e-01 -2.88488723e-03 2.20552774e-01] [ 3.61082965e-02 2.93817879e-03 9.99343564e-01 1.46282663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66463044 meters Centerline goodness [0,1] 0.32741732761236075 Centerline is valid? [False, False] Translation: X:7.11, Y:0.22, Z:0.15 [[ 9.99337564e-01 1.45365287e-03 -3.63637157e-02 7.10621270e+00] [-1.54801914e-03 9.99995507e-01 -2.56704622e-03 2.18167681e-01] [ 3.63598208e-02 2.62163745e-03 9.99335324e-01 1.46272958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.69463044 meters Centerline goodness [0,1] 0.32676711673515535 Centerline is valid? [False, False] Translation: X:7.11, Y:0.22, Z:0.15 [[ 9.99332934e-01 1.56215972e-03 -3.64862411e-02 7.10664934e+00] [-1.64399431e-03 9.99996200e-01 -2.21299540e-03 2.16133875e-01] [ 3.64826454e-02 2.27150236e-03 9.99331705e-01 1.46058232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72463044 meters Centerline goodness [0,1] 0.3254637799681488 Centerline is valid? [False, False] Translation: X:7.13, Y:0.22, Z:0.15 [[ 9.99323630e-01 -3.65753655e-03 -3.65910570e-02 7.12901458e+00] [ 3.68944894e-03 9.99992870e-01 8.04651053e-04 2.15798786e-01] [ 3.65878531e-02 -9.39107648e-04 9.99329999e-01 1.46039966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.75463044 meters Centerline goodness [0,1] 0.32512793936645723 Centerline is valid? [False, False] Translation: X:7.13, Y:0.22, Z:0.15 [[ 9.99327177e-01 -3.54215783e-03 -3.65054341e-02 7.12886429e+00] [ 3.58034592e-03 9.99993110e-01 9.80773418e-04 2.15030733e-01] [ 3.65017085e-02 -1.11081561e-03 9.99332973e-01 1.46002333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78463044 meters Centerline goodness [0,1] 0.3263925152306353 Centerline is valid? [False, False] Translation: X:7.13, Y:0.21, Z:0.15 [[ 9.99324268e-01 -3.48352366e-03 -3.65905930e-02 7.12900595e+00] [ 3.52524774e-03 9.99993208e-01 1.07583991e-03 2.14472019e-01] [ 3.65865968e-02 -1.20410384e-03 9.99329761e-01 1.46074317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.81463044 meters Centerline goodness [0,1] 0.322902124186516 Centerline is valid? [False, False] Translation: X:7.15, Y:0.21, Z:0.15 [[ 9.99332640e-01 4.79271380e-03 -3.62119263e-02 7.14875612e+00] [-4.80665848e-03 9.99988404e-01 -2.98036944e-04 2.11494781e-01] [ 3.62100779e-02 4.71896409e-04 9.99344089e-01 1.47834123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84463044 meters Centerline goodness [0,1] 0.3281649824348354 Centerline is valid? [False, False] Translation: X:7.15, Y:0.21, Z:0.15 [[ 9.99344017e-01 5.06494555e-03 -3.58591865e-02 7.14769625e+00] [-5.07091869e-03 9.99987140e-01 -7.56247348e-05 2.11120677e-01] [ 3.58583423e-02 2.57414145e-04 9.99356850e-01 1.48163395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.87463044 meters Centerline goodness [0,1] 0.32854236114117497 Centerline is valid? [False, False] Translation: X:7.15, Y:0.21, Z:0.15 [[ 9.99357017e-01 5.09908434e-03 -3.54901716e-02 7.14674105e+00] [-5.10525469e-03 9.99986965e-01 -8.32407033e-05 2.11229287e-01] [ 3.54892845e-02 2.64373546e-04 9.99370022e-01 1.48355961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90463044 meters Centerline goodness [0,1] 0.3261410608782219 Centerline is valid? [False, False] Translation: X:7.15, Y:0.21, Z:0.15 [[ 9.99366495e-01 5.16065573e-03 -3.52133043e-02 7.14613670e+00] [-5.16912384e-03 9.99986629e-01 -1.49444881e-04 2.11946362e-01] [ 3.52120622e-02 3.31372137e-04 9.99379808e-01 1.48303542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.93463044 meters Centerline goodness [0,1] 0.32812567155198347 Centerline is valid? [False, False] Translation: X:7.15, Y:0.21, Z:0.15 [[ 9.99368077e-01 5.19242148e-03 -3.51636990e-02 7.14629543e+00] [-5.20640062e-03 9.99986400e-01 -3.05989178e-04 2.13237840e-01] [ 3.51616319e-02 4.88872121e-04 9.99381519e-01 1.47869088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96463043999998 meters Centerline goodness [0,1] 0.32640917683450765 Centerline is valid? [False, False] Translation: X:7.15, Y:0.22, Z:0.15 [[ 9.99356054e-01 5.41263805e-03 -3.54708374e-02 7.14766070e+00] [-5.43666382e-03 9.99985052e-01 -5.80921119e-04 2.16283169e-01] [ 3.54671629e-02 7.73390055e-04 9.99370543e-01 1.46858395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99463043999998 meters Centerline goodness [0,1] 0.3283330086369245 Centerline is valid? [False, False] Translation: X:7.15, Y:0.22, Z:0.15 [[ 9.99349141e-01 5.37796300e-03 -3.56703219e-02 7.14844416e+00] [-5.41203336e-03 9.99984986e-01 -8.58658693e-04 2.18175535e-01] [ 3.56651685e-02 1.05114880e-03 9.99363243e-01 1.46359961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02463043999998 meters Centerline goodness [0,1] 0.32469082230418744 Centerline is valid? [False, False] Translation: X:7.15, Y:0.22, Z:0.15 [[ 9.99339144e-01 5.25974603e-03 -3.59667884e-02 7.14941468e+00] [-5.30866235e-03 9.99985109e-01 -1.26467743e-03 2.20351506e-01] [ 3.59596010e-02 1.45477719e-03 9.99352186e-01 1.45952447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05463043999998 meters Centerline goodness [0,1] 0.3233997493192722 Centerline is valid? [False, False] Translation: X:7.15, Y:0.22, Z:0.15 [[ 9.99317477e-01 4.92423037e-03 -3.66105519e-02 7.15149715e+00] [-5.00680777e-03 9.99985124e-01 -2.16422282e-03 2.24883537e-01] [ 3.65993502e-02 2.34604769e-03 9.99327266e-01 1.45003704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08463043999998 meters Centerline goodness [0,1] 0.3227741573518622 Centerline is valid? [False, False] Translation: X:7.15, Y:0.23, Z:0.14 [[ 9.99312658e-01 4.75869638e-03 -3.67636681e-02 7.15212821e+00] [-4.85608878e-03 9.99984931e-01 -2.56030785e-03 2.26936552e-01] [ 3.67509304e-02 2.73707568e-03 9.99320708e-01 1.44573175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11463043999998 meters Centerline goodness [0,1] 0.3241782006920415 Centerline is valid? [False, False] Translation: X:7.15, Y:0.23, Z:0.14 [[ 9.99315001e-01 4.66549471e-03 -3.67118801e-02 7.15219426e+00] [-4.77349683e-03 9.99984532e-01 -2.85478284e-03 2.28725170e-01] [ 3.66979933e-02 3.02807136e-03 9.99321814e-01 1.44254201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14463044 meters Centerline goodness [0,1] 0.3210771060884611 Centerline is valid? [False, False] Translation: X:7.15, Y:0.23, Z:0.14 [[ 9.99313782e-01 4.56598894e-03 -3.67575319e-02 7.15236546e+00] [-4.68506234e-03 9.99984051e-01 -3.15394550e-03 2.30630870e-01] [ 3.67425448e-02 3.32399254e-03 9.99319237e-01 1.44126330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17463044 meters Centerline goodness [0,1] 0.3213613449014474 Centerline is valid? [False, False] Translation: X:7.15, Y:0.23, Z:0.14 [[ 9.99300250e-01 4.21880493e-03 -3.71646592e-02 7.15356614e+00] [-4.36412492e-03 9.99983143e-01 -3.82991042e-03 2.33744654e-01] [ 3.71478750e-02 3.98942166e-03 9.99301816e-01 1.43722833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20463044 meters Centerline goodness [0,1] 0.32341885571921847 Centerline is valid? [False, False] Translation: X:7.15, Y:0.24, Z:0.14 [[ 9.99291397e-01 4.02486807e-03 -3.74233165e-02 7.15430567e+00] [-4.18364985e-03 9.99982573e-01 -4.16551477e-03 2.35018362e-01] [ 3.74058987e-02 4.31912913e-03 9.99290820e-01 1.43485919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23463044 meters Centerline goodness [0,1] 0.32045351864202576 Centerline is valid? [False, False] Translation: X:7.17, Y:0.24, Z:0.15 [[ 9.99275668e-01 -3.10829530e-03 -3.79272726e-02 7.17362451e+00] [ 2.97983887e-03 9.99989633e-01 -3.44297369e-03 2.42085264e-01] [ 3.79375812e-02 3.32746267e-03 9.99274571e-01 1.45260179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26463044 meters Centerline goodness [0,1] 0.3184133055418269 Centerline is valid? [False, False] Translation: X:7.17, Y:0.24, Z:0.15 [[ 9.99276332e-01 -3.14087404e-03 -3.79070779e-02 7.17370971e+00] [ 3.00872582e-03 9.99989199e-01 -3.54265260e-03 2.42910743e-01] [ 3.79177955e-02 3.42603689e-03 9.99274989e-01 1.45047345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29463044 meters Centerline goodness [0,1] 0.3196625314479049 Centerline is valid? [False, False] Translation: X:7.17, Y:0.24, Z:0.15 [[ 9.99285034e-01 -3.24883388e-03 -3.76678471e-02 7.17298301e+00] [ 3.11455382e-03 9.99988587e-01 -3.62297800e-03 2.43452263e-01] [ 3.76791876e-02 3.50306915e-03 9.99283747e-01 1.45304981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32463044 meters Centerline goodness [0,1] 0.3202543692680394 Centerline is valid? [False, False] Translation: X:7.17, Y:0.24, Z:0.15 [[ 9.99281093e-01 -3.39877421e-03 -3.77590390e-02 7.17313222e+00] [ 3.25678181e-03 9.99987395e-01 -3.82135982e-03 2.43999874e-01] [ 3.77715510e-02 3.69563967e-03 9.99279567e-01 1.45394647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35463044 meters Centerline goodness [0,1] 0.3202543692680394 Centerline is valid? [False, False] Translation: X:7.17, Y:0.24, Z:0.15 [[ 9.99281093e-01 -3.39877421e-03 -3.77590390e-02 7.17313222e+00] [ 3.25678181e-03 9.99987395e-01 -3.82135982e-03 2.43999874e-01] [ 3.77715510e-02 3.69563967e-03 9.99279567e-01 1.45394647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38463044 meters Centerline goodness [0,1] 0.31908177289125583 Centerline is valid? [False, False] Translation: X:7.17, Y:0.24, Z:0.15 [[ 9.99270731e-01 -3.55061545e-03 -3.80184102e-02 7.17388901e+00] [ 3.39794247e-03 9.99985905e-01 -4.07962761e-03 2.44897026e-01] [ 3.80323596e-02 3.94746809e-03 9.99268711e-01 1.45211128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41463044 meters Centerline goodness [0,1] 0.3197795521610831 Centerline is valid? [False, False] Translation: X:7.17, Y:0.25, Z:0.14 [[ 9.99261140e-01 -3.69203157e-03 -3.82562859e-02 7.17463495e+00] [ 3.51796931e-03 9.99983157e-01 -4.61621802e-03 2.48333940e-01] [ 3.82726848e-02 4.47822285e-03 9.99257298e-01 1.44860898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44463044 meters Centerline goodness [0,1] 0.3206078737426292 Centerline is valid? [False, False] Translation: X:7.17, Y:0.25, Z:0.15 [[ 9.99264876e-01 -3.68441843e-03 -3.81592967e-02 7.17429047e+00] [ 3.50226288e-03 9.99982157e-01 -4.83930318e-03 2.50191926e-01] [ 3.81764459e-02 4.70210180e-03 9.99259951e-01 1.45004483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47463044 meters Centerline goodness [0,1] 0.31790043848336347 Centerline is valid? [False, False] Translation: X:7.19, Y:0.25, Z:0.15 [[ 9.99301690e-01 4.66997106e-03 -3.70718759e-02 7.19355667e+00] [-4.90580639e-03 9.99968290e-01 -6.27315543e-03 2.50657394e-01] [ 3.70414049e-02 6.45064227e-03 9.99292912e-01 1.46759039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50463044 meters Centerline goodness [0,1] 0.3216135716135716 Centerline is valid? [False, False] Translation: X:7.19, Y:0.25, Z:0.15 [[ 9.99333147e-01 4.98761944e-03 -3.61715984e-02 7.19091626e+00] [-5.22873681e-03 9.99964718e-01 -6.57439975e-03 2.54518564e-01] [ 3.61375316e-02 6.75914736e-03 9.99323968e-01 1.47435059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.53463044 meters Centerline goodness [0,1] 0.32255083179297594 Centerline is valid? [False, False] Translation: X:7.19, Y:0.26, Z:0.15 [[ 9.99341783e-01 4.89728778e-03 -3.59446555e-02 7.19033094e+00] [-5.15234810e-03 9.99962179e-01 -7.00672103e-03 2.56996174e-01] [ 3.59089821e-02 7.18730846e-03 9.99329219e-01 1.47493465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56463044 meters Centerline goodness [0,1] 0.32268039007935645 Centerline is valid? [False, False] Translation: X:7.19, Y:0.26, Z:0.15 [[ 9.99345655e-01 4.83532687e-03 -3.58452446e-02 7.19000708e+00] [-5.10268880e-03 9.99959814e-01 -7.37105641e-03 2.59143153e-01] [ 3.58081627e-02 7.54914033e-03 9.99330169e-01 1.47560431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.59463044 meters Centerline goodness [0,1] 0.3194294592378404 Centerline is valid? [False, False] Translation: X:7.19, Y:0.26, Z:0.15 [[ 9.99334422e-01 4.98560922e-03 -3.61366391e-02 7.19093816e+00] [-5.26746542e-03 9.99956414e-01 -7.70872984e-03 2.62825882e-01] [ 3.60966313e-02 7.89394758e-03 9.99317126e-01 1.47139004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62463044 meters Centerline goodness [0,1] 0.3176349702444663 Centerline is valid? [False, False] Translation: X:7.21, Y:0.27, Z:0.15 [[ 9.99302053e-01 -1.13228251e-03 -3.73379891e-02 7.20862710e+00] [ 8.89482029e-04 9.99978357e-01 -6.51874394e-03 2.70706702e-01] [ 3.73445621e-02 6.48098273e-03 9.99281432e-01 1.49468822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.65463044 meters Centerline goodness [0,1] 0.3221332291463176 Centerline is valid? [False, False] Translation: X:7.21, Y:0.27, Z:0.15 [[ 9.99302130e-01 -1.17986014e-03 -3.73344467e-02 7.20875752e+00] [ 9.26370869e-04 9.99976408e-01 -6.80625920e-03 2.72555149e-01] [ 3.73415963e-02 6.76692377e-03 9.99279648e-01 1.49230207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68463044 meters Centerline goodness [0,1] 0.3193933526944176 Centerline is valid? [False, False] Translation: X:7.21, Y:0.28, Z:0.15 [[ 9.99308656e-01 -1.43093956e-03 -3.71505426e-02 7.20835274e+00] [ 1.15327791e-03 9.99971252e-01 -7.49431388e-03 2.76168076e-01] [ 3.71601985e-02 7.44628783e-03 9.99281578e-01 1.49128774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71463043999998 meters Centerline goodness [0,1] 0.32236827904768073 Centerline is valid? [False, False] Translation: X:7.21, Y:0.28, Z:0.15 [[ 9.99313527e-01 -1.44928396e-03 -3.70185672e-02 7.20794966e+00] [ 1.16766466e-03 9.99970225e-01 -7.62800234e-03 2.77242411e-01] [ 3.70285201e-02 7.57954065e-03 9.99285464e-01 1.49239651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74463043999998 meters Centerline goodness [0,1] 0.3219820905803341 Centerline is valid? [False, False] Translation: X:7.21, Y:0.28, Z:0.15 [[ 9.99316218e-01 -1.46346990e-03 -3.69453023e-02 7.20769627e+00] [ 1.18113583e-03 9.99969944e-01 -7.66261757e-03 2.77690327e-01] [ 3.69554059e-02 7.61374059e-03 9.99287911e-01 1.49333140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77463043999998 meters Centerline goodness [0,1] 0.3224550505271446 Centerline is valid? [False, False] Translation: X:7.17, Y:0.27, Z:0.15 [[ 9.99196469e-01 -4.01477890e-03 -3.98785471e-02 7.16589708e+00] [ 3.68359253e-03 9.99958145e-01 -8.37488438e-03 2.71910184e-01] [ 3.99105013e-02 8.22125858e-03 9.99169436e-01 1.47188092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80463043999998 meters Centerline goodness [0,1] 0.3202518544074522 Centerline is valid? [False, False] Translation: X:7.19, Y:0.27, Z:0.15 [[ 0.99907487 -0.0122151 -0.04123352 7.18845145] [ 0.01188823 0.99989601 -0.00816315 0.27393063] [ 0.04132894 0.00766541 0.99911619 0.14813161] [ 0. 0. 0. 1. ]] SLAMing on 193.83463043999998 meters Centerline goodness [0,1] 0.31942305606767163 Centerline is valid? [False, False] Translation: X:7.18, Y:0.27, Z:0.14 [[ 9.99157685e-01 -6.74987672e-03 -4.04766524e-02 7.17502008e+00] [ 6.36126477e-03 9.99932506e-01 -9.72201346e-03 2.65935394e-01] [ 4.05395429e-02 9.45634176e-03 9.99133186e-01 1.44170540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86463043999998 meters Centerline goodness [0,1] 0.31820839921162636 Centerline is valid? [False, False] Translation: X:7.18, Y:0.26, Z:0.14 [[ 9.99143525e-01 -6.65664514e-03 -4.08400050e-02 7.17588491e+00] [ 6.28099004e-03 9.99936845e-01 -9.31964178e-03 2.63636103e-01] [ 4.08994633e-02 9.05514407e-03 9.99122234e-01 1.44186581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89463044 meters Centerline goodness [0,1] 0.31955910957423816 Centerline is valid? [False, False] Translation: X:7.17, Y:0.26, Z:0.15 [[ 9.99154295e-01 -6.31769022e-03 -4.06298041e-02 7.17462250e+00] [ 5.97176863e-03 9.99944931e-01 -8.62972493e-03 2.60856547e-01] [ 4.06820866e-02 8.37979495e-03 9.99137001e-01 1.45359118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92463044 meters Centerline goodness [0,1] 0.31906446880124273 Centerline is valid? [False, False] Translation: X:7.17, Y:0.26, Z:0.15 [[ 9.99166782e-01 -6.22741759e-03 -4.03355930e-02 7.17373131e+00] [ 5.88821657e-03 9.99946344e-01 -8.52282112e-03 2.60533060e-01] [ 4.03865039e-02 8.27821505e-03 9.99149839e-01 1.45654098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95463044 meters Centerline goodness [0,1] 0.31870196044563437 Centerline is valid? [False, False] Translation: X:7.17, Y:0.26, Z:0.15 [[ 9.99170652e-01 -6.20304550e-03 -4.02433991e-02 7.17368859e+00] [ 5.86138306e-03 9.99945820e-01 -8.60234234e-03 2.61054146e-01] [ 4.02945794e-02 8.35932602e-03 9.99152875e-01 1.45407571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98463044 meters Centerline goodness [0,1] 0.3186009263668239 Centerline is valid? [False, False] Translation: X:7.18, Y:0.26, Z:0.14 [[ 9.99158530e-01 -2.80820586e-03 -4.09187661e-02 7.17649237e+00] [ 2.57872547e-03 9.99980658e-01 -5.65989678e-03 2.63157327e-01] [ 4.09338688e-02 5.54961588e-03 9.99146446e-01 1.43827401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01463044 meters Centerline goodness [0,1] 0.31430913247918557 Centerline is valid? [False, False] Translation: X:7.18, Y:0.27, Z:0.14 [[ 9.99140264e-01 -2.71155454e-03 -4.13688289e-02 7.17802962e+00] [ 2.46978319e-03 9.99979579e-01 -5.89427706e-03 2.65204759e-01] [ 4.13839667e-02 5.78703750e-03 9.99126557e-01 1.43072618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04463044 meters Centerline goodness [0,1] 0.3152852529601722 Centerline is valid? [False, False] Translation: X:7.18, Y:0.27, Z:0.14 [[ 9.99137961e-01 -2.69530877e-03 -4.14254698e-02 7.17804780e+00] [ 2.44085065e-03 9.99977851e-01 -6.19190378e-03 2.67344392e-01] [ 4.14412413e-02 6.08545273e-03 9.99122410e-01 1.43187164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07463044 meters Centerline goodness [0,1] 0.317469605357259 Centerline is valid? [False, False] Translation: X:7.18, Y:0.27, Z:0.14 [[ 9.99161744e-01 -2.70786494e-03 -4.08470046e-02 7.17600966e+00] [ 2.44114907e-03 9.99975384e-01 -6.57809602e-03 2.69966514e-01] [ 4.08638117e-02 6.47286827e-03 9.99143759e-01 1.44045501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10463044 meters Centerline goodness [0,1] 0.3133628716368073 Centerline is valid? [False, False] Translation: X:7.20, Y:0.27, Z:0.15 [[ 9.99193994e-01 5.27222693e-03 -3.97940439e-02 7.19526036e+00] [-5.59507418e-03 9.99952299e-01 -8.00594876e-03 2.68904447e-01] [ 3.97499365e-02 8.22214655e-03 9.99175830e-01 1.45613051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13463044 meters Centerline goodness [0,1] 0.31615187031880676 Centerline is valid? [False, False] Translation: X:7.20, Y:0.27, Z:0.15 [[ 9.99193445e-01 5.25459722e-03 -3.98101579e-02 7.19537685e+00] [-5.57950935e-03 9.99951993e-01 -8.05483381e-03 2.69357514e-01] [ 3.97659219e-02 8.27045829e-03 9.99174795e-01 1.45519400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16463044 meters Centerline goodness [0,1] 0.3162941367023 Centerline is valid? [False, False] Translation: X:7.20, Y:0.27, Z:0.15 [[ 9.99193029e-01 5.22592914e-03 -3.98243798e-02 7.19553540e+00] [-5.55398524e-03 9.99951516e-01 -8.13138999e-03 2.69971422e-01] [ 3.97799549e-02 8.34601221e-03 9.99173608e-01 1.45369089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.19463044 meters Centerline goodness [0,1] 0.31907952355929237 Centerline is valid? [False, False] Translation: X:7.18, Y:0.28, Z:0.14 [[ 9.99198069e-01 -2.99643041e-03 -3.99279375e-02 7.17602568e+00] [ 2.72296928e-03 9.99972477e-01 -6.90149074e-03 2.75738012e-01] [ 3.99475185e-02 6.78723368e-03 9.99178727e-01 1.43331201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22463044 meters Centerline goodness [0,1] 0.31578606018678657 Centerline is valid? [False, False] Translation: X:7.18, Y:0.28, Z:0.14 [[ 9.99188481e-01 -3.09828301e-03 -4.01594416e-02 7.17665348e+00] [ 2.81316011e-03 9.99970450e-01 -7.15433942e-03 2.77052447e-01] [ 4.01804211e-02 7.03555860e-03 9.99167671e-01 1.43176746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25463044 meters Centerline goodness [0,1] 0.3158134589093119 Centerline is valid? [False, False] Translation: X:7.18, Y:0.28, Z:0.14 [[ 9.99187501e-01 -3.14477500e-03 -4.01801965e-02 7.17682185e+00] [ 2.84813541e-03 9.99968283e-01 -7.43784208e-03 2.79016207e-01] [ 4.02023124e-02 7.31736020e-03 9.99164766e-01 1.42985114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28463044 meters Centerline goodness [0,1] 0.3154534670548905 Centerline is valid? [False, False] Translation: X:7.18, Y:0.28, Z:0.14 [[ 9.99187955e-01 -3.19186203e-03 -4.01651942e-02 7.17707757e+00] [ 2.88274016e-03 9.99965799e-01 -7.75182654e-03 2.81221526e-01] [ 4.01885633e-02 7.62974589e-03 9.99162983e-01 1.42573806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.31463044 meters Centerline goodness [0,1] 0.31492440604751615 Centerline is valid? [False, False] Translation: X:7.18, Y:0.29, Z:0.14 [[ 9.99192218e-01 -3.52620044e-03 -4.00309601e-02 7.17715420e+00] [ 3.18443411e-03 9.99957965e-01 -8.59810590e-03 2.85223858e-01] [ 4.00595961e-02 8.46368455e-03 9.99161446e-01 1.41986678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34463044 meters Centerline goodness [0,1] 0.314462293811103 Centerline is valid? [False, False] Translation: X:7.18, Y:0.29, Z:0.14 [[ 9.99188871e-01 -3.67484438e-03 -4.01010787e-02 7.17753732e+00] [ 3.31976290e-03 9.99954726e-01 -8.91766205e-03 2.86574262e-01] [ 4.01320342e-02 8.77730260e-03 9.99155833e-01 1.41655884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.37463044 meters Centerline goodness [0,1] 0.31820944772490445 Centerline is valid? [False, False] Translation: X:7.18, Y:0.29, Z:0.14 [[ 9.99181319e-01 -3.77728623e-03 -4.02793247e-02 7.17811597e+00] [ 3.41003722e-03 9.99952027e-01 -9.18236678e-03 2.87949108e-01] [ 4.03120768e-02 9.03749535e-03 9.99146266e-01 1.41385958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40463044 meters Centerline goodness [0,1] 0.3122605363984674 Centerline is valid? [False, False] Translation: X:7.18, Y:0.29, Z:0.14 [[ 9.99163873e-01 -3.88054141e-03 -4.07000729e-02 7.17979229e+00] [ 3.50035244e-03 9.99949614e-01 -9.40834156e-03 2.89406053e-01] [ 4.07345316e-02 9.25801040e-03 9.99127113e-01 1.40447204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.43463044 meters Centerline goodness [0,1] 0.3118302660682457 Centerline is valid? [False, False] Translation: X:7.18, Y:0.29, Z:0.14 [[ 9.99157314e-01 -3.94745927e-03 -4.08543577e-02 7.18027288e+00] [ 3.56478875e-03 9.99949132e-01 -9.43531447e-03 2.89284902e-01] [ 4.08895250e-02 9.28172632e-03 9.99120561e-01 1.40294434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46463043999998 meters Centerline goodness [0,1] 0.31902443284787874 Centerline is valid? [False, False] Translation: X:7.13, Y:0.29, Z:0.14 [[ 9.99071643e-01 -5.13173491e-03 -4.27728611e-02 7.13442512e+00] [ 4.72315362e-03 9.99942303e-01 -9.64793939e-03 2.86244067e-01] [ 4.28199039e-02 9.43695986e-03 9.99038237e-01 1.39665040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49463043999998 meters Centerline goodness [0,1] 0.3170287498373878 Centerline is valid? [False, False] Translation: X:7.13, Y:0.29, Z:0.14 [[ 9.99071990e-01 -5.11448121e-03 -4.27668245e-02 7.13407165e+00] [ 4.70993545e-03 9.99943260e-01 -9.55475265e-03 2.86110316e-01] [ 4.28132655e-02 9.34445676e-03 9.99039391e-01 1.40168624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52463043999998 meters Centerline goodness [0,1] 0.31653417437138165 Centerline is valid? [False, False] Translation: X:7.13, Y:0.29, Z:0.14 [[ 9.99079284e-01 -5.06179812e-03 -4.26023852e-02 7.13345512e+00] [ 4.66246132e-03 9.99944310e-01 -9.46772614e-03 2.85969899e-01] [ 4.26479364e-02 9.26037708e-03 9.99047246e-01 1.40528866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55463043999998 meters Centerline goodness [0,1] 0.31873707131192164 Centerline is valid? [False, False] Translation: X:7.13, Y:0.29, Z:0.14 [[ 9.99090798e-01 -5.07972287e-03 -4.23293488e-02 7.13256684e+00] [ 4.68492901e-03 9.99944649e-01 -9.42070345e-03 2.85550978e-01] [ 4.23748604e-02 9.21382814e-03 9.99059296e-01 1.40909107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58463043999998 meters Centerline goodness [0,1] 0.3202969007726365 Centerline is valid? [False, False] Translation: X:7.13, Y:0.29, Z:0.14 [[ 9.99099385e-01 -5.14961249e-03 -4.21177063e-02 7.13193625e+00] [ 4.75674039e-03 9.99944290e-01 -9.42285905e-03 2.85081871e-01] [ 4.21638840e-02 9.21402968e-03 9.99068220e-01 1.41155162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61463043999998 meters Centerline goodness [0,1] 0.3184088169450663 Centerline is valid? [False, False] Translation: X:7.13, Y:0.28, Z:0.14 [[ 9.99107171e-01 -5.14919665e-03 -4.19326327e-02 7.13158016e+00] [ 4.75993252e-03 9.99944700e-01 -9.37764126e-03 2.84734292e-01] [ 4.19786011e-02 9.16967213e-03 9.99076431e-01 1.41071460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64463044 meters Centerline goodness [0,1] 0.320105306316221 Centerline is valid? [False, False] Translation: X:7.13, Y:0.29, Z:0.14 [[ 9.99108978e-01 -5.05802651e-03 -4.19006839e-02 7.13170801e+00] [ 4.66982373e-03 9.99945313e-01 -9.35753444e-03 2.85210651e-01] [ 4.19457231e-02 9.15352786e-03 9.99077960e-01 1.40775614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67463044 meters Centerline goodness [0,1] 0.3189821331889551 Centerline is valid? [False, False] Translation: X:7.13, Y:0.29, Z:0.14 [[ 9.99108650e-01 -4.98561165e-03 -4.19171585e-02 7.13197417e+00] [ 4.59691163e-03 9.99945587e-01 -9.36433230e-03 2.85772997e-01] [ 4.19615646e-02 9.16329593e-03 9.99077205e-01 1.40426845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70463044 meters Centerline goodness [0,1] 0.3186385384949978 Centerline is valid? [False, False] Translation: X:7.13, Y:0.29, Z:0.14 [[ 9.99087616e-01 -5.01861468e-03 -4.24116681e-02 7.13336580e+00] [ 4.61378162e-03 9.99942911e-01 -9.63782155e-03 2.87187080e-01] [ 4.24576154e-02 9.43334998e-03 9.99053734e-01 1.40059358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73463044 meters Centerline goodness [0,1] 0.3148815820721518 Centerline is valid? [False, False] Translation: X:7.13, Y:0.29, Z:0.14 [[ 9.99069897e-01 -5.08598490e-03 -4.28190853e-02 7.13435940e+00] [ 4.66862810e-03 9.99940674e-01 -9.84134466e-03 2.88032516e-01] [ 4.28665979e-02 9.63228481e-03 9.99034371e-01 1.40000976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76463044 meters Centerline goodness [0,1] 0.3173323482115694 Centerline is valid? [False, False] Translation: X:7.14, Y:0.29, Z:0.14 [[ 9.99055775e-01 -5.10254872e-03 -4.31453672e-02 7.13534683e+00] [ 4.67334306e-03 9.99938648e-01 -1.00429160e-02 2.89302701e-01] [ 4.31939646e-02 9.83180010e-03 9.99018327e-01 1.39638721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79463044 meters Centerline goodness [0,1] 0.3124193687107595 Centerline is valid? [False, False] Translation: X:7.16, Y:0.29, Z:0.14 [[ 9.99005197e-01 3.79252899e-03 -4.44323522e-02 7.15860452e+00] [-4.26915303e-03 9.99934312e-01 -1.06369835e-02 2.90027418e-01] [ 4.43890925e-02 1.08160903e-02 9.98955765e-01 1.40253641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82463044 meters Centerline goodness [0,1] 0.3160221952488296 Centerline is valid? [False, False] Translation: X:7.16, Y:0.29, Z:0.14 [[ 9.99011004e-01 3.61814384e-03 -4.43161673e-02 7.15847476e+00] [-4.10820997e-03 9.99931363e-01 -1.09723268e-02 2.91218304e-01] [ 4.42734261e-02 1.11435353e-02 9.98957299e-01 1.40058929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85463044 meters Centerline goodness [0,1] 0.3157780714486882 Centerline is valid? [False, False] Translation: X:7.16, Y:0.29, Z:0.14 [[ 9.99020507e-01 3.45012365e-03 -4.41148868e-02 7.15759419e+00] [-3.94610166e-03 9.99929931e-01 -1.11607353e-02 2.91585774e-01] [ 4.40732898e-02 1.13238853e-02 9.98964121e-01 1.40598175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88463044 meters Centerline goodness [0,1] 0.3209405714036655 Centerline is valid? [False, False] Translation: X:7.15, Y:0.29, Z:0.14 [[ 9.99034047e-01 4.72072871e-03 -4.36885377e-02 7.15388108e+00] [-5.14922020e-03 9.99939691e-01 -9.70053732e-03 2.90436002e-01] [ 4.36401093e-02 9.91612896e-03 9.98998104e-01 1.43745194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91463044 meters Centerline goodness [0,1] 0.3173311459839834 Centerline is valid? [False, False] Translation: X:7.17, Y:0.29, Z:0.15 [[ 9.99078334e-01 -1.09501171e-03 -4.29101875e-02 7.17312484e+00] [ 8.00772395e-04 9.99976055e-01 -6.87368578e-03 2.94426969e-01] [ 4.29166868e-02 6.83298924e-03 9.99055288e-01 1.45179164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94463044 meters Centerline goodness [0,1] 0.31885155455548586 Centerline is valid? [False, False] Translation: X:7.17, Y:0.29, Z:0.14 [[ 9.99076489e-01 -1.12111097e-03 -4.29524501e-02 7.17360407e+00] [ 8.23534866e-04 9.99975543e-01 -6.94510398e-03 2.94763995e-01] [ 4.29591859e-02 6.90331725e-03 9.99052978e-01 1.44682332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97463044 meters Centerline goodness [0,1] 0.3181670105331741 Centerline is valid? [False, False] Translation: X:7.17, Y:0.30, Z:0.14 [[ 9.99081763e-01 -1.47601580e-03 -4.28188257e-02 7.17376758e+00] [ 1.15861326e-03 9.99971677e-01 -7.43655651e-03 2.95732313e-01] [ 4.28285894e-02 7.38011753e-03 9.99055177e-01 1.44058781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00463044 meters Centerline goodness [0,1] 0.3181417166957158 Centerline is valid? [False, False] Translation: X:7.17, Y:0.30, Z:0.14 [[ 9.99082505e-01 -1.57376095e-03 -4.27980358e-02 7.17345956e+00] [ 1.24994479e-03 9.99970400e-01 -7.59185304e-03 2.96249922e-01] [ 4.28087168e-02 7.53139237e-03 9.99054899e-01 1.44404798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.03463044 meters Centerline goodness [0,1] 0.31868580514848077 Centerline is valid? [False, False] Translation: X:7.17, Y:0.30, Z:0.14 [[ 9.99084086e-01 -1.53450108e-03 -4.27625395e-02 7.17297049e+00] [ 1.21327682e-03 9.99970862e-01 -7.53675557e-03 2.96186033e-01] [ 4.27728587e-02 7.47796975e-03 9.99056836e-01 1.44971529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06463044 meters Centerline goodness [0,1] 0.31953114768411406 Centerline is valid? [False, False] Translation: X:7.13, Y:0.29, Z:0.14 [[ 9.98983646e-01 -1.99776444e-03 -4.50298184e-02 7.12733877e+00] [ 1.67718596e-03 9.99972990e-01 -7.15590568e-03 2.93376548e-01] [ 4.50428979e-02 7.07310936e-03 9.98960013e-01 1.44567486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.09463044 meters Centerline goodness [0,1] 0.31877043538117367 Centerline is valid? [False, False] Translation: X:7.17, Y:0.30, Z:0.15 [[ 9.99034801e-01 -1.67681273e-03 -4.38936840e-02 7.17211573e+00] [ 1.33713295e-03 9.99968943e-01 -7.76691030e-03 2.96689824e-01] [ 4.39053445e-02 7.70072199e-03 9.99006016e-01 1.46310491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12463044 meters Centerline goodness [0,1] 0.31915588658042593 Centerline is valid? [False, False] Translation: X:7.17, Y:0.30, Z:0.15 [[ 9.99035731e-01 -1.69853754e-03 -4.38716597e-02 7.17199757e+00] [ 1.35778252e-03 9.99968691e-01 -7.79571860e-03 2.96742032e-01] [ 4.38835274e-02 7.72863326e-03 9.99006759e-01 1.46391602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.15463044 meters Centerline goodness [0,1] 0.3168214654282766 Centerline is valid? [False, False] Translation: X:7.19, Y:0.30, Z:0.15 [[ 9.99033788e-01 -8.93082684e-03 -4.30317345e-02 7.19023138e+00] [ 8.65658736e-03 9.99941045e-01 -6.55509390e-03 3.02064490e-01] [ 4.30877400e-02 6.17625232e-03 9.99052201e-01 1.48708843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18463044 meters Centerline goodness [0,1] 0.31555593663587056 Centerline is valid? [False, False] Translation: X:7.19, Y:0.30, Z:0.15 [[ 9.99042961e-01 -5.57180226e-03 -4.33833828e-02 7.19118217e+00] [ 5.43438288e-03 9.99979838e-01 -3.28485145e-03 3.02288799e-01] [ 4.34008107e-02 3.04594581e-03 9.99053098e-01 1.48595248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21463043999998 meters Centerline goodness [0,1] 0.3189290134850492 Centerline is valid? [False, False] Translation: X:7.17, Y:0.30, Z:0.15 [[ 9.99036674e-01 2.20445062e-03 -4.38276732e-02 7.17289436e+00] [-2.40251807e-03 9.99987137e-01 -4.46707251e-03 2.98219200e-01] [ 4.38172620e-02 4.56806604e-03 9.99029119e-01 1.45859996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24463043999998 meters Centerline goodness [0,1] 0.31655749400090794 Centerline is valid? [False, False] Translation: X:7.17, Y:0.30, Z:0.15 [[ 9.99026576e-01 2.16723788e-03 -4.40590849e-02 7.17368691e+00] [-2.37449222e-03 9.99986359e-01 -4.65221910e-03 2.99266351e-01] [ 4.40484015e-02 4.75230847e-03 9.99018095e-01 1.45507643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27463043999998 meters Centerline goodness [0,1] 0.31655749400090794 Centerline is valid? [False, False] Translation: X:7.17, Y:0.30, Z:0.15 [[ 9.99026576e-01 2.16723788e-03 -4.40590849e-02 7.17368691e+00] [-2.37449222e-03 9.99986359e-01 -4.65221910e-03 2.99266351e-01] [ 4.40484015e-02 4.75230847e-03 9.99018095e-01 1.45507643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30463043999998 meters Centerline goodness [0,1] 0.31864113383100723 Centerline is valid? [False, False] Translation: X:7.17, Y:0.30, Z:0.15 [[ 9.99026703e-01 2.06939630e-03 -4.40609082e-02 7.17369922e+00] [-2.28933652e-03 9.99985168e-01 -4.94185693e-03 3.00701984e-01] [ 4.40500281e-02 5.03791729e-03 9.99016624e-01 1.45466682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33463043999998 meters Centerline goodness [0,1] 0.31856640777541545 Centerline is valid? [False, False] Translation: X:7.17, Y:0.30, Z:0.15 [[ 9.99056354e-01 2.23232420e-03 -4.33753209e-02 7.17158884e+00] [-2.46120685e-03 9.99983325e-01 -5.22410824e-03 3.03521181e-01] [ 4.33629357e-02 5.32593416e-03 9.99045189e-01 1.46131482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36463043999998 meters Centerline goodness [0,1] 0.31762091728869135 Centerline is valid? [False, False] Translation: X:7.17, Y:0.31, Z:0.15 [[ 9.99063870e-01 2.23022742e-03 -4.32019681e-02 7.17107578e+00] [-2.46974678e-03 9.99981871e-01 -5.49159692e-03 3.05567179e-01] [ 4.31889374e-02 5.59315399e-03 9.99051266e-01 1.46251764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39463044 meters Centerline goodness [0,1] 0.3188374362867368 Centerline is valid? [False, False] Translation: X:7.17, Y:0.31, Z:0.15 [[ 9.99060523e-01 2.20995770e-03 -4.32803305e-02 7.17133269e+00] [-2.46360714e-03 9.99980098e-01 -5.80815633e-03 3.07818514e-01] [ 4.32666334e-02 5.90932544e-03 9.99046084e-01 1.46104749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42463044 meters Centerline goodness [0,1] 0.3192042647250033 Centerline is valid? [False, False] Translation: X:7.17, Y:0.31, Z:0.15 [[ 9.99028022e-01 2.34109142e-03 -4.40173841e-02 7.17321350e+00] [-2.61529296e-03 9.99977528e-01 -6.17283729e-03 3.11766925e-01] [ 4.40019438e-02 6.28195578e-03 9.99011695e-01 1.45758584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45463044 meters Centerline goodness [0,1] 0.3187570182257925 Centerline is valid? [False, False] Translation: X:7.17, Y:0.31, Z:0.15 [[ 9.99021933e-01 2.27793870e-03 -4.41586759e-02 7.17354711e+00] [-2.56089938e-03 9.99976545e-01 -6.35230487e-03 3.12857365e-01] [ 4.41431700e-02 6.45917781e-03 9.99004334e-01 1.45762645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48463044 meters Centerline goodness [0,1] 0.316380776101414 Centerline is valid? [False, False] Translation: X:7.17, Y:0.31, Z:0.15 [[ 9.99018610e-01 2.14974163e-03 -4.42401977e-02 7.17387669e+00] [-2.44122499e-03 9.99975662e-01 -6.53568262e-03 3.13579841e-01] [ 4.42250709e-02 6.63726885e-03 9.98999544e-01 1.45595602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51463044 meters Centerline goodness [0,1] 0.3148474052453105 Centerline is valid? [False, False] Translation: X:7.17, Y:0.31, Z:0.15 [[ 9.99021812e-01 2.04189980e-03 -4.41729573e-02 7.17367831e+00] [-2.33674941e-03 9.99975329e-01 -6.62428378e-03 3.13618702e-01] [ 4.41583414e-02 6.72102511e-03 9.99001936e-01 1.45618954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54463044 meters Centerline goodness [0,1] 0.3174370472576751 Centerline is valid? [False, False] Translation: X:7.17, Y:0.31, Z:0.15 [[ 9.99032386e-01 1.94726606e-03 -4.39374495e-02 7.17282242e+00] [-2.23948304e-03 9.99975696e-01 -6.60250780e-03 3.13573973e-01] [ 4.39235248e-02 6.69451629e-03 9.99012466e-01 1.46092256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57463044 meters Centerline goodness [0,1] 0.31635925359963846 Centerline is valid? [False, False] Translation: X:7.17, Y:0.31, Z:0.15 [[ 9.99032198e-01 1.91010672e-03 -4.39433583e-02 7.17267632e+00] [-2.20438802e-03 9.99975463e-01 -6.64934975e-03 3.13937263e-01] [ 4.39295791e-02 6.73978271e-03 9.99011896e-01 1.46308478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60463044 meters Centerline goodness [0,1] 0.31873342961222595 Centerline is valid? [False, False] Translation: X:7.17, Y:0.32, Z:0.15 [[ 9.99023227e-01 1.80896222e-03 -4.41510941e-02 7.17322240e+00] [-2.11493078e-03 9.99974066e-01 -6.88430638e-03 3.15143525e-01] [ 4.41374957e-02 6.97095849e-03 9.99001145e-01 1.46287886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63463044 meters Centerline goodness [0,1] 0.3176244963044368 Centerline is valid? [False, False] Translation: X:7.18, Y:0.32, Z:0.15 [[ 9.98996541e-01 1.62018461e-03 -4.47580938e-02 7.17505388e+00] [-1.96498750e-03 9.99968725e-01 -7.66077700e-03 3.19764564e-01] [ 4.47442821e-02 7.74103881e-03 9.98968481e-01 1.45733985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66463044 meters Centerline goodness [0,1] 0.3188443406427057 Centerline is valid? [False, False] Translation: X:7.18, Y:0.32, Z:0.15 [[ 9.98987204e-01 1.47314931e-03 -4.49710680e-02 7.17568768e+00] [-1.84313669e-03 9.99964788e-01 -8.18687550e-03 3.22657050e-01] [ 4.49574240e-02 8.26147169e-03 9.98954743e-01 1.45498659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69463044 meters Centerline goodness [0,1] 0.3175507221458047 Centerline is valid? [False, False] Translation: X:7.18, Y:0.33, Z:0.15 [[ 9.98982933e-01 1.36330672e-03 -4.50692854e-02 7.17598967e+00] [-1.75725082e-03 9.99960589e-01 -8.70239180e-03 3.25779227e-01] [ 4.50556451e-02 8.77273893e-03 9.98945958e-01 1.45377062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72463044 meters Centerline goodness [0,1] 0.31988061250973265 Centerline is valid? [False, False] Translation: X:7.18, Y:0.33, Z:0.15 [[ 9.98987416e-01 1.26001122e-03 -4.49728211e-02 7.17564496e+00] [-1.67295485e-03 9.99956779e-01 -9.14561452e-03 3.28383522e-01] [ 4.49593537e-02 9.21159132e-03 9.98946346e-01 1.45509072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75463044 meters Centerline goodness [0,1] 0.31854716736528244 Centerline is valid? [False, False] Translation: X:7.17, Y:0.33, Z:0.15 [[ 9.99000241e-01 1.25147564e-03 -4.46872695e-02 7.17413070e+00] [-1.68319299e-03 9.99952266e-01 -9.62453755e-03 3.32474867e-01] [ 4.46730915e-02 9.69013263e-03 9.98954662e-01 1.46553001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78463044 meters Centerline goodness [0,1] 0.31949061083531194 Centerline is valid? [False, False] Translation: X:7.17, Y:0.33, Z:0.15 [[ 9.99004972e-01 1.22257962e-03 -4.45821863e-02 7.17355707e+00] [-1.65814386e-03 9.99951246e-01 -9.73424552e-03 3.33348175e-01] [ 4.45681118e-02 9.79848335e-03 9.98958294e-01 1.46993677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.81463044 meters Centerline goodness [0,1] 0.3176619530931485 Centerline is valid? [False, False] Translation: X:7.19, Y:0.34, Z:0.15 [[ 9.98996770e-01 -6.37523791e-03 -4.43261663e-02 7.19179648e+00] [ 6.00038046e-03 9.99945148e-01 -8.58471534e-03 3.38894203e-01] [ 4.43784645e-02 8.31012904e-03 9.98980227e-01 1.49674503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84463044 meters Centerline goodness [0,1] 0.31742876076872095 Centerline is valid? [False, False] Translation: X:7.19, Y:0.34, Z:0.15 [[ 9.98999876e-01 -6.51077293e-03 -4.42363882e-02 7.19113771e+00] [ 6.13359181e-03 9.99943717e-01 -8.65687830e-03 3.38669429e-01] [ 4.42902614e-02 8.37689240e-03 9.98983584e-01 1.50346737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.87463044 meters Centerline goodness [0,1] 0.32193145877561635 Centerline is valid? [False, False] Translation: X:7.17, Y:0.33, Z:0.15 [[ 9.99077228e-01 2.08550844e-04 -4.29493843e-02 7.17077533e+00] [-6.31757995e-04 9.99951384e-01 -9.84028823e-03 3.32971974e-01] [ 4.29452441e-02 9.85834150e-03 9.99028788e-01 1.49169813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90463044 meters Centerline goodness [0,1] 0.3194483113100465 Centerline is valid? [False, False] Translation: X:7.19, Y:0.34, Z:0.15 [[ 9.99030643e-01 -4.92150368e-03 -4.37441883e-02 7.19249422e+00] [ 4.62285919e-03 9.99965332e-01 -6.92560751e-03 3.37709848e-01] [ 4.37767562e-02 6.71667090e-03 9.99018760e-01 1.50349164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.93463044 meters Centerline goodness [0,1] 0.32020204200574176 Centerline is valid? [False, False] Translation: X:7.19, Y:0.34, Z:0.15 [[ 9.99024735e-01 -4.95706937e-03 -4.38749046e-02 7.19290148e+00] [ 4.64442408e-03 9.99963114e-01 -7.22490424e-03 3.39691346e-01] [ 4.39091006e-02 7.01408438e-03 9.99010908e-01 1.50195555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96463043999998 meters Centerline goodness [0,1] 0.3179507066528783 Centerline is valid? [False, False] Translation: X:7.19, Y:0.34, Z:0.15 [[ 9.99022348e-01 -1.48781302e-03 -4.41829674e-02 7.19352641e+00] [ 1.29502318e-03 9.99989518e-01 -4.39174500e-03 3.43057404e-01] [ 4.41890383e-02 4.33023343e-03 9.99013803e-01 1.50204760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99463043999998 meters Centerline goodness [0,1] 0.3196450060168472 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.15 [[ 9.99025375e-01 -1.47674143e-03 -4.41148415e-02 7.19316834e+00] [ 1.27049152e-03 9.99988134e-01 -4.70296689e-03 3.45511709e-01] [ 4.41212631e-02 4.64233573e-03 9.99015397e-01 1.50401688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02463043999998 meters Centerline goodness [0,1] 0.32392776523702027 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.15 [[ 9.99025366e-01 -1.47668825e-03 -4.41150578e-02 7.19273690e+00] [ 1.25920128e-03 9.99986919e-01 -4.95737572e-03 3.47484217e-01] [ 4.41218012e-02 4.89699435e-03 9.99014157e-01 1.50959161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05463043999998 meters Centerline goodness [0,1] 0.32018441519270957 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.15 [[ 9.99018246e-01 -1.52146057e-03 -4.42744841e-02 7.19260740e+00] [ 1.28727089e-03 9.99985033e-01 -5.31752534e-03 3.49887204e-01] [ 4.42819118e-02 5.25531158e-03 9.99005252e-01 1.51630005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08463043999998 meters Centerline goodness [0,1] 0.3208020050125313 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.15 [[ 9.99020369e-01 -1.60213143e-03 -4.42237053e-02 7.19235216e+00] [ 1.36309095e-03 9.99984302e-01 -5.43488286e-03 3.50227641e-01] [ 4.42317184e-02 5.36927775e-03 9.99006870e-01 1.51819146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11463043999998 meters Centerline goodness [0,1] 0.32102517675461284 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.15 [[ 9.99033373e-01 -1.67600716e-03 -4.39262022e-02 7.19129458e+00] [ 1.43810590e-03 9.99984131e-01 -5.44697141e-03 3.50213619e-01] [ 4.39346343e-02 5.37853569e-03 9.99019929e-01 1.52348733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14463044 meters Centerline goodness [0,1] 0.3227067539255708 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.15 [[ 9.99041382e-01 -1.60127882e-03 -4.37464675e-02 7.19052648e+00] [ 1.36998223e-03 9.99984928e-01 -5.31667472e-03 3.49887519e-01] [ 4.37543216e-02 5.25164617e-03 9.99028518e-01 1.52857467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17463044 meters Centerline goodness [0,1] 0.3249147782089489 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.15 [[ 9.99051461e-01 -1.55492311e-03 -4.35173571e-02 7.18959203e+00] [ 1.32934747e-03 9.99985534e-01 -5.21203713e-03 3.49696443e-01] [ 4.35248319e-02 5.14924362e-03 9.99039075e-01 1.53499223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20463044 meters Centerline goodness [0,1] 0.32679823704379163 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.15 [[ 9.99068327e-01 -1.67829969e-03 -4.31237797e-02 7.18790248e+00] [ 1.45687225e-03 9.99985597e-01 -5.16560925e-03 3.48531701e-01] [ 4.31318280e-02 5.09797076e-03 9.99056383e-01 1.54653586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23463044 meters Centerline goodness [0,1] 0.3247083683722535 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.15 [[ 9.99067541e-01 -1.66431282e-03 -4.31425371e-02 7.18802189e+00] [ 1.44588041e-03 9.99985981e-01 -5.09374995e-03 3.47976967e-01] [ 4.31504099e-02 5.02662129e-03 9.99055942e-01 1.54588387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26463044 meters Centerline goodness [0,1] 0.3226584168978024 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.15 [[ 9.99056798e-01 -1.63357726e-03 -4.33917669e-02 7.18886469e+00] [ 1.41475871e-03 9.99986131e-01 -5.07308911e-03 3.48019119e-01] [ 4.33994524e-02 5.00691528e-03 9.99045253e-01 1.54257098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29463044 meters Centerline goodness [0,1] 0.3234126984126984 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.15 [[ 9.99045448e-01 -1.55255980e-03 -4.36552599e-02 7.18982248e+00] [ 1.33267470e-03 9.99986282e-01 -5.06550429e-03 3.48583897e-01] [ 4.36625256e-02 5.00249075e-03 9.99033813e-01 1.53763160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32463044 meters Centerline goodness [0,1] 0.32463024449139755 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.15 [[ 9.99016531e-01 -1.26675125e-03 -4.43211652e-02 7.19197125e+00] [ 1.04698811e-03 9.99987045e-01 -4.98128634e-03 3.49742139e-01] [ 4.43269010e-02 4.92998367e-03 9.99004915e-01 1.52980329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35463044 meters Centerline goodness [0,1] 0.32362802569815485 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.15 [[ 9.99014563e-01 -1.37554609e-03 -4.43622633e-02 7.19202175e+00] [ 1.14564149e-03 9.99985785e-01 -5.20744398e-03 3.50479590e-01] [ 4.43687958e-02 5.15148912e-03 9.99001938e-01 1.53003271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38463044 meters Centerline goodness [0,1] 0.32333731148963873 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.15 [[ 9.99013272e-01 -1.51051876e-03 -4.43869331e-02 7.19197649e+00] [ 1.26662937e-03 9.99983950e-01 -5.52223238e-03 3.51774833e-01] [ 4.43945622e-02 5.46056165e-03 9.98999152e-01 1.53095209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41463044 meters Centerline goodness [0,1] 0.32439678284182305 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.15 [[ 9.99010062e-01 -1.40254616e-03 -4.44626657e-02 7.19186856e+00] [ 1.14749658e-03 9.99982745e-01 -5.76126778e-03 3.54394786e-01] [ 4.44699789e-02 5.70454373e-03 9.98994434e-01 1.53330498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44463044 meters Centerline goodness [0,1] 0.32090626006657363 Centerline is valid? [False, False] Translation: X:7.19, Y:0.36, Z:0.15 [[ 9.99007517e-01 -1.34865887e-03 -4.45214839e-02 7.19215526e+00] [ 1.09023121e-03 9.99982421e-01 -5.82833192e-03 3.55435586e-01] [ 4.45285617e-02 5.77400869e-03 9.98991425e-01 1.53140001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.47463044 meters Centerline goodness [0,1] 0.3199296575092754 Centerline is valid? [False, False] Translation: X:7.19, Y:0.36, Z:0.15 [[ 9.99011564e-01 -1.57696707e-03 -4.44230588e-02 7.19191994e+00] [ 1.30394516e-03 9.99980089e-01 -6.17425690e-03 3.56591245e-01] [ 4.44319109e-02 6.11022881e-03 9.98993729e-01 1.53161827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50463044 meters Centerline goodness [0,1] 0.3220514368249725 Centerline is valid? [False, False] Translation: X:7.19, Y:0.36, Z:0.15 [[ 9.99005001e-01 -1.72348137e-03 -4.45649798e-02 7.19211930e+00] [ 1.44422884e-03 9.99979127e-01 -6.29762566e-03 3.56531947e-01] [ 4.45749035e-02 6.22699750e-03 9.98986638e-01 1.53394864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53463044 meters Centerline goodness [0,1] 0.3209659432100883 Centerline is valid? [False, False] Translation: X:7.19, Y:0.36, Z:0.15 [[ 9.98987622e-01 -1.76525209e-03 -4.49512479e-02 7.19317522e+00] [ 1.48461030e-03 9.99979204e-01 -6.27586736e-03 3.56332511e-01] [ 4.49613916e-02 6.20277873e-03 9.98969468e-01 1.53252089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56463044 meters Centerline goodness [0,1] 0.32257158899494665 Centerline is valid? [False, False] Translation: X:7.19, Y:0.36, Z:0.15 [[ 9.98965709e-01 -1.68891894e-03 -4.54385332e-02 7.19446613e+00] [ 1.41591890e-03 9.99980759e-01 -6.03963201e-03 3.55517633e-01] [ 4.54478594e-02 5.96904800e-03 9.98948879e-01 1.53112972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.59463044 meters Centerline goodness [0,1] 0.32282155885082775 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.15 [[ 9.98963350e-01 -1.67613700e-03 -4.54908264e-02 7.19452074e+00] [ 1.40794644e-03 9.99981445e-01 -5.92688736e-03 3.54812668e-01] [ 4.54999165e-02 5.85669461e-03 9.98947174e-01 1.53273449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62463044 meters Centerline goodness [0,1] 0.32493130530734116 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.15 [[ 9.98968693e-01 -1.74299529e-03 -4.53708250e-02 7.19398002e+00] [ 1.47676298e-03 9.99981500e-01 -5.90077555e-03 3.54053430e-01] [ 4.53802707e-02 5.82768809e-03 9.98952786e-01 1.53650616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.65463044 meters Centerline goodness [0,1] 0.32251657058963235 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.15 [[ 9.98969237e-01 -1.79137172e-03 -4.53569679e-02 7.19348925e+00] [ 1.52722726e-03 9.99981678e-01 -5.85766343e-03 3.53321486e-01] [ 4.53666301e-02 5.78235517e-03 9.98953669e-01 1.54346647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68463044 meters Centerline goodness [0,1] 0.3257811310908656 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.16 [[ 9.98969369e-01 -1.56390437e-03 -4.53624706e-02 7.19298019e+00] [ 1.31130189e-03 9.99983473e-01 -5.59775737e-03 3.52817490e-01] [ 4.53704752e-02 5.53250426e-03 9.98954910e-01 1.55048279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71463043999998 meters Centerline goodness [0,1] 0.3241317898486198 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.16 [[ 9.98963769e-01 -1.39680751e-03 -4.54910755e-02 7.19316498e+00] [ 1.14927059e-03 9.99984395e-01 -5.46713902e-03 3.52940351e-01] [ 4.54980021e-02 5.40919225e-03 9.98949785e-01 1.55217358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74463043999998 meters Centerline goodness [0,1] 0.3246204820581675 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.16 [[ 9.98962989e-01 -1.29964740e-03 -4.55110725e-02 7.19334703e+00] [ 1.05642270e-03 9.99985034e-01 -5.36794157e-03 3.52776591e-01] [ 4.55173678e-02 5.31429603e-03 9.98949412e-01 1.55068953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77463043999998 meters Centerline goodness [0,1] 0.32238812401697803 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.16 [[ 9.98964232e-01 -1.26449095e-03 -4.54847760e-02 7.19314254e+00] [ 1.02456390e-03 9.99985442e-01 -5.29781322e-03 3.52206840e-01] [ 4.54908128e-02 5.24572385e-03 9.98950984e-01 1.55246679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80463043999998 meters Centerline goodness [0,1] 0.32260140280131266 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.16 [[ 9.98980206e-01 -1.31087034e-03 -4.51312517e-02 7.19126295e+00] [ 1.08657666e-03 9.99986940e-01 -4.99398174e-03 3.49045762e-01] [ 4.51372087e-02 4.93985035e-03 9.98968583e-01 1.56696709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83463043999998 meters Centerline goodness [0,1] 0.3254692387904067 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.16 [[ 9.98976159e-01 -1.21179016e-03 -4.52235046e-02 7.19117407e+00] [ 9.99608031e-04 9.99988389e-01 -4.71417468e-03 3.47577298e-01] [ 4.52286921e-02 4.66414233e-03 9.98965771e-01 1.57152862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86463043999998 meters Centerline goodness [0,1] 0.32589873691028826 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.16 [[ 9.98966780e-01 -1.09566603e-03 -4.54331494e-02 7.19180856e+00] [ 8.94490469e-04 9.99989707e-01 -4.44804041e-03 3.46458716e-01] [ 4.54375554e-02 4.40280509e-03 9.98957479e-01 1.56975284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89463044 meters Centerline goodness [0,1] 0.32516554862923575 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.16 [[ 9.98959076e-01 -9.91394675e-04 -4.56046234e-02 7.19249174e+00] [ 8.02228417e-04 9.99991000e-01 -4.16607747e-03 3.45096622e-01] [ 4.56083432e-02 4.12515558e-03 9.98950881e-01 1.56643343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92463044 meters Centerline goodness [0,1] 0.32302936630602785 Centerline is valid? [False, False] Translation: X:7.19, Y:0.34, Z:0.16 [[ 9.98953612e-01 -9.49826108e-04 -4.57250401e-02 7.19264442e+00] [ 7.64799937e-04 9.99991450e-01 -4.06381989e-03 3.44670554e-01] [ 4.57285091e-02 4.02459705e-03 9.98945797e-01 1.56877463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95463044 meters Centerline goodness [0,1] 0.32640310010014373 Centerline is valid? [False, False] Translation: X:7.19, Y:0.34, Z:0.16 [[ 9.98950261e-01 -8.99757475e-04 -4.57991920e-02 7.19270233e+00] [ 7.17117012e-04 9.99991726e-01 -4.00412750e-03 3.44557968e-01] [ 4.58024158e-02 3.96708083e-03 9.98942641e-01 1.57042427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98463044 meters Centerline goodness [0,1] 0.32240307400051804 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.16 [[ 9.98933655e-01 -9.38709484e-04 -4.61592036e-02 7.19364548e+00] [ 7.44836375e-04 9.99990831e-01 -4.21711682e-03 3.45808173e-01] [ 4.61627390e-02 4.17823887e-03 9.98925194e-01 1.56888408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01463044 meters Centerline goodness [0,1] 0.32233870096185024 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.16 [[ 9.98930111e-01 -1.03040425e-03 -4.62338813e-02 7.19392369e+00] [ 8.22934067e-04 9.99989508e-01 -4.50621532e-03 3.47269380e-01] [ 4.62380395e-02 4.46334673e-03 9.98920478e-01 1.56715136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04463044 meters Centerline goodness [0,1] 0.3209980014183482 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.16 [[ 9.98934512e-01 -1.11120800e-03 -4.61368243e-02 7.19369006e+00] [ 8.91024724e-04 9.99988118e-01 -4.79268890e-03 3.48774663e-01] [ 4.61416018e-02 4.74647330e-03 9.98923633e-01 1.56677931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07463044 meters Centerline goodness [0,1] 0.32200577511528683 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.16 [[ 9.98943052e-01 -1.13584107e-03 -4.59509404e-02 7.19303120e+00] [ 9.06850218e-04 9.99987069e-01 -5.00391617e-03 3.50244153e-01] [ 4.59560299e-02 4.95695667e-03 9.98931165e-01 1.56938701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10463044 meters Centerline goodness [0,1] 0.3241094700260643 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.16 [[ 9.98964903e-01 -9.88392128e-04 -4.54768700e-02 7.19140719e+00] [ 7.55819891e-04 9.99986551e-01 -5.13098838e-03 3.52620011e-01] [ 4.54813298e-02 5.09130498e-03 9.98952215e-01 1.57613180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13463044 meters Centerline goodness [0,1] 0.3214308789007818 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.16 [[ 9.98968789e-01 -1.02581127e-03 -4.53905972e-02 7.19109615e+00] [ 7.87549436e-04 9.99985821e-01 -5.26671683e-03 3.53524645e-01] [ 4.53953563e-02 5.22553840e-03 9.98955432e-01 1.57791603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16463044 meters Centerline goodness [0,1] 0.3214308789007818 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.16 [[ 9.98968789e-01 -1.02581127e-03 -4.53905972e-02 7.19109615e+00] [ 7.87549436e-04 9.99985821e-01 -5.26671683e-03 3.53524645e-01] [ 4.53953563e-02 5.22553840e-03 9.98955432e-01 1.57791603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19463044 meters Centerline goodness [0,1] 0.32255144919728473 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.16 [[ 9.98969206e-01 -1.05073960e-03 -4.53808524e-02 7.19084057e+00] [ 8.11999861e-04 9.99985737e-01 -5.27891715e-03 3.53414332e-01] [ 4.53857519e-02 5.23662643e-03 9.98955810e-01 1.58149483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22463044 meters Centerline goodness [0,1] 0.3216592630743149 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.16 [[ 9.98965084e-01 -1.18468307e-03 -4.54682107e-02 7.19066992e+00] [ 9.45745183e-04 9.99985634e-01 -5.27620576e-03 3.52456346e-01] [ 4.54738082e-02 5.22774399e-03 9.98951852e-01 1.58698884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25463044 meters Centerline goodness [0,1] 0.3235370218638147 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.16 [[ 9.98961847e-01 -1.16740461e-03 -4.55397108e-02 7.19089110e+00] [ 9.37102724e-04 9.99986667e-01 -5.07818713e-03 3.51073557e-01] [ 4.55450319e-02 5.03023981e-03 9.98949622e-01 1.58676143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28463044 meters Centerline goodness [0,1] 0.3237269166200336 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.16 [[ 9.98951561e-01 -1.13591558e-03 -4.57655828e-02 7.19147025e+00] [ 9.18576506e-04 9.99988203e-01 -4.76971407e-03 3.48982566e-01] [ 4.57704609e-02 4.72267413e-03 9.98940820e-01 1.58683070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.31463044 meters Centerline goodness [0,1] 0.32341257059417206 Centerline is valid? [False, False] Translation: X:7.19, Y:0.34, Z:0.16 [[ 9.98939707e-01 -1.32555918e-03 -4.60185278e-02 7.19220106e+00] [ 1.12592948e-03 9.99989845e-01 -4.36367839e-03 3.44643187e-01] [ 4.60238448e-02 4.30723800e-03 9.98931055e-01 1.58657367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34463044 meters Centerline goodness [0,1] 0.326530612244898 Centerline is valid? [False, False] Translation: X:7.19, Y:0.34, Z:0.16 [[ 9.98937351e-01 -1.16700737e-03 -4.60739229e-02 7.19238511e+00] [ 9.86274853e-04 9.99991731e-01 -3.94520190e-03 3.42510560e-01] [ 4.60781460e-02 3.89556798e-03 9.98930242e-01 1.58663113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.37463044 meters Centerline goodness [0,1] 0.3225111489325032 Centerline is valid? [False, False] Translation: X:7.19, Y:0.34, Z:0.16 [[ 9.98931874e-01 -1.01917186e-03 -4.61960256e-02 7.19289174e+00] [ 8.53462093e-04 9.99993132e-01 -3.60668197e-03 3.40756651e-01] [ 4.61993842e-02 3.56340302e-03 9.98925883e-01 1.58400648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40463044 meters Centerline goodness [0,1] 0.3205977209202322 Centerline is valid? [False, False] Translation: X:7.19, Y:0.34, Z:0.16 [[ 9.98919774e-01 -7.51737588e-04 -4.64620227e-02 7.19386760e+00] [ 6.01123507e-04 9.99994520e-01 -3.25554725e-03 3.39099699e-01] [ 4.64642154e-02 3.22410111e-03 9.98914752e-01 1.57961869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.43463044 meters Centerline goodness [0,1] 0.32524261305659885 Centerline is valid? [False, False] Translation: X:7.19, Y:0.34, Z:0.16 [[ 9.98916904e-01 -6.45019293e-04 -4.65252921e-02 7.19394596e+00] [ 4.94038103e-04 9.99994575e-01 -3.25656807e-03 3.39468731e-01] [ 4.65271402e-02 3.23005563e-03 9.98911804e-01 1.58020738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46463043999998 meters Centerline goodness [0,1] 0.32230371009490943 Centerline is valid? [False, False] Translation: X:7.19, Y:0.34, Z:0.16 [[ 9.98910252e-01 -4.47447375e-04 -4.66702035e-02 7.19418169e+00] [ 2.95279796e-04 9.99994619e-01 -3.26732990e-03 3.40407477e-01] [ 4.66714143e-02 3.24998857e-03 9.98905009e-01 1.58083360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49463043999998 meters Centerline goodness [0,1] 0.3226798580492526 Centerline is valid? [False, False] Translation: X:7.20, Y:0.34, Z:0.16 [[ 9.98883667e-01 3.33209721e-03 -4.71202463e-02 7.19571132e+00] [-3.34035348e-03 9.99994416e-01 -9.64750566e-05 3.42882885e-01] [ 4.71196618e-02 2.53765637e-04 9.98889220e-01 1.57434707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52463043999998 meters Centerline goodness [0,1] 0.3202167155931618 Centerline is valid? [False, False] Translation: X:7.20, Y:0.34, Z:0.16 [[ 9.98886726e-01 3.38704778e-03 -4.70514199e-02 7.19582889e+00] [-3.40652764e-03 9.99994142e-01 -3.33832618e-04 3.44664662e-01] [ 4.70500135e-02 4.93742933e-04 9.98892413e-01 1.56972964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55463043999998 meters Centerline goodness [0,1] 0.31552440958381556 Centerline is valid? [False, False] Translation: X:7.20, Y:0.35, Z:0.16 [[ 9.98885876e-01 3.39160133e-03 -4.70691451e-02 7.19604384e+00] [-3.42224215e-03 9.99993981e-01 -5.70404106e-04 3.46311109e-01] [ 4.70669272e-02 7.30850617e-04 9.98891471e-01 1.56635051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58463043999998 meters Centerline goodness [0,1] 0.3175037723647338 Centerline is valid? [False, False] Translation: X:7.20, Y:0.35, Z:0.16 [[ 9.98890954e-01 3.35781595e-03 -4.69636680e-02 7.19597001e+00] [-3.39951086e-03 9.99993895e-01 -8.07969143e-04 3.47853184e-01] [ 4.69606683e-02 9.66726568e-04 9.98896271e-01 1.56326638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61463043999998 meters Centerline goodness [0,1] 0.3186687892608209 Centerline is valid? [False, False] Translation: X:7.20, Y:0.35, Z:0.16 [[ 9.98905622e-01 3.39684829e-03 -4.66478347e-02 7.19509552e+00] [-3.44290214e-03 9.99993662e-01 -9.06956158e-04 3.49298720e-01] [ 4.66444582e-02 1.06656753e-03 9.98910985e-01 1.56498529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64463044 meters Centerline goodness [0,1] 0.3185481271355812 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.16 [[ 9.98913368e-01 3.34204838e-03 -4.64856358e-02 7.19462395e+00] [-3.38949728e-03 9.99993812e-01 -9.41934820e-04 3.49350304e-01] [ 4.64822001e-02 1.09847422e-03 9.98918514e-01 1.56670360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67463044 meters Centerline goodness [0,1] 0.3194750701119651 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.16 [[ 9.98913073e-01 3.18574013e-03 -4.65029369e-02 7.19463371e+00] [-3.23760083e-03 9.99994218e-01 -1.03993596e-03 3.49163284e-01] [ 4.64993551e-02 1.18936357e-03 9.98917612e-01 1.56773643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70463044 meters Centerline goodness [0,1] 0.3211614511691885 Centerline is valid? [False, False] Translation: X:7.20, Y:0.35, Z:0.16 [[ 9.98897097e-01 2.59898782e-03 -4.68810768e-02 7.19579902e+00] [-2.66566951e-03 9.99995522e-01 -1.35989521e-03 3.48456014e-01] [ 4.68773325e-02 1.48336484e-03 9.98899552e-01 1.56539716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73463044 meters Centerline goodness [0,1] 0.32468322792375737 Centerline is valid? [False, False] Translation: X:7.20, Y:0.35, Z:0.16 [[ 9.98891847e-01 2.58813717e-03 -4.69933912e-02 7.19623324e+00] [-2.64926561e-03 9.99995724e-01 -1.23855112e-03 3.47666568e-01] [ 4.69899847e-02 1.36167659e-03 9.98894432e-01 1.56333993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76463044 meters Centerline goodness [0,1] 0.32150456743686195 Centerline is valid? [False, False] Translation: X:7.22, Y:0.35, Z:0.16 [[ 9.98902075e-01 -4.76060242e-03 -4.66045137e-02 7.21540290e+00] [ 4.77759385e-03 9.99988555e-01 2.53204694e-04 3.52463006e-01] [ 4.66027749e-02 -4.75584132e-04 9.98913387e-01 1.58362006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79463044 meters Centerline goodness [0,1] 0.32616440736878693 Centerline is valid? [False, False] Translation: X:7.22, Y:0.35, Z:0.16 [[ 9.98901586e-01 -4.89627667e-03 -4.66009488e-02 7.21548690e+00] [ 4.91596394e-03 9.99987869e-01 3.07867148e-04 3.51395588e-01] [ 4.65988761e-02 -5.36617566e-04 9.98913538e-01 1.58404642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82463044 meters Centerline goodness [0,1] 0.3219350534765112 Centerline is valid? [False, False] Translation: X:7.23, Y:0.35, Z:0.16 [[ 9.98923564e-01 2.36792308e-03 -4.63260805e-02 7.23493855e+00] [-2.43962046e-03 9.99995912e-01 -1.49118947e-03 3.48473066e-01] [ 4.63223601e-02 1.60260236e-03 9.98925258e-01 1.60672110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85463044 meters Centerline goodness [0,1] 0.322881978981966 Centerline is valid? [False, False] Translation: X:7.24, Y:0.35, Z:0.16 [[ 9.98916190e-01 2.29919507e-03 -4.64882644e-02 7.23538000e+00] [-2.37442132e-03 9.99995960e-01 -1.56302048e-03 3.48503938e-01] [ 4.64844829e-02 1.67170919e-03 9.98917613e-01 1.60577982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88463044 meters Centerline goodness [0,1] 0.322317605800469 Centerline is valid? [False, False] Translation: X:7.24, Y:0.35, Z:0.16 [[ 9.98900413e-01 2.48067282e-03 -4.68167832e-02 7.23639588e+00] [-2.55988395e-03 9.99995392e-01 -1.63205891e-03 3.50602936e-01] [ 4.68125189e-02 1.75010985e-03 9.98902160e-01 1.60185142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91463044 meters Centerline goodness [0,1] 0.3185170931947918 Centerline is valid? [False, False] Translation: X:7.24, Y:0.35, Z:0.16 [[ 9.98903763e-01 2.46870623e-03 -4.67458826e-02 7.23629108e+00] [-2.55330214e-03 9.99995209e-01 -1.75007309e-03 3.51575914e-01] [ 4.67413382e-02 1.86751096e-03 9.98905281e-01 1.60144039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94463044 meters Centerline goodness [0,1] 0.3226142881974622 Centerline is valid? [False, False] Translation: X:7.19, Y:0.35, Z:0.16 [[ 9.98823136e-01 1.89172147e-03 -4.84640618e-02 7.18999092e+00] [-2.00165217e-03 9.99995533e-01 -2.21986083e-03 3.49736986e-01] [ 4.84596460e-02 2.31425655e-03 9.98822460e-01 1.59249185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.97463044 meters Centerline goodness [0,1] 0.31989299090422685 Centerline is valid? [False, False] Translation: X:7.23, Y:0.35, Z:0.16 [[ 9.98926780e-01 2.15782136e-03 -4.62669718e-02 7.23274135e+00] [-2.28654079e-03 9.99993661e-01 -2.72935848e-03 3.54375116e-01] [ 4.62607891e-02 2.83222060e-03 9.98925382e-01 1.61357866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00463044 meters Centerline goodness [0,1] 0.31965572888649807 Centerline is valid? [False, False] Translation: X:7.23, Y:0.36, Z:0.16 [[ 9.98923024e-01 2.33198292e-03 -4.63395439e-02 7.23306072e+00] [-2.47439953e-03 9.99992390e-01 -3.01620333e-03 3.57790940e-01] [ 4.63321576e-02 3.12761750e-03 9.98921193e-01 1.61050703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.03463044 meters Centerline goodness [0,1] 0.31909866174038193 Centerline is valid? [False, False] Translation: X:7.23, Y:0.36, Z:0.16 [[ 9.98918211e-01 2.33219301e-03 -4.64431837e-02 7.23349287e+00] [-2.48748773e-03 9.99991506e-01 -3.28624313e-03 3.60032892e-01] [ 4.64351251e-02 3.39821495e-03 9.98915528e-01 1.60783068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06463044 meters Centerline goodness [0,1] 0.3202543925838094 Centerline is valid? [False, False] Translation: X:7.23, Y:0.36, Z:0.16 [[ 9.98915679e-01 2.22113154e-03 -4.65030312e-02 7.23360559e+00] [-2.39411707e-03 9.99990420e-01 -3.66450997e-03 3.62120803e-01] [ 4.64944463e-02 3.77187016e-03 9.98911427e-01 1.60765834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.09463044 meters Centerline goodness [0,1] 0.31978973674005773 Centerline is valid? [False, False] Translation: X:7.23, Y:0.37, Z:0.16 [[ 9.98913952e-01 1.84938340e-03 -4.65563731e-02 7.23353718e+00] [-2.05618609e-03 9.99988230e-01 -4.39448617e-03 3.65035121e-01] [ 4.65476981e-02 4.48544212e-03 9.98905998e-01 1.60927443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12463044 meters Centerline goodness [0,1] 0.3170343953423421 Centerline is valid? [False, False] Translation: X:7.23, Y:0.37, Z:0.16 [[ 9.98906591e-01 1.74833846e-03 -4.67179403e-02 7.23394404e+00] [-1.96669966e-03 9.99987355e-01 -4.62847682e-03 3.66304303e-01] [ 4.67092574e-02 4.71529616e-03 9.98897398e-01 1.60908243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.15463044 meters Centerline goodness [0,1] 0.3188666709530852 Centerline is valid? [False, False] Translation: X:7.23, Y:0.37, Z:0.16 [[ 9.98893928e-01 1.67878058e-03 -4.69904530e-02 7.23484583e+00] [-1.90655311e-03 9.99986649e-01 -4.80280860e-03 3.67345586e-01] [ 4.69817628e-02 4.88708614e-03 9.98883792e-01 1.60547105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18463044 meters Centerline goodness [0,1] 0.31596406953449796 Centerline is valid? [False, False] Translation: X:7.24, Y:0.37, Z:0.16 [[ 9.98859889e-01 1.51141285e-03 -4.77141262e-02 7.23723515e+00] [-1.74697500e-03 9.99986490e-01 -4.89563233e-03 3.67420119e-01] [ 4.77060823e-02 4.97340615e-03 9.98849035e-01 1.59640207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21463043999998 meters Centerline goodness [0,1] 0.3172496984318456 Centerline is valid? [False, False] Translation: X:7.24, Y:0.37, Z:0.16 [[ 9.98856813e-01 1.42893992e-03 -4.77810096e-02 7.23754731e+00] [-1.66010066e-03 9.99987109e-01 -4.79858750e-03 3.66272344e-01] [ 4.77735367e-02 4.87242311e-03 9.98846309e-01 1.59500386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24463043999998 meters Centerline goodness [0,1] 0.31746920492721165 Centerline is valid? [False, False] Translation: X:7.24, Y:0.36, Z:0.16 [[ 9.98856812e-01 1.36528576e-03 -4.77828895e-02 7.23742235e+00] [-1.58705783e-03 9.99988144e-01 -4.60361335e-03 3.64670604e-01] [ 4.77760377e-02 4.67418476e-03 9.98847137e-01 1.59793925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27463043999998 meters Centerline goodness [0,1] 0.32103719043920964 Centerline is valid? [False, False] Translation: X:7.24, Y:0.36, Z:0.16 [[ 9.98865058e-01 1.28172078e-03 -4.76125316e-02 7.23667536e+00] [-1.48850871e-03 9.99989613e-01 -4.30793867e-03 3.62338905e-01] [ 4.76065155e-02 4.37392107e-03 9.98856591e-01 1.60439578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30463043999998 meters Centerline goodness [0,1] 0.3211556829035339 Centerline is valid? [False, False] Translation: X:7.24, Y:0.36, Z:0.16 [[ 9.98857642e-01 1.25168377e-03 -4.77686599e-02 7.23713466e+00] [-1.46118888e-03 9.99989466e-01 -4.35116036e-03 3.62408579e-01] [ 4.77627105e-02 4.41598882e-03 9.98848949e-01 1.60320319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33463043999998 meters Centerline goodness [0,1] 0.32021827158355165 Centerline is valid? [False, False] Translation: X:7.24, Y:0.36, Z:0.16 [[ 9.98850389e-01 1.20052311e-03 -4.79213746e-02 7.23775974e+00] [-1.41821809e-03 9.99988829e-01 -4.50901062e-03 3.63160487e-01] [ 4.79154261e-02 4.57178997e-03 9.98840934e-01 1.59947721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36463043999998 meters Centerline goodness [0,1] 0.3197290725946509 Centerline is valid? [False, False] Translation: X:7.24, Y:0.36, Z:0.16 [[ 9.98842394e-01 1.14690793e-03 -4.80890523e-02 7.23829754e+00] [-1.37682580e-03 9.99987779e-01 -4.74823392e-03 3.64413583e-01] [ 4.80830188e-02 4.80894759e-03 9.98831766e-01 1.59731719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39463044 meters Centerline goodness [0,1] 0.3129518650429738 Centerline is valid? [False, False] Translation: X:7.28, Y:0.37, Z:0.16 [[ 9.98916874e-01 4.13812182e-03 -4.63460372e-02 7.28096858e+00] [-4.30794165e-03 9.99984366e-01 -3.56488902e-03 3.72215076e-01] [ 4.63305607e-02 3.76068382e-03 9.98919084e-01 1.61733684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42463044 meters Centerline goodness [0,1] 0.31876823338735816 Centerline is valid? [False, False] Translation: X:7.26, Y:0.38, Z:0.16 [[ 9.99042789e-01 -1.31986862e-03 -4.37237207e-02 7.25907008e+00] [ 1.26213284e-03 9.99998295e-01 -1.34804756e-03 3.77830186e-01] [ 4.37254254e-02 1.29157205e-03 9.99042751e-01 1.59593103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45463044 meters Centerline goodness [0,1] 0.3160263588595056 Centerline is valid? [False, False] Translation: X:7.26, Y:0.38, Z:0.16 [[ 9.99054418e-01 -1.11939170e-03 -4.34628247e-02 7.25821578e+00] [ 1.04875980e-03 9.99998092e-01 -1.64787851e-03 3.80912467e-01] [ 4.34645865e-02 1.60073825e-03 9.99053686e-01 1.59791346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48463044 meters Centerline goodness [0,1] 0.3168218658389378 Centerline is valid? [False, False] Translation: X:7.26, Y:0.38, Z:0.16 [[ 9.99054542e-01 -1.12817212e-03 -4.34597345e-02 7.25814458e+00] [ 1.03658370e-03 9.99997194e-01 -2.12990952e-03 3.84060223e-01] [ 4.34620155e-02 2.08284613e-03 9.99052909e-01 1.59725979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51463044 meters Centerline goodness [0,1] 0.3160394671502904 Centerline is valid? [False, False] Translation: X:7.26, Y:0.39, Z:0.16 [[ 9.99056957e-01 -9.95455388e-04 -4.34074499e-02 7.25828671e+00] [ 8.81103467e-04 9.99996091e-01 -2.65343736e-03 3.89095686e-01] [ 4.34099216e-02 2.61268860e-03 9.99053929e-01 1.59171826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54463044 meters Centerline goodness [0,1] 0.3158826068191627 Centerline is valid? [False, False] Translation: X:7.26, Y:0.39, Z:0.16 [[ 9.99073795e-01 -1.07993204e-03 -4.30161058e-02 7.25725297e+00] [ 9.59801239e-04 9.99995582e-01 -2.81324876e-03 3.89928243e-01] [ 4.30189539e-02 2.76935621e-03 9.99070418e-01 1.59325175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57463044 meters Centerline goodness [0,1] 0.31322525597269624 Centerline is valid? [False, False] Translation: X:7.28, Y:0.39, Z:0.16 [[ 9.99136874e-01 -9.58137961e-03 -4.04191109e-02 7.27591959e+00] [ 9.49281357e-03 9.99952104e-01 -2.38255176e-03 3.94408052e-01] [ 4.04400032e-02 1.99680424e-03 9.99179973e-01 1.61227617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60463044 meters Centerline goodness [0,1] 0.31550033262516364 Centerline is valid? [False, False] Translation: X:7.28, Y:0.39, Z:0.16 [[ 9.99142130e-01 -9.69787243e-03 -4.02610920e-02 7.27507187e+00] [ 9.61275570e-03 9.99951135e-01 -2.30717379e-03 3.93507806e-01] [ 4.02814993e-02 1.91817449e-03 9.99186530e-01 1.61948824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63463044 meters Centerline goodness [0,1] 0.32099999999999995 Centerline is valid? [False, False] Translation: X:7.26, Y:0.39, Z:0.16 [[ 9.99187573e-01 -2.19559579e-03 -4.02414459e-02 7.25658809e+00] [ 2.06222804e-03 9.99992244e-01 -3.35539948e-03 3.86874929e-01] [ 4.02485009e-02 3.26968642e-03 9.99184351e-01 1.60234313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66463044 meters Centerline goodness [0,1] 0.3199808420777638 Centerline is valid? [False, False] Translation: X:7.26, Y:0.39, Z:0.16 [[ 9.99175728e-01 -2.21221058e-03 -4.05335839e-02 7.25746914e+00] [ 2.08261401e-03 9.99992585e-01 -3.23921040e-03 3.86037099e-01] [ 4.05404492e-02 3.15212460e-03 9.99172926e-01 1.60028484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69463044 meters Centerline goodness [0,1] 0.3209537509262892 Centerline is valid? [False, False] Translation: X:7.26, Y:0.38, Z:0.16 [[ 9.99161930e-01 -2.33369054e-03 -4.08655389e-02 7.25847431e+00] [ 2.20639900e-03 9.99992574e-01 -3.15971195e-03 3.84691659e-01] [ 4.08726092e-02 3.06689820e-03 9.99159659e-01 1.59786957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72463044 meters Centerline goodness [0,1] 0.3151473641403223 Centerline is valid? [False, False] Translation: X:7.30, Y:0.39, Z:0.16 [[ 9.99243796e-01 -2.08312451e-03 -3.88264910e-02 7.30002281e+00] [ 1.96520188e-03 9.99993341e-01 -3.07508721e-03 3.87306848e-01] [ 3.88326383e-02 2.99645992e-03 9.99241236e-01 1.62272242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75463044 meters Centerline goodness [0,1] 0.3180850377443706 Centerline is valid? [False, False] Translation: X:7.30, Y:0.39, Z:0.16 [[ 9.99251473e-01 -1.94356890e-03 -3.86356896e-02 7.29921186e+00] [ 1.83448699e-03 9.99994232e-01 -2.85859689e-03 3.86794287e-01] [ 3.86410227e-02 2.78558048e-03 9.99249274e-01 1.62842351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78463044 meters Centerline goodness [0,1] 0.3170210007778066 Centerline is valid? [False, False] Translation: X:7.30, Y:0.39, Z:0.16 [[ 9.99246960e-01 -1.74968615e-03 -3.87614700e-02 7.29963230e+00] [ 1.65492838e-03 9.99995564e-01 -2.47658902e-03 3.85318324e-01] [ 3.87656313e-02 2.41057660e-03 9.99245423e-01 1.62720974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.81463044 meters Centerline goodness [0,1] 0.31471765990706435 Centerline is valid? [False, False] Translation: X:7.30, Y:0.38, Z:0.16 [[ 9.99230082e-01 -1.71002547e-03 -3.91959053e-02 7.30103765e+00] [ 1.62045416e-03 9.99996003e-01 -2.31687682e-03 3.84181815e-01] [ 3.91997106e-02 2.25157784e-03 9.99228859e-01 1.62217489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84463044 meters Centerline goodness [0,1] 0.3194843029828681 Centerline is valid? [False, False] Translation: X:7.28, Y:0.38, Z:0.16 [[ 9.99183030e-01 3.76982860e-03 -4.02375651e-02 7.28090994e+00] [-3.98956033e-03 9.99977559e-01 -5.38196022e-03 3.76683537e-01] [ 4.02163731e-02 5.53809351e-03 9.99175647e-01 1.60908256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.87463044 meters Centerline goodness [0,1] 0.3185091981950712 Centerline is valid? [False, False] Translation: X:7.28, Y:0.37, Z:0.16 [[ 9.99175699e-01 3.87505262e-03 -4.04092293e-02 7.28133212e+00] [-4.08128277e-03 9.99979060e-01 -5.02229552e-03 3.74642002e-01] [ 4.03889215e-02 5.18307713e-03 9.99170591e-01 1.60914533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90463044 meters Centerline goodness [0,1] 0.31701230530935376 Centerline is valid? [False, False] Translation: X:7.30, Y:0.38, Z:0.16 [[ 9.99176416e-01 -3.77940213e-03 -4.04005739e-02 7.30088418e+00] [ 3.63296110e-03 9.99986565e-01 -3.69752916e-03 3.77012851e-01] [ 4.04140056e-02 3.54771022e-03 9.99176722e-01 1.62495183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.93463044 meters Centerline goodness [0,1] 0.31670661397940014 Centerline is valid? [False, False] Translation: X:7.30, Y:0.37, Z:0.16 [[ 9.99171557e-01 -3.63014992e-03 -4.05341970e-02 7.30161111e+00] [ 3.50123403e-03 9.99988586e-01 -3.25095944e-03 3.74515463e-01] [ 4.05455358e-02 3.10634649e-03 9.99172863e-01 1.61970388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96463043999998 meters Centerline goodness [0,1] 0.31629572118702554 Centerline is valid? [False, False] Translation: X:7.30, Y:0.37, Z:0.16 [[ 9.99150370e-01 -3.37236680e-03 -4.10751062e-02 7.30368674e+00] [ 3.27384696e-03 9.99991601e-01 -2.46555844e-03 3.69491714e-01] [ 4.10830760e-02 2.32899002e-03 9.99153020e-01 1.61063445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99463043999998 meters Centerline goodness [0,1] 0.3147048700739976 Centerline is valid? [False, False] Translation: X:7.30, Y:0.37, Z:0.16 [[ 9.99137479e-01 -3.20470653e-03 -4.14008321e-02 7.30486226e+00] [ 3.12014179e-03 9.99992913e-01 -2.10704024e-03 3.67655701e-01] [ 4.14072911e-02 1.97604640e-03 9.99140396e-01 1.60524579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02463043999998 meters Centerline goodness [0,1] 0.3156139705086287 Centerline is valid? [False, False] Translation: X:7.31, Y:0.37, Z:0.16 [[ 9.99124851e-01 -3.01045567e-03 -4.17189247e-02 7.30595151e+00] [ 2.93754512e-03 9.99994049e-01 -1.80885361e-03 3.66549990e-01] [ 4.17241219e-02 1.68471937e-03 9.99127749e-01 1.60061171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05463043999998 meters Centerline goodness [0,1] 0.31615868935317315 Centerline is valid? [False, False] Translation: X:7.31, Y:0.37, Z:0.16 [[ 9.99117275e-01 -2.73750839e-03 -4.19186902e-02 7.30645583e+00] [ 2.67550189e-03 9.99995242e-01 -1.53523893e-03 3.65600347e-01] [ 4.19226935e-02 1.42173020e-03 9.99119846e-01 1.59973884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08463043999998 meters Centerline goodness [0,1] 0.31615868935317315 Centerline is valid? [False, False] Translation: X:7.31, Y:0.37, Z:0.16 [[ 9.99117275e-01 -2.73750839e-03 -4.19186902e-02 7.30645583e+00] [ 2.67550189e-03 9.99995242e-01 -1.53523893e-03 3.65600347e-01] [ 4.19226935e-02 1.42173020e-03 9.99119846e-01 1.59973884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11463043999998 meters Centerline goodness [0,1] 0.3094825557765941 Centerline is valid? [False, False] Translation: X:7.35, Y:0.37, Z:0.16 [[ 9.99207827e-01 -2.30432181e-03 -3.97291884e-02 7.34857993e+00] [ 2.23452624e-03 9.99995881e-01 -1.80109938e-03 3.68638126e-01] [ 3.97331751e-02 1.71089669e-03 9.99208861e-01 1.62040540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14463044 meters Centerline goodness [0,1] 0.3174958684874315 Centerline is valid? [False, False] Translation: X:7.33, Y:0.36, Z:0.16 [[ 9.99204071e-01 5.42793681e-03 -3.95191425e-02 7.32865694e+00] [-5.54366473e-03 9.99980659e-01 -2.81940662e-03 3.62606308e-01] [ 3.95030746e-02 3.03624345e-03 9.99214836e-01 1.60263460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17463044 meters Centerline goodness [0,1] 0.3167314156008556 Centerline is valid? [False, False] Translation: X:7.33, Y:0.36, Z:0.16 [[ 9.99206552e-01 5.45919456e-03 -3.94520322e-02 7.32851493e+00] [-5.57293213e-03 9.99980625e-01 -2.77353292e-03 3.62484682e-01] [ 3.94361265e-02 2.99119577e-03 9.99217616e-01 1.60222689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20463044 meters Centerline goodness [0,1] 0.31177953502402445 Centerline is valid? [False, False] Translation: X:7.35, Y:0.37, Z:0.16 [[ 9.99170764e-01 3.05494205e-04 -4.07147536e-02 7.35200639e+00] [-3.08895612e-04 9.99999949e-01 -7.72514661e-05 3.67937428e-01] [ 4.07147279e-02 8.97640151e-05 9.99170808e-01 1.60209356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23463044 meters Centerline goodness [0,1] 0.3150128221845525 Centerline is valid? [False, False] Translation: X:7.35, Y:0.37, Z:0.16 [[ 9.99164028e-01 2.29208006e-04 -4.08802136e-02 7.35240317e+00] [-2.43550265e-04 9.99999911e-01 -3.45856292e-04 3.69480658e-01] [ 4.08801307e-02 3.55523553e-04 9.99163995e-01 1.60114934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26463044 meters Centerline goodness [0,1] 0.310957870919082 Centerline is valid? [False, False] Translation: X:7.35, Y:0.37, Z:0.16 [[ 9.99154414e-01 1.17393627e-04 -4.11150065e-02 7.35253992e+00] [-1.46782358e-04 9.99999736e-01 -7.11775276e-04 3.71487855e-01] [ 4.11149121e-02 7.17208366e-04 9.99154167e-01 1.60659148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29463044 meters Centerline goodness [0,1] 0.3134263953914863 Centerline is valid? [False, False] Translation: X:7.35, Y:0.38, Z:0.16 [[ 9.99176414e-01 1.78772710e-04 -4.05766151e-02 7.34992346e+00] [-2.22103746e-04 9.99999410e-01 -1.06337651e-03 3.75094162e-01] [ 4.05764011e-02 1.07151295e-03 9.99175864e-01 1.62343684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32463044 meters Centerline goodness [0,1] 0.3101786402775992 Centerline is valid? [False, False] Translation: X:7.35, Y:0.38, Z:0.16 [[ 9.99189928e-01 1.29931487e-04 -4.02426551e-02 7.34873301e+00] [-1.82427018e-04 9.99999137e-01 -1.30080542e-03 3.76958570e-01] [ 4.02424514e-02 1.30709302e-03 9.99189090e-01 1.62899053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35463044 meters Centerline goodness [0,1] 0.311687756497948 Centerline is valid? [False, False] Translation: X:7.35, Y:0.38, Z:0.16 [[ 9.99198925e-01 8.91306697e-07 -4.00188501e-02 7.34805548e+00] [-6.60102485e-05 9.99998676e-01 -1.62588539e-03 3.78790371e-01] [ 4.00187957e-02 1.62722459e-03 9.99197602e-01 1.63052886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38463044 meters Centerline goodness [0,1] 0.31479328165374676 Centerline is valid? [False, False] Translation: X:7.35, Y:0.38, Z:0.16 [[ 9.99186269e-01 -4.14531707e-04 -4.03314768e-02 7.34874272e+00] [ 3.18949770e-04 9.99997126e-01 -2.37631480e-03 3.81933791e-01] [ 4.03323460e-02 2.36151740e-03 9.99183529e-01 1.63058413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41463044 meters Centerline goodness [0,1] 0.31403644490287086 Centerline is valid? [False, False] Translation: X:7.35, Y:0.38, Z:0.16 [[ 9.99173604e-01 -6.07120907e-04 -4.06416047e-02 7.34935645e+00] [ 4.97706637e-04 9.99996225e-01 -2.70223782e-03 3.83197526e-01] [ 4.06430919e-02 2.67977711e-03 9.99170135e-01 1.63228229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44463044 meters Centerline goodness [0,1] 0.3133493376773696 Centerline is valid? [False, False] Translation: X:7.35, Y:0.38, Z:0.16 [[ 9.99168741e-01 -6.76873766e-04 -4.07598986e-02 7.34934479e+00] [ 5.63272649e-04 9.99995926e-01 -2.79850021e-03 3.83753016e-01] [ 4.07616267e-02 2.77321500e-03 9.99165051e-01 1.63666521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47463044 meters Centerline goodness [0,1] 0.3195266272189349 Centerline is valid? [False, False] Translation: X:7.35, Y:0.38, Z:0.17 [[ 9.99202312e-01 -9.74145192e-04 -3.99223167e-02 7.34625943e+00] [ 8.58541187e-04 9.99995389e-01 -2.91276588e-03 3.83870371e-01] [ 3.99249701e-02 2.87616744e-03 9.99198541e-01 1.65369520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50463044 meters Centerline goodness [0,1] 0.31960315923128246 Centerline is valid? [False, False] Translation: X:7.35, Y:0.38, Z:0.17 [[ 9.99204771e-01 -1.07796200e-03 -3.98580444e-02 7.34575906e+00] [ 9.64421324e-04 9.99995423e-01 -2.86774428e-03 3.83095596e-01] [ 3.98609532e-02 2.82702381e-03 9.99201237e-01 1.66003769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53463044 meters Centerline goodness [0,1] 0.3204659908790283 Centerline is valid? [False, False] Translation: X:7.35, Y:0.38, Z:0.17 [[ 9.99198230e-01 -1.14470091e-03 -4.00198256e-02 7.34616314e+00] [ 1.03446312e-03 9.99995614e-01 -2.77517891e-03 3.81992180e-01] [ 4.00228269e-02 2.73155482e-03 9.99195032e-01 1.66064047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56463044 meters Centerline goodness [0,1] 0.3206123375640555 Centerline is valid? [False, False] Translation: X:7.35, Y:0.38, Z:0.17 [[ 9.99176295e-01 -1.23593806e-03 -4.05611135e-02 7.34781828e+00] [ 1.13096953e-03 9.99995952e-01 -2.61075452e-03 3.80085992e-01] [ 4.05641761e-02 2.56273064e-03 9.99173649e-01 1.65594126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.59463044 meters Centerline goodness [0,1] 0.3165342495168564 Centerline is valid? [False, False] Translation: X:7.35, Y:0.38, Z:0.17 [[ 9.99174655e-01 -1.14566997e-03 -4.06041524e-02 7.34776149e+00] [ 1.04910036e-03 9.99996571e-01 -2.39954641e-03 3.79033573e-01] [ 4.06067623e-02 2.35496812e-03 9.99172430e-01 1.65855683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62463044 meters Centerline goodness [0,1] 0.31861667744020683 Centerline is valid? [False, False] Translation: X:7.35, Y:0.38, Z:0.17 [[ 9.99180439e-01 -1.05663387e-03 -4.04639859e-02 7.34708789e+00] [ 9.68051510e-04 9.99997092e-01 -2.20869650e-03 3.78153636e-01] [ 4.04662020e-02 2.16771512e-03 9.99178556e-01 1.66375924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.65463044 meters Centerline goodness [0,1] 0.3182304368288196 Centerline is valid? [False, False] Translation: X:7.35, Y:0.38, Z:0.17 [[ 9.99184595e-01 -9.77928261e-04 -4.03631987e-02 7.34663767e+00] [ 8.96352264e-04 9.99997519e-01 -2.03909660e-03 3.77293922e-01] [ 4.03650927e-02 2.00125427e-03 9.99182993e-01 1.66692608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68463044 meters Centerline goodness [0,1] 0.3178394663223585 Centerline is valid? [False, False] Translation: X:7.35, Y:0.38, Z:0.17 [[ 9.99180110e-01 -9.06841584e-04 -4.04757497e-02 7.34694337e+00] [ 8.32265955e-04 9.99997925e-01 -1.85928894e-03 3.76119810e-01] [ 4.04773518e-02 1.82407794e-03 9.99178791e-01 1.66645732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71463043999998 meters Centerline goodness [0,1] 0.31746747391472374 Centerline is valid? [False, False] Translation: X:7.35, Y:0.38, Z:0.17 [[ 9.99177351e-01 -8.35340043e-04 -4.05453327e-02 7.34729253e+00] [ 7.65327577e-04 9.99998189e-01 -1.74226096e-03 3.75561917e-01] [ 4.05467147e-02 1.70979723e-03 9.99176181e-01 1.66407784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74463043999998 meters Centerline goodness [0,1] 0.32182242788565496 Centerline is valid? [False, False] Translation: X:7.35, Y:0.37, Z:0.17 [[ 9.99180817e-01 -6.35576684e-04 -4.04634589e-02 7.34727283e+00] [ 5.80733476e-04 9.99998897e-01 -1.36711578e-03 3.74026302e-01] [ 4.04642832e-02 1.34249738e-03 9.99180084e-01 1.66166857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77463043999998 meters Centerline goodness [0,1] 0.32021297234377355 Centerline is valid? [False, False] Translation: X:7.35, Y:0.37, Z:0.17 [[ 9.99185324e-01 -5.18747525e-04 -4.03536816e-02 7.34704425e+00] [ 4.74175336e-04 9.99999267e-01 -1.11410177e-03 3.72950576e-01] [ 4.03542299e-02 1.09405942e-03 9.99184837e-01 1.66188661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80463043999998 meters Centerline goodness [0,1] 0.31638163816381637 Centerline is valid? [False, False] Translation: X:7.35, Y:0.37, Z:0.17 [[ 9.99184633e-01 -4.34395458e-04 -4.03717661e-02 7.34710557e+00] [ 3.99748571e-04 9.99999545e-01 -8.66264599e-04 3.71685656e-01] [ 4.03721240e-02 8.49419720e-04 9.99184352e-01 1.66224343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83463043999998 meters Centerline goodness [0,1] 0.3213039426057177 Centerline is valid? [False, False] Translation: X:7.35, Y:0.37, Z:0.17 [[ 9.99179624e-01 -3.43759873e-04 -4.04964327e-02 7.34751530e+00] [ 3.19547801e-04 9.99999766e-01 -6.04353005e-04 3.70289856e-01] [ 4.04966310e-02 5.90916662e-04 9.99179500e-01 1.66101023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86463043999998 meters Centerline goodness [0,1] 0.31830032967743327 Centerline is valid? [False, False] Translation: X:7.35, Y:0.37, Z:0.17 [[ 9.99149762e-01 -3.08247994e-04 -4.12269147e-02 7.34999525e+00] [ 2.96658677e-04 9.99999915e-01 -2.87227911e-04 3.67982124e-01] [ 4.12269997e-02 2.74753377e-04 9.99149768e-01 1.65090320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89463044 meters Centerline goodness [0,1] 0.3157272961594638 Centerline is valid? [False, False] Translation: X:7.35, Y:0.37, Z:0.16 [[ 9.99141801e-01 -2.49939809e-04 -4.14197953e-02 7.35064984e+00] [ 2.44138380e-04 9.99999960e-01 -1.45122367e-04 3.67253990e-01] [ 4.14198299e-02 1.34885662e-04 9.99141822e-01 1.64825023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92463044 meters Centerline goodness [0,1] 0.3159034852546917 Centerline is valid? [False, False] Translation: X:7.35, Y:0.37, Z:0.17 [[ 9.99143685e-01 -2.66462140e-04 -4.13742257e-02 7.35043130e+00] [ 2.64024195e-04 9.99999963e-01 -6.43884538e-05 3.66492337e-01] [ 4.13742413e-02 5.34095203e-05 9.99143718e-01 1.65008354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95463044 meters Centerline goodness [0,1] 0.3178570662318436 Centerline is valid? [False, False] Translation: X:7.35, Y:0.37, Z:0.17 [[ 9.99156512e-01 -4.56758794e-04 -4.10616133e-02 7.34930683e+00] [ 4.54982272e-04 9.99999895e-01 -5.26098901e-05 3.65234169e-01] [ 4.10616330e-02 3.38832082e-05 9.99156615e-01 1.65610181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98463044 meters Centerline goodness [0,1] 0.32041655012156556 Centerline is valid? [False, False] Translation: X:7.35, Y:0.36, Z:0.17 [[ 9.99152927e-01 -3.49608999e-04 -4.11497975e-02 7.34967879e+00] [ 3.54134952e-04 9.99999932e-01 1.02697926e-04 3.64891006e-01] [ 4.11497588e-02 -1.17183515e-04 9.99152983e-01 1.65381988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01463044 meters Centerline goodness [0,1] 0.31835246396824024 Centerline is valid? [False, False] Translation: X:7.35, Y:0.37, Z:0.16 [[ 9.99137469e-01 -1.51423951e-04 -4.15246421e-02 7.35141965e+00] [ 1.56737083e-04 9.99999980e-01 1.24695701e-04 3.66212453e-01] [ 4.15246224e-02 -1.31096598e-04 9.99137472e-01 1.64213252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04463044 meters Centerline goodness [0,1] 0.31507584046684256 Centerline is valid? [False, False] Translation: X:7.35, Y:0.37, Z:0.16 [[ 9.99129600e-01 -3.22592373e-04 -4.17125756e-02 7.35201339e+00] [ 3.12939110e-04 9.99999923e-01 -2.37952710e-04 3.67564926e-01] [ 4.17126492e-02 2.24692100e-04 9.99129623e-01 1.63956659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07463044 meters Centerline goodness [0,1] 0.31409995064695406 Centerline is valid? [False, False] Translation: X:7.35, Y:0.37, Z:0.16 [[ 9.99122688e-01 -4.78898190e-04 -4.18763031e-02 7.35230665e+00] [ 4.55091934e-04 9.99999729e-01 -5.78021032e-04 3.68927019e-01] [ 4.18765686e-02 5.58456360e-04 9.99122636e-01 1.64044090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10463044 meters Centerline goodness [0,1] 0.32021680216802173 Centerline is valid? [False, False] Translation: X:7.35, Y:0.37, Z:0.16 [[ 9.99129449e-01 -3.27376218e-04 -4.17161439e-02 7.35170015e+00] [ 2.91427332e-04 9.99999581e-01 -8.67828335e-04 3.71973896e-01] [ 4.17164105e-02 8.54915622e-04 9.99129126e-01 1.64244897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13463044 meters Centerline goodness [0,1] 0.3164627963670097 Centerline is valid? [False, False] Translation: X:7.35, Y:0.37, Z:0.16 [[ 9.99131415e-01 -2.16157229e-04 -4.16697636e-02 7.35169565e+00] [ 1.72865991e-04 9.99999442e-01 -1.04251291e-03 3.74178209e-01] [ 4.16699657e-02 1.03440411e-03 9.99130894e-01 1.64055597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16463044 meters Centerline goodness [0,1] 0.3135291595197256 Centerline is valid? [False, False] Translation: X:7.35, Y:0.38, Z:0.16 [[ 9.99126384e-01 -1.71508951e-04 -4.17904124e-02 7.35210679e+00] [ 1.15827508e-04 9.99999102e-01 -1.33481520e-03 3.76599342e-01] [ 4.17906039e-02 1.32880860e-03 9.99125507e-01 1.63798918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19463044 meters Centerline goodness [0,1] 0.31575985802709605 Centerline is valid? [False, False] Translation: X:7.35, Y:0.38, Z:0.16 [[ 9.99122599e-01 -3.06905480e-04 -4.18800318e-02 7.35265189e+00] [ 2.31071947e-04 9.99998325e-01 -1.81556122e-03 3.79121190e-01] [ 4.18805189e-02 1.80429094e-03 9.99120997e-01 1.63241220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22463044 meters Centerline goodness [0,1] 0.31174601811703084 Centerline is valid? [False, False] Translation: X:7.35, Y:0.38, Z:0.16 [[ 9.99093401e-01 -5.38727367e-04 -4.25685906e-02 7.35458336e+00] [ 4.21751255e-04 9.99996111e-01 -2.75687719e-03 3.84765147e-01] [ 4.25699103e-02 2.73642445e-03 9.99089743e-01 1.62592061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25463044 meters Centerline goodness [0,1] 0.3151491535697277 Centerline is valid? [False, False] Translation: X:7.35, Y:0.39, Z:0.16 [[ 9.99092290e-01 -6.47251042e-04 -4.25931636e-02 7.35450789e+00] [ 5.14102547e-04 9.99994948e-01 -3.13693254e-03 3.87091460e-01] [ 4.25949788e-02 3.11218786e-03 9.99087575e-01 1.62724388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28463044 meters Centerline goodness [0,1] 0.315581511473915 Centerline is valid? [False, False] Translation: X:7.35, Y:0.39, Z:0.16 [[ 9.99096708e-01 -7.25303356e-04 -4.24881462e-02 7.35405978e+00] [ 5.81256610e-04 9.99994042e-01 -3.40253652e-03 3.88820923e-01] [ 4.24903609e-02 3.37476652e-03 9.99091177e-01 1.62961381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.31463044 meters Centerline goodness [0,1] 0.31590761925318367 Centerline is valid? [False, False] Translation: X:7.37, Y:0.40, Z:0.17 [[ 9.99159970e-01 -8.29420897e-03 -4.01317800e-02 7.37121300e+00] [ 8.21160300e-03 9.99963814e-01 -2.22277254e-03 3.97361445e-01] [ 4.01487640e-02 1.89135910e-03 9.99191923e-01 1.65404168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34463044 meters Centerline goodness [0,1] 0.3165416297321255 Centerline is valid? [False, False] Translation: X:7.37, Y:0.40, Z:0.17 [[ 9.99166866e-01 -8.37878559e-03 -3.99420931e-02 7.37044323e+00] [ 8.28898501e-03 9.99962734e-01 -2.41334820e-03 3.98410635e-01] [ 3.99608255e-02 2.08025814e-03 9.99199082e-01 1.65879168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.37463044 meters Centerline goodness [0,1] 0.31290907152755565 Centerline is valid? [False, False] Translation: X:7.39, Y:0.40, Z:0.17 [[ 9.99239429e-01 -8.71430837e-04 -3.89846660e-02 7.39001085e+00] [ 7.23467042e-04 9.99992483e-01 -3.80938216e-03 3.97705812e-01] [ 3.89876925e-02 3.77828074e-03 9.99232548e-01 1.67733107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40463044 meters Centerline goodness [0,1] 0.3146460956637587 Centerline is valid? [False, False] Translation: X:7.39, Y:0.40, Z:0.17 [[ 9.99239063e-01 -9.49034638e-04 -3.89922465e-02 7.38992074e+00] [ 7.94818253e-04 9.99991802e-01 -3.97036401e-03 3.98619219e-01] [ 3.89956949e-02 3.93635106e-03 9.99231625e-01 1.67889121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43463043999998 meters Centerline goodness [0,1] 0.3166487185009692 Centerline is valid? [False, False] Translation: X:7.39, Y:0.40, Z:0.17 [[ 9.99249108e-01 -9.80244058e-04 -3.87331828e-02 7.38885076e+00] [ 8.15674638e-04 9.99990575e-01 -4.26437110e-03 4.00953970e-01] [ 3.87369979e-02 4.22957534e-03 9.99240489e-01 1.68531101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46463043999998 meters Centerline goodness [0,1] 0.320815404007476 Centerline is valid? [False, False] Translation: X:7.39, Y:0.40, Z:0.17 [[ 9.99256007e-01 -1.01679356e-03 -3.85538342e-02 7.38814567e+00] [ 8.47332638e-04 9.99989910e-01 -4.41152156e-03 4.01973664e-01] [ 3.85579308e-02 4.37557149e-03 9.99246787e-01 1.68926229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49463043999998 meters Centerline goodness [0,1] 0.31799991393777705 Centerline is valid? [False, False] Translation: X:7.39, Y:0.40, Z:0.17 [[ 9.99264321e-01 -1.07421729e-03 -3.83361736e-02 7.38741290e+00] [ 9.00791357e-04 9.99989285e-01 -4.54080557e-03 4.02762664e-01] [ 3.83406406e-02 4.50293210e-03 9.99254582e-01 1.69290490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52463043999998 meters Centerline goodness [0,1] 0.3202163653212077 Centerline is valid? [False, False] Translation: X:7.39, Y:0.40, Z:0.17 [[ 9.99268031e-01 -1.12777099e-03 -3.82378234e-02 7.38703430e+00] [ 9.50748989e-04 9.99988749e-01 -4.64736777e-03 4.03323122e-01] [ 3.82426344e-02 4.60761147e-03 9.99257860e-01 1.69506885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55463043999998 meters Centerline goodness [0,1] 0.3189228875596536 Centerline is valid? [False, False] Translation: X:7.39, Y:0.40, Z:0.17 [[ 9.99242468e-01 -1.16479192e-03 -3.88990120e-02 7.38890814e+00] [ 9.76031482e-04 9.99987659e-01 -4.87121463e-03 4.04932585e-01] [ 3.89042059e-02 4.82955787e-03 9.99231274e-01 1.68983716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58463043999998 meters Centerline goodness [0,1] 0.31445408764598737 Centerline is valid? [False, False] Translation: X:7.39, Y:0.41, Z:0.17 [[ 9.99225706e-01 -1.09937764e-03 -3.93291254e-02 7.39023822e+00] [ 9.08509797e-04 9.99987726e-01 -4.87063477e-03 4.05412791e-01] [ 3.93339974e-02 4.83113257e-03 9.99214440e-01 1.68536622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61463043999998 meters Centerline goodness [0,1] 0.31602319515402355 Centerline is valid? [False, False] Translation: X:7.39, Y:0.41, Z:0.17 [[ 9.99218975e-01 -1.03769744e-03 -3.95014398e-02 7.39057210e+00] [ 8.48311644e-04 9.99988068e-01 -4.81086174e-03 4.05490461e-01] [ 3.95059607e-02 4.77359480e-03 9.99207932e-01 1.68621430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64463044 meters Centerline goodness [0,1] 0.31534921727163256 Centerline is valid? [False, False] Translation: X:7.39, Y:0.40, Z:0.17 [[ 9.99218760e-01 -1.11087645e-03 -3.95048775e-02 7.38989859e+00] [ 9.21713793e-04 9.99988025e-01 -4.80622758e-03 4.04815366e-01] [ 3.95097436e-02 4.76606057e-03 9.99207819e-01 1.69622200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67463044 meters Centerline goodness [0,1] 0.3151712607707806 Centerline is valid? [False, False] Translation: X:7.39, Y:0.40, Z:0.17 [[ 9.99216802e-01 -1.15513376e-03 -3.95531083e-02 7.38985437e+00] [ 9.66586182e-04 9.99988081e-01 -4.78573852e-03 4.04207027e-01] [ 3.95581651e-02 4.74375885e-03 9.99206009e-01 1.69857617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70463044 meters Centerline goodness [0,1] 0.3199590939750647 Centerline is valid? [False, False] Translation: X:7.34, Y:0.40, Z:0.17 [[ 9.99136054e-01 -1.44604927e-03 -4.15337761e-02 7.34471739e+00] [ 1.23939793e-03 9.99986728e-01 -5.00081955e-03 4.00713538e-01] [ 4.15404563e-02 4.94502224e-03 9.99124585e-01 1.68765881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73463044 meters Centerline goodness [0,1] 0.3198068893528184 Centerline is valid? [False, False] Translation: X:7.34, Y:0.40, Z:0.17 [[ 9.99137134e-01 -1.38806289e-03 -4.15097716e-02 7.34469523e+00] [ 1.18493142e-03 9.99987206e-01 -4.91778534e-03 4.00465886e-01] [ 4.15160667e-02 4.86435572e-03 9.99125995e-01 1.68719191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76463044 meters Centerline goodness [0,1] 0.32041264935686764 Centerline is valid? [False, False] Translation: X:7.34, Y:0.40, Z:0.17 [[ 9.99137012e-01 -1.29878283e-03 -4.15155934e-02 7.34482944e+00] [ 1.09589860e-03 9.99987349e-01 -4.90932516e-03 4.00690167e-01] [ 4.15214443e-02 4.85959159e-03 9.99125795e-01 1.68518261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79463044 meters Centerline goodness [0,1] 0.3171056875604774 Centerline is valid? [False, False] Translation: X:7.37, Y:0.40, Z:0.17 [[ 9.99109962e-01 6.66197679e-03 -4.16521627e-02 7.36541827e+00] [-6.92158537e-03 9.99957491e-01 -6.09167177e-03 3.99067722e-01] [ 4.16098096e-02 6.37454895e-03 9.99113602e-01 1.70429438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82463044 meters Centerline goodness [0,1] 0.314534459836171 Centerline is valid? [False, False] Translation: X:7.37, Y:0.40, Z:0.17 [[ 9.99097469e-01 6.65920471e-03 -4.19511930e-02 7.36619506e+00] [-6.93127892e-03 9.99955858e-01 -6.34338238e-03 4.00576693e-01] [ 4.19070993e-02 6.62843270e-03 9.99099524e-01 1.70280995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85463044 meters Centerline goodness [0,1] 0.3167543821495368 Centerline is valid? [False, False] Translation: X:7.35, Y:0.41, Z:0.17 [[ 9.99132564e-01 -6.40113796e-04 -4.16378413e-02 7.34775442e+00] [ 4.19753575e-04 9.99985862e-01 -5.30083390e-03 4.06463710e-01] [ 4.16406457e-02 5.27875813e-03 9.99118707e-01 1.67615940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88463044 meters Centerline goodness [0,1] 0.3165760575277784 Centerline is valid? [False, False] Translation: X:7.35, Y:0.41, Z:0.17 [[ 9.99122085e-01 2.88588582e-03 -4.17939079e-02 7.34867905e+00] [-2.99818231e-03 9.99992061e-01 -2.62447945e-03 4.11378293e-01] [ 4.17860022e-02 2.74748114e-03 9.99122806e-01 1.66760503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91463044 meters Centerline goodness [0,1] 0.31096090924746 Centerline is valid? [False, False] Translation: X:7.35, Y:0.42, Z:0.17 [[ 9.99107523e-01 2.97680845e-03 -4.21342573e-02 7.34970791e+00] [-3.10853763e-03 9.99990483e-01 -3.06124329e-03 4.15127670e-01] [ 4.21247436e-02 3.18948712e-03 9.99107268e-01 1.66324703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94463044 meters Centerline goodness [0,1] 0.3157711777869512 Centerline is valid? [False, False] Translation: X:7.35, Y:0.42, Z:0.17 [[ 9.99104571e-01 2.93989599e-03 -4.22067986e-02 7.35003731e+00] [-3.09418382e-03 9.99988767e-01 -3.59065915e-03 4.18746124e-01] [ 4.21957683e-02 3.71803956e-03 9.99102444e-01 1.65955411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97463044 meters Centerline goodness [0,1] 0.3157711777869512 Centerline is valid? [False, False] Translation: X:7.35, Y:0.42, Z:0.17 [[ 9.99104571e-01 2.93989599e-03 -4.22067986e-02 7.35003731e+00] [-3.09418382e-03 9.99988767e-01 -3.59065915e-03 4.18746124e-01] [ 4.21957683e-02 3.71803956e-03 9.99102444e-01 1.65955411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00463044 meters Centerline goodness [0,1] 0.3131677985897824 Centerline is valid? [False, False] Translation: X:7.35, Y:0.43, Z:0.17 [[ 9.99091447e-01 3.28781781e-03 -4.24908312e-02 7.35048195e+00] [-3.46406497e-03 9.99985698e-01 -4.07492369e-03 4.27649693e-01] [ 4.24768259e-02 4.21841241e-03 9.99088547e-01 1.66058715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03463044 meters Centerline goodness [0,1] 0.3101554560982466 Centerline is valid? [False, False] Translation: X:7.35, Y:0.43, Z:0.17 [[ 9.99088790e-01 3.12242012e-03 -4.25657110e-02 7.35029607e+00] [-3.31969640e-03 9.99984071e-01 -4.56473241e-03 4.30564053e-01] [ 4.25507800e-02 4.70187822e-03 9.99083242e-01 1.66461250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06463044 meters Centerline goodness [0,1] 0.3077202892968717 Centerline is valid? [False, False] Translation: X:7.37, Y:0.44, Z:0.17 [[ 9.99098844e-01 -4.37984946e-03 -4.22174871e-02 7.36821177e+00] [ 4.24261470e-03 9.99985423e-01 -3.33971022e-03 4.39341720e-01] [ 4.22314992e-02 3.15758808e-03 9.99102863e-01 1.69099919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.09463044 meters Centerline goodness [0,1] 0.31255105989594534 Centerline is valid? [False, False] Translation: X:7.37, Y:0.44, Z:0.17 [[ 9.99110878e-01 -5.11886166e-03 -4.18479370e-02 7.36678983e+00] [ 4.94436404e-03 9.99978650e-01 -4.27224124e-03 4.42890358e-01] [ 4.18689126e-02 4.06153126e-03 9.99114857e-01 1.69898898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12463044 meters Centerline goodness [0,1] 0.31437261373196146 Centerline is valid? [False, False] Translation: X:7.37, Y:0.44, Z:0.17 [[ 9.99111580e-01 -5.40334174e-03 -4.17953942e-02 7.36642505e+00] [ 5.21394016e-03 9.99975645e-01 -4.63931872e-03 4.44251892e-01] [ 4.18194441e-02 4.41727837e-03 9.99115420e-01 1.70325075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.15463044 meters Centerline goodness [0,1] 0.31600553106905194 Centerline is valid? [False, False] Translation: X:7.37, Y:0.45, Z:0.17 [[ 9.99113466e-01 -5.56641902e-03 -4.17288413e-02 7.36611027e+00] [ 5.36570769e-03 9.99973499e-01 -4.92035470e-03 4.45759179e-01] [ 4.17551243e-02 4.69208788e-03 9.99116857e-01 1.70586359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18463043999998 meters Centerline goodness [0,1] 0.3179391869988979 Centerline is valid? [False, False] Translation: X:7.37, Y:0.45, Z:0.17 [[ 9.99116905e-01 -5.78167668e-03 -4.16170823e-02 7.36581151e+00] [ 5.55945726e-03 9.99969676e-01 -5.45337671e-03 4.49791278e-01] [ 4.16473500e-02 5.21719247e-03 9.99118751e-01 1.70717230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21463043999998 meters Centerline goodness [0,1] 0.31244751631031586 Centerline is valid? [False, False] Translation: X:7.37, Y:0.45, Z:0.17 [[ 9.99113354e-01 -5.94856779e-03 -4.16787776e-02 7.36593914e+00] [ 5.71044228e-03 9.99966700e-01 -5.83007895e-03 4.51745927e-01] [ 4.17120703e-02 5.58690548e-03 9.99114052e-01 1.70745866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24463043999998 meters Centerline goodness [0,1] 0.3192904176052678 Centerline is valid? [False, False] Translation: X:7.37, Y:0.46, Z:0.17 [[ 9.99092269e-01 -6.13362934e-03 -4.21546633e-02 7.36706782e+00] [ 5.86924121e-03 9.99962342e-01 -6.39276447e-03 4.55198558e-01] [ 4.21922867e-02 6.13954568e-03 9.99090645e-01 1.70671772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27463043999998 meters Centerline goodness [0,1] 0.3146659808397094 Centerline is valid? [False, False] Translation: X:7.39, Y:0.46, Z:0.17 [[ 9.99073865e-01 1.42981085e-03 -4.30042689e-02 7.38774517e+00] [-1.74999555e-03 9.99971024e-01 -7.40869234e-03 4.55319506e-01] [ 4.29924297e-02 7.47708817e-03 9.99047418e-01 1.72577670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30463043999998 meters Centerline goodness [0,1] 0.31676237945606245 Centerline is valid? [False, False] Translation: X:7.39, Y:0.46, Z:0.17 [[ 9.99064566e-01 1.34658938e-03 -4.32224512e-02 7.38851870e+00] [-1.68415738e-03 9.99968359e-01 -7.77455165e-03 4.57588211e-01] [ 4.32106145e-02 7.84007248e-03 9.99035223e-01 1.72179732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33463043999998 meters Centerline goodness [0,1] 0.31321405475317954 Centerline is valid? [False, False] Translation: X:7.39, Y:0.46, Z:0.17 [[ 9.99059135e-01 1.20607747e-03 -4.33519221e-02 7.38877309e+00] [-1.56475166e-03 9.99964822e-01 -8.24056652e-03 4.60181526e-01] [ 4.33404583e-02 8.30064826e-03 9.99025877e-01 1.72178318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36463043999998 meters Centerline goodness [0,1] 0.31490732931075494 Centerline is valid? [False, False] Translation: X:7.39, Y:0.46, Z:0.17 [[ 9.99079358e-01 1.17121551e-03 -4.28843239e-02 7.38701214e+00] [-1.54557268e-03 9.99960983e-01 -8.69734940e-03 4.63781356e-01] [ 4.28724642e-02 8.75562310e-03 9.99042187e-01 1.73062300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39463044 meters Centerline goodness [0,1] 0.31613475945091585 Centerline is valid? [False, False] Translation: X:7.39, Y:0.46, Z:0.17 [[ 9.99101033e-01 1.19469309e-03 -4.23756876e-02 7.38541615e+00] [-1.56679438e-03 9.99960500e-01 -8.74888423e-03 4.64605366e-01] [ 4.23635616e-02 8.80741326e-03 9.99063440e-01 1.73625482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42463044 meters Centerline goodness [0,1] 0.31643146028741076 Centerline is valid? [False, False] Translation: X:7.40, Y:0.47, Z:0.18 [[ 9.99168391e-01 -6.57505878e-03 -4.02404718e-02 7.40320986e+00] [ 6.28740472e-03 9.99953801e-01 -7.27076356e-03 4.69089191e-01] [ 4.02864185e-02 7.01170900e-03 9.99163570e-01 1.75643079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45463044 meters Centerline goodness [0,1] 0.31816818746519304 Centerline is valid? [False, False] Translation: X:7.40, Y:0.47, Z:0.18 [[ 9.99193270e-01 -6.65329738e-03 -3.96048263e-02 7.40138853e+00] [ 6.37490552e-03 9.99954108e-01 -7.15138481e-03 4.67963167e-01] [ 3.96505891e-02 6.89313855e-03 9.99189830e-01 1.76228399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48463044 meters Centerline goodness [0,1] 0.320360824742268 Centerline is valid? [False, False] Translation: X:7.40, Y:0.47, Z:0.18 [[ 9.99215065e-01 -7.26757975e-03 -3.89414519e-02 7.39972919e+00] [ 6.99176131e-03 9.99949532e-01 -7.21441368e-03 4.65005858e-01] [ 3.89919179e-02 6.93648150e-03 9.99215450e-01 1.76595824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51463044 meters Centerline goodness [0,1] 0.3221601489757915 Centerline is valid? [False, False] Translation: X:7.40, Y:0.46, Z:0.18 [[ 9.99195164e-01 -7.29298906e-03 -3.94440894e-02 7.40136496e+00] [ 7.01652399e-03 9.99949872e-01 -7.14293687e-03 4.64189749e-01] [ 3.94942056e-02 6.86042758e-03 9.99196248e-01 1.75970398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54463044 meters Centerline goodness [0,1] 0.32172406324453107 Centerline is valid? [False, False] Translation: X:7.40, Y:0.46, Z:0.17 [[ 9.99166522e-01 -7.20573664e-03 -4.01788224e-02 7.40377931e+00] [ 6.92480311e-03 9.99950626e-01 -7.12687459e-03 4.64486353e-01] [ 4.02281930e-02 6.84270406e-03 9.99167088e-01 1.74921812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57463044 meters Centerline goodness [0,1] 0.3160012112298308 Centerline is valid? [False, False] Translation: X:7.41, Y:0.47, Z:0.17 [[ 9.99120272e-01 -5.09789328e-03 -4.16256354e-02 7.40998934e+00] [ 4.86858204e-03 9.99972421e-01 -5.60841111e-03 4.67742313e-01] [ 4.16530785e-02 5.40081941e-03 9.99117537e-01 1.71652515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60463044 meters Centerline goodness [0,1] 0.31453371623518234 Centerline is valid? [False, False] Translation: X:7.41, Y:0.47, Z:0.17 [[ 9.99134894e-01 -2.48420742e-03 -4.15125572e-02 7.41062239e+00] [ 2.34301502e-03 9.99991306e-01 -3.44950466e-03 4.70150766e-01] [ 4.15207655e-02 3.34925593e-03 9.99132028e-01 1.70741761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63463044 meters Centerline goodness [0,1] 0.31531082865989646 Centerline is valid? [False, False] Translation: X:7.41, Y:0.47, Z:0.17 [[ 9.99161231e-01 -2.23936521e-03 -4.08878981e-02 7.40901810e+00] [ 2.09513149e-03 9.99991433e-01 -3.57005054e-03 4.72170159e-01] [ 4.08955425e-02 3.48139057e-03 9.99157362e-01 1.70870225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66463044 meters Centerline goodness [0,1] 0.311543093067263 Centerline is valid? [False, False] Translation: X:7.41, Y:0.47, Z:0.17 [[ 9.99170678e-01 -1.99734189e-03 -4.06689806e-02 7.40835733e+00] [ 1.84735549e-03 9.99991355e-01 -3.72522687e-03 4.74587854e-01] [ 4.06760696e-02 3.64700739e-03 9.99165730e-01 1.70926919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.69463044 meters Centerline goodness [0,1] 0.3086798771978789 Centerline is valid? [False, False] Translation: X:7.41, Y:0.48, Z:0.17 [[ 9.99149802e-01 -1.59152795e-03 -4.11963659e-02 7.41006718e+00] [ 1.43091722e-03 9.99991262e-01 -3.92785580e-03 4.77994357e-01] [ 4.12022572e-02 3.86556776e-03 9.99143349e-01 1.70105869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72463044 meters Centerline goodness [0,1] 0.3108271195207103 Centerline is valid? [False, False] Translation: X:7.41, Y:0.48, Z:0.17 [[ 9.99140294e-01 -1.62940972e-03 -4.14248553e-02 7.41101103e+00] [ 1.46183035e-03 9.99990627e-01 -4.07535151e-03 4.78755768e-01] [ 4.14311075e-02 4.01129179e-03 9.99133311e-01 1.69485153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75463044 meters Centerline goodness [0,1] 0.30872958024267894 Centerline is valid? [False, False] Translation: X:7.41, Y:0.48, Z:0.17 [[ 9.99132788e-01 -1.64228689e-03 -4.16049824e-02 7.41175221e+00] [ 1.47353446e-03 9.99990565e-01 -4.08640484e-03 4.78781869e-01] [ 4.16113009e-02 4.02155468e-03 9.99125781e-01 1.69075792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78463044 meters Centerline goodness [0,1] 0.31469648562300323 Centerline is valid? [False, False] Translation: X:7.37, Y:0.47, Z:0.17 [[ 9.99070112e-01 -2.51143825e-03 -4.30418880e-02 7.36672352e+00] [ 2.31493961e-03 9.99986674e-01 -4.61452352e-03 4.73504256e-01] [ 4.30529035e-02 4.51059315e-03 9.99062612e-01 1.67621082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.81463044 meters Centerline goodness [0,1] 0.3096948512855703 Centerline is valid? [False, False] Translation: X:7.41, Y:0.47, Z:0.17 [[ 9.99119852e-01 -3.10263957e-03 -4.18317421e-02 7.41004332e+00] [ 2.93013825e-03 9.99986953e-01 -4.18437750e-03 4.74547806e-01] [ 4.18441789e-02 4.05812184e-03 9.99115907e-01 1.69539258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84463044 meters Centerline goodness [0,1] 0.31118737723671996 Centerline is valid? [False, False] Translation: X:7.41, Y:0.47, Z:0.17 [[ 9.99111106e-01 -3.09032826e-03 -4.20410134e-02 7.41050066e+00] [ 2.92920460e-03 9.99988130e-01 -3.89359624e-03 4.72624391e-01] [ 4.20525469e-02 3.76698851e-03 9.99108299e-01 1.69711545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.87463044 meters Centerline goodness [0,1] 0.31375097478554714 Centerline is valid? [False, False] Translation: X:7.41, Y:0.47, Z:0.17 [[ 9.99113321e-01 -3.28038084e-03 -4.19739219e-02 7.41035405e+00] [ 3.13469099e-03 9.99988834e-01 -3.53630737e-03 4.69264060e-01] [ 4.19850537e-02 3.40159653e-03 9.99112448e-01 1.69889609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90463044 meters Centerline goodness [0,1] 0.31190130003421146 Centerline is valid? [False, False] Translation: X:7.43, Y:0.46, Z:0.17 [[ 9.99109991e-01 3.97195798e-03 -4.19934492e-02 7.42964202e+00] [-4.16111384e-03 9.99981583e-01 -4.41796477e-03 4.64353585e-01] [ 4.19751278e-02 4.58877227e-03 9.99108118e-01 1.72017851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93463043999998 meters Centerline goodness [0,1] 0.31316135428115777 Centerline is valid? [False, False] Translation: X:7.43, Y:0.46, Z:0.17 [[ 9.99112819e-01 4.12401501e-03 -4.19114230e-02 7.42932670e+00] [-4.29651971e-03 9.99982663e-01 -4.02669236e-03 4.62492586e-01] [ 4.18940902e-02 4.20319321e-03 9.99113216e-01 1.72271455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96463043999998 meters Centerline goodness [0,1] 0.31458634919949013 Centerline is valid? [False, False] Translation: X:7.43, Y:0.46, Z:0.17 [[ 9.99120328e-01 4.21532715e-03 -4.17229114e-02 7.42887132e+00] [-4.37383980e-03 9.99983558e-01 -3.70861978e-03 4.60637560e-01] [ 4.17065923e-02 3.88784674e-03 9.99122337e-01 1.72351065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99463043999998 meters Centerline goodness [0,1] 0.31812652068126523 Centerline is valid? [False, False] Translation: X:7.43, Y:0.46, Z:0.17 [[ 9.99166884e-01 2.50303630e-03 -4.07341742e-02 7.42564588e+00] [-2.70677383e-03 9.99984099e-01 -4.94725317e-03 4.55745447e-01] [ 4.07211433e-02 5.05338973e-03 9.99157771e-01 1.73318540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02463043999998 meters Centerline goodness [0,1] 0.3197077752652635 Centerline is valid? [False, False] Translation: X:7.43, Y:0.45, Z:0.17 [[ 9.99167181e-01 2.57607304e-03 -4.07223371e-02 7.42559498e+00] [-2.76944753e-03 9.99985153e-01 -4.69291046e-03 4.54071321e-01] [ 4.07096432e-02 4.80178049e-03 9.99159481e-01 1.73352779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05463043999998 meters Centerline goodness [0,1] 0.31756376391114194 Centerline is valid? [False, False] Translation: X:7.43, Y:0.45, Z:0.17 [[ 9.99167689e-01 2.78450073e-03 -4.06961487e-02 7.42542821e+00] [-2.96209945e-03 9.99986349e-01 -4.30437151e-03 4.52468563e-01] [ 4.06836077e-02 4.42133498e-03 9.99162297e-01 1.73511947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08463043999998 meters Centerline goodness [0,1] 0.3219735613970349 Centerline is valid? [False, False] Translation: X:7.42, Y:0.45, Z:0.17 [[ 9.99176918e-01 3.11013907e-03 -4.04451938e-02 7.42467811e+00] [-3.26360832e-03 9.99987722e-01 -3.72902685e-03 4.50040662e-01] [ 4.04330994e-02 3.85795482e-03 9.99174800e-01 1.73760245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11463043999998 meters Centerline goodness [0,1] 0.320699203876774 Centerline is valid? [False, False] Translation: X:7.42, Y:0.45, Z:0.17 [[ 9.99183860e-01 3.10787767e-03 -4.02735137e-02 7.42432216e+00] [-3.25855256e-03 9.99987934e-01 -3.67618680e-03 4.49317738e-01] [ 4.02616026e-02 3.80441987e-03 9.99181930e-01 1.73686699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14463044 meters Centerline goodness [0,1] 0.3199116768411482 Centerline is valid? [False, False] Translation: X:7.42, Y:0.45, Z:0.17 [[ 9.99184087e-01 3.10080849e-03 -4.02684059e-02 7.42432248e+00] [-3.25059342e-03 9.99988038e-01 -3.65472176e-03 4.48789888e-01] [ 4.02565916e-02 3.78263604e-03 9.99182215e-01 1.73611686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17463044 meters Centerline goodness [0,1] 0.3204467914031771 Centerline is valid? [False, False] Translation: X:7.42, Y:0.45, Z:0.17 [[ 9.99186006e-01 3.47101591e-03 -4.01905134e-02 7.42438935e+00] [-3.60786029e-03 9.99987938e-01 -3.33286293e-03 4.48386962e-01] [ 4.01784602e-02 3.47515176e-03 9.99186476e-01 1.73185063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20463044 meters Centerline goodness [0,1] 0.3189582386179126 Centerline is valid? [False, False] Translation: X:7.42, Y:0.45, Z:0.17 [[ 9.99184288e-01 3.64648279e-03 -4.02176749e-02 7.42458213e+00] [-3.78032016e-03 9.99987566e-01 -3.25227793e-03 4.48749955e-01] [ 4.02053155e-02 3.40166069e-03 9.99185649e-01 1.72930118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23463044 meters Centerline goodness [0,1] 0.3177796002935209 Centerline is valid? [False, False] Translation: X:7.42, Y:0.45, Z:0.17 [[ 9.99183865e-01 3.72074786e-03 -4.02213851e-02 7.42471699e+00] [-3.85548781e-03 9.99987212e-01 -3.27290909e-03 4.49177375e-01] [ 4.02086931e-02 3.42531102e-03 9.99185432e-01 1.72702110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26463044 meters Centerline goodness [0,1] 0.318451674186654 Centerline is valid? [False, False] Translation: X:7.43, Y:0.45, Z:0.17 [[ 9.99171672e-01 3.66148416e-03 -4.05285516e-02 7.42576138e+00] [-3.81192405e-03 9.99986127e-01 -3.63529308e-03 4.50652238e-01] [ 4.05146788e-02 3.78677362e-03 9.99171768e-01 1.72060701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29463044 meters Centerline goodness [0,1] 0.3178799378989132 Centerline is valid? [False, False] Translation: X:7.43, Y:0.45, Z:0.17 [[ 9.99171546e-01 3.65939591e-03 -4.05318401e-02 7.42579073e+00] [-3.81194537e-03 9.99985937e-01 -3.68704946e-03 4.50966595e-01] [ 4.05177777e-02 3.83850007e-03 9.99171445e-01 1.71945811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32463044 meters Centerline goodness [0,1] 0.3217410228509249 Centerline is valid? [False, False] Translation: X:7.43, Y:0.45, Z:0.17 [[ 9.99176170e-01 3.71511296e-03 -4.04126179e-02 7.42537655e+00] [-3.86228539e-03 9.99986189e-01 -3.56427965e-03 4.50541650e-01] [ 4.03988180e-02 3.71742835e-03 9.99176719e-01 1.72157970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35463044 meters Centerline goodness [0,1] 0.32036302492023794 Centerline is valid? [False, False] Translation: X:7.44, Y:0.45, Z:0.17 [[ 9.99228581e-01 -4.96642339e-03 -3.89560998e-02 7.44473514e+00] [ 4.86497449e-03 9.99984525e-01 -2.69854979e-03 4.52283478e-01] [ 3.89688991e-02 2.50694764e-03 9.99237279e-01 1.74007289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38463044 meters Centerline goodness [0,1] 0.32166386771734923 Centerline is valid? [False, False] Translation: X:7.44, Y:0.45, Z:0.17 [[ 9.99222677e-01 -5.13587236e-03 -3.90853488e-02 7.44499292e+00] [ 5.04321419e-03 9.99984235e-01 -2.46888951e-03 4.49995302e-01] [ 3.90974125e-02 2.26985460e-03 9.99232826e-01 1.74203619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41463044 meters Centerline goodness [0,1] 0.3246674334324342 Centerline is valid? [False, False] Translation: X:7.45, Y:0.45, Z:0.17 [[ 9.99211813e-01 -5.29835180e-03 -3.93405552e-02 7.44580062e+00] [ 5.21550595e-03 9.99983961e-01 -2.20819598e-03 4.47596035e-01] [ 3.93516240e-02 2.00127461e-03 9.99223421e-01 1.74074259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44463044 meters Centerline goodness [0,1] 0.3251051103116467 Centerline is valid? [False, False] Translation: X:7.45, Y:0.44, Z:0.17 [[ 9.99194224e-01 -5.39567578e-03 -3.97717129e-02 7.44710850e+00] [ 5.32546489e-03 9.99984069e-01 -1.87108010e-03 4.44931727e-01] [ 3.97811750e-02 1.65776957e-03 9.99207041e-01 1.73827797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.47463044 meters Centerline goodness [0,1] 0.32543944785937673 Centerline is valid? [False, False] Translation: X:7.45, Y:0.44, Z:0.17 [[ 9.99163915e-01 -9.15340722e-03 -3.98457773e-02 7.44743669e+00] [ 8.96718010e-03 9.99948033e-01 -4.84991831e-03 4.40627359e-01] [ 3.98880999e-02 4.48855911e-03 9.99194071e-01 1.73950552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50463044 meters Centerline goodness [0,1] 0.328001719875309 Centerline is valid? [False, False] Translation: X:7.45, Y:0.44, Z:0.17 [[ 9.99160638e-01 -9.21385340e-03 -3.99139660e-02 7.44739474e+00] [ 9.03956482e-03 9.99948814e-01 -4.54488603e-03 4.38258464e-01] [ 3.99537989e-02 4.18026634e-03 9.99192784e-01 1.74384862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.53463044 meters Centerline goodness [0,1] 0.32724882548166023 Centerline is valid? [False, False] Translation: X:7.45, Y:0.44, Z:0.17 [[ 9.99158130e-01 -9.15245423e-03 -3.99907960e-02 7.44749758e+00] [ 8.99490597e-03 9.99951067e-01 -4.11777094e-03 4.35830648e-01] [ 4.00265268e-02 3.75459087e-03 9.99191563e-01 1.74587536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56463044 meters Centerline goodness [0,1] 0.33014715401544903 Centerline is valid? [False, False] Translation: X:7.45, Y:0.43, Z:0.17 [[ 9.99142094e-01 -9.24527297e-03 -4.03683269e-02 7.44845222e+00] [ 9.11253475e-03 9.99952456e-01 -3.47094792e-03 4.31492600e-01] [ 4.03984974e-02 3.10011239e-03 9.99178838e-01 1.74696806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.59463044 meters Centerline goodness [0,1] 0.3299544934975306 Centerline is valid? [False, False] Translation: X:7.45, Y:0.43, Z:0.17 [[ 9.99128849e-01 -9.28498634e-03 -4.06857729e-02 7.44931459e+00] [ 9.16585914e-03 9.99953145e-01 -3.11354539e-03 4.28882023e-01] [ 4.07127758e-02 2.73791296e-03 9.99167140e-01 1.74643166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62463044 meters Centerline goodness [0,1] 0.3329593994045821 Centerline is valid? [False, False] Translation: X:7.45, Y:0.42, Z:0.17 [[ 9.99077389e-01 -1.29432698e-02 -4.09492708e-02 7.44998583e+00] [ 1.27109840e-02 9.99901641e-01 -5.92782314e-03 4.23941374e-01] [ 4.10219685e-02 5.40184854e-03 9.99143642e-01 1.74873265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.65463044 meters Centerline goodness [0,1] 0.3351255641208353 Centerline is valid? [False, False] Translation: X:7.45, Y:0.42, Z:0.18 [[ 9.99073554e-01 -1.29272517e-02 -4.10477737e-02 7.45016216e+00] [ 1.27126883e-02 9.99904153e-01 -5.48390338e-03 4.21065437e-01] [ 4.11147311e-02 4.95699529e-03 9.99142136e-01 1.75049187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68463043999998 meters Centerline goodness [0,1] 0.3308884849780819 Centerline is valid? [False, False] Translation: X:7.47, Y:0.41, Z:0.18 [[ 9.99116056e-01 -6.08673668e-03 -4.15939611e-02 7.46915542e+00] [ 5.82414358e-03 9.99962357e-01 -6.43151513e-03 4.14745192e-01] [ 4.16315423e-02 6.18358083e-03 9.99113896e-01 1.77241767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71463043999998 meters Centerline goodness [0,1] 0.33741957920361676 Centerline is valid? [False, False] Translation: X:7.43, Y:0.41, Z:0.18 [[ 9.98992520e-01 -8.09574305e-03 -4.41407333e-02 7.42584525e+00] [ 7.76361621e-03 9.99940289e-01 -7.69051851e-03 4.08768013e-01] [ 4.42003581e-02 7.34007875e-03 9.98995722e-01 1.75320374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74463043999998 meters Centerline goodness [0,1] 0.335455014622398 Centerline is valid? [False, False] Translation: X:7.44, Y:0.40, Z:0.18 [[ 9.99003082e-01 -9.91141310e-04 -4.46302514e-02 7.44489591e+00] [ 6.05297432e-04 9.99962335e-01 -8.65802829e-03 4.03409379e-01] [ 4.46371517e-02 8.62238237e-03 9.98966055e-01 1.77569474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77463043999998 meters Centerline goodness [0,1] 0.3339151421121813 Centerline is valid? [False, False] Translation: X:7.44, Y:0.40, Z:0.18 [[ 9.99006554e-01 -9.21128821e-04 -4.45539658e-02 7.44462836e+00] [ 5.48927171e-04 9.99964858e-01 -8.36546427e-03 4.01848554e-01] [ 4.45601058e-02 8.33269675e-03 9.98971953e-01 1.77722188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80463043999998 meters Centerline goodness [0,1] 0.3355651065851709 Centerline is valid? [False, False] Translation: X:7.44, Y:0.40, Z:0.18 [[ 9.99007710e-01 -1.00042974e-03 -4.45263435e-02 7.44422777e+00] [ 6.46953295e-04 9.99968171e-01 -7.95229377e-03 3.98817741e-01] [ 4.45328820e-02 7.91559632e-03 9.98976559e-01 1.78237491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83463043999998 meters Centerline goodness [0,1] 0.3363577165183417 Centerline is valid? [False, False] Translation: X:7.44, Y:0.40, Z:0.18 [[ 9.99001461e-01 -9.90739881e-04 -4.46665374e-02 7.44477395e+00] [ 6.51150496e-04 9.99970781e-01 -7.61667808e-03 3.96442923e-01] [ 4.46727784e-02 7.57998789e-03 9.98972916e-01 1.77941302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86463043999998 meters Centerline goodness [0,1] 0.33688538706621884 Centerline is valid? [False, False] Translation: X:7.45, Y:0.39, Z:0.18 [[ 9.98976343e-01 -1.08057847e-03 -4.52227710e-02 7.44641196e+00] [ 7.48909530e-04 9.99972705e-01 -7.35041356e-03 3.93964898e-01] [ 4.52294793e-02 7.30902149e-03 9.98949885e-01 1.77486039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89463044 meters Centerline goodness [0,1] 0.33688538706621884 Centerline is valid? [False, False] Translation: X:7.45, Y:0.39, Z:0.18 [[ 9.98976343e-01 -1.08057847e-03 -4.52227710e-02 7.44641196e+00] [ 7.48909530e-04 9.99972705e-01 -7.35041356e-03 3.93964898e-01] [ 4.52294793e-02 7.30902149e-03 9.98949885e-01 1.77486039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92463044 meters Centerline goodness [0,1] 0.33202399504728564 Centerline is valid? [False, False] Translation: X:7.45, Y:0.39, Z:0.18 [[ 9.98947367e-01 -1.25800070e-03 -4.58538425e-02 7.44826486e+00] [ 9.30525964e-04 9.99973917e-01 -7.16235333e-03 3.91535177e-01] [ 4.58616567e-02 7.11214581e-03 9.98922482e-01 1.76991948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95463044 meters Centerline goodness [0,1] 0.33561481161610707 Centerline is valid? [False, False] Translation: X:7.45, Y:0.39, Z:0.18 [[ 9.98927379e-01 -1.78226837e-03 -4.62700187e-02 7.44945228e+00] [ 1.45572662e-03 9.99973806e-01 -7.09004478e-03 3.87010798e-01] [ 4.62814431e-02 7.01508335e-03 9.98903807e-01 1.76754130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98463044 meters Centerline goodness [0,1] 0.33372058000946603 Centerline is valid? [False, False] Translation: X:7.45, Y:0.39, Z:0.18 [[ 9.98930816e-01 -1.73133778e-03 -4.61976918e-02 7.44916246e+00] [ 1.41864281e-03 9.99975870e-01 -6.80055572e-03 3.85215934e-01] [ 4.62083511e-02 6.72774665e-03 9.98909168e-01 1.76943481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01463044 meters Centerline goodness [0,1] 0.33527533229760054 Centerline is valid? [False, False] Translation: X:7.45, Y:0.38, Z:0.18 [[ 9.98941384e-01 -1.65320378e-03 -4.59714947e-02 7.44852009e+00] [ 1.35286725e-03 9.99977545e-01 -6.56344947e-03 3.83983632e-01] [ 4.59813132e-02 6.49430797e-03 9.98921189e-01 1.77103568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04463044 meters Centerline goodness [0,1] 0.3361369845333104 Centerline is valid? [False, False] Translation: X:7.45, Y:0.38, Z:0.18 [[ 9.98944778e-01 -1.59375598e-03 -4.58997902e-02 7.44822706e+00] [ 1.29986656e-03 9.99978470e-01 -6.43198484e-03 3.83444073e-01] [ 4.59090530e-02 6.36553407e-03 9.98925342e-01 1.77302493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07463044 meters Centerline goodness [0,1] 0.3359185441941075 Centerline is valid? [False, False] Translation: X:7.45, Y:0.38, Z:0.18 [[ 9.98943822e-01 -1.41834576e-03 -4.59263380e-02 7.44812306e+00] [ 1.13355234e-03 9.99979972e-01 -6.22654162e-03 3.83144763e-01] [ 4.59342496e-02 6.16790537e-03 9.98925423e-01 1.77565727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10463044 meters Centerline goodness [0,1] 0.33466878052960836 Centerline is valid? [False, False] Translation: X:7.45, Y:0.38, Z:0.18 [[ 9.98940199e-01 -1.37184149e-03 -4.60064819e-02 7.44818325e+00] [ 1.08695551e-03 9.99980085e-01 -6.21674613e-03 3.83296725e-01] [ 4.60140940e-02 6.16015062e-03 9.98921797e-01 1.77782643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13463044 meters Centerline goodness [0,1] 0.33825065274151433 Centerline is valid? [False, False] Translation: X:7.40, Y:0.38, Z:0.18 [[ 9.98850484e-01 -2.09996481e-03 -4.78884213e-02 7.40287179e+00] [ 1.77143032e-03 9.99974613e-01 -6.90182408e-03 3.82350257e-01] [ 4.79016992e-02 6.80905932e-03 9.98828846e-01 1.76452568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16463044 meters Centerline goodness [0,1] 0.3355025619959786 Centerline is valid? [False, False] Translation: X:7.40, Y:0.38, Z:0.18 [[ 9.98851382e-01 -2.12054535e-03 -4.78687758e-02 7.40300142e+00] [ 1.80072698e-03 9.99975777e-01 -6.72328357e-03 3.81039293e-01] [ 4.78818733e-02 6.62936249e-03 9.98831006e-01 1.76234809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19463044 meters Centerline goodness [0,1] 0.3373310448401631 Centerline is valid? [False, False] Translation: X:7.40, Y:0.38, Z:0.18 [[ 9.98850225e-01 -2.18800493e-03 -4.78898714e-02 7.40312672e+00] [ 1.87749925e-03 9.99976931e-01 -6.52776670e-03 3.79517648e-01] [ 4.79030494e-02 6.43034804e-03 9.98831291e-01 1.76134146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22463044 meters Centerline goodness [0,1] 0.3358776984604799 Centerline is valid? [False, False] Translation: X:7.40, Y:0.38, Z:0.18 [[ 9.98851868e-01 -2.22130507e-03 -4.78540588e-02 7.40308188e+00] [ 1.92192689e-03 9.99978300e-01 -6.30117109e-03 3.77960616e-01] [ 4.78670172e-02 6.20196451e-03 9.98834463e-01 1.76060079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.25463044 meters Centerline goodness [0,1] 0.3370145526565056 Centerline is valid? [False, False] Translation: X:7.40, Y:0.38, Z:0.18 [[ 9.98856221e-01 -2.22608579e-03 -4.77628911e-02 7.40273834e+00] [ 1.93946912e-03 9.99979840e-01 -6.04632810e-03 3.76431338e-01] [ 4.77753879e-02 5.94677778e-03 9.98840402e-01 1.76269989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28463044 meters Centerline goodness [0,1] 0.3368717364677568 Centerline is valid? [False, False] Translation: X:7.40, Y:0.37, Z:0.18 [[ 9.98871867e-01 -2.44427659e-03 -4.74238154e-02 7.40152737e+00] [ 2.16542611e-03 9.99980070e-01 -5.93045175e-03 3.74847425e-01] [ 4.74373659e-02 5.82106865e-03 9.98857253e-01 1.76906600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.31463044 meters Centerline goodness [0,1] 0.3363826619776047 Centerline is valid? [False, False] Translation: X:7.40, Y:0.37, Z:0.18 [[ 9.98876418e-01 -2.36593830e-03 -4.73318517e-02 7.40127127e+00] [ 2.09738262e-03 9.99981425e-01 -5.72274912e-03 3.73942075e-01] [ 4.73445122e-02 5.61704614e-03 9.98862826e-01 1.76966906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34463044 meters Centerline goodness [0,1] 0.3374362961043448 Centerline is valid? [False, False] Translation: X:7.40, Y:0.37, Z:0.18 [[ 9.98876559e-01 -2.31582738e-03 -4.73313432e-02 7.40155632e+00] [ 2.05863436e-03 9.99982855e-01 -5.48190785e-03 3.72654519e-01] [ 4.73432269e-02 5.37831132e-03 9.98864201e-01 1.76560351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.37463044 meters Centerline goodness [0,1] 0.33620076321065906 Centerline is valid? [False, False] Translation: X:7.40, Y:0.37, Z:0.18 [[ 9.98876180e-01 -2.34622201e-03 -4.73378476e-02 7.40202014e+00] [ 2.11254949e-03 9.99985340e-01 -4.98569887e-03 3.69321688e-01] [ 4.73488512e-02 4.88009229e-03 9.98866493e-01 1.75963486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40463044 meters Centerline goodness [0,1] 0.3351832011999143 Centerline is valid? [False, False] Translation: X:7.40, Y:0.37, Z:0.18 [[ 9.98875848e-01 -2.28850134e-03 -4.73476882e-02 7.40206795e+00] [ 2.07027348e-03 9.99987010e-01 -4.65757539e-03 3.67405535e-01] [ 4.73577321e-02 4.55431690e-03 9.98867611e-01 1.75905597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43463043999998 meters Centerline goodness [0,1] 0.3348983459682977 Centerline is valid? [False, False] Translation: X:7.40, Y:0.37, Z:0.18 [[ 9.98871263e-01 -2.19746294e-03 -4.74486243e-02 7.40237924e+00] [ 1.99219363e-03 9.99988454e-01 -4.37299513e-03 3.65910341e-01] [ 4.74576860e-02 4.27353232e-03 9.98864107e-01 1.75812059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46463043999998 meters Centerline goodness [0,1] 0.33569488210366183 Centerline is valid? [False, False] Translation: X:7.40, Y:0.36, Z:0.18 [[ 9.98863688e-01 -2.16133218e-03 -4.76094582e-02 7.40279037e+00] [ 1.96393782e-03 9.99989283e-01 -4.19250379e-03 3.64791387e-01] [ 4.76180094e-02 4.09423778e-03 9.98857228e-01 1.75765270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49463043999998 meters Centerline goodness [0,1] 0.3361348178313044 Centerline is valid? [False, False] Translation: X:7.40, Y:0.36, Z:0.18 [[ 9.98854908e-01 -2.16284828e-03 -4.77932503e-02 7.40341478e+00] [ 1.96999754e-03 9.99989729e-01 -4.08183898e-03 3.63901160e-01] [ 4.78015878e-02 3.98301231e-03 9.98848909e-01 1.75484988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52463043999998 meters Centerline goodness [0,1] 0.33522971232288534 Centerline is valid? [False, False] Translation: X:7.40, Y:0.36, Z:0.18 [[ 9.98848596e-01 -2.15280111e-03 -4.79254464e-02 7.40384540e+00] [ 1.96369401e-03 9.99990102e-01 -3.99259284e-03 3.63206114e-01] [ 4.79335672e-02 3.89388484e-03 9.98842936e-01 1.75309620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55463043999998 meters Centerline goodness [0,1] 0.33099196631868366 Centerline is valid? [False, False] Translation: X:7.40, Y:0.36, Z:0.18 [[ 9.98843215e-01 -2.06549605e-03 -4.80412925e-02 7.40422434e+00] [ 1.87745115e-03 9.99990401e-01 -3.95902925e-03 3.63635738e-01] [ 4.80490087e-02 3.86425432e-03 9.98837504e-01 1.75195479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58463043999998 meters Centerline goodness [0,1] 0.3323356516870868 Centerline is valid? [False, False] Translation: X:7.40, Y:0.36, Z:0.18 [[ 9.98839253e-01 -1.98812376e-03 -4.81268529e-02 7.40451500e+00] [ 1.80090326e-03 9.99990643e-01 -3.93319499e-03 3.64022477e-01] [ 4.81342222e-02 3.84195774e-03 9.98833488e-01 1.75105117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61463043999998 meters Centerline goodness [0,1] 0.3313143941026857 Centerline is valid? [False, False] Translation: X:7.40, Y:0.36, Z:0.18 [[ 9.98841502e-01 -1.95509225e-03 -4.80815175e-02 7.40446243e+00] [ 1.76832884e-03 9.99990728e-01 -3.92653777e-03 3.64173028e-01] [ 4.80887484e-02 3.83696495e-03 9.98835697e-01 1.75046235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64463044 meters Centerline goodness [0,1] 0.3325092170895684 Centerline is valid? [False, False] Translation: X:7.40, Y:0.36, Z:0.17 [[ 9.98846990e-01 -1.98584040e-03 -4.79660929e-02 7.40425737e+00] [ 1.79867418e-03 9.99990601e-01 -3.94490009e-03 3.63972910e-01] [ 4.79734760e-02 3.85407621e-03 9.98841174e-01 1.74927711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67463044 meters Centerline goodness [0,1] 0.3319344008264463 Centerline is valid? [False, False] Translation: X:7.40, Y:0.36, Z:0.18 [[ 9.98836846e-01 -2.02193860e-03 -4.81753714e-02 7.40462662e+00] [ 1.83506619e-03 9.99990622e-01 -3.92291547e-03 3.63425977e-01] [ 4.81828515e-02 3.82994752e-03 9.98831189e-01 1.75116718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70463044 meters Centerline goodness [0,1] 0.3314704475275084 Centerline is valid? [False, False] Translation: X:7.41, Y:0.36, Z:0.18 [[ 9.98825485e-01 -2.00585043e-03 -4.84110157e-02 7.40523953e+00] [ 1.81822262e-03 9.99990666e-01 -3.91945130e-03 3.63510966e-01] [ 4.84184257e-02 3.82682585e-03 9.98819809e-01 1.75047663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73463044 meters Centerline goodness [0,1] 0.33201589611066473 Centerline is valid? [False, False] Translation: X:7.41, Y:0.36, Z:0.17 [[ 9.98807628e-01 -1.99343350e-03 -4.87785579e-02 7.40644380e+00] [ 1.80200812e-03 9.99990504e-01 -3.96803692e-03 3.63973945e-01] [ 4.87860047e-02 3.87540619e-03 9.98801736e-01 1.74576575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76463044 meters Centerline goodness [0,1] 0.33259045621394856 Centerline is valid? [False, False] Translation: X:7.41, Y:0.36, Z:0.17 [[ 9.98792859e-01 -2.00907405e-03 -4.90794096e-02 7.40758354e+00] [ 1.80963189e-03 9.99989926e-01 -4.10775921e-03 3.64905516e-01] [ 4.90871679e-02 4.01398490e-03 9.98786433e-01 1.73946986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79463044 meters Centerline goodness [0,1] 0.328042328042328 Centerline is valid? [False, False] Translation: X:7.45, Y:0.37, Z:0.18 [[ 9.98851724e-01 -1.69468780e-03 -4.78786044e-02 7.45206715e+00] [ 1.49444450e-03 9.99989988e-01 -4.21779969e-03 3.66548468e-01] [ 4.78852730e-02 4.14140457e-03 9.98844257e-01 1.75997408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82463044 meters Centerline goodness [0,1] 0.32734714870454107 Centerline is valid? [False, False] Translation: X:7.45, Y:0.37, Z:0.18 [[ 9.98850517e-01 -1.71772861e-03 -4.79029590e-02 7.45180664e+00] [ 1.51157567e-03 9.99989442e-01 -4.33944666e-03 3.67395845e-01] [ 4.79099072e-02 4.26204960e-03 9.98842568e-01 1.76398036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85463044 meters Centerline goodness [0,1] 0.32786956052262173 Centerline is valid? [False, False] Translation: X:7.45, Y:0.37, Z:0.18 [[ 9.98847159e-01 -1.64245453e-03 -4.79755660e-02 7.45204645e+00] [ 1.44061677e-03 9.99989968e-01 -4.24136918e-03 3.67556028e-01] [ 4.79820510e-02 4.16736515e-03 9.98839505e-01 1.76333843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88463044 meters Centerline goodness [0,1] 0.3295992733721157 Centerline is valid? [False, False] Translation: X:7.45, Y:0.37, Z:0.18 [[ 9.98843406e-01 -1.70489067e-03 -4.80514631e-02 7.45237840e+00] [ 1.50195200e-03 9.99989802e-01 -4.25915088e-03 3.67297968e-01] [ 4.80582344e-02 4.18205378e-03 9.98835781e-01 1.76145071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91463044 meters Centerline goodness [0,1] 0.3293519420101698 Centerline is valid? [False, False] Translation: X:7.45, Y:0.37, Z:0.18 [[ 9.98844265e-01 -1.81510403e-03 -4.80295619e-02 7.45226957e+00] [ 1.61045652e-03 9.99989462e-01 -4.29921971e-03 3.66811433e-01] [ 4.80368592e-02 4.21690143e-03 9.98836662e-01 1.76246365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94463044 meters Centerline goodness [0,1] 0.3286667822468793 Centerline is valid? [False, False] Translation: X:7.45, Y:0.37, Z:0.18 [[ 9.98852593e-01 -1.90780807e-03 -4.78524496e-02 7.45158236e+00] [ 1.70071696e-03 9.99989014e-01 -4.36804314e-03 3.66702615e-01] [ 4.78602573e-02 4.28164775e-03 9.98844864e-01 1.76615458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97463044 meters Centerline goodness [0,1] 0.3312169084413069 Centerline is valid? [False, False] Translation: X:7.47, Y:0.37, Z:0.18 [[ 9.98979335e-01 -7.69791146e-03 -4.45087763e-02 7.46998907e+00] [ 7.64276898e-03 9.99969801e-01 -1.40895181e-03 3.68843532e-01] [ 4.45182781e-02 1.06734344e-03 9.99008000e-01 1.78351738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00463044 meters Centerline goodness [0,1] 0.32765966603546226 Centerline is valid? [False, False] Translation: X:7.47, Y:0.37, Z:0.18 [[ 9.98993347e-01 -7.61839806e-03 -4.42069366e-02 7.46899112e+00] [ 7.56118542e-03 9.99970346e-01 -1.46126882e-03 3.69961212e-01] [ 4.42167582e-02 1.12554099e-03 9.99021327e-01 1.78803930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03463044 meters Centerline goodness [0,1] 0.32736830812144624 Centerline is valid? [False, False] Translation: X:7.47, Y:0.37, Z:0.18 [[ 9.98998510e-01 -7.61061577e-03 -4.40914432e-02 7.46872094e+00] [ 7.54926006e-03 9.99970290e-01 -1.55790107e-03 3.70822038e-01] [ 4.41019899e-02 1.22348308e-03 9.99026285e-01 1.78835474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06463044 meters Centerline goodness [0,1] 0.33213051322739817 Centerline is valid? [False, False] Translation: X:7.45, Y:0.37, Z:0.18 [[ 9.99016787e-01 7.26060772e-04 -4.43275500e-02 7.44882246e+00] [-8.42531248e-04 9.99996242e-01 -2.60887004e-03 3.68199272e-01] [ 4.43254893e-02 2.64365232e-03 9.99013645e-01 1.76620330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.09463044 meters Centerline goodness [0,1] 0.32950281928692404 Centerline is valid? [False, False] Translation: X:7.47, Y:0.37, Z:0.18 [[ 9.98995788e-01 -5.15667636e-03 -4.45064424e-02 7.47098035e+00] [ 5.16107516e-03 9.99986681e-01 -1.60725173e-05 3.70831540e-01] [ 4.45059325e-02 -2.13644717e-04 9.99009097e-01 1.77375231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12463044 meters Centerline goodness [0,1] 0.33131365778443767 Centerline is valid? [False, False] Translation: X:7.45, Y:0.37, Z:0.18 [[ 9.98998779e-01 3.44135742e-03 -4.46049044e-02 7.45070072e+00] [-3.48414732e-03 9.99993542e-01 -8.81600936e-04 3.69016212e-01] [ 4.46015825e-02 1.03612832e-03 9.99004317e-01 1.75527087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.15463044 meters Centerline goodness [0,1] 0.32737456543199284 Centerline is valid? [False, False] Translation: X:7.47, Y:0.37, Z:0.18 [[ 9.98984392e-01 -1.90214869e-03 -4.50174089e-02 7.47304486e+00] [ 1.98542124e-03 9.99996400e-01 1.80514584e-03 3.74821892e-01] [ 4.50138132e-02 -1.89269103e-03 9.98984572e-01 1.76786549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18463043999998 meters Centerline goodness [0,1] 0.3285370663315058 Centerline is valid? [False, False] Translation: X:7.47, Y:0.38, Z:0.18 [[ 9.98966118e-01 -1.99806986e-03 -4.54169786e-02 7.47415209e+00] [ 2.06804357e-03 9.99996746e-01 1.49376085e-03 3.76469897e-01] [ 4.54138462e-02 -1.58614077e-03 9.98967000e-01 1.76515268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21463043999998 meters Centerline goodness [0,1] 0.3268613987127882 Centerline is valid? [False, False] Translation: X:7.48, Y:0.38, Z:0.18 [[ 9.98938251e-01 -2.01679475e-03 -4.60250282e-02 7.47588053e+00] [ 2.07878741e-03 9.99996995e-01 1.29910989e-03 3.77748767e-01] [ 4.60222699e-02 -1.39340681e-03 9.98939442e-01 1.76107704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24463043999998 meters Centerline goodness [0,1] 0.32597812775283075 Centerline is valid? [False, False] Translation: X:7.48, Y:0.38, Z:0.18 [[ 9.98920582e-01 -2.03860179e-03 -4.64059726e-02 7.47704310e+00] [ 2.09351294e-03 9.99997165e-01 1.13470646e-03 3.78928387e-01] [ 4.64035278e-02 -1.23063314e-03 9.98922018e-01 1.75742710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27463043999998 meters Centerline goodness [0,1] 0.32684540689181063 Centerline is valid? [False, False] Translation: X:7.48, Y:0.38, Z:0.18 [[ 9.98920057e-01 -2.03426518e-03 -4.64174653e-02 7.47690283e+00] [ 2.08260447e-03 9.99997338e-01 9.93066140e-04 3.80030286e-01] [ 4.64153216e-02 -1.08866291e-03 9.98921635e-01 1.75982524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30463043999998 meters Centerline goodness [0,1] 0.3297664948230299 Centerline is valid? [False, False] Translation: X:7.48, Y:0.38, Z:0.18 [[ 9.98933487e-01 -2.08122711e-03 -4.61254459e-02 7.47591959e+00] [ 2.11929889e-03 9.99997453e-01 7.76508807e-04 3.81316835e-01] [ 4.61237123e-02 -8.73434257e-04 9.98935353e-01 1.76386062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33463043999998 meters Centerline goodness [0,1] 0.33040593286494924 Centerline is valid? [False, False] Translation: X:7.47, Y:0.38, Z:0.18 [[ 9.98959142e-01 -2.14853806e-03 -4.55633217e-02 7.47431216e+00] [ 2.16199842e-03 9.99997633e-01 2.46143426e-04 3.84537818e-01] [ 4.55626850e-02 -3.44395055e-04 9.98961422e-01 1.76908159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36463043999998 meters Centerline goodness [0,1] 0.32986867358161 Centerline is valid? [False, False] Translation: X:7.48, Y:0.39, Z:0.18 [[ 9.98947595e-01 -2.19519360e-03 -4.58135721e-02 7.47514974e+00] [ 2.19429158e-03 9.99997590e-01 -6.99795703e-05 3.86533883e-01] [ 4.58136153e-02 -3.06224118e-05 9.98950005e-01 1.76604721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39463044 meters Centerline goodness [0,1] 0.32820920196663594 Centerline is valid? [False, False] Translation: X:7.48, Y:0.39, Z:0.18 [[ 9.98925952e-01 -2.14568824e-03 -4.62854012e-02 7.47658336e+00] [ 2.13198259e-03 9.99997668e-01 -3.45476036e-04 3.88748333e-01] [ 4.62860345e-02 2.46425309e-04 9.98928197e-01 1.76153662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42463044 meters Centerline goodness [0,1] 0.3301403334270331 Centerline is valid? [False, False] Translation: X:7.48, Y:0.39, Z:0.18 [[ 9.98909745e-01 -2.11993364e-03 -4.66350509e-02 7.47756491e+00] [ 2.09088513e-03 9.99997589e-01 -6.71662106e-04 3.91150639e-01] [ 4.66363624e-02 5.73421288e-04 9.98911768e-01 1.75951962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45463044 meters Centerline goodness [0,1] 0.3290094593721046 Centerline is valid? [False, False] Translation: X:7.48, Y:0.40, Z:0.18 [[ 9.98908846e-01 1.39177064e-03 -4.66816980e-02 7.47726367e+00] [-1.29346983e-03 9.99996882e-01 2.13590874e-03 3.95055396e-01] [ 4.66845251e-02 -2.07319677e-03 9.98907532e-01 1.76452612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48463044 meters Centerline goodness [0,1] 0.3302423558026407 Centerline is valid? [False, False] Translation: X:7.48, Y:0.40, Z:0.18 [[ 9.98915603e-01 1.38800322e-03 -4.65369810e-02 7.47672838e+00] [-1.30641796e-03 9.99997556e-01 1.78349641e-03 3.97523211e-01] [ 4.65393428e-02 -1.72076564e-03 9.98914976e-01 1.76751172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51463044 meters Centerline goodness [0,1] 0.3288107674635341 Centerline is valid? [False, False] Translation: X:7.48, Y:0.40, Z:0.18 [[ 9.98920162e-01 1.36341424e-03 -4.64397673e-02 7.47623197e+00] [-1.29848256e-03 9.99998137e-01 1.42832952e-03 3.99991810e-01] [ 4.64416282e-02 -1.36648592e-03 9.98920071e-01 1.77138652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54463044 meters Centerline goodness [0,1] 0.3277405162932131 Centerline is valid? [False, False] Translation: X:7.48, Y:0.40, Z:0.18 [[ 9.98927627e-01 1.27208860e-03 -4.62815156e-02 7.47574589e+00] [-1.22418394e-03 9.99998685e-01 1.06340026e-03 4.02061091e-01] [ 4.62828075e-02 -1.00560281e-03 9.98927871e-01 1.77336329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57463044 meters Centerline goodness [0,1] 0.3291092626288883 Centerline is valid? [False, False] Translation: X:7.48, Y:0.40, Z:0.18 [[ 9.98939481e-01 1.11342742e-03 -4.60290588e-02 7.47500159e+00] [-1.08355439e-03 9.99999186e-01 6.73949465e-04 4.03839756e-01] [ 4.60297717e-02 -6.23359740e-04 9.98939874e-01 1.77517470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60463044 meters Centerline goodness [0,1] 0.33009876596572363 Centerline is valid? [False, False] Translation: X:7.47, Y:0.41, Z:0.18 [[ 9.98940792e-01 9.02507350e-04 -4.60052151e-02 7.47489363e+00] [-8.97179215e-04 9.99999588e-01 1.36464156e-04 4.06634699e-01] [ 4.60053193e-02 -9.50446895e-05 9.98941190e-01 1.77593474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63463044 meters Centerline goodness [0,1] 0.3261693246280638 Centerline is valid? [False, False] Translation: X:7.48, Y:0.41, Z:0.18 [[ 9.98933558e-01 8.95489366e-04 -4.61621654e-02 7.47521528e+00] [-8.96318365e-04 9.99999598e-01 2.74061462e-06 4.07820957e-01] [ 4.61621493e-02 3.86383048e-05 9.98933959e-01 1.77660926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66463044 meters Centerline goodness [0,1] 0.32703124665825434 Centerline is valid? [False, False] Translation: X:7.48, Y:0.41, Z:0.18 [[ 9.98927946e-01 8.63717674e-04 -4.62840454e-02 7.47547685e+00] [-8.71042408e-04 9.99999611e-01 -1.38087872e-04 4.08857923e-01] [ 4.62839082e-02 1.78255200e-04 9.98928310e-01 1.77711541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.69463044 meters Centerline goodness [0,1] 0.3304153756148296 Centerline is valid? [False, False] Translation: X:7.48, Y:0.41, Z:0.18 [[ 9.98920426e-01 8.28769106e-04 -4.64466982e-02 7.47572974e+00] [-8.41501399e-04 9.99999614e-01 -2.54574612e-04 4.09597924e-01] [ 4.64464693e-02 2.93384742e-04 9.98920737e-01 1.77895949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72463044 meters Centerline goodness [0,1] 0.3272461964335529 Centerline is valid? [False, False] Translation: X:7.50, Y:0.41, Z:0.18 [[ 9.98909046e-01 -6.89839986e-03 -4.61858254e-02 7.49507607e+00] [ 6.95399569e-03 9.99975277e-01 1.04317489e-03 4.13981705e-01] [ 4.61774873e-02 -1.36321287e-03 9.98932321e-01 1.80529134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.75463044 meters Centerline goodness [0,1] 0.32659171189799263 Centerline is valid? [False, False] Translation: X:7.49, Y:0.41, Z:0.18 [[ 9.98910972e-01 -6.83615331e-03 -4.61534162e-02 7.49487322e+00] [ 6.89472728e-03 9.99975615e-01 1.11003964e-03 4.13889715e-01] [ 4.61447024e-02 -1.42704599e-03 9.98933747e-01 1.80721201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78463044 meters Centerline goodness [0,1] 0.32659171189799263 Centerline is valid? [False, False] Translation: X:7.49, Y:0.41, Z:0.18 [[ 9.98910972e-01 -6.83615331e-03 -4.61534162e-02 7.49487322e+00] [ 6.89472728e-03 9.99975615e-01 1.11003964e-03 4.13889715e-01] [ 4.61447024e-02 -1.42704599e-03 9.98933747e-01 1.80721201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.81463044 meters Centerline goodness [0,1] 0.32628360028227443 Centerline is valid? [False, False] Translation: X:7.51, Y:0.41, Z:0.18 [[ 9.98944829e-01 7.82582072e-04 -4.59196716e-02 7.51361248e+00] [-7.82293431e-04 9.99999694e-01 2.42565724e-05 4.09838284e-01] [ 4.59196765e-02 1.16916799e-05 9.98945135e-01 1.83224584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84463044 meters Centerline goodness [0,1] 0.32804669024321453 Centerline is valid? [False, False] Translation: X:7.49, Y:0.41, Z:0.18 [[ 9.98909434e-01 8.88240139e-03 -4.58371598e-02 7.49343654e+00] [-8.94420656e-03 9.99959346e-01 -1.14343953e-03 4.05228239e-01] [ 4.58251398e-02 1.55216956e-03 9.98948271e-01 1.81368850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.87463044 meters Centerline goodness [0,1] 0.32791061069846095 Centerline is valid? [False, False] Translation: X:7.51, Y:0.41, Z:0.18 [[ 9.98955730e-01 1.15210142e-03 -4.56740754e-02 7.51302446e+00] [-1.15929452e-03 9.99999319e-01 -1.30999141e-04 4.08653631e-01] [ 4.56738934e-02 1.83812048e-04 9.98956386e-01 1.83190108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90463044 meters Centerline goodness [0,1] 0.32753866701133083 Centerline is valid? [False, False] Translation: X:7.51, Y:0.41, Z:0.18 [[ 9.98950328e-01 1.14934447e-03 -4.57921512e-02 7.51334665e+00] [-1.16104941e-03 9.99999300e-01 -2.29013586e-04 4.09075702e-01] [ 4.57918559e-02 2.81940147e-04 9.98950963e-01 1.83064189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93463043999998 meters Centerline goodness [0,1] 0.32724423646589107 Centerline is valid? [False, False] Translation: X:7.51, Y:0.41, Z:0.18 [[ 9.98936881e-01 1.58029222e-03 -4.60717963e-02 7.51395293e+00] [-1.57887286e-03 9.99998751e-01 6.71976685e-05 4.09000954e-01] [ 4.60718450e-02 5.61527960e-06 9.98938129e-01 1.83079163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96463043999998 meters Centerline goodness [0,1] 0.328408473655622 Centerline is valid? [False, False] Translation: X:7.51, Y:0.41, Z:0.18 [[ 9.98941489e-01 1.79044209e-03 -4.59640696e-02 7.51361110e+00] [-1.77817436e-03 9.99998372e-01 3.07784528e-04 4.08564324e-01] [ 4.59645458e-02 -2.25726605e-04 9.98943046e-01 1.83200002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99463043999998 meters Centerline goodness [0,1] 0.3268256013745704 Centerline is valid? [False, False] Translation: X:7.53, Y:0.41, Z:0.18 [[ 9.98992519e-01 -4.01778915e-03 -4.46968142e-02 7.53430282e+00] [ 4.17005393e-03 9.99985814e-01 3.31389433e-03 4.09526698e-01] [ 4.46828657e-02 -3.49694377e-03 9.98995102e-01 1.84104515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02463043999998 meters Centerline goodness [0,1] 0.32944873641482253 Centerline is valid? [False, False] Translation: X:7.51, Y:0.40, Z:0.18 [[ 9.99014251e-01 4.13005550e-03 -4.41980683e-02 7.51411931e+00] [-4.02273312e-03 9.99988741e-01 2.51688121e-03 4.01522984e-01] [ 4.42079655e-02 -2.33660317e-03 9.99019617e-01 1.81918754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05463043999998 meters Centerline goodness [0,1] 0.3289447914173177 Centerline is valid? [False, False] Translation: X:7.51, Y:0.40, Z:0.18 [[ 9.99008476e-01 4.22268259e-03 -4.43196690e-02 7.51476916e+00] [-4.10615214e-03 9.99987870e-01 2.72002440e-03 4.00299429e-01] [ 4.43306172e-02 -2.53534413e-03 9.99013698e-01 1.81381799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08463043999998 meters Centerline goodness [0,1] 0.3258935303875735 Centerline is valid? [False, False] Translation: X:7.52, Y:0.40, Z:0.18 [[ 9.98997691e-01 4.32636534e-03 -4.45521691e-02 7.51578995e+00] [-4.20312241e-03 9.99987078e-01 2.85956549e-03 3.99500224e-01] [ 4.45639649e-02 -2.66944110e-03 9.99002967e-01 1.80715936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11463043999998 meters Centerline goodness [0,1] 0.3261777498863907 Centerline is valid? [False, False] Translation: X:7.52, Y:0.40, Z:0.18 [[ 9.98995433e-01 4.35837480e-03 -4.45996471e-02 7.51627883e+00] [-4.23185700e-03 9.99986751e-01 2.93076842e-03 3.98813018e-01] [ 4.46118295e-02 -2.73908494e-03 9.99000642e-01 1.80150269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14463044 meters Centerline goodness [0,1] 0.3253894718696805 Centerline is valid? [False, False] Translation: X:7.52, Y:0.40, Z:0.18 [[ 9.99011370e-01 4.49796886e-03 -4.42272704e-02 7.51527741e+00] [-4.35742677e-03 9.99985148e-01 3.27361756e-03 3.96324037e-01] [ 4.42413381e-02 -3.07766407e-03 9.99016132e-01 1.80339301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17463044 meters Centerline goodness [0,1] 0.32588212359477553 Centerline is valid? [False, False] Translation: X:7.52, Y:0.40, Z:0.18 [[ 9.99015169e-01 4.57939372e-03 -4.41329870e-02 7.51503190e+00] [-4.43136074e-03 9.99984225e-01 3.45149730e-03 3.95344108e-01] [ 4.41480965e-02 -3.25252898e-03 9.99019703e-01 1.80352214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20463044 meters Centerline goodness [0,1] 0.32641194211200064 Centerline is valid? [False, False] Translation: X:7.52, Y:0.40, Z:0.18 [[ 9.99011724e-01 4.66202226e-03 -4.42022619e-02 7.51517378e+00] [-4.50989266e-03 9.99983562e-01 3.54076862e-03 3.95043133e-01] [ 4.42180425e-02 -3.33792190e-03 9.99016328e-01 1.80350669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23463044 meters Centerline goodness [0,1] 0.32612834826258164 Centerline is valid? [False, False] Translation: X:7.52, Y:0.40, Z:0.18 [[ 9.99005378e-01 4.75387885e-03 -4.43357231e-02 7.51559202e+00] [-4.60002881e-03 9.99983042e-01 3.57149267e-03 3.95183624e-01] [ 4.43519497e-02 -3.36399478e-03 9.99010304e-01 1.80196850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26463044 meters Centerline goodness [0,1] 0.32562015671674094 Centerline is valid? [False, False] Translation: X:7.52, Y:0.40, Z:0.18 [[ 9.99004569e-01 4.78560108e-03 -4.43505180e-02 7.51577324e+00] [-4.63516649e-03 9.99983153e-01 3.49416331e-03 3.95733583e-01] [ 4.43664925e-02 -3.28511308e-03 9.99009921e-01 1.79933017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29463044 meters Centerline goodness [0,1] 0.32573374693594226 Centerline is valid? [False, False] Translation: X:7.52, Y:0.40, Z:0.18 [[ 9.99000254e-01 4.80709348e-03 -4.44453024e-02 7.51604204e+00] [-4.66026387e-03 9.99983338e-01 3.40662769e-03 3.96302839e-01] [ 4.44609378e-02 -3.19609509e-03 9.99006011e-01 1.79796580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32463044 meters Centerline goodness [0,1] 0.3228708216148908 Centerline is valid? [False, False] Translation: X:7.54, Y:0.40, Z:0.18 [[ 9.98968557e-01 -2.43435222e-03 -4.53419835e-02 7.53670548e+00] [ 2.65017403e-03 9.99985441e-01 4.70036218e-03 4.00641031e-01] [ 4.53298810e-02 -4.81567817e-03 9.98960465e-01 1.81460203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35463044 meters Centerline goodness [0,1] 0.32195893250144225 Centerline is valid? [False, False] Translation: X:7.54, Y:0.40, Z:0.18 [[ 9.98956244e-01 -2.34294740e-03 -4.56172558e-02 7.53751351e+00] [ 2.56891411e-03 9.99984717e-01 4.89554214e-03 3.99877361e-01] [ 4.56050887e-02 -5.00761920e-03 9.98946995e-01 1.81261496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38463044 meters Centerline goodness [0,1] 0.32342047461130974 Centerline is valid? [False, False] Translation: X:7.54, Y:0.40, Z:0.18 [[ 9.98949642e-01 -2.26102920e-03 -4.57657237e-02 7.53791835e+00] [ 2.49852132e-03 9.99983706e-01 5.13276307e-03 3.98742291e-01] [ 4.57533727e-02 -5.24171846e-03 9.98939014e-01 1.81241549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41463044 meters Centerline goodness [0,1] 0.32209938821509065 Centerline is valid? [False, False] Translation: X:7.54, Y:0.40, Z:0.18 [[ 9.98949389e-01 -2.26710073e-03 -4.57709342e-02 7.53784249e+00] [ 2.51603102e-03 9.99982353e-01 5.38173248e-03 3.96893947e-01] [ 4.57579255e-02 -5.49123946e-03 9.98937465e-01 1.81463952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44463044 meters Centerline goodness [0,1] 0.32493691812407555 Centerline is valid? [False, False] Translation: X:7.52, Y:0.39, Z:0.18 [[ 9.99066251e-01 2.26562153e-03 -4.31450277e-02 7.51772231e+00] [-2.16377338e-03 9.99994762e-01 2.40715338e-03 3.90514932e-01] [ 4.31502554e-02 -2.31154964e-03 9.99065920e-01 1.79221834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.47463044 meters Centerline goodness [0,1] 0.32450302599556335 Centerline is valid? [False, False] Translation: X:7.54, Y:0.39, Z:0.18 [[ 9.99106156e-01 -7.16330425e-03 -4.16602508e-02 7.53762101e+00] [ 7.28447463e-03 9.99969666e-01 2.75746032e-03 3.88657169e-01] [ 4.16392345e-02 -3.05846862e-03 9.99128030e-01 1.80911960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50463044 meters Centerline goodness [0,1] 0.32519269074218415 Centerline is valid? [False, False] Translation: X:7.54, Y:0.39, Z:0.18 [[ 9.99097571e-01 -7.06643148e-03 -4.18820879e-02 7.53820102e+00] [ 7.20760462e-03 9.99968838e-01 3.22068449e-03 3.86171660e-01] [ 4.18580240e-02 -3.51964758e-03 9.99117369e-01 1.80895104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.53463044 meters Centerline goodness [0,1] 0.3251773126091362 Centerline is valid? [False, False] Translation: X:7.54, Y:0.38, Z:0.18 [[ 9.99086327e-01 -6.95554604e-03 -4.21678929e-02 7.53913777e+00] [ 7.11705185e-03 9.99967898e-01 3.68115239e-03 3.83709741e-01] [ 4.21409348e-02 -3.97790010e-03 9.99103757e-01 1.80623929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56463044 meters Centerline goodness [0,1] 0.32582527616873747 Centerline is valid? [False, False] Translation: X:7.54, Y:0.38, Z:0.18 [[ 9.99082718e-01 -6.87752302e-03 -4.22660815e-02 7.53972970e+00] [ 7.05561324e-03 9.99966843e-01 4.06581986e-03 3.81340802e-01] [ 4.22367173e-02 -4.36030348e-03 9.99098117e-01 1.80198741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.59463044 meters Centerline goodness [0,1] 0.3252628845904193 Centerline is valid? [False, False] Translation: X:7.54, Y:0.38, Z:0.18 [[ 9.99082490e-01 -6.98856251e-03 -4.22532608e-02 7.53974571e+00] [ 7.18262603e-03 9.99964335e-01 4.44279637e-03 3.77497629e-01] [ 4.22207051e-02 -4.74220943e-03 9.99097054e-01 1.80239180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62463044 meters Centerline goodness [0,1] 0.3242733430506731 Centerline is valid? [False, False] Translation: X:7.56, Y:0.37, Z:0.18 [[ 9.99113129e-01 4.28090071e-04 -4.21043097e-02 7.55854350e+00] [-2.91397891e-04 9.99994668e-01 3.25259648e-03 3.72330196e-01] [ 4.21054776e-02 -3.23744274e-03 9.99107926e-01 1.82701477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.65463044 meters Centerline goodness [0,1] 0.3227462303496952 Centerline is valid? [False, False] Translation: X:7.56, Y:0.37, Z:0.18 [[ 9.99109472e-01 5.28925894e-04 -4.21898481e-02 7.55850932e+00] [-3.81033964e-04 9.99993756e-01 3.51335583e-03 3.70853284e-01] [ 4.21914430e-02 -3.49415132e-03 9.99103435e-01 1.83047416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68463043999998 meters Centerline goodness [0,1] 0.32246903032891927 Centerline is valid? [False, False] Translation: X:7.56, Y:0.37, Z:0.18 [[ 9.99112188e-01 5.54622106e-04 -4.21251497e-02 7.55827633e+00] [-4.00823685e-04 9.99993224e-01 3.65934650e-03 3.69661684e-01] [ 4.21268939e-02 -3.63921293e-03 9.99105641e-01 1.83155107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71463043999998 meters Centerline goodness [0,1] 0.3265200293850741 Centerline is valid? [False, False] Translation: X:7.56, Y:0.37, Z:0.18 [[ 9.99121073e-01 5.59184221e-04 -4.19138225e-02 7.55758086e+00] [-4.02278424e-04 9.99992881e-01 3.75187421e-03 3.68717948e-01] [ 4.19156221e-02 -3.73171556e-03 9.99114185e-01 1.83460360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74463043999998 meters Centerline goodness [0,1] 0.3266088229595022 Centerline is valid? [False, False] Translation: X:7.56, Y:0.37, Z:0.18 [[ 9.99126974e-01 6.12674346e-04 -4.17721848e-02 7.55719709e+00] [-4.50959968e-04 9.99992369e-01 3.88065415e-03 3.67777769e-01] [ 4.17742436e-02 -3.85842866e-03 9.99119625e-01 1.83573943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77463043999998 meters Centerline goodness [0,1] 0.32410608826371734 Centerline is valid? [False, False] Translation: X:7.56, Y:0.37, Z:0.18 [[ 9.99131573e-01 9.77719533e-04 -4.16550474e-02 7.55688521e+00] [-8.01433048e-04 9.99990654e-01 4.24854473e-03 3.66963491e-01] [ 4.16588119e-02 -4.21147145e-03 9.99123019e-01 1.83626561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80463043999998 meters Centerline goodness [0,1] 0.32677548373148846 Centerline is valid? [False, False] Translation: X:7.56, Y:0.37, Z:0.18 [[ 9.99133320e-01 1.08801133e-03 -4.16104009e-02 7.55664554e+00] [-9.05122183e-04 9.99989849e-01 4.41386168e-03 3.66374033e-01] [ 4.16147809e-02 -4.37237378e-03 9.99124163e-01 1.83831012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83463043999998 meters Centerline goodness [0,1] 0.3265698604088336 Centerline is valid? [False, False] Translation: X:7.56, Y:0.37, Z:0.18 [[ 9.99137311e-01 1.13982274e-03 -4.15130623e-02 7.55610493e+00] [-9.52466073e-04 9.99989274e-01 4.53269666e-03 3.65637813e-01] [ 4.15177835e-02 -4.48924656e-03 9.99127680e-01 1.84276657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86463043999998 meters Centerline goodness [0,1] 0.32697275588841856 Centerline is valid? [False, False] Translation: X:7.56, Y:0.36, Z:0.18 [[ 9.99142956e-01 1.21377319e-03 -4.13748820e-02 7.55539860e+00] [-1.01898874e-03 9.99988301e-01 4.72855884e-03 3.64409259e-01] [ 4.13801373e-02 -4.68234571e-03 9.99132504e-01 1.84810468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89463044 meters Centerline goodness [0,1] 0.3275394158697338 Centerline is valid? [False, False] Translation: X:7.55, Y:0.36, Z:0.18 [[ 9.99152773e-01 1.50618585e-03 -4.11274469e-02 7.55490656e+00] [-1.28443054e-03 9.99984499e-01 5.41779711e-03 3.60496297e-01] [ 4.11349696e-02 -5.36038166e-03 9.99139220e-01 1.84818765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92463044 meters Centerline goodness [0,1] 0.3256150506512301 Centerline is valid? [False, False] Translation: X:7.56, Y:0.36, Z:0.18 [[ 9.99149199e-01 1.60274094e-03 -4.12105379e-02 7.55552591e+00] [-1.36609919e-03 9.99982422e-01 5.76978283e-03 3.58069817e-01] [ 4.12190609e-02 -5.70857621e-03 9.99133825e-01 1.84284003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95463044 meters Centerline goodness [0,1] 0.32494813278008294 Centerline is valid? [False, False] Translation: X:7.56, Y:0.36, Z:0.18 [[ 9.99143111e-01 1.68451903e-03 -4.13546343e-02 7.55627951e+00] [-1.43280218e-03 9.99980273e-01 6.11567182e-03 3.55579911e-01] [ 4.13641205e-02 -6.05117836e-03 9.99125814e-01 1.83713585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98463044 meters Centerline goodness [0,1] 0.32759255648707786 Centerline is valid? [False, False] Translation: X:7.56, Y:0.35, Z:0.18 [[ 9.99137673e-01 1.80508478e-03 -4.14807456e-02 7.55669560e+00] [-1.53717157e-03 9.99977760e-01 6.48972443e-03 3.53170289e-01] [ 4.14915376e-02 -6.42036514e-03 9.99118227e-01 1.83567348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01463044 meters Centerline goodness [0,1] 0.3262643443064137 Centerline is valid? [False, False] Translation: X:7.56, Y:0.35, Z:0.18 [[ 9.99128891e-01 1.97913884e-03 -4.16838282e-02 7.55708120e+00] [-1.69552882e-03 9.99975183e-01 6.83809300e-03 3.51437161e-01] [ 4.16963272e-02 -6.76146015e-03 9.99107451e-01 1.83702357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04463044 meters Centerline goodness [0,1] 0.32544480912074625 Centerline is valid? [False, False] Translation: X:7.56, Y:0.35, Z:0.18 [[ 9.99127011e-01 2.46943178e-03 -4.17027291e-02 7.55717158e+00] [-2.15589383e-03 9.99969086e-01 7.56170360e-03 3.48715285e-01] [ 4.17201130e-02 -7.46519566e-03 9.99101448e-01 1.83694942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07463044 meters Centerline goodness [0,1] 0.3235388670995949 Centerline is valid? [False, False] Translation: X:7.56, Y:0.35, Z:0.18 [[ 9.99122137e-01 2.54504850e-03 -4.18148115e-02 7.55772574e+00] [-2.22248524e-03 9.99967431e-01 7.75876778e-03 3.47340148e-01] [ 4.18331960e-02 -7.65902385e-03 9.99095252e-01 1.83318980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10463044 meters Centerline goodness [0,1] 0.32588260775395284 Centerline is valid? [False, False] Translation: X:7.56, Y:0.35, Z:0.18 [[ 9.99122669e-01 2.65068692e-03 -4.17955189e-02 7.55790653e+00] [-2.31684279e-03 9.99965043e-01 8.03397391e-03 3.45590440e-01] [ 4.18153534e-02 -7.93009181e-03 9.99093884e-01 1.83031464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13463044 meters Centerline goodness [0,1] 0.3237839579083003 Centerline is valid? [False, False] Translation: X:7.56, Y:0.34, Z:0.18 [[ 9.99119374e-01 2.78454390e-03 -4.18655263e-02 7.55820890e+00] [-2.43792308e-03 9.99962348e-01 8.32816181e-03 3.44017807e-01] [ 4.18871401e-02 -8.21876289e-03 9.99088544e-01 1.82873213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16463044 meters Centerline goodness [0,1] 0.32515337423312884 Centerline is valid? [False, False] Translation: X:7.56, Y:0.34, Z:0.18 [[ 9.99094115e-01 3.26158257e-03 -4.24300717e-02 7.56001364e+00] [-2.87815932e-03 9.99954502e-01 9.09454352e-03 3.40948516e-01] [ 4.24578039e-02 -8.96418441e-03 9.99058046e-01 1.82186466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.19463044 meters Centerline goodness [0,1] 0.32177888433388424 Centerline is valid? [False, False] Translation: X:7.56, Y:0.34, Z:0.18 [[ 9.99074009e-01 3.37749754e-03 -4.28919172e-02 7.56160073e+00] [-2.97865487e-03 9.99951764e-01 9.35929180e-03 3.39456740e-01] [ 4.29214593e-02 -9.22286496e-03 9.99035879e-01 1.81561151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22463044 meters Centerline goodness [0,1] 0.320294345468629 Centerline is valid? [False, False] Translation: X:7.56, Y:0.34, Z:0.18 [[ 9.99056685e-01 3.38003112e-03 -4.32933644e-02 7.56295433e+00] [-2.97094919e-03 9.99950366e-01 9.50992634e-03 3.37928030e-01] [ 4.33233594e-02 -9.37233310e-03 9.99017140e-01 1.81031348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.25463044 meters Centerline goodness [0,1] 0.3220258518374658 Centerline is valid? [False, False] Translation: X:7.56, Y:0.34, Z:0.18 [[ 9.99044541e-01 3.44581377e-03 -4.35675520e-02 7.56365222e+00] [-3.02354980e-03 9.99947854e-01 9.75435025e-03 3.36247060e-01] [ 4.35988918e-02 -9.61330171e-03 9.99002863e-01 1.80961401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28463044 meters Centerline goodness [0,1] 0.32282804846609947 Centerline is valid? [False, False] Translation: X:7.56, Y:0.33, Z:0.18 [[ 9.99047144e-01 3.54702547e-03 -4.34996859e-02 7.56327034e+00] [-3.11375893e-03 9.99944911e-01 1.00239368e-02 3.34798078e-01] [ 4.35328447e-02 -9.87893792e-03 9.99003152e-01 1.81313763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.31463044 meters Centerline goodness [0,1] 0.3265398844680989 Centerline is valid? [False, False] Translation: X:7.56, Y:0.33, Z:0.18 [[ 9.99110963e-01 4.64199222e-03 -4.19014918e-02 7.55762263e+00] [-4.16578404e-03 9.99925825e-01 1.14451149e-02 3.31178487e-01] [ 4.19515119e-02 -1.12603872e-02 9.99056192e-01 1.84023582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34463044 meters Centerline goodness [0,1] 0.3242220262801351 Centerline is valid? [False, False] Translation: X:7.56, Y:0.33, Z:0.18 [[ 9.99124953e-01 4.74466603e-03 -4.15549745e-02 7.55630686e+00] [-4.26438802e-03 9.99923175e-01 1.16386797e-02 3.30277659e-01] [ 4.16070037e-02 -1.14512887e-02 9.99068429e-01 1.84794641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.37463044 meters Centerline goodness [0,1] 0.3244192561306728 Centerline is valid? [False, False] Translation: X:7.56, Y:0.33, Z:0.18 [[ 9.99126388e-01 4.79916635e-03 -4.15141901e-02 7.55613785e+00] [-4.31372987e-03 9.99921368e-01 1.17749529e-02 3.29472801e-01] [ 4.15674357e-02 -1.15855852e-02 9.99068527e-01 1.84900226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40463044 meters Centerline goodness [0,1] 0.3262422091412742 Centerline is valid? [False, False] Translation: X:7.56, Y:0.33, Z:0.18 [[ 9.99122700e-01 4.78965217e-03 -4.16039715e-02 7.55669844e+00] [-4.30272203e-03 9.99921290e-01 1.17856038e-02 3.28977779e-01] [ 4.16571458e-02 -1.15962540e-02 9.99064667e-01 1.84414354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43463043999998 meters Centerline goodness [0,1] 0.32519678265731855 Centerline is valid? [False, False] Translation: X:7.56, Y:0.33, Z:0.18 [[ 9.99114658e-01 4.73764731e-03 -4.18025749e-02 7.55759362e+00] [-4.25085082e-03 9.99922209e-01 1.17263447e-02 3.28719833e-01] [ 4.18548783e-02 -1.15382663e-02 9.99057074e-01 1.83808993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46463043999998 meters Centerline goodness [0,1] 0.32450573327883314 Centerline is valid? [False, False] Translation: X:7.56, Y:0.33, Z:0.18 [[ 9.99114515e-01 4.80015890e-03 -4.17988597e-02 7.55789426e+00] [-4.30802972e-03 9.99920436e-01 1.18558725e-02 3.27864888e-01] [ 4.18524441e-02 -1.16653036e-02 9.99055701e-01 1.83386039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49463043999998 meters Centerline goodness [0,1] 0.32383882279543064 Centerline is valid? [False, False] Translation: X:7.56, Y:0.33, Z:0.18 [[ 9.99116504e-01 4.90035614e-03 -4.17396374e-02 7.55778601e+00] [-4.40250656e-03 9.99918173e-01 1.20110817e-02 3.27355282e-01] [ 4.17950806e-02 -1.18167109e-02 9.99056323e-01 1.83341892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52463043999998 meters Centerline goodness [0,1] 0.3263739837398374 Centerline is valid? [False, False] Translation: X:7.56, Y:0.33, Z:0.18 [[ 9.99108337e-01 4.94875585e-03 -4.19290057e-02 7.55839069e+00] [-4.44381281e-03 9.99916585e-01 1.21274668e-02 3.26771988e-01] [ 4.19855241e-02 -1.19303285e-02 9.99046987e-01 1.83130224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55463043999998 meters Centerline goodness [0,1] 0.3253446217301639 Centerline is valid? [False, False] Translation: X:7.56, Y:0.33, Z:0.18 [[ 9.99097207e-01 4.93270205e-03 -4.21952426e-02 7.55933737e+00] [-4.42281508e-03 9.99916176e-01 1.21688215e-02 3.26080448e-01] [ 4.22517308e-02 -1.19712138e-02 9.99035275e-01 1.82672666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58463043999998 meters Centerline goodness [0,1] 0.32353764343688773 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:0.18 [[ 9.99084891e-01 4.91505323e-03 -4.24879086e-02 7.56022719e+00] [-4.39883886e-03 9.99915478e-01 1.22346421e-02 3.24943334e-01] [ 4.25444513e-02 -1.20365486e-02 9.99022067e-01 1.82439414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61463043999998 meters Centerline goodness [0,1] 0.32550546004973513 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:0.18 [[ 9.99090155e-01 4.98751983e-03 -4.23554887e-02 7.55978385e+00] [-4.46767575e-03 9.99913642e-01 1.23591600e-02 3.24439634e-01] [ 4.24134725e-02 -1.21586845e-02 9.99026158e-01 1.82592707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64463044 meters Centerline goodness [0,1] 0.322888342181363 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:0.18 [[ 9.99097445e-01 5.11176222e-03 -4.21683003e-02 7.55929291e+00] [-4.58583935e-03 9.99910613e-01 1.25593138e-02 3.23763873e-01] [ 4.22287312e-02 -1.23546012e-02 9.99031580e-01 1.82687556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67463044 meters Centerline goodness [0,1] 0.32423186160599016 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:0.18 [[ 9.99099399e-01 5.21000853e-03 -4.21099277e-02 7.55919576e+00] [-4.67688917e-03 9.99907793e-01 1.27487981e-02 3.22941773e-01] [ 4.21724662e-02 -1.25403731e-02 9.99031642e-01 1.82644830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70463044 meters Centerline goodness [0,1] 0.32423186160599016 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:0.18 [[ 9.99099399e-01 5.21000853e-03 -4.21099277e-02 7.55919576e+00] [-4.67688917e-03 9.99907793e-01 1.27487981e-02 3.22941773e-01] [ 4.21724662e-02 -1.25403731e-02 9.99031642e-01 1.82644830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73463044 meters Centerline goodness [0,1] 0.32563630455973136 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:0.18 [[ 9.99091148e-01 2.12783265e-03 -4.25717052e-02 7.56075304e+00] [-1.70493987e-03 9.99948870e-01 9.96750131e-03 3.20782375e-01] [ 4.25907377e-02 -9.88586013e-03 9.99043692e-01 1.82042101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76463044 meters Centerline goodness [0,1] 0.3239859897950359 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:0.18 [[ 9.99079393e-01 2.09901242e-03 -4.28481108e-02 7.56165562e+00] [-1.66206557e-03 9.99946284e-01 1.02306541e-02 3.18547573e-01] [ 4.28672834e-02 -1.01500194e-02 9.99029215e-01 1.81780509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79463044 meters Centerline goodness [0,1] 0.31959159261790837 Centerline is valid? [False, False] Translation: X:7.58, Y:0.32, Z:0.18 [[ 9.99066067e-01 7.55994988e-03 -4.25422277e-02 7.58376629e+00] [-7.25676206e-03 9.99947193e-01 7.27667443e-03 3.15289005e-01] [ 4.25949925e-02 -6.96115968e-03 9.99068170e-01 1.82555008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82463044 meters Centerline goodness [0,1] 0.32500433425797504 Centerline is valid? [False, False] Translation: X:7.56, Y:0.32, Z:0.18 [[ 9.99104431e-01 -1.44899209e-03 -4.22875475e-02 7.56137531e+00] [ 1.78477943e-03 9.99967171e-01 7.90389916e-03 3.15235610e-01] [ 4.22747065e-02 -7.97229462e-03 9.99074217e-01 1.81267275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85463044 meters Centerline goodness [0,1] 0.32540784449843807 Centerline is valid? [False, False] Translation: X:7.56, Y:0.31, Z:0.18 [[ 9.99105972e-01 -1.40580163e-03 -4.22525817e-02 7.56123100e+00] [ 1.75455747e-03 9.99964691e-01 8.21812146e-03 3.13175990e-01] [ 4.22395368e-02 -8.28490881e-03 9.99073161e-01 1.81457670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88463044 meters Centerline goodness [0,1] 0.32317413919099003 Centerline is valid? [False, False] Translation: X:7.58, Y:0.31, Z:0.18 [[ 9.99080454e-01 6.26803242e-03 -4.24141201e-02 7.58068747e+00] [-5.97429736e-03 9.99957311e-01 7.04862266e-03 3.08144717e-01] [ 4.24564905e-02 -6.78874657e-03 9.99075252e-01 1.83625985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91463044 meters Centerline goodness [0,1] 0.3218659903318809 Centerline is valid? [False, False] Translation: X:7.58, Y:0.31, Z:0.18 [[ 9.99062687e-01 6.58033766e-03 -4.27837228e-02 7.58211265e+00] [-6.26009623e-03 9.99951412e-01 7.61479724e-03 3.05943110e-01] [ 4.28317519e-02 -7.33982957e-03 9.99055338e-01 1.82892478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94463044 meters Centerline goodness [0,1] 0.3208036154126239 Centerline is valid? [False, False] Translation: X:7.60, Y:0.31, Z:0.18 [[ 9.99075493e-01 -5.97764088e-04 -4.29860749e-02 7.60185336e+00] [ 9.71734336e-04 9.99961861e-01 8.67943099e-03 3.10135867e-01] [ 4.29792472e-02 -8.71317784e-03 9.99037970e-01 1.84315855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.97463044 meters Centerline goodness [0,1] 0.3221723944633694 Centerline is valid? [False, False] Translation: X:7.60, Y:0.31, Z:0.18 [[ 9.99072951e-01 -5.52384093e-04 -4.30457056e-02 7.60186765e+00] [ 9.31053548e-04 9.99961045e-01 8.77736436e-03 3.09467197e-01] [ 4.30391802e-02 -8.80930517e-03 9.99034547e-01 1.84471906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00463044 meters Centerline goodness [0,1] 0.32198535745047374 Centerline is valid? [False, False] Translation: X:7.60, Y:0.31, Z:0.19 [[ 9.99068802e-01 -5.14628811e-04 -4.31423800e-02 7.60137589e+00] [ 8.97910770e-04 9.99960300e-01 8.86520996e-03 3.08504950e-01] [ 4.31361049e-02 -8.89569270e-03 9.99029601e-01 1.85418286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.03463044 meters Centerline goodness [0,1] 0.3210551228538233 Centerline is valid? [False, False] Translation: X:7.60, Y:0.31, Z:0.19 [[ 9.99061490e-01 -4.25889991e-04 -4.33123254e-02 7.60191849e+00] [ 8.13806544e-04 9.99959715e-01 8.93902464e-03 3.08504225e-01] [ 4.33067735e-02 -8.96588313e-03 9.99021590e-01 1.85233812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06463044 meters Centerline goodness [0,1] 0.319091979869365 Centerline is valid? [False, False] Translation: X:7.60, Y:0.31, Z:0.18 [[ 9.99061897e-01 -3.45717357e-04 -4.33036579e-02 7.60227577e+00] [ 7.35137622e-04 9.99959434e-01 8.97717823e-03 3.08764080e-01] [ 4.32987976e-02 -9.00059086e-03 9.99021623e-01 1.84673315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.09463044 meters Centerline goodness [0,1] 0.3240834865361739 Centerline is valid? [False, False] Translation: X:7.60, Y:0.31, Z:0.18 [[ 9.99070690e-01 -3.51701335e-04 -4.31002728e-02 7.60191642e+00] [ 7.37123368e-04 9.99959883e-01 8.92688377e-03 3.09088189e-01] [ 4.30954041e-02 -8.95035815e-03 9.99030869e-01 1.84502242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12463044 meters Centerline goodness [0,1] 0.32269260433627556 Centerline is valid? [False, False] Translation: X:7.62, Y:0.31, Z:0.19 [[ 9.99092091e-01 7.55515699e-03 -4.19274746e-02 7.62098968e+00] [-7.25379219e-03 9.99946787e-01 7.33525087e-03 3.07608026e-01] [ 4.19806624e-02 -7.02445795e-03 9.99093730e-01 1.86485871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.15463044 meters Centerline goodness [0,1] 0.3229990919704242 Centerline is valid? [False, False] Translation: X:7.62, Y:0.31, Z:0.19 [[ 9.99093566e-01 7.40771121e-03 -4.19186439e-02 7.62092967e+00] [-7.11866956e-03 9.99949878e-01 7.04037476e-03 3.08716823e-01] [ 4.19686959e-02 -6.73558815e-03 9.99096222e-01 1.86535290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18463043999998 meters Centerline goodness [0,1] 0.32425947738079663 Centerline is valid? [False, False] Translation: X:7.62, Y:0.31, Z:0.19 [[ 9.99088169e-01 7.27833979e-03 -4.20696582e-02 7.62143430e+00] [-7.00995659e-03 9.99954151e-01 6.52349958e-03 3.11593181e-01] [ 4.21152096e-02 -6.22264478e-03 9.99093383e-01 1.86205257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21463043999998 meters Centerline goodness [0,1] 0.3215762273901809 Centerline is valid? [False, False] Translation: X:7.64, Y:0.32, Z:0.19 [[ 9.99129996e-01 2.14139820e-04 -4.17037680e-02 7.64009331e+00] [ 9.97884710e-05 9.99971679e-01 7.52534903e-03 3.18972797e-01] [ 4.17041984e-02 -7.52296350e-03 9.99101679e-01 1.87833754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24463043999998 meters Centerline goodness [0,1] 0.3242922236378949 Centerline is valid? [False, False] Translation: X:7.64, Y:0.32, Z:0.19 [[ 9.99139417e-01 1.67397479e-04 -4.14776715e-02 7.63944851e+00] [ 1.35535983e-04 9.99973341e-01 7.30061135e-03 3.20454159e-01] [ 4.14777878e-02 -7.29995028e-03 9.99112758e-01 1.87968769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27463043999998 meters Centerline goodness [0,1] 0.3225128644939965 Centerline is valid? [False, False] Translation: X:7.64, Y:0.32, Z:0.19 [[ 9.99144530e-01 9.95247965e-05 -4.13545489e-02 7.63910463e+00] [ 1.94716159e-04 9.99974698e-01 7.11099192e-03 3.21573503e-01] [ 4.13542103e-02 -7.11296108e-03 9.99119230e-01 1.88023613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30463043999998 meters Centerline goodness [0,1] 0.3209572371240038 Centerline is valid? [False, False] Translation: X:7.64, Y:0.32, Z:0.19 [[ 9.99142476e-01 -2.50608549e-05 -4.14042515e-02 7.63916666e+00] [ 3.12325050e-04 9.99975928e-01 6.93158219e-03 3.22143779e-01] [ 4.14030811e-02 -6.93856977e-03 9.99118432e-01 1.88105336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33463043999998 meters Centerline goodness [0,1] 0.3250048799531524 Centerline is valid? [False, False] Translation: X:7.64, Y:0.32, Z:0.19 [[ 9.99124231e-01 -2.97956865e-04 -4.18411526e-02 7.64012950e+00] [ 5.81895472e-04 9.99976886e-01 6.77409367e-03 3.21711990e-01] [ 4.18381671e-02 -6.79250831e-03 9.99101311e-01 1.88231271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36463043999998 meters Centerline goodness [0,1] 0.32210853516383886 Centerline is valid? [False, False] Translation: X:7.64, Y:0.32, Z:0.19 [[ 9.99115696e-01 -3.68522965e-04 -4.20439129e-02 7.64053496e+00] [ 6.55769349e-04 9.99976539e-01 6.81846934e-03 3.20940393e-01] [ 4.20404138e-02 -6.84001084e-03 9.99092497e-01 1.88391703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39463044 meters Centerline goodness [0,1] 0.3222549251294391 Centerline is valid? [False, False] Translation: X:7.64, Y:0.32, Z:0.19 [[ 9.99116075e-01 -3.84333581e-04 -4.20347619e-02 7.64046415e+00] [ 6.76298653e-04 9.99975746e-01 6.93180082e-03 3.19995280e-01] [ 4.20310782e-02 -6.95410168e-03 9.99092102e-01 1.88510646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42463044 meters Centerline goodness [0,1] 0.32385701334024086 Centerline is valid? [False, False] Translation: X:7.64, Y:0.32, Z:0.19 [[ 9.99120953e-01 -3.42154484e-04 -4.19190279e-02 7.64011810e+00] [ 6.38730903e-04 9.99974861e-01 7.06179414e-03 3.19357301e-01] [ 4.19155579e-02 -7.08236147e-03 9.99096055e-01 1.88644421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45463044 meters Centerline goodness [0,1] 0.3233328286214877 Centerline is valid? [False, False] Translation: X:7.64, Y:0.32, Z:0.19 [[ 9.99128004e-01 -2.87455555e-04 -4.17510477e-02 7.63959937e+00] [ 5.88158542e-04 9.99973977e-01 7.19018113e-03 3.18882538e-01] [ 4.17478944e-02 -7.20846755e-03 9.99102173e-01 1.88832255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48463044 meters Centerline goodness [0,1] 0.3212195742515478 Centerline is valid? [False, False] Translation: X:7.68, Y:0.32, Z:0.19 [[ 9.99222227e-01 1.55015191e-05 -3.94327457e-02 7.68281700e+00] [ 2.44701630e-04 9.99978231e-01 6.59382156e-03 3.21723861e-01] [ 3.94319895e-02 -6.59834232e-03 9.99200470e-01 1.90436425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51463044 meters Centerline goodness [0,1] 0.3223234869540862 Centerline is valid? [False, False] Translation: X:7.66, Y:0.32, Z:0.19 [[ 9.99171040e-01 7.47295567e-03 -4.00173477e-02 7.66385267e+00] [-7.27076149e-03 9.99960069e-01 5.19582040e-03 3.16808129e-01] [ 4.00545779e-02 -4.90055668e-03 9.99185476e-01 1.88478962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54463044 meters Centerline goodness [0,1] 0.3213677057491101 Centerline is valid? [False, False] Translation: X:7.66, Y:0.32, Z:0.19 [[ 9.99164880e-01 7.39076150e-03 -4.01860510e-02 7.66447278e+00] [-7.19815094e-03 9.99961913e-01 4.93555288e-03 3.18072964e-01] [ 4.02209979e-02 -4.64216584e-03 9.99180025e-01 1.88107153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57463044 meters Centerline goodness [0,1] 0.3232578209277238 Centerline is valid? [False, False] Translation: X:7.66, Y:0.32, Z:0.19 [[ 9.99159263e-01 7.41351191e-03 -4.03212929e-02 7.66494426e+00] [-7.22889689e-03 9.99962720e-01 4.72247357e-03 3.19866619e-01] [ 4.03547998e-02 -4.42702475e-03 9.99175606e-01 1.87828122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60463044 meters Centerline goodness [0,1] 0.31789270799871505 Centerline is valid? [False, False] Translation: X:7.67, Y:0.32, Z:0.19 [[ 9.99156414e-01 7.59543259e-03 -4.03580229e-02 7.66512979e+00] [-7.41473057e-03 9.99961814e-01 4.62527477e-03 3.21924830e-01] [ 4.03916127e-02 -4.32212909e-03 9.99174578e-01 1.87666925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63463044 meters Centerline goodness [0,1] 0.3218636138240304 Centerline is valid? [False, False] Translation: X:7.66, Y:0.32, Z:0.19 [[ 9.99165775e-01 7.67739227e-03 -4.01099896e-02 7.66454866e+00] [-7.50518926e-03 9.99961969e-01 4.44208678e-03 3.23874642e-01] [ 4.01425678e-02 -4.13734802e-03 9.99185397e-01 1.87632162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66463044 meters Centerline goodness [0,1] 0.3211477564033519 Centerline is valid? [False, False] Translation: X:7.66, Y:0.33, Z:0.19 [[ 9.99181846e-01 7.43131832e-03 -3.97544259e-02 7.66389829e+00] [-7.28569218e-03 9.99966213e-01 3.80676806e-03 3.26780529e-01] [ 3.97813721e-02 -3.51401503e-03 9.99202229e-01 1.87357839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.69463044 meters Centerline goodness [0,1] 0.3221956010274343 Centerline is valid? [False, False] Translation: X:7.66, Y:0.33, Z:0.19 [[ 9.99177386e-01 7.29643374e-03 -3.98912716e-02 7.66436011e+00] [-7.15693675e-03 9.99967769e-01 3.63862084e-03 3.27035333e-01] [ 3.99165348e-02 -3.35012835e-03 9.99197401e-01 1.87162003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72463044 meters Centerline goodness [0,1] 0.3198205000970853 Centerline is valid? [False, False] Translation: X:7.67, Y:0.33, Z:0.19 [[ 9.99168075e-01 7.18286126e-03 -4.01443053e-02 7.66516469e+00] [-7.04688378e-03 9.99968948e-01 3.52769655e-03 3.27130675e-01] [ 4.01683977e-02 -3.24186951e-03 9.99187665e-01 1.86859477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.75463044 meters Centerline goodness [0,1] 0.3188405797101449 Centerline is valid? [False, False] Translation: X:7.67, Y:0.33, Z:0.19 [[ 9.99155276e-01 7.20120212e-03 -4.04583398e-02 7.66594956e+00] [-7.06038081e-03 9.99968514e-01 3.62245803e-03 3.27075367e-01] [ 4.04831520e-02 -3.33374677e-03 9.99174660e-01 1.86864089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78463044 meters Centerline goodness [0,1] 0.3193556029376925 Centerline is valid? [False, False] Translation: X:7.67, Y:0.33, Z:0.19 [[ 9.99155146e-01 7.14103146e-03 -4.04722174e-02 7.66599045e+00] [-7.00203492e-03 9.99969095e-01 3.57508328e-03 3.27248549e-01] [ 4.04964963e-02 -3.28867498e-03 9.99174268e-01 1.86904436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.81463044 meters Centerline goodness [0,1] 0.31808910359635 Centerline is valid? [False, False] Translation: X:7.67, Y:0.33, Z:0.19 [[ 9.99153332e-01 7.08888409e-03 -4.05261302e-02 7.66626565e+00] [-6.95313173e-03 9.99969737e-01 3.48971939e-03 3.27709881e-01] [ 4.05496420e-02 -3.20498123e-03 9.99172385e-01 1.86747783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84463044 meters Centerline goodness [0,1] 0.32129219821227106 Centerline is valid? [False, False] Translation: X:7.65, Y:0.33, Z:0.18 [[ 9.99174775e-01 -1.06857928e-03 -4.06032873e-02 7.64741865e+00] [ 1.26030316e-03 9.99988177e-01 4.69657742e-03 3.32110268e-01] [ 4.05977885e-02 -4.74387414e-03 9.99164308e-01 1.84041377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.87463044 meters Centerline goodness [0,1] 0.31883776612955417 Centerline is valid? [False, False] Translation: X:7.65, Y:0.33, Z:0.18 [[ 9.99170729e-01 -1.16388193e-03 -4.07001168e-02 7.64793718e+00] [ 1.34394922e-03 9.99989429e-01 4.39716431e-03 3.33818288e-01] [ 4.06945688e-02 -4.44821676e-03 9.99161731e-01 1.83611514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90463044 meters Centerline goodness [0,1] 0.32101586754053124 Centerline is valid? [False, False] Translation: X:7.65, Y:0.34, Z:0.18 [[ 9.99169689e-01 -1.26099777e-03 -4.07227628e-02 7.64804301e+00] [ 1.42883541e-03 9.99990604e-01 4.09262767e-03 3.35490768e-01] [ 4.07172194e-02 -4.14741564e-03 9.99162102e-01 1.83544743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93463043999998 meters Centerline goodness [0,1] 0.32011649228777905 Centerline is valid? [False, False] Translation: X:7.65, Y:0.34, Z:0.18 [[ 9.99161876e-01 -1.53645895e-03 -4.09045861e-02 7.64856558e+00] [ 1.67358892e-03 9.99993094e-01 3.31840312e-03 3.39666116e-01] [ 4.08992050e-02 -3.38407935e-03 9.99157547e-01 1.83310174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96463043999998 meters Centerline goodness [0,1] 0.31936356748565864 Centerline is valid? [False, False] Translation: X:7.65, Y:0.34, Z:0.18 [[ 9.99157760e-01 -1.63599940e-03 -4.10011591e-02 7.64872726e+00] [ 1.76286340e-03 9.99993770e-01 3.05819242e-03 3.41149518e-01] [ 4.09959005e-02 -3.12789613e-03 9.99154419e-01 1.83332020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99463043999998 meters Centerline goodness [0,1] 0.31921565258478124 Centerline is valid? [False, False] Translation: X:7.65, Y:0.34, Z:0.18 [[ 9.99152433e-01 -1.71163362e-03 -4.11276872e-02 7.64886687e+00] [ 1.83434376e-03 9.99993978e-01 2.94608646e-03 3.41737769e-01] [ 4.11223969e-02 -3.01903177e-03 9.99149555e-01 1.83564875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02463043999998 meters Centerline goodness [0,1] 0.3200274260247262 Centerline is valid? [False, False] Translation: X:7.65, Y:0.34, Z:0.18 [[ 9.99146819e-01 -1.83913416e-03 -4.12583441e-02 7.64906562e+00] [ 1.96150966e-03 9.99993796e-01 2.92579326e-03 3.41278549e-01] [ 4.12527072e-02 -3.00422567e-03 9.99144228e-01 1.83776976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05463043999998 meters Centerline goodness [0,1] 0.3228586238175457 Centerline is valid? [False, False] Translation: X:7.65, Y:0.34, Z:0.18 [[ 9.99139824e-01 -2.04666487e-03 -4.14176720e-02 7.64921730e+00] [ 2.17064717e-03 9.99993297e-01 2.94871435e-03 3.40032112e-01] [ 4.14113593e-02 -3.03608109e-03 9.99137569e-01 1.84192722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08463043999998 meters Centerline goodness [0,1] 0.32605679601127247 Centerline is valid? [False, False] Translation: X:7.65, Y:0.34, Z:0.18 [[ 9.99147706e-01 -2.24705645e-03 -4.12166617e-02 7.64858721e+00] [ 2.37659992e-03 9.99992389e-01 3.09425864e-03 3.38108295e-01] [ 4.12093950e-02 -3.18957693e-03 9.99145441e-01 1.84551800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11463043999998 meters Centerline goodness [0,1] 0.3275032888352132 Centerline is valid? [False, False] Translation: X:7.64, Y:0.33, Z:0.19 [[ 9.99190034e-01 -4.21415149e-03 -4.00189450e-02 7.64468410e+00] [ 4.30024582e-03 9.99988621e-01 2.06550273e-03 3.31905093e-01] [ 4.00097853e-02 -2.23592105e-03 9.99196786e-01 1.86147106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14463044 meters Centerline goodness [0,1] 0.32975211960390916 Centerline is valid? [False, False] Translation: X:7.64, Y:0.33, Z:0.19 [[ 9.99188754e-01 -4.22304177e-03 -4.00499649e-02 7.64487783e+00] [ 4.32417848e-03 9.99987676e-01 2.43897284e-03 3.29208752e-01] [ 4.00391714e-02 -2.61017743e-03 9.99194702e-01 1.86087923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17463044 meters Centerline goodness [0,1] 0.32719220929982584 Centerline is valid? [False, False] Translation: X:7.65, Y:0.33, Z:0.19 [[ 9.99170764e-01 -4.39163001e-03 -4.04783560e-02 7.64629485e+00] [ 4.50160912e-03 9.99986419e-01 2.62623954e-03 3.26565276e-01] [ 4.04662728e-02 -2.80627950e-03 9.99176964e-01 1.85608910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20463044 meters Centerline goodness [0,1] 0.3260569753911132 Centerline is valid? [False, False] Translation: X:7.65, Y:0.32, Z:0.19 [[ 9.99150316e-01 -4.44080742e-03 -4.09747008e-02 7.64783448e+00] [ 4.56319916e-03 9.99985401e-01 2.89396339e-03 3.24050746e-01] [ 4.09612510e-02 -3.07848015e-03 9.99155993e-01 1.85127307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23463044 meters Centerline goodness [0,1] 0.32412178991668816 Centerline is valid? [False, False] Translation: X:7.65, Y:0.32, Z:0.18 [[ 9.99132077e-01 -4.35723704e-03 -4.14259244e-02 7.64935256e+00] [ 4.49536849e-03 9.99984641e-01 3.24185257e-03 3.21924297e-01] [ 4.14111627e-02 -3.42526369e-03 9.99136319e-01 1.84556448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26463044 meters Centerline goodness [0,1] 0.3272462127807766 Centerline is valid? [False, False] Translation: X:7.63, Y:0.31, Z:0.18 [[ 9.99227359e-01 1.69750368e-03 -3.92658067e-02 7.63418486e+00] [-1.58076186e-03 9.99994239e-01 3.00397245e-03 3.13886557e-01] [ 3.92706797e-02 -2.93958157e-03 9.99224285e-01 1.81573965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29463044 meters Centerline goodness [0,1] 0.3252950010727311 Centerline is valid? [False, False] Translation: X:7.65, Y:0.31, Z:0.18 [[ 9.99211258e-01 9.58993790e-03 -3.85343380e-02 7.65368720e+00] [-9.53155710e-03 9.99953131e-01 1.69846621e-03 3.10567576e-01] [ 3.85488201e-02 -1.32983432e-03 9.99255833e-01 1.83628629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32463044 meters Centerline goodness [0,1] 0.32698206956146036 Centerline is valid? [False, False] Translation: X:7.65, Y:0.31, Z:0.18 [[ 9.99207395e-01 9.56110066e-03 -3.86415296e-02 7.65379150e+00] [-9.50441103e-03 9.99953470e-01 1.65050401e-03 3.10445311e-01] [ 3.86555123e-02 -1.28193083e-03 9.99251774e-01 1.83841835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35463044 meters Centerline goodness [0,1] 0.32874825099558713 Centerline is valid? [False, False] Translation: X:7.65, Y:0.31, Z:0.18 [[ 9.99205587e-01 9.63314622e-03 -3.86703687e-02 7.65374480e+00] [-9.57271241e-03 9.99952653e-01 1.74765324e-03 3.10083585e-01] [ 3.86853732e-02 -1.37608457e-03 9.99250493e-01 1.84018545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38463044 meters Centerline goodness [0,1] 0.32812903781548797 Centerline is valid? [False, False] Translation: X:7.65, Y:0.31, Z:0.18 [[ 9.99209605e-01 9.72178411e-03 -3.85441631e-02 7.65326939e+00] [-9.65720324e-03 9.99951636e-01 1.86133752e-03 3.09787006e-01] [ 3.85603944e-02 -1.48763751e-03 9.99255164e-01 1.84304476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41463044 meters Centerline goodness [0,1] 0.3269738836675473 Centerline is valid? [False, False] Translation: X:7.65, Y:0.31, Z:0.18 [[ 9.99218069e-01 9.84135919e-03 -3.82935756e-02 7.65244177e+00] [-9.77057431e-03 9.99950196e-01 2.03518869e-03 3.09319811e-01] [ 3.83116975e-02 -1.65944709e-03 9.99264460e-01 1.84698195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44463044 meters Centerline goodness [0,1] 0.3255254222718872 Centerline is valid? [False, False] Translation: X:7.67, Y:0.31, Z:0.19 [[ 9.99350793e-01 1.41366026e-03 -3.59999163e-02 7.67146774e+00] [-1.31993429e-03 9.99995678e-01 2.62713866e-03 3.09548703e-01] [ 3.60034746e-02 -2.57791558e-03 9.99348340e-01 1.86199428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.47463044 meters Centerline goodness [0,1] 0.32797406946292873 Centerline is valid? [False, False] Translation: X:7.67, Y:0.31, Z:0.19 [[ 9.99346807e-01 1.20111969e-03 -3.61180820e-02 7.67157932e+00] [-1.10368761e-03 9.99995699e-01 2.71741524e-03 3.07357461e-01] [ 3.61211905e-02 -2.67577717e-03 9.99343835e-01 1.86510265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50463044 meters Centerline goodness [0,1] 0.32953099730458224 Centerline is valid? [False, False] Translation: X:7.67, Y:0.31, Z:0.19 [[ 9.99335766e-01 1.13526840e-03 -3.64244113e-02 7.67217574e+00] [-1.02828597e-03 9.99995103e-01 2.95570722e-03 3.05056590e-01] [ 3.64275884e-02 -2.91628923e-03 9.99332040e-01 1.86730892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.53463044 meters Centerline goodness [0,1] 0.32653455983493807 Centerline is valid? [False, False] Translation: X:7.67, Y:0.30, Z:0.19 [[ 9.99326100e-01 1.14225778e-03 -3.66884345e-02 7.67281393e+00] [-1.02149723e-03 9.99994000e-01 3.31009190e-03 3.02507374e-01] [ 3.66919954e-02 -3.27038410e-03 9.99321271e-01 1.86782430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56463044 meters Centerline goodness [0,1] 0.3307682331070857 Centerline is valid? [False, False] Translation: X:7.67, Y:0.30, Z:0.19 [[ 9.99321664e-01 1.25126565e-03 -3.68055059e-02 7.67296476e+00] [-1.11105471e-03 9.99992049e-01 3.82971662e-03 2.99607479e-01] [ 3.68100053e-02 -3.78622586e-03 9.99315109e-01 1.87046278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.59463044 meters Centerline goodness [0,1] 0.3307682331070857 Centerline is valid? [False, False] Translation: X:7.67, Y:0.30, Z:0.19 [[ 9.99321664e-01 1.25126565e-03 -3.68055059e-02 7.67296476e+00] [-1.11105471e-03 9.99992049e-01 3.82971662e-03 2.99607479e-01] [ 3.68100053e-02 -3.78622586e-03 9.99315109e-01 1.87046278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62463044 meters Centerline goodness [0,1] 0.3290059108006448 Centerline is valid? [False, False] Translation: X:7.67, Y:0.30, Z:0.19 [[ 9.99319020e-01 1.31941326e-03 -3.68748723e-02 7.67303281e+00] [-1.16076103e-03 9.99989980e-01 4.32352595e-03 2.96533880e-01] [ 3.68802074e-02 -4.27777879e-03 9.99310538e-01 1.87289615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.65463044 meters Centerline goodness [0,1] 0.3295390608093486 Centerline is valid? [False, False] Translation: X:7.67, Y:0.29, Z:0.19 [[ 9.99311398e-01 -2.39614357e-03 -3.70268685e-02 7.67338831e+00] [ 2.44870667e-03 9.99996058e-01 1.37430920e-03 2.91776557e-01] [ 3.70234295e-02 -1.46403079e-03 9.99313325e-01 1.87483077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68463043999998 meters Centerline goodness [0,1] 0.3277267545652034 Centerline is valid? [False, False] Translation: X:7.67, Y:0.29, Z:0.19 [[ 9.99292548e-01 -2.45317990e-03 -3.75284721e-02 7.67477597e+00] [ 2.51642882e-03 9.99995492e-01 1.63821543e-03 2.89097272e-01] [ 3.75242841e-02 -1.73149420e-03 9.99294216e-01 1.87244893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71463043999998 meters Centerline goodness [0,1] 0.3299563658357455 Centerline is valid? [False, False] Translation: X:7.68, Y:0.29, Z:0.19 [[ 9.99283309e-01 -2.38360144e-03 -3.77781313e-02 7.67542419e+00] [ 2.45842911e-03 9.99995107e-01 1.93438343e-03 2.87200528e-01] [ 3.77733356e-02 -2.02587193e-03 9.99284279e-01 1.87210342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74463043999998 meters Centerline goodness [0,1] 0.3299344028057414 Centerline is valid? [False, False] Translation: X:7.68, Y:0.29, Z:0.19 [[ 9.99283761e-01 -2.20612617e-03 -3.77769509e-02 7.67541833e+00] [ 2.29383608e-03 9.99994773e-01 2.27859876e-03 2.85814635e-01] [ 3.77717266e-02 -2.36362087e-03 9.99283598e-01 1.87274099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77463043999998 meters Centerline goodness [0,1] 0.3290984398137219 Centerline is valid? [False, False] Translation: X:7.69, Y:0.28, Z:0.19 [[ 9.99316340e-01 5.92975622e-03 -3.64923330e-02 7.69446073e+00] [-5.88567873e-03 9.99981814e-01 1.31516551e-03 2.81403055e-01] [ 3.64994680e-02 -1.09948424e-03 9.99333068e-01 1.88974155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80463043999998 meters Centerline goodness [0,1] 0.3307514725236791 Centerline is valid? [False, False] Translation: X:7.69, Y:0.28, Z:0.19 [[ 9.99321001e-01 5.94585088e-03 -3.63618378e-02 7.69395868e+00] [-5.89494002e-03 9.99981489e-01 1.50716955e-03 2.79828861e-01] [ 3.63701261e-02 -1.29179533e-03 9.99337553e-01 1.89301427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83463043999998 meters Centerline goodness [0,1] 0.32920505678165846 Centerline is valid? [False, False] Translation: X:7.71, Y:0.28, Z:0.19 [[ 9.99353605e-01 -2.46836146e-03 -3.58647296e-02 7.71426921e+00] [ 2.53338705e-03 9.99995228e-01 1.76774795e-03 2.80260021e-01] [ 3.58601950e-02 -1.85746452e-03 9.99355090e-01 1.90737011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86463043999998 meters Centerline goodness [0,1] 0.3297789673631497 Centerline is valid? [False, False] Translation: X:7.72, Y:0.28, Z:0.19 [[ 9.99343873e-01 -2.41325380e-03 -3.61386069e-02 7.71504070e+00] [ 2.48523846e-03 9.99995016e-01 1.94711595e-03 2.79211093e-01] [ 3.61337279e-02 -2.03565145e-03 9.99344890e-01 1.90564779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89463044 meters Centerline goodness [0,1] 0.3287064634250192 Centerline is valid? [False, False] Translation: X:7.74, Y:0.27, Z:0.19 [[ 9.99275112e-01 5.22342909e-03 -3.77089738e-02 7.73586896e+00] [-5.18314664e-03 9.99985888e-01 1.16592759e-03 2.74142673e-01] [ 3.77145318e-02 -9.69631281e-04 9.99288084e-01 1.92199620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92463044 meters Centerline goodness [0,1] 0.32940668824163966 Centerline is valid? [False, False] Translation: X:7.72, Y:0.28, Z:0.19 [[ 9.99201229e-01 -3.07597389e-03 -3.98427118e-02 7.71832707e+00] [ 3.17831063e-03 9.99991811e-01 2.50543152e-03 2.76807990e-01] [ 3.98346789e-02 -2.63006276e-03 9.99202823e-01 1.90103077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95463044 meters Centerline goodness [0,1] 0.3244328922495274 Centerline is valid? [False, False] Translation: X:7.72, Y:0.28, Z:0.19 [[ 9.99174488e-01 -3.13157223e-03 -4.05035284e-02 7.72025224e+00] [ 3.23466311e-03 9.99991693e-01 2.47994781e-03 2.76534767e-01] [ 4.04954258e-02 -2.60891585e-03 9.99176318e-01 1.89665763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98463044 meters Centerline goodness [0,1] 0.32731130255882734 Centerline is valid? [False, False] Translation: X:7.72, Y:0.28, Z:0.19 [[ 9.99160505e-01 -3.21215084e-03 -4.08407558e-02 7.72106046e+00] [ 3.31169765e-03 9.99991708e-01 2.37001735e-03 2.76797000e-01] [ 4.08328043e-02 -2.50327997e-03 9.99162857e-01 1.89650858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01463044 meters Centerline goodness [0,1] 0.3270177853287167 Centerline is valid? [False, False] Translation: X:7.72, Y:0.28, Z:0.19 [[ 9.99163255e-01 -3.24430953e-03 -4.07708780e-02 7.72049263e+00] [ 3.34055040e-03 9.99991792e-01 2.29262441e-03 2.77324181e-01] [ 4.07631054e-02 -2.42690324e-03 9.99165892e-01 1.90276786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04463044 meters Centerline goodness [0,1] 0.3315521847797983 Centerline is valid? [False, False] Translation: X:7.72, Y:0.28, Z:0.19 [[ 9.99194590e-01 -3.26874290e-03 -3.99935846e-02 7.71785869e+00] [ 3.36443254e-03 9.99991636e-01 2.32555366e-03 2.77707788e-01] [ 3.99856485e-02 -2.45823635e-03 9.99197230e-01 1.91440715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07463044 meters Centerline goodness [0,1] 0.33405022592978795 Centerline is valid? [False, False] Translation: X:7.72, Y:0.28, Z:0.19 [[ 9.99195473e-01 -3.31908035e-03 -3.99673795e-02 7.71777205e+00] [ 3.41535913e-03 9.99991428e-01 2.34089624e-03 2.77586495e-01] [ 3.99592673e-02 -2.47551588e-03 9.99198243e-01 1.91490761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10463044 meters Centerline goodness [0,1] 0.3329725751639646 Centerline is valid? [False, False] Translation: X:7.72, Y:0.28, Z:0.19 [[ 9.99183156e-01 -3.35918603e-03 -4.02707797e-02 7.71891733e+00] [ 3.45762952e-03 9.99991202e-01 2.37513900e-03 2.77441251e-01] [ 4.02624468e-02 -2.51244031e-03 9.99185980e-01 1.90925208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13463044 meters Centerline goodness [0,1] 0.33224088488324455 Centerline is valid? [False, False] Translation: X:7.72, Y:0.28, Z:0.19 [[ 9.99161683e-01 -3.46763841e-03 -4.07910236e-02 7.72047465e+00] [ 3.56904279e-03 9.99990719e-01 2.41338815e-03 2.76886219e-01] [ 4.07822762e-02 -2.55694987e-03 9.99164785e-01 1.90455562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16463044 meters Centerline goodness [0,1] 0.33431244560487383 Centerline is valid? [False, False] Translation: X:7.72, Y:0.28, Z:0.19 [[ 9.99151718e-01 -3.56246282e-03 -4.10262406e-02 7.72110914e+00] [ 3.66889927e-03 9.99990096e-01 2.51935019e-03 2.75829475e-01] [ 4.10168592e-02 -2.66773422e-03 9.99154893e-01 1.90358722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.19463044 meters Centerline goodness [0,1] 0.3318416375821681 Centerline is valid? [False, False] Translation: X:7.76, Y:0.27, Z:0.19 [[ 9.99222045e-01 -6.64975109e-03 -3.88726831e-02 7.76314135e+00] [ 6.65633572e-03 9.99977846e-01 3.99671870e-05 2.74223081e-01] [ 3.88715561e-02 -2.98685723e-04 9.99244171e-01 1.92697064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22463044 meters Centerline goodness [0,1] 0.3312700152599566 Centerline is valid? [False, False] Translation: X:7.76, Y:0.27, Z:0.19 [[ 9.99215975e-01 -6.84262118e-03 -3.89950542e-02 7.76312233e+00] [ 6.85275266e-03 9.99976512e-01 1.26156123e-04 2.72767834e-01] [ 3.89932750e-02 -3.93280675e-04 9.99239396e-01 1.93122153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.25463044 meters Centerline goodness [0,1] 0.33120281400137264 Centerline is valid? [False, False] Translation: X:7.76, Y:0.27, Z:0.19 [[ 9.99206370e-01 -6.81945382e-03 -3.92444360e-02 7.76357402e+00] [ 6.83923182e-03 9.99976544e-01 3.69737556e-04 2.71473486e-01] [ 3.92409941e-02 -6.37845917e-04 9.99229572e-01 1.93332840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28463044 meters Centerline goodness [0,1] 0.33352760868626685 Centerline is valid? [False, False] Translation: X:7.76, Y:0.27, Z:0.19 [[ 9.99206830e-01 -6.72305486e-03 -3.92493476e-02 7.76355238e+00] [ 6.75155376e-03 9.99977032e-01 5.93594237e-04 2.70659124e-01] [ 3.92444554e-02 -8.58117497e-04 9.99229271e-01 1.93395321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.31463044 meters Centerline goodness [0,1] 0.3342661286823724 Centerline is valid? [False, False] Translation: X:7.76, Y:0.27, Z:0.19 [[ 9.99216547e-01 -6.73786435e-03 -3.89986360e-02 7.76272765e+00] [ 6.76859107e-03 9.99976878e-01 6.55911404e-04 2.70300874e-01] [ 3.89933148e-02 -9.19363348e-04 9.99239049e-01 1.93756214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34463044 meters Centerline goodness [0,1] 0.33361455426482356 Centerline is valid? [False, False] Translation: X:7.78, Y:0.27, Z:0.20 [[ 9.99326710e-01 7.89002872e-04 -3.66811196e-02 7.77986742e+00] [-8.31393252e-04 9.99999004e-01 -1.14040676e-03 2.67494467e-01] [ 3.66801833e-02 1.17013537e-03 9.99326371e-01 1.95985926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.37463044 meters Centerline goodness [0,1] 0.3321672354948806 Centerline is valid? [False, False] Translation: X:7.82, Y:0.27, Z:0.20 [[ 9.99447992e-01 8.13783176e-04 -3.32121909e-02 7.81906407e+00] [-8.75155731e-04 9.99997936e-01 -1.83339730e-03 2.70957959e-01] [ 3.32106304e-02 1.86145109e-03 9.99446641e-01 1.98848434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40463044 meters Centerline goodness [0,1] 0.3312928395913265 Centerline is valid? [False, False] Translation: X:7.82, Y:0.27, Z:0.20 [[ 9.99441830e-01 7.18291727e-04 -3.33992902e-02 7.81977566e+00] [-7.89082842e-04 9.99997470e-01 -2.10640672e-03 2.72650252e-01] [ 3.33976927e-02 2.13158579e-03 9.99439868e-01 1.98519372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43463043999998 meters Centerline goodness [0,1] 0.3314656571119524 Centerline is valid? [False, False] Translation: X:7.82, Y:0.27, Z:0.20 [[ 9.99431782e-01 5.75762336e-04 -3.37013712e-02 7.82091369e+00] [-6.58557146e-04 9.99996792e-01 -2.44567060e-03 2.74351658e-01] [ 3.36998549e-02 2.46647520e-03 9.99428955e-01 1.97926120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46463043999998 meters Centerline goodness [0,1] 0.3299626433079995 Centerline is valid? [False, False] Translation: X:7.82, Y:0.28, Z:0.20 [[ 9.99418120e-01 3.50711185e-04 -3.41071677e-02 7.82235458e+00] [-4.48970882e-04 9.99995771e-01 -2.87329438e-03 2.76074916e-01] [ 3.41060158e-02 2.88693560e-03 9.99414051e-01 1.97300698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49463043999998 meters Centerline goodness [0,1] 0.32882258693110467 Centerline is valid? [False, False] Translation: X:7.82, Y:0.28, Z:0.20 [[ 9.99409266e-01 2.07425177e-04 -3.43667920e-02 7.82311144e+00] [-3.19103407e-04 9.99994687e-01 -3.24414414e-03 2.78010608e-01] [ 3.43659365e-02 3.25319427e-03 9.99404022e-01 1.97104716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52463043999998 meters Centerline goodness [0,1] 0.32703886742775756 Centerline is valid? [False, False] Translation: X:7.82, Y:0.28, Z:0.20 [[ 9.99404390e-01 1.44937898e-04 -3.45086145e-02 7.82341306e+00] [-2.68191566e-04 9.99993602e-01 -3.56707620e-03 2.80392438e-01] [ 3.45078767e-02 3.57420653e-03 9.99398035e-01 1.97199536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55463043999998 meters Centerline goodness [0,1] 0.3271209056084018 Centerline is valid? [False, False] Translation: X:7.82, Y:0.28, Z:0.20 [[ 9.99402790e-01 1.65202622e-04 -3.45548210e-02 7.82334719e+00] [-2.97373445e-04 9.99992660e-01 -3.81985604e-03 2.82810058e-01] [ 3.45539363e-02 3.82785047e-03 9.99395504e-01 1.97530530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58463043999998 meters Centerline goodness [0,1] 0.3239348909122144 Centerline is valid? [False, False] Translation: X:7.82, Y:0.29, Z:0.20 [[ 9.99393405e-01 -3.99964185e-05 -3.48255613e-02 7.82420932e+00] [-1.18133914e-04 9.99989694e-01 -4.53857036e-03 2.88254269e-01] [ 3.48253839e-02 4.53993137e-03 9.99383101e-01 1.97392673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61463043999998 meters Centerline goodness [0,1] 0.3214385881642251 Centerline is valid? [False, False] Translation: X:7.83, Y:0.29, Z:0.20 [[ 9.99382562e-01 -2.38352997e-04 -3.51345767e-02 7.82516330e+00] [ 6.36735231e-05 9.99987634e-01 -4.97276066e-03 2.90227358e-01] [ 3.51353274e-02 4.96745315e-03 9.99370218e-01 1.97101412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64463044 meters Centerline goodness [0,1] 0.3208668222279838 Centerline is valid? [False, False] Translation: X:7.83, Y:0.29, Z:0.20 [[ 9.99371747e-01 -4.12440248e-04 -3.54392739e-02 7.82601758e+00] [ 2.21027691e-04 9.99985369e-01 -5.40489017e-03 2.92415318e-01] [ 3.54409846e-02 5.39366147e-03 9.99357216e-01 1.96887918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67463044 meters Centerline goodness [0,1] 0.32059429749227075 Centerline is valid? [False, False] Translation: X:7.83, Y:0.29, Z:0.20 [[ 9.99363288e-01 -4.90288407e-04 -3.56760196e-02 7.82653778e+00] [ 2.89155691e-04 9.99984038e-01 -5.64269782e-03 2.94068664e-01] [ 3.56782167e-02 5.62878912e-03 9.99347478e-01 1.97003488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70463044 meters Centerline goodness [0,1] 0.32058982977339257 Centerline is valid? [False, False] Translation: X:7.83, Y:0.30, Z:0.20 [[ 9.99365894e-01 -4.94426384e-04 -3.56028972e-02 7.82610183e+00] [ 2.90560355e-04 9.99983535e-01 -5.73105422e-03 2.95010849e-01] [ 3.56051446e-02 5.71707534e-03 9.99349583e-01 1.97394781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73463044 meters Centerline goodness [0,1] 0.3208419332645339 Centerline is valid? [False, False] Translation: X:7.84, Y:0.30, Z:0.20 [[ 9.99380502e-01 -8.18026366e-03 -3.42300352e-02 7.84483164e+00] [ 8.02903886e-03 9.99957401e-01 -4.55302774e-03 2.99005262e-01] [ 3.42658220e-02 4.27537287e-03 9.99403609e-01 1.99567587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76463044 meters Centerline goodness [0,1] 0.3198622767376802 Centerline is valid? [False, False] Translation: X:7.84, Y:0.30, Z:0.20 [[ 9.99392370e-01 -8.34088317e-03 -3.38425982e-02 7.84349707e+00] [ 8.18866282e-03 9.99955735e-01 -4.63400658e-03 2.98791493e-01] [ 3.38797518e-02 4.35406520e-03 9.99416432e-01 2.00190593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79463044 meters Centerline goodness [0,1] 0.31986852348412764 Centerline is valid? [False, False] Translation: X:7.84, Y:0.30, Z:0.20 [[ 9.99414125e-01 -8.96513711e-03 -3.30307923e-02 7.84107404e+00] [ 8.80594128e-03 9.99948916e-01 -4.96194679e-03 2.98049031e-01] [ 3.30735895e-02 4.66817249e-03 9.99442017e-01 2.01087739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82463044 meters Centerline goodness [0,1] 0.3193370165745857 Centerline is valid? [False, False] Translation: X:7.84, Y:0.30, Z:0.20 [[ 9.99410736e-01 -8.94875785e-03 -3.31375850e-02 7.84133626e+00] [ 8.79366162e-03 9.99949703e-01 -4.82316144e-03 2.97389362e-01] [ 3.31790796e-02 4.52891862e-03 9.99439162e-01 2.01057917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85463044 meters Centerline goodness [0,1] 0.31592519557067633 Centerline is valid? [False, False] Translation: X:7.84, Y:0.30, Z:0.20 [[ 9.99404302e-01 -8.91266642e-03 -3.33407624e-02 7.84201843e+00] [ 8.76088596e-03 9.99950597e-01 -4.69572328e-03 2.96909291e-01] [ 3.33809667e-02 4.40083143e-03 9.99433011e-01 2.00791198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88463044 meters Centerline goodness [0,1] 0.31920010399514687 Centerline is valid? [False, False] Translation: X:7.84, Y:0.30, Z:0.20 [[ 9.99398873e-01 -8.89263738e-03 -3.35084167e-02 7.84252772e+00] [ 8.74350595e-03 9.99951220e-01 -4.59447552e-03 2.96297182e-01] [ 3.35476392e-02 4.29873262e-03 9.99427875e-01 2.00645168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91463044 meters Centerline goodness [0,1] 0.31759887918956786 Centerline is valid? [False, False] Translation: X:7.86, Y:0.29, Z:0.20 [[ 9.99451430e-01 -1.21235408e-03 -3.30963589e-02 7.86058346e+00] [ 1.01814003e-03 9.99982169e-01 -5.88436168e-03 2.91553676e-01] [ 3.31029027e-02 5.84743697e-03 9.99434843e-01 2.02602129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94463044 meters Centerline goodness [0,1] 0.31951198703182326 Centerline is valid? [False, False] Translation: X:7.88, Y:0.29, Z:0.20 [[ 9.99532405e-01 -6.17724595e-03 -2.99468331e-02 7.88115131e+00] [ 6.09570672e-03 9.99977464e-01 -2.81333067e-03 2.93222392e-01] [ 2.99635369e-02 2.62946806e-03 9.99547534e-01 2.03625911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.97463044 meters Centerline goodness [0,1] 0.320575614407698 Centerline is valid? [False, False] Translation: X:7.86, Y:0.29, Z:0.20 [[ 9.99553910e-01 2.46664811e-03 -2.97640002e-02 7.85928278e+00] [-2.56611150e-03 9.99991249e-01 -3.30399998e-03 2.92408040e-01] [ 2.97555900e-02 3.37890384e-03 9.99551493e-01 2.02527719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00463044 meters Centerline goodness [0,1] 0.3214285714285714 Centerline is valid? [False, False] Translation: X:7.86, Y:0.30, Z:0.20 [[ 9.99547043e-01 2.44247506e-03 -2.99957309e-02 7.85988805e+00] [-2.55380067e-03 9.99989991e-01 -3.67363280e-03 2.95027416e-01] [ 2.99864579e-02 3.74857192e-03 9.99543276e-01 2.02524691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.03463044 meters Centerline goodness [0,1] 0.3187461003894232 Centerline is valid? [False, False] Translation: X:7.86, Y:0.30, Z:0.20 [[ 9.99531830e-01 2.43512494e-03 -3.04990475e-02 7.86140730e+00] [-2.55911657e-03 9.99988617e-01 -4.02705162e-03 2.97637782e-01] [ 3.04888940e-02 4.10321689e-03 9.99526683e-01 2.02085664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06463044 meters Centerline goodness [0,1] 0.3202991591552644 Centerline is valid? [False, False] Translation: X:7.86, Y:0.30, Z:0.20 [[ 9.99518481e-01 3.12605336e-03 -3.08712349e-02 7.86297669e+00] [-3.25278925e-03 9.99986484e-01 -4.05593954e-03 3.04840467e-01] [ 3.08581386e-02 4.15440415e-03 9.99515141e-01 2.01272385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.09463044 meters Centerline goodness [0,1] 0.3180017558510524 Centerline is valid? [False, False] Translation: X:7.88, Y:0.31, Z:0.20 [[ 9.99565766e-01 -2.51193701e-03 -2.93593163e-02 7.88230769e+00] [ 2.47736201e-03 9.99996194e-01 -1.21396549e-03 3.09434439e-01] [ 2.93622539e-02 1.14070469e-03 9.99568185e-01 2.02578128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12463044 meters Centerline goodness [0,1] 0.32024771019639264 Centerline is valid? [False, False] Translation: X:7.88, Y:0.31, Z:0.20 [[ 9.99567892e-01 -2.64830781e-03 -2.92748470e-02 7.88205652e+00] [ 2.60072386e-03 9.99995235e-01 -1.66337762e-03 3.12304275e-01] [ 2.92791126e-02 1.58652306e-03 9.99570016e-01 2.02686651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.15463044 meters Centerline goodness [0,1] 0.31805698592516307 Centerline is valid? [False, False] Translation: X:7.88, Y:0.31, Z:0.20 [[ 9.99561532e-01 -2.80657275e-03 -2.94765648e-02 7.88289680e+00] [ 2.74788971e-03 9.99994162e-01 -2.03115655e-03 3.14392492e-01] [ 2.94820933e-02 1.94926760e-03 9.99563408e-01 2.02174523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18463043999998 meters Centerline goodness [0,1] 0.31937376002760287 Centerline is valid? [False, False] Translation: X:7.89, Y:0.32, Z:0.20 [[ 9.99533818e-01 -3.25396127e-03 -3.03571847e-02 7.88606123e+00] [ 3.17199375e-03 9.99991194e-01 -2.74786959e-03 3.17671884e-01] [ 3.03658588e-02 2.65029579e-03 9.99535337e-01 2.00550042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21463043999998 meters Centerline goodness [0,1] 0.3161609640628362 Centerline is valid? [False, False] Translation: X:7.89, Y:0.32, Z:0.20 [[ 9.99524092e-01 -3.37832001e-03 -3.06622814e-02 7.88709551e+00] [ 3.28966391e-03 9.99990263e-01 -2.94135925e-03 3.18556367e-01] [ 3.06719197e-02 2.83909084e-03 9.99525474e-01 2.00079694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24463043999998 meters Centerline goodness [0,1] 0.31551032728213535 Centerline is valid? [False, False] Translation: X:7.89, Y:0.32, Z:0.20 [[ 9.99518999e-01 -3.48083597e-03 -3.08164623e-02 7.88744862e+00] [ 3.38613961e-03 9.99989386e-01 -3.12456859e-03 3.19581389e-01] [ 3.08270113e-02 3.01871683e-03 9.99520176e-01 2.00065311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27463043999998 meters Centerline goodness [0,1] 0.3136876006441224 Centerline is valid? [False, False] Translation: X:7.89, Y:0.32, Z:0.20 [[ 9.99516353e-01 -3.59718898e-03 -3.08888305e-02 7.88749734e+00] [ 3.49791595e-03 9.99988545e-01 -3.26731625e-03 3.20133478e-01] [ 3.09002299e-02 3.15768949e-03 9.99517486e-01 2.00283381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30463043999998 meters Centerline goodness [0,1] 0.3145552964333854 Centerline is valid? [False, False] Translation: X:7.89, Y:0.32, Z:0.20 [[ 9.99516959e-01 -3.75468450e-03 -3.08504628e-02 7.88732989e+00] [ 3.64876969e-03 9.99987257e-01 -3.48874735e-03 3.20820687e-01] [ 3.08631688e-02 3.37449590e-03 9.99517923e-01 2.00419189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33463043999998 meters Centerline goodness [0,1] 0.3174472687939427 Centerline is valid? [False, False] Translation: X:7.87, Y:0.32, Z:0.20 [[ 9.99516308e-01 3.24250496e-03 -3.09295490e-02 7.86909372e+00] [-3.41723020e-03 9.99978493e-01 -5.59795066e-03 3.18631221e-01] [ 3.09107324e-02 5.70093637e-03 9.99505891e-01 1.97885540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36463043999998 meters Centerline goodness [0,1] 0.314125676023693 Centerline is valid? [False, False] Translation: X:7.89, Y:0.32, Z:0.20 [[ 9.99490168e-01 -4.13297661e-03 -3.16594895e-02 7.88885153e+00] [ 3.99623294e-03 9.99982417e-01 -4.38125872e-03 3.23182781e-01] [ 3.16770405e-02 4.25250632e-03 9.99489110e-01 2.00094791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39463044 meters Centerline goodness [0,1] 0.31530524505588997 Centerline is valid? [False, False] Translation: X:7.89, Y:0.32, Z:0.20 [[ 9.99483858e-01 -4.13210246e-03 -3.18581729e-02 7.88932531e+00] [ 3.99015291e-03 9.99981833e-01 -4.51796037e-03 3.24482253e-01] [ 3.18762629e-02 4.38850948e-03 9.99482188e-01 2.00064752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42463044 meters Centerline goodness [0,1] 0.3124612788139033 Centerline is valid? [False, False] Translation: X:7.89, Y:0.33, Z:0.20 [[ 9.99478908e-01 -4.10723516e-03 -3.20162975e-02 7.88964419e+00] [ 3.95971733e-03 9.99981257e-01 -4.66962901e-03 3.25935838e-01] [ 3.20348767e-02 4.54042021e-03 9.99476439e-01 2.00221453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45463044 meters Centerline goodness [0,1] 0.31732146733232036 Centerline is valid? [False, False] Translation: X:7.87, Y:0.33, Z:0.20 [[ 9.99470060e-01 4.18827875e-03 -3.22809142e-02 7.86768026e+00] [-4.38382760e-03 9.99972455e-01 -5.98933011e-03 3.27837580e-01] [ 3.22549400e-02 6.12767009e-03 9.99460890e-01 1.99512746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48463044 meters Centerline goodness [0,1] 0.31603272072384836 Centerline is valid? [False, False] Translation: X:7.87, Y:0.33, Z:0.20 [[ 9.99471209e-01 4.08379464e-03 -3.22587131e-02 7.86750268e+00] [-4.29210913e-03 9.99970366e-01 -6.39101369e-03 3.30166020e-01] [ 3.22316576e-02 6.52609210e-03 9.99459119e-01 1.99759047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51463044 meters Centerline goodness [0,1] 0.31603272072384836 Centerline is valid? [False, False] Translation: X:7.87, Y:0.33, Z:0.20 [[ 9.99471209e-01 4.08379464e-03 -3.22587131e-02 7.86750268e+00] [-4.29210913e-03 9.99970366e-01 -6.39101369e-03 3.30166020e-01] [ 3.22316576e-02 6.52609210e-03 9.99459119e-01 1.99759047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54463044 meters Centerline goodness [0,1] 0.3157210068729267 Centerline is valid? [False, False] Translation: X:7.87, Y:0.33, Z:0.20 [[ 9.99471432e-01 4.04831019e-03 -3.22562923e-02 7.86756567e+00] [-4.26934634e-03 9.99967857e-01 -6.78657153e-03 3.33038523e-01] [ 3.22277814e-02 6.92069765e-03 9.99456589e-01 1.99768363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57463044 meters Centerline goodness [0,1] 0.3147009984688707 Centerline is valid? [False, False] Translation: X:7.88, Y:0.34, Z:0.20 [[ 9.99404348e-01 -1.44076114e-03 -3.44800464e-02 7.88404297e+00] [ 1.25943499e-03 9.99985268e-01 -5.28001348e-03 3.40655204e-01] [ 3.44871456e-02 5.23344305e-03 9.99391439e-01 2.03219300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60463044 meters Centerline goodness [0,1] 0.315032962282503 Centerline is valid? [False, False] Translation: X:7.88, Y:0.35, Z:0.20 [[ 9.99402644e-01 2.21943777e-03 -3.44881070e-02 7.88389147e+00] [-2.30241191e-03 9.99994550e-01 -2.36634835e-03 3.45711716e-01] [ 3.44826671e-02 2.44434063e-03 9.99402307e-01 2.03543950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63463044 meters Centerline goodness [0,1] 0.3184121805328983 Centerline is valid? [False, False] Translation: X:7.88, Y:0.35, Z:0.20 [[ 9.99403655e-01 2.13406882e-03 -3.44641783e-02 7.88371233e+00] [-2.23165428e-03 9.99993609e-01 -2.79328478e-03 3.48552413e-01] [ 3.44579969e-02 2.86853115e-03 9.99402030e-01 2.03791724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66463044 meters Centerline goodness [0,1] 0.31478279662848496 Centerline is valid? [False, False] Translation: X:7.88, Y:0.35, Z:0.20 [[ 9.99405045e-01 1.93173042e-03 -3.44358145e-02 7.88365167e+00] [-2.04674150e-03 9.99992444e-01 -3.30492991e-03 3.51285776e-01] [ 3.44291701e-02 3.37344484e-03 9.99401447e-01 2.03820477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.69463044 meters Centerline goodness [0,1] 0.31180463078310927 Centerline is valid? [False, False] Translation: X:7.88, Y:0.35, Z:0.20 [[ 9.99407391e-01 1.74871935e-03 -3.43774582e-02 7.88358686e+00] [-1.87675122e-03 9.99991422e-01 -3.69238136e-03 3.53243798e-01] [ 3.43707063e-02 3.75471116e-03 9.99402100e-01 2.03770718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72463044 meters Centerline goodness [0,1] 0.314493468608567 Centerline is valid? [False, False] Translation: X:7.88, Y:0.35, Z:0.20 [[ 9.99410236e-01 1.60323865e-03 -3.43017474e-02 7.88327376e+00] [-1.74069928e-03 9.99990573e-01 -3.97790652e-03 3.54677399e-01] [ 3.42950465e-02 4.03526952e-03 9.99403605e-01 2.03989160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.75463044 meters Centerline goodness [0,1] 0.31610449663994467 Centerline is valid? [False, False] Translation: X:7.88, Y:0.36, Z:0.20 [[ 9.99409134e-01 1.50022483e-03 -3.43384803e-02 7.88325995e+00] [-1.64304702e-03 9.99990116e-01 -4.13140597e-03 3.55437767e-01] [ 3.43319429e-02 4.18538460e-03 9.99401721e-01 2.04156482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78463044 meters Centerline goodness [0,1] 0.313887376102821 Centerline is valid? [False, False] Translation: X:7.88, Y:0.36, Z:0.20 [[ 9.99391254e-01 1.20838654e-03 -3.48663412e-02 7.88441814e+00] [-1.35866257e-03 9.99989889e-01 -4.28668924e-03 3.55474282e-01] [ 3.48608087e-02 4.33145133e-03 9.99382791e-01 2.04192708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.81463044 meters Centerline goodness [0,1] 0.30905157642220704 Centerline is valid? [False, False] Translation: X:7.91, Y:0.36, Z:0.21 [[ 9.99351220e-01 -7.07895202e-03 -3.53132854e-02 7.90550666e+00] [ 6.95752976e-03 9.99969459e-01 -3.56013252e-03 3.58277315e-01] [ 3.53374089e-02 3.31212954e-03 9.99369950e-01 2.05784340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84463044 meters Centerline goodness [0,1] 0.31049384043170725 Centerline is valid? [False, False] Translation: X:7.90, Y:0.36, Z:0.21 [[ 9.99357877e-01 -7.32880407e-03 -3.50730939e-02 7.90485100e+00] [ 7.20300651e-03 9.99967169e-01 -3.71173875e-03 3.58162105e-01] [ 3.50991450e-02 3.45672364e-03 9.99377857e-01 2.05962057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.87463044 meters Centerline goodness [0,1] 0.31516024172611645 Centerline is valid? [False, False] Translation: X:7.88, Y:0.35, Z:0.20 [[ 9.99416319e-01 8.56627704e-04 -3.41509404e-02 7.88327112e+00] [-1.00989139e-03 9.99989496e-01 -4.47083543e-03 3.54909525e-01] [ 3.41467518e-02 4.50271463e-03 9.99406686e-01 2.04575835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90463044 meters Centerline goodness [0,1] 0.31245021421343844 Centerline is valid? [False, False] Translation: X:7.90, Y:0.36, Z:0.21 [[ 9.99429584e-01 -6.94586845e-03 -3.30493802e-02 7.90247561e+00] [ 6.83918143e-03 9.99971034e-01 -3.34006261e-03 3.58610539e-01] [ 3.30716226e-02 3.11212668e-03 9.99448139e-01 2.06401223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93463043999998 meters Centerline goodness [0,1] 0.31384369395648326 Centerline is valid? [False, False] Translation: X:7.90, Y:0.36, Z:0.21 [[ 9.99433708e-01 -6.97295048e-03 -3.29187091e-02 7.90205452e+00] [ 6.86119672e-03 9.99970313e-01 -3.50658326e-03 3.59801772e-01] [ 3.29421831e-02 3.27873577e-03 9.99451881e-01 2.06644016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96463043999998 meters Centerline goodness [0,1] 0.31607220530665503 Centerline is valid? [False, False] Translation: X:7.90, Y:0.36, Z:0.21 [[ 9.99431242e-01 -7.00481236e-03 -3.29867549e-02 7.90215487e+00] [ 6.88399943e-03 9.99969181e-01 -3.77461756e-03 3.61691680e-01] [ 3.30121788e-02 3.54538991e-03 9.99448661e-01 2.06785601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99463043999998 meters Centerline goodness [0,1] 0.3167760884588804 Centerline is valid? [False, False] Translation: X:7.92, Y:0.36, Z:0.21 [[ 9.99479556e-01 1.77120659e-03 -3.22099506e-02 7.92284953e+00] [-1.91639925e-03 9.99988140e-01 -4.47738296e-03 3.62941126e-01] [ 3.22016382e-02 4.53677985e-03 9.99471096e-01 2.07998880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02463043999998 meters Centerline goodness [0,1] 0.3153223026542572 Centerline is valid? [False, False] Translation: X:7.92, Y:0.37, Z:0.21 [[ 9.99475597e-01 1.73170669e-03 -3.23346920e-02 7.92332649e+00] [-1.89174924e-03 9.99986109e-01 -4.91962515e-03 3.65881275e-01] [ 3.23257235e-02 4.97821441e-03 9.99464989e-01 2.07825893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05463043999998 meters Centerline goodness [0,1] 0.31533115991763894 Centerline is valid? [False, False] Translation: X:7.92, Y:0.37, Z:0.21 [[ 9.99467245e-01 1.65140296e-03 -3.25959975e-02 7.92417456e+00] [-1.82720616e-03 9.99983942e-01 -5.36434771e-03 3.68814181e-01] [ 3.25866154e-02 5.42104944e-03 9.99454213e-01 2.07568733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08463043999998 meters Centerline goodness [0,1] 0.3151703594181471 Centerline is valid? [False, False] Translation: X:7.91, Y:0.38, Z:0.21 [[ 9.99455853e-01 -5.63806380e-03 -3.24993817e-02 7.90609506e+00] [ 5.49887406e-03 9.99975330e-01 -4.37063211e-03 3.77265619e-01] [ 3.25232218e-02 4.18954384e-03 9.99462199e-01 2.05225178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11463043999998 meters Centerline goodness [0,1] 0.31321888046349156 Centerline is valid? [False, False] Translation: X:7.95, Y:0.38, Z:0.21 [[ 9.99511596e-01 -5.12528094e-03 -3.08269648e-02 7.94911122e+00] [ 5.00658293e-03 9.99979758e-01 -3.92641643e-03 3.78553344e-01] [ 3.08464648e-02 3.77016099e-03 9.99517024e-01 2.06862898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14463044 meters Centerline goodness [0,1] 0.31383344803854096 Centerline is valid? [False, False] Translation: X:7.95, Y:0.38, Z:0.21 [[ 9.99507156e-01 -5.40821792e-03 -3.09224393e-02 7.94909459e+00] [ 5.26439583e-03 9.99974954e-01 -4.73058314e-03 3.84017137e-01] [ 3.09472488e-02 4.56546374e-03 9.99510592e-01 2.07240332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17463044 meters Centerline goodness [0,1] 0.3137809793328188 Centerline is valid? [False, False] Translation: X:7.95, Y:0.39, Z:0.21 [[ 9.99498628e-01 -5.52122299e-03 -3.11770582e-02 7.94987893e+00] [ 5.36527221e-03 9.99972685e-01 -5.08354475e-03 3.86288281e-01] [ 3.12042740e-02 4.91372260e-03 9.99500950e-01 2.07022198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20463044 meters Centerline goodness [0,1] 0.31382313629112235 Centerline is valid? [False, False] Translation: X:7.95, Y:0.39, Z:0.21 [[ 9.99489714e-01 -5.69181926e-03 -3.14310981e-02 7.95074479e+00] [ 5.52174947e-03 9.99969657e-01 -5.49502766e-03 3.88595935e-01] [ 3.14614211e-02 5.31866898e-03 9.99490816e-01 2.06640709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23463044 meters Centerline goodness [0,1] 0.31081284549697796 Centerline is valid? [False, False] Translation: X:7.95, Y:0.39, Z:0.21 [[ 9.99482110e-01 -5.86723991e-03 -3.16399711e-02 7.95140318e+00] [ 5.68226639e-03 9.99966255e-01 -5.93294865e-03 3.91048903e-01] [ 3.16737134e-02 5.75008929e-03 9.99481722e-01 2.06423890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26463044 meters Centerline goodness [0,1] 0.31206205669959497 Centerline is valid? [False, False] Translation: X:7.95, Y:0.40, Z:0.21 [[ 9.99472842e-01 -6.14516635e-03 -3.18790775e-02 7.95198353e+00] [ 5.93661189e-03 9.99960382e-01 -6.63258015e-03 3.95637868e-01] [ 3.19185728e-02 6.43983002e-03 9.99469726e-01 2.06441668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29463044 meters Centerline goodness [0,1] 0.3134057579749897 Centerline is valid? [False, False] Translation: X:7.95, Y:0.40, Z:0.21 [[ 9.99471249e-01 -6.24834066e-03 -3.19089450e-02 7.95203093e+00] [ 6.03091594e-03 9.99957969e-01 -6.90561705e-03 3.97329832e-01] [ 3.19507525e-02 6.70952554e-03 9.99466924e-01 2.06476843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32463044 meters Centerline goodness [0,1] 0.315962675095802 Centerline is valid? [False, False] Translation: X:7.95, Y:0.40, Z:0.21 [[ 9.99471656e-01 -6.31342075e-03 -3.18833816e-02 7.95178521e+00] [ 6.09127636e-03 9.99956527e-01 -7.05973480e-03 3.98301151e-01] [ 3.19265666e-02 6.86179434e-03 9.99466663e-01 2.06753585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35463044 meters Centerline goodness [0,1] 0.31305934113102263 Centerline is valid? [False, False] Translation: X:7.95, Y:0.40, Z:0.21 [[ 9.99475962e-01 -6.79976697e-03 -3.16474928e-02 7.95109142e+00] [ 6.56413337e-03 9.99950002e-01 -7.54351956e-03 3.99418121e-01] [ 3.16972047e-02 7.33182811e-03 9.99470626e-01 2.07017197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38463044 meters Centerline goodness [0,1] 0.31793865136546007 Centerline is valid? [False, False] Translation: X:7.95, Y:0.40, Z:0.21 [[ 9.99477666e-01 -6.82165778e-03 -3.15889203e-02 7.95087566e+00] [ 6.58549244e-03 9.99949630e-01 -7.57422374e-03 3.99817321e-01] [ 3.16389979e-02 7.36223887e-03 9.99472246e-01 2.07149826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.41463044 meters Centerline goodness [0,1] 0.3169240738740685 Centerline is valid? [False, False] Translation: X:7.95, Y:0.40, Z:0.21 [[ 9.99475738e-01 -6.81783702e-03 -3.16507044e-02 7.95100814e+00] [ 6.57984364e-03 9.99949339e-01 -7.61744640e-03 4.00645996e-01] [ 3.17010355e-02 7.40519617e-03 9.99469963e-01 2.07183732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44463044 meters Centerline goodness [0,1] 0.3181837912922689 Centerline is valid? [False, False] Translation: X:7.95, Y:0.40, Z:0.21 [[ 9.99471432e-01 -6.79463893e-03 -3.17913404e-02 7.95130809e+00] [ 6.55474276e-03 9.99949300e-01 -7.64410371e-03 4.01506074e-01] [ 3.18416675e-02 7.43167922e-03 9.99465296e-01 2.07205830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.47463044 meters Centerline goodness [0,1] 0.31876812535168597 Centerline is valid? [False, False] Translation: X:7.95, Y:0.40, Z:0.21 [[ 9.99455939e-01 -6.92823511e-03 -3.22463163e-02 7.95240128e+00] [ 6.67700123e-03 9.99946564e-01 -7.89226119e-03 4.03108946e-01] [ 3.22992726e-02 7.67265863e-03 9.99448792e-01 2.07236660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50463044 meters Centerline goodness [0,1] 0.3141518758863724 Centerline is valid? [False, False] Translation: X:7.95, Y:0.40, Z:0.21 [[ 9.99450368e-01 -7.03558678e-03 -3.23954165e-02 7.95280527e+00] [ 6.77623439e-03 9.99944164e-01 -8.10867780e-03 4.04218470e-01] [ 3.24506570e-02 7.88470208e-03 9.99442238e-01 2.07172332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.53463044 meters Centerline goodness [0,1] 0.3180531852843965 Centerline is valid? [False, False] Translation: X:7.95, Y:0.41, Z:0.21 [[ 9.99446409e-01 -7.13051314e-03 -3.24966257e-02 7.95314463e+00] [ 6.86240602e-03 9.99941554e-01 -8.35438532e-03 4.05717272e-01] [ 3.25542974e-02 8.12675537e-03 9.99436928e-01 2.07090830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56463044 meters Centerline goodness [0,1] 0.3185934426938123 Centerline is valid? [False, False] Translation: X:7.95, Y:0.41, Z:0.21 [[ 9.99445422e-01 -7.22270120e-03 -3.25066216e-02 7.95320936e+00] [ 6.94506982e-03 9.99938508e-01 -8.64558672e-03 4.07536771e-01] [ 3.25670672e-02 8.41503132e-03 9.99434127e-01 2.07083758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.59463044 meters Centerline goodness [0,1] 0.31888611517603516 Centerline is valid? [False, False] Translation: X:7.95, Y:0.41, Z:0.21 [[ 9.99458517e-01 -7.45223791e-03 -3.20489762e-02 7.95171411e+00] [ 7.15957367e-03 9.99931708e-01 -9.23686624e-03 4.10695308e-01] [ 3.21156228e-02 9.00240763e-03 9.99443617e-01 2.07825364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62463044 meters Centerline goodness [0,1] 0.31811722148055643 Centerline is valid? [False, False] Translation: X:7.95, Y:0.41, Z:0.21 [[ 9.99460889e-01 -7.50668432e-03 -3.19621695e-02 7.95140760e+00] [ 7.20863172e-03 9.99929551e-01 -9.43021109e-03 4.12025555e-01] [ 3.20307074e-02 9.19472366e-03 9.99444591e-01 2.08020451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.65463044 meters Centerline goodness [0,1] 0.3185758245568413 Centerline is valid? [False, False] Translation: X:7.95, Y:0.41, Z:0.21 [[ 9.99461990e-01 -7.54539572e-03 -3.19186182e-02 7.95153771e+00] [ 7.24177343e-03 9.99927529e-01 -9.61732171e-03 4.13473273e-01] [ 3.19888715e-02 9.38100009e-03 9.99444200e-01 2.07684654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68463043999998 meters Centerline goodness [0,1] 0.31593666637982964 Centerline is valid? [False, False] Translation: X:7.95, Y:0.41, Z:0.21 [[ 9.99459498e-01 -7.59625388e-03 -3.19845023e-02 7.95208717e+00] [ 7.28608499e-03 9.99925405e-01 -9.80288503e-03 4.14738396e-01] [ 3.20565816e-02 9.56454475e-03 9.99440291e-01 2.07172658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71463043999998 meters Centerline goodness [0,1] 0.31618198572745004 Centerline is valid? [False, False] Translation: X:7.95, Y:0.42, Z:0.21 [[ 9.99455755e-01 -7.71741322e-03 -3.20723407e-02 7.95255058e+00] [ 7.39805785e-03 9.99921988e-01 -1.00641134e-02 4.15945942e-01] [ 3.21475076e-02 9.82136305e-03 9.99434880e-01 2.06835066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74463043999998 meters Centerline goodness [0,1] 0.3165184052383312 Centerline is valid? [False, False] Translation: X:7.95, Y:0.42, Z:0.21 [[ 9.99443544e-01 -7.91409356e-03 -3.24032293e-02 7.95371383e+00] [ 7.57929770e-03 9.99916756e-01 -1.04420026e-02 4.17631726e-01] [ 3.24831709e-02 1.01905984e-02 9.99420330e-01 2.06308916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77463043999998 meters Centerline goodness [0,1] 0.3181798473812001 Centerline is valid? [False, False] Translation: X:7.95, Y:0.42, Z:0.21 [[ 9.99435312e-01 -7.94147239e-03 -3.26495112e-02 7.95429261e+00] [ 7.60120291e-03 9.99915637e-01 -1.05328324e-02 4.18266185e-01] [ 3.27304030e-02 1.02787090e-02 9.99411361e-01 2.06283619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80463043999998 meters Centerline goodness [0,1] 0.31495995176987335 Centerline is valid? [False, False] Translation: X:7.95, Y:0.42, Z:0.21 [[ 9.99430493e-01 -7.92656668e-03 -3.28003062e-02 7.95476973e+00] [ 7.58422745e-03 9.99915602e-01 -1.05483626e-02 4.18527923e-01] [ 3.28811502e-02 1.02935902e-02 9.99406260e-01 2.06104814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83463043999998 meters Centerline goodness [0,1] 0.31769741250729555 Centerline is valid? [False, False] Translation: X:7.96, Y:0.42, Z:0.21 [[ 9.99426214e-01 -7.85749066e-03 -3.29469635e-02 7.95526704e+00] [ 7.51551762e-03 9.99916729e-01 -1.04905278e-02 4.18709254e-01] [ 3.30266492e-02 1.02368950e-02 9.99402044e-01 2.05888765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86463043999998 meters Centerline goodness [0,1] 0.3171539835194389 Centerline is valid? [False, False] Translation: X:7.96, Y:0.42, Z:0.21 [[ 9.99427365e-01 -7.79330607e-03 -3.29272891e-02 7.95535913e+00] [ 7.45570273e-03 9.99918503e-01 -1.03633676e-02 4.17997658e-01] [ 3.30053705e-02 1.01119371e-02 9.99404020e-01 2.05727986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89463044 meters Centerline goodness [0,1] 0.31783713916415335 Centerline is valid? [False, False] Translation: X:7.96, Y:0.42, Z:0.21 [[ 9.99429901e-01 -7.78920510e-03 -3.28511918e-02 7.95521212e+00] [ 7.45364855e-03 9.99918920e-01 -1.03245665e-02 4.17546681e-01] [ 3.29289484e-02 1.00738192e-02 9.99406925e-01 2.05696501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92463044 meters Centerline goodness [0,1] 0.31948535782360077 Centerline is valid? [False, False] Translation: X:7.96, Y:0.42, Z:0.21 [[ 9.99427945e-01 -7.77489717e-03 -3.29140216e-02 7.95526827e+00] [ 7.44000932e-03 9.99919430e-01 -1.02849029e-02 4.17274762e-01] [ 3.29913338e-02 1.00341387e-02 9.99405267e-01 2.05829727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95463044 meters Centerline goodness [0,1] 0.3182212205270458 Centerline is valid? [False, False] Translation: X:7.96, Y:0.42, Z:0.21 [[ 9.99424472e-01 -7.71909818e-03 -3.30324001e-02 7.95551653e+00] [ 7.38500556e-03 9.99920461e-01 -1.02241717e-02 4.17165619e-01] [ 3.31086941e-02 9.97434299e-03 9.99401985e-01 2.05879672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98463044 meters Centerline goodness [0,1] 0.3190913421975833 Centerline is valid? [False, False] Translation: X:7.96, Y:0.42, Z:0.21 [[ 9.99416726e-01 -7.60406679e-03 -3.32924271e-02 7.95612900e+00] [ 7.27075379e-03 9.99922344e-01 -1.01213210e-02 4.17220138e-01] [ 3.33668049e-02 9.87335645e-03 9.99394403e-01 2.05819376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01463044 meters Centerline goodness [0,1] 0.3185041072200605 Centerline is valid? [False, False] Translation: X:7.96, Y:0.42, Z:0.21 [[ 9.99422363e-01 -3.84847385e-03 -3.37657972e-02 7.95754624e+00] [ 3.63355993e-03 9.99972765e-01 -6.42389624e-03 4.16108019e-01] [ 3.37895998e-02 6.29749551e-03 9.99409128e-01 2.05355139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04463044 meters Centerline goodness [0,1] 0.3171246446722371 Centerline is valid? [False, False] Translation: X:7.96, Y:0.42, Z:0.21 [[ 9.99412263e-01 -3.75239539e-03 -3.40741649e-02 7.95837104e+00] [ 3.53376697e-03 9.99972798e-01 -6.47420933e-03 4.16878583e-01] [ 3.40975318e-02 6.34999403e-03 9.99398337e-01 2.05262869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07463044 meters Centerline goodness [0,1] 0.3182574856772241 Centerline is valid? [False, False] Translation: X:7.96, Y:0.42, Z:0.21 [[ 9.99406856e-01 -3.77124876e-03 -3.42303053e-02 7.95877318e+00] [ 3.54671474e-03 9.99971812e-01 -6.61786171e-03 4.17569703e-01] [ 3.42542980e-02 6.49253124e-03 9.99392060e-01 2.05227219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10463044 meters Centerline goodness [0,1] 0.32272540050727305 Centerline is valid? [False, False] Translation: X:7.96, Y:0.42, Z:0.21 [[ 9.99407181e-01 -3.74663120e-03 -3.42235115e-02 7.95866138e+00] [ 3.52108282e-03 9.99971700e-01 -6.64834532e-03 4.17797035e-01] [ 3.42474518e-02 6.52390024e-03 9.99392091e-01 2.05337465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13463044 meters Centerline goodness [0,1] 0.3236676093104198 Centerline is valid? [False, False] Translation: X:7.95, Y:0.42, Z:0.21 [[ 9.99452335e-01 -2.12099463e-03 -3.30232042e-02 7.95386429e+00] [ 1.95880674e-03 9.99985865e-01 -4.94290875e-03 4.15583063e-01] [ 3.30332213e-02 4.87551562e-03 9.99442362e-01 2.07641344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16463044 meters Centerline goodness [0,1] 0.3210357519533352 Centerline is valid? [False, False] Translation: X:7.95, Y:0.42, Z:0.21 [[ 9.99463612e-01 -2.03114195e-03 -3.26858212e-02 7.95288167e+00] [ 1.87567062e-03 9.99986786e-01 -4.78649659e-03 4.15044226e-01] [ 3.26951113e-02 4.72262134e-03 9.99454214e-01 2.07958043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.19463044 meters Centerline goodness [0,1] 0.32157604955264973 Centerline is valid? [False, False] Translation: X:7.95, Y:0.41, Z:0.21 [[ 9.99469714e-01 -2.03290020e-03 -3.24985811e-02 7.95231992e+00] [ 1.87953313e-03 9.99986957e-01 -4.74904548e-03 4.14625383e-01] [ 3.25078116e-02 4.68544497e-03 9.99460499e-01 2.08116640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22463044 meters Centerline goodness [0,1] 0.3229569476669245 Centerline is valid? [False, False] Translation: X:7.95, Y:0.41, Z:0.21 [[ 9.99474907e-01 -2.11401164e-03 -3.23332985e-02 7.95181479e+00] [ 1.95894470e-03 9.99986432e-01 -4.82681594e-03 4.14399713e-01] [ 3.23430638e-02 4.76094227e-03 9.99465487e-01 2.08292341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.25463044 meters Centerline goodness [0,1] 0.32081377151799684 Centerline is valid? [False, False] Translation: X:7.95, Y:0.41, Z:0.21 [[ 9.99469743e-01 -2.13550449e-03 -3.24911015e-02 7.95202981e+00] [ 1.97745308e-03 9.99986060e-01 -4.89580793e-03 4.14649881e-01] [ 3.25011036e-02 4.82896226e-03 9.99460034e-01 2.08489047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28463044 meters Centerline goodness [0,1] 0.3216976447984803 Centerline is valid? [False, False] Translation: X:7.95, Y:0.42, Z:0.21 [[ 9.99461474e-01 -1.99611638e-03 -3.27532731e-02 7.95265498e+00] [ 1.83894366e-03 9.99986654e-01 -4.82810990e-03 4.15151925e-01] [ 3.27624734e-02 4.76527841e-03 9.99451806e-01 2.08448364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.31463044 meters Centerline goodness [0,1] 0.3222785629517747 Centerline is valid? [False, False] Translation: X:7.95, Y:0.42, Z:0.21 [[ 9.99457154e-01 -1.90467835e-03 -3.28902683e-02 7.95293709e+00] [ 1.74520850e-03 9.99986587e-01 -4.87656953e-03 4.16255079e-01] [ 3.28991154e-02 4.81652192e-03 9.99447072e-01 2.08549401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34463044 meters Centerline goodness [0,1] 0.32486521457839124 Centerline is valid? [False, False] Translation: X:7.95, Y:0.42, Z:0.21 [[ 9.99463138e-01 -1.95508607e-03 -3.27049590e-02 7.95215876e+00] [ 1.78425763e-03 9.99984618e-01 -5.25168876e-03 4.18613116e-01] [ 3.27147235e-02 5.19051525e-03 9.99451252e-01 2.09107267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.37463044 meters Centerline goodness [0,1] 0.3234723360213895 Centerline is valid? [False, False] Translation: X:7.95, Y:0.42, Z:0.21 [[ 9.99470882e-01 -1.97077298e-03 -3.24664767e-02 7.95156081e+00] [ 1.79614656e-03 9.99983769e-01 -5.40695568e-03 4.19771265e-01] [ 3.24766056e-02 5.34578021e-03 9.99458200e-01 2.09174347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40463044 meters Centerline goodness [0,1] 0.3267948300206365 Centerline is valid? [False, False] Translation: X:7.95, Y:0.42, Z:0.21 [[ 9.99474036e-01 -1.91853301e-03 -3.23723773e-02 7.95137390e+00] [ 1.74444861e-03 9.99983872e-01 -5.40494658e-03 4.20369709e-01] [ 3.23822247e-02 5.34563182e-03 9.99461263e-01 2.09138793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43463043999998 meters Centerline goodness [0,1] 0.3267948300206365 Centerline is valid? [False, False] Translation: X:7.95, Y:0.42, Z:0.21 [[ 9.99474036e-01 -1.91853301e-03 -3.23723773e-02 7.95137390e+00] [ 1.74444861e-03 9.99983872e-01 -5.40494658e-03 4.20369709e-01] [ 3.23822247e-02 5.34563182e-03 9.99461263e-01 2.09138793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46463043999998 meters Centerline goodness [0,1] 0.3219517426273458 Centerline is valid? [False, False] Translation: X:7.97, Y:0.42, Z:0.21 [[ 9.99435504e-01 -1.00106625e-02 -3.20696211e-02 7.97136781e+00] [ 9.88043570e-03 9.99942297e-01 -4.21665889e-03 4.23820480e-01] [ 3.21099822e-02 3.89741677e-03 9.99476743e-01 2.10602368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49463043999998 meters Centerline goodness [0,1] 0.3238605666371318 Centerline is valid? [False, False] Translation: X:7.95, Y:0.42, Z:0.21 [[ 9.99468792e-01 -2.11751391e-03 -3.25215374e-02 7.95328944e+00] [ 1.92938482e-03 9.99981231e-01 -5.81504651e-03 4.19933797e-01] [ 3.25332405e-02 5.74921094e-03 9.99454118e-01 2.08190794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52463043999998 meters Centerline goodness [0,1] 0.32112101363685175 Centerline is valid? [False, False] Translation: X:7.96, Y:0.42, Z:0.21 [[ 9.99445210e-01 -2.68852181e-03 -3.31970503e-02 7.95531511e+00] [ 2.48394098e-03 9.99977680e-01 -6.20232488e-03 4.19356746e-01] [ 3.32129844e-02 6.11642438e-03 9.99429581e-01 2.07483838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55463043999998 meters Centerline goodness [0,1] 0.3198076345055606 Centerline is valid? [False, False] Translation: X:7.96, Y:0.42, Z:0.21 [[ 9.99440350e-01 -2.71228466e-03 -3.33411253e-02 7.95578885e+00] [ 2.50574320e-03 9.99977423e-01 -6.23501951e-03 4.19758124e-01] [ 3.33572837e-02 6.14798578e-03 9.99424581e-01 2.07264153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58463043999998 meters Centerline goodness [0,1] 0.32171455487517664 Centerline is valid? [False, False] Translation: X:7.96, Y:0.42, Z:0.21 [[ 9.99437093e-01 -2.69163579e-03 -3.34402669e-02 7.95612574e+00] [ 2.48213140e-03 9.99977043e-01 -6.30496768e-03 4.20798795e-01] [ 3.34564699e-02 6.21841543e-03 9.99420830e-01 2.07143801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61463043999998 meters Centerline goodness [0,1] 0.32516148610569207 Centerline is valid? [False, False] Translation: X:7.93, Y:0.42, Z:0.21 [[ 9.99405209e-01 6.12639227e-03 -3.39366266e-02 7.93493262e+00] [-6.38652166e-03 9.99951013e-01 -7.56206178e-03 4.23894105e-01] [ 3.38886359e-02 7.77430093e-03 9.99395378e-01 2.06240510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64463044 meters Centerline goodness [0,1] 0.32490997942386834 Centerline is valid? [False, False] Translation: X:7.96, Y:0.43, Z:0.21 [[ 9.99441860e-01 2.28332137e-04 -3.34053282e-02 7.95655773e+00] [-3.92636333e-04 9.99987859e-01 -4.91202545e-03 4.27893830e-01] [ 3.34038011e-02 4.92240000e-03 9.99429815e-01 2.06921333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67463044 meters Centerline goodness [0,1] 0.3255703831252691 Centerline is valid? [False, False] Translation: X:7.96, Y:0.43, Z:0.21 [[ 9.99446289e-01 1.29894088e-04 -3.32730959e-02 7.95590138e+00] [-3.12273825e-04 9.99984957e-01 -5.47615952e-03 4.31657427e-01] [ 3.32718840e-02 5.48351763e-03 9.99431295e-01 2.07458413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70463044 meters Centerline goodness [0,1] 0.3270032120843823 Centerline is valid? [False, False] Translation: X:7.95, Y:0.44, Z:0.21 [[ 9.99481931e-01 2.00024614e-03 -3.21226974e-02 7.95177541e+00] [-2.13265135e-03 9.99989369e-01 -4.08812538e-03 4.35547204e-01] [ 3.21141786e-02 4.15451396e-03 9.99475572e-01 2.09129188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73463044 meters Centerline goodness [0,1] 0.327283648689235 Centerline is valid? [False, False] Translation: X:7.97, Y:0.44, Z:0.21 [[ 9.99512619e-01 -3.30081076e-03 -3.10423689e-02 7.97299424e+00] [ 3.27290174e-03 9.99994193e-01 -9.49830707e-04 4.43651856e-01] [ 3.10453238e-02 8.47769154e-04 9.99517618e-01 2.09944760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76463044 meters Centerline goodness [0,1] 0.32600400957123454 Centerline is valid? [False, False] Translation: X:7.97, Y:0.45, Z:0.21 [[ 9.99505258e-01 -3.51001539e-03 -3.12557021e-02 7.97376494e+00] [ 3.46800132e-03 9.99993009e-01 -1.39831439e-03 4.45863518e-01] [ 3.12603917e-02 1.28922777e-03 9.99510443e-01 2.09559937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79463044 meters Centerline goodness [0,1] 0.3244911077780158 Centerline is valid? [False, False] Translation: X:7.98, Y:0.45, Z:0.21 [[ 9.99492197e-01 -3.69710843e-03 -3.16493270e-02 7.97509285e+00] [ 3.64529462e-03 9.99991920e-01 -1.69466564e-03 4.47125774e-01] [ 3.16553366e-02 1.57843396e-03 9.99497598e-01 2.08984417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82463044 meters Centerline goodness [0,1] 0.3264411027568922 Centerline is valid? [False, False] Translation: X:7.98, Y:0.45, Z:0.21 [[ 9.99484159e-01 -3.84713264e-03 -3.18844134e-02 7.97586529e+00] [ 3.78881101e-03 9.99991038e-01 -1.88937368e-03 4.47905345e-01] [ 3.18913964e-02 1.76759505e-03 9.99489777e-01 2.08661155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85463044 meters Centerline goodness [0,1] 0.32614032820777883 Centerline is valid? [False, False] Translation: X:7.98, Y:0.45, Z:0.21 [[ 9.99476137e-01 -4.31198701e-03 -3.20758117e-02 7.97603084e+00] [ 4.24605827e-03 9.99988731e-01 -2.12323524e-03 4.48029992e-01] [ 3.20846056e-02 1.98592719e-03 9.99483184e-01 2.09015213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88463044 meters Centerline goodness [0,1] 0.33216118816206186 Centerline is valid? [False, False] Translation: X:7.95, Y:0.45, Z:0.21 [[ 9.99464694e-01 2.51091485e-03 -3.26193160e-02 7.95367906e+00] [-2.66380355e-03 9.99985667e-01 -4.64444874e-03 4.47053986e-01] [ 3.26071867e-02 4.72885399e-03 9.99457057e-01 2.08683039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.91463044 meters Centerline goodness [0,1] 0.326035680590102 Centerline is valid? [False, False] Translation: X:7.97, Y:0.45, Z:0.21 [[ 9.99456798e-01 -6.06845219e-03 -3.23926371e-02 7.97477845e+00] [ 5.95199111e-03 9.99975477e-01 -3.69051162e-03 4.49057486e-01] [ 3.24142384e-02 3.49570624e-03 9.99468407e-01 2.09898957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94463044 meters Centerline goodness [0,1] 0.3249903487324669 Centerline is valid? [False, False] Translation: X:7.98, Y:0.45, Z:0.21 [[ 9.99453781e-01 -6.01778247e-03 -3.24950012e-02 7.97516173e+00] [ 5.90283582e-03 9.99975982e-01 -3.63213883e-03 4.49225463e-01] [ 3.25160782e-02 3.43834223e-03 9.99465298e-01 2.09731442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.97463044 meters Centerline goodness [0,1] 0.33001317978523437 Centerline is valid? [False, False] Translation: X:7.97, Y:0.45, Z:0.21 [[ 9.99459845e-01 -5.90424163e-03 -3.23289142e-02 7.97466938e+00] [ 5.78835417e-03 9.99976487e-01 -3.67705663e-03 4.50510185e-01] [ 3.23498643e-02 3.48793924e-03 9.99470520e-01 2.09992089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00463044 meters Centerline goodness [0,1] 0.3301827347195967 Centerline is valid? [False, False] Translation: X:7.97, Y:0.45, Z:0.21 [[ 9.99460351e-01 -5.87599166e-03 -3.23183948e-02 7.97456266e+00] [ 5.75406679e-03 9.99975979e-01 -3.86432867e-03 4.51952563e-01] [ 3.23403252e-02 3.67628109e-03 9.99470154e-01 2.10199804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.03463044 meters Centerline goodness [0,1] 0.3291571020959818 Centerline is valid? [False, False] Translation: X:7.99, Y:0.45, Z:0.21 [[ 9.99502982e-01 1.85105996e-03 -3.14700310e-02 7.99470171e+00] [-2.00631579e-03 9.99985970e-01 -4.90258892e-03 4.49342083e-01] [ 3.14605144e-02 4.96329107e-03 9.99492672e-01 2.11688183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06463044 meters Centerline goodness [0,1] 0.3275484342110916 Centerline is valid? [False, False] Translation: X:7.99, Y:0.45, Z:0.21 [[ 9.99508870e-01 2.01790834e-03 -3.12721521e-02 7.99408589e+00] [-2.17854735e-03 9.99984604e-01 -5.10358629e-03 4.51359128e-01] [ 3.12613721e-02 5.16920762e-03 9.99497877e-01 2.12023105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.09463044 meters Centerline goodness [0,1] 0.3318585971392981 Centerline is valid? [False, False] Translation: X:7.99, Y:0.46, Z:0.21 [[ 9.99528386e-01 4.76911044e-03 -3.03357916e-02 7.99085655e+00] [-4.87227359e-03 9.99982594e-01 -3.32769735e-03 4.57359983e-01] [ 3.03193934e-02 3.47393224e-03 9.99534225e-01 2.13452393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12463044 meters Centerline goodness [0,1] 0.33278720331127254 Centerline is valid? [False, False] Translation: X:7.99, Y:0.46, Z:0.21 [[ 9.99527232e-01 4.95192958e-03 -3.03445230e-02 7.99084200e+00] [-5.06533644e-03 9.99980467e-01 -3.66157884e-03 4.60469242e-01] [ 3.03257985e-02 3.81355298e-03 9.99532792e-01 2.13613108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.15463044 meters Centerline goodness [0,1] 0.333491124260355 Centerline is valid? [False, False] Translation: X:7.99, Y:0.46, Z:0.21 [[ 9.99519253e-01 5.15567585e-03 -3.05725590e-02 7.99146431e+00] [-5.27978756e-03 9.99978141e-01 -3.98024152e-03 4.63719728e-01] [ 3.05513699e-02 4.13974465e-03 9.99524625e-01 2.13587960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18463043999998 meters Centerline goodness [0,1] 0.3346138987852513 Centerline is valid? [False, False] Translation: X:7.99, Y:0.47, Z:0.21 [[ 9.99501402e-01 5.32991564e-03 -3.11213660e-02 7.99278093e+00] [-5.46771011e-03 9.99975616e-01 -4.34422619e-03 4.67224486e-01] [ 3.10974528e-02 4.51222278e-03 9.99506172e-01 2.13546673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21463043999998 meters Centerline goodness [0,1] 0.3342917837907431 Centerline is valid? [False, False] Translation: X:7.99, Y:0.47, Z:0.21 [[ 9.99489245e-01 5.54335982e-03 -3.14725446e-02 7.99374158e+00] [-5.69178940e-03 9.99973090e-01 -4.62853053e-03 4.70464570e-01] [ 3.14460401e-02 4.80530158e-03 9.99493900e-01 2.13438491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24463043999998 meters Centerline goodness [0,1] 0.3335836748707165 Centerline is valid? [False, False] Translation: X:7.99, Y:0.47, Z:0.21 [[ 9.99477409e-01 5.74993654e-03 -3.18095512e-02 7.99463543e+00] [-5.90915091e-03 9.99970469e-01 -4.91349571e-03 4.73891426e-01] [ 3.17803595e-02 5.09889540e-03 9.99481871e-01 2.13350305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27463043999998 meters Centerline goodness [0,1] 0.3356629696351442 Centerline is valid? [False, False] Translation: X:8.00, Y:0.48, Z:0.21 [[ 9.99451347e-01 9.30257665e-03 -3.17878560e-02 7.99503178e+00] [-9.37697988e-03 9.99953632e-01 -2.19234230e-03 4.79109912e-01] [ 3.17659877e-02 2.48921355e-03 9.99492234e-01 2.12986767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30463043999998 meters Centerline goodness [0,1] 0.3333261469472232 Centerline is valid? [False, False] Translation: X:8.01, Y:0.49, Z:0.22 [[ 9.99468344e-01 1.89451374e-03 -3.25490410e-02 8.01357256e+00] [-1.93134033e-03 9.99997530e-01 -1.10001595e-03 4.86882767e-01] [ 3.25468766e-02 1.16229439e-03 9.99469534e-01 2.15179819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33463043999998 meters Centerline goodness [0,1] 0.33304673057908085 Centerline is valid? [False, False] Translation: X:8.01, Y:0.49, Z:0.22 [[ 9.99460816e-01 1.80729765e-03 -3.27843061e-02 8.01423416e+00] [-1.86132378e-03 9.99996960e-01 -1.61748209e-03 4.90189054e-01] [ 3.27812831e-02 1.67763218e-03 9.99461141e-01 2.15012877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36463043999998 meters Centerline goodness [0,1] 0.33155438399377724 Centerline is valid? [False, False] Translation: X:8.01, Y:0.50, Z:0.21 [[ 9.99456381e-01 1.76045174e-03 -3.29217832e-02 8.01460478e+00] [-1.83431879e-03 9.99995868e-01 -2.21364553e-03 4.95293189e-01] [ 3.29177501e-02 2.27283119e-03 9.99455480e-01 2.14911190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39463044 meters Centerline goodness [0,1] 0.33258690784181577 Centerline is valid? [False, False] Translation: X:8.01, Y:0.50, Z:0.22 [[ 9.99452844e-01 1.77661467e-03 -3.30281279e-02 8.01474860e+00] [-1.85452266e-03 9.99995570e-01 -2.32835301e-03 4.96679639e-01] [ 3.30238450e-02 2.38833045e-03 9.99451710e-01 2.15077491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42463044 meters Centerline goodness [0,1] 0.3312444817710015 Centerline is valid? [False, False] Translation: X:8.03, Y:0.50, Z:0.22 [[ 9.99461386e-01 -4.64467217e-03 -3.24863747e-02 8.03489257e+00] [ 4.66722669e-03 9.99988917e-01 6.18479889e-04 5.00150716e-01] [ 3.24831421e-02 -7.69768043e-04 9.99471987e-01 2.15930800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45463044 meters Centerline goodness [0,1] 0.3272688032804575 Centerline is valid? [False, False] Translation: X:8.04, Y:0.50, Z:0.22 [[ 9.99445539e-01 -4.65217486e-03 -3.29692439e-02 8.03632715e+00] [ 4.66304157e-03 9.99989096e-01 2.52719446e-04 5.03089245e-01] [ 3.29677087e-02 -4.06316278e-04 9.99456335e-01 2.15502220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48463044 meters Centerline goodness [0,1] 0.32801659858652665 Centerline is valid? [False, False] Translation: X:8.04, Y:0.51, Z:0.22 [[ 9.99439362e-01 -4.67516142e-03 -3.31527534e-02 8.03687363e+00] [ 4.67722980e-03 9.99989062e-01 -1.51635893e-05 5.05067839e-01] [ 3.31524617e-02 -1.39907958e-04 9.99450296e-01 2.15307587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51463044 meters Centerline goodness [0,1] 0.3267115844381656 Centerline is valid? [False, False] Translation: X:8.04, Y:0.51, Z:0.22 [[ 9.99436319e-01 -4.58015516e-03 -3.32575916e-02 8.03718745e+00] [ 4.57829674e-03 9.99989511e-01 -1.32032393e-04 5.06879411e-01] [ 3.32578475e-02 -2.03051541e-05 9.99446805e-01 2.15180272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54463044 meters Centerline goodness [0,1] 0.3246979404050393 Centerline is valid? [False, False] Translation: X:8.06, Y:0.51, Z:0.22 [[ 9.99454305e-01 3.05038583e-03 -3.28905472e-02 8.05745441e+00] [-3.08163616e-03 9.99994847e-01 -8.99480956e-04 5.05278739e-01] [ 3.28876339e-02 1.00034681e-03 9.99458555e-01 2.16680037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57463044 meters Centerline goodness [0,1] 0.32436104820446454 Centerline is valid? [False, False] Translation: X:8.06, Y:0.51, Z:0.22 [[ 9.99453027e-01 3.12302557e-03 -3.29225434e-02 8.05706655e+00] [-3.16408012e-03 9.99994280e-01 -1.19497887e-03 5.07703625e-01] [ 3.29186231e-02 1.29849481e-03 9.99457192e-01 2.17351870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60463044 meters Centerline goodness [0,1] 0.32513848928586764 Centerline is valid? [False, False] Translation: X:8.06, Y:0.51, Z:0.22 [[ 9.99451837e-01 3.07220550e-03 -3.29634072e-02 8.05706022e+00] [-3.11863228e-03 9.99994216e-01 -1.35711204e-03 5.08331694e-01] [ 3.29590472e-02 1.45916887e-03 9.99455638e-01 2.17526549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63463044 meters Centerline goodness [0,1] 0.3225730088019455 Centerline is valid? [False, False] Translation: X:8.06, Y:0.51, Z:0.22 [[ 9.99448801e-01 3.03839355e-03 -3.30584781e-02 8.05712373e+00] [-3.09059706e-03 9.99994056e-01 -1.52814146e-03 5.09153720e-01] [ 3.30536385e-02 1.62946959e-03 9.99452251e-01 2.17734844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66463044 meters Centerline goodness [0,1] 0.32605848974247054 Centerline is valid? [False, False] Translation: X:8.04, Y:0.51, Z:0.22 [[ 9.99460545e-01 -3.93090178e-03 -3.26062451e-02 8.03825888e+00] [ 3.91211441e-03 9.99992143e-01 -6.39966196e-04 5.14072926e-01] [ 3.26085045e-02 5.12061601e-04 9.99468070e-01 2.15790210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.69463044 meters Centerline goodness [0,1] 0.3232875532785121 Centerline is valid? [False, False] Translation: X:8.06, Y:0.51, Z:0.22 [[ 9.99462085e-01 3.65736838e-03 -3.25908623e-02 8.05878122e+00] [-3.70825039e-03 9.99991998e-01 -1.50092851e-03 5.11159936e-01] [ 3.25851121e-02 1.62097621e-03 9.99467650e-01 2.17251788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72463044 meters Centerline goodness [0,1] 0.32035032600976954 Centerline is valid? [False, False] Translation: X:8.06, Y:0.51, Z:0.22 [[ 9.99461261e-01 3.69984468e-03 -3.26113421e-02 8.05880976e+00] [-3.75445561e-03 9.99991650e-01 -1.61352275e-03 5.12104905e-01] [ 3.26051000e-02 1.73509131e-03 9.99466806e-01 2.17272465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.75463044 meters Centerline goodness [0,1] 0.32167349579469484 Centerline is valid? [False, False] Translation: X:8.06, Y:0.51, Z:0.22 [[ 9.99486116e-01 4.21297725e-03 -3.17766400e-02 8.05659135e+00] [-4.26724271e-03 9.99989550e-01 -1.64009228e-03 5.14467559e-01] [ 3.17693983e-02 1.77484810e-03 9.99493649e-01 2.17767749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78463044 meters Centerline goodness [0,1] 0.3213541554787017 Centerline is valid? [False, False] Translation: X:8.06, Y:0.52, Z:0.22 [[ 9.99492088e-01 4.31671067e-03 -3.15742264e-02 8.05576858e+00] [-4.37610476e-03 9.99988783e-01 -1.81223221e-03 5.16138071e-01] [ 3.15660493e-02 1.94948388e-03 9.99499767e-01 2.18277196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.81463044 meters Centerline goodness [0,1] 0.32196235517078 Centerline is valid? [False, False] Translation: X:8.06, Y:0.52, Z:0.22 [[ 9.99495367e-01 4.49894959e-03 -3.14447203e-02 8.05523387e+00] [-4.55990938e-03 9.99987860e-01 -1.86719185e-03 5.17517385e-01] [ 3.14359382e-02 2.00963468e-03 9.99503748e-01 2.18587584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84463044 meters Centerline goodness [0,1] 0.3210936326372943 Centerline is valid? [False, False] Translation: X:8.06, Y:0.52, Z:0.22 [[ 9.99496037e-01 4.63068902e-03 -3.14042666e-02 8.05505265e+00] [-4.69121959e-03 9.99987277e-01 -1.85405658e-03 5.18269072e-01] [ 3.13952815e-02 2.00044652e-03 9.99505045e-01 2.18705323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.87463044 meters Centerline goodness [0,1] 0.3194787881394199 Centerline is valid? [False, False] Translation: X:8.06, Y:0.52, Z:0.22 [[ 9.99496231e-01 4.69333027e-03 -3.13888064e-02 8.05508084e+00] [-4.75324326e-03 9.99987021e-01 -1.83439180e-03 5.18086869e-01] [ 3.13797896e-02 1.98266632e-03 9.99505567e-01 2.18565320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90463044 meters Centerline goodness [0,1] 0.3192091000621238 Centerline is valid? [False, False] Translation: X:8.06, Y:0.52, Z:0.22 [[ 9.99492677e-01 4.70994904e-03 -3.14992938e-02 8.05541292e+00] [-4.76653822e-03 9.99987158e-01 -1.72167295e-03 5.17169183e-01] [ 3.14907803e-02 1.87094209e-03 9.99502291e-01 2.18463492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93463043999998 meters Centerline goodness [0,1] 0.3183455551267207 Centerline is valid? [False, False] Translation: X:8.06, Y:0.51, Z:0.22 [[ 9.99486045e-01 4.86595193e-03 -3.16854570e-02 8.05593446e+00] [-4.90516851e-03 9.99987297e-01 -1.16007022e-03 5.13829977e-01] [ 3.16794096e-02 1.31489650e-03 9.99497217e-01 2.18416515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96463043999998 meters Centerline goodness [0,1] 0.3223587436185862 Centerline is valid? [False, False] Translation: X:8.06, Y:0.51, Z:0.22 [[ 9.99486682e-01 4.93793692e-03 -3.16542046e-02 8.05618834e+00] [-4.96624019e-03 9.99987336e-01 -8.15580239e-04 5.11552135e-01] [ 3.16497765e-02 9.72363970e-04 9.99498547e-01 2.18023788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99463043999998 meters Centerline goodness [0,1] 0.3183412464177253 Centerline is valid? [False, False] Translation: X:8.08, Y:0.51, Z:0.22 [[ 9.99507784e-01 -3.45890977e-03 -3.11805199e-02 8.07611798e+00] [ 3.47195951e-03 9.99993906e-01 3.64389841e-04 5.13171487e-01] [ 3.11790695e-02 -4.72467986e-04 9.99513703e-01 2.18961201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02463043999998 meters Centerline goodness [0,1] 0.32085102732381077 Centerline is valid? [False, False] Translation: X:8.08, Y:0.51, Z:0.22 [[ 9.99508912e-01 -3.38815357e-03 -3.11521407e-02 8.07624914e+00] [ 3.40823249e-03 9.99994017e-01 5.91466611e-04 5.11775042e-01] [ 3.11499504e-02 -6.97349887e-04 9.99514479e-01 2.18739663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05463043999998 meters Centerline goodness [0,1] 0.3170506516651279 Centerline is valid? [False, False] Translation: X:8.08, Y:0.51, Z:0.22 [[ 9.99498189e-01 -3.10430161e-03 -3.15235396e-02 8.07775437e+00] [ 3.13710966e-03 9.99994588e-01 9.91342370e-04 5.10385968e-01] [ 3.15202916e-02 -1.08973770e-03 9.99502518e-01 2.17894208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08463043999998 meters Centerline goodness [0,1] 0.3181926432700426 Centerline is valid? [False, False] Translation: X:8.08, Y:0.51, Z:0.22 [[ 9.99489848e-01 -3.00355649e-03 -3.17965780e-02 8.07870991e+00] [ 3.04068613e-03 9.99994751e-01 1.11943460e-03 5.10019830e-01] [ 3.17930488e-02 -1.21554693e-03 9.99493734e-01 2.17387447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11463043999998 meters Centerline goodness [0,1] 0.3194908996133965 Centerline is valid? [False, False] Translation: X:8.08, Y:0.51, Z:0.22 [[ 9.99477526e-01 -2.93499740e-03 -3.21878920e-02 8.07991502e+00] [ 2.97491573e-03 9.99994864e-01 1.19234544e-03 5.09725944e-01] [ 3.21842271e-02 -1.28747874e-03 9.99481124e-01 2.16946120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14463044 meters Centerline goodness [0,1] 0.3165274009766684 Centerline is valid? [False, False] Translation: X:8.08, Y:0.51, Z:0.22 [[ 9.99465259e-01 -2.85094364e-03 -3.25740297e-02 8.08127580e+00] [ 2.89474192e-03 9.99994968e-01 1.29749654e-03 5.09236603e-01] [ 3.25701667e-02 -1.39109612e-03 9.99468483e-01 2.16263022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17463044 meters Centerline goodness [0,1] 0.3129873215404221 Centerline is valid? [False, False] Translation: X:8.08, Y:0.51, Z:0.22 [[ 9.99446984e-01 -2.69413626e-03 -3.31431372e-02 8.08280116e+00] [ 2.74440520e-03 9.99995152e-01 1.47132413e-03 5.08546235e-01] [ 3.31390126e-02 -1.56146866e-03 9.99449532e-01 2.15973533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20463044 meters Centerline goodness [0,1] 0.31486521513737686 Centerline is valid? [False, False] Translation: X:8.08, Y:0.51, Z:0.22 [[ 9.99449583e-01 -2.62891979e-03 -3.30699103e-02 8.08260212e+00] [ 2.68263398e-03 9.99995154e-01 1.57999725e-03 5.08087417e-01] [ 3.30655963e-02 -1.66784206e-03 9.99451792e-01 2.16026043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23463044 meters Centerline goodness [0,1] 0.31330683081131916 Centerline is valid? [False, False] Translation: X:8.10, Y:0.50, Z:0.22 [[ 9.99447109e-01 4.73890267e-03 -3.29092511e-02 8.10221222e+00] [-4.71681662e-03 9.99988595e-01 7.48722084e-04 5.04073075e-01] [ 3.29124239e-02 -5.93081220e-04 9.99458063e-01 2.17897394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26463044 meters Centerline goodness [0,1] 0.3180374929320169 Centerline is valid? [False, False] Translation: X:8.08, Y:0.51, Z:0.22 [[ 9.99450620e-01 -2.80854783e-03 -3.30237920e-02 8.08205858e+00] [ 2.86757178e-03 9.99994375e-01 1.74008970e-03 5.07007012e-01] [ 3.30187191e-02 -1.83383182e-03 9.99453051e-01 2.16044899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29463044 meters Centerline goodness [0,1] 0.31636402939904884 Centerline is valid? [False, False] Translation: X:8.10, Y:0.50, Z:0.22 [[ 9.99426864e-01 4.52492756e-03 -3.35479981e-02 8.10217128e+00] [-4.49895588e-03 9.99989519e-01 8.49611645e-04 5.02380773e-01] [ 3.35514909e-02 -6.98193739e-04 9.99436746e-01 2.17587200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32463044 meters Centerline goodness [0,1] 0.31636402939904884 Centerline is valid? [False, False] Translation: X:8.10, Y:0.50, Z:0.22 [[ 9.99426864e-01 4.52492756e-03 -3.35479981e-02 8.10217128e+00] [-4.49895588e-03 9.99989519e-01 8.49611645e-04 5.02380773e-01] [ 3.35514909e-02 -6.98193739e-04 9.99436746e-01 2.17587200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35463044 meters Centerline goodness [0,1] 0.3171913358969345 Centerline is valid? [False, False] Translation: X:8.10, Y:0.50, Z:0.22 [[ 9.99428692e-01 4.57664999e-03 -3.34864637e-02 8.10182457e+00] [-4.54905858e-03 9.99989248e-01 9.00098234e-04 5.02151680e-01] [ 3.34902231e-02 -7.47252116e-04 9.99438766e-01 2.17861181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38463044 meters Centerline goodness [0,1] 0.31408681408681405 Centerline is valid? [False, False] Translation: X:8.12, Y:0.51, Z:0.22 [[ 9.99460039e-01 -2.98821928e-03 -3.27215689e-02 8.11969553e+00] [ 3.07651072e-03 9.99991761e-01 2.64824902e-03 5.06194623e-01] [ 3.27133857e-02 -2.74748733e-03 9.99460998e-01 2.19837659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41463044 meters Centerline goodness [0,1] 0.3108924416743154 Centerline is valid? [False, False] Translation: X:8.14, Y:0.50, Z:0.22 [[ 9.99455117e-01 4.21898667e-03 -3.27363452e-02 8.13869674e+00] [-4.17212681e-03 9.99990172e-01 1.49960898e-03 5.02781344e-01] [ 3.27423503e-02 -1.36221169e-03 9.99462897e-01 2.22401448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44463044 meters Centerline goodness [0,1] 0.31762941061373573 Centerline is valid? [False, False] Translation: X:8.09, Y:0.50, Z:0.22 [[ 9.99395149e-01 4.59055823e-03 -3.44711827e-02 8.09321166e+00] [-4.56235330e-03 9.99989190e-01 8.96831894e-04 4.99654753e-01] [ 3.44749271e-02 -7.39019730e-04 9.99405290e-01 2.22300609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.47463044 meters Centerline goodness [0,1] 0.31336613454225126 Centerline is valid? [False, False] Translation: X:8.11, Y:0.50, Z:0.22 [[ 9.99421823e-01 -3.18157562e-03 -3.38511178e-02 8.11213422e+00] [ 3.26536569e-03 9.99991740e-01 2.42025650e-03 5.03109261e-01] [ 3.38431380e-02 -2.52939344e-03 9.99423956e-01 2.23940575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50463044 meters Centerline goodness [0,1] 0.3130559663901571 Centerline is valid? [False, False] Translation: X:8.11, Y:0.50, Z:0.22 [[ 9.99428993e-01 -3.04424026e-03 -3.36514601e-02 8.11156472e+00] [ 3.13563864e-03 9.99991536e-01 2.66358938e-03 5.02057295e-01] [ 3.36430667e-02 -2.76758727e-03 9.99430080e-01 2.24171841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.53463044 meters Centerline goodness [0,1] 0.3148196042932885 Centerline is valid? [False, False] Translation: X:8.11, Y:0.50, Z:0.22 [[ 9.99439481e-01 -3.04224254e-03 -3.33386913e-02 8.11060235e+00] [ 3.13611003e-03 9.99991264e-01 2.76364259e-03 5.01096559e-01] [ 3.33299924e-02 -2.86664732e-03 9.99440290e-01 2.24577013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56463044 meters Centerline goodness [0,1] 0.3188110219136472 Centerline is valid? [False, False] Translation: X:8.11, Y:0.50, Z:0.23 [[ 9.99458447e-01 -3.09824518e-03 -3.27599526e-02 8.10868448e+00] [ 3.19586195e-03 9.99990607e-01 2.92781703e-03 4.98707129e-01] [ 3.27505738e-02 -3.03092774e-03 9.99458960e-01 2.25475409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.59463044 meters Centerline goodness [0,1] 0.3185346032292048 Centerline is valid? [False, False] Translation: X:8.13, Y:0.50, Z:0.23 [[ 9.99475369e-01 4.29139000e-03 -3.21025023e-02 8.12741097e+00] [-4.23341385e-03 9.99989284e-01 1.87372148e-03 4.95062430e-01] [ 3.21101991e-02 -1.73683529e-03 9.99482826e-01 2.27883239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62463044 meters Centerline goodness [0,1] 0.3185663113374476 Centerline is valid? [False, False] Translation: X:8.13, Y:0.49, Z:0.23 [[ 9.99478377e-01 4.45271282e-03 -3.19866784e-02 8.12721162e+00] [-4.38730953e-03 9.99988140e-01 2.11459930e-03 4.94383705e-01] [ 3.19957148e-02 -1.97316081e-03 9.99486058e-01 2.27823986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.65463044 meters Centerline goodness [0,1] 0.31911233442284537 Centerline is valid? [False, False] Translation: X:8.13, Y:0.49, Z:0.23 [[ 9.99477769e-01 4.57873185e-03 -3.19878866e-02 8.12712221e+00] [-4.50887243e-03 9.99987291e-01 2.25572593e-03 4.94153299e-01] [ 3.19978085e-02 -2.11031862e-03 9.99485711e-01 2.27982659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68463043999998 meters Centerline goodness [0,1] 0.32078070194314734 Centerline is valid? [False, False] Translation: X:8.13, Y:0.49, Z:0.23 [[ 9.99495565e-01 4.63106600e-03 -3.14192574e-02 8.12536121e+00] [-4.56182589e-03 9.99987007e-01 2.27507250e-03 4.94049246e-01] [ 3.14293852e-02 -2.13059569e-03 9.99503704e-01 2.28665297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71463043999998 meters Centerline goodness [0,1] 0.3174453896464754 Centerline is valid? [False, False] Translation: X:8.13, Y:0.49, Z:0.23 [[ 9.99498797e-01 4.63953912e-03 -3.13149916e-02 8.12506082e+00] [-4.57037007e-03 9.99986956e-01 2.28003299e-03 4.93852248e-01] [ 3.13251614e-02 -2.13576913e-03 9.99506965e-01 2.28733779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74463043999998 meters Centerline goodness [0,1] 0.3213206080497495 Centerline is valid? [False, False] Translation: X:8.13, Y:0.49, Z:0.23 [[ 9.99493560e-01 4.64630951e-03 -3.14807049e-02 8.12565290e+00] [-4.57527504e-03 9.99986823e-01 2.32810392e-03 4.93366073e-01] [ 3.14911072e-02 -2.18289200e-03 9.99501648e-01 2.28443793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77463043999998 meters Centerline goodness [0,1] 0.31858749650530116 Centerline is valid? [False, False] Translation: X:8.13, Y:0.49, Z:0.23 [[ 9.99481626e-01 4.74466780e-03 -3.18428499e-02 8.12711367e+00] [-4.66718719e-03 9.99985966e-01 2.50710527e-03 4.92617317e-01] [ 3.18542984e-02 -2.35718911e-03 9.99489743e-01 2.27597954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80463043999998 meters Centerline goodness [0,1] 0.31430589443945034 Centerline is valid? [False, False] Translation: X:8.13, Y:0.49, Z:0.22 [[ 9.99429364e-01 3.35748553e-03 -3.36106273e-02 8.13350484e+00] [-3.31556504e-03 9.99993655e-01 1.30289658e-03 4.91785732e-01] [ 3.36147885e-02 -1.19071488e-03 9.99434154e-01 2.24971985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83463043999998 meters Centerline goodness [0,1] 0.31522412283511647 Centerline is valid? [False, False] Translation: X:8.13, Y:0.49, Z:0.22 [[ 9.99417661e-01 3.44542110e-03 -3.39480195e-02 8.13462278e+00] [-3.39268533e-03 9.99992947e-01 1.61090908e-03 4.89833874e-01] [ 3.39533303e-02 -1.49479604e-03 9.99422302e-01 2.24591488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86463043999998 meters Centerline goodness [0,1] 0.3182530015660344 Centerline is valid? [False, False] Translation: X:8.09, Y:0.49, Z:0.22 [[ 9.99322038e-01 3.38531713e-03 -3.66606591e-02 8.09179748e+00] [-3.35133449e-03 9.99993896e-01 9.88363150e-04 4.85932701e-01] [ 3.66637813e-02 -8.64830946e-04 9.99327283e-01 2.23005238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89463044 meters Centerline goodness [0,1] 0.313924539640297 Centerline is valid? [False, False] Translation: X:8.11, Y:0.49, Z:0.22 [[ 9.99316701e-01 -4.78903642e-03 -3.66496367e-02 8.11233936e+00] [ 4.86887308e-03 9.99985964e-01 2.08943371e-03 4.87646346e-01] [ 3.66391159e-02 -2.26644844e-03 9.99325992e-01 2.23861824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92463044 meters Centerline goodness [0,1] 0.31525460221767687 Centerline is valid? [False, False] Translation: X:8.11, Y:0.48, Z:0.22 [[ 9.99328928e-01 -6.28295849e-03 -3.60862690e-02 8.11176251e+00] [ 6.33840582e-03 9.99978901e-01 1.42232393e-03 4.79823523e-01] [ 3.60765712e-02 -1.65009887e-03 9.99347666e-01 2.23189529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95463044 meters Centerline goodness [0,1] 0.3165757647616789 Centerline is valid? [False, False] Translation: X:8.11, Y:0.48, Z:0.22 [[ 9.99334438e-01 -6.11625733e-03 -3.59620967e-02 8.11148658e+00] [ 6.19112399e-03 9.99978893e-01 1.97082993e-03 4.76560606e-01] [ 3.59492835e-02 -2.19216402e-03 9.99351211e-01 2.23303274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98463044 meters Centerline goodness [0,1] 0.3170553779475186 Centerline is valid? [False, False] Translation: X:8.11, Y:0.47, Z:0.22 [[ 9.99333979e-01 -5.79586985e-03 -3.60278585e-02 8.11180976e+00] [ 5.89630055e-03 9.99979020e-01 2.68195902e-03 4.73166866e-01] [ 3.60115584e-02 -2.89260386e-03 9.99347187e-01 2.23203936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01463044 meters Centerline goodness [0,1] 0.3190854225702481 Centerline is valid? [False, False] Translation: X:8.11, Y:0.47, Z:0.22 [[ 9.99322991e-01 -5.47913194e-03 -3.63804831e-02 8.11295983e+00] [ 5.60315740e-03 9.99978831e-01 3.30803918e-03 4.70268464e-01] [ 3.63615877e-02 -3.50964518e-03 9.99332536e-01 2.22816910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04463044 meters Centerline goodness [0,1] 0.3118401853918119 Centerline is valid? [False, False] Translation: X:8.14, Y:0.46, Z:0.22 [[ 9.99228639e-01 1.63427836e-03 -3.92359070e-02 8.13520492e+00] [-1.50816737e-03 9.99993602e-01 3.24355647e-03 4.60056314e-01] [ 3.92409569e-02 -3.18188021e-03 9.99224711e-01 2.24108513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07463044 meters Centerline goodness [0,1] 0.31841473697865996 Centerline is valid? [False, False] Translation: X:8.14, Y:0.46, Z:0.22 [[ 9.99224799e-01 1.76460419e-03 -3.93279407e-02 8.13553894e+00] [-1.62534291e-03 9.99992297e-01 3.57271841e-03 4.57807978e-01] [ 3.93339422e-02 -3.50602745e-03 9.99219970e-01 2.23904948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10463044 meters Centerline goodness [0,1] 0.3111747606019152 Centerline is valid? [False, False] Translation: X:8.16, Y:0.45, Z:0.23 [[ 9.99222597e-01 9.94864622e-03 -3.81474296e-02 8.15516001e+00] [-9.83048993e-03 9.99946288e-01 3.28368619e-03 4.50441388e-01] [ 3.81780489e-02 -2.90612552e-03 9.99266727e-01 2.25845325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13463044 meters Centerline goodness [0,1] 0.3168723390460547 Centerline is valid? [False, False] Translation: X:8.13, Y:0.45, Z:0.22 [[ 9.99312256e-01 2.18820659e-03 -3.70165784e-02 8.13416133e+00] [-2.04062370e-03 9.99989821e-01 4.02425200e-03 4.51465422e-01] [ 3.70250075e-02 -3.94594744e-03 9.99306549e-01 2.24057872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16463044 meters Centerline goodness [0,1] 0.315391736818309 Centerline is valid? [False, False] Translation: X:8.13, Y:0.45, Z:0.22 [[ 9.99316861e-01 2.21938376e-03 -3.68901972e-02 8.13395306e+00] [-2.06627646e-03 9.99989096e-01 4.18795965e-03 4.49911024e-01] [ 3.68990897e-02 -4.10887334e-03 9.99310550e-01 2.23943755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.19463044 meters Centerline goodness [0,1] 0.31370197455775906 Centerline is valid? [False, False] Translation: X:8.13, Y:0.45, Z:0.22 [[ 9.99315364e-01 2.29238124e-03 -3.69262649e-02 8.13423849e+00] [-2.13120306e-03 9.99988033e-01 4.40363638e-03 4.48241935e-01] [ 3.69359178e-02 -4.32192412e-03 9.99308290e-01 2.23695755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22463044 meters Centerline goodness [0,1] 0.31209565495889824 Centerline is valid? [False, False] Translation: X:8.13, Y:0.45, Z:0.22 [[ 9.99315944e-01 2.58010707e-03 -3.68915467e-02 8.13447001e+00] [-2.40185614e-03 9.99985231e-01 4.87525836e-03 4.45999093e-01] [ 3.69035805e-02 -4.78331522e-03 9.99307383e-01 2.23238253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.25463044 meters Centerline goodness [0,1] 0.31197640622328604 Centerline is valid? [False, False] Translation: X:8.13, Y:0.44, Z:0.22 [[ 9.99319025e-01 2.76739305e-03 -3.67944103e-02 8.13412145e+00] [-2.57797558e-03 9.99983186e-01 5.19444314e-03 4.44790855e-01] [ 3.68081667e-02 -5.09605076e-03 9.99309356e-01 2.23447329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28463044 meters Centerline goodness [0,1] 0.31382463690155993 Centerline is valid? [False, False] Translation: X:8.13, Y:0.44, Z:0.22 [[ 9.99326928e-01 2.87426042e-03 -3.65708955e-02 8.13352621e+00] [-2.67670989e-03 9.99981568e-01 5.44966617e-03 4.43434321e-01] [ 3.65858852e-02 -5.34810847e-03 9.99316202e-01 2.23638983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.31463044 meters Centerline goodness [0,1] 0.3163559193572836 Centerline is valid? [False, False] Translation: X:8.13, Y:0.44, Z:0.22 [[ 9.99332723e-01 2.90041382e-03 -3.64101096e-02 8.13299431e+00] [-2.69673041e-03 9.99980447e-01 5.64200920e-03 4.42054169e-01] [ 3.64257618e-02 -5.54005617e-03 9.99321005e-01 2.23912951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34463044 meters Centerline goodness [0,1] 0.3167205343675932 Centerline is valid? [False, False] Translation: X:8.13, Y:0.44, Z:0.22 [[ 9.99335992e-01 2.94738945e-03 -3.63165104e-02 8.13282934e+00] [-2.73083355e-03 9.99978204e-01 6.01117651e-03 4.38926801e-01] [ 3.63334362e-02 -5.90801069e-03 9.99322259e-01 2.23960940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.37463044 meters Centerline goodness [0,1] 0.31650485436893205 Centerline is valid? [False, False] Translation: X:8.13, Y:0.44, Z:0.22 [[ 9.99335773e-01 3.01188403e-03 -3.63172377e-02 8.13288186e+00] [-2.78564110e-03 9.99976409e-01 6.27862107e-03 4.37150058e-01] [ 3.63352914e-02 -6.17328385e-03 9.99320588e-01 2.23991768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40463044 meters Centerline goodness [0,1] 0.31731642940591065 Centerline is valid? [False, False] Translation: X:8.13, Y:0.44, Z:0.22 [[ 9.99338741e-01 3.06724437e-03 -3.62308353e-02 8.13273397e+00] [-2.83102644e-03 9.99974414e-01 6.56930760e-03 4.35195739e-01] [ 3.62500580e-02 -6.46239313e-03 9.99321855e-01 2.24011267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43463043999998 meters Centerline goodness [0,1] 0.3178309616213886 Centerline is valid? [False, False] Translation: X:8.13, Y:0.43, Z:0.22 [[ 9.99359446e-01 3.07443106e-03 -3.56545338e-02 8.13122095e+00] [-2.82283343e-03 9.99970777e-01 7.10473338e-03 4.31200661e-01] [ 3.56753349e-02 -6.99953560e-03 9.99338920e-01 2.24528775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46463043999998 meters Centerline goodness [0,1] 0.31852476381953 Centerline is valid? [False, False] Translation: X:8.13, Y:0.43, Z:0.22 [[ 9.99364940e-01 3.12260838e-03 -3.54959922e-02 8.13089559e+00] [-2.86376664e-03 9.99968956e-01 7.34064469e-03 4.29606611e-01] [ 3.55178122e-02 -7.23433071e-03 9.99342859e-01 2.24568284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49463043999998 meters Centerline goodness [0,1] 0.3182033606204222 Centerline is valid? [False, False] Translation: X:8.13, Y:0.43, Z:0.22 [[ 9.99361928e-01 3.12404004e-03 -3.55805643e-02 8.13109137e+00] [-2.86017453e-03 9.99968050e-01 7.46448789e-03 4.28501357e-01] [ 3.56027469e-02 -7.35795839e-03 9.99338934e-01 2.24624447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52463043999998 meters Centerline goodness [0,1] 0.3200302506482282 Centerline is valid? [False, False] Translation: X:8.13, Y:0.43, Z:0.22 [[ 9.99357425e-01 3.13217007e-03 -3.57061248e-02 8.13173931e+00] [-2.86811315e-03 9.99968179e-01 7.44410750e-03 4.28512497e-01] [ 3.57283048e-02 -7.33691489e-03 9.99334608e-01 2.24102331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55463043999998 meters Centerline goodness [0,1] 0.3162170315462851 Centerline is valid? [False, False] Translation: X:8.13, Y:0.43, Z:0.22 [[ 9.99325442e-01 3.64740453e-03 -3.65425425e-02 8.13434198e+00] [-3.37372670e-03 9.99965821e-01 7.54815960e-03 4.30631333e-01] [ 3.65688247e-02 -7.41978338e-03 9.99303591e-01 2.23060051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58463043999998 meters Centerline goodness [0,1] 0.31638089075811493 Centerline is valid? [False, False] Translation: X:8.13, Y:0.43, Z:0.22 [[ 9.99319473e-01 3.74793716e-03 -3.66952931e-02 8.13492322e+00] [-3.47964496e-03 9.99966769e-01 7.37248899e-03 4.32454861e-01] [ 3.67217053e-02 -7.23978522e-03 9.99299305e-01 2.22685529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61463043999998 meters Centerline goodness [0,1] 0.31192601768399475 Centerline is valid? [False, False] Translation: X:8.14, Y:0.43, Z:0.22 [[ 9.99313332e-01 3.80129853e-03 -3.68566780e-02 8.13541384e+00] [-3.54204044e-03 9.99968543e-01 7.09696949e-03 4.34654215e-01] [ 3.68824963e-02 -6.96154839e-03 9.99295361e-01 2.22427685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64463044 meters Centerline goodness [0,1] 0.3124359193438141 Centerline is valid? [False, False] Translation: X:8.14, Y:0.44, Z:0.22 [[ 9.99311556e-01 3.79224677e-03 -3.69057231e-02 8.13553754e+00] [-3.54648228e-03 9.99971115e-01 6.72243974e-03 4.37069108e-01] [ 3.69301502e-02 -6.58692623e-03 9.99296140e-01 2.22276273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67463044 meters Centerline goodness [0,1] 0.31089227864667135 Centerline is valid? [False, False] Translation: X:8.14, Y:0.44, Z:0.22 [[ 9.99306899e-01 4.04117669e-03 -3.70052847e-02 8.13565754e+00] [-3.81737214e-03 9.99974007e-01 6.11656774e-03 4.43154798e-01] [ 3.70290409e-02 -5.97106540e-03 9.99296351e-01 2.22202471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70463044 meters Centerline goodness [0,1] 0.31194349964253987 Centerline is valid? [False, False] Translation: X:8.14, Y:0.45, Z:0.22 [[ 9.99302483e-01 3.95712834e-03 -3.71333936e-02 8.13610011e+00] [-3.75037859e-03 9.99977086e-01 5.63576353e-03 4.46210039e-01] [ 3.71548441e-02 -5.49256821e-03 9.99294426e-01 2.21817889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73463044 meters Centerline goodness [0,1] 0.31042449367361924 Centerline is valid? [False, False] Translation: X:8.14, Y:0.45, Z:0.22 [[ 9.99295680e-01 3.91913465e-03 -3.73200358e-02 8.13666092e+00] [-3.72485963e-03 9.99979156e-01 5.27375767e-03 4.48864050e-01] [ 3.73399265e-02 -5.13103136e-03 9.99289449e-01 2.21493840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76463044 meters Centerline goodness [0,1] 0.30832494485018525 Centerline is valid? [False, False] Translation: X:8.14, Y:0.45, Z:0.22 [[ 9.99293971e-01 3.86884770e-03 -3.73709959e-02 8.13692764e+00] [-3.69134746e-03 9.99981583e-01 4.81751113e-03 4.53093150e-01] [ 3.73889458e-02 -4.67616049e-03 9.99289848e-01 2.21251213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79463044 meters Centerline goodness [0,1] 0.31247561662837575 Centerline is valid? [False, False] Translation: X:8.14, Y:0.45, Z:0.22 [[ 9.99289881e-01 3.71743356e-03 -3.74955217e-02 8.13710385e+00] [-3.54841722e-03 9.99983247e-01 4.57318238e-03 4.54122399e-01] [ 3.75118940e-02 -4.43688512e-03 9.99286331e-01 2.21411312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82463044 meters Centerline goodness [0,1] 0.30839133797370455 Centerline is valid? [False, False] Translation: X:8.14, Y:0.45, Z:0.22 [[ 9.99284558e-01 3.54202451e-03 -3.76540252e-02 8.13737307e+00] [-3.37748090e-03 9.99984472e-01 4.43259382e-03 4.54285771e-01] [ 3.76691409e-02 -4.30224680e-03 9.99281005e-01 2.21640698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85463044 meters Centerline goodness [0,1] 0.30965372057054474 Centerline is valid? [False, False] Translation: X:8.14, Y:0.45, Z:0.22 [[ 9.99285529e-01 3.32672094e-03 -3.76479140e-02 8.13721942e+00] [-3.16512152e-03 9.99985525e-01 4.35117467e-03 4.53774860e-01] [ 3.76618442e-02 -4.22890566e-03 9.99281593e-01 2.21979818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88463044 meters Centerline goodness [0,1] 0.31498339013762455 Centerline is valid? [False, False] Translation: X:8.13, Y:0.45, Z:0.22 [[ 9.99330496e-01 1.13289961e-03 -3.65687820e-02 8.13280941e+00] [-1.03933884e-03 9.99996138e-01 2.57739608e-03 4.52484086e-01] [ 3.65715607e-02 -2.53766315e-03 9.99327815e-01 2.24162870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91463044 meters Centerline goodness [0,1] 0.3160822041359761 Centerline is valid? [False, False] Translation: X:8.13, Y:0.45, Z:0.22 [[ 9.99344369e-01 1.03313000e-03 -3.61906639e-02 8.13180797e+00] [-9.35729341e-04 9.99995895e-01 2.70815458e-03 4.51251368e-01] [ 3.61933132e-02 -2.67251437e-03 9.99341234e-01 2.24480973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94463044 meters Centerline goodness [0,1] 0.3124825886638809 Centerline is valid? [False, False] Translation: X:8.13, Y:0.45, Z:0.22 [[ 9.99347777e-01 1.01742611e-03 -3.60968840e-02 8.13152025e+00] [-9.14950128e-04 9.99995505e-01 2.85532012e-03 4.50347428e-01] [ 3.60996269e-02 -2.82043097e-03 9.99344216e-01 2.24705472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.97463044 meters Centerline goodness [0,1] 0.3159868123343461 Centerline is valid? [False, False] Translation: X:8.13, Y:0.45, Z:0.22 [[ 9.99340437e-01 1.07912165e-03 -3.62977584e-02 8.13205612e+00] [-9.69681046e-04 9.99994932e-01 3.03254811e-03 4.49713892e-01] [ 3.63008469e-02 -2.99535070e-03 9.99336418e-01 2.24708619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00463044 meters Centerline goodness [0,1] 0.31476502849768795 Centerline is valid? [False, False] Translation: X:8.13, Y:0.45, Z:0.22 [[ 9.99328249e-01 1.07370806e-03 -3.66319214e-02 8.13299705e+00] [-9.65098352e-04 9.99995087e-01 2.98244620e-03 4.50031238e-01] [ 3.66349437e-02 -2.94508933e-03 9.99324375e-01 2.24514567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.03463044 meters Centerline goodness [0,1] 0.31052239599957443 Centerline is valid? [False, False] Translation: X:8.15, Y:0.45, Z:0.23 [[ 9.99265350e-01 8.50336526e-03 -3.73691517e-02 8.15374180e+00] [-8.44019153e-03 9.99962673e-01 1.84796578e-03 4.47593662e-01] [ 3.73834708e-02 -1.53120538e-03 9.99299821e-01 2.26421444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06463044 meters Centerline goodness [0,1] 0.3091162292447778 Centerline is valid? [False, False] Translation: X:8.15, Y:0.45, Z:0.23 [[ 9.99264106e-01 8.45019924e-03 -3.74144361e-02 8.15403966e+00] [-8.39345630e-03 9.99963374e-01 1.67342195e-03 4.48315605e-01] [ 3.74272065e-02 -1.35815405e-03 9.99298434e-01 2.26117200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.09463044 meters Centerline goodness [0,1] 0.31084066005457145 Centerline is valid? [False, False] Translation: X:8.14, Y:0.45, Z:0.22 [[ 9.99380037e-01 2.43512611e-03 -3.51228010e-02 8.13778985e+00] [-2.35790154e-03 9.99994711e-01 2.23995508e-03 4.53830509e-01] [ 3.51280698e-02 -2.15575029e-03 9.99380494e-01 2.22815873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12463044 meters Centerline goodness [0,1] 0.30941926040724954 Centerline is valid? [False, False] Translation: X:8.14, Y:0.46, Z:0.22 [[ 9.99373647e-01 2.42277334e-03 -3.53050031e-02 8.13850218e+00] [-2.35533954e-03 9.99995322e-01 1.95150082e-03 4.55674529e-01] [ 3.53095659e-02 -1.86712322e-03 9.99374679e-01 2.22332889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.15463044 meters Centerline goodness [0,1] 0.3069103075537254 Centerline is valid? [False, False] Translation: X:8.14, Y:0.46, Z:0.22 [[ 9.99366828e-01 2.45019916e-03 -3.54956284e-02 8.13919824e+00] [-2.39186914e-03 9.99995719e-01 1.68567240e-03 4.57750588e-01] [ 3.54996067e-02 -1.59970418e-03 9.99368410e-01 2.21872390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18463043999998 meters Centerline goodness [0,1] 0.3058377266298058 Centerline is valid? [False, False] Translation: X:8.14, Y:0.46, Z:0.22 [[ 9.99375508e-01 2.93073699e-03 -3.52136921e-02 8.13842307e+00] [-2.87583402e-03 9.99994569e-01 1.60968618e-03 4.62124609e-01] [ 3.52182185e-02 -1.50741221e-03 9.99378509e-01 2.21884305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21463043999998 meters Centerline goodness [0,1] 0.3058377266298058 Centerline is valid? [False, False] Translation: X:8.14, Y:0.46, Z:0.22 [[ 9.99375508e-01 2.93073699e-03 -3.52136921e-02 8.13842307e+00] [-2.87583402e-03 9.99994569e-01 1.60968618e-03 4.62124609e-01] [ 3.52182185e-02 -1.50741221e-03 9.99378509e-01 2.21884305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24463043999998 meters Centerline goodness [0,1] 0.3083342294870416 Centerline is valid? [False, False] Translation: X:8.14, Y:0.46, Z:0.22 [[ 9.99383694e-01 2.87792283e-03 -3.49849954e-02 8.13754455e+00] [-2.83284043e-03 9.99995092e-01 1.33812147e-03 4.64009863e-01] [ 3.49886747e-02 -1.23818987e-03 9.99386942e-01 2.22308108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27463043999998 meters Centerline goodness [0,1] 0.3075536093760062 Centerline is valid? [False, False] Translation: X:8.14, Y:0.47, Z:0.22 [[ 9.99386674e-01 2.79523075e-03 -3.49064828e-02 8.13718213e+00] [-2.75829283e-03 9.99995584e-01 1.10630760e-03 4.65321608e-01] [ 3.49094210e-02 -1.00934677e-03 9.99389971e-01 2.22512717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30463043999998 meters Centerline goodness [0,1] 0.3131893232395745 Centerline is valid? [False, False] Translation: X:8.12, Y:0.47, Z:0.22 [[ 9.99302323e-01 -5.41830505e-03 -3.69527996e-02 8.11755658e+00] [ 5.47849653e-03 9.99983826e-01 1.52781084e-03 4.69293708e-01] [ 3.69439238e-02 -1.72919071e-03 9.99315844e-01 2.20805570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33463043999998 meters Centerline goodness [0,1] 0.3079459494407448 Centerline is valid? [False, False] Translation: X:8.14, Y:0.47, Z:0.22 [[ 9.99292407e-01 1.79319951e-03 -3.75695274e-02 8.13827574e+00] [-1.78684955e-03 9.99998383e-01 2.02595704e-04 4.68276872e-01] [ 3.75698299e-02 -1.35321256e-04 9.99293996e-01 2.22548679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36463043999998 meters Centerline goodness [0,1] 0.30493052730737114 Centerline is valid? [False, False] Translation: X:8.14, Y:0.47, Z:0.22 [[ 9.99285650e-01 1.68091240e-03 -3.77539897e-02 8.13874023e+00] [-1.68262582e-03 9.99998584e-01 -1.36095260e-05 4.69319942e-01] [ 3.77539134e-02 7.71256419e-05 9.99287064e-01 2.22503637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39463044 meters Centerline goodness [0,1] 0.3085347676754585 Centerline is valid? [False, False] Translation: X:8.14, Y:0.47, Z:0.22 [[ 9.99290226e-01 1.54348551e-03 -3.76385663e-02 8.13826992e+00] [-1.55142419e-03 9.99998780e-01 -1.81712484e-04 4.69935282e-01] [ 3.76382399e-02 2.39976891e-04 9.99291402e-01 2.22842999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42463044 meters Centerline goodness [0,1] 0.30776988605883737 Centerline is valid? [False, False] Translation: X:8.16, Y:0.47, Z:0.23 [[ 9.99371402e-01 -6.35199427e-03 -3.48776853e-02 8.15532769e+00] [ 6.39697568e-03 9.99978845e-01 1.17825079e-03 4.74504914e-01] [ 3.48694632e-02 -1.40062185e-03 9.99390894e-01 2.25369917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45463044 meters Centerline goodness [0,1] 0.3050998725031874 Centerline is valid? [False, False] Translation: X:8.17, Y:0.47, Z:0.23 [[ 9.99463748e-01 6.76722108e-04 -3.27377165e-02 8.17313230e+00] [-6.83248939e-04 9.99999749e-01 -1.88180745e-04 4.72168117e-01] [ 3.27375809e-02 2.10447843e-04 9.99463960e-01 2.27356342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48463044 meters Centerline goodness [0,1] 0.31003515089163236 Centerline is valid? [False, False] Translation: X:8.17, Y:0.47, Z:0.23 [[ 9.99471277e-01 6.32110388e-04 -3.25079650e-02 8.17261843e+00] [-6.35397678e-04 9.99999794e-01 -9.07922356e-05 4.71424880e-01] [ 3.25079009e-02 1.11399717e-04 9.99471472e-01 2.27458904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51463044 meters Centerline goodness [0,1] 0.3130126165898418 Centerline is valid? [False, False] Translation: X:8.17, Y:0.47, Z:0.23 [[ 9.99473057e-01 5.95732341e-04 -3.24538583e-02 8.17267296e+00] [-5.96980347e-04 9.99999821e-01 -2.87650888e-05 4.70771085e-01] [ 3.24538353e-02 4.81242468e-05 9.99473234e-01 2.27269152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54463044 meters Centerline goodness [0,1] 0.3130640402637973 Centerline is valid? [False, False] Translation: X:8.17, Y:0.47, Z:0.23 [[ 9.99452170e-01 5.47525470e-04 -3.30916885e-02 8.17484732e+00] [-5.48713079e-04 9.99999849e-01 -2.68070276e-05 4.70231227e-01] [ 3.30916688e-02 4.49501842e-05 9.99452320e-01 2.26312432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57463044 meters Centerline goodness [0,1] 0.3088612506197056 Centerline is valid? [False, False] Translation: X:8.18, Y:0.47, Z:0.23 [[ 9.99434170e-01 6.20177160e-04 -3.36296654e-02 8.17647902e+00] [-6.20359545e-04 9.99999808e-01 5.01084889e-06 4.70292233e-01] [ 3.36296620e-02 1.58544703e-05 9.99434363e-01 2.25769564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60463044 meters Centerline goodness [0,1] 0.3086020113082135 Centerline is valid? [False, False] Translation: X:8.18, Y:0.47, Z:0.23 [[ 9.99426039e-01 6.43316405e-04 -3.38700145e-02 8.17728893e+00] [-6.44967460e-04 9.99999791e-01 -3.78211824e-05 4.70622789e-01] [ 3.38699831e-02 5.96445318e-05 9.99426246e-01 2.25361060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63463044 meters Centerline goodness [0,1] 0.30663272945051656 Centerline is valid? [False, False] Translation: X:8.18, Y:0.47, Z:0.23 [[ 9.99427137e-01 7.78214454e-04 -3.38347803e-02 8.17705405e+00] [-7.82675499e-04 9.99999687e-01 -1.18603498e-04 4.71822096e-01] [ 3.38346774e-02 1.45017208e-04 9.99427433e-01 2.25572557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66463044 meters Centerline goodness [0,1] 0.3078851807020577 Centerline is valid? [False, False] Translation: X:8.18, Y:0.47, Z:0.23 [[ 9.99432306e-01 7.49521999e-04 -3.36823918e-02 8.17667219e+00] [-7.60041852e-04 9.99999666e-01 -2.99522441e-04 4.72976928e-01] [ 3.36821561e-02 3.24952431e-04 9.99432542e-01 2.25537415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.69463044 meters Centerline goodness [0,1] 0.3068662614634565 Centerline is valid? [False, False] Translation: X:8.18, Y:0.47, Z:0.23 [[ 9.99431269e-01 7.89819308e-04 -3.37122322e-02 8.17682989e+00] [-8.06209669e-04 9.99999563e-01 -4.72593703e-04 4.74529260e-01] [ 3.37118442e-02 4.99504052e-04 9.99431469e-01 2.25331686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72463044 meters Centerline goodness [0,1] 0.30403825945227214 Centerline is valid? [False, False] Translation: X:8.18, Y:0.48, Z:0.22 [[ 9.99423746e-01 8.40285389e-04 -3.39333074e-02 8.17785998e+00] [-8.71138552e-04 9.99999221e-01 -8.94455144e-04 4.78024069e-01] [ 3.39325294e-02 9.23500323e-04 9.99423699e-01 2.24502401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.75463044 meters Centerline goodness [0,1] 0.30451853759011327 Centerline is valid? [False, False] Translation: X:8.18, Y:0.48, Z:0.22 [[ 9.99422606e-01 7.73756482e-04 -3.39684465e-02 8.17779031e+00] [-8.11609180e-04 9.99999065e-01 -1.10057443e-03 4.79210232e-01] [ 3.39675632e-02 1.12750807e-03 9.99422300e-01 2.24657903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78463044 meters Centerline goodness [0,1] 0.3036972019438676 Centerline is valid? [False, False] Translation: X:8.18, Y:0.48, Z:0.22 [[ 9.99421354e-01 7.19004945e-04 -3.40064793e-02 8.17780076e+00] [-7.61320635e-04 9.99998952e-01 -1.23140969e-03 4.80067976e-01] [ 3.40055583e-02 1.25658698e-03 9.99420854e-01 2.24754364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.81463044 meters Centerline goodness [0,1] 0.30357680237307083 Centerline is valid? [False, False] Translation: X:8.18, Y:0.48, Z:0.22 [[ 9.99418467e-01 6.61008268e-04 -3.40923881e-02 8.17807624e+00] [-7.05874643e-04 9.99998901e-01 -1.30400406e-03 4.80263154e-01] [ 3.40914887e-02 1.32731069e-03 9.99417835e-01 2.24646854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84463044 meters Centerline goodness [0,1] 0.30372123037212306 Centerline is valid? [False, False] Translation: X:8.18, Y:0.48, Z:0.22 [[ 9.99407232e-01 3.31443061e-04 -3.44249231e-02 8.17874153e+00] [-3.84426385e-04 9.99998752e-01 -1.53249034e-03 4.80009668e-01] [ 3.44243722e-02 1.54481578e-03 9.99406112e-01 2.24859350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.87463044 meters Centerline goodness [0,1] 0.30318454990696575 Centerline is valid? [False, False] Translation: X:8.18, Y:0.48, Z:0.23 [[ 9.99405192e-01 2.94005303e-04 -3.44844182e-02 8.17874856e+00] [-3.45719607e-04 9.99998825e-01 -1.49368949e-03 4.79574174e-01] [ 3.44839385e-02 1.50472297e-03 9.99404119e-01 2.25085005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90463044 meters Centerline goodness [0,1] 0.3025281858558251 Centerline is valid? [False, False] Translation: X:8.18, Y:0.48, Z:0.23 [[ 9.99405725e-01 3.04914276e-04 -3.44688946e-02 8.17847502e+00] [-3.52241382e-04 9.99999004e-01 -1.36697395e-03 4.78902259e-01] [ 3.44684435e-02 1.37830296e-03 9.99404836e-01 2.25480930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93463043999998 meters Centerline goodness [0,1] 0.3047896121676257 Centerline is valid? [False, False] Translation: X:8.18, Y:0.48, Z:0.23 [[ 9.99428753e-01 1.07874494e-04 -3.37957939e-02 8.17653335e+00] [-1.50288130e-04 9.99999204e-01 -1.25245971e-03 4.77239048e-01] [ 3.37956320e-02 1.25682336e-03 9.99427974e-01 2.26200325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96463043999998 meters Centerline goodness [0,1] 0.30500944368131866 Centerline is valid? [False, False] Translation: X:8.18, Y:0.48, Z:0.23 [[ 9.99430996e-01 2.78734495e-06 -3.37295711e-02 8.17627038e+00] [-4.29884315e-05 9.99999290e-01 -1.19113960e-03 4.75944154e-01] [ 3.37295438e-02 1.19191182e-03 9.99430286e-01 2.26416724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99463043999998 meters Centerline goodness [0,1] 0.30186796858416476 Centerline is valid? [False, False] Translation: X:8.18, Y:0.47, Z:0.23 [[ 9.99427638e-01 1.89777231e-05 -3.38289204e-02 8.17642482e+00] [-5.41928232e-05 9.99999458e-01 -1.04005957e-03 4.74743231e-01] [ 3.38288823e-02 1.04129757e-03 9.99427097e-01 2.26583906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02463043999998 meters Centerline goodness [0,1] 0.3075534543891695 Centerline is valid? [False, False] Translation: X:8.18, Y:0.47, Z:0.23 [[ 9.99428451e-01 1.03942378e-04 -3.38047398e-02 8.17633156e+00] [-1.32619500e-04 9.99999633e-01 -8.46075482e-04 4.73807393e-01] [ 3.38046395e-02 8.50075076e-04 9.99428098e-01 2.26655819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05463043999998 meters Centerline goodness [0,1] 0.30748875933136843 Centerline is valid? [False, False] Translation: X:8.18, Y:0.47, Z:0.23 [[ 9.99429778e-01 3.33636039e-04 -3.37639993e-02 8.17640949e+00] [-3.55138126e-04 9.99999738e-01 -6.30839596e-04 4.73326187e-01] [ 3.37637800e-02 6.42470761e-04 9.99429635e-01 2.26412350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08463043999998 meters Centerline goodness [0,1] 0.30799887976906004 Centerline is valid? [False, False] Translation: X:8.18, Y:0.47, Z:0.23 [[ 9.99422059e-01 2.40349262e-04 -3.39925035e-02 8.17719929e+00] [-2.66854589e-04 9.99999664e-01 -7.75205680e-04 4.73239786e-01] [ 3.39923057e-02 7.83828713e-04 9.99421787e-01 2.25999220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11463043999998 meters Centerline goodness [0,1] 0.30401165156675025 Centerline is valid? [False, False] Translation: X:8.18, Y:0.47, Z:0.23 [[ 9.99407442e-01 2.57811672e-04 -3.44194482e-02 8.17859854e+00] [-2.86867616e-04 9.99999607e-01 -8.39236571e-04 4.73408532e-01] [ 3.44192183e-02 8.48613100e-04 9.99407123e-01 2.25385181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14463044 meters Centerline goodness [0,1] 0.30434034128811516 Centerline is valid? [False, False] Translation: X:8.18, Y:0.47, Z:0.22 [[ 9.99398441e-01 3.81607851e-04 -3.46786693e-02 8.17954206e+00] [-4.08341492e-04 9.99999625e-01 -7.63816578e-04 4.73609383e-01] [ 3.46783649e-02 7.77517837e-04 9.99398222e-01 2.24850198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17463044 meters Centerline goodness [0,1] 0.30385648297346657 Centerline is valid? [False, False] Translation: X:8.18, Y:0.47, Z:0.22 [[ 9.99397393e-01 9.28696612e-04 -3.46985353e-02 8.17974677e+00] [-9.39635857e-04 9.99999514e-01 -2.98959744e-04 4.73880198e-01] [ 3.46982408e-02 3.31383577e-04 9.99397780e-01 2.24580465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20463044 meters Centerline goodness [0,1] 0.3016305513838232 Centerline is valid? [False, False] Translation: X:8.18, Y:0.47, Z:0.23 [[ 9.99407153e-01 9.34608132e-04 -3.44161021e-02 8.17874231e+00] [-9.46401615e-04 9.99999499e-01 -3.26384453e-04 4.74034798e-01] [ 3.44157799e-02 3.58762412e-04 9.99407537e-01 2.25105956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23463044 meters Centerline goodness [0,1] 0.30628300463412006 Centerline is valid? [False, False] Translation: X:8.18, Y:0.47, Z:0.23 [[ 9.99420378e-01 8.26644546e-04 -3.40326978e-02 8.17746416e+00] [-8.42305388e-04 9.99999546e-01 -4.45835917e-04 4.74070244e-01] [ 3.40323138e-02 4.74243425e-04 9.99420621e-01 2.25609679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26463044 meters Centerline goodness [0,1] 0.30351990767455284 Centerline is valid? [False, False] Translation: X:8.18, Y:0.47, Z:0.23 [[ 9.99419430e-01 9.11879265e-04 -3.40583501e-02 8.17773108e+00] [-9.28963696e-04 9.99999451e-01 -4.85801684e-04 4.74903099e-01] [ 3.40578884e-02 5.17158613e-04 9.99419728e-01 2.25314558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29463044 meters Centerline goodness [0,1] 0.30577249940833495 Centerline is valid? [False, False] Translation: X:8.18, Y:0.48, Z:0.22 [[ 9.99413796e-01 9.89960122e-04 -3.42211063e-02 8.17840614e+00] [-1.00675322e-03 9.99999381e-01 -4.73495883e-04 4.75430729e-01] [ 3.42206163e-02 5.07670527e-04 9.99414174e-01 2.24863207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32463044 meters Centerline goodness [0,1] 0.3032179539194123 Centerline is valid? [False, False] Translation: X:8.18, Y:0.48, Z:0.22 [[ 9.99409486e-01 1.04373686e-03 -3.43451573e-02 8.17899178e+00] [-1.06084046e-03 9.99999322e-01 -4.79772871e-04 4.75951055e-01] [ 3.43446333e-02 5.15924291e-04 9.99409916e-01 2.24435517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35463044 meters Centerline goodness [0,1] 0.3072430413826045 Centerline is valid? [False, False] Translation: X:8.14, Y:0.47, Z:0.22 [[ 9.99327941e-01 9.27688058e-04 -3.66443110e-02 8.13561675e+00] [-9.71400916e-04 9.99998838e-01 -1.17511004e-03 4.72902572e-01] [ 3.66431783e-02 1.20991661e-03 9.99327681e-01 2.22742613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38463044 meters Centerline goodness [0,1] 0.30383875915404723 Centerline is valid? [False, False] Translation: X:8.14, Y:0.47, Z:0.22 [[ 9.99316071e-01 8.01870654e-04 -3.69695335e-02 8.13674165e+00] [-8.53752278e-04 9.99998673e-01 -1.38759615e-03 4.73421114e-01] [ 3.69683718e-02 1.41820996e-03 9.99315430e-01 2.22208714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41463044 meters Centerline goodness [0,1] 0.3051263289286791 Centerline is valid? [False, False] Translation: X:8.14, Y:0.47, Z:0.22 [[ 9.99306478e-01 7.93658361e-04 -3.72281281e-02 8.13769198e+00] [-8.48613153e-04 9.99998574e-01 -1.46038480e-03 4.73998765e-01] [ 3.72269160e-02 1.49096427e-03 9.99305726e-01 2.21707220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44463044 meters Centerline goodness [0,1] 0.30144971177837043 Centerline is valid? [False, False] Translation: X:8.14, Y:0.48, Z:0.22 [[ 9.99295655e-01 7.90065788e-04 -3.75175982e-02 8.13875536e+00] [-8.52706274e-04 9.99998269e-01 -1.65365738e-03 4.75496673e-01] [ 3.75162267e-02 1.68448413e-03 9.99294599e-01 2.21146535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.47463044 meters Centerline goodness [0,1] 0.30723794219201284 Centerline is valid? [False, False] Translation: X:8.14, Y:0.48, Z:0.22 [[ 9.99284620e-01 8.39011122e-04 -3.78093192e-02 8.13975087e+00] [-9.18955496e-04 9.99997379e-01 -2.09708009e-03 4.79109701e-01] [ 3.78074606e-02 2.13032497e-03 9.99282772e-01 2.20515332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50463044 meters Centerline goodness [0,1] 0.30205851417777496 Centerline is valid? [False, False] Translation: X:8.14, Y:0.48, Z:0.22 [[ 9.99289707e-01 8.25591616e-04 -3.76749166e-02 8.13922126e+00] [-9.15404102e-04 9.99996780e-01 -2.36669242e-03 4.81171153e-01] [ 3.76728414e-02 2.39949915e-03 9.99287246e-01 2.20741147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.53463044 meters Centerline goodness [0,1] 0.30422291824171077 Centerline is valid? [False, False] Translation: X:8.14, Y:0.48, Z:0.22 [[ 9.99304105e-01 8.34257884e-04 -3.72908866e-02 8.13801605e+00] [-9.31297513e-04 9.99996225e-01 -2.58493968e-03 4.83171157e-01] [ 3.72885893e-02 2.61786975e-03 9.99301110e-01 2.21121960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56463044 meters Centerline goodness [0,1] 0.30723061255444084 Centerline is valid? [False, False] Translation: X:8.14, Y:0.49, Z:0.22 [[ 9.99307686e-01 6.35021284e-04 -3.71987206e-02 8.13772396e+00] [-7.56473924e-04 9.99994429e-01 -3.25098438e-03 4.87275373e-01] [ 3.71964489e-02 3.27687355e-03 9.99302600e-01 2.21123101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.59463044 meters Centerline goodness [0,1] 0.3032103869259092 Centerline is valid? [False, False] Translation: X:8.14, Y:0.49, Z:0.22 [[ 9.99296479e-01 3.47001220e-04 -3.75023505e-02 8.13870034e+00] [-4.86181587e-04 9.99993029e-01 -3.70218787e-03 4.88823192e-01] [ 3.75008044e-02 3.71781625e-03 9.99289681e-01 2.20751726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62463044 meters Centerline goodness [0,1] 0.30316674170793934 Centerline is valid? [False, False] Translation: X:8.14, Y:0.49, Z:0.22 [[ 9.99284261e-01 1.50289325e-04 -3.78278089e-02 8.13952379e+00] [-2.98769244e-04 9.99992274e-01 -3.91953020e-03 4.89443126e-01] [ 3.78269276e-02 3.92802663e-03 9.99276585e-01 2.20728882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.65463044 meters Centerline goodness [0,1] 0.30665659725968286 Centerline is valid? [False, False] Translation: X:8.14, Y:0.49, Z:0.22 [[ 9.99295448e-01 -3.67161072e-04 -3.75296153e-02 8.13816917e+00] [ 2.13654776e-04 9.99991596e-01 -4.09419974e-03 4.89116373e-01] [ 3.75308031e-02 4.08329678e-03 9.99287129e-01 2.21856895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68463043999998 meters Centerline goodness [0,1] 0.3053367764148913 Centerline is valid? [False, False] Translation: X:8.14, Y:0.49, Z:0.22 [[ 9.99293684e-01 -4.91615018e-04 -3.75751529e-02 8.13815127e+00] [ 3.41556128e-04 9.99991942e-01 -3.99988194e-03 4.88206358e-01] [ 3.75768166e-02 3.98422274e-03 9.99285799e-01 2.22189955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71463043999998 meters Centerline goodness [0,1] 0.30783622209797423 Centerline is valid? [False, False] Translation: X:8.14, Y:0.49, Z:0.22 [[ 9.99293060e-01 -8.19254211e-04 -3.75860279e-02 8.13821424e+00] [ 6.67395373e-04 9.99991565e-01 -4.05266916e-03 4.87016989e-01] [ 3.75890311e-02 4.02471943e-03 9.99285178e-01 2.22334587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74463043999998 meters Centerline goodness [0,1] 0.3123938879456706 Centerline is valid? [False, False] Translation: X:8.14, Y:0.49, Z:0.22 [[ 9.99277818e-01 -4.66960762e-03 -3.77099035e-02 8.13780072e+00] [ 4.39115206e-03 9.99962506e-01 -7.46360133e-03 4.85411364e-01] [ 3.77433417e-02 7.29262133e-03 9.99260856e-01 2.23364956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77463043999998 meters Centerline goodness [0,1] 0.31284521515735386 Centerline is valid? [False, False] Translation: X:8.18, Y:0.49, Z:0.23 [[ 9.99330108e-01 -5.14520220e-03 -3.62334324e-02 8.17950820e+00] [ 4.89695030e-03 9.99963949e-01 -6.93687624e-03 4.86782291e-01] [ 3.62678178e-02 6.75479597e-03 9.99319277e-01 2.25806456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80463043999998 meters Centerline goodness [0,1] 0.3111579672102931 Centerline is valid? [False, False] Translation: X:8.18, Y:0.49, Z:0.23 [[ 9.99334423e-01 -5.02679456e-03 -3.61308969e-02 8.17935195e+00] [ 4.78631137e-03 9.99965836e-01 -6.73930433e-03 4.86254209e-01] [ 3.61635396e-02 6.56188508e-03 9.99324342e-01 2.25735801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83463043999998 meters Centerline goodness [0,1] 0.31264720499578647 Centerline is valid? [False, False] Translation: X:8.18, Y:0.49, Z:0.23 [[ 9.99336116e-01 -4.88372167e-03 -3.61036855e-02 8.17939417e+00] [ 4.64984625e-03 9.99967679e-01 -6.55901259e-03 4.85996687e-01] [ 3.61345510e-02 6.38678158e-03 9.99326525e-01 2.25597958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86463043999998 meters Centerline goodness [0,1] 0.3091201371771515 Centerline is valid? [False, False] Translation: X:8.20, Y:0.48, Z:0.23 [[ 9.99290037e-01 2.87055879e-03 -3.75657004e-02 8.20118437e+00] [-3.14913772e-03 9.99967966e-01 -7.35871065e-03 4.83146540e-01] [ 3.75433734e-02 7.47178580e-03 9.99267065e-01 2.27443119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89463044 meters Centerline goodness [0,1] 0.3095624688792189 Centerline is valid? [False, False] Translation: X:8.20, Y:0.48, Z:0.23 [[ 9.99279795e-01 2.85960616e-03 -3.78379897e-02 8.20204491e+00] [-3.14295932e-03 9.99967449e-01 -7.43122632e-03 4.83325971e-01] [ 3.78155076e-02 7.54479758e-03 9.99256255e-01 2.27061412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92463044 meters Centerline goodness [0,1] 0.30526540638684185 Centerline is valid? [False, False] Translation: X:8.22, Y:0.49, Z:0.23 [[ 9.99268353e-01 -3.17437221e-03 -3.81140688e-02 8.22399266e+00] [ 2.99345398e-03 9.99983986e-01 -4.80288636e-03 4.86394215e-01] [ 3.81287046e-02 4.68527963e-03 9.99261853e-01 2.27377015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95463044 meters Centerline goodness [0,1] 0.3036255711662468 Centerline is valid? [False, False] Translation: X:8.22, Y:0.48, Z:0.23 [[ 9.99272675e-01 -2.89001258e-03 -3.80232635e-02 8.22390496e+00] [ 2.72425936e-03 9.99986564e-01 -4.41034768e-03 4.84914261e-01] [ 3.80354985e-02 4.30355470e-03 9.99267122e-01 2.27185012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98463044 meters Centerline goodness [0,1] 0.3083281043771773 Centerline is valid? [False, False] Translation: X:8.21, Y:0.48, Z:0.22 [[ 9.99303398e-01 4.70382392e-03 -3.70215211e-02 8.20544784e+00] [-4.91567754e-03 9.99972049e-01 -5.63350232e-03 4.77383865e-01] [ 3.69939873e-02 5.81156387e-03 9.99298589e-01 2.24600478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01463044 meters Centerline goodness [0,1] 0.3021321961620469 Centerline is valid? [False, False] Translation: X:8.22, Y:0.48, Z:0.23 [[ 9.99363581e-01 -3.10356189e-03 -3.55359149e-02 8.22417102e+00] [ 2.95780182e-03 9.99986999e-01 -4.15360396e-03 4.80233081e-01] [ 3.55483439e-02 4.04585234e-03 9.99359768e-01 2.25744212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04463044 meters Centerline goodness [0,1] 0.30668162499190954 Centerline is valid? [False, False] Translation: X:8.20, Y:0.47, Z:0.22 [[ 9.99412995e-01 4.35877464e-03 -3.39803986e-02 8.20491130e+00] [-4.53258509e-03 9.99977028e-01 -5.03966813e-03 4.71978333e-01] [ 3.39576513e-02 5.19072886e-03 9.99409793e-01 2.23679049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07463044 meters Centerline goodness [0,1] 0.30345151043554264 Centerline is valid? [False, False] Translation: X:8.22, Y:0.47, Z:0.22 [[ 9.99455794e-01 -3.78081080e-03 -3.27692005e-02 8.22453518e+00] [ 3.65828284e-03 9.99986095e-01 -3.79826939e-03 4.73442845e-01] [ 3.27831054e-02 3.67632335e-03 9.99455728e-01 2.24980346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10463044 meters Centerline goodness [0,1] 0.30521924259693345 Centerline is valid? [False, False] Translation: X:8.23, Y:0.47, Z:0.22 [[ 9.99450066e-01 -3.74045312e-03 -3.29480654e-02 8.22535785e+00] [ 3.62181049e-03 9.99986744e-01 -3.65984475e-03 4.72444279e-01] [ 3.29613181e-02 3.53850043e-03 9.99450364e-01 2.24438513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13463044 meters Centerline goodness [0,1] 0.30521924259693345 Centerline is valid? [False, False] Translation: X:8.23, Y:0.47, Z:0.22 [[ 9.99450066e-01 -3.74045312e-03 -3.29480654e-02 8.22535785e+00] [ 3.62181049e-03 9.99986744e-01 -3.65984475e-03 4.72444279e-01] [ 3.29613181e-02 3.53850043e-03 9.99450364e-01 2.24438513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16463044 meters Centerline goodness [0,1] 0.3060309522783119 Centerline is valid? [False, False] Translation: X:8.23, Y:0.47, Z:0.22 [[ 9.99439261e-01 -3.67558737e-03 -3.32814414e-02 8.22665911e+00] [ 3.56110749e-03 9.99987540e-01 -3.49837394e-03 4.71411278e-01] [ 3.32938853e-02 3.37789347e-03 9.99439897e-01 2.23733273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.19463044 meters Centerline goodness [0,1] 0.3027186050506786 Centerline is valid? [False, False] Translation: X:8.23, Y:0.47, Z:0.22 [[ 9.99422178e-01 -3.44704502e-03 -3.38146218e-02 8.22842838e+00] [ 3.33906163e-03 9.99989146e-01 -3.24934469e-03 4.70478441e-01] [ 3.38254554e-02 3.13455804e-03 9.99422840e-01 2.22933107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22463044 meters Centerline goodness [0,1] 0.3012556761250986 Centerline is valid? [False, False] Translation: X:8.23, Y:0.47, Z:0.22 [[ 9.99422035e-01 -3.24864605e-03 -3.38384776e-02 8.22854822e+00] [ 3.14721974e-03 9.99990396e-01 -3.05019900e-03 4.70205909e-01] [ 3.38480617e-02 2.94193896e-03 9.99422660e-01 2.22838948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.25463044 meters Centerline goodness [0,1] 0.30368091560355404 Centerline is valid? [False, False] Translation: X:8.23, Y:0.47, Z:0.22 [[ 9.99425071e-01 -3.13546915e-03 -3.37593950e-02 8.22833731e+00] [ 3.03812926e-03 9.99991080e-01 -2.93425383e-03 4.70039840e-01] [ 3.37682941e-02 2.83000144e-03 9.99425682e-01 2.22860440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28463044 meters Centerline goodness [0,1] 0.30083196098979836 Centerline is valid? [False, False] Translation: X:8.23, Y:0.47, Z:0.22 [[ 9.99431448e-01 -3.05669952e-03 -3.35773467e-02 8.22806681e+00] [ 2.96265897e-03 9.99991550e-01 -2.85011046e-03 4.69439146e-01] [ 3.35857749e-02 2.74901180e-03 9.99432058e-01 2.22643625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.31463044 meters Centerline goodness [0,1] 0.3045753877174543 Centerline is valid? [False, False] Translation: X:8.23, Y:0.47, Z:0.22 [[ 9.99431759e-01 -3.09988989e-03 -3.35641133e-02 8.22798272e+00] [ 3.00579868e-03 9.99991412e-01 -2.85342283e-03 4.68930018e-01] [ 3.35726704e-02 2.75091443e-03 9.99432493e-01 2.22707933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34463044 meters Centerline goodness [0,1] 0.30573796964151145 Centerline is valid? [False, False] Translation: X:8.23, Y:0.47, Z:0.22 [[ 9.99434614e-01 -3.04789488e-03 -3.34837727e-02 8.22775666e+00] [ 2.95846042e-03 9.99991924e-01 -2.72019868e-03 4.68202075e-01] [ 3.34917932e-02 2.61960030e-03 9.99435559e-01 2.22761401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.37463044 meters Centerline goodness [0,1] 0.3045614186292043 Centerline is valid? [False, False] Translation: X:8.23, Y:0.47, Z:0.22 [[ 9.99436594e-01 -2.93899529e-03 -3.34343612e-02 8.22768541e+00] [ 2.85552272e-03 9.99992687e-01 -2.54408601e-03 4.67641507e-01] [ 3.34415937e-02 2.44718008e-03 9.99437677e-01 2.22709116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40463044 meters Centerline goodness [0,1] 0.30688971285677336 Centerline is valid? [False, False] Translation: X:8.23, Y:0.47, Z:0.22 [[ 9.99429887e-01 -2.84905259e-03 -3.36419888e-02 8.22839726e+00] [ 2.77132618e-03 9.99993383e-01 -2.35680253e-03 4.66696500e-01] [ 3.36484808e-02 2.26222597e-03 9.99431169e-01 2.22391365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43463043999998 meters Centerline goodness [0,1] 0.30287206266318534 Centerline is valid? [False, False] Translation: X:8.23, Y:0.47, Z:0.22 [[ 9.99420660e-01 -2.87324603e-03 -3.39129633e-02 8.22929849e+00] [ 2.79492241e-03 9.99993317e-01 -2.35672784e-03 4.66329814e-01] [ 3.39195082e-02 2.26057839e-03 9.99422011e-01 2.22071083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46463043999998 meters Centerline goodness [0,1] 0.304254219772649 Centerline is valid? [False, False] Translation: X:8.23, Y:0.47, Z:0.22 [[ 9.99417228e-01 -2.89796525e-03 -3.40118483e-02 8.22962582e+00] [ 2.81824207e-03 9.99993169e-01 -2.39168930e-03 4.66275328e-01] [ 3.40185470e-02 2.29444187e-03 9.99418568e-01 2.21905271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49463043999998 meters Centerline goodness [0,1] 0.3077687521603871 Centerline is valid? [False, False] Translation: X:8.23, Y:0.47, Z:0.22 [[ 9.99415155e-01 -2.75733740e-03 -3.40843736e-02 8.23004496e+00] [ 2.68271616e-03 9.99993904e-01 -2.23484807e-03 4.66193841e-01] [ 3.40903281e-02 2.14210233e-03 9.99416460e-01 2.21524455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52463043999998 meters Centerline goodness [0,1] 0.3034900713487493 Centerline is valid? [False, False] Translation: X:8.23, Y:0.47, Z:0.22 [[ 9.99409212e-01 -2.68386759e-03 -3.42640455e-02 8.23083039e+00] [ 2.61273181e-03 9.99994338e-01 -2.12071153e-03 4.65963994e-01] [ 3.42695432e-02 2.02993588e-03 9.99410565e-01 2.21040200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55463043999998 meters Centerline goodness [0,1] 0.30661945679865277 Centerline is valid? [False, False] Translation: X:8.23, Y:0.47, Z:0.22 [[ 9.99405196e-01 -2.66771817e-03 -3.43822278e-02 8.23141431e+00] [ 2.59813272e-03 9.99994486e-01 -2.06839791e-03 4.65850454e-01] [ 3.43875561e-02 1.97783803e-03 9.99406616e-01 2.20636960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58463043999998 meters Centerline goodness [0,1] 0.3043459533962183 Centerline is valid? [False, False] Translation: X:8.23, Y:0.47, Z:0.22 [[ 9.99412755e-01 -2.60888300e-03 -3.41663398e-02 8.23053339e+00] [ 2.54637080e-03 9.99995004e-01 -1.87302793e-03 4.65279262e-01] [ 3.41710556e-02 1.78492784e-03 9.99414405e-01 2.21248919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61463043999998 meters Centerline goodness [0,1] 0.30497413108348903 Centerline is valid? [False, False] Translation: X:8.23, Y:0.47, Z:0.22 [[ 9.99416625e-01 -2.59800084e-03 -3.40537836e-02 8.23007755e+00] [ 2.53748289e-03 9.99995124e-01 -1.82022588e-03 4.65118439e-01] [ 3.40583465e-02 1.73275312e-03 9.99418344e-01 2.21594489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64463044 meters Centerline goodness [0,1] 0.3068780792151632 Centerline is valid? [False, False] Translation: X:8.23, Y:0.46, Z:0.22 [[ 9.99417931e-01 -2.63525207e-03 -3.40125627e-02 8.23024561e+00] [ 2.57478402e-03 9.99995026e-01 -1.82149290e-03 4.64916447e-01] [ 3.40171936e-02 1.73285766e-03 9.99419746e-01 2.21257897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67463044 meters Centerline goodness [0,1] 0.30433380626854123 Centerline is valid? [False, False] Translation: X:8.23, Y:0.46, Z:0.22 [[ 9.99401462e-01 -2.72612155e-03 -3.44860276e-02 8.23228862e+00] [ 2.66222714e-03 9.99994654e-01 -1.89854504e-03 4.64806933e-01] [ 3.44910189e-02 1.80559905e-03 9.99403377e-01 2.19959544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70463044 meters Centerline goodness [0,1] 0.3041548752251093 Centerline is valid? [False, False] Translation: X:8.23, Y:0.46, Z:0.22 [[ 9.99392682e-01 -2.69341227e-03 -3.47420814e-02 8.23322384e+00] [ 2.63105728e-03 9.99994845e-01 -1.84039023e-03 4.64515526e-01] [ 3.47468593e-02 1.74786412e-03 9.99394617e-01 2.19476924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73463044 meters Centerline goodness [0,1] 0.3065487715674885 Centerline is valid? [False, False] Translation: X:8.23, Y:0.46, Z:0.22 [[ 9.99390428e-01 -2.68197635e-03 -3.48077478e-02 8.23348940e+00] [ 2.62142819e-03 9.99994971e-01 -1.78502267e-03 4.64186771e-01] [ 3.48123601e-02 1.69268856e-03 9.99392433e-01 2.19339140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76463044 meters Centerline goodness [0,1] 0.3044045049473212 Centerline is valid? [False, False] Translation: X:8.23, Y:0.46, Z:0.22 [[ 9.99398461e-01 -2.64824673e-03 -3.45789351e-02 8.23287203e+00] [ 2.59467203e-03 9.99995363e-01 -1.59412698e-03 4.63164310e-01] [ 3.45829964e-02 1.50344705e-03 9.99400698e-01 2.19498524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79463044 meters Centerline goodness [0,1] 0.3073910704679935 Centerline is valid? [False, False] Translation: X:8.23, Y:0.46, Z:0.22 [[ 9.99398490e-01 -2.65943309e-03 -3.45772459e-02 8.23286800e+00] [ 2.60722036e-03 9.99995392e-01 -1.55503258e-03 4.62913753e-01] [ 3.45812221e-02 1.46394671e-03 9.99400818e-01 2.19539560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82463044 meters Centerline goodness [0,1] 0.3083290333677331 Centerline is valid? [False, False] Translation: X:8.23, Y:0.46, Z:0.22 [[ 9.99398073e-01 -2.58192302e-03 -3.45951766e-02 8.23303850e+00] [ 2.53217154e-03 9.99995696e-01 -1.48184116e-03 4.62952095e-01] [ 3.45988537e-02 1.39334828e-03 9.99400309e-01 2.19353265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85463044 meters Centerline goodness [0,1] 0.3076311605723371 Centerline is valid? [False, False] Translation: X:8.23, Y:0.46, Z:0.22 [[ 9.99396936e-01 -2.51267182e-03 -3.46330925e-02 8.23331623e+00] [ 2.46526676e-03 9.99995965e-01 -1.41141425e-03 4.63028221e-01] [ 3.46364991e-02 1.32518326e-03 9.99399098e-01 2.19092293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88463044 meters Centerline goodness [0,1] 0.31102447010167156 Centerline is valid? [False, False] Translation: X:8.23, Y:0.46, Z:0.22 [[ 9.99386032e-01 -2.48563126e-03 -3.49482664e-02 8.23445374e+00] [ 2.43845301e-03 9.99996057e-01 -1.39250351e-03 4.63162950e-01] [ 3.49515898e-02 1.30642886e-03 9.99388153e-01 2.18557048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91463044 meters Centerline goodness [0,1] 0.30854012246213347 Centerline is valid? [False, False] Translation: X:8.23, Y:0.46, Z:0.22 [[ 9.99382766e-01 -2.49622428e-03 -3.50407880e-02 8.23489406e+00] [ 2.44826353e-03 9.99996007e-01 -1.41155312e-03 4.63377741e-01] [ 3.50441716e-02 1.32489278e-03 9.99384886e-01 2.18273300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94463044 meters Centerline goodness [0,1] 0.3107950872656755 Centerline is valid? [False, False] Translation: X:8.23, Y:0.46, Z:0.22 [[ 9.99388021e-01 -2.56389802e-03 -3.48856766e-02 8.23455365e+00] [ 2.51250737e-03 9.99995693e-01 -1.51687494e-03 4.63687057e-01] [ 3.48894155e-02 1.42829612e-03 9.99390158e-01 2.18221326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.97463044 meters Centerline goodness [0,1] 0.3097928436911488 Centerline is valid? [False, False] Translation: X:8.25, Y:0.46, Z:0.22 [[ 9.99460628e-01 4.77053990e-03 -3.24914576e-02 8.25251894e+00] [-4.87632593e-03 9.99983063e-01 -3.17734809e-03 4.62879080e-01] [ 3.24757496e-02 3.33407326e-03 9.99466963e-01 2.20713546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00463044 meters Centerline goodness [0,1] 0.30988572776193646 Centerline is valid? [False, False] Translation: X:8.25, Y:0.46, Z:0.22 [[ 9.99462669e-01 4.76667677e-03 -3.24291885e-02 8.25232311e+00] [-4.87494577e-03 9.99982802e-01 -3.26038122e-03 4.63563497e-01] [ 3.24130896e-02 3.41671985e-03 9.99468718e-01 2.20747545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.03463044 meters Centerline goodness [0,1] 0.31399974058541225 Centerline is valid? [False, False] Translation: X:8.25, Y:0.46, Z:0.22 [[ 9.99460040e-01 4.76396736e-03 -3.25104924e-02 8.25266072e+00] [-4.87470264e-03 9.99982582e-01 -3.32772938e-03 4.64137687e-01] [ 3.24940729e-02 3.48441153e-03 9.99465854e-01 2.20503808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06463044 meters Centerline goodness [0,1] 0.314727508650519 Centerline is valid? [False, False] Translation: X:8.25, Y:0.46, Z:0.22 [[ 9.99457297e-01 4.77301220e-03 -3.25934010e-02 8.25290313e+00] [-4.88630388e-03 9.99982292e-01 -3.39714144e-03 4.64782380e-01] [ 3.25766092e-02 3.55455906e-03 9.99462921e-01 2.20446588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.09463044 meters Centerline goodness [0,1] 0.311659819757813 Centerline is valid? [False, False] Translation: X:8.27, Y:0.47, Z:0.22 [[ 9.99505069e-01 -3.05932234e-03 -3.13090814e-02 8.27013921e+00] [ 2.98838853e-03 9.99992862e-01 -2.31214122e-03 4.71581528e-01] [ 3.13159315e-02 2.21743317e-03 9.99507076e-01 2.22715790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12463044 meters Centerline goodness [0,1] 0.31115962501605243 Centerline is valid? [False, False] Translation: X:8.27, Y:0.47, Z:0.22 [[ 9.99510909e-01 -3.06250573e-03 -3.11217430e-02 8.26948245e+00] [ 2.98888743e-03 9.99992625e-01 -2.41173979e-03 4.72272112e-01] [ 3.11288995e-02 2.31754084e-03 9.99512692e-01 2.23049962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.15463044 meters Centerline goodness [0,1] 0.3145435747210614 Centerline is valid? [False, False] Translation: X:8.27, Y:0.47, Z:0.22 [[ 9.99513242e-01 -3.09061908e-03 -3.10439609e-02 8.26925187e+00] [ 3.01305577e-03 9.99992222e-01 -2.54496846e-03 4.73079347e-01] [ 3.10515849e-02 2.45019249e-03 9.99514780e-01 2.23064752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18463043999998 meters Centerline goodness [0,1] 0.3145034889962426 Centerline is valid? [False, False] Translation: X:8.27, Y:0.47, Z:0.22 [[ 9.99509361e-01 -3.02980163e-03 -3.11746397e-02 8.26980771e+00] [ 2.95124091e-03 9.99992354e-01 -2.56572479e-03 4.73494359e-01] [ 3.11821750e-02 2.47246207e-03 9.99510660e-01 2.22707218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21463043999998 meters Centerline goodness [0,1] 0.31093690085637593 Centerline is valid? [False, False] Translation: X:8.27, Y:0.47, Z:0.22 [[ 9.99509776e-01 -2.97969323e-03 -3.11661436e-02 8.26999702e+00] [ 2.90231211e-03 9.99992593e-01 -2.52780156e-03 4.73445662e-01] [ 3.11734449e-02 2.43610850e-03 9.99511021e-01 2.22396873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24463043999998 meters Centerline goodness [0,1] 0.311488777305695 Centerline is valid? [False, False] Translation: X:8.27, Y:0.47, Z:0.22 [[ 9.99509196e-01 -2.89265321e-03 -3.11929356e-02 8.27008463e+00] [ 2.81866975e-03 9.99993110e-01 -2.41551315e-03 4.73151356e-01] [ 3.11997079e-02 2.32640502e-03 9.99510463e-01 2.22369815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27463043999998 meters Centerline goodness [0,1] 0.31517685857780264 Centerline is valid? [False, False] Translation: X:8.27, Y:0.47, Z:0.22 [[ 9.99511836e-01 -2.70215507e-03 -3.11253668e-02 8.26990382e+00] [ 2.63693918e-03 9.99994242e-01 -2.13612234e-03 4.72297966e-01] [ 3.11309597e-02 2.05300386e-03 9.99513206e-01 2.22439191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30463043999998 meters Centerline goodness [0,1] 0.3080349531116795 Centerline is valid? [False, False] Translation: X:8.29, Y:0.47, Z:0.22 [[ 9.99500739e-01 4.68489919e-03 -3.12461975e-02 8.28996912e+00] [-4.78336146e-03 9.99983825e-01 -3.07717139e-03 4.68113249e-01] [ 3.12312759e-02 3.22509694e-03 9.99506982e-01 2.24300594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33463043999998 meters Centerline goodness [0,1] 0.31252144082332767 Centerline is valid? [False, False] Translation: X:8.29, Y:0.47, Z:0.22 [[ 9.99494400e-01 4.74207683e-03 -3.14397436e-02 8.29061387e+00] [-4.83337721e-03 9.99984319e-01 -2.82861669e-03 4.66323064e-01] [ 3.14258370e-02 2.97914668e-03 9.99501647e-01 2.24077720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36463043999998 meters Centerline goodness [0,1] 0.31421343941883595 Centerline is valid? [False, False] Translation: X:8.29, Y:0.46, Z:0.22 [[ 9.99469733e-01 4.81716410e-03 -3.22032307e-02 8.29298675e+00] [-4.89685465e-03 9.99985139e-01 -2.39620353e-03 4.62819818e-01] [ 3.21912092e-02 2.55262744e-03 9.99478469e-01 2.23282517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39463044 meters Centerline goodness [0,1] 0.3085192784474652 Centerline is valid? [False, False] Translation: X:8.32, Y:0.47, Z:0.22 [[ 9.99469278e-01 -1.51739221e-03 -3.25401271e-02 8.31534936e+00] [ 1.51956079e-03 9.99998845e-01 4.19132864e-05 4.65301922e-01] [ 3.25400259e-02 -9.13377433e-05 9.99470429e-01 2.23014333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42463044 meters Centerline goodness [0,1] 0.3092050298836786 Centerline is valid? [False, False] Translation: X:8.32, Y:0.46, Z:0.22 [[ 9.99464717e-01 -1.41720765e-03 -3.26844076e-02 8.31595300e+00] [ 1.42419729e-03 9.99998968e-01 1.90572729e-04 4.64736551e-01] [ 3.26841038e-02 -2.37019764e-04 9.99465704e-01 2.22646118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45463044 meters Centerline goodness [0,1] 0.3120316178217394 Centerline is valid? [False, False] Translation: X:8.32, Y:0.46, Z:0.22 [[ 9.99463757e-01 -1.30887901e-03 -3.27182836e-02 8.31620920e+00] [ 1.32059784e-03 9.99999071e-01 3.36566615e-04 4.64263677e-01] [ 3.27178127e-02 -3.79593828e-04 9.99464557e-01 2.22407540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48463044 meters Centerline goodness [0,1] 0.3086714399363564 Centerline is valid? [False, False] Translation: X:8.32, Y:0.46, Z:0.22 [[ 9.99462059e-01 -1.12202162e-03 -3.27770223e-02 8.31659560e+00] [ 1.13808087e-03 9.99999241e-01 4.71302264e-04 4.63892402e-01] [ 3.27764686e-02 -5.08351634e-04 9.99462578e-01 2.22062385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51463044 meters Centerline goodness [0,1] 0.3075074559615508 Centerline is valid? [False, False] Translation: X:8.32, Y:0.46, Z:0.22 [[ 9.99457730e-01 -1.10506354e-03 -3.29093344e-02 8.31705202e+00] [ 1.12198180e-03 9.99999248e-01 4.95624596e-04 4.63518532e-01] [ 3.29087620e-02 -5.32279508e-04 9.99458218e-01 2.21807511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54463044 meters Centerline goodness [0,1] 0.3081591804231324 Centerline is valid? [False, False] Translation: X:8.32, Y:0.46, Z:0.22 [[ 9.99449205e-01 -1.08319883e-03 -3.31679575e-02 8.31785575e+00] [ 1.10354886e-03 9.99999214e-01 5.95244916e-04 4.62746690e-01] [ 3.31672866e-02 -6.31519520e-04 9.99449615e-01 2.21553262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57463044 meters Centerline goodness [0,1] 0.31060802629302886 Centerline is valid? [False, False] Translation: X:8.32, Y:0.46, Z:0.22 [[ 9.99436815e-01 -1.05661982e-03 -3.35400700e-02 8.31926997e+00] [ 1.08859433e-03 9.99998970e-01 9.35076074e-04 4.60182607e-01] [ 3.35390474e-02 -9.71060983e-04 9.99436936e-01 2.20853909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60463044 meters Centerline goodness [0,1] 0.3113037823778043 Centerline is valid? [False, False] Translation: X:8.32, Y:0.46, Z:0.22 [[ 9.99444239e-01 -1.04700864e-03 -3.33184037e-02 8.31878316e+00] [ 1.08749277e-03 9.99998692e-01 1.19696965e-03 4.58346754e-01] [ 3.33171069e-02 -1.23253794e-03 9.99444071e-01 2.20982643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63463044 meters Centerline goodness [0,1] 0.3117826340704235 Centerline is valid? [False, False] Translation: X:8.32, Y:0.46, Z:0.22 [[ 9.99451258e-01 -1.03578837e-03 -3.31075397e-02 8.31790950e+00] [ 1.08621399e-03 9.99998277e-01 1.50513603e-03 4.56240904e-01] [ 3.31059236e-02 -1.54027197e-03 9.99450662e-01 2.21667032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66463044 meters Centerline goodness [0,1] 0.31844819756503684 Centerline is valid? [False, False] Translation: X:8.31, Y:0.45, Z:0.22 [[ 9.99494521e-01 -2.86601149e-03 -3.16620890e-02 8.31265887e+00] [ 2.87924935e-03 9.99995786e-01 3.72513119e-04 4.51280770e-01] [ 3.16608880e-02 -4.63487871e-04 9.99498561e-01 2.24060814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.69463044 meters Centerline goodness [0,1] 0.3218019346722769 Centerline is valid? [False, False] Translation: X:8.31, Y:0.45, Z:0.22 [[ 9.99506234e-01 -2.95334836e-03 -3.12820244e-02 8.31159201e+00] [ 2.97531930e-03 9.99995359e-01 6.55825131e-04 4.48803356e-01] [ 3.12799424e-02 -7.48575318e-04 9.99510383e-01 2.24517881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72463044 meters Centerline goodness [0,1] 0.31984859238230423 Centerline is valid? [False, False] Translation: X:8.33, Y:0.45, Z:0.23 [[ 9.99565119e-01 2.29743272e-03 -2.93988865e-02 8.33174124e+00] [-2.36360586e-03 9.99994751e-01 -2.21631904e-03 4.45662014e-01] [ 2.93936403e-02 2.28484259e-03 9.99565302e-01 2.25499126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.75463044 meters Centerline goodness [0,1] 0.31907224236702636 Centerline is valid? [False, False] Translation: X:8.33, Y:0.44, Z:0.23 [[ 9.99569150e-01 2.28897063e-03 -2.92621802e-02 8.33135005e+00] [-2.34197687e-03 9.99995678e-01 -1.77728017e-03 4.42613677e-01] [ 2.92579856e-02 1.84504578e-03 9.99570191e-01 2.25773867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78463044 meters Centerline goodness [0,1] 0.3173116089613035 Centerline is valid? [False, False] Translation: X:8.33, Y:0.44, Z:0.22 [[ 9.99540919e-01 1.60055400e-03 -3.02554031e-02 8.33456086e+00] [-1.65305801e-03 9.99997171e-01 -1.71042663e-03 4.35504017e-01] [ 3.02525799e-02 1.75965534e-03 9.99540737e-01 2.24830458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.81463044 meters Centerline goodness [0,1] 0.31795476471218775 Centerline is valid? [False, False] Translation: X:8.34, Y:0.43, Z:0.22 [[ 9.99528968e-01 1.70390634e-03 -3.06421191e-02 8.33590069e+00] [-1.74297339e-03 9.99997702e-01 -1.24828061e-03 4.32363413e-01] [ 3.06399217e-02 1.30110103e-03 9.99529641e-01 2.24330519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84463044 meters Centerline goodness [0,1] 0.3255442294402211 Centerline is valid? [False, False] Translation: X:8.34, Y:0.43, Z:0.22 [[ 9.99526310e-01 1.77520748e-03 -3.07246396e-02 8.33677755e+00] [-1.79613899e-03 9.99998173e-01 -6.53675584e-04 4.25317674e-01] [ 3.07234231e-02 7.08551668e-04 9.99527673e-01 2.23596333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.87463044 meters Centerline goodness [0,1] 0.32295057230928415 Centerline is valid? [False, False] Translation: X:8.34, Y:0.42, Z:0.22 [[ 9.99529722e-01 1.87993628e-03 -3.06072118e-02 8.33663296e+00] [-1.89032363e-03 9.99998165e-01 -3.10443628e-04 4.23017692e-01] [ 3.06065720e-02 3.68155168e-04 9.99531441e-01 2.23495056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90463044 meters Centerline goodness [0,1] 0.3204835864561373 Centerline is valid? [False, False] Translation: X:8.34, Y:0.42, Z:0.22 [[ 9.99535402e-01 2.00386376e-03 -3.04132257e-02 8.33610127e+00] [-2.00677244e-03 9.99997984e-01 -6.51158128e-05 4.21583407e-01] [ 3.04130339e-02 1.26117983e-04 9.99537409e-01 2.23634138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93463043999998 meters Centerline goodness [0,1] 0.32066804052893694 Centerline is valid? [False, False] Translation: X:8.34, Y:0.42, Z:0.22 [[ 9.99532817e-01 2.12151651e-03 -3.04901151e-02 8.33611986e+00] [-2.11932125e-03 9.99997749e-01 1.04315608e-04 4.20689480e-01] [ 3.04902678e-02 -3.96485250e-05 9.99535063e-01 2.23826044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96463043999998 meters Centerline goodness [0,1] 0.32155613891638335 Centerline is valid? [False, False] Translation: X:8.34, Y:0.42, Z:0.22 [[ 9.99527379e-01 2.30582731e-03 -3.06545629e-02 8.33673107e+00] [-2.29960507e-03 9.99997328e-01 2.38232665e-04 4.20585882e-01] [ 3.06550303e-02 -1.67626682e-04 9.99530010e-01 2.23459258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99463043999998 meters Centerline goodness [0,1] 0.32104229183307786 Centerline is valid? [False, False] Translation: X:8.34, Y:0.42, Z:0.22 [[ 9.99495880e-01 2.98433536e-03 -3.16082075e-02 8.33974986e+00] [-2.97002853e-03 9.99995465e-01 4.99570908e-04 4.21812598e-01] [ 3.16095550e-02 -4.05441787e-04 9.99500211e-01 2.22161440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02463043999998 meters Centerline goodness [0,1] 0.32104229183307786 Centerline is valid? [False, False] Translation: X:8.34, Y:0.42, Z:0.22 [[ 9.99495880e-01 2.98433536e-03 -3.16082075e-02 8.33974986e+00] [-2.97002853e-03 9.99995465e-01 4.99570908e-04 4.21812598e-01] [ 3.16095550e-02 -4.05441787e-04 9.99500211e-01 2.22161440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05463043999998 meters Centerline goodness [0,1] 0.3213484600120783 Centerline is valid? [False, False] Translation: X:8.34, Y:0.42, Z:0.22 [[ 9.99495438e-01 3.07193444e-03 -3.16137904e-02 8.33996574e+00] [-3.05906899e-03 9.99995217e-01 4.55315523e-04 4.22580019e-01] [ 3.16150379e-02 -3.58377023e-04 9.99500056e-01 2.21791029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08463043999998 meters Centerline goodness [0,1] 0.31872045586997344 Centerline is valid? [False, False] Translation: X:8.34, Y:0.42, Z:0.22 [[ 9.99502293e-01 3.18925973e-03 -3.13846279e-02 8.33932018e+00] [-3.17370605e-03 9.99994815e-01 5.45385507e-04 4.22710264e-01] [ 3.13862046e-02 -4.45508482e-04 9.99507232e-01 2.21941355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11463043999998 meters Centerline goodness [0,1] 0.3251997221257381 Centerline is valid? [False, False] Translation: X:8.34, Y:0.42, Z:0.22 [[ 9.99516193e-01 3.15833044e-03 -3.09419569e-02 8.33771694e+00] [-3.13605504e-03 9.99994787e-01 7.68412582e-04 4.20916809e-01] [ 3.09442226e-02 -6.71005139e-04 9.99520888e-01 2.22856270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14463044 meters Centerline goodness [0,1] 0.3203716817957467 Centerline is valid? [False, False] Translation: X:8.36, Y:0.42, Z:0.22 [[ 9.99511914e-01 -4.95773579e-03 -3.08440501e-02 8.35763140e+00] [ 5.01170102e-03 9.99986043e-01 1.67255215e-03 4.24491998e-01] [ 3.08353275e-02 -1.82631696e-03 9.99522810e-01 2.24537097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17463044 meters Centerline goodness [0,1] 0.3195756991321118 Centerline is valid? [False, False] Translation: X:8.36, Y:0.42, Z:0.22 [[ 9.99507784e-01 -4.98122075e-03 -3.09738035e-02 8.35800921e+00] [ 5.04532412e-03 9.99985289e-01 1.99178870e-03 4.22262258e-01] [ 3.09634263e-02 -2.14708119e-03 9.99518212e-01 2.24580970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20463044 meters Centerline goodness [0,1] 0.3223270102472663 Centerline is valid? [False, False] Translation: X:8.36, Y:0.42, Z:0.22 [[ 9.99502151e-01 -5.02746374e-03 -3.11476141e-02 8.35862415e+00] [ 5.10266167e-03 9.99984255e-01 2.33522677e-03 4.19743246e-01] [ 3.11353834e-02 -2.49299992e-03 9.99512067e-01 2.24427886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23463044 meters Centerline goodness [0,1] 0.3182060182720361 Centerline is valid? [False, False] Translation: X:8.36, Y:0.41, Z:0.22 [[ 9.99472876e-01 -6.00573104e-03 -3.19045810e-02 8.36093751e+00] [ 6.07863898e-03 9.99979130e-01 2.18868519e-03 4.12834137e-01] [ 3.18907705e-02 -2.38146791e-03 9.99488523e-01 2.24139357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26463044 meters Centerline goodness [0,1] 0.3199168434814291 Centerline is valid? [False, False] Translation: X:8.36, Y:0.41, Z:0.22 [[ 9.99468447e-01 -5.97516261e-03 -3.20487298e-02 8.36140723e+00] [ 6.06011740e-03 9.99978375e-01 2.55432039e-03 4.10248418e-01] [ 3.20327743e-02 -2.74718170e-03 9.99483044e-01 2.24145049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29463044 meters Centerline goodness [0,1] 0.32507518878334807 Centerline is valid? [False, False] Translation: X:8.35, Y:0.40, Z:0.22 [[ 9.99555454e-01 -1.97501118e-04 -2.98136718e-02 8.34624030e+00] [ 2.36272157e-04 9.99999131e-01 1.29692769e-03 4.02206953e-01] [ 2.98133898e-02 -1.30339529e-03 9.99554632e-01 2.20609118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32463044 meters Centerline goodness [0,1] 0.32093631433409786 Centerline is valid? [False, False] Translation: X:8.37, Y:0.40, Z:0.22 [[ 9.99541696e-01 7.34128502e-03 -2.93684170e-02 8.36539308e+00] [-7.34134531e-03 9.99973046e-01 1.05773593e-04 3.96601430e-01] [ 2.93684019e-02 1.09878574e-04 9.99568649e-01 2.22939874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35463044 meters Centerline goodness [0,1] 0.3229065684310304 Centerline is valid? [False, False] Translation: X:8.37, Y:0.40, Z:0.22 [[ 9.99542489e-01 7.39996879e-03 -2.93266775e-02 8.36530014e+00] [-7.39684982e-03 9.99972620e-01 2.14838422e-04 3.95991307e-01] [ 2.93274643e-02 2.18489817e-06 9.99569857e-01 2.22932623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38463044 meters Centerline goodness [0,1] 0.3204240495441253 Centerline is valid? [False, False] Translation: X:8.37, Y:0.40, Z:0.22 [[ 9.99539747e-01 7.43478569e-03 -2.94111864e-02 8.36578802e+00] [-7.43148995e-03 9.99972362e-01 2.21365573e-04 3.95936193e-01] [ 2.94120193e-02 -2.69475307e-06 9.99567373e-01 2.22514873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41463044 meters Centerline goodness [0,1] 0.31827744622386334 Centerline is valid? [False, False] Translation: X:8.37, Y:0.40, Z:0.22 [[ 9.99539820e-01 7.46082728e-03 -2.94021118e-02 8.36593973e+00] [-7.45819182e-03 9.99972167e-01 1.99302685e-04 3.95513193e-01] [ 2.94027804e-02 2.00756193e-05 9.99567645e-01 2.22231522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44463044 meters Centerline goodness [0,1] 0.32340342255756815 Centerline is valid? [False, False] Translation: X:8.34, Y:0.40, Z:0.22 [[ 9.99589847e-01 -6.44904286e-04 -2.86307840e-02 8.34478262e+00] [ 6.71533076e-04 9.99999351e-01 9.20469956e-04 3.98343317e-01] [ 2.86301718e-02 -9.39318941e-04 9.99589631e-01 2.20992759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.47463044 meters Centerline goodness [0,1] 0.32127874706882087 Centerline is valid? [False, False] Translation: X:8.36, Y:0.40, Z:0.22 [[ 9.99584103e-01 7.40351369e-03 -2.78712880e-02 8.36458914e+00] [-7.40875465e-03 9.99972551e-01 -8.47791862e-05 3.96336926e-01] [ 2.78698953e-02 2.91235461e-04 9.99611517e-01 2.22878815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50463044 meters Centerline goodness [0,1] 0.3205191781117268 Centerline is valid? [False, False] Translation: X:8.36, Y:0.40, Z:0.22 [[ 9.99582917e-01 7.51845671e-03 -2.78830735e-02 8.36452822e+00] [-7.52191857e-03 9.99971710e-01 -1.92692139e-05 3.96683156e-01] [ 2.78821398e-02 2.28995386e-04 9.99611191e-01 2.22991968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.53463044 meters Centerline goodness [0,1] 0.3177185038947662 Centerline is valid? [False, False] Translation: X:8.36, Y:0.40, Z:0.22 [[ 9.99588325e-01 7.48000637e-03 -2.76989281e-02 8.36424459e+00] [-7.49110896e-03 9.99971897e-01 -2.97083522e-04 3.98104091e-01] [ 2.76959275e-02 5.04456908e-04 9.99616267e-01 2.22781971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56463044 meters Centerline goodness [0,1] 0.31951393852751964 Centerline is valid? [False, False] Translation: X:8.36, Y:0.40, Z:0.22 [[ 9.99592954e-01 7.36001956e-03 -2.75636859e-02 8.36374606e+00] [-7.37812298e-03 9.99972627e-01 -5.55137936e-04 3.98986672e-01] [ 2.75588456e-02 7.58280234e-04 9.99619895e-01 2.22996812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.59463044 meters Centerline goodness [0,1] 0.31713062098501066 Centerline is valid? [False, False] Translation: X:8.38, Y:0.41, Z:0.22 [[ 9.99643790e-01 1.59588644e-04 -2.66883518e-02 8.38175321e+00] [-1.40867869e-04 9.99999743e-01 7.03337259e-04 4.05354002e-01] [ 2.66884571e-02 -6.99327192e-04 9.99643555e-01 2.24677075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62463044 meters Centerline goodness [0,1] 0.3174845635851208 Centerline is valid? [False, False] Translation: X:8.38, Y:0.41, Z:0.22 [[ 9.99655880e-01 4.81787423e-04 -2.62276530e-02 8.38053377e+00] [-4.62832625e-04 9.99999627e-01 7.28768543e-04 4.07373054e-01] [ 2.62279944e-02 -7.16378746e-04 9.99655730e-01 2.24824927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.65463044 meters Centerline goodness [0,1] 0.31327452439154 Centerline is valid? [False, False] Translation: X:8.40, Y:0.41, Z:0.23 [[ 9.99617560e-01 8.30914004e-03 -2.63759647e-02 8.40169350e+00] [-8.32418550e-03 9.99965247e-01 -4.60674378e-04 4.06950609e-01] [ 2.63712202e-02 6.80056620e-04 9.99651988e-01 2.26059675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68463043999998 meters Centerline goodness [0,1] 0.31542290683017493 Centerline is valid? [False, False] Translation: X:8.40, Y:0.41, Z:0.23 [[ 9.99607229e-01 8.17056241e-03 -2.68072787e-02 8.40309001e+00] [-8.19431764e-03 9.99966125e-01 -7.76412737e-04 4.08254218e-01] [ 2.68000268e-02 9.95775141e-04 9.99640319e-01 2.25487201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71463043999998 meters Centerline goodness [0,1] 0.31591320852385474 Centerline is valid? [False, False] Translation: X:8.39, Y:0.41, Z:0.22 [[ 9.99601790e-01 2.18940161e-04 -2.82172618e-02 8.38530096e+00] [-2.08956136e-04 9.99999915e-01 3.56775067e-04 4.12418645e-01] [ 2.82173375e-02 -3.50736825e-04 9.99601750e-01 2.23067240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74463043999998 meters Centerline goodness [0,1] 0.3141469883641341 Centerline is valid? [False, False] Translation: X:8.39, Y:0.41, Z:0.22 [[ 9.99590322e-01 3.65847391e-04 -2.86191144e-02 8.38610855e+00] [-3.56759590e-04 9.99999884e-01 3.22648525e-04 4.14192039e-01] [ 2.86192291e-02 -3.12306200e-04 9.99590337e-01 2.23190823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77463043999998 meters Centerline goodness [0,1] 0.3112499466928227 Centerline is valid? [False, False] Translation: X:8.38, Y:0.41, Z:0.22 [[ 9.99597858e-01 3.55646870e-04 -2.83548276e-02 8.38499517e+00] [-3.46650988e-04 9.99999888e-01 3.22176019e-04 4.14395534e-01] [ 2.83549390e-02 -3.12217230e-04 9.99597869e-01 2.23972063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80463043999998 meters Centerline goodness [0,1] 0.31754188979098286 Centerline is valid? [False, False] Translation: X:8.36, Y:0.41, Z:0.22 [[ 9.99647226e-01 5.39403704e-03 -2.60063219e-02 8.36198325e+00] [-5.46281651e-03 9.99981765e-01 -2.57440051e-03 4.09107578e-01] [ 2.59919612e-02 2.71556009e-03 9.99658464e-01 2.23411477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83463043999998 meters Centerline goodness [0,1] 0.3194949342855299 Centerline is valid? [False, False] Translation: X:8.38, Y:0.41, Z:0.22 [[ 9.99699262e-01 -3.85923373e-03 -2.42176006e-02 8.38050382e+00] [ 3.79929479e-03 9.99989606e-01 -2.52053962e-03 4.12569330e-01] [ 2.42270762e-02 2.42777180e-03 9.99703533e-01 2.24884818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86463043999998 meters Centerline goodness [0,1] 0.3182940709085833 Centerline is valid? [False, False] Translation: X:8.38, Y:0.41, Z:0.22 [[ 9.99695148e-01 -3.79681748e-03 -2.43966060e-02 8.38109160e+00] [ 3.74003773e-03 9.99990191e-01 -2.37257027e-03 4.12124377e-01] [ 2.44053749e-02 2.28060276e-03 9.99699543e-01 2.24708790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89463044 meters Centerline goodness [0,1] 0.3205296870619191 Centerline is valid? [False, False] Translation: X:8.38, Y:0.41, Z:0.22 [[ 9.99687525e-01 -3.72411848e-03 -2.47180924e-02 8.38202904e+00] [ 3.67022910e-03 9.99990789e-01 -2.22516900e-03 4.11712964e-01] [ 2.47261515e-02 2.13375262e-03 9.99691985e-01 2.24486248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92463044 meters Centerline goodness [0,1] 0.3180507745266782 Centerline is valid? [False, False] Translation: X:8.38, Y:0.41, Z:0.22 [[ 9.99679199e-01 -3.67382914e-03 -2.50599870e-02 8.38319118e+00] [ 3.62194768e-03 9.99991203e-01 -2.11536699e-03 4.11299397e-01] [ 2.50675380e-02 2.02392242e-03 9.99683711e-01 2.23992747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95463044 meters Centerline goodness [0,1] 0.31771012745435756 Centerline is valid? [False, False] Translation: X:8.38, Y:0.41, Z:0.22 [[ 9.99673739e-01 -3.65013970e-03 -2.52802818e-02 8.38376357e+00] [ 3.59945449e-03 9.99991420e-01 -2.05014552e-03 4.10978066e-01] [ 2.52875482e-02 1.95848142e-03 9.99678300e-01 2.23964114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98463044 meters Centerline goodness [0,1] 0.31880906761964223 Centerline is valid? [False, False] Translation: X:8.38, Y:0.41, Z:0.22 [[ 9.99673534e-01 -3.58838596e-03 -2.52972196e-02 8.38366191e+00] [ 3.54068265e-03 9.99991869e-01 -1.93025340e-03 4.10405712e-01] [ 2.53039404e-02 1.84005381e-03 9.99678111e-01 2.24169796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01463044 meters Centerline goodness [0,1] 0.31838410766882375 Centerline is valid? [False, False] Translation: X:8.38, Y:0.41, Z:0.22 [[ 9.99671414e-01 -3.51279857e-03 -2.53914334e-02 8.38391446e+00] [ 3.46666170e-03 9.99992260e-01 -1.86081569e-03 4.10388126e-01] [ 2.53977735e-02 1.77218074e-03 9.99675854e-01 2.24102712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04463044 meters Centerline goodness [0,1] 0.31919170088610327 Centerline is valid? [False, False] Translation: X:8.38, Y:0.41, Z:0.22 [[ 9.99666716e-01 -3.47599660e-03 -2.55807365e-02 8.38473457e+00] [ 3.43001215e-03 9.99992422e-01 -1.84127946e-03 4.10444258e-01] [ 2.55869430e-02 1.75292355e-03 9.99671064e-01 2.23582757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07463044 meters Centerline goodness [0,1] 0.3142629858961128 Centerline is valid? [False, False] Translation: X:8.39, Y:0.41, Z:0.22 [[ 9.99658835e-01 -3.43267307e-03 -2.58926860e-02 8.38594748e+00] [ 3.38562372e-03 9.99992538e-01 -1.86071045e-03 4.10651447e-01] [ 2.58988800e-02 1.77241275e-03 9.99662996e-01 2.22856292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10463044 meters Centerline goodness [0,1] 0.31516408494825765 Centerline is valid? [False, False] Translation: X:8.39, Y:0.41, Z:0.22 [[ 9.99650157e-01 -3.36701558e-03 -2.62340916e-02 8.38688471e+00] [ 3.31286762e-03 9.99992292e-01 -2.10721962e-03 4.12303676e-01] [ 2.62409844e-02 2.01957235e-03 9.99653606e-01 2.22496929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13463044 meters Centerline goodness [0,1] 0.31696822357522425 Centerline is valid? [False, False] Translation: X:8.39, Y:0.41, Z:0.22 [[ 9.99659644e-01 -3.22928938e-03 -2.58875996e-02 8.38586439e+00] [ 3.17375115e-03 9.99992574e-01 -2.18616069e-03 4.13808632e-01] [ 2.58944671e-02 2.10325582e-03 9.99662469e-01 2.22729407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16463044 meters Centerline goodness [0,1] 0.3143023406181301 Centerline is valid? [False, False] Translation: X:8.38, Y:0.42, Z:0.22 [[ 9.99673424e-01 -3.10168551e-03 -2.53658369e-02 8.38439137e+00] [ 3.04415053e-03 9.99992707e-01 -2.30650807e-03 4.15643675e-01] [ 2.53728059e-02 2.22853739e-03 9.99675575e-01 2.23027039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.19463044 meters Centerline goodness [0,1] 0.31662371971156966 Centerline is valid? [False, False] Translation: X:8.38, Y:0.42, Z:0.22 [[ 9.99686439e-01 -2.94644856e-03 -2.48665017e-02 8.38309289e+00] [ 2.88369382e-03 9.99992568e-01 -2.55914817e-03 4.18519594e-01] [ 2.48738573e-02 2.48663834e-03 9.99687505e-01 2.23087633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22463044 meters Centerline goodness [0,1] 0.31854471297782794 Centerline is valid? [False, False] Translation: X:8.38, Y:0.42, Z:0.22 [[ 9.99682210e-01 -2.98630631e-03 -2.50311999e-02 8.38364542e+00] [ 2.91885098e-03 9.99992011e-01 -2.73095418e-03 4.19613546e-01] [ 2.50391554e-02 2.65702397e-03 9.99682940e-01 2.22802199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.25463044 meters Centerline goodness [0,1] 0.31385033778679505 Centerline is valid? [False, False] Translation: X:8.38, Y:0.42, Z:0.22 [[ 9.99676342e-01 -2.97418403e-03 -2.52659108e-02 8.38446426e+00] [ 2.90479494e-03 9.99991910e-01 -2.78261052e-03 4.20187391e-01] [ 2.52739823e-02 2.70831762e-03 9.99676893e-01 2.22398484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28463044 meters Centerline goodness [0,1] 0.3134604225321842 Centerline is valid? [False, False] Translation: X:8.38, Y:0.42, Z:0.22 [[ 9.99673517e-01 -2.97125148e-03 -2.53777668e-02 8.38473488e+00] [ 2.90147625e-03 9.99991910e-01 -2.78584299e-03 4.20304334e-01] [ 2.53858390e-02 2.71130047e-03 9.99674051e-01 2.22411161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.31463044 meters Centerline goodness [0,1] 0.3173391022174148 Centerline is valid? [False, False] Translation: X:8.38, Y:0.42, Z:0.22 [[ 9.99674903e-01 -3.04841241e-03 -2.53139197e-02 8.38446721e+00] [ 2.97823759e-03 9.99991619e-01 -2.80942202e-03 4.19906423e-01] [ 2.53222718e-02 2.73311781e-03 9.99675604e-01 2.22602579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34463044 meters Centerline goodness [0,1] 0.3152423209654256 Centerline is valid? [False, False] Translation: X:8.40, Y:0.42, Z:0.22 [[ 9.99698225e-01 2.62820367e-03 -2.44244164e-02 8.40490427e+00] [-2.77390691e-03 9.99978549e-01 -5.93351000e-03 4.18535313e-01] [ 2.44082980e-02 5.99947047e-03 9.99684071e-01 2.23877708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.37463044 meters Centerline goodness [0,1] 0.31222521022751526 Centerline is valid? [False, False] Translation: X:8.40, Y:0.42, Z:0.22 [[ 9.99698781e-01 2.66451350e-03 -2.43977069e-02 8.40479214e+00] [-2.80920202e-03 9.99978660e-01 -5.89806224e-03 4.18853285e-01] [ 2.43814708e-02 5.96482372e-03 9.99684933e-01 2.23974831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40463044 meters Centerline goodness [0,1] 0.3178009224173397 Centerline is valid? [False, False] Translation: X:8.38, Y:0.42, Z:0.22 [[ 9.99700917e-01 -4.86831828e-03 -2.39661563e-02 8.38435100e+00] [ 4.76329834e-03 9.99978811e-01 -4.43714932e-03 4.22416557e-01] [ 2.39872499e-02 4.32166429e-03 9.99702923e-01 2.22160040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43463043999998 meters Centerline goodness [0,1] 0.31740643850128636 Centerline is valid? [False, False] Translation: X:8.38, Y:0.42, Z:0.22 [[ 9.99705612e-01 -4.80517373e-03 -2.37823543e-02 8.38381414e+00] [ 4.70019783e-03 9.99978973e-01 -4.46795715e-03 4.23306210e-01] [ 2.38033236e-02 4.35486006e-03 9.99707176e-01 2.22307367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46463043999998 meters Centerline goodness [0,1] 0.31559818490720226 Centerline is valid? [False, False] Translation: X:8.38, Y:0.43, Z:0.22 [[ 9.99698005e-01 -5.07145477e-03 -2.40453492e-02 8.38483640e+00] [ 4.95130435e-03 9.99974972e-01 -5.05373250e-03 4.25531309e-01] [ 2.40703772e-02 4.93315046e-03 9.99698095e-01 2.21693077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49463043999998 meters Centerline goodness [0,1] 0.3152684925598447 Centerline is valid? [False, False] Translation: X:8.39, Y:0.43, Z:0.22 [[ 9.99692874e-01 -5.10595664e-03 -2.42505101e-02 8.38538542e+00] [ 4.98060569e-03 9.99973938e-01 -5.22659296e-03 4.26571753e-01] [ 2.42765649e-02 5.10420550e-03 9.99692250e-01 2.21484727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52463043999998 meters Centerline goodness [0,1] 0.3125576407506703 Centerline is valid? [False, False] Translation: X:8.39, Y:0.43, Z:0.22 [[ 9.99691234e-01 -5.03023101e-03 -2.43338125e-02 8.38548895e+00] [ 4.90441889e-03 9.99974311e-01 -5.22717986e-03 4.27395408e-01] [ 2.43594813e-02 5.10622267e-03 9.99690223e-01 2.21619961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55463043999998 meters Centerline goodness [0,1] 0.31705569427857994 Centerline is valid? [False, False] Translation: X:8.37, Y:0.42, Z:0.22 [[ 9.99717996e-01 2.97617315e-03 -2.35599550e-02 8.36612861e+00] [-3.11465664e-03 9.99978077e-01 -5.84340640e-03 4.21434809e-01] [ 2.35420475e-02 5.91513970e-03 9.99705348e-01 2.20044471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58463043999998 meters Centerline goodness [0,1] 0.3161576375885151 Centerline is valid? [False, False] Translation: X:8.39, Y:0.42, Z:0.22 [[ 9.99729872e-01 -5.58367838e-03 -2.25611379e-02 8.38617362e+00] [ 5.46569840e-03 9.99971083e-01 -5.28763032e-03 4.24626082e-01] [ 2.25900099e-02 5.16288961e-03 9.99731482e-01 2.21198054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61463043999998 meters Centerline goodness [0,1] 0.3167490129236876 Centerline is valid? [False, False] Translation: X:8.39, Y:0.42, Z:0.22 [[ 9.99727147e-01 -5.69639361e-03 -2.26535342e-02 8.38639209e+00] [ 5.58113607e-03 9.99971175e-01 -5.14781369e-03 4.22863411e-01] [ 2.26822052e-02 5.01997664e-03 9.99730122e-01 2.21304288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64463044 meters Centerline goodness [0,1] 0.3154325081837438 Centerline is valid? [False, False] Translation: X:8.39, Y:0.42, Z:0.22 [[ 9.99721309e-01 -5.64435714e-03 -2.29226032e-02 8.38719477e+00] [ 5.53570951e-03 9.99973155e-01 -4.80045209e-03 4.20833000e-01] [ 2.29490833e-02 4.67222137e-03 9.99725717e-01 2.21167719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67463044 meters Centerline goodness [0,1] 0.3179153375290973 Centerline is valid? [False, False] Translation: X:8.39, Y:0.42, Z:0.22 [[ 9.99715574e-01 -5.53063013e-03 -2.31987926e-02 8.38838763e+00] [ 5.43865050e-03 9.99977106e-01 -4.02606768e-03 4.16332935e-01] [ 2.32205282e-02 3.89875243e-03 9.99722765e-01 2.20694951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70463044 meters Centerline goodness [0,1] 0.3164374731413837 Centerline is valid? [False, False] Translation: X:8.39, Y:0.41, Z:0.22 [[ 9.99713361e-01 -5.47551154e-03 -2.33069554e-02 8.38885753e+00] [ 5.39110765e-03 9.99978687e-01 -3.68269863e-03 4.13960444e-01] [ 2.33266233e-02 3.55599272e-03 9.99721573e-01 2.20490756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73463044 meters Centerline goodness [0,1] 0.3177393765275932 Centerline is valid? [False, False] Translation: X:8.39, Y:0.41, Z:0.22 [[ 9.99709779e-01 -5.46760782e-03 -2.34619516e-02 8.38935508e+00] [ 5.38786352e-03 9.99979497e-01 -3.46074694e-03 4.12092368e-01] [ 2.34803926e-02 3.33333277e-03 9.99718740e-01 2.20379707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76463044 meters Centerline goodness [0,1] 0.31655728886498113 Centerline is valid? [False, False] Translation: X:8.39, Y:0.41, Z:0.22 [[ 9.99706244e-01 -5.42941817e-03 -2.36209097e-02 8.38986754e+00] [ 5.35202526e-03 9.99980105e-01 -3.33844383e-03 4.11106697e-01] [ 2.36385656e-02 3.21104343e-03 9.99715413e-01 2.20237937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79463044 meters Centerline goodness [0,1] 0.31796986313198916 Centerline is valid? [False, False] Translation: X:8.39, Y:0.41, Z:0.22 [[ 9.99712349e-01 -4.92979149e-03 -2.34716075e-02 8.38945645e+00] [ 4.86329723e-03 9.99984000e-01 -2.88920654e-03 4.10563188e-01] [ 2.34854751e-02 2.77422605e-03 9.99720329e-01 2.20349464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82463044 meters Centerline goodness [0,1] 0.31822406674880577 Centerline is valid? [False, False] Translation: X:8.39, Y:0.41, Z:0.22 [[ 9.99718619e-01 -4.83188285e-03 -2.32236219e-02 8.38877788e+00] [ 4.76753169e-03 9.99984643e-01 -2.82550483e-03 4.10594365e-01] [ 2.32369178e-02 2.71399044e-03 9.99726302e-01 2.20458757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85463044 meters Centerline goodness [0,1] 0.3183025591188856 Centerline is valid? [False, False] Translation: X:8.39, Y:0.41, Z:0.22 [[ 9.99720319e-01 -4.76695998e-03 -2.31637671e-02 8.38858585e+00] [ 4.70435879e-03 9.99985136e-01 -2.75628997e-03 4.10232788e-01] [ 2.31765620e-02 2.64654841e-03 9.99727884e-01 2.20510679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88463044 meters Centerline goodness [0,1] 0.3150136915967825 Centerline is valid? [False, False] Translation: X:8.41, Y:0.41, Z:0.22 [[ 9.99731119e-01 3.05777027e-03 -2.29856447e-02 8.40878575e+00] [-3.14909188e-03 9.99987288e-01 -3.93783830e-03 4.07471869e-01] [ 2.29733115e-02 4.00916339e-03 9.99728040e-01 2.22019946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91463044 meters Centerline goodness [0,1] 0.31413769481075526 Centerline is valid? [False, False] Translation: X:8.41, Y:0.41, Z:0.22 [[ 9.99726113e-01 3.11734809e-03 -2.31944074e-02 8.40970876e+00] [-3.20717019e-03 9.99987498e-01 -3.83638455e-03 4.06963214e-01] [ 2.31821581e-02 3.90972223e-03 9.99723613e-01 2.21424305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94463044 meters Centerline goodness [0,1] 0.31413769481075526 Centerline is valid? [False, False] Translation: X:8.41, Y:0.41, Z:0.22 [[ 9.99726113e-01 3.11734809e-03 -2.31944074e-02 8.40970876e+00] [-3.20717019e-03 9.99987498e-01 -3.83638455e-03 4.06963214e-01] [ 2.31821581e-02 3.90972223e-03 9.99723613e-01 2.21424305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.97463044 meters Centerline goodness [0,1] 0.31742041736190874 Centerline is valid? [False, False] Translation: X:8.39, Y:0.41, Z:0.22 [[ 9.99696357e-01 -4.74413551e-03 -2.41802951e-02 8.39163698e+00] [ 4.68982417e-03 9.99986352e-01 -2.30231364e-03 4.08443899e-01] [ 2.41908876e-02 2.18821323e-03 9.99704963e-01 2.18890152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00463044 meters Centerline goodness [0,1] 0.31684003373629466 Centerline is valid? [False, False] Translation: X:8.39, Y:0.41, Z:0.22 [[ 9.99693796e-01 -4.73098938e-03 -2.42885325e-02 8.39157241e+00] [ 4.68300147e-03 9.99986970e-01 -2.03224375e-03 4.06234573e-01] [ 2.42978305e-02 1.91787824e-03 9.99702924e-01 2.19454835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.03463044 meters Centerline goodness [0,1] 0.3136797000535618 Centerline is valid? [False, False] Translation: X:8.41, Y:0.40, Z:0.22 [[ 9.99730359e-01 2.58161198e-03 -2.30769478e-02 8.41008493e+00] [-2.66564716e-03 9.99989926e-01 -3.61150127e-03 4.02965612e-01] [ 2.30673919e-02 3.67204246e-03 9.99727169e-01 2.21799320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06463044 meters Centerline goodness [0,1] 0.3177546028067465 Centerline is valid? [False, False] Translation: X:8.41, Y:0.40, Z:0.22 [[ 9.99730526e-01 2.59820636e-03 -2.30678116e-02 8.40974635e+00] [-2.67780569e-03 9.99990565e-01 -3.42044817e-03 4.01634020e-01] [ 2.30587070e-02 3.48129756e-03 9.99728051e-01 2.22334663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.09463044 meters Centerline goodness [0,1] 0.3214038278340694 Centerline is valid? [False, False] Translation: X:8.41, Y:0.40, Z:0.22 [[ 9.99724180e-01 2.62652627e-03 -2.33380825e-02 8.41039206e+00] [-2.69826358e-03 9.99991730e-01 -3.04287200e-03 3.99201246e-01] [ 2.33298973e-02 3.10500501e-03 9.99722999e-01 2.22423622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12463044 meters Centerline goodness [0,1] 0.32060606060606056 Centerline is valid? [False, False] Translation: X:8.41, Y:0.40, Z:0.22 [[ 9.99720025e-01 2.61903106e-03 -2.35162046e-02 8.41082229e+00] [-2.68700398e-03 9.99992302e-01 -2.85933848e-03 3.97748816e-01] [ 2.35085349e-02 2.92172607e-03 9.99719367e-01 2.22477229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.15463044 meters Centerline goodness [0,1] 0.3208210380142337 Centerline is valid? [False, False] Translation: X:8.41, Y:0.40, Z:0.22 [[ 9.99717099e-01 2.58551736e-03 -2.36439756e-02 8.41106596e+00] [-2.65049031e-03 9.99992796e-01 -2.71704503e-03 3.96323037e-01] [ 2.36367803e-02 2.77894450e-03 9.99716750e-01 2.22593987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18463043999998 meters Centerline goodness [0,1] 0.32333434479171186 Centerline is valid? [False, False] Translation: X:8.41, Y:0.39, Z:0.22 [[ 9.99717450e-01 2.62553500e-03 -2.36246859e-02 8.41076261e+00] [-2.68462388e-03 9.99993346e-01 -2.46978144e-03 3.94763574e-01] [ 2.36180442e-02 2.53250700e-03 9.99717847e-01 2.23062716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21463043999998 meters Centerline goodness [0,1] 0.31949986130966357 Centerline is valid? [False, False] Translation: X:8.43, Y:0.40, Z:0.23 [[ 9.99746513e-01 -5.11356850e-03 -2.19262616e-02 8.42984511e+00] [ 5.09567223e-03 9.99986637e-01 -8.71996499e-04 3.95107028e-01] [ 2.19304276e-02 7.60046417e-04 9.99759210e-01 2.25140053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24463043999998 meters Centerline goodness [0,1] 0.32362584378013504 Centerline is valid? [False, False] Translation: X:8.43, Y:0.39, Z:0.23 [[ 9.99752032e-01 -4.93180559e-03 -2.17152562e-02 8.42896812e+00] [ 4.92494526e-03 9.99987804e-01 -3.69390699e-04 3.92713855e-01] [ 2.17168131e-02 2.62352654e-04 9.99764128e-01 2.25813317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27463043999998 meters Centerline goodness [0,1] 0.3246686508361347 Centerline is valid? [False, False] Translation: X:8.43, Y:0.39, Z:0.23 [[ 9.99755017e-01 -4.78282614e-03 -2.16108911e-02 8.42855938e+00] [ 4.78539368e-03 9.99988548e-01 6.70946781e-05 3.90556418e-01] [ 2.16103227e-02 -1.70494863e-04 9.99766455e-01 2.26138027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30463043999998 meters Centerline goodness [0,1] 0.32360029263674317 Centerline is valid? [False, False] Translation: X:8.43, Y:0.39, Z:0.23 [[ 9.99752748e-01 -4.69728344e-03 -2.17342800e-02 8.42883013e+00] [ 4.70639597e-03 9.99988857e-01 3.68137736e-04 3.88773885e-01] [ 2.17323085e-02 -4.70336840e-04 9.99763715e-01 2.26277134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33463043999998 meters Centerline goodness [0,1] 0.3240066189585885 Centerline is valid? [False, False] Translation: X:8.43, Y:0.39, Z:0.23 [[ 9.99750096e-01 -4.64293076e-03 -2.18675442e-02 8.42924493e+00] [ 4.65707526e-03 9.99988978e-01 5.95944755e-04 3.87300730e-01] [ 2.18645363e-02 -6.97634624e-04 9.99760699e-01 2.26200337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36463043999998 meters Centerline goodness [0,1] 0.3185713673565582 Centerline is valid? [False, False] Translation: X:8.43, Y:0.38, Z:0.23 [[ 9.99743109e-01 -4.52758071e-03 -2.22084868e-02 8.43043243e+00] [ 4.55003760e-03 9.99989187e-01 9.60758321e-04 3.84691605e-01] [ 2.22038968e-02 -1.06156096e-03 9.99752899e-01 2.25696629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39463044 meters Centerline goodness [0,1] 0.3244386873920553 Centerline is valid? [False, False] Translation: X:8.43, Y:0.38, Z:0.23 [[ 9.99742560e-01 -4.39776253e-03 -2.22592173e-02 8.43075813e+00] [ 4.42678316e-03 9.99989415e-01 1.25465137e-03 3.83194335e-01] [ 2.22534640e-02 -1.35286510e-03 9.99751446e-01 2.25423349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42463044 meters Centerline goodness [0,1] 0.3248302996238488 Centerline is valid? [False, False] Translation: X:8.43, Y:0.38, Z:0.23 [[ 9.99743275e-01 -4.25714713e-03 -2.22544534e-02 8.43067245e+00] [ 4.29366923e-03 9.99989512e-01 1.59358906e-03 3.81481759e-01] [ 2.22474358e-02 -1.68873321e-03 9.99751069e-01 2.25565700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45463044 meters Centerline goodness [0,1] 0.32389228623538246 Centerline is valid? [False, False] Translation: X:8.45, Y:0.38, Z:0.23 [[ 9.99757120e-01 3.27614664e-03 -2.17937682e-02 8.44921040e+00] [-3.26899372e-03 9.99994591e-01 3.63827735e-04 3.76503645e-01] [ 2.17948423e-02 -2.92495677e-04 9.99762421e-01 2.27862413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48463044 meters Centerline goodness [0,1] 0.3192881892458399 Centerline is valid? [False, False] Translation: X:8.45, Y:0.37, Z:0.23 [[ 9.99748008e-01 3.15608735e-03 -2.22251984e-02 8.45044686e+00] [-3.14007377e-03 9.99994785e-01 7.55376378e-04 3.72170161e-01] [ 2.22274665e-02 -6.85397267e-04 9.99752704e-01 2.27667083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51463044 meters Centerline goodness [0,1] 0.32015861385285116 Centerline is valid? [False, False] Translation: X:8.45, Y:0.37, Z:0.23 [[ 9.99740461e-01 3.13141402e-03 -2.25655549e-02 8.45176092e+00] [-3.10959215e-03 9.99994663e-01 1.00206772e-03 3.69892001e-01] [ 2.25685724e-02 -9.31637967e-04 9.99744863e-01 2.26962729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54463044 meters Centerline goodness [0,1] 0.3237282260161193 Centerline is valid? [False, False] Translation: X:8.45, Y:0.37, Z:0.23 [[ 9.99734543e-01 3.16741778e-03 -2.28212910e-02 8.45269890e+00] [-3.13700962e-03 9.99994144e-01 1.36812374e-03 3.67302583e-01] [ 2.28254908e-02 -1.29616995e-03 9.99738624e-01 2.26529085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57463044 meters Centerline goodness [0,1] 0.3207281089993925 Centerline is valid? [False, False] Translation: X:8.45, Y:0.36, Z:0.23 [[ 9.99729420e-01 3.27387322e-03 -2.30297163e-02 8.45338430e+00] [-3.23236346e-03 9.99993084e-01 1.83943765e-03 3.64449759e-01] [ 2.30355791e-02 -1.76449952e-03 9.99733089e-01 2.26296683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60463044 meters Centerline goodness [0,1] 0.319500097467998 Centerline is valid? [False, False] Translation: X:8.45, Y:0.36, Z:0.23 [[ 9.99718903e-01 2.95134602e-03 -2.35245699e-02 8.45461545e+00] [-2.89906867e-03 9.99993253e-01 2.25603950e-03 3.56821789e-01] [ 2.35310695e-02 -2.18720599e-03 9.99720713e-01 2.26342952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63463044 meters Centerline goodness [0,1] 0.32127029422573883 Centerline is valid? [False, False] Translation: X:8.46, Y:0.35, Z:0.23 [[ 9.99710468e-01 2.94431185e-03 -2.38812034e-02 8.45555633e+00] [-2.88079129e-03 9.99992222e-01 2.69382300e-03 3.53068564e-01] [ 2.38889491e-02 -2.62424629e-03 9.99711174e-01 2.26277177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66463044 meters Centerline goodness [0,1] 0.3185844522511261 Centerline is valid? [False, False] Translation: X:8.46, Y:0.35, Z:0.23 [[ 9.99696106e-01 2.94080814e-03 -2.44754247e-02 8.45711449e+00] [-2.86492164e-03 9.99990982e-01 3.13500604e-03 3.49210608e-01] [ 2.44844235e-02 -3.06393316e-03 9.99695516e-01 2.26093200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.69463044 meters Centerline goodness [0,1] 0.3169834191956362 Centerline is valid? [False, False] Translation: X:8.46, Y:0.34, Z:0.23 [[ 9.99676385e-01 2.75069358e-03 -2.52895101e-02 8.45991977e+00] [-2.65737552e-03 9.99989539e-01 3.72285799e-03 3.40695900e-01] [ 2.52994860e-02 -3.65444949e-03 9.99673237e-01 2.25036795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72463044 meters Centerline goodness [0,1] 0.31505610234100745 Centerline is valid? [False, False] Translation: X:8.46, Y:0.34, Z:0.22 [[ 9.99678062e-01 2.95706829e-03 -2.51997463e-02 8.45984199e+00] [-2.85062915e-03 9.99986869e-01 4.25869478e-03 3.37831507e-01] [ 2.52120086e-02 -4.18548862e-03 9.99673365e-01 2.24947658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.75463044 meters Centerline goodness [0,1] 0.3155020184357662 Centerline is valid? [False, False] Translation: X:8.46, Y:0.34, Z:0.23 [[ 9.99685590e-01 3.07600298e-03 -2.48849146e-02 8.45899452e+00] [-2.96034095e-03 9.99984651e-01 4.68338275e-03 3.35099036e-01] [ 2.48989387e-02 -4.60824241e-03 9.99679352e-01 2.25170830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78463044 meters Centerline goodness [0,1] 0.31363841153375815 Centerline is valid? [False, False] Translation: X:8.46, Y:0.33, Z:0.23 [[ 9.99692043e-01 3.26068554e-03 -2.46005320e-02 8.45763281e+00] [-3.13111138e-03 9.99981033e-01 5.30381069e-03 3.30613116e-01] [ 2.46173595e-02 -5.22515034e-03 9.99683292e-01 2.26301537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.81463044 meters Centerline goodness [0,1] 0.3127815011960433 Centerline is valid? [False, False] Translation: X:8.46, Y:0.33, Z:0.23 [[ 9.99689313e-01 3.35272733e-03 -2.46989011e-02 8.45789714e+00] [-3.21605683e-03 9.99979310e-01 5.57111052e-03 3.29056053e-01] [ 2.47170685e-02 -5.48994658e-03 9.99679412e-01 2.26285147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84463044 meters Centerline goodness [0,1] 0.31358051304160384 Centerline is valid? [False, False] Translation: X:8.46, Y:0.33, Z:0.23 [[ 9.99684487e-01 3.38859850e-03 -2.48886354e-02 8.45860473e+00] [-3.24782539e-03 9.99978513e-01 5.69436706e-03 3.28084544e-01] [ 2.49073965e-02 -5.61173647e-03 9.99674012e-01 2.25900983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.87463044 meters Centerline goodness [0,1] 0.3105291402812064 Centerline is valid? [False, False] Translation: X:8.46, Y:0.33, Z:0.23 [[ 9.99679169e-01 3.40917054e-03 -2.50985312e-02 8.45920343e+00] [-3.26566626e-03 9.99978099e-01 5.75640638e-03 3.27413640e-01] [ 2.51176061e-02 -5.67259612e-03 9.99668409e-01 2.25784089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90463044 meters Centerline goodness [0,1] 0.3127121192593547 Centerline is valid? [False, False] Translation: X:8.46, Y:0.33, Z:0.23 [[ 9.99678162e-01 3.47886566e-03 -2.51290703e-02 8.45901030e+00] [-3.33150708e-03 9.99977024e-01 5.90355508e-03 3.26548678e-01] [ 2.51490307e-02 -5.81793742e-03 9.99666783e-01 2.26137881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93463043999998 meters Centerline goodness [0,1] 0.312357569763942 Centerline is valid? [False, False] Translation: X:8.46, Y:0.33, Z:0.23 [[ 9.99703176e-01 3.98806399e-03 -2.40344554e-02 8.45567769e+00] [-3.83404063e-03 9.99971841e-01 6.45111785e-03 3.25559602e-01] [ 2.40595061e-02 -6.35705392e-03 9.99690316e-01 2.27320991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96463043999998 meters Centerline goodness [0,1] 0.3125013478251494 Centerline is valid? [False, False] Translation: X:8.46, Y:0.33, Z:0.23 [[ 9.99706931e-01 4.06922205e-03 -2.38640829e-02 8.45507173e+00] [-3.91548073e-03 9.99971303e-01 6.48556494e-03 3.25742790e-01] [ 2.38897893e-02 -6.39022486e-03 9.99694175e-01 2.27612044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99463043999998 meters Centerline goodness [0,1] 0.3114909781576448 Centerline is valid? [False, False] Translation: X:8.46, Y:0.33, Z:0.23 [[ 9.99704287e-01 4.03705141e-03 -2.39799984e-02 8.45537103e+00] [-3.88566652e-03 9.99972250e-01 6.35620973e-03 3.26223723e-01] [ 2.40049933e-02 -6.26115184e-03 9.99692232e-01 2.27558291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02463043999998 meters Centerline goodness [0,1] 0.31062699715001296 Centerline is valid? [False, False] Translation: X:8.46, Y:0.33, Z:0.23 [[ 9.99697476e-01 3.98111502e-03 -2.42715218e-02 8.45645521e+00] [-3.83042771e-03 9.99973121e-01 6.25173400e-03 3.26037672e-01] [ 2.42957583e-02 -6.15687239e-03 9.99685855e-01 2.26898433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05463043999998 meters Centerline goodness [0,1] 0.30849149565142886 Centerline is valid? [False, False] Translation: X:8.46, Y:0.33, Z:0.23 [[ 9.99698142e-01 4.05172415e-03 -2.42323874e-02 8.45654171e+00] [-3.89919800e-03 9.99972311e-01 6.33825174e-03 3.25920804e-01] [ 2.42573973e-02 -6.24185161e-03 9.99686260e-01 2.26676764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08463043999998 meters Centerline goodness [0,1] 0.3096348096348096 Centerline is valid? [False, False] Translation: X:8.46, Y:0.33, Z:0.23 [[ 9.99705471e-01 4.09391338e-03 -2.39209366e-02 8.45582920e+00] [-3.94195254e-03 9.99971774e-01 6.39633411e-03 3.25840215e-01] [ 2.39464474e-02 -6.30015501e-03 9.99693391e-01 2.26655882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11463043999998 meters Centerline goodness [0,1] 0.3094050397139737 Centerline is valid? [False, False] Translation: X:8.46, Y:0.33, Z:0.23 [[ 9.99708608e-01 4.03306923e-03 -2.37998539e-02 8.45560853e+00] [-3.88435182e-03 9.99972663e-01 6.29159458e-03 3.26113031e-01] [ 2.38245777e-02 -6.19731426e-03 9.99696945e-01 2.26617236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14463044 meters Centerline goodness [0,1] 0.3137951963929594 Centerline is valid? [False, False] Translation: X:8.44, Y:0.33, Z:0.22 [[ 9.99718298e-01 -4.48100079e-03 -2.33076439e-02 8.43517776e+00] [ 4.64162833e-03 9.99965820e-01 6.84209637e-03 3.30101351e-01] [ 2.32761878e-02 -6.94835435e-03 9.99704926e-01 2.24810088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17463044 meters Centerline goodness [0,1] 0.30804444539964326 Centerline is valid? [False, False] Translation: X:8.46, Y:0.33, Z:0.23 [[ 9.99712913e-01 4.48958554e-03 -2.35358278e-02 8.45727724e+00] [-4.34635563e-03 9.99971746e-01 6.13323877e-03 3.31147604e-01] [ 2.35626985e-02 -6.02918292e-03 9.99704180e-01 2.25584064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20463044 meters Centerline goodness [0,1] 0.30987313368430136 Centerline is valid? [False, False] Translation: X:8.46, Y:0.33, Z:0.23 [[ 9.99709092e-01 4.59703467e-03 -2.36769453e-02 8.45795977e+00] [-4.45676089e-03 9.99972225e-01 5.97385347e-03 3.33209611e-01] [ 2.37037497e-02 -5.86659314e-03 9.99701813e-01 2.25010543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23463044 meters Centerline goodness [0,1] 0.30583269378357636 Centerline is valid? [False, False] Translation: X:8.46, Y:0.34, Z:0.22 [[ 9.99700159e-01 4.66373367e-03 -2.40383284e-02 8.45919516e+00] [-4.52660487e-03 9.99973190e-01 5.75585044e-03 3.35461734e-01] [ 2.40645277e-02 -5.64531258e-03 9.99694468e-01 2.24404788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26463044 meters Centerline goodness [0,1] 0.3071571216903949 Centerline is valid? [False, False] Translation: X:8.46, Y:0.34, Z:0.22 [[ 9.99692240e-01 4.61336357e-03 -2.43750225e-02 8.46032604e+00] [-4.48119704e-03 9.99974976e-01 5.47405555e-03 3.37212868e-01] [ 2.43996664e-02 -5.36314158e-03 9.99687898e-01 2.23858676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29463044 meters Centerline goodness [0,1] 0.30320618534621235 Centerline is valid? [False, False] Translation: X:8.46, Y:0.34, Z:0.22 [[ 9.99680878e-01 4.31178773e-03 -2.48907758e-02 8.46210950e+00] [-4.19545081e-03 9.99980040e-01 4.72422867e-03 3.40633386e-01] [ 2.49106488e-02 -4.61829304e-03 9.99679014e-01 2.22906022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32463044 meters Centerline goodness [0,1] 0.30373982342706163 Centerline is valid? [False, False] Translation: X:8.46, Y:0.34, Z:0.22 [[ 9.99681441e-01 4.16683730e-03 -2.48928639e-02 8.46228841e+00] [-4.05903246e-03 9.99982171e-01 4.37971278e-03 3.42343117e-01] [ 2.49106696e-02 -4.27727664e-03 9.99680531e-01 2.22596992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35463044 meters Centerline goodness [0,1] 0.3037400184110809 Centerline is valid? [False, False] Translation: X:8.46, Y:0.34, Z:0.22 [[ 9.99685485e-01 4.08262925e-03 -2.47439470e-02 8.46188610e+00] [-3.98151424e-03 9.99983527e-01 4.13434467e-03 3.43838426e-01] [ 2.47604184e-02 -4.03452598e-03 9.99685273e-01 2.22664938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38463044 meters Centerline goodness [0,1] 0.3084989319697068 Centerline is valid? [False, False] Translation: X:8.46, Y:0.35, Z:0.22 [[ 9.99690079e-01 3.99145211e-03 -2.45726509e-02 8.46128927e+00] [-3.89641828e-03 9.99984749e-01 3.91412946e-03 3.45149938e-01] [ 2.45878991e-02 -3.81717107e-03 9.99690384e-01 2.22922761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41463044 meters Centerline goodness [0,1] 0.30557769782622746 Centerline is valid? [False, False] Translation: X:8.46, Y:0.35, Z:0.22 [[ 9.99691369e-01 3.71161488e-03 -2.45640185e-02 8.46099861e+00] [-3.62791702e-03 9.99987464e-01 3.45102412e-03 3.47464913e-01] [ 2.45765194e-02 -3.36084281e-03 9.99692302e-01 2.23296818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44463044 meters Centerline goodness [0,1] 0.3051433480081607 Centerline is valid? [False, False] Translation: X:8.46, Y:0.35, Z:0.22 [[ 9.99682226e-01 3.58259849e-03 -2.49521921e-02 8.46202515e+00] [-3.50215693e-03 9.99988531e-01 3.26678173e-03 3.48391409e-01] [ 2.49636095e-02 -3.17835714e-03 9.99683308e-01 2.23188142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.47463044 meters Centerline goodness [0,1] 0.3075662505121073 Centerline is valid? [False, False] Translation: X:8.46, Y:0.35, Z:0.22 [[ 9.99672822e-01 3.40625885e-03 -2.53504525e-02 8.46287509e+00] [-3.33102408e-03 9.99989924e-01 3.00942484e-03 3.49254994e-01] [ 2.53604479e-02 -2.92399726e-03 9.99674096e-01 2.23269079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50463044 meters Centerline goodness [0,1] 0.3044686171008484 Centerline is valid? [False, False] Translation: X:8.46, Y:0.35, Z:0.22 [[ 9.99660352e-01 3.06153396e-03 -2.58806458e-02 8.46384654e+00] [-2.99380104e-03 9.99991993e-01 2.65546867e-03 3.50167259e-01] [ 2.58885684e-02 -2.57708524e-03 9.99661513e-01 2.23718966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.53463044 meters Centerline goodness [0,1] 0.30296827021494366 Centerline is valid? [False, False] Translation: X:8.46, Y:0.35, Z:0.22 [[ 9.99660443e-01 2.98580224e-03 -2.58859895e-02 8.46357260e+00] [-2.91936911e-03 9.99992349e-01 2.60378587e-03 3.50241592e-01] [ 2.58935658e-02 -2.52733097e-03 9.99661511e-01 2.24147401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56463044 meters Centerline goodness [0,1] 0.3043822146216332 Centerline is valid? [False, False] Translation: X:8.46, Y:0.35, Z:0.22 [[ 9.99663558e-01 2.90693233e-03 -2.57744349e-02 8.46288940e+00] [-2.84166963e-03 9.99992664e-01 2.56833680e-03 3.50224472e-01] [ 2.57817118e-02 -2.49423028e-03 9.99664485e-01 2.24773874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.59463044 meters Centerline goodness [0,1] 0.3078768150083523 Centerline is valid? [False, False] Translation: X:8.46, Y:0.35, Z:0.23 [[ 9.99668964e-01 2.78802251e-03 -2.55771153e-02 8.46191943e+00] [-2.72433207e-03 9.99993102e-01 2.52464191e-03 3.50017772e-01] [ 2.55839776e-02 -2.45412561e-03 9.99669664e-01 2.25551593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62463044 meters Centerline goodness [0,1] 0.3088083124946107 Centerline is valid? [False, False] Translation: X:8.46, Y:0.35, Z:0.23 [[ 9.99673672e-01 2.69142455e-03 -2.54028672e-02 8.46088015e+00] [-2.62958865e-03 9.99993499e-01 2.46730074e-03 3.49899558e-01] [ 2.54093426e-02 -2.39969650e-03 9.99674250e-01 2.26491678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.65463044 meters Centerline goodness [0,1] 0.3106735662293604 Centerline is valid? [False, False] Translation: X:8.46, Y:0.35, Z:0.23 [[ 9.99693187e-01 2.36733035e-03 -2.46561841e-02 8.45790718e+00] [-2.30908183e-03 9.99994476e-01 2.39063340e-03 3.49071180e-01] [ 2.46617074e-02 -2.33296678e-03 9.99693132e-01 2.28337578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68463043999998 meters Centerline goodness [0,1] 0.3134857958848093 Centerline is valid? [False, False] Translation: X:8.46, Y:0.35, Z:0.23 [[ 9.99699083e-01 2.36594633e-03 -2.44160962e-02 8.45682672e+00] [-2.30470562e-03 9.99994128e-01 2.53604601e-03 3.48246963e-01] [ 2.44219530e-02 -2.47901096e-03 9.99698666e-01 2.29185556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71463043999998 meters Centerline goodness [0,1] 0.3085793456250666 Centerline is valid? [False, False] Translation: X:8.48, Y:0.35, Z:0.23 [[ 9.99710145e-01 -5.34571373e-03 -2.34744454e-02 8.47602371e+00] [ 5.43685997e-03 9.99977921e-01 3.82068079e-03 3.51367089e-01] [ 2.34535028e-02 -3.94720062e-03 9.99717136e-01 2.31071403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74463043999998 meters Centerline goodness [0,1] 0.3123366887984579 Centerline is valid? [False, False] Translation: X:8.48, Y:0.35, Z:0.23 [[ 9.99714702e-01 -5.35226481e-03 -2.32780680e-02 8.47551080e+00] [ 5.44989104e-03 9.99976610e-01 4.13249846e-03 3.49264477e-01] [ 2.32554053e-02 -4.25818240e-03 9.99720488e-01 2.31305714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77463043999998 meters Centerline goodness [0,1] 0.31696236327620364 Centerline is valid? [False, False] Translation: X:8.47, Y:0.34, Z:0.23 [[ 9.99697513e-01 -9.04693512e-03 -2.28699584e-02 8.47478061e+00] [ 9.07665464e-03 9.99958091e-01 1.19602740e-03 3.44584870e-01] [ 2.28581796e-02 -1.40324833e-03 9.99737733e-01 2.31345298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80463043999998 meters Centerline goodness [0,1] 0.31610988018155617 Centerline is valid? [False, False] Translation: X:8.48, Y:0.34, Z:0.23 [[ 9.99691175e-01 -9.15876640e-03 -2.31013238e-02 8.47522055e+00] [ 9.19804066e-03 9.99956426e-01 1.59440036e-03 3.41063694e-01] [ 2.30857145e-02 -1.80639488e-03 9.99731857e-01 2.31568131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83463043999998 meters Centerline goodness [0,1] 0.31610988018155617 Centerline is valid? [False, False] Translation: X:8.48, Y:0.34, Z:0.23 [[ 9.99691175e-01 -9.15876640e-03 -2.31013238e-02 8.47522055e+00] [ 9.19804066e-03 9.99956426e-01 1.59440036e-03 3.41063694e-01] [ 2.30857145e-02 -1.80639488e-03 9.99731857e-01 2.31568131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86463043999998 meters Centerline goodness [0,1] 0.3143095233007842 Centerline is valid? [False, False] Translation: X:8.49, Y:0.33, Z:0.23 [[ 9.99696026e-01 -2.51851646e-03 -2.45257581e-02 8.49365646e+00] [ 2.53417613e-03 9.99996604e-01 6.07438635e-04 3.33138849e-01] [ 2.45241450e-02 -6.69406580e-04 9.99699014e-01 2.33829612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89463044 meters Centerline goodness [0,1] 0.3148211462028292 Centerline is valid? [False, False] Translation: X:8.49, Y:0.33, Z:0.23 [[ 9.99688670e-01 -2.43966664e-03 -2.48316488e-02 8.49466111e+00] [ 2.46939695e-03 9.99996270e-01 1.16668114e-03 3.29608329e-01] [ 2.48287098e-02 -1.22763711e-03 9.99690966e-01 2.33525288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92463044 meters Centerline goodness [0,1] 0.31159713209795115 Centerline is valid? [False, False] Translation: X:8.50, Y:0.32, Z:0.23 [[ 9.99664581e-01 -4.57218032e-03 -2.54915958e-02 8.49875438e+00] [ 4.57120719e-03 9.99989547e-01 -9.64480569e-05 3.22234909e-01] [ 2.54917704e-02 -2.01116597e-05 9.99675032e-01 2.30841666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95463044 meters Centerline goodness [0,1] 0.31475897126610086 Centerline is valid? [False, False] Translation: X:8.48, Y:0.31, Z:0.23 [[ 9.99677109e-01 2.30980185e-03 -2.53049984e-02 8.48115877e+00] [-2.34187713e-03 9.99996491e-01 -1.23798519e-03 3.12790164e-01] [ 2.53020501e-02 1.29684666e-03 9.99679011e-01 2.28085144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98463044 meters Centerline goodness [0,1] 0.3141524440049869 Centerline is valid? [False, False] Translation: X:8.48, Y:0.31, Z:0.23 [[ 9.99671985e-01 2.48674442e-03 -2.54899610e-02 8.48187228e+00] [-2.50542608e-03 9.99996616e-01 -7.00991898e-04 3.09711993e-01] [ 2.54881316e-02 7.64625175e-04 9.99674832e-01 2.27704332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01463044 meters Centerline goodness [0,1] 0.3167483325058821 Centerline is valid? [False, False] Translation: X:8.48, Y:0.31, Z:0.23 [[ 9.99670693e-01 2.68828563e-03 -2.55201527e-02 8.48209972e+00] [-2.69261751e-03 9.99996366e-01 -1.35381563e-04 3.06755885e-01] [ 2.55196960e-02 2.04052991e-04 9.99674299e-01 2.27543898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04463044 meters Centerline goodness [0,1] 0.3146787221734193 Centerline is valid? [False, False] Translation: X:8.50, Y:0.30, Z:0.23 [[ 9.99676071e-01 -5.32403164e-03 -2.48879179e-02 8.50287995e+00] [ 5.35098871e-03 9.99985167e-01 1.01666605e-03 3.04127484e-01] [ 2.48821359e-02 -1.14951168e-03 9.99689731e-01 2.28694480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07463044 meters Centerline goodness [0,1] 0.3128775014508952 Centerline is valid? [False, False] Translation: X:8.50, Y:0.30, Z:0.23 [[ 9.99673873e-01 -5.24678158e-03 -2.49923649e-02 8.50331750e+00] [ 5.28400085e-03 9.99985026e-01 1.42341773e-03 3.01294556e-01] [ 2.49845223e-02 -1.55501319e-03 9.99686629e-01 2.28450153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10463044 meters Centerline goodness [0,1] 0.3175629903192675 Centerline is valid? [False, False] Translation: X:8.48, Y:0.29, Z:0.23 [[ 9.99674928e-01 2.27529681e-03 -2.53941175e-02 8.48461395e+00] [-2.26177299e-03 9.99997285e-01 5.61266948e-04 2.93624960e-01] [ 2.53953256e-02 -5.03648767e-04 9.99677360e-01 2.26271082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13463044 meters Centerline goodness [0,1] 0.312674783805877 Centerline is valid? [False, False] Translation: X:8.51, Y:0.29, Z:0.23 [[ 9.99640725e-01 -4.90851823e-03 -2.63500790e-02 8.50650709e+00] [ 4.96450545e-03 9.99985555e-01 2.05974698e-03 2.94039302e-01] [ 2.63395881e-02 -2.18982208e-03 9.99650654e-01 2.27420951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16463044 meters Centerline goodness [0,1] 0.31487694538842836 Centerline is valid? [False, False] Translation: X:8.51, Y:0.29, Z:0.23 [[ 9.99635672e-01 -4.84944357e-03 -2.65519639e-02 8.50688255e+00] [ 4.91131402e-03 9.99985373e-01 2.26544645e-03 2.92744543e-01] [ 2.65405894e-02 -2.39502612e-03 9.99644867e-01 2.27569707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.19463044 meters Centerline goodness [0,1] 0.31219953866384975 Centerline is valid? [False, False] Translation: X:8.53, Y:0.29, Z:0.23 [[ 9.99629261e-01 2.80218870e-03 -2.70829977e-02 8.52564005e+00] [-2.78070217e-03 9.99995789e-01 8.30987843e-04 2.88031873e-01] [ 2.70852122e-02 -7.55370013e-04 9.99632843e-01 2.30189538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22463044 meters Centerline goodness [0,1] 0.3114580862213979 Centerline is valid? [False, False] Translation: X:8.53, Y:0.29, Z:0.23 [[ 9.99629698e-01 2.81890338e-03 -2.70651313e-02 8.52540010e+00] [-2.79403777e-03 9.99995639e-01 9.56505700e-04 2.87105298e-01] [ 2.70677095e-02 -8.80530504e-04 9.99633215e-01 2.30508809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.25463044 meters Centerline goodness [0,1] 0.3108626266521003 Centerline is valid? [False, False] Translation: X:8.54, Y:0.29, Z:0.23 [[ 9.99655874e-01 -4.18645350e-03 -2.58960870e-02 8.54328888e+00] [ 4.25926668e-03 9.99987128e-01 2.75722543e-03 2.90111378e-01] [ 2.58842107e-02 -2.86657494e-03 9.99660838e-01 2.33137396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28463044 meters Centerline goodness [0,1] 0.31254164427727027 Centerline is valid? [False, False] Translation: X:8.54, Y:0.29, Z:0.23 [[ 9.99658596e-01 -4.18688708e-03 -2.57907340e-02 8.54274045e+00] [ 4.25987862e-03 9.99987074e-01 2.77585420e-03 2.89979834e-01] [ 2.57787785e-02 -2.88477191e-03 9.99663510e-01 2.33569394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.31463044 meters Centerline goodness [0,1] 0.31172481867730994 Centerline is valid? [False, False] Translation: X:8.54, Y:0.29, Z:0.23 [[ 9.99661263e-01 -4.15609327e-03 -2.56921588e-02 8.54217117e+00] [ 4.22886037e-03 9.99987198e-01 2.77858459e-03 2.90238279e-01] [ 2.56802819e-02 -2.88629193e-03 9.99666040e-01 2.34060977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34463044 meters Centerline goodness [0,1] 0.3121681794827882 Centerline is valid? [False, False] Translation: X:8.54, Y:0.29, Z:0.23 [[ 9.99669282e-01 -4.10928681e-03 -2.53858362e-02 8.54079974e+00] [ 4.17980225e-03 9.99987551e-01 2.72530962e-03 2.91382982e-01] [ 2.53743211e-02 -2.83051608e-03 9.99674013e-01 2.34947903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.37463044 meters Centerline goodness [0,1] 0.314144167532018 Centerline is valid? [False, False] Translation: X:8.52, Y:0.29, Z:0.23 [[ 9.99700289e-01 3.17988174e-03 -2.42738581e-02 8.52179412e+00] [-3.13877507e-03 9.99993575e-01 1.73136714e-03 2.87075355e-01] [ 2.42792077e-02 -1.65465805e-03 9.99703847e-01 2.32651041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40463044 meters Centerline goodness [0,1] 0.31538941883249716 Centerline is valid? [False, False] Translation: X:8.52, Y:0.29, Z:0.23 [[ 9.99699611e-01 3.03171811e-03 -2.43207059e-02 8.52198776e+00] [-2.99501915e-03 9.99994321e-01 1.54524388e-03 2.87650170e-01] [ 2.43252525e-02 -1.47193872e-03 9.99703014e-01 2.32559213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43463043999998 meters Centerline goodness [0,1] 0.31531415578008026 Centerline is valid? [False, False] Translation: X:8.52, Y:0.29, Z:0.23 [[ 9.99699669e-01 2.90406842e-03 -2.43338844e-02 8.52195788e+00] [-2.87132354e-03 9.99994925e-01 1.38048193e-03 2.88199684e-01] [ 2.43377700e-02 -1.31019688e-03 9.99702934e-01 2.32649252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46463043999998 meters Centerline goodness [0,1] 0.3148675560504508 Centerline is valid? [False, False] Translation: X:8.52, Y:0.29, Z:0.23 [[ 9.99700372e-01 2.82765995e-03 -2.43139981e-02 8.52168996e+00] [-2.79670443e-03 9.99995235e-01 1.30706643e-03 2.88467245e-01] [ 2.43175782e-02 -1.23867573e-03 9.99703517e-01 2.32944768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49463043999998 meters Centerline goodness [0,1] 0.31599784830554056 Centerline is valid? [False, False] Translation: X:8.52, Y:0.29, Z:0.23 [[ 9.99703318e-01 2.75652208e-03 -2.42007913e-02 8.52100821e+00] [-2.72637122e-03 9.99995466e-01 1.27876938e-03 2.88521763e-01] [ 2.42042066e-02 -1.21240965e-03 9.99706300e-01 2.33500616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52463043999998 meters Centerline goodness [0,1] 0.3159344205860838 Centerline is valid? [False, False] Translation: X:8.52, Y:0.29, Z:0.23 [[ 9.99726871e-01 1.98322331e-03 -2.32862564e-02 8.51834552e+00] [-1.96278506e-03 9.99997668e-01 9.00519258e-04 2.87747052e-01] [ 2.32879880e-02 -8.54567384e-04 9.99728433e-01 2.34432771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55463043999998 meters Centerline goodness [0,1] 0.3150194919247741 Centerline is valid? [False, False] Translation: X:8.52, Y:0.29, Z:0.23 [[ 9.99725855e-01 1.57825198e-03 -2.33607303e-02 8.51871588e+00] [-1.56034997e-03 9.99998475e-01 7.84537247e-04 2.86577625e-01] [ 2.33619329e-02 -7.47871255e-04 9.99726793e-01 2.34182649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58463043999998 meters Centerline goodness [0,1] 0.3165210999654099 Centerline is valid? [False, False] Translation: X:8.52, Y:0.29, Z:0.23 [[ 9.99718530e-01 1.19025038e-03 -2.36948044e-02 8.51983484e+00] [-1.17301817e-03 9.99999037e-01 7.41142945e-04 2.85114239e-01] [ 2.36956638e-02 -7.13139899e-04 9.99718964e-01 2.33672842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61463043999998 meters Centerline goodness [0,1] 0.3157370733502154 Centerline is valid? [False, False] Translation: X:8.52, Y:0.28, Z:0.23 [[ 9.99707496e-01 9.87218586e-04 -2.41650138e-02 8.52122252e+00] [-9.65308199e-04 9.99999112e-01 9.18346955e-04 2.83312494e-01] [ 2.41658989e-02 -8.94751649e-04 9.99707562e-01 2.33166394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64463044 meters Centerline goodness [0,1] 0.3150356448476993 Centerline is valid? [False, False] Translation: X:8.52, Y:0.28, Z:0.23 [[ 9.99698765e-01 4.66714709e-04 -2.45389604e-02 8.52252673e+00] [-4.39352875e-04 9.99999276e-01 1.12041602e-03 2.80013884e-01] [ 2.45394656e-02 -1.10929725e-03 9.99698247e-01 2.32570249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67463044 meters Centerline goodness [0,1] 0.31346954626852785 Centerline is valid? [False, False] Translation: X:8.52, Y:0.28, Z:0.23 [[ 9.99694453e-01 2.65091568e-04 -2.47170164e-02 8.52317233e+00] [-2.35814356e-04 9.99999267e-01 1.18740345e-03 2.78392146e-01] [ 2.47173130e-02 -1.18121202e-03 9.99693783e-01 2.32231169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70463044 meters Centerline goodness [0,1] 0.3117532887642872 Centerline is valid? [False, False] Translation: X:8.52, Y:0.28, Z:0.23 [[ 9.99689766e-01 6.19380307e-05 -2.49071900e-02 8.52385804e+00] [-3.17331389e-05 9.99999264e-01 1.21309111e-03 2.76944091e-01] [ 2.49072468e-02 -1.21192439e-03 9.99689032e-01 2.31878981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73463044 meters Centerline goodness [0,1] 0.3148228083049165 Centerline is valid? [False, False] Translation: X:8.52, Y:0.28, Z:0.23 [[ 9.99687684e-01 4.01419419e-05 -2.49906659e-02 8.52438302e+00] [-5.82363256e-06 9.99999057e-01 1.37331636e-03 2.75660939e-01] [ 2.49906974e-02 -1.37274191e-03 9.99686741e-01 2.31365062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76463044 meters Centerline goodness [0,1] 0.3130423575908583 Centerline is valid? [False, False] Translation: X:8.53, Y:0.27, Z:0.23 [[ 9.99685496e-01 2.07039315e-04 -2.50772048e-02 8.52500685e+00] [-1.61766094e-04 9.99998354e-01 1.80736875e-03 2.74009083e-01] [ 2.50775377e-02 -1.80274368e-03 9.99683884e-01 2.30832443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79463044 meters Centerline goodness [0,1] 0.313513630089717 Centerline is valid? [False, False] Translation: X:8.53, Y:0.27, Z:0.23 [[ 9.99682966e-01 2.16540996e-04 -2.51777990e-02 8.52531854e+00] [-1.70406968e-04 9.99998303e-01 1.83446081e-03 2.73846068e-01] [ 2.51781535e-02 -1.82958875e-03 9.99681306e-01 2.30739521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82463044 meters Centerline goodness [0,1] 0.31278055939226523 Centerline is valid? [False, False] Translation: X:8.53, Y:0.27, Z:0.23 [[ 9.99676303e-01 7.51913804e-05 -2.54417669e-02 8.52650962e+00] [-3.45063686e-05 9.99998720e-01 1.59957779e-03 2.74304232e-01] [ 2.54418546e-02 -1.59818211e-03 9.99675026e-01 2.29940845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85463044 meters Centerline goodness [0,1] 0.31051165201615516 Centerline is valid? [False, False] Translation: X:8.53, Y:0.27, Z:0.23 [[ 9.99675203e-01 7.23815465e-05 -2.54849802e-02 8.52702361e+00] [-3.39221036e-05 9.99998860e-01 1.50953141e-03 2.74833030e-01] [ 2.54850604e-02 -1.50817662e-03 9.99674065e-01 2.29362902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88463044 meters Centerline goodness [0,1] 0.31097033641788463 Centerline is valid? [False, False] Translation: X:8.53, Y:0.28, Z:0.23 [[ 9.99672567e-01 8.25843834e-05 -2.55881216e-02 8.52751712e+00] [-4.48934865e-05 9.99998913e-01 1.47355509e-03 2.75102071e-01] [ 2.55882155e-02 -1.47192386e-03 9.99671484e-01 2.28995730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.91463044 meters Centerline goodness [0,1] 0.311538293884312 Centerline is valid? [False, False] Translation: X:8.53, Y:0.28, Z:0.23 [[ 9.99667071e-01 6.26376083e-05 -2.58020144e-02 8.52827010e+00] [-2.55137598e-05 9.99998964e-01 1.43912321e-03 2.75188763e-01] [ 2.58020778e-02 -1.43798578e-03 9.99666037e-01 2.28628457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94463044 meters Centerline goodness [0,1] 0.3086489053931517 Centerline is valid? [False, False] Translation: X:8.53, Y:0.28, Z:0.23 [[ 9.99655015e-01 8.01461427e-05 -2.62649093e-02 8.52952304e+00] [-4.49513675e-05 9.99999100e-01 1.34057994e-03 2.75736809e-01] [ 2.62649931e-02 -1.33893682e-03 9.99654119e-01 2.28351050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.97463044 meters Centerline goodness [0,1] 0.3068670450636395 Centerline is valid? [False, False] Translation: X:8.53, Y:0.28, Z:0.23 [[ 9.99653871e-01 9.57236823e-05 -2.63083554e-02 8.52938757e+00] [-6.22428289e-05 9.99999187e-01 1.27344789e-03 2.76301190e-01] [ 2.63084559e-02 -1.27136961e-03 9.99653064e-01 2.28701077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00463044 meters Centerline goodness [0,1] 0.31001374688547123 Centerline is valid? [False, False] Translation: X:8.53, Y:0.28, Z:0.23 [[ 9.99660915e-01 9.61315819e-05 -2.60393148e-02 8.52846647e+00] [-6.52714091e-05 9.99999295e-01 1.18598503e-03 2.77016050e-01] [ 2.60394104e-02 -1.18388326e-03 9.99660216e-01 2.29143694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.03463044 meters Centerline goodness [0,1] 0.3100859979840872 Centerline is valid? [False, False] Translation: X:8.53, Y:0.28, Z:0.23 [[ 9.99672587e-01 1.02371465e-04 -2.55872536e-02 8.52704638e+00] [-7.41571937e-05 9.99999388e-01 1.10361545e-03 2.77684651e-01] [ 2.55873509e-02 -1.10135663e-03 9.99671983e-01 2.29679182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06463044 meters Centerline goodness [0,1] 0.31445994921764797 Centerline is valid? [False, False] Translation: X:8.50, Y:0.28, Z:0.23 [[ 9.99704731e-01 -6.38548346e-03 -2.34451705e-02 8.50418068e+00] [ 6.46424592e-03 9.99973710e-01 3.28518160e-03 2.82479237e-01] [ 2.34235767e-02 -3.43576693e-03 9.99719727e-01 2.28482798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09463044 meters Centerline goodness [0,1] 0.3123166522864539 Centerline is valid? [False, False] Translation: X:8.52, Y:0.28, Z:0.23 [[ 9.99733247e-01 1.39702604e-03 -2.30539372e-02 8.52284380e+00] [-1.35218145e-03 9.99997164e-01 1.96067689e-03 2.78982706e-01] [ 2.30566109e-02 -1.92898077e-03 9.99732300e-01 2.30296793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12463044 meters Centerline goodness [0,1] 0.3101257700205339 Centerline is valid? [False, False] Translation: X:8.52, Y:0.28, Z:0.23 [[ 9.99735466e-01 1.39833250e-03 -2.29574213e-02 8.52267643e+00] [-1.35335279e-03 9.99997135e-01 1.97468687e-03 2.78936000e-01] [ 2.29601168e-02 -1.94309501e-03 9.99734493e-01 2.30267984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.15463044 meters Centerline goodness [0,1] 0.31075671487603307 Centerline is valid? [False, False] Translation: X:8.52, Y:0.28, Z:0.23 [[ 9.99737949e-01 1.36464539e-03 -2.28510686e-02 8.52239162e+00] [-1.32019355e-03 9.99997207e-01 1.96025780e-03 2.78893567e-01] [ 2.28536798e-02 -1.92957628e-03 9.99736958e-01 2.30319219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18463043999998 meters Centerline goodness [0,1] 0.3141774891774892 Centerline is valid? [False, False] Translation: X:8.52, Y:0.28, Z:0.23 [[ 9.99745311e-01 1.19664750e-03 -2.25362246e-02 8.52174982e+00] [-1.15494381e-03 9.99997597e-01 1.86344254e-03 2.78469321e-01] [ 2.25384004e-02 -1.83693987e-03 9.99744290e-01 2.30168081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21463043999998 meters Centerline goodness [0,1] 0.3158748000518784 Centerline is valid? [False, False] Translation: X:8.52, Y:0.28, Z:0.23 [[ 9.99751037e-01 1.14039803e-03 -2.22837171e-02 8.52112154e+00] [-1.09942893e-03 9.99997683e-01 1.85068668e-03 2.78241038e-01] [ 2.22857760e-02 -1.82572657e-03 9.99749974e-01 2.30225469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24463043999998 meters Centerline goodness [0,1] 0.3103066675179297 Centerline is valid? [False, False] Translation: X:8.54, Y:0.28, Z:0.23 [[ 9.99751388e-01 -6.40012725e-03 -2.13588320e-02 8.54066502e+00] [ 6.46547667e-03 9.99974623e-01 2.99194478e-03 2.81540582e-01] [ 2.13391412e-02 -3.12929598e-03 9.99767397e-01 2.31769345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27463043999998 meters Centerline goodness [0,1] 0.31636418567513325 Centerline is valid? [False, False] Translation: X:8.52, Y:0.28, Z:0.23 [[ 9.99780911e-01 1.27168379e-03 -2.08929100e-02 8.52072944e+00] [-1.23079916e-03 9.99997303e-01 1.96960826e-03 2.78097508e-01] [ 2.08953584e-02 -1.94346177e-03 9.99779779e-01 2.29599736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30463043999998 meters Centerline goodness [0,1] 0.31069120689287466 Centerline is valid? [False, False] Translation: X:8.52, Y:0.28, Z:0.23 [[ 9.99779970e-01 1.09110422e-03 -2.09480717e-02 8.52154829e+00] [-1.05716372e-03 9.99998111e-01 1.63122630e-03 2.79778415e-01] [ 2.09498119e-02 -1.60872184e-03 9.99779234e-01 2.28684563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33463043999998 meters Centerline goodness [0,1] 0.31422450728363327 Centerline is valid? [False, False] Translation: X:8.52, Y:0.28, Z:0.23 [[ 9.99783160e-01 1.02108154e-03 -2.07987976e-02 8.52125889e+00] [-9.91909561e-04 9.99998510e-01 1.41284828e-03 2.81174186e-01] [ 2.08002093e-02 -1.39191139e-03 9.99782683e-01 2.28610327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36463043999998 meters Centerline goodness [0,1] 0.3122115877627756 Centerline is valid? [False, False] Translation: X:8.52, Y:0.28, Z:0.23 [[ 9.99784555e-01 9.68095415e-04 -2.07341766e-02 8.52100790e+00] [-9.44633141e-04 9.99998903e-01 1.14133916e-03 2.83168898e-01] [ 2.07352587e-02 -1.12150707e-03 9.99784372e-01 2.28764636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39463044 meters Centerline goodness [0,1] 0.31637334941731465 Centerline is valid? [False, False] Translation: X:8.52, Y:0.29, Z:0.23 [[ 9.99785937e-01 9.29318998e-04 -2.06691972e-02 8.52098048e+00] [-9.11244951e-04 9.99999194e-01 8.83844731e-04 2.85197791e-01] [ 2.06700019e-02 -8.64820831e-04 9.99785979e-01 2.28634225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42463044 meters Centerline goodness [0,1] 0.31666161900229306 Centerline is valid? [False, False] Translation: X:8.52, Y:0.29, Z:0.23 [[ 9.99780493e-01 5.89671869e-04 -2.09432223e-02 8.52252840e+00] [-5.86032098e-04 9.99999812e-01 1.79929219e-04 2.88297581e-01] [ 2.09433245e-02 -1.67616322e-04 9.99780650e-01 2.27310498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45463044 meters Centerline goodness [0,1] 0.3137676639494117 Centerline is valid? [False, False] Translation: X:8.52, Y:0.29, Z:0.23 [[ 9.99774641e-01 3.81111039e-04 -2.12255063e-02 8.52372664e+00] [-3.83016636e-04 9.99999923e-01 -8.57133530e-05 2.88962396e-01] [ 2.12254720e-02 9.38237588e-05 9.99774710e-01 2.26513906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48463044 meters Centerline goodness [0,1] 0.3138469479932895 Centerline is valid? [False, False] Translation: X:8.52, Y:0.29, Z:0.23 [[ 9.99770530e-01 2.73560198e-04 -2.14199289e-02 8.52469840e+00] [-2.78993674e-04 9.99999930e-01 -2.50676555e-04 2.89692371e-01] [ 2.14198588e-02 2.56595057e-04 9.99770536e-01 2.25731662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51463044 meters Centerline goodness [0,1] 0.3151270482070767 Centerline is valid? [False, False] Translation: X:8.53, Y:0.29, Z:0.23 [[ 9.99763114e-01 2.57213928e-04 -2.17635061e-02 8.52595231e+00] [-2.64710485e-04 9.99999907e-01 -3.41575245e-04 2.90673990e-01] [ 2.17634162e-02 3.47255359e-04 9.99763089e-01 2.25072085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54463044 meters Centerline goodness [0,1] 0.31412944787928576 Centerline is valid? [False, False] Translation: X:8.53, Y:0.29, Z:0.22 [[ 9.99744707e-01 2.19057823e-04 -2.25936354e-02 8.52883252e+00] [-2.34332912e-04 9.99999746e-01 -6.73433965e-04 2.93692484e-01] [ 2.25934822e-02 6.78556474e-04 9.99744504e-01 2.23754960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57463044 meters Centerline goodness [0,1] 0.31777137783937115 Centerline is valid? [False, False] Translation: X:8.53, Y:0.30, Z:0.22 [[ 9.99740832e-01 8.83512021e-05 -2.27653428e-02 8.52943037e+00] [-1.11194757e-04 9.99999492e-01 -1.00217166e-03 2.95377828e-01] [ 2.27652427e-02 1.00444331e-03 9.99740334e-01 2.23493326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60463044 meters Centerline goodness [0,1] 0.3111497286048358 Centerline is valid? [False, False] Translation: X:8.53, Y:0.30, Z:0.22 [[ 9.99741041e-01 -4.19887738e-05 -2.27562980e-02 8.52940185e+00] [ 1.16699814e-05 9.99999112e-01 -1.33245649e-03 2.97160987e-01] [ 2.27563338e-02 1.33184588e-03 9.99740154e-01 2.23524724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63463044 meters Centerline goodness [0,1] 0.3116922152088969 Centerline is valid? [False, False] Translation: X:8.53, Y:0.30, Z:0.22 [[ 9.99744620e-01 -8.44713278e-05 -2.25983991e-02 8.52890120e+00] [ 4.88895138e-05 9.99998758e-01 -1.57507594e-03 2.98867543e-01] [ 2.25985040e-02 1.57356887e-03 9.99743383e-01 2.23759628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66463044 meters Centerline goodness [0,1] 0.3168456143389038 Centerline is valid? [False, False] Translation: X:8.53, Y:0.30, Z:0.22 [[ 9.99755331e-01 -1.74690803e-04 -2.21189573e-02 8.52768738e+00] [ 1.29101159e-04 9.99997865e-01 -2.06252300e-03 3.02484033e-01] [ 2.21192703e-02 2.05916279e-03 9.99753218e-01 2.24011843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.69463044 meters Centerline goodness [0,1] 0.3130318633259366 Centerline is valid? [False, False] Translation: X:8.53, Y:0.30, Z:0.22 [[ 9.99758307e-01 -3.09241345e-04 -2.19825278e-02 8.52729754e+00] [ 2.56435530e-04 9.99997075e-01 -2.40495043e-03 3.04251575e-01] [ 2.19832072e-02 2.39873207e-03 9.99755462e-01 2.24179569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72463044 meters Centerline goodness [0,1] 0.315833910633876 Centerline is valid? [False, False] Translation: X:8.53, Y:0.31, Z:0.22 [[ 9.99761802e-01 -4.61484113e-04 -2.18203004e-02 8.52651132e+00] [ 3.98067360e-04 9.99995685e-01 -2.91057311e-03 3.07593174e-01] [ 2.18215495e-02 2.90119387e-03 9.99757672e-01 2.24830110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.75463044 meters Centerline goodness [0,1] 0.315833910633876 Centerline is valid? [False, False] Translation: X:8.53, Y:0.31, Z:0.22 [[ 9.99761802e-01 -4.61484113e-04 -2.18203004e-02 8.52651132e+00] [ 3.98067360e-04 9.99995685e-01 -2.91057311e-03 3.07593174e-01] [ 2.18215495e-02 2.90119387e-03 9.99757672e-01 2.24830110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78463044 meters Centerline goodness [0,1] 0.3133910441380784 Centerline is valid? [False, False] Translation: X:8.55, Y:0.31, Z:0.23 [[ 9.99719863e-01 -7.85958246e-03 -2.23253806e-02 8.54624778e+00] [ 7.82013351e-03 9.99967704e-01 -1.85375663e-03 3.13034305e-01] [ 2.23392293e-02 1.67864987e-03 9.99749039e-01 2.26774055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.81463044 meters Centerline goodness [0,1] 0.3150073017781978 Centerline is valid? [False, False] Translation: X:8.55, Y:0.31, Z:0.23 [[ 9.99715637e-01 -7.91149793e-03 -2.24956397e-02 8.54686513e+00] [ 7.86839601e-03 9.99967036e-01 -2.00388195e-03 3.14117553e-01] [ 2.25107518e-02 1.82630752e-03 9.99744933e-01 2.26467867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84463044 meters Centerline goodness [0,1] 0.3162636935243405 Centerline is valid? [False, False] Translation: X:8.55, Y:0.31, Z:0.23 [[ 9.99712950e-01 -7.99610009e-03 -2.25849710e-02 8.54715532e+00] [ 7.95007522e-03 9.99966136e-01 -2.12690809e-03 3.14612407e-01] [ 2.26012132e-02 1.94674535e-03 9.99742665e-01 2.26327482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.87463044 meters Centerline goodness [0,1] 0.3146241320750661 Centerline is valid? [False, False] Translation: X:8.55, Y:0.31, Z:0.23 [[ 9.99713546e-01 -8.07526141e-03 -2.25303420e-02 8.54710089e+00] [ 8.02828716e-03 9.99965408e-01 -2.17460747e-03 3.14540313e-01] [ 2.25471231e-02 1.99310449e-03 9.99743795e-01 2.26274349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90463044 meters Centerline goodness [0,1] 0.31463016289164913 Centerline is valid? [False, False] Translation: X:8.55, Y:0.31, Z:0.23 [[ 9.99724455e-01 -8.05294989e-03 -2.20491125e-02 8.54575842e+00] [ 8.00792004e-03 9.99965668e-01 -2.12978734e-03 3.14692743e-01] [ 2.20655066e-02 1.95263296e-03 9.99754620e-01 2.26627723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93463043999998 meters Centerline goodness [0,1] 0.3111020913887761 Centerline is valid? [False, False] Translation: X:8.56, Y:0.31, Z:0.23 [[ 9.99783216e-01 -1.87135444e-04 -2.08203265e-02 8.56382033e+00] [ 1.16858059e-04 9.99994292e-01 -3.37658730e-03 3.11350442e-01] [ 2.08208396e-02 3.37342229e-03 9.99777532e-01 2.28409648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96463043999998 meters Centerline goodness [0,1] 0.31619315112887547 Centerline is valid? [False, False] Translation: X:8.54, Y:0.31, Z:0.23 [[ 9.99776604e-01 7.45897519e-03 -1.97763880e-02 8.54403501e+00] [-7.55213053e-03 9.99960717e-01 -4.63993902e-03 3.08611188e-01] [ 1.97410020e-02 4.78825634e-03 9.99793661e-01 2.25968895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99463043999998 meters Centerline goodness [0,1] 0.31553324860521725 Centerline is valid? [False, False] Translation: X:8.54, Y:0.31, Z:0.23 [[ 9.99774655e-01 7.38707146e-03 -1.99015339e-02 8.54441150e+00] [-7.48449394e-03 9.99960349e-01 -4.82519509e-03 3.09485922e-01] [ 1.98651007e-02 4.97306066e-03 9.99790301e-01 2.25867453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02463043999998 meters Centerline goodness [0,1] 0.31283941039565555 Centerline is valid? [False, False] Translation: X:8.55, Y:0.31, Z:0.23 [[ 9.99763667e-01 7.44883868e-03 -2.04236535e-02 8.54618496e+00] [-7.55523128e-03 9.99958264e-01 -5.13707953e-03 3.12123441e-01] [ 2.03845358e-02 5.29017090e-03 9.99778218e-01 2.25160904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05463043999998 meters Centerline goodness [0,1] 0.3102007584684936 Centerline is valid? [False, False] Translation: X:8.57, Y:0.32, Z:0.23 [[ 9.99754503e-01 7.29596798e-04 -2.21449923e-02 8.56576365e+00] [-8.19167246e-04 9.99991520e-01 -4.03592522e-03 3.17516945e-01] [ 2.21418599e-02 4.05307486e-03 9.99746623e-01 2.27327405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08463043999998 meters Centerline goodness [0,1] 0.3130528586839266 Centerline is valid? [False, False] Translation: X:8.57, Y:0.32, Z:0.23 [[ 9.99749902e-01 7.53469115e-04 -2.23509496e-02 8.56651359e+00] [-8.48366173e-04 9.99990666e-01 -4.23659475e-03 3.19177058e-01] [ 2.23475489e-02 4.25449698e-03 9.99741210e-01 2.26977584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11463043999998 meters Centerline goodness [0,1] 0.31386405256921257 Centerline is valid? [False, False] Translation: X:8.57, Y:0.32, Z:0.23 [[ 9.99749293e-01 7.81408456e-04 -2.23772534e-02 8.56664804e+00] [-8.81305822e-04 9.99989689e-01 -4.45472331e-03 3.20816203e-01] [ 2.23735418e-02 4.47332768e-03 9.99739673e-01 2.26893378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14463044 meters Centerline goodness [0,1] 0.3106950378974943 Centerline is valid? [False, False] Translation: X:8.57, Y:0.32, Z:0.23 [[ 9.99755119e-01 8.11145422e-04 -2.21143302e-02 8.56571910e+00] [-9.16179977e-04 9.99988347e-01 -4.73989721e-03 3.22950200e-01] [ 2.21102278e-02 4.75899721e-03 9.99744212e-01 2.27421203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17463044 meters Centerline goodness [0,1] 0.3130237243093804 Centerline is valid? [False, False] Translation: X:8.57, Y:0.32, Z:0.23 [[ 9.99751630e-01 7.88799830e-04 -2.22723216e-02 8.56610402e+00] [-8.95624455e-04 9.99988142e-01 -4.78672741e-03 3.23104920e-01] [ 2.22682817e-02 4.80548616e-03 9.99740482e-01 2.27368539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20463044 meters Centerline goodness [0,1] 0.31226541265800944 Centerline is valid? [False, False] Translation: X:8.57, Y:0.32, Z:0.23 [[ 9.99745931e-01 7.88547424e-04 -2.25267033e-02 8.56701209e+00] [-8.95368394e-04 9.99988402e-01 -4.73227832e-03 3.22790586e-01] [ 2.25227105e-02 4.75124569e-03 9.99735041e-01 2.26877319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23463044 meters Centerline goodness [0,1] 0.3127075158466647 Centerline is valid? [False, False] Translation: X:8.57, Y:0.32, Z:0.23 [[ 9.99740854e-01 8.59045797e-04 -2.27483531e-02 8.56790559e+00] [-9.64128040e-04 9.99988915e-01 -4.60876944e-03 3.22343459e-01] [ 2.27441418e-02 4.62950742e-03 9.99730600e-01 2.26303727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26463044 meters Centerline goodness [0,1] 0.31083774458327085 Centerline is valid? [False, False] Translation: X:8.57, Y:0.32, Z:0.23 [[ 9.99737066e-01 8.83110272e-04 -2.29133052e-02 8.56841576e+00] [-9.89347625e-04 9.99988813e-01 -4.62557007e-03 3.22722037e-01] [ 2.29089639e-02 4.64702308e-03 9.99726755e-01 2.26189612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29463044 meters Centerline goodness [0,1] 0.3145126478459812 Centerline is valid? [False, False] Translation: X:8.57, Y:0.32, Z:0.23 [[ 9.99746349e-01 8.76015367e-04 -2.25048795e-02 8.56714186e+00] [-9.86774743e-04 9.99987454e-01 -4.91093811e-03 3.24570911e-01] [ 2.25002951e-02 4.93189969e-03 9.99734671e-01 2.26738344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32463044 meters Centerline goodness [0,1] 0.31268581695292286 Centerline is valid? [False, False] Translation: X:8.59, Y:0.33, Z:0.23 [[ 9.99741421e-01 -6.43405261e-03 -2.18103967e-02 8.58550436e+00] [ 6.35542313e-03 9.99973060e-01 -3.67253858e-03 3.29443434e-01] [ 2.18334384e-02 3.53297464e-03 9.99755380e-01 2.28841793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35463044 meters Centerline goodness [0,1] 0.3149053474899317 Centerline is valid? [False, False] Translation: X:8.59, Y:0.33, Z:0.23 [[ 9.99742215e-01 -6.42416994e-03 -2.17769128e-02 8.58519757e+00] [ 6.34246226e-03 9.99972594e-01 -3.81902644e-03 3.30670381e-01] [ 2.18008500e-02 3.67992270e-03 9.99755561e-01 2.29155216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38463044 meters Centerline goodness [0,1] 0.31272357809622586 Centerline is valid? [False, False] Translation: X:8.61, Y:0.33, Z:0.23 [[ 9.99777027e-01 1.79890197e-03 -2.10394997e-02 8.60603448e+00] [-1.89692495e-03 9.99987436e-01 -4.63996833e-03 3.28738225e-01] [ 2.10308885e-02 4.67884409e-03 9.99767878e-01 2.30155076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41463044 meters Centerline goodness [0,1] 0.31579288305406805 Centerline is valid? [False, False] Translation: X:8.56, Y:0.33, Z:0.23 [[ 9.99716091e-01 2.07587538e-03 -2.37366239e-02 8.56111836e+00] [-2.17799249e-03 9.99988482e-01 -4.27704755e-03 3.28940358e-01] [ 2.37274718e-02 4.32753145e-03 9.99709097e-01 2.30017719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44463044 meters Centerline goodness [0,1] 0.3179956013627151 Centerline is valid? [False, False] Translation: X:8.56, Y:0.33, Z:0.23 [[ 9.99714107e-01 2.12622181e-03 -2.38156086e-02 8.56131078e+00] [-2.22570060e-03 9.99988906e-01 -4.15131394e-03 3.28333183e-01] [ 2.38065178e-02 4.20313352e-03 9.99707749e-01 2.29979958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.47463044 meters Centerline goodness [0,1] 0.31294979346761487 Centerline is valid? [False, False] Translation: X:8.58, Y:0.33, Z:0.23 [[ 9.99702061e-01 -5.91831702e-03 -2.36804465e-02 8.58271574e+00] [ 5.84521552e-03 9.99977939e-01 -3.15502737e-03 3.28933936e-01] [ 2.36985965e-02 3.01567005e-03 9.99714600e-01 2.30773290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50463044 meters Centerline goodness [0,1] 0.3172925858172818 Centerline is valid? [False, False] Translation: X:8.56, Y:0.32, Z:0.23 [[ 9.99745127e-01 1.36220135e-03 -2.25349853e-02 8.56400315e+00] [-1.45452729e-03 9.99990614e-01 -4.08112091e-03 3.22547636e-01] [ 2.25292144e-02 4.11285849e-03 9.99737725e-01 2.28096735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.53463044 meters Centerline goodness [0,1] 0.317807453282584 Centerline is valid? [False, False] Translation: X:8.56, Y:0.32, Z:0.23 [[ 9.99740701e-01 1.40545878e-03 -2.27278353e-02 8.56446358e+00] [-1.49331837e-03 9.99991477e-01 -3.84921639e-03 3.21079444e-01] [ 2.27222316e-02 3.88215819e-03 9.99734279e-01 2.28029943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56463044 meters Centerline goodness [0,1] 0.31649032809661215 Centerline is valid? [False, False] Translation: X:8.57, Y:0.32, Z:0.23 [[ 9.99734470e-01 1.52515681e-03 -2.29926992e-02 8.56524446e+00] [-1.60672222e-03 9.99992481e-01 -3.52939173e-03 3.19533839e-01] [ 2.29871434e-02 3.56539745e-03 9.99729403e-01 2.27843563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59463044 meters Centerline goodness [0,1] 0.3173340764877379 Centerline is valid? [False, False] Translation: X:8.57, Y:0.32, Z:0.23 [[ 9.99728122e-01 1.78394965e-03 -2.32486302e-02 8.56602947e+00] [-1.85555351e-03 9.99993601e-01 -3.05870873e-03 3.17573244e-01] [ 2.32430249e-02 3.10101622e-03 9.99725035e-01 2.27590587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62463044 meters Centerline goodness [0,1] 0.32059724848405813 Centerline is valid? [False, False] Translation: X:8.55, Y:0.32, Z:0.23 [[ 9.99695813e-01 -6.11511987e-03 -2.38932346e-02 8.54675534e+00] [ 6.07159352e-03 9.99979774e-01 -1.89382340e-03 3.21422892e-01] [ 2.39043323e-02 1.74817731e-03 9.99712722e-01 2.26302795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.65463044 meters Centerline goodness [0,1] 0.3179502611611461 Centerline is valid? [False, False] Translation: X:8.57, Y:0.32, Z:0.23 [[ 9.99738096e-01 1.82808119e-03 -2.28122416e-02 8.56606054e+00] [-1.89716377e-03 9.99993679e-01 -3.00703737e-03 3.17059781e-01] [ 2.28066003e-02 3.04952837e-03 9.99735245e-01 2.27762234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68463043999998 meters Centerline goodness [0,1] 0.3209095831077423 Centerline is valid? [False, False] Translation: X:8.57, Y:0.32, Z:0.23 [[ 9.99746237e-01 1.98523096e-03 -2.24392564e-02 8.56510403e+00] [-2.04921887e-03 9.99993899e-01 -2.82897123e-03 3.16691316e-01] [ 2.24335034e-02 2.87423629e-03 9.99744206e-01 2.27908843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71463043999998 meters Centerline goodness [0,1] 0.3195249692868073 Centerline is valid? [False, False] Translation: X:8.56, Y:0.32, Z:0.23 [[ 9.99756051e-01 2.39658504e-03 -2.19566742e-02 8.56362284e+00] [-2.45088999e-03 9.99994003e-01 -2.44670127e-03 3.15809413e-01] [ 2.19506789e-02 2.49991779e-03 9.99755929e-01 2.28595509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74463043999998 meters Centerline goodness [0,1] 0.3243391106442577 Centerline is valid? [False, False] Translation: X:8.52, Y:0.32, Z:0.23 [[ 9.99692678e-01 2.18221688e-03 -2.46938626e-02 8.52111068e+00] [-2.25124187e-03 9.99993636e-01 -2.76777350e-03 3.15403641e-01] [ 2.46876656e-02 2.82251476e-03 9.99691229e-01 2.27510396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77463043999998 meters Centerline goodness [0,1] 0.3160336019494261 Centerline is valid? [False, False] Translation: X:8.57, Y:0.32, Z:0.23 [[ 9.99717565e-01 2.34660054e-03 -2.36491869e-02 8.56563179e+00] [-2.42770618e-03 9.99991268e-01 -3.40140465e-03 3.15389653e-01] [ 2.36409986e-02 3.45785725e-03 9.99714532e-01 2.28081873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80463043999998 meters Centerline goodness [0,1] 0.31535588517767577 Centerline is valid? [False, False] Translation: X:8.57, Y:0.32, Z:0.23 [[ 9.99709942e-01 2.40366379e-03 -2.39636227e-02 8.56674956e+00] [-2.48632146e-03 9.99991061e-01 -3.42009964e-03 3.15619265e-01] [ 2.39551877e-02 3.47868888e-03 9.99706981e-01 2.27546161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83463043999998 meters Centerline goodness [0,1] 0.31810147863947924 Centerline is valid? [False, False] Translation: X:8.57, Y:0.32, Z:0.23 [[ 9.99709158e-01 3.09580786e-03 -2.39168617e-02 8.56677464e+00] [-3.16644749e-03 9.99990735e-01 -2.91624316e-03 3.15645256e-01] [ 2.39076120e-02 2.99112648e-03 9.99709697e-01 2.27497574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86463043999998 meters Centerline goodness [0,1] 0.31706380527764144 Centerline is valid? [False, False] Translation: X:8.59, Y:0.32, Z:0.23 [[ 9.99729880e-01 -2.24153789e-03 -2.31331666e-02 8.58750401e+00] [ 2.23970307e-03 9.99997486e-01 -1.05224383e-04 3.17828350e-01] [ 2.31333443e-02 5.33845357e-05 9.99732387e-01 2.28210809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89463044 meters Centerline goodness [0,1] 0.32092183334766533 Centerline is valid? [False, False] Translation: X:8.59, Y:0.32, Z:0.23 [[ 9.99728371e-01 -2.22350574e-03 -2.32000080e-02 8.58737082e+00] [ 2.21852990e-03 9.99997510e-01 -2.40212240e-04 3.18453705e-01] [ 2.32004843e-02 1.88677080e-04 9.99730815e-01 2.28654805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92463044 meters Centerline goodness [0,1] 0.3215923525739014 Centerline is valid? [False, False] Translation: X:8.59, Y:0.32, Z:0.23 [[ 9.99720231e-01 -1.52988965e-03 -2.36033794e-02 8.58850544e+00] [ 1.52756344e-03 9.99998826e-01 -1.16583968e-04 3.20855847e-01] [ 2.36035301e-02 8.04956923e-05 9.99721395e-01 2.28404961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95463044 meters Centerline goodness [0,1] 0.31952201584621376 Centerline is valid? [False, False] Translation: X:8.59, Y:0.32, Z:0.23 [[ 9.99704844e-01 -1.13217624e-03 -2.42681551e-02 8.59047198e+00] [ 1.13019819e-03 9.99999357e-01 -9.52238104e-05 3.23025778e-01] [ 2.42682473e-02 6.77678795e-05 9.99705480e-01 2.27791337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98463044 meters Centerline goodness [0,1] 0.31895771369455583 Centerline is valid? [False, False] Translation: X:8.59, Y:0.33, Z:0.23 [[ 9.99691409e-01 -7.60600261e-04 -2.48295644e-02 8.59210036e+00] [ 7.58705773e-04 9.99999709e-01 -8.57202303e-05 3.25072150e-01] [ 2.48296223e-02 6.68554440e-05 9.99691695e-01 2.27345701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01463044 meters Centerline goodness [0,1] 0.31870282359519153 Centerline is valid? [False, False] Translation: X:8.59, Y:0.33, Z:0.23 [[ 9.99686245e-01 -7.39184542e-04 -2.50372872e-02 8.59273907e+00] [ 7.30135871e-04 9.99999665e-01 -3.70547638e-04 3.27163101e-01] [ 2.50375527e-02 3.52150755e-04 9.99686449e-01 2.27143465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04463044 meters Centerline goodness [0,1] 0.31927581620833156 Centerline is valid? [False, False] Translation: X:8.59, Y:0.33, Z:0.23 [[ 9.99677876e-01 -7.25707937e-04 -2.53696049e-02 8.59345999e+00] [ 7.11427030e-04 9.99999583e-01 -5.71935283e-04 3.28630440e-01] [ 2.53700094e-02 5.53702426e-04 9.99677976e-01 2.27311001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07463044 meters Centerline goodness [0,1] 0.32021210630973507 Centerline is valid? [False, False] Translation: X:8.59, Y:0.33, Z:0.23 [[ 9.99675543e-01 -6.58694473e-04 -2.54631932e-02 8.59361501e+00] [ 6.46529534e-04 9.99999673e-01 -4.85975744e-04 3.28605473e-01] [ 2.54635050e-02 4.69355359e-04 9.99675642e-01 2.27490065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10463044 meters Centerline goodness [0,1] 0.3229778897285195 Centerline is valid? [False, False] Translation: X:8.59, Y:0.33, Z:0.23 [[ 9.99674364e-01 -6.09943047e-04 -2.55106600e-02 8.59350079e+00] [ 6.01088373e-04 9.99999756e-01 -3.54763894e-04 3.28162201e-01] [ 2.55108702e-02 3.39314209e-04 9.99674487e-01 2.27894976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13463044 meters Centerline goodness [0,1] 0.32348701620016784 Centerline is valid? [False, False] Translation: X:8.59, Y:0.33, Z:0.23 [[ 9.99671913e-01 -6.01157674e-04 -2.56067441e-02 8.59361685e+00] [ 5.94311065e-04 9.99999786e-01 -2.74984800e-04 3.27748564e-01] [ 2.56069039e-02 2.59676210e-04 9.99672056e-01 2.28148331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16463044 meters Centerline goodness [0,1] 0.3227926693500043 Centerline is valid? [False, False] Translation: X:8.59, Y:0.33, Z:0.23 [[ 9.99662327e-01 -7.28535490e-04 -2.59749931e-02 8.59458542e+00] [ 7.22982603e-04 9.99999714e-01 -2.23168876e-04 3.26800149e-01] [ 2.59751483e-02 2.04314050e-04 9.99662568e-01 2.28239446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.19463044 meters Centerline goodness [0,1] 0.32721659722372143 Centerline is valid? [False, False] Translation: X:8.60, Y:0.33, Z:0.23 [[ 9.99655050e-01 -7.16639444e-04 -2.62539193e-02 8.59511108e+00] [ 7.12744461e-04 9.99999734e-01 -1.57715631e-04 3.26426879e-01] [ 2.62540253e-02 1.38948891e-04 9.99655294e-01 2.28486097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22463044 meters Centerline goodness [0,1] 0.3280465467083289 Centerline is valid? [False, False] Translation: X:8.60, Y:0.33, Z:0.23 [[ 9.99649375e-01 -5.81570325e-04 -2.64724097e-02 8.59565800e+00] [ 5.84869245e-04 9.99999822e-01 1.16874653e-04 3.25505086e-01] [ 2.64723371e-02 -1.32316572e-04 9.99649538e-01 2.28618417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.25463044 meters Centerline goodness [0,1] 0.33048777852218447 Centerline is valid? [False, False] Translation: X:8.60, Y:0.33, Z:0.23 [[ 9.99648148e-01 -5.73492384e-04 -2.65189021e-02 8.59566090e+00] [ 5.78374681e-04 9.99999817e-01 1.76436400e-04 3.25057888e-01] [ 2.65187960e-02 -1.91712182e-04 9.99648297e-01 2.28866325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28463044 meters Centerline goodness [0,1] 0.3271215720146836 Centerline is valid? [False, False] Translation: X:8.60, Y:0.32, Z:0.23 [[ 9.99648400e-01 -6.15448393e-04 -2.65084400e-02 8.59554968e+00] [ 6.19497233e-04 9.99999798e-01 1.44525668e-04 3.24773987e-01] [ 2.65083457e-02 -1.60896758e-04 9.99648579e-01 2.29072933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.31463044 meters Centerline goodness [0,1] 0.33043796091247235 Centerline is valid? [False, False] Translation: X:8.60, Y:0.33, Z:0.23 [[ 9.99646117e-01 -6.58538932e-04 -2.65933694e-02 8.59565835e+00] [ 6.59824228e-04 9.99999782e-01 3.95564559e-05 3.25082482e-01] [ 2.65933375e-02 -5.70894070e-05 9.99646333e-01 2.29286022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34463044 meters Centerline goodness [0,1] 0.3339043695110051 Centerline is valid? [False, False] Translation: X:8.60, Y:0.33, Z:0.23 [[ 9.99632302e-01 -4.27484457e-04 -2.71123335e-02 8.59698775e+00] [ 4.28615236e-04 9.99999908e-01 3.58957431e-05 3.26326960e-01] [ 2.71123157e-02 -4.75033035e-05 9.99632392e-01 2.29116099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.37463044 meters Centerline goodness [0,1] 0.3283553225321243 Centerline is valid? [False, False] Translation: X:8.60, Y:0.33, Z:0.23 [[ 9.99621074e-01 -3.45443220e-04 -2.75243259e-02 8.59804861e+00] [ 3.45162607e-04 9.99999940e-01 -1.49461680e-05 3.27001961e-01] [ 2.75243295e-02 5.44013639e-06 9.99621134e-01 2.29061976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40463044 meters Centerline goodness [0,1] 0.33393868638388036 Centerline is valid? [False, False] Translation: X:8.60, Y:0.33, Z:0.23 [[ 9.99612257e-01 -3.69275760e-04 -2.78424028e-02 8.59888573e+00] [ 3.65947846e-04 9.99999925e-01 -1.24622136e-04 3.27459148e-01] [ 2.78424467e-02 1.14384947e-04 9.99612317e-01 2.28942754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43463043999998 meters Centerline goodness [0,1] 0.328636987476411 Centerline is valid? [False, False] Translation: X:8.60, Y:0.33, Z:0.23 [[ 9.99604896e-01 -3.35551732e-04 -2.81058700e-02 8.59964912e+00] [ 3.30253362e-04 9.99999927e-01 -1.93156446e-04 3.27914498e-01] [ 2.81059327e-02 1.83798071e-04 9.99604933e-01 2.28772742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46463043999998 meters Centerline goodness [0,1] 0.3324689241320189 Centerline is valid? [False, False] Translation: X:8.60, Y:0.33, Z:0.23 [[ 9.99608753e-01 -1.13708342e-04 -2.79701158e-02 8.59902071e+00] [ 1.10372235e-04 9.99999987e-01 -1.20817797e-04 3.28520650e-01] [ 2.79701292e-02 1.17683403e-04 9.99608752e-01 2.29318069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49463043999998 meters Centerline goodness [0,1] 0.3350162901590178 Centerline is valid? [False, False] Translation: X:8.60, Y:0.33, Z:0.23 [[ 9.99611119e-01 -5.67690982e-05 -2.78856180e-02 8.59845668e+00] [ 5.46283243e-05 9.99999996e-01 -7.75316352e-05 3.28457294e-01] [ 2.78856223e-02 7.59781401e-05 9.99611118e-01 2.29933601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52463043999998 meters Centerline goodness [0,1] 0.3349022136256179 Centerline is valid? [False, False] Translation: X:8.60, Y:0.33, Z:0.23 [[ 9.99608595e-01 -4.05506678e-05 -2.79759622e-02 8.59862746e+00] [ 3.88328552e-05 9.99999997e-01 -6.19464615e-05 3.28200708e-01] [ 2.79759647e-02 6.08358288e-05 9.99608594e-01 2.30111972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55463043999998 meters Centerline goodness [0,1] 0.3392730018336749 Centerline is valid? [False, False] Translation: X:8.60, Y:0.33, Z:0.23 [[ 9.99597890e-01 -1.72921097e-05 -2.83559236e-02 8.59950972e+00] [ 1.73176838e-05 1.00000000e+00 6.56318919e-07 3.27716482e-01] [ 2.83559236e-02 -1.14711393e-06 9.99597890e-01 2.30250692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58463043999998 meters Centerline goodness [0,1] 0.3363301209494858 Centerline is valid? [False, False] Translation: X:8.60, Y:0.33, Z:0.23 [[ 9.99595961e-01 8.12531792e-06 -2.84238391e-02 8.59971089e+00] [-5.33199863e-06 9.99999995e-01 9.83496136e-05 3.27147269e-01] [ 2.84238397e-02 -9.81583207e-05 9.99595956e-01 2.30278824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61463043999998 meters Centerline goodness [0,1] 0.3368582012405238 Centerline is valid? [False, False] Translation: X:8.60, Y:0.33, Z:0.23 [[ 9.99599769e-01 4.09031667e-05 -2.82895745e-02 8.59930427e+00] [-3.48966962e-05 9.99999977e-01 2.12814661e-04 3.26518607e-01] [ 2.82895826e-02 -2.11742273e-04 9.99599747e-01 2.30486111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64463044 meters Centerline goodness [0,1] 0.3368582012405238 Centerline is valid? [False, False] Translation: X:8.60, Y:0.33, Z:0.23 [[ 9.99599769e-01 4.09031667e-05 -2.82895745e-02 8.59930427e+00] [-3.48966962e-05 9.99999977e-01 2.12814661e-04 3.26518607e-01] [ 2.82895826e-02 -2.11742273e-04 9.99599747e-01 2.30486111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67463044 meters Centerline goodness [0,1] 0.3366844919786096 Centerline is valid? [False, False] Translation: X:8.60, Y:0.33, Z:0.23 [[ 9.99601402e-01 1.26193972e-04 -2.82315698e-02 8.59893541e+00] [-1.14676227e-04 9.99999910e-01 4.09592643e-04 3.25586146e-01] [ 2.82316189e-02 -4.06191890e-04 9.99601326e-01 2.30898201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70463044 meters Centerline goodness [0,1] 0.33969310011803844 Centerline is valid? [False, False] Translation: X:8.60, Y:0.32, Z:0.23 [[ 9.99611160e-01 3.31143364e-04 -2.78822320e-02 8.59762505e+00] [-3.05132138e-04 9.99999514e-01 9.37145648e-04 3.23099575e-01] [ 2.78825288e-02 -9.28273484e-04 9.99610776e-01 2.31800997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73463044 meters Centerline goodness [0,1] 0.33930104756998114 Centerline is valid? [False, False] Translation: X:8.60, Y:0.32, Z:0.23 [[ 9.99610932e-01 3.46398955e-04 -2.78902353e-02 8.59754945e+00] [-3.17151545e-04 9.99999395e-01 1.05307803e-03 3.22186573e-01] [ 2.78905832e-02 -1.04382288e-03 9.99610437e-01 2.32030243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76463044 meters Centerline goodness [0,1] 0.3397679233888362 Centerline is valid? [False, False] Translation: X:8.60, Y:0.32, Z:0.23 [[ 9.99606364e-01 3.20165909e-04 -2.80537657e-02 8.59789329e+00] [-2.89732573e-04 9.99999365e-01 1.08887989e-03 3.21501734e-01] [ 2.80540965e-02 -1.08032318e-03 9.99605823e-01 2.32133655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79463044 meters Centerline goodness [0,1] 0.3335824241518458 Centerline is valid? [False, False] Translation: X:8.62, Y:0.32, Z:0.23 [[ 9.99565581e-01 8.72230271e-03 -2.81526193e-02 8.61938061e+00] [-8.72674352e-03 9.99961921e-01 -3.48772212e-05 3.20111391e-01] [ 2.81512431e-02 2.80542758e-04 9.99603636e-01 2.33287726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82463044 meters Centerline goodness [0,1] 0.3335897929088928 Centerline is valid? [False, False] Translation: X:8.62, Y:0.32, Z:0.23 [[ 9.99559509e-01 8.91929787e-03 -2.83060872e-02 8.61983854e+00] [-8.92619570e-03 9.99960154e-01 -1.17335982e-04 3.21929028e-01] [ 2.83039127e-02 3.69949971e-04 9.99599296e-01 2.33153302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85463044 meters Centerline goodness [0,1] 0.3356526639788442 Centerline is valid? [False, False] Translation: X:8.60, Y:0.33, Z:0.23 [[ 9.99602609e-01 1.64508857e-03 -2.81410371e-02 8.60045217e+00] [-1.60742054e-03 9.99997782e-01 1.36111417e-03 3.28501386e-01] [ 2.81432139e-02 -1.31533879e-03 9.99603036e-01 2.30916269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88463044 meters Centerline goodness [0,1] 0.3300313722119558 Centerline is valid? [False, False] Translation: X:8.60, Y:0.33, Z:0.23 [[ 9.99600532e-01 1.82540221e-03 -2.82036087e-02 8.60073148e+00] [-1.79361118e-03 9.99997727e-01 1.15245425e-03 3.30991349e-01] [ 2.82056483e-02 -1.10140758e-03 9.99601535e-01 2.30679810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91463044 meters Centerline goodness [0,1] 0.3307867779977619 Centerline is valid? [False, False] Translation: X:8.60, Y:0.33, Z:0.23 [[ 9.99606180e-01 1.86147709e-03 -2.80003630e-02 8.59988640e+00] [-1.84581286e-03 9.99998125e-01 5.85266103e-04 3.34714977e-01] [ 2.80014000e-02 -5.33352184e-04 9.99607742e-01 2.31216651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94463044 meters Centerline goodness [0,1] 0.33079617696665653 Centerline is valid? [False, False] Translation: X:8.60, Y:0.34, Z:0.23 [[ 9.99606024e-01 1.67560283e-03 -2.80176493e-02 8.59977230e+00] [-1.66830276e-03 9.99998568e-01 2.83925908e-04 3.35620462e-01] [ 2.80180849e-02 -2.37072126e-04 9.99607388e-01 2.31446908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.97463044 meters Centerline goodness [0,1] 0.32936177481690265 Centerline is valid? [False, False] Translation: X:8.62, Y:0.34, Z:0.23 [[ 9.99572497e-01 -5.78779200e-03 -2.86587551e-02 8.61942346e+00] [ 5.81884124e-03 9.99982570e-01 1.00013238e-03 3.41336419e-01] [ 2.86524671e-02 -1.16646556e-03 9.99588753e-01 2.33241545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00463044 meters Centerline goodness [0,1] 0.3272770378033536 Centerline is valid? [False, False] Translation: X:8.62, Y:0.34, Z:0.23 [[ 9.99561987e-01 -5.85929462e-03 -2.90086667e-02 8.62041972e+00] [ 5.89033359e-03 9.99982167e-01 9.84651152e-04 3.41102481e-01] [ 2.90023801e-02 -1.15509059e-03 9.99578675e-01 2.33041224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.03463044 meters Centerline goodness [0,1] 0.3252731622163315 Centerline is valid? [False, False] Translation: X:8.62, Y:0.34, Z:0.23 [[ 9.99552401e-01 -5.87073253e-03 -2.93348239e-02 8.62137517e+00] [ 5.90957845e-03 9.99981772e-01 1.23770356e-03 3.40130930e-01] [ 2.93270230e-02 -1.41050601e-03 9.99568875e-01 2.32995885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06463044 meters Centerline goodness [0,1] 0.32383641341546887 Centerline is valid? [False, False] Translation: X:8.64, Y:0.34, Z:0.24 [[ 9.99561117e-01 1.46365395e-03 -2.95876855e-02 8.63987952e+00] [-1.46265453e-03 9.99998929e-01 5.54210343e-05 3.36449210e-01] [ 2.95877349e-02 -1.21201487e-05 9.99562187e-01 2.35052143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09463044 meters Centerline goodness [0,1] 0.32482608602011587 Centerline is valid? [False, False] Translation: X:8.64, Y:0.34, Z:0.24 [[ 9.99555059e-01 1.40249322e-03 -2.97945786e-02 8.64040569e+00] [-1.40298356e-03 9.99999016e-01 4.44804122e-06 3.36482664e-01] [ 2.97945555e-02 3.73552417e-05 9.99556043e-01 2.35035838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12463044 meters Centerline goodness [0,1] 0.3226971053029811 Centerline is valid? [False, False] Translation: X:8.64, Y:0.34, Z:0.23 [[ 9.99538062e-01 1.13154519e-03 -3.03707359e-02 8.64223102e+00] [-1.14323431e-03 9.99999279e-01 -3.67519365e-04 3.37219685e-01] [ 3.03702982e-02 4.02070461e-04 9.99538635e-01 2.34459780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.15463044 meters Centerline goodness [0,1] 0.32194827065071896 Centerline is valid? [False, False] Translation: X:8.64, Y:0.34, Z:0.23 [[ 9.99528666e-01 1.08333174e-03 -3.06801493e-02 8.64311976e+00] [-1.10013738e-03 9.99999254e-01 -5.30894346e-04 3.37965723e-01] [ 3.06795513e-02 5.64396497e-04 9.99529112e-01 2.34303124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18463043999998 meters Centerline goodness [0,1] 0.3204902171576005 Centerline is valid? [False, False] Translation: X:8.64, Y:0.34, Z:0.23 [[ 9.99521696e-01 1.14814357e-03 -3.09040558e-02 8.64385127e+00] [-1.16563174e-03 9.99999171e-01 -5.47876202e-04 3.38573782e-01] [ 3.09034011e-02 5.83636899e-04 9.99522205e-01 2.34027146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21463043999998 meters Centerline goodness [0,1] 0.321807354603147 Centerline is valid? [False, False] Translation: X:8.64, Y:0.34, Z:0.23 [[ 9.99517813e-01 1.22717321e-03 -3.10263680e-02 8.64418709e+00] [-1.24321335e-03 9.99999103e-01 -4.97698637e-04 3.38760623e-01] [ 3.10257294e-02 5.36031048e-04 9.99518442e-01 2.33980762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24463043999998 meters Centerline goodness [0,1] 0.31989619377162626 Centerline is valid? [False, False] Translation: X:8.64, Y:0.34, Z:0.23 [[ 9.99516833e-01 1.18009900e-03 -3.10597631e-02 8.64382087e+00] [-1.19476554e-03 9.99999183e-01 -4.53648890e-04 3.37762330e-01] [ 3.10592024e-02 4.90538836e-04 9.99517426e-01 2.34800107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27463043999998 meters Centerline goodness [0,1] 0.3186836837914039 Centerline is valid? [False, False] Translation: X:8.64, Y:0.34, Z:0.24 [[ 9.99515433e-01 1.19320307e-03 -3.11042608e-02 8.64369390e+00] [-1.20378902e-03 9.99999224e-01 -3.21613902e-04 3.36678556e-01] [ 3.11038529e-02 3.58901026e-04 9.99516094e-01 2.35222556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30463043999998 meters Centerline goodness [0,1] 0.31855151045701 Centerline is valid? [False, False] Translation: X:8.64, Y:0.34, Z:0.24 [[ 9.99515133e-01 1.26943948e-03 -3.11108938e-02 8.64363199e+00] [-1.27353077e-03 9.99999183e-01 -1.11691792e-04 3.35511831e-01] [ 3.11107265e-02 1.51258317e-04 9.99515933e-01 2.35411696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33463043999998 meters Centerline goodness [0,1] 0.3189829778065072 Centerline is valid? [False, False] Translation: X:8.64, Y:0.33, Z:0.24 [[ 9.99531295e-01 1.54800671e-03 -3.05744085e-02 8.64238471e+00] [-1.53570829e-03 9.99998730e-01 4.25723586e-04 3.33163921e-01] [ 3.05750287e-02 -3.78570675e-04 9.99532403e-01 2.35660788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36463043999998 meters Centerline goodness [0,1] 0.3210755153691406 Centerline is valid? [False, False] Translation: X:8.64, Y:0.33, Z:0.24 [[ 9.99539643e-01 1.64413983e-03 -3.02952060e-02 8.64170114e+00] [-1.62662870e-03 9.99998495e-01 6.02652603e-04 3.32294345e-01] [ 3.02961512e-02 -5.53096116e-04 9.99540813e-01 2.35792761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39463044 meters Centerline goodness [0,1] 0.3230982438665252 Centerline is valid? [False, False] Translation: X:8.64, Y:0.33, Z:0.24 [[ 9.99541407e-01 1.71454954e-03 -3.02330206e-02 8.64141416e+00] [-1.69492733e-03 9.99998336e-01 6.74647922e-04 3.31979633e-01] [ 3.02341270e-02 -6.23095761e-04 9.99542650e-01 2.36012388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42463044 meters Centerline goodness [0,1] 0.31944861295716676 Centerline is valid? [False, False] Translation: X:8.64, Y:0.33, Z:0.24 [[ 9.99536566e-01 1.82009976e-03 -3.03865024e-02 8.64197845e+00] [-1.80077388e-03 9.99998159e-01 6.63355884e-04 3.32405322e-01] [ 3.03876538e-02 -6.08329243e-04 9.99538003e-01 2.35748704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45463044 meters Centerline goodness [0,1] 0.32106735528297825 Centerline is valid? [False, False] Translation: X:8.64, Y:0.33, Z:0.23 [[ 9.99517142e-01 2.44824908e-03 -3.09756130e-02 8.64379959e+00] [-2.41968060e-03 9.99996612e-01 9.59740289e-04 3.33334704e-01] [ 3.09778577e-02 -8.84325781e-04 9.99519680e-01 2.34994343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48463044 meters Centerline goodness [0,1] 0.32133803119494697 Centerline is valid? [False, False] Translation: X:8.64, Y:0.33, Z:0.23 [[ 9.99516890e-01 2.50270689e-03 -3.09794002e-02 8.64410136e+00] [-2.47531952e-03 9.99996511e-01 9.22370945e-04 3.33879356e-01] [ 3.09816005e-02 -8.45241424e-04 9.99519598e-01 2.34612980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51463044 meters Centerline goodness [0,1] 0.324516212823066 Centerline is valid? [False, False] Translation: X:8.64, Y:0.33, Z:0.23 [[ 9.99520198e-01 2.51332709e-03 -3.08716304e-02 8.64369026e+00] [-2.48431592e-03 9.99996436e-01 9.78056137e-04 3.33358938e-01] [ 3.08739785e-02 -9.00891980e-04 9.99522879e-01 2.34873415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54463044 meters Centerline goodness [0,1] 0.3256801247617397 Centerline is valid? [False, False] Translation: X:8.64, Y:0.33, Z:0.24 [[ 9.99563305e-01 9.42397113e-04 -2.95349103e-02 8.63887713e+00] [-9.48735298e-04 9.99999530e-01 -2.00587039e-04 3.30842730e-01] [ 2.95347073e-02 2.28520256e-04 9.99563729e-01 2.37049895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57463044 meters Centerline goodness [0,1] 0.3246647180192572 Centerline is valid? [False, False] Translation: X:8.64, Y:0.33, Z:0.24 [[ 9.99560650e-01 9.59543558e-04 -2.96240982e-02 8.63889076e+00] [-9.56549797e-04 9.99999536e-01 1.15229714e-04 3.28798555e-01] [ 2.96241950e-02 -8.68421622e-05 9.99561103e-01 2.37417806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60463044 meters Centerline goodness [0,1] 0.32780091943107503 Centerline is valid? [False, False] Translation: X:8.64, Y:0.33, Z:0.24 [[ 9.99551028e-01 1.00937669e-03 -2.99453320e-02 8.63980274e+00] [-9.94996561e-04 9.99999382e-01 4.95109764e-04 3.26501130e-01] [ 2.99458133e-02 -4.65091971e-04 9.99551415e-01 2.37288280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63463044 meters Centerline goodness [0,1] 0.3236625425701599 Centerline is valid? [False, False] Translation: X:8.64, Y:0.32, Z:0.24 [[ 9.99539215e-01 1.00269291e-03 -3.03372953e-02 8.64109819e+00] [-9.80229403e-04 9.99999234e-01 7.55321708e-04 3.24657202e-01] [ 3.03380295e-02 -7.25236158e-04 9.99539433e-01 2.36826133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66463044 meters Centerline goodness [0,1] 0.326070964950238 Centerline is valid? [False, False] Translation: X:8.64, Y:0.32, Z:0.24 [[ 9.99521003e-01 7.36750555e-04 -3.09390058e-02 8.64329912e+00] [-7.12360243e-04 9.99999427e-01 7.99350449e-04 3.22287177e-01] [ 3.09395770e-02 -7.76927845e-04 9.99520955e-01 2.35906653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.69463044 meters Centerline goodness [0,1] 0.32557888136985713 Centerline is valid? [False, False] Translation: X:8.64, Y:0.32, Z:0.24 [[ 9.99518690e-01 6.80725285e-04 -3.10149278e-02 8.64354776e+00] [-6.54909088e-04 9.99999431e-01 8.42530556e-04 3.21317209e-01] [ 3.10154837e-02 -8.21813079e-04 9.99518566e-01 2.35836795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72463044 meters Centerline goodness [0,1] 0.32573958108399914 Centerline is valid? [False, False] Translation: X:8.64, Y:0.32, Z:0.24 [[ 9.99516385e-01 6.58275734e-04 -3.10896045e-02 8.64359799e+00] [-6.30393737e-04 9.99999390e-01 9.06620181e-04 3.20423531e-01] [ 3.10901824e-02 -8.86583033e-04 9.99516190e-01 2.36026896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.75463044 meters Centerline goodness [0,1] 0.3283611213494352 Centerline is valid? [False, False] Translation: X:8.64, Y:0.32, Z:0.24 [[ 9.99507485e-01 6.68796547e-04 -3.13741818e-02 8.64413857e+00] [-6.39752517e-04 9.99999358e-01 9.35759470e-04 3.20108597e-01] [ 3.13747875e-02 -9.15226883e-04 9.99507271e-01 2.36198553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78463044 meters Centerline goodness [0,1] 0.32538710993707454 Centerline is valid? [False, False] Translation: X:8.65, Y:0.32, Z:0.24 [[ 9.99489501e-01 9.17935933e-04 -3.19358017e-02 8.64590693e+00] [-8.81789711e-04 9.99998955e-01 1.14590566e-03 3.19883431e-01] [ 3.19368202e-02 -1.11716001e-03 9.99489265e-01 2.35636748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.81463044 meters Centerline goodness [0,1] 0.3246410404996458 Centerline is valid? [False, False] Translation: X:8.65, Y:0.32, Z:0.24 [[ 9.99488759e-01 9.66874882e-04 -3.19575552e-02 8.64619290e+00] [-9.29396830e-04 9.99998863e-01 1.18757825e-03 3.19743542e-01] [ 3.19586671e-02 -1.15726986e-03 9.99488521e-01 2.35330627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84463044 meters Centerline goodness [0,1] 0.32432432432432434 Centerline is valid? [False, False] Translation: X:8.64, Y:0.32, Z:0.24 [[ 9.99499666e-01 9.42354180e-04 -3.16153417e-02 8.64498794e+00] [-9.04873582e-04 9.99998871e-01 1.19980588e-03 3.19028802e-01] [ 3.16164367e-02 -1.17059769e-03 9.99499390e-01 2.35988539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.87463044 meters Centerline goodness [0,1] 0.32587688286087724 Centerline is valid? [False, False] Translation: X:8.64, Y:0.32, Z:0.24 [[ 9.99503284e-01 9.46740623e-04 -3.15006180e-02 8.64437974e+00] [-9.08442588e-04 9.99998831e-01 1.23007637e-03 3.18705119e-01] [ 3.15017458e-02 -1.20084887e-03 9.99502975e-01 2.36464245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90463044 meters Centerline goodness [0,1] 0.32676681682005304 Centerline is valid? [False, False] Translation: X:8.64, Y:0.32, Z:0.24 [[ 9.99504190e-01 9.69317298e-04 -3.14711695e-02 8.64425185e+00] [-9.29556371e-04 9.99998751e-01 1.27801417e-03 3.18365711e-01] [ 3.14723690e-02 -1.24812629e-03 9.99503843e-01 2.36559817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93463043999998 meters Centerline goodness [0,1] 0.3271820019787499 Centerline is valid? [False, False] Translation: X:8.64, Y:0.32, Z:0.24 [[ 9.99502716e-01 9.69590986e-04 -3.15179307e-02 8.64440534e+00] [-9.29425832e-04 9.99998737e-01 1.28898431e-03 3.18127175e-01] [ 3.15191407e-02 -1.25904974e-03 9.99502355e-01 2.36536008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96463043999998 meters Centerline goodness [0,1] 0.3275638532347984 Centerline is valid? [False, False] Translation: X:8.64, Y:0.32, Z:0.24 [[ 9.99502843e-01 9.47962147e-04 -3.15145698e-02 8.64445969e+00] [-9.08459101e-04 9.99998784e-01 1.26777995e-03 3.18137096e-01] [ 3.15157333e-02 -1.23851997e-03 9.99502489e-01 2.36458148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99463043999998 meters Centerline goodness [0,1] 0.32667794939908734 Centerline is valid? [False, False] Translation: X:8.64, Y:0.32, Z:0.24 [[ 9.99500990e-01 1.05726641e-03 -3.15698261e-02 8.64415144e+00] [-1.01115838e-03 9.99998399e-01 1.47643876e-03 3.17324758e-01] [ 3.15713365e-02 -1.44377991e-03 9.99500458e-01 2.37240082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02463043999998 meters Centerline goodness [0,1] 0.3300327897143843 Centerline is valid? [False, False] Translation: X:8.64, Y:0.32, Z:0.24 [[ 9.99504003e-01 1.12409787e-03 -3.14719581e-02 8.64360245e+00] [-1.07273982e-03 9.99998065e-01 1.64870436e-03 3.16482392e-01] [ 3.14737505e-02 -1.61412539e-03 9.99503275e-01 2.37735877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05463043999998 meters Centerline goodness [0,1] 0.32717067632125796 Centerline is valid? [False, False] Translation: X:8.64, Y:0.32, Z:0.24 [[ 9.99507271e-01 1.16893951e-03 -3.13663502e-02 8.64326027e+00] [-1.11295321e-03 9.99997756e-01 1.80231577e-03 3.15662558e-01] [ 3.13683866e-02 -1.76651843e-03 9.99506330e-01 2.37924048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08463043999998 meters Centerline goodness [0,1] 0.3285298274163847 Centerline is valid? [False, False] Translation: X:8.64, Y:0.31, Z:0.24 [[ 9.99504943e-01 1.25408630e-03 -3.14371788e-02 8.64324170e+00] [-1.18910414e-03 9.99997118e-01 2.08565849e-03 3.13950948e-01] [ 3.14397038e-02 -2.04724389e-03 9.99503554e-01 2.38288662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11463043999998 meters Centerline goodness [0,1] 0.3316091332106915 Centerline is valid? [False, False] Translation: X:8.64, Y:0.31, Z:0.24 [[ 9.99500628e-01 1.25933018e-03 -3.15738719e-02 8.64356646e+00] [-1.19193953e-03 9.99996972e-01 2.15311140e-03 3.13421771e-01] [ 3.15764878e-02 -2.11440205e-03 9.99499102e-01 2.38315048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14463044 meters Centerline goodness [0,1] 0.3273778809769522 Centerline is valid? [False, False] Translation: X:8.64, Y:0.31, Z:0.24 [[ 9.99489002e-01 1.20079530e-03 -3.19420148e-02 8.64443538e+00] [-1.13240735e-03 9.99997028e-01 2.15900708e-03 3.12959785e-01] [ 3.19445124e-02 -2.12173246e-03 9.99487392e-01 2.38431849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17463044 meters Centerline goodness [0,1] 0.3297583081570997 Centerline is valid? [False, False] Translation: X:8.64, Y:0.31, Z:0.24 [[ 9.99485725e-01 1.19179946e-03 -3.20447485e-02 8.64474148e+00] [-1.12465082e-03 9.99997134e-01 2.11340744e-03 3.13248479e-01] [ 3.20471754e-02 -2.07628142e-03 9.99484201e-01 2.38339458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20463044 meters Centerline goodness [0,1] 0.32782239017477566 Centerline is valid? [False, False] Translation: X:8.64, Y:0.31, Z:0.24 [[ 9.99486053e-01 1.24311709e-03 -3.20325489e-02 8.64493983e+00] [-1.17771264e-03 9.99997183e-01 2.06059863e-03 3.14036945e-01] [ 3.20350203e-02 -2.02181445e-03 9.99484702e-01 2.38056117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23463044 meters Centerline goodness [0,1] 0.3275426270242482 Centerline is valid? [False, False] Translation: X:8.64, Y:0.32, Z:0.24 [[ 9.99495077e-01 1.53780371e-03 -3.17368207e-02 8.64459698e+00] [-1.48057970e-03 9.99997236e-01 1.82650114e-03 3.17492011e-01] [ 3.17395418e-02 -1.77859000e-03 9.99494591e-01 2.37601289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26463044 meters Centerline goodness [0,1] 0.32848662135421147 Centerline is valid? [False, False] Translation: X:8.65, Y:0.32, Z:0.24 [[ 9.99491809e-01 1.44195118e-03 -3.18440621e-02 8.64510663e+00] [-1.39826168e-03 9.99998051e-01 1.39420885e-03 3.19966531e-01] [ 3.18460104e-02 -1.34897400e-03 9.99491877e-01 2.37167520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29463044 meters Centerline goodness [0,1] 0.33098469409877296 Centerline is valid? [False, False] Translation: X:8.65, Y:0.32, Z:0.24 [[ 9.99483658e-01 1.32956785e-03 -3.21037200e-02 8.64572201e+00] [-1.29892930e-03 9.99998681e-01 9.75198311e-04 3.22302250e-01] [ 3.21049742e-02 -9.32994313e-04 9.99484067e-01 2.37068883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32463044 meters Centerline goodness [0,1] 0.3229180033363275 Centerline is valid? [False, False] Translation: X:8.67, Y:0.32, Z:0.24 [[ 9.99445183e-01 9.65291470e-03 -3.18770697e-02 8.66706187e+00] [-9.66568752e-03 9.99953256e-01 -2.46614451e-04 3.24882673e-01] [ 3.18731991e-02 5.54591419e-04 9.99491767e-01 2.38522133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35463044 meters Centerline goodness [0,1] 0.3271114555749316 Centerline is valid? [False, False] Translation: X:8.67, Y:0.33, Z:0.24 [[ 9.99445040e-01 9.58551041e-03 -3.19018686e-02 8.66706717e+00] [-9.60410142e-03 9.99953787e-01 -4.29570253e-04 3.25912189e-01] [ 3.18962767e-02 7.35720640e-04 9.99490914e-01 2.38579682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38463044 meters Centerline goodness [0,1] 0.32685867381111855 Centerline is valid? [False, False] Translation: X:8.67, Y:0.33, Z:0.24 [[ 9.99447574e-01 9.45085736e-03 -3.18626499e-02 8.66706693e+00] [-9.47611230e-03 9.99954895e-01 -6.41703161e-04 3.26631006e-01] [ 3.18551481e-02 9.43282716e-04 9.99492051e-01 2.38470941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41463044 meters Centerline goodness [0,1] 0.3245095722051524 Centerline is valid? [False, False] Translation: X:8.69, Y:0.33, Z:0.24 [[ 9.99475431e-01 2.12732341e-03 -3.23162023e-02 8.68527420e+00] [-2.12558887e-03 9.99997737e-01 8.80284405e-05 3.32810199e-01] [ 3.23163164e-02 -1.92913035e-05 9.99477691e-01 2.40713943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44463044 meters Centerline goodness [0,1] 0.3258591065292096 Centerline is valid? [False, False] Translation: X:8.69, Y:0.33, Z:0.24 [[ 9.99472427e-01 1.91378793e-03 -3.24223078e-02 8.68533878e+00] [-1.92507941e-03 9.99998097e-01 -3.17050155e-04 3.34612195e-01] [ 3.24216393e-02 3.79298405e-04 9.99474208e-01 2.40963993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.47463044 meters Centerline goodness [0,1] 0.32431330472103004 Centerline is valid? [False, False] Translation: X:8.69, Y:0.33, Z:0.24 [[ 9.99474609e-01 1.86980370e-03 -3.23575255e-02 8.68521524e+00] [-1.88290947e-03 9.99998157e-01 -3.74563538e-04 3.34883588e-01] [ 3.23567655e-02 4.35293037e-04 9.99476288e-01 2.40961774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50463044 meters Centerline goodness [0,1] 0.32665943600867675 Centerline is valid? [False, False] Translation: X:8.69, Y:0.33, Z:0.24 [[ 9.99473401e-01 1.82499113e-03 -3.23973756e-02 8.68538911e+00] [-1.83919350e-03 9.99998225e-01 -4.08585463e-04 3.34892960e-01] [ 3.23965725e-02 4.67955345e-04 9.99474984e-01 2.40889281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.53463044 meters Centerline goodness [0,1] 0.32403267411865866 Centerline is valid? [False, False] Translation: X:8.71, Y:0.34, Z:0.24 [[ 9.99458047e-01 -5.82184035e-03 -3.23993661e-02 8.70545988e+00] [ 5.84548570e-03 9.99982713e-01 6.35136241e-04 3.39123460e-01] [ 3.23951083e-02 -8.24182057e-04 9.99474801e-01 2.42540157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56463044 meters Centerline goodness [0,1] 0.32403267411865866 Centerline is valid? [False, False] Translation: X:8.71, Y:0.34, Z:0.24 [[ 9.99458047e-01 -5.82184035e-03 -3.23993661e-02 8.70545988e+00] [ 5.84548570e-03 9.99982713e-01 6.35136241e-04 3.39123460e-01] [ 3.23951083e-02 -8.24182057e-04 9.99474801e-01 2.42540157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59463044 meters Centerline goodness [0,1] 0.32534394739119143 Centerline is valid? [False, False] Translation: X:8.71, Y:0.34, Z:0.24 [[ 9.99456478e-01 -5.83625891e-03 -3.24451247e-02 8.70552669e+00] [ 5.86259327e-03 9.99982558e-01 7.16585792e-04 3.38415554e-01] [ 3.24403766e-02 -9.06408882e-04 9.99473261e-01 2.42677666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62463044 meters Centerline goodness [0,1] 0.3234292324500332 Centerline is valid? [False, False] Translation: X:8.72, Y:0.34, Z:0.24 [[ 9.99488613e-01 1.63374966e-03 -3.19349891e-02 8.72427146e+00] [-1.66230380e-03 9.99998242e-01 -8.67604160e-04 3.35193930e-01] [ 3.19335155e-02 9.20246132e-04 9.99489572e-01 2.44970072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.65463044 meters Centerline goodness [0,1] 0.32478980782429645 Centerline is valid? [False, False] Translation: X:8.72, Y:0.33, Z:0.25 [[ 9.99488793e-01 1.60369121e-03 -3.19308749e-02 8.72401020e+00] [-1.63227164e-03 9.99998290e-01 -8.69025695e-04 3.34977459e-01] [ 3.19294266e-02 9.20701304e-04 9.99489702e-01 2.45357813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68463043999998 meters Centerline goodness [0,1] 0.326614384168341 Centerline is valid? [False, False] Translation: X:8.72, Y:0.34, Z:0.25 [[ 9.99503466e-01 1.67990777e-03 -3.14642704e-02 8.72270835e+00] [-1.71482961e-03 9.99997943e-01 -1.08293706e-03 3.37105862e-01] [ 3.14623865e-02 1.13635521e-03 9.99504291e-01 2.45695444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71463043999998 meters Centerline goodness [0,1] 0.3267946939483267 Centerline is valid? [False, False] Translation: X:8.72, Y:0.34, Z:0.25 [[ 9.99511381e-01 1.74218082e-03 -3.12083901e-02 8.72216765e+00] [-1.78363064e-03 9.99997564e-01 -1.30037306e-03 3.39285416e-01] [ 3.12060486e-02 1.35540191e-03 9.99512054e-01 2.45640076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74463043999998 meters Centerline goodness [0,1] 0.3242269588712099 Centerline is valid? [False, False] Translation: X:8.72, Y:0.34, Z:0.25 [[ 9.99506785e-01 1.85759524e-03 -3.13486201e-02 8.72276465e+00] [-1.90827007e-03 9.99996921e-01 -1.58665233e-03 3.42207985e-01] [ 3.13455762e-02 1.64569141e-03 9.99507252e-01 2.45180509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77463043999998 meters Centerline goodness [0,1] 0.32322270780147977 Centerline is valid? [False, False] Translation: X:8.73, Y:0.35, Z:0.24 [[ 9.99483162e-01 4.81436055e-03 -3.17841179e-02 8.72504393e+00] [-4.80257007e-03 9.99988368e-01 4.47287318e-04 3.48706401e-01] [ 3.17859016e-02 -2.94410689e-04 9.99494657e-01 2.43693664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80463043999998 meters Centerline goodness [0,1] 0.32583193679674405 Centerline is valid? [False, False] Translation: X:8.73, Y:0.35, Z:0.24 [[ 9.99483391e-01 4.67213995e-03 -3.17981628e-02 8.72503532e+00] [-4.67698552e-03 9.99989060e-01 -7.80081677e-05 3.51692477e-01] [ 3.17974505e-02 2.26687415e-04 9.99494308e-01 2.43702135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83463043999998 meters Centerline goodness [0,1] 0.3218024382888899 Centerline is valid? [False, False] Translation: X:8.74, Y:0.36, Z:0.25 [[ 9.99485334e-01 -2.31800327e-03 -3.19952164e-02 8.74304030e+00] [ 2.34389866e-03 9.99996955e-01 7.71868982e-04 3.60419174e-01] [ 3.19933298e-02 -8.46465272e-04 9.99487724e-01 2.45902512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86463043999998 meters Centerline goodness [0,1] 0.3221822257668183 Centerline is valid? [False, False] Translation: X:8.74, Y:0.36, Z:0.25 [[ 9.99486428e-01 -2.48254785e-03 -3.19486730e-02 8.74279492e+00] [ 2.49495513e-03 9.99996827e-01 3.48490804e-04 3.62651440e-01] [ 3.19477065e-02 -4.28022335e-04 9.99489450e-01 2.46070184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89463044 meters Centerline goodness [0,1] 0.32440846824408465 Centerline is valid? [False, False] Translation: X:8.74, Y:0.37, Z:0.25 [[ 9.99492786e-01 -2.74869540e-03 -3.17272181e-02 8.74216487e+00] [ 2.74090954e-03 9.99996202e-01 -2.88889161e-04 3.66754152e-01] [ 3.17278917e-02 2.01781197e-04 9.99496523e-01 2.46244614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92463044 meters Centerline goodness [0,1] 0.32346403677248103 Centerline is valid? [False, False] Translation: X:8.74, Y:0.37, Z:0.25 [[ 9.99498077e-01 -2.85174828e-03 -3.15509253e-02 8.74162458e+00] [ 2.83349553e-03 9.99995791e-01 -6.23213008e-04 3.68924593e-01] [ 3.15525698e-02 5.33500798e-04 9.99501951e-01 2.46411741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95463044 meters Centerline goodness [0,1] 0.32270608202462026 Centerline is valid? [False, False] Translation: X:8.74, Y:0.37, Z:0.25 [[ 9.99501690e-01 -2.91838969e-03 -3.14301652e-02 8.74133390e+00] [ 2.89090894e-03 9.99995398e-01 -9.19749898e-04 3.71031763e-01] [ 3.14327048e-02 8.28429832e-04 9.99505527e-01 2.46420978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98463044 meters Centerline goodness [0,1] 0.3206720389885215 Centerline is valid? [False, False] Translation: X:8.74, Y:0.38, Z:0.25 [[ 9.99492380e-01 -3.20252831e-03 -3.16974073e-02 8.74197462e+00] [ 3.15032568e-03 9.99993598e-01 -1.69670955e-03 3.75292105e-01] [ 3.17026382e-02 1.59599111e-03 9.99496071e-01 2.46352875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01463044 meters Centerline goodness [0,1] 0.32547906008844185 Centerline is valid? [False, False] Translation: X:8.72, Y:0.37, Z:0.24 [[ 9.99453254e-01 4.36124673e-03 -3.27745658e-02 8.72339300e+00] [-4.46528286e-03 9.99985220e-01 -3.10177123e-03 3.72012890e-01] [ 3.27605538e-02 3.24642306e-03 9.99457957e-01 2.44562306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04463044 meters Centerline goodness [0,1] 0.3218719741796665 Centerline is valid? [False, False] Translation: X:8.74, Y:0.38, Z:0.25 [[ 9.99364706e-01 -1.37895354e-03 -3.56129546e-02 8.74067752e+00] [ 1.29655627e-03 9.99996429e-01 -2.33667913e-03 3.79912372e-01] [ 3.56160496e-02 2.28902045e-03 9.99362926e-01 2.47190262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07463044 meters Centerline goodness [0,1] 0.32443005237650224 Centerline is valid? [False, False] Translation: X:8.74, Y:0.38, Z:0.25 [[ 9.99341648e-01 -1.55492869e-03 -3.62471028e-02 8.74282515e+00] [ 1.45755042e-03 9.99995258e-01 -2.71278172e-03 3.81576713e-01] [ 3.62511492e-02 2.65816377e-03 9.99339176e-01 2.46217627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10463044 meters Centerline goodness [0,1] 0.3190178745109905 Centerline is valid? [False, False] Translation: X:8.74, Y:0.38, Z:0.25 [[ 9.99333512e-01 -1.66521791e-03 -3.64658685e-02 8.74338535e+00] [ 1.56395208e-03 9.99994842e-01 -2.80535185e-03 3.81289267e-01] [ 3.64703520e-02 2.74645124e-03 9.99330961e-01 2.46152474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13463044 meters Centerline goodness [0,1] 0.3234565755745753 Centerline is valid? [False, False] Translation: X:8.74, Y:0.38, Z:0.25 [[ 9.99334517e-01 -1.79260094e-03 -3.64322723e-02 8.74316230e+00] [ 1.68913195e-03 9.99994453e-01 -2.87061807e-03 3.80821111e-01] [ 3.64372161e-02 2.80716881e-03 9.99332001e-01 2.46399208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16463044 meters Centerline goodness [0,1] 0.32797866805411036 Centerline is valid? [False, False] Translation: X:8.74, Y:0.38, Z:0.25 [[ 9.99361840e-01 -1.81914130e-03 -3.56735678e-02 8.74072631e+00] [ 1.72902853e-03 9.99995237e-01 -2.55672489e-03 3.78829568e-01] [ 3.56780490e-02 2.49341268e-03 9.99360225e-01 2.47575498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.19463044 meters Centerline goodness [0,1] 0.32589892366428674 Centerline is valid? [False, False] Translation: X:8.74, Y:0.38, Z:0.25 [[ 9.99371189e-01 -1.72514098e-03 -3.54154072e-02 8.74006886e+00] [ 1.64430749e-03 9.99995977e-01 -2.31143758e-03 3.77687568e-01] [ 3.54192523e-02 2.25175030e-03 9.99370005e-01 2.47782051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22463044 meters Centerline goodness [0,1] 0.3256020443520443 Centerline is valid? [False, False] Translation: X:8.74, Y:0.38, Z:0.25 [[ 9.99374853e-01 -1.75403517e-03 -3.53104275e-02 8.74003170e+00] [ 1.67806809e-03 9.99996214e-01 -2.18092744e-03 3.76355704e-01] [ 3.53141193e-02 2.12031073e-03 9.99374013e-01 2.47588633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.25463044 meters Centerline goodness [0,1] 0.3245156806532882 Centerline is valid? [False, False] Translation: X:8.74, Y:0.38, Z:0.25 [[ 9.99372411e-01 -1.73764825e-03 -3.53802730e-02 8.74028059e+00] [ 1.66094164e-03 9.99996206e-01 -2.19733760e-03 3.76461591e-01] [ 3.53839569e-02 2.13719400e-03 9.99371506e-01 2.47441993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28463044 meters Centerline goodness [0,1] 0.325025826446281 Centerline is valid? [False, False] Translation: X:8.74, Y:0.38, Z:0.25 [[ 9.99366877e-01 -1.60577034e-03 -3.55424745e-02 8.74074487e+00] [ 1.52923392e-03 9.99996454e-01 -2.18045927e-03 3.77140894e-01] [ 3.55458498e-02 2.12472601e-03 9.99365788e-01 2.47292587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.31463044 meters Centerline goodness [0,1] 0.322524646378054 Centerline is valid? [False, False] Translation: X:8.74, Y:0.38, Z:0.25 [[ 9.99365009e-01 -1.45644023e-03 -3.56013655e-02 8.74084532e+00] [ 1.37865217e-03 9.99996609e-01 -2.20942510e-03 3.78257186e-01] [ 3.56044627e-02 2.15894023e-03 9.99363628e-01 2.47316505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34463044 meters Centerline goodness [0,1] 0.32381853771860014 Centerline is valid? [False, False] Translation: X:8.74, Y:0.38, Z:0.25 [[ 9.99370866e-01 -1.40171797e-03 -3.54387746e-02 8.74057460e+00] [ 1.31956859e-03 9.99996388e-01 -2.34134778e-03 3.79490384e-01] [ 3.54419285e-02 2.29311087e-03 9.99369107e-01 2.47107993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.37463044 meters Centerline goodness [0,1] 0.325211542633977 Centerline is valid? [False, False] Translation: X:8.74, Y:0.38, Z:0.25 [[ 9.99375355e-01 -1.35865227e-03 -3.53136555e-02 8.74037017e+00] [ 1.26352463e-03 9.99995513e-01 -2.71596920e-03 3.81895045e-01] [ 3.53171871e-02 2.66965301e-03 9.99372588e-01 2.46799605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40463043999998 meters Centerline goodness [0,1] 0.3247367058011049 Centerline is valid? [False, False] Translation: X:8.74, Y:0.38, Z:0.25 [[ 9.99369151e-01 -1.32903198e-03 -3.54899161e-02 8.74084488e+00] [ 1.22919468e-03 9.99995227e-01 -2.83478806e-03 3.82942478e-01] [ 3.54935142e-02 2.78937572e-03 9.99366014e-01 2.46662540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43463043999998 meters Centerline goodness [0,1] 0.3212751864276404 Centerline is valid? [False, False] Translation: X:8.74, Y:0.38, Z:0.25 [[ 9.99359531e-01 -1.26192568e-03 -3.57622067e-02 8.74175343e+00] [ 1.15418138e-03 9.99994734e-01 -3.03328222e-03 3.84905678e-01] [ 3.57658462e-02 2.99006342e-03 9.99355724e-01 2.46244220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46463043999998 meters Centerline goodness [0,1] 0.31995373543522965 Centerline is valid? [False, False] Translation: X:8.74, Y:0.39, Z:0.25 [[ 9.99356774e-01 -1.38427857e-03 -3.58346351e-02 8.74222392e+00] [ 1.27001060e-03 9.99994037e-01 -3.21132398e-03 3.85406339e-01] [ 3.58388668e-02 3.16374801e-03 9.99352574e-01 2.45850610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49463043999998 meters Centerline goodness [0,1] 0.32418699186991873 Centerline is valid? [False, False] Translation: X:8.74, Y:0.39, Z:0.25 [[ 9.99357185e-01 -1.42665051e-03 -3.58215086e-02 8.74219485e+00] [ 1.31267495e-03 9.99994002e-01 -3.20508040e-03 3.85152386e-01] [ 3.58258663e-02 3.15599813e-03 9.99353064e-01 2.45842124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52463043999998 meters Centerline goodness [0,1] 0.3233900495369373 Centerline is valid? [False, False] Translation: X:8.74, Y:0.38, Z:0.25 [[ 9.99364222e-01 -1.61484697e-03 -3.56166373e-02 8.74150599e+00] [ 1.50750116e-03 9.99994241e-01 -3.04057194e-03 3.83595269e-01] [ 3.56213422e-02 2.98494668e-03 9.99360901e-01 2.46353867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55463043999998 meters Centerline goodness [0,1] 0.3229913341178988 Centerline is valid? [False, False] Translation: X:8.74, Y:0.38, Z:0.25 [[ 9.99363070e-01 -1.66716824e-03 -3.56465169e-02 8.74157930e+00] [ 1.56863134e-03 9.99994872e-01 -2.79206669e-03 3.81569069e-01] [ 3.56509889e-02 2.73437210e-03 9.99360561e-01 2.46498574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58463043999998 meters Centerline goodness [0,1] 0.32405111984954693 Centerline is valid? [False, False] Translation: X:8.74, Y:0.38, Z:0.25 [[ 9.99350071e-01 -5.45422920e-03 -3.56326787e-02 8.74152199e+00] [ 5.24410151e-03 9.99968322e-01 -5.98785194e-03 3.78225774e-01] [ 3.56642090e-02 5.79709887e-03 9.99347016e-01 2.46692316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61463043999998 meters Centerline goodness [0,1] 0.32600882384590557 Centerline is valid? [False, False] Translation: X:8.74, Y:0.38, Z:0.25 [[ 9.99346828e-01 -5.38165826e-03 -3.57345211e-02 8.74189039e+00] [ 5.18439270e-03 9.99970821e-01 -5.61067630e-03 3.75842194e-01] [ 3.57636731e-02 5.42174977e-03 9.99345568e-01 2.46598197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64463044 meters Centerline goodness [0,1] 0.32636579572446556 Centerline is valid? [False, False] Translation: X:8.74, Y:0.37, Z:0.25 [[ 9.99340934e-01 -5.19870975e-03 -3.59259065e-02 8.74262057e+00] [ 5.01544753e-03 9.99973958e-01 -5.18935656e-03 3.73902727e-01] [ 3.59519489e-02 5.00575193e-03 9.99340983e-01 2.46267609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67463044 meters Centerline goodness [0,1] 0.3224810853676833 Centerline is valid? [False, False] Translation: X:8.74, Y:0.37, Z:0.25 [[ 9.99329727e-01 -5.02219747e-03 -3.62612047e-02 8.74370543e+00] [ 4.85084558e-03 9.99976657e-01 -4.81192090e-03 3.72084557e-01] [ 3.62845247e-02 4.63279810e-03 9.99330761e-01 2.45910660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70463044 meters Centerline goodness [0,1] 0.3251679519581794 Centerline is valid? [False, False] Translation: X:8.74, Y:0.37, Z:0.25 [[ 9.99321801e-01 -4.79913920e-03 -3.65089799e-02 8.74432329e+00] [ 4.63842385e-03 9.99979182e-01 -4.48550510e-03 3.70446419e-01] [ 3.65297464e-02 4.31311891e-03 9.99323258e-01 2.45894598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73463044 meters Centerline goodness [0,1] 0.3225965348124986 Centerline is valid? [False, False] Translation: X:8.76, Y:0.37, Z:0.25 [[ 9.99344921e-01 3.28405931e-03 -3.60408571e-02 8.76384988e+00] [-3.49539136e-03 9.99977058e-01 -5.80223829e-03 3.68232376e-01] [ 3.60209753e-02 5.92441427e-03 9.99333473e-01 2.48211617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76463044 meters Centerline goodness [0,1] 0.3284625708966532 Centerline is valid? [False, False] Translation: X:8.76, Y:0.37, Z:0.25 [[ 9.99346344e-01 3.33378622e-03 -3.59968114e-02 8.76358786e+00] [-3.54793452e-03 9.99976378e-01 -5.88685272e-03 3.68931913e-01] [ 3.59763356e-02 6.01071907e-03 9.99334566e-01 2.48375692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79463044 meters Centerline goodness [0,1] 0.32154651112921906 Centerline is valid? [False, False] Translation: X:8.78, Y:0.37, Z:0.25 [[ 9.99341116e-01 -1.54643817e-03 -3.62621212e-02 8.78435942e+00] [ 1.44198457e-03 9.99994736e-01 -2.90649186e-03 3.72595768e-01] [ 3.62664250e-02 2.85228740e-03 9.99338086e-01 2.49509952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82463044 meters Centerline goodness [0,1] 0.32385799939610926 Centerline is valid? [False, False] Translation: X:8.78, Y:0.37, Z:0.25 [[ 9.99348312e-01 -1.24475015e-03 -3.60749431e-02 8.78423916e+00] [ 1.14151689e-03 9.99995195e-01 -2.88208888e-03 3.73851204e-01] [ 3.60783572e-02 2.83903050e-03 9.99344931e-01 2.48959728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85463044 meters Centerline goodness [0,1] 0.3242323758666724 Centerline is valid? [False, False] Translation: X:8.78, Y:0.37, Z:0.25 [[ 9.99348562e-01 -1.20568455e-03 -3.60693628e-02 8.78433019e+00] [ 1.10020145e-03 9.99995061e-01 -2.94415659e-03 3.74479117e-01] [ 3.60727343e-02 2.90255509e-03 9.99344952e-01 2.48797661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88463044 meters Centerline goodness [0,1] 0.3185346763328415 Centerline is valid? [False, False] Translation: X:8.78, Y:0.38, Z:0.25 [[ 9.99346811e-01 -1.24511686e-03 -3.61164904e-02 8.78444317e+00] [ 1.13361585e-03 9.99994529e-01 -3.10757409e-03 3.75362488e-01] [ 3.61201621e-02 3.06460203e-03 9.99342755e-01 2.48791335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.91463044 meters Centerline goodness [0,1] 0.32094854892560565 Centerline is valid? [False, False] Translation: X:8.78, Y:0.38, Z:0.25 [[ 9.99347220e-01 -1.25996427e-03 -3.61046640e-02 8.78409618e+00] [ 1.14474407e-03 9.99994187e-01 -3.21177751e-03 3.76036251e-01] [ 3.61085008e-02 3.16835032e-03 9.99342853e-01 2.49224794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94463044 meters Centerline goodness [0,1] 0.3202892659235328 Centerline is valid? [False, False] Translation: X:8.78, Y:0.38, Z:0.25 [[ 9.99352078e-01 -1.20437255e-03 -3.59718473e-02 8.78379411e+00] [ 1.09091097e-03 9.99994369e-01 -3.17363787e-03 3.76304345e-01] [ 3.59754669e-02 3.13233952e-03 9.99347764e-01 2.49237995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.97463044 meters Centerline goodness [0,1] 0.31916670235087574 Centerline is valid? [False, False] Translation: X:8.78, Y:0.38, Z:0.25 [[ 9.99352009e-01 -1.27182554e-03 -3.59714370e-02 8.78408298e+00] [ 1.15255548e-03 9.99993771e-01 -3.33622988e-03 3.77172908e-01] [ 3.59754560e-02 3.29260896e-03 9.99347250e-01 2.48815191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00463044 meters Centerline goodness [0,1] 0.3210219922380336 Centerline is valid? [False, False] Translation: X:8.78, Y:0.38, Z:0.25 [[ 9.99349500e-01 -1.39823959e-03 -3.60363816e-02 8.78436508e+00] [ 1.27084520e-03 9.99992863e-01 -3.55782370e-03 3.77972298e-01] [ 3.60410991e-02 3.50971268e-03 9.99344145e-01 2.48645406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.03463044 meters Centerline goodness [0,1] 0.3237210110310085 Centerline is valid? [False, False] Translation: X:8.78, Y:0.38, Z:0.25 [[ 9.99351030e-01 -1.52123869e-03 -3.59889636e-02 8.78412974e+00] [ 1.38465639e-03 9.99991746e-01 -3.81973603e-03 3.79130252e-01] [ 3.59944773e-02 3.76742479e-03 9.99344887e-01 2.48832278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06463044 meters Centerline goodness [0,1] 0.3209085238638074 Centerline is valid? [False, False] Translation: X:8.78, Y:0.38, Z:0.25 [[ 9.99355136e-01 -1.40230003e-03 -3.58796043e-02 8.78359826e+00] [ 1.27067764e-03 9.99992381e-01 -3.69098591e-03 3.79218073e-01] [ 3.58845068e-02 3.64301432e-03 9.99349304e-01 2.49231773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09463044 meters Centerline goodness [0,1] 0.3239154328570505 Centerline is valid? [False, False] Translation: X:8.78, Y:0.38, Z:0.25 [[ 9.99365013e-01 -1.34141801e-03 -3.56057842e-02 8.78277199e+00] [ 1.21439616e-03 9.99992823e-01 -3.58883683e-03 3.79099443e-01] [ 3.56103428e-02 3.54331844e-03 9.99359469e-01 2.49529997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12463044 meters Centerline goodness [0,1] 0.3222985633978763 Centerline is valid? [False, False] Translation: X:8.78, Y:0.38, Z:0.25 [[ 9.99378253e-01 -1.59356139e-03 -3.52217105e-02 8.78190640e+00] [ 1.46432962e-03 9.99992103e-01 -3.69458568e-03 3.78468473e-01] [ 3.52273199e-02 3.64071239e-03 9.99372694e-01 2.49641530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15463043999998 meters Centerline goodness [0,1] 0.3204428170702983 Centerline is valid? [False, False] Translation: X:8.78, Y:0.38, Z:0.25 [[ 9.99367991e-01 -1.69231372e-03 -3.55071205e-02 8.78289465e+00] [ 1.56108033e-03 9.99991850e-01 -3.72337189e-03 3.78016730e-01] [ 3.55131322e-02 3.66558921e-03 9.99362487e-01 2.49255218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18463043999998 meters Centerline goodness [0,1] 0.31966081215207354 Centerline is valid? [False, False] Translation: X:8.78, Y:0.38, Z:0.25 [[ 9.99356584e-01 -1.71738971e-03 -3.58255314e-02 8.78395580e+00] [ 1.58694656e-03 9.99992009e-01 -3.66918479e-03 3.77590816e-01] [ 3.58315466e-02 3.60997078e-03 9.99351324e-01 2.48814649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21463043999998 meters Centerline goodness [0,1] 0.3208869659275284 Centerline is valid? [False, False] Translation: X:8.78, Y:0.38, Z:0.25 [[ 9.99350727e-01 -1.60031172e-03 -3.59939319e-02 8.78463084e+00] [ 1.48124300e-03 9.99993344e-01 -3.33444534e-03 3.76413033e-01] [ 3.59990284e-02 3.27896461e-03 9.99346446e-01 2.48560733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24463043999998 meters Centerline goodness [0,1] 0.31821407832763404 Centerline is valid? [False, False] Translation: X:8.78, Y:0.38, Z:0.25 [[ 9.99357601e-01 -1.60620341e-03 -3.58023094e-02 8.78406624e+00] [ 1.49106377e-03 9.99993632e-01 -3.24245195e-03 3.75826055e-01] [ 3.58072894e-02 3.18698547e-03 9.99353632e-01 2.48819890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27463043999998 meters Centerline goodness [0,1] 0.3205347228154096 Centerline is valid? [False, False] Translation: X:8.78, Y:0.38, Z:0.25 [[ 9.99365622e-01 -1.67302679e-03 -3.55746254e-02 8.78324372e+00] [ 1.55919971e-03 9.99993577e-01 -3.22717268e-03 3.75253334e-01] [ 3.55797961e-02 3.16965749e-03 9.99361812e-01 2.49302211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30463043999998 meters Centerline goodness [0,1] 0.3237921762511926 Centerline is valid? [False, False] Translation: X:8.76, Y:0.37, Z:0.25 [[ 9.99382785e-01 3.63550707e-03 -3.49404045e-02 8.76038090e+00] [-3.85270907e-03 9.99973660e-01 -6.15103953e-03 3.70434490e-01] [ 3.49171221e-02 6.28185823e-03 9.99370468e-01 2.48442097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33463043999998 meters Centerline goodness [0,1] 0.32072180710178944 Centerline is valid? [False, False] Translation: X:8.78, Y:0.38, Z:0.25 [[ 9.99326138e-01 -3.02746162e-03 -3.65801101e-02 8.78005239e+00] [ 2.85151776e-03 9.99984119e-01 -4.86103819e-03 3.76127991e-01] [ 3.65942458e-02 4.75345369e-03 9.99318901e-01 2.50197260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36463043999998 meters Centerline goodness [0,1] 0.32090473817622467 Centerline is valid? [False, False] Translation: X:8.78, Y:0.38, Z:0.25 [[ 9.99314836e-01 -2.95838206e-03 -3.68931765e-02 8.78133681e+00] [ 2.78023666e-03 9.99984232e-01 -4.87905065e-03 3.76748738e-01] [ 3.69070289e-02 4.77313594e-03 9.99307304e-01 2.49399116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39463044 meters Centerline goodness [0,1] 0.3198884034776591 Centerline is valid? [False, False] Translation: X:8.78, Y:0.38, Z:0.25 [[ 9.99291864e-01 -2.93280209e-03 -3.75122540e-02 8.78286993e+00] [ 2.73602353e-03 9.99982233e-01 -5.29597416e-03 3.79256992e-01] [ 3.75271196e-02 5.18958948e-03 9.99282134e-01 2.49162101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42463044 meters Centerline goodness [0,1] 0.31915906043171693 Centerline is valid? [False, False] Translation: X:8.78, Y:0.38, Z:0.25 [[ 9.99285003e-01 -2.96142296e-03 -3.76923430e-02 8.78320990e+00] [ 2.74822644e-03 9.99979940e-01 -5.70678468e-03 3.81761538e-01] [ 3.77084871e-02 5.59911726e-03 9.99273096e-01 2.49196049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45463044 meters Centerline goodness [0,1] 0.31915906043171693 Centerline is valid? [False, False] Translation: X:8.78, Y:0.38, Z:0.25 [[ 9.99285003e-01 -2.96142296e-03 -3.76923430e-02 8.78320990e+00] [ 2.74822644e-03 9.99979940e-01 -5.70678468e-03 3.81761538e-01] [ 3.77084871e-02 5.59911726e-03 9.99273096e-01 2.49196049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48463044 meters Centerline goodness [0,1] 0.31462981581705773 Centerline is valid? [False, False] Translation: X:8.80, Y:0.38, Z:0.25 [[ 9.99288683e-01 5.61689626e-03 -3.72904530e-02 8.80434166e+00] [-5.87246321e-03 9.99959992e-01 -6.74742397e-03 3.83788147e-01] [ 3.72510615e-02 6.96161123e-03 9.99281689e-01 2.50417495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51463044 meters Centerline goodness [0,1] 0.3204023919003519 Centerline is valid? [False, False] Translation: X:8.80, Y:0.39, Z:0.25 [[ 9.99271730e-01 9.20232997e-03 -3.70314333e-02 8.80408617e+00] [-9.35789362e-03 9.99948094e-01 -4.02971795e-03 3.89170653e-01] [ 3.69924284e-02 4.37331944e-03 9.99305976e-01 2.50009073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54463044 meters Centerline goodness [0,1] 0.3186462599698211 Centerline is valid? [False, False] Translation: X:8.80, Y:0.39, Z:0.25 [[ 9.99276009e-01 9.02982519e-03 -3.69583669e-02 8.80394892e+00] [-9.20587730e-03 9.99947062e-01 -4.59612159e-03 3.92237346e-01] [ 3.69149082e-02 4.93302823e-03 9.99306237e-01 2.49913064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57463044 meters Centerline goodness [0,1] 0.3171424908111804 Centerline is valid? [False, False] Translation: X:8.82, Y:0.40, Z:0.25 [[ 9.99305636e-01 2.03771928e-03 -3.72034183e-02 8.82158610e+00] [-2.17831275e-03 9.99990638e-01 -3.73890399e-03 4.00387128e-01] [ 3.71954512e-02 3.81734851e-03 9.99300719e-01 2.52166157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60463044 meters Centerline goodness [0,1] 0.3197284775347484 Centerline is valid? [False, False] Translation: X:8.82, Y:0.40, Z:0.25 [[ 9.99314079e-01 1.94363306e-03 -3.69809970e-02 8.82093629e+00] [-2.09827897e-03 9.99989215e-01 -4.14341512e-03 4.02956984e-01] [ 3.69725449e-02 4.21816951e-03 9.99307379e-01 2.52269021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63463044 meters Centerline goodness [0,1] 0.31807564555877 Centerline is valid? [False, False] Translation: X:8.82, Y:0.41, Z:0.25 [[ 9.99315138e-01 1.88929505e-03 -3.69551800e-02 8.82088704e+00] [-2.06537804e-03 9.99986694e-01 -4.72717569e-03 4.09126940e-01] [ 3.69457573e-02 4.80026465e-03 9.99305743e-01 2.52174356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66463044 meters Centerline goodness [0,1] 0.31464408233276153 Centerline is valid? [False, False] Translation: X:8.82, Y:0.41, Z:0.25 [[ 9.99312319e-01 1.71869004e-03 -3.70396467e-02 8.82118992e+00] [-1.91195431e-03 9.99984740e-01 -5.18297817e-03 4.11574112e-01] [ 3.70301736e-02 5.25023204e-03 9.99300356e-01 2.51974828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.69463044 meters Centerline goodness [0,1] 0.31957209582642765 Centerline is valid? [False, False] Translation: X:8.82, Y:0.41, Z:0.25 [[ 9.99313117e-01 1.53663423e-03 -3.70261034e-02 8.82114629e+00] [-1.74531048e-03 9.99982773e-01 -5.60425971e-03 4.13652594e-01] [ 3.70168538e-02 5.66503229e-03 9.99298584e-01 2.51945710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72463044 meters Centerline goodness [0,1] 0.322163116748864 Centerline is valid? [False, False] Translation: X:8.82, Y:0.42, Z:0.25 [[ 9.99319222e-01 1.36247844e-03 -3.68678326e-02 8.82060671e+00] [-1.58352675e-03 9.99980943e-01 -5.96715969e-03 4.15385389e-01] [ 3.68589998e-02 6.02147857e-03 9.99302335e-01 2.52163129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.75463044 meters Centerline goodness [0,1] 0.3223572060505362 Centerline is valid? [False, False] Translation: X:8.82, Y:0.42, Z:0.25 [[ 9.99321895e-01 1.19690027e-03 -3.68010494e-02 8.82031398e+00] [-1.43180866e-03 9.99978766e-01 -6.35750585e-03 4.18066288e-01] [ 3.67926586e-02 6.40588686e-03 9.99302389e-01 2.52371152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78463044 meters Centerline goodness [0,1] 0.3198036217997029 Centerline is valid? [False, False] Translation: X:8.82, Y:0.42, Z:0.25 [[ 9.99317869e-01 1.19884092e-03 -3.69101621e-02 8.82087026e+00] [-1.43829354e-03 9.99978089e-01 -6.46157521e-03 4.19343294e-01] [ 3.69016070e-02 6.51025522e-03 9.99297697e-01 2.51980651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.81463044 meters Centerline goodness [0,1] 0.32079161115647425 Centerline is valid? [False, False] Translation: X:8.82, Y:0.42, Z:0.25 [[ 9.99310439e-01 1.18771498e-03 -3.71111375e-02 8.82175195e+00] [-1.43103568e-03 9.99977651e-01 -6.53066636e-03 4.20115045e-01] [ 3.71025516e-02 6.57927043e-03 9.99289805e-01 2.51448852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84463044 meters Centerline goodness [0,1] 0.3232377784018492 Centerline is valid? [False, False] Translation: X:8.82, Y:0.42, Z:0.25 [[ 9.99298216e-01 7.17425763e-04 -3.74507667e-02 8.82286942e+00] [-9.79056363e-04 9.99975243e-01 -6.96811568e-03 4.20574157e-01] [ 3.74448404e-02 6.99989199e-03 9.99274179e-01 2.51079701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.87463044 meters Centerline goodness [0,1] 0.3220390063288414 Centerline is valid? [False, False] Translation: X:8.82, Y:0.42, Z:0.25 [[ 9.99299916e-01 6.55225576e-04 -3.74065261e-02 8.82266521e+00] [-9.14419532e-04 9.99975691e-01 -6.91242254e-03 4.19951543e-01] [ 3.74010876e-02 6.94178852e-03 9.99276223e-01 2.51317500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90463043999998 meters Centerline goodness [0,1] 0.3237562377135944 Centerline is valid? [False, False] Translation: X:8.82, Y:0.42, Z:0.25 [[ 9.99306487e-01 6.21189788e-04 -3.72311697e-02 8.82215757e+00] [-8.75069311e-04 9.99976476e-01 -6.80309714e-03 4.19151342e-01] [ 3.72260679e-02 6.83095895e-03 9.99283522e-01 2.51557646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93463043999998 meters Centerline goodness [0,1] 0.32487594390507013 Centerline is valid? [False, False] Translation: X:8.82, Y:0.42, Z:0.25 [[ 9.99312815e-01 6.67472811e-04 -3.70601108e-02 8.82166682e+00] [-9.13392388e-04 9.99977676e-01 -6.61916014e-03 4.18261892e-01] [ 3.70548654e-02 6.64846198e-03 9.99291116e-01 2.51727450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96463043999998 meters Centerline goodness [0,1] 0.3257846471778534 Centerline is valid? [False, False] Translation: X:8.82, Y:0.42, Z:0.25 [[ 9.99301571e-01 7.14617793e-04 -3.73611911e-02 8.82281668e+00] [-9.58621398e-04 9.99978328e-01 -6.51343163e-03 4.17928148e-01] [ 3.73557268e-02 6.54469770e-03 9.99280600e-01 2.51198488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99463043999998 meters Centerline goodness [0,1] 0.3272711432491887 Centerline is valid? [False, False] Translation: X:8.82, Y:0.42, Z:0.25 [[ 9.99298189e-01 6.97321584e-04 -3.74518884e-02 8.82350234e+00] [-9.45249443e-04 9.99977756e-01 -6.60260390e-03 4.18428940e-01] [ 3.74464511e-02 6.63337150e-03 9.99276619e-01 2.50537939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02463043999998 meters Centerline goodness [0,1] 0.32389426511658115 Centerline is valid? [False, False] Translation: X:8.82, Y:0.42, Z:0.25 [[ 9.99293522e-01 7.33237925e-04 -3.75755051e-02 8.82418399e+00] [-9.87187015e-04 9.99976797e-01 -6.74026010e-03 4.19614607e-01] [ 3.75696910e-02 6.77259230e-03 9.99271059e-01 2.49971859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05463043999998 meters Centerline goodness [0,1] 0.3235268517712595 Centerline is valid? [False, False] Translation: X:8.82, Y:0.42, Z:0.25 [[ 9.99290613e-01 6.73367163e-04 -3.76539252e-02 8.82477550e+00] [-9.44458296e-04 9.99973762e-01 -7.18222106e-03 4.22046103e-01] [ 3.76481009e-02 7.21268864e-03 9.99265029e-01 2.49278310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08463043999998 meters Centerline goodness [0,1] 0.31882935227028186 Centerline is valid? [False, False] Translation: X:8.84, Y:0.43, Z:0.25 [[ 9.99245009e-01 -6.77704427e-03 -3.82555032e-02 8.84431044e+00] [ 6.53333506e-03 9.99957584e-01 -6.49199068e-03 4.28800839e-01] [ 3.82978771e-02 6.23715326e-03 9.99246902e-01 2.50818833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11463043999998 meters Centerline goodness [0,1] 0.3161081867591047 Centerline is valid? [False, False] Translation: X:8.85, Y:0.43, Z:0.25 [[ 9.99230226e-01 -6.79851364e-03 -3.86359489e-02 8.84531767e+00] [ 6.54852419e-03 9.99956822e-01 -6.59325847e-03 4.29407650e-01] [ 3.86791050e-02 6.33517470e-03 9.99231601e-01 2.50661409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14463044 meters Centerline goodness [0,1] 0.3200094760192105 Centerline is valid? [False, False] Translation: X:8.85, Y:0.43, Z:0.25 [[ 9.99225887e-01 -6.73057544e-03 -3.87598505e-02 8.84569085e+00] [ 6.48138104e-03 9.99957535e-01 -6.55126138e-03 4.29816114e-01] [ 3.88022983e-02 6.29497261e-03 9.99227079e-01 2.50514590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17463044 meters Centerline goodness [0,1] 0.31696285022186976 Centerline is valid? [False, False] Translation: X:8.85, Y:0.43, Z:0.25 [[ 9.99219451e-01 -6.84528053e-03 -3.89054001e-02 8.84630510e+00] [ 6.58568379e-03 9.99955215e-01 -6.79675872e-03 4.31249523e-01] [ 3.89501835e-02 6.53523485e-03 9.99219783e-01 2.50196048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20463044 meters Centerline goodness [0,1] 0.31819945673263483 Centerline is valid? [False, False] Translation: X:8.85, Y:0.43, Z:0.25 [[ 9.99210156e-01 -7.02245505e-03 -3.91120197e-02 8.84684441e+00] [ 6.75129253e-03 9.99952282e-01 -7.06074224e-03 4.32001618e-01] [ 3.91597371e-02 6.79110867e-03 9.99209886e-01 2.50140131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23463044 meters Centerline goodness [0,1] 0.31449925261584455 Centerline is valid? [False, False] Translation: X:8.87, Y:0.43, Z:0.25 [[ 9.99234561e-01 2.41142894e-04 -3.91182019e-02 8.86639301e+00] [-5.81750386e-04 9.99962020e-01 -8.69598650e-03 4.30318681e-01] [ 3.91146192e-02 8.71208728e-03 9.99196750e-01 2.52236869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26463044 meters Centerline goodness [0,1] 0.3183251463995367 Centerline is valid? [False, False] Translation: X:8.87, Y:0.43, Z:0.25 [[ 9.99231705e-01 9.68358002e-05 -3.91917196e-02 8.86649074e+00] [-4.45786460e-04 9.99960339e-01 -8.89504235e-03 4.30950367e-01] [ 3.91893038e-02 8.90567947e-03 9.99192117e-01 2.52373084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29463044 meters Centerline goodness [0,1] 0.31976920740965686 Centerline is valid? [False, False] Translation: X:8.87, Y:0.43, Z:0.25 [[ 9.99232465e-01 9.00406156e-06 -3.91724623e-02 8.86633227e+00] [-3.66956929e-04 9.99958247e-01 -9.13068952e-03 4.32700259e-01] [ 3.91707445e-02 9.13805600e-03 9.99190747e-01 2.52570991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32463044 meters Centerline goodness [0,1] 0.31632849004672603 Centerline is valid? [False, False] Translation: X:8.88, Y:0.44, Z:0.25 [[ 9.99232978e-01 -7.66377251e-03 -3.84021038e-02 8.88492766e+00] [ 7.36082267e-03 9.99940714e-01 -8.02407608e-03 4.38866531e-01] [ 3.84613218e-02 7.73525036e-03 9.99230150e-01 2.54761115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35463044 meters Centerline goodness [0,1] 0.31927427961579513 Centerline is valid? [False, False] Translation: X:8.88, Y:0.44, Z:0.26 [[ 9.99243972e-01 -7.89175486e-03 -3.80684091e-02 8.88340124e+00] [ 7.58011293e-03 9.99936626e-01 -8.32376722e-03 4.40041140e-01] [ 3.81316857e-02 8.02891138e-03 9.99240467e-01 2.55831516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38463044 meters Centerline goodness [0,1] 0.3216508210890233 Centerline is valid? [False, False] Translation: X:8.87, Y:0.43, Z:0.25 [[ 9.99261722e-01 -9.62904943e-05 -3.84187584e-02 8.86532893e+00] [-2.67706967e-04 9.99955130e-01 -9.46921541e-03 4.34742627e-01] [ 3.84179463e-02 9.47250947e-03 9.99216860e-01 2.53667068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.41463044 meters Centerline goodness [0,1] 0.3208258411144089 Centerline is valid? [False, False] Translation: X:8.87, Y:0.44, Z:0.25 [[ 9.99252491e-01 -1.62066995e-04 -3.86579089e-02 8.86598427e+00] [-2.07573188e-04 9.99954303e-01 -9.55762026e-03 4.35081109e-01] [ 3.86576914e-02 9.55850020e-03 9.99206794e-01 2.53604701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44463044 meters Centerline goodness [0,1] 0.31814785560275816 Centerline is valid? [False, False] Translation: X:8.89, Y:0.44, Z:0.26 [[ 9.99226423e-01 -7.74311986e-03 -3.85564405e-02 8.88528135e+00] [ 7.42493870e-03 9.99937248e-01 -8.38871592e-03 4.40199842e-01] [ 3.86189758e-02 8.09594739e-03 9.99221212e-01 2.55424487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.47463044 meters Centerline goodness [0,1] 0.3230328610189931 Centerline is valid? [False, False] Translation: X:8.87, Y:0.43, Z:0.25 [[ 9.99375131e-01 -1.12685786e-03 -3.53281426e-02 8.86593797e+00] [ 8.12252788e-04 9.99959901e-01 -8.91831300e-03 4.34618987e-01] [ 3.53367756e-02 8.88404484e-03 9.99335973e-01 2.53506917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50463044 meters Centerline goodness [0,1] 0.32466493731085166 Centerline is valid? [False, False] Translation: X:8.86, Y:0.44, Z:0.25 [[ 9.99385942e-01 -1.11802342e-03 -3.50212579e-02 8.86481026e+00] [ 8.04397166e-04 9.99959462e-01 -8.96812086e-03 4.35016150e-01] [ 3.50298648e-02 8.93444291e-03 9.99346329e-01 2.54156162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.53463044 meters Centerline goodness [0,1] 0.32174081154812795 Centerline is valid? [False, False] Translation: X:8.86, Y:0.44, Z:0.25 [[ 9.99392179e-01 -1.11490038e-03 -3.48429355e-02 8.86415079e+00] [ 7.98164222e-04 9.99958248e-01 -9.10298600e-03 4.35955407e-01] [ 3.48516296e-02 9.06964262e-03 9.99351342e-01 2.54517789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56463044 meters Centerline goodness [0,1] 0.3218730453163082 Centerline is valid? [False, False] Translation: X:8.86, Y:0.44, Z:0.25 [[ 9.99396539e-01 -1.05418522e-03 -3.47195326e-02 8.86382547e+00] [ 7.35779243e-04 9.99957571e-01 -9.18230286e-03 4.36965382e-01] [ 3.47277393e-02 9.15121579e-03 9.99354912e-01 2.54544072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59463044 meters Centerline goodness [0,1] 0.32424034629066134 Centerline is valid? [False, False] Translation: X:8.87, Y:0.44, Z:0.25 [[ 9.99369656e-01 1.52473079e-03 -3.54678266e-02 8.86700707e+00] [-1.77333089e-03 9.99974076e-01 -6.97877039e-03 4.39500124e-01] [ 3.54562664e-02 7.03726756e-03 9.99346451e-01 2.53135074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62463044 meters Centerline goodness [0,1] 0.32237837837837835 Centerline is valid? [False, False] Translation: X:8.87, Y:0.44, Z:0.25 [[ 9.99366113e-01 1.59668089e-03 -3.55643487e-02 8.86747135e+00] [-1.84394426e-03 9.99974351e-01 -6.92084865e-03 4.39506562e-01] [ 3.55523861e-02 6.98204029e-03 9.99343424e-01 2.52772525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65463043999998 meters Centerline goodness [0,1] 0.31760805814101745 Centerline is valid? [False, False] Translation: X:8.91, Y:0.44, Z:0.25 [[ 9.99408867e-01 1.34130218e-03 -3.43528253e-02 8.91041066e+00] [-1.57817384e-03 9.99975162e-01 -6.86907304e-03 4.40187735e-01] [ 3.43427586e-02 6.91922724e-03 9.99386161e-01 2.54770729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68463043999998 meters Centerline goodness [0,1] 0.3224071812670052 Centerline is valid? [False, False] Translation: X:8.91, Y:0.44, Z:0.26 [[ 9.99417579e-01 -2.14839679e-03 -3.40571210e-02 8.90917964e+00] [ 1.81838128e-03 9.99951125e-01 -9.71807263e-03 4.36136337e-01] [ 3.40763347e-02 9.65048379e-03 9.99372639e-01 2.55502757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71463043999998 meters Centerline goodness [0,1] 0.3217486151806147 Centerline is valid? [False, False] Translation: X:8.91, Y:0.43, Z:0.26 [[ 9.99418787e-01 -2.05658983e-03 -3.40273189e-02 8.90903316e+00] [ 1.74667416e-03 9.99956749e-01 -9.13506908e-03 4.32497854e-01] [ 3.40446343e-02 9.07032502e-03 9.99379153e-01 2.55733467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74463043999998 meters Centerline goodness [0,1] 0.3249450122913702 Centerline is valid? [False, False] Translation: X:8.91, Y:0.43, Z:0.26 [[ 9.99410845e-01 -2.00549290e-03 -3.42628183e-02 8.90985055e+00] [ 1.71110774e-03 9.99961391e-01 -8.61913448e-03 4.29011298e-01] [ 3.42787811e-02 8.55542910e-03 9.99375690e-01 2.55486374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77463043999998 meters Centerline goodness [0,1] 0.3229010779274297 Centerline is valid? [False, False] Translation: X:8.91, Y:0.42, Z:0.25 [[ 9.99391335e-01 -4.79105958e-03 -3.45543770e-02 8.91267152e+00] [ 4.43043338e-03 9.99935001e-01 -1.05055121e-02 4.22465284e-01] [ 3.46024635e-02 1.03460269e-02 9.99347602e-01 2.53233944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80463043999998 meters Centerline goodness [0,1] 0.32218581132403046 Centerline is valid? [False, False] Translation: X:8.91, Y:0.42, Z:0.25 [[ 9.99388135e-01 -4.66802883e-03 -3.46635994e-02 8.91304770e+00] [ 4.32313460e-03 9.99940473e-01 -1.00180457e-02 4.19632512e-01] [ 3.47083005e-02 9.86206061e-03 9.99348825e-01 2.53138724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83463043999998 meters Centerline goodness [0,1] 0.3212894007620367 Centerline is valid? [False, False] Translation: X:8.91, Y:0.42, Z:0.25 [[ 9.99385445e-01 -4.47543696e-03 -3.47663982e-02 8.91340737e+00] [ 4.14442951e-03 9.99945454e-01 -9.58713976e-03 4.17608701e-01] [ 3.48074084e-02 9.43716105e-03 9.99349481e-01 2.53034224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86463043999998 meters Centerline goodness [0,1] 0.32274247491638797 Centerline is valid? [False, False] Translation: X:8.92, Y:0.42, Z:0.25 [[ 9.99366849e-01 -4.34243540e-03 -3.53135256e-02 8.91534061e+00] [ 4.01881120e-03 9.99949326e-01 -9.23013667e-03 4.15096015e-01] [ 3.53518174e-02 9.08237421e-03 9.99333658e-01 2.52138448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89463044 meters Centerline goodness [0,1] 0.3168905291164228 Centerline is valid? [False, False] Translation: X:8.94, Y:0.41, Z:0.25 [[ 9.99306410e-01 3.01920879e-03 -3.71157986e-02 8.93640891e+00] [-3.39885530e-03 9.99942509e-01 -1.01698652e-02 4.10173748e-01] [ 3.70829599e-02 1.02889627e-02 9.99259221e-01 2.53801216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92463044 meters Centerline goodness [0,1] 0.31768087129397526 Centerline is valid? [False, False] Translation: X:8.94, Y:0.41, Z:0.25 [[ 9.99294716e-01 3.10056675e-03 -3.74226792e-02 8.93757216e+00] [-3.47562810e-03 9.99944344e-01 -9.96140901e-03 4.08831880e-01] [ 3.73897104e-02 1.00844507e-02 9.99249875e-01 2.53145356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95463044 meters Centerline goodness [0,1] 0.3163451428080942 Centerline is valid? [False, False] Translation: X:8.96, Y:0.41, Z:0.25 [[ 9.99280339e-01 -4.64924461e-03 -3.76455692e-02 8.95885252e+00] [ 4.33196286e-03 9.99954446e-01 -8.50531718e-03 4.08708980e-01] [ 3.76833975e-02 8.33611702e-03 9.99254958e-01 2.54345992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98463044 meters Centerline goodness [0,1] 0.3192172517030416 Centerline is valid? [False, False] Translation: X:8.96, Y:0.41, Z:0.25 [[ 9.99280105e-01 -4.53452116e-03 -3.76657744e-02 8.95890787e+00] [ 4.23516452e-03 9.99958841e-01 -8.02370004e-03 4.05724948e-01] [ 3.77006077e-02 7.85840306e-03 9.99258180e-01 2.54459006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01463044 meters Centerline goodness [0,1] 0.3176470588235294 Centerline is valid? [False, False] Translation: X:8.96, Y:0.40, Z:0.25 [[ 9.99278377e-01 -4.48750221e-03 -3.77172082e-02 8.95903186e+00] [ 4.20427589e-03 9.99962394e-01 -7.58517077e-03 4.02665908e-01] [ 3.77498283e-02 7.42112359e-03 9.99259665e-01 2.54582671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04463044 meters Centerline goodness [0,1] 0.32242169014695987 Centerline is valid? [False, False] Translation: X:8.96, Y:0.40, Z:0.25 [[ 9.99299794e-01 -4.50146896e-03 -3.71437476e-02 8.95750782e+00] [ 4.24196744e-03 9.99966064e-01 -7.06226563e-03 3.98117583e-01] [ 3.71742777e-02 6.89975802e-03 9.99284978e-01 2.54985929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07463044 meters Centerline goodness [0,1] 0.3210285022274123 Centerline is valid? [False, False] Translation: X:8.96, Y:0.40, Z:0.25 [[ 9.99308794e-01 -4.35524204e-03 -3.69183676e-02 8.95715210e+00] [ 4.10977126e-03 9.99968960e-01 -6.72229852e-03 3.96419884e-01] [ 3.69464989e-02 6.56592598e-03 9.99295674e-01 2.54836938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10463044 meters Centerline goodness [0,1] 0.3203933859288879 Centerline is valid? [False, False] Translation: X:8.96, Y:0.40, Z:0.25 [[ 9.99312596e-01 -4.24486794e-03 -3.68281984e-02 8.95697456e+00] [ 4.00892393e-03 9.99970981e-01 -6.47809517e-03 3.95212910e-01] [ 3.68546283e-02 6.32600066e-03 9.99300614e-01 2.54840983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13463044 meters Centerline goodness [0,1] 0.3180203646696661 Centerline is valid? [False, False] Translation: X:8.96, Y:0.39, Z:0.25 [[ 9.99312843e-01 -4.09535553e-03 -3.68384207e-02 8.95702191e+00] [ 3.86741413e-03 9.99972948e-01 -6.25673197e-03 3.94392260e-01] [ 3.68630477e-02 6.10996319e-03 9.99301648e-01 2.54833142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16463044 meters Centerline goodness [0,1] 0.3183085200630956 Centerline is valid? [False, False] Translation: X:8.96, Y:0.39, Z:0.25 [[ 9.99295674e-01 -3.70040641e-03 -3.73425047e-02 8.95844254e+00] [ 3.48256018e-03 9.99976548e-01 -5.89709495e-03 3.93945386e-01] [ 3.73634506e-02 5.76289396e-03 9.99285125e-01 2.54460787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.19463044 meters Centerline goodness [0,1] 0.3177547891065374 Centerline is valid? [False, False] Translation: X:8.96, Y:0.39, Z:0.25 [[ 9.99287467e-01 -3.60132477e-03 -3.75711061e-02 8.95910816e+00] [ 3.38452092e-03 9.99977263e-01 -5.83250185e-03 3.94018832e-01] [ 3.75912566e-02 5.70118581e-03 9.99276936e-01 2.54259870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22463044 meters Centerline goodness [0,1] 0.32165239076222485 Centerline is valid? [False, False] Translation: X:8.96, Y:0.39, Z:0.25 [[ 9.99287181e-01 -3.47367238e-03 -3.75907276e-02 8.95912004e+00] [ 3.26195775e-03 9.99978480e-01 -5.69196388e-03 3.93698135e-01] [ 3.76096907e-02 5.56528718e-03 9.99277008e-01 2.54298020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.25463044 meters Centerline goodness [0,1] 0.3185244207080713 Centerline is valid? [False, False] Translation: X:8.96, Y:0.39, Z:0.25 [[ 9.99292381e-01 -3.34137411e-03 -3.74642839e-02 8.95871015e+00] [ 3.13547340e-03 9.99979664e-01 -5.55332858e-03 3.93419290e-01] [ 3.74820778e-02 5.43193068e-03 9.99282537e-01 2.54514710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28463044 meters Centerline goodness [0,1] 0.32053440386773724 Centerline is valid? [False, False] Translation: X:8.96, Y:0.39, Z:0.25 [[ 9.99313451e-01 -3.08271727e-03 -3.69204912e-02 8.95724400e+00] [ 2.88960450e-03 9.99981871e-01 -5.28272321e-03 3.93104780e-01] [ 3.69361070e-02 5.17241075e-03 9.99304243e-01 2.54793171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.31463044 meters Centerline goodness [0,1] 0.31881686866294967 Centerline is valid? [False, False] Translation: X:8.96, Y:0.39, Z:0.25 [[ 9.99320890e-01 -2.98473648e-03 -3.67266938e-02 8.95673255e+00] [ 2.79603911e-03 9.99982632e-01 -5.18817045e-03 3.92997175e-01] [ 3.67415413e-02 5.08195784e-03 9.99311880e-01 2.54848345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34463044 meters Centerline goodness [0,1] 0.31876154077382235 Centerline is valid? [False, False] Translation: X:8.96, Y:0.39, Z:0.26 [[ 9.99328651e-01 -2.94449108e-03 -3.65181822e-02 8.95602070e+00] [ 2.76039797e-03 9.99983233e-01 -5.09053097e-03 3.92414320e-01] [ 3.65325589e-02 4.98630873e-03 9.99320023e-01 2.55099291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.37463044 meters Centerline goodness [0,1] 0.31947773972602744 Centerline is valid? [False, False] Translation: X:8.96, Y:0.39, Z:0.26 [[ 9.99331752e-01 -2.83580847e-03 -3.64418335e-02 8.95572257e+00] [ 2.67156046e-03 9.99986057e-01 -4.55503229e-03 3.89026082e-01] [ 3.64542426e-02 4.45463184e-03 9.99325395e-01 2.55327068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40463043999998 meters Centerline goodness [0,1] 0.31947773972602744 Centerline is valid? [False, False] Translation: X:8.96, Y:0.39, Z:0.26 [[ 9.99331752e-01 -2.83580847e-03 -3.64418335e-02 8.95572257e+00] [ 2.67156046e-03 9.99986057e-01 -4.55503229e-03 3.89026082e-01] [ 3.64542426e-02 4.45463184e-03 9.99325395e-01 2.55327068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43463043999998 meters Centerline goodness [0,1] 0.3217466121746613 Centerline is valid? [False, False] Translation: X:8.96, Y:0.39, Z:0.25 [[ 9.99323651e-01 -2.69004984e-03 -3.66743114e-02 8.95656951e+00] [ 2.54092802e-03 9.99988317e-01 -4.11211399e-03 3.86640295e-01] [ 3.66849447e-02 4.01614598e-03 9.99318811e-01 2.54924639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46463043999998 meters Centerline goodness [0,1] 0.3199784482758621 Centerline is valid? [False, False] Translation: X:8.96, Y:0.38, Z:0.25 [[ 9.99312555e-01 -2.58356340e-03 -3.69829996e-02 8.95781799e+00] [ 2.44854539e-03 9.99990173e-01 -3.69564009e-03 3.84186546e-01] [ 3.69921841e-02 3.60254499e-03 9.99309061e-01 2.54259050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49463043999998 meters Centerline goodness [0,1] 0.3198519920832975 Centerline is valid? [False, False] Translation: X:8.96, Y:0.38, Z:0.25 [[ 9.99304079e-01 -2.45127246e-03 -3.72202651e-02 8.95869822e+00] [ 2.33107152e-03 9.99991928e-01 -3.27250185e-03 3.81735287e-01] [ 3.72279865e-02 3.18346135e-03 9.99301728e-01 2.53909063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52463043999998 meters Centerline goodness [0,1] 0.3199109455611928 Centerline is valid? [False, False] Translation: X:8.96, Y:0.38, Z:0.25 [[ 9.99307060e-01 -2.38877496e-03 -3.71442283e-02 8.95850093e+00] [ 2.28065258e-03 9.99993039e-01 -2.95297848e-03 3.79204461e-01] [ 3.71510237e-02 2.86621916e-03 9.99305552e-01 2.54036010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55463043999998 meters Centerline goodness [0,1] 0.3211573935052121 Centerline is valid? [False, False] Translation: X:8.96, Y:0.38, Z:0.25 [[ 9.99314275e-01 -2.26820449e-03 -3.69572013e-02 8.95805784e+00] [ 2.16374258e-03 9.99993551e-01 -2.86631612e-03 3.79256498e-01] [ 3.69634643e-02 2.78438475e-03 9.99312739e-01 2.54036959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58463043999998 meters Centerline goodness [0,1] 0.32187076075019916 Centerline is valid? [False, False] Translation: X:8.96, Y:0.38, Z:0.25 [[ 9.99323537e-01 -2.15191706e-03 -3.67129201e-02 8.95772089e+00] [ 2.04829447e-03 9.99993813e-01 -2.85988880e-03 3.79870284e-01] [ 3.67188472e-02 2.78275532e-03 9.99321761e-01 2.53674604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61463043999998 meters Centerline goodness [0,1] 0.3248741974665973 Centerline is valid? [False, False] Translation: X:8.96, Y:0.38, Z:0.25 [[ 9.99330666e-01 -1.92870854e-03 -3.65308107e-02 8.95800560e+00] [ 1.82863730e-03 9.99994484e-01 -2.77257927e-03 3.80192979e-01] [ 3.65359567e-02 2.70392188e-03 9.99328681e-01 2.52622232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64463044 meters Centerline goodness [0,1] 0.3207644185448625 Centerline is valid? [False, False] Translation: X:8.98, Y:0.38, Z:0.25 [[ 9.99329418e-01 4.55045884e-03 -3.63319159e-02 8.98022669e+00] [-4.75144456e-03 9.99973874e-01 -5.44750724e-03 3.79411334e-01] [ 3.63061780e-02 5.61648332e-03 9.99324930e-01 2.53321929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67463044 meters Centerline goodness [0,1] 0.3224628228541613 Centerline is valid? [False, False] Translation: X:8.96, Y:0.38, Z:0.25 [[ 9.99277309e-01 -3.69792144e-03 -3.78310044e-02 8.96081364e+00] [ 3.53606064e-03 9.99984311e-01 -4.34453861e-03 3.80611457e-01] [ 3.78464766e-02 4.20762613e-03 9.99274707e-01 2.51664926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70463044 meters Centerline goodness [0,1] 0.3218638766044656 Centerline is valid? [False, False] Translation: X:8.96, Y:0.38, Z:0.25 [[ 9.99263809e-01 -3.60297313e-03 -3.81949970e-02 8.96184053e+00] [ 3.45152139e-03 9.99985921e-01 -4.03042294e-03 3.78873817e-01] [ 3.82089808e-02 3.89562493e-03 9.99262177e-01 2.51462219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73463044 meters Centerline goodness [0,1] 0.3195446735395189 Centerline is valid? [False, False] Translation: X:8.96, Y:0.37, Z:0.25 [[ 9.99255374e-01 -3.54402993e-03 -3.84205381e-02 8.96285611e+00] [ 3.42048741e-03 9.99988768e-01 -3.28078956e-03 3.73269781e-01] [ 3.84317337e-02 3.14692963e-03 9.99256273e-01 2.50983160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76463044 meters Centerline goodness [0,1] 0.3220747889022919 Centerline is valid? [False, False] Translation: X:8.96, Y:0.37, Z:0.25 [[ 9.99256238e-01 -3.58641431e-03 -3.83941138e-02 8.96301013e+00] [ 3.47678661e-03 9.99989688e-01 -2.92171383e-03 3.70242275e-01] [ 3.84041963e-02 2.78605263e-03 9.99258403e-01 2.50820276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79463044 meters Centerline goodness [0,1] 0.32044008939315793 Centerline is valid? [False, False] Translation: X:8.96, Y:0.37, Z:0.25 [[ 9.99254587e-01 -3.60897634e-03 -3.84349573e-02 8.96337150e+00] [ 3.51276050e-03 9.99990526e-01 -2.57057941e-03 3.67151919e-01] [ 3.84438703e-02 2.43365046e-03 9.99257798e-01 2.50546960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82463044 meters Centerline goodness [0,1] 0.3245167853509664 Centerline is valid? [False, False] Translation: X:8.96, Y:0.36, Z:0.25 [[ 9.99259230e-01 -3.49824411e-03 -3.83243159e-02 8.96309193e+00] [ 3.42568686e-03 9.99992214e-01 -1.95874760e-03 3.63051622e-01] [ 3.83308697e-02 1.82600951e-03 9.99263434e-01 2.50708556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85463044 meters Centerline goodness [0,1] 0.3204428170702983 Centerline is valid? [False, False] Translation: X:8.98, Y:0.36, Z:0.25 [[ 9.99295790e-01 4.56539124e-03 -3.72435463e-02 8.98243550e+00] [-4.68067849e-03 9.99984519e-01 -3.00889036e-03 3.59968308e-01] [ 3.72292330e-02 3.18109653e-03 9.99301689e-01 2.52532348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88463044 meters Centerline goodness [0,1] 0.32344605266004633 Centerline is valid? [False, False] Translation: X:8.98, Y:0.36, Z:0.25 [[ 9.99306519e-01 4.67022711e-03 -3.69414504e-02 8.98157890e+00] [-4.78250904e-03 9.99984207e-01 -2.95167353e-03 3.60135244e-01] [ 3.69270820e-02 3.12629942e-03 9.99313072e-01 2.52751083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.91463044 meters Centerline goodness [0,1] 0.3253406112591245 Centerline is valid? [False, False] Translation: X:8.98, Y:0.36, Z:0.25 [[ 9.99318066e-01 5.08764671e-03 -3.65721060e-02 8.98083791e+00] [-5.19579944e-03 9.99982404e-01 -2.86281196e-03 3.61406177e-01] [ 3.65568975e-02 3.05088104e-03 9.99326916e-01 2.52583489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94463044 meters Centerline goodness [0,1] 0.3235028005170185 Centerline is valid? [False, False] Translation: X:8.98, Y:0.36, Z:0.25 [[ 9.99301297e-01 5.14617867e-03 -3.70193834e-02 8.98234680e+00] [-5.26421927e-03 9.99981364e-01 -3.09184985e-03 3.63341062e-01] [ 3.70027823e-02 3.28456772e-03 9.99309765e-01 2.51863714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.97463044 meters Centerline goodness [0,1] 0.3194145501506672 Centerline is valid? [False, False] Translation: X:8.98, Y:0.37, Z:0.25 [[ 9.99281201e-01 5.25256242e-03 -3.75431953e-02 8.98429251e+00] [-5.38015860e-03 9.99980087e-01 -3.29842794e-03 3.65409397e-01] [ 3.75251225e-02 3.49804538e-03 9.99289562e-01 2.50785784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00463044 meters Centerline goodness [0,1] 0.3191174261123393 Centerline is valid? [False, False] Translation: X:8.98, Y:0.37, Z:0.25 [[ 9.99282455e-01 5.34438102e-03 -3.74968272e-02 8.98475070e+00] [-5.49033278e-03 9.99977744e-01 -3.79048446e-03 3.69998688e-01] [ 3.74757348e-02 3.99363468e-03 9.99289558e-01 2.49894268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.03463044 meters Centerline goodness [0,1] 0.3238529124633909 Centerline is valid? [False, False] Translation: X:8.98, Y:0.37, Z:0.25 [[ 9.99292864e-01 5.23862821e-03 -3.72334411e-02 8.98403427e+00] [-5.39800047e-03 9.99976690e-01 -4.18111392e-03 3.72319456e-01] [ 3.72106698e-02 4.37914344e-03 9.99297848e-01 2.50003153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06463044 meters Centerline goodness [0,1] 0.32208151445736266 Centerline is valid? [False, False] Translation: X:8.98, Y:0.38, Z:0.25 [[ 9.99294537e-01 5.06826856e-03 -3.72121086e-02 8.98393231e+00] [-5.24555506e-03 9.99975346e-01 -4.66812850e-03 3.75080546e-01] [ 3.71875318e-02 4.86003347e-03 9.99296486e-01 2.49972775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09463044 meters Centerline goodness [0,1] 0.3213879286281751 Centerline is valid? [False, False] Translation: X:9.00, Y:0.39, Z:0.25 [[ 9.99261021e-01 -1.81171958e-03 -3.83943996e-02 9.00191062e+00] [ 1.65602043e-03 9.99990278e-01 -4.08667164e-03 3.86842161e-01] [ 3.84014303e-02 4.02006976e-03 9.99254307e-01 2.52751283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12463044 meters Centerline goodness [0,1] 0.32405553761704875 Centerline is valid? [False, False] Translation: X:9.00, Y:0.39, Z:0.25 [[ 9.99256796e-01 -1.91108069e-03 -3.84993962e-02 9.00205377e+00] [ 1.74316282e-03 9.99988824e-01 -4.39466730e-03 3.88975039e-01] [ 3.85073645e-02 4.32429045e-03 9.99248960e-01 2.52877509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15463043999998 meters Centerline goodness [0,1] 0.32440598226039663 Centerline is valid? [False, False] Translation: X:9.00, Y:0.39, Z:0.25 [[ 9.99255069e-01 -1.96600094e-03 -3.85414229e-02 9.00202405e+00] [ 1.78851711e-03 9.99987641e-01 -4.63895294e-03 3.90981906e-01] [ 3.85500667e-02 4.56656525e-03 9.99246235e-01 2.53049610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18463043999998 meters Centerline goodness [0,1] 0.32501232081253084 Centerline is valid? [False, False] Translation: X:9.00, Y:0.39, Z:0.25 [[ 9.99246613e-01 -2.27613562e-03 -3.87430814e-02 9.00302098e+00] [ 2.07604816e-03 9.99984305e-01 -5.20391764e-03 3.94343904e-01] [ 3.87543182e-02 5.11956457e-03 9.99235654e-01 2.52412531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21463043999998 meters Centerline goodness [0,1] 0.3257392458728562 Centerline is valid? [False, False] Translation: X:9.00, Y:0.40, Z:0.25 [[ 9.99239336e-01 -2.48627258e-03 -3.89174451e-02 9.00358525e+00] [ 2.27461232e-03 9.99982387e-01 -5.48203212e-03 3.95370503e-01] [ 3.89303894e-02 5.38934004e-03 9.99227391e-01 2.52221081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24463043999998 meters Centerline goodness [0,1] 0.32689962125264804 Centerline is valid? [False, False] Translation: X:9.00, Y:0.40, Z:0.25 [[ 9.99229717e-01 -2.72224606e-03 -3.91479554e-02 9.00425232e+00] [ 2.49995805e-03 9.99980481e-01 -5.72598362e-03 3.95948809e-01] [ 3.91627788e-02 5.62370475e-03 9.99217019e-01 2.52112244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27463043999998 meters Centerline goodness [0,1] 0.3297718803179458 Centerline is valid? [False, False] Translation: X:9.00, Y:0.40, Z:0.25 [[ 9.99220482e-01 -2.98696422e-03 -3.93637659e-02 9.00476596e+00] [ 2.75440685e-03 9.99978441e-01 -5.96081380e-03 3.96323212e-01] [ 3.93807220e-02 5.84774341e-03 9.99207167e-01 2.52157500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30463043999998 meters Centerline goodness [0,1] 0.3314691656590084 Centerline is valid? [False, False] Translation: X:9.00, Y:0.40, Z:0.25 [[ 9.99216923e-01 -3.74691362e-03 -3.93890935e-02 9.00451481e+00] [ 3.49518454e-03 9.99973040e-01 -6.45775364e-03 3.96402659e-01] [ 3.94122282e-02 6.31502458e-03 9.99203081e-01 2.52702166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33463043999998 meters Centerline goodness [0,1] 0.33759262881109153 Centerline is valid? [False, False] Translation: X:9.00, Y:0.40, Z:0.25 [[ 9.99216733e-01 -3.81909391e-03 -3.93869923e-02 9.00448899e+00] [ 3.57098715e-03 9.99973350e-01 -6.36763586e-03 3.95564166e-01] [ 3.94102613e-02 6.22199785e-03 9.99203742e-01 2.52801237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36463043999998 meters Centerline goodness [0,1] 0.3339085046265341 Centerline is valid? [False, False] Translation: X:9.00, Y:0.39, Z:0.25 [[ 9.99211713e-01 -3.86134586e-03 -3.95100370e-02 9.00474374e+00] [ 3.61763592e-03 9.99974000e-01 -6.23794092e-03 3.94476111e-01] [ 3.95330966e-02 6.09009070e-03 9.99199702e-01 2.52916855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39463044 meters Centerline goodness [0,1] 0.3330253545337344 Centerline is valid? [False, False] Translation: X:9.01, Y:0.39, Z:0.25 [[ 9.99201092e-01 -3.98365749e-03 -3.97656590e-02 9.00527637e+00] [ 3.75394737e-03 9.99975845e-01 -5.84959358e-03 3.91265936e-01] [ 3.97880012e-02 5.69564210e-03 9.99191911e-01 2.53157079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42463044 meters Centerline goodness [0,1] 0.33347600907417707 Centerline is valid? [False, False] Translation: X:9.01, Y:0.39, Z:0.25 [[ 9.99196461e-01 -3.82454283e-03 -3.98974412e-02 9.00542247e+00] [ 3.61374039e-03 9.99979135e-01 -5.35438907e-03 3.88622515e-01] [ 3.99170868e-02 5.20590761e-03 9.99189434e-01 2.53457291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45463044 meters Centerline goodness [0,1] 0.329855195911414 Centerline is valid? [False, False] Translation: X:9.01, Y:0.39, Z:0.25 [[ 9.99192571e-01 -3.61844522e-03 -4.00139016e-02 9.00559962e+00] [ 3.42932887e-03 9.99982629e-01 -4.79389463e-03 3.85608307e-01] [ 4.00305530e-02 4.65280307e-03 9.99187623e-01 2.53690714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48463044 meters Centerline goodness [0,1] 0.3324867137643267 Centerline is valid? [False, False] Translation: X:9.01, Y:0.38, Z:0.25 [[ 9.99195209e-01 -3.45679363e-03 -3.99622881e-02 9.00535171e+00] [ 3.28836203e-03 9.99985435e-01 -4.27972719e-03 3.82418405e-01] [ 3.99765002e-02 4.14487244e-03 9.99192023e-01 2.53912982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51463044 meters Centerline goodness [0,1] 0.3412393301622467 Centerline is valid? [False, False] Translation: X:8.98, Y:0.37, Z:0.25 [[ 9.99299556e-01 1.34336524e-03 -3.73977538e-02 8.98246319e+00] [-1.58053814e-03 9.99978823e-01 -6.31305995e-03 3.68845203e-01] [ 3.73884811e-02 6.36774659e-03 9.99280518e-01 2.52609867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54463044 meters Centerline goodness [0,1] 0.3376522749774009 Centerline is valid? [False, False] Translation: X:9.00, Y:0.37, Z:0.25 [[ 9.99327754e-01 -6.40000787e-03 -3.60982047e-02 9.00243462e+00] [ 6.22124142e-03 9.99967834e-01 -5.06237881e-03 3.67561599e-01] [ 3.61294428e-02 4.83440000e-03 9.99335425e-01 2.53846738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57463044 meters Centerline goodness [0,1] 0.34104755548857935 Centerline is valid? [False, False] Translation: X:9.00, Y:0.36, Z:0.25 [[ 9.99325734e-01 -6.13701963e-03 -3.61996404e-02 9.00267059e+00] [ 5.98589537e-03 9.99972918e-01 -4.28164870e-03 3.62968877e-01] [ 3.62249366e-02 4.06207448e-03 9.99335406e-01 2.53920855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60463044 meters Centerline goodness [0,1] 0.3420054317368625 Centerline is valid? [False, False] Translation: X:9.00, Y:0.36, Z:0.25 [[ 9.99319763e-01 -5.73135047e-03 -3.64302441e-02 9.00333997e+00] [ 5.61437990e-03 9.99978753e-01 -3.31230030e-03 3.57983604e-01] [ 3.64484541e-02 3.10551392e-03 9.99330709e-01 2.53834452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63463044 meters Centerline goodness [0,1] 0.3384913375659099 Centerline is valid? [False, False] Translation: X:9.00, Y:0.35, Z:0.25 [[ 9.99309244e-01 -5.29164426e-03 -3.67836064e-02 9.00442741e+00] [ 5.22962580e-03 9.99984738e-01 -1.78204645e-03 3.45682293e-01] [ 3.67924750e-02 1.58845099e-03 9.99321665e-01 2.53750109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66463044 meters Centerline goodness [0,1] 0.3380622314352961 Centerline is valid? [False, False] Translation: X:9.00, Y:0.34, Z:0.25 [[ 9.99308301e-01 -4.99952606e-03 -3.68500212e-02 9.00471053e+00] [ 4.96664435e-03 9.99987182e-01 -9.83800110e-04 3.40814960e-01] [ 3.68544674e-02 8.00098667e-04 9.99320323e-01 2.53667670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.69463044 meters Centerline goodness [0,1] 0.3385835277849797 Centerline is valid? [False, False] Translation: X:9.01, Y:0.33, Z:0.25 [[ 9.99303505e-01 -4.95268302e-03 -3.69861457e-02 9.00556919e+00] [ 4.94309597e-03 9.99987721e-01 -3.50646911e-04 3.31015788e-01] [ 3.69874282e-02 1.67576619e-04 9.99315717e-01 2.53210366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72463044 meters Centerline goodness [0,1] 0.33808228640504256 Centerline is valid? [False, False] Translation: X:9.01, Y:0.33, Z:0.25 [[ 9.99294407e-01 -4.62197889e-03 -3.72736487e-02 9.00646218e+00] [ 4.63801932e-03 9.99989185e-01 3.43885355e-04 3.27129326e-01] [ 3.72716562e-02 -5.16518615e-04 9.99305037e-01 2.53006448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.75463044 meters Centerline goodness [0,1] 0.3354366535745713 Centerline is valid? [False, False] Translation: X:9.03, Y:0.32, Z:0.26 [[ 9.99247778e-01 3.13734465e-03 -3.86527481e-02 9.02600992e+00] [-3.15911225e-03 9.99994884e-01 -5.02093557e-04 3.18711641e-01] [ 3.86509751e-02 6.23824242e-04 9.99252577e-01 2.55644169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78463044 meters Centerline goodness [0,1] 0.3346924760719344 Centerline is valid? [False, False] Translation: X:9.03, Y:0.31, Z:0.26 [[ 9.99237829e-01 3.38148793e-03 -3.88886556e-02 9.02658168e+00] [-3.37856149e-03 9.99994283e-01 1.40970346e-04 3.14658405e-01] [ 3.88889100e-02 -9.47518763e-06 9.99243540e-01 2.55647112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.81463044 meters Centerline goodness [0,1] 0.3370966001079331 Centerline is valid? [False, False] Translation: X:9.03, Y:0.30, Z:0.25 [[ 9.99193245e-01 1.76864859e-03 -4.01214521e-02 9.03055318e+00] [-1.79255933e-03 9.99998237e-01 -5.59992349e-04 3.04724465e-01] [ 4.01203909e-02 6.31460656e-04 9.99194653e-01 2.54531196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84463044 meters Centerline goodness [0,1] 0.33735979292493534 Centerline is valid? [False, False] Translation: X:9.03, Y:0.30, Z:0.25 [[ 9.99178159e-01 1.99855587e-03 -4.04847181e-02 9.03153816e+00] [-1.99462262e-03 9.99998001e-01 1.37546285e-04 3.00277731e-01] [ 4.04849121e-02 -5.66815092e-05 9.99180148e-01 2.54446216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.87463044 meters Centerline goodness [0,1] 0.3371656651988113 Centerline is valid? [False, False] Translation: X:9.03, Y:0.30, Z:0.25 [[ 9.99166527e-01 2.26106540e-03 -4.07570827e-02 9.03252597e+00] [-2.23051700e-03 9.99997196e-01 7.94981904e-04 2.96551107e-01] [ 4.07587659e-02 -7.03409942e-04 9.99168769e-01 2.54016726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90463043999998 meters Centerline goodness [0,1] 0.34046811102410157 Centerline is valid? [False, False] Translation: X:9.03, Y:0.29, Z:0.25 [[ 9.99159523e-01 2.48845820e-03 -4.09152231e-02 9.03320488e+00] [-2.43416503e-03 9.99996090e-01 1.37673214e-03 2.93296507e-01] [ 4.09184891e-02 -1.27598063e-03 9.99161673e-01 2.53680923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93463043999998 meters Centerline goodness [0,1] 0.3380915134923739 Centerline is valid? [False, False] Translation: X:9.03, Y:0.29, Z:0.25 [[ 9.99162075e-01 2.87881983e-03 -4.08272047e-02 9.03294543e+00] [-2.79015350e-03 9.99993624e-01 2.22856103e-03 2.88105174e-01] [ 4.08333600e-02 -2.11277949e-03 9.99163737e-01 2.53884626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96463043999998 meters Centerline goodness [0,1] 0.3341817092993412 Centerline is valid? [False, False] Translation: X:9.07, Y:0.29, Z:0.26 [[ 9.99247621e-01 4.45021145e-03 -3.85277517e-02 9.07437660e+00] [-4.36090174e-03 9.99987607e-01 2.40179113e-03 2.88635108e-01] [ 3.85379627e-02 -2.23196833e-03 9.99254644e-01 2.56274433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99463043999998 meters Centerline goodness [0,1] 0.33599862436591865 Centerline is valid? [False, False] Translation: X:9.07, Y:0.29, Z:0.26 [[ 9.99250658e-01 4.65220640e-03 -3.84249851e-02 9.07396502e+00] [-4.55003755e-03 9.99985878e-01 2.74593963e-03 2.87200430e-01] [ 3.84372172e-02 -2.56904686e-03 9.99257715e-01 2.56555434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02463043999998 meters Centerline goodness [0,1] 0.3373334777428788 Centerline is valid? [False, False] Translation: X:9.07, Y:0.29, Z:0.26 [[ 9.99239954e-01 5.01844920e-03 -3.86565521e-02 9.07470037e+00] [-4.89601338e-03 9.99982696e-01 3.26128854e-03 2.85254389e-01] [ 3.86722498e-02 -3.06954681e-03 9.99247234e-01 2.56322905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05463043999998 meters Centerline goodness [0,1] 0.33529513964296576 Centerline is valid? [False, False] Translation: X:9.08, Y:0.28, Z:0.26 [[ 9.99234876e-01 5.04652058e-03 -3.87839598e-02 9.07505420e+00] [-4.91849217e-03 9.99982138e-01 3.39577304e-03 2.84238840e-01] [ 3.88004039e-02 -3.20241625e-03 9.99241849e-01 2.56313871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08463043999998 meters Centerline goodness [0,1] 0.3336634302813718 Centerline is valid? [False, False] Translation: X:9.09, Y:0.29, Z:0.26 [[ 9.99235158e-01 -2.19819436e-03 -3.90418577e-02 9.09370499e+00] [ 2.37208295e-03 9.99987471e-01 4.40813715e-03 2.87758927e-01] [ 3.90316786e-02 -4.49737615e-03 9.99227853e-01 2.58813702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11463043999998 meters Centerline goodness [0,1] 0.3386832694213452 Centerline is valid? [False, False] Translation: X:9.09, Y:0.29, Z:0.26 [[ 9.99241552e-01 -2.27523440e-03 -3.88734350e-02 9.09274001e+00] [ 2.45442052e-03 9.99986580e-01 4.56237280e-03 2.86148727e-01] [ 3.88625328e-02 -4.65432423e-03 9.99233727e-01 2.59682126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14463044 meters Centerline goodness [0,1] 0.33722900092209385 Centerline is valid? [False, False] Translation: X:9.09, Y:0.28, Z:0.26 [[ 9.99286229e-01 -4.35169931e-03 -3.75246018e-02 9.08741269e+00] [ 4.47844910e-03 9.99984545e-01 3.29438424e-03 2.81152807e-01] [ 3.75096857e-02 -3.46008483e-03 9.99290274e-01 2.62429705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17463044 meters Centerline goodness [0,1] 0.3381813501512324 Centerline is valid? [False, False] Translation: X:9.09, Y:0.28, Z:0.26 [[ 9.99294836e-01 -4.48906437e-03 -3.72784062e-02 9.08664094e+00] [ 4.62667614e-03 9.99982795e-01 3.60601357e-03 2.78612489e-01] [ 3.72615772e-02 -3.77594585e-03 9.99298412e-01 2.62856939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20463044 meters Centerline goodness [0,1] 0.3400882004947833 Centerline is valid? [False, False] Translation: X:9.09, Y:0.28, Z:0.26 [[ 9.99297404e-01 -4.69402324e-03 -3.71842033e-02 9.08632335e+00] [ 4.84189753e-03 9.99980721e-01 3.88775009e-03 2.75920495e-01] [ 3.71652372e-02 -4.06506067e-03 9.99300866e-01 2.63168962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23463044 meters Centerline goodness [0,1] 0.33673709673966556 Centerline is valid? [False, False] Translation: X:9.09, Y:0.27, Z:0.26 [[ 9.99284046e-01 -4.89587754e-03 -3.75156701e-02 9.08700047e+00] [ 5.05459891e-03 9.99978667e-01 4.13712324e-03 2.73257197e-01] [ 3.74946149e-02 -4.32378791e-03 9.99287476e-01 2.63451042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26463044 meters Centerline goodness [0,1] 0.33673709673966556 Centerline is valid? [False, False] Translation: X:9.09, Y:0.27, Z:0.26 [[ 9.99284046e-01 -4.89587754e-03 -3.75156701e-02 9.08700047e+00] [ 5.05459891e-03 9.99978667e-01 4.13712324e-03 2.73257197e-01] [ 3.74946149e-02 -4.32378791e-03 9.99287476e-01 2.63451042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29463044 meters Centerline goodness [0,1] 0.3378812372022847 Centerline is valid? [False, False] Translation: X:9.09, Y:0.27, Z:0.26 [[ 9.99250713e-01 -8.40929515e-03 -3.77795727e-02 9.08791742e+00] [ 8.46517283e-03 9.99963299e-01 1.31932311e-03 2.69498888e-01] [ 3.77670916e-02 -1.63814517e-03 9.99285226e-01 2.63338564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32463044 meters Centerline goodness [0,1] 0.34042507142238765 Centerline is valid? [False, False] Translation: X:9.09, Y:0.27, Z:0.26 [[ 9.99242368e-01 -8.43434671e-03 -3.79941087e-02 9.08869242e+00] [ 8.49593639e-03 9.99962843e-01 1.45986523e-03 2.68413768e-01] [ 3.79803839e-02 -1.78155472e-03 9.99276897e-01 2.63044638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35463044 meters Centerline goodness [0,1] 0.3377860128409531 Centerline is valid? [False, False] Translation: X:9.11, Y:0.26, Z:0.26 [[ 9.99260912e-01 -4.72747052e-04 -3.84370361e-02 9.10781511e+00] [ 4.77683212e-04 9.99999879e-01 1.19238308e-04 2.64969225e-01] [ 3.84369750e-02 -1.37510908e-04 9.99261017e-01 2.64932679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38463044 meters Centerline goodness [0,1] 0.33628776606068445 Centerline is valid? [False, False] Translation: X:9.11, Y:0.27, Z:0.26 [[ 9.99251373e-01 -4.64455269e-04 -3.86843470e-02 9.10915243e+00] [ 4.60800387e-04 9.99999888e-01 -1.03395764e-04 2.66734564e-01] [ 3.86843907e-02 8.54925970e-05 9.99251475e-01 2.63911833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.41463044 meters Centerline goodness [0,1] 0.33774206750963964 Centerline is valid? [False, False] Translation: X:9.11, Y:0.27, Z:0.26 [[ 9.99245768e-01 -4.70471716e-04 -3.88287786e-02 9.10959313e+00] [ 4.60697576e-04 9.99999860e-01 -2.60671260e-04 2.67870288e-01] [ 3.88288958e-02 2.42586329e-04 9.99245845e-01 2.63758200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44463044 meters Centerline goodness [0,1] 0.3345763369473843 Centerline is valid? [False, False] Translation: X:9.11, Y:0.27, Z:0.26 [[ 9.99242756e-01 -5.45117426e-04 -3.89052381e-02 9.10975608e+00] [ 5.30931187e-04 9.99999789e-01 -3.74966697e-04 2.68338600e-01] [ 3.89054343e-02 3.54026751e-04 9.99242834e-01 2.63808537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.47463044 meters Centerline goodness [0,1] 0.3368758470838801 Centerline is valid? [False, False] Translation: X:9.11, Y:0.27, Z:0.26 [[ 9.99249237e-01 -1.03036003e-03 -3.87285524e-02 9.10884794e+00] [ 1.01435310e-03 9.99999392e-01 -4.32958185e-04 2.66461210e-01] [ 3.87289750e-02 3.93348709e-04 9.99249674e-01 2.64552809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50463044 meters Centerline goodness [0,1] 0.33597963498295724 Centerline is valid? [False, False] Translation: X:9.11, Y:0.26, Z:0.26 [[ 9.99245820e-01 -1.16705754e-03 -3.88127431e-02 9.10889323e+00] [ 1.16320628e-03 9.99999316e-01 -1.21808624e-04 2.63862877e-01] [ 3.88128587e-02 7.65695319e-05 9.99246494e-01 2.64851760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.53463044 meters Centerline goodness [0,1] 0.33602977560723735 Centerline is valid? [False, False] Translation: X:9.11, Y:0.26, Z:0.26 [[ 9.99238472e-01 -1.37348857e-03 -3.89947288e-02 9.10934659e+00] [ 1.38272103e-03 9.99999022e-01 2.09793101e-04 2.60661706e-01] [ 3.89944026e-02 -2.63552170e-04 9.99239394e-01 2.64903084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56463044 meters Centerline goodness [0,1] 0.33479472172429436 Centerline is valid? [False, False] Translation: X:9.11, Y:0.26, Z:0.26 [[ 9.99230330e-01 -1.63052259e-03 -3.91929812e-02 9.10992006e+00] [ 1.65108779e-03 9.99998516e-01 4.92354260e-04 2.57311575e-01] [ 3.91921202e-02 -5.56686363e-04 9.99231539e-01 2.64831695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59463044 meters Centerline goodness [0,1] 0.3333763329893361 Centerline is valid? [False, False] Translation: X:9.11, Y:0.25, Z:0.26 [[ 9.99198632e-01 -5.26897612e-03 -3.96778528e-02 9.11171967e+00] [ 5.18341024e-03 9.99984014e-01 -2.25908076e-03 2.51680478e-01] [ 3.96891216e-02 2.05160381e-03 9.99209970e-01 2.64175067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62463044 meters Centerline goodness [0,1] 0.33164403439239387 Centerline is valid? [False, False] Translation: X:9.11, Y:0.25, Z:0.26 [[ 9.99184158e-01 -5.13029792e-03 -4.00586910e-02 9.11297871e+00] [ 5.05865379e-03 9.99985420e-01 -1.88963699e-03 2.49753589e-01] [ 4.00678014e-02 1.68545229e-03 9.99195542e-01 2.63691054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65463043999998 meters Centerline goodness [0,1] 0.3282611970815488 Centerline is valid? [False, False] Translation: X:9.11, Y:0.25, Z:0.26 [[ 9.99164400e-01 -4.90254062e-03 -4.05766871e-02 9.11444116e+00] [ 4.84308056e-03 9.99987050e-01 -1.56354457e-03 2.48795867e-01] [ 4.05838270e-02 1.36572190e-03 9.99175204e-01 2.63406671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68463043999998 meters Centerline goodness [0,1] 0.32808803420658517 Centerline is valid? [False, False] Translation: X:9.12, Y:0.25, Z:0.26 [[ 9.99149085e-01 -4.64940292e-03 -4.09815806e-02 9.11565608e+00] [ 4.59721272e-03 9.99988498e-01 -1.36765252e-03 2.48792361e-01] [ 4.09874680e-02 1.17808772e-03 9.99158966e-01 2.63064522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71463043999998 meters Centerline goodness [0,1] 0.328261524555589 Centerline is valid? [False, False] Translation: X:9.14, Y:0.25, Z:0.26 [[ 9.99136648e-01 5.10504678e-03 -4.12297989e-02 9.13697746e+00] [-5.18642841e-03 9.99984807e-01 -1.86713203e-03 2.47080992e-01] [ 4.12196407e-02 2.07935544e-03 9.99147946e-01 2.64776860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74463043999998 meters Centerline goodness [0,1] 0.32958503547624163 Centerline is valid? [False, False] Translation: X:9.14, Y:0.25, Z:0.26 [[ 9.99137619e-01 5.19433321e-03 -4.11951074e-02 9.13676830e+00] [-5.28473794e-03 9.99983860e-01 -2.08595418e-03 2.48548598e-01] [ 4.11836074e-02 2.30186064e-03 9.99148944e-01 2.64988732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77463043999998 meters Centerline goodness [0,1] 0.32906028864560255 Centerline is valid? [False, False] Translation: X:9.14, Y:0.25, Z:0.27 [[ 9.99145626e-01 5.33696164e-03 -4.09821326e-02 9.13618553e+00] [-5.43266052e-03 9.99982770e-01 -2.22412341e-03 2.49950831e-01] [ 4.09695564e-02 2.44486519e-03 9.99157404e-01 2.65130638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80463043999998 meters Centerline goodness [0,1] 0.3304912356632763 Centerline is valid? [False, False] Translation: X:9.14, Y:0.25, Z:0.27 [[ 9.99161942e-01 5.53685486e-03 -4.05556062e-02 9.13505578e+00] [-5.63340201e-03 9.99981563e-01 -2.26671780e-03 2.51154627e-01] [ 4.05423080e-02 2.49328419e-03 9.99174712e-01 2.65319028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83463043999998 meters Centerline goodness [0,1] 0.3298797729284034 Centerline is valid? [False, False] Translation: X:9.13, Y:0.25, Z:0.27 [[ 9.99167979e-01 5.59918824e-03 -4.03980058e-02 9.13473591e+00] [-5.70098013e-03 9.99980857e-01 -2.40496373e-03 2.52552327e-01] [ 4.03837667e-02 2.63327098e-03 9.99180773e-01 2.65283869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86463043999998 meters Centerline goodness [0,1] 0.33236082295988933 Centerline is valid? [False, False] Translation: X:9.14, Y:0.25, Z:0.26 [[ 9.99160061e-01 5.58165651e-03 -4.05957950e-02 9.13551659e+00] [-5.69662520e-03 9.99980083e-01 -2.71690797e-03 2.54474606e-01] [ 4.05798216e-02 2.94588496e-03 9.99171957e-01 2.64860051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89463044 meters Centerline goodness [0,1] 0.3284575330034786 Centerline is valid? [False, False] Translation: X:9.14, Y:0.25, Z:0.26 [[ 9.99151391e-01 5.50937034e-03 -4.08184448e-02 9.13618252e+00] [-5.63046041e-03 9.99980081e-01 -2.85218476e-03 2.54923331e-01] [ 4.08019180e-02 3.07959101e-03 9.99162509e-01 2.64678839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92463044 meters Centerline goodness [0,1] 0.3290926341210971 Centerline is valid? [False, False] Translation: X:9.14, Y:0.26, Z:0.26 [[ 9.99146428e-01 5.52377060e-03 -4.09377956e-02 9.13638852e+00] [-5.64684103e-03 9.99979877e-01 -2.89125489e-03 2.55468448e-01] [ 4.09210012e-02 3.11995622e-03 9.99157514e-01 2.64813228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95463044 meters Centerline goodness [0,1] 0.328043805024694 Centerline is valid? [False, False] Translation: X:9.15, Y:0.26, Z:0.27 [[ 9.99161691e-01 -1.06682227e-03 -4.09240308e-02 9.15396868e+00] [ 1.01049455e-03 9.99998514e-01 -1.39705777e-03 2.60986871e-01] [ 4.09254604e-02 1.35453310e-03 9.99161284e-01 2.67785096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98463044 meters Centerline goodness [0,1] 0.3343815287858881 Centerline is valid? [False, False] Translation: X:9.15, Y:0.26, Z:0.27 [[ 9.99177989e-01 -1.02910879e-03 -4.05251431e-02 9.15223260e+00] [ 9.75680330e-04 9.99998629e-01 -1.33815870e-03 2.60832268e-01] [ 4.05264647e-02 1.29751914e-03 9.99177623e-01 2.68995586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01463044 meters Centerline goodness [0,1] 0.334100936188529 Centerline is valid? [False, False] Translation: X:9.15, Y:0.26, Z:0.27 [[ 9.99177985e-01 -1.15414051e-03 -4.05218818e-02 9.15202757e+00] [ 1.09684872e-03 9.99998367e-01 -1.43605223e-03 2.60614207e-01] [ 4.05234730e-02 1.39042540e-03 9.99177619e-01 2.69279207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04463044 meters Centerline goodness [0,1] 0.3335411605357642 Centerline is valid? [False, False] Translation: X:9.15, Y:0.26, Z:0.27 [[ 9.99174093e-01 -1.20619661e-03 -4.06162074e-02 9.15210332e+00] [ 1.14835597e-03 9.99998293e-01 -1.44737824e-03 2.60311382e-01] [ 4.06178839e-02 1.39954097e-03 9.99173773e-01 2.69505866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07463044 meters Centerline goodness [0,1] 0.3333618898717098 Centerline is valid? [False, False] Translation: X:9.15, Y:0.26, Z:0.27 [[ 9.99174188e-01 -1.13748251e-03 -4.06158680e-02 9.15215334e+00] [ 1.08631308e-03 9.99998588e-01 -1.28188582e-03 2.59701849e-01] [ 4.06172687e-02 1.23670567e-03 9.99174013e-01 2.69453412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10463044 meters Centerline goodness [0,1] 0.3322693288202404 Centerline is valid? [False, False] Translation: X:9.15, Y:0.26, Z:0.27 [[ 9.99183092e-01 -1.05964657e-03 -4.03983433e-02 9.15180559e+00] [ 1.02727711e-03 9.99999135e-01 -8.22007137e-04 2.57022386e-01] [ 4.03991793e-02 7.79835340e-04 9.99183316e-01 2.69343097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13463044 meters Centerline goodness [0,1] 0.3324594954660708 Centerline is valid? [False, False] Translation: X:9.15, Y:0.26, Z:0.27 [[ 9.99178926e-01 -1.08160125e-03 -4.05006759e-02 9.15225190e+00] [ 1.05775109e-03 9.99999254e-01 -6.10306886e-04 2.55153513e-01] [ 4.05013058e-02 5.66966145e-04 9.99179325e-01 2.69138940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16463044 meters Centerline goodness [0,1] 0.33294036952887207 Centerline is valid? [False, False] Translation: X:9.15, Y:0.25, Z:0.27 [[ 9.99169195e-01 -1.10557983e-03 -4.07393859e-02 9.15311782e+00] [ 1.08757806e-03 9.99999301e-01 -4.64036592e-04 2.53674856e-01] [ 4.07398704e-02 4.19343806e-04 9.99169699e-01 2.68789573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.19463044 meters Centerline goodness [0,1] 0.32914271003175144 Centerline is valid? [False, False] Translation: X:9.15, Y:0.25, Z:0.27 [[ 9.99150538e-01 -7.99802894e-04 -4.12014981e-02 9.15441850e+00] [ 7.98001606e-04 9.99999680e-01 -6.01653752e-05 2.52302556e-01] [ 4.12015331e-02 2.72354053e-05 9.99150856e-01 2.68545688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22463044 meters Centerline goodness [0,1] 0.32888442811992824 Centerline is valid? [False, False] Translation: X:9.15, Y:0.25, Z:0.27 [[ 9.99149907e-01 -6.94656139e-04 -4.12186965e-02 9.15451080e+00] [ 6.94672424e-04 9.99999759e-01 -1.39277389e-05 2.52493473e-01] [ 4.12186962e-02 -1.47175928e-05 9.99150148e-01 2.68539914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.25463044 meters Centerline goodness [0,1] 0.32974032337089665 Centerline is valid? [False, False] Translation: X:9.15, Y:0.25, Z:0.27 [[ 9.99157558e-01 -6.15849387e-04 -4.10340615e-02 9.15391359e+00] [ 6.16095843e-04 9.99999810e-01 -6.63965932e-06 2.52697822e-01] [ 4.10340578e-02 -1.86468489e-05 9.99157748e-01 2.68771935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28463044 meters Centerline goodness [0,1] 0.3305749689148051 Centerline is valid? [False, False] Translation: X:9.15, Y:0.25, Z:0.27 [[ 9.99166481e-01 -4.92976551e-04 -4.08178926e-02 9.15336564e+00] [ 4.94001520e-04 9.99999878e-01 1.50245337e-05 2.53119548e-01] [ 4.08178802e-02 -3.51761115e-05 9.99166602e-01 2.68816373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.31463044 meters Centerline goodness [0,1] 0.3285561038403776 Centerline is valid? [False, False] Translation: X:9.15, Y:0.25, Z:0.27 [[ 9.99148247e-01 2.93980283e-05 -4.12647550e-02 9.15479071e+00] [-1.72350363e-05 9.99999956e-01 2.95110698e-04 2.54065303e-01] [ 4.12647619e-02 -2.94148137e-04 9.99148204e-01 2.68308329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34463044 meters Centerline goodness [0,1] 0.3310497333391146 Centerline is valid? [False, False] Translation: X:9.16, Y:0.25, Z:0.27 [[ 9.99134384e-01 9.51088166e-05 -4.15989643e-02 9.15578895e+00] [-8.25964485e-05 9.99999951e-01 3.02504173e-04 2.54334356e-01] [ 4.15989911e-02 -2.98806393e-04 9.99134343e-01 2.67987165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.37463044 meters Centerline goodness [0,1] 0.3302789875382691 Centerline is valid? [False, False] Translation: X:9.16, Y:0.25, Z:0.27 [[ 9.99125967e-01 -1.78045758e-06 -4.18007460e-02 9.15638670e+00] [ 1.17006895e-05 9.99999972e-01 2.37077232e-04 2.53985313e-01] [ 4.18007444e-02 -2.37359116e-04 9.99125939e-01 2.67860425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40463043999998 meters Centerline goodness [0,1] 0.3282695700821965 Centerline is valid? [False, False] Translation: X:9.16, Y:0.25, Z:0.27 [[ 9.99122812e-01 -1.14471134e-04 -4.18759400e-02 9.15625050e+00] [ 1.26116284e-04 9.99999954e-01 2.75445209e-04 2.52722164e-01] [ 4.18759065e-02 -2.80484830e-04 9.99122780e-01 2.68300647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43463043999998 meters Centerline goodness [0,1] 0.3302949985993492 Centerline is valid? [False, False] Translation: X:9.15, Y:0.25, Z:0.27 [[ 9.99170386e-01 -9.74885887e-04 -4.07135072e-02 9.15275493e+00] [ 9.80348639e-04 9.99999513e-01 1.14210642e-04 2.46873644e-01] [ 4.07133760e-02 -1.54029322e-04 9.99170855e-01 2.69436428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46463043999998 meters Centerline goodness [0,1] 0.3314942132373543 Centerline is valid? [False, False] Translation: X:9.15, Y:0.24, Z:0.27 [[ 9.99170808e-01 -8.31291620e-04 -4.07063356e-02 9.15274278e+00] [ 8.60637573e-04 9.99999382e-01 7.03399890e-04 2.43692047e-01] [ 4.07057258e-02 -7.37850038e-04 9.99170906e-01 2.69514875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49463043999998 meters Centerline goodness [0,1] 0.32892416225749554 Centerline is valid? [False, False] Translation: X:9.16, Y:0.24, Z:0.27 [[ 9.99125831e-01 -2.97598679e-03 -4.16979311e-02 9.15667452e+00] [ 2.95366351e-03 9.99995460e-01 -5.96954563e-04 2.36694121e-01] [ 4.16995183e-02 4.73271066e-04 9.99130085e-01 2.67990380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52463043999998 meters Centerline goodness [0,1] 0.3278628659807101 Centerline is valid? [False, False] Translation: X:9.16, Y:0.23, Z:0.27 [[ 9.99109105e-01 -2.96167562e-03 -4.20978023e-02 9.15762819e+00] [ 2.95373705e-03 9.99995606e-01 -2.50773980e-04 2.33796960e-01] [ 4.20983600e-02 1.26204729e-04 9.99113463e-01 2.68002087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55463043999998 meters Centerline goodness [0,1] 0.32814661134163214 Centerline is valid? [False, False] Translation: X:9.16, Y:0.23, Z:0.27 [[ 9.99100593e-01 -2.84349157e-03 -4.23074373e-02 9.15819850e+00] [ 2.84941770e-03 9.99995937e-01 7.97707479e-05 2.31863474e-01] [ 4.23070385e-02 -2.00250562e-04 9.99104636e-01 2.67927299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58463043999998 meters Centerline goodness [0,1] 0.3268077790910068 Centerline is valid? [False, False] Translation: X:9.16, Y:0.23, Z:0.27 [[ 9.99101123e-01 -2.64672462e-03 -4.23076970e-02 9.15844184e+00] [ 2.66530483e-03 9.99996375e-01 3.82767875e-04 2.30727990e-01] [ 4.23065306e-02 -4.95186723e-04 9.99104555e-01 2.67661262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61463043999998 meters Centerline goodness [0,1] 0.3281065406508431 Centerline is valid? [False, False] Translation: X:9.16, Y:0.23, Z:0.27 [[ 9.99128515e-01 -2.00831023e-03 -4.16914576e-02 9.15726862e+00] [ 2.04773689e-03 9.99997496e-01 9.02993539e-04 2.30172009e-01] [ 4.16895397e-02 -9.87579729e-04 9.99130125e-01 2.67393574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64463044 meters Centerline goodness [0,1] 0.3281293861069724 Centerline is valid? [False, False] Translation: X:9.16, Y:0.23, Z:0.27 [[ 9.99132330e-01 -1.91001946e-03 -4.16045635e-02 9.15710341e+00] [ 1.94915651e-03 9.99997695e-01 9.00147092e-04 2.30532120e-01] [ 4.16027483e-02 -9.80459866e-04 9.99133750e-01 2.67304448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67463044 meters Centerline goodness [0,1] 0.3282327586206897 Centerline is valid? [False, False] Translation: X:9.16, Y:0.23, Z:0.27 [[ 9.99126982e-01 -1.82081437e-03 -4.17367696e-02 9.15761648e+00] [ 1.85880562e-03 9.99997893e-01 8.71469291e-04 2.31135553e-01] [ 4.17350948e-02 -9.48289024e-04 9.99128261e-01 2.67062533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70463044 meters Centerline goodness [0,1] 0.32671565467749564 Centerline is valid? [False, False] Translation: X:9.16, Y:0.23, Z:0.27 [[ 9.99117537e-01 -1.76697664e-03 -4.19645600e-02 9.15825680e+00] [ 1.80033455e-03 9.99998093e-01 7.57128200e-04 2.32203588e-01] [ 4.19631421e-02 -8.32010310e-04 9.99118813e-01 2.66876950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73463044 meters Centerline goodness [0,1] 0.3268130492043958 Centerline is valid? [False, False] Translation: X:9.16, Y:0.23, Z:0.27 [[ 9.99121039e-01 -1.75543335e-03 -4.18815898e-02 9.15830103e+00] [ 1.77931047e-03 9.99998275e-01 5.32840444e-04 2.33774005e-01] [ 4.18805822e-02 -6.06892450e-04 9.99122439e-01 2.66510395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76463044 meters Centerline goodness [0,1] 0.32898769695661556 Centerline is valid? [False, False] Translation: X:9.16, Y:0.23, Z:0.27 [[ 9.99128783e-01 -1.79211087e-03 -4.16948840e-02 9.15784607e+00] [ 1.81052886e-03 9.99998279e-01 4.03975469e-04 2.34491980e-01] [ 4.16940883e-02 -4.79113309e-04 9.99130309e-01 2.66504303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79463044 meters Centerline goodness [0,1] 0.32827087725336657 Centerline is valid? [False, False] Translation: X:9.16, Y:0.23, Z:0.27 [[ 9.99131889e-01 -1.75124867e-03 -4.16221191e-02 9.15761893e+00] [ 1.77097087e-03 9.99998336e-01 4.36972307e-04 2.34667292e-01] [ 4.16212846e-02 -5.10304527e-04 9.99133329e-01 2.66591779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82463044 meters Centerline goodness [0,1] 0.3302776152395813 Centerline is valid? [False, False] Translation: X:9.16, Y:0.23, Z:0.27 [[ 9.99136844e-01 -1.69866849e-03 -4.15051888e-02 9.15733694e+00] [ 1.72173905e-03 9.99998383e-01 5.20108013e-04 2.34549591e-01] [ 4.15042382e-02 -5.91120183e-04 9.99138153e-01 2.66611108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85463044 meters Centerline goodness [0,1] 0.3276288881713486 Centerline is valid? [False, False] Translation: X:9.16, Y:0.23, Z:0.27 [[ 9.99129418e-01 -1.68691529e-03 -4.16840604e-02 9.15763727e+00] [ 1.71443298e-03 9.99998335e-01 6.24409865e-04 2.33970628e-01] [ 4.16829377e-02 -6.95330793e-04 9.99130647e-01 2.66812157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88463044 meters Centerline goodness [0,1] 0.32899065096952906 Centerline is valid? [False, False] Translation: X:9.16, Y:0.23, Z:0.27 [[ 9.99118419e-01 -1.65134909e-03 -4.19482667e-02 9.15839388e+00] [ 1.68486105e-03 9.99998289e-01 7.63546085e-04 2.33267160e-01] [ 4.19469340e-02 -8.33549958e-04 9.99119492e-01 2.66667188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91463044 meters Centerline goodness [0,1] 0.3261146496815287 Centerline is valid? [False, False] Translation: X:9.16, Y:0.23, Z:0.27 [[ 9.99107955e-01 -1.52089453e-03 -4.22016800e-02 9.15929537e+00] [ 1.56874733e-03 9.99998164e-01 1.10081414e-03 2.31869862e-01] [ 4.21999283e-02 -1.16603593e-03 9.99108506e-01 2.66352431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94463044 meters Centerline goodness [0,1] 0.3245489994429447 Centerline is valid? [False, False] Translation: X:9.16, Y:0.23, Z:0.27 [[ 9.99109134e-01 -1.50586143e-03 -4.21742856e-02 9.15929968e+00] [ 1.55608336e-03 9.99998119e-01 1.15801609e-03 2.31421599e-01] [ 4.21724624e-02 -1.22261116e-03 9.99109598e-01 2.66286508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.97463044 meters Centerline goodness [0,1] 0.32536677709417894 Centerline is valid? [False, False] Translation: X:9.16, Y:0.23, Z:0.27 [[ 9.99114814e-01 -1.52083428e-03 -4.20389777e-02 9.15899659e+00] [ 1.57250259e-03 9.99998048e-01 1.19601668e-03 2.30987932e-01] [ 4.20370767e-02 -1.26106439e-03 9.99115256e-01 2.66275493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00463044 meters Centerline goodness [0,1] 0.32499625580350455 Centerline is valid? [False, False] Translation: X:9.16, Y:0.23, Z:0.27 [[ 9.99105550e-01 -1.62065153e-03 -4.22548641e-02 9.15960644e+00] [ 1.67055669e-03 9.99997948e-01 1.14576768e-03 2.30607905e-01] [ 4.22529205e-02 -1.21533199e-03 9.99106207e-01 2.66211044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.03463044 meters Centerline goodness [0,1] 0.33117841027421036 Centerline is valid? [False, False] Translation: X:9.16, Y:0.23, Z:0.27 [[ 9.99079735e-01 -1.66611523e-03 -4.28591468e-02 9.16127379e+00] [ 1.72408775e-03 9.99997648e-01 1.31570096e-03 2.28824847e-01] [ 4.28568539e-02 -1.38838310e-03 9.99080258e-01 2.65919274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06463044 meters Centerline goodness [0,1] 0.3263935238013219 Centerline is valid? [False, False] Translation: X:9.16, Y:0.23, Z:0.27 [[ 9.99069836e-01 -1.53854884e-03 -4.30940219e-02 9.16202624e+00] [ 1.60884865e-03 9.99997431e-01 1.59667775e-03 2.27550308e-01] [ 4.30914547e-02 -1.66452434e-03 9.99069745e-01 2.65715608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09463044 meters Centerline goodness [0,1] 0.3291500162004536 Centerline is valid? [False, False] Translation: X:9.16, Y:0.23, Z:0.27 [[ 9.99074155e-01 -1.40971817e-03 -4.29982030e-02 9.16203162e+00] [ 1.49294505e-03 9.99997074e-01 1.90353939e-03 2.26001163e-01] [ 4.29953938e-02 -1.96597096e-03 9.99073336e-01 2.65481041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12463044 meters Centerline goodness [0,1] 0.3281515771342448 Centerline is valid? [False, False] Translation: X:9.16, Y:0.22, Z:0.27 [[ 9.99075373e-01 -1.38498304e-03 -4.29707084e-02 9.16201124e+00] [ 1.47901210e-03 9.99996581e-01 2.15649826e-03 2.23982650e-01] [ 4.29675748e-02 -2.21805850e-03 9.99074005e-01 2.65466767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15463043999998 meters Centerline goodness [0,1] 0.323964814417507 Centerline is valid? [False, False] Translation: X:9.16, Y:0.22, Z:0.27 [[ 9.99046037e-01 -2.42664318e-03 -4.36019093e-02 9.16390799e+00] [ 2.50034940e-03 9.99995536e-01 1.63597924e-03 2.17986561e-01] [ 4.35977447e-02 -1.74343858e-03 9.99047645e-01 2.65151585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18463043999998 meters Centerline goodness [0,1] 0.323964814417507 Centerline is valid? [False, False] Translation: X:9.16, Y:0.22, Z:0.27 [[ 9.99046037e-01 -2.42664318e-03 -4.36019093e-02 9.16390799e+00] [ 2.50034940e-03 9.99995536e-01 1.63597924e-03 2.17986561e-01] [ 4.35977447e-02 -1.74343858e-03 9.99047645e-01 2.65151585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21463043999998 meters Centerline goodness [0,1] 0.32915143518418377 Centerline is valid? [False, False] Translation: X:9.16, Y:0.22, Z:0.26 [[ 9.99042929e-01 -2.31049209e-03 -4.36793672e-02 9.16425394e+00] [ 2.39850450e-03 9.99995198e-01 1.96266514e-03 2.16215437e-01] [ 4.36746227e-02 -2.06555189e-03 9.99043673e-01 2.64961239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24463043999998 meters Centerline goodness [0,1] 0.32900750194015693 Centerline is valid? [False, False] Translation: X:9.16, Y:0.21, Z:0.26 [[ 9.99042881e-01 -2.14049045e-03 -4.36891269e-02 9.16433051e+00] [ 2.24338484e-03 9.99994824e-01 2.30625516e-03 2.14743536e-01] [ 4.36839643e-02 -2.40205932e-03 9.99042512e-01 2.64960914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27463043999998 meters Centerline goodness [0,1] 0.3310364194064026 Centerline is valid? [False, False] Translation: X:9.16, Y:0.21, Z:0.27 [[ 9.99047592e-01 -2.05123669e-03 -4.35855622e-02 9.16406529e+00] [ 2.16216632e-03 9.99994542e-01 2.49811081e-03 2.13815840e-01] [ 4.35802001e-02 -2.58997082e-03 9.99046575e-01 2.65043570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30463043999998 meters Centerline goodness [0,1] 0.3322493929934096 Centerline is valid? [False, False] Translation: X:9.16, Y:0.21, Z:0.27 [[ 9.99062294e-01 -2.01106550e-03 -4.32491310e-02 9.16296595e+00] [ 2.12788783e-03 9.99994211e-01 2.65528220e-03 2.12417772e-01] [ 4.32435406e-02 -2.74482162e-03 9.99060790e-01 2.65560986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33463043999998 meters Centerline goodness [0,1] 0.33620000432161457 Centerline is valid? [False, False] Translation: X:9.16, Y:0.21, Z:0.27 [[ 9.99069780e-01 -1.90895306e-03 -4.30805091e-02 9.16227345e+00] [ 2.03073825e-03 9.99994065e-01 2.78333506e-03 2.12085105e-01] [ 4.30749402e-02 -2.86823119e-03 9.99067727e-01 2.66014720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36463043999998 meters Centerline goodness [0,1] 0.3312568944260593 Centerline is valid? [False, False] Translation: X:9.16, Y:0.21, Z:0.27 [[ 9.99083280e-01 -1.77195904e-03 -4.27721814e-02 9.16156331e+00] [ 1.89546653e-03 9.99994150e-01 2.84718340e-03 2.12514138e-01] [ 4.27668862e-02 -2.92564657e-03 9.99080795e-01 2.66046950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39463044 meters Centerline goodness [0,1] 0.3288542987981855 Centerline is valid? [False, False] Translation: X:9.18, Y:0.21, Z:0.27 [[ 9.99088159e-01 6.84114138e-03 -4.21431993e-02 9.18032374e+00] [-6.78632745e-03 9.99975931e-01 1.44358552e-03 2.10846353e-01] [ 4.21520607e-02 -1.15627165e-03 9.99110538e-01 2.67996466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42463044 meters Centerline goodness [0,1] 0.3329433684301746 Centerline is valid? [False, False] Translation: X:9.18, Y:0.21, Z:0.27 [[ 9.99060690e-01 6.88189597e-03 -4.27829150e-02 9.18248150e+00] [-6.84744554e-03 9.99976103e-01 9.51731633e-04 2.14067770e-01] [ 4.27884424e-02 -6.57883981e-04 9.99083939e-01 2.67037749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45463044 meters Centerline goodness [0,1] 0.3306262993762994 Centerline is valid? [False, False] Translation: X:9.18, Y:0.22, Z:0.27 [[ 9.99049836e-01 6.80592270e-03 -4.30477059e-02 9.18332015e+00] [-6.78576539e-03 9.99976788e-01 6.14362944e-04 2.16007916e-01] [ 4.30508880e-02 -3.21667565e-04 9.99072829e-01 2.66719127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48463044 meters Centerline goodness [0,1] 0.3304195425925526 Centerline is valid? [False, False] Translation: X:9.18, Y:0.22, Z:0.27 [[ 9.99054166e-01 6.87062412e-03 -4.29367847e-02 9.18316121e+00] [-6.85745558e-03 9.99976384e-01 4.53976456e-04 2.17663326e-01] [ 4.29388898e-02 -1.59109976e-04 9.99077688e-01 2.66546736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51463044 meters Centerline goodness [0,1] 0.32888236943719396 Centerline is valid? [False, False] Translation: X:9.18, Y:0.22, Z:0.27 [[ 9.99064691e-01 6.90055168e-03 -4.26863668e-02 9.18254967e+00] [-6.89547468e-03 9.99976191e-01 2.66176433e-04 2.19505483e-01] [ 4.26871872e-02 2.84152859e-05 9.99088486e-01 2.66596932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54463044 meters Centerline goodness [0,1] 0.3307086614173228 Centerline is valid? [False, False] Translation: X:9.18, Y:0.22, Z:0.27 [[ 9.99072110e-01 6.85599533e-03 -4.25195711e-02 9.18227631e+00] [-6.86079304e-03 9.99976464e-01 3.30903795e-05 2.20937783e-01] [ 4.25187972e-02 2.58658302e-04 9.99095634e-01 2.66437685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57463044 meters Centerline goodness [0,1] 0.33111748348974623 Centerline is valid? [False, False] Translation: X:9.18, Y:0.22, Z:0.27 [[ 9.99055513e-01 6.47746268e-03 -4.29665534e-02 9.18394420e+00] [-6.51174738e-03 9.99978582e-01 -6.58027427e-04 2.23554540e-01] [ 4.29613707e-02 9.37193270e-04 9.99076295e-01 2.65563329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60463044 meters Centerline goodness [0,1] 0.3282131389395123 Centerline is valid? [False, False] Translation: X:9.19, Y:0.22, Z:0.27 [[ 9.99035504e-01 6.36930374e-03 -4.34453007e-02 9.18538400e+00] [-6.41424168e-03 9.99979028e-01 -8.95033620e-04 2.24798316e-01] [ 4.34386888e-02 1.17283902e-03 9.99055406e-01 2.65091008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63463044 meters Centerline goodness [0,1] 0.32810908066159417 Centerline is valid? [False, False] Translation: X:9.19, Y:0.23, Z:0.26 [[ 9.99029935e-01 6.34435963e-03 -4.35768142e-02 9.18580889e+00] [-6.39557088e-03 9.99979012e-01 -1.03587857e-03 2.26050651e-01] [ 4.35693276e-02 1.31357230e-03 9.99049542e-01 2.64954523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66463044 meters Centerline goodness [0,1] 0.3269538514770123 Centerline is valid? [False, False] Translation: X:9.19, Y:0.23, Z:0.27 [[ 9.99033459e-01 6.33775570e-03 -4.34968933e-02 9.18547551e+00] [-6.39242970e-03 9.99978943e-01 -1.11798581e-03 2.26983148e-01] [ 4.34888919e-02 1.39495606e-03 9.99052937e-01 2.65235808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.69463044 meters Centerline goodness [0,1] 0.32624986502537523 Centerline is valid? [False, False] Translation: X:9.18, Y:0.23, Z:0.27 [[ 9.99069097e-01 6.21861862e-03 -4.26880272e-02 9.18303677e+00] [-6.28091129e-03 9.99979397e-01 -1.32528693e-03 2.28221636e-01] [ 4.26789062e-02 1.59217293e-03 9.99087572e-01 2.66105553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72463044 meters Centerline goodness [0,1] 0.3302285281057078 Centerline is valid? [False, False] Translation: X:9.18, Y:0.23, Z:0.27 [[ 9.99089770e-01 6.14177628e-03 -4.22126752e-02 9.18168364e+00] [-6.20584487e-03 9.99979782e-01 -1.38688259e-03 2.28419147e-01] [ 4.22033038e-02 1.64758553e-03 9.99107685e-01 2.66471022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.75463044 meters Centerline goodness [0,1] 0.32997796690715864 Centerline is valid? [False, False] Translation: X:9.18, Y:0.23, Z:0.27 [[ 9.99097161e-01 6.14986295e-03 -4.20361996e-02 9.18107267e+00] [-6.21378480e-03 9.99979728e-01 -1.39014647e-03 2.28824671e-01] [ 4.20267982e-02 1.65009529e-03 9.99115121e-01 2.66819847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78463044 meters Centerline goodness [0,1] 0.33162922687000407 Centerline is valid? [False, False] Translation: X:9.18, Y:0.23, Z:0.27 [[ 9.99100043e-01 6.14252706e-03 -4.19687210e-02 9.18092335e+00] [-6.20742457e-03 9.99979731e-01 -1.41618786e-03 2.29151294e-01] [ 4.19591714e-02 1.67543102e-03 9.99117921e-01 2.66819728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.81463044 meters Centerline goodness [0,1] 0.32749547062375983 Centerline is valid? [False, False] Translation: X:9.18, Y:0.23, Z:0.27 [[ 9.99070507e-01 5.82449447e-03 -4.27106222e-02 9.18307784e+00] [-5.90851980e-03 9.99980849e-01 -1.84134403e-03 2.30216843e-01] [ 4.26990794e-02 2.09198907e-03 9.99085788e-01 2.66313003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84463044 meters Centerline goodness [0,1] 0.32812228967909796 Centerline is valid? [False, False] Translation: X:9.18, Y:0.23, Z:0.27 [[ 9.99053446e-01 5.70953343e-03 -4.31232359e-02 9.18437790e+00] [-5.80592151e-03 9.99980919e-01 -2.11026403e-03 2.31467173e-01] [ 4.31103644e-02 2.35863667e-03 9.99067532e-01 2.65857736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.87463044 meters Centerline goodness [0,1] 0.32900922862615356 Centerline is valid? [False, False] Translation: X:9.18, Y:0.23, Z:0.27 [[ 9.99049717e-01 5.72928952e-03 -4.32069227e-02 9.18473424e+00] [-5.83468278e-03 9.99980302e-01 -2.31355343e-03 2.33239841e-01] [ 4.31928165e-02 2.56345359e-03 9.99063466e-01 2.65618930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90463043999998 meters Centerline goodness [0,1] 0.32507047102618725 Centerline is valid? [False, False] Translation: X:9.20, Y:0.24, Z:0.27 [[ 9.99078900e-01 -5.03591746e-04 -4.29080132e-02 9.20244795e+00] [ 4.62087814e-04 9.99999416e-01 -9.77189671e-04 2.41185293e-01] [ 4.29084802e-02 9.56462312e-04 9.99078549e-01 2.67933049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93463043999998 meters Centerline goodness [0,1] 0.3252106090965893 Centerline is valid? [False, False] Translation: X:9.20, Y:0.25, Z:0.27 [[ 9.99134139e-01 1.39491229e-03 -4.15815750e-02 9.19732388e+00] [-1.38391171e-03 9.99998999e-01 2.93338199e-04 2.46472871e-01] [ 4.15819426e-02 -2.35538980e-04 9.99135069e-01 2.70107281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96463043999998 meters Centerline goodness [0,1] 0.32594569006326113 Centerline is valid? [False, False] Translation: X:9.20, Y:0.25, Z:0.27 [[ 9.99156124e-01 1.40386360e-03 -4.10495976e-02 9.19591610e+00] [-1.40957603e-03 9.99999000e-01 -1.10216218e-04 2.49410385e-01] [ 4.10494018e-02 1.67985738e-04 9.99157104e-01 2.70309266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99463043999998 meters Centerline goodness [0,1] 0.32306703790961666 Centerline is valid? [False, False] Translation: X:9.20, Y:0.25, Z:0.27 [[ 9.99161111e-01 1.31196104e-03 -4.09310678e-02 9.19571735e+00] [-1.34010631e-03 9.99998884e-01 -6.60196175e-04 2.52906907e-01] [ 4.09301560e-02 7.14494326e-04 9.99161755e-01 2.70105851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02463043999998 meters Centerline goodness [0,1] 0.32108033480024156 Centerline is valid? [False, False] Translation: X:9.20, Y:0.26, Z:0.27 [[ 9.99128240e-01 4.14696649e-03 -4.15398817e-02 9.19813228e+00] [-4.09819445e-03 9.99990810e-01 1.25918911e-03 2.59526545e-01] [ 4.15447217e-02 -1.08785289e-03 9.99136053e-01 2.68915340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05463043999998 meters Centerline goodness [0,1] 0.3220779779048274 Centerline is valid? [False, False] Translation: X:9.20, Y:0.26, Z:0.27 [[ 9.99122347e-01 3.99178509e-03 -4.16965315e-02 9.19872044e+00] [-3.96421958e-03 9.99991866e-01 7.43760975e-04 2.62682905e-01] [ 4.16991612e-02 -5.77814005e-04 9.99130045e-01 2.68557175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08463043999998 meters Centerline goodness [0,1] 0.31996821578902157 Centerline is valid? [False, False] Translation: X:9.20, Y:0.27, Z:0.27 [[ 9.99122270e-01 3.79081351e-03 -4.17171315e-02 9.19891557e+00] [-3.78234768e-03 9.99992807e-01 2.81861260e-04 2.65096705e-01] [ 4.17178999e-02 -1.23825167e-04 9.99129422e-01 2.68348815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11463043999998 meters Centerline goodness [0,1] 0.3203215933094796 Centerline is valid? [False, False] Translation: X:9.20, Y:0.27, Z:0.27 [[ 9.99119729e-01 3.62314608e-03 -4.17928250e-02 9.19898788e+00] [-3.62739133e-03 9.99993421e-01 -2.57460480e-05 2.66634951e-01] [ 4.17924567e-02 1.77322315e-04 9.99126298e-01 2.68477995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14463044 meters Centerline goodness [0,1] 0.3193886802227691 Centerline is valid? [False, False] Translation: X:9.20, Y:0.27, Z:0.27 [[ 9.99116276e-01 3.15263534e-03 -4.19133346e-02 9.19901722e+00] [-3.18622984e-03 9.99994654e-01 -7.34744878e-04 2.69593726e-01] [ 4.19107941e-02 8.67641084e-04 9.99120980e-01 2.68855669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17463044 meters Centerline goodness [0,1] 0.3209425321953002 Centerline is valid? [False, False] Translation: X:9.20, Y:0.27, Z:0.27 [[ 9.99115033e-01 2.95089404e-03 -4.19576224e-02 9.19919825e+00] [-2.99982615e-03 9.99994892e-01 -1.10331398e-03 2.71372380e-01] [ 4.19541524e-02 1.22820315e-03 9.99118782e-01 2.68764689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20463044 meters Centerline goodness [0,1] 0.319968842633663 Centerline is valid? [False, False] Translation: X:9.20, Y:0.27, Z:0.27 [[ 9.99113688e-01 2.82423568e-03 -4.19983518e-02 9.19931799e+00] [-2.88560022e-03 9.99994856e-01 -1.40056758e-03 2.73147757e-01] [ 4.19941802e-02 1.52051670e-03 9.99116698e-01 2.68723680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23463044 meters Centerline goodness [0,1] 0.3190528658154558 Centerline is valid? [False, False] Translation: X:9.20, Y:0.28, Z:0.27 [[ 9.99112106e-01 2.79451195e-03 -4.20379553e-02 9.19952954e+00] [-2.86493968e-03 9.99994592e-01 -1.61518516e-03 2.75058117e-01] [ 4.20332143e-02 1.73418725e-03 9.99114709e-01 2.68562022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26463044 meters Centerline goodness [0,1] 0.3170496234794362 Centerline is valid? [False, False] Translation: X:9.20, Y:0.28, Z:0.27 [[ 9.99107526e-01 2.74679812e-03 -4.21498071e-02 9.20009894e+00] [-2.82862523e-03 9.99994229e-01 -1.88182315e-03 2.77391097e-01] [ 4.21443948e-02 1.99936968e-03 9.99109530e-01 2.68176181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29463044 meters Centerline goodness [0,1] 0.3182034838374209 Centerline is valid? [False, False] Translation: X:9.20, Y:0.28, Z:0.27 [[ 9.99086547e-01 2.51750992e-03 -4.26583429e-02 9.20172963e+00] [-2.62418931e-03 9.99993568e-01 -2.44497315e-03 2.80689775e-01] [ 4.26519133e-02 2.55468335e-03 9.99086727e-01 2.67582825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32463044 meters Centerline goodness [0,1] 0.3165988044702417 Centerline is valid? [False, False] Translation: X:9.20, Y:0.28, Z:0.27 [[ 9.99073203e-01 2.25582562e-03 -4.29842512e-02 9.20269684e+00] [-2.38144812e-03 9.99993041e-01 -2.87154214e-03 2.82205271e-01] [ 4.29774744e-02 2.97124557e-03 9.99071623e-01 2.67299579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35463044 meters Centerline goodness [0,1] 0.312936274404519 Centerline is valid? [False, False] Translation: X:9.20, Y:0.28, Z:0.27 [[ 9.99062722e-01 2.07102631e-03 -4.32364142e-02 9.20335273e+00] [-2.21181785e-03 9.99992406e-01 -3.20873447e-03 2.83675241e-01] [ 4.32294405e-02 3.30135807e-03 9.99059716e-01 2.67219731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38463044 meters Centerline goodness [0,1] 0.31668039360180333 Centerline is valid? [False, False] Translation: X:9.20, Y:0.29, Z:0.27 [[ 9.99061646e-01 1.92865383e-03 -4.32678675e-02 9.20343687e+00] [-2.08413967e-03 9.99991531e-01 -3.54874240e-03 2.85547247e-01] [ 4.32606568e-02 3.63558870e-03 9.99057205e-01 2.67212381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41463044 meters Centerline goodness [0,1] 0.31308201143150727 Centerline is valid? [False, False] Translation: X:9.22, Y:0.29, Z:0.27 [[ 9.99064734e-01 -4.85600842e-03 -4.29659917e-02 9.22152082e+00] [ 4.75227508e-03 9.99985542e-01 -2.51612428e-03 2.93532779e-01] [ 4.29775889e-02 2.30958482e-03 9.99073367e-01 2.69577146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44463044 meters Centerline goodness [0,1] 0.3158335660430047 Centerline is valid? [False, False] Translation: X:9.22, Y:0.30, Z:0.27 [[ 9.99119505e-01 -3.60927731e-03 -4.17993667e-02 9.21728980e+00] [ 3.53241307e-03 9.99991932e-01 -1.91259825e-03 3.00174067e-01] [ 4.18059325e-02 1.76326159e-03 9.99124194e-01 2.71168904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.47463044 meters Centerline goodness [0,1] 0.3149932113532036 Centerline is valid? [False, False] Translation: X:9.22, Y:0.30, Z:0.27 [[ 9.99122845e-01 -3.72062367e-03 -4.17096906e-02 9.21721325e+00] [ 3.61953278e-03 9.99990327e-01 -2.49893469e-03 3.04199730e-01] [ 4.17185848e-02 2.34577314e-03 9.99126647e-01 2.70982830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50463044 meters Centerline goodness [0,1] 0.3187881675256615 Centerline is valid? [False, False] Translation: X:9.22, Y:0.31, Z:0.27 [[ 9.99115899e-01 -3.62832627e-03 -4.18838291e-02 9.21771839e+00] [ 3.50844219e-03 9.99989537e-01 -2.93545102e-03 3.09068237e-01] [ 4.18940416e-02 2.78590879e-03 9.99118175e-01 2.70758754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.53463044 meters Centerline goodness [0,1] 0.31653774685622915 Centerline is valid? [False, False] Translation: X:9.22, Y:0.32, Z:0.27 [[ 9.99114407e-01 -3.88218181e-04 -4.20743432e-02 9.21888862e+00] [ 3.53800733e-04 9.99999597e-01 -8.25458290e-04 3.17355255e-01] [ 4.20746467e-02 8.09841336e-04 9.99114142e-01 2.69828566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56463044 meters Centerline goodness [0,1] 0.3159171648903908 Centerline is valid? [False, False] Translation: X:9.22, Y:0.32, Z:0.27 [[ 9.99117114e-01 -5.48112007e-04 -4.20082342e-02 9.21862113e+00] [ 4.87382000e-04 9.99998821e-01 -1.45589702e-03 3.21054666e-01] [ 4.20089827e-02 1.43413757e-03 9.99116204e-01 2.69954561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59463044 meters Centerline goodness [0,1] 0.3181119743761768 Centerline is valid? [False, False] Translation: X:9.22, Y:0.32, Z:0.27 [[ 9.99121658e-01 -7.36407987e-04 -4.18971461e-02 9.21807809e+00] [ 6.53664213e-04 9.99997809e-01 -1.98859135e-03 3.23846188e-01] [ 4.18985187e-02 1.95945802e-03 9.99119950e-01 2.70265449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62463044 meters Centerline goodness [0,1] 0.3193233571893299 Centerline is valid? [False, False] Translation: X:9.22, Y:0.33, Z:0.27 [[ 9.99142002e-01 -9.24305771e-04 -4.14053866e-02 9.21627202e+00] [ 8.14536687e-04 9.99996109e-01 -2.66787412e-03 3.28281672e-01] [ 4.14076915e-02 2.63185888e-03 9.99138867e-01 2.71128945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65463043999998 meters Centerline goodness [0,1] 0.32052420665005954 Centerline is valid? [False, False] Translation: X:9.22, Y:0.33, Z:0.27 [[ 9.99151793e-01 -9.59242772e-04 -4.11676466e-02 9.21555958e+00] [ 8.39509786e-04 9.99995368e-01 -2.92561348e-03 3.30361644e-01] [ 4.11702623e-02 2.88857131e-03 9.99147970e-01 2.71324063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68463043999998 meters Centerline goodness [0,1] 0.3203096203464799 Centerline is valid? [False, False] Translation: X:9.22, Y:0.33, Z:0.27 [[ 9.99156795e-01 -1.02543545e-03 -4.10444516e-02 9.21527813e+00] [ 8.93068068e-04 9.99994342e-01 -3.24318184e-03 3.32619640e-01] [ 4.10475451e-02 3.20379169e-03 9.99152058e-01 2.71272298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71463043999998 meters Centerline goodness [0,1] 0.320011252001558 Centerline is valid? [False, False] Translation: X:9.22, Y:0.33, Z:0.27 [[ 9.99159755e-01 -1.11327478e-03 -4.09700399e-02 9.21520122e+00] [ 9.68215442e-04 9.99993193e-01 -3.56029175e-03 3.34691744e-01] [ 4.09737246e-02 3.51763241e-03 9.99154032e-01 2.71132493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74463043999998 meters Centerline goodness [0,1] 0.3198347463097646 Centerline is valid? [False, False] Translation: X:9.21, Y:0.34, Z:0.27 [[ 9.99164079e-01 -1.21287326e-03 -4.08616231e-02 9.21464423e+00] [ 1.04840418e-03 9.99991264e-01 -4.04621387e-03 3.38441981e-01] [ 4.08661737e-02 3.99999206e-03 9.99156622e-01 2.71555193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77463043999998 meters Centerline goodness [0,1] 0.32164363384308803 Centerline is valid? [False, False] Translation: X:9.21, Y:0.34, Z:0.27 [[ 9.99162318e-01 -1.24942549e-03 -4.09035586e-02 9.21464223e+00] [ 1.07454075e-03 9.99990189e-01 -4.29724477e-03 3.40166074e-01] [ 4.09085264e-02 4.24969250e-03 9.99153858e-01 2.71685379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80463043999998 meters Centerline goodness [0,1] 0.3190087963956233 Centerline is valid? [False, False] Translation: X:9.22, Y:0.34, Z:0.27 [[ 9.99145081e-01 -1.31514029e-03 -4.13204151e-02 9.21581796e+00] [ 1.12306833e-03 9.99988459e-01 -4.67122396e-03 3.42638945e-01] [ 4.13260815e-02 4.62082480e-03 9.99135027e-01 2.71378442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83463043999998 meters Centerline goodness [0,1] 0.3180880773361976 Centerline is valid? [False, False] Translation: X:9.22, Y:0.35, Z:0.27 [[ 9.99122517e-01 -1.33760037e-03 -4.18617590e-02 9.21780432e+00] [ 1.12672722e-03 9.99986561e-01 -5.06055774e-03 3.45412095e-01] [ 4.18679654e-02 5.00895041e-03 9.99110596e-01 2.70357064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86463043999998 meters Centerline goodness [0,1] 0.3144601542416452 Centerline is valid? [False, False] Translation: X:9.22, Y:0.35, Z:0.27 [[ 9.99069319e-01 9.89575659e-04 -4.31221096e-02 9.22302794e+00] [-1.15335238e-03 9.99992216e-01 -3.77326197e-03 3.52959399e-01] [ 4.31180400e-02 3.81948526e-03 9.99062684e-01 2.67694340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89463044 meters Centerline goodness [0,1] 0.31582577210715745 Centerline is valid? [False, False] Translation: X:9.22, Y:0.36, Z:0.27 [[ 9.99073990e-01 9.10693946e-04 -4.30155086e-02 9.22275457e+00] [-1.09903662e-03 9.99989913e-01 -4.35503730e-03 3.56876112e-01] [ 4.30111086e-02 4.39828011e-03 9.99064913e-01 2.67643441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92463044 meters Centerline goodness [0,1] 0.31674713013625144 Centerline is valid? [False, False] Translation: X:9.22, Y:0.36, Z:0.27 [[ 9.99088728e-01 8.75023392e-04 -4.26725746e-02 9.22163140e+00] [-1.08270145e-03 9.99987682e-01 -4.84391214e-03 3.60906154e-01] [ 4.26678105e-02 4.88569968e-03 9.99077368e-01 2.68001465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95463044 meters Centerline goodness [0,1] 0.31836198354228595 Centerline is valid? [False, False] Translation: X:9.22, Y:0.36, Z:0.27 [[ 9.99114840e-01 9.35338407e-04 -4.20554657e-02 9.21954960e+00] [-1.15519950e-03 9.99985792e-01 -5.20388582e-03 3.64568390e-01] [ 4.20500008e-02 5.24786200e-03 9.99101725e-01 2.68789607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98463044 meters Centerline goodness [0,1] 0.3171563371220244 Centerline is valid? [False, False] Translation: X:9.22, Y:0.37, Z:0.27 [[ 9.99133581e-01 1.21786011e-03 -4.16005299e-02 9.21818414e+00] [-1.44902955e-03 9.99983675e-01 -5.52718581e-03 3.72760661e-01] [ 4.15931194e-02 5.58267735e-03 9.99119035e-01 2.69156418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01463044 meters Centerline goodness [0,1] 0.3218343541021923 Centerline is valid? [False, False] Translation: X:9.22, Y:0.37, Z:0.27 [[ 9.99125482e-01 9.07552066e-04 -4.18024880e-02 9.21881979e+00] [-1.16239936e-03 9.99980886e-01 -6.07255953e-03 3.74949295e-01] [ 4.17961779e-02 6.11584015e-03 9.99107440e-01 2.68923991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04463044 meters Centerline goodness [0,1] 0.3204765096318076 Centerline is valid? [False, False] Translation: X:9.22, Y:0.38, Z:0.27 [[ 9.99107336e-01 5.41510653e-04 -4.22402320e-02 9.22017166e+00] [-8.22238134e-04 9.99977691e-01 -6.62888357e-03 3.76836165e-01] [ 4.22357001e-02 6.65769774e-03 9.99085492e-01 2.68480031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07463044 meters Centerline goodness [0,1] 0.3204765096318076 Centerline is valid? [False, False] Translation: X:9.22, Y:0.38, Z:0.27 [[ 9.99107336e-01 5.41510653e-04 -4.22402320e-02 9.22017166e+00] [-8.22238134e-04 9.99977691e-01 -6.62888357e-03 3.76836165e-01] [ 4.22357001e-02 6.65769774e-03 9.99085492e-01 2.68480031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10463044 meters Centerline goodness [0,1] 0.31609380709786983 Centerline is valid? [False, False] Translation: X:9.22, Y:0.38, Z:0.27 [[ 9.99089082e-01 2.98971431e-04 -4.26721991e-02 9.22145158e+00] [-5.98611159e-04 9.99975255e-01 -7.00929051e-03 3.78681203e-01] [ 4.26690476e-02 7.02844968e-03 9.99064539e-01 2.68123132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13463044 meters Centerline goodness [0,1] 0.32208861445130543 Centerline is valid? [False, False] Translation: X:9.22, Y:0.38, Z:0.27 [[ 9.99088669e-01 2.54244625e-04 -4.26821707e-02 9.22135076e+00] [-5.66982619e-04 9.99973083e-01 -7.31518860e-03 3.82465179e-01] [ 4.26791620e-02 7.33272208e-03 9.99061920e-01 2.68337071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16463044 meters Centerline goodness [0,1] 0.320311827030752 Centerline is valid? [False, False] Translation: X:9.22, Y:0.38, Z:0.27 [[ 9.99091146e-01 8.21789726e-05 -4.26248186e-02 9.22123577e+00] [-4.10051087e-04 9.99970398e-01 -7.68336102e-03 3.84562648e-01] [ 4.26229255e-02 7.69385632e-03 9.99061605e-01 2.68359326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.19463044 meters Centerline goodness [0,1] 0.3224751467371294 Centerline is valid? [False, False] Translation: X:9.22, Y:0.39, Z:0.27 [[ 9.99090825e-01 -1.24691001e-04 -4.26322367e-02 9.22123352e+00] [-2.21958354e-04 9.99966956e-01 -8.12632559e-03 3.86776757e-01] [ 4.26318412e-02 8.12839992e-03 9.99057784e-01 2.68426031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22463044 meters Centerline goodness [0,1] 0.31853484242281604 Centerline is valid? [False, False] Translation: X:9.24, Y:0.40, Z:0.27 [[ 9.99017041e-01 -7.19249254e-03 -4.37403581e-02 9.24020051e+00] [ 6.86855212e-03 9.99947896e-01 -7.55177088e-03 3.95367289e-01] [ 4.37923951e-02 7.24391487e-03 9.99014390e-01 2.70696393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.25463044 meters Centerline goodness [0,1] 0.31927321320803514 Centerline is valid? [False, False] Translation: X:9.24, Y:0.40, Z:0.27 [[ 9.98959537e-01 -5.63592775e-03 -4.52557166e-02 9.24434437e+00] [ 5.33960987e-03 9.99963527e-01 -6.66585375e-03 4.01852741e-01] [ 4.52916342e-02 6.41727030e-03 9.98953195e-01 2.69938895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28463044 meters Centerline goodness [0,1] 0.32048655293635564 Centerline is valid? [False, False] Translation: X:9.24, Y:0.40, Z:0.27 [[ 9.98957245e-01 -5.61847241e-03 -4.53084469e-02 9.24452015e+00] [ 5.31084618e-03 9.99962043e-01 -6.90711995e-03 4.04100374e-01] [ 4.53455346e-02 6.65929133e-03 9.98949166e-01 2.69860334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.31463044 meters Centerline goodness [0,1] 0.32021791767554475 Centerline is valid? [False, False] Translation: X:9.24, Y:0.41, Z:0.27 [[ 9.98963327e-01 -5.66811584e-03 -4.51679518e-02 9.24411792e+00] [ 5.35274360e-03 9.99960468e-01 -7.10010508e-03 4.05406782e-01] [ 4.52064104e-02 6.85097213e-03 9.98954175e-01 2.69978932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34463044 meters Centerline goodness [0,1] 0.320972972972973 Centerline is valid? [False, False] Translation: X:9.24, Y:0.41, Z:0.27 [[ 9.98973251e-01 -5.77752675e-03 -4.49340031e-02 9.24341330e+00] [ 5.45686090e-03 9.99958787e-01 -7.25576505e-03 4.05921363e-01] [ 4.49740716e-02 7.00311660e-03 9.98963608e-01 2.70272416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37463044 meters Centerline goodness [0,1] 0.31999230736356254 Centerline is valid? [False, False] Translation: X:9.27, Y:0.41, Z:0.27 [[ 9.99068963e-01 2.65056196e-04 -4.31408930e-02 9.26536548e+00] [-6.89045519e-04 9.99951610e-01 -9.81344132e-03 4.06170972e-01] [ 4.31362043e-02 9.83403068e-03 9.99020800e-01 2.70753162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40463043999998 meters Centerline goodness [0,1] 0.32268976364380664 Centerline is valid? [False, False] Translation: X:9.27, Y:0.41, Z:0.27 [[ 9.99067084e-01 2.90318598e-04 -4.31842174e-02 9.26554855e+00] [-7.11917239e-04 9.99952236e-01 -9.74773597e-03 4.05943060e-01] [ 4.31793248e-02 9.76938574e-03 9.99019572e-01 2.70695908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43463043999998 meters Centerline goodness [0,1] 0.32220090123110756 Centerline is valid? [False, False] Translation: X:9.27, Y:0.41, Z:0.27 [[ 9.99062635e-01 3.06837107e-04 -4.32869280e-02 9.26571063e+00] [-7.28496563e-04 9.99952440e-01 -9.72559617e-03 4.05862239e-01] [ 4.32818851e-02 9.74801412e-03 9.99015343e-01 2.70851008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46463043999998 meters Centerline goodness [0,1] 0.32427840151417386 Centerline is valid? [False, False] Translation: X:9.26, Y:0.41, Z:0.27 [[ 9.99075459e-01 3.91523125e-04 -4.29892278e-02 9.26482919e+00] [-8.11612194e-04 9.99952090e-01 -9.75494282e-03 4.06629878e-01] [ 4.29833489e-02 9.78081455e-03 9.99027911e-01 2.71169636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49463043999998 meters Centerline goodness [0,1] 0.32240766663077425 Centerline is valid? [False, False] Translation: X:9.26, Y:0.41, Z:0.27 [[ 9.99088861e-01 5.36697599e-04 -4.26750455e-02 9.26429678e+00] [-9.55375235e-04 9.99951610e-01 -9.79104117e-03 4.07971129e-01] [ 4.26677256e-02 9.82289085e-03 9.99041028e-01 2.70879622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52463043999998 meters Centerline goodness [0,1] 0.32370179726193304 Centerline is valid? [False, False] Translation: X:9.26, Y:0.41, Z:0.27 [[ 9.99100033e-01 6.64528208e-04 -4.24108834e-02 9.26388632e+00] [-1.08872984e-03 9.99949607e-01 -9.97987451e-03 4.10186366e-01] [ 4.24021143e-02 1.00170669e-02 9.99050409e-01 2.70579960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55463043999998 meters Centerline goodness [0,1] 0.32310289597852904 Centerline is valid? [False, False] Translation: X:9.26, Y:0.41, Z:0.27 [[ 9.99105604e-01 6.75069277e-04 -4.22792730e-02 9.26399390e+00] [-1.11539132e-03 9.99945381e-01 -1.03918843e-02 4.13101713e-01] [ 4.22699485e-02 1.04297477e-02 9.99051786e-01 2.70000776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58463043999998 meters Centerline goodness [0,1] 0.32187798316410654 Centerline is valid? [False, False] Translation: X:9.27, Y:0.42, Z:0.27 [[ 9.99059430e-01 1.74176827e-03 -4.33269061e-02 9.26694752e+00] [-2.19694456e-03 9.99942877e-01 -1.04602302e-02 4.21897117e-01] [ 4.33062119e-02 1.05455784e-02 9.99006188e-01 2.69123305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61463043999998 meters Centerline goodness [0,1] 0.3154765723573063 Centerline is valid? [False, False] Translation: X:9.29, Y:0.43, Z:0.27 [[ 9.99008001e-01 -2.92844567e-03 -4.44346548e-02 9.28842546e+00] [ 2.59221092e-03 9.99967587e-01 -7.62268314e-03 4.29365742e-01] [ 4.44555371e-02 7.49993745e-03 9.98983211e-01 2.70383940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64463044 meters Centerline goodness [0,1] 0.31747259832366215 Centerline is valid? [False, False] Translation: X:9.29, Y:0.43, Z:0.27 [[ 9.99013074e-01 -2.93461221e-03 -4.43200326e-02 9.28815524e+00] [ 2.58529464e-03 9.99965160e-01 -7.93697110e-03 4.31997260e-01] [ 4.43417804e-02 7.81455756e-03 9.98985855e-01 2.70310725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67463044 meters Centerline goodness [0,1] 0.31987243028918677 Centerline is valid? [False, False] Translation: X:9.29, Y:0.43, Z:0.27 [[ 9.99026055e-01 -3.02968541e-03 -4.40200202e-02 9.28749243e+00] [ 2.67006656e-03 9.99962602e-01 -8.22593975e-03 4.33779572e-01] [ 4.40432959e-02 8.10039176e-03 9.98996783e-01 2.70258082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70463044 meters Centerline goodness [0,1] 0.3193557404898608 Centerline is valid? [False, False] Translation: X:9.29, Y:0.44, Z:0.27 [[ 9.99025832e-01 -3.56490137e-03 -4.39849888e-02 9.28741623e+00] [ 3.17627378e-03 9.99955330e-01 -8.90218642e-03 4.35724239e-01] [ 4.40147594e-02 8.75380582e-03 9.98992528e-01 2.70329599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73463044 meters Centerline goodness [0,1] 0.31708683473389354 Centerline is valid? [False, False] Translation: X:9.29, Y:0.44, Z:0.27 [[ 9.99016759e-01 -3.74117197e-03 -4.41760048e-02 9.28805663e+00] [ 3.34326011e-03 9.99953206e-01 -9.07786999e-03 4.36045306e-01] [ 4.42078995e-02 8.92125237e-03 9.98982519e-01 2.70066994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76463044 meters Centerline goodness [0,1] 0.3178359556358009 Centerline is valid? [False, False] Translation: X:9.29, Y:0.44, Z:0.27 [[ 9.99005803e-01 -3.76678130e-03 -4.44209003e-02 9.28889841e+00] [ 3.36706014e-03 9.99953199e-01 -9.06988358e-03 4.36140904e-01] [ 4.44529857e-02 8.91129849e-03 9.98971732e-01 2.69749942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79463044 meters Centerline goodness [0,1] 0.3165290670316978 Centerline is valid? [False, False] Translation: X:9.29, Y:0.44, Z:0.27 [[ 9.99001767e-01 -3.75871964e-03 -4.45122645e-02 9.28944904e+00] [ 3.36295013e-03 9.99954178e-01 -8.96279477e-03 4.35732051e-01] [ 4.45439135e-02 8.80415529e-03 9.98968631e-01 2.69409848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82463044 meters Centerline goodness [0,1] 0.3169938138150994 Centerline is valid? [False, False] Translation: X:9.29, Y:0.44, Z:0.27 [[ 9.99003534e-01 -3.87946573e-03 -4.44622121e-02 9.28964645e+00] [ 3.48329402e-03 9.99953573e-01 -8.98431651e-03 4.35258957e-01] [ 4.44950023e-02 8.82048899e-03 9.98970667e-01 2.69106732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85463044 meters Centerline goodness [0,1] 0.3206813392139396 Centerline is valid? [False, False] Translation: X:9.27, Y:0.43, Z:0.27 [[ 9.98997047e-01 3.88528471e-03 -4.46072353e-02 9.27029938e+00] [-4.34238176e-03 9.99939010e-01 -1.01548282e-02 4.30235912e-01] [ 4.45650603e-02 1.03383450e-02 9.98952989e-01 2.66821435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88463044 meters Centerline goodness [0,1] 0.3206311466551389 Centerline is valid? [False, False] Translation: X:9.27, Y:0.43, Z:0.27 [[ 9.98983937e-01 3.82242906e-03 -4.49052675e-02 9.27119307e+00] [-4.29524688e-03 9.99936303e-01 -1.04374627e-02 4.31801729e-01] [ 4.48625107e-02 1.06197368e-02 9.98936723e-01 2.66523645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91463044 meters Centerline goodness [0,1] 0.31997208531425825 Centerline is valid? [False, False] Translation: X:9.27, Y:0.43, Z:0.27 [[ 9.98964252e-01 3.84429244e-03 -4.53392160e-02 9.27241537e+00] [-4.33475462e-03 9.99933098e-01 -1.07242626e-02 4.33783637e-01] [ 4.52949555e-02 1.09096893e-02 9.98914083e-01 2.66163621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94463044 meters Centerline goodness [0,1] 0.31887865890732214 Centerline is valid? [False, False] Translation: X:9.27, Y:0.44, Z:0.27 [[ 9.98939198e-01 4.21573957e-03 -4.58552814e-02 9.27370602e+00] [-4.72168499e-03 9.99929109e-01 -1.09308130e-02 4.37663220e-01] [ 4.58059492e-02 1.11357318e-02 9.98888287e-01 2.65983074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.97463044 meters Centerline goodness [0,1] 0.3150282194896886 Centerline is valid? [False, False] Translation: X:9.29, Y:0.44, Z:0.27 [[ 9.98989050e-01 -6.86694511e-04 -4.49489389e-02 9.29438688e+00] [ 3.47959554e-04 9.99971488e-01 -7.54338492e-03 4.41929980e-01] [ 4.49528373e-02 7.52011852e-03 9.98960805e-01 2.67268252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00463044 meters Centerline goodness [0,1] 0.3176224650330812 Centerline is valid? [False, False] Translation: X:9.29, Y:0.44, Z:0.27 [[ 9.99006640e-01 -6.45309598e-04 -4.45569020e-02 9.29306172e+00] [ 3.03188814e-04 9.99970427e-01 -7.68462035e-03 4.43537609e-01] [ 4.45605433e-02 7.66347760e-03 9.98977292e-01 2.67827300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.03463044 meters Centerline goodness [0,1] 0.3155702507729302 Centerline is valid? [False, False] Translation: X:9.29, Y:0.44, Z:0.27 [[ 9.99020759e-01 -6.19476553e-04 -4.42395588e-02 9.29199528e+00] [ 2.75301573e-04 9.99969655e-01 -7.78547026e-03 4.44653520e-01] [ 4.42430392e-02 7.76566719e-03 9.98990615e-01 2.68265839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06463044 meters Centerline goodness [0,1] 0.31582445383015667 Centerline is valid? [False, False] Translation: X:9.29, Y:0.45, Z:0.27 [[ 9.99025221e-01 -9.48020905e-04 -4.41328569e-02 9.29154956e+00] [ 5.85235663e-04 9.99965941e-01 -8.23249285e-03 4.45830681e-01] [ 4.41391583e-02 8.19863987e-03 9.98991750e-01 2.68596871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.09463044 meters Centerline goodness [0,1] 0.3171867622440657 Centerline is valid? [False, False] Translation: X:9.29, Y:0.45, Z:0.27 [[ 9.99023668e-01 -1.07802907e-03 -4.41650157e-02 9.29157445e+00] [ 7.09640537e-04 9.99964836e-01 -8.35601363e-03 4.45908630e-01] [ 4.41724707e-02 8.31651411e-03 9.98989303e-01 2.68708878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12463044 meters Centerline goodness [0,1] 0.318523611051433 Centerline is valid? [False, False] Translation: X:9.29, Y:0.45, Z:0.27 [[ 9.99025375e-01 -1.07928159e-03 -4.41263563e-02 9.29125211e+00] [ 7.12896038e-04 9.99965151e-01 -8.31799349e-03 4.45873051e-01] [ 4.41337960e-02 8.27842906e-03 9.98991329e-01 2.69059270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15463043999998 meters Centerline goodness [0,1] 0.3173004820567755 Centerline is valid? [False, False] Translation: X:9.29, Y:0.45, Z:0.27 [[ 9.99027902e-01 -1.01975449e-03 -4.40705144e-02 9.29055642e+00] [ 6.60140310e-04 9.99966376e-01 -8.17375554e-03 4.45811403e-01] [ 4.40773678e-02 8.13671712e-03 9.98994985e-01 2.69990119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18463043999998 meters Centerline goodness [0,1] 0.31846137362048643 Centerline is valid? [False, False] Translation: X:9.29, Y:0.45, Z:0.27 [[ 9.99018885e-01 -1.02604503e-03 -4.42743036e-02 9.29130155e+00] [ 6.66200165e-04 9.99966635e-01 -8.14161308e-03 4.45624739e-01] [ 4.42811800e-02 8.10412967e-03 9.98986236e-01 2.69702301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21463043999998 meters Centerline goodness [0,1] 0.3187015064081783 Centerline is valid? [False, False] Translation: X:9.29, Y:0.45, Z:0.27 [[ 9.98999156e-01 -1.08325524e-03 -4.47159169e-02 9.29280575e+00] [ 7.20445359e-04 9.99966700e-01 -8.12898149e-03 4.45093099e-01] [ 4.47232336e-02 8.08863027e-03 9.98966669e-01 2.69112664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24463043999998 meters Centerline goodness [0,1] 0.31526598361532376 Centerline is valid? [False, False] Translation: X:9.29, Y:0.44, Z:0.27 [[ 9.98973779e-01 -1.13105538e-03 -4.52781435e-02 9.29465089e+00] [ 7.65703362e-04 9.99967018e-01 -8.08558976e-03 4.44428483e-01] [ 4.52857954e-02 8.04262253e-03 9.98941696e-01 2.68459155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27463043999998 meters Centerline goodness [0,1] 0.3169039874194869 Centerline is valid? [False, False] Translation: X:9.30, Y:0.44, Z:0.27 [[ 9.98961484e-01 -1.23657726e-03 -4.55458569e-02 9.29556090e+00] [ 8.80069050e-04 9.99968827e-01 -7.84667700e-03 4.41890878e-01] [ 4.55541401e-02 7.79844459e-03 9.98931431e-01 2.68175593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30463043999998 meters Centerline goodness [0,1] 0.3187890540831717 Centerline is valid? [False, False] Translation: X:9.30, Y:0.44, Z:0.27 [[ 9.98966002e-01 -1.27168656e-03 -4.54456751e-02 9.29509607e+00] [ 9.28374410e-04 9.99970881e-01 -7.57464949e-03 4.39656552e-01] [ 4.54539844e-02 7.52462672e-03 9.98938094e-01 2.68603653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33463043999998 meters Centerline goodness [0,1] 0.31814775962835307 Centerline is valid? [False, False] Translation: X:9.30, Y:0.44, Z:0.27 [[ 9.98963816e-01 -1.32178414e-03 -4.54922751e-02 9.29502222e+00] [ 9.91985936e-04 9.99973071e-01 -7.27135526e-03 4.37030142e-01] [ 4.55006613e-02 7.21869310e-03 9.98938226e-01 2.68973605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36463043999998 meters Centerline goodness [0,1] 0.31949474047249526 Centerline is valid? [False, False] Translation: X:9.30, Y:0.43, Z:0.27 [[ 9.98958510e-01 -1.36323963e-03 -4.56074229e-02 9.29531305e+00] [ 1.05112479e-03 9.99975871e-01 -6.86679191e-03 4.33995871e-01] [ 4.56156835e-02 6.81170112e-03 9.98935839e-01 2.69049114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39463044 meters Centerline goodness [0,1] 0.31793402141825944 Centerline is valid? [False, False] Translation: X:9.30, Y:0.43, Z:0.27 [[ 9.98931655e-01 -2.08876369e-03 -4.61647648e-02 9.29721526e+00] [ 1.78184783e-03 9.99976045e-01 -6.68842242e-03 4.26221563e-01] [ 4.61776294e-02 6.59901829e-03 9.98911447e-01 2.68517559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42463044 meters Centerline goodness [0,1] 0.319576262025727 Centerline is valid? [False, False] Translation: X:9.30, Y:0.42, Z:0.27 [[ 9.98928395e-01 -2.05746926e-03 -4.62366489e-02 9.29740833e+00] [ 1.77008412e-03 9.99978867e-01 -6.25561087e-03 4.23183233e-01] [ 4.62485425e-02 6.16706457e-03 9.98910927e-01 2.68607055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45463044 meters Centerline goodness [0,1] 0.317745777625169 Centerline is valid? [False, False] Translation: X:9.30, Y:0.42, Z:0.27 [[ 9.98925219e-01 -1.98760095e-03 -4.63082640e-02 9.29758288e+00] [ 1.71913179e-03 9.99981490e-01 -5.83654053e-03 4.20340354e-01] [ 4.63190075e-02 5.75065752e-03 9.98910146e-01 2.68711346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48463044 meters Centerline goodness [0,1] 0.3182484584537105 Centerline is valid? [False, False] Translation: X:9.30, Y:0.42, Z:0.27 [[ 9.98914362e-01 -1.80050725e-03 -4.65494901e-02 9.29838063e+00] [ 1.55591586e-03 9.99984797e-01 -5.29013690e-03 4.17188280e-01] [ 4.65583073e-02 5.21196664e-03 9.98901977e-01 2.68456898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51463044 meters Centerline goodness [0,1] 0.3181798473812001 Centerline is valid? [False, False] Translation: X:9.30, Y:0.42, Z:0.27 [[ 9.98904295e-01 -1.70251433e-03 -4.67686926e-02 9.29916523e+00] [ 1.46295522e-03 9.99985638e-01 -5.15596254e-03 4.16765375e-01] [ 4.67767990e-02 5.08189262e-03 9.98892439e-01 2.68111970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54463044 meters Centerline goodness [0,1] 0.3157364108284354 Centerline is valid? [False, False] Translation: X:9.32, Y:0.41, Z:0.27 [[ 9.98875120e-01 6.08166688e-03 -4.70266690e-02 9.31899879e+00] [-6.38804578e-03 9.99959323e-01 -6.36746154e-03 4.13236221e-01] [ 4.69860313e-02 6.66070742e-03 9.98873339e-01 2.70060910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57463044 meters Centerline goodness [0,1] 0.31670596378896365 Centerline is valid? [False, False] Translation: X:9.32, Y:0.41, Z:0.27 [[ 9.98869240e-01 6.05291020e-03 -4.71551016e-02 9.31943394e+00] [-6.36473114e-03 9.99958844e-01 -6.46532529e-03 4.13603532e-01] [ 4.71140268e-02 6.75814410e-03 9.98866656e-01 2.69850003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60463044 meters Centerline goodness [0,1] 0.3122364675413626 Centerline is valid? [False, False] Translation: X:9.34, Y:0.42, Z:0.27 [[ 9.98850900e-01 9.06239809e-04 -4.79172056e-02 9.34168783e+00] [-1.07989768e-03 9.99992943e-01 -3.59836008e-03 4.17917835e-01] [ 4.79136065e-02 3.64597089e-03 9.98844829e-01 2.70838932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63463044 meters Centerline goodness [0,1] 0.31503898677465214 Centerline is valid? [False, False] Translation: X:9.34, Y:0.42, Z:0.27 [[ 9.98845882e-01 9.55205806e-04 -4.80207409e-02 9.34206478e+00] [-1.12957504e-03 9.99992867e-01 -3.60411739e-03 4.18391872e-01] [ 4.80169557e-02 3.65420084e-03 9.98839836e-01 2.70666915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66463044 meters Centerline goodness [0,1] 0.31356114334837737 Centerline is valid? [False, False] Translation: X:9.34, Y:0.42, Z:0.27 [[ 9.98838102e-01 9.52928170e-04 -4.81823501e-02 9.34246961e+00] [-1.13025721e-03 9.99992688e-01 -3.65326235e-03 4.18776201e-01] [ 4.81785165e-02 3.70347607e-03 9.98831875e-01 2.70684169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.69463044 meters Centerline goodness [0,1] 0.31535224943359585 Centerline is valid? [False, False] Translation: X:9.34, Y:0.42, Z:0.27 [[ 9.98839963e-01 8.92419338e-04 -4.81449074e-02 9.34226543e+00] [-1.07402129e-03 9.99992406e-01 -3.74624923e-03 4.19072571e-01] [ 4.81411986e-02 3.79361209e-03 9.98833336e-01 2.70850759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72463044 meters Centerline goodness [0,1] 0.3154436161502995 Centerline is valid? [False, False] Translation: X:9.34, Y:0.42, Z:0.27 [[ 9.98866667e-01 7.68761141e-04 -4.75898142e-02 9.34006641e+00] [-9.55254221e-04 9.99991954e-01 -3.89614138e-03 4.19207915e-01] [ 4.75864361e-02 3.93718612e-03 9.98859364e-01 2.72147906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.75463044 meters Centerline goodness [0,1] 0.31351339773384457 Centerline is valid? [False, False] Translation: X:9.34, Y:0.42, Z:0.27 [[ 9.98870535e-01 7.67033721e-04 -4.75085895e-02 9.33944001e+00] [-9.54144483e-04 9.99991878e-01 -3.91590913e-03 4.19482315e-01] [ 4.75052000e-02 3.95681631e-03 9.98863154e-01 2.72789168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78463044 meters Centerline goodness [0,1] 0.31290939157700315 Centerline is valid? [False, False] Translation: X:9.34, Y:0.42, Z:0.27 [[ 9.98870268e-01 7.48876227e-04 -4.75144920e-02 9.33916937e+00] [-9.39615552e-04 9.99991590e-01 -3.99213168e-03 4.19889574e-01] [ 4.75111028e-02 4.03226700e-03 9.98862571e-01 2.73210191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.81463044 meters Centerline goodness [0,1] 0.31353653552453264 Centerline is valid? [False, False] Translation: X:9.34, Y:0.42, Z:0.27 [[ 9.98875158e-01 7.08218338e-04 -4.74122047e-02 9.33870444e+00] [-9.02029106e-04 9.99991325e-01 -4.06651142e-03 4.20164518e-01] [ 4.74089134e-02 4.10470443e-03 9.98867131e-01 2.73544206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84463044 meters Centerline goodness [0,1] 0.3123267656474936 Centerline is valid? [False, False] Translation: X:9.34, Y:0.42, Z:0.27 [[ 9.98893974e-01 7.00548263e-04 -4.70142231e-02 9.33694377e+00] [-8.95426170e-04 9.99991095e-01 -4.12415157e-03 4.20561707e-01] [ 4.70109153e-02 4.16168791e-03 9.98885706e-01 2.74702625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87463044 meters Centerline goodness [0,1] 0.31351665375677773 Centerline is valid? [False, False] Translation: X:9.34, Y:0.42, Z:0.28 [[ 9.98897721e-01 7.77168415e-04 -4.69333368e-02 9.33626703e+00] [-9.69100040e-04 9.99991261e-01 -4.06683631e-03 4.20790671e-01] [ 4.69297660e-02 4.10783662e-03 9.98889745e-01 2.75391307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90463043999998 meters Centerline goodness [0,1] 0.31365361116470514 Centerline is valid? [False, False] Translation: X:9.34, Y:0.42, Z:0.28 [[ 9.98904794e-01 7.72522812e-04 -4.67826518e-02 9.33543044e+00] [-9.69923025e-04 9.99990722e-01 -4.19696420e-03 4.21949168e-01] [ 4.67789755e-02 4.23774323e-03 9.98896275e-01 2.76120927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93463043999998 meters Centerline goodness [0,1] 0.31279590393967305 Centerline is valid? [False, False] Translation: X:9.34, Y:0.42, Z:0.28 [[ 9.98901112e-01 7.03205614e-04 -4.68622934e-02 9.33548527e+00] [-9.08132535e-04 9.99990118e-01 -4.35181291e-03 4.22665115e-01] [ 4.68587701e-02 4.38958793e-03 9.98891880e-01 2.76315048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96463043999998 meters Centerline goodness [0,1] 0.3181729158052793 Centerline is valid? [False, False] Translation: X:9.29, Y:0.42, Z:0.27 [[ 9.98784407e-01 4.40889437e-04 -4.92901071e-02 9.29146480e+00] [-6.62449781e-04 9.99989751e-01 -4.47878096e-03 4.21434188e-01] [ 4.92876273e-02 4.50598881e-03 9.98774462e-01 2.74805182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99463043999998 meters Centerline goodness [0,1] 0.3181729158052793 Centerline is valid? [False, False] Translation: X:9.29, Y:0.42, Z:0.27 [[ 9.98784407e-01 4.40889437e-04 -4.92901071e-02 9.29146480e+00] [-6.62449781e-04 9.99989751e-01 -4.47878096e-03 4.21434188e-01] [ 4.92876273e-02 4.50598881e-03 9.98774462e-01 2.74805182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02463043999998 meters Centerline goodness [0,1] 0.3121854049307088 Centerline is valid? [False, False] Translation: X:9.33, Y:0.43, Z:0.28 [[ 9.98803154e-01 1.43366188e-03 -4.88897117e-02 9.33453493e+00] [-1.64709495e-03 9.99989288e-01 -4.32559550e-03 4.25386766e-01] [ 4.88829865e-02 4.40094442e-03 9.98794816e-01 2.77602065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05463043999998 meters Centerline goodness [0,1] 0.31062513334755704 Centerline is valid? [False, False] Translation: X:9.34, Y:0.43, Z:0.28 [[ 9.98759429e-01 1.60912351e-03 -4.97696049e-02 9.33686082e+00] [-1.84466044e-03 9.99987315e-01 -4.68697533e-03 4.29201470e-01] [ 4.97614317e-02 4.77296883e-03 9.98749728e-01 2.77265800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08463043999998 meters Centerline goodness [0,1] 0.3120358211525628 Centerline is valid? [False, False] Translation: X:9.34, Y:0.43, Z:0.28 [[ 9.98743028e-01 1.62097296e-03 -5.00972633e-02 9.33790907e+00] [-1.87772702e-03 9.99985342e-01 -5.07847238e-03 4.32069246e-01] [ 5.00882969e-02 5.16615787e-03 9.98731432e-01 2.76820953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11463043999998 meters Centerline goodness [0,1] 0.3087414089347079 Centerline is valid? [False, False] Translation: X:9.34, Y:0.44, Z:0.28 [[ 9.98725229e-01 1.76229994e-03 -5.04461134e-02 9.33902155e+00] [-2.03636893e-03 9.99983443e-01 -5.38202539e-03 4.35137220e-01] [ 5.04357934e-02 5.47789144e-03 9.98712283e-01 2.76353954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14463044 meters Centerline goodness [0,1] 0.3084470897759376 Centerline is valid? [False, False] Translation: X:9.34, Y:0.44, Z:0.28 [[ 9.98716008e-01 1.85499263e-03 -5.06250313e-02 9.33952460e+00] [-2.15084780e-03 9.99980924e-01 -5.79019656e-03 4.38544485e-01] [ 5.06133247e-02 5.89164874e-03 9.98700946e-01 2.76180603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17463044 meters Centerline goodness [0,1] 0.3113299006829394 Centerline is valid? [False, False] Translation: X:9.34, Y:0.44, Z:0.28 [[ 9.98692956e-01 5.22295153e-03 -5.08438863e-02 9.34038867e+00] [-5.39985420e-03 9.99979834e-01 -3.34258757e-03 4.44122339e-01] [ 5.08254028e-02 3.61276824e-03 9.98701019e-01 2.75776675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20463044 meters Centerline goodness [0,1] 0.31150565407071384 Centerline is valid? [False, False] Translation: X:9.34, Y:0.45, Z:0.28 [[ 9.98679608e-01 5.10346838e-03 -5.11174650e-02 9.34109927e+00] [-5.30708726e-03 9.99978512e-01 -3.84841278e-03 4.47204983e-01] [ 5.10967264e-02 4.11461621e-03 9.98685233e-01 2.75596626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23463044 meters Centerline goodness [0,1] 0.30445125479522517 Centerline is valid? [False, False] Translation: X:9.36, Y:0.45, Z:0.28 [[ 9.98632328e-01 -3.50982790e-04 -5.22814487e-02 9.36326485e+00] [ 2.69822570e-04 9.99998748e-01 -1.55942137e-03 4.54375562e-01] [ 5.22819306e-02 1.54318187e-03 9.98631172e-01 2.76776234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26463044 meters Centerline goodness [0,1] 0.30431807002160105 Centerline is valid? [False, False] Translation: X:9.36, Y:0.46, Z:0.28 [[ 9.98624888e-01 -6.29573500e-04 -5.24207649e-02 9.36371750e+00] [ 5.10978350e-04 9.99997280e-01 -2.27574112e-03 4.58951735e-01] [ 5.24220551e-02 2.24582585e-03 9.98622493e-01 2.76574700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29463044 meters Centerline goodness [0,1] 0.30680644050284145 Centerline is valid? [False, False] Translation: X:9.36, Y:0.46, Z:0.28 [[ 9.98626376e-01 -7.71857053e-04 -5.23905106e-02 9.36363573e+00] [ 6.36371651e-04 9.99996410e-01 -2.60269972e-03 4.60786084e-01] [ 5.23923314e-02 2.56578475e-03 9.98623283e-01 2.76589099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32463044 meters Centerline goodness [0,1] 0.31003137490866894 Centerline is valid? [False, False] Translation: X:9.36, Y:0.46, Z:0.28 [[ 9.98627339e-01 -8.63519173e-04 -5.23707090e-02 9.36345359e+00] [ 7.16725167e-04 9.99995762e-01 -2.82169499e-03 4.62305857e-01] [ 5.23729236e-02 2.78028635e-03 9.98623726e-01 2.76827017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35463044 meters Centerline goodness [0,1] 0.3071171479989716 Centerline is valid? [False, False] Translation: X:9.36, Y:0.47, Z:0.28 [[ 9.98612322e-01 -1.08094535e-03 -5.26522808e-02 9.36402025e+00] [ 9.07680809e-04 9.99994095e-01 -3.31453314e-03 4.66020820e-01] [ 5.26555528e-02 3.26214217e-03 9.98607406e-01 2.77033303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38463044 meters Centerline goodness [0,1] 0.3047862701204562 Centerline is valid? [False, False] Translation: X:9.36, Y:0.47, Z:0.28 [[ 9.98600484e-01 -1.20411880e-03 -5.28736537e-02 9.36460664e+00] [ 1.01804705e-03 9.99993195e-01 -3.54596878e-03 4.67501100e-01] [ 5.28775636e-02 3.48717828e-03 9.98594914e-01 2.77000723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41463044 meters Centerline goodness [0,1] 0.30798836811495034 Centerline is valid? [False, False] Translation: X:9.36, Y:0.47, Z:0.28 [[ 9.98596174e-01 -1.32660841e-03 -5.29520698e-02 9.36452025e+00] [ 1.12839805e-03 9.99992246e-01 -3.77292422e-03 4.68774503e-01] [ 5.29566644e-02 3.70787668e-03 9.98589928e-01 2.77390337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44463044 meters Centerline goodness [0,1] 0.31176165130468647 Centerline is valid? [False, False] Translation: X:9.36, Y:0.47, Z:0.28 [[ 9.98598050e-01 -1.44844320e-03 -5.29134753e-02 9.36406863e+00] [ 1.24025366e-03 9.99991362e-01 -3.96715204e-03 4.69740090e-01] [ 5.29187644e-02 3.89596416e-03 9.98591221e-01 2.77943278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.47463044 meters Centerline goodness [0,1] 0.31506140917905623 Centerline is valid? [False, False] Translation: X:9.36, Y:0.47, Z:0.28 [[ 9.98604507e-01 -1.69088590e-03 -5.27842770e-02 9.36333997e+00] [ 1.46372573e-03 9.99989503e-01 -4.34191862e-03 4.71463640e-01] [ 5.27910646e-02 4.25859780e-03 9.98596499e-01 2.78623225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50463044 meters Centerline goodness [0,1] 0.31191383666652395 Centerline is valid? [False, False] Translation: X:9.36, Y:0.47, Z:0.28 [[ 9.98595629e-01 -1.78443235e-03 -5.29488890e-02 9.36373700e+00] [ 1.54964108e-03 9.99988786e-01 -4.47502364e-03 4.72036450e-01] [ 5.29562806e-02 4.38668728e-03 9.98587197e-01 2.78665747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.53463044 meters Centerline goodness [0,1] 0.3137432970074382 Centerline is valid? [False, False] Translation: X:9.36, Y:0.47, Z:0.28 [[ 9.98594697e-01 -1.93932619e-03 -5.29610246e-02 9.36380109e+00] [ 1.69305537e-03 9.99987548e-01 -4.69450744e-03 4.72724830e-01] [ 5.29694693e-02 4.59824429e-03 9.98585545e-01 2.78663722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56463044 meters Centerline goodness [0,1] 0.31202886411958 Centerline is valid? [False, False] Translation: X:9.36, Y:0.47, Z:0.28 [[ 9.98591613e-01 -2.00929305e-03 -5.30165460e-02 9.36387095e+00] [ 1.75205632e-03 9.99986470e-01 -4.89803921e-03 4.73776039e-01] [ 5.30256703e-02 4.79825290e-03 9.98581622e-01 2.78773058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59463044 meters Centerline goodness [0,1] 0.3164412719571714 Centerline is valid? [False, False] Translation: X:9.36, Y:0.48, Z:0.28 [[ 9.98589791e-01 -1.93286788e-03 -5.30536774e-02 9.36353788e+00] [ 1.65132769e-03 9.99984325e-01 -5.35002719e-03 4.78268768e-01] [ 5.30631866e-02 5.25487353e-03 9.98577330e-01 2.79282436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62463044 meters Centerline goodness [0,1] 0.3176980516693846 Centerline is valid? [False, False] Translation: X:9.36, Y:0.48, Z:0.28 [[ 9.98582345e-01 -1.96376268e-03 -5.31925176e-02 9.36364341e+00] [ 1.66190234e-03 9.99982268e-01 -5.71850222e-03 4.80818285e-01] [ 5.32028042e-02 5.62199459e-03 9.98567902e-01 2.79521402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65463043999998 meters Centerline goodness [0,1] 0.31682953782149903 Centerline is valid? [False, False] Translation: X:9.36, Y:0.48, Z:0.28 [[ 9.98577995e-01 -2.05220788e-03 -5.32707823e-02 9.36377585e+00] [ 1.72847789e-03 9.99979764e-01 -6.12242502e-03 4.83178939e-01] [ 5.32822688e-02 6.02164154e-03 9.98561335e-01 2.79536988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68463043999998 meters Centerline goodness [0,1] 0.3153702982296671 Centerline is valid? [False, False] Translation: X:9.36, Y:0.49, Z:0.28 [[ 9.98576129e-01 -2.15557339e-03 -5.33016732e-02 9.36384183e+00] [ 1.80013527e-03 9.99975830e-01 -6.71553364e-03 4.86801781e-01] [ 5.33148607e-02 6.61002136e-03 9.98555874e-01 2.79500318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71463043999998 meters Centerline goodness [0,1] 0.31408641736097653 Centerline is valid? [False, False] Translation: X:9.36, Y:0.49, Z:0.28 [[ 9.98574156e-01 -2.20014738e-03 -5.33367916e-02 9.36392871e+00] [ 1.83417036e-03 9.99974446e-01 -6.90960268e-03 4.87909003e-01] [ 5.33506308e-02 6.80192190e-03 9.98552675e-01 2.79480786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74463043999998 meters Centerline goodness [0,1] 0.31433375730269253 Centerline is valid? [False, False] Translation: X:9.36, Y:0.49, Z:0.28 [[ 9.98567169e-01 -2.24460008e-03 -5.34656102e-02 9.36422173e+00] [ 1.87229341e-03 9.99973659e-01 -7.01254935e-03 4.88379408e-01] [ 5.34799423e-02 6.90239824e-03 9.98545068e-01 2.79488049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77463043999998 meters Centerline goodness [0,1] 0.3126008823845906 Centerline is valid? [False, False] Translation: X:9.36, Y:0.49, Z:0.28 [[ 9.98559630e-01 -2.25374561e-03 -5.36058466e-02 9.36473425e+00] [ 1.88067167e-03 9.99973668e-01 -7.00900158e-03 4.88310281e-01] [ 5.36202316e-02 6.89809103e-03 9.98537574e-01 2.79316122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80463043999998 meters Centerline goodness [0,1] 0.31804901447758593 Centerline is valid? [False, False] Translation: X:9.36, Y:0.49, Z:0.28 [[ 9.98550999e-01 -2.30277763e-03 -5.37642985e-02 9.36493614e+00] [ 1.94314378e-03 9.99975395e-01 -6.74039876e-03 4.86230505e-01] [ 5.37784973e-02 6.62616015e-03 9.98530904e-01 2.79631255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83463043999998 meters Centerline goodness [0,1] 0.3144555560324478 Centerline is valid? [False, False] Translation: X:9.38, Y:0.49, Z:0.28 [[ 9.98553446e-01 -1.00557713e-02 -5.28194796e-02 9.38431950e+00] [ 9.78845772e-03 9.99937955e-01 -5.31715145e-03 4.88956135e-01] [ 5.28696705e-02 4.79243866e-03 9.98589921e-01 2.81667481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86463043999998 meters Centerline goodness [0,1] 0.3167487259220869 Centerline is valid? [False, False] Translation: X:9.38, Y:0.49, Z:0.28 [[ 9.98564388e-01 -9.97393183e-03 -5.26277897e-02 9.38374449e+00] [ 9.72641868e-03 9.99940410e-01 -4.95711809e-03 4.86948827e-01] [ 5.26740955e-02 4.43812168e-03 9.98601894e-01 2.81982816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89463044 meters Centerline goodness [0,1] 0.316357526013055 Centerline is valid? [False, False] Translation: X:9.38, Y:0.49, Z:0.28 [[ 9.98563265e-01 -9.92692820e-03 -5.26579776e-02 9.38390432e+00] [ 9.69334631e-03 9.99942023e-01 -4.68937731e-03 4.85252572e-01] [ 5.27014757e-02 4.17220791e-03 9.98601596e-01 2.81973265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92463044 meters Centerline goodness [0,1] 0.3135600479698475 Centerline is valid? [False, False] Translation: X:9.39, Y:0.48, Z:0.28 [[ 9.98528237e-01 -9.80283950e-03 -5.33410271e-02 9.38637586e+00] [ 9.58637444e-03 9.99944750e-01 -4.31248408e-03 4.83162466e-01] [ 5.33803546e-02 3.79479007e-03 9.98567042e-01 2.80995063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95463044 meters Centerline goodness [0,1] 0.31505753092828104 Centerline is valid? [False, False] Translation: X:9.37, Y:0.48, Z:0.28 [[ 9.98537970e-01 -1.91475135e-03 -5.40208910e-02 9.36916815e+00] [ 1.61634406e-03 9.99983197e-01 -5.56707335e-03 4.77738430e-01] [ 5.40306429e-02 5.47161778e-03 9.98524287e-01 2.78018628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98463044 meters Centerline goodness [0,1] 0.30835045214849954 Centerline is valid? [False, False] Translation: X:9.41, Y:0.48, Z:0.28 [[ 9.98600357e-01 -1.05019730e-03 -5.28793370e-02 9.41269888e+00] [ 7.84722698e-04 9.99986987e-01 -5.04089659e-03 4.80522495e-01] [ 5.28839428e-02 4.99234551e-03 9.98588186e-01 2.80070942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01463044 meters Centerline goodness [0,1] 0.3139121114683816 Centerline is valid? [False, False] Translation: X:9.41, Y:0.48, Z:0.28 [[ 9.98608695e-01 -7.89480138e-04 -5.27261964e-02 9.41210967e+00] [ 5.19567429e-04 9.99986693e-01 -5.13264941e-03 4.82428186e-01] [ 5.27295469e-02 5.09811351e-03 9.98595816e-01 2.80347284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04463044 meters Centerline goodness [0,1] 0.31571049541124785 Centerline is valid? [False, False] Translation: X:9.41, Y:0.48, Z:0.28 [[ 9.98611388e-01 -7.72986572e-04 -5.26754039e-02 9.41185682e+00] [ 4.95525658e-04 9.99985937e-01 -5.28022789e-03 4.83603413e-01] [ 5.26787446e-02 5.24679369e-03 9.98597727e-01 2.80460384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07463044 meters Centerline goodness [0,1] 0.3126451113595322 Centerline is valid? [False, False] Translation: X:9.43, Y:0.48, Z:0.28 [[ 9.98613795e-01 6.93785435e-03 -5.21761914e-02 9.43190838e+00] [-7.29221086e-03 9.99951603e-01 -6.60423404e-03 4.82302657e-01] [ 5.21278470e-02 6.97555901e-03 9.98616057e-01 2.82780580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10463044 meters Centerline goodness [0,1] 0.312159670711315 Centerline is valid? [False, False] Translation: X:9.43, Y:0.48, Z:0.28 [[ 9.98603447e-01 6.85245482e-03 -5.23851033e-02 9.43235411e+00] [-7.21563463e-03 9.99951206e-01 -6.74690197e-03 4.82712344e-01] [ 5.23363143e-02 7.11547133e-03 9.98604166e-01 2.82894387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13463044 meters Centerline goodness [0,1] 0.3129853089845347 Centerline is valid? [False, False] Translation: X:9.43, Y:0.48, Z:0.28 [[ 9.98593396e-01 6.76103517e-03 -5.25881871e-02 9.43279004e+00] [-7.13058208e-03 9.99951165e-01 -6.84273784e-03 4.82751015e-01] [ 5.25393550e-02 7.20809721e-03 9.98592840e-01 2.82918301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16463044 meters Centerline goodness [0,1] 0.3128264654672084 Centerline is valid? [False, False] Translation: X:9.43, Y:0.48, Z:0.28 [[ 9.98593228e-01 6.67254481e-03 -5.26026902e-02 9.43283754e+00] [-7.04144022e-03 9.99951879e-01 -6.83065435e-03 4.82244856e-01] [ 5.25545811e-02 7.19144387e-03 9.98592159e-01 2.82935155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.19463044 meters Centerline goodness [0,1] 0.31418542932968063 Centerline is valid? [False, False] Translation: X:9.45, Y:0.48, Z:0.28 [[ 9.98701679e-01 -2.36106422e-03 -5.08859725e-02 9.45191940e+00] [ 2.05069242e-03 9.99978982e-01 -6.15070562e-03 4.82974026e-01] [ 5.08994251e-02 6.03836855e-03 9.98685529e-01 2.84733152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22463044 meters Centerline goodness [0,1] 0.31680024194767886 Centerline is valid? [False, False] Translation: X:9.45, Y:0.48, Z:0.28 [[ 9.98713212e-01 -2.50786224e-03 -5.06520648e-02 9.45130516e+00] [ 2.21302671e-03 9.99980287e-01 -5.87604450e-03 4.80311642e-01] [ 5.06658026e-02 5.75638890e-03 9.98699074e-01 2.84964117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.25463044 meters Centerline goodness [0,1] 0.31389151551620387 Centerline is valid? [False, False] Translation: X:9.45, Y:0.48, Z:0.29 [[ 9.98708708e-01 -2.67001823e-03 -5.07325186e-02 9.45142139e+00] [ 2.38485551e-03 9.99981021e-01 -5.68060880e-03 4.77836053e-01] [ 5.07467230e-02 5.55228375e-03 9.98696121e-01 2.85202793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28463044 meters Centerline goodness [0,1] 0.31506172839506175 Centerline is valid? [False, False] Translation: X:9.45, Y:0.48, Z:0.29 [[ 9.98693805e-01 -2.69849345e-03 -5.10235469e-02 9.45217365e+00] [ 2.42529283e-03 9.99982395e-01 -5.41555884e-03 4.75654882e-01] [ 5.10372625e-02 5.28473802e-03 9.98682767e-01 2.85227131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.31463044 meters Centerline goodness [0,1] 0.3129248782998435 Centerline is valid? [False, False] Translation: X:9.45, Y:0.47, Z:0.29 [[ 9.98666468e-01 -2.57999233e-03 -5.15619044e-02 9.45364267e+00] [ 2.32475270e-03 9.99984750e-01 -5.00952046e-03 4.73089939e-01] [ 5.15740426e-02 4.88297142e-03 9.98657236e-01 2.85061832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34463044 meters Centerline goodness [0,1] 0.3134874759152215 Centerline is valid? [False, False] Translation: X:9.45, Y:0.47, Z:0.29 [[ 9.98664226e-01 -2.45067628e-03 -5.16116108e-02 9.45372251e+00] [ 2.20448701e-03 9.99985923e-01 -4.82642312e-03 4.72393113e-01] [ 5.16227123e-02 4.70619898e-03 9.98655570e-01 2.85135901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37463044 meters Centerline goodness [0,1] 0.3126007436222571 Centerline is valid? [False, False] Translation: X:9.45, Y:0.47, Z:0.29 [[ 9.98670325e-01 -2.32227218e-03 -5.14994020e-02 9.45329904e+00] [ 2.08402480e-03 9.99986880e-01 -4.67943281e-03 4.71919659e-01] [ 5.15095932e-02 4.56588466e-03 9.98662062e-01 2.85349863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40463043999998 meters Centerline goodness [0,1] 0.31531415023170595 Centerline is valid? [False, False] Translation: X:9.45, Y:0.47, Z:0.29 [[ 9.98705199e-01 -1.97082630e-03 -5.08334630e-02 9.45138753e+00] [ 1.75686549e-03 9.99989411e-01 -4.25339366e-03 4.70229119e-01] [ 5.08413074e-02 4.15857881e-03 9.98698086e-01 2.85886450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43463043999998 meters Centerline goodness [0,1] 0.31540965351835193 Centerline is valid? [False, False] Translation: X:9.47, Y:0.47, Z:0.29 [[ 9.98744020e-01 5.66332767e-03 -4.97826239e-02 9.47019814e+00] [-5.95464927e-03 9.99965994e-01 -5.70551017e-03 4.66641789e-01] [ 4.97486188e-02 5.99478222e-03 9.98743780e-01 2.88285957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46463043999998 meters Centerline goodness [0,1] 0.314138596867625 Centerline is valid? [False, False] Translation: X:9.47, Y:0.47, Z:0.29 [[ 9.98743238e-01 5.73340592e-03 -4.97902911e-02 9.47014252e+00] [-6.01752822e-03 9.99966446e-01 -5.55835432e-03 4.65598573e-01] [ 4.97567521e-02 5.85098327e-03 9.98744227e-01 2.88352703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49463043999998 meters Centerline goodness [0,1] 0.31439832069571183 Centerline is valid? [False, False] Translation: X:9.47, Y:0.46, Z:0.29 [[ 9.98734156e-01 5.84452257e-03 -4.99592469e-02 9.47067699e+00] [-6.11735349e-03 9.99967191e-01 -5.30990904e-03 4.64255545e-01] [ 4.99265739e-02 5.60880590e-03 9.98737142e-01 2.88158383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52463043999998 meters Centerline goodness [0,1] 0.3107799876361621 Centerline is valid? [False, False] Translation: X:9.49, Y:0.46, Z:0.29 [[ 9.98704193e-01 -1.87142780e-03 -5.08569821e-02 9.49227110e+00] [ 1.68125833e-03 9.99991436e-01 -3.78182158e-03 4.63905121e-01] [ 5.08636239e-02 3.69141734e-03 9.98698786e-01 2.89486983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55463043999998 meters Centerline goodness [0,1] 0.31173560091674346 Centerline is valid? [False, False] Translation: X:9.49, Y:0.46, Z:0.29 [[ 9.98680773e-01 -1.76989034e-03 -5.13184320e-02 9.49379393e+00] [ 1.59920140e-03 9.99993053e-01 -3.36694534e-03 4.61195436e-01] [ 5.13240346e-02 3.28043507e-03 9.98676666e-01 2.89004319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58463043999998 meters Centerline goodness [0,1] 0.31205035971223016 Centerline is valid? [False, False] Translation: X:9.50, Y:0.46, Z:0.29 [[ 9.98658120e-01 -1.72578234e-03 -5.17588770e-02 9.49539830e+00] [ 1.57115202e-03 9.99994181e-01 -3.02805212e-03 4.58627983e-01] [ 5.17638016e-02 2.94266777e-03 9.98655020e-01 2.88350204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61463043999998 meters Centerline goodness [0,1] 0.3124544323883861 Centerline is valid? [False, False] Translation: X:9.50, Y:0.46, Z:0.29 [[ 9.98640541e-01 -1.62772448e-03 -5.21001080e-02 9.49668802e+00] [ 1.48954526e-03 9.99995270e-01 -2.69090603e-03 4.56442726e-01] [ 5.21042417e-02 2.60964238e-03 9.98638242e-01 2.87807683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64463044 meters Centerline goodness [0,1] 0.3113416231772008 Centerline is valid? [False, False] Translation: X:9.50, Y:0.45, Z:0.29 [[ 9.98628408e-01 -1.21791687e-03 -5.23432877e-02 9.49739427e+00] [ 1.10682057e-03 9.99997073e-01 -2.15139024e-03 4.54544669e-01] [ 5.23457547e-02 2.09050479e-03 9.98626833e-01 2.87675234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67463044 meters Centerline goodness [0,1] 0.3157519754738979 Centerline is valid? [False, False] Translation: X:9.50, Y:0.46, Z:0.29 [[ 9.98619479e-01 -1.04917529e-03 -5.25169923e-02 9.49798024e+00] [ 9.40161443e-04 9.99997352e-01 -2.10044353e-03 4.55051159e-01] [ 5.25190570e-02 2.04816938e-03 9.98617822e-01 2.87393540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70463044 meters Centerline goodness [0,1] 0.3111856339247079 Centerline is valid? [False, False] Translation: X:9.50, Y:0.46, Z:0.29 [[ 9.98613622e-01 -4.30269628e-04 -5.26369446e-02 9.49849738e+00] [ 3.29286709e-04 9.99998089e-01 -1.92713716e-03 4.56463159e-01] [ 5.26376731e-02 1.90713278e-03 9.98611856e-01 2.86994988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73463044 meters Centerline goodness [0,1] 0.30784548841591364 Centerline is valid? [False, False] Translation: X:9.52, Y:0.46, Z:0.29 [[ 9.98611690e-01 7.66255349e-03 -5.21150395e-02 9.51853216e+00] [-7.84741576e-03 9.99963619e-01 -3.34349553e-03 4.56595941e-01] [ 5.20875238e-02 3.74782211e-03 9.98635491e-01 2.89342650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76463044 meters Centerline goodness [0,1] 0.3100592483674264 Centerline is valid? [False, False] Translation: X:9.52, Y:0.46, Z:0.29 [[ 9.98608512e-01 7.60018404e-03 -5.21850269e-02 9.51849880e+00] [-7.80274533e-03 9.99962791e-01 -3.67896065e-03 4.58549314e-01] [ 5.21551244e-02 4.08102789e-03 9.98630657e-01 2.89524354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79463044 meters Centerline goodness [0,1] 0.3102456200618344 Centerline is valid? [False, False] Translation: X:9.54, Y:0.47, Z:0.29 [[ 9.98573941e-01 1.03674600e-03 -5.33761183e-02 9.53578392e+00] [-1.18015041e-03 9.99995778e-01 -2.65522919e-03 4.66749367e-01] [ 5.33731402e-02 2.71443453e-03 9.98570949e-01 2.92510626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82463044 meters Centerline goodness [0,1] 0.3094607684856313 Centerline is valid? [False, False] Translation: X:9.54, Y:0.47, Z:0.29 [[ 9.98573309e-01 1.14617364e-03 -5.33856994e-02 9.53538445e+00] [-1.31210100e-03 9.99994417e-01 -3.07314138e-03 4.71008342e-01] [ 5.33818790e-02 3.13880439e-03 9.98569238e-01 2.92918202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85463044 meters Centerline goodness [0,1] 0.3076527000064363 Centerline is valid? [False, False] Translation: X:9.54, Y:0.47, Z:0.29 [[ 9.98573112e-01 1.06330400e-03 -5.33910997e-02 9.53508685e+00] [-1.24712562e-03 9.99993409e-01 -3.40972799e-03 4.73381185e-01] [ 5.33871222e-02 3.47144810e-03 9.98567857e-01 2.93316626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88463044 meters Centerline goodness [0,1] 0.3076527000064363 Centerline is valid? [False, False] Translation: X:9.54, Y:0.47, Z:0.29 [[ 9.98573112e-01 1.06330400e-03 -5.33910997e-02 9.53508685e+00] [-1.24712562e-03 9.99993409e-01 -3.40972799e-03 4.73381185e-01] [ 5.33871222e-02 3.47144810e-03 9.98567857e-01 2.93316626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91463044 meters Centerline goodness [0,1] 0.30680025580899595 Centerline is valid? [False, False] Translation: X:9.53, Y:0.48, Z:0.29 [[ 9.98574756e-01 9.24308733e-04 -5.33629339e-02 9.53480533e+00] [-1.12732590e-03 9.99992241e-01 -3.77448564e-03 4.75597579e-01] [ 5.33590310e-02 3.82926350e-03 9.98568050e-01 2.93606315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94463044 meters Centerline goodness [0,1] 0.3085161179551015 Centerline is valid? [False, False] Translation: X:9.53, Y:0.48, Z:0.29 [[ 9.98571329e-01 7.03204621e-04 -5.34303973e-02 9.53474162e+00] [-9.29227221e-04 9.99990725e-01 -4.20550049e-03 4.77613244e-01] [ 5.34269444e-02 4.24914119e-03 9.98562720e-01 2.93888086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.97463044 meters Centerline goodness [0,1] 0.3096575622565162 Centerline is valid? [False, False] Translation: X:9.53, Y:0.48, Z:0.29 [[ 9.98568335e-01 4.72353511e-04 -5.34888426e-02 9.53451180e+00] [-7.28623699e-04 9.99988350e-01 -4.77169695e-03 4.80916329e-01] [ 5.34859655e-02 4.80383872e-03 9.98557046e-01 2.94358774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00463044 meters Centerline goodness [0,1] 0.3053917798854995 Centerline is valid? [False, False] Translation: X:9.53, Y:0.48, Z:0.29 [[ 9.98565395e-01 3.47486161e-04 -5.35446634e-02 9.53455937e+00] [-6.19366337e-04 9.99987001e-01 -5.06112336e-03 4.82632354e-01] [ 5.35422087e-02 5.08702641e-03 9.98552630e-01 2.94497686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.03463044 meters Centerline goodness [0,1] 0.30909989046627007 Centerline is valid? [False, False] Translation: X:9.53, Y:0.48, Z:0.29 [[ 9.98559272e-01 2.33337569e-04 -5.36593466e-02 9.53480449e+00] [-5.19595925e-04 9.99985709e-01 -5.32084553e-03 4.84041446e-01] [ 5.36573382e-02 5.34106081e-03 9.98545123e-01 2.94555681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06463044 meters Centerline goodness [0,1] 0.30450300271419717 Centerline is valid? [False, False] Translation: X:9.54, Y:0.49, Z:0.29 [[ 9.98550957e-01 1.06811880e-04 -5.38142594e-02 9.53520827e+00] [-4.09248797e-04 9.99984186e-01 -5.60902614e-03 4.85619710e-01] [ 5.38128092e-02 5.62292184e-03 9.98535209e-01 2.94512595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09463044 meters Centerline goodness [0,1] 0.30924314919530227 Centerline is valid? [False, False] Translation: X:9.49, Y:0.49, Z:0.29 [[ 9.98424358e-01 -2.95765213e-04 -5.61134031e-02 9.49021667e+00] [-6.70929467e-05 9.99979103e-01 -6.46452085e-03 4.87723940e-01] [ 5.61141425e-02 6.45809989e-03 9.98403474e-01 2.93719116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12463044 meters Centerline goodness [0,1] 0.3090968231594926 Centerline is valid? [False, False] Translation: X:9.49, Y:0.49, Z:0.29 [[ 9.98424864e-01 -3.85079390e-04 -5.61038606e-02 9.48987134e+00] [ 1.83120505e-06 9.99976669e-01 -6.83093964e-03 4.90120991e-01] [ 5.61051821e-02 6.82007724e-03 9.98401570e-01 2.94095140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15463043999998 meters Centerline goodness [0,1] 0.31043048145668184 Centerline is valid? [False, False] Translation: X:9.48, Y:0.49, Z:0.30 [[ 9.98500364e-01 1.58639205e-03 -5.47220752e-02 9.48444544e+00] [-1.87879091e-03 9.99984231e-01 -5.29231355e-03 4.94373771e-01] [ 5.47128166e-02 5.38718834e-03 9.98487599e-01 2.96504659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18463043999998 meters Centerline goodness [0,1] 0.31047056031413833 Centerline is valid? [False, False] Translation: X:9.48, Y:0.50, Z:0.30 [[ 9.98517837e-01 1.59039836e-03 -5.44022056e-02 9.48326564e+00] [-1.88839953e-03 9.99983492e-01 -5.42677461e-03 4.95642864e-01] [ 5.43926768e-02 5.52146434e-03 9.98504357e-01 2.97092031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21463043999998 meters Centerline goodness [0,1] 0.30752563607499894 Centerline is valid? [False, False] Translation: X:9.48, Y:0.50, Z:0.30 [[ 9.98520311e-01 1.46839859e-03 -5.43602098e-02 9.48309449e+00] [-1.77805709e-03 9.99982466e-01 -5.64849320e-03 4.96607360e-01] [ 5.43509624e-02 5.73679075e-03 9.98505414e-01 2.97205369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24463043999998 meters Centerline goodness [0,1] 0.30998809652634995 Centerline is valid? [False, False] Translation: X:9.48, Y:0.50, Z:0.30 [[ 9.98514952e-01 1.31692556e-03 -5.44624274e-02 9.48336605e+00] [-1.63912130e-03 9.99981418e-01 -5.87168175e-03 4.97073285e-01] [ 5.44536828e-02 5.95223255e-03 9.98498557e-01 2.97155223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27463043999998 meters Centerline goodness [0,1] 0.3124125911741291 Centerline is valid? [False, False] Translation: X:9.48, Y:0.50, Z:0.30 [[ 9.98501576e-01 1.00611526e-03 -5.47137193e-02 9.48390102e+00] [-1.35592647e-03 9.99978876e-01 -6.35673664e-03 4.98363995e-01] [ 5.47061679e-02 6.42139933e-03 9.98481848e-01 2.97241433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30463043999998 meters Centerline goodness [0,1] 0.3121339638193571 Centerline is valid? [False, False] Translation: X:9.48, Y:0.50, Z:0.30 [[ 9.98503463e-01 9.85201522e-04 -5.46796432e-02 9.48365684e+00] [-1.33927622e-03 9.99978371e-01 -6.43917387e-03 4.98865736e-01] [ 5.46721167e-02 6.50276855e-03 9.98483186e-01 2.97443771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33463043999998 meters Centerline goodness [0,1] 0.3130829996753598 Centerline is valid? [False, False] Translation: X:9.48, Y:0.50, Z:0.30 [[ 9.98507356e-01 1.03873551e-03 -5.46075105e-02 9.48329419e+00] [-1.39244998e-03 9.99978295e-01 -6.43974760e-03 4.99515348e-01] [ 5.45996360e-02 6.50617358e-03 9.98487130e-01 2.97700441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36463043999998 meters Centerline goodness [0,1] 0.3112220841013331 Centerline is valid? [False, False] Translation: X:9.50, Y:0.50, Z:0.30 [[ 9.98528601e-01 -4.67121303e-03 -5.40260362e-02 9.50382465e+00] [ 4.49766113e-03 9.99984329e-01 -3.33351399e-03 5.02757388e-01] [ 5.40407611e-02 3.08561826e-03 9.98533963e-01 2.99062199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39463044 meters Centerline goodness [0,1] 0.31219480715038617 Centerline is valid? [False, False] Translation: X:9.51, Y:0.50, Z:0.30 [[ 9.98490817e-01 -4.86420638e-03 -5.47030972e-02 9.50564517e+00] [ 4.69098349e-03 9.99983570e-01 -3.29455813e-03 5.01268913e-01] [ 5.47182239e-02 3.03297471e-03 9.98497229e-01 2.98855289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42463044 meters Centerline goodness [0,1] 0.31341544966240265 Centerline is valid? [False, False] Translation: X:9.51, Y:0.50, Z:0.30 [[ 9.98466816e-01 -4.86027396e-03 -5.51397805e-02 9.50672901e+00] [ 4.70024561e-03 9.99984359e-01 -3.03154404e-03 4.99246263e-01] [ 5.51536521e-02 2.76772561e-03 9.98474043e-01 2.98886127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45463044 meters Centerline goodness [0,1] 0.3138708279150412 Centerline is valid? [False, False] Translation: X:9.51, Y:0.50, Z:0.30 [[ 9.98450769e-01 -4.81128754e-03 -5.54338575e-02 9.50731410e+00] [ 4.67333024e-03 9.99985653e-01 -2.61804501e-03 4.96692772e-01] [ 5.54456584e-02 2.35492833e-03 9.98458929e-01 2.99156132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48463044 meters Centerline goodness [0,1] 0.3114877024595081 Centerline is valid? [False, False] Translation: X:9.53, Y:0.49, Z:0.30 [[ 9.98482286e-01 -1.47371597e-05 -5.50738028e-02 9.52898099e+00] [-2.84607696e-04 9.99985231e-01 -5.42749311e-03 4.92890796e-01] [ 5.50730693e-02 5.43493016e-03 9.98467535e-01 3.00732411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51463044 meters Centerline goodness [0,1] 0.31485697105059707 Centerline is valid? [False, False] Translation: X:9.53, Y:0.49, Z:0.30 [[ 9.98500729e-01 -3.58286379e-03 -5.46210342e-02 9.52713706e+00] [ 3.15334355e-03 9.99963444e-01 -7.94779850e-03 4.85907339e-01] [ 5.46475133e-02 7.76364371e-03 9.98475526e-01 3.01905056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54463044 meters Centerline goodness [0,1] 0.3200043229222955 Centerline is valid? [False, False] Translation: X:9.53, Y:0.48, Z:0.30 [[ 9.98510959e-01 -3.59021303e-03 -5.44332109e-02 9.52671542e+00] [ 3.18734389e-03 9.99966898e-01 -7.48617213e-03 4.82211640e-01] [ 5.44582861e-02 7.30152756e-03 9.98489350e-01 3.01993105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57463044 meters Centerline goodness [0,1] 0.31680779092064726 Centerline is valid? [False, False] Translation: X:9.53, Y:0.48, Z:0.30 [[ 9.98503185e-01 -3.36203286e-03 -5.45901612e-02 9.52733698e+00] [ 2.99036450e-03 9.99971802e-01 -6.88859623e-03 4.79097844e-01] [ 5.46117816e-02 6.71504080e-03 9.98485083e-01 3.01763541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60463044 meters Centerline goodness [0,1] 0.31735580151183695 Centerline is valid? [False, False] Translation: X:9.53, Y:0.48, Z:0.30 [[ 9.98489893e-01 -3.11112269e-03 -5.48475623e-02 9.52837683e+00] [ 2.76403660e-03 9.99975681e-01 -6.40291754e-03 4.76892744e-01] [ 5.48661487e-02 6.24164778e-03 9.98474210e-01 3.01260083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63463044 meters Centerline goodness [0,1] 0.3177452846513238 Centerline is valid? [False, False] Translation: X:9.53, Y:0.48, Z:0.30 [[ 9.98467074e-01 -2.95221076e-03 -5.52701234e-02 9.52984172e+00] [ 2.61861182e-03 9.99977922e-01 -6.10723992e-03 4.75463518e-01] [ 5.52869330e-02 5.95314698e-03 9.98452761e-01 3.00645266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66463044 meters Centerline goodness [0,1] 0.31498206646212346 Centerline is valid? [False, False] Translation: X:9.53, Y:0.47, Z:0.30 [[ 9.98407520e-01 -2.69902298e-03 -5.63483705e-02 9.53278392e+00] [ 2.36811809e-03 9.99979563e-01 -5.93843089e-03 4.74294469e-01] [ 5.63632469e-02 5.79553447e-03 9.98393508e-01 3.00030200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.69463044 meters Centerline goodness [0,1] 0.31337333904843545 Centerline is valid? [False, False] Translation: X:9.53, Y:0.47, Z:0.30 [[ 9.98383062e-01 -2.50697121e-03 -5.67888749e-02 9.53388698e+00] [ 2.18032835e-03 9.99980727e-01 -5.81311030e-03 4.74288272e-01] [ 5.68023537e-02 5.67989247e-03 9.98369286e-01 2.99915495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72463044 meters Centerline goodness [0,1] 0.3108299682103274 Centerline is valid? [False, False] Translation: X:9.53, Y:0.47, Z:0.30 [[ 9.98378826e-01 -2.27894529e-03 -5.68729018e-02 9.53414011e+00] [ 1.96013021e-03 9.99982056e-01 -5.66090155e-03 4.74579096e-01] [ 5.68847821e-02 5.54024595e-03 9.98365378e-01 2.99829182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.75463044 meters Centerline goodness [0,1] 0.31222417412914005 Centerline is valid? [False, False] Translation: X:9.53, Y:0.47, Z:0.30 [[ 9.98411593e-01 -2.07519586e-03 -5.63026225e-02 9.53274043e+00] [ 1.77042405e-03 9.99983514e-01 -5.46244103e-03 4.74093888e-01] [ 5.63130299e-02 5.35408493e-03 9.98398806e-01 2.99995824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78463044 meters Centerline goodness [0,1] 0.31440249542863286 Centerline is valid? [False, False] Translation: X:9.53, Y:0.47, Z:0.30 [[ 9.98422925e-01 -2.12496112e-03 -5.60994335e-02 9.53212413e+00] [ 1.82490182e-03 9.99983758e-01 -5.39939143e-03 4.73001075e-01] [ 5.61099958e-02 5.28850023e-03 9.98410587e-01 3.00209874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.81463044 meters Centerline goodness [0,1] 0.3169701825426041 Centerline is valid? [False, False] Translation: X:9.53, Y:0.47, Z:0.30 [[ 9.98427225e-01 -2.16990107e-03 -5.60211448e-02 9.53191955e+00] [ 1.87723315e-03 9.99984318e-01 -5.27633548e-03 4.71621240e-01] [ 5.60317154e-02 5.16287224e-03 9.98415641e-01 3.00296225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84463044 meters Centerline goodness [0,1] 0.31406575919833124 Centerline is valid? [False, False] Translation: X:9.53, Y:0.47, Z:0.30 [[ 9.98423130e-01 -2.13199373e-03 -5.60955323e-02 9.53207227e+00] [ 1.85183690e-03 9.99985555e-01 -5.04578768e-03 4.70009145e-01] [ 5.61054796e-02 4.93395135e-03 9.98412656e-01 3.00413394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87463044 meters Centerline goodness [0,1] 0.31895992737647516 Centerline is valid? [False, False] Translation: X:9.53, Y:0.47, Z:0.30 [[ 9.98437103e-01 -2.03106671e-03 -5.58500256e-02 9.53106984e+00] [ 1.78211380e-03 9.99988256e-01 -4.50696854e-03 4.66683378e-01] [ 5.58585236e-02 4.40039351e-03 9.98428997e-01 3.01144011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90463043999998 meters Centerline goodness [0,1] 0.31926725547922796 Centerline is valid? [False, False] Translation: X:9.53, Y:0.47, Z:0.30 [[ 9.98437163e-01 -2.01507835e-03 -5.58495380e-02 9.53099200e+00] [ 1.77428810e-03 9.99988918e-01 -4.36065992e-03 4.65618284e-01] [ 5.58577061e-02 4.25475175e-03 9.98429674e-01 3.01346325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93463043999998 meters Centerline goodness [0,1] 0.31472005138636117 Centerline is valid? [False, False] Translation: X:9.57, Y:0.47, Z:0.30 [[ 9.98517692e-01 -1.93759929e-03 -5.43936000e-02 9.57385627e+00] [ 1.69848154e-03 9.99988692e-01 -4.44194751e-03 4.67723047e-01] [ 5.44015916e-02 4.34297666e-03 9.98509692e-01 3.04033242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96463043999998 meters Centerline goodness [0,1] 0.3202186266429532 Centerline is valid? [False, False] Translation: X:9.57, Y:0.47, Z:0.30 [[ 9.98522149e-01 -1.82582537e-03 -5.43156030e-02 9.57369980e+00] [ 1.59592336e-03 9.99989585e-01 -4.27577923e-03 4.67261307e-01] [ 5.43228442e-02 4.18277673e-03 9.98514663e-01 3.04049121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99463043999998 meters Centerline goodness [0,1] 0.3173478616650157 Centerline is valid? [False, False] Translation: X:9.57, Y:0.47, Z:0.30 [[ 9.98518938e-01 -1.70812934e-03 -5.43784290e-02 9.57383455e+00] [ 1.48003924e-03 9.99989939e-01 -4.23449063e-03 4.67875385e-01] [ 5.43851149e-02 4.14773687e-03 9.98511420e-01 3.04077973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02463043999998 meters Centerline goodness [0,1] 0.3176612938075277 Centerline is valid? [False, False] Translation: X:9.57, Y:0.47, Z:0.30 [[ 9.98518528e-01 -1.69030353e-03 -5.43865035e-02 9.57396136e+00] [ 1.45992399e-03 9.99989795e-01 -4.27541958e-03 4.68442603e-01] [ 5.43931752e-02 4.18968551e-03 9.98510806e-01 3.03931070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05463043999998 meters Centerline goodness [0,1] 0.31472081218274117 Centerline is valid? [False, False] Translation: X:9.57, Y:0.47, Z:0.30 [[ 9.98497816e-01 -1.81337990e-03 -5.47615077e-02 9.57489788e+00] [ 1.56702544e-03 9.99988461e-01 -4.54128297e-03 4.69752296e-01] [ 5.47691109e-02 4.44864845e-03 9.98489136e-01 3.03877871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08463043999998 meters Centerline goodness [0,1] 0.3158143939393939 Centerline is valid? [False, False] Translation: X:9.57, Y:0.47, Z:0.30 [[ 9.98497664e-01 -1.87974389e-03 -5.47620384e-02 9.57487077e+00] [ 1.62721291e-03 9.99987838e-01 -4.65564735e-03 4.70315143e-01] [ 5.47701238e-02 4.55954350e-03 9.98488580e-01 3.03947254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11463043999998 meters Centerline goodness [0,1] 0.3200120905930868 Centerline is valid? [False, False] Translation: X:9.57, Y:0.47, Z:0.30 [[ 9.98503512e-01 -1.89794326e-03 -5.46546898e-02 9.57448334e+00] [ 1.64200863e-03 9.99987478e-01 -4.72728161e-03 4.70923686e-01] [ 5.46629775e-02 4.63046381e-03 9.98494125e-01 3.04151727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14463044 meters Centerline goodness [0,1] 0.3117595763234575 Centerline is valid? [False, False] Translation: X:9.62, Y:0.48, Z:0.31 [[ 9.98602120e-01 -1.65612188e-03 -5.28305101e-02 9.61727371e+00] [ 1.40258940e-03 9.99987324e-01 -4.83569315e-03 4.75233513e-01] [ 5.28378489e-02 4.75483391e-03 9.98591785e-01 3.06690806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17463044 meters Centerline goodness [0,1] 0.3151853842020419 Centerline is valid? [False, False] Translation: X:9.62, Y:0.48, Z:0.31 [[ 9.98606066e-01 -1.88747791e-03 -5.27481063e-02 9.61695290e+00] [ 1.60001510e-03 9.99983642e-01 -5.49142453e-03 4.78826601e-01] [ 5.27576084e-02 5.39937208e-03 9.98592751e-01 3.06809653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20463044 meters Centerline goodness [0,1] 0.3161884717807748 Centerline is valid? [False, False] Translation: X:9.62, Y:0.48, Z:0.31 [[ 9.98598677e-01 -1.93670586e-03 -5.28860281e-02 9.61737117e+00] [ 1.63068378e-03 9.99981682e-01 -5.82898218e-03 4.81127291e-01] [ 5.28963483e-02 5.73457350e-03 9.98583542e-01 3.06648240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23463044 meters Centerline goodness [0,1] 0.31348910519925877 Centerline is valid? [False, False] Translation: X:9.62, Y:0.48, Z:0.31 [[ 9.98586592e-01 -1.94189822e-03 -5.31135370e-02 9.61803779e+00] [ 1.61828602e-03 9.99979870e-01 -6.13516681e-03 4.83725245e-01] [ 5.31243817e-02 6.04054242e-03 9.98569633e-01 3.06449851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26463044 meters Centerline goodness [0,1] 0.31707948563044797 Centerline is valid? [False, False] Translation: X:9.62, Y:0.49, Z:0.31 [[ 9.98579173e-01 -1.97696839e-03 -5.32515363e-02 9.61845153e+00] [ 1.63642723e-03 9.99977938e-01 -6.43779774e-03 4.86017339e-01] [ 5.32630888e-02 6.34150848e-03 9.98560378e-01 3.06306332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29463044 meters Centerline goodness [0,1] 0.317531382545735 Centerline is valid? [False, False] Translation: X:9.62, Y:0.49, Z:0.31 [[ 9.98576805e-01 -2.04613351e-03 -5.32933158e-02 9.61859579e+00] [ 1.68888673e-03 9.99975809e-01 -6.74757976e-03 4.88166230e-01] [ 5.33058331e-02 6.64797027e-03 9.98556104e-01 3.06242045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32463044 meters Centerline goodness [0,1] 0.3190190665171253 Centerline is valid? [False, False] Translation: X:9.62, Y:0.49, Z:0.31 [[ 9.98577581e-01 -2.26251269e-03 -5.32700229e-02 9.61862337e+00] [ 1.86871369e-03 9.99970568e-01 -7.44115507e-03 4.92473532e-01] [ 5.32852908e-02 7.33102421e-03 9.98552419e-01 3.06109828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35463044 meters Centerline goodness [0,1] 0.3137869961376779 Centerline is valid? [False, False] Translation: X:9.64, Y:0.49, Z:0.31 [[ 9.98628886e-01 5.24732435e-03 -5.20846835e-02 9.63826599e+00] [-5.72813110e-03 9.99942312e-01 -9.08627058e-03 4.93190295e-01] [ 5.20340003e-02 9.37216016e-03 9.98601335e-01 3.08112970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38463044 meters Centerline goodness [0,1] 0.31895223420647145 Centerline is valid? [False, False] Translation: X:9.64, Y:0.50, Z:0.31 [[ 9.98644220e-01 5.09510414e-03 -5.18050394e-02 9.63747180e+00] [-5.59313381e-03 9.99939487e-01 -9.47311177e-03 4.95329169e-01] [ 5.17536380e-02 9.75002083e-03 9.98612286e-01 3.08289531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41463044 meters Centerline goodness [0,1] 0.32538548163548164 Centerline is valid? [False, False] Translation: X:9.62, Y:0.50, Z:0.31 [[ 9.98758197e-01 -2.08293449e-03 -4.97767601e-02 9.61752036e+00] [ 1.65858692e-03 9.99961946e-01 -8.56479916e-03 5.01335108e-01] [ 4.97927058e-02 8.47160428e-03 9.98723645e-01 3.05135924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44463044 meters Centerline goodness [0,1] 0.31928304961193776 Centerline is valid? [False, False] Translation: X:9.62, Y:0.51, Z:0.30 [[ 9.98752494e-01 -2.21570540e-03 -4.98853396e-02 9.61804801e+00] [ 1.76418532e-03 9.99957098e-01 -9.09337010e-03 5.05100871e-01] [ 4.99033477e-02 8.99401908e-03 9.98713554e-01 3.04840978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.47463044 meters Centerline goodness [0,1] 0.31698807816613517 Centerline is valid? [False, False] Translation: X:9.62, Y:0.51, Z:0.30 [[ 9.98735718e-01 -2.30117650e-03 -5.02162368e-02 9.61904078e+00] [ 1.83304257e-03 9.99954454e-01 -9.36642477e-03 5.06761163e-01] [ 5.02355034e-02 9.26253447e-03 9.98694448e-01 3.04547690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50463044 meters Centerline goodness [0,1] 0.31706530849074854 Centerline is valid? [False, False] Translation: X:9.62, Y:0.51, Z:0.30 [[ 9.98723020e-01 -2.40979578e-03 -5.04630728e-02 9.61987503e+00] [ 1.92649726e-03 9.99951835e-01 -9.62372135e-03 5.08038381e-01] [ 5.04838334e-02 9.51421508e-03 9.98679559e-01 3.04200033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.53463044 meters Centerline goodness [0,1] 0.31918894965521716 Centerline is valid? [False, False] Translation: X:9.62, Y:0.51, Z:0.30 [[ 9.98716265e-01 -2.53522583e-03 -5.05904582e-02 9.62024137e+00] [ 2.03712326e-03 9.99948969e-01 -9.89491558e-03 5.09492248e-01] [ 5.06129624e-02 9.77915413e-03 9.98670464e-01 3.04119641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56463044 meters Centerline goodness [0,1] 0.31755931331575904 Centerline is valid? [False, False] Translation: X:9.62, Y:0.51, Z:0.30 [[ 9.98722690e-01 -2.48646832e-03 -5.04658970e-02 9.61982501e+00] [ 1.99295372e-03 9.99949727e-01 -9.82713553e-03 5.09578884e-01] [ 5.04877948e-02 9.71400703e-03 9.98677436e-01 3.04345167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59463044 meters Centerline goodness [0,1] 0.3190081223946023 Centerline is valid? [False, False] Translation: X:9.62, Y:0.51, Z:0.30 [[ 9.98736700e-01 -2.39577098e-03 -5.01922753e-02 9.61894866e+00] [ 1.91330305e-03 9.99951528e-01 -9.65823667e-03 5.09108911e-01] [ 5.02129813e-02 9.55000239e-03 9.98692873e-01 3.04706265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62463044 meters Centerline goodness [0,1] 0.31822746405144975 Centerline is valid? [False, False] Translation: X:9.62, Y:0.51, Z:0.31 [[ 9.98774066e-01 -2.49511378e-03 -4.94382388e-02 9.61707576e+00] [ 2.03433619e-03 9.99954046e-01 -9.36839400e-03 5.06546426e-01] [ 4.94593421e-02 9.25633497e-03 9.98733245e-01 3.05082394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65463043999998 meters Centerline goodness [0,1] 0.3202655364788306 Centerline is valid? [False, False] Translation: X:9.62, Y:0.50, Z:0.30 [[ 9.98772889e-01 -2.54939684e-03 -4.94592521e-02 9.61724934e+00] [ 2.09652584e-03 9.99955425e-01 -9.20616493e-03 5.04846623e-01] [ 4.94805176e-02 9.09117534e-03 9.98733713e-01 3.04972141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68463043999998 meters Centerline goodness [0,1] 0.3164849262347659 Centerline is valid? [False, False] Translation: X:9.62, Y:0.50, Z:0.30 [[ 9.98755663e-01 -2.55199034e-03 -4.98057458e-02 9.61828024e+00] [ 2.10653583e-03 9.99957332e-01 -8.99428079e-03 5.03151366e-01] [ 4.98265740e-02 8.87817129e-03 9.98718424e-01 3.04775421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71463043999998 meters Centerline goodness [0,1] 0.3155200479780672 Centerline is valid? [False, False] Translation: X:9.62, Y:0.50, Z:0.30 [[ 9.98742463e-01 -2.47799837e-03 -5.00734613e-02 9.61934073e+00] [ 2.04117516e-03 9.99959434e-01 -8.77290138e-03 5.01806501e-01] [ 5.00931693e-02 8.65966043e-03 9.98707006e-01 3.04283384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74463043999998 meters Centerline goodness [0,1] 0.3144519092489644 Centerline is valid? [False, False] Translation: X:9.62, Y:0.50, Z:0.30 [[ 9.98730194e-01 -2.34744008e-03 -5.03238337e-02 9.62027775e+00] [ 1.91805756e-03 9.99961360e-01 -8.57898424e-03 5.00952298e-01] [ 5.03420279e-02 8.47156659e-03 9.98696106e-01 3.03888088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77463043999998 meters Centerline goodness [0,1] 0.3135090117024003 Centerline is valid? [False, False] Translation: X:9.62, Y:0.50, Z:0.30 [[ 9.98724447e-01 -2.27245293e-03 -5.04412102e-02 9.62084526e+00] [ 1.83977404e-03 9.99961132e-01 -8.62265783e-03 5.01616640e-01] [ 5.04588443e-02 8.51885875e-03 9.98689809e-01 3.03476769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80463043999998 meters Centerline goodness [0,1] 0.3135090117024003 Centerline is valid? [False, False] Translation: X:9.62, Y:0.50, Z:0.30 [[ 9.98724447e-01 -2.27245293e-03 -5.04412102e-02 9.62084526e+00] [ 1.83977404e-03 9.99961132e-01 -8.62265783e-03 5.01616640e-01] [ 5.04588443e-02 8.51885875e-03 9.98689809e-01 3.03476769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83463043999998 meters Centerline goodness [0,1] 0.3155859028933209 Centerline is valid? [False, False] Translation: X:9.62, Y:0.50, Z:0.30 [[ 9.98712797e-01 -2.18051725e-03 -5.06753772e-02 9.62165994e+00] [ 1.74220813e-03 9.99960707e-01 -8.69191394e-03 5.02745486e-01] [ 5.06923389e-02 8.59243863e-03 9.98677354e-01 3.03075966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86463043999998 meters Centerline goodness [0,1] 0.3126425997398554 Centerline is valid? [False, False] Translation: X:9.62, Y:0.50, Z:0.30 [[ 9.98696394e-01 -2.04816374e-03 -5.10031156e-02 9.62260935e+00] [ 1.60104930e-03 9.99959947e-01 -8.80572745e-03 5.04337037e-01] [ 5.10191084e-02 8.71258975e-03 9.98659672e-01 3.02812701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89463044 meters Centerline goodness [0,1] 0.3133362106171774 Centerline is valid? [False, False] Translation: X:9.62, Y:0.51, Z:0.30 [[ 9.98695177e-01 -1.91660804e-03 -5.10320499e-02 9.62240765e+00] [ 1.45528380e-03 9.99957758e-01 -9.07551554e-03 5.07211290e-01] [ 5.10472884e-02 8.98940748e-03 9.98655779e-01 3.03097226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92463044 meters Centerline goodness [0,1] 0.31086933333333333 Centerline is valid? [False, False] Translation: X:9.62, Y:0.51, Z:0.30 [[ 9.98690844e-01 -1.96307867e-03 -5.11150211e-02 9.62255003e+00] [ 1.49229226e-03 9.99956133e-01 -9.24686968e-03 5.08186096e-01] [ 5.11309311e-02 9.15848553e-03 9.98649964e-01 3.03227292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95463044 meters Centerline goodness [0,1] 0.3145432588631071 Centerline is valid? [False, False] Translation: X:9.62, Y:0.51, Z:0.30 [[ 9.98689679e-01 -2.05082162e-03 -5.11343317e-02 9.62265547e+00] [ 1.57129729e-03 9.99954432e-01 -9.41617450e-03 5.08869888e-01] [ 5.11513126e-02 9.32348905e-03 9.98647393e-01 3.03126846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98463044 meters Centerline goodness [0,1] 0.31027267097986466 Centerline is valid? [False, False] Translation: X:9.62, Y:0.51, Z:0.30 [[ 9.98686942e-01 -2.08598465e-03 -5.11863260e-02 9.62299444e+00] [ 1.60264041e-03 9.99953760e-01 -9.48206644e-03 5.09249952e-01] [ 5.12037386e-02 9.38758266e-03 9.98644106e-01 3.02887611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01463044 meters Centerline goodness [0,1] 0.3124226254002135 Centerline is valid? [False, False] Translation: X:9.62, Y:0.51, Z:0.30 [[ 9.98691388e-01 -2.08535866e-03 -5.10995423e-02 9.62303415e+00] [ 1.61415796e-03 9.99955815e-01 -9.26076529e-03 5.08150643e-01] [ 5.11165965e-02 9.16616380e-03 9.98650627e-01 3.02663533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04463044 meters Centerline goodness [0,1] 0.3126004672396425 Centerline is valid? [False, False] Translation: X:9.62, Y:0.51, Z:0.30 [[ 9.98686156e-01 -2.13303591e-03 -5.11997360e-02 9.62334495e+00] [ 1.66753690e-03 9.99956905e-01 -9.13281993e-03 5.07005396e-01] [ 5.12170102e-02 9.03544337e-03 9.98646674e-01 3.02662045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07463044 meters Centerline goodness [0,1] 0.30833245103229223 Centerline is valid? [False, False] Translation: X:9.64, Y:0.51, Z:0.30 [[ 9.98625713e-01 -1.03995110e-02 -5.13666807e-02 9.64377577e+00] [ 9.97984910e-03 9.99914752e-01 -8.41967079e-03 5.10422727e-01] [ 5.14498623e-02 7.89546802e-03 9.98644368e-01 3.04660632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10463044 meters Centerline goodness [0,1] 0.31093709994025776 Centerline is valid? [False, False] Translation: X:9.64, Y:0.51, Z:0.30 [[ 9.98607212e-01 -1.04305356e-02 -5.17188626e-02 9.64467698e+00] [ 1.00213793e-02 9.99916455e-01 -8.16418977e-03 5.08229436e-01] [ 5.17996987e-02 7.63452444e-03 9.98628312e-01 3.04681229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13463044 meters Centerline goodness [0,1] 0.3125013431905611 Centerline is valid? [False, False] Translation: X:9.65, Y:0.50, Z:0.30 [[ 9.98584793e-01 -1.05676447e-02 -5.21223111e-02 9.64588520e+00] [ 1.01877149e-02 9.99919604e-01 -7.54951049e-03 5.02285322e-01] [ 5.21979012e-02 7.00781913e-03 9.98612172e-01 3.04608317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16463044 meters Centerline goodness [0,1] 0.31197413774647287 Centerline is valid? [False, False] Translation: X:9.65, Y:0.50, Z:0.30 [[ 9.98589592e-01 -1.04234080e-02 -5.20593903e-02 9.64566868e+00] [ 1.00707438e-02 9.99924563e-01 -7.03200307e-03 4.99329834e-01] [ 5.21287605e-02 6.49780829e-03 9.98619232e-01 3.04876236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.19463044 meters Centerline goodness [0,1] 0.31659807364950765 Centerline is valid? [False, False] Translation: X:9.64, Y:0.50, Z:0.31 [[ 9.98607510e-01 -1.03467497e-02 -5.17299213e-02 9.64479542e+00] [ 1.00160497e-02 9.99927739e-01 -6.64798182e-03 4.96686818e-01] [ 5.17949682e-02 6.12059511e-03 9.98638984e-01 3.05132867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22463044 meters Centerline goodness [0,1] 0.3142703862660944 Centerline is valid? [False, False] Translation: X:9.66, Y:0.49, Z:0.31 [[ 9.98696208e-01 -2.85194422e-03 -5.09681353e-02 9.66253154e+00] [ 2.45219140e-03 9.99965756e-01 -7.90400321e-03 4.91885676e-01] [ 5.09889317e-02 7.76871441e-03 9.98669002e-01 3.08018171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.25463044 meters Centerline goodness [0,1] 0.31626990079067474 Centerline is valid? [False, False] Translation: X:9.66, Y:0.49, Z:0.31 [[ 9.98727201e-01 -2.47580133e-03 -5.03770640e-02 9.66058236e+00] [ 2.10870456e-03 9.99970847e-01 -7.33882683e-03 4.89331820e-01] [ 5.03937649e-02 7.22325563e-03 9.98703306e-01 3.08817963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28463044 meters Centerline goodness [0,1] 0.3158729818392333 Centerline is valid? [False, False] Translation: X:9.66, Y:0.49, Z:0.31 [[ 9.98740093e-01 -2.24076763e-03 -5.01318910e-02 9.65981542e+00] [ 1.89356795e-03 9.99973901e-01 -6.97214703e-03 4.87870184e-01] [ 5.01462056e-02 6.86843463e-03 9.98718270e-01 3.09064351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.31463044 meters Centerline goodness [0,1] 0.3171013747912116 Centerline is valid? [False, False] Translation: X:9.66, Y:0.49, Z:0.31 [[ 9.98748598e-01 -2.08936709e-03 -4.99687222e-02 9.65936822e+00] [ 1.75959540e-03 9.99976389e-01 -6.64264179e-03 4.86078705e-01] [ 4.99814213e-02 6.54640444e-03 9.98728693e-01 3.09135980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34463044 meters Centerline goodness [0,1] 0.31773272047768375 Centerline is valid? [False, False] Translation: X:9.66, Y:0.48, Z:0.31 [[ 9.98753063e-01 -2.01269568e-03 -4.98825540e-02 9.65935472e+00] [ 1.69534039e-03 9.99978060e-01 -6.40354367e-03 4.84388931e-01] [ 4.98943480e-02 6.31099094e-03 9.98734562e-01 3.08918386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37463044 meters Centerline goodness [0,1] 0.31739308061152083 Centerline is valid? [False, False] Translation: X:9.66, Y:0.48, Z:0.31 [[ 9.98737740e-01 -1.92420124e-03 -5.01918677e-02 9.66075844e+00] [ 1.62317595e-03 9.99980456e-01 -6.03756284e-03 4.81306704e-01] [ 5.02025043e-02 5.94847163e-03 9.98721345e-01 3.08099137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40463043999998 meters Centerline goodness [0,1] 0.31730336114626456 Centerline is valid? [False, False] Translation: X:9.66, Y:0.48, Z:0.31 [[ 9.98722002e-01 -1.78909315e-03 -5.05090363e-02 9.66189870e+00] [ 1.49653848e-03 9.99981889e-01 -5.82934985e-03 4.80413064e-01] [ 5.05185508e-02 5.74631124e-03 9.98706592e-01 3.07610725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43463043999998 meters Centerline goodness [0,1] 0.32044246640452834 Centerline is valid? [False, False] Translation: X:9.66, Y:0.48, Z:0.31 [[ 9.98713631e-01 -1.72334134e-03 -5.06765548e-02 9.66252401e+00] [ 1.43521027e-03 9.99982602e-01 -5.72152737e-03 4.79937695e-01] [ 5.06855332e-02 5.64143586e-03 9.98698729e-01 3.07252291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46463043999998 meters Centerline goodness [0,1] 0.31704479348458403 Centerline is valid? [False, False] Translation: X:9.66, Y:0.48, Z:0.31 [[ 9.98714027e-01 -1.43332101e-03 -5.06777922e-02 9.66309296e+00] [ 1.16218593e-03 9.99984856e-01 -5.37923814e-03 4.79116471e-01] [ 5.06847349e-02 5.31342356e-03 9.98700568e-01 3.06505675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49463043999998 meters Centerline goodness [0,1] 0.32086001038241907 Centerline is valid? [False, False] Translation: X:9.66, Y:0.48, Z:0.31 [[ 9.98720928e-01 -1.38472566e-03 -5.05429539e-02 9.66291331e+00] [ 1.11923644e-03 9.99985431e-01 -5.28066928e-03 4.78698948e-01] [ 5.05495298e-02 5.21734541e-03 9.98707927e-01 3.06301675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52463043999998 meters Centerline goodness [0,1] 0.3200771531359715 Centerline is valid? [False, False] Translation: X:9.66, Y:0.48, Z:0.31 [[ 9.98725312e-01 -1.36400790e-03 -5.04568273e-02 9.66266859e+00] [ 1.10383352e-03 9.99985954e-01 -5.18388256e-03 4.78001654e-01] [ 5.04631895e-02 5.12157879e-03 9.98712790e-01 3.06350316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55463043999998 meters Centerline goodness [0,1] 0.3196412826082281 Centerline is valid? [False, False] Translation: X:9.66, Y:0.48, Z:0.31 [[ 9.98721916e-01 -1.41954804e-03 -5.05224551e-02 9.66291230e+00] [ 1.15841346e-03 9.99985821e-01 -5.19758992e-03 4.77499304e-01] [ 5.05291170e-02 5.13242108e-03 9.98709400e-01 3.06282698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58463043999998 meters Centerline goodness [0,1] 0.32116772595066245 Centerline is valid? [False, False] Translation: X:9.66, Y:0.48, Z:0.31 [[ 9.98695575e-01 -1.47071039e-03 -5.10390531e-02 9.66413024e+00] [ 1.20253372e-03 9.99985313e-01 -5.28465298e-03 4.77698219e-01] [ 5.10460756e-02 5.21638336e-03 9.98682676e-01 3.06220832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61463043999998 meters Centerline goodness [0,1] 0.3180018406352332 Centerline is valid? [False, False] Translation: X:9.66, Y:0.48, Z:0.31 [[ 9.98680386e-01 -1.37795490e-03 -5.13379683e-02 9.66491716e+00] [ 1.10737301e-03 9.99985349e-01 -5.29867099e-03 4.78591264e-01] [ 5.13445174e-02 5.23482851e-03 9.98667280e-01 3.06106967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64463044 meters Centerline goodness [0,1] 0.31812350325008554 Centerline is valid? [False, False] Translation: X:9.67, Y:0.48, Z:0.31 [[ 9.98670288e-01 -1.31298421e-03 -5.15357367e-02 9.66549155e+00] [ 1.03908277e-03 9.99985196e-01 -5.34121938e-03 4.79574136e-01] [ 5.15419867e-02 5.28056720e-03 9.98656868e-01 3.05997702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67463044 meters Centerline goodness [0,1] 0.3239344973430214 Centerline is valid? [False, False] Translation: X:9.67, Y:0.48, Z:0.31 [[ 9.98673688e-01 -1.29274133e-03 -5.14703169e-02 9.66529655e+00] [ 1.01312978e-03 9.99984591e-01 -5.45820153e-03 4.80674196e-01] [ 5.14765798e-02 5.39881614e-03 9.98659609e-01 3.06073046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70463044 meters Centerline goodness [0,1] 0.3234600998854128 Centerline is valid? [False, False] Translation: X:9.66, Y:0.48, Z:0.31 [[ 9.98679287e-01 -1.33138404e-03 -5.13605720e-02 9.66491307e+00] [ 1.04504358e-03 9.99983765e-01 -5.60155461e-03 4.81574676e-01] [ 5.13671960e-02 5.54048253e-03 9.98664465e-01 3.06265744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73463044 meters Centerline goodness [0,1] 0.324793317258009 Centerline is valid? [False, False] Translation: X:9.66, Y:0.48, Z:0.31 [[ 9.98681742e-01 -1.36872109e-03 -5.13118392e-02 9.66455495e+00] [ 1.07709416e-03 9.99983114e-01 -5.71064507e-03 4.82271907e-01] [ 5.13187890e-02 5.64784928e-03 9.98666353e-01 3.06614585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76463044 meters Centerline goodness [0,1] 0.328241462991853 Centerline is valid? [False, False] Translation: X:9.66, Y:0.48, Z:0.31 [[ 9.98670208e-01 -1.54243373e-03 -5.15309308e-02 9.66482845e+00] [ 1.23325640e-03 9.99981052e-01 -6.03109788e-03 4.83671429e-01] [ 5.15392570e-02 5.95952692e-03 9.98653188e-01 3.07006097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79463044 meters Centerline goodness [0,1] 0.32732635048684755 Centerline is valid? [False, False] Translation: X:9.67, Y:0.48, Z:0.31 [[ 9.98654372e-01 -1.61482242e-03 -5.18347241e-02 9.66560546e+00] [ 1.29877672e-03 9.99980366e-01 -6.13028571e-03 4.84050554e-01] [ 5.18436057e-02 6.05471489e-03 9.98636861e-01 3.06947242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82463044 meters Centerline goodness [0,1] 0.32190289106204895 Centerline is valid? [False, False] Translation: X:9.71, Y:0.49, Z:0.31 [[ 9.98688405e-01 -1.56187065e-03 -5.11764558e-02 9.70895432e+00] [ 1.25554282e-03 9.99981108e-01 -6.01731957e-03 4.87364935e-01] [ 5.11848873e-02 5.94517305e-03 9.98671499e-01 3.09446287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85463044 meters Centerline goodness [0,1] 0.3268639714574333 Centerline is valid? [False, False] Translation: X:9.71, Y:0.49, Z:0.31 [[ 9.98701167e-01 -1.55319575e-03 -5.09270746e-02 9.70802676e+00] [ 1.25169623e-03 9.99981506e-01 -5.95157968e-03 4.87503248e-01] [ 5.09353767e-02 5.88010435e-03 9.98684641e-01 3.10054475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88463044 meters Centerline goodness [0,1] 0.3304387174625064 Centerline is valid? [False, False] Translation: X:9.71, Y:0.49, Z:0.31 [[ 9.98716964e-01 -1.60751824e-03 -5.06146357e-02 9.70686806e+00] [ 1.30524663e-03 9.99981121e-01 -6.00450724e-03 4.87709192e-01] [ 5.06233325e-02 5.93073866e-03 9.98700208e-01 3.10729263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91463044 meters Centerline goodness [0,1] 0.3343504512108031 Centerline is valid? [False, False] Translation: X:9.71, Y:0.49, Z:0.31 [[ 9.98732427e-01 -1.67235717e-03 -5.03064844e-02 9.70575974e+00] [ 1.37032947e-03 9.99980834e-01 -6.03764378e-03 4.87591910e-01] [ 5.03156174e-02 5.96105417e-03 9.98715577e-01 3.11323929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94463044 meters Centerline goodness [0,1] 0.33169706973055235 Centerline is valid? [False, False] Translation: X:9.71, Y:0.49, Z:0.31 [[ 9.98740060e-01 -1.68219791e-03 -5.01543879e-02 9.70514030e+00] [ 1.38350930e-03 9.99981106e-01 -5.98950517e-03 4.87286176e-01] [ 5.01635158e-02 5.91256969e-03 9.98723517e-01 3.11784304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.97463044 meters Centerline goodness [0,1] 0.33622456685438107 Centerline is valid? [False, False] Translation: X:9.71, Y:0.49, Z:0.31 [[ 9.98740299e-01 -1.62241706e-03 -5.01516052e-02 9.70517912e+00] [ 1.32937923e-03 9.99981853e-01 -5.87584404e-03 4.86939414e-01] [ 5.01602282e-02 5.80177173e-03 9.98724332e-01 3.11779298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00463044 meters Centerline goodness [0,1] 0.33344787595034575 Centerline is valid? [False, False] Translation: X:9.71, Y:0.49, Z:0.31 [[ 9.98725283e-01 -1.55656620e-03 -5.04518216e-02 9.70626629e+00] [ 1.27021355e-03 9.99982906e-01 -5.70733020e-03 4.86192057e-01] [ 5.04598430e-02 5.63597038e-03 9.98710188e-01 3.11391160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.03463044 meters Centerline goodness [0,1] 0.33529449796340594 Centerline is valid? [False, False] Translation: X:9.71, Y:0.48, Z:0.31 [[ 9.98703732e-01 -1.77877756e-03 -5.08693590e-02 9.70756984e+00] [ 1.49737337e-03 9.99983369e-01 -5.56947458e-03 4.83368884e-01] [ 5.08784199e-02 5.48608462e-03 9.98689786e-01 3.11130985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06463044 meters Centerline goodness [0,1] 0.33267729168895066 Centerline is valid? [False, False] Translation: X:9.71, Y:0.48, Z:0.31 [[ 9.98698851e-01 -1.74493668e-03 -5.09662626e-02 9.70772606e+00] [ 1.47686748e-03 9.99984881e-01 -5.29692433e-03 4.81392756e-01] [ 5.09747349e-02 5.21476182e-03 9.98686328e-01 3.11370120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09463044 meters Centerline goodness [0,1] 0.3342501665341556 Centerline is valid? [False, False] Translation: X:9.71, Y:0.48, Z:0.31 [[ 9.98700024e-01 -1.66944343e-03 -5.09458000e-02 9.70742666e+00] [ 1.41637323e-03 9.99986481e-01 -5.00313825e-03 4.79627549e-01] [ 5.09534637e-02 4.92447602e-03 9.98688888e-01 3.11797779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12463044 meters Centerline goodness [0,1] 0.33544019025989325 Centerline is valid? [False, False] Translation: X:9.71, Y:0.48, Z:0.31 [[ 9.98696709e-01 -1.55936282e-03 -5.10142243e-02 9.70763030e+00] [ 1.31855165e-03 9.99987831e-01 -4.75378495e-03 4.78390081e-01] [ 5.10210164e-02 4.68032450e-03 9.98686613e-01 3.11853997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15463043999998 meters Centerline goodness [0,1] 0.33374007235673153 Centerline is valid? [False, False] Translation: X:9.71, Y:0.48, Z:0.31 [[ 9.98660917e-01 -1.39446753e-03 -5.17148777e-02 9.70987619e+00] [ 1.16421929e-03 9.99989278e-01 -4.48211974e-03 4.77116930e-01] [ 5.17205734e-02 4.41591035e-03 9.98651832e-01 3.11207566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18463043999998 meters Centerline goodness [0,1] 0.3331536271888208 Centerline is valid? [False, False] Translation: X:9.71, Y:0.48, Z:0.31 [[ 9.98638966e-01 -1.30052218e-03 -5.21394783e-02 9.71122283e+00] [ 1.07701073e-03 9.99990112e-01 -4.31466609e-03 4.76409058e-01] [ 5.21445741e-02 4.25263891e-03 9.98630491e-01 3.10791021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21463043999998 meters Centerline goodness [0,1] 0.3376282510140778 Centerline is valid? [False, False] Translation: X:9.71, Y:0.48, Z:0.31 [[ 9.98621937e-01 -1.15530907e-03 -5.24680026e-02 9.71210456e+00] [ 9.43400098e-04 9.99991299e-01 -4.06340952e-03 4.75351048e-01] [ 5.24722406e-02 4.00831157e-03 9.98614339e-01 3.10659335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24463043999998 meters Centerline goodness [0,1] 0.33687392055267706 Centerline is valid? [False, False] Translation: X:9.71, Y:0.47, Z:0.31 [[ 9.98614634e-01 -1.06294306e-03 -5.26087653e-02 9.71238729e+00] [ 8.61121677e-04 9.99992184e-01 -3.85878746e-03 4.74211302e-01] [ 5.26124558e-02 3.80813908e-03 9.98607745e-01 3.10832984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27463043999998 meters Centerline goodness [0,1] 0.3387542654744935 Centerline is valid? [False, False] Translation: X:9.71, Y:0.47, Z:0.31 [[ 9.98616200e-01 -1.05057744e-03 -5.25792847e-02 9.71203041e+00] [ 8.57725582e-04 9.99992823e-01 -3.69026022e-03 4.72630272e-01] [ 5.25827843e-02 3.64005504e-03 9.98609934e-01 3.11303233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30463043999998 meters Centerline goodness [0,1] 0.33908685968819596 Centerline is valid? [False, False] Translation: X:9.73, Y:0.47, Z:0.31 [[ 9.98666779e-01 4.54171794e-03 -5.14202003e-02 9.73192840e+00] [-4.90286276e-03 9.99964179e-01 -6.89944626e-03 4.68448258e-01] [ 5.13870231e-02 7.14235396e-03 9.98653273e-01 3.13234229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33463043999998 meters Centerline goodness [0,1] 0.343271293307044 Centerline is valid? [False, False] Translation: X:9.73, Y:0.47, Z:0.31 [[ 9.98655915e-01 4.62801593e-03 -5.16230948e-02 9.73264204e+00] [-4.98090973e-03 9.99965087e-01 -6.70941205e-03 4.67466591e-01] [ 5.15902412e-02 6.95752401e-03 9.98644101e-01 3.12962809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36463043999998 meters Centerline goodness [0,1] 0.34239564663456346 Centerline is valid? [False, False] Translation: X:9.73, Y:0.47, Z:0.31 [[ 9.98638401e-01 4.72603592e-03 -5.19519768e-02 9.73377528e+00] [-5.07199818e-03 9.99965820e-01 -6.52944863e-03 4.66794698e-01] [ 5.19193427e-02 6.78405847e-03 9.98628238e-01 3.12489056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39463044 meters Centerline goodness [0,1] 0.3393403091762477 Centerline is valid? [False, False] Translation: X:9.73, Y:0.47, Z:0.31 [[ 9.98626690e-01 4.86579090e-03 -5.21637669e-02 9.73448939e+00] [-5.20239507e-03 9.99966502e-01 -6.31899663e-03 4.66067778e-01] [ 5.21312726e-02 6.58169521e-03 9.98618552e-01 3.12286558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42463044 meters Centerline goodness [0,1] 0.34154191778454623 Centerline is valid? [False, False] Translation: X:9.73, Y:0.46, Z:0.31 [[ 9.98615861e-01 4.87700939e-03 -5.23696173e-02 9.73497356e+00] [-5.21018681e-03 9.99967036e-01 -6.22740013e-03 4.64906221e-01] [ 5.23375199e-02 6.49163603e-03 9.98608353e-01 3.12424192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45463044 meters Centerline goodness [0,1] 0.34283106213731496 Centerline is valid? [False, False] Translation: X:9.73, Y:0.46, Z:0.31 [[ 9.98612913e-01 4.89331769e-03 -5.24242739e-02 9.73497835e+00] [-5.22349304e-03 9.99967366e-01 -6.16297708e-03 4.64293746e-01] [ 5.23924057e-02 6.42826633e-03 9.98605885e-01 3.12600036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48463044 meters Centerline goodness [0,1] 0.34035283752712897 Centerline is valid? [False, False] Translation: X:9.75, Y:0.47, Z:0.31 [[ 9.98646503e-01 -2.20811015e-03 -5.19642849e-02 9.75373983e+00] [ 1.96079361e-03 9.99986510e-01 -4.80985508e-03 4.69356462e-01] [ 5.19742046e-02 4.70145372e-03 9.98637361e-01 3.14561048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51463044 meters Centerline goodness [0,1] 0.34235876073939076 Centerline is valid? [False, False] Translation: X:9.75, Y:0.47, Z:0.31 [[ 9.98662483e-01 -2.04636258e-03 -5.16629236e-02 9.75307401e+00] [ 1.80713903e-03 9.99987431e-01 -4.67675642e-03 4.69414838e-01] [ 5.16718446e-02 4.57713909e-03 9.98653629e-01 3.14513899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54463044 meters Centerline goodness [0,1] 0.34232167590027696 Centerline is valid? [False, False] Translation: X:9.75, Y:0.47, Z:0.31 [[ 9.98716069e-01 -1.82080649e-03 -5.06250729e-02 9.75077098e+00] [ 1.58597162e-03 9.99987798e-01 -4.67849078e-03 4.70537700e-01] [ 5.06329738e-02 4.59219399e-03 9.98706771e-01 3.14570951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57463044 meters Centerline goodness [0,1] 0.33820593727864 Centerline is valid? [False, False] Translation: X:9.77, Y:0.47, Z:0.32 [[ 9.98763519e-01 5.90570843e-03 -4.93614832e-02 9.76967898e+00] [-6.22351597e-03 9.99960869e-01 -6.28715662e-03 4.70054984e-01] [ 4.93224215e-02 6.58658464e-03 9.98761190e-01 3.16873624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60463044 meters Centerline goodness [0,1] 0.3416292522880332 Centerline is valid? [False, False] Translation: X:9.77, Y:0.47, Z:0.32 [[ 9.98766473e-01 5.93261394e-03 -4.92984376e-02 9.76974715e+00] [-6.26134782e-03 9.99959165e-01 -6.51648646e-03 4.71974150e-01] [ 4.92577646e-02 6.81712286e-03 9.98762834e-01 3.16565113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63463044 meters Centerline goodness [0,1] 0.3390515285729718 Centerline is valid? [False, False] Translation: X:9.77, Y:0.47, Z:0.32 [[ 9.98760569e-01 6.03716249e-03 -4.94052441e-02 9.77025541e+00] [-6.37461601e-03 9.99957399e-01 -6.67560323e-03 4.74050369e-01] [ 4.93628377e-02 6.98226874e-03 9.98756506e-01 3.16174730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66463044 meters Centerline goodness [0,1] 0.33937795837205786 Centerline is valid? [False, False] Translation: X:9.77, Y:0.48, Z:0.32 [[ 9.98745766e-01 6.06510062e-03 -4.97002038e-02 9.77111967e+00] [-6.41534548e-03 9.99955680e-01 -6.89066234e-03 4.76075743e-01] [ 4.96562085e-02 7.20086381e-03 9.98740411e-01 3.15919805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.69463044 meters Centerline goodness [0,1] 0.33937795837205786 Centerline is valid? [False, False] Translation: X:9.77, Y:0.48, Z:0.32 [[ 9.98745766e-01 6.06510062e-03 -4.97002038e-02 9.77111967e+00] [-6.41534548e-03 9.99955680e-01 -6.89066234e-03 4.76075743e-01] [ 4.96562085e-02 7.20086381e-03 9.98740411e-01 3.15919805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72463044 meters Centerline goodness [0,1] 0.3374790205276068 Centerline is valid? [False, False] Translation: X:9.77, Y:0.48, Z:0.32 [[ 9.98732728e-01 5.96834948e-03 -4.99731626e-02 9.77190854e+00] [-6.33793884e-03 9.99953701e-01 -7.24056225e-03 4.78307301e-01] [ 4.99276347e-02 7.54811334e-03 9.98724315e-01 3.15715679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.75463044 meters Centerline goodness [0,1] 0.334155125841444 Centerline is valid? [False, False] Translation: X:9.79, Y:0.49, Z:0.32 [[ 9.98709729e-01 -1.14128868e-03 -5.07698122e-02 9.79015810e+00] [ 8.21576018e-04 9.99979705e-01 -6.31772194e-03 4.87336617e-01] [ 5.07759922e-02 6.26785911e-03 9.98690399e-01 3.18897105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78463044 meters Centerline goodness [0,1] 0.33524711326292334 Centerline is valid? [False, False] Translation: X:9.79, Y:0.49, Z:0.32 [[ 9.98723100e-01 -1.12715664e-03 -5.05064344e-02 9.78914473e+00] [ 8.10495611e-04 9.99979891e-01 -6.28975873e-03 4.87555741e-01] [ 5.05125083e-02 6.24079209e-03 9.98703930e-01 3.19498477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.81463044 meters Centerline goodness [0,1] 0.3338492626510168 Centerline is valid? [False, False] Translation: X:9.79, Y:0.49, Z:0.32 [[ 9.98737463e-01 -1.81931074e-03 -5.02012963e-02 9.78845141e+00] [ 1.48712842e-03 9.99976759e-01 -6.65356516e-03 4.86328826e-01] [ 5.02122345e-02 6.57050901e-03 9.98716957e-01 3.19777365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84463044 meters Centerline goodness [0,1] 0.332126812442779 Centerline is valid? [False, False] Translation: X:9.79, Y:0.48, Z:0.32 [[ 9.98701683e-01 -2.12992121e-03 -5.08960804e-02 9.79034692e+00] [ 1.79361713e-03 9.99976264e-01 -6.65242208e-03 4.84560192e-01] [ 5.09090415e-02 6.55249705e-03 9.98681798e-01 3.19584699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87463044 meters Centerline goodness [0,1] 0.3290088552224475 Centerline is valid? [False, False] Translation: X:9.79, Y:0.48, Z:0.32 [[ 9.98663622e-01 -2.18680185e-03 -5.16351463e-02 9.79225932e+00] [ 1.86238955e-03 9.99978231e-01 -6.33005955e-03 4.82035713e-01] [ 5.16478648e-02 6.22543544e-03 9.98645954e-01 3.19501869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90463043999998 meters Centerline goodness [0,1] 0.33210697304158865 Centerline is valid? [False, False] Translation: X:9.79, Y:0.48, Z:0.32 [[ 9.98633638e-01 -2.07392760e-03 -5.22164346e-02 9.79376127e+00] [ 1.77208354e-03 9.99981457e-01 -5.82626734e-03 4.79210998e-01] [ 5.22275496e-02 5.72577466e-03 9.98618795e-01 3.19476693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93463043999998 meters Centerline goodness [0,1] 0.33160800552104897 Centerline is valid? [False, False] Translation: X:9.79, Y:0.48, Z:0.32 [[ 9.98621510e-01 -1.95421759e-03 -5.24524659e-02 9.79441134e+00] [ 1.67875627e-03 9.99984571e-01 -5.29518140e-03 4.76107799e-01] [ 5.24620046e-02 5.19982714e-03 9.98609383e-01 3.19485395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96463043999998 meters Centerline goodness [0,1] 0.33171170785023896 Centerline is valid? [False, False] Translation: X:9.79, Y:0.47, Z:0.32 [[ 9.98617414e-01 -1.97580168e-03 -5.25295767e-02 9.79458430e+00] [ 1.72019001e-03 9.99986462e-01 -4.91081884e-03 4.72870463e-01] [ 5.25385684e-02 4.81366836e-03 9.98607294e-01 3.19679168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99463043999998 meters Centerline goodness [0,1] 0.32698943397843927 Centerline is valid? [False, False] Translation: X:9.79, Y:0.47, Z:0.32 [[ 9.98607036e-01 -5.59300313e-03 -5.24662416e-02 9.79457961e+00] [ 5.19065350e-03 9.99956093e-01 -7.80186345e-03 4.68337872e-01] [ 5.25075739e-02 7.51866165e-03 9.98592221e-01 3.19778422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02463043999998 meters Centerline goodness [0,1] 0.32612088687434526 Centerline is valid? [False, False] Translation: X:9.80, Y:0.47, Z:0.32 [[ 9.98587037e-01 -5.40359207e-03 -5.28652190e-02 9.79588927e+00] [ 5.02203272e-03 9.99960394e-01 -7.34776640e-03 4.65911100e-01] [ 5.29028296e-02 7.07189342e-03 9.98574624e-01 3.19393227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05463043999998 meters Centerline goodness [0,1] 0.32731504644232234 Centerline is valid? [False, False] Translation: X:9.78, Y:0.46, Z:0.32 [[ 9.98550277e-01 2.67342834e-03 -5.37605468e-02 9.77737839e+00] [-3.10061574e-03 9.99964269e-01 -7.86427823e-03 4.58251315e-01] [ 5.37376013e-02 8.01956800e-03 9.98522887e-01 3.16950551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08463043999998 meters Centerline goodness [0,1] 0.325550566602523 Centerline is valid? [False, False] Translation: X:9.80, Y:0.46, Z:0.32 [[ 9.98520513e-01 -2.86571592e-03 -5.43007559e-02 9.80023729e+00] [ 2.59048904e-03 9.99983444e-01 -5.13827139e-03 4.59772797e-01] [ 5.43145817e-02 4.99000388e-03 9.98511405e-01 3.17753414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11463043999998 meters Centerline goodness [0,1] 0.3252874307038547 Centerline is valid? [False, False] Translation: X:9.80, Y:0.46, Z:0.32 [[ 9.98527207e-01 -2.39599234e-03 -5.42003399e-02 9.80005343e+00] [ 2.13414743e-03 9.99985774e-01 -4.88841922e-03 4.59834411e-01] [ 5.42112815e-02 4.76554807e-03 9.98518115e-01 3.17808998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14463044 meters Centerline goodness [0,1] 0.32371566275476016 Centerline is valid? [False, False] Translation: X:9.80, Y:0.46, Z:0.32 [[ 9.98541220e-01 -2.28693649e-03 -5.39462818e-02 9.79915530e+00] [ 2.01630682e-03 9.99985112e-01 -5.07054351e-03 4.61413139e-01] [ 5.39570747e-02 4.95437445e-03 9.98530965e-01 3.18161009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17463044 meters Centerline goodness [0,1] 0.3225198603884285 Centerline is valid? [False, False] Translation: X:9.82, Y:0.46, Z:0.32 [[ 9.98599958e-01 5.79744804e-03 -5.25786325e-02 9.81849362e+00] [-6.14768520e-03 9.99959965e-01 -6.50192345e-03 4.62033382e-01] [ 5.25388330e-02 6.81605736e-03 9.98595620e-01 3.20348468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20463044 meters Centerline goodness [0,1] 0.32558791801510245 Centerline is valid? [False, False] Translation: X:9.82, Y:0.46, Z:0.32 [[ 9.98611935e-01 5.91423615e-03 -5.23376051e-02 9.81786615e+00] [-6.27143852e-03 9.99958133e-01 -6.66336986e-03 4.63946482e-01] [ 5.22960051e-02 6.98235274e-03 9.98607217e-01 3.20394653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23463044 meters Centerline goodness [0,1] 0.32173016179978087 Centerline is valid? [False, False] Translation: X:9.82, Y:0.47, Z:0.32 [[ 9.98627691e-01 6.13245619e-03 -5.20108520e-02 9.81692571e+00] [-6.49862745e-03 9.99955256e-01 -6.87409467e-03 4.67298245e-01] [ 5.19663698e-02 7.20266044e-03 9.98622861e-01 3.20709531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26463044 meters Centerline goodness [0,1] 0.32211828605914306 Centerline is valid? [False, False] Translation: X:9.82, Y:0.47, Z:0.32 [[ 9.98625710e-01 6.06609452e-03 -5.20566329e-02 9.81698567e+00] [-6.44248962e-03 9.99954284e-01 -7.06573886e-03 4.68356679e-01] [ 5.20113917e-02 7.39140281e-03 9.98619138e-01 3.20798289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29463044 meters Centerline goodness [0,1] 0.3205109004942128 Centerline is valid? [False, False] Translation: X:9.84, Y:0.47, Z:0.32 [[ 9.98593971e-01 -8.59236032e-04 -5.30032263e-02 9.83530883e+00] [ 5.45717651e-04 9.99982273e-01 -5.92927008e-03 4.74866568e-01] [ 5.30073814e-02 5.89200856e-03 9.98576738e-01 3.23503809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32463044 meters Centerline goodness [0,1] 0.32176206121390283 Centerline is valid? [False, False] Translation: X:9.84, Y:0.48, Z:0.32 [[ 9.98583841e-01 -9.09743537e-04 -5.31929081e-02 9.83588882e+00] [ 5.90115461e-04 9.99981680e-01 -6.02424492e-03 4.75335079e-01] [ 5.31974141e-02 5.98432368e-03 9.98566083e-01 3.23363773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35463044 meters Centerline goodness [0,1] 0.3213181395549982 Centerline is valid? [False, False] Translation: X:9.84, Y:0.48, Z:0.32 [[ 9.98581500e-01 -9.71141145e-04 -5.32357481e-02 9.83600828e+00] [ 6.46673275e-04 9.99981114e-01 -6.11181108e-03 4.75620465e-01] [ 5.32406781e-02 6.06871534e-03 9.98563268e-01 3.23376414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38463044 meters Centerline goodness [0,1] 0.31651297814207646 Centerline is valid? [False, False] Translation: X:9.86, Y:0.48, Z:0.33 [[ 9.98552548e-01 -8.45070349e-03 -5.31168026e-02 9.85509041e+00] [ 8.18799340e-03 9.99953156e-01 -5.16156751e-03 4.81431183e-01] [ 5.31579333e-02 4.71917636e-03 9.98574966e-01 3.25639025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41463044 meters Centerline goodness [0,1] 0.3190856798155848 Centerline is valid? [False, False] Translation: X:9.86, Y:0.48, Z:0.33 [[ 9.98543526e-01 -8.42455485e-03 -5.32902832e-02 9.85550688e+00] [ 8.15470782e-03 9.99952815e-01 -5.27913585e-03 4.82940927e-01] [ 5.33322430e-02 4.83688024e-03 9.98565109e-01 3.25697172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44463044 meters Centerline goodness [0,1] 0.3199194299452037 Centerline is valid? [False, False] Translation: X:9.86, Y:0.48, Z:0.33 [[ 9.98541413e-01 -8.27869221e-03 -5.33526977e-02 9.85567681e+00] [ 8.00835601e-03 9.99953999e-01 -5.27876323e-03 4.84128581e-01] [ 5.33939447e-02 4.84379629e-03 9.98561778e-01 3.25671711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.47463044 meters Centerline goodness [0,1] 0.31862585829705203 Centerline is valid? [False, False] Translation: X:9.86, Y:0.49, Z:0.33 [[ 9.98546630e-01 -8.11854205e-03 -5.32796058e-02 9.85555798e+00] [ 7.84876000e-03 9.99955307e-01 -5.27080387e-03 4.85405792e-01] [ 5.33200158e-02 4.84496460e-03 9.98565723e-01 3.25571822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50463044 meters Centerline goodness [0,1] 0.31711254116178467 Centerline is valid? [False, False] Translation: X:9.87, Y:0.49, Z:0.33 [[ 9.98619585e-01 -1.37366872e-04 -5.25252937e-02 9.87472950e+00] [-2.09885779e-04 9.99978161e-01 -6.60557794e-03 4.85082818e-01] [ 5.25250540e-02 6.60748381e-03 9.98597747e-01 3.27711427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.53463044 meters Centerline goodness [0,1] 0.3153683219581078 Centerline is valid? [False, False] Translation: X:9.87, Y:0.49, Z:0.33 [[ 9.98624321e-01 -2.43615802e-04 -5.24347763e-02 9.87469105e+00] [-1.29762237e-04 9.99974663e-01 -7.11728708e-03 4.88082710e-01] [ 5.24351817e-02 7.11430003e-03 9.98598988e-01 3.27520124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56463044 meters Centerline goodness [0,1] 0.315974025974026 Centerline is valid? [False, False] Translation: X:9.87, Y:0.49, Z:0.33 [[ 9.98622910e-01 -3.25196302e-04 -5.24612119e-02 9.87498950e+00] [-6.28430144e-05 9.99972656e-01 -7.39487079e-03 4.89696687e-01] [ 5.24621822e-02 7.38798420e-03 9.98595582e-01 3.27164372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59463044 meters Centerline goodness [0,1] 0.31442956614890194 Centerline is valid? [False, False] Translation: X:9.88, Y:0.49, Z:0.33 [[ 9.98615978e-01 -3.89131759e-04 -5.25925564e-02 9.87569010e+00] [-1.55686097e-05 9.99970398e-01 -7.69438358e-03 4.91718303e-01] [ 5.25939937e-02 7.68455318e-03 9.98586411e-01 3.26670855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62463044 meters Centerline goodness [0,1] 0.31755385744506326 Centerline is valid? [False, False] Translation: X:9.88, Y:0.49, Z:0.33 [[ 9.98616332e-01 -5.31209934e-04 -5.25845879e-02 9.87547781e+00] [ 1.02867506e-04 9.99966798e-01 -8.14815030e-03 4.94733570e-01] [ 5.25871703e-02 8.13146672e-03 9.98583231e-01 3.26893699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65463043999998 meters Centerline goodness [0,1] 0.3167668411641784 Centerline is valid? [False, False] Translation: X:9.87, Y:0.50, Z:0.33 [[ 9.98621111e-01 -5.62272197e-04 -5.24934291e-02 9.87483582e+00] [ 1.32709253e-04 9.99966483e-01 -8.18630248e-03 4.95239109e-01] [ 5.24962726e-02 8.16804812e-03 9.98587715e-01 3.27561695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68463043999998 meters Centerline goodness [0,1] 0.3167648264405756 Centerline is valid? [False, False] Translation: X:9.87, Y:0.50, Z:0.33 [[ 9.98623772e-01 -5.70826710e-04 -5.24427031e-02 9.87437750e+00] [ 1.41440700e-04 9.99966443e-01 -8.19106347e-03 4.95526628e-01] [ 5.24456189e-02 8.17237316e-03 9.98590341e-01 3.28075835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71463043999998 meters Centerline goodness [0,1] 0.31572795359106454 Centerline is valid? [False, False] Translation: X:9.87, Y:0.50, Z:0.33 [[ 9.98620739e-01 -6.59848899e-04 -5.24993690e-02 9.87454052e+00] [ 2.27152057e-04 9.99965963e-01 -8.24748359e-03 4.95490943e-01] [ 5.25030242e-02 8.22418281e-03 9.98586899e-01 3.28090354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74463043999998 meters Centerline goodness [0,1] 0.3174051111447149 Centerline is valid? [False, False] Translation: X:9.88, Y:0.50, Z:0.33 [[ 9.98611192e-01 -8.13352523e-04 -5.26785175e-02 9.87526976e+00] [ 3.72668739e-04 9.99964861e-01 -8.37481367e-03 4.95367798e-01] [ 5.26834782e-02 8.34355102e-03 9.98576405e-01 3.27785529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77463043999998 meters Centerline goodness [0,1] 0.31595809160966315 Centerline is valid? [False, False] Translation: X:9.88, Y:0.49, Z:0.33 [[ 9.98593597e-01 -1.06698888e-03 -5.30064961e-02 9.87649842e+00] [ 6.16805478e-04 9.99963611e-01 -8.50861849e-03 4.94779989e-01] [ 5.30136459e-02 8.46395725e-03 9.98557918e-01 3.27220549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80463043999998 meters Centerline goodness [0,1] 0.31200256739409504 Centerline is valid? [False, False] Translation: X:9.90, Y:0.50, Z:0.33 [[ 9.98617212e-01 -7.10844006e-03 -5.20877617e-02 9.89725202e+00] [ 6.82087161e-03 9.99960512e-01 -5.69653156e-03 4.97292538e-01] [ 5.21261983e-02 5.33337052e-03 9.98626264e-01 3.28269916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83463043999998 meters Centerline goodness [0,1] 0.31727142671348685 Centerline is valid? [False, False] Translation: X:9.88, Y:0.49, Z:0.33 [[ 9.98708768e-01 5.26097658e-04 -5.07988171e-02 9.87793891e+00] [-8.48138011e-04 9.99979680e-01 -6.31817667e-03 4.90569254e-01] [ 5.07944609e-02 6.35310285e-03 9.98688921e-01 3.25837268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86463043999998 meters Centerline goodness [0,1] 0.3139184188573506 Centerline is valid? [False, False] Translation: X:9.90, Y:0.49, Z:0.33 [[ 9.98726772e-01 -7.20076385e-03 -4.99297959e-02 9.89722734e+00] [ 6.94655605e-03 9.99962023e-01 -5.26296733e-03 4.94435411e-01] [ 4.99657971e-02 4.90942625e-03 9.98738863e-01 3.27770861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89463044 meters Centerline goodness [0,1] 0.3155005079653287 Centerline is valid? [False, False] Translation: X:9.88, Y:0.49, Z:0.32 [[ 9.98735567e-01 -1.56808264e-05 -5.02719250e-02 9.88011181e+00] [-3.38587510e-04 9.99975172e-01 -7.03851755e-03 4.88581288e-01] [ 5.02707872e-02 7.04663927e-03 9.98710765e-01 3.24454398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92463044 meters Centerline goodness [0,1] 0.3141674927804836 Centerline is valid? [False, False] Translation: X:9.88, Y:0.49, Z:0.32 [[ 9.98721239e-01 6.04714852e-05 -5.05557494e-02 9.88122082e+00] [-4.16763612e-04 9.99975153e-01 -7.03699762e-03 4.89263865e-01] [ 5.05540677e-02 7.04906878e-03 9.98696449e-01 3.23871097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95463044 meters Centerline goodness [0,1] 0.31388121546961323 Centerline is valid? [False, False] Translation: X:9.88, Y:0.49, Z:0.32 [[ 9.98712812e-01 1.78638512e-04 -5.07216609e-02 9.88200322e+00] [-5.33702778e-04 9.99975450e-01 -6.98679163e-03 4.89862572e-01] [ 5.07191676e-02 7.00486861e-03 9.98688389e-01 3.23296271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98463044 meters Centerline goodness [0,1] 0.3119077666787876 Centerline is valid? [False, False] Translation: X:9.90, Y:0.49, Z:0.32 [[ 9.98682901e-01 -5.41676273e-03 -5.10207951e-02 9.90299329e+00] [ 5.20720280e-03 9.99977456e-01 -4.23937380e-03 4.94238208e-01] [ 5.10426086e-02 3.96811450e-03 9.98688593e-01 3.24575405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01463044 meters Centerline goodness [0,1] 0.3122386515497694 Centerline is valid? [False, False] Translation: X:9.90, Y:0.50, Z:0.32 [[ 9.98691848e-01 -5.51862285e-03 -5.08344182e-02 9.90246629e+00] [ 5.29959917e-03 9.99976090e-01 -4.44235267e-03 4.95073022e-01] [ 5.08577184e-02 4.16713935e-03 9.98697215e-01 3.24698016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04463044 meters Centerline goodness [0,1] 0.3123349436392915 Centerline is valid? [False, False] Translation: X:9.90, Y:0.50, Z:0.32 [[ 9.98695658e-01 -5.48692121e-03 -5.07629499e-02 9.90214226e+00] [ 5.26748868e-03 9.99976201e-01 -4.45546513e-03 4.95484725e-01] [ 5.07861885e-02 4.18226041e-03 9.98700792e-01 3.24942361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07463044 meters Centerline goodness [0,1] 0.311312469207206 Centerline is valid? [False, False] Translation: X:9.90, Y:0.50, Z:0.33 [[ 9.98697109e-01 -5.39895473e-03 -5.07438301e-02 9.90203777e+00] [ 5.18315925e-03 9.99976961e-01 -4.38327532e-03 4.95701286e-01] [ 5.07663261e-02 4.11455104e-03 9.98702083e-01 3.25036960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10463044 meters Centerline goodness [0,1] 0.313570487483531 Centerline is valid? [False, False] Translation: X:9.90, Y:0.50, Z:0.33 [[ 9.98696470e-01 -5.41428384e-03 -5.07547725e-02 9.90195419e+00] [ 5.19294549e-03 9.99976428e-01 -4.49179223e-03 4.96439674e-01] [ 5.07778959e-02 4.22237028e-03 9.98701045e-01 3.25187698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13463044 meters Centerline goodness [0,1] 0.3109809027777778 Centerline is valid? [False, False] Translation: X:9.90, Y:0.50, Z:0.33 [[ 9.98696288e-01 -5.43667824e-03 -5.07559607e-02 9.90187620e+00] [ 5.21302855e-03 9.99976116e-01 -4.53771587e-03 4.96480758e-01] [ 5.07794186e-02 4.26720772e-03 9.98700777e-01 3.25292238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16463044 meters Centerline goodness [0,1] 0.31080469675751377 Centerline is valid? [False, False] Translation: X:9.92, Y:0.49, Z:0.33 [[ 9.98738648e-01 2.20422478e-03 -5.01622899e-02 9.92079059e+00] [-2.50717601e-03 9.99978993e-01 -5.97730112e-03 4.94180383e-01] [ 5.01480608e-02 6.09552733e-03 9.98723193e-01 3.27818334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.19463044 meters Centerline goodness [0,1] 0.3101611170784103 Centerline is valid? [False, False] Translation: X:9.92, Y:0.49, Z:0.33 [[ 9.98739325e-01 2.27997145e-03 -5.01454202e-02 9.92082408e+00] [-2.57718310e-03 9.99979491e-01 -5.86313594e-03 4.93863190e-01] [ 5.01310239e-02 5.98497836e-03 9.98724717e-01 3.27759787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22463044 meters Centerline goodness [0,1] 0.3110753034697604 Centerline is valid? [False, False] Translation: X:9.92, Y:0.49, Z:0.33 [[ 9.98748150e-01 2.33151322e-03 -4.99669595e-02 9.92040840e+00] [-2.61533256e-03 9.99980813e-01 -5.61551218e-03 4.92028764e-01] [ 4.99529082e-02 5.73916262e-03 9.98735084e-01 3.27839318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.25463044 meters Centerline goodness [0,1] 0.31139774758285066 Centerline is valid? [False, False] Translation: X:9.92, Y:0.49, Z:0.33 [[ 9.98751594e-01 2.31276135e-03 -4.98989509e-02 9.92010464e+00] [-2.59006119e-03 9.99981558e-01 -5.49328273e-03 4.90766802e-01] [ 4.98853260e-02 5.61566622e-03 9.98739164e-01 3.28076183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28463044 meters Centerline goodness [0,1] 0.30903821153805167 Centerline is valid? [False, False] Translation: X:9.94, Y:0.49, Z:0.33 [[ 9.98741989e-01 -5.35809570e-03 -4.98571009e-02 9.93960148e+00] [ 5.14850261e-03 9.99977366e-01 -4.33135280e-03 4.93861876e-01] [ 4.98791802e-02 4.06921450e-03 9.98746969e-01 3.30492519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.31463044 meters Centerline goodness [0,1] 0.30854819728255056 Centerline is valid? [False, False] Translation: X:9.94, Y:0.49, Z:0.33 [[ 9.98734816e-01 -5.25282718e-03 -5.00117417e-02 9.94001785e+00] [ 5.05866357e-03 9.99979172e-01 -4.00814547e-03 4.92055069e-01] [ 5.00317541e-02 3.75008185e-03 9.98740587e-01 3.30491256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34463044 meters Centerline goodness [0,1] 0.3082372641205642 Centerline is valid? [False, False] Translation: X:9.94, Y:0.49, Z:0.33 [[ 9.98728093e-01 -5.12363134e-03 -5.01591854e-02 9.94041889e+00] [ 4.94699542e-03 9.99981120e-01 -3.64502145e-03 4.90134277e-01] [ 5.01769142e-02 3.39224806e-03 9.98734584e-01 3.30440790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.37463044 meters Centerline goodness [0,1] 0.31080268133379163 Centerline is valid? [False, False] Translation: X:9.94, Y:0.49, Z:0.33 [[ 9.98725238e-01 -5.01246051e-03 -5.02272224e-02 9.94069397e+00] [ 4.86386311e-03 9.99983427e-01 -3.08029360e-03 4.86214376e-01] [ 5.02418299e-02 2.83206862e-03 9.98733066e-01 3.30406680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40463043999998 meters Centerline goodness [0,1] 0.30980912436874086 Centerline is valid? [False, False] Translation: X:9.94, Y:0.48, Z:0.33 [[ 9.98721322e-01 -4.95098438e-03 -5.03111153e-02 9.94089187e+00] [ 4.81323607e-03 9.99984330e-01 -2.85871832e-03 4.84612728e-01] [ 5.03244804e-02 2.61290367e-03 9.98729503e-01 3.30501590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43463043999998 meters Centerline goodness [0,1] 0.3097765602260081 Centerline is valid? [False, False] Translation: X:9.94, Y:0.48, Z:0.33 [[ 9.98718603e-01 -4.86959187e-03 -5.03729983e-02 9.94090769e+00] [ 4.73891603e-03 9.99985090e-01 -2.71327249e-03 4.83945338e-01] [ 5.03854598e-02 2.47108230e-03 9.98726789e-01 3.30681863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46463043999998 meters Centerline goodness [0,1] 0.31237195661081274 Centerline is valid? [False, False] Translation: X:9.94, Y:0.48, Z:0.33 [[ 9.98714966e-01 -4.79426509e-03 -5.04522628e-02 9.94106101e+00] [ 4.66666104e-03 9.99985609e-01 -2.64669745e-03 4.83803284e-01] [ 5.04642257e-02 2.40785274e-03 9.98722967e-01 3.30723073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49463043999998 meters Centerline goodness [0,1] 0.3084922010398613 Centerline is valid? [False, False] Translation: X:9.96, Y:0.48, Z:0.33 [[ 9.98605640e-01 3.16384036e-03 -5.26950255e-02 9.96368926e+00] [-3.34330160e-03 9.99988907e-01 -3.31785729e-03 4.80968942e-01] [ 5.26839438e-02 3.48940636e-03 9.98605140e-01 3.32500848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52463043999998 meters Centerline goodness [0,1] 0.3119689613317149 Centerline is valid? [False, False] Translation: X:9.96, Y:0.48, Z:0.33 [[ 9.98597485e-01 3.13285680e-03 -5.28511957e-02 9.96442459e+00] [-3.31416384e-03 9.99988920e-01 -3.34322772e-03 4.80798867e-01] [ 5.28401362e-02 3.51369631e-03 9.98596802e-01 3.32004390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55463043999998 meters Centerline goodness [0,1] 0.31053743961352653 Centerline is valid? [False, False] Translation: X:9.97, Y:0.48, Z:0.33 [[ 9.98588749e-01 3.14439534e-03 -5.30153060e-02 9.96501448e+00] [-3.32371137e-03 9.99989049e-01 -3.29451772e-03 4.80490320e-01] [ 5.30043662e-02 3.46607590e-03 9.98588265e-01 3.31717273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58463043999998 meters Centerline goodness [0,1] 0.31127625201938613 Centerline is valid? [False, False] Translation: X:9.97, Y:0.48, Z:0.33 [[ 9.98585331e-01 3.21781484e-03 -5.30752566e-02 9.96522675e+00] [-3.39039108e-03 9.99989254e-01 -3.16182256e-03 4.80037520e-01] [ 5.30645121e-02 3.33729550e-03 9.98585510e-01 3.31644547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61463043999998 meters Centerline goodness [0,1] 0.31127625201938613 Centerline is valid? [False, False] Translation: X:9.97, Y:0.48, Z:0.33 [[ 9.98585331e-01 3.21781484e-03 -5.30752566e-02 9.96522675e+00] [-3.39039108e-03 9.99989254e-01 -3.16182256e-03 4.80037520e-01] [ 5.30645121e-02 3.33729550e-03 9.98585510e-01 3.31644547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64463044 meters Centerline goodness [0,1] 0.30891665240458666 Centerline is valid? [False, False] Translation: X:9.98, Y:0.48, Z:0.33 [[ 9.98622994e-01 -4.09314075e-03 -5.23006867e-02 9.98431249e+00] [ 4.00618324e-03 9.99990413e-01 -1.76737271e-03 4.84831151e-01] [ 5.23074194e-02 1.55541290e-03 9.98629819e-01 3.33636538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67463044 meters Centerline goodness [0,1] 0.3128339354085098 Centerline is valid? [False, False] Translation: X:9.98, Y:0.48, Z:0.33 [[ 9.98630370e-01 -4.05570774e-03 -5.21625933e-02 9.98389038e+00] [ 3.97017790e-03 9.99990599e-01 -1.74319142e-03 4.84976129e-01] [ 5.21691728e-02 1.53370912e-03 9.98637084e-01 3.33788962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70463044 meters Centerline goodness [0,1] 0.31060004719713386 Centerline is valid? [False, False] Translation: X:10.00, Y:0.48, Z:0.34 [[ 9.98684739e-01 3.59264862e-03 -5.11457171e-02 1.00031621e+01] [-3.75321682e-03 9.99988324e-01 -3.04372880e-03 4.83061724e-01] [ 5.11341849e-02 3.23168647e-03 9.98686563e-01 3.35865403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73463044 meters Centerline goodness [0,1] 0.3138821300144269 Centerline is valid? [False, False] Translation: X:10.00, Y:0.48, Z:0.34 [[ 9.98688586e-01 3.62535933e-03 -5.10682365e-02 1.00028973e+01] [-3.78309402e-03 9.99988367e-01 -2.99238177e-03 4.83065894e-01] [ 5.10567940e-02 3.18165346e-03 9.98690683e-01 3.35928246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76463044 meters Centerline goodness [0,1] 0.31190384533128024 Centerline is valid? [False, False] Translation: X:10.02, Y:0.49, Z:0.34 [[ 9.98716961e-01 -3.57233269e-03 -5.05140664e-02 1.00209742e+01] [ 3.51030957e-03 9.99992972e-01 -1.31650215e-03 4.87872322e-01] [ 5.05184144e-02 1.13749301e-03 9.98722482e-01 3.38472858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79463044 meters Centerline goodness [0,1] 0.3163384548798961 Centerline is valid? [False, False] Translation: X:10.02, Y:0.49, Z:0.34 [[ 9.98732601e-01 -3.61113507e-03 -5.02011073e-02 1.00200257e+01] [ 3.56269265e-03 9.99993098e-01 -1.05441584e-03 4.86200532e-01] [ 5.02045685e-02 8.74228356e-04 9.98738573e-01 3.38937855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82463044 meters Centerline goodness [0,1] 0.3146853146853147 Centerline is valid? [False, False] Translation: X:10.04, Y:0.48, Z:0.34 [[ 9.98697008e-01 2.01323499e-03 -5.09924838e-02 1.00416022e+01] [-2.21228460e-03 9.99990152e-01 -3.84736790e-03 4.84046969e-01] [ 5.09842360e-02 3.95516470e-03 9.98691626e-01 3.40537857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85463044 meters Centerline goodness [0,1] 0.3188572669997828 Centerline is valid? [False, False] Translation: X:10.04, Y:0.48, Z:0.34 [[ 9.98675883e-01 1.89344350e-03 -5.14090909e-02 1.00430460e+01] [-2.09435697e-03 9.99990378e-01 -3.85454223e-03 4.83128389e-01] [ 5.14012979e-02 3.95710735e-03 9.98670240e-01 3.39936741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88463044 meters Centerline goodness [0,1] 0.322729939378137 Centerline is valid? [False, False] Translation: X:10.04, Y:0.48, Z:0.34 [[ 9.98655923e-01 1.82968461e-03 -5.17976882e-02 1.00442886e+01] [-2.03002717e-03 9.99990661e-01 -3.81544324e-03 4.82327084e-01] [ 5.17902234e-02 3.91546571e-03 9.98650310e-01 3.39502892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91463044 meters Centerline goodness [0,1] 0.31519796757594676 Centerline is valid? [False, False] Translation: X:10.06, Y:0.49, Z:0.34 [[ 9.98655193e-01 -5.56343436e-03 -5.15446818e-02 1.00639363e+01] [ 5.43796210e-03 9.99981901e-01 -2.57416616e-03 4.87867776e-01] [ 5.15580701e-02 2.29040637e-03 9.98667372e-01 3.41426167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94463044 meters Centerline goodness [0,1] 0.3132134580722685 Centerline is valid? [False, False] Translation: X:10.06, Y:0.49, Z:0.34 [[ 9.98656116e-01 -5.53295078e-03 -5.15300701e-02 1.00638753e+01] [ 5.40277179e-03 9.99981853e-01 -2.66522594e-03 4.88833625e-01] [ 5.15438816e-02 2.38323897e-03 9.98667887e-01 3.41459255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.97463044 meters Centerline goodness [0,1] 0.31970904052649807 Centerline is valid? [False, False] Translation: X:10.06, Y:0.49, Z:0.34 [[ 9.98656548e-01 -5.57952157e-03 -5.15166855e-02 1.00638826e+01] [ 5.43664971e-03 9.99980978e-01 -2.91302922e-03 4.90445698e-01] [ 5.15319588e-02 2.62903753e-03 9.98667885e-01 3.41381130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00463044 meters Centerline goodness [0,1] 0.3145669207284528 Centerline is valid? [False, False] Translation: X:10.08, Y:0.49, Z:0.34 [[ 9.98706757e-01 2.26193911e-03 -5.07907285e-02 1.00837890e+01] [-2.48253506e-03 9.99987757e-01 -4.28056722e-03 4.90534166e-01] [ 5.07804242e-02 4.40112117e-03 9.98700145e-01 3.43292820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.03463044 meters Centerline goodness [0,1] 0.3164461977145553 Centerline is valid? [False, False] Translation: X:10.08, Y:0.49, Z:0.34 [[ 9.98722380e-01 2.25771499e-03 -5.04827693e-02 1.00831979e+01] [-2.49383333e-03 9.99986243e-01 -4.61470794e-03 4.93384538e-01] [ 5.04716561e-02 4.73470771e-03 9.98714271e-01 3.43086172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06463044 meters Centerline goodness [0,1] 0.3228921388606857 Centerline is valid? [False, False] Translation: X:10.08, Y:0.49, Z:0.34 [[ 9.98732886e-01 2.15406975e-03 -5.02790432e-02 1.00825927e+01] [-2.39813400e-03 9.99985631e-01 -4.79437315e-03 4.94173639e-01] [ 5.02679933e-02 4.90887401e-03 9.98723701e-01 3.43278587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09463044 meters Centerline goodness [0,1] 0.321130406644375 Centerline is valid? [False, False] Translation: X:10.08, Y:0.49, Z:0.34 [[ 9.98741668e-01 2.04372804e-03 -5.01089204e-02 1.00821457e+01] [-2.29440902e-03 9.99985138e-01 -4.94571063e-03 4.94656787e-01] [ 5.00980680e-02 5.05445764e-03 9.98731513e-01 3.43328804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12463044 meters Centerline goodness [0,1] 0.3232498213551027 Centerline is valid? [False, False] Translation: X:10.08, Y:0.49, Z:0.34 [[ 9.98734632e-01 1.94337524e-03 -5.02529336e-02 1.00825174e+01] [-2.19854617e-03 9.99984968e-01 -5.02295387e-03 4.94601552e-01] [ 5.02424167e-02 5.12708139e-03 9.98723892e-01 3.43288989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15463043999998 meters Centerline goodness [0,1] 0.31905211642483045 Centerline is valid? [False, False] Translation: X:10.10, Y:0.50, Z:0.35 [[ 9.98666940e-01 -5.49127919e-03 -5.13243551e-02 1.01024324e+01] [ 5.29155275e-03 9.99977893e-01 -4.02652895e-03 4.99896420e-01] [ 5.13453313e-02 3.74957581e-03 9.98673920e-01 3.45528077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18463043999998 meters Centerline goodness [0,1] 0.3167741797218233 Centerline is valid? [False, False] Translation: X:10.10, Y:0.50, Z:0.35 [[ 9.98649626e-01 -5.44189956e-03 -5.16653761e-02 1.01036115e+01] [ 5.24579611e-03 9.99978516e-01 -3.93049143e-03 4.99476220e-01] [ 5.16856555e-02 3.65415777e-03 9.98656718e-01 3.45058068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21463043999998 meters Centerline goodness [0,1] 0.3218537323106838 Centerline is valid? [False, False] Translation: X:10.10, Y:0.50, Z:0.35 [[ 9.98662083e-01 -5.30055615e-03 -5.14387749e-02 1.01030207e+01] [ 5.12306235e-03 9.99980462e-01 -3.58182068e-03 4.97816085e-01] [ 5.14567556e-02 3.31350445e-03 9.98669727e-01 3.45198858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24463043999998 meters Centerline goodness [0,1] 0.3172907819671428 Centerline is valid? [False, False] Translation: X:10.12, Y:0.49, Z:0.35 [[ 9.98761467e-01 2.36236156e-03 -4.96986044e-02 1.01211385e+01] [-2.60852891e-03 9.99984647e-01 -4.88892739e-03 4.94227373e-01] [ 4.96862920e-02 5.01251254e-03 9.98752295e-01 3.47607918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27463043999998 meters Centerline goodness [0,1] 0.3192198520557371 Centerline is valid? [False, False] Translation: X:10.12, Y:0.49, Z:0.35 [[ 9.98800132e-01 2.56290262e-03 -4.89052859e-02 1.01189448e+01] [-2.78409358e-03 9.99986200e-01 -4.45526036e-03 4.91692538e-01] [ 4.88931926e-02 4.58607153e-03 9.98793484e-01 3.48080128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30463043999998 meters Centerline goodness [0,1] 0.3187163942503374 Centerline is valid? [False, False] Translation: X:10.12, Y:0.49, Z:0.35 [[ 9.98798560e-01 2.60943053e-03 -4.89349402e-02 1.01192932e+01] [-2.82497785e-03 9.99986609e-01 -4.33612907e-03 4.90968835e-01] [ 4.89229700e-02 4.46915959e-03 9.98792556e-01 3.47705140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33463043999998 meters Centerline goodness [0,1] 0.32033420185619843 Centerline is valid? [False, False] Translation: X:10.12, Y:0.49, Z:0.35 [[ 9.98785136e-01 2.69216253e-03 -4.92037055e-02 1.01202254e+01] [-2.90078049e-03 9.99987103e-01 -4.16896702e-03 4.90066490e-01] [ 4.91918474e-02 4.30663144e-03 9.98780063e-01 3.47314578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36463043999998 meters Centerline goodness [0,1] 0.3174011734977943 Centerline is valid? [False, False] Translation: X:10.12, Y:0.49, Z:0.35 [[ 9.98779420e-01 2.81793740e-03 -4.93125757e-02 1.01209190e+01] [-3.01792061e-03 9.99987520e-01 -3.98143398e-03 4.89367095e-01] [ 4.93007409e-02 4.12539575e-03 9.98775459e-01 3.46732049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39463044 meters Centerline goodness [0,1] 0.3184908736031572 Centerline is valid? [False, False] Translation: X:10.12, Y:0.49, Z:0.35 [[ 9.98779021e-01 2.95237423e-03 -4.93127938e-02 1.01210428e+01] [-3.13950480e-03 9.99988161e-01 -3.71774206e-03 4.88159519e-01] [ 4.93012338e-02 3.86802053e-03 9.98776465e-01 3.46559883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42463044 meters Centerline goodness [0,1] 0.3165230069900081 Centerline is valid? [False, False] Translation: X:10.12, Y:0.49, Z:0.35 [[ 9.98783667e-01 3.05156772e-03 -4.92125387e-02 1.01210526e+01] [-3.22577647e-03 9.99988808e-01 -3.46089206e-03 4.86790900e-01] [ 4.92014268e-02 3.61543111e-03 9.98782333e-01 3.46259109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45463044 meters Centerline goodness [0,1] 0.31586739620212423 Centerline is valid? [False, False] Translation: X:10.12, Y:0.48, Z:0.35 [[ 9.98767254e-01 3.19785365e-03 -4.95352985e-02 1.01222118e+01] [-3.35494395e-03 9.99989603e-01 -3.08845946e-03 4.84483180e-01] [ 4.95249070e-02 3.25084032e-03 9.98767598e-01 3.45748314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48463044 meters Centerline goodness [0,1] 0.31583692922006823 Centerline is valid? [False, False] Translation: X:10.12, Y:0.48, Z:0.35 [[ 9.98757269e-01 3.19739634e-03 -4.97362376e-02 1.01227100e+01] [-3.35216257e-03 9.99989795e-01 -3.02863720e-03 4.83706901e-01] [ 4.97260463e-02 3.19159737e-03 9.98757795e-01 3.45696612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51463044 meters Centerline goodness [0,1] 0.31771639993116507 Centerline is valid? [False, False] Translation: X:10.12, Y:0.48, Z:0.35 [[ 9.98754008e-01 3.24016818e-03 -4.97989298e-02 1.01229415e+01] [-3.39352856e-03 9.99989756e-01 -2.99535076e-03 4.83576764e-01] [ 4.97887143e-02 3.16061267e-03 9.98754772e-01 3.45575235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54463044 meters Centerline goodness [0,1] 0.31487155314635873 Centerline is valid? [False, False] Translation: X:10.12, Y:0.48, Z:0.35 [[ 9.98748691e-01 3.34661482e-03 -4.98984108e-02 1.01231533e+01] [-3.50052035e-03 9.99989381e-01 -2.99730649e-03 4.84272859e-01] [ 4.98878501e-02 3.16822633e-03 9.98749801e-01 3.45546128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57463044 meters Centerline goodness [0,1] 0.3161134503173959 Centerline is valid? [False, False] Translation: X:10.12, Y:0.49, Z:0.34 [[ 9.98747921e-01 3.84940825e-03 -4.98775671e-02 1.01239370e+01] [-3.99867720e-03 9.99987820e-01 -2.89326819e-03 4.86097887e-01] [ 4.98658222e-02 3.08908988e-03 9.98751149e-01 3.44371806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60463044 meters Centerline goodness [0,1] 0.31433977680779235 Centerline is valid? [False, False] Translation: X:10.12, Y:0.49, Z:0.34 [[ 9.98757574e-01 3.80653531e-03 -4.96872016e-02 1.01238309e+01] [-3.96463459e-03 9.99987386e-01 -3.08372248e-03 4.86933943e-01] [ 4.96748366e-02 3.27688278e-03 9.98760068e-01 3.43873896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63463044 meters Centerline goodness [0,1] 0.3206010452961673 Centerline is valid? [False, False] Translation: X:10.10, Y:0.49, Z:0.34 [[ 9.98810647e-01 -3.79825191e-03 -4.86092973e-02 1.01045302e+01] [ 3.71033573e-03 9.99991314e-01 -1.89873303e-03 4.90393288e-01] [ 4.86160869e-02 1.71611796e-03 9.98816065e-01 3.40906968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66463044 meters Centerline goodness [0,1] 0.31965671544996654 Centerline is valid? [False, False] Translation: X:10.12, Y:0.49, Z:0.34 [[ 9.98866318e-01 4.14327521e-03 -4.74226968e-02 1.01236994e+01] [-4.29977106e-03 9.99985641e-01 -3.19848474e-03 4.88677774e-01] [ 4.74087637e-02 3.39876541e-03 9.98869790e-01 3.43141997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.69463044 meters Centerline goodness [0,1] 0.3188311968578704 Centerline is valid? [False, False] Translation: X:10.12, Y:0.49, Z:0.34 [[ 9.98863650e-01 4.18861490e-03 -4.74748896e-02 1.01237387e+01] [-4.34072426e-03 9.99985770e-01 -3.10135274e-03 4.88158346e-01] [ 4.74612236e-02 3.30390393e-03 9.98867617e-01 3.43246707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72463044 meters Centerline goodness [0,1] 0.3151202235924132 Centerline is valid? [False, False] Translation: X:10.14, Y:0.49, Z:0.35 [[ 9.98858371e-01 -3.34661135e-03 -4.76524409e-02 1.01433400e+01] [ 3.24355338e-03 9.99992231e-01 -2.23986227e-03 4.92777270e-01] [ 4.76595667e-02 2.08274194e-03 9.98861466e-01 3.45184992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.75463044 meters Centerline goodness [0,1] 0.32017193338661254 Centerline is valid? [False, False] Translation: X:10.14, Y:0.49, Z:0.34 [[ 9.98838097e-01 -3.27307062e-03 -4.80805838e-02 1.01447752e+01] [ 3.18041030e-03 9.99992935e-01 -2.00356393e-03 4.91046066e-01] [ 4.80868019e-02 1.84832000e-03 9.98841450e-01 3.44587968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78463044 meters Centerline goodness [0,1] 0.3193044681863403 Centerline is valid? [False, False] Translation: X:10.15, Y:0.49, Z:0.34 [[ 9.98832849e-01 -3.12026129e-03 -4.81996249e-02 1.01452407e+01] [ 3.03550909e-03 9.99993716e-01 -1.83145591e-03 4.90884145e-01] [ 4.82050366e-02 1.68300792e-03 9.98836044e-01 3.44358300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.81463044 meters Centerline goodness [0,1] 0.3157226478436773 Centerline is valid? [False, False] Translation: X:10.15, Y:0.49, Z:0.34 [[ 9.98836227e-01 -3.02995163e-03 -4.81353313e-02 1.01454575e+01] [ 2.95006445e-03 9.99994151e-01 -1.73059275e-03 4.90698382e-01] [ 4.81402934e-02 1.58657640e-03 9.98839324e-01 3.43869374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84463044 meters Centerline goodness [0,1] 0.3191879926573804 Centerline is valid? [False, False] Translation: X:10.15, Y:0.49, Z:0.34 [[ 9.98837642e-01 -3.08545881e-03 -4.81024412e-02 1.01456755e+01] [ 3.00465932e-03 9.99993951e-01 -1.75195516e-03 4.90287597e-01] [ 4.81075558e-02 1.60538731e-03 9.98840871e-01 3.43513018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87463044 meters Centerline goodness [0,1] 0.31829649595687326 Centerline is valid? [False, False] Translation: X:10.15, Y:0.49, Z:0.34 [[ 9.98833667e-01 -3.19085828e-03 -4.81780517e-02 1.01461164e+01] [ 3.10756073e-03 9.99993545e-01 -1.80375515e-03 4.89692580e-01] [ 4.81834962e-02 1.65193514e-03 9.98837135e-01 3.43188559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90463043999998 meters Centerline goodness [0,1] 0.31584022628894703 Centerline is valid? [False, False] Translation: X:10.15, Y:0.49, Z:0.34 [[ 9.98813773e-01 -3.21710495e-03 -4.85870076e-02 1.01472175e+01] [ 3.13403292e-03 9.99993494e-01 -1.78584314e-03 4.89294016e-01] [ 4.85924367e-02 1.63145144e-03 9.98817357e-01 3.43052706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93463043999998 meters Centerline goodness [0,1] 0.3156968005153532 Centerline is valid? [False, False] Translation: X:10.15, Y:0.49, Z:0.34 [[ 9.98794213e-01 -3.11446886e-03 -4.89940913e-02 1.01482501e+01] [ 3.03745455e-03 9.99994032e-01 -1.64628508e-03 4.89223448e-01] [ 4.89989262e-02 1.49548269e-03 9.98797712e-01 3.42958046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96463043999998 meters Centerline goodness [0,1] 0.31693091977362076 Centerline is valid? [False, False] Translation: X:10.15, Y:0.49, Z:0.34 [[ 9.98789354e-01 -2.90882679e-03 -4.91056467e-02 1.01484454e+01] [ 2.83913724e-03 9.99994861e-01 -1.48886730e-03 4.90125012e-01] [ 4.91097252e-02 1.34764714e-03 9.98792480e-01 3.43144133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99463043999998 meters Centerline goodness [0,1] 0.3186329995646495 Centerline is valid? [False, False] Translation: X:10.15, Y:0.49, Z:0.34 [[ 9.98790919e-01 -3.02540539e-03 -4.90667697e-02 1.01481317e+01] [ 2.95074761e-03 9.99994376e-01 -1.59391917e-03 4.90130173e-01] [ 4.90713160e-02 1.44720834e-03 9.98794229e-01 3.43457306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02463043999998 meters Centerline goodness [0,1] 0.3160370299104184 Centerline is valid? [False, False] Translation: X:10.19, Y:0.49, Z:0.35 [[ 9.98915380e-01 -4.10386526e-03 -4.63812696e-02 1.01889608e+01] [ 3.97134544e-03 9.99987766e-01 -2.94897094e-03 4.94756278e-01] [ 4.63928044e-02 2.76157639e-03 9.98919457e-01 3.46699303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05463043999998 meters Centerline goodness [0,1] 0.31862071925156643 Centerline is valid? [False, False] Translation: X:10.19, Y:0.50, Z:0.35 [[ 9.98908843e-01 -4.02745748e-03 -4.65285123e-02 1.01890552e+01] [ 3.89773675e-03 9.99988261e-01 -2.87837467e-03 4.95115104e-01] [ 4.65395586e-02 2.69387802e-03 9.98912815e-01 3.47072408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08463043999998 meters Centerline goodness [0,1] 0.31832548538992456 Centerline is valid? [False, False] Translation: X:10.19, Y:0.50, Z:0.35 [[ 9.98900034e-01 -3.85433770e-03 -4.67318449e-02 1.01894564e+01] [ 3.72888312e-03 9.99989207e-01 -2.77144272e-03 4.95922455e-01] [ 4.67420226e-02 2.59413664e-03 9.98903626e-01 3.47203493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11463043999998 meters Centerline goodness [0,1] 0.3176202161091739 Centerline is valid? [False, False] Translation: X:10.19, Y:0.50, Z:0.35 [[ 9.98890228e-01 -3.85598261e-03 -4.69408526e-02 1.01898550e+01] [ 3.72367907e-03 9.99988846e-01 -2.90563464e-03 4.97202562e-01] [ 4.69515331e-02 2.72761738e-03 9.98893445e-01 3.47349696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14463044 meters Centerline goodness [0,1] 0.3176587216068273 Centerline is valid? [False, False] Translation: X:10.19, Y:0.50, Z:0.35 [[ 9.98881219e-01 -4.00524024e-03 -4.71197197e-02 1.01902312e+01] [ 3.85368754e-03 9.99987107e-01 -3.30673646e-03 4.99227043e-01] [ 4.71323565e-02 3.12145227e-03 9.98883776e-01 3.47399162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17463044 meters Centerline goodness [0,1] 0.3184847572773789 Centerline is valid? [False, False] Translation: X:10.19, Y:0.50, Z:0.35 [[ 9.98873690e-01 -4.17029343e-03 -4.72647962e-02 1.01904847e+01] [ 3.99573853e-03 9.99984846e-01 -3.78700763e-03 5.01698402e-01] [ 4.72798729e-02 3.59388452e-03 9.98875216e-01 3.47445096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20463044 meters Centerline goodness [0,1] 0.3187169681605294 Centerline is valid? [False, False] Translation: X:10.19, Y:0.51, Z:0.35 [[ 9.98873419e-01 -5.39555495e-04 -4.74510356e-02 1.01902834e+01] [ 4.95076215e-04 9.99999427e-01 -9.49119732e-04 5.06785006e-01] [ 4.74515205e-02 9.24558593e-04 9.98873114e-01 3.48123846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23463044 meters Centerline goodness [0,1] 0.3231897222943161 Centerline is valid? [False, False] Translation: X:10.19, Y:0.51, Z:0.35 [[ 9.98891250e-01 -2.93456591e-04 -4.70763781e-02 1.01891059e+01] [ 2.39990295e-04 9.99999320e-01 -1.14138317e-03 5.10175115e-01] [ 4.70766811e-02 1.12881979e-03 9.98890641e-01 3.48434690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26463044 meters Centerline goodness [0,1] 0.31802187959823425 Centerline is valid? [False, False] Translation: X:10.21, Y:0.51, Z:0.35 [[ 9.98940042e-01 7.94484927e-03 -4.53395170e-02 1.02093460e+01] [-8.06046379e-03 9.99964711e-01 -2.36771676e-03 5.13271388e-01] [ 4.53191059e-02 2.73066462e-03 9.98968829e-01 3.49800988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29463044 meters Centerline goodness [0,1] 0.31786255630750837 Centerline is valid? [False, False] Translation: X:10.21, Y:0.52, Z:0.35 [[ 9.98948779e-01 7.72697013e-03 -4.51844155e-02 1.02088313e+01] [-7.87123716e-03 9.99964474e-01 -3.01579942e-03 5.16771603e-01] [ 4.51595073e-02 3.36828640e-03 9.98974111e-01 3.49924604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32463044 meters Centerline goodness [0,1] 0.3196389999786138 Centerline is valid? [False, False] Translation: X:10.21, Y:0.52, Z:0.35 [[ 9.98948036e-01 7.46377729e-03 -4.52450389e-02 1.02088673e+01] [-7.63740610e-03 9.99964115e-01 -3.66586865e-03 5.19997106e-01] [ 4.52160540e-02 4.00756702e-03 9.98969193e-01 3.49986490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35463044 meters Centerline goodness [0,1] 0.32616106129361444 Centerline is valid? [False, False] Translation: X:10.19, Y:0.53, Z:0.35 [[ 9.98967608e-01 -2.34682300e-04 -4.54275506e-02 1.01892035e+01] [ 9.81226097e-05 9.99995470e-01 -3.00830500e-03 5.29202772e-01] [ 4.54280508e-02 3.00074179e-03 9.98963106e-01 3.47897461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38463044 meters Centerline goodness [0,1] 0.3195678168773488 Centerline is valid? [False, False] Translation: X:10.23, Y:0.54, Z:0.35 [[ 9.99043110e-01 9.15967109e-05 -4.37362019e-02 1.02316223e+01] [-2.21635532e-04 9.99995570e-01 -2.96841382e-03 5.35811500e-01] [ 4.37357363e-02 2.97526687e-03 9.99038705e-01 3.50087034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41463044 meters Centerline goodness [0,1] 0.3195580489058284 Centerline is valid? [False, False] Translation: X:10.23, Y:0.54, Z:0.35 [[ 9.99045675e-01 -8.64296041e-05 -4.36775803e-02 1.02313833e+01] [-5.87494968e-05 9.99994478e-01 -3.32258693e-03 5.37677790e-01] [ 4.36776263e-02 3.32198214e-03 9.99040154e-01 3.50238039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44463044 meters Centerline goodness [0,1] 0.3285008451436744 Centerline is valid? [False, False] Translation: X:10.23, Y:0.54, Z:0.35 [[ 9.99051856e-01 -2.42744124e-04 -4.35353978e-02 1.02308471e+01] [ 8.42631291e-05 9.99993364e-01 -3.64207716e-03 5.39315966e-01] [ 4.35359929e-02 3.63495552e-03 9.99045246e-01 3.50533782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.47463044 meters Centerline goodness [0,1] 0.3246547139058077 Centerline is valid? [False, False] Translation: X:10.25, Y:0.55, Z:0.35 [[ 9.99032821e-01 -7.78971079e-03 -4.32751963e-02 1.02495929e+01] [ 7.68384137e-03 9.99967067e-01 -2.61222463e-03 5.46689931e-01] [ 4.32941196e-02 2.27717840e-03 9.99059775e-01 3.52941258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50463044 meters Centerline goodness [0,1] 0.3246547139058077 Centerline is valid? [False, False] Translation: X:10.25, Y:0.55, Z:0.35 [[ 9.99032821e-01 -7.78971079e-03 -4.32751963e-02 1.02495929e+01] [ 7.68384137e-03 9.99967067e-01 -2.61222463e-03 5.46689931e-01] [ 4.32941196e-02 2.27717840e-03 9.99059775e-01 3.52941258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.53463044 meters Centerline goodness [0,1] 0.3242208389484267 Centerline is valid? [False, False] Translation: X:10.25, Y:0.55, Z:0.35 [[ 9.99011003e-01 -8.03099947e-03 -4.37323500e-02 1.02503309e+01] [ 7.90687635e-03 9.99964209e-01 -3.01048416e-03 5.49026380e-01] [ 4.37549620e-02 2.66172052e-03 9.99038747e-01 3.53466086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56463044 meters Centerline goodness [0,1] 0.32370797846094435 Centerline is valid? [False, False] Translation: X:10.25, Y:0.55, Z:0.35 [[ 9.98993294e-01 -8.20085359e-03 -4.41037949e-02 1.02512802e+01] [ 8.06750083e-03 9.99962335e-01 -3.20075559e-03 5.49701955e-01] [ 4.41283826e-02 2.84172597e-03 9.99021827e-01 3.53413394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59463044 meters Centerline goodness [0,1] 0.3247611892239991 Centerline is valid? [False, False] Translation: X:10.25, Y:0.55, Z:0.35 [[ 9.98969142e-01 -8.43206807e-03 -4.46044024e-02 1.02525107e+01] [ 8.28978916e-03 9.99959948e-01 -3.37381016e-03 5.49787212e-01] [ 4.46310641e-02 3.00057116e-03 9.98999031e-01 3.53458207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62463044 meters Centerline goodness [0,1] 0.3220316937284572 Centerline is valid? [False, False] Translation: X:10.24, Y:0.54, Z:0.35 [[ 9.99014001e-01 -1.92756022e-03 -4.43543689e-02 1.02366006e+01] [ 1.69800523e-03 9.99984973e-01 -5.21257010e-03 5.43824029e-01] [ 4.43637499e-02 5.13211656e-03 9.99002262e-01 3.50598030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65463043999998 meters Centerline goodness [0,1] 0.3282697858119399 Centerline is valid? [False, False] Translation: X:10.23, Y:0.54, Z:0.35 [[ 9.99037245e-01 -3.01535158e-03 -4.37663173e-02 1.02346186e+01] [ 2.77213548e-03 9.99980383e-01 -5.61678133e-03 5.41216121e-01] [ 4.37823953e-02 5.49004758e-03 9.99026006e-01 3.51734909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68463043999998 meters Centerline goodness [0,1] 0.3298187239375149 Centerline is valid? [False, False] Translation: X:10.23, Y:0.54, Z:0.35 [[ 9.99038199e-01 -3.23932544e-03 -4.37285268e-02 1.02342202e+01] [ 3.00635235e-03 9.99980942e-01 -5.39242633e-03 5.38936434e-01] [ 4.37451612e-02 5.25577653e-03 9.99028897e-01 3.52413688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71463043999998 meters Centerline goodness [0,1] 0.33114306160952445 Centerline is valid? [False, False] Translation: X:10.23, Y:0.54, Z:0.35 [[ 9.99043628e-01 -3.50448124e-03 -4.35838090e-02 1.02337283e+01] [ 3.28490367e-03 9.99981555e-01 -5.10865236e-03 5.35840485e-01] [ 4.36009083e-02 4.96059797e-03 9.99036713e-01 3.52845380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74463043999998 meters Centerline goodness [0,1] 0.32727545487666354 Centerline is valid? [False, False] Translation: X:10.25, Y:0.54, Z:0.35 [[ 9.99007518e-01 -1.22504133e-02 -4.28241424e-02 1.02543455e+01] [ 1.20775547e-02 9.99917849e-01 -4.29288065e-03 5.35617611e-01] [ 4.28732138e-02 3.77140912e-03 9.99073403e-01 3.54368226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77463043999998 meters Centerline goodness [0,1] 0.3283723944270439 Centerline is valid? [False, False] Translation: X:10.24, Y:0.53, Z:0.35 [[ 9.99159134e-01 -6.83181956e-03 -4.04270999e-02 1.02380352e+01] [ 6.61853664e-03 9.99963478e-01 -5.40723183e-03 5.25392624e-01] [ 4.04625646e-02 5.13511683e-03 9.99167859e-01 3.51287297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80463043999998 meters Centerline goodness [0,1] 0.3256588072122053 Centerline is valid? [False, False] Translation: X:10.24, Y:0.52, Z:0.35 [[ 9.99119613e-01 -1.04656824e-02 -4.06259498e-02 1.02390558e+01] [ 1.01527501e-02 9.99917241e-01 -7.90146599e-03 5.17533500e-01] [ 4.07052818e-02 7.48204453e-03 9.99143182e-01 3.50877680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83463043999998 meters Centerline goodness [0,1] 0.3241361470974974 Centerline is valid? [False, False] Translation: X:10.22, Y:0.51, Z:0.35 [[ 9.99176214e-01 -3.32319794e-03 -4.04456502e-02 1.02226207e+01] [ 2.96663721e-03 9.99956237e-01 -8.87262716e-03 5.07872160e-01] [ 4.04733657e-02 8.74533044e-03 9.99142345e-01 3.47526955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86463043999998 meters Centerline goodness [0,1] 0.3267560134456716 Centerline is valid? [False, False] Translation: X:10.22, Y:0.50, Z:0.35 [[ 9.99163462e-01 -3.15965501e-03 -4.07724476e-02 1.02237621e+01] [ 2.82408571e-03 9.99961689e-01 -8.28526924e-03 5.04447250e-01] [ 4.07970641e-02 8.16319341e-03 9.99134106e-01 3.46998659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89463044 meters Centerline goodness [0,1] 0.32155620706627575 Centerline is valid? [False, False] Translation: X:10.27, Y:0.50, Z:0.35 [[ 9.99210925e-01 -3.05766478e-03 -3.96002353e-02 1.02668130e+01] [ 2.75571628e-03 9.99966732e-01 -7.67725852e-03 5.01300961e-01] [ 3.96223924e-02 7.56207357e-03 9.99186109e-01 3.48861075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92463044 meters Centerline goodness [0,1] 0.3200171086398631 Centerline is valid? [False, False] Translation: X:10.27, Y:0.50, Z:0.35 [[ 9.99213423e-01 -2.89228419e-03 -3.95495819e-02 1.02667939e+01] [ 2.61076400e-03 9.99970902e-01 -7.16795435e-03 4.98236168e-01] [ 3.95691628e-02 7.05906158e-03 9.99191899e-01 3.48780101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95463044 meters Centerline goodness [0,1] 0.3174403747870528 Centerline is valid? [False, False] Translation: X:10.27, Y:0.50, Z:0.35 [[ 9.99213686e-01 -2.76860226e-03 -3.95517913e-02 1.02668002e+01] [ 2.50512601e-03 9.99974353e-01 -6.70955830e-03 4.95143724e-01] [ 3.95693530e-02 6.60520026e-03 9.99194995e-01 3.48866064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98463044 meters Centerline goodness [0,1] 0.3174044589404116 Centerline is valid? [False, False] Translation: X:10.27, Y:0.49, Z:0.35 [[ 9.99213324e-01 -2.52309096e-03 -3.95773626e-02 1.02668241e+01] [ 2.29399586e-03 9.99980357e-01 -5.83288413e-03 4.88704813e-01] [ 3.95913021e-02 5.73750523e-03 9.99199485e-01 3.48912953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01463044 meters Centerline goodness [0,1] 0.31648109787674783 Centerline is valid? [False, False] Translation: X:10.27, Y:0.49, Z:0.35 [[ 9.99208485e-01 -2.34357072e-03 -3.97103415e-02 1.02673471e+01] [ 2.13223875e-03 9.99983344e-01 -5.36335443e-03 4.86130470e-01] [ 3.97222494e-02 5.27443733e-03 9.99196839e-01 3.48652061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04463044 meters Centerline goodness [0,1] 0.3163911399243652 Centerline is valid? [False, False] Translation: X:10.27, Y:0.48, Z:0.35 [[ 9.99198471e-01 -2.24557240e-03 -3.99671533e-02 1.02682139e+01] [ 2.04651086e-03 9.99985301e-01 -5.02084467e-03 4.83912801e-01] [ 3.99778405e-02 4.93502710e-03 9.99188380e-01 3.48313362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07463044 meters Centerline goodness [0,1] 0.3153508302088913 Centerline is valid? [False, False] Translation: X:10.27, Y:0.48, Z:0.35 [[ 9.99181571e-01 -2.21126674e-03 -4.03893433e-02 1.02694581e+01] [ 2.01953854e-03 9.99986502e-01 -4.78718350e-03 4.81963971e-01] [ 4.03993839e-02 4.70169770e-03 9.99172550e-01 3.47994117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10463044 meters Centerline goodness [0,1] 0.3148362235067438 Centerline is valid? [False, False] Translation: X:10.27, Y:0.48, Z:0.35 [[ 9.99161390e-01 -2.17093828e-03 -4.08876910e-02 1.02709354e+01] [ 1.99132643e-03 9.99988191e-01 -4.43302528e-03 4.78940461e-01] [ 4.08968320e-02 4.34788696e-03 9.99153915e-01 3.47586148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13463044 meters Centerline goodness [0,1] 0.3146135006230396 Centerline is valid? [False, False] Translation: X:10.27, Y:0.48, Z:0.35 [[ 9.99159871e-01 -1.98432770e-03 -4.09342787e-02 1.02709319e+01] [ 1.81950080e-03 9.99990089e-01 -4.06348569e-03 4.77449003e-01] [ 4.09419362e-02 3.98559189e-03 9.99153578e-01 3.47740504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16463044 meters Centerline goodness [0,1] 0.3149405955538306 Centerline is valid? [False, False] Translation: X:10.27, Y:0.48, Z:0.35 [[ 9.99166874e-01 -1.76393370e-03 -4.07731161e-02 1.02702571e+01] [ 1.61886471e-03 9.99992243e-01 -3.59069988e-03 4.75442255e-01] [ 4.07791336e-02 3.52170221e-03 9.99161979e-01 3.48247318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.19463044 meters Centerline goodness [0,1] 0.3139831507642179 Centerline is valid? [False, False] Translation: X:10.27, Y:0.47, Z:0.35 [[ 9.99172712e-01 -1.67641893e-03 -4.06335020e-02 1.02695837e+01] [ 1.54531294e-03 9.99993500e-01 -3.25774308e-03 4.73357563e-01] [ 4.06386992e-02 3.19225651e-03 9.99168807e-01 3.48814212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22463044 meters Centerline goodness [0,1] 0.3149498241701689 Centerline is valid? [False, False] Translation: X:10.27, Y:0.47, Z:0.35 [[ 9.99178554e-01 -1.72313121e-03 -4.04876398e-02 1.02690175e+01] [ 1.60128278e-03 9.99994092e-01 -3.04175821e-03 4.71165392e-01] [ 4.04926419e-02 2.97442741e-03 9.99175409e-01 3.49176957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.25463044 meters Centerline goodness [0,1] 0.31537211986491687 Centerline is valid? [False, False] Translation: X:10.27, Y:0.47, Z:0.35 [[ 9.99172706e-01 -1.74788061e-03 -4.06306280e-02 1.02692293e+01] [ 1.63676018e-03 9.99994830e-01 -2.76799743e-03 4.68571197e-01] [ 4.06352561e-02 2.69920489e-03 9.99170401e-01 3.49378787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28463044 meters Centerline goodness [0,1] 0.31309979773636876 Centerline is valid? [False, False] Translation: X:10.27, Y:0.46, Z:0.35 [[ 9.99152312e-01 -1.66892132e-03 -4.11323760e-02 1.02709085e+01] [ 1.58573038e-03 9.99996631e-01 -2.05506058e-03 4.63330087e-01] [ 4.11356672e-02 1.98809367e-03 9.99151592e-01 3.48750119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.31463044 meters Centerline goodness [0,1] 0.30983111796057283 Centerline is valid? [False, False] Translation: X:10.27, Y:0.46, Z:0.35 [[ 9.99140785e-01 -1.48010583e-03 -4.14186062e-02 1.02718803e+01] [ 1.41846035e-03 9.99997842e-01 -1.51770084e-03 4.60539347e-01] [ 4.14207631e-02 1.45764615e-03 9.99140729e-01 3.48363408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34463044 meters Centerline goodness [0,1] 0.3104753351722368 Centerline is valid? [False, False] Translation: X:10.27, Y:0.46, Z:0.35 [[ 9.99136179e-01 -1.41226864e-03 -4.15319265e-02 1.02722756e+01] [ 1.36584274e-03 9.99998410e-01 -1.14619027e-03 4.57970786e-01] [ 4.15334792e-02 1.08847409e-03 9.99136520e-01 3.48242523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37463044 meters Centerline goodness [0,1] 0.3129339161738236 Centerline is valid? [False, False] Translation: X:10.27, Y:0.45, Z:0.35 [[ 9.99134914e-01 -1.28409390e-03 -4.15665005e-02 1.02722036e+01] [ 1.25995887e-03 9.99999022e-01 -6.06828731e-04 4.54191663e-01] [ 4.15672391e-02 5.53931691e-04 9.99135555e-01 3.48510738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40463043999998 meters Centerline goodness [0,1] 0.31237733733042894 Centerline is valid? [False, False] Translation: X:10.27, Y:0.45, Z:0.35 [[ 9.99130110e-01 -1.07317236e-03 -4.16877851e-02 1.02723460e+01] [ 1.05908624e-03 9.99999374e-01 -3.59979237e-04 4.53626183e-01] [ 4.16881454e-02 3.15515134e-04 9.99130622e-01 3.48731605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43463043999998 meters Centerline goodness [0,1] 0.3131669535283993 Centerline is valid? [False, False] Translation: X:10.27, Y:0.45, Z:0.35 [[ 9.99128037e-01 -8.56309216e-04 -4.17424622e-02 1.02725857e+01] [ 8.48365714e-04 9.99999619e-01 -2.08011672e-04 4.53692875e-01] [ 4.17426244e-02 1.72417420e-04 9.99128382e-01 3.48630446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46463043999998 meters Centerline goodness [0,1] 0.3100753377208174 Centerline is valid? [False, False] Translation: X:10.27, Y:0.45, Z:0.35 [[ 9.99127006e-01 -7.66630007e-04 -4.17688769e-02 1.02728012e+01] [ 7.56098928e-04 9.99999678e-01 -2.67924415e-04 4.54301394e-01] [ 4.17690688e-02 2.36109115e-04 9.99127264e-01 3.48425141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49463043999998 meters Centerline goodness [0,1] 0.3082378731543769 Centerline is valid? [False, False] Translation: X:10.29, Y:0.45, Z:0.35 [[ 9.99121979e-01 7.27434463e-03 -4.12596165e-02 1.02923797e+01] [-7.35363697e-03 9.99971395e-01 -1.77034537e-03 4.51658036e-01] [ 4.12455582e-02 2.07219921e-03 9.99146891e-01 3.50363761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52463043999998 meters Centerline goodness [0,1] 0.3079163187083789 Centerline is valid? [False, False] Translation: X:10.29, Y:0.45, Z:0.35 [[ 9.99128238e-01 7.97777042e-03 -4.09770639e-02 1.02915863e+01] [-8.04744312e-03 9.99966440e-01 -1.53561479e-03 4.53133318e-01] [ 4.09634379e-02 1.86403669e-03 9.99158907e-01 3.50514927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55463043999998 meters Centerline goodness [0,1] 0.31551716578243527 Centerline is valid? [False, False] Translation: X:10.25, Y:0.45, Z:0.35 [[ 9.99037658e-01 8.85883678e-03 -4.29567112e-02 1.02466495e+01] [-8.89590810e-03 9.99960205e-01 -6.71907964e-04 4.53286237e-01] [ 4.29490494e-02 1.05340031e-03 9.99076709e-01 3.49234152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58463043999998 meters Centerline goodness [0,1] 0.3090796153104719 Centerline is valid? [False, False] Translation: X:10.29, Y:0.46, Z:0.35 [[ 9.99070516e-01 1.01863838e-02 -4.18848605e-02 1.02905362e+01] [-1.02196131e-02 9.99947611e-01 -5.79301474e-04 4.56600915e-01] [ 4.18767652e-02 1.00681009e-03 9.99122276e-01 3.50867869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61463043999998 meters Centerline goodness [0,1] 0.30838521941930375 Centerline is valid? [False, False] Translation: X:10.29, Y:0.46, Z:0.35 [[ 9.99049647e-01 1.01995310e-02 -4.23765559e-02 1.02919979e+01] [-1.02446205e-02 9.99947164e-01 -8.46985590e-04 4.58271856e-01] [ 4.23656780e-02 1.28031239e-03 9.99101351e-01 3.50413320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64463044 meters Centerline goodness [0,1] 0.30323046534842724 Centerline is valid? [False, False] Translation: X:10.30, Y:0.46, Z:0.35 [[ 9.98991594e-01 1.05855688e-02 -4.36318680e-02 1.02953170e+01] [-1.06420886e-02 9.99942806e-01 -1.06329816e-03 4.61794175e-01] [ 4.36181169e-02 1.52656013e-03 9.99047111e-01 3.49828059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67463044 meters Centerline goodness [0,1] 0.30575161435651 Centerline is valid? [False, False] Translation: X:10.28, Y:0.47, Z:0.35 [[ 9.99050603e-01 3.10656215e-03 -4.34539076e-02 1.02767110e+01] [-3.09893888e-03 9.99995169e-01 2.42794755e-04 4.68017882e-01] [ 4.34544519e-02 -1.07903242e-04 9.99055403e-01 3.47178440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70463044 meters Centerline goodness [0,1] 0.3109981913702523 Centerline is valid? [False, False] Translation: X:10.28, Y:0.47, Z:0.35 [[ 9.99048127e-01 3.15343513e-03 -4.35074333e-02 1.02769773e+01] [-3.15601201e-03 9.99995020e-01 9.45916476e-06 4.70114996e-01] [ 4.35072464e-02 1.27859821e-04 9.99053103e-01 3.46956681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73463044 meters Centerline goodness [0,1] 0.30731591653733403 Centerline is valid? [False, False] Translation: X:10.28, Y:0.47, Z:0.35 [[ 9.99053731e-01 3.06002554e-03 -4.33852413e-02 1.02766027e+01] [-3.07868516e-03 9.99995195e-01 -3.63281587e-04 4.72270516e-01] [ 4.33839212e-02 4.96507323e-04 9.99058351e-01 3.47032706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76463044 meters Centerline goodness [0,1] 0.3071137038699062 Centerline is valid? [False, False] Translation: X:10.28, Y:0.47, Z:0.35 [[ 9.99062111e-01 2.88784896e-03 -4.32036913e-02 1.02760073e+01] [-2.92362266e-03 9.99995434e-01 -7.64861834e-04 4.74153188e-01] [ 4.32012853e-02 8.90455769e-04 9.99065992e-01 3.47267502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79463044 meters Centerline goodness [0,1] 0.314705374859805 Centerline is valid? [False, False] Translation: X:10.28, Y:0.48, Z:0.35 [[ 9.99070968e-01 2.70647061e-03 -4.30101777e-02 1.02753233e+01] [-2.77023146e-03 9.99995151e-01 -1.42292700e-03 4.78456002e-01] [ 4.30061180e-02 1.54075320e-03 9.99073621e-01 3.47481543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82463044 meters Centerline goodness [0,1] 0.3073124002128792 Centerline is valid? [False, False] Translation: X:10.30, Y:0.48, Z:0.35 [[ 9.99053975e-01 -2.43052009e-03 -4.34194478e-02 1.02977196e+01] [ 2.49402220e-03 9.99995898e-01 1.40841674e-03 4.84734531e-01] [ 4.34158465e-02 -1.51537341e-03 9.99055938e-01 3.48173712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85463044 meters Centerline goodness [0,1] 0.31167773730447823 Centerline is valid? [False, False] Translation: X:10.30, Y:0.49, Z:0.35 [[ 9.99049454e-01 -2.56572312e-03 -4.35155686e-02 1.02981555e+01] [ 2.60898090e-03 9.99996157e-01 9.37312289e-04 4.87919699e-01] [ 4.35129965e-02 -1.04995262e-03 9.99052309e-01 3.47821597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88463044 meters Centerline goodness [0,1] 0.31157764346581807 Centerline is valid? [False, False] Translation: X:10.30, Y:0.49, Z:0.35 [[ 9.99049293e-01 -2.75662460e-03 -4.35076096e-02 1.02983745e+01] [ 2.77745395e-03 9.99996055e-01 4.18310048e-04 4.91036413e-01] [ 4.35062848e-02 -5.38752739e-04 9.99053008e-01 3.47452649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91463044 meters Centerline goodness [0,1] 0.3108347000063897 Centerline is valid? [False, False] Translation: X:10.30, Y:0.50, Z:0.35 [[ 9.99044728e-01 -3.23841027e-03 -4.35791609e-02 1.02980270e+01] [ 3.21704649e-03 9.99994668e-01 -5.60351922e-04 4.96546711e-01] [ 4.35807432e-02 4.19620447e-04 9.99049820e-01 3.48093899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94463044 meters Centerline goodness [0,1] 0.31217519621890977 Centerline is valid? [False, False] Translation: X:10.30, Y:0.50, Z:0.35 [[ 9.99041012e-01 -3.36104916e-03 -4.36550102e-02 1.02979368e+01] [ 3.32656890e-03 9.99994095e-01 -8.62456721e-04 4.98542590e-01] [ 4.36576512e-02 7.16408236e-04 9.99046293e-01 3.48443295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.97463044 meters Centerline goodness [0,1] 0.3132641639400723 Centerline is valid? [False, False] Translation: X:10.30, Y:0.50, Z:0.35 [[ 9.99033703e-01 -3.49004170e-03 -4.38118731e-02 1.02982626e+01] [ 3.44211449e-03 9.99993392e-01 -1.16932356e-03 5.00504375e-01] [ 4.38156646e-02 1.01738816e-03 9.99039115e-01 3.48480009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00463044 meters Centerline goodness [0,1] 0.309854030221309 Centerline is valid? [False, False] Translation: X:10.30, Y:0.50, Z:0.35 [[ 9.99025806e-01 -3.71249758e-03 -4.39733665e-02 1.02987520e+01] [ 3.64810859e-03 9.99992153e-01 -1.54443076e-03 5.02264852e-01] [ 4.39787552e-02 1.38250656e-03 9.99031510e-01 3.48350832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.03463044 meters Centerline goodness [0,1] 0.31178772263678933 Centerline is valid? [False, False] Translation: X:10.30, Y:0.51, Z:0.35 [[ 9.99035500e-01 -4.23616431e-03 -4.37049767e-02 1.02981619e+01] [ 4.13775022e-03 9.99988697e-01 -2.34200015e-03 5.05697237e-01] [ 4.37144038e-02 2.15890101e-03 9.99041736e-01 3.48338359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06463044 meters Centerline goodness [0,1] 0.31124386601237464 Centerline is valid? [False, False] Translation: X:10.30, Y:0.51, Z:0.35 [[ 9.99042419e-01 -4.24970105e-03 -4.35452059e-02 1.02977585e+01] [ 4.14597673e-03 9.99988350e-01 -2.47202691e-03 5.07170685e-01] [ 4.35552040e-02 2.28912233e-03 9.99048399e-01 3.48407053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09463044 meters Centerline goodness [0,1] 0.3109897349797037 Centerline is valid? [False, False] Translation: X:10.30, Y:0.51, Z:0.35 [[ 9.99045101e-01 -4.19105869e-03 -4.34893139e-02 1.02975817e+01] [ 4.08491634e-03 9.99988458e-01 -2.52923403e-03 5.08577315e-01] [ 4.34994121e-02 2.34916865e-03 9.99050691e-01 3.48508378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12463044 meters Centerline goodness [0,1] 0.31201925142881703 Centerline is valid? [False, False] Translation: X:10.30, Y:0.51, Z:0.35 [[ 9.99045026e-01 -4.19642965e-03 -4.34905392e-02 1.02977709e+01] [ 4.08639594e-03 9.99988222e-01 -2.61865424e-03 5.09540086e-01] [ 4.35010159e-02 2.43843393e-03 9.99050407e-01 3.48278006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15463043999998 meters Centerline goodness [0,1] 0.3103558423305437 Centerline is valid? [False, False] Translation: X:10.32, Y:0.51, Z:0.35 [[ 9.99062859e-01 3.12456858e-03 -4.31699012e-02 1.03173659e+01] [-3.31541016e-03 9.99985043e-01 -4.34982006e-03 5.07358716e-01] [ 4.31556642e-02 4.48886959e-03 9.99058276e-01 3.50411994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18463043999998 meters Centerline goodness [0,1] 0.31192640878291444 Centerline is valid? [False, False] Translation: X:10.32, Y:0.51, Z:0.35 [[ 9.99052644e-01 2.86925637e-03 -4.34232925e-02 1.03178678e+01] [-3.07620253e-03 9.99984225e-01 -4.69971650e-03 5.07934378e-01] [ 4.34091228e-02 4.82884304e-03 9.99045710e-01 3.50540607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21463043999998 meters Centerline goodness [0,1] 0.31204610210158745 Centerline is valid? [False, False] Translation: X:10.32, Y:0.51, Z:0.35 [[ 9.99048634e-01 2.88466223e-03 -4.35144268e-02 1.03177897e+01] [-3.10129585e-03 9.99983128e-01 -4.91174607e-03 5.09462277e-01] [ 4.34995239e-02 5.04202432e-03 9.99040725e-01 3.50868759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24463043999998 meters Centerline goodness [0,1] 0.3133554273908926 Centerline is valid? [False, False] Translation: X:10.32, Y:0.51, Z:0.35 [[ 9.99053797e-01 3.01502919e-03 -4.33868777e-02 1.03174626e+01] [-3.23049940e-03 9.99982792e-01 -4.89699630e-03 5.10378071e-01] [ 4.33713665e-02 5.03252403e-03 9.99046344e-01 3.50899648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27463043999998 meters Centerline goodness [0,1] 0.3117153464815331 Centerline is valid? [False, False] Translation: X:10.32, Y:0.51, Z:0.35 [[ 9.99059196e-01 3.05546143e-03 -4.32595309e-02 1.03172527e+01] [-3.27333695e-03 9.99982309e-01 -4.96653580e-03 5.11096887e-01] [ 4.32435905e-02 5.10346628e-03 9.99051523e-01 3.50774814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30463043999998 meters Centerline goodness [0,1] 0.3103047019781925 Centerline is valid? [False, False] Translation: X:10.32, Y:0.51, Z:0.35 [[ 9.99053032e-01 2.95149888e-03 -4.34088521e-02 1.03178492e+01] [-3.17727416e-03 9.99981778e-01 -5.13306092e-03 5.11047886e-01] [ 4.33929109e-02 5.26612190e-03 9.99044205e-01 3.50399810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33463043999998 meters Centerline goodness [0,1] 0.31161248930710006 Centerline is valid? [False, False] Translation: X:10.34, Y:0.52, Z:0.35 [[ 9.99025761e-01 -4.35139910e-03 -4.39157534e-02 1.03367301e+01] [ 4.18952981e-03 9.99984090e-01 -3.77726999e-03 5.15118392e-01] [ 4.39314911e-02 3.58960367e-03 9.99028097e-01 3.52743912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36463043999998 meters Centerline goodness [0,1] 0.3113661367215307 Centerline is valid? [False, False] Translation: X:10.34, Y:0.51, Z:0.35 [[ 9.99020882e-01 -4.21903977e-03 -4.40394859e-02 1.03370651e+01] [ 4.06779947e-03 9.99985520e-01 -3.52324881e-03 5.14071367e-01] [ 4.40537130e-02 3.34065533e-03 9.99023578e-01 3.52709938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39463044 meters Centerline goodness [0,1] 0.31057509149669327 Centerline is valid? [False, False] Translation: X:10.34, Y:0.51, Z:0.35 [[ 9.99017770e-01 -4.08962187e-03 -4.41222182e-02 1.03371628e+01] [ 3.95388260e-03 9.99987180e-01 -3.16326941e-03 5.12163208e-01] [ 4.41345891e-02 2.98570828e-03 9.99021133e-01 3.52880742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42463044 meters Centerline goodness [0,1] 0.31057509149669327 Centerline is valid? [False, False] Translation: X:10.34, Y:0.51, Z:0.35 [[ 9.99017770e-01 -4.08962187e-03 -4.41222182e-02 1.03371628e+01] [ 3.95388260e-03 9.99987180e-01 -3.16326941e-03 5.12163208e-01] [ 4.41345891e-02 2.98570828e-03 9.99021133e-01 3.52880742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45463044 meters Centerline goodness [0,1] 0.30936828534593896 Centerline is valid? [False, False] Translation: X:10.34, Y:0.51, Z:0.35 [[ 9.99024425e-01 -4.12465290e-03 -4.39680119e-02 1.03368086e+01] [ 4.00134879e-03 9.99987813e-01 -2.89204459e-03 5.09775741e-01] [ 4.39794048e-02 2.71329183e-03 9.99028753e-01 3.52971979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48463044 meters Centerline goodness [0,1] 0.3082234108295864 Centerline is valid? [False, False] Translation: X:10.36, Y:0.50, Z:0.36 [[ 9.98998545e-01 2.33686041e-03 -4.46816130e-02 1.03550525e+01] [-2.54069451e-03 9.99986622e-01 -4.50567814e-03 5.02922240e-01] [ 4.46704861e-02 4.61468824e-03 9.98991117e-01 3.55928322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51463044 meters Centerline goodness [0,1] 0.30907492010381143 Centerline is valid? [False, False] Translation: X:10.35, Y:0.50, Z:0.36 [[ 9.99003697e-01 2.37186690e-03 -4.45644305e-02 1.03549021e+01] [-2.54620521e-03 9.99989325e-01 -3.85569466e-03 4.97827790e-01] [ 4.45548096e-02 3.96532341e-03 9.98999072e-01 3.55891510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54463044 meters Centerline goodness [0,1] 0.3084725409045097 Centerline is valid? [False, False] Translation: X:10.35, Y:0.50, Z:0.36 [[ 9.99001646e-01 2.59993974e-03 -4.45976585e-02 1.03548675e+01] [-2.75182375e-03 9.99990621e-01 -3.34459487e-03 4.95409047e-01] [ 4.45885445e-02 3.46398068e-03 9.98999431e-01 3.56097885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57463044 meters Centerline goodness [0,1] 0.31004413592149804 Centerline is valid? [False, False] Translation: X:10.35, Y:0.49, Z:0.36 [[ 9.99000711e-01 2.70991008e-03 -4.46120537e-02 1.03547250e+01] [-2.84515013e-03 9.99991547e-01 -2.96825209e-03 4.93062316e-01] [ 4.46036329e-02 3.09221394e-03 9.98999977e-01 3.56401522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60463044 meters Centerline goodness [0,1] 0.3093007730904236 Centerline is valid? [False, False] Translation: X:10.35, Y:0.49, Z:0.36 [[ 9.99001024e-01 2.75032173e-03 -4.46025847e-02 1.03545901e+01] [-2.87081205e-03 9.99992401e-01 -2.63759051e-03 4.90354069e-01] [ 4.45949915e-02 2.76300126e-03 9.99001328e-01 3.56571567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63463044 meters Centerline goodness [0,1] 0.3102510415092711 Centerline is valid? [False, False] Translation: X:10.36, Y:0.48, Z:0.36 [[ 9.98993049e-01 2.68302757e-03 -4.47849247e-02 1.03552165e+01] [-2.78769333e-03 9.99993527e-01 -2.27478459e-03 4.84025638e-01] [ 4.47785315e-02 2.39734063e-03 9.98994062e-01 3.56359566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66463044 meters Centerline goodness [0,1] 0.3068534160162515 Centerline is valid? [False, False] Translation: X:10.37, Y:0.49, Z:0.36 [[ 9.98950034e-01 -4.23684368e-03 -4.56166507e-02 1.03742458e+01] [ 4.20514395e-03 9.99990846e-01 -7.90855848e-04 4.87096975e-01] [ 4.56195838e-02 5.98200894e-04 9.98958706e-01 3.58468445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.69463044 meters Centerline goodness [0,1] 0.31183517840507813 Centerline is valid? [False, False] Translation: X:10.36, Y:0.48, Z:0.36 [[ 9.98941458e-01 3.54491071e-03 -4.58627978e-02 1.03561816e+01] [-3.62858138e-03 9.99991901e-01 -1.74124522e-03 4.80034430e-01] [ 4.58562538e-02 1.90581893e-03 9.98946231e-01 3.55497788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72463044 meters Centerline goodness [0,1] 0.30667985719815904 Centerline is valid? [False, False] Translation: X:10.36, Y:0.48, Z:0.36 [[ 9.98935208e-01 3.65606385e-03 -4.59900418e-02 1.03566461e+01] [-3.73097414e-03 9.99991849e-01 -1.54310298e-03 4.79018988e-01] [ 4.59840253e-02 1.71304755e-03 9.98940706e-01 3.55294690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.75463044 meters Centerline goodness [0,1] 0.3079010856453559 Centerline is valid? [False, False] Translation: X:10.36, Y:0.48, Z:0.36 [[ 9.98934584e-01 3.77300803e-03 -4.59941353e-02 1.03564731e+01] [-3.84155604e-03 9.99991638e-01 -1.40206370e-03 4.78338179e-01] [ 4.59884608e-02 1.57725897e-03 9.98940726e-01 3.55535869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78463044 meters Centerline goodness [0,1] 0.3080736543909348 Centerline is valid? [False, False] Translation: X:10.36, Y:0.48, Z:0.36 [[ 9.98946306e-01 3.91852066e-03 -4.57266011e-02 1.03554647e+01] [-3.98094516e-03 9.99991264e-01 -1.27418249e-03 4.78014168e-01] [ 4.57212087e-02 1.45487498e-03 9.98953179e-01 3.56064662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.81463044 meters Centerline goodness [0,1] 0.31385014596172556 Centerline is valid? [False, False] Translation: X:10.35, Y:0.48, Z:0.36 [[ 9.99011005e-01 4.88798017e-03 -4.41941116e-02 1.03509689e+01] [-4.91078006e-03 9.99987859e-01 -4.07350590e-04 4.77159129e-01] [ 4.41915839e-02 6.23975284e-04 9.99022880e-01 3.57371143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84463044 meters Centerline goodness [0,1] 0.3098276825233123 Centerline is valid? [False, False] Translation: X:10.35, Y:0.48, Z:0.36 [[ 9.99013802e-01 5.01502880e-03 -4.41165883e-02 1.03507069e+01] [-5.03617938e-03 9.99987251e-01 -3.68293287e-04 4.77534376e-01] [ 4.41141788e-02 5.90109129e-04 9.99026321e-01 3.57500390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87463044 meters Centerline goodness [0,1] 0.31313786542120736 Centerline is valid? [False, False] Translation: X:10.35, Y:0.48, Z:0.36 [[ 9.99011201e-01 5.04603979e-03 -4.41719110e-02 1.03508840e+01] [-5.06851072e-03 9.99987076e-01 -3.96731911e-04 4.77759919e-01] [ 4.41693382e-02 6.20225427e-04 9.99023866e-01 3.57394365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90463043999998 meters Centerline goodness [0,1] 0.31115142875656066 Centerline is valid? [False, False] Translation: X:10.35, Y:0.48, Z:0.36 [[ 9.98985314e-01 5.16956888e-03 -4.47394395e-02 1.03527027e+01] [-5.19487043e-03 9.99986406e-01 -4.49282968e-04 4.78371878e-01] [ 4.47365087e-02 6.81242678e-04 9.98998589e-01 3.56571057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93463043999998 meters Centerline goodness [0,1] 0.3085924872308786 Centerline is valid? [False, False] Translation: X:10.35, Y:0.48, Z:0.36 [[ 9.98978781e-01 5.21000480e-03 -4.48804058e-02 1.03531319e+01] [-5.23679841e-03 9.99986173e-01 -4.79446042e-04 4.79024243e-01] [ 4.48772873e-02 7.13986060e-04 9.98992252e-01 3.56407934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96463043999998 meters Centerline goodness [0,1] 0.3107842925840467 Centerline is valid? [False, False] Translation: X:10.35, Y:0.48, Z:0.36 [[ 9.98977880e-01 5.32259131e-03 -4.48872541e-02 1.03532446e+01] [-5.34465981e-03 9.99985648e-01 -3.71642361e-04 4.79044008e-01] [ 4.48846318e-02 6.11169601e-04 9.98991990e-01 3.56313056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99463043999998 meters Centerline goodness [0,1] 0.3165013134185789 Centerline is valid? [False, False] Translation: X:10.35, Y:0.48, Z:0.36 [[ 9.98974244e-01 5.31857117e-03 -4.49685732e-02 1.03535357e+01] [-5.34044536e-03 9.99985673e-01 -3.66308928e-04 4.78955913e-01] [ 4.49659806e-02 6.06085392e-04 9.98988335e-01 3.56192865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02463043999998 meters Centerline goodness [0,1] 0.3076395585556627 Centerline is valid? [False, False] Translation: X:10.38, Y:0.48, Z:0.36 [[ 9.98944257e-01 -2.86340336e-03 -4.58494582e-02 1.03756906e+01] [ 2.86066592e-03 9.99995900e-01 -1.25319471e-04 4.82476673e-01] [ 4.58496291e-02 -5.97281654e-06 9.98948353e-01 3.57241552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05463043999998 meters Centerline goodness [0,1] 0.31570886185175595 Centerline is valid? [False, False] Translation: X:10.38, Y:0.48, Z:0.36 [[ 9.98938328e-01 -2.92876608e-03 -4.59743217e-02 1.03758203e+01] [ 2.92878872e-03 9.99995709e-01 -6.68679653e-05 4.81570361e-01] [ 4.59743202e-02 -6.78521011e-05 9.98942620e-01 3.57496514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08463043999998 meters Centerline goodness [0,1] 0.3178875343741203 Centerline is valid? [False, False] Translation: X:10.38, Y:0.48, Z:0.36 [[ 9.98942299e-01 -2.90964877e-03 -4.58891891e-02 1.03754808e+01] [ 2.91627075e-03 9.99995745e-01 7.73561999e-05 4.80655955e-01] [ 4.58887688e-02 -2.11099680e-04 9.98946533e-01 3.57751559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11463043999998 meters Centerline goodness [0,1] 0.31852109008852625 Centerline is valid? [False, False] Translation: X:10.38, Y:0.48, Z:0.36 [[ 9.98941500e-01 -2.87139820e-03 -4.59089909e-02 1.03754621e+01] [ 2.88445331e-03 9.99995816e-01 2.18125655e-04 4.79866506e-01] [ 4.59081725e-02 -3.50317110e-04 9.98945603e-01 3.57882459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14463044 meters Centerline goodness [0,1] 0.3116061312183338 Centerline is valid? [False, False] Translation: X:10.40, Y:0.48, Z:0.36 [[ 9.98944786e-01 4.68165836e-03 -4.56880451e-02 1.03951083e+01] [-4.73382428e-03 9.99988261e-01 -1.03365489e-03 4.76132520e-01] [ 4.56826695e-02 1.24884334e-03 9.98955221e-01 3.59765174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17463044 meters Centerline goodness [0,1] 0.31524747377228546 Centerline is valid? [False, False] Translation: X:10.40, Y:0.47, Z:0.36 [[ 9.98947449e-01 4.58747614e-03 -4.56393305e-02 1.03952172e+01] [-4.62607087e-03 9.99989026e-01 -7.40061210e-04 4.73033707e-01] [ 4.56354346e-02 9.50413035e-04 9.98957709e-01 3.59553254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20463044 meters Centerline goodness [0,1] 0.31562190767112674 Centerline is valid? [False, False] Translation: X:10.40, Y:0.47, Z:0.36 [[ 9.98942203e-01 4.61543728e-03 -4.57512150e-02 1.03955679e+01] [-4.64407657e-03 9.99989081e-01 -5.19706261e-04 4.71409848e-01] [ 4.57483168e-02 7.31628662e-04 9.98952730e-01 3.59464546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23463044 meters Centerline goodness [0,1] 0.31962100446765807 Centerline is valid? [False, False] Translation: X:10.40, Y:0.47, Z:0.36 [[ 9.98931127e-01 4.68066844e-03 -4.59858056e-02 1.03962960e+01] [-4.69713308e-03 9.99988937e-01 -2.49985326e-04 4.69654806e-01] [ 4.59841267e-02 4.65719572e-04 9.98942062e-01 3.59243799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26463044 meters Centerline goodness [0,1] 0.3171547399562663 Centerline is valid? [False, False] Translation: X:10.40, Y:0.47, Z:0.36 [[ 9.98917308e-01 4.70529722e-03 -4.62825160e-02 1.03972651e+01] [-4.71283287e-03 9.99988893e-01 -5.36999282e-05 4.68175426e-01] [ 4.62817493e-02 2.71763551e-04 9.98928389e-01 3.58913363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29463044 meters Centerline goodness [0,1] 0.31955638661422403 Centerline is valid? [False, False] Translation: X:10.40, Y:0.46, Z:0.36 [[ 9.98907186e-01 4.79550654e-03 -4.64912490e-02 1.03978995e+01] [-4.78280393e-03 9.99988488e-01 3.84461871e-04 4.64888908e-01] [ 4.64925575e-02 -1.61683197e-04 9.98918623e-01 3.58788480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32463044 meters Centerline goodness [0,1] 0.320257636465469 Centerline is valid? [False, False] Translation: X:10.40, Y:0.46, Z:0.36 [[ 9.98910478e-01 4.85303407e-03 -4.64144984e-02 1.03974395e+01] [-4.83131921e-03 9.99988161e-01 5.80017730e-04 4.63643621e-01] [ 4.64167638e-02 -3.55142529e-04 9.98922098e-01 3.59201523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35463044 meters Centerline goodness [0,1] 0.32049847186948477 Centerline is valid? [False, False] Translation: X:10.40, Y:0.46, Z:0.36 [[ 9.98922642e-01 4.95338753e-03 -4.61412960e-02 1.03966215e+01] [-4.91978225e-03 9.99987543e-01 8.41847774e-04 4.62314849e-01] [ 4.61448912e-02 -6.13935674e-04 9.98934568e-01 3.59461747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38463044 meters Centerline goodness [0,1] 0.3182518619981166 Centerline is valid? [False, False] Translation: X:10.41, Y:0.47, Z:0.36 [[ 9.98977470e-01 -2.27895057e-03 -4.51533027e-02 1.04143651e+01] [ 2.39173473e-03 9.99994153e-01 2.44393783e-03 4.65471440e-01] [ 4.51474691e-02 -2.54943356e-03 9.98977080e-01 3.61848837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41463044 meters Centerline goodness [0,1] 0.32078556217599863 Centerline is valid? [False, False] Translation: X:10.41, Y:0.46, Z:0.36 [[ 9.99008069e-01 -2.24290930e-03 -4.44730016e-02 1.04124384e+01] [ 2.37387742e-03 9.99993000e-01 2.89229620e-03 4.62129682e-01] [ 4.44662031e-02 -2.99500069e-03 9.99006400e-01 3.62448779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44463044 meters Centerline goodness [0,1] 0.32439545268244274 Centerline is valid? [False, False] Translation: X:10.41, Y:0.46, Z:0.36 [[ 9.99010141e-01 -2.23428480e-03 -4.44268652e-02 1.04121716e+01] [ 2.37306471e-03 9.99992468e-01 3.07128884e-03 4.60545551e-01] [ 4.44196684e-02 -3.17367652e-03 9.99007918e-01 3.62713488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.47463044 meters Centerline goodness [0,1] 0.3259872035158017 Centerline is valid? [False, False] Translation: X:10.41, Y:0.46, Z:0.36 [[ 9.99009705e-01 -2.17945052e-03 -4.44393943e-02 1.04121148e+01] [ 2.32859727e-03 9.99991828e-01 3.30469304e-03 4.59069531e-01] [ 4.44318288e-02 -3.40490187e-03 9.99006616e-01 3.62872997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50463044 meters Centerline goodness [0,1] 0.3258591065292096 Centerline is valid? [False, False] Translation: X:10.41, Y:0.46, Z:0.36 [[ 9.99007824e-01 -2.12643923e-03 -4.44842263e-02 1.04122494e+01] [ 2.28423558e-03 9.99991278e-01 3.49671216e-03 4.57935462e-01] [ 4.44764027e-02 -3.59485526e-03 9.99003967e-01 3.62870657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.53463044 meters Centerline goodness [0,1] 0.3210893646084563 Centerline is valid? [False, False] Translation: X:10.41, Y:0.46, Z:0.36 [[ 9.99004165e-01 -1.99318817e-03 -4.45724723e-02 1.04127265e+01] [ 2.16377336e-03 9.99990518e-01 3.77922334e-03 4.56608625e-01] [ 4.45645169e-02 -3.87190458e-03 9.98999005e-01 3.62555572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56463044 meters Centerline goodness [0,1] 0.3253032706073985 Centerline is valid? [False, False] Translation: X:10.41, Y:0.45, Z:0.36 [[ 9.98974479e-01 -2.03380735e-03 -4.52311185e-02 1.04144862e+01] [ 2.21946061e-03 9.99989317e-01 4.05470579e-03 4.53939396e-01] [ 4.52223888e-02 -4.15093629e-03 9.98968320e-01 3.62384043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59463044 meters Centerline goodness [0,1] 0.327312404122464 Centerline is valid? [False, False] Translation: X:10.42, Y:0.45, Z:0.36 [[ 9.98958186e-01 -2.01366446e-03 -4.55904252e-02 1.04153855e+01] [ 2.20961001e-03 9.99988536e-01 4.24796738e-03 4.52394623e-01] [ 4.55813486e-02 -4.34427885e-03 9.98951184e-01 3.62363930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62463044 meters Centerline goodness [0,1] 0.32760481886091797 Centerline is valid? [False, False] Translation: X:10.42, Y:0.45, Z:0.36 [[ 9.98954980e-01 -1.94873936e-03 -4.56634387e-02 1.04155503e+01] [ 2.15690640e-03 9.99987504e-01 4.50989643e-03 4.50688382e-01] [ 4.56540795e-02 -4.60367526e-03 9.98946701e-01 3.62451467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65463043999998 meters Centerline goodness [0,1] 0.3250959950232748 Centerline is valid? [False, False] Translation: X:10.42, Y:0.45, Z:0.36 [[ 9.98958214e-01 -1.87599922e-03 -4.55956834e-02 1.04154217e+01] [ 2.09513546e-03 9.99986482e-01 4.75876022e-03 4.49141511e-01] [ 4.55861396e-02 -4.84933175e-03 9.98948641e-01 3.62483657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68463043999998 meters Centerline goodness [0,1] 0.3274022889224789 Centerline is valid? [False, False] Translation: X:10.41, Y:0.45, Z:0.36 [[ 9.98964463e-01 -1.95254887e-03 -4.54553536e-02 1.04148030e+01] [ 2.18144126e-03 9.99985188e-01 4.98648297e-03 4.46227231e-01] [ 4.54449440e-02 -5.08047747e-03 9.98953926e-01 3.63007274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71463043999998 meters Centerline goodness [0,1] 0.32588562916909525 Centerline is valid? [False, False] Translation: X:10.42, Y:0.45, Z:0.36 [[ 9.98957149e-01 -1.88405862e-03 -4.56186872e-02 1.04151689e+01] [ 2.12234916e-03 9.99984354e-01 5.17565804e-03 4.45087147e-01] [ 4.56082222e-02 -5.26707938e-03 9.98945518e-01 3.63066929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74463043999998 meters Centerline goodness [0,1] 0.3230040102078017 Centerline is valid? [False, False] Translation: X:10.42, Y:0.44, Z:0.36 [[ 9.98947238e-01 -1.76303747e-03 -4.58400099e-02 1.04158257e+01] [ 2.00912329e-03 9.99983815e-01 5.32284411e-03 4.44750845e-01] [ 4.58298836e-02 -5.40933866e-03 9.98934613e-01 3.62896300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77463043999998 meters Centerline goodness [0,1] 0.32350036497917467 Centerline is valid? [False, False] Translation: X:10.42, Y:0.45, Z:0.36 [[ 9.98943903e-01 -1.69259485e-03 -4.59152836e-02 1.04161520e+01] [ 1.93955001e-03 9.99983891e-01 5.33447810e-03 4.45097136e-01] [ 4.59055148e-02 -5.41789936e-03 9.98931094e-01 3.62733835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80463043999998 meters Centerline goodness [0,1] 0.3247966254896053 Centerline is valid? [False, False] Translation: X:10.42, Y:0.45, Z:0.36 [[ 9.98939410e-01 -1.70479537e-03 -4.60124935e-02 1.04164512e+01] [ 1.94526827e-03 9.99984681e-01 5.18198138e-03 4.46014676e-01] [ 4.60029544e-02 -5.26599207e-03 9.98927424e-01 3.62602049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83463043999998 meters Centerline goodness [0,1] 0.32368596857961773 Centerline is valid? [False, False] Translation: X:10.42, Y:0.45, Z:0.36 [[ 9.98935170e-01 -1.61283339e-03 -4.61077618e-02 1.04166404e+01] [ 1.83781732e-03 9.99986610e-01 4.83754915e-03 4.48649427e-01] [ 4.60993423e-02 -4.91713563e-03 9.98924758e-01 3.62572416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86463043999998 meters Centerline goodness [0,1] 0.3246334060108589 Centerline is valid? [False, False] Translation: X:10.44, Y:0.45, Z:0.36 [[ 9.98934116e-01 6.45049648e-03 -4.57058239e-02 1.04360623e+01] [-6.30485057e-03 9.99974580e-01 3.33003879e-03 4.47967661e-01] [ 4.57261424e-02 -3.03832097e-03 9.98949392e-01 3.64697505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89463044 meters Centerline goodness [0,1] 0.3246295141204052 Centerline is valid? [False, False] Translation: X:10.44, Y:0.45, Z:0.36 [[ 9.98934313e-01 6.40802489e-03 -4.57075081e-02 1.04360867e+01] [-6.27327407e-03 9.99975546e-01 3.09094652e-03 4.49598125e-01] [ 4.57261972e-02 -2.80091681e-03 9.98950084e-01 3.64664990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92463044 meters Centerline goodness [0,1] 0.3244507686005649 Centerline is valid? [False, False] Translation: X:10.44, Y:0.45, Z:0.36 [[ 9.98934311e-01 6.35537237e-03 -4.57149002e-02 1.04361220e+01] [-6.23405635e-03 9.99976660e-01 2.79583363e-03 4.51631848e-01] [ 4.57316017e-02 -2.50786487e-03 9.98950615e-01 3.64597391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95463044 meters Centerline goodness [0,1] 0.32295577130528585 Centerline is valid? [False, False] Translation: X:10.44, Y:0.45, Z:0.36 [[ 9.98932861e-01 6.25565720e-03 -4.57603178e-02 1.04361239e+01] [-6.15086018e-03 9.99978129e-01 2.43057821e-03 4.53909229e-01] [ 4.57745219e-02 -2.14651913e-03 9.98949491e-01 3.64714962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98463044 meters Centerline goodness [0,1] 0.32668968062702186 Centerline is valid? [False, False] Translation: X:10.44, Y:0.46, Z:0.36 [[ 9.98929572e-01 6.18897943e-03 -4.58411032e-02 1.04362022e+01] [-6.09865480e-03 9.99979177e-01 2.10998253e-03 4.56026571e-01] [ 4.58532073e-02 -1.82815488e-03 9.98946516e-01 3.64814144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01463044 meters Centerline goodness [0,1] 0.3210071819425444 Centerline is valid? [False, False] Translation: X:10.46, Y:0.46, Z:0.37 [[ 9.98966610e-01 1.16984616e-03 -4.54350511e-02 1.04579779e+01] [-9.55860068e-04 9.99988351e-01 4.73115439e-03 4.64077675e-01] [ 4.54400566e-02 -4.68283571e-03 9.98956091e-01 3.65666820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04463044 meters Centerline goodness [0,1] 0.32254255844406754 Centerline is valid? [False, False] Translation: X:10.46, Y:0.47, Z:0.37 [[ 9.98974865e-01 1.11844668e-03 -4.52544910e-02 1.04572496e+01] [-9.17375601e-04 9.99989617e-01 4.46364317e-03 4.66079738e-01] [ 4.52590135e-02 -4.41755197e-03 9.98965518e-01 3.66013219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07463044 meters Centerline goodness [0,1] 0.32076965883309794 Centerline is valid? [False, False] Translation: X:10.46, Y:0.47, Z:0.37 [[ 9.98978985e-01 1.03069999e-03 -4.51655383e-02 1.04567798e+01] [-8.43086701e-04 9.99990939e-01 4.17275563e-03 4.68087587e-01] [ 4.51694299e-02 -4.13041672e-03 9.98970802e-01 3.66346208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10463044 meters Centerline goodness [0,1] 0.32066590374192994 Centerline is valid? [False, False] Translation: X:10.46, Y:0.47, Z:0.37 [[ 9.98980092e-01 9.37895886e-04 -4.51430687e-02 1.04566602e+01] [-7.62285553e-04 9.99992077e-01 3.90714163e-03 4.69770280e-01] [ 4.51463755e-02 -3.86874479e-03 9.98972891e-01 3.66418270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13463044 meters Centerline goodness [0,1] 0.3228510182207931 Centerline is valid? [False, False] Translation: X:10.46, Y:0.47, Z:0.37 [[ 9.98979794e-01 6.63752943e-04 -4.51545301e-02 1.04566417e+01] [-5.07031725e-04 9.99993809e-01 3.48213978e-03 4.71598775e-01] [ 4.51565618e-02 -3.45569250e-03 9.98973945e-01 3.66516345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16463044 meters Centerline goodness [0,1] 0.31980348829725613 Centerline is valid? [False, False] Translation: X:10.46, Y:0.47, Z:0.37 [[ 9.98978899e-01 5.83050759e-04 -4.51754207e-02 1.04564038e+01] [-4.29504836e-04 9.99994099e-01 3.40851391e-03 4.71735391e-01] [ 4.51771415e-02 -3.38563041e-03 9.98973255e-01 3.66895543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.19463044 meters Centerline goodness [0,1] 0.324125428922891 Centerline is valid? [False, False] Translation: X:10.46, Y:0.47, Z:0.37 [[ 9.98981018e-01 5.38437326e-04 -4.51291087e-02 1.04560576e+01] [-3.86668325e-04 9.99994241e-01 3.37165774e-03 4.71863738e-01] [ 4.51306643e-02 -3.35077208e-03 9.98975473e-01 3.67248122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22463044 meters Centerline goodness [0,1] 0.3181207767569757 Centerline is valid? [False, False] Translation: X:10.48, Y:0.47, Z:0.37 [[ 9.98986481e-01 8.04304222e-03 -4.42867934e-02 1.04752668e+01] [-7.96193347e-03 9.99966288e-01 2.00753246e-03 4.69305818e-01] [ 4.43014470e-02 -1.65288929e-03 9.99016842e-01 3.69456941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.25463044 meters Centerline goodness [0,1] 0.32427322146064763 Centerline is valid? [False, False] Translation: X:10.46, Y:0.47, Z:0.37 [[ 9.99173847e-01 1.57963910e-03 -4.06094701e-02 1.04588869e+01] [-1.47823655e-03 9.99995715e-01 2.52692380e-03 4.69585079e-01] [ 4.06132877e-02 -2.46480577e-03 9.99171900e-01 3.66261832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28463044 meters Centerline goodness [0,1] 0.3228058154722395 Centerline is valid? [False, False] Translation: X:10.46, Y:0.47, Z:0.37 [[ 9.99165267e-01 1.47312671e-03 -4.08239928e-02 1.04593719e+01] [-1.36536654e-03 9.99995510e-01 2.66738411e-03 4.67967320e-01] [ 4.08277389e-02 -2.60941785e-03 9.99162793e-01 3.66326785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.31463044 meters Centerline goodness [0,1] 0.3228058154722395 Centerline is valid? [False, False] Translation: X:10.46, Y:0.47, Z:0.37 [[ 9.99165267e-01 1.47312671e-03 -4.08239928e-02 1.04593719e+01] [-1.36536654e-03 9.99995510e-01 2.66738411e-03 4.67967320e-01] [ 4.08277389e-02 -2.60941785e-03 9.99162793e-01 3.66326785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34463044 meters Centerline goodness [0,1] 0.32389194296512624 Centerline is valid? [False, False] Translation: X:10.46, Y:0.47, Z:0.37 [[ 9.99153666e-01 1.43533861e-03 -4.11083017e-02 1.04600950e+01] [-1.31527844e-03 9.99994791e-01 2.94747912e-03 4.65667529e-01] [ 4.11123182e-02 -2.89091571e-03 9.99150349e-01 3.66319698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37463044 meters Centerline goodness [0,1] 0.3264103887168902 Centerline is valid? [False, False] Translation: X:10.46, Y:0.46, Z:0.37 [[ 9.99145742e-01 1.35384389e-03 -4.13031997e-02 1.04605030e+01] [-1.22340103e-03 9.99994185e-01 3.18329051e-03 4.63320646e-01] [ 4.13072692e-02 -3.13004078e-03 9.99141588e-01 3.66500097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40463043999998 meters Centerline goodness [0,1] 0.32738735637130434 Centerline is valid? [False, False] Translation: X:10.46, Y:0.46, Z:0.37 [[ 9.99146724e-01 1.30155316e-03 -4.12811053e-02 1.04603904e+01] [-1.16268856e-03 9.99993586e-01 3.38770843e-03 4.61280704e-01] [ 4.12852498e-02 -3.33682071e-03 9.99141829e-01 3.66680217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43463043999998 meters Centerline goodness [0,1] 0.32462438648005654 Centerline is valid? [False, False] Translation: X:10.46, Y:0.46, Z:0.37 [[ 9.99129873e-01 1.21251847e-03 -4.16896418e-02 1.04613752e+01] [-1.06860780e-03 9.99993394e-01 3.47406409e-03 4.59735222e-01] [ 4.16935787e-02 -3.42649134e-03 9.99124569e-01 3.66785073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46463043999998 meters Centerline goodness [0,1] 0.3285482299447873 Centerline is valid? [False, False] Translation: X:10.46, Y:0.46, Z:0.37 [[ 9.99117509e-01 1.25867235e-03 -4.19835643e-02 1.04624150e+01] [-1.11469733e-03 9.99993419e-01 3.45255210e-03 4.60131986e-01] [ 4.19876336e-02 -3.40270629e-03 9.99112336e-01 3.66262051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49463043999998 meters Centerline goodness [0,1] 0.3267099157930916 Centerline is valid? [False, False] Translation: X:10.46, Y:0.46, Z:0.37 [[ 9.99099508e-01 1.33712627e-03 -4.24073783e-02 1.04639621e+01] [-1.19473164e-03 9.99993564e-01 3.38294590e-03 4.61083367e-01] [ 4.24116288e-02 -3.32923415e-03 9.99094675e-01 3.65468460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52463043999998 meters Centerline goodness [0,1] 0.32530844330007513 Centerline is valid? [False, False] Translation: X:10.46, Y:0.46, Z:0.37 [[ 9.99084066e-01 1.41558545e-03 -4.27670965e-02 1.04649601e+01] [-1.27681324e-03 9.99993832e-01 3.27197699e-03 4.62241468e-01] [ 4.27714645e-02 -3.21437448e-03 9.99079711e-01 3.65205855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55463043999998 meters Centerline goodness [0,1] 0.32648020970991576 Centerline is valid? [False, False] Translation: X:10.46, Y:0.46, Z:0.37 [[ 9.99095448e-01 1.74104730e-03 -4.24882929e-02 1.04639746e+01] [-1.60219873e-03 9.99993266e-01 3.30175925e-03 4.63666278e-01] [ 4.24937553e-02 -3.23069795e-03 9.99091509e-01 3.65611160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58463043999998 meters Centerline goodness [0,1] 0.3271185343432381 Centerline is valid? [False, False] Translation: X:10.46, Y:0.46, Z:0.37 [[ 9.99099241e-01 1.77730516e-03 -4.23974883e-02 1.04635097e+01] [-1.63971836e-03 9.99993277e-01 3.27971871e-03 4.64064116e-01] [ 4.24030324e-02 -3.20724453e-03 9.99095439e-01 3.65952084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61463043999998 meters Centerline goodness [0,1] 0.32693054776190267 Centerline is valid? [False, False] Translation: X:10.46, Y:0.46, Z:0.37 [[ 9.99098915e-01 1.80546677e-03 -4.24039863e-02 1.04634883e+01] [-1.66481931e-03 9.99992996e-01 3.35192446e-03 4.63535668e-01] [ 4.24097411e-02 -3.27830912e-03 9.99094924e-01 3.65999120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64463044 meters Centerline goodness [0,1] 0.3233369800716477 Centerline is valid? [False, False] Translation: X:10.46, Y:0.46, Z:0.37 [[ 9.99093381e-01 1.75129708e-03 -4.25364457e-02 1.04640052e+01] [-1.60756410e-03 9.99992883e-01 3.41302547e-03 4.62638319e-01] [ 4.25421202e-02 -3.34155109e-03 9.99089086e-01 3.65786370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67463044 meters Centerline goodness [0,1] 0.3199743918053777 Centerline is valid? [False, False] Translation: X:10.46, Y:0.46, Z:0.37 [[ 9.99084712e-01 1.67886261e-03 -4.27424813e-02 1.04646451e+01] [-1.52362347e-03 9.99992126e-01 3.66428111e-03 4.60155317e-01] [ 4.27482966e-02 -3.59580379e-03 9.99079403e-01 3.65685152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70463044 meters Centerline goodness [0,1] 0.3217354043920728 Centerline is valid? [False, False] Translation: X:10.46, Y:0.46, Z:0.37 [[ 9.99087124e-01 1.77936882e-03 -4.26820018e-02 1.04644090e+01] [-1.61604494e-03 9.99991242e-01 3.86072684e-03 4.59246581e-01] [ 4.26884976e-02 -3.78822644e-03 9.99081249e-01 3.65866904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73463044 meters Centerline goodness [0,1] 0.32718743892110236 Centerline is valid? [False, False] Translation: X:10.46, Y:0.46, Z:0.37 [[ 9.99090802e-01 1.90688363e-03 -4.25903018e-02 1.04640963e+01] [-1.73503018e-03 9.99990206e-01 4.07163730e-03 4.58492790e-01] [ 4.25976488e-02 -3.99403991e-03 9.99084325e-01 3.66033547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76463044 meters Centerline goodness [0,1] 0.3213222857387543 Centerline is valid? [False, False] Translation: X:10.48, Y:0.46, Z:0.37 [[ 9.99083013e-01 9.86902592e-03 -4.16621630e-02 1.04836351e+01] [-9.75505677e-03 9.99948102e-01 2.93797121e-03 4.55735287e-01] [ 4.16889957e-02 -2.52886037e-03 9.99127436e-01 3.67816683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79463044 meters Centerline goodness [0,1] 0.324824932999049 Centerline is valid? [False, False] Translation: X:10.46, Y:0.46, Z:0.37 [[ 9.99165968e-01 1.77506471e-03 -4.07948256e-02 1.04637677e+01] [-1.61771858e-03 9.99991127e-01 3.88969924e-03 4.57868578e-01] [ 4.08013681e-02 -3.82046056e-03 9.99159973e-01 3.65902339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82463044 meters Centerline goodness [0,1] 0.32267933166463425 Centerline is valid? [False, False] Translation: X:10.46, Y:0.46, Z:0.37 [[ 9.99160596e-01 1.79697121e-03 -4.09252254e-02 1.04641009e+01] [-1.63663171e-03 9.99990855e-01 3.95103169e-03 4.57444683e-01] [ 4.09319510e-02 -3.88073565e-03 9.99154400e-01 3.65914031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85463044 meters Centerline goodness [0,1] 0.3225275914304263 Centerline is valid? [False, False] Translation: X:10.46, Y:0.46, Z:0.37 [[ 9.99154984e-01 1.82483049e-03 -4.10607940e-02 1.04645605e+01] [-1.66296763e-03 9.99990714e-01 3.97584009e-03 4.57348983e-01] [ 4.10676680e-02 -3.90419767e-03 9.99148740e-01 3.65699235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88463044 meters Centerline goodness [0,1] 0.32194435422756307 Centerline is valid? [False, False] Translation: X:10.47, Y:0.46, Z:0.37 [[ 9.99149512e-01 1.86794054e-03 -4.11917957e-02 1.04650332e+01] [-1.70501699e-03 9.99990586e-01 3.99001927e-03 4.57541848e-01] [ 4.11988610e-02 -3.91639309e-03 9.99143291e-01 3.65471839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.91463044 meters Centerline goodness [0,1] 0.3206278511664108 Centerline is valid? [False, False] Translation: X:10.46, Y:0.46, Z:0.37 [[ 9.99154128e-01 2.02845887e-03 -4.10720497e-02 1.04646816e+01] [-1.86661434e-03 9.99990344e-01 3.97846865e-03 4.58705889e-01] [ 4.10797232e-02 -3.89843770e-03 9.99148267e-01 3.65537813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94463044 meters Centerline goodness [0,1] 0.32230014025245446 Centerline is valid? [False, False] Translation: X:10.46, Y:0.46, Z:0.37 [[ 9.99162832e-01 2.02750957e-03 -4.08598068e-02 1.04639912e+01] [-1.87138584e-03 9.99990804e-01 3.85884725e-03 4.59632233e-01] [ 4.08672549e-02 -3.77915229e-03 9.99157438e-01 3.65797984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.97463044 meters Centerline goodness [0,1] 0.32058260364449986 Centerline is valid? [False, False] Translation: X:10.46, Y:0.46, Z:0.37 [[ 9.99162973e-01 1.97068343e-03 -4.08591336e-02 1.04638005e+01] [-1.82252968e-03 9.99991631e-01 3.66289618e-03 4.60848703e-01] [ 4.08660101e-02 -3.58536326e-03 9.99158203e-01 3.66071201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00463044 meters Centerline goodness [0,1] 0.31960805426940886 Centerline is valid? [False, False] Translation: X:10.46, Y:0.46, Z:0.37 [[ 9.99160264e-01 1.91110201e-03 -4.09281611e-02 1.04640390e+01] [-1.77277556e-03 9.99992595e-01 3.41576443e-03 4.62360525e-01] [ 4.09343859e-02 -3.34033964e-03 9.99156253e-01 3.65934549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.03463044 meters Centerline goodness [0,1] 0.31867399991406353 Centerline is valid? [False, False] Translation: X:10.46, Y:0.46, Z:0.37 [[ 9.99151015e-01 1.79528025e-03 -4.11585444e-02 1.04647436e+01] [-1.67012796e-03 9.99993878e-01 3.07491971e-03 4.64238771e-01] [ 4.11638127e-02 -3.00356911e-03 9.99147897e-01 3.65665713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06463044 meters Centerline goodness [0,1] 0.31823850685933 Centerline is valid? [False, False] Translation: X:10.47, Y:0.47, Z:0.37 [[ 9.99142604e-01 1.66035520e-03 -4.13678569e-02 1.04655748e+01] [-1.55045340e-03 9.99995184e-01 2.68863707e-03 4.66302158e-01] [ 4.13721218e-02 -2.62219291e-03 9.99140366e-01 3.65161105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.09463044 meters Centerline goodness [0,1] 0.3203056253085227 Centerline is valid? [False, False] Translation: X:10.47, Y:0.47, Z:0.37 [[ 9.99151364e-01 1.66882994e-03 -4.11553879e-02 1.04650432e+01] [-1.58354505e-03 9.99996531e-01 2.10477809e-03 4.71203579e-01] [ 4.11587576e-02 -2.03782049e-03 9.99150541e-01 3.65118513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12463044 meters Centerline goodness [0,1] 0.32363918793553537 Centerline is valid? [False, False] Translation: X:10.46, Y:0.47, Z:0.37 [[ 9.99170171e-01 1.68410196e-03 -4.06956179e-02 1.04637971e+01] [-1.61387378e-03 9.99997152e-01 1.75848456e-03 4.74071705e-01] [ 4.06984635e-02 -1.69134773e-03 9.99170043e-01 3.65308796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15463043999998 meters Centerline goodness [0,1] 0.31972629102961614 Centerline is valid? [False, False] Translation: X:10.46, Y:0.48, Z:0.37 [[ 9.99184310e-01 1.65555096e-03 -4.03481618e-02 1.04629573e+01] [-1.60228834e-03 9.99997802e-01 1.35237770e-03 4.77335249e-01] [ 4.03503120e-02 -1.28662519e-03 9.99184766e-01 3.65312591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18463043999998 meters Centerline goodness [0,1] 0.3234436112971887 Centerline is valid? [False, False] Translation: X:10.46, Y:0.48, Z:0.37 [[ 9.99189723e-01 1.53792437e-03 -4.02185491e-02 1.04627420e+01] [-1.50338147e-03 9.99998475e-01 8.89109849e-04 4.80197629e-01] [ 4.02198552e-02 -8.27925603e-04 9.99190511e-01 3.65111582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21463043999998 meters Centerline goodness [0,1] 0.31942129332820446 Centerline is valid? [False, False] Translation: X:10.47, Y:0.49, Z:0.36 [[ 9.99125221e-01 2.84955190e-03 -4.17213642e-02 1.04674041e+01] [-2.79081425e-03 9.99995031e-01 1.46603153e-03 4.86805286e-01] [ 4.17253344e-02 -1.34831250e-03 9.99128209e-01 3.63765901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24463043999998 meters Centerline goodness [0,1] 0.3229995270241218 Centerline is valid? [False, False] Translation: X:10.47, Y:0.49, Z:0.36 [[ 9.99121212e-01 2.64456430e-03 -4.18307206e-02 1.04678285e+01] [-2.60930317e-03 9.99996193e-01 8.97524296e-04 4.89996832e-01] [ 4.18329349e-02 -7.87586531e-04 9.99124309e-01 3.63446608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27463043999998 meters Centerline goodness [0,1] 0.32302886686772947 Centerline is valid? [False, False] Translation: X:10.47, Y:0.49, Z:0.36 [[ 9.99123632e-01 2.50067661e-03 -4.17817498e-02 1.04677320e+01] [-2.48513117e-03 9.99996822e-01 4.23998181e-04 4.92935519e-01] [ 4.17826773e-02 -3.19793474e-04 9.99126671e-01 3.63382468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30463043999998 meters Centerline goodness [0,1] 0.3235977288368892 Centerline is valid? [False, False] Translation: X:10.47, Y:0.50, Z:0.36 [[ 9.99133806e-01 2.38756210e-03 -4.15443987e-02 1.04670659e+01] [-2.38789735e-03 9.99997148e-01 4.15535288e-05 4.95570369e-01] [ 4.15443794e-02 5.76862243e-05 9.99136658e-01 3.63511666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33463043999998 meters Centerline goodness [0,1] 0.3213116858114612 Centerline is valid? [False, False] Translation: X:10.47, Y:0.50, Z:0.36 [[ 9.99150606e-01 2.25483178e-03 -4.11458735e-02 1.04658498e+01] [-2.27638857e-03 9.99997295e-01 -4.77066972e-04 5.00654683e-01] [ 4.11446865e-02 5.70325750e-04 9.99153036e-01 3.63860230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36463043999998 meters Centerline goodness [0,1] 0.3235797765315296 Centerline is valid? [False, False] Translation: X:10.47, Y:0.50, Z:0.36 [[ 9.99156741e-01 2.10120316e-03 -4.10047894e-02 1.04653377e+01] [-2.13724326e-03 9.99997367e-01 -8.35107041e-04 5.02752327e-01] [ 4.10029267e-02 9.22040039e-04 9.99158601e-01 3.64100269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39463044 meters Centerline goodness [0,1] 0.3261678824263551 Centerline is valid? [False, False] Translation: X:10.47, Y:0.50, Z:0.36 [[ 9.99157534e-01 1.96021328e-03 -4.09924455e-02 1.04650094e+01] [-2.00964233e-03 9.99997302e-01 -1.16463610e-03 5.04645180e-01] [ 4.09900520e-02 1.24603509e-03 9.99158778e-01 3.64507540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42463044 meters Centerline goodness [0,1] 0.33081926825578634 Centerline is valid? [False, False] Translation: X:10.47, Y:0.51, Z:0.36 [[ 9.99156766e-01 1.80868708e-03 -4.10181071e-02 1.04650209e+01] [-1.87255977e-03 9.99997093e-01 -1.51881551e-03 5.06633640e-01] [ 4.10152408e-02 1.59434365e-03 9.99157249e-01 3.64571099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45463044 meters Centerline goodness [0,1] 0.3311622270789605 Centerline is valid? [False, False] Translation: X:10.47, Y:0.51, Z:0.36 [[ 9.99152341e-01 1.67337152e-03 -4.11314861e-02 1.04653335e+01] [-1.75001306e-03 9.99996799e-01 -1.82739532e-03 5.08464535e-01] [ 4.11282965e-02 1.89782695e-03 9.99152071e-01 3.64508992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48463044 meters Centerline goodness [0,1] 0.3265790040957103 Centerline is valid? [False, False] Translation: X:10.47, Y:0.51, Z:0.36 [[ 9.99146324e-01 1.58407585e-03 -4.12809056e-02 1.04658536e+01] [-1.66915955e-03 9.99996553e-01 -2.02670571e-03 5.09824799e-01] [ 4.12775529e-02 2.09387998e-03 9.99145525e-01 3.64297866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51463044 meters Centerline goodness [0,1] 0.3251144693566069 Centerline is valid? [False, False] Translation: X:10.47, Y:0.51, Z:0.36 [[ 9.99140206e-01 1.33249910e-03 -4.14375762e-02 1.04663528e+01] [-1.43304964e-03 9.99996101e-01 -2.39694542e-03 5.11698547e-01] [ 4.14342206e-02 2.45426664e-03 9.99138220e-01 3.64262854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54463044 meters Centerline goodness [0,1] 0.32693549081206696 Centerline is valid? [False, False] Translation: X:10.47, Y:0.51, Z:0.36 [[ 9.99145656e-01 1.24377527e-03 -4.13087360e-02 1.04659730e+01] [-1.34780125e-03 9.99995990e-01 -2.49050190e-03 5.11937473e-01] [ 4.13054727e-02 2.54405012e-03 9.99143326e-01 3.64430790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57463044 meters Centerline goodness [0,1] 0.3263954385664066 Centerline is valid? [False, False] Translation: X:10.47, Y:0.51, Z:0.36 [[ 9.99146641e-01 1.17976923e-03 -4.12867814e-02 1.04658437e+01] [-1.28792230e-03 9.99995809e-01 -2.59305636e-03 5.12525359e-01] [ 4.12835492e-02 2.64401772e-03 9.99143972e-01 3.64620991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60463044 meters Centerline goodness [0,1] 0.3276476906552095 Centerline is valid? [False, False] Translation: X:10.47, Y:0.51, Z:0.36 [[ 9.99149207e-01 1.10157432e-03 -4.12267852e-02 1.04658047e+01] [-1.21651053e-03 9.99995443e-01 -2.76291817e-03 5.13312199e-01] [ 4.12235537e-02 2.81072032e-03 9.99145995e-01 3.64492208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63463044 meters Centerline goodness [0,1] 0.32791527072300874 Centerline is valid? [False, False] Translation: X:10.47, Y:0.52, Z:0.36 [[ 9.99132139e-01 1.02597643e-03 -4.16403079e-02 1.04674999e+01] [-1.15650179e-03 9.99994493e-01 -3.11062366e-03 5.15459599e-01] [ 4.16368872e-02 3.15608116e-03 9.99127824e-01 3.63458568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66463044 meters Centerline goodness [0,1] 0.3219194287312068 Centerline is valid? [False, False] Translation: X:10.47, Y:0.52, Z:0.36 [[ 9.99119851e-01 1.03363077e-03 -4.19339405e-02 1.04687924e+01] [-1.17060910e-03 9.99994059e-01 -3.24210317e-03 5.16675027e-01] [ 4.19303402e-02 3.28833789e-03 9.99115125e-01 3.62692148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.69463044 meters Centerline goodness [0,1] 0.32221384731344893 Centerline is valid? [False, False] Translation: X:10.47, Y:0.52, Z:0.36 [[ 9.99116585e-01 1.14137670e-03 -4.20089004e-02 1.04694642e+01] [-1.27890589e-03 9.99993910e-01 -3.24708174e-03 5.17507109e-01] [ 4.20049385e-02 3.29793865e-03 9.99111960e-01 3.62045078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72463044 meters Centerline goodness [0,1] 0.3219806243272336 Centerline is valid? [False, False] Translation: X:10.47, Y:0.52, Z:0.36 [[ 9.99120661e-01 1.05193510e-03 -4.19141738e-02 1.04692776e+01] [-1.19283174e-03 9.99993722e-01 -3.33668383e-03 5.17394641e-01] [ 4.19104007e-02 3.38374631e-03 9.99115643e-01 3.62023721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.75463044 meters Centerline goodness [0,1] 0.3220050427774066 Centerline is valid? [False, False] Translation: X:10.47, Y:0.52, Z:0.36 [[ 9.99122183e-01 9.39375169e-04 -4.18805576e-02 1.04693561e+01] [-1.08189929e-03 9.99993701e-01 -3.38057402e-03 5.16724519e-01] [ 4.18771181e-02 3.42291704e-03 9.99116905e-01 3.61881469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78463044 meters Centerline goodness [0,1] 0.3235852721543575 Centerline is valid? [False, False] Translation: X:10.47, Y:0.52, Z:0.36 [[ 9.99116176e-01 9.25270175e-04 -4.20239217e-02 1.04699634e+01] [-1.06614261e-03 9.99993888e-01 -3.32990832e-03 5.16131580e-01] [ 4.20205838e-02 3.37176876e-03 9.99111056e-01 3.61520058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.81463044 meters Centerline goodness [0,1] 0.3223935309973046 Centerline is valid? [False, False] Translation: X:10.47, Y:0.52, Z:0.36 [[ 9.99112435e-01 1.02103344e-03 -4.21105758e-02 1.04705779e+01] [-1.15955776e-03 9.99993997e-01 -3.26524304e-03 5.16275302e-01] [ 4.21069890e-02 3.31117457e-03 9.99107621e-01 3.61039013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84463044 meters Centerline goodness [0,1] 0.319246915695682 Centerline is valid? [False, False] Translation: X:10.47, Y:0.52, Z:0.36 [[ 9.99111841e-01 1.00403716e-03 -4.21250643e-02 1.04707491e+01] [-1.14899993e-03 9.99993501e-01 -3.41717695e-03 5.17398666e-01] [ 4.21213596e-02 3.46254365e-03 9.99106502e-01 3.60941429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.87463044 meters Centerline goodness [0,1] 0.32018541568307657 Centerline is valid? [False, False] Translation: X:10.47, Y:0.52, Z:0.36 [[ 9.99116288e-01 9.60571251e-04 -4.20204829e-02 1.04706591e+01] [-1.11563514e-03 9.99992655e-01 -3.66690327e-03 5.18950906e-01] [ 4.20166519e-02 3.71054231e-03 9.99110020e-01 3.60711178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90463043999998 meters Centerline goodness [0,1] 0.32414760466119985 Centerline is valid? [False, False] Translation: X:10.47, Y:0.52, Z:0.36 [[ 9.99116729e-01 1.01514985e-03 -4.20086956e-02 1.04706684e+01] [-1.17851364e-03 9.99991839e-01 -3.86422672e-03 5.20675428e-01] [ 4.20044300e-02 3.91032138e-03 9.99109772e-01 3.60605802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93463043999998 meters Centerline goodness [0,1] 0.32105297115942966 Centerline is valid? [False, False] Translation: X:10.47, Y:0.52, Z:0.36 [[ 9.99112230e-01 1.14384200e-03 -4.21122732e-02 1.04710534e+01] [-1.31471575e-03 9.99991015e-01 -4.03010443e-03 5.22716368e-01] [ 4.21072850e-02 4.08189229e-03 9.99104757e-01 3.60369001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96463043999998 meters Centerline goodness [0,1] 0.3229252437703142 Centerline is valid? [False, False] Translation: X:10.47, Y:0.53, Z:0.36 [[ 9.99112591e-01 1.20567177e-03 -4.21019840e-02 1.04711688e+01] [-1.38744388e-03 9.99989842e-01 -4.28847069e-03 5.25064361e-01] [ 4.20963858e-02 4.34307920e-03 9.99104115e-01 3.60131220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99463043999998 meters Centerline goodness [0,1] 0.3202248400921758 Centerline is valid? [False, False] Translation: X:10.47, Y:0.53, Z:0.36 [[ 9.99127003e-01 1.12681219e-03 -4.17607726e-02 1.04703946e+01] [-1.33234976e-03 9.99987135e-01 -4.89428034e-03 5.28854539e-01] [ 4.17547204e-02 4.94564760e-03 9.99115651e-01 3.60075245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02463044 meters Centerline goodness [0,1] 0.32379044418594627 Centerline is valid? [False, False] Translation: X:10.47, Y:0.53, Z:0.36 [[ 9.99134145e-01 9.88050752e-04 -4.15930863e-02 1.04697032e+01] [-1.20418468e-03 9.99985902e-01 -5.17165778e-03 5.30035352e-01] [ 4.15873900e-02 5.21726563e-03 9.99121248e-01 3.60483152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05463044000004 meters Centerline goodness [0,1] 0.32262924540484694 Centerline is valid? [False, False] Translation: X:10.47, Y:0.53, Z:0.36 [[ 9.99140131e-01 9.71774664e-04 -4.14494101e-02 1.04691173e+01] [-1.19209578e-03 9.99985292e-01 -5.29103698e-03 5.30962660e-01] [ 4.14436588e-02 5.33589905e-03 9.99126594e-01 3.60810395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08463044 meters Centerline goodness [0,1] 0.32171299774605555 Centerline is valid? [False, False] Translation: X:10.47, Y:0.53, Z:0.36 [[ 9.99141683e-01 1.00737553e-03 -4.14111284e-02 1.04688609e+01] [-1.23100471e-03 9.99984796e-01 -5.37507445e-03 5.32032198e-01] [ 4.14050841e-02 5.42143822e-03 9.99127733e-01 3.61048591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11463044000004 meters Centerline goodness [0,1] 0.3183210653959069 Centerline is valid? [False, False] Translation: X:10.47, Y:0.54, Z:0.36 [[ 9.99141682e-01 9.30046210e-04 -4.14129805e-02 1.04690153e+01] [-1.17451959e-03 9.99982027e-01 -5.87936404e-03 5.35232917e-01] [ 4.14067681e-02 5.92295803e-03 9.99124816e-01 3.60861724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14463044 meters Centerline goodness [0,1] 0.325498728941359 Centerline is valid? [False, False] Translation: X:10.47, Y:0.54, Z:0.36 [[ 9.99132072e-01 8.64908600e-04 -4.16455867e-02 1.04698400e+01] [-1.12859200e-03 9.99979464e-01 -6.30851059e-03 5.37828543e-01] [ 4.16392752e-02 6.35003613e-03 9.99112530e-01 3.60358460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17463044000004 meters Centerline goodness [0,1] 0.3214797697755526 Centerline is valid? [False, False] Translation: X:10.47, Y:0.54, Z:0.36 [[ 9.99111131e-01 9.74756159e-04 -4.21425785e-02 1.04713218e+01] [-1.25552356e-03 9.99977191e-01 -6.63636756e-03 5.41000206e-01] [ 4.21351484e-02 6.68337970e-03 9.99089566e-01 3.59821801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20463044 meters Centerline goodness [0,1] 0.32113707332830843 Centerline is valid? [False, False] Translation: X:10.47, Y:0.54, Z:0.36 [[ 9.99088060e-01 1.18485484e-03 -4.26807288e-02 1.04728123e+01] [-1.47957588e-03 9.99975277e-01 -6.87432156e-03 5.44139213e-01] [ 4.26715285e-02 6.93120196e-03 9.99065113e-01 3.59380144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23463044000005 meters Centerline goodness [0,1] 0.31663163313457166 Centerline is valid? [False, False] Translation: X:10.47, Y:0.55, Z:0.36 [[ 9.99069183e-01 1.38644575e-03 -4.31143396e-02 1.04741888e+01] [-1.69457413e-03 9.99973280e-01 -7.11104671e-03 5.47595017e-01] [ 4.31033285e-02 7.17748807e-03 9.99044837e-01 3.58808165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26463044 meters Centerline goodness [0,1] 0.31663163313457166 Centerline is valid? [False, False] Translation: X:10.47, Y:0.55, Z:0.36 [[ 9.99069183e-01 1.38644575e-03 -4.31143396e-02 1.04741888e+01] [-1.69457413e-03 9.99973280e-01 -7.11104671e-03 5.47595017e-01] [ 4.31033285e-02 7.17748807e-03 9.99044837e-01 3.58808165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29463044 meters Centerline goodness [0,1] 0.31935088134644773 Centerline is valid? [False, False] Translation: X:10.47, Y:0.55, Z:0.36 [[ 9.99055261e-01 1.27389554e-03 -4.34391882e-02 1.04749619e+01] [-1.61420382e-03 9.99968277e-01 -7.79995436e-03 5.52678391e-01] [ 4.34278739e-02 7.86270514e-03 9.99025624e-01 3.58675099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32463044 meters Centerline goodness [0,1] 0.31626615401046676 Centerline is valid? [False, False] Translation: X:10.49, Y:0.56, Z:0.36 [[ 9.99014445e-01 -5.98963168e-03 -4.39802550e-02 1.04925876e+01] [ 5.69301033e-03 9.99960219e-01 -6.86657790e-03 5.60955529e-01] [ 4.40196337e-02 6.60943046e-03 9.99008802e-01 3.61487039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35463044 meters Centerline goodness [0,1] 0.32349323493234927 Centerline is valid? [False, False] Translation: X:10.49, Y:0.56, Z:0.36 [[ 9.99011504e-01 -6.16249966e-03 -4.40231648e-02 1.04925790e+01] [ 5.85177026e-03 9.99957075e-01 -7.18370273e-03 5.62512561e-01] [ 4.40655447e-02 6.91898822e-03 9.99004682e-01 3.61651617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38463044 meters Centerline goodness [0,1] 0.31903577249721193 Centerline is valid? [False, False] Translation: X:10.49, Y:0.56, Z:0.36 [[ 9.99001624e-01 -6.28187479e-03 -4.42299940e-02 1.04930781e+01] [ 5.95986337e-03 9.99954796e-01 -7.40849370e-03 5.64084328e-01] [ 4.42745338e-02 7.13749252e-03 9.98993905e-01 3.61721027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41463044 meters Centerline goodness [0,1] 0.3208724732144759 Centerline is valid? [False, False] Translation: X:10.49, Y:0.57, Z:0.36 [[ 9.98961485e-01 -6.63143597e-03 -4.50774302e-02 1.04949738e+01] [ 6.28617777e-03 9.99949847e-01 -7.79667116e-03 5.66570979e-01] [ 4.51268725e-02 7.50520947e-03 9.98953071e-01 3.62055826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44463044 meters Centerline goodness [0,1] 0.3235401734788317 Centerline is valid? [False, False] Translation: X:10.50, Y:0.57, Z:0.36 [[ 9.98956375e-01 -6.70365217e-03 -4.51798840e-02 1.04951898e+01] [ 6.35431148e-03 9.99948831e-01 -7.87140549e-03 5.67145991e-01] [ 4.52303393e-02 7.57610364e-03 9.98947856e-01 3.62161437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47463044 meters Centerline goodness [0,1] 0.32664075993091535 Centerline is valid? [False, False] Translation: X:10.49, Y:0.57, Z:0.36 [[ 9.98957406e-01 -6.81193524e-03 -4.51408782e-02 1.04949669e+01] [ 6.46006815e-03 9.99947641e-01 -7.93616945e-03 5.67506036e-01] [ 4.51925753e-02 7.63628209e-03 9.98949107e-01 3.62484695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.50463044 meters Centerline goodness [0,1] 0.32771551724137926 Centerline is valid? [False, False] Translation: X:10.49, Y:0.57, Z:0.36 [[ 9.98953769e-01 -7.03279715e-03 -4.51874566e-02 1.04949106e+01] [ 6.67517567e-03 9.99945236e-01 -8.06020398e-03 5.67415985e-01] [ 4.52416677e-02 7.75013694e-03 9.98946008e-01 3.62849611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53463044 meters Centerline goodness [0,1] 0.3238735853085629 Centerline is valid? [False, False] Translation: X:10.51, Y:0.57, Z:0.36 [[ 9.99011531e-01 -1.68049506e-04 -4.44514701e-02 1.05142690e+01] [-2.58275237e-04 9.99954031e-01 -9.58487355e-03 5.65286255e-01] [ 4.44510375e-02 9.58687992e-03 9.98965563e-01 3.64813017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56463044000003 meters Centerline goodness [0,1] 0.33080431446296177 Centerline is valid? [False, False] Translation: X:10.51, Y:0.57, Z:0.36 [[ 9.99004946e-01 -3.62185941e-04 -4.45980604e-02 1.05147027e+01] [-7.00559308e-05 9.99953048e-01 -9.68999892e-03 5.65103158e-01] [ 4.45994760e-02 9.68348121e-03 9.98958016e-01 3.64785878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59463044 meters Centerline goodness [0,1] 0.33033998920669183 Centerline is valid? [False, False] Translation: X:10.52, Y:0.57, Z:0.36 [[ 9.98995466e-01 -6.76723056e-04 -4.48062578e-02 1.05154138e+01] [ 2.32114303e-04 9.99950695e-01 -9.92737569e-03 5.65710376e-01] [ 4.48107668e-02 9.90700313e-03 9.98946368e-01 3.64686816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62463044000003 meters Centerline goodness [0,1] 0.3293681412894376 Centerline is valid? [False, False] Translation: X:10.52, Y:0.57, Z:0.36 [[ 9.98992813e-01 -7.64753137e-04 -4.48639634e-02 1.05156812e+01] [ 3.14118384e-04 9.99949441e-01 -1.00506605e-02 5.66425326e-01] [ 4.48693814e-02 1.00264450e-02 9.98942545e-01 3.64610418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65463044 meters Centerline goodness [0,1] 0.3266783395968569 Centerline is valid? [False, False] Translation: X:10.52, Y:0.57, Z:0.36 [[ 9.98996257e-01 -8.39837337e-04 -4.47858646e-02 1.05153683e+01] [ 3.82537285e-04 9.99947718e-01 -1.02184052e-02 5.67420391e-01] [ 4.47921049e-02 1.01910163e-02 9.98944348e-01 3.64804474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68463044000003 meters Centerline goodness [0,1] 0.3337565909824599 Centerline is valid? [False, False] Translation: X:10.51, Y:0.57, Z:0.37 [[ 9.99000713e-01 -9.23328672e-04 -4.46847007e-02 1.05148343e+01] [ 4.56387198e-04 9.99945201e-01 -1.04587685e-02 5.68870672e-01] [ 4.46919089e-02 1.04279236e-02 9.98946391e-01 3.65240836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71463044 meters Centerline goodness [0,1] 0.32932804976777874 Centerline is valid? [False, False] Translation: X:10.51, Y:0.57, Z:0.37 [[ 9.98999962e-01 -9.08219344e-04 -4.47017978e-02 1.05144863e+01] [ 4.21062334e-04 9.99940438e-01 -1.09061384e-02 5.73001413e-01] [ 4.47090404e-02 1.08764096e-02 9.98940842e-01 3.65786205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74463044000004 meters Centerline goodness [0,1] 0.3354743830965202 Centerline is valid? [False, False] Translation: X:10.52, Y:0.58, Z:0.37 [[ 9.98991540e-01 -9.53355103e-04 -4.48886897e-02 1.05151870e+01] [ 4.47404879e-04 9.99936280e-01 -1.12799164e-02 5.75466129e-01] [ 4.48965832e-02 1.12484576e-02 9.98928310e-01 3.65380506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77463044 meters Centerline goodness [0,1] 0.3311445056837754 Centerline is valid? [False, False] Translation: X:10.52, Y:0.58, Z:0.36 [[ 9.98980615e-01 -1.03630361e-03 -4.51293318e-02 1.05160388e+01] [ 5.06822217e-04 9.99930927e-01 -1.17423954e-02 5.78270336e-01] [ 4.51383832e-02 1.17075528e-02 9.98912138e-01 3.64898009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80463044000004 meters Centerline goodness [0,1] 0.33114162315477347 Centerline is valid? [False, False] Translation: X:10.52, Y:0.58, Z:0.36 [[ 9.98990664e-01 -7.15431616e-04 -4.49125868e-02 1.05156697e+01] [ 1.72855851e-04 9.99926978e-01 -1.20834276e-02 5.84791876e-01] [ 4.49179521e-02 1.20634680e-02 9.98917840e-01 3.64658120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83463044 meters Centerline goodness [0,1] 0.33447333892581355 Centerline is valid? [False, False] Translation: X:10.51, Y:0.59, Z:0.36 [[ 9.98999183e-01 -7.25599424e-04 -4.47225509e-02 1.05149290e+01] [ 1.72597918e-04 9.99923501e-01 -1.23677815e-02 5.87128102e-01] [ 4.47281037e-02 1.23476846e-02 9.98922886e-01 3.64990759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86463044000004 meters Centerline goodness [0,1] 0.3320935632282753 Centerline is valid? [False, False] Translation: X:10.51, Y:0.59, Z:0.37 [[ 9.99002619e-01 -7.50221133e-04 -4.46453135e-02 1.05145843e+01] [ 1.88686715e-04 9.99920844e-01 -1.25805640e-02 5.88942722e-01] [ 4.46512178e-02 1.25595924e-02 9.98923683e-01 3.65217352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89463044 meters Centerline goodness [0,1] 0.3306592106678138 Centerline is valid? [False, False] Translation: X:10.51, Y:0.59, Z:0.37 [[ 9.98987328e-01 -9.97203776e-04 -4.49813720e-02 1.05149667e+01] [ 4.10675946e-04 9.99914804e-01 -1.30467064e-02 5.91259074e-01] [ 4.49905500e-02 1.30150216e-02 9.98902628e-01 3.65809059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92463044000004 meters Centerline goodness [0,1] 0.3341680879082921 Centerline is valid? [False, False] Translation: X:10.52, Y:0.59, Z:0.37 [[ 9.98975107e-01 -1.06897138e-03 -4.52503355e-02 1.05154508e+01] [ 4.76897829e-04 9.99914167e-01 -1.30931752e-02 5.91259312e-01] [ 4.52604478e-02 1.30581763e-02 9.98889872e-01 3.66050694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95463044 meters Centerline goodness [0,1] 0.33164643822104045 Centerline is valid? [False, False] Translation: X:10.53, Y:0.60, Z:0.37 [[ 9.98938384e-01 -8.85009036e-03 -4.52081906e-02 1.05341425e+01] [ 8.33139515e-03 9.99897439e-01 -1.16490456e-02 5.95953350e-01] [ 4.53066491e-02 1.12600315e-02 9.98909665e-01 3.68792186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98463044000005 meters Centerline goodness [0,1] 0.33414686825053996 Centerline is valid? [False, False] Translation: X:10.53, Y:0.59, Z:0.37 [[ 9.98940974e-01 -8.85046399e-03 -4.51508501e-02 1.05338606e+01] [ 8.34203763e-03 9.99899802e-01 -1.14366393e-02 5.94681217e-01] [ 4.52475456e-02 1.10478775e-02 9.98914713e-01 3.69108013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01463044 meters Centerline goodness [0,1] 0.33583059068075527 Centerline is valid? [False, False] Translation: X:10.53, Y:0.59, Z:0.37 [[ 9.98971285e-01 -9.54945643e-03 -4.43303560e-02 1.05316952e+01] [ 9.04814148e-03 9.99892986e-01 -1.14955313e-02 5.91627555e-01] [ 4.44353882e-02 1.10825983e-02 9.98950786e-01 3.69862496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04463044 meters Centerline goodness [0,1] 0.3364581520793457 Centerline is valid? [False, False] Translation: X:10.53, Y:0.59, Z:0.37 [[ 9.98976157e-01 -9.56569297e-03 -4.42169136e-02 1.05312478e+01] [ 9.07902362e-03 9.99896126e-01 -1.11941601e-02 5.89457386e-01] [ 4.43194005e-02 1.07812527e-02 9.98959236e-01 3.70251110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.07463044 meters Centerline goodness [0,1] 0.3351958923023818 Centerline is valid? [False, False] Translation: X:10.53, Y:0.59, Z:0.37 [[ 9.98974067e-01 -9.48636612e-03 -4.42811717e-02 1.05313040e+01] [ 9.01700792e-03 9.99901160e-01 -1.07872351e-02 5.86993984e-01] [ 4.43791266e-02 1.03768844e-02 9.98960867e-01 3.70527362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10463044 meters Centerline goodness [0,1] 0.33476043974957514 Centerline is valid? [False, False] Translation: X:10.53, Y:0.58, Z:0.37 [[ 9.98966959e-01 -9.35242236e-03 -4.44696246e-02 1.05318447e+01] [ 8.89999923e-03 9.99906717e-01 -1.03608873e-02 5.84719345e-01] [ 4.45623757e-02 9.95440449e-03 9.98957008e-01 3.70494546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.13463044 meters Centerline goodness [0,1] 0.33358467802744685 Centerline is valid? [False, False] Translation: X:10.53, Y:0.58, Z:0.37 [[ 9.98945987e-01 -9.12060666e-03 -4.49858882e-02 1.05335089e+01] [ 8.69077915e-03 9.99914787e-01 -9.74106617e-03 5.81192268e-01] [ 4.50708993e-02 9.33983654e-03 9.98940129e-01 3.69983507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16463044 meters Centerline goodness [0,1] 0.3335263214324006 Centerline is valid? [False, False] Translation: X:10.53, Y:0.58, Z:0.37 [[ 9.98937810e-01 -8.95916164e-03 -4.51993857e-02 1.05342425e+01] [ 8.54305426e-03 9.99919411e-01 -9.39082934e-03 5.79382737e-01] [ 4.52798771e-02 8.99471370e-03 9.98933846e-01 3.69694982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.19463044 meters Centerline goodness [0,1] 0.3315450643776824 Centerline is valid? [False, False] Translation: X:10.53, Y:0.58, Z:0.37 [[ 9.98933751e-01 -8.79387062e-03 -4.53214031e-02 1.05346834e+01] [ 8.39159783e-03 9.99923758e-01 -9.05863106e-03 5.77688510e-01] [ 4.53976082e-02 8.66865331e-03 9.98931385e-01 3.69521654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22463044 meters Centerline goodness [0,1] 0.33222891566265056 Centerline is valid? [False, False] Translation: X:10.53, Y:0.58, Z:0.37 [[ 9.98935512e-01 -8.62502010e-03 -4.53150395e-02 1.05347881e+01] [ 8.23807726e-03 9.99928056e-01 -8.71877550e-03 5.75921536e-01] [ 4.53869789e-02 8.33618567e-03 9.98934698e-01 3.69396679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.25463044 meters Centerline goodness [0,1] 0.33037043429483726 Centerline is valid? [False, False] Translation: X:10.53, Y:0.57, Z:0.37 [[ 9.98942132e-01 -8.36881486e-03 -4.52170218e-02 1.05346527e+01] [ 8.00892292e-03 9.99934841e-01 -8.13452561e-03 5.72387672e-01] [ 4.52821519e-02 7.76378071e-03 9.98944068e-01 3.69343523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28463044 meters Centerline goodness [0,1] 0.32990966733258054 Centerline is valid? [False, False] Translation: X:10.53, Y:0.57, Z:0.37 [[ 9.98940299e-01 -8.21896899e-03 -4.52849580e-02 1.05349651e+01] [ 7.87239434e-03 9.99938386e-01 -7.82623302e-03 5.70813968e-01] [ 4.53464914e-02 7.46143850e-03 9.98943453e-01 3.69137677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.31463044000003 meters Centerline goodness [0,1] 0.3261087313257891 Centerline is valid? [False, False] Translation: X:10.56, Y:0.57, Z:0.37 [[ 9.98935637e-01 -2.85346718e-04 -4.61249640e-02 1.05559943e+01] [-1.03008023e-04 9.99964571e-01 -8.41702541e-03 5.66882764e-01] [ 4.61257316e-02 8.41281788e-03 9.98900216e-01 3.70859209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34463044 meters Centerline goodness [0,1] 0.3252149613069647 Centerline is valid? [False, False] Translation: X:10.56, Y:0.57, Z:0.37 [[ 9.98923077e-01 -1.20076101e-04 -4.63969029e-02 1.05569915e+01] [-2.65047986e-04 9.99965566e-01 -8.29440095e-03 5.66705316e-01] [ 4.63963012e-02 8.29776593e-03 9.98888648e-01 3.70339166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.37463044000003 meters Centerline goodness [0,1] 0.3226332853799412 Centerline is valid? [False, False] Translation: X:10.56, Y:0.57, Z:0.37 [[ 9.98898062e-01 5.14664627e-04 -4.69296922e-02 1.05587121e+01] [-8.95914517e-04 9.99966767e-01 -8.10318018e-03 5.67939845e-01] [ 4.69239622e-02 8.13629598e-03 9.98865327e-01 3.69578195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40463044 meters Centerline goodness [0,1] 0.3240280240453228 Centerline is valid? [False, False] Translation: X:10.56, Y:0.57, Z:0.37 [[ 9.98892629e-01 6.41913195e-04 -4.70436358e-02 1.05590474e+01] [-1.03234667e-03 9.99965224e-01 -8.27556368e-03 5.69610805e-01] [ 4.70366876e-02 8.31496490e-03 9.98858554e-01 3.69396767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.43463044000003 meters Centerline goodness [0,1] 0.321694900642269 Centerline is valid? [False, False] Translation: X:10.56, Y:0.57, Z:0.37 [[ 9.98889146e-01 7.75395289e-04 -4.71155359e-02 1.05591464e+01] [-1.17614567e-03 9.99963365e-01 -8.47856763e-03 5.71716346e-01] [ 4.71072355e-02 8.52456390e-03 9.98853463e-01 3.69391266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46463044 meters Centerline goodness [0,1] 0.3242136729919418 Centerline is valid? [False, False] Translation: X:10.56, Y:0.57, Z:0.37 [[ 9.98890750e-01 8.46861509e-04 -4.70802772e-02 1.05589452e+01] [-1.26014018e-03 9.99960931e-01 -8.74918273e-03 5.73935812e-01] [ 4.70710285e-02 8.79880545e-03 9.98852792e-01 3.69429913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.49463044000004 meters Centerline goodness [0,1] 0.32482321808164505 Centerline is valid? [False, False] Translation: X:10.56, Y:0.58, Z:0.37 [[ 9.98888540e-01 8.36927398e-04 -4.71273101e-02 1.05589412e+01] [-1.26518750e-03 9.99958173e-01 -9.05820651e-03 5.76109643e-01] [ 4.71177578e-02 9.10776357e-03 9.98847819e-01 3.69453912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52463044 meters Centerline goodness [0,1] 0.32123411978221417 Centerline is valid? [False, False] Translation: X:10.56, Y:0.58, Z:0.37 [[ 9.98870399e-01 9.43956924e-04 -4.75082532e-02 1.05599155e+01] [-1.39715341e-03 9.99953831e-01 -9.50701852e-03 5.81028226e-01] [ 4.74970856e-02 9.56265571e-03 9.98825602e-01 3.69245332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55463044000004 meters Centerline goodness [0,1] 0.31945728599995704 Centerline is valid? [False, False] Translation: X:10.56, Y:0.58, Z:0.37 [[ 9.98867610e-01 8.80349016e-04 -4.75680890e-02 1.05600080e+01] [-1.35120203e-03 9.99950405e-01 -9.86725753e-03 5.83646250e-01] [ 4.75570432e-02 9.92035805e-03 9.98819260e-01 3.69242689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58463044 meters Centerline goodness [0,1] 0.32044710544452104 Centerline is valid? [False, False] Translation: X:10.56, Y:0.59, Z:0.37 [[ 9.98868809e-01 8.19217275e-04 -4.75439896e-02 1.05597693e+01] [-1.30584514e-03 9.99947073e-01 -1.02051609e-02 5.86091811e-01] [ 4.75331130e-02 1.02557021e-02 9.98817012e-01 3.69471463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61463044000004 meters Centerline goodness [0,1] 0.3178238008369997 Centerline is valid? [False, False] Translation: X:10.56, Y:0.59, Z:0.37 [[ 9.98873528e-01 7.36976030e-04 -4.74461005e-02 1.05593551e+01] [-1.23859509e-03 9.99943645e-01 -1.05438666e-02 5.88553417e-01] [ 4.74356561e-02 1.05907557e-02 9.98818149e-01 3.69713025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64463044 meters Centerline goodness [0,1] 0.31973902370749985 Centerline is valid? [False, False] Translation: X:10.56, Y:0.59, Z:0.37 [[ 9.98883145e-01 6.27951903e-04 -4.72447720e-02 1.05587895e+01] [-1.14415837e-03 9.99939939e-01 -1.08999641e-02 5.90865644e-01] [ 4.72350898e-02 1.09418460e-02 9.98823870e-01 3.69822013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67463044000004 meters Centerline goodness [0,1] 0.3177875576824475 Centerline is valid? [False, False] Translation: X:10.58, Y:0.60, Z:0.37 [[ 9.98863026e-01 -7.33547144e-03 -4.71046335e-02 1.05776544e+01] [ 6.85336695e-03 9.99922556e-01 -1.03881183e-02 6.00599989e-01] [ 4.71771873e-02 1.00534819e-02 9.98835943e-01 3.71961314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70463044 meters Centerline goodness [0,1] 0.32009785879754915 Centerline is valid? [False, False] Translation: X:10.56, Y:0.60, Z:0.37 [[ 9.98893116e-01 1.90508397e-04 -4.70372843e-02 1.05589889e+01] [-7.40894009e-04 9.99931467e-01 -1.16838927e-02 5.95721472e-01] [ 4.70318348e-02 1.17058097e-02 9.98824800e-01 3.69968228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73463044000005 meters Centerline goodness [0,1] 0.3184500898126764 Centerline is valid? [False, False] Translation: X:10.58, Y:0.60, Z:0.37 [[ 9.98859493e-01 -7.52481856e-03 -4.71496577e-02 1.05779753e+01] [ 7.03798059e-03 9.99920285e-01 -1.04828966e-02 6.02114639e-01] [ 4.72247810e-02 1.01391024e-02 9.98832828e-01 3.72463636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76463044 meters Centerline goodness [0,1] 0.31716473945036794 Centerline is valid? [False, False] Translation: X:10.58, Y:0.60, Z:0.37 [[ 9.98852844e-01 -7.47635780e-03 -4.72979894e-02 1.05783034e+01] [ 6.99187736e-03 9.99921470e-01 -1.04003173e-02 6.02325099e-01] [ 4.73720316e-02 1.00576848e-02 9.98826678e-01 3.72560271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79463044 meters Centerline goodness [0,1] 0.3189971070395371 Centerline is valid? [False, False] Translation: X:10.58, Y:0.60, Z:0.37 [[ 9.98846165e-01 -7.50109831e-03 -4.74349227e-02 1.05785516e+01] [ 7.02131504e-03 9.99922579e-01 -1.02731055e-02 6.02297950e-01] [ 4.75083099e-02 9.92819654e-03 9.98821501e-01 3.72850127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82463044 meters Centerline goodness [0,1] 0.31821998320738876 Centerline is valid? [False, False] Translation: X:10.58, Y:0.60, Z:0.37 [[ 9.98844861e-01 -7.60728188e-03 -4.74454748e-02 1.05784602e+01] [ 7.12975272e-03 9.99922296e-01 -1.02259255e-02 6.01484079e-01] [ 4.75195796e-02 9.87583861e-03 9.98821484e-01 3.73139395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85463044 meters Centerline goodness [0,1] 0.3206717399271347 Centerline is valid? [False, False] Translation: X:10.58, Y:0.60, Z:0.37 [[ 9.98838551e-01 -7.73038212e-03 -4.75582895e-02 1.05786947e+01] [ 7.25403843e-03 9.99921866e-01 -1.01804519e-02 6.00441332e-01] [ 4.76332724e-02 9.82363812e-03 9.98816584e-01 3.73306741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88463044 meters Centerline goodness [0,1] 0.319578766387277 Centerline is valid? [False, False] Translation: X:10.58, Y:0.60, Z:0.37 [[ 9.98795518e-01 -8.17280394e-03 -4.83809790e-02 1.05808692e+01] [ 7.69153746e-03 9.99919156e-01 -1.01252618e-02 5.97806556e-01] [ 4.84598195e-02 9.74094195e-03 9.98777633e-01 3.73178516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91463044 meters Centerline goodness [0,1] 0.3208699954822193 Centerline is valid? [False, False] Translation: X:10.58, Y:0.60, Z:0.37 [[ 9.98783111e-01 -8.13237548e-03 -4.86432157e-02 1.05817538e+01] [ 7.66379216e-03 9.99922494e-01 -9.81183087e-03 5.95895570e-01] [ 4.87192390e-02 9.42709946e-03 9.98768024e-01 3.72957658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94463044 meters Centerline goodness [0,1] 0.31750976083292437 Centerline is valid? [False, False] Translation: X:10.58, Y:0.59, Z:0.37 [[ 9.98775425e-01 -8.11934018e-03 -4.88029301e-02 1.05821681e+01] [ 7.66488038e-03 9.99925572e-01 -9.49208819e-03 5.93611206e-01] [ 4.88763673e-02 9.10639579e-03 9.98763322e-01 3.73062456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97463044 meters Centerline goodness [0,1] 0.3205422495560657 Centerline is valid? [False, False] Translation: X:10.56, Y:0.59, Z:0.37 [[ 9.98859351e-01 -1.42430591e-03 -4.77280640e-02 1.05621154e+01] [ 8.98810839e-04 9.99938765e-01 -1.10298436e-02 5.85473231e-01] [ 4.77408512e-02 1.09743639e-02 9.98799467e-01 3.70894709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.00463044 meters Centerline goodness [0,1] 0.31864267840193283 Centerline is valid? [False, False] Translation: X:10.56, Y:0.58, Z:0.37 [[ 9.98867585e-01 -1.52630997e-03 -4.75522725e-02 1.05616325e+01] [ 1.02736697e-03 9.99944186e-01 -1.05151908e-02 5.80386885e-01] [ 4.75656679e-02 1.04544296e-02 9.98813402e-01 3.71175676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03463044 meters Centerline goodness [0,1] 0.319124300448142 Centerline is valid? [False, False] Translation: X:10.56, Y:0.58, Z:0.37 [[ 9.98865256e-01 -1.39679445e-03 -4.76051311e-02 1.05618133e+01] [ 9.15714111e-04 9.99948312e-01 -1.01259514e-02 5.78219289e-01] [ 4.76168144e-02 1.00708683e-02 9.98814906e-01 3.71214475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06463044000003 meters Centerline goodness [0,1] 0.32008535034592756 Centerline is valid? [False, False] Translation: X:10.56, Y:0.58, Z:0.37 [[ 9.98861330e-01 -1.28169775e-03 -4.76906730e-02 1.05620000e+01] [ 8.14215928e-04 9.99951446e-01 -9.82050962e-03 5.76493429e-01] [ 4.77009444e-02 9.77049680e-03 9.98813875e-01 3.71254999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09463044 meters Centerline goodness [0,1] 0.3197465134826375 Centerline is valid? [False, False] Translation: X:10.56, Y:0.57, Z:0.37 [[ 9.98849029e-01 -1.21921906e-03 -4.79492528e-02 1.05631770e+01] [ 7.61877831e-04 9.99954058e-01 -9.55514610e-03 5.74175783e-01] [ 4.79586997e-02 9.50761693e-03 9.98804069e-01 3.70535781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12463044000003 meters Centerline goodness [0,1] 0.3172936841203188 Centerline is valid? [False, False] Translation: X:10.56, Y:0.57, Z:0.37 [[ 9.98839788e-01 -1.10069763e-03 -4.81442316e-02 1.05638554e+01] [ 6.46210503e-04 9.99955095e-01 -9.45466211e-03 5.73891744e-01] [ 4.81524764e-02 9.41258139e-03 9.98795646e-01 3.70222426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15463044 meters Centerline goodness [0,1] 0.3172936841203188 Centerline is valid? [False, False] Translation: X:10.56, Y:0.57, Z:0.37 [[ 9.98839788e-01 -1.10069763e-03 -4.81442316e-02 1.05638554e+01] [ 6.46210503e-04 9.99955095e-01 -9.45466211e-03 5.73891744e-01] [ 4.81524764e-02 9.41258139e-03 9.98795646e-01 3.70222426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18463044000003 meters Centerline goodness [0,1] 0.31674217769553104 Centerline is valid? [False, False] Translation: X:10.56, Y:0.57, Z:0.37 [[ 9.98839459e-01 -9.55743737e-04 -4.81541491e-02 1.05640252e+01] [ 5.03631780e-04 9.99955691e-01 -9.40010576e-03 5.74284262e-01] [ 4.81609995e-02 9.36494459e-03 9.98795683e-01 3.70017101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21463044 meters Centerline goodness [0,1] 0.31857210320697205 Centerline is valid? [False, False] Translation: X:10.56, Y:0.58, Z:0.37 [[ 9.98835075e-01 -9.00226704e-04 -4.82460552e-02 1.05642376e+01] [ 4.44225690e-04 9.99955141e-01 -9.46145998e-03 5.75066303e-01] [ 4.82524083e-02 9.42900596e-03 9.98790668e-01 3.69990162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24463044000004 meters Centerline goodness [0,1] 0.31635354397950466 Centerline is valid? [False, False] Translation: X:10.57, Y:0.58, Z:0.37 [[ 9.98814894e-01 -8.18145213e-04 -4.86635172e-02 1.05655397e+01] [ 3.52684318e-04 9.99954118e-01 -9.57270153e-03 5.75848470e-01] [ 4.86691163e-02 9.54419401e-03 9.98769355e-01 3.69514724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27463044 meters Centerline goodness [0,1] 0.31872040453386474 Centerline is valid? [False, False] Translation: X:10.57, Y:0.58, Z:0.37 [[ 9.98810681e-01 -8.10046665e-04 -4.87500465e-02 1.05657274e+01] [ 3.43358734e-04 9.99954045e-01 -9.58068971e-03 5.75798127e-01] [ 4.87555670e-02 9.55255646e-03 9.98765059e-01 3.69490067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30463044000004 meters Centerline goodness [0,1] 0.31887634662431863 Centerline is valid? [False, False] Translation: X:10.57, Y:0.58, Z:0.37 [[ 9.98806246e-01 -7.68735128e-04 -4.88414971e-02 1.05657858e+01] [ 3.05268109e-04 9.99954866e-01 -9.49595662e-03 5.75462739e-01] [ 4.88465925e-02 9.46971104e-03 9.98761400e-01 3.69704060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33463044 meters Centerline goodness [0,1] 0.32114983552277954 Centerline is valid? [False, False] Translation: X:10.57, Y:0.57, Z:0.37 [[ 9.98807466e-01 -7.77005257e-04 -4.88164213e-02 1.05655247e+01] [ 3.25921876e-04 9.99957186e-01 -9.24768297e-03 5.73472173e-01] [ 4.88215168e-02 9.22074445e-03 9.98764956e-01 3.70017456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36463044000004 meters Centerline goodness [0,1] 0.32151340709195575 Centerline is valid? [False, False] Translation: X:10.57, Y:0.57, Z:0.37 [[ 9.98808374e-01 -7.05441278e-04 -4.87989103e-02 1.05654063e+01] [ 2.65916849e-04 9.99959349e-01 -9.01275506e-03 5.72085655e-01] [ 4.88032845e-02 8.98903878e-03 9.98767959e-01 3.70178805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39463044 meters Centerline goodness [0,1] 0.3185319534834098 Centerline is valid? [False, False] Translation: X:10.57, Y:0.57, Z:0.37 [[ 9.98808072e-01 -6.08803486e-04 -4.88064080e-02 1.05653283e+01] [ 1.82487820e-04 9.99961799e-01 -8.73880992e-03 5.70579364e-01] [ 4.88098637e-02 8.71948731e-03 9.98770027e-01 3.70353880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42463044000004 meters Centerline goodness [0,1] 0.3223266392035702 Centerline is valid? [False, False] Translation: X:10.57, Y:0.57, Z:0.37 [[ 9.98805932e-01 -5.47126193e-04 -4.88508996e-02 1.05655771e+01] [ 1.31119856e-04 9.99963707e-01 -8.51863629e-03 5.69207150e-01] [ 4.88537874e-02 8.50205913e-03 9.98769754e-01 3.70198260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45463044 meters Centerline goodness [0,1] 0.3225303366945821 Centerline is valid? [False, False] Translation: X:10.57, Y:0.57, Z:0.37 [[ 9.98793263e-01 -3.52142171e-04 -4.91110274e-02 1.05665787e+01] [-3.90852418e-05 9.99968278e-01 -7.96499476e-03 5.66215775e-01] [ 4.91122744e-02 7.95730263e-03 9.98761566e-01 3.69808079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48463044000005 meters Centerline goodness [0,1] 0.32169869940648366 Centerline is valid? [False, False] Translation: X:10.57, Y:0.56, Z:0.37 [[ 9.98794360e-01 -2.19760473e-04 -4.90894821e-02 1.05663441e+01] [-1.55794750e-04 9.99970753e-01 -7.64646412e-03 5.64678916e-01] [ 4.90897268e-02 7.64489313e-03 9.98765115e-01 3.70076352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51463044 meters Centerline goodness [0,1] 0.3205754963763454 Centerline is valid? [False, False] Translation: X:10.57, Y:0.56, Z:0.37 [[ 9.98791546e-01 -1.38112484e-04 -4.91470027e-02 1.05664559e+01] [-2.25782740e-04 9.99972605e-01 -7.39859142e-03 5.63310362e-01] [ 4.91466782e-02 7.40074711e-03 9.98764153e-01 3.70161115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54463044 meters Centerline goodness [0,1] 0.32064094095587137 Centerline is valid? [False, False] Translation: X:10.57, Y:0.56, Z:0.37 [[ 9.98780558e-01 -1.27337982e-04 -4.93698345e-02 1.05671112e+01] [-2.29909718e-04 9.99973834e-01 -7.23040720e-03 5.61933812e-01] [ 4.93694633e-02 7.23294075e-03 9.98754395e-01 3.70062461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.57463044 meters Centerline goodness [0,1] 0.32212794438327175 Centerline is valid? [False, False] Translation: X:10.57, Y:0.56, Z:0.37 [[ 9.98763911e-01 -1.68689459e-04 -4.97053566e-02 1.05685797e+01] [-1.82460119e-04 9.99975061e-01 -7.06000034e-03 5.60129133e-01] [ 4.97053079e-02 7.06034280e-03 9.98738972e-01 3.69200422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60463044 meters Centerline goodness [0,1] 0.3195187738151304 Centerline is valid? [False, False] Translation: X:10.57, Y:0.56, Z:0.37 [[ 9.98758746e-01 -6.54262178e-05 -4.98092679e-02 1.05690938e+01] [-2.79848459e-04 9.99975983e-01 -6.92493098e-03 5.59838578e-01] [ 4.98085248e-02 6.93027443e-03 9.98734741e-01 3.68856232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.63463044 meters Centerline goodness [0,1] 0.31583110636023515 Centerline is valid? [False, False] Translation: X:10.57, Y:0.56, Z:0.37 [[ 9.98757940e-01 6.96467084e-05 -4.98254291e-02 1.05692532e+01] [-4.10177796e-04 9.99976630e-01 -6.82429144e-03 5.60049920e-01] [ 4.98237894e-02 6.83625254e-03 9.98734627e-01 3.68729981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66463044 meters Centerline goodness [0,1] 0.31676303044526466 Centerline is valid? [False, False] Translation: X:10.57, Y:0.56, Z:0.37 [[ 9.98761322e-01 1.56839528e-04 -4.97573814e-02 1.05689439e+01] [-4.98723532e-04 9.99976355e-01 -6.85867996e-03 5.60799810e-01] [ 4.97551291e-02 6.87499944e-03 9.98737784e-01 3.68900933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.69463044 meters Centerline goodness [0,1] 0.317355903149775 Centerline is valid? [False, False] Translation: X:10.57, Y:0.56, Z:0.37 [[ 9.98755800e-01 1.73573931e-04 -4.98680377e-02 1.05692449e+01] [-5.23694889e-04 9.99975307e-01 -7.00796901e-03 5.61822313e-01] [ 4.98655899e-02 7.02536533e-03 9.98731229e-01 3.68806151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72463044 meters Centerline goodness [0,1] 0.3162980184715142 Centerline is valid? [False, False] Translation: X:10.57, Y:0.56, Z:0.37 [[ 9.98725065e-01 4.53963949e-04 -5.04780999e-02 1.05711035e+01] [-8.05454419e-04 9.99975572e-01 -6.94310321e-03 5.62786520e-01] [ 5.04737149e-02 6.97490901e-03 9.98701034e-01 3.68171839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.75463044 meters Centerline goodness [0,1] 0.3146014172787387 Centerline is valid? [False, False] Translation: X:10.57, Y:0.56, Z:0.37 [[ 9.98724634e-01 5.08395455e-04 -5.04861146e-02 1.05713678e+01] [-8.57682418e-04 9.99975847e-01 -6.89705249e-03 5.62777040e-01] [ 5.04813888e-02 6.93155727e-03 9.98700948e-01 3.67852348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78463044 meters Centerline goodness [0,1] 0.31711290702908956 Centerline is valid? [False, False] Translation: X:10.57, Y:0.56, Z:0.37 [[ 9.98725977e-01 5.54787691e-04 -5.04590470e-02 1.05711376e+01] [-8.95435469e-04 9.99976962e-01 -6.72862002e-03 5.61676878e-01] [ 5.04541515e-02 6.76523042e-03 9.98703465e-01 3.68115490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.81463044000003 meters Centerline goodness [0,1] 0.31664315937940757 Centerline is valid? [False, False] Translation: X:10.57, Y:0.56, Z:0.37 [[ 9.98735892e-01 5.40897838e-04 -5.02625745e-02 1.05703771e+01] [-8.69595975e-04 9.99978380e-01 -6.51798225e-03 5.60013361e-01] [ 5.02579622e-02 6.55345095e-03 9.98714769e-01 3.68580661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84463044 meters Centerline goodness [0,1] 0.3163155862542366 Centerline is valid? [False, False] Translation: X:10.57, Y:0.56, Z:0.37 [[ 9.98743531e-01 3.89599232e-04 -5.01119437e-02 1.05696538e+01] [-6.99340897e-04 9.99980760e-01 -6.16360966e-03 5.56067941e-01] [ 5.01085782e-02 6.19091061e-03 9.98724588e-01 3.69128385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.87463044000003 meters Centerline goodness [0,1] 0.31601498578933773 Centerline is valid? [False, False] Translation: X:10.57, Y:0.55, Z:0.37 [[ 9.98733039e-01 4.24202043e-04 -5.03203523e-02 1.05704397e+01] [-7.23498479e-04 9.99982157e-01 -5.92975499e-03 5.54292325e-01] [ 5.03169391e-02 5.95864891e-03 9.98715525e-01 3.68767205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90463044 meters Centerline goodness [0,1] 0.31620089896423687 Centerline is valid? [False, False] Translation: X:10.57, Y:0.55, Z:0.37 [[ 9.98716157e-01 4.30336506e-04 -5.06542408e-02 1.05714774e+01] [-7.21863428e-04 9.99983282e-01 -5.73707853e-03 5.52541176e-01] [ 5.06509251e-02 5.76627846e-03 9.98699772e-01 3.68460025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.93463044000003 meters Centerline goodness [0,1] 0.31479762547220724 Centerline is valid? [False, False] Translation: X:10.57, Y:0.55, Z:0.37 [[ 9.98703833e-01 4.85253246e-04 -5.08961452e-02 1.05723363e+01] [-7.66813052e-04 9.99984511e-01 -5.51266513e-03 5.51063980e-01] [ 5.08926818e-02 5.54454762e-03 9.98688737e-01 3.68104375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96463044 meters Centerline goodness [0,1] 0.31468908287530983 Centerline is valid? [False, False] Translation: X:10.57, Y:0.55, Z:0.37 [[ 9.98701220e-01 8.24693495e-04 -5.09430385e-02 1.05725187e+01] [-1.07669444e-03 9.99987320e-01 -4.91947509e-03 5.48657870e-01] [ 5.09383355e-02 4.96793586e-03 9.98689444e-01 3.68100905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99463044000004 meters Centerline goodness [0,1] 0.31400258509263246 Centerline is valid? [False, False] Translation: X:10.57, Y:0.55, Z:0.37 [[ 9.98696698e-01 8.53338887e-04 -5.10311474e-02 1.05726045e+01] [-1.09968411e-03 9.99987878e-01 -4.79946773e-03 5.47722114e-01] [ 5.10264332e-02 4.84933072e-03 9.98685530e-01 3.68287721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02463044 meters Centerline goodness [0,1] 0.31288871672369634 Centerline is valid? [False, False] Translation: X:10.57, Y:0.55, Z:0.37 [[ 9.98690987e-01 8.53642921e-04 -5.11427825e-02 1.05726848e+01] [-1.09547976e-03 9.99988351e-01 -4.70081557e-03 5.46686266e-01] [ 5.11381740e-02 4.75068803e-03 9.98680288e-01 3.68533031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05463044000004 meters Centerline goodness [0,1] 0.31228160439042163 Centerline is valid? [False, False] Translation: X:10.57, Y:0.55, Z:0.37 [[ 9.98671790e-01 8.94783691e-04 -5.15155731e-02 1.05732559e+01] [-1.13234502e-03 9.99988859e-01 -4.58244545e-03 5.45756631e-01] [ 5.15108989e-02 4.63469241e-03 9.98661678e-01 3.68986762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08463044 meters Centerline goodness [0,1] 0.3137250696976196 Centerline is valid? [False, False] Translation: X:10.57, Y:0.55, Z:0.37 [[ 9.98665664e-01 1.01334207e-03 -5.16320039e-02 1.05732523e+01] [-1.24211269e-03 9.99989553e-01 -4.39889597e-03 5.45102470e-01] [ 5.16270070e-02 4.45715913e-03 9.98656490e-01 3.69372251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11463044000004 meters Centerline goodness [0,1] 0.3101827118281868 Centerline is valid? [False, False] Translation: X:10.57, Y:0.54, Z:0.37 [[ 9.98682129e-01 1.48012934e-03 -5.13012211e-02 1.05720249e+01] [-1.67850116e-03 9.99991280e-01 -3.82393781e-03 5.44036378e-01] [ 5.12951139e-02 3.90500751e-03 9.98675904e-01 3.70055090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14463044 meters Centerline goodness [0,1] 0.3152766700437585 Centerline is valid? [False, False] Translation: X:10.57, Y:0.54, Z:0.37 [[ 9.98691243e-01 1.57253516e-03 -5.11207294e-02 1.05714487e+01] [-1.76301730e-03 9.99991670e-01 -3.68124395e-03 5.43645545e-01] [ 5.11145147e-02 3.76655282e-03 9.98685696e-01 3.70289249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17463044000004 meters Centerline goodness [0,1] 0.31530796323339916 Centerline is valid? [False, False] Translation: X:10.57, Y:0.54, Z:0.37 [[ 9.98694980e-01 1.59140255e-03 -5.10470859e-02 1.05712590e+01] [-1.77847176e-03 9.99991868e-01 -3.61942733e-03 5.43230161e-01] [ 5.10409109e-02 3.70548970e-03 9.98689689e-01 3.70360597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20463044 meters Centerline goodness [0,1] 0.3125200333354702 Centerline is valid? [False, False] Translation: X:10.57, Y:0.54, Z:0.37 [[ 9.98699004e-01 1.58375964e-03 -5.09685287e-02 1.05708178e+01] [-1.76826462e-03 9.99992046e-01 -3.57508992e-03 5.42696175e-01] [ 5.09624612e-02 3.66056459e-03 9.98693861e-01 3.70767050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23463044000005 meters Centerline goodness [0,1] 0.3245541897506925 Centerline is valid? [False, False] Translation: X:10.57, Y:0.54, Z:0.37 [[ 9.98706220e-01 1.59441172e-03 -5.08265977e-02 1.05701292e+01] [-1.77685609e-03 9.99992139e-01 -3.54456232e-03 5.42576883e-01] [ 5.08205467e-02 3.63028798e-03 9.98701203e-01 3.71270809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26463044 meters Centerline goodness [0,1] 0.3164291970179224 Centerline is valid? [False, False] Translation: X:10.59, Y:0.55, Z:0.37 [[ 9.98725240e-01 -5.53949230e-03 -5.01718046e-02 1.05881526e+01] [ 5.44444484e-03 9.99983117e-01 -2.03090762e-03 5.48087461e-01] [ 5.01822078e-02 1.75516107e-03 9.98738537e-01 3.73841745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29463044 meters Centerline goodness [0,1] 0.32171963261610104 Centerline is valid? [False, False] Translation: X:10.59, Y:0.55, Z:0.37 [[ 9.98726941e-01 -5.46251198e-03 -5.01463761e-02 1.05879308e+01] [ 5.37041351e-03 9.99983636e-01 -1.97114823e-03 5.48288297e-01] [ 5.01563230e-02 1.69933206e-03 9.98739934e-01 3.74072335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32463044 meters Centerline goodness [0,1] 0.3212134251290878 Centerline is valid? [False, False] Translation: X:10.59, Y:0.55, Z:0.37 [[ 9.98705183e-01 -5.51256738e-03 -5.05724227e-02 1.05894549e+01] [ 5.41250365e-03 9.99983115e-01 -2.11535951e-03 5.48883626e-01] [ 5.05832298e-02 1.83889708e-03 9.98718156e-01 3.73348317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35463044 meters Centerline goodness [0,1] 0.31730604188122213 Centerline is valid? [False, False] Translation: X:10.59, Y:0.55, Z:0.37 [[ 9.98690872e-01 -5.54323364e-03 -5.08509134e-02 1.05904633e+01] [ 5.44004309e-03 9.99982854e-01 -2.16745802e-03 5.49050416e-01] [ 5.08620562e-02 1.88798938e-03 9.98703903e-01 3.72936782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38463044 meters Centerline goodness [0,1] 0.3191732402258718 Centerline is valid? [False, False] Translation: X:10.59, Y:0.55, Z:0.37 [[ 9.98682277e-01 -5.52022970e-03 -5.10219155e-02 1.05910223e+01] [ 5.41997546e-03 9.99983100e-01 -2.10307606e-03 5.48759282e-01] [ 5.10326627e-02 1.82376726e-03 9.98695320e-01 3.72752731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41463044 meters Centerline goodness [0,1] 0.3233576799603559 Centerline is valid? [False, False] Translation: X:10.59, Y:0.55, Z:0.37 [[ 9.98677610e-01 -5.46207977e-03 -5.11194475e-02 1.05913582e+01] [ 5.37000962e-03 9.99983703e-01 -1.93825236e-03 5.47968784e-01] [ 5.11292013e-02 1.66117731e-03 9.98690665e-01 3.72677395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44463044 meters Centerline goodness [0,1] 0.323899776517105 Centerline is valid? [False, False] Translation: X:10.59, Y:0.54, Z:0.37 [[ 9.98666950e-01 -5.65749425e-03 -5.13060959e-02 1.05916178e+01] [ 5.57835268e-03 9.99983020e-01 -1.68560346e-03 5.44851631e-01] [ 5.13147610e-02 1.39715297e-03 9.98681552e-01 3.73131632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47463044 meters Centerline goodness [0,1] 0.3274525470210974 Centerline is valid? [False, False] Translation: X:10.59, Y:0.54, Z:0.37 [[ 9.98653071e-01 -5.65358706e-03 -5.15759624e-02 1.05923554e+01] [ 5.58912454e-03 9.99983409e-01 -1.39399977e-03 5.42604959e-01] [ 5.15829878e-02 1.10385768e-03 9.98668101e-01 3.73122368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.50463044 meters Centerline goodness [0,1] 0.3271995523415978 Centerline is valid? [False, False] Translation: X:10.59, Y:0.54, Z:0.37 [[ 9.98637996e-01 -5.53514231e-03 -5.18798081e-02 1.05931449e+01] [ 5.48878647e-03 9.99984400e-01 -1.03595693e-03 5.40492710e-01] [ 5.18847329e-02 7.49788769e-04 9.98652799e-01 3.73142094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53463044 meters Centerline goodness [0,1] 0.3267715685639664 Centerline is valid? [False, False] Translation: X:10.59, Y:0.54, Z:0.37 [[ 9.98635550e-01 -5.37725476e-03 -5.19434646e-02 1.05932411e+01] [ 5.34676815e-03 9.99985442e-01 -7.25861001e-04 5.39070594e-01] [ 5.19466116e-02 4.47140938e-04 9.98649763e-01 3.73299377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56463044000003 meters Centerline goodness [0,1] 0.3236577540106952 Centerline is valid? [False, False] Translation: X:10.61, Y:0.54, Z:0.38 [[ 9.98673789e-01 2.40706475e-03 -5.14282897e-02 1.06126355e+01] [-2.50567055e-03 9.99995144e-01 -1.85295766e-03 5.35427382e-01] [ 5.14235798e-02 1.97936260e-03 9.98674971e-01 3.75638822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59463044 meters Centerline goodness [0,1] 0.32835240768732454 Centerline is valid? [False, False] Translation: X:10.61, Y:0.54, Z:0.38 [[ 9.98676047e-01 2.60172322e-03 -5.13749388e-02 1.06122831e+01] [-2.69735952e-03 9.99994756e-01 -1.79228958e-03 5.35286155e-01] [ 5.13700063e-02 1.92849335e-03 9.98677828e-01 3.75938732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62463044000003 meters Centerline goodness [0,1] 0.3291519012109485 Centerline is valid? [False, False] Translation: X:10.61, Y:0.54, Z:0.38 [[ 9.98670478e-01 2.66257625e-03 -5.14799652e-02 1.06124801e+01] [-2.76080709e-03 9.99994501e-01 -1.83712111e-03 5.35798771e-01] [ 5.14747906e-02 1.97680487e-03 9.98672338e-01 3.75955891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65463044 meters Centerline goodness [0,1] 0.3228082177138337 Centerline is valid? [False, False] Translation: X:10.66, Y:0.54, Z:0.38 [[ 9.98705670e-01 3.69663851e-03 -5.07278921e-02 1.06551518e+01] [-3.77236984e-03 9.99991908e-01 -1.39723036e-03 5.38410403e-01] [ 5.07223166e-02 1.58678625e-03 9.98711534e-01 3.78623813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68463044000003 meters Centerline goodness [0,1] 0.3232782784941136 Centerline is valid? [False, False] Translation: X:10.66, Y:0.54, Z:0.38 [[ 9.98701943e-01 3.80719193e-03 -5.07930460e-02 1.06551688e+01] [-3.87641160e-03 9.99991687e-01 -1.26433673e-03 5.38033684e-01] [ 5.07878102e-02 1.45959030e-03 9.98708400e-01 3.78798993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71463044 meters Centerline goodness [0,1] 0.3257398795619656 Centerline is valid? [False, False] Translation: X:10.67, Y:0.54, Z:0.38 [[ 9.98704279e-01 -3.58534194e-03 -5.07632575e-02 1.06736361e+01] [ 3.59589913e-03 9.99993528e-01 1.16641770e-04 5.41830563e-01] [ 5.07625107e-02 -2.99030188e-04 9.98710708e-01 3.81420089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74463044000004 meters Centerline goodness [0,1] 0.3251429554151082 Centerline is valid? [False, False] Translation: X:10.67, Y:0.54, Z:0.38 [[ 9.98702591e-01 -4.03025757e-03 -5.07631025e-02 1.06731356e+01] [ 4.04410931e-03 9.99991808e-01 1.70160858e-04 5.37766532e-01] [ 5.07620008e-02 -3.75231625e-04 9.98710708e-01 3.82264877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77463044 meters Centerline goodness [0,1] 0.3266531335032177 Centerline is valid? [False, False] Translation: X:10.67, Y:0.54, Z:0.38 [[ 9.98705689e-01 -4.09657743e-03 -5.06967935e-02 1.06727281e+01] [ 4.12147646e-03 9.99991432e-01 3.86605378e-04 5.35782511e-01] [ 5.06947753e-02 -5.95050632e-04 9.98714016e-01 3.82753723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80463044000004 meters Centerline goodness [0,1] 0.3244265834419957 Centerline is valid? [False, False] Translation: X:10.70, Y:0.53, Z:0.38 [[ 9.98712585e-01 1.72997169e-03 -5.06969309e-02 1.06953626e+01] [-1.81396231e-03 9.99997057e-01 -1.61075608e-03 5.31534804e-01] [ 5.06939952e-02 1.70064469e-03 9.98712785e-01 3.83740223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83463044 meters Centerline goodness [0,1] 0.32544010304851867 Centerline is valid? [False, False] Translation: X:10.70, Y:0.53, Z:0.38 [[ 9.98710996e-01 1.79567210e-03 -5.07259505e-02 1.06956267e+01] [-1.87001906e-03 9.99997246e-01 -1.41823742e-03 5.30417716e-01] [ 5.07232641e-02 1.51126780e-03 9.98711603e-01 3.83559100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86463044000004 meters Centerline goodness [0,1] 0.3265191702246949 Centerline is valid? [False, False] Translation: X:10.70, Y:0.53, Z:0.38 [[ 9.98718314e-01 1.80607892e-03 -5.05812855e-02 1.06954221e+01] [-1.87597518e-03 9.99997350e-01 -1.33441931e-03 5.29644556e-01] [ 5.05787414e-02 1.42759824e-03 9.98719056e-01 3.83437563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89463044 meters Centerline goodness [0,1] 0.323045355448211 Centerline is valid? [False, False] Translation: X:10.70, Y:0.53, Z:0.38 [[ 9.98722421e-01 1.82490175e-03 -5.04994516e-02 1.06951484e+01] [-1.89113296e-03 9.99997413e-01 -1.26377320e-03 5.28928806e-01] [ 5.04970147e-02 1.35765981e-03 9.98723289e-01 3.83564555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92463044000004 meters Centerline goodness [0,1] 0.326394472088829 Centerline is valid? [False, False] Translation: X:10.65, Y:0.53, Z:0.38 [[ 9.98631549e-01 1.39870676e-03 -5.22788025e-02 1.06510075e+01] [-1.46680219e-03 9.99998125e-01 -1.26419898e-03 5.25162240e-01] [ 5.22769362e-02 1.33915165e-03 9.98631728e-01 3.81630888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95463044 meters Centerline goodness [0,1] 0.32459482146316265 Centerline is valid? [False, False] Translation: X:10.65, Y:0.52, Z:0.38 [[ 9.98624217e-01 1.54443552e-03 -5.24145695e-02 1.06515211e+01] [-1.59422918e-03 9.99998317e-01 -9.08200737e-04 5.23134813e-01] [ 5.24130786e-02 9.90512087e-04 9.98624999e-01 3.81471997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98463044000005 meters Centerline goodness [0,1] 0.32312318762753733 Centerline is valid? [False, False] Translation: X:10.65, Y:0.52, Z:0.38 [[ 9.98616407e-01 1.58305626e-03 -5.25620228e-02 1.06521494e+01] [-1.62196559e-03 9.99998441e-01 -6.97607526e-04 5.21588099e-01] [ 5.25608365e-02 7.81896113e-04 9.98617418e-01 3.81135827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01463044 meters Centerline goodness [0,1] 0.32174605566198156 Centerline is valid? [False, False] Translation: X:10.65, Y:0.52, Z:0.38 [[ 9.98602655e-01 1.61840828e-03 -5.28215618e-02 1.06529686e+01] [-1.64129329e-03 9.99998577e-01 -3.89876025e-04 5.19291547e-01] [ 5.28208557e-02 4.76026909e-04 9.98603891e-01 3.80932433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04463044 meters Centerline goodness [0,1] 0.32174605566198156 Centerline is valid? [False, False] Translation: X:10.65, Y:0.52, Z:0.38 [[ 9.98602655e-01 1.61840828e-03 -5.28215618e-02 1.06529686e+01] [-1.64129329e-03 9.99998577e-01 -3.89876025e-04 5.19291547e-01] [ 5.28208557e-02 4.76026909e-04 9.98603891e-01 3.80932433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.07463044 meters Centerline goodness [0,1] 0.319401832264155 Centerline is valid? [False, False] Translation: X:10.65, Y:0.52, Z:0.38 [[ 9.98583662e-01 1.58107506e-03 -5.31805460e-02 1.06541677e+01] [-1.59101602e-03 9.99998724e-01 -1.44593540e-04 5.17152300e-01] [ 5.31802495e-02 2.28999848e-04 9.98584903e-01 3.80557010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10463044 meters Centerline goodness [0,1] 0.3199114759029673 Centerline is valid? [False, False] Translation: X:10.66, Y:0.51, Z:0.38 [[ 9.98567729e-01 1.62538509e-03 -5.34775536e-02 1.06550860e+01] [-1.61825154e-03 9.99998675e-01 1.76694184e-04 5.14854569e-01] [ 5.34777699e-02 -8.99009769e-05 9.98569036e-01 3.80366966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.13463044 meters Centerline goodness [0,1] 0.31854994215194754 Centerline is valid? [False, False] Translation: X:10.66, Y:0.51, Z:0.38 [[ 9.98552770e-01 1.58965590e-03 -5.37572259e-02 1.06559863e+01] [-1.56091744e-03 9.99998616e-01 5.76578445e-04 5.10789948e-01] [ 5.37580680e-02 -4.91833412e-04 9.98553868e-01 3.80202505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16463044 meters Centerline goodness [0,1] 0.31826281101736764 Centerline is valid? [False, False] Translation: X:10.66, Y:0.51, Z:0.38 [[ 9.98545380e-01 1.64359204e-03 -5.38926973e-02 1.06562261e+01] [-1.60234760e-03 9.99998389e-01 8.08506677e-04 5.09128261e-01] [ 5.38939394e-02 -7.20975773e-04 9.98546405e-01 3.80351979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.19463044 meters Centerline goodness [0,1] 0.31937285686557826 Centerline is valid? [False, False] Translation: X:10.66, Y:0.51, Z:0.38 [[ 9.98535015e-01 1.70475878e-03 -5.40825083e-02 1.06566405e+01] [-1.65166474e-03 9.99998109e-01 1.02640356e-03 5.07726962e-01] [ 5.40841558e-02 -9.35573717e-04 9.98535943e-01 3.80417079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22463044 meters Centerline goodness [0,1] 0.32029939347012515 Centerline is valid? [False, False] Translation: X:10.66, Y:0.51, Z:0.38 [[ 9.98520004e-01 1.81816589e-03 -5.43552765e-02 1.06573373e+01] [-1.75076483e-03 9.99997638e-01 1.28760070e-03 5.06406895e-01] [ 5.43574892e-02 -1.19053175e-03 9.98520829e-01 3.80395458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.25463044 meters Centerline goodness [0,1] 0.31788453599287314 Centerline is valid? [False, False] Translation: X:10.66, Y:0.50, Z:0.38 [[ 9.98496861e-01 2.04097580e-03 -5.47709198e-02 1.06586157e+01] [-1.94258064e-03 9.99996403e-01 1.84966372e-03 5.03233573e-01] [ 5.47744979e-02 -1.74048649e-03 9.98497233e-01 3.80016586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28463044 meters Centerline goodness [0,1] 0.3178608560041587 Centerline is valid? [False, False] Translation: X:10.66, Y:0.50, Z:0.38 [[ 9.98482332e-01 2.14862696e-03 -5.50310521e-02 1.06592825e+01] [-2.03215114e-03 9.99995575e-01 2.17241792e-03 5.01311786e-01] [ 5.50354763e-02 -2.05728949e-03 9.98482280e-01 3.80004628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.31463044000003 meters Centerline goodness [0,1] 0.31700853227613546 Centerline is valid? [False, False] Translation: X:10.66, Y:0.50, Z:0.38 [[ 9.98475656e-01 2.26293902e-03 -5.51474777e-02 1.06595475e+01] [-2.12676095e-03 9.99994543e-01 2.52790591e-03 4.99049478e-01] [ 5.51528972e-02 -2.40676701e-03 9.98475020e-01 3.80102653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34463044 meters Centerline goodness [0,1] 0.31596909207984547 Centerline is valid? [False, False] Translation: X:10.66, Y:0.49, Z:0.38 [[ 9.98491688e-01 2.45263440e-03 -5.48482710e-02 1.06580995e+01] [-2.28686943e-03 9.99992627e-01 3.08480449e-03 4.94918240e-01] [ 5.48554325e-02 -2.95472081e-03 9.98489935e-01 3.81206266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.37463044000003 meters Centerline goodness [0,1] 0.3139259417351403 Centerline is valid? [False, False] Translation: X:10.66, Y:0.49, Z:0.38 [[ 9.98498090e-01 2.51951954e-03 -5.47285740e-02 1.06574761e+01] [-2.34687950e-03 9.99992067e-01 3.21851709e-03 4.93995466e-01] [ 5.47362489e-02 -3.08524180e-03 9.98496081e-01 3.81686886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40463044 meters Centerline goodness [0,1] 0.3170336787564767 Centerline is valid? [False, False] Translation: X:10.66, Y:0.49, Z:0.38 [[ 9.98498535e-01 2.63905480e-03 -5.47148156e-02 1.06573020e+01] [-2.45935330e-03 9.99991360e-01 3.35140176e-03 4.93559919e-01] [ 5.47231874e-02 -3.21180668e-03 9.98496398e-01 3.81836609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.43463044000003 meters Centerline goodness [0,1] 0.31606139213143103 Centerline is valid? [False, False] Translation: X:10.66, Y:0.49, Z:0.38 [[ 9.98497212e-01 2.80456081e-03 -5.47307149e-02 1.06574920e+01] [-2.61710554e-03 9.99990463e-01 3.49641827e-03 4.93350126e-01] [ 5.47399988e-02 -3.34792784e-03 9.98495029e-01 3.81620890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46463044 meters Centerline goodness [0,1] 0.314931662139328 Centerline is valid? [False, False] Translation: X:10.66, Y:0.49, Z:0.38 [[ 9.98490837e-01 3.03182267e-03 -5.48348165e-02 1.06578454e+01] [-2.83388878e-03 9.99989187e-01 3.68703541e-03 4.93279573e-01] [ 5.48454020e-02 -3.52607530e-03 9.98488632e-01 3.81517350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49463044000004 meters Centerline goodness [0,1] 0.3157702786776221 Centerline is valid? [False, False] Translation: X:10.66, Y:0.49, Z:0.38 [[ 9.98498326e-01 3.12988721e-03 -5.46927478e-02 1.06575036e+01] [-2.92978427e-03 9.99988720e-01 3.73847035e-03 4.93233418e-01] [ 5.47038318e-02 -3.57261843e-03 9.98496233e-01 3.81516925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52463044 meters Centerline goodness [0,1] 0.31516297458155174 Centerline is valid? [False, False] Translation: X:10.66, Y:0.49, Z:0.38 [[ 9.98510744e-01 3.08502311e-03 -5.44681335e-02 1.06566554e+01] [-2.88916040e-03 9.99989076e-01 3.67428989e-03 4.92709639e-01] [ 5.44788737e-02 -3.51145075e-03 9.98508749e-01 3.81987339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55463044000004 meters Centerline goodness [0,1] 0.31484530351301077 Centerline is valid? [False, False] Translation: X:10.66, Y:0.49, Z:0.38 [[ 9.98509451e-01 3.07697922e-03 -5.44922839e-02 1.06564425e+01] [-2.88281591e-03 9.99989215e-01 3.64137990e-03 4.92777053e-01] [ 5.45029006e-02 -3.47886102e-03 9.98507552e-01 3.82335127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58463044 meters Centerline goodness [0,1] 0.3173691344478151 Centerline is valid? [False, False] Translation: X:10.66, Y:0.49, Z:0.38 [[ 9.98516829e-01 3.07698408e-03 -5.43569200e-02 1.06559174e+01] [-2.88411233e-03 9.99989266e-01 3.62633398e-03 4.92842598e-01] [ 5.43674947e-02 -3.46418405e-03 9.98514985e-01 3.82605834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61463044000004 meters Centerline goodness [0,1] 0.3122219370294319 Centerline is valid? [False, False] Translation: X:10.66, Y:0.49, Z:0.38 [[ 9.98524550e-01 3.09523599e-03 -5.42138670e-02 1.06554136e+01] [-2.90388645e-03 9.99989275e-01 3.60794923e-03 4.93183890e-01] [ 5.42244530e-02 -3.44519497e-03 9.98522829e-01 3.82850047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64463044 meters Centerline goodness [0,1] 0.3165107820213042 Centerline is valid? [False, False] Translation: X:10.66, Y:0.49, Z:0.38 [[ 9.98528643e-01 3.02447892e-03 -5.41424164e-02 1.06550398e+01] [-2.84086067e-03 9.99989951e-01 3.46803455e-03 4.93750328e-01] [ 5.41523613e-02 -3.30912078e-03 9.98527201e-01 3.83109494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67463044000004 meters Centerline goodness [0,1] 0.3165357719203873 Centerline is valid? [False, False] Translation: X:10.66, Y:0.50, Z:0.38 [[ 9.98522459e-01 2.98360752e-03 -5.42586119e-02 1.06556586e+01] [-2.81831841e-03 9.99991153e-01 3.12258070e-03 4.96235113e-01] [ 5.42674484e-02 -2.96504891e-03 9.98522034e-01 3.82642351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70463044 meters Centerline goodness [0,1] 0.31526338514680485 Centerline is valid? [False, False] Translation: X:10.66, Y:0.50, Z:0.38 [[ 9.98521129e-01 2.98767808e-03 -5.42828607e-02 1.06558698e+01] [-2.83327125e-03 9.99991719e-01 2.92121921e-03 4.97966086e-01] [ 5.42911388e-02 -2.76310104e-03 9.98521326e-01 3.82371832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73463044000005 meters Centerline goodness [0,1] 0.31599320444721624 Centerline is valid? [False, False] Translation: X:10.66, Y:0.50, Z:0.38 [[ 9.98525441e-01 2.90650888e-03 -5.42079025e-02 1.06556828e+01] [-2.77696955e-03 9.99993106e-01 2.46484544e-03 5.01298451e-01] [ 5.42146929e-02 -2.31067718e-03 9.98526629e-01 3.82355025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76463044 meters Centerline goodness [0,1] 0.31349503152046154 Centerline is valid? [False, False] Translation: X:10.66, Y:0.50, Z:0.38 [[ 9.98531568e-01 2.72259867e-03 -5.41044888e-02 1.06553407e+01] [-2.61044782e-03 9.99994296e-01 2.14341899e-03 5.02637249e-01] [ 5.41100158e-02 -1.99903458e-03 9.98532979e-01 3.82472023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79463044 meters Centerline goodness [0,1] 0.31403079826706126 Centerline is valid? [False, False] Translation: X:10.66, Y:0.50, Z:0.38 [[ 9.98530671e-01 2.61038889e-03 -5.41265708e-02 1.06553248e+01] [-2.51398953e-03 9.99995130e-01 1.84900922e-03 5.04239433e-01] [ 5.41311339e-02 -1.71021878e-03 9.98532371e-01 3.82519769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82463044 meters Centerline goodness [0,1] 0.31469251222231753 Centerline is valid? [False, False] Translation: X:10.66, Y:0.51, Z:0.38 [[ 9.98527348e-01 2.56637966e-03 -5.41899421e-02 1.06556196e+01] [-2.48208749e-03 9.99995603e-01 1.62273915e-03 5.05957277e-01] [ 5.41938684e-02 -1.48584524e-03 9.98529327e-01 3.82297523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85463044 meters Centerline goodness [0,1] 0.3142140360657847 Centerline is valid? [False, False] Translation: X:10.66, Y:0.51, Z:0.38 [[ 9.98527626e-01 2.45223594e-03 -5.41900939e-02 1.06560175e+01] [-2.38787549e-03 9.99996365e-01 1.25239470e-03 5.08297907e-01] [ 5.41929681e-02 -1.12115151e-03 9.98529852e-01 3.81740631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88463044 meters Centerline goodness [0,1] 0.3123512128166084 Centerline is valid? [False, False] Translation: X:10.66, Y:0.51, Z:0.38 [[ 9.98524424e-01 2.11972225e-03 -5.42630797e-02 1.06566386e+01] [-2.09990850e-03 9.99997706e-01 4.22155429e-04 5.13041103e-01] [ 5.42638501e-02 -3.07585004e-04 9.98526585e-01 3.81054271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91463044 meters Centerline goodness [0,1] 0.3121776902830976 Centerline is valid? [False, False] Translation: X:10.66, Y:0.52, Z:0.38 [[ 9.98521390e-01 1.93073024e-03 -5.43259312e-02 1.06566438e+01] [-1.93296740e-03 9.99998132e-01 1.13636471e-05 5.15233905e-01] [ 5.43258516e-02 9.36634093e-05 9.98523256e-01 3.81225150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94463044 meters Centerline goodness [0,1] 0.3112042063865259 Centerline is valid? [False, False] Translation: X:10.66, Y:0.52, Z:0.38 [[ 9.98515357e-01 1.81060722e-03 -5.44408180e-02 1.06568091e+01] [-1.82859635e-03 9.99998289e-01 -2.80624275e-04 5.17097966e-01] [ 5.44402167e-02 3.79757929e-04 9.98516960e-01 3.81356220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97463044 meters Centerline goodness [0,1] 0.31183603390921777 Centerline is valid? [False, False] Translation: X:10.66, Y:0.52, Z:0.38 [[ 9.98513184e-01 1.73573409e-03 -5.44830964e-02 1.06568566e+01] [-1.76389028e-03 9.99998335e-01 -4.68705008e-04 5.18507314e-01] [ 5.44821921e-02 5.64110334e-04 9.98514583e-01 3.81457235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.00463044 meters Centerline goodness [0,1] 0.31379570704346893 Centerline is valid? [False, False] Translation: X:10.66, Y:0.52, Z:0.38 [[ 9.98509514e-01 1.65925277e-03 -5.45527007e-02 1.06569095e+01] [-1.69094688e-03 9.99998427e-01 -5.34829302e-04 5.18924688e-01] [ 5.45517275e-02 6.26277866e-04 9.98510749e-01 3.81658137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03463044 meters Centerline goodness [0,1] 0.3138959676210463 Centerline is valid? [False, False] Translation: X:10.66, Y:0.52, Z:0.38 [[ 9.98478733e-01 7.14220300e-04 -5.51335567e-02 1.06583526e+01] [-7.86361027e-04 9.99998863e-01 -1.28678938e-03 5.19264836e-01] [ 5.51325749e-02 1.32818671e-03 9.98478160e-01 3.81731231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06463044000003 meters Centerline goodness [0,1] 0.31192973480003416 Centerline is valid? [False, False] Translation: X:10.66, Y:0.52, Z:0.38 [[ 9.98465116e-01 5.32944544e-04 -5.53816672e-02 1.06590520e+01] [-6.05904460e-04 9.99998971e-01 -1.30061941e-03 5.18465767e-01] [ 5.53809170e-02 1.33217911e-03 9.98464411e-01 3.81672082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09463044 meters Centerline goodness [0,1] 0.3111425569777664 Centerline is valid? [False, False] Translation: X:10.66, Y:0.52, Z:0.38 [[ 9.98464304e-01 4.71562266e-04 -5.53968580e-02 1.06592533e+01] [-5.40141540e-04 9.99999106e-01 -1.22299721e-03 5.17669343e-01] [ 5.53962318e-02 1.25104121e-03 9.98463666e-01 3.81534493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12463044000003 meters Centerline goodness [0,1] 0.3115769106739761 Centerline is valid? [False, False] Translation: X:10.66, Y:0.52, Z:0.38 [[ 9.98470162e-01 4.18897399e-04 -5.52915932e-02 1.06591031e+01] [-4.85798800e-04 9.99999166e-01 -1.19653916e-03 5.17377704e-01] [ 5.52910459e-02 1.22156924e-03 9.98469533e-01 3.81518566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15463044 meters Centerline goodness [0,1] 0.3139632017478099 Centerline is valid? [False, False] Translation: X:10.66, Y:0.52, Z:0.38 [[ 9.98469892e-01 1.99105102e-04 -5.52976958e-02 1.06591918e+01] [-2.80867352e-04 9.99998879e-01 -1.47081565e-03 5.18228471e-01] [ 5.52973410e-02 1.48409646e-03 9.98468829e-01 3.81532221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18463044000003 meters Centerline goodness [0,1] 0.31135452154038556 Centerline is valid? [False, False] Translation: X:10.66, Y:0.52, Z:0.38 [[ 9.98463506e-01 1.37627297e-04 -5.54130653e-02 1.06595642e+01] [-2.27196956e-04 9.99998678e-01 -1.61010320e-03 5.19000609e-01] [ 5.54127704e-02 1.62021897e-03 9.98462217e-01 3.81397303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21463044 meters Centerline goodness [0,1] 0.3119889239821745 Centerline is valid? [False, False] Translation: X:10.66, Y:0.52, Z:0.38 [[ 9.98451247e-01 1.32014048e-04 -5.56335241e-02 1.06601153e+01] [-2.30448626e-04 9.99998419e-01 -1.76292766e-03 5.20214444e-01] [ 5.56332035e-02 1.77301799e-03 9.98449700e-01 3.81340504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24463044000004 meters Centerline goodness [0,1] 0.3118309616955419 Centerline is valid? [False, False] Translation: X:10.66, Y:0.52, Z:0.38 [[ 9.98438572e-01 2.93851020e-04 -5.58599236e-02 1.06608038e+01] [-4.04298654e-04 9.99997986e-01 -1.96593436e-03 5.22948804e-01] [ 5.58592334e-02 1.98544879e-03 9.98436680e-01 3.81116747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27463044 meters Centerline goodness [0,1] 0.3139178814802036 Centerline is valid? [False, False] Translation: X:10.66, Y:0.52, Z:0.38 [[ 9.98453502e-01 2.72274978e-04 -5.55925352e-02 1.06601591e+01] [-3.89438682e-04 9.99997726e-01 -2.09672137e-03 5.23775685e-01] [ 5.55918379e-02 2.11512868e-03 9.98451338e-01 3.81123779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30463044000004 meters Centerline goodness [0,1] 0.30884718498659514 Centerline is valid? [False, False] Translation: X:10.66, Y:0.52, Z:0.38 [[ 9.98466831e-01 1.66346705e-04 -5.53530462e-02 1.06594356e+01] [-2.92310229e-04 9.99997386e-01 -2.26754996e-03 5.24344357e-01] [ 5.53525243e-02 2.28025369e-03 9.98464270e-01 3.81374874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33463044 meters Centerline goodness [0,1] 0.3108314839154511 Centerline is valid? [False, False] Translation: X:10.66, Y:0.52, Z:0.38 [[ 9.98478609e-01 5.46737257e-05 -5.51404134e-02 1.06587477e+01] [-1.87660102e-04 9.99997087e-01 -2.40660203e-03 5.24582654e-01] [ 5.51401212e-02 2.41328830e-03 9.98475710e-01 3.81618049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36463044000004 meters Centerline goodness [0,1] 0.3106854363523387 Centerline is valid? [False, False] Translation: X:10.66, Y:0.53, Z:0.38 [[ 9.98483778e-01 -2.14894437e-05 -5.50467432e-02 1.06583857e+01] [-1.18245137e-04 9.99996779e-01 -2.53521313e-03 5.25197909e-01] [ 5.50466203e-02 2.53787819e-03 9.98480560e-01 3.81844787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39463044 meters Centerline goodness [0,1] 0.3090183695675365 Centerline is valid? [False, False] Translation: X:10.66, Y:0.53, Z:0.38 [[ 9.98477846e-01 -1.82345724e-05 -5.51542460e-02 1.06586821e+01] [-1.27579703e-04 9.99996506e-01 -2.64023219e-03 5.26184499e-01] [ 5.51541015e-02 2.64324991e-03 9.98474355e-01 3.81799751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42463044000004 meters Centerline goodness [0,1] 0.308556482215981 Centerline is valid? [False, False] Translation: X:10.66, Y:0.53, Z:0.38 [[ 9.98450606e-01 8.27954606e-06 -5.56451857e-02 1.06604680e+01] [-1.72978108e-04 9.99995619e-01 -2.95498316e-03 5.28977896e-01] [ 5.56449174e-02 2.96003013e-03 9.98446234e-01 3.80998705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45463044 meters Centerline goodness [0,1] 0.30765923601109224 Centerline is valid? [False, False] Translation: X:10.66, Y:0.53, Z:0.38 [[ 9.98440192e-01 -2.30860131e-05 -5.58317290e-02 1.06611306e+01] [-1.54918719e-04 9.99994919e-01 -3.18390589e-03 5.30518744e-01] [ 5.58315189e-02 3.18758899e-03 9.98435116e-01 3.80658342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48463044000005 meters Centerline goodness [0,1] 0.3080791867308721 Centerline is valid? [False, False] Translation: X:10.66, Y:0.53, Z:0.38 [[ 9.98441004e-01 -9.17043361e-05 -5.58171474e-02 1.06611407e+01] [-1.01725792e-04 9.99994000e-01 -3.46257372e-03 5.32250569e-01] [ 5.58171300e-02 3.46285362e-03 9.98435004e-01 3.80581476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51463044 meters Centerline goodness [0,1] 0.30838444933638254 Centerline is valid? [False, False] Translation: X:10.66, Y:0.53, Z:0.38 [[ 9.98460352e-01 8.09832546e-05 -5.54699833e-02 1.06598555e+01] [-2.79182472e-04 9.99993605e-01 -3.56534977e-03 5.34435241e-01] [ 5.54693398e-02 3.57534663e-03 9.98453990e-01 3.81120347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54463044 meters Centerline goodness [0,1] 0.31162911837478835 Centerline is valid? [False, False] Translation: X:10.62, Y:0.53, Z:0.38 [[ 9.98399272e-01 -5.49523062e-04 -5.65560867e-02 1.06151984e+01] [ 3.44593917e-04 9.99993341e-01 -3.63315601e-03 5.31554260e-01] [ 5.65577066e-02 3.60785144e-03 9.98392813e-01 3.78733244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.57463044 meters Centerline goodness [0,1] 0.30956372232967977 Centerline is valid? [False, False] Translation: X:10.63, Y:0.54, Z:0.38 [[ 9.98385801e-01 -8.35116467e-03 -5.61787374e-02 1.06347575e+01] [ 8.21698442e-03 9.99962810e-01 -2.61902513e-03 5.35486828e-01] [ 5.61985200e-02 2.15317769e-03 9.98417293e-01 3.80993679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60463044 meters Centerline goodness [0,1] 0.3104561101549054 Centerline is valid? [False, False] Translation: X:10.63, Y:0.53, Z:0.38 [[ 9.98392490e-01 -8.43722495e-03 -5.60468461e-02 1.06345077e+01] [ 8.31895836e-03 9.99962652e-01 -2.34311633e-03 5.33073892e-01] [ 5.60645223e-02 1.87309837e-03 9.98425391e-01 3.81074745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.63463044 meters Centerline goodness [0,1] 0.3101192269616494 Centerline is valid? [False, False] Translation: X:10.64, Y:0.53, Z:0.38 [[ 9.98341940e-01 -1.19544400e-02 -5.63068537e-02 1.06357802e+01] [ 1.16995877e-02 9.99919778e-01 -4.85361775e-03 5.27138779e-01] [ 5.63603590e-02 4.18680319e-03 9.98401713e-01 3.80666379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66463044 meters Centerline goodness [0,1] 0.3096939987474896 Centerline is valid? [False, False] Translation: X:10.64, Y:0.52, Z:0.38 [[ 9.98312431e-01 -1.19181653e-02 -5.68352744e-02 1.06374606e+01] [ 1.16897892e-02 9.99922215e-01 -4.34899675e-03 5.23694216e-01] [ 5.68826855e-02 3.67726514e-03 9.98374097e-01 3.80214012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.69463044 meters Centerline goodness [0,1] 0.31357435347187246 Centerline is valid? [False, False] Translation: X:10.62, Y:0.51, Z:0.38 [[ 9.98378606e-01 -4.42208857e-03 -5.67503672e-02 1.06197470e+01] [ 4.14157409e-03 9.99978624e-01 -5.05961628e-03 5.14944579e-01] [ 5.67715281e-02 4.81637680e-03 9.98375579e-01 3.77183412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72463044 meters Centerline goodness [0,1] 0.3093075684380032 Centerline is valid? [False, False] Translation: X:10.66, Y:0.51, Z:0.38 [[ 9.98434212e-01 -4.03355355e-03 -5.57929560e-02 1.06626840e+01] [ 3.77633321e-03 9.99981754e-01 -4.71492642e-03 5.14112238e-01] [ 5.58109559e-02 4.49685106e-03 9.98431227e-01 3.80028202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.75463044 meters Centerline goodness [0,1] 0.3104456281668182 Centerline is valid? [False, False] Translation: X:10.66, Y:0.51, Z:0.38 [[ 9.98427870e-01 -3.91526387e-03 -5.59147556e-02 1.06628980e+01] [ 3.67033835e-03 9.99983218e-01 -4.48236003e-03 5.12822416e-01] [ 5.59313669e-02 4.27008711e-03 9.98425485e-01 3.80160604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78463044 meters Centerline goodness [0,1] 0.3086161542110484 Centerline is valid? [False, False] Translation: X:10.68, Y:0.51, Z:0.38 [[ 9.98451918e-01 4.87352753e-03 -5.54077314e-02 1.06824860e+01] [-5.17008994e-03 9.99973061e-01 -5.21028306e-03 5.09569114e-01] [ 5.53808463e-02 5.48868007e-03 9.98450217e-01 3.82705802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.81463044000003 meters Centerline goodness [0,1] 0.30293561209956843 Centerline is valid? [False, False] Translation: X:10.70, Y:0.51, Z:0.38 [[ 9.98492298e-01 4.55998195e-05 -5.48919647e-02 1.07038947e+01] [-1.66893126e-04 9.99997555e-01 -2.20509129e-03 5.12056002e-01] [ 5.48917299e-02 2.21092776e-03 9.98489865e-01 3.83846577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84463044 meters Centerline goodness [0,1] 0.3091533426333297 Centerline is valid? [False, False] Translation: X:10.70, Y:0.51, Z:0.38 [[ 9.98505783e-01 1.84028305e-04 -5.46458440e-02 1.07031527e+01] [-3.00485395e-04 9.99997701e-01 -2.12291575e-03 5.11874806e-01] [ 5.46453277e-02 2.13616393e-03 9.98503543e-01 3.84008290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.87463044000003 meters Centerline goodness [0,1] 0.31143761983755947 Centerline is valid? [False, False] Translation: X:10.70, Y:0.51, Z:0.38 [[ 9.98521785e-01 2.40672605e-04 -5.43524312e-02 1.07022061e+01] [-3.52632938e-04 9.99997836e-01 -2.05031468e-03 5.11263146e-01] [ 5.43518202e-02 2.06645033e-03 9.98519709e-01 3.84380127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90463044 meters Centerline goodness [0,1] 0.31466149202242344 Centerline is valid? [False, False] Translation: X:10.70, Y:0.51, Z:0.39 [[ 9.98562303e-01 2.58980402e-04 -5.36028021e-02 1.06999977e+01] [-3.49124462e-04 9.99998541e-01 -1.67234733e-03 5.07816694e-01] [ 5.36022908e-02 1.68865705e-03 9.98560936e-01 3.85107210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.93463044000003 meters Centerline goodness [0,1] 0.31765466695408495 Centerline is valid? [False, False] Translation: X:10.70, Y:0.51, Z:0.39 [[ 9.98570574e-01 3.27672089e-04 -5.34481203e-02 1.06995024e+01] [-3.97812950e-04 9.99999074e-01 -1.30168321e-03 5.05285051e-01] [ 5.34476443e-02 1.32108490e-03 9.98569779e-01 3.85344714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96463044 meters Centerline goodness [0,1] 0.31765466695408495 Centerline is valid? [False, False] Translation: X:10.70, Y:0.51, Z:0.39 [[ 9.98570574e-01 3.27672089e-04 -5.34481203e-02 1.06995024e+01] [-3.97812950e-04 9.99999074e-01 -1.30168321e-03 5.05285051e-01] [ 5.34476443e-02 1.32108490e-03 9.98569779e-01 3.85344714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.99463044000004 meters Centerline goodness [0,1] 0.314073115496603 Centerline is valid? [False, False] Translation: X:10.70, Y:0.50, Z:0.39 [[ 9.98581916e-01 4.07726433e-04 -5.32352423e-02 1.06990671e+01] [-4.53455060e-04 9.99999539e-01 -8.46916000e-04 5.02288836e-01] [ 5.32348724e-02 8.69854792e-04 9.98581640e-01 3.85376358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02463044 meters Centerline goodness [0,1] 0.31676258374849686 Centerline is valid? [False, False] Translation: X:10.70, Y:0.49, Z:0.39 [[ 9.98609633e-01 -2.84425711e-04 -5.27135658e-02 1.06981342e+01] [ 2.49744417e-04 9.99999748e-01 -6.64505587e-04 4.94116650e-01] [ 5.27137415e-02 6.50416762e-04 9.98609452e-01 3.85290064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05463044000004 meters Centerline goodness [0,1] 0.31863344706967955 Centerline is valid? [False, False] Translation: X:10.70, Y:0.49, Z:0.39 [[ 9.98605945e-01 -1.44056938e-04 -5.27839613e-02 1.06985170e+01] [ 1.36803195e-04 9.99999981e-01 -1.41036241e-04 4.90775921e-01] [ 5.27839806e-02 1.33618614e-04 9.98605945e-01 3.85109713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08463044 meters Centerline goodness [0,1] 0.31814152595507317 Centerline is valid? [False, False] Translation: X:10.70, Y:0.49, Z:0.38 [[ 9.98594563e-01 3.48092038e-05 -5.29990342e-02 1.06993580e+01] [-1.68271483e-05 9.99999942e-01 3.39736436e-04 4.87940063e-01] [ 5.29990429e-02 -3.38367135e-04 9.98594506e-01 3.84746297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11463044000004 meters Centerline goodness [0,1] 0.3195894111291194 Centerline is valid? [False, False] Translation: X:10.70, Y:0.49, Z:0.38 [[ 9.98583067e-01 1.78541175e-04 -5.32149137e-02 1.07004032e+01] [-1.39873853e-04 9.99999724e-01 7.30349121e-04 4.85611098e-01] [ 5.32150294e-02 -7.21870890e-04 9.98582816e-01 3.84082395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14463044 meters Centerline goodness [0,1] 0.3150632180219498 Centerline is valid? [False, False] Translation: X:10.70, Y:0.48, Z:0.38 [[ 9.98549272e-01 6.78379936e-04 -5.38413593e-02 1.07027625e+01] [-5.97229818e-04 9.99998661e-01 1.52328302e-03 4.82005001e-01] [ 5.38423206e-02 -1.48891748e-03 9.98548340e-01 3.83029741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17463044000004 meters Centerline goodness [0,1] 0.3126752123948726 Centerline is valid? [False, False] Translation: X:10.70, Y:0.48, Z:0.38 [[ 9.98543643e-01 8.23731861e-04 -5.39436152e-02 1.07032783e+01] [-7.29776812e-04 9.99998182e-01 1.76140154e-03 4.80763841e-01] [ 5.39449681e-02 -1.71946951e-03 9.98542430e-01 3.82688310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20463044 meters Centerline goodness [0,1] 0.3147944080724271 Centerline is valid? [False, False] Translation: X:10.70, Y:0.48, Z:0.38 [[ 9.98547321e-01 9.52897302e-04 -5.38733757e-02 1.07032672e+01] [-8.47802391e-04 9.99997693e-01 1.97359635e-03 4.79771115e-01] [ 5.38751321e-02 -1.92505537e-03 9.98545825e-01 3.82478204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23463044000005 meters Centerline goodness [0,1] 0.316282374216883 Centerline is valid? [False, False] Translation: X:10.70, Y:0.48, Z:0.38 [[ 9.98548569e-01 1.04621535e-03 -5.38484935e-02 1.07033250e+01] [-9.33155729e-04 9.99997307e-01 2.12468742e-03 4.78989478e-01] [ 5.38505713e-02 -2.07135455e-03 9.98546857e-01 3.82359739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26463044 meters Centerline goodness [0,1] 0.31365527297679807 Centerline is valid? [False, False] Translation: X:10.70, Y:0.48, Z:0.38 [[ 9.98547032e-01 1.14852256e-03 -5.38749100e-02 1.07034221e+01] [-1.02678263e-03 9.99996857e-01 2.28730218e-03 4.78172245e-01] [ 5.38773677e-02 -2.22866098e-03 9.98545073e-01 3.82354375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29463044 meters Centerline goodness [0,1] 0.31722054380664655 Centerline is valid? [False, False] Translation: X:10.70, Y:0.48, Z:0.38 [[ 9.98542985e-01 1.14295345e-03 -5.39499927e-02 1.07040007e+01] [-1.01410021e-03 9.99996568e-01 2.41569772e-03 4.76322556e-01] [ 5.39525686e-02 -2.35746732e-03 9.98540717e-01 3.81898796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32463044 meters Centerline goodness [0,1] 0.3153671687778158 Centerline is valid? [False, False] Translation: X:10.70, Y:0.48, Z:0.38 [[ 9.98537374e-01 1.16210711e-03 -5.40533257e-02 1.07045187e+01] [-1.02574211e-03 9.99996221e-01 2.55046062e-03 4.75089770e-01] [ 5.40560853e-02 -2.49128548e-03 9.98534793e-01 3.81570605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35463044 meters Centerline goodness [0,1] 0.31474352080868906 Centerline is valid? [False, False] Translation: X:10.70, Y:0.47, Z:0.38 [[ 9.98534501e-01 1.21941462e-03 -5.41051168e-02 1.07048504e+01] [-1.07542732e-03 9.99995803e-01 2.69028572e-03 4.74149607e-01] [ 5.41081703e-02 -2.62815698e-03 9.98531621e-01 3.81299971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38463044 meters Centerline goodness [0,1] 0.31760686717550646 Centerline is valid? [False, False] Translation: X:10.71, Y:0.47, Z:0.38 [[ 9.98526364e-01 1.30354621e-03 -5.42531287e-02 1.07053951e+01] [-1.15192935e-03 9.99995344e-01 2.82579675e-03 4.73594073e-01] [ 5.42565597e-02 -2.75913679e-03 9.98523216e-01 3.81079901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41463044 meters Centerline goodness [0,1] 0.31310469937802354 Centerline is valid? [False, False] Translation: X:10.71, Y:0.47, Z:0.38 [[ 9.98504909e-01 1.49743755e-03 -5.46415916e-02 1.07067260e+01] [-1.33228671e-03 9.99994435e-01 3.05873960e-03 4.72843991e-01] [ 5.46458678e-02 -2.98136824e-03 9.98501347e-01 3.80523790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44463044 meters Centerline goodness [0,1] 0.3142344601020144 Centerline is valid? [False, False] Translation: X:10.71, Y:0.47, Z:0.38 [[ 9.98494438e-01 1.58201498e-03 -5.48302414e-02 1.07073754e+01] [-1.41158147e-03 9.99994052e-01 3.14697363e-03 4.72592706e-01] [ 5.48348938e-02 -3.06483831e-03 9.98490732e-01 3.80233532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47463044 meters Centerline goodness [0,1] 0.3125161903117175 Centerline is valid? [False, False] Translation: X:10.71, Y:0.47, Z:0.38 [[ 9.98485532e-01 1.65199572e-03 -5.49901116e-02 1.07080538e+01] [-1.47558707e-03 9.99993635e-01 3.24845429e-03 4.72283795e-01] [ 5.49951281e-02 -3.16239191e-03 9.98481615e-01 3.79885296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.50463044 meters Centerline goodness [0,1] 0.311399723852261 Centerline is valid? [False, False] Translation: X:10.71, Y:0.47, Z:0.38 [[ 9.98481638e-01 1.75478396e-03 -5.50575997e-02 1.07083879e+01] [-1.57160259e-03 9.99993086e-01 3.37020677e-03 4.71975111e-01] [ 5.50631331e-02 -3.27856091e-03 9.98477492e-01 3.79649236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53463044 meters Centerline goodness [0,1] 0.3130055067974531 Centerline is valid? [False, False] Translation: X:10.71, Y:0.47, Z:0.38 [[ 9.98500007e-01 1.87283172e-03 -5.47195403e-02 1.07070883e+01] [-1.67885849e-03 9.99992144e-01 3.59061485e-03 4.71101592e-01] [ 5.47258351e-02 -3.49336259e-03 9.98495308e-01 3.80448458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56463044000003 meters Centerline goodness [0,1] 0.3126437275677535 Centerline is valid? [False, False] Translation: X:10.71, Y:0.47, Z:0.38 [[ 9.98516655e-01 1.91591968e-03 -5.44134030e-02 1.07059191e+01] [-1.71655092e-03 9.99991643e-01 3.71046421e-03 4.70596935e-01] [ 5.44200572e-02 -3.61155693e-03 9.98511599e-01 3.81060917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59463044 meters Centerline goodness [0,1] 0.3123475181898655 Centerline is valid? [False, False] Translation: X:10.71, Y:0.47, Z:0.38 [[ 9.98532829e-01 1.93058079e-03 -5.41152638e-02 1.07050401e+01] [-1.72802182e-03 9.99991326e-01 3.78964308e-03 4.70296668e-01] [ 5.41221106e-02 -3.69057067e-03 9.98527504e-01 3.81379575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62463044000003 meters Centerline goodness [0,1] 0.3136983935049231 Centerline is valid? [False, False] Translation: X:10.70, Y:0.47, Z:0.38 [[ 9.98543256e-01 1.94284467e-03 -5.39220915e-02 1.07046518e+01] [-1.73735825e-03 9.99991051e-01 3.85741564e-03 4.70061035e-01] [ 5.39291033e-02 -3.75811438e-03 9.98537695e-01 3.81382335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65463044 meters Centerline goodness [0,1] 0.3088159143868128 Centerline is valid? [False, False] Translation: X:10.71, Y:0.47, Z:0.38 [[ 9.98534147e-01 1.82284725e-03 -5.40946732e-02 1.07055818e+01] [-1.61661419e-03 9.99991259e-01 3.85595894e-03 4.69726253e-01] [ 5.41012292e-02 -3.76285645e-03 9.98528366e-01 3.80758136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68463044000003 meters Centerline goodness [0,1] 0.3113117870722434 Centerline is valid? [False, False] Translation: X:10.71, Y:0.47, Z:0.38 [[ 9.98532972e-01 1.71534704e-03 -5.41198843e-02 1.07055567e+01] [-1.50978357e-03 9.99991491e-01 3.83895442e-03 4.69216293e-01] [ 5.41260090e-02 -3.75161325e-03 9.98527066e-01 3.80941348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71463044 meters Centerline goodness [0,1] 0.30938115210134387 Centerline is valid? [False, False] Translation: X:10.70, Y:0.47, Z:0.38 [[ 9.98539846e-01 1.58408793e-03 -5.39969080e-02 1.07048690e+01] [-1.37874237e-03 9.99991677e-01 3.83995245e-03 4.68416361e-01] [ 5.40025414e-02 -3.75989770e-03 9.98533719e-01 3.81566016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74463044000004 meters Centerline goodness [0,1] 0.31082478669309666 Centerline is valid? [False, False] Translation: X:10.70, Y:0.47, Z:0.38 [[ 9.98552171e-01 1.50705970e-03 -5.37707259e-02 1.07040248e+01] [-1.29878471e-03 9.99991520e-01 3.90812336e-03 4.67521617e-01] [ 5.37761597e-02 -3.83262847e-03 9.98545660e-01 3.82057470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77463044 meters Centerline goodness [0,1] 0.30980003874383866 Centerline is valid? [False, False] Translation: X:10.70, Y:0.47, Z:0.38 [[ 9.98542614e-01 1.35347170e-03 -5.39519738e-02 1.07046276e+01] [-1.14090381e-03 9.99991466e-01 3.97055116e-03 4.66355518e-01] [ 5.39568874e-02 -3.90321052e-03 9.98535637e-01 3.81937085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80463044000004 meters Centerline goodness [0,1] 0.309680743714709 Centerline is valid? [False, False] Translation: X:10.71, Y:0.47, Z:0.38 [[ 9.98526172e-01 1.30341971e-03 -5.42566545e-02 1.07055779e+01] [-1.08574962e-03 9.99991245e-01 4.04114281e-03 4.65498229e-01] [ 5.42614468e-02 -3.97627772e-03 9.98518845e-01 3.81676664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83463044 meters Centerline goodness [0,1] 0.3115794489689828 Centerline is valid? [False, False] Translation: X:10.71, Y:0.46, Z:0.38 [[ 9.98508363e-01 1.28011788e-03 -5.45839667e-02 1.07067319e+01] [-1.05433723e-03 9.99990771e-01 4.16498722e-03 4.64371828e-01] [ 5.45887946e-02 -4.10122466e-03 9.98500497e-01 3.81230404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86463044000004 meters Centerline goodness [0,1] 0.30768405237175356 Centerline is valid? [False, False] Translation: X:10.71, Y:0.46, Z:0.38 [[ 9.98478809e-01 1.21074084e-03 -5.51235175e-02 1.07083026e+01] [-9.78179697e-04 9.99990509e-01 4.24569512e-03 4.63186082e-01] [ 5.51281348e-02 -4.18531590e-03 9.98470516e-01 3.80889942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89463044 meters Centerline goodness [0,1] 0.3086694463047376 Centerline is valid? [False, False] Translation: X:10.71, Y:0.46, Z:0.38 [[ 9.98455910e-01 1.18515172e-03 -5.55373022e-02 1.07098957e+01] [-9.42140733e-04 9.99989869e-01 4.40161341e-03 4.61706927e-01] [ 5.55419561e-02 -4.34249297e-03 9.98446911e-01 3.80153706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92463044000004 meters Centerline goodness [0,1] 0.30628519840075663 Centerline is valid? [False, False] Translation: X:10.71, Y:0.46, Z:0.38 [[ 9.98425657e-01 1.13002036e-03 -5.60796815e-02 1.07119724e+01] [-8.74071787e-04 9.99989092e-01 4.58833439e-03 4.59312520e-01] [ 5.60842547e-02 -4.53209311e-03 9.98415753e-01 3.79240290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95463044 meters Centerline goodness [0,1] 0.3046397263202908 Centerline is valid? [False, False] Translation: X:10.71, Y:0.46, Z:0.38 [[ 9.98427913e-01 1.13642839e-03 -5.60393699e-02 1.07118226e+01] [-8.76866963e-04 9.99988776e-01 4.65614056e-03 4.58498232e-01] [ 5.60440323e-02 -4.59968163e-03 9.98417703e-01 3.79376636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98463044000005 meters Centerline goodness [0,1] 0.30295918585052595 Centerline is valid? [False, False] Translation: X:10.71, Y:0.46, Z:0.38 [[ 9.98435788e-01 1.12822205e-03 -5.58990611e-02 1.07112758e+01] [-8.67027221e-04 9.99988595e-01 4.69664735e-03 4.57747295e-01] [ 5.59037224e-02 -4.64083479e-03 9.98425379e-01 3.79680824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01463044 meters Centerline goodness [0,1] 0.30933873086281516 Centerline is valid? [False, False] Translation: X:10.71, Y:0.46, Z:0.38 [[ 9.98436874e-01 1.46071407e-03 -5.58719499e-02 1.07113973e+01] [-1.18180175e-03 9.99986678e-01 5.02470690e-03 4.57097954e-01] [ 5.58785452e-02 -4.95082308e-03 9.98425299e-01 3.79438786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04463044 meters Centerline goodness [0,1] 0.3090190829807443 Centerline is valid? [False, False] Translation: X:10.71, Y:0.46, Z:0.38 [[ 9.98430748e-01 1.60755981e-03 -5.59772923e-02 1.07120008e+01] [-1.32656544e-03 9.99986335e-01 5.05658822e-03 4.57779745e-01] [ 5.59846562e-02 -4.97439562e-03 9.98419237e-01 3.78974554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07463044 meters Centerline goodness [0,1] 0.3090983997571447 Centerline is valid? [False, False] Translation: X:10.71, Y:0.46, Z:0.38 [[ 9.98420575e-01 1.72237290e-03 -5.61550502e-02 1.07126895e+01] [-1.44639176e-03 9.99986678e-01 4.95489999e-03 4.58940716e-01] [ 5.61628363e-02 -4.86585189e-03 9.98409765e-01 3.78560652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10463044 meters Centerline goodness [0,1] 0.30823427706937545 Centerline is valid? [False, False] Translation: X:10.71, Y:0.46, Z:0.38 [[ 9.98422371e-01 1.69573654e-03 -5.61239090e-02 1.07127837e+01] [-1.43093857e-03 9.99987657e-01 4.75794611e-03 4.59932487e-01] [ 5.61312845e-02 -4.67012997e-03 9.98412474e-01 3.78278432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.13463044 meters Centerline goodness [0,1] 0.31053680516442095 Centerline is valid? [False, False] Translation: X:10.71, Y:0.46, Z:0.38 [[ 9.98436937e-01 1.70695344e-03 -5.58638398e-02 1.07118948e+01] [-1.45202631e-03 9.99988349e-01 4.60363714e-03 4.60750775e-01] [ 5.58710471e-02 -4.51532561e-03 9.98427783e-01 3.78615827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16463044 meters Centerline goodness [0,1] 0.3097766621612924 Centerline is valid? [False, False] Translation: X:10.71, Y:0.46, Z:0.38 [[ 9.98446941e-01 1.81050961e-03 -5.56814813e-02 1.07113312e+01] [-1.54707401e-03 9.99987408e-01 4.77385826e-03 4.60265465e-01] [ 5.56894233e-02 -4.68030081e-03 9.98437170e-01 3.78827269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.19463044 meters Centerline goodness [0,1] 0.30938221956019507 Centerline is valid? [False, False] Translation: X:10.71, Y:0.46, Z:0.38 [[ 9.98459205e-01 1.86906143e-03 -5.54591978e-02 1.07107883e+01] [-1.59522736e-03 9.99986320e-01 4.98143567e-03 4.59204402e-01] [ 5.54677498e-02 -4.88529027e-03 9.98448528e-01 3.78931997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22463044 meters Centerline goodness [0,1] 0.3106094905461052 Centerline is valid? [False, False] Translation: X:10.71, Y:0.46, Z:0.38 [[ 9.98471855e-01 1.83227675e-03 -5.52322119e-02 1.07101858e+01] [-1.55059074e-03 9.99985575e-01 5.14245388e-03 4.57721111e-01] [ 5.52408376e-02 -5.04895291e-03 9.98460294e-01 3.79129320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.25463044 meters Centerline goodness [0,1] 0.30785961021791974 Centerline is valid? [False, False] Translation: X:10.73, Y:0.46, Z:0.38 [[ 9.98535876e-01 7.20220782e-03 -5.36118669e-02 1.07310227e+01] [-7.11810099e-03 9.99973118e-01 1.75959178e-03 4.56475826e-01] [ 5.36230986e-02 -1.37540084e-03 9.98560299e-01 3.80221193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28463044 meters Centerline goodness [0,1] 0.31123436089255774 Centerline is valid? [False, False] Translation: X:10.73, Y:0.45, Z:0.38 [[ 9.98539076e-01 7.04960519e-03 -5.35725439e-02 1.07309795e+01] [-6.94557665e-03 9.99973615e-01 2.12775970e-03 4.53079056e-01] [ 5.35861303e-02 -1.75255899e-03 9.98561693e-01 3.80305571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.31463044000003 meters Centerline goodness [0,1] 0.3105703259005146 Centerline is valid? [False, False] Translation: X:10.73, Y:0.45, Z:0.38 [[ 9.98525382e-01 7.15844833e-03 -5.38128011e-02 1.07316438e+01] [-7.03294771e-03 9.99972090e-01 2.52117970e-03 4.50977884e-01] [ 5.38293470e-02 -2.13899930e-03 9.98547859e-01 3.80260215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34463044 meters Centerline goodness [0,1] 0.3113626035963907 Centerline is valid? [False, False] Translation: X:10.73, Y:0.45, Z:0.38 [[ 9.98517551e-01 7.23609945e-03 -5.39475581e-02 1.07320699e+01] [-7.09267290e-03 9.99970786e-01 2.84961335e-03 4.48948306e-01] [ 5.39666021e-02 -2.46275656e-03 9.98539704e-01 3.80182792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.37463044000003 meters Centerline goodness [0,1] 0.31254606147310005 Centerline is valid? [False, False] Translation: X:10.73, Y:0.45, Z:0.38 [[ 9.98506213e-01 7.26642018e-03 -5.41529541e-02 1.07324618e+01] [-7.10569462e-03 9.99969761e-01 3.15994266e-03 4.46632557e-01] [ 5.41742781e-02 -2.77042802e-03 9.98527652e-01 3.80385020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40463044 meters Centerline goodness [0,1] 0.31190517390552 Centerline is valid? [False, False] Translation: X:10.73, Y:0.44, Z:0.38 [[ 9.98543788e-01 3.45872897e-03 -5.38362392e-02 1.07317865e+01] [-3.47198706e-03 9.99993961e-01 -1.52741561e-04 4.44554856e-01] [ 5.38353858e-02 3.39437863e-04 9.98549766e-01 3.80417821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.43463044000003 meters Centerline goodness [0,1] 0.31059372858122003 Centerline is valid? [False, False] Translation: X:10.75, Y:0.45, Z:0.38 [[ 9.98550245e-01 -3.87219735e-03 -5.36881226e-02 1.07513667e+01] [ 3.92907338e-03 9.99991826e-01 9.53869978e-04 4.47481564e-01] [ 5.36839902e-02 -1.16343167e-03 9.98557297e-01 3.82518848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46463044 meters Centerline goodness [0,1] 0.3147372511766484 Centerline is valid? [False, False] Translation: X:10.75, Y:0.45, Z:0.38 [[ 9.98548594e-01 -3.76839366e-03 -5.37262025e-02 1.07514457e+01] [ 3.83983338e-03 9.99991876e-01 1.22653700e-03 4.46068671e-01] [ 5.37211440e-02 -1.43105647e-03 9.98554951e-01 3.82548915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49463044000004 meters Centerline goodness [0,1] 0.3120734795484785 Centerline is valid? [False, False] Translation: X:10.75, Y:0.44, Z:0.38 [[ 9.98533543e-01 -3.60117518e-03 -5.40166213e-02 1.07524532e+01] [ 3.69433051e-03 9.99991856e-01 1.62481616e-03 4.44154401e-01] [ 5.40103301e-02 -1.82198869e-03 9.98538715e-01 3.82234610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52463044 meters Centerline goodness [0,1] 0.310605252490773 Centerline is valid? [False, False] Translation: X:10.75, Y:0.44, Z:0.38 [[ 9.98517437e-01 -3.59055984e-03 -5.43142417e-02 1.07532583e+01] [ 3.68607618e-03 9.99991831e-01 1.65851198e-03 4.43796509e-01] [ 5.43078430e-02 -1.85625956e-03 9.98522515e-01 3.82120128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55463044000004 meters Centerline goodness [0,1] 0.3093264579915195 Centerline is valid? [False, False] Translation: X:10.75, Y:0.44, Z:0.38 [[ 9.98511412e-01 -3.60288806e-03 -5.44240674e-02 1.07537509e+01] [ 3.69889795e-03 9.99991775e-01 1.66348081e-03 4.43516329e-01] [ 5.44176264e-02 -1.86231365e-03 9.98516527e-01 3.81834120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58463044 meters Centerline goodness [0,1] 0.3169488597097443 Centerline is valid? [False, False] Translation: X:10.74, Y:0.44, Z:0.38 [[ 9.98559947e-01 3.17695155e-03 -5.35531472e-02 1.07355809e+01] [-3.14894811e-03 9.99994858e-01 6.07280052e-04 4.36611690e-01] [ 5.35548012e-02 -4.37769455e-04 9.98564816e-01 3.79004050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61463044000004 meters Centerline goodness [0,1] 0.3126069472963724 Centerline is valid? [False, False] Translation: X:10.76, Y:0.44, Z:0.38 [[ 9.98627569e-01 -4.85311130e-03 -5.21481124e-02 1.07551857e+01] [ 4.93683662e-03 9.99986723e-01 1.47683744e-03 4.36951765e-01] [ 5.21402528e-02 -1.73225730e-03 9.98638270e-01 3.81166189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64463044 meters Centerline goodness [0,1] 0.3170558484881093 Centerline is valid? [False, False] Translation: X:10.75, Y:0.43, Z:0.38 [[ 9.98631767e-01 -4.93053069e-03 -5.20603804e-02 1.07549231e+01] [ 5.02855036e-03 9.99985822e-01 1.75199165e-03 4.34486300e-01] [ 5.20510040e-02 -2.01138276e-03 9.98642402e-01 3.81297379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67463044000004 meters Centerline goodness [0,1] 0.31627477109573143 Centerline is valid? [False, False] Translation: X:10.76, Y:0.43, Z:0.38 [[ 9.98624120e-01 -4.98710383e-03 -5.22015008e-02 1.07553443e+01] [ 5.10206914e-03 9.99984843e-01 2.06930950e-03 4.31674193e-01] [ 5.21903897e-02 -2.33279805e-03 9.98634428e-01 3.81307716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70463044 meters Centerline goodness [0,1] 0.31578721394530074 Centerline is valid? [False, False] Translation: X:10.76, Y:0.43, Z:0.38 [[ 9.98608124e-01 -5.00329175e-03 -5.25050629e-02 1.07560734e+01] [ 5.13805467e-03 9.99983843e-01 2.43199834e-03 4.28774455e-01] [ 5.24920466e-02 -2.69838718e-03 9.98617696e-01 3.81397917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73463044000005 meters Centerline goodness [0,1] 0.3191471013086691 Centerline is valid? [False, False] Translation: X:10.76, Y:0.42, Z:0.38 [[ 9.98570515e-01 -5.36927816e-03 -5.31798595e-02 1.07580190e+01] [ 5.52005627e-03 9.99981150e-01 2.68877145e-03 4.23200899e-01] [ 5.31644203e-02 -2.97848371e-03 9.98581330e-01 3.81084726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76463044 meters Centerline goodness [0,1] 0.31760674181520354 Centerline is valid? [False, False] Translation: X:10.76, Y:0.42, Z:0.38 [[ 9.98562542e-01 -5.24090503e-03 -5.33421202e-02 1.07584738e+01] [ 5.41290670e-03 9.99980605e-01 3.08053909e-03 4.20871789e-01] [ 5.33249409e-02 -3.36484687e-03 9.98571544e-01 3.80999680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.79463044 meters Centerline goodness [0,1] 0.3172642101391263 Centerline is valid? [False, False] Translation: X:10.76, Y:0.42, Z:0.38 [[ 9.98570128e-01 -5.19335052e-03 -5.32045876e-02 1.07581160e+01] [ 5.37936109e-03 9.99979908e-01 3.35352884e-03 4.18999018e-01] [ 5.31861026e-02 -3.63494042e-03 9.98578002e-01 3.81123456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82463044 meters Centerline goodness [0,1] 0.3184747699006316 Centerline is valid? [False, False] Translation: X:10.76, Y:0.42, Z:0.38 [[ 9.98581625e-01 -5.01204725e-03 -5.30058261e-02 1.07575650e+01] [ 5.22974970e-03 9.99978447e-01 3.96923789e-03 4.15315097e-01] [ 5.29847897e-02 -4.24081522e-03 9.98586315e-01 3.81368587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.85463044 meters Centerline goodness [0,1] 0.3184747699006316 Centerline is valid? [False, False] Translation: X:10.76, Y:0.42, Z:0.38 [[ 9.98581625e-01 -5.01204725e-03 -5.30058261e-02 1.07575650e+01] [ 5.22974970e-03 9.99978447e-01 3.96923789e-03 4.15315097e-01] [ 5.29847897e-02 -4.24081522e-03 9.98586315e-01 3.81368587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88463044 meters Centerline goodness [0,1] 0.3182752859529624 Centerline is valid? [False, False] Translation: X:10.76, Y:0.41, Z:0.38 [[ 9.98572428e-01 -4.93147573e-03 -5.31863352e-02 1.07582708e+01] [ 5.16496144e-03 9.99977616e-01 4.25339990e-03 4.13639936e-01] [ 5.31641691e-02 -4.52203324e-03 9.98575547e-01 3.81065392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.91463044 meters Centerline goodness [0,1] 0.31518465514663474 Centerline is valid? [False, False] Translation: X:10.76, Y:0.41, Z:0.38 [[ 9.98557666e-01 -4.90960824e-03 -5.34647866e-02 1.07594376e+01] [ 5.15813442e-03 9.99976520e-01 4.51141244e-03 4.11593418e-01] [ 5.34413820e-02 -4.78068403e-03 9.98559544e-01 3.80426108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94463044 meters Centerline goodness [0,1] 0.3199150246038456 Centerline is valid? [False, False] Translation: X:10.74, Y:0.40, Z:0.38 [[ 9.98587987e-01 1.74736048e-03 -5.30940636e-02 1.07417146e+01] [-1.57168542e-03 9.99993153e-01 3.35032431e-03 4.03891778e-01] [ 5.30995543e-02 -3.26214644e-03 9.98583895e-01 3.77155700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97463044 meters Centerline goodness [0,1] 0.3186493931307567 Centerline is valid? [False, False] Translation: X:10.76, Y:0.40, Z:0.38 [[ 9.98674787e-01 -6.93871311e-03 -5.09953331e-02 1.07611083e+01] [ 7.14473190e-03 9.99967031e-01 3.85877005e-03 4.02268136e-01] [ 5.09668769e-02 -4.21800434e-03 9.98691437e-01 3.78879391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.00463044 meters Centerline goodness [0,1] 0.31643513571275916 Centerline is valid? [False, False] Translation: X:10.78, Y:0.40, Z:0.38 [[ 9.98759606e-01 -4.58876552e-04 -4.97899536e-02 1.07787095e+01] [ 5.38507234e-04 9.99998597e-01 1.58592967e-03 3.96310053e-01] [ 4.97891561e-02 -1.61077474e-03 9.98758452e-01 3.81250272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03463044 meters Centerline goodness [0,1] 0.318404553527486 Centerline is valid? [False, False] Translation: X:10.78, Y:0.39, Z:0.38 [[ 9.98771258e-01 -7.45683718e-04 -4.95521837e-02 1.07780653e+01] [ 8.31325202e-04 9.99998196e-01 1.70772180e-03 3.93799006e-01] [ 4.95508209e-02 -1.74681743e-03 9.98770076e-01 3.81443184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06463044000003 meters Centerline goodness [0,1] 0.31590092402464065 Centerline is valid? [False, False] Translation: X:10.78, Y:0.39, Z:0.38 [[ 9.98764251e-01 -9.56679841e-04 -4.96895958e-02 1.07784279e+01] [ 1.05167739e-03 9.99997669e-01 1.88571000e-03 3.91374132e-01] [ 4.96876759e-02 -1.93563716e-03 9.98762929e-01 3.81439805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09463044 meters Centerline goodness [0,1] 0.3170387477546831 Centerline is valid? [False, False] Translation: X:10.78, Y:0.39, Z:0.38 [[ 9.98745052e-01 -9.71004416e-04 -5.00737356e-02 1.07793676e+01] [ 1.08356834e-03 9.99996947e-01 2.22086619e-03 3.88996922e-01] [ 5.00714263e-02 -2.27233744e-03 9.98743054e-01 3.81387265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12463044000003 meters Centerline goodness [0,1] 0.31886343993085564 Centerline is valid? [False, False] Translation: X:10.78, Y:0.38, Z:0.38 [[ 9.98722435e-01 -9.92841368e-04 -5.05223970e-02 1.07808367e+01] [ 1.13630477e-03 9.99995404e-01 2.81095657e-03 3.84864907e-01] [ 5.05193740e-02 -2.86477423e-03 9.98718972e-01 3.80919445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15463044 meters Centerline goodness [0,1] 0.31782695657784377 Centerline is valid? [False, False] Translation: X:10.78, Y:0.38, Z:0.38 [[ 9.98708807e-01 -1.01123929e-03 -5.07907041e-02 1.07815651e+01] [ 1.16715978e-03 9.99994697e-01 3.04029690e-03 3.82945702e-01] [ 5.07873603e-02 -3.09565215e-03 9.98704692e-01 3.80868501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18463044000003 meters Centerline goodness [0,1] 0.31894764126490405 Centerline is valid? [False, False] Translation: X:10.78, Y:0.38, Z:0.38 [[ 9.98706355e-01 -1.05431196e-03 -5.08380248e-02 1.07817271e+01] [ 1.21651744e-03 9.99994268e-01 3.15979602e-03 3.81499766e-01] [ 5.08344020e-02 -3.21755371e-03 9.98701913e-01 3.80851124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21463044 meters Centerline goodness [0,1] 0.31645812870991163 Centerline is valid? [False, False] Translation: X:10.80, Y:0.38, Z:0.38 [[ 9.98705360e-01 6.76787264e-03 -5.04162716e-02 1.08008372e+01] [-6.68708629e-03 9.99976073e-01 1.77089230e-03 3.76832294e-01] [ 5.04270505e-02 -1.43146168e-03 9.98726721e-01 3.82903586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24463044000004 meters Centerline goodness [0,1] 0.3168461241473982 Centerline is valid? [False, False] Translation: X:10.80, Y:0.38, Z:0.38 [[ 9.98697528e-01 6.89847506e-03 -5.05535134e-02 1.08017475e+01] [-6.81297486e-03 9.99975055e-01 1.86340816e-03 3.77059510e-01] [ 5.05651070e-02 -1.51656131e-03 9.98719615e-01 3.82282839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27463044 meters Centerline goodness [0,1] 0.31802819933268756 Centerline is valid? [False, False] Translation: X:10.80, Y:0.38, Z:0.38 [[ 9.98686837e-01 6.91016484e-03 -5.07626985e-02 1.08025914e+01] [-6.82971352e-03 9.99975132e-01 1.75814146e-03 3.77883099e-01] [ 5.07735852e-02 -1.40913804e-03 9.98709196e-01 3.81879198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30463044000004 meters Centerline goodness [0,1] 0.31451318697826136 Centerline is valid? [False, False] Translation: X:10.80, Y:0.38, Z:0.38 [[ 9.98666566e-01 6.86413501e-03 -5.11661278e-02 1.08039510e+01] [-6.79339039e-03 9.99975713e-01 1.55642898e-03 3.78972571e-01] [ 5.11755687e-02 -1.20676210e-03 9.98688943e-01 3.81433556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33463044 meters Centerline goodness [0,1] 0.31476508625319555 Centerline is valid? [False, False] Translation: X:10.80, Y:0.38, Z:0.38 [[ 9.98653204e-01 6.75754349e-03 -5.14403973e-02 1.08048417e+01] [-6.70102764e-03 9.99976740e-01 1.27105544e-03 3.80169058e-01] [ 5.14477900e-02 -9.24640067e-04 9.98675258e-01 3.81178601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36463044000004 meters Centerline goodness [0,1] 0.32059962361288363 Centerline is valid? [False, False] Translation: X:10.81, Y:0.38, Z:0.38 [[ 9.98624677e-01 6.76366038e-03 -5.19904459e-02 1.08060442e+01] [-6.72056499e-03 9.99976913e-01 1.00368789e-03 3.81911084e-01] [ 5.19960342e-02 -6.52902329e-04 9.98647078e-01 3.81354539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39463044 meters Centerline goodness [0,1] 0.31712150257393323 Centerline is valid? [False, False] Translation: X:10.81, Y:0.38, Z:0.38 [[ 9.98610282e-01 6.74558584e-03 -5.22685531e-02 1.08067144e+01] [-6.70909724e-03 9.99977112e-01 8.73526430e-04 3.82801554e-01] [ 5.22732492e-02 -5.21637669e-04 9.98632683e-01 3.81387921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42463044000004 meters Centerline goodness [0,1] 0.31492212576204737 Centerline is valid? [False, False] Translation: X:10.81, Y:0.38, Z:0.38 [[ 9.98603825e-01 6.67779073e-03 -5.24004609e-02 1.08070330e+01] [-6.64952145e-03 9.99977637e-01 7.13807471e-04 3.83655178e-01] [ 5.24040557e-02 -3.64372882e-04 9.98625897e-01 3.81448885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45463044 meters Centerline goodness [0,1] 0.3143985745260943 Centerline is valid? [False, False] Translation: X:10.81, Y:0.39, Z:0.38 [[ 9.98599434e-01 6.53985519e-03 -5.25014445e-02 1.08073169e+01] [-6.53193790e-03 9.99978615e-01 3.22388223e-04 3.85841812e-01] [ 5.25024301e-02 2.09994786e-05 9.98620796e-01 3.81527424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48463044000005 meters Centerline goodness [0,1] 0.31901413050578065 Centerline is valid? [False, False] Translation: X:10.79, Y:0.39, Z:0.38 [[ 9.98625878e-01 -1.66097546e-03 -5.23793584e-02 1.07883517e+01] [ 1.74510894e-03 9.99997260e-01 1.56053918e-03 3.91040209e-01] [ 5.23766228e-02 -1.64980249e-03 9.98626040e-01 3.79323919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51463044 meters Centerline goodness [0,1] 0.3169525774968829 Centerline is valid? [False, False] Translation: X:10.81, Y:0.39, Z:0.38 [[ 9.98653136e-01 6.46886362e-03 -5.14788073e-02 1.08077388e+01] [-6.46267627e-03 9.99979076e-01 2.86648841e-04 3.89050752e-01] [ 5.14795844e-02 4.64281026e-05 9.98674046e-01 3.81296162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54463044 meters Centerline goodness [0,1] 0.3173016998689102 Centerline is valid? [False, False] Translation: X:10.81, Y:0.39, Z:0.38 [[ 9.98652704e-01 6.45101336e-03 -5.14894188e-02 1.08076071e+01] [-6.44993086e-03 9.99979181e-01 1.87187142e-04 3.89938777e-01] [ 5.14895544e-02 1.45168246e-04 9.98673523e-01 3.81570510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.57463044 meters Centerline goodness [0,1] 0.3201476680045502 Centerline is valid? [False, False] Translation: X:10.81, Y:0.39, Z:0.38 [[ 9.98645776e-01 6.33522790e-03 -5.16379530e-02 1.08076598e+01] [-6.34603976e-03 9.99979863e-01 -4.54215851e-05 3.91275837e-01] [ 5.16366254e-02 3.73056577e-04 9.98665870e-01 3.82236971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60463044 meters Centerline goodness [0,1] 0.32085973625620823 Centerline is valid? [False, False] Translation: X:10.81, Y:0.39, Z:0.38 [[ 9.98649781e-01 6.28424783e-03 -5.15666884e-02 1.08073010e+01] [-6.29784325e-03 9.99980163e-01 -1.01162459e-04 3.91464369e-01] [ 5.15650298e-02 4.25784788e-04 9.98669548e-01 3.82560520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.63463044 meters Centerline goodness [0,1] 0.3211445032030612 Centerline is valid? [False, False] Translation: X:10.81, Y:0.39, Z:0.38 [[ 9.98658954e-01 6.22340335e-03 -5.13961272e-02 1.08066308e+01] [-6.23905497e-03 9.99980527e-01 -1.44095687e-04 3.91299438e-01] [ 5.13942296e-02 4.64565711e-04 9.98678335e-01 3.82964986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66463044 meters Centerline goodness [0,1] 0.32104563389946816 Centerline is valid? [False, False] Translation: X:10.81, Y:0.39, Z:0.38 [[ 9.98660435e-01 6.20231719e-03 -5.13698990e-02 1.08064054e+01] [-6.21722825e-03 9.99980664e-01 -1.30477324e-04 3.91131499e-01] [ 5.13680964e-02 4.49680928e-04 9.98679687e-01 3.83291965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.69463044 meters Centerline goodness [0,1] 0.3243289634604244 Centerline is valid? [False, False] Translation: X:10.81, Y:0.39, Z:0.38 [[ 9.98666632e-01 6.23957833e-03 -5.12447624e-02 1.08060605e+01] [-6.25504041e-03 9.99980427e-01 -1.41359552e-04 3.91741472e-01] [ 5.12428774e-02 4.61709127e-04 9.98686114e-01 3.83591369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72463044 meters Centerline goodness [0,1] 0.3299958554195842 Centerline is valid? [False, False] Translation: X:10.79, Y:0.40, Z:0.38 [[ 9.98678650e-01 -1.78852863e-03 -5.13590768e-02 1.07872531e+01] [ 1.85721218e-03 9.99997444e-01 1.28962792e-03 3.96393383e-01] [ 5.13566390e-02 -1.38330858e-03 9.98679419e-01 3.81518875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.75463044 meters Centerline goodness [0,1] 0.3258547008547008 Centerline is valid? [False, False] Translation: X:10.83, Y:0.40, Z:0.38 [[ 9.98774075e-01 -3.39386791e-04 -4.94998151e-02 1.08284276e+01] [ 4.03755630e-04 9.99999086e-01 1.29039220e-03 3.98178021e-01] [ 4.94993319e-02 -1.30879611e-03 9.98773299e-01 3.84582890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78463044 meters Centerline goodness [0,1] 0.33170089748015186 Centerline is valid? [False, False] Translation: X:10.83, Y:0.40, Z:0.38 [[ 9.98796836e-01 2.25401688e-04 -4.90390577e-02 1.08273447e+01] [-1.58353590e-04 9.99999047e-01 1.37111950e-03 4.01026493e-01] [ 4.90393201e-02 -1.36170430e-03 9.98795921e-01 3.84832593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.81463044000003 meters Centerline goodness [0,1] 0.3330113758317236 Centerline is valid? [False, False] Translation: X:10.83, Y:0.40, Z:0.38 [[ 9.98789898e-01 2.93526505e-04 -4.91798140e-02 1.08280068e+01] [-2.37514352e-04 9.99999317e-01 1.14476581e-03 4.03119087e-01] [ 4.91801164e-02 -1.13169961e-03 9.98789285e-01 3.84494679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84463044 meters Centerline goodness [0,1] 0.331566864768607 Centerline is valid? [False, False] Translation: X:10.83, Y:0.41, Z:0.38 [[ 9.98785266e-01 2.95527612e-04 -4.92737770e-02 1.08286002e+01] [-2.55358619e-04 9.99999630e-01 8.21513571e-04 4.05477786e-01] [ 4.92740016e-02 -8.07933167e-04 9.98784972e-01 3.84030000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.87463044000003 meters Centerline goodness [0,1] 0.33130457223966625 Centerline is valid? [False, False] Translation: X:10.83, Y:0.41, Z:0.38 [[ 9.98782168e-01 3.12074007e-04 -4.93364227e-02 1.08290513e+01] [-2.84522599e-04 9.99999800e-01 5.65461478e-04 4.07516842e-01] [ 4.93365893e-02 -5.50735514e-04 9.98782057e-01 3.83667845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90463044 meters Centerline goodness [0,1] 0.33411234991423666 Centerline is valid? [False, False] Translation: X:10.83, Y:0.41, Z:0.38 [[ 9.98766844e-01 4.06300949e-04 -4.96449934e-02 1.08300205e+01] [-3.99206689e-04 9.99999909e-01 1.52815145e-04 4.11555989e-01] [ 4.96450510e-02 -1.32808086e-04 9.98766915e-01 3.83498377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.93463044000003 meters Centerline goodness [0,1] 0.32931649680576036 Centerline is valid? [False, False] Translation: X:10.83, Y:0.41, Z:0.38 [[ 9.98754659e-01 2.62866749e-04 -4.98905030e-02 1.08306899e+01] [-2.73174109e-04 9.99999943e-01 -1.99781127e-04 4.13285156e-01] [ 4.98904476e-02 2.13161125e-04 9.98754673e-01 3.83409628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96463044 meters Centerline goodness [0,1] 0.3290536210211493 Centerline is valid? [False, False] Translation: X:10.83, Y:0.41, Z:0.38 [[ 9.98745837e-01 1.53467510e-04 -5.00672410e-02 1.08312416e+01] [-1.79051934e-04 9.99999856e-01 -5.06516537e-04 4.14932855e-01] [ 5.00671560e-02 5.14845919e-04 9.98745721e-01 3.83254899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99463044000004 meters Centerline goodness [0,1] 0.32894511149228134 Centerline is valid? [False, False] Translation: X:10.83, Y:0.42, Z:0.38 [[ 9.98727663e-01 1.62133711e-04 -5.04284616e-02 1.08325634e+01] [-1.95154612e-04 9.99999770e-01 -6.49883725e-04 4.16475700e-01] [ 5.04283446e-02 6.58898200e-04 9.98727464e-01 3.82741401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02463044 meters Centerline goodness [0,1] 0.3293171829778111 Centerline is valid? [False, False] Translation: X:10.83, Y:0.42, Z:0.38 [[ 9.98710503e-01 6.48322584e-05 -5.07673849e-02 1.08335627e+01] [-1.03550942e-04 9.99999706e-01 -7.60038643e-04 4.16716040e-01] [ 5.07673206e-02 7.64315586e-04 9.98710216e-01 3.82509341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05463044000004 meters Centerline goodness [0,1] 0.3273551269384424 Centerline is valid? [False, False] Translation: X:10.83, Y:0.42, Z:0.38 [[ 9.98693666e-01 -6.61486156e-06 -5.10975726e-02 1.08346115e+01] [-3.21529909e-05 9.99999712e-01 -7.57880386e-04 4.16232939e-01] [ 5.10975629e-02 7.58533280e-04 9.98693378e-01 3.82166800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08463044 meters Centerline goodness [0,1] 0.32771660669266733 Centerline is valid? [False, False] Translation: X:10.84, Y:0.42, Z:0.38 [[ 9.98679442e-01 -8.61711646e-05 -5.13747391e-02 1.08354730e+01] [ 4.78219491e-05 9.99999719e-01 -7.47689305e-04 4.15495255e-01] [ 5.13747891e-02 7.44245098e-04 9.98679166e-01 3.81902075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11463044000004 meters Centerline goodness [0,1] 0.3285935550488319 Centerline is valid? [False, False] Translation: X:10.84, Y:0.41, Z:0.38 [[ 9.98669888e-01 -1.53570404e-05 -5.15602118e-02 1.08361448e+01] [-5.80256369e-06 9.99999916e-01 -4.10236575e-04 4.13653434e-01] [ 5.15602138e-02 4.09990096e-04 9.98669803e-01 3.81725818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14463044 meters Centerline goodness [0,1] 0.32558189378027347 Centerline is valid? [False, False] Translation: X:10.84, Y:0.41, Z:0.38 [[ 9.98670746e-01 1.04773982e-04 -5.15434873e-02 1.08364956e+01] [-1.15056823e-04 9.99999974e-01 -1.96531208e-04 4.12886219e-01] [ 5.15434654e-02 2.02200398e-04 9.98670732e-01 3.81351040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17463044000004 meters Centerline goodness [0,1] 0.3254917997503336 Centerline is valid? [False, False] Translation: X:10.84, Y:0.41, Z:0.38 [[ 9.98668174e-01 1.08227492e-04 -5.15932830e-02 1.08368210e+01] [-1.15285572e-04 9.99999984e-01 -1.33826346e-04 4.12224150e-01] [ 5.15932677e-02 1.39596074e-04 9.98668171e-01 3.81139240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20463044 meters Centerline goodness [0,1] 0.32477716832362014 Centerline is valid? [False, False] Translation: X:10.84, Y:0.41, Z:0.38 [[ 9.98664333e-01 7.52120289e-05 -5.16676300e-02 1.08372225e+01] [-7.94200383e-05 9.99999994e-01 -7.93907347e-05 4.11214558e-01] [ 5.16676237e-02 8.33881403e-05 9.98664333e-01 3.80952862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23463044000005 meters Centerline goodness [0,1] 0.32503707524663095 Centerline is valid? [False, False] Translation: X:10.84, Y:0.41, Z:0.38 [[ 9.98660271e-01 8.21978082e-05 -5.17460830e-02 1.08374586e+01] [-8.43855990e-05 9.99999996e-01 -4.00945763e-05 4.10672019e-01] [ 5.17460795e-02 4.44074846e-05 9.98660273e-01 3.80912781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26463044 meters Centerline goodness [0,1] 0.3254760723759408 Centerline is valid? [False, False] Translation: X:10.84, Y:0.41, Z:0.38 [[ 9.98662350e-01 2.35078674e-04 -5.17054763e-02 1.08375462e+01] [-2.27910662e-04 9.99999964e-01 1.44527583e-04 4.10176408e-01] [ 5.17055084e-02 -1.32550027e-04 9.98662367e-01 3.80754993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29463044 meters Centerline goodness [0,1] 0.32215429653866023 Centerline is valid? [False, False] Translation: X:10.84, Y:0.41, Z:0.38 [[ 9.98674254e-01 8.63709173e-04 -5.14683241e-02 1.08374080e+01] [-8.31756059e-04 9.99999448e-01 6.42246172e-04 4.10276495e-01] [ 5.14688504e-02 -5.98585626e-04 9.98674421e-01 3.80381269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32463044 meters Centerline goodness [0,1] 0.3192861107553051 Centerline is valid? [False, False] Translation: X:10.84, Y:0.41, Z:0.38 [[ 9.98678202e-01 9.91408815e-04 -5.13893534e-02 1.08372688e+01] [-9.55857299e-04 9.99999287e-01 7.16379107e-04 4.10447487e-01] [ 5.13900269e-02 -6.66311310e-04 9.98678437e-01 3.80395938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35463044 meters Centerline goodness [0,1] 0.3182051831227244 Centerline is valid? [False, False] Translation: X:10.84, Y:0.41, Z:0.38 [[ 9.98690045e-01 1.00065383e-03 -5.11584992e-02 1.08368901e+01] [-9.69842266e-04 9.99999333e-01 6.27097056e-04 4.11049781e-01] [ 5.11590926e-02 -5.76659912e-04 9.98690350e-01 3.80217556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38463044 meters Centerline goodness [0,1] 0.32101306410728603 Centerline is valid? [False, False] Translation: X:10.84, Y:0.41, Z:0.38 [[ 9.98690793e-01 1.02199219e-03 -5.11434785e-02 1.08368646e+01] [-9.95577429e-04 9.99999358e-01 5.41956177e-04 4.11827407e-01] [ 5.11439995e-02 -4.90329352e-04 9.98691169e-01 3.80208549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41463044 meters Centerline goodness [0,1] 0.31918167436014133 Centerline is valid? [False, False] Translation: X:10.84, Y:0.41, Z:0.38 [[ 9.98691393e-01 1.27014920e-03 -5.11261991e-02 1.08374799e+01] [-1.24423167e-03 9.99999081e-01 5.38756580e-04 4.13263615e-01] [ 5.11268365e-02 -4.74438724e-04 9.98692055e-01 3.79401625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44463044 meters Centerline goodness [0,1] 0.3165116928296863 Centerline is valid? [False, False] Translation: X:10.84, Y:0.41, Z:0.38 [[ 9.98684625e-01 1.32140620e-03 -5.12569398e-02 1.08380034e+01] [-1.29767072e-03 9.99999035e-01 4.96345086e-04 4.14011383e-01] [ 5.12575462e-02 -4.29177576e-04 9.98685376e-01 3.79131995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47463044 meters Centerline goodness [0,1] 0.31530658396330036 Centerline is valid? [False, False] Translation: X:10.84, Y:0.41, Z:0.38 [[ 9.98687904e-01 1.31130393e-03 -5.11932668e-02 1.08379187e+01] [-1.29173467e-03 9.99999079e-01 4.15346297e-04 4.14445735e-01] [ 5.11937644e-02 -3.48673205e-04 9.98688679e-01 3.79087285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.50463044 meters Centerline goodness [0,1] 0.31515997423233844 Centerline is valid? [False, False] Translation: X:10.84, Y:0.42, Z:0.38 [[ 9.98686921e-01 1.28099818e-03 -5.12132089e-02 1.08379352e+01] [-1.27285049e-03 9.99999172e-01 1.91708086e-04 4.15867180e-01] [ 5.12134121e-02 -1.26269600e-04 9.98687724e-01 3.79265633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53463044 meters Centerline goodness [0,1] 0.3146853146853147 Centerline is valid? [False, False] Translation: X:10.84, Y:0.42, Z:0.38 [[ 9.98685607e-01 1.24286560e-03 -5.12397753e-02 1.08380123e+01] [-1.24278349e-03 9.99999227e-01 3.34633186e-05 4.16808690e-01] [ 5.12397773e-02 3.02606122e-05 9.98686379e-01 3.79222447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56463044000003 meters Centerline goodness [0,1] 0.3124932512687615 Centerline is valid? [False, False] Translation: X:10.84, Y:0.42, Z:0.38 [[ 9.98684996e-01 1.17609887e-03 -5.12532480e-02 1.08382325e+01] [-1.18782618e-03 9.99999275e-01 -1.98351780e-04 4.18143156e-01] [ 5.12529776e-02 2.58970897e-04 9.98685669e-01 3.78980621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59463044 meters Centerline goodness [0,1] 0.31286273161085076 Centerline is valid? [False, False] Translation: X:10.84, Y:0.42, Z:0.38 [[ 9.98684766e-01 1.15391145e-03 -5.12582288e-02 1.08384310e+01] [-1.17717225e-03 9.99999217e-01 -4.23609017e-04 4.19851135e-01] [ 5.12576999e-02 4.83391637e-04 9.98685343e-01 3.78731324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62463044000003 meters Centerline goodness [0,1] 0.31433238758490245 Centerline is valid? [False, False] Translation: X:10.84, Y:0.42, Z:0.38 [[ 9.98687986e-01 1.17917253e-03 -5.11948904e-02 1.08384674e+01] [-1.21391090e-03 9.99999054e-01 -6.47463397e-04 4.21855596e-01] [ 5.11940785e-02 7.08759952e-04 9.98688472e-01 3.78507494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65463044 meters Centerline goodness [0,1] 0.3117160222423381 Centerline is valid? [False, False] Translation: X:10.84, Y:0.42, Z:0.38 [[ 9.98686553e-01 1.20475121e-03 -5.12222430e-02 1.08385222e+01] [-1.24927869e-03 9.99998869e-01 -8.37292088e-04 4.23653599e-01] [ 5.12211764e-02 9.00183206e-04 9.98686928e-01 3.78497784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68463044000003 meters Centerline goodness [0,1] 0.31050247912597395 Centerline is valid? [False, False] Translation: X:10.84, Y:0.43, Z:0.38 [[ 9.98680745e-01 1.16036686e-03 -5.13363658e-02 1.08389210e+01] [-1.22773138e-03 9.99998426e-01 -1.28070345e-03 4.26988204e-01] [ 5.13347989e-02 1.34204114e-03 9.98680598e-01 3.78399228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71463044 meters Centerline goodness [0,1] 0.3122731985484707 Centerline is valid? [False, False] Translation: X:10.84, Y:0.43, Z:0.38 [[ 9.98676338e-01 1.03425799e-03 -5.14247154e-02 1.08392696e+01] [-1.11737380e-03 9.99998116e-01 -1.58753893e-03 4.28500179e-01] [ 5.14229765e-02 1.64289820e-03 9.98675612e-01 3.78182256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74463044000004 meters Centerline goodness [0,1] 0.3084434968017058 Centerline is valid? [False, False] Translation: X:10.84, Y:0.43, Z:0.38 [[ 9.98674933e-01 1.00051340e-03 -5.14526705e-02 1.08394924e+01] [-1.09303605e-03 9.99997836e-01 -1.77010188e-03 4.29854216e-01] [ 5.14507881e-02 1.82399600e-03 9.98673865e-01 3.78048116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77463044 meters Centerline goodness [0,1] 0.3084434968017058 Centerline is valid? [False, False] Translation: X:10.84, Y:0.43, Z:0.38 [[ 9.98674933e-01 1.00051340e-03 -5.14526705e-02 1.08394924e+01] [-1.09303605e-03 9.99997836e-01 -1.77010188e-03 4.29854216e-01] [ 5.14507881e-02 1.82399600e-03 9.98673865e-01 3.78048116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80463044000004 meters Centerline goodness [0,1] 0.30933225207537507 Centerline is valid? [False, False] Translation: X:10.84, Y:0.43, Z:0.38 [[ 9.98684422e-01 9.70065181e-04 -5.12687513e-02 1.08393413e+01] [-1.07792793e-03 9.99997264e-01 -2.07626100e-03 4.32495539e-01] [ 5.12665969e-02 2.12879353e-03 9.98682735e-01 3.77765266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83463044 meters Centerline goodness [0,1] 0.30888641806363326 Centerline is valid? [False, False] Translation: X:10.84, Y:0.43, Z:0.38 [[ 9.98683844e-01 9.04788861e-04 -5.12811951e-02 1.08395434e+01] [-1.02200283e-03 9.99996925e-01 -2.25953456e-03 4.33592050e-01] [ 5.12789930e-02 2.30897019e-03 9.98681698e-01 3.77538398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86463044000004 meters Centerline goodness [0,1] 0.3121903941417187 Centerline is valid? [False, False] Translation: X:10.84, Y:0.43, Z:0.38 [[ 9.98673485e-01 8.22987471e-04 -5.14839059e-02 1.08402024e+01] [-9.51226937e-04 9.99996506e-01 -2.46641205e-03 4.34656874e-01] [ 5.14816961e-02 2.51211319e-03 9.98670779e-01 3.77280376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89463044 meters Centerline goodness [0,1] 0.3104984683932053 Centerline is valid? [False, False] Translation: X:10.84, Y:0.44, Z:0.38 [[ 9.98660535e-01 7.54750775e-04 -5.17355356e-02 1.08410393e+01] [-8.92504754e-04 9.99996118e-01 -2.63960600e-03 4.35697655e-01] [ 5.17333425e-02 2.68224455e-03 9.98657332e-01 3.76973681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92463044000004 meters Centerline goodness [0,1] 0.3096611701898653 Centerline is valid? [False, False] Translation: X:10.84, Y:0.44, Z:0.38 [[ 9.98651368e-01 7.68291461e-04 -5.19119834e-02 1.08416306e+01] [-9.08783992e-04 9.99995988e-01 -2.68281020e-03 4.36230468e-01] [ 5.19097140e-02 2.72636885e-03 9.98648060e-01 3.76740933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95463044 meters Centerline goodness [0,1] 0.30869107246501426 Centerline is valid? [False, False] Translation: X:10.84, Y:0.44, Z:0.38 [[ 9.98647804e-01 8.51150512e-04 -5.19792117e-02 1.08419646e+01] [-9.90649136e-04 9.99995977e-01 -2.65803371e-03 4.36826488e-01] [ 5.19767402e-02 2.70593269e-03 9.98644630e-01 3.76634213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98463044000005 meters Centerline goodness [0,1] 0.30928144998496754 Centerline is valid? [False, False] Translation: X:10.84, Y:0.44, Z:0.38 [[ 9.98653468e-01 7.64799698e-04 -5.18716211e-02 1.08417020e+01] [-9.07699791e-04 9.99995858e-01 -2.73137818e-03 4.36755893e-01] [ 5.18693173e-02 2.77478415e-03 9.98650026e-01 3.76682841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01463044 meters Centerline goodness [0,1] 0.3084876839923947 Centerline is valid? [False, False] Translation: X:10.84, Y:0.44, Z:0.38 [[ 9.98649217e-01 6.80470887e-04 -5.19545791e-02 1.08418517e+01] [-8.27326942e-04 9.99995723e-01 -2.80516999e-03 4.36740275e-01] [ 5.19524481e-02 2.84436423e-03 9.98645509e-01 3.76785446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04463044 meters Centerline goodness [0,1] 0.31044038668098817 Centerline is valid? [False, False] Translation: X:10.84, Y:0.44, Z:0.38 [[ 9.98655541e-01 6.68671406e-04 -5.18330371e-02 1.08416093e+01] [-8.14876709e-04 9.99995749e-01 -2.79961555e-03 4.36639811e-01] [ 5.18309447e-02 2.83808912e-03 9.98651840e-01 3.76766845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.07463044 meters Centerline goodness [0,1] 0.30852842809364545 Centerline is valid? [False, False] Translation: X:10.84, Y:0.44, Z:0.38 [[ 9.98656170e-01 6.84718649e-04 -5.18206997e-02 1.08419621e+01] [-8.32615035e-04 9.99995642e-01 -2.83246807e-03 4.37187127e-01] [ 5.18185344e-02 2.87180841e-03 9.98652388e-01 3.76367391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10463044 meters Centerline goodness [0,1] 0.30688827964359155 Centerline is valid? [False, False] Translation: X:10.84, Y:0.44, Z:0.38 [[ 9.98653912e-01 6.46540822e-04 -5.18646850e-02 1.08422815e+01] [-8.01282512e-04 9.99995290e-01 -2.96282797e-03 4.37894083e-01] [ 5.18625251e-02 3.00039801e-03 9.98649726e-01 3.76071216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.13463044 meters Centerline goodness [0,1] 0.3099701518177328 Centerline is valid? [False, False] Translation: X:10.84, Y:0.44, Z:0.38 [[ 9.98651558e-01 5.87735105e-04 -5.19106977e-02 1.08424362e+01] [-7.54269755e-04 9.99994632e-01 -3.18856658e-03 4.39132896e-01] [ 5.19085450e-02 3.22342165e-03 9.98646640e-01 3.76022532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16463044 meters Centerline goodness [0,1] 0.306491618200479 Centerline is valid? [False, False] Translation: X:10.84, Y:0.44, Z:0.38 [[ 9.98643192e-01 6.19440897e-04 -5.20710206e-02 1.08429600e+01] [-7.96758626e-04 9.99993955e-01 -3.38461630e-03 4.41021277e-01] [ 5.20686093e-02 3.42151206e-03 9.98637649e-01 3.75793279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.19463044 meters Centerline goodness [0,1] 0.30858853426368604 Centerline is valid? [False, False] Translation: X:10.84, Y:0.44, Z:0.38 [[ 9.98632694e-01 6.83713911e-04 -5.22711668e-02 1.08436551e+01] [-8.71965540e-04 9.99993216e-01 -3.57872293e-03 4.43076233e-01] [ 5.22683654e-02 3.61940838e-03 9.98626516e-01 3.75470026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22463044 meters Centerline goodness [0,1] 0.30550863972976483 Centerline is valid? [False, False] Translation: X:10.84, Y:0.45, Z:0.38 [[ 9.98616381e-01 7.55402461e-04 -5.25809236e-02 1.08446224e+01] [-9.65012213e-04 9.99991689e-01 -3.96114800e-03 4.46506038e-01] [ 5.25774944e-02 4.00640852e-03 9.98608810e-01 3.75073202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.25463044 meters Centerline goodness [0,1] 0.30222980902592556 Centerline is valid? [False, False] Translation: X:10.86, Y:0.45, Z:0.38 [[ 9.98591723e-01 -6.30125414e-03 -5.26769937e-02 1.08633167e+01] [ 6.14385274e-03 9.99976167e-01 -3.14944829e-03 4.52822309e-01] [ 5.26955837e-02 2.82137330e-03 9.98606637e-01 3.77557816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28463044 meters Centerline goodness [0,1] 0.30797506448839207 Centerline is valid? [False, False] Translation: X:10.86, Y:0.45, Z:0.38 [[ 9.98593092e-01 -6.36882445e-03 -5.26429069e-02 1.08630354e+01] [ 6.20941978e-03 9.99975630e-01 -3.19103859e-03 4.52646833e-01] [ 5.26619472e-02 2.85966718e-03 9.98608302e-01 3.77816246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.31463044000003 meters Centerline goodness [0,1] 0.30863638324489884 Centerline is valid? [False, False] Translation: X:10.86, Y:0.45, Z:0.38 [[ 9.98594064e-01 -6.41543100e-03 -5.26187981e-02 1.08628868e+01] [ 6.26010571e-03 9.99975550e-01 -3.11618174e-03 4.51846637e-01] [ 5.26375032e-02 2.78240135e-03 9.98609809e-01 3.77997307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34463044 meters Centerline goodness [0,1] 0.3083741093656108 Centerline is valid? [False, False] Translation: X:10.86, Y:0.45, Z:0.38 [[ 9.98594622e-01 -6.52219560e-03 -5.25950822e-02 1.08629146e+01] [ 6.36899070e-03 9.99974974e-01 -3.07999371e-03 4.50969787e-01] [ 5.26138543e-02 2.74068756e-03 9.98611171e-01 3.77989788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.37463044000003 meters Centerline goodness [0,1] 0.3093416981780681 Centerline is valid? [False, False] Translation: X:10.86, Y:0.45, Z:0.38 [[ 9.98609582e-01 -6.71880299e-03 -5.22853787e-02 1.08624767e+01] [ 6.58010104e-03 9.99974362e-01 -2.82447571e-03 4.48421906e-01] [ 5.23030153e-02 2.47650543e-03 9.98628190e-01 3.77836679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40463044 meters Centerline goodness [0,1] 0.3117222606291047 Centerline is valid? [False, False] Translation: X:10.86, Y:0.45, Z:0.38 [[ 9.98604673e-01 -6.65832538e-03 -5.23867785e-02 1.08628239e+01] [ 6.52775174e-03 9.99975148e-01 -2.66320089e-03 4.47723752e-01] [ 5.24032090e-02 2.31751697e-03 9.98623319e-01 3.77748473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.43463044000003 meters Centerline goodness [0,1] 0.3100619128025285 Centerline is valid? [False, False] Translation: X:10.86, Y:0.45, Z:0.38 [[ 9.98589944e-01 -6.62341963e-03 -5.26711845e-02 1.08636728e+01] [ 6.49852517e-03 9.99975653e-01 -2.54212016e-03 4.47090170e-01] [ 5.26867397e-02 2.19625061e-03 9.98608674e-01 3.77554203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46463044 meters Centerline goodness [0,1] 0.3101039248443297 Centerline is valid? [False, False] Translation: X:10.86, Y:0.45, Z:0.38 [[ 9.98569080e-01 -6.59796468e-03 -5.30684379e-02 1.08649399e+01] [ 6.47487569e-03 9.99975935e-01 -2.49103313e-03 4.46801864e-01] [ 5.30835966e-02 2.14385713e-03 9.98587771e-01 3.77122827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.49463044000004 meters Centerline goodness [0,1] 0.30725981244232714 Centerline is valid? [False, False] Translation: X:10.89, Y:0.44, Z:0.38 [[ 9.98567944e-01 1.41751320e-03 -5.34794542e-02 1.08854830e+01] [-1.62168222e-03 9.99991562e-01 -3.77450830e-03 4.44565280e-01] [ 5.34736525e-02 3.85582967e-03 9.98561816e-01 3.79078671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52463044 meters Centerline goodness [0,1] 0.30747002501509535 Centerline is valid? [False, False] Translation: X:10.89, Y:0.45, Z:0.38 [[ 9.98558058e-01 1.45205784e-03 -5.36627962e-02 1.08861040e+01] [-1.65942805e-03 9.99991327e-01 -3.81996490e-03 4.45105358e-01] [ 5.36567839e-02 3.90350629e-03 9.98551807e-01 3.78823438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55463044000004 meters Centerline goodness [0,1] 0.30520113510820357 Centerline is valid? [False, False] Translation: X:10.89, Y:0.45, Z:0.38 [[ 9.98569422e-01 1.61254352e-03 -5.34463214e-02 1.08857266e+01] [-1.82587988e-03 9.99990559e-01 -3.94301274e-03 4.46752142e-01] [ 5.34394586e-02 4.03495851e-03 9.98562939e-01 3.78622521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58463044 meters Centerline goodness [0,1] 0.30538870773983184 Centerline is valid? [False, False] Translation: X:10.89, Y:0.45, Z:0.38 [[ 9.98571740e-01 1.61740204e-03 -5.34028484e-02 1.08855006e+01] [-1.83720486e-03 9.99990042e-01 -4.06710376e-03 4.47796776e-01] [ 5.33957385e-02 4.15940685e-03 9.98564767e-01 3.78796820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61463044000004 meters Centerline goodness [0,1] 0.30520430107526886 Centerline is valid? [False, False] Translation: X:10.89, Y:0.45, Z:0.38 [[ 9.98578861e-01 1.63927950e-03 -5.32688593e-02 1.08850625e+01] [-1.86180526e-03 9.99989746e-01 -4.12805309e-03 4.48391984e-01] [ 5.32615461e-02 4.22136279e-03 9.98571674e-01 3.78928338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64463044 meters Centerline goodness [0,1] 0.30731938549050875 Centerline is valid? [False, False] Translation: X:10.88, Y:0.45, Z:0.38 [[ 9.98602385e-01 1.71320091e-03 -5.28236806e-02 1.08835510e+01] [-1.93427166e-03 9.99989583e-01 -4.13422961e-03 4.49303032e-01] [ 5.28160476e-02 4.23062690e-03 9.98595297e-01 3.79633260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67463044000004 meters Centerline goodness [0,1] 0.3039219888555508 Centerline is valid? [False, False] Translation: X:10.88, Y:0.45, Z:0.38 [[ 9.98608229e-01 1.64141944e-03 -5.27153763e-02 1.08830416e+01] [-1.86709002e-03 9.99989302e-01 -4.23196409e-03 4.49756226e-01] [ 5.27078659e-02 4.32449851e-03 9.98600611e-01 3.80048622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70463044 meters Centerline goodness [0,1] 0.30630903235567464 Centerline is valid? [False, False] Translation: X:10.88, Y:0.45, Z:0.38 [[ 9.98611636e-01 1.51196227e-03 -5.26546678e-02 1.08826492e+01] [-1.74546360e-03 9.99988845e-01 -4.38887689e-03 4.49936918e-01] [ 5.26474446e-02 4.47469034e-03 9.98603136e-01 3.80377875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73463044000005 meters Centerline goodness [0,1] 0.30702247191011234 Centerline is valid? [False, False] Translation: X:10.88, Y:0.45, Z:0.38 [[ 9.98609750e-01 1.34416052e-03 -5.26949687e-02 1.08825215e+01] [-1.59019904e-03 9.99988029e-01 -4.62745958e-03 4.50493845e-01] [ 5.26881178e-02 4.70482174e-03 9.98599933e-01 3.80696672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76463044 meters Centerline goodness [0,1] 0.30994403788204905 Centerline is valid? [False, False] Translation: X:10.88, Y:0.45, Z:0.38 [[ 9.98607411e-01 1.21747201e-03 -5.27423638e-02 1.08827081e+01] [-1.47539283e-03 9.99987143e-01 -4.85154312e-03 4.51378584e-01] [ 5.27357791e-02 4.92260262e-03 9.98596368e-01 3.80606403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79463044 meters Centerline goodness [0,1] 0.30481260464517235 Centerline is valid? [False, False] Translation: X:10.88, Y:0.45, Z:0.38 [[ 9.98598479e-01 1.13527678e-03 -5.29130387e-02 1.08834591e+01] [-1.40558072e-03 9.99986152e-01 -5.07152349e-03 4.52717997e-01] [ 5.29065484e-02 5.13878919e-03 9.98586246e-01 3.80184064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82463044 meters Centerline goodness [0,1] 0.302002021374965 Centerline is valid? [False, False] Translation: X:10.89, Y:0.46, Z:0.38 [[ 9.98578263e-01 1.19062870e-03 -5.32919777e-02 1.08850885e+01] [-1.47624459e-03 9.99984757e-01 -5.32041075e-03 4.55341174e-01] [ 5.32848308e-02 5.39151852e-03 9.98564799e-01 3.79196236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85463044 meters Centerline goodness [0,1] 0.30208534259199726 Centerline is valid? [False, False] Translation: X:10.89, Y:0.46, Z:0.38 [[ 9.98572596e-01 1.17474648e-03 -5.33984127e-02 1.08855540e+01] [-1.46850141e-03 9.99984003e-01 -5.46228920e-03 4.56493494e-01] [ 5.33911417e-02 5.53290795e-03 9.98558347e-01 3.78896093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88463044 meters Centerline goodness [0,1] 0.3049895647309422 Centerline is valid? [False, False] Translation: X:10.89, Y:0.46, Z:0.38 [[ 9.98567319e-01 1.10264681e-03 -5.34985341e-02 1.08858629e+01] [-1.40909679e-03 9.99982814e-01 -5.69081293e-03 4.57849414e-01] [ 5.34913397e-02 5.75804442e-03 9.98551712e-01 3.78799973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91463044 meters Centerline goodness [0,1] 0.30524041058887086 Centerline is valid? [False, False] Translation: X:10.89, Y:0.46, Z:0.38 [[ 9.98565711e-01 1.04975799e-03 -5.35296117e-02 1.08860032e+01] [-1.36887786e-03 9.99981509e-01 -5.92524214e-03 4.59328638e-01] [ 5.35224018e-02 5.99001913e-03 9.98548683e-01 3.78702186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94463044 meters Centerline goodness [0,1] 0.30241527158339254 Centerline is valid? [False, False] Translation: X:10.89, Y:0.46, Z:0.38 [[ 9.98569547e-01 9.35501614e-04 -5.34601183e-02 1.08858088e+01] [-1.27304765e-03 9.99979469e-01 -6.28027428e-03 4.61305379e-01] [ 5.34531455e-02 6.33934792e-03 9.98550236e-01 3.78746161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97463044 meters Centerline goodness [0,1] 0.29763527907967613 Centerline is valid? [False, False] Translation: X:10.90, Y:0.47, Z:0.38 [[ 9.98557595e-01 -5.82577342e-03 -5.33740651e-02 1.09038818e+01] [ 5.55428234e-03 9.99970880e-01 -5.23349604e-03 4.69205656e-01] [ 5.34030000e-02 4.92949259e-03 9.98560874e-01 3.81118079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.00463044 meters Centerline goodness [0,1] 0.3063608827347468 Centerline is valid? [False, False] Translation: X:10.88, Y:0.47, Z:0.38 [[ 9.98569981e-01 2.14877981e-03 -5.34170064e-02 1.08825866e+01] [-2.48176160e-03 9.99977898e-01 -6.16807901e-03 4.69578684e-01] [ 5.34025719e-02 6.29182681e-03 9.98553243e-01 3.79224201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03463044 meters Centerline goodness [0,1] 0.3050175582222031 Centerline is valid? [False, False] Translation: X:10.88, Y:0.47, Z:0.38 [[ 9.98569573e-01 2.08621273e-03 -5.34271045e-02 1.08830292e+01] [-2.43382185e-03 9.99976288e-01 -6.44199573e-03 4.71524097e-01] [ 5.34123983e-02 6.56281298e-03 9.98550973e-01 3.78669395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06463044000003 meters Centerline goodness [0,1] 0.3030179532828554 Centerline is valid? [False, False] Translation: X:10.88, Y:0.47, Z:0.38 [[ 9.98566123e-01 1.97306252e-03 -5.34958357e-02 1.08835304e+01] [-2.33375997e-03 9.99974959e-01 -6.68090381e-03 4.72962110e-01] [ 5.34813143e-02 6.79617065e-03 9.98545723e-01 3.78246470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09463044 meters Centerline goodness [0,1] 0.30617182605690096 Centerline is valid? [False, False] Translation: X:10.88, Y:0.47, Z:0.38 [[ 9.98562745e-01 1.85238210e-03 -5.35631616e-02 1.08839144e+01] [-2.22316537e-03 9.99973974e-01 -6.86360215e-03 4.73733385e-01] [ 5.35490535e-02 6.97281717e-03 9.98540875e-01 3.77916476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12463044000003 meters Centerline goodness [0,1] 0.3038166288247378 Centerline is valid? [False, False] Translation: X:10.88, Y:0.47, Z:0.38 [[ 9.98554635e-01 1.73789804e-03 -5.37179716e-02 1.08844982e+01] [-2.11580309e-03 9.99973409e-01 -6.97891498e-03 4.74110015e-01] [ 5.37044145e-02 7.08248455e-03 9.98531759e-01 3.77649857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15463044 meters Centerline goodness [0,1] 0.29927069927069927 Centerline is valid? [False, False] Translation: X:10.91, Y:0.48, Z:0.38 [[ 9.98454212e-01 -5.81918874e-03 -5.52749863e-02 1.09062686e+01] [ 5.46932696e-03 9.99964056e-01 -6.47864542e-03 4.80797477e-01] [ 5.53107000e-02 6.16631384e-03 9.98450151e-01 3.79526586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18463044000003 meters Centerline goodness [0,1] 0.29707657206217886 Centerline is valid? [False, False] Translation: X:10.91, Y:0.48, Z:0.38 [[ 9.98435113e-01 -5.91721597e-03 -5.56085575e-02 1.09072742e+01] [ 5.55921340e-03 9.99962830e-01 -6.59039154e-03 4.81166902e-01] [ 5.56454873e-02 6.27093849e-03 9.98430896e-01 3.79308268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21463044 meters Centerline goodness [0,1] 0.3001660878755851 Centerline is valid? [False, False] Translation: X:10.89, Y:0.48, Z:0.38 [[ 9.98470475e-01 1.20401974e-03 -5.52744204e-02 1.08896251e+01] [-1.64668689e-03 9.99966933e-01 -7.96368925e-03 4.76635204e-01] [ 5.52630042e-02 8.04252825e-03 9.98439441e-01 3.76125332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24463044000004 meters Centerline goodness [0,1] 0.29813106120613986 Centerline is valid? [False, False] Translation: X:10.89, Y:0.48, Z:0.38 [[ 9.98464102e-01 1.15472925e-03 -5.53904710e-02 1.08899133e+01] [-1.60667276e-03 9.99965779e-01 -8.11539122e-03 4.77612279e-01] [ 5.53792044e-02 8.19192117e-03 9.98431788e-01 3.76181735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27463044 meters Centerline goodness [0,1] 0.2966306041013166 Centerline is valid? [False, False] Translation: X:10.89, Y:0.48, Z:0.38 [[ 9.98465706e-01 1.18328389e-03 -5.53609489e-02 1.08898398e+01] [-1.64157080e-03 9.99964757e-01 -8.23342038e-03 4.78768939e-01] [ 5.53492554e-02 8.31166680e-03 9.98432459e-01 3.76221229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30463044000004 meters Centerline goodness [0,1] 0.3016730905880579 Centerline is valid? [False, False] Translation: X:10.89, Y:0.48, Z:0.38 [[ 9.98493236e-01 1.66622151e-03 -5.48496188e-02 1.08886013e+01] [-2.12018956e-03 9.99963972e-01 -8.21944562e-03 4.81481735e-01] [ 5.48339473e-02 8.32335245e-03 9.98460795e-01 3.76261401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33463044 meters Centerline goodness [0,1] 0.3018661986902367 Centerline is valid? [False, False] Translation: X:10.89, Y:0.48, Z:0.38 [[ 9.98488676e-01 1.70983794e-03 -5.49312348e-02 1.08888846e+01] [-2.17811977e-03 9.99961789e-01 -8.46613617e-03 4.83458866e-01] [ 5.49146601e-02 8.57298790e-03 9.98454247e-01 3.76106892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36463044000004 meters Centerline goodness [0,1] 0.3004138167627951 Centerline is valid? [False, False] Translation: X:10.89, Y:0.49, Z:0.38 [[ 9.98488856e-01 1.71794050e-03 -5.49277037e-02 1.08889483e+01] [-2.20044194e-03 9.99959515e-01 -8.72502903e-03 4.85384789e-01] [ 5.49104909e-02 8.83270948e-03 9.98452213e-01 3.75964175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39463044 meters Centerline goodness [0,1] 0.2996764308826365 Centerline is valid? [False, False] Translation: X:10.89, Y:0.49, Z:0.38 [[ 9.98494286e-01 1.95654944e-03 -5.48209120e-02 1.08888064e+01] [-2.44846741e-03 9.99957330e-01 -8.90745429e-03 4.88154790e-01] [ 5.48011450e-02 9.02826943e-03 9.98456471e-01 3.75788331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42463044000004 meters Centerline goodness [0,1] 0.30334444563931606 Centerline is valid? [False, False] Translation: X:10.89, Y:0.49, Z:0.38 [[ 9.98494627e-01 1.90486010e-03 -5.48165237e-02 1.08886547e+01] [-2.40976438e-03 9.99955269e-01 -9.14618189e-03 4.89585155e-01] [ 5.47966496e-02 9.26450838e-03 9.98454554e-01 3.75905614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45463044 meters Centerline goodness [0,1] 0.30103583606768325 Centerline is valid? [False, False] Translation: X:10.89, Y:0.49, Z:0.38 [[ 9.98493878e-01 1.89714882e-03 -5.48304297e-02 1.08886624e+01] [-2.40979643e-03 9.99953989e-01 -9.28508958e-03 4.90609271e-01] [ 5.48102917e-02 9.40323528e-03 9.98452508e-01 3.75929742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48463044000005 meters Centerline goodness [0,1] 0.3007809147858921 Centerline is valid? [False, False] Translation: X:10.89, Y:0.49, Z:0.38 [[ 9.98498014e-01 1.83556426e-03 -5.47571532e-02 1.08885576e+01] [-2.35740334e-03 9.99952408e-01 -9.46699423e-03 4.91661456e-01] [ 5.47371699e-02 9.58185964e-03 9.98454821e-01 3.75817290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51463044 meters Centerline goodness [0,1] 0.30423891684121873 Centerline is valid? [False, False] Translation: X:10.89, Y:0.49, Z:0.38 [[ 9.98504478e-01 1.82642837e-03 -5.46394774e-02 1.08882746e+01] [-2.35345272e-03 9.99951315e-01 -9.58269829e-03 4.92624651e-01] [ 5.46193151e-02 9.69695858e-03 9.98460164e-01 3.75782799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54463044 meters Centerline goodness [0,1] 0.29832183320555417 Centerline is valid? [False, False] Translation: X:10.91, Y:0.50, Z:0.38 [[ 9.98509622e-01 -5.18791006e-03 -5.43288190e-02 1.09068365e+01] [ 4.74405232e-03 9.99954337e-01 -8.29562061e-03 4.98750160e-01] [ 5.43693751e-02 8.02551824e-03 9.98488639e-01 3.78426885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.57463044 meters Centerline goodness [0,1] 0.30679242839567455 Centerline is valid? [False, False] Translation: X:10.89, Y:0.49, Z:0.38 [[ 9.98570945e-01 1.47594462e-03 -5.34218146e-02 1.08879640e+01] [-1.99675197e-03 9.99950990e-01 -9.69690399e-03 4.93801750e-01] [ 5.34048843e-02 9.78971669e-03 9.98524952e-01 3.75951995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60463044 meters Centerline goodness [0,1] 0.30657971201653 Centerline is valid? [False, False] Translation: X:10.89, Y:0.49, Z:0.38 [[ 9.98568029e-01 1.44526639e-03 -5.34771321e-02 1.08880253e+01] [-1.96398949e-03 9.99951522e-01 -9.64862484e-03 4.93436786e-01] [ 5.34605948e-02 9.73983681e-03 9.98522459e-01 3.76103048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.63463044 meters Centerline goodness [0,1] 0.30933569990692444 Centerline is valid? [False, False] Translation: X:10.89, Y:0.49, Z:0.38 [[ 9.98564103e-01 1.43959870e-03 -5.35505411e-02 1.08881861e+01] [-1.95594055e-03 9.99952093e-01 -9.59098225e-03 4.93174793e-01] [ 5.35341685e-02 9.68195226e-03 9.98519080e-01 3.76134102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66463044 meters Centerline goodness [0,1] 0.30933569990692444 Centerline is valid? [False, False] Translation: X:10.89, Y:0.49, Z:0.38 [[ 9.98564103e-01 1.43959870e-03 -5.35505411e-02 1.08881861e+01] [-1.95594055e-03 9.99952093e-01 -9.59098225e-03 4.93174793e-01] [ 5.35341685e-02 9.68195226e-03 9.98519080e-01 3.76134102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.69463044 meters Centerline goodness [0,1] 0.30636436130089006 Centerline is valid? [False, False] Translation: X:10.89, Y:0.49, Z:0.38 [[ 9.98555413e-01 1.25659390e-03 -5.37169188e-02 1.08885236e+01] [-1.77380883e-03 9.99952519e-01 -9.58193783e-03 4.92251860e-01] [ 5.37023276e-02 9.66337944e-03 9.98510230e-01 3.76340092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72463044 meters Centerline goodness [0,1] 0.3067233202429237 Centerline is valid? [False, False] Translation: X:10.89, Y:0.49, Z:0.38 [[ 9.98549512e-01 1.17165507e-03 -5.38284338e-02 1.08887999e+01] [-1.69151221e-03 9.99952362e-01 -9.61312457e-03 4.91977008e-01] [ 5.38146062e-02 9.69023230e-03 9.98503925e-01 3.76398964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.75463044 meters Centerline goodness [0,1] 0.30712610033790333 Centerline is valid? [False, False] Translation: X:10.89, Y:0.49, Z:0.38 [[ 9.98549761e-01 1.17187230e-03 -5.38238063e-02 1.08888274e+01] [-1.69274998e-03 9.99952170e-01 -9.63289065e-03 4.92197467e-01] [ 5.38099433e-02 9.71003090e-03 9.98503984e-01 3.76357988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78463044 meters Centerline goodness [0,1] 0.30801497160557567 Centerline is valid? [False, False] Translation: X:10.89, Y:0.49, Z:0.38 [[ 9.98550086e-01 1.25713572e-03 -5.38158471e-02 1.08888473e+01] [-1.77831798e-03 9.99951974e-01 -9.63776029e-03 4.93037454e-01] [ 5.38011466e-02 9.71948805e-03 9.98504366e-01 3.76291236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.81463044000003 meters Centerline goodness [0,1] 0.3071611418245961 Centerline is valid? [False, False] Translation: X:10.89, Y:0.49, Z:0.38 [[ 9.98553428e-01 1.34940928e-03 -5.37515668e-02 1.08888428e+01] [-1.87448830e-03 9.99951008e-01 -9.71941045e-03 4.94433830e-01] [ 5.37358179e-02 9.80610731e-03 9.98507037e-01 3.76094245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84463044 meters Centerline goodness [0,1] 0.303455236540898 Centerline is valid? [False, False] Translation: X:10.89, Y:0.50, Z:0.38 [[ 9.98533557e-01 1.70383922e-03 -5.41094473e-02 1.08901877e+01] [-2.24597093e-03 9.99947876e-01 -9.95994142e-03 4.98613214e-01] [ 5.40896568e-02 1.00668640e-02 9.98485337e-01 3.75381072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.87463044000003 meters Centerline goodness [0,1] 0.30654229766700414 Centerline is valid? [False, False] Translation: X:10.89, Y:0.50, Z:0.38 [[ 9.98514543e-01 1.68439574e-03 -5.44598094e-02 1.08911763e+01] [-2.24883059e-03 9.99944377e-01 -1.03046267e-02 5.00911445e-01] [ 5.44394232e-02 1.04117905e-02 9.98462790e-01 3.75069510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90463044 meters Centerline goodness [0,1] 0.307002571138431 Centerline is valid? [False, False] Translation: X:10.89, Y:0.50, Z:0.37 [[ 9.98498111e-01 1.71208621e-03 -5.47593885e-02 1.08920784e+01] [-2.29207685e-03 9.99941925e-01 -1.05305710e-02 5.02758744e-01] [ 5.47381791e-02 1.06402680e-02 9.98444048e-01 3.74736173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.93463044000003 meters Centerline goodness [0,1] 0.30740468574392665 Centerline is valid? [False, False] Translation: X:10.89, Y:0.50, Z:0.37 [[ 9.98485361e-01 1.69557797e-03 -5.49918998e-02 1.08928013e+01] [-2.28987779e-03 9.99939640e-01 -1.07458340e-02 5.04262835e-01] [ 5.49703601e-02 1.08554827e-02 9.98428975e-01 3.74481325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96463044 meters Centerline goodness [0,1] 0.3018722584786563 Centerline is valid? [False, False] Translation: X:10.91, Y:0.51, Z:0.38 [[ 9.98431588e-01 -5.25485165e-03 -5.57382330e-02 1.09120560e+01] [ 4.70737814e-03 9.99939427e-01 -9.94897564e-03 5.11867422e-01] [ 5.57871371e-02 9.67099061e-03 9.98395847e-01 3.76722166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99463044000004 meters Centerline goodness [0,1] 0.3032463755627841 Centerline is valid? [False, False] Translation: X:10.91, Y:0.52, Z:0.38 [[ 9.98432956e-01 -5.44085591e-03 -5.56958576e-02 1.09118982e+01] [ 4.86202030e-03 9.99932811e-01 -1.05230275e-02 5.15385683e-01] [ 5.57493697e-02 1.02357430e-02 9.98392326e-01 3.76734607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02463044 meters Centerline goodness [0,1] 0.3032862838056244 Centerline is valid? [False, False] Translation: X:10.91, Y:0.52, Z:0.38 [[ 9.98436122e-01 -5.52649137e-03 -5.56306361e-02 1.09115044e+01] [ 4.93064866e-03 9.99929065e-01 -1.08422564e-02 5.17539347e-01] [ 5.56866096e-02 1.05510053e-02 9.98392547e-01 3.77042584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05463044000004 meters Centerline goodness [0,1] 0.3042897176115542 Centerline is valid? [False, False] Translation: X:10.91, Y:0.52, Z:0.38 [[ 9.98445117e-01 -5.53056106e-03 -5.54685528e-02 1.09110386e+01] [ 4.92142648e-03 9.99926146e-01 -1.11122129e-02 5.19916102e-01] [ 5.55259130e-02 1.08219503e-02 9.98398597e-01 3.77113325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08463044 meters Centerline goodness [0,1] 0.3003912011800167 Centerline is valid? [False, False] Translation: X:10.93, Y:0.52, Z:0.38 [[ 9.98503359e-01 2.39473652e-03 -5.46379682e-02 1.09304721e+01] [-3.08501296e-03 9.99916451e-01 -1.25527976e-02 5.21450651e-01] [ 5.46033427e-02 1.27025694e-02 9.98427323e-01 3.79252377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11463044000004 meters Centerline goodness [0,1] 0.30411692320977524 Centerline is valid? [False, False] Translation: X:10.93, Y:0.52, Z:0.38 [[ 9.98507334e-01 2.30119693e-03 -5.45693008e-02 1.09302972e+01] [-3.01065644e-03 9.99911969e-01 -1.29224339e-02 5.23937395e-01] [ 5.45347600e-02 1.30674344e-02 9.98426363e-01 3.79257383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14463044 meters Centerline goodness [0,1] 0.3051209103840683 Centerline is valid? [False, False] Translation: X:10.93, Y:0.53, Z:0.38 [[ 9.98512487e-01 2.22024564e-03 -5.44782958e-02 1.09300498e+01] [-2.94667129e-03 9.99907773e-01 -1.32575220e-02 5.26211397e-01] [ 5.44438365e-02 1.33983309e-02 9.98426939e-01 3.79285227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17463044000004 meters Centerline goodness [0,1] 0.304900610962912 Centerline is valid? [False, False] Translation: X:10.93, Y:0.53, Z:0.38 [[ 9.98514345e-01 1.96840187e-03 -5.44539162e-02 1.09296981e+01] [-2.72230793e-03 9.99901426e-01 -1.37741365e-02 5.29291469e-01] [ 5.44214355e-02 1.39019132e-02 9.98421276e-01 3.79706439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20463044 meters Centerline goodness [0,1] 0.30483488020720917 Centerline is valid? [False, False] Translation: X:10.93, Y:0.53, Z:0.38 [[ 9.98507463e-01 1.85471356e-03 -5.45839338e-02 1.09300685e+01] [-2.61749756e-03 9.99899876e-01 -1.39063444e-02 5.29820111e-01] [ 5.45526764e-02 1.40284620e-02 9.98412344e-01 3.79636900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23463044000005 meters Centerline goodness [0,1] 0.30783006451334494 Centerline is valid? [False, False] Translation: X:10.93, Y:0.53, Z:0.38 [[ 9.98504649e-01 1.71313871e-03 -5.46400174e-02 1.09301730e+01] [-2.47945674e-03 9.99899478e-01 -1.39601452e-02 5.29475008e-01] [ 5.46106093e-02 1.40747475e-02 9.98408525e-01 3.79722223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26463044 meters Centerline goodness [0,1] 0.3076856909380242 Centerline is valid? [False, False] Translation: X:10.93, Y:0.53, Z:0.38 [[ 9.98510951e-01 1.47945001e-03 -5.45315680e-02 1.09297976e+01] [-2.24652519e-03 9.99899359e-01 -1.40080126e-02 5.28738426e-01] [ 5.45053558e-02 1.41096605e-02 9.98413784e-01 3.80018452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29463044 meters Centerline goodness [0,1] 0.30972648316985696 Centerline is valid? [False, False] Translation: X:10.93, Y:0.53, Z:0.38 [[ 9.98584688e-01 3.19079407e-04 -5.31838297e-02 1.09261338e+01] [-1.10447193e-03 9.99890768e-01 -1.47387695e-02 5.27737522e-01] [ 5.31733175e-02 1.47766495e-02 9.98475963e-01 3.80879530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32463044 meters Centerline goodness [0,1] 0.3084589938565966 Centerline is valid? [False, False] Translation: X:10.93, Y:0.53, Z:0.38 [[ 9.98577551e-01 2.60103350e-04 -5.33179792e-02 1.09266298e+01] [-1.04406061e-03 9.99891755e-01 -1.46761056e-02 5.27226445e-01] [ 5.33083905e-02 1.47108968e-02 9.98469732e-01 3.80717483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35463044 meters Centerline goodness [0,1] 0.3116074697912853 Centerline is valid? [False, False] Translation: X:10.93, Y:0.53, Z:0.38 [[ 9.98572395e-01 3.16187673e-04 -5.34141487e-02 1.09273494e+01] [-1.09315916e-03 9.99894017e-01 -1.45175841e-02 5.26695718e-01] [ 5.34038974e-02 1.45552489e-02 9.98466909e-01 3.80066366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38463044 meters Centerline goodness [0,1] 0.30990676743535084 Centerline is valid? [False, False] Translation: X:10.93, Y:0.53, Z:0.38 [[ 9.98564240e-01 3.86015265e-04 -5.35659300e-02 1.09281931e+01] [-1.15587254e-03 9.99896481e-01 -1.43419087e-02 5.25962021e-01] [ 5.35548487e-02 1.43832325e-02 9.98461317e-01 3.79464050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41463044 meters Centerline goodness [0,1] 0.30498945888966966 Centerline is valid? [False, False] Translation: X:10.95, Y:0.53, Z:0.38 [[ 9.98525915e-01 -7.41769304e-03 -5.37677777e-02 1.09487962e+01] [ 6.70622432e-03 9.99887719e-01 -1.34006169e-02 5.29321936e-01] [ 5.38611423e-02 1.30202845e-02 9.98463544e-01 3.81103505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44463044 meters Centerline goodness [0,1] 0.3129585939698275 Centerline is valid? [False, False] Translation: X:10.93, Y:0.52, Z:0.38 [[ 9.98586549e-01 -3.19262570e-03 -5.30538452e-02 1.09297806e+01] [ 2.31889155e-03 9.99860810e-01 -1.65222219e-02 5.19596726e-01] [ 5.30992099e-02 1.63758425e-02 9.98454959e-01 3.78274744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47463044 meters Centerline goodness [0,1] 0.3125714902341642 Centerline is valid? [False, False] Translation: X:10.93, Y:0.52, Z:0.38 [[ 9.98573675e-01 -3.23475833e-03 -5.32930802e-02 1.09303853e+01] [ 2.38178214e-03 9.99868175e-01 -1.60611276e-02 5.15929933e-01] [ 5.33380087e-02 1.59112868e-02 9.98449742e-01 3.78272093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.50463044 meters Centerline goodness [0,1] 0.3091681689415401 Centerline is valid? [False, False] Translation: X:10.93, Y:0.51, Z:0.38 [[ 9.98552267e-01 -3.31184931e-03 -5.36879974e-02 1.09315925e+01] [ 2.47968786e-03 9.99875874e-01 -1.55591627e-02 5.11745827e-01] [ 5.37328629e-02 1.54035077e-02 9.98436533e-01 3.77961746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53463044 meters Centerline goodness [0,1] 0.3074539470872334 Centerline is valid? [False, False] Translation: X:10.93, Y:0.51, Z:0.38 [[ 9.98533213e-01 -3.37019762e-03 -5.40376174e-02 1.09326663e+01] [ 2.56201154e-03 9.99883937e-01 -1.50182944e-02 5.07231182e-01] [ 5.40819602e-02 1.48578208e-02 9.98425955e-01 3.77705381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56463044000003 meters Centerline goodness [0,1] 0.31316108895439565 Centerline is valid? [False, False] Translation: X:10.91, Y:0.50, Z:0.37 [[ 9.98670044e-01 2.01214349e-03 -5.15179135e-02 1.09145586e+01] [-2.86262567e-03 9.99860756e-01 -1.64400135e-02 4.97206850e-01] [ 5.14776603e-02 1.65656255e-02 9.98536745e-01 3.73913833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59463044 meters Centerline goodness [0,1] 0.31083538346347206 Centerline is valid? [False, False] Translation: X:10.94, Y:0.49, Z:0.38 [[ 9.98711820e-01 -6.07110701e-03 -5.03770093e-02 1.09356597e+01] [ 5.30709615e-03 9.99869081e-01 -1.52857928e-02 4.93107257e-01] [ 5.04632157e-02 1.49987463e-02 9.98613289e-01 3.75448513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62463044000003 meters Centerline goodness [0,1] 0.31360896147761763 Centerline is valid? [False, False] Translation: X:10.94, Y:0.49, Z:0.38 [[ 9.98710635e-01 -5.79633421e-03 -5.04328338e-02 1.09358892e+01] [ 5.05341182e-03 9.99877022e-01 -1.48459885e-02 4.91540607e-01] [ 5.05126840e-02 1.45719887e-02 9.98617107e-01 3.75305225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65463044 meters Centerline goodness [0,1] 0.3147312269183422 Centerline is valid? [False, False] Translation: X:10.94, Y:0.49, Z:0.37 [[ 9.98709081e-01 -5.55135661e-03 -5.04911350e-02 1.09363773e+01] [ 4.82218259e-03 9.99882486e-01 -1.45519943e-02 4.90849463e-01] [ 5.05659849e-02 1.42897314e-02 9.98618488e-01 3.74878169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68463044000003 meters Centerline goodness [0,1] 0.31358206371191133 Centerline is valid? [False, False] Translation: X:10.94, Y:0.49, Z:0.37 [[ 9.98701360e-01 -5.42459611e-03 -5.06573448e-02 1.09372427e+01] [ 4.69860597e-03 9.99884705e-01 -1.44394956e-02 4.90559438e-01] [ 5.07298327e-02 1.41827250e-02 9.98611704e-01 3.74191102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71463044 meters Centerline goodness [0,1] 0.3125829799991434 Centerline is valid? [False, False] Translation: X:10.96, Y:0.49, Z:0.38 [[ 9.98674219e-01 2.93724370e-03 -5.13923888e-02 1.09591854e+01] [-3.72958430e-03 9.99875558e-01 -1.53283692e-02 4.86875865e-01] [ 5.13409703e-02 1.54997193e-02 9.98560896e-01 3.75710436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74463044000004 meters Centerline goodness [0,1] 0.3155485158826593 Centerline is valid? [False, False] Translation: X:10.94, Y:0.49, Z:0.37 [[ 9.98672178e-01 -4.76996623e-03 -5.12945157e-02 1.09400204e+01] [ 4.06608018e-03 9.99896259e-01 -1.38180510e-02 4.90635171e-01] [ 5.13551060e-02 1.35911355e-02 9.98587970e-01 3.73352543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77463044 meters Centerline goodness [0,1] 0.316105613413422 Centerline is valid? [False, False] Translation: X:10.94, Y:0.49, Z:0.37 [[ 9.98679599e-01 -4.64854071e-03 -5.11610254e-02 1.09396598e+01] [ 3.95115286e-03 9.99898016e-01 -1.37239407e-02 4.90925189e-01] [ 5.12196041e-02 1.35036745e-02 9.98596116e-01 3.73414746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80463044000004 meters Centerline goodness [0,1] 0.31394403559815165 Centerline is valid? [False, False] Translation: X:10.94, Y:0.49, Z:0.37 [[ 9.98683123e-01 -4.58761774e-03 -5.10976951e-02 1.09395172e+01] [ 3.89228611e-03 9.99898587e-01 -1.36990925e-02 4.91294378e-01] [ 5.11553593e-02 1.34821656e-02 9.98599700e-01 3.73429273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83463044 meters Centerline goodness [0,1] 0.3205095158310779 Centerline is valid? [False, False] Translation: X:10.94, Y:0.49, Z:0.37 [[ 9.98692600e-01 -4.80211815e-03 -5.08923345e-02 1.09392698e+01] [ 4.09488127e-03 9.99893724e-01 -1.39918945e-02 4.92409132e-01] [ 5.09541166e-02 1.37652034e-02 9.98606127e-01 3.73135002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86463044000004 meters Centerline goodness [0,1] 0.3185829279841591 Centerline is valid? [False, False] Translation: X:10.94, Y:0.49, Z:0.37 [[ 9.98696204e-01 -4.83132460e-03 -5.08188057e-02 1.09389544e+01] [ 4.12122150e-03 9.99892537e-01 -1.40687515e-02 4.93065510e-01] [ 5.08813153e-02 1.38409731e-02 9.98608792e-01 3.73316162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89463044 meters Centerline goodness [0,1] 0.3205699213007005 Centerline is valid? [False, False] Translation: X:10.94, Y:0.49, Z:0.37 [[ 9.98697735e-01 -4.82373581e-03 -5.07894176e-02 1.09387156e+01] [ 4.11250063e-03 9.99892150e-01 -1.40988130e-02 4.93731296e-01] [ 5.08519489e-02 1.38715811e-02 9.98609863e-01 3.73548329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92463044000004 meters Centerline goodness [0,1] 0.3189121842240935 Centerline is valid? [False, False] Translation: X:10.94, Y:0.49, Z:0.37 [[ 9.98701333e-01 -4.82109371e-03 -5.07188695e-02 1.09385967e+01] [ 4.10934782e-03 9.99891749e-01 -1.41280885e-02 4.94395932e-01] [ 5.07814920e-02 1.39013193e-02 9.98613035e-01 3.73491603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95463044 meters Centerline goodness [0,1] 0.3176715087629087 Centerline is valid? [False, False] Translation: X:10.94, Y:0.50, Z:0.37 [[ 9.98699266e-01 -4.90347029e-03 -5.07516723e-02 1.09387981e+01] [ 4.18498721e-03 9.99889657e-01 -1.42534333e-02 4.95068300e-01] [ 5.08159635e-02 1.40224982e-02 9.98609587e-01 3.73365098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98463044000005 meters Centerline goodness [0,1] 0.31596724886162 Centerline is valid? [False, False] Translation: X:10.94, Y:0.50, Z:0.37 [[ 9.98693897e-01 -5.05621721e-03 -5.08422527e-02 1.09392301e+01] [ 4.32765209e-03 9.99886520e-01 -1.44298031e-02 4.95507131e-01] [ 5.09094433e-02 1.41909287e-02 9.98602446e-01 3.73113554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01463044 meters Centerline goodness [0,1] 0.32270762082983806 Centerline is valid? [False, False] Translation: X:10.94, Y:0.50, Z:0.37 [[ 9.98678853e-01 -5.32378329e-03 -5.11097497e-02 1.09400540e+01] [ 4.57572563e-03 9.99880858e-01 -1.47421693e-02 4.96600251e-01] [ 5.11821446e-02 1.44888285e-02 9.98584229e-01 3.72891500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04463044 meters Centerline goodness [0,1] 0.3164516198286782 Centerline is valid? [False, False] Translation: X:10.94, Y:0.50, Z:0.37 [[ 9.98676003e-01 -5.34088145e-03 -5.11636225e-02 1.09401358e+01] [ 4.58745786e-03 9.99879478e-01 -1.48318990e-02 4.97498609e-01] [ 5.12366715e-02 1.45775506e-02 9.98580141e-01 3.72954922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.07463044 meters Centerline goodness [0,1] 0.31891938361022154 Centerline is valid? [False, False] Translation: X:10.94, Y:0.50, Z:0.37 [[ 9.98674138e-01 -5.38041372e-03 -5.11958686e-02 1.09403668e+01] [ 4.62013249e-03 9.99877461e-01 -1.49572141e-02 4.98597799e-01] [ 5.12700711e-02 1.47008512e-02 9.98576619e-01 3.72797744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10463044 meters Centerline goodness [0,1] 0.31856888526629634 Centerline is valid? [False, False] Translation: X:10.94, Y:0.50, Z:0.37 [[ 9.98663820e-01 -5.54924113e-03 -5.13788012e-02 1.09410683e+01] [ 4.76757637e-03 9.99871217e-01 -1.53238384e-02 5.00904713e-01] [ 5.14572201e-02 1.50584106e-02 9.98561665e-01 3.72450427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.13463044 meters Centerline goodness [0,1] 0.3209833719947103 Centerline is valid? [False, False] Translation: X:10.94, Y:0.50, Z:0.37 [[ 9.98662680e-01 -5.64728503e-03 -5.13902744e-02 1.09413142e+01] [ 4.85396002e-03 9.99867325e-01 -1.55489938e-02 5.02169676e-01] [ 5.14712658e-02 1.52787535e-02 9.98557594e-01 3.72185826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16463044 meters Centerline goodness [0,1] 0.3183285972616895 Centerline is valid? [False, False] Translation: X:10.94, Y:0.50, Z:0.37 [[ 9.98654454e-01 -5.74577560e-03 -5.15389915e-02 1.09416998e+01] [ 4.93952177e-03 9.99863645e-01 -1.57573265e-02 5.03455239e-01] [ 5.16225019e-02 1.54815463e-02 9.98546663e-01 3.72144861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.19463044 meters Centerline goodness [0,1] 0.3172314810847864 Centerline is valid? [False, False] Translation: X:10.94, Y:0.50, Z:0.37 [[ 9.98641705e-01 -5.84784006e-03 -5.17739990e-02 1.09424178e+01] [ 5.02829961e-03 9.99860222e-01 -1.59453196e-02 5.04447303e-01] [ 5.18600078e-02 1.56633260e-02 9.98531522e-01 3.71939255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22463044 meters Centerline goodness [0,1] 0.31790003034638226 Centerline is valid? [False, False] Translation: X:10.94, Y:0.51, Z:0.37 [[ 9.98626485e-01 -5.94456731e-03 -5.20557904e-02 1.09433073e+01] [ 5.11323536e-03 9.99857495e-01 -1.60886602e-02 5.05157759e-01] [ 5.21440123e-02 1.58003887e-02 9.98514572e-01 3.71638613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.25463044 meters Centerline goodness [0,1] 0.3159100642398287 Centerline is valid? [False, False] Translation: X:10.96, Y:0.51, Z:0.37 [[ 0.99852116 -0.01383627 -0.05257433 10.96401929] [ 0.01304833 0.99979779 -0.01530105 0.5099062 ] [ 0.05277541 0.01459241 0.99849978 0.37379905] [ 0. 0. 0. 1. ]] SLAMing on 269.28463044 meters Centerline goodness [0,1] 0.3150518107039846 Centerline is valid? [False, False] Translation: X:10.96, Y:0.51, Z:0.37 [[ 0.99851321 -0.01445261 -0.05255935 10.96385285] [ 0.01365101 0.99978546 -0.01557862 0.50929006] [ 0.05277322 0.01483797 0.99849628 0.37403385] [ 0. 0. 0. 1. ]] SLAMing on 269.31463044000003 meters Centerline goodness [0,1] 0.3206779223016625 Centerline is valid? [False, False] Translation: X:10.95, Y:0.50, Z:0.37 [[ 9.98718320e-01 -7.77141909e-03 -5.00132266e-02 1.09453717e+01] [ 6.97655339e-03 9.99846881e-01 -1.60481041e-02 5.03234756e-01] [ 5.01302852e-02 1.56786156e-02 9.98619615e-01 3.71036866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34463044 meters Centerline goodness [0,1] 0.31970774932901636 Centerline is valid? [False, False] Translation: X:10.94, Y:0.50, Z:0.37 [[ 9.98734710e-01 -7.74677593e-03 -4.96887029e-02 1.09445768e+01] [ 6.97034687e-03 9.99851189e-01 -1.57801617e-02 5.01771189e-01] [ 4.98035541e-02 1.54138477e-02 9.98640085e-01 3.71114233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.37463044000003 meters Centerline goodness [0,1] 0.3218380950339713 Centerline is valid? [False, False] Translation: X:10.94, Y:0.50, Z:0.37 [[ 9.98744358e-01 -7.97098129e-03 -4.94587886e-02 1.09443001e+01] [ 7.20096318e-03 9.99850383e-01 -1.57275861e-02 5.00253656e-01] [ 4.95767530e-02 1.53516870e-02 9.98652328e-01 3.70828758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40463044 meters Centerline goodness [0,1] 0.32051556087551303 Centerline is valid? [False, False] Translation: X:10.95, Y:0.50, Z:0.37 [[ 9.98729487e-01 -8.07596131e-03 -4.97412440e-02 1.09453371e+01] [ 7.29642415e-03 9.99848019e-01 -1.58335401e-02 5.00137441e-01] [ 4.98615553e-02 1.54504901e-02 9.98636624e-01 3.70372629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.43463044000003 meters Centerline goodness [0,1] 0.3188637770237105 Centerline is valid? [False, False] Translation: X:10.95, Y:0.50, Z:0.37 [[ 9.98711231e-01 -8.11158160e-03 -5.01006893e-02 1.09464638e+01] [ 7.32238159e-03 9.99846523e-01 -1.59157875e-02 5.00394775e-01] [ 5.02221022e-02 1.55284194e-02 9.98617348e-01 3.70020457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46463044 meters Centerline goodness [0,1] 0.3199050612611457 Centerline is valid? [False, False] Translation: X:10.95, Y:0.50, Z:0.37 [[ 9.98702711e-01 -8.07005899e-03 -5.02769168e-02 1.09470644e+01] [ 7.27565271e-03 9.99846102e-01 -1.59636464e-02 5.01179659e-01] [ 5.03980069e-02 1.55771395e-02 9.98607728e-01 3.69765053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.49463044000004 meters Centerline goodness [0,1] 0.3188467607796307 Centerline is valid? [False, False] Translation: X:10.95, Y:0.50, Z:0.37 [[ 9.98734604e-01 -4.67234497e-03 -5.00735357e-02 1.09465909e+01] [ 4.04372671e-03 9.99911836e-01 -1.26478634e-02 5.00807782e-01] [ 5.01282162e-02 1.24293752e-02 9.98665446e-01 3.69730824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52463044 meters Centerline goodness [0,1] 0.3244280570110184 Centerline is valid? [False, False] Translation: X:10.95, Y:0.50, Z:0.37 [[ 9.98747000e-01 -4.59228808e-03 -4.98331226e-02 1.09459326e+01] [ 3.96413717e-03 9.99911537e-01 -1.26966101e-02 5.01935067e-01] [ 4.98870207e-02 1.24831559e-02 9.98676853e-01 3.69889675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55463044000004 meters Centerline goodness [0,1] 0.3251247419132829 Centerline is valid? [False, False] Translation: X:10.95, Y:0.50, Z:0.37 [[ 9.98743146e-01 -4.63384242e-03 -4.99064764e-02 1.09463176e+01] [ 3.98710311e-03 9.99906886e-01 -1.30507919e-02 5.04327857e-01] [ 4.99623047e-02 1.28354067e-02 9.98668624e-01 3.69678269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58463044 meters Centerline goodness [0,1] 0.3251247419132829 Centerline is valid? [False, False] Translation: X:10.95, Y:0.50, Z:0.37 [[ 9.98743146e-01 -4.63384242e-03 -4.99064764e-02 1.09463176e+01] [ 3.98710311e-03 9.99906886e-01 -1.30507919e-02 5.04327857e-01] [ 4.99623047e-02 1.28354067e-02 9.98668624e-01 3.69678269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61463044000004 meters Centerline goodness [0,1] 0.3273577552611068 Centerline is valid? [False, False] Translation: X:10.95, Y:0.51, Z:0.37 [[ 9.98731053e-01 -4.68607862e-03 -5.01430317e-02 1.09471324e+01] [ 4.02789195e-03 9.99904510e-01 -1.32191921e-02 5.05259572e-01] [ 5.02001897e-02 1.30004469e-02 9.98654560e-01 3.69324931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64463044 meters Centerline goodness [0,1] 0.3227482555018787 Centerline is valid? [False, False] Translation: X:10.95, Y:0.51, Z:0.37 [[ 9.98723217e-01 -4.74415724e-03 -5.02934200e-02 1.09478057e+01] [ 4.07541266e-03 9.99902030e-01 -1.33910799e-02 5.06194445e-01] [ 5.03520222e-02 1.31690160e-02 9.98644707e-01 3.68962452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67463044000004 meters Centerline goodness [0,1] 0.325943254496287 Centerline is valid? [False, False] Translation: X:10.95, Y:0.51, Z:0.37 [[ 9.98726823e-01 -4.81468908e-03 -5.02150495e-02 1.09477469e+01] [ 4.13710056e-03 9.99899107e-01 -1.35889543e-02 5.07385992e-01] [ 5.02754098e-02 1.33639084e-02 9.98645978e-01 3.68811013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70463044 meters Centerline goodness [0,1] 0.3291921439837522 Centerline is valid? [False, False] Translation: X:10.95, Y:0.51, Z:0.37 [[ 9.98735215e-01 -4.93106321e-03 -5.00365451e-02 1.09470516e+01] [ 4.23987058e-03 9.99894255e-01 -1.39105072e-02 5.09294939e-01] [ 5.00998475e-02 1.36807649e-02 9.98650510e-01 3.69223640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73463044000005 meters Centerline goodness [0,1] 0.3239394329344143 Centerline is valid? [False, False] Translation: X:10.95, Y:0.51, Z:0.37 [[ 9.98733878e-01 -4.98385667e-03 -5.00579818e-02 1.09471956e+01] [ 4.28758326e-03 9.99892703e-01 -1.40071020e-02 5.09979268e-01] [ 5.01224201e-02 1.37747396e-02 9.98648086e-01 3.69130887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76463044 meters Centerline goodness [0,1] 0.3264941439889769 Centerline is valid? [False, False] Translation: X:10.95, Y:0.51, Z:0.37 [[ 9.98726072e-01 -4.99455717e-03 -5.02124237e-02 1.09478009e+01] [ 4.29760450e-03 9.99893061e-01 -1.39784807e-02 5.09945365e-01] [ 5.02768704e-02 1.37448799e-02 9.98640733e-01 3.68798333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79463044 meters Centerline goodness [0,1] 0.3243167574785174 Centerline is valid? [False, False] Translation: X:10.95, Y:0.51, Z:0.37 [[ 9.98710894e-01 -4.98576411e-03 -5.05142753e-02 1.09488600e+01] [ 4.28975180e-03 9.99894500e-01 -1.38775869e-02 5.09442274e-01] [ 5.05781364e-02 1.36430036e-02 9.98626918e-01 3.68355996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82463044 meters Centerline goodness [0,1] 0.3271786657431057 Centerline is valid? [False, False] Translation: X:10.95, Y:0.51, Z:0.37 [[ 9.98692260e-01 -5.03753372e-03 -5.08762494e-02 1.09500742e+01] [ 4.33957176e-03 9.99895083e-01 -1.38199743e-02 5.08809350e-01] [ 5.09405302e-02 1.35811202e-02 9.98609341e-01 3.67854906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85463044 meters Centerline goodness [0,1] 0.323599664306772 Centerline is valid? [False, False] Translation: X:10.95, Y:0.51, Z:0.37 [[ 9.98661156e-01 -5.20835052e-03 -5.14661880e-02 1.09519003e+01] [ 4.50170743e-03 9.99894135e-01 -1.38366338e-02 5.07951972e-01] [ 5.15328056e-02 1.35864230e-02 9.98578880e-01 3.67317043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88463044 meters Centerline goodness [0,1] 0.32276508393697745 Centerline is valid? [False, False] Translation: X:10.95, Y:0.51, Z:0.37 [[ 9.98660284e-01 -5.18301293e-03 -5.14856565e-02 1.09518213e+01] [ 4.47734205e-03 9.99894585e-01 -1.38120580e-02 5.08007538e-01] [ 5.15518172e-02 1.35630349e-02 9.98578216e-01 3.67529333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91463044 meters Centerline goodness [0,1] 0.3251044680167149 Centerline is valid? [False, False] Translation: X:10.95, Y:0.51, Z:0.37 [[ 9.98655776e-01 -5.12993248e-03 -5.15783294e-02 1.09520159e+01] [ 4.42459651e-03 9.99895263e-01 -1.37799408e-02 5.08192261e-01] [ 5.16436174e-02 1.35332042e-02 9.98573878e-01 3.67535118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94463044 meters Centerline goodness [0,1] 0.32339381003201706 Centerline is valid? [False, False] Translation: X:10.95, Y:0.51, Z:0.37 [[ 9.98644530e-01 -5.13039043e-03 -5.17955761e-02 1.09526590e+01] [ 4.41843163e-03 9.99894312e-01 -1.38507125e-02 5.08820323e-01] [ 5.18611615e-02 1.36030831e-02 9.98561654e-01 3.67405121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97463044 meters Centerline goodness [0,1] 0.32710179381888915 Centerline is valid? [False, False] Translation: X:10.96, Y:0.51, Z:0.37 [[ 9.98609276e-01 -4.91815614e-03 -5.24911865e-02 1.09552115e+01] [ 4.19980393e-03 9.99896138e-01 -1.37867367e-02 5.10080369e-01] [ 5.25535400e-02 1.35471104e-02 9.98526215e-01 3.66245210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.00463044 meters Centerline goodness [0,1] 0.3256412474588001 Centerline is valid? [False, False] Translation: X:10.96, Y:0.51, Z:0.37 [[ 9.98600545e-01 -4.87042425e-03 -5.26614726e-02 1.09559014e+01] [ 4.14848100e-03 9.99896035e-01 -1.38097641e-02 5.10845644e-01] [ 5.27232571e-02 1.35719728e-02 9.98516930e-01 3.65902797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03463044 meters Centerline goodness [0,1] 0.3282747257512032 Centerline is valid? [False, False] Translation: X:10.96, Y:0.51, Z:0.37 [[ 9.98596673e-01 -4.85291884e-03 -5.27364660e-02 1.09560187e+01] [ 4.12739782e-03 9.99895459e-01 -1.38576935e-02 5.11416077e-01] [ 5.27982031e-02 1.36205823e-02 9.98512308e-01 3.65999253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06463044000003 meters Centerline goodness [0,1] 0.32921064559994817 Centerline is valid? [False, False] Translation: X:10.96, Y:0.51, Z:0.37 [[ 9.98593004e-01 -4.99197696e-03 -5.27929140e-02 1.09557497e+01] [ 4.24949022e-03 9.99890612e-01 -1.41670470e-02 5.12984523e-01] [ 5.28578607e-02 1.39227711e-02 9.98504984e-01 3.66594717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09463044 meters Centerline goodness [0,1] 0.3287706611570248 Centerline is valid? [False, False] Translation: X:10.96, Y:0.51, Z:0.37 [[ 9.98588494e-01 -5.06089758e-03 -5.28716040e-02 1.09558660e+01] [ 4.30994799e-03 9.99888352e-01 -1.43076435e-02 5.13806674e-01] [ 5.29381105e-02 1.40595743e-02 9.98498816e-01 3.66708714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12463044000003 meters Centerline goodness [0,1] 0.32756960345823793 Centerline is valid? [False, False] Translation: X:10.96, Y:0.51, Z:0.37 [[ 9.98582414e-01 -5.08900883e-03 -5.29836298e-02 1.09561852e+01] [ 4.33146393e-03 9.99886893e-01 -1.44027415e-02 5.14620954e-01] [ 5.30509327e-02 1.41528277e-02 9.98491510e-01 3.66659953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15463044 meters Centerline goodness [0,1] 0.3242029540714255 Centerline is valid? [False, False] Translation: X:10.96, Y:0.52, Z:0.37 [[ 9.98575437e-01 -5.12561333e-03 -5.31114425e-02 1.09566238e+01] [ 4.36305899e-03 9.99885877e-01 -1.44636412e-02 5.15136412e-01] [ 5.31795163e-02 1.42113085e-02 9.98483840e-01 3.66514999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18463044000003 meters Centerline goodness [0,1] 0.32797772065124253 Centerline is valid? [False, False] Translation: X:10.96, Y:0.52, Z:0.37 [[ 9.98565498e-01 -5.20294457e-03 -5.32904852e-02 1.09571310e+01] [ 4.43492825e-03 9.99884744e-01 -1.45200134e-02 5.15367482e-01] [ 5.33598900e-02 1.42628449e-02 9.98473482e-01 3.66402773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21463044 meters Centerline goodness [0,1] 0.33063018843765335 Centerline is valid? [False, False] Translation: X:10.96, Y:0.52, Z:0.37 [[ 9.98564057e-01 -5.43238304e-03 -5.32945960e-02 1.09569259e+01] [ 4.65861779e-03 9.99882092e-01 -1.46321446e-02 5.15186646e-01] [ 5.33677995e-02 1.43628545e-02 9.98471625e-01 3.66736701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24463044000004 meters Centerline goodness [0,1] 0.3325947120452638 Centerline is valid? [False, False] Translation: X:10.96, Y:0.52, Z:0.37 [[ 9.98576071e-01 -5.48895151e-03 -5.30631783e-02 1.09560148e+01] [ 4.71688498e-03 9.99881348e-01 -1.46642510e-02 5.15191327e-01] [ 5.31373736e-02 1.43930773e-02 9.98483480e-01 3.67242469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27463044 meters Centerline goodness [0,1] 0.3351628325793795 Centerline is valid? [False, False] Translation: X:10.96, Y:0.52, Z:0.37 [[ 9.98582100e-01 -5.62865760e-03 -5.29349335e-02 1.09553369e+01] [ 4.84775970e-03 9.99877700e-01 -1.48688797e-02 5.15881914e-01] [ 5.30121514e-02 1.45911813e-02 9.98487260e-01 3.67811576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30463044000004 meters Centerline goodness [0,1] 0.33801146897770884 Centerline is valid? [False, False] Translation: X:10.96, Y:0.52, Z:0.37 [[ 9.98583655e-01 -5.74997528e-03 -5.28925547e-02 1.09550641e+01] [ 4.95813639e-03 9.99873850e-01 -1.50897602e-02 5.16908670e-01] [ 5.29726481e-02 1.48061394e-02 9.98486193e-01 3.68097112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33463044 meters Centerline goodness [0,1] 0.3408993115318416 Centerline is valid? [False, False] Translation: X:10.96, Y:0.52, Z:0.37 [[ 9.98578378e-01 -5.83046224e-03 -5.29832962e-02 1.09552354e+01] [ 5.02404254e-03 9.99869702e-01 -1.53407272e-02 5.18433513e-01] [ 5.30658361e-02 1.50527281e-02 9.98477557e-01 3.68186805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36463044000004 meters Centerline goodness [0,1] 0.3387985196660642 Centerline is valid? [False, False] Translation: X:10.96, Y:0.52, Z:0.37 [[ 9.98574531e-01 -2.54257070e-03 -5.33145512e-02 1.09560504e+01] [ 1.87923786e-03 9.99920252e-01 -1.24883144e-02 5.21194368e-01] [ 5.33420519e-02 1.23703220e-02 9.98499675e-01 3.68164997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39463044 meters Centerline goodness [0,1] 0.3404744509862908 Centerline is valid? [False, False] Translation: X:10.96, Y:0.52, Z:0.37 [[ 9.98563502e-01 -2.59176989e-03 -5.35183673e-02 1.09566870e+01] [ 1.91161837e-03 9.99916811e-01 -1.27560310e-02 5.23300248e-01] [ 5.35469758e-02 1.26354003e-02 9.98485387e-01 3.68004777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42463044000004 meters Centerline goodness [0,1] 0.3390470469611482 Centerline is valid? [False, False] Translation: X:10.96, Y:0.53, Z:0.37 [[ 9.98555429e-01 -2.72712335e-03 -5.36620765e-02 1.09571597e+01] [ 2.02579468e-03 9.99911885e-01 -1.31194098e-02 5.25480292e-01] [ 5.36931263e-02 1.29917495e-02 9.98472965e-01 3.67904876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45463044 meters Centerline goodness [0,1] 0.3402307230465734 Centerline is valid? [False, False] Translation: X:10.96, Y:0.53, Z:0.37 [[ 9.98553133e-01 -3.04329732e-03 -5.36877827e-02 1.09572211e+01] [ 2.30576158e-03 9.99902198e-01 -1.37940923e-02 5.29206456e-01] [ 5.37245115e-02 1.36503428e-02 9.98462491e-01 3.67998213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48463044000005 meters Centerline goodness [0,1] 0.3387121033067618 Centerline is valid? [False, False] Translation: X:10.96, Y:0.53, Z:0.37 [[ 9.98554296e-01 -3.17706639e-03 -5.36584029e-02 1.09571143e+01] [ 2.42456411e-03 9.99897887e-01 -1.40832194e-02 5.30834100e-01] [ 5.36976670e-02 1.39327609e-02 9.98460034e-01 3.68078301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51463044 meters Centerline goodness [0,1] 0.3376944229612443 Centerline is valid? [False, False] Translation: X:10.96, Y:0.53, Z:0.37 [[ 9.98553667e-01 -3.34188176e-03 -5.36600874e-02 1.09571649e+01] [ 2.57212411e-03 9.99892895e-01 -1.44077265e-02 5.32511670e-01] [ 5.37024891e-02 1.42488677e-02 9.98455313e-01 3.68033751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54463044 meters Centerline goodness [0,1] 0.3343410952442214 Centerline is valid? [False, False] Translation: X:10.96, Y:0.53, Z:0.37 [[ 9.98540689e-01 -3.47563688e-03 -5.38926083e-02 1.09578993e+01] [ 2.68926040e-03 9.99888961e-01 -1.46572051e-02 5.33884099e-01] [ 5.39375672e-02 1.44908844e-02 9.98439158e-01 3.67830105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.57463044 meters Centerline goodness [0,1] 0.33418400171563367 Centerline is valid? [False, False] Translation: X:10.96, Y:0.54, Z:0.37 [[ 9.98522384e-01 -3.61923521e-03 -5.42212963e-02 1.09590711e+01] [ 2.81164057e-03 9.99884090e-01 -1.49633026e-02 5.35582040e-01] [ 5.42691672e-02 1.47887418e-02 9.98416822e-01 3.67345454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60463044 meters Centerline goodness [0,1] 0.33770867572009344 Centerline is valid? [False, False] Translation: X:10.96, Y:0.54, Z:0.37 [[ 9.98497311e-01 -3.70120906e-03 -5.46755988e-02 1.09605128e+01] [ 2.87282108e-03 9.99880015e-01 -1.52217967e-02 5.37366894e-01] [ 5.47253776e-02 1.50418499e-02 9.98388139e-01 3.66881792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.63463044 meters Centerline goodness [0,1] 0.3317035676922091 Centerline is valid? [False, False] Translation: X:10.98, Y:0.54, Z:0.37 [[ 9.98432029e-01 -9.54979172e-03 -5.51569146e-02 1.09836299e+01] [ 8.85792702e-03 9.99879168e-01 -1.27744590e-02 5.43706053e-01] [ 5.52722433e-02 1.22658531e-02 9.98395978e-01 3.67578046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66463044 meters Centerline goodness [0,1] 0.3303191603069754 Centerline is valid? [False, False] Translation: X:10.98, Y:0.55, Z:0.37 [[ 9.98438225e-01 -9.68036949e-03 -5.50218278e-02 1.09832631e+01] [ 8.96914882e-03 9.99873197e-01 -1.31584317e-02 5.46118591e-01] [ 5.51422294e-02 1.26443822e-02 9.98398445e-01 3.67748775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.69463044 meters Centerline goodness [0,1] 0.33219604308827944 Centerline is valid? [False, False] Translation: X:10.98, Y:0.55, Z:0.37 [[ 9.98437091e-01 -9.82638202e-03 -5.50165129e-02 1.09830764e+01] [ 9.09250060e-03 9.99866531e-01 -1.35737547e-02 5.48693725e-01] [ 5.51425507e-02 1.30523025e-02 9.98393177e-01 3.68040734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72463044 meters Centerline goodness [0,1] 0.3296967614466111 Centerline is valid? [False, False] Translation: X:10.98, Y:0.55, Z:0.37 [[ 9.98422093e-01 -9.92234925e-03 -5.52708901e-02 1.09838079e+01] [ 9.16579347e-03 9.99861034e-01 -1.39248648e-02 5.50986228e-01] [ 5.54013766e-02 1.33962911e-02 9.98374292e-01 3.67965438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.75463044 meters Centerline goodness [0,1] 0.32790576823142215 Centerline is valid? [False, False] Translation: X:10.99, Y:0.56, Z:0.37 [[ 9.98359770e-01 -8.39123840e-03 -5.66335348e-02 1.09890537e+01] [ 7.67662563e-03 9.99888301e-01 -1.28239730e-02 5.55049644e-01] [ 5.67348179e-02 1.23681842e-02 9.98312671e-01 3.65882883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78463044 meters Centerline goodness [0,1] 0.327951802062563 Centerline is valid? [False, False] Translation: X:11.01, Y:0.55, Z:0.37 [[ 9.98402746e-01 -7.12430725e-04 -5.64929160e-02 1.10088633e+01] [-7.61922570e-05 9.99902603e-01 -1.39562967e-02 5.52972272e-01] [ 5.64973567e-02 1.39383092e-02 9.98305450e-01 3.67940876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.81463044000003 meters Centerline goodness [0,1] 0.32734658969424846 Centerline is valid? [False, False] Translation: X:11.01, Y:0.55, Z:0.37 [[ 9.98400896e-01 -7.99241698e-04 -5.65244374e-02 1.10086885e+01] [-4.94631913e-06 9.99898810e-01 -1.42256919e-02 5.54632816e-01] [ 5.65300875e-02 1.42032231e-02 9.98299864e-01 3.68369978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84463044 meters Centerline goodness [0,1] 0.3246552058007186 Centerline is valid? [False, False] Translation: X:11.00, Y:0.56, Z:0.37 [[ 9.98458528e-01 9.50923715e-04 -5.54947145e-02 1.10044923e+01] [-1.66840511e-03 9.99915607e-01 -1.28839270e-02 5.57793192e-01] [ 5.54777795e-02 1.29566544e-02 9.98375852e-01 3.70314274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.87463044000003 meters Centerline goodness [0,1] 0.3266187361012155 Centerline is valid? [False, False] Translation: X:11.00, Y:0.56, Z:0.37 [[ 9.98460735e-01 8.53502201e-04 -5.54565791e-02 1.10042802e+01] [-1.59307316e-03 9.99910372e-01 -1.32931982e-02 5.60397247e-01] [ 5.54402628e-02 1.33610828e-02 9.98372605e-01 3.70571173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90463044 meters Centerline goodness [0,1] 0.3245696668664897 Centerline is valid? [False, False] Translation: X:11.02, Y:0.56, Z:0.37 [[ 9.98509094e-01 -4.38824439e-03 -5.44089442e-02 1.10246553e+01] [ 3.84627431e-03 9.99941982e-01 -1.00617633e-02 5.64496666e-01] [ 5.44499410e-02 9.83749041e-03 9.98468040e-01 3.72170790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.93463044000003 meters Centerline goodness [0,1] 0.3275180474389825 Centerline is valid? [False, False] Translation: X:11.02, Y:0.57, Z:0.37 [[ 9.98553972e-01 -2.11549151e-03 -5.37167584e-02 1.10218683e+01] [ 1.67242660e-03 9.99964224e-01 -8.29178112e-03 5.68390924e-01] [ 5.37323778e-02 8.18995364e-03 9.98521786e-01 3.73355614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96463044 meters Centerline goodness [0,1] 0.32956774819445944 Centerline is valid? [False, False] Translation: X:11.02, Y:0.57, Z:0.37 [[ 9.98572181e-01 8.81143306e-05 -5.34190261e-02 1.10202200e+01] [-4.42632915e-04 9.99977958e-01 -6.62476561e-03 5.72871189e-01] [ 5.34172649e-02 6.63895166e-03 9.98550209e-01 3.74306013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99463044000004 meters Centerline goodness [0,1] 0.32495350477778495 Centerline is valid? [False, False] Translation: X:11.04, Y:0.58, Z:0.38 [[ 9.98435508e-01 -4.09767645e-03 -5.57650895e-02 1.10416526e+01] [ 3.88883221e-03 9.99985015e-01 -3.85307163e-03 5.83674221e-01] [ 5.57800425e-02 3.63018245e-03 9.98436482e-01 3.76043102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02463044 meters Centerline goodness [0,1] 0.3277356096931645 Centerline is valid? [False, False] Translation: X:11.04, Y:0.59, Z:0.38 [[ 9.98443919e-01 -4.27136430e-03 -5.56012161e-02 1.10412768e+01] [ 4.03961244e-03 9.99982682e-01 -4.27983169e-03 5.86007288e-01] [ 5.56185340e-02 4.04856456e-03 9.98443883e-01 3.76033348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05463044000004 meters Centerline goodness [0,1] 0.32938551321661513 Centerline is valid? [False, False] Translation: X:11.04, Y:0.59, Z:0.38 [[ 9.98453378e-01 -4.48137995e-03 -5.54145245e-02 1.10407019e+01] [ 4.23352976e-03 9.99980508e-01 -4.58923921e-03 5.87241635e-01] [ 5.54340105e-02 4.34754235e-03 9.98452888e-01 3.76275129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08463044 meters Centerline goodness [0,1] 0.3271767810026385 Centerline is valid? [False, False] Translation: X:11.04, Y:0.59, Z:0.38 [[ 9.98464715e-01 -4.71894551e-03 -5.51900710e-02 1.10400769e+01] [ 4.46123943e-03 9.99978568e-01 -4.79169906e-03 5.87541009e-01] [ 5.52114999e-02 4.53812632e-03 9.98464369e-01 3.76424737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11463044000004 meters Centerline goodness [0,1] 0.3272109134450907 Centerline is valid? [False, False] Translation: X:11.04, Y:0.59, Z:0.38 [[ 9.98459928e-01 -4.91011524e-03 -5.52599655e-02 1.10402537e+01] [ 4.65304255e-03 9.99977751e-01 -4.77976185e-03 5.86897150e-01] [ 5.52822052e-02 4.51527370e-03 9.98460560e-01 3.76411115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14463044 meters Centerline goodness [0,1] 0.32583474512663246 Centerline is valid? [False, False] Translation: X:11.04, Y:0.59, Z:0.38 [[ 9.98450427e-01 -5.15837384e-03 -5.54088094e-02 1.10408493e+01] [ 4.90535968e-03 9.99976917e-01 -4.70135167e-03 5.85464807e-01] [ 5.54317817e-02 4.42226644e-03 9.98452683e-01 3.76075182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17463044000004 meters Centerline goodness [0,1] 0.32164702372072207 Centerline is valid? [False, False] Translation: X:11.04, Y:0.58, Z:0.37 [[ 9.98385348e-01 -8.47097827e-03 -5.61688481e-02 1.10449567e+01] [ 8.08840808e-03 9.99942542e-01 -7.03492139e-03 5.80276256e-01] [ 5.62252134e-02 6.56924588e-03 9.98396500e-01 3.73581750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20463044 meters Centerline goodness [0,1] 0.32332776278013453 Centerline is valid? [False, False] Translation: X:11.05, Y:0.58, Z:0.37 [[ 9.98378212e-01 -8.64507403e-03 -5.62690759e-02 1.10455758e+01] [ 8.27640709e-03 9.99942754e-01 -6.78160466e-03 5.77543199e-01] [ 5.63244821e-02 6.30490055e-03 9.98392609e-01 3.73051927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23463044000005 meters Centerline goodness [0,1] 0.32350679312996666 Centerline is valid? [False, False] Translation: X:11.05, Y:0.57, Z:0.37 [[ 9.98378380e-01 -8.68614990e-03 -5.62597572e-02 1.10455934e+01] [ 8.34842666e-03 9.99945712e-01 -6.23517903e-03 5.73129718e-01] [ 5.63108627e-02 5.75538748e-03 9.98396696e-01 3.73019769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26463044 meters Centerline goodness [0,1] 0.32351497299950904 Centerline is valid? [False, False] Translation: X:11.05, Y:0.57, Z:0.37 [[ 9.98374415e-01 -8.51670955e-03 -5.63559561e-02 1.10459194e+01] [ 8.19663008e-03 9.99948952e-01 -5.90832014e-03 5.71630473e-01] [ 5.64033987e-02 5.43678674e-03 9.98393258e-01 3.72919061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29463044 meters Centerline goodness [0,1] 0.32614054054054054 Centerline is valid? [False, False] Translation: X:11.03, Y:0.57, Z:0.37 [[ 9.98403565e-01 5.49124103e-05 -5.64829075e-02 1.10260652e+01] [-4.34756377e-04 9.99977375e-01 -6.71267052e-03 5.67294849e-01] [ 5.64812610e-02 6.72651048e-03 9.98381000e-01 3.70435067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32463044 meters Centerline goodness [0,1] 0.32475532280219777 Centerline is valid? [False, False] Translation: X:11.03, Y:0.57, Z:0.37 [[ 9.98390896e-01 6.89515894e-05 -5.67063905e-02 1.10268786e+01] [-4.49831367e-04 9.99977427e-01 -6.70396237e-03 5.66879569e-01] [ 5.67046483e-02 6.71868331e-03 9.98368390e-01 3.70104749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35463044 meters Centerline goodness [0,1] 0.3245903762709669 Centerline is valid? [False, False] Translation: X:11.03, Y:0.57, Z:0.37 [[ 9.98366652e-01 4.61747654e-04 -5.71298056e-02 1.10283992e+01] [-8.28848309e-04 9.99979162e-01 -6.40220066e-03 5.66436119e-01] [ 5.71256590e-02 6.43909558e-03 9.98346231e-01 3.69415407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38463044 meters Centerline goodness [0,1] 0.3279180798893906 Centerline is valid? [False, False] Translation: X:11.03, Y:0.57, Z:0.37 [[ 9.98359551e-01 6.72920806e-04 -5.72516677e-02 1.10285774e+01] [-1.03124007e-03 9.99980066e-01 -6.22935527e-03 5.66501465e-01] [ 5.72463346e-02 6.27817654e-03 9.98340344e-01 3.69613030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41463044 meters Centerline goodness [0,1] 0.32613672836204133 Centerline is valid? [False, False] Translation: X:11.05, Y:0.57, Z:0.37 [[ 9.98415410e-01 -4.86290711e-03 -5.60626592e-02 1.10497960e+01] [ 4.70653323e-03 9.99984658e-01 -2.92096744e-03 5.66755238e-01] [ 5.60760035e-02 2.65247814e-03 9.98422980e-01 3.70654244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44463044 meters Centerline goodness [0,1] 0.3281954968374242 Centerline is valid? [False, False] Translation: X:11.05, Y:0.57, Z:0.37 [[ 9.98407796e-01 -4.80051505e-03 -5.62034488e-02 1.10497591e+01] [ 4.64613147e-03 9.99985067e-01 -2.87721634e-03 5.66751343e-01] [ 5.62164217e-02 2.61150661e-03 9.98415191e-01 3.71147208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.47463044 meters Centerline goodness [0,1] 0.3281954968374242 Centerline is valid? [False, False] Translation: X:11.05, Y:0.57, Z:0.37 [[ 9.98407796e-01 -4.80051505e-03 -5.62034488e-02 1.10497591e+01] [ 4.64613147e-03 9.99985067e-01 -2.87721634e-03 5.66751343e-01] [ 5.62164217e-02 2.61150661e-03 9.98415191e-01 3.71147208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.50463044 meters Centerline goodness [0,1] 0.3288605036234221 Centerline is valid? [False, False] Translation: X:11.05, Y:0.57, Z:0.37 [[ 9.98401074e-01 -4.80410563e-03 -5.63224257e-02 1.10499104e+01] [ 4.65648328e-03 9.99985372e-01 -2.75196677e-03 5.65470196e-01] [ 5.63348226e-02 2.48530215e-03 9.98408840e-01 3.71331040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53463044 meters Centerline goodness [0,1] 0.32925381510500984 Centerline is valid? [False, False] Translation: X:11.05, Y:0.56, Z:0.37 [[ 9.98407408e-01 -4.72839270e-03 -5.62164531e-02 1.10497382e+01] [ 4.59384169e-03 9.99986267e-01 -2.52243212e-03 5.64268563e-01] [ 5.62276081e-02 2.26016543e-03 9.98415418e-01 3.71205609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56463044000003 meters Centerline goodness [0,1] 0.3289468044065327 Centerline is valid? [False, False] Translation: X:11.05, Y:0.56, Z:0.37 [[ 9.98411750e-01 -4.67269227e-03 -5.61439491e-02 1.10495208e+01] [ 4.55210814e-03 9.99987050e-01 -2.27546343e-03 5.62735562e-01] [ 5.61538545e-02 2.01627610e-03 9.98420092e-01 3.71281592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59463044 meters Centerline goodness [0,1] 0.3266390643674236 Centerline is valid? [False, False] Translation: X:11.05, Y:0.56, Z:0.37 [[ 9.98422898e-01 -4.63669480e-03 -5.59483526e-02 1.10490990e+01] [ 4.52839066e-03 9.99987620e-01 -2.06241054e-03 5.61286734e-01] [ 5.59572227e-02 1.80580191e-03 9.98431534e-01 3.71220614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62463044000003 meters Centerline goodness [0,1] 0.3316400423683016 Centerline is valid? [False, False] Translation: X:11.03, Y:0.56, Z:0.37 [[ 9.98472111e-01 3.18697164e-03 -5.51659844e-02 1.10301297e+01] [-3.36136100e-03 9.99989642e-01 -3.06867700e-03 5.55620402e-01] [ 5.51556332e-02 3.24942119e-03 9.98472482e-01 3.68479370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65463044 meters Centerline goodness [0,1] 0.32941277472527475 Centerline is valid? [False, False] Translation: X:11.05, Y:0.56, Z:0.37 [[ 9.98469016e-01 -4.76513241e-03 -5.51082369e-02 1.10501246e+01] [ 4.67778164e-03 9.99987590e-01 -1.71395880e-03 5.57302730e-01] [ 5.51157203e-02 1.45355045e-03 9.98478915e-01 3.70643708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68463044000003 meters Centerline goodness [0,1] 0.3269210171161715 Centerline is valid? [False, False] Translation: X:11.05, Y:0.55, Z:0.37 [[ 9.98449629e-01 -4.63959505e-03 -5.54690260e-02 1.10511167e+01] [ 4.57667842e-03 9.99988732e-01 -1.26124270e-03 5.54589267e-01] [ 5.54742526e-02 1.00542341e-03 9.98459612e-01 3.70464261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71463044 meters Centerline goodness [0,1] 0.32707596699882135 Centerline is valid? [False, False] Translation: X:11.05, Y:0.55, Z:0.37 [[ 9.98443884e-01 -4.60795900e-03 -5.55749723e-02 1.10512738e+01] [ 4.55778755e-03 9.99989083e-01 -1.02948476e-03 5.52920011e-01] [ 5.55791094e-02 7.74583842e-04 9.98453986e-01 3.70581278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74463044000004 meters Centerline goodness [0,1] 0.32710139626944346 Centerline is valid? [False, False] Translation: X:11.05, Y:0.55, Z:0.37 [[ 9.98445615e-01 -4.50803769e-03 -5.55520594e-02 1.10512385e+01] [ 4.47559551e-03 9.99989734e-01 -7.08393169e-04 5.51136222e-01] [ 5.55546826e-02 4.58663506e-04 9.98455541e-01 3.70568622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77463044 meters Centerline goodness [0,1] 0.32497734823316216 Centerline is valid? [False, False] Translation: X:11.05, Y:0.55, Z:0.37 [[ 9.98432942e-01 -4.22620465e-03 -5.58014328e-02 1.10522122e+01] [ 4.23583222e-03 9.99991027e-01 5.42583874e-05 5.47318889e-01] [ 5.58007028e-02 -2.90538868e-04 9.98441885e-01 3.70025178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80463044000004 meters Centerline goodness [0,1] 0.32784106755915987 Centerline is valid? [False, False] Translation: X:11.05, Y:0.55, Z:0.37 [[ 9.98421760e-01 -4.10244731e-03 -5.60103471e-02 1.10529067e+01] [ 4.13165877e-03 9.99991382e-01 4.05747576e-04 5.45356012e-01] [ 5.60081998e-02 -6.36522850e-04 9.98430106e-01 3.69771304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83463044 meters Centerline goodness [0,1] 0.32291621981039 Centerline is valid? [False, False] Translation: X:11.05, Y:0.54, Z:0.37 [[ 9.98415755e-01 -4.02162849e-03 -5.61231460e-02 1.10531361e+01] [ 4.06742031e-03 9.99991482e-01 7.01712152e-04 5.43330232e-01] [ 5.61198459e-02 -9.28876892e-04 9.98423608e-01 3.69839193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86463044000004 meters Centerline goodness [0,1] 0.3217447775733304 Centerline is valid? [False, False] Translation: X:11.05, Y:0.54, Z:0.37 [[ 9.98426563e-01 -3.97068891e-03 -5.59341742e-02 1.10516270e+01] [ 4.02764078e-03 9.99991479e-01 9.05501407e-04 5.41565137e-01] [ 5.59301021e-02 -1.12935942e-03 9.98434048e-01 3.71323803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89463044 meters Centerline goodness [0,1] 0.3209505833905285 Centerline is valid? [False, False] Translation: X:11.07, Y:0.54, Z:0.37 [[ 9.98490823e-01 3.72227096e-03 -5.47925294e-02 1.10705909e+01] [-3.73919652e-03 9.99992988e-01 -2.06388553e-04 5.37533921e-01] [ 5.47913770e-02 4.10957112e-04 9.98497740e-01 3.73991620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92463044000004 meters Centerline goodness [0,1] 0.32107864202836267 Centerline is valid? [False, False] Translation: X:11.07, Y:0.54, Z:0.37 [[ 9.98501020e-01 3.81393797e-03 -5.46000648e-02 1.10698447e+01] [-3.83929705e-03 9.99992565e-01 -3.59567417e-04 5.38985370e-01] [ 5.45982875e-02 5.68654301e-04 9.98508239e-01 3.74530141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95463044 meters Centerline goodness [0,1] 0.31826754103981825 Centerline is valid? [False, False] Translation: X:11.07, Y:0.54, Z:0.37 [[ 9.98505385e-01 3.92925484e-03 -5.45119946e-02 1.10693718e+01] [-3.96969776e-03 9.99991920e-01 -6.33649466e-04 5.41385791e-01] [ 5.45090644e-02 8.49098547e-04 9.98512915e-01 3.74992761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98463044000005 meters Centerline goodness [0,1] 0.319651421719767 Centerline is valid? [False, False] Translation: X:11.07, Y:0.54, Z:0.38 [[ 9.98523576e-01 4.02557621e-03 -5.41706915e-02 1.10683252e+01] [-4.08760471e-03 9.99991111e-01 -1.03430924e-03 5.44658192e-01] [ 5.41660463e-02 1.25421053e-03 9.98531154e-01 3.75479867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01463044 meters Centerline goodness [0,1] 0.3202758620689655 Centerline is valid? [False, False] Translation: X:11.09, Y:0.55, Z:0.38 [[ 9.98591405e-01 -1.01145449e-03 -5.30488789e-02 1.10890986e+01] [ 1.12526675e-03 9.99997129e-01 2.11559824e-03 5.48892584e-01] [ 5.30465868e-02 -2.17231236e-03 9.98589676e-01 3.76887199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04463044 meters Centerline goodness [0,1] 0.31728548207716656 Centerline is valid? [False, False] Translation: X:11.09, Y:0.56, Z:0.38 [[ 9.98590569e-01 -2.88561337e-04 -5.30734619e-02 1.10887947e+01] [ 3.95523069e-04 9.99997912e-01 2.00486020e-03 5.57117707e-01] [ 5.30727726e-02 -2.02302626e-03 9.98588598e-01 3.77436436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.07463044 meters Centerline goodness [0,1] 0.3174728994387077 Centerline is valid? [False, False] Translation: X:11.09, Y:0.56, Z:0.38 [[ 9.98573302e-01 -4.21171000e-04 -5.33964788e-02 1.10895461e+01] [ 5.06029065e-04 9.99998631e-01 1.57569737e-03 5.59868924e-01] [ 5.33957420e-02 -1.60046950e-03 9.98572147e-01 3.77522370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10463044 meters Centerline goodness [0,1] 0.3173089233132762 Centerline is valid? [False, False] Translation: X:11.09, Y:0.56, Z:0.38 [[ 9.98557921e-01 -5.66156305e-04 -5.36820025e-02 1.10903035e+01] [ 6.30551567e-04 9.99999102e-01 1.18263967e-03 5.62359228e-01] [ 5.36812847e-02 -1.21478348e-03 9.98557381e-01 3.77488333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.13463044 meters Centerline goodness [0,1] 0.3172926195537804 Centerline is valid? [False, False] Translation: X:11.09, Y:0.56, Z:0.38 [[ 9.98547314e-01 -7.57925926e-04 -5.38765845e-02 1.10908366e+01] [ 7.98562391e-04 9.99999413e-01 7.32727413e-04 5.64863586e-01] [ 5.38759975e-02 -7.74686805e-04 9.98547333e-01 3.77429446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16463044 meters Centerline goodness [0,1] 0.31638003581986496 Centerline is valid? [False, False] Translation: X:11.09, Y:0.57, Z:0.38 [[ 9.98522405e-01 -1.30789833e-03 -5.43258287e-02 1.10921777e+01] [ 1.29994827e-03 9.99999139e-01 -1.81676652e-04 5.68926767e-01] [ 5.43260195e-02 1.10787441e-04 9.98523245e-01 3.77084388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.19463044 meters Centerline goodness [0,1] 0.31735312520226977 Centerline is valid? [False, False] Translation: X:11.09, Y:0.57, Z:0.38 [[ 9.98518703e-01 -1.48332294e-03 -5.43893293e-02 1.10926441e+01] [ 1.46219623e-03 9.99998839e-01 -4.28226045e-04 5.70068602e-01] [ 5.43899014e-02 3.48063843e-04 9.98519713e-01 3.76667608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22463044 meters Centerline goodness [0,1] 0.31562647855821757 Centerline is valid? [False, False] Translation: X:11.09, Y:0.57, Z:0.38 [[ 9.98509229e-01 -1.58391444e-03 -5.45601546e-02 1.10933985e+01] [ 1.55849013e-03 9.99998656e-01 -5.08531086e-04 5.70673733e-01] [ 5.45608867e-02 4.22741520e-04 9.98510356e-01 3.76195565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.25463044 meters Centerline goodness [0,1] 0.31378556736372987 Centerline is valid? [False, False] Translation: X:11.09, Y:0.57, Z:0.38 [[ 9.98498828e-01 -1.66790230e-03 -5.47476835e-02 1.10941792e+01] [ 1.64239915e-03 9.99998521e-01 -5.10819948e-04 5.70731722e-01] [ 5.47484545e-02 4.20135570e-04 9.98500090e-01 3.75801204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28463044 meters Centerline goodness [0,1] 0.31117677068276506 Centerline is valid? [False, False] Translation: X:11.10, Y:0.57, Z:0.38 [[ 9.98452264e-01 -2.32249867e-03 -5.55669119e-02 1.10966582e+01] [ 2.27798554e-03 9.99997032e-01 -8.64398566e-04 5.70422203e-01] [ 5.55687545e-02 7.36480084e-04 9.98454591e-01 3.75198993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.31463044000003 meters Centerline goodness [0,1] 0.3122737459058783 Centerline is valid? [False, False] Translation: X:11.10, Y:0.57, Z:0.37 [[ 9.98442193e-01 -2.38058445e-03 -5.57451361e-02 1.10972893e+01] [ 2.33534785e-03 9.99996889e-01 -8.76618402e-04 5.70306969e-01] [ 5.57470495e-02 7.45068516e-04 9.98444646e-01 3.74913721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34463044 meters Centerline goodness [0,1] 0.3128454231433506 Centerline is valid? [False, False] Translation: X:11.10, Y:0.57, Z:0.38 [[ 9.98434513e-01 -2.39538387e-03 -5.58818874e-02 1.10975658e+01] [ 2.34468139e-03 9.99996778e-01 -9.72861407e-04 5.71081703e-01] [ 5.58840377e-02 8.40313184e-04 9.98436912e-01 3.75035792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.37463044000003 meters Centerline goodness [0,1] 0.3099037433155081 Centerline is valid? [False, False] Translation: X:11.12, Y:0.57, Z:0.38 [[ 9.98439498e-01 4.89963712e-03 -5.56287951e-02 1.11165444e+01] [-5.03282898e-03 9.99984794e-01 -2.25445514e-03 5.67742090e-01] [ 5.56169032e-02 2.53090727e-03 9.98448974e-01 3.77413017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40463044 meters Centerline goodness [0,1] 0.30887288117478573 Centerline is valid? [False, False] Translation: X:11.12, Y:0.57, Z:0.38 [[ 9.98440595e-01 4.82521728e-03 -5.56156071e-02 1.11163218e+01] [-4.97464242e-03 9.99984379e-01 -2.54861982e-03 5.69496256e-01] [ 5.56024407e-02 2.82131325e-03 9.98449002e-01 3.77756836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.43463044000003 meters Centerline goodness [0,1] 0.3088455451473545 Centerline is valid? [False, False] Translation: X:11.12, Y:0.57, Z:0.38 [[ 9.98463940e-01 4.94210717e-03 -5.51845586e-02 1.11152470e+01] [-5.11172401e-03 9.99982634e-01 -2.93289938e-03 5.73227289e-01] [ 5.51691056e-02 3.21048251e-03 9.98471864e-01 3.78008179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46463044 meters Centerline goodness [0,1] 0.31036339745384833 Centerline is valid? [False, False] Translation: X:11.12, Y:0.58, Z:0.38 [[ 9.98467218e-01 4.92186207e-03 -5.51270391e-02 1.11150500e+01] [-5.10362638e-03 9.99981993e-01 -3.15689350e-03 5.75011112e-01] [ 5.51105087e-02 3.43340248e-03 9.98474358e-01 3.78198831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49463044000004 meters Centerline goodness [0,1] 0.3107944992887012 Centerline is valid? [False, False] Translation: X:11.11, Y:0.58, Z:0.38 [[ 9.98472053e-01 4.85438844e-03 -5.50453892e-02 1.11147481e+01] [-5.05091218e-03 9.99981356e-01 -3.43165364e-03 5.76866710e-01] [ 5.50277043e-02 3.70443968e-03 9.98477956e-01 3.78403240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52463044 meters Centerline goodness [0,1] 0.3103344055611925 Centerline is valid? [False, False] Translation: X:11.12, Y:0.58, Z:0.38 [[ 9.98456310e-01 4.59121671e-03 -5.53526653e-02 1.11151972e+01] [-4.82332253e-03 9.99980124e-01 -4.06035288e-03 5.80113130e-01] [ 5.53329232e-02 4.32106871e-03 9.98458610e-01 3.78864335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55463044000004 meters Centerline goodness [0,1] 0.30759232031366535 Centerline is valid? [False, False] Translation: X:11.14, Y:0.59, Z:0.38 [[ 9.98400985e-01 -3.39561217e-03 -5.64264352e-02 1.11360113e+01] [ 3.21540712e-03 9.99989438e-01 -3.28411090e-03 5.85035875e-01] [ 5.64369908e-02 3.09742560e-03 9.98401358e-01 3.81090555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58463044 meters Centerline goodness [0,1] 0.30705518198313586 Centerline is valid? [False, False] Translation: X:11.14, Y:0.59, Z:0.38 [[ 9.98386827e-01 -3.45197115e-03 -5.66729955e-02 1.11368418e+01] [ 3.26063466e-03 9.99988670e-01 -3.46827176e-03 5.86389153e-01] [ 5.66843257e-02 3.27788690e-03 9.98386770e-01 3.80832286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61463044000004 meters Centerline goodness [0,1] 0.3097643097643098 Centerline is valid? [False, False] Translation: X:11.14, Y:0.59, Z:0.38 [[ 9.98380410e-01 -3.54789221e-03 -5.67800080e-02 1.11373187e+01] [ 3.34493343e-03 9.99987674e-01 -3.66911662e-03 5.87579821e-01] [ 5.67923258e-02 3.47324881e-03 9.98379972e-01 3.80569805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64463044 meters Centerline goodness [0,1] 0.3057507436306419 Centerline is valid? [False, False] Translation: X:11.14, Y:0.59, Z:0.38 [[ 9.98382697e-01 -3.66032339e-03 -5.67326480e-02 1.11374831e+01] [ 3.44711515e-03 9.99986626e-01 -3.85552804e-03 5.88545979e-01] [ 5.67460017e-02 3.65372851e-03 9.98381962e-01 3.80275449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67463044000004 meters Centerline goodness [0,1] 0.30511441256830596 Centerline is valid? [False, False] Translation: X:11.14, Y:0.59, Z:0.38 [[ 9.98396262e-01 -4.09348327e-03 -5.64636865e-02 1.11366356e+01] [ 3.85939713e-03 9.99983503e-01 -4.25420467e-03 5.89393187e-01] [ 5.64801696e-02 4.02946625e-03 9.98395590e-01 3.80621054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70463044 meters Centerline goodness [0,1] 0.30722019320121885 Centerline is valid? [False, False] Translation: X:11.14, Y:0.59, Z:0.38 [[ 9.98397050e-01 -4.11383093e-03 -5.64482686e-02 1.11365238e+01] [ 3.88641547e-03 9.99983887e-01 -4.13792862e-03 5.88671721e-01] [ 5.64643818e-02 3.91191430e-03 9.98396950e-01 3.80709398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73463044000005 meters Centerline goodness [0,1] 0.3057361622037813 Centerline is valid? [False, False] Translation: X:11.14, Y:0.59, Z:0.38 [[ 9.98389739e-01 -4.14806456e-03 -5.65749241e-02 1.11368624e+01] [ 3.93147968e-03 9.99984514e-01 -3.93904812e-03 5.87310542e-01] [ 5.65903874e-02 3.71028206e-03 9.98390586e-01 3.80632772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76463044 meters Centerline goodness [0,1] 0.30552147239263805 Centerline is valid? [False, False] Translation: X:11.14, Y:0.58, Z:0.38 [[ 9.98359326e-01 -4.81184508e-03 -5.70570111e-02 1.11385036e+01] [ 4.59304976e-03 9.99981590e-01 -3.96519964e-03 5.83950051e-01] [ 5.70750406e-02 3.69662835e-03 9.98363048e-01 3.79860524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79463044 meters Centerline goodness [0,1] 0.3011439098581895 Centerline is valid? [False, False] Translation: X:11.14, Y:0.58, Z:0.38 [[ 9.98342254e-01 -4.97179687e-03 -5.73413005e-02 1.11394225e+01] [ 4.76276507e-03 9.99981508e-01 -3.78148589e-03 5.81483125e-01] [ 5.73590409e-02 3.50211400e-03 9.98347472e-01 3.79492826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82463044 meters Centerline goodness [0,1] 0.3059703114472626 Centerline is valid? [False, False] Translation: X:11.12, Y:0.58, Z:0.38 [[ 9.98329393e-01 2.87025326e-03 -5.77077558e-02 1.11200783e+01] [-3.16742201e-03 9.99982188e-01 -5.05873686e-03 5.75837652e-01] [ 5.76922081e-02 5.23307051e-03 9.98320702e-01 3.76927227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.85463044 meters Centerline goodness [0,1] 0.3080665479344946 Centerline is valid? [False, False] Translation: X:11.12, Y:0.57, Z:0.38 [[ 9.98326939e-01 2.99213454e-03 -5.77439975e-02 1.11201114e+01] [-3.25775241e-03 9.99984540e-01 -4.50633346e-03 5.72348559e-01] [ 5.77296212e-02 4.68690974e-03 9.98321253e-01 3.76919847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88463044 meters Centerline goodness [0,1] 0.30207080254339236 Centerline is valid? [False, False] Translation: X:11.14, Y:0.57, Z:0.38 [[ 9.98377666e-01 -4.80624278e-03 -5.67356609e-02 1.11396743e+01] [ 4.64625000e-03 9.99984850e-01 -2.95154281e-03 5.73098735e-01] [ 5.67489872e-02 2.68314636e-03 9.98384872e-01 3.78933128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91463044 meters Centerline goodness [0,1] 0.303371990825098 Centerline is valid? [False, False] Translation: X:11.14, Y:0.57, Z:0.38 [[ 9.98391883e-01 -4.69623742e-03 -5.64941919e-02 1.11387974e+01] [ 4.54419961e-03 9.99985701e-01 -2.81937417e-03 5.72569372e-01] [ 5.65066245e-02 2.55811940e-03 9.98398947e-01 3.79401789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94463044 meters Centerline goodness [0,1] 0.3080738376606573 Centerline is valid? [False, False] Translation: X:11.14, Y:0.57, Z:0.38 [[ 9.98401743e-01 -4.63447370e-03 -5.63247905e-02 1.11379385e+01] [ 4.48597034e-03 9.99986122e-01 -2.76270486e-03 5.72225987e-01] [ 5.63368124e-02 2.50561801e-03 9.98408677e-01 3.80087599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.97463044 meters Centerline goodness [0,1] 0.30406392301744134 Centerline is valid? [False, False] Translation: X:11.14, Y:0.57, Z:0.38 [[ 9.98392198e-01 -4.53724317e-03 -5.65016054e-02 1.11381349e+01] [ 4.39317909e-03 9.99986776e-01 -2.67368387e-03 5.71872647e-01] [ 5.65129893e-02 2.42116344e-03 9.98398928e-01 3.80414423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.00463044 meters Centerline goodness [0,1] 0.3017166009169421 Centerline is valid? [False, False] Translation: X:11.16, Y:0.57, Z:0.38 [[ 9.98279754e-01 3.15713778e-03 -5.85454126e-02 1.11599478e+01] [-3.33819002e-03 9.99989943e-01 -2.99496541e-03 5.65948822e-01] [ 5.85353683e-02 3.18524905e-03 9.98280254e-01 3.82540838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03463044 meters Centerline goodness [0,1] 0.3044610385418236 Centerline is valid? [False, False] Translation: X:11.16, Y:0.57, Z:0.38 [[ 9.98266201e-01 3.18952235e-03 -5.87743126e-02 1.11606023e+01] [-3.37282566e-03 9.99989752e-01 -3.01982600e-03 5.66126716e-01] [ 5.87640785e-02 3.21282574e-03 9.98266728e-01 3.82419169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06463044000003 meters Centerline goodness [0,1] 0.3075952121871599 Centerline is valid? [False, False] Translation: X:11.16, Y:0.57, Z:0.38 [[ 9.98261564e-01 3.20953578e-03 -5.88519168e-02 1.11607401e+01] [-3.39780787e-03 9.99989425e-01 -3.09929002e-03 5.66689331e-01] [ 5.88413471e-02 3.29386961e-03 9.98261913e-01 3.82552160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09463044 meters Centerline goodness [0,1] 0.3058615178609996 Centerline is valid? [False, False] Translation: X:11.18, Y:0.57, Z:0.39 [[ 9.98288111e-01 -4.13865059e-03 -5.83414079e-02 1.11797548e+01] [ 4.06232738e-03 9.99990731e-01 -1.42675873e-03 5.69811306e-01] [ 5.83467720e-02 1.18731438e-03 9.98295670e-01 3.85092309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12463044000003 meters Centerline goodness [0,1] 0.3022158347454901 Centerline is valid? [False, False] Translation: X:11.18, Y:0.57, Z:0.39 [[ 9.98280006e-01 -3.96111335e-03 -5.84922162e-02 1.11798876e+01] [ 3.88805900e-03 9.99991513e-01 -1.36271404e-03 5.70552057e-01] [ 5.84971176e-02 1.13294899e-03 9.98286935e-01 3.85449991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15463044 meters Centerline goodness [0,1] 0.3064435726825462 Centerline is valid? [False, False] Translation: X:11.18, Y:0.57, Z:0.39 [[ 9.98283890e-01 -3.79078452e-03 -5.84371802e-02 1.11796382e+01] [ 3.71150844e-03 9.99992039e-01 -1.46508198e-03 5.72522034e-01] [ 5.84422688e-02 1.24567765e-03 9.98290013e-01 3.85725255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18463044000003 meters Centerline goodness [0,1] 0.3019275151722369 Centerline is valid? [False, False] Translation: X:11.20, Y:0.57, Z:0.39 [[ 9.98295924e-01 3.24712767e-03 -5.82640881e-02 1.11987119e+01] [-3.41112176e-03 9.99990495e-01 -2.71543163e-03 5.67742765e-01] [ 5.82547169e-02 2.90955023e-03 9.98297512e-01 3.88026241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21463044 meters Centerline goodness [0,1] 0.3038235863047263 Centerline is valid? [False, False] Translation: X:11.20, Y:0.57, Z:0.39 [[ 9.98296172e-01 3.20287356e-03 -5.82622968e-02 1.11986649e+01] [-3.36799457e-03 9.99990585e-01 -2.73612074e-03 5.67628204e-01] [ 5.82529848e-02 2.92768596e-03 9.98297560e-01 3.88078452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24463044000004 meters Centerline goodness [0,1] 0.3035476241668459 Centerline is valid? [False, False] Translation: X:11.20, Y:0.57, Z:0.39 [[ 9.98305718e-01 3.08768778e-03 -5.81047270e-02 1.11982125e+01] [-3.24562052e-03 9.99991291e-01 -2.62389381e-03 5.66499763e-01] [ 5.80961191e-02 2.80803408e-03 9.98307045e-01 3.88145876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27463044 meters Centerline goodness [0,1] 0.3023260790481693 Centerline is valid? [False, False] Translation: X:11.22, Y:0.57, Z:0.39 [[ 9.98334063e-01 -5.30706766e-03 -5.74537612e-02 1.12178602e+01] [ 5.23230796e-03 9.99985258e-01 -1.45157014e-03 5.68066396e-01] [ 5.74606178e-02 1.14853615e-03 9.98347113e-01 3.90113530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30463044000004 meters Centerline goodness [0,1] 0.30460848375062 Centerline is valid? [False, False] Translation: X:11.22, Y:0.57, Z:0.39 [[ 9.98339962e-01 -5.36174214e-03 -5.73460793e-02 1.12174998e+01] [ 5.29009965e-03 9.99985026e-01 -1.40103689e-03 5.67372014e-01] [ 5.73527326e-02 1.09534464e-03 9.98353376e-01 3.90247696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33463044 meters Centerline goodness [0,1] 0.30572728833934393 Centerline is valid? [False, False] Translation: X:11.22, Y:0.57, Z:0.39 [[ 9.98340594e-01 -5.40360392e-03 -5.73311308e-02 1.12174662e+01] [ 5.33688418e-03 9.99984892e-01 -1.31680914e-03 5.66487872e-01] [ 5.73373802e-02 1.00865442e-03 9.98354350e-01 3.90278827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36463044000004 meters Centerline goodness [0,1] 0.30346511329078685 Centerline is valid? [False, False] Translation: X:11.22, Y:0.57, Z:0.39 [[ 9.98319702e-01 -5.33875847e-03 -5.76998204e-02 1.12182301e+01] [ 5.28323806e-03 9.99985422e-01 -1.11473474e-03 5.65389637e-01] [ 5.77049306e-02 8.08019768e-04 9.98333355e-01 3.90429120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39463044 meters Centerline goodness [0,1] 0.30346511329078685 Centerline is valid? [False, False] Translation: X:11.22, Y:0.57, Z:0.39 [[ 9.98319702e-01 -5.33875847e-03 -5.76998204e-02 1.12182301e+01] [ 5.28323806e-03 9.99985422e-01 -1.11473474e-03 5.65389637e-01] [ 5.77049306e-02 8.08019768e-04 9.98333355e-01 3.90429120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42463044000004 meters Centerline goodness [0,1] 0.30425435862157924 Centerline is valid? [False, False] Translation: X:11.22, Y:0.56, Z:0.39 [[ 9.98298928e-01 -5.22269289e-03 -5.80687041e-02 1.12192178e+01] [ 5.18074446e-03 9.99986199e-01 -8.72917275e-04 5.64369924e-01] [ 5.80724617e-02 5.70593263e-04 9.98312207e-01 3.90291324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45463044 meters Centerline goodness [0,1] 0.3028480604836977 Centerline is valid? [False, False] Translation: X:11.22, Y:0.56, Z:0.39 [[ 9.98284725e-01 -5.05204327e-03 -5.83273982e-02 1.12197995e+01] [ 5.03129181e-03 9.99987217e-01 -5.02627029e-04 5.62397854e-01] [ 5.83291919e-02 2.08302724e-04 9.98297382e-01 3.90391741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48463044000005 meters Centerline goodness [0,1] 0.30382898351648346 Centerline is valid? [False, False] Translation: X:11.22, Y:0.56, Z:0.39 [[ 9.98296497e-01 -4.96010597e-03 -5.81334812e-02 1.12191506e+01] [ 4.94899214e-03 9.99987697e-01 -3.35149920e-04 5.61530712e-01] [ 5.81344283e-02 4.68768491e-05 9.98308763e-01 3.90640076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51463044 meters Centerline goodness [0,1] 0.3034576009271779 Centerline is valid? [False, False] Translation: X:11.22, Y:0.56, Z:0.39 [[ 9.98311111e-01 -4.89012981e-03 -5.78879371e-02 1.12183883e+01] [ 4.88648202e-03 9.99988040e-01 -2.04568220e-04 5.60862875e-01] [ 5.78882451e-02 -7.86456370e-05 9.98323066e-01 3.90903599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54463044 meters Centerline goodness [0,1] 0.3035794807927681 Centerline is valid? [False, False] Translation: X:11.22, Y:0.56, Z:0.39 [[ 9.98321749e-01 -4.70346972e-03 -5.77196948e-02 1.12179861e+01] [ 4.71995453e-03 9.99988850e-01 1.49272934e-04 5.59033723e-01] [ 5.77183491e-02 -4.21456752e-04 9.98332818e-01 3.90945681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.57463044 meters Centerline goodness [0,1] 0.30296550681440204 Centerline is valid? [False, False] Translation: X:11.22, Y:0.56, Z:0.39 [[ 9.98322796e-01 -4.65228672e-03 -5.77057228e-02 1.12181284e+01] [ 4.67672062e-03 9.99989023e-01 2.88379606e-04 5.58115884e-01] [ 5.77037477e-02 -5.57769479e-04 9.98333595e-01 3.90726203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60463044 meters Centerline goodness [0,1] 0.3013118279569893 Centerline is valid? [False, False] Translation: X:11.22, Y:0.56, Z:0.39 [[ 9.98314542e-01 -4.61782116e-03 -5.78511179e-02 1.12188042e+01] [ 4.64735144e-03 9.99989130e-01 3.75922807e-04 5.57427007e-01] [ 5.78487532e-02 -6.44143681e-04 9.98325151e-01 3.90301936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.63463044 meters Centerline goodness [0,1] 0.3040585638927764 Centerline is valid? [False, False] Translation: X:11.22, Y:0.56, Z:0.39 [[ 9.98300225e-01 -4.49907687e-03 -5.81069597e-02 1.12195841e+01] [ 4.53523018e-03 9.99989596e-01 4.90324151e-04 5.57330435e-01] [ 5.81041491e-02 -7.53019148e-04 9.98310243e-01 3.90113747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66463044 meters Centerline goodness [0,1] 0.30172820446845916 Centerline is valid? [False, False] Translation: X:11.22, Y:0.56, Z:0.39 [[ 9.98271015e-01 -3.88047699e-03 -5.86508579e-02 1.12209324e+01] [ 3.93182745e-03 9.99991981e-01 7.60150812e-04 5.58644856e-01] [ 5.86474379e-02 -9.89441576e-04 9.98278267e-01 3.90175790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.69463044 meters Centerline goodness [0,1] 0.30311737129771654 Centerline is valid? [False, False] Translation: X:11.22, Y:0.56, Z:0.39 [[ 9.98262853e-01 -3.79288284e-03 -5.87953258e-02 1.12210505e+01] [ 3.83522126e-03 9.99992461e-01 6.07270561e-04 5.60240257e-01] [ 5.87925792e-02 -8.31708726e-04 9.98269874e-01 3.90506169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72463044 meters Centerline goodness [0,1] 0.30225988700564976 Centerline is valid? [False, False] Translation: X:11.24, Y:0.56, Z:0.39 [[ 9.98308814e-01 3.73364196e-03 -5.80135421e-02 1.12402187e+01] [-3.77868243e-03 9.99992639e-01 -6.66697801e-04 5.57723654e-01] [ 5.80106259e-02 8.84785043e-04 9.98315574e-01 3.92744748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.75463044 meters Centerline goodness [0,1] 0.303186796634605 Centerline is valid? [False, False] Translation: X:11.24, Y:0.56, Z:0.39 [[ 9.98312567e-01 3.73631801e-03 -5.79487566e-02 1.12399118e+01] [-3.79301201e-03 9.99992429e-01 -8.68385115e-04 5.59315070e-01] [ 5.79450733e-02 1.08672010e-03 9.98319181e-01 3.93023381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78463044 meters Centerline goodness [0,1] 0.30834475109284265 Centerline is valid? [False, False] Translation: X:11.24, Y:0.56, Z:0.39 [[ 9.98335167e-01 3.59802313e-03 -5.75669012e-02 1.12391521e+01] [-3.66854142e-03 9.99992644e-01 -1.11934552e-03 5.60297638e-01] [ 5.75624503e-02 1.32866856e-03 9.98341023e-01 3.92917019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.81463044000003 meters Centerline goodness [0,1] 0.3028235699220936 Centerline is valid? [False, False] Translation: X:11.26, Y:0.56, Z:0.39 [[ 9.98352892e-01 -4.89625015e-03 -5.71623098e-02 1.12598758e+01] [ 4.88636298e-03 9.99988013e-01 -3.12738467e-04 5.61999851e-01] [ 5.71631558e-02 3.29075593e-05 9.98364849e-01 3.94639614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84463044 meters Centerline goodness [0,1] 0.2996947770591877 Centerline is valid? [False, False] Translation: X:11.26, Y:0.56, Z:0.39 [[ 9.98334275e-01 -4.93986487e-03 -5.74828032e-02 1.12611155e+01] [ 4.93703707e-03 9.99987794e-01 -1.91209343e-04 5.60855554e-01] [ 5.74830462e-02 -9.29038896e-05 9.98346478e-01 3.93967186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.87463044000003 meters Centerline goodness [0,1] 0.2981880895096557 Centerline is valid? [False, False] Translation: X:11.26, Y:0.56, Z:0.39 [[ 9.98306681e-01 -4.91056085e-03 -5.79625543e-02 1.12625926e+01] [ 4.92154490e-03 9.99987888e-01 4.67506662e-05 5.59430914e-01] [ 5.79616227e-02 -3.31936816e-04 9.98318757e-01 3.93563786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90463044 meters Centerline goodness [0,1] 0.30380732060623095 Centerline is valid? [False, False] Translation: X:11.24, Y:0.56, Z:0.39 [[ 9.98233553e-01 3.22261001e-03 -5.93244275e-02 1.12435706e+01] [-3.28781050e-03 9.99994094e-01 -1.00147247e-03 5.55474313e-01] [ 5.93208498e-02 1.19475089e-03 9.98238253e-01 3.91498208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.93463044000003 meters Centerline goodness [0,1] 0.3026055124892334 Centerline is valid? [False, False] Translation: X:11.24, Y:0.55, Z:0.39 [[ 9.98214184e-01 3.14873139e-03 -5.96533980e-02 1.12439810e+01] [-3.21224317e-03 9.99994371e-01 -9.68813746e-04 5.54744422e-01] [ 5.96500117e-02 1.15870484e-03 9.98218680e-01 3.92017676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96463044 meters Centerline goodness [0,1] 0.29969856980994936 Centerline is valid? [False, False] Translation: X:11.26, Y:0.56, Z:0.39 [[ 9.98281067e-01 -4.79204897e-03 -5.84118756e-02 1.12629522e+01] [ 4.81359757e-03 9.99988389e-01 2.28206752e-04 5.57510135e-01] [ 5.84101037e-02 -5.08985742e-04 9.98292543e-01 3.94459366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99463044000004 meters Centerline goodness [0,1] 0.3064217417520889 Centerline is valid? [False, False] Translation: X:11.26, Y:0.56, Z:0.40 [[ 9.98300033e-01 -4.81349155e-03 -5.80850573e-02 1.12617532e+01] [ 4.82668522e-03 9.99988348e-01 8.68476413e-05 5.58391452e-01] [ 5.80839624e-02 -3.67058291e-04 9.98311634e-01 3.95103926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02463044 meters Centerline goodness [0,1] 0.3102987743144562 Centerline is valid? [False, False] Translation: X:11.26, Y:0.56, Z:0.40 [[ 9.98401526e-01 -2.36437598e-03 -5.64694821e-02 1.12555636e+01] [ 2.48490379e-03 9.99994782e-01 2.06426706e-03 5.61322296e-01] [ 5.64643067e-02 -2.20128862e-03 9.98402192e-01 3.97845943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05463044000004 meters Centerline goodness [0,1] 0.3095521033640861 Centerline is valid? [False, False] Translation: X:11.25, Y:0.56, Z:0.40 [[ 9.98418385e-01 -2.25456852e-03 -5.61751274e-02 1.12547753e+01] [ 2.37073596e-03 9.99995187e-01 2.00139646e-03 5.62549406e-01] [ 5.61703447e-02 -2.13140742e-03 9.98418925e-01 3.98056046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08463044 meters Centerline goodness [0,1] 0.30849487988664903 Centerline is valid? [False, False] Translation: X:11.25, Y:0.56, Z:0.40 [[ 9.98413995e-01 -2.24766435e-03 -5.62533864e-02 1.12549160e+01] [ 2.35506775e-03 9.99995528e-01 1.84305880e-03 5.63747797e-01] [ 5.62489923e-02 -1.97261624e-03 9.98414823e-01 3.98193938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11463044000004 meters Centerline goodness [0,1] 0.3119532904164083 Centerline is valid? [False, False] Translation: X:11.26, Y:0.56, Z:0.40 [[ 9.98404367e-01 -2.24628274e-03 -5.64240520e-02 1.12555017e+01] [ 2.34490260e-03 9.99995837e-01 1.68168718e-03 5.64809155e-01] [ 5.64200395e-02 -1.81131273e-03 9.98405478e-01 3.98037242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14463044 meters Centerline goodness [0,1] 0.3125500465297466 Centerline is valid? [False, False] Translation: X:11.26, Y:0.57, Z:0.40 [[ 9.98388792e-01 -2.21647662e-03 -5.67001455e-02 1.12563632e+01] [ 2.30891636e-03 9.99996110e-01 1.56486745e-03 5.65833680e-01] [ 5.66964565e-02 -1.69326202e-03 9.98390026e-01 3.97776540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17463044000004 meters Centerline goodness [0,1] 0.308327258693881 Centerline is valid? [False, False] Translation: X:11.28, Y:0.56, Z:0.40 [[ 9.98388244e-01 6.35632247e-03 -5.63960170e-02 1.12775338e+01] [-6.30848666e-03 9.99979575e-01 1.02620228e-03 5.63592401e-01] [ 5.64013879e-02 -6.68774776e-04 9.98407951e-01 3.99238016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20463044 meters Centerline goodness [0,1] 0.30829845391646027 Centerline is valid? [False, False] Translation: X:11.28, Y:0.56, Z:0.40 [[ 9.98388674e-01 6.46890391e-03 -5.63756116e-02 1.12771929e+01] [-6.42756686e-03 9.99978925e-01 9.14537685e-04 5.64964884e-01] [ 5.63803396e-02 -5.50706054e-04 9.98409212e-01 3.99689653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23463044000005 meters Centerline goodness [0,1] 0.30775456307371196 Centerline is valid? [False, False] Translation: X:11.28, Y:0.57, Z:0.40 [[ 9.98399969e-01 6.55474244e-03 -5.61652692e-02 1.12764481e+01] [-6.52100387e-03 9.99978431e-01 7.83954084e-04 5.66242448e-01] [ 5.61691964e-02 -4.16445795e-04 9.98421178e-01 4.00042412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26463044 meters Centerline goodness [0,1] 0.3087209302325581 Centerline is valid? [False, False] Translation: X:11.28, Y:0.57, Z:0.40 [[ 9.98391980e-01 6.68123209e-03 -5.62922278e-02 1.12768420e+01] [-6.65938545e-03 9.99977660e-01 5.75671179e-04 5.67794712e-01] [ 5.62948165e-02 -1.99873845e-04 9.98414169e-01 3.99967188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29463044 meters Centerline goodness [0,1] 0.31042205744852025 Centerline is valid? [False, False] Translation: X:11.28, Y:0.57, Z:0.40 [[ 9.98373265e-01 6.69691366e-03 -5.66213230e-02 1.12780620e+01] [-6.67849548e-03 9.99977566e-01 5.14507256e-04 5.68193782e-01] [ 5.66234983e-02 -1.35525039e-04 9.98395593e-01 3.99341312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32463044 meters Centerline goodness [0,1] 0.3090456573978716 Centerline is valid? [False, False] Translation: X:11.30, Y:0.57, Z:0.40 [[ 9.98363037e-01 7.52178754e-04 -5.71898677e-02 1.13016235e+01] [-5.71792333e-04 9.99994811e-01 3.17046582e-03 5.69084066e-01] [ 5.71919556e-02 -3.13257516e-03 9.98358286e-01 3.99792235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35463044 meters Centerline goodness [0,1] 0.30636755527913007 Centerline is valid? [False, False] Translation: X:11.30, Y:0.57, Z:0.40 [[ 9.98351834e-01 8.96422816e-04 -5.73830217e-02 1.13025331e+01] [-7.08273091e-04 9.99994307e-01 3.29909385e-03 5.68989832e-01] [ 5.73856524e-02 -3.25301354e-03 9.98346786e-01 3.99208837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38463044 meters Centerline goodness [0,1] 0.3071479122434536 Centerline is valid? [False, False] Translation: X:11.30, Y:0.57, Z:0.40 [[ 9.98350257e-01 9.61751174e-04 -5.74093935e-02 1.13028654e+01] [-7.71966410e-04 9.99994165e-01 3.32789959e-03 5.69056765e-01] [ 5.74122591e-02 -3.27809129e-03 9.98345174e-01 3.98867876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41463044 meters Centerline goodness [0,1] 0.3122455643844563 Centerline is valid? [False, False] Translation: X:11.30, Y:0.57, Z:0.40 [[ 9.98345904e-01 1.01503803e-03 -5.74841383e-02 1.13030249e+01] [-8.26320958e-04 9.99994192e-01 3.30661625e-03 5.69418803e-01] [ 5.74871608e-02 -3.25364644e-03 9.98340944e-01 3.98884938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44463044 meters Centerline goodness [0,1] 0.30533596837944665 Centerline is valid? [False, False] Translation: X:11.32, Y:0.57, Z:0.40 [[ 9.98326082e-01 9.29770869e-03 -5.70840312e-02 1.13241529e+01] [-9.16910277e-03 9.99954802e-01 2.51443357e-03 5.67060261e-01] [ 5.71048295e-02 -1.98681527e-03 9.98366211e-01 4.00724849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47463044 meters Centerline goodness [0,1] 0.3080585129403618 Centerline is valid? [False, False] Translation: X:11.32, Y:0.57, Z:0.40 [[ 9.98309561e-01 9.41173319e-03 -5.73536403e-02 1.13249585e+01] [-9.28429791e-03 9.99953805e-01 2.48798584e-03 5.67830153e-01] [ 5.73744071e-02 -1.95129177e-03 9.98350825e-01 4.00520734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.50463044 meters Centerline goodness [0,1] 0.3096073842953718 Centerline is valid? [False, False] Translation: X:11.33, Y:0.57, Z:0.40 [[ 9.98295591e-01 9.49407977e-03 -5.75827702e-02 1.13258355e+01] [-9.36839334e-03 9.99953109e-01 2.45227543e-03 5.68568940e-01] [ 5.76033521e-02 -1.90863771e-03 9.98337724e-01 4.00059218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53463044 meters Centerline goodness [0,1] 0.3060007776385709 Centerline is valid? [False, False] Translation: X:11.33, Y:0.57, Z:0.40 [[ 9.98279701e-01 9.55495859e-03 -5.78475697e-02 1.13269523e+01] [-9.43433536e-03 9.99952716e-01 2.35794364e-03 5.69329404e-01] [ 5.78673645e-02 -1.80813390e-03 9.98322643e-01 3.99418534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56463044000003 meters Centerline goodness [0,1] 0.3122082546299312 Centerline is valid? [False, False] Translation: X:11.33, Y:0.57, Z:0.40 [[ 9.98273456e-01 9.49512811e-03 -5.79650659e-02 1.13273047e+01] [-9.37926319e-03 9.99953436e-01 2.27061751e-03 5.69401373e-01] [ 5.79839266e-02 -1.72302758e-03 9.98316030e-01 3.99320435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59463044 meters Centerline goodness [0,1] 0.3100242172634492 Centerline is valid? [False, False] Translation: X:11.33, Y:0.57, Z:0.40 [[ 9.98265129e-01 9.44545143e-03 -5.81163942e-02 1.13275931e+01] [-9.33528055e-03 9.99954077e-01 2.16690373e-03 5.69684196e-01] [ 5.81341927e-02 -1.62061159e-03 9.98307462e-01 3.99418757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62463044000003 meters Centerline goodness [0,1] 0.30599586492074426 Centerline is valid? [False, False] Translation: X:11.35, Y:0.57, Z:0.40 [[ 9.98298456e-01 2.04856038e-03 -5.82751770e-02 1.13455664e+01] [-1.84509877e-03 9.99992014e-01 3.54498725e-03 5.74412300e-01] [ 5.82819738e-02 -3.43143184e-03 9.98294264e-01 4.02469386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65463044 meters Centerline goodness [0,1] 0.3100979734844389 Centerline is valid? [False, False] Translation: X:11.34, Y:0.58, Z:0.40 [[ 9.98351281e-01 2.59735449e-03 -5.73408547e-02 1.13428101e+01] [-2.38607273e-03 9.99990111e-01 3.75282245e-03 5.76018848e-01] [ 5.73500351e-02 -3.60981565e-03 9.98347606e-01 4.03303283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68463044000003 meters Centerline goodness [0,1] 0.3087729111091989 Centerline is valid? [False, False] Translation: X:11.34, Y:0.58, Z:0.40 [[ 9.98368868e-01 2.62057309e-03 -5.70327658e-02 1.13418513e+01] [-2.41854689e-03 9.99990556e-01 3.61101942e-03 5.77197618e-01] [ 5.70416901e-02 -3.46719295e-03 9.98365777e-01 4.03655781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71463044 meters Centerline goodness [0,1] 0.30993712851104005 Centerline is valid? [False, False] Translation: X:11.34, Y:0.58, Z:0.40 [[ 9.98378802e-01 2.57068294e-03 -5.68608703e-02 1.13411863e+01] [-2.38303677e-03 9.99991490e-01 3.36765290e-03 5.78493828e-01] [ 5.68690436e-02 -3.22669173e-03 9.98376432e-01 4.04018157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74463044000004 meters Centerline goodness [0,1] 0.3105391050039782 Centerline is valid? [False, False] Translation: X:11.34, Y:0.58, Z:0.40 [[ 9.98388472e-01 2.57561645e-03 -5.66906126e-02 1.13406271e+01] [-2.39965322e-03 9.99992091e-01 3.17177673e-03 5.79824114e-01] [ 5.66983335e-02 -3.03062752e-03 9.98386756e-01 4.04219359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77463044 meters Centerline goodness [0,1] 0.3114725656039905 Centerline is valid? [False, False] Translation: X:11.34, Y:0.58, Z:0.40 [[ 9.98411591e-01 3.21365755e-03 -5.62491559e-02 1.13392432e+01] [-3.02891842e-03 9.99989737e-01 3.36924718e-03 5.82125426e-01] [ 5.62594062e-02 -3.19352133e-03 9.98411078e-01 4.04714936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80463044000004 meters Centerline goodness [0,1] 0.3122430087619211 Centerline is valid? [False, False] Translation: X:11.34, Y:0.58, Z:0.40 [[ 9.98416720e-01 3.24506606e-03 -5.61562278e-02 1.13389599e+01] [-3.06975359e-03 9.99990143e-01 3.20785022e-03 5.83571785e-01] [ 5.61660840e-02 -3.03038551e-03 9.98416841e-01 4.04845857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83463044 meters Centerline goodness [0,1] 0.31044595876822223 Centerline is valid? [False, False] Translation: X:11.34, Y:0.58, Z:0.41 [[ 9.98425330e-01 3.18495846e-03 -5.60063963e-02 1.13384344e+01] [-3.02333977e-03 9.99991019e-01 2.97021167e-03 5.84934624e-01] [ 5.60153532e-02 -2.79620820e-03 9.98425992e-01 4.05051587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86463044000004 meters Centerline goodness [0,1] 0.31259520389955175 Centerline is valid? [False, False] Translation: X:11.34, Y:0.59, Z:0.41 [[ 9.98427797e-01 3.12561550e-03 -5.59657508e-02 1.13382429e+01] [-2.97260740e-03 9.99991614e-01 2.81699841e-03 5.85692082e-01] [ 5.59740863e-02 -2.64620531e-03 9.98428715e-01 4.05157632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89463044 meters Centerline goodness [0,1] 0.3067443903902617 Centerline is valid? [False, False] Translation: X:11.36, Y:0.59, Z:0.41 [[ 9.98426455e-01 -4.36580540e-03 -5.59066583e-02 1.13578944e+01] [ 4.60554077e-03 9.99980741e-01 4.16001287e-03 5.90344536e-01] [ 5.58874198e-02 -4.41094730e-03 9.98427333e-01 4.07163955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92463044000004 meters Centerline goodness [0,1] 0.3065417347201925 Centerline is valid? [False, False] Translation: X:11.36, Y:0.59, Z:0.41 [[ 9.98404111e-01 -4.30385375e-03 -5.63090352e-02 1.13592784e+01] [ 4.54991395e-03 9.99980650e-01 4.24234454e-03 5.90281685e-01] [ 5.62896872e-02 -4.49177550e-03 9.98404375e-01 4.06591059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95463044 meters Centerline goodness [0,1] 0.30687921625918446 Centerline is valid? [False, False] Translation: X:11.36, Y:0.59, Z:0.41 [[ 9.98403397e-01 -4.30026699e-03 -5.63219807e-02 1.13594968e+01] [ 4.55053350e-03 9.99980332e-01 4.31600040e-03 5.89731324e-01] [ 5.63023130e-02 -4.56540452e-03 9.98403329e-01 4.06359049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98463044000005 meters Centerline goodness [0,1] 0.30596582992132737 Centerline is valid? [False, False] Translation: X:11.36, Y:0.59, Z:0.41 [[ 9.98403941e-01 -4.27044083e-03 -5.63146037e-02 1.13595936e+01] [ 4.52962232e-03 9.99979726e-01 4.47554463e-03 5.88627691e-01] [ 5.62943494e-02 -4.72348528e-03 9.98403042e-01 4.06255751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01463044 meters Centerline goodness [0,1] 0.3077403111617998 Centerline is valid? [False, False] Translation: X:11.36, Y:0.59, Z:0.41 [[ 9.98398433e-01 -4.29601676e-03 -5.64102269e-02 1.13599287e+01] [ 4.56167035e-03 9.99979101e-01 4.58139537e-03 5.87552178e-01] [ 5.63893662e-02 -4.83138281e-03 9.98397164e-01 4.06123093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04463044 meters Centerline goodness [0,1] 0.30321848433585297 Centerline is valid? [False, False] Translation: X:11.36, Y:0.59, Z:0.41 [[ 9.98368366e-01 -4.27889106e-03 -5.69411684e-02 1.13614454e+01] [ 4.56250919e-03 9.99977821e-01 4.85182662e-03 5.85501002e-01] [ 5.69191451e-02 -5.10370482e-03 9.98365746e-01 4.05823719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.07463044 meters Centerline goodness [0,1] 0.3044521061310148 Centerline is valid? [False, False] Translation: X:11.36, Y:0.58, Z:0.41 [[ 9.98351806e-01 -4.21478714e-03 -5.72355429e-02 1.13622556e+01] [ 4.50935518e-03 9.99977240e-01 5.01841440e-03 5.84601236e-01] [ 5.72130887e-02 -5.26823847e-03 9.98348090e-01 4.05679695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10463044 meters Centerline goodness [0,1] 0.3090901205655304 Centerline is valid? [False, False] Translation: X:11.36, Y:0.58, Z:0.41 [[ 9.98346049e-01 -4.11675192e-03 -5.73429841e-02 1.13627157e+01] [ 4.42233291e-03 9.99976685e-01 5.20312397e-03 5.83754033e-01] [ 5.73202271e-02 -5.44810803e-03 9.98340979e-01 4.05407337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.13463044 meters Centerline goodness [0,1] 0.3093520518358531 Centerline is valid? [False, False] Translation: X:11.36, Y:0.58, Z:0.40 [[ 9.98341194e-01 -3.91630250e-03 -5.74414790e-02 1.13633161e+01] [ 4.25278460e-03 9.99974501e-01 5.73675014e-03 5.80401017e-01] [ 5.74175475e-02 -5.97152022e-03 9.98332393e-01 4.04963359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16463044 meters Centerline goodness [0,1] 0.3090428298942257 Centerline is valid? [False, False] Translation: X:11.36, Y:0.58, Z:0.40 [[ 9.98338851e-01 -3.82450129e-03 -5.74883587e-02 1.13636681e+01] [ 4.18126589e-03 9.99972733e-01 6.08685270e-03 5.78091123e-01] [ 5.74635120e-02 -6.31711565e-03 9.98327621e-01 4.04689382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.19463044 meters Centerline goodness [0,1] 0.3089128602001773 Centerline is valid? [False, False] Translation: X:11.36, Y:0.58, Z:0.40 [[ 9.98332604e-01 -3.71850923e-03 -5.76036875e-02 1.13641087e+01] [ 4.09749943e-03 9.99970723e-01 6.46255363e-03 5.75442782e-01] [ 5.75779700e-02 -6.68780907e-03 9.98318612e-01 4.04518275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22463044 meters Centerline goodness [0,1] 0.3067680182605138 Centerline is valid? [False, False] Translation: X:11.36, Y:0.57, Z:0.40 [[ 9.98326858e-01 -3.63499825e-03 -5.77084975e-02 1.13646722e+01] [ 4.03564317e-03 9.99968549e-01 6.82753958e-03 5.72560655e-01] [ 5.76818644e-02 -7.04900704e-03 9.98310129e-01 4.04142647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.25463044 meters Centerline goodness [0,1] 0.3120882918295501 Centerline is valid? [False, False] Translation: X:11.36, Y:0.57, Z:0.40 [[ 9.98336826e-01 -3.47873967e-03 -5.75454570e-02 1.13642984e+01] [ 3.91448924e-03 9.99964502e-01 7.46127685e-03 5.66093013e-01] [ 5.75174584e-02 -7.67412852e-03 9.98315005e-01 4.04198870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28463044 meters Centerline goodness [0,1] 0.3120882918295501 Centerline is valid? [False, False] Translation: X:11.36, Y:0.57, Z:0.40 [[ 9.98336826e-01 -3.47873967e-03 -5.75454570e-02 1.13642984e+01] [ 3.91448924e-03 9.99964502e-01 7.46127685e-03 5.66093013e-01] [ 5.75174584e-02 -7.67412852e-03 9.98315005e-01 4.04198870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.31463044000003 meters Centerline goodness [0,1] 0.3078483854256605 Centerline is valid? [False, False] Translation: X:11.36, Y:0.56, Z:0.40 [[ 9.98347444e-01 -3.22809405e-03 -5.73756026e-02 1.13636237e+01] [ 3.69173613e-03 9.99961371e-01 7.97666537e-03 5.63458265e-01] [ 5.73476368e-02 -8.17529907e-03 9.98320797e-01 4.04599747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34463044 meters Centerline goodness [0,1] 0.3080827633673162 Centerline is valid? [False, False] Translation: X:11.36, Y:0.56, Z:0.40 [[ 9.98349601e-01 -2.97967093e-03 -5.73515169e-02 1.13634791e+01] [ 3.46946678e-03 9.99958342e-01 8.44256603e-03 5.61151385e-01] [ 5.73239717e-02 -8.62761161e-03 9.98318349e-01 4.04782583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.37463044000003 meters Centerline goodness [0,1] 0.30925933867993305 Centerline is valid? [False, False] Translation: X:11.38, Y:0.55, Z:0.41 [[ 9.98280626e-01 4.86259994e-03 -5.84135884e-02 1.13834430e+01] [-4.40991238e-03 9.99959259e-01 7.87610835e-03 5.53273118e-01] [ 5.84495069e-02 -7.60496756e-03 9.98261398e-01 4.07989950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40463044 meters Centerline goodness [0,1] 0.31319544583862424 Centerline is valid? [False, False] Translation: X:11.38, Y:0.55, Z:0.41 [[ 9.98270246e-01 5.07709190e-03 -5.85725087e-02 1.13837397e+01] [-4.61034312e-03 9.99956557e-01 8.10112088e-03 5.52504404e-01] [ 5.86110943e-02 -7.81706857e-03 9.98250286e-01 4.08084765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.43463044000003 meters Centerline goodness [0,1] 0.3083979937411583 Centerline is valid? [False, False] Translation: X:11.38, Y:0.55, Z:0.41 [[ 9.98258058e-01 5.31136381e-03 -5.87591633e-02 1.13842849e+01] [-4.83281827e-03 9.99954014e-01 8.28330001e-03 5.52230579e-01] [ 5.88004568e-02 -7.98489863e-03 9.98237821e-01 4.07931646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46463044 meters Centerline goodness [0,1] 0.3121081292170178 Centerline is valid? [False, False] Translation: X:11.38, Y:0.55, Z:0.41 [[ 9.98252411e-01 5.53750902e-03 -5.88341711e-02 1.13846550e+01] [-5.04891462e-03 9.99951552e-01 8.45001349e-03 5.52097780e-01] [ 5.88781127e-02 -8.13819763e-03 9.98232006e-01 4.07664914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49463044000004 meters Centerline goodness [0,1] 0.3099853536658913 Centerline is valid? [False, False] Translation: X:11.38, Y:0.55, Z:0.41 [[ 9.98260209e-01 6.06754047e-03 -5.86493001e-02 1.13845440e+01] [-5.56111216e-03 9.99945866e-01 8.79422305e-03 5.51761394e-01] [ 5.86994845e-02 -8.45276760e-03 9.98239912e-01 4.07245666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52463044 meters Centerline goodness [0,1] 0.3126719674155599 Centerline is valid? [False, False] Translation: X:11.38, Y:0.55, Z:0.41 [[ 9.98260484e-01 6.09008598e-03 -5.86422794e-02 1.13843209e+01] [-5.58188901e-03 9.99945471e-01 8.82596426e-03 5.51330010e-01] [ 5.86928326e-02 -8.48327666e-03 9.98240044e-01 4.07494702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55463044000004 meters Centerline goodness [0,1] 0.3091127201062508 Centerline is valid? [False, False] Translation: X:11.40, Y:0.56, Z:0.41 [[ 9.98286295e-01 -1.32417670e-03 -5.85040136e-02 1.14028880e+01] [ 1.91709272e-03 9.99947361e-01 1.00796570e-02 5.55251459e-01] [ 5.84875868e-02 -1.01745411e-02 9.98236285e-01 4.10112583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58463044 meters Centerline goodness [0,1] 0.31000470709059014 Centerline is valid? [False, False] Translation: X:11.40, Y:0.55, Z:0.41 [[ 9.98283972e-01 -1.20501386e-03 -5.85462167e-02 1.14028854e+01] [ 1.81064356e-03 9.99945391e-01 1.02925249e-02 5.54278175e-01] [ 5.85306169e-02 -1.03808689e-02 9.98231639e-01 4.10255525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61463044000004 meters Centerline goodness [0,1] 0.3086882891380308 Centerline is valid? [False, False] Translation: X:11.40, Y:0.55, Z:0.41 [[ 9.98281467e-01 -9.82286484e-04 -5.85930692e-02 1.14033935e+01] [ 1.61084372e-03 9.99941657e-01 1.06812336e-02 5.52625899e-01] [ 5.85791586e-02 -1.07572618e-02 9.98224806e-01 4.09786969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64463044 meters Centerline goodness [0,1] 0.312236104194184 Centerline is valid? [False, False] Translation: X:11.40, Y:0.55, Z:0.41 [[ 9.98284661e-01 -1.01452371e-03 -5.85380768e-02 1.14035607e+01] [ 1.64692567e-03 9.99940796e-01 1.07560244e-02 5.51577203e-01] [ 5.85236989e-02 -1.08339821e-02 9.98227229e-01 4.09433627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67463044000004 meters Centerline goodness [0,1] 0.31135248623519074 Centerline is valid? [False, False] Translation: X:11.42, Y:0.55, Z:0.41 [[ 9.98319195e-01 4.60449185e-03 -5.77718180e-02 1.14249517e+01] [-4.16326030e-03 9.99961259e-01 7.75552513e-03 5.49481217e-01] [ 5.78052901e-02 -7.50197049e-03 9.98299689e-01 4.10702691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70463044 meters Centerline goodness [0,1] 0.312626163964316 Centerline is valid? [False, False] Translation: X:11.41, Y:0.55, Z:0.41 [[ 9.98480661e-01 -1.75084791e-03 -5.50754430e-02 1.14086234e+01] [ 2.21625138e-03 9.99962344e-01 8.39034854e-03 5.51932398e-01] [ 5.50586788e-02 -8.49966179e-03 9.98446943e-01 4.07329806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73463044000005 meters Centerline goodness [0,1] 0.3120674925245621 Centerline is valid? [False, False] Translation: X:11.43, Y:0.55, Z:0.41 [[ 9.98495821e-01 5.86936142e-03 -5.45128010e-02 1.14276394e+01] [-5.48006277e-03 9.99958425e-01 7.28815298e-03 5.48077963e-01] [ 5.45533114e-02 -6.97845673e-03 9.98486473e-01 4.10064606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76463044 meters Centerline goodness [0,1] 0.31736906531433073 Centerline is valid? [False, False] Translation: X:11.38, Y:0.55, Z:0.41 [[ 9.98411251e-01 5.84229776e-03 -5.60432021e-02 1.13825084e+01] [-5.43449327e-03 9.99957658e-01 7.42625578e-03 5.45385908e-01] [ 5.60842155e-02 -7.10989092e-03 9.98400726e-01 4.07963065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79463044 meters Centerline goodness [0,1] 0.3142400138336503 Centerline is valid? [False, False] Translation: X:11.40, Y:0.55, Z:0.41 [[ 9.98447101e-01 -1.83471973e-03 -5.56778241e-02 1.14032431e+01] [ 2.32495357e-03 9.99959091e-01 8.74133437e-03 5.46215713e-01] [ 5.56595085e-02 -8.85720832e-03 9.98410521e-01 4.09241295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82463044 meters Centerline goodness [0,1] 0.31192127137258285 Centerline is valid? [False, False] Translation: X:11.40, Y:0.54, Z:0.41 [[ 9.98435871e-01 -1.80634597e-03 -5.58797679e-02 1.14040844e+01] [ 2.30964725e-03 9.99957338e-01 8.94359042e-03 5.44511015e-01] [ 5.58612287e-02 -9.05866404e-03 9.98397448e-01 4.08808016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85463044 meters Centerline goodness [0,1] 0.31197079661309834 Centerline is valid? [False, False] Translation: X:11.41, Y:0.54, Z:0.41 [[ 9.98412824e-01 -1.68233072e-03 -5.62938986e-02 1.14058208e+01] [ 2.21104360e-03 9.99954020e-01 9.33104528e-03 5.41693199e-01] [ 5.62756123e-02 -9.44070353e-03 9.98370637e-01 4.07851133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88463044 meters Centerline goodness [0,1] 0.3126875499233609 Centerline is valid? [False, False] Translation: X:11.41, Y:0.54, Z:0.41 [[ 9.98396357e-01 -1.54753395e-03 -5.65890350e-02 1.14068501e+01] [ 2.09023281e-03 9.99952382e-01 9.53224537e-03 5.40793449e-01] [ 5.65715889e-02 -9.63524331e-03 9.98352051e-01 4.07475626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91463044 meters Centerline goodness [0,1] 0.311822383482355 Centerline is valid? [False, False] Translation: X:11.41, Y:0.54, Z:0.41 [[ 9.98388611e-01 -1.45379721e-03 -5.67280160e-02 1.14075125e+01] [ 2.00645257e-03 9.99951072e-01 9.68645394e-03 5.39935882e-01] [ 5.67111583e-02 -9.78466737e-03 9.98342679e-01 4.07059749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94463044 meters Centerline goodness [0,1] 0.314459421450053 Centerline is valid? [False, False] Translation: X:11.41, Y:0.54, Z:0.41 [[ 9.98387529e-01 -1.43424254e-03 -5.67475601e-02 1.14077137e+01] [ 1.98861589e-03 9.99950842e-01 9.71384974e-03 5.39540685e-01] [ 5.67308385e-02 -9.81103554e-03 9.98341302e-01 4.06837579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97463044 meters Centerline goodness [0,1] 0.31075971124097623 Centerline is valid? [False, False] Translation: X:11.43, Y:0.54, Z:0.41 [[ 9.98369459e-01 6.71861803e-03 -5.66858377e-02 1.14281286e+01] [-6.23328053e-03 9.99942427e-01 8.73435637e-03 5.35759914e-01] [ 5.67412569e-02 -8.36677591e-03 9.98353859e-01 4.09081063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.00463044 meters Centerline goodness [0,1] 0.311789864777293 Centerline is valid? [False, False] Translation: X:11.43, Y:0.54, Z:0.41 [[ 9.98367792e-01 6.80692315e-03 -5.67046579e-02 1.14282561e+01] [-6.31921070e-03 9.99941525e-01 8.77579899e-03 5.35814602e-01] [ 5.67610783e-02 -8.40314638e-03 9.98352426e-01 4.08928552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03463044 meters Centerline goodness [0,1] 0.31018319428915453 Centerline is valid? [False, False] Translation: X:11.43, Y:0.54, Z:0.41 [[ 9.98358978e-01 6.90721734e-03 -5.68475345e-02 1.14285315e+01] [-6.41697518e-03 9.99940673e-01 8.80183784e-03 5.36114191e-01] [ 5.69049581e-02 -8.42260461e-03 9.98344072e-01 4.08994717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06463044000003 meters Centerline goodness [0,1] 0.3128761567832259 Centerline is valid? [False, False] Translation: X:11.43, Y:0.54, Z:0.41 [[ 9.98355809e-01 6.97872093e-03 -5.68944338e-02 1.14287311e+01] [-6.48744386e-03 9.99940102e-01 8.81502169e-03 5.36296662e-01] [ 5.69525435e-02 -8.43142866e-03 9.98341284e-01 4.08851672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09463044 meters Centerline goodness [0,1] 0.31461500205418735 Centerline is valid? [False, False] Translation: X:11.43, Y:0.54, Z:0.41 [[ 9.98332886e-01 7.08665372e-03 -5.72820028e-02 1.14301168e+01] [-6.59701177e-03 9.99940110e-01 8.73250713e-03 5.36992371e-01] [ 5.73404565e-02 -8.34005900e-03 9.98319846e-01 4.08133388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12463044000003 meters Centerline goodness [0,1] 0.31301393577425773 Centerline is valid? [False, False] Translation: X:11.43, Y:0.54, Z:0.41 [[ 9.98326493e-01 7.14777753e-03 -5.73857270e-02 1.14306391e+01] [-6.65836274e-03 9.99939854e-01 8.71519322e-03 5.37283417e-01] [ 5.74445698e-02 -8.31851330e-03 9.98314041e-01 4.07706951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15463044 meters Centerline goodness [0,1] 0.30787660976340225 Centerline is valid? [False, False] Translation: X:11.45, Y:0.54, Z:0.41 [[ 9.98329656e-01 1.21707494e-04 -5.77744168e-02 1.14494313e+01] [ 4.49038220e-04 9.99951231e-01 9.86578076e-03 5.42927083e-01] [ 5.77727999e-02 -9.87524444e-03 9.98280914e-01 4.09902690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18463044000003 meters Centerline goodness [0,1] 0.3159420289855073 Centerline is valid? [False, False] Translation: X:11.45, Y:0.54, Z:0.41 [[ 9.98351946e-01 3.06140492e-04 -5.73872734e-02 1.14482431e+01] [ 2.62914388e-04 9.99950878e-01 9.90823421e-03 5.43662122e-01] [ 5.73874877e-02 -9.90699284e-03 9.98302824e-01 4.10257488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21463044 meters Centerline goodness [0,1] 0.31591582498864546 Centerline is valid? [False, False] Translation: X:11.45, Y:0.54, Z:0.41 [[ 9.98355729e-01 2.78219150e-04 -5.73215498e-02 1.14480511e+01] [ 2.83461852e-04 9.99952033e-01 9.79041163e-03 5.44331972e-01] [ 5.73215242e-02 -9.79056202e-03 9.98307762e-01 4.10282765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24463044000004 meters Centerline goodness [0,1] 0.3121109043065272 Centerline is valid? [False, False] Translation: X:11.47, Y:0.54, Z:0.41 [[ 9.98361572e-01 8.08225250e-03 -5.66466939e-02 1.14678404e+01] [-7.61546851e-03 9.99935288e-01 8.45130282e-03 5.42781493e-01] [ 5.67113338e-02 -8.00606486e-03 9.98358517e-01 4.12541145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27463044 meters Centerline goodness [0,1] 0.31693870463622154 Centerline is valid? [False, False] Translation: X:11.45, Y:0.55, Z:0.41 [[ 9.98408418e-01 -7.26575265e-05 -5.63970427e-02 1.14473514e+01] [ 5.85957017e-04 9.99958558e-01 9.08504910e-03 5.47130261e-01] [ 5.63940454e-02 -9.10363574e-03 9.98367085e-01 4.10116986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30463044000004 meters Centerline goodness [0,1] 0.3150758751508881 Centerline is valid? [False, False] Translation: X:11.47, Y:0.55, Z:0.41 [[ 9.98442103e-01 8.17007258e-03 -5.51961761e-02 1.14679732e+01] [-7.73377478e-03 9.99937178e-01 8.11347824e-03 5.46809694e-01] [ 5.52589963e-02 -7.67396347e-03 9.98442564e-01 4.11686021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33463044 meters Centerline goodness [0,1] 0.3154955188985582 Centerline is valid? [False, False] Translation: X:11.47, Y:0.55, Z:0.41 [[ 9.98446331e-01 8.16316129e-03 -5.51206547e-02 1.14678937e+01] [-7.73048309e-03 9.99937650e-01 8.05831941e-03 5.47222082e-01] [ 5.51829993e-02 -7.61969016e-03 9.98447183e-01 4.11533709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36463044000004 meters Centerline goodness [0,1] 0.3170403197775461 Centerline is valid? [False, False] Translation: X:11.47, Y:0.55, Z:0.41 [[ 9.98449478e-01 8.13698230e-03 -5.50674922e-02 1.14679466e+01] [-7.70672203e-03 9.99938132e-01 8.02118038e-03 5.47291042e-01] [ 5.51293534e-02 -7.58435351e-03 9.98450415e-01 4.11321164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39463044 meters Centerline goodness [0,1] 0.3148422567274446 Centerline is valid? [False, False] Translation: X:11.49, Y:0.55, Z:0.41 [[ 9.98539424e-01 4.16985551e-04 -5.40263281e-02 1.14871722e+01] [ 6.04386258e-05 9.99960969e-01 8.83494480e-03 5.52291026e-01] [ 5.40279035e-02 -8.82530597e-03 9.98500425e-01 4.12709423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42463044000004 meters Centerline goodness [0,1] 0.3180424833779466 Centerline is valid? [False, False] Translation: X:11.49, Y:0.56, Z:0.41 [[ 9.98558303e-01 2.05577190e-04 -5.36775011e-02 1.14859508e+01] [ 2.39878277e-04 9.99965591e-01 8.29216250e-03 5.55066636e-01] [ 5.36773588e-02 -8.29308378e-03 9.98523894e-01 4.13186882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45463044 meters Centerline goodness [0,1] 0.3151830434876072 Centerline is valid? [False, False] Translation: X:11.49, Y:0.56, Z:0.41 [[ 9.98543390e-01 1.85486894e-04 -5.39542693e-02 1.14866183e+01] [ 2.44023311e-04 9.99968337e-01 7.95393750e-03 5.57754375e-01] [ 5.39540363e-02 -7.95551782e-03 9.98511728e-01 4.13096894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48463044000005 meters Centerline goodness [0,1] 0.3148009337588076 Centerline is valid? [False, False] Translation: X:11.49, Y:0.56, Z:0.41 [[ 9.98531058e-01 1.25866639e-04 -5.41821952e-02 1.14873541e+01] [ 2.81844860e-04 9.99971706e-01 7.51711743e-03 5.60888294e-01] [ 5.41816083e-02 -7.52134620e-03 9.98502770e-01 4.12731190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51463044 meters Centerline goodness [0,1] 0.31519093669904585 Centerline is valid? [False, False] Translation: X:11.49, Y:0.56, Z:0.41 [[ 9.98525139e-01 -9.74147334e-06 -5.42913114e-02 1.14875666e+01] [ 3.94989100e-04 9.99974822e-01 7.08520954e-03 5.63512206e-01] [ 5.42898755e-02 -7.09620432e-03 9.98500002e-01 4.12744077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54463044 meters Centerline goodness [0,1] 0.3202883179289595 Centerline is valid? [False, False] Translation: X:11.49, Y:0.57, Z:0.41 [[ 9.98524249e-01 -1.60246051e-04 -5.43074487e-02 1.14874433e+01] [ 5.25879587e-04 9.99977293e-01 6.71843581e-03 5.65455850e-01] [ 5.43051389e-02 -6.73708025e-03 9.98501659e-01 4.12902109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.57463044 meters Centerline goodness [0,1] 0.31729798251079644 Centerline is valid? [False, False] Translation: X:11.49, Y:0.57, Z:0.41 [[ 9.98526370e-01 -4.30454168e-04 -5.42669679e-02 1.14871585e+01] [ 7.73655643e-04 9.99979834e-01 6.30346759e-03 5.67671322e-01] [ 5.42631601e-02 -6.33616255e-03 9.98506566e-01 4.13227699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60463044 meters Centerline goodness [0,1] 0.31977559607293127 Centerline is valid? [False, False] Translation: X:11.49, Y:0.57, Z:0.41 [[ 9.98526429e-01 -4.93123971e-04 -5.42653379e-02 1.14872017e+01] [ 8.33910801e-04 9.99980074e-01 6.25754565e-03 5.67890345e-01] [ 5.42611708e-02 -6.29357717e-03 9.98506944e-01 4.13222244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.63463044 meters Centerline goodness [0,1] 0.3235224408006723 Centerline is valid? [False, False] Translation: X:11.49, Y:0.57, Z:0.41 [[ 9.98520161e-01 -6.92449640e-04 -5.43783774e-02 1.14875484e+01] [ 1.02421750e-03 9.99981032e-01 6.07346761e-03 5.68086793e-01] [ 5.43731403e-02 -6.12017515e-03 9.98501930e-01 4.13246666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66463044 meters Centerline goodness [0,1] 0.3238558909444985 Centerline is valid? [False, False] Translation: X:11.49, Y:0.57, Z:0.41 [[ 9.98503041e-01 -8.81766768e-04 -5.46891089e-02 1.14883592e+01] [ 1.20968827e-03 9.99981488e-01 5.96328927e-03 5.67745327e-01] [ 5.46828383e-02 -6.02051925e-03 9.98485624e-01 4.13207470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.69463044 meters Centerline goodness [0,1] 0.3231282271944923 Centerline is valid? [False, False] Translation: X:11.49, Y:0.57, Z:0.41 [[ 9.98448037e-01 -1.40937849e-03 -5.56734314e-02 1.14908968e+01] [ 1.73729060e-03 9.99981426e-01 5.84196217e-03 5.65587796e-01] [ 5.56641639e-02 -5.92961660e-03 9.98431941e-01 4.13090626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72463044 meters Centerline goodness [0,1] 0.3201695241764593 Centerline is valid? [False, False] Translation: X:11.49, Y:0.56, Z:0.41 [[ 9.98419520e-01 -1.39214975e-03 -5.61829469e-02 1.14921440e+01] [ 1.74489903e-03 9.99979071e-01 6.23001559e-03 5.62829639e-01] [ 5.61730979e-02 -6.31820274e-03 9.98401053e-01 4.13221828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.75463044 meters Centerline goodness [0,1] 0.3244093131448017 Centerline is valid? [False, False] Translation: X:11.49, Y:0.56, Z:0.41 [[ 9.98400501e-01 -1.43078068e-03 -5.65189617e-02 1.14930874e+01] [ 1.80896851e-03 9.99976314e-01 6.64074978e-03 5.59439733e-01] [ 5.65081216e-02 -6.73236893e-03 9.98379441e-01 4.13177371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78463044 meters Centerline goodness [0,1] 0.32516493873704055 Centerline is valid? [False, False] Translation: X:11.49, Y:0.55, Z:0.41 [[ 9.98378814e-01 -5.19079624e-03 -5.66815664e-02 1.14934787e+01] [ 5.41821132e-03 9.99977875e-01 3.85920880e-03 5.52872006e-01] [ 5.66602799e-02 -4.16006501e-03 9.98384849e-01 4.13496137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.81463044000003 meters Centerline goodness [0,1] 0.3290160490351086 Centerline is valid? [False, False] Translation: X:11.49, Y:0.55, Z:0.41 [[ 9.98381003e-01 -5.11889082e-03 -5.66495374e-02 1.14934764e+01] [ 5.37570658e-03 9.99975950e-01 4.38195306e-03 5.49067886e-01] [ 5.66257442e-02 -4.67938998e-03 9.98384509e-01 4.13544541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84463044 meters Centerline goodness [0,1] 0.331630333600329 Centerline is valid? [False, False] Translation: X:11.49, Y:0.55, Z:0.41 [[ 9.98379651e-01 -4.86858892e-03 -5.66954042e-02 1.14936900e+01] [ 5.15983205e-03 9.99974229e-01 4.99172504e-03 5.45928158e-01] [ 5.66696405e-02 -5.27617547e-03 9.98379043e-01 4.13556893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.87463044000003 meters Centerline goodness [0,1] 0.3303270907051006 Centerline is valid? [False, False] Translation: X:11.49, Y:0.54, Z:0.41 [[ 9.98384796e-01 -4.55110582e-03 -5.66311406e-02 1.14934890e+01] [ 4.87644727e-03 9.99972385e-01 5.60805728e-03 5.43326005e-01] [ 5.66040538e-02 -5.87515790e-03 9.98379419e-01 4.13720104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90463044 meters Centerline goodness [0,1] 0.3311674200278164 Centerline is valid? [False, False] Translation: X:11.49, Y:0.54, Z:0.41 [[ 9.98396924e-01 -4.20469912e-03 -5.64438051e-02 1.14926990e+01] [ 4.57132586e-03 9.99969276e-01 6.36788639e-03 5.38690482e-01] [ 5.64152958e-02 -6.61570121e-03 9.98385470e-01 4.14369689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.93463044000003 meters Centerline goodness [0,1] 0.3299593390431699 Centerline is valid? [False, False] Translation: X:11.51, Y:0.53, Z:0.42 [[ 9.98385838e-01 3.27029904e-03 -5.67011828e-02 1.15114651e+01] [-2.99930793e-03 9.99983674e-01 4.86372736e-03 5.33102896e-01] [ 5.67161630e-02 -4.68581221e-03 9.98379347e-01 4.17611049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96463044 meters Centerline goodness [0,1] 0.32935833136018255 Centerline is valid? [False, False] Translation: X:11.51, Y:0.53, Z:0.42 [[ 9.98372608e-01 3.43337395e-03 -5.69240587e-02 1.15121197e+01] [-3.14337716e-03 9.99981627e-01 5.18320757e-03 5.31232918e-01] [ 5.69408087e-02 -4.99583868e-03 9.98365056e-01 4.17470076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.99463044000004 meters Centerline goodness [0,1] 0.32733541644219377 Centerline is valid? [False, False] Translation: X:11.51, Y:0.53, Z:0.42 [[ 9.98365763e-01 3.63639111e-03 -5.70313981e-02 1.15126266e+01] [-3.32818694e-03 9.99979346e-01 5.49816632e-03 5.29821254e-01] [ 5.70502137e-02 -5.29936986e-03 9.98357246e-01 4.17096140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02463044 meters Centerline goodness [0,1] 0.3265806451612904 Centerline is valid? [False, False] Translation: X:11.51, Y:0.53, Z:0.42 [[ 9.98368861e-01 4.10186505e-03 -5.69455141e-02 1.15128964e+01] [-3.75604249e-03 9.99973858e-01 6.17857188e-03 5.26582319e-01] [ 5.69693691e-02 -5.95460400e-03 9.98358169e-01 4.16595929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05463044000004 meters Centerline goodness [0,1] 0.32860612368809095 Centerline is valid? [False, False] Translation: X:11.51, Y:0.53, Z:0.42 [[ 9.98369701e-01 4.11249560e-03 -5.69300159e-02 1.15129733e+01] [-3.76046635e-03 9.99973151e-01 6.28929244e-03 5.25226628e-01] [ 5.69543521e-02 -6.06495561e-03 9.98358362e-01 4.16471456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08463044 meters Centerline goodness [0,1] 0.32692515157399615 Centerline is valid? [False, False] Translation: X:11.51, Y:0.52, Z:0.42 [[ 9.98361511e-01 4.19478955e-03 -5.70674826e-02 1.15133382e+01] [-3.83442110e-03 9.99972022e-01 6.42281258e-03 5.24149064e-01] [ 5.70928283e-02 -6.19346811e-03 9.98349663e-01 4.16429519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11463044000004 meters Centerline goodness [0,1] 0.3289026475872968 Centerline is valid? [False, False] Translation: X:11.51, Y:0.52, Z:0.42 [[ 9.98362531e-01 4.32657717e-03 -5.70397836e-02 1.15133737e+01] [-3.95846492e-03 9.99970615e-01 6.56501393e-03 5.23666843e-01] [ 5.70665116e-02 -6.32847394e-03 9.98350321e-01 4.16293434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14463044 meters Centerline goodness [0,1] 0.32627329058445065 Centerline is valid? [False, False] Translation: X:11.51, Y:0.52, Z:0.42 [[ 9.98356456e-01 4.54037017e-03 -5.71294332e-02 1.15137905e+01] [-4.16259106e-03 9.99968690e-01 6.72995209e-03 5.23601487e-01] [ 5.71582010e-02 -6.48108465e-03 9.98344097e-01 4.16030010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17463044000004 meters Centerline goodness [0,1] 0.32244097880406686 Centerline is valid? [False, False] Translation: X:11.52, Y:0.52, Z:0.42 [[ 9.98339322e-01 4.90533632e-03 -5.73980438e-02 1.15150183e+01] [-4.52625454e-03 9.99967092e-01 6.73258150e-03 5.24802173e-01] [ 5.74291805e-02 -6.46160270e-03 9.98328672e-01 4.15172132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20463044 meters Centerline goodness [0,1] 0.32244097880406686 Centerline is valid? [False, False] Translation: X:11.52, Y:0.52, Z:0.42 [[ 9.98339322e-01 4.90533632e-03 -5.73980438e-02 1.15150183e+01] [-4.52625454e-03 9.99967092e-01 6.73258150e-03 5.24802173e-01] [ 5.74291805e-02 -6.46160270e-03 9.98328672e-01 4.15172132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23463044 meters Centerline goodness [0,1] 0.3189430512239928 Centerline is valid? [False, False] Translation: X:11.52, Y:0.53, Z:0.41 [[ 9.98325678e-01 4.81633540e-03 -5.76423756e-02 1.15157670e+01] [-4.45432088e-03 9.99969553e-01 6.40719332e-03 5.26246438e-01] [ 5.76714797e-02 -6.13970798e-03 9.98316736e-01 4.14911711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26463044 meters Centerline goodness [0,1] 0.3192870810311096 Centerline is valid? [False, False] Translation: X:11.52, Y:0.53, Z:0.41 [[ 9.98319867e-01 4.79283178e-03 -5.77448829e-02 1.15161299e+01] [-4.44115360e-03 9.99970812e-01 6.21700149e-03 5.27419699e-01] [ 5.77729945e-02 -5.95010221e-03 9.98312014e-01 4.14679973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.29463044 meters Centerline goodness [0,1] 0.3174203461448174 Centerline is valid? [False, False] Translation: X:11.52, Y:0.53, Z:0.41 [[ 9.98313036e-01 4.92482560e-03 -5.78517742e-02 1.15163439e+01] [-4.57683348e-03 9.99970638e-01 6.14619816e-03 5.29010873e-01] [ 5.78803445e-02 -5.87105181e-03 9.98306264e-01 4.14660820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32463044 meters Centerline goodness [0,1] 0.31929537779880846 Centerline is valid? [False, False] Translation: X:11.52, Y:0.53, Z:0.41 [[ 9.98320501e-01 5.03596065e-03 -5.77132318e-02 1.15157549e+01] [-4.69059536e-03 9.99970283e-01 6.11806819e-03 5.30683421e-01] [ 5.77423271e-02 -5.83708348e-03 9.98314456e-01 4.14983000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35463044 meters Centerline goodness [0,1] 0.32020569959288625 Centerline is valid? [False, False] Translation: X:11.52, Y:0.53, Z:0.42 [[ 9.98315820e-01 4.86216682e-03 -5.78090177e-02 1.15158685e+01] [-4.52481717e-03 9.99971972e-01 5.96505501e-03 5.30725600e-01] [ 5.78364005e-02 -5.69343355e-03 9.98309839e-01 4.15238016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38463044 meters Centerline goodness [0,1] 0.3240601179966409 Centerline is valid? [False, False] Translation: X:11.52, Y:0.53, Z:0.42 [[ 9.98307460e-01 4.73516345e-03 -5.79637312e-02 1.15157891e+01] [-4.39805790e-03 9.99972675e-01 5.94199235e-03 5.30218262e-01] [ 5.79902837e-02 -5.67700745e-03 9.98301006e-01 4.15900449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41463044 meters Centerline goodness [0,1] 0.32241840787428766 Centerline is valid? [False, False] Translation: X:11.52, Y:0.53, Z:0.42 [[ 9.98309825e-01 4.69278301e-03 -5.79264232e-02 1.15153251e+01] [-4.35050490e-03 9.99972334e-01 6.03354009e-03 5.29460339e-01] [ 5.79531347e-02 -5.77133317e-03 9.98302622e-01 4.16515557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44463044 meters Centerline goodness [0,1] 0.32273292991717095 Centerline is valid? [False, False] Translation: X:11.53, Y:0.53, Z:0.42 [[ 9.98426346e-01 -3.17999026e-03 -5.59885726e-02 1.15327657e+01] [ 3.59896107e-03 9.99966262e-01 7.38390977e-03 5.32331860e-01] [ 5.59632029e-02 -7.57379074e-03 9.98404105e-01 4.19658052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47463044 meters Centerline goodness [0,1] 0.32175045918585277 Centerline is valid? [False, False] Translation: X:11.55, Y:0.53, Z:0.42 [[ 9.98471438e-01 4.16995481e-03 -5.51126109e-02 1.15508587e+01] [-3.85380116e-03 9.99975512e-01 5.84153613e-03 5.28804465e-01] [ 5.51356203e-02 -5.62021393e-03 9.98463057e-01 4.22418252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.50463044 meters Centerline goodness [0,1] 0.32259799492276575 Centerline is valid? [False, False] Translation: X:11.55, Y:0.53, Z:0.42 [[ 9.98473005e-01 4.08795396e-03 -5.50903471e-02 1.15509047e+01] [-3.77340807e-03 9.99975988e-01 5.81244657e-03 5.28387330e-01] [ 5.51127853e-02 -5.59569263e-03 9.98464456e-01 4.22356836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53463044 meters Centerline goodness [0,1] 0.3204648964509753 Centerline is valid? [False, False] Translation: X:11.55, Y:0.53, Z:0.42 [[ 9.98428499e-01 4.10842648e-03 -5.58896592e-02 1.15535700e+01] [-3.79285096e-03 9.99976268e-01 5.75130518e-03 5.28745760e-01] [ 5.59119617e-02 -5.53028585e-03 9.98420387e-01 4.21327071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56463044000003 meters Centerline goodness [0,1] 0.32103169455614644 Centerline is valid? [False, False] Translation: X:11.55, Y:0.53, Z:0.42 [[ 9.98405188e-01 4.17708983e-03 -5.62994939e-02 1.15548918e+01] [-3.86098387e-03 9.99976174e-01 5.72232458e-03 5.29435917e-01] [ 5.63220552e-02 -5.49582711e-03 9.98397527e-01 4.20869745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59463044 meters Centerline goodness [0,1] 0.3162639663312611 Centerline is valid? [False, False] Translation: X:11.56, Y:0.53, Z:0.42 [[ 9.98388371e-01 4.31624821e-03 -5.65864858e-02 1.15557741e+01] [-3.99597853e-03 9.99975359e-01 5.77175545e-03 5.29839040e-01] [ 5.66100038e-02 -5.53633514e-03 9.98381018e-01 4.20665252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62463044000003 meters Centerline goodness [0,1] 0.3182733504712939 Centerline is valid? [False, False] Translation: X:11.56, Y:0.53, Z:0.42 [[ 9.98397379e-01 4.31394656e-03 -5.64275118e-02 1.15553710e+01] [-3.99350371e-03 9.99975261e-01 5.79037057e-03 5.29537646e-01] [ 5.64510952e-02 -5.55574732e-03 9.98389908e-01 4.20729158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65463044 meters Centerline goodness [0,1] 0.318177926192311 Centerline is valid? [False, False] Translation: X:11.55, Y:0.53, Z:0.42 [[ 9.98419508e-01 4.18787693e-03 -5.60441591e-02 1.15541635e+01] [-3.87135056e-03 9.99975945e-01 5.75518089e-03 5.28632504e-01] [ 5.60669129e-02 -5.52911828e-03 9.98411704e-01 4.21210620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68463044000003 meters Centerline goodness [0,1] 0.31830756363792323 Centerline is valid? [False, False] Translation: X:11.55, Y:0.53, Z:0.42 [[ 9.98426783e-01 4.20272804e-03 -5.59132958e-02 1.15540860e+01] [-3.88132546e-03 9.99975323e-01 5.85558454e-03 5.27892027e-01] [ 5.59365255e-02 -5.62935474e-03 9.98418457e-01 4.20916075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71463044 meters Centerline goodness [0,1] 0.32150398620986853 Centerline is valid? [False, False] Translation: X:11.55, Y:0.53, Z:0.42 [[ 9.98422867e-01 4.19206184e-03 -5.59839708e-02 1.15543544e+01] [-3.86635414e-03 9.99974973e-01 5.92491997e-03 5.27187047e-01] [ 5.60074073e-02 -5.69912173e-03 9.98414088e-01 4.20838677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74463044000004 meters Centerline goodness [0,1] 0.31977798894264 Centerline is valid? [False, False] Translation: X:11.55, Y:0.53, Z:0.42 [[ 9.98424979e-01 4.20605856e-03 -5.59452495e-02 1.15543404e+01] [-3.87419885e-03 9.99974260e-01 6.03900051e-03 5.26330833e-01] [ 5.59692099e-02 -5.81274593e-03 9.98415575e-01 4.20780965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77463044 meters Centerline goodness [0,1] 0.3201283182982755 Centerline is valid? [False, False] Translation: X:11.55, Y:0.52, Z:0.42 [[ 9.98435870e-01 4.23871008e-03 -5.57480716e-02 1.15535430e+01] [-3.89115899e-03 9.99972322e-01 6.34138618e-03 5.24264085e-01] [ 5.57734079e-02 -6.11454282e-03 9.98424729e-01 4.21377272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80463044000004 meters Centerline goodness [0,1] 0.3189888199295029 Centerline is valid? [False, False] Translation: X:11.55, Y:0.52, Z:0.42 [[ 9.98433142e-01 4.33897008e-03 -5.57892001e-02 1.15534738e+01] [-3.97814848e-03 9.99970458e-01 6.57701866e-03 5.23091396e-01] [ 5.58160895e-02 -6.34477568e-03 9.98420907e-01 4.21670662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83463044 meters Centerline goodness [0,1] 0.31937263012754225 Centerline is valid? [False, False] Translation: X:11.55, Y:0.52, Z:0.42 [[ 9.98427657e-01 4.42301141e-03 -5.58806813e-02 1.15539833e+01] [-4.05046999e-03 9.99968824e-01 6.77823263e-03 5.22006009e-01] [ 5.59089194e-02 -6.54123190e-03 9.98414446e-01 4.21329663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86463044000004 meters Centerline goodness [0,1] 0.3198082446176769 Centerline is valid? [False, False] Translation: X:11.56, Y:0.52, Z:0.42 [[ 9.98407526e-01 4.35380423e-03 -5.62446153e-02 1.15556766e+01] [-3.97141606e-03 9.99968249e-01 6.90864901e-03 5.19835064e-01] [ 5.62729084e-02 -6.67427639e-03 9.98393116e-01 4.20390000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89463044 meters Centerline goodness [0,1] 0.3203635576714997 Centerline is valid? [False, False] Translation: X:11.56, Y:0.52, Z:0.42 [[ 9.98401405e-01 4.29531167e-03 -5.63576446e-02 1.15559715e+01] [-3.91132580e-03 9.99968394e-01 6.92191335e-03 5.18956567e-01] [ 5.63855952e-02 -6.69041491e-03 9.98386650e-01 4.20355065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92463044000004 meters Centerline goodness [0,1] 0.3170951930518531 Centerline is valid? [False, False] Translation: X:11.56, Y:0.52, Z:0.42 [[ 9.98396373e-01 4.35737004e-03 -5.64419728e-02 1.15561851e+01] [-3.96748709e-03 9.99967504e-01 7.01789296e-03 5.18386940e-01] [ 5.64707182e-02 -6.78270608e-03 9.98381216e-01 4.20389684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95463044 meters Centerline goodness [0,1] 0.31826072048518095 Centerline is valid? [False, False] Translation: X:11.56, Y:0.52, Z:0.42 [[ 9.98391160e-01 4.50949375e-03 -5.65221734e-02 1.15561988e+01] [-4.10775425e-03 9.99965485e-01 7.22181322e-03 5.17881325e-01] [ 5.65527893e-02 -6.97801528e-03 9.98375225e-01 4.20617933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98463044 meters Centerline goodness [0,1] 0.3160226643377497 Centerline is valid? [False, False] Translation: X:11.56, Y:0.52, Z:0.42 [[ 9.98391221e-01 4.68878252e-03 -5.65065026e-02 1.15561767e+01] [-4.27533993e-03 9.99963218e-01 7.43539556e-03 5.17523096e-01] [ 5.65392871e-02 -7.18184915e-03 9.98374544e-01 4.20661143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01463044 meters Centerline goodness [0,1] 0.315989847715736 Centerline is valid? [False, False] Translation: X:11.56, Y:0.52, Z:0.42 [[ 9.98389338e-01 4.87005693e-03 -5.65244466e-02 1.15564102e+01] [-4.44309048e-03 9.99960661e-01 7.67687636e-03 5.16643434e-01] [ 5.65596098e-02 -7.41336828e-03 9.98371701e-01 4.20431980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04463044 meters Centerline goodness [0,1] 0.31648901739092905 Centerline is valid? [False, False] Translation: X:11.56, Y:0.52, Z:0.42 [[ 9.98385825e-01 4.84483251e-03 -5.65886215e-02 1.15567007e+01] [-4.41552364e-03 9.99960536e-01 7.70906031e-03 5.16045023e-01] [ 5.66237373e-02 -7.44674814e-03 9.98367817e-01 4.20262127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.07463044 meters Centerline goodness [0,1] 0.3137271750805586 Centerline is valid? [False, False] Translation: X:11.56, Y:0.52, Z:0.42 [[ 9.98374804e-01 4.83097346e-03 -5.67839169e-02 1.15572133e+01] [-4.39592352e-03 9.99960042e-01 7.78391438e-03 5.15249568e-01] [ 5.68192519e-02 -7.52164624e-03 9.98356148e-01 4.20263068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10463044 meters Centerline goodness [0,1] 0.3144369834710744 Centerline is valid? [False, False] Translation: X:11.56, Y:0.51, Z:0.42 [[ 9.98367890e-01 4.88862821e-03 -5.69004148e-02 1.15575464e+01] [-4.44222043e-03 9.99958378e-01 7.96926531e-03 5.14073875e-01] [ 5.69370053e-02 -7.70349441e-03 9.98348052e-01 4.20239127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.13463044 meters Centerline goodness [0,1] 0.3149290428331105 Centerline is valid? [False, False] Translation: X:11.55, Y:0.51, Z:0.42 [[ 9.98427573e-01 2.35632113e-03 -5.60074009e-02 1.15542091e+01] [-2.02598875e-03 9.99980222e-01 5.95406123e-03 5.10545730e-01] [ 5.60203229e-02 -5.83122854e-03 9.98412600e-01 4.21533291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16463044 meters Centerline goodness [0,1] 0.3153131800650708 Centerline is valid? [False, False] Translation: X:11.55, Y:0.51, Z:0.42 [[ 9.98441604e-01 2.27273176e-03 -5.57601887e-02 1.15534097e+01] [-1.93217022e-03 9.99979156e-01 6.16076207e-03 5.08317915e-01] [ 5.57730281e-02 -6.04342298e-03 9.98425183e-01 4.21945952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.19463044 meters Centerline goodness [0,1] 0.31658830853781583 Centerline is valid? [False, False] Translation: X:11.55, Y:0.51, Z:0.42 [[ 9.98449546e-01 2.21573453e-03 -5.56200903e-02 1.15529877e+01] [-1.86258773e-03 9.99977783e-01 6.40030288e-03 5.06100353e-01] [ 5.56330359e-02 -6.28678221e-03 9.98431491e-01 4.22221167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22463044 meters Centerline goodness [0,1] 0.3161109312614654 Centerline is valid? [False, False] Translation: X:11.55, Y:0.50, Z:0.42 [[ 9.98441684e-01 2.25058250e-03 -5.57596474e-02 1.15533425e+01] [-1.88003416e-03 9.99975807e-01 6.69702194e-03 5.03995355e-01] [ 5.57733707e-02 -6.58175583e-03 9.98421760e-01 4.22274746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.25463044 meters Centerline goodness [0,1] 0.31751958731734686 Centerline is valid? [False, False] Translation: X:11.56, Y:0.50, Z:0.42 [[ 9.98391980e-01 2.43621748e-03 -5.66349673e-02 1.15560672e+01] [-2.02566451e-03 9.99971264e-01 7.30538562e-03 5.00488504e-01] [ 5.66511374e-02 -7.17891497e-03 9.98368225e-01 4.21563621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28463044 meters Centerline goodness [0,1] 0.3157587043131821 Centerline is valid? [False, False] Translation: X:11.56, Y:0.50, Z:0.42 [[ 9.98373401e-01 2.46762788e-03 -5.69601805e-02 1.15571309e+01] [-2.04633204e-03 9.99970129e-01 7.45346447e-03 4.99329725e-01] [ 5.69768714e-02 -7.32478124e-03 9.98348628e-01 4.21224280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.31463044000003 meters Centerline goodness [0,1] 0.31367263316799654 Centerline is valid? [False, False] Translation: X:11.56, Y:0.50, Z:0.42 [[ 9.98358899e-01 2.39689327e-03 -5.72168150e-02 1.15579110e+01] [-1.97311467e-03 9.99970213e-01 7.46188487e-03 4.98474940e-01] [ 5.72329960e-02 -7.33674383e-03 9.98333890e-01 4.21065795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34463044 meters Centerline goodness [0,1] 0.31793602189067693 Centerline is valid? [False, False] Translation: X:11.56, Y:0.50, Z:0.42 [[ 9.98354818e-01 2.37965934e-03 -5.72886916e-02 1.15579807e+01] [-1.95261095e-03 9.99969900e-01 7.50914619e-03 4.97772056e-01] [ 5.73048364e-02 -7.38492975e-03 9.98329414e-01 4.21212501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.37463044000003 meters Centerline goodness [0,1] 0.31383024373498114 Centerline is valid? [False, False] Translation: X:11.58, Y:0.49, Z:0.42 [[ 9.98379289e-01 1.02731580e-02 -5.59755109e-02 1.15768424e+01] [-9.93640476e-03 9.99930843e-01 6.29108701e-03 4.94980454e-01] [ 5.60362691e-02 -5.72469564e-03 9.98412322e-01 4.23384487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40463044 meters Centerline goodness [0,1] 0.3148080751857164 Centerline is valid? [False, False] Translation: X:11.59, Y:0.50, Z:0.43 [[ 9.98531061e-01 3.24594849e-03 -5.40849680e-02 1.15937895e+01] [-2.80984040e-03 9.99962942e-01 8.13747885e-03 4.98660528e-01] [ 5.41093776e-02 -7.97355526e-03 9.98503179e-01 4.26160698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.43463044000003 meters Centerline goodness [0,1] 0.31597795552505736 Centerline is valid? [False, False] Translation: X:11.59, Y:0.50, Z:0.43 [[ 9.98535144e-01 3.17059810e-03 -5.40140099e-02 1.15937244e+01] [-2.73518220e-03 9.99963184e-01 8.13318285e-03 4.97878597e-01] [ 5.40378084e-02 -7.97353075e-03 9.98507055e-01 4.26094495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46463044 meters Centerline goodness [0,1] 0.3172005871686383 Centerline is valid? [False, False] Translation: X:11.59, Y:0.50, Z:0.43 [[ 9.98521802e-01 3.03249308e-03 -5.42679955e-02 1.15944731e+01] [-2.59940722e-03 9.99964225e-01 8.04930803e-03 4.97190314e-01] [ 5.42904635e-02 -7.89634494e-03 9.98493963e-01 4.25910283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49463044000004 meters Centerline goodness [0,1] 0.3156639962198501 Centerline is valid? [False, False] Translation: X:11.60, Y:0.50, Z:0.43 [[ 9.98503395e-01 2.94098394e-03 -5.46106316e-02 1.15955030e+01] [-2.50686042e-03 9.99964727e-01 8.01623325e-03 4.96597112e-01] [ 5.46322810e-02 -7.86733488e-03 9.98475547e-01 4.25657661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52463044 meters Centerline goodness [0,1] 0.31644997416910625 Centerline is valid? [False, False] Translation: X:11.60, Y:0.50, Z:0.43 [[ 9.98468456e-01 3.04974213e-03 -5.52398583e-02 1.15971430e+01] [-2.59510522e-03 9.99962186e-01 8.30009567e-03 4.95150929e-01] [ 5.52630826e-02 -8.14403046e-03 9.98438614e-01 4.25462319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55463044000004 meters Centerline goodness [0,1] 0.3158717408766255 Centerline is valid? [False, False] Translation: X:11.60, Y:0.49, Z:0.43 [[ 9.98463551e-01 3.12081467e-03 -5.53244825e-02 1.15974458e+01] [-2.65170660e-03 9.99959927e-01 8.55059451e-03 4.93733709e-01] [ 5.53489503e-02 -8.39075266e-03 9.98431815e-01 4.25373600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58463044 meters Centerline goodness [0,1] 0.31467330643084057 Centerline is valid? [False, False] Translation: X:11.60, Y:0.49, Z:0.43 [[ 9.98466180e-01 3.09850657e-03 -5.52782573e-02 1.15973727e+01] [-2.61803953e-03 9.99958185e-01 8.76209020e-03 4.91969786e-01] [ 5.53030952e-02 -8.60393007e-03 9.98432542e-01 4.25457518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61463044000004 meters Centerline goodness [0,1] 0.3143459017788748 Centerline is valid? [False, False] Translation: X:11.62, Y:0.49, Z:0.43 [[ 9.98528873e-01 -5.20371803e-03 -5.39723184e-02 1.16169617e+01] [ 5.72434987e-03 9.99938525e-01 9.49617332e-03 4.92025593e-01] [ 5.39195851e-02 -9.79115968e-03 9.98497277e-01 4.27243090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64463044 meters Centerline goodness [0,1] 0.31336553256967004 Centerline is valid? [False, False] Translation: X:11.62, Y:0.49, Z:0.43 [[ 9.98526047e-01 -5.14315237e-03 -5.40303661e-02 1.16171257e+01] [ 5.67928700e-03 9.99936105e-01 9.77398974e-03 4.90246627e-01] [ 5.39766447e-02 -1.00664373e-02 9.98491456e-01 4.27276337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67463044000004 meters Centerline goodness [0,1] 0.31341481816810024 Centerline is valid? [False, False] Translation: X:11.62, Y:0.49, Z:0.43 [[ 9.98518359e-01 -4.95609180e-03 -5.41897067e-02 1.16174188e+01] [ 5.51583109e-03 9.99932923e-01 1.01845773e-02 4.88381691e-01] [ 5.41355961e-02 -1.04683886e-02 9.98478718e-01 4.27441632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70463044 meters Centerline goodness [0,1] 0.3139034672631851 Centerline is valid? [False, False] Translation: X:11.62, Y:0.49, Z:0.43 [[ 9.98510117e-01 -4.82393055e-03 -5.43532564e-02 1.16179617e+01] [ 5.40206688e-03 9.99930337e-01 1.04947518e-02 4.86770702e-01] [ 5.42988440e-02 -1.07727357e-02 9.98466616e-01 4.27324742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73463044 meters Centerline goodness [0,1] 0.3144069073918567 Centerline is valid? [False, False] Translation: X:11.62, Y:0.49, Z:0.43 [[ 9.98508893e-01 -4.76951458e-03 -5.43805334e-02 1.16183183e+01] [ 5.35878159e-03 9.99928444e-01 1.06953306e-02 4.85408015e-01] [ 5.43256306e-02 -1.09707961e-02 9.98463003e-01 4.27032921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76463044 meters Centerline goodness [0,1] 0.3134827340767422 Centerline is valid? [False, False] Translation: X:11.62, Y:0.48, Z:0.43 [[ 9.98499803e-01 -4.67511091e-03 -5.45553477e-02 1.16188086e+01] [ 5.28427663e-03 9.99925237e-01 1.10271095e-02 4.82773569e-01] [ 5.44997160e-02 -1.12988522e-02 9.98449857e-01 4.27027697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79463044 meters Centerline goodness [0,1] 0.31323696814794133 Centerline is valid? [False, False] Translation: X:11.64, Y:0.48, Z:0.43 [[ 9.98512452e-01 3.34337080e-03 -5.44215580e-02 1.16376171e+01] [-2.81021725e-03 9.99947338e-01 9.87031307e-03 4.78882947e-01] [ 5.44516922e-02 -9.70269410e-03 9.98469264e-01 4.29681577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82463044 meters Centerline goodness [0,1] 0.3138253122505771 Centerline is valid? [False, False] Translation: X:11.64, Y:0.48, Z:0.43 [[ 9.98514134e-01 3.46487583e-03 -5.43830735e-02 1.16374632e+01] [-2.91953390e-03 9.99944691e-01 1.01040321e-02 4.77865184e-01] [ 5.44150749e-02 -9.93024564e-03 9.98469023e-01 4.29781294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85463044 meters Centerline goodness [0,1] 0.3116771547002857 Centerline is valid? [False, False] Translation: X:11.64, Y:0.47, Z:0.43 [[ 9.98501222e-01 3.45323331e-03 -5.46203676e-02 1.16386309e+01] [-2.89033709e-03 9.99941936e-01 1.03812500e-02 4.74894958e-01] [ 5.46530450e-02 -1.02078196e-02 9.98453226e-01 4.29125244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88463044 meters Centerline goodness [0,1] 0.31059292092246416 Centerline is valid? [False, False] Translation: X:11.64, Y:0.47, Z:0.43 [[ 9.98500022e-01 5.34346923e-04 -5.47487028e-02 1.16396694e+01] [-1.17712565e-04 9.99971015e-01 7.61288239e-03 4.73821849e-01] [ 5.47511839e-02 -7.59501862e-03 9.98471143e-01 4.28280771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91463044 meters Centerline goodness [0,1] 0.30936213326435147 Centerline is valid? [False, False] Translation: X:11.64, Y:0.47, Z:0.43 [[ 9.98485676e-01 5.33734978e-04 -5.50097224e-02 1.16406892e+01] [-1.06535833e-04 9.99969819e-01 7.76852432e-03 4.72259147e-01] [ 5.50122085e-02 -7.75089975e-03 9.98455598e-01 4.27794571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94463044 meters Centerline goodness [0,1] 0.31285048744715727 Centerline is valid? [False, False] Translation: X:11.64, Y:0.47, Z:0.43 [[ 9.98486586e-01 7.61705878e-04 -5.49905138e-02 1.16407358e+01] [-3.09079856e-04 9.99966011e-01 8.23901919e-03 4.70112987e-01] [ 5.49949204e-02 -8.20955369e-03 9.98452884e-01 4.27754950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97463044 meters Centerline goodness [0,1] 0.31063385087868967 Centerline is valid? [False, False] Translation: X:11.66, Y:0.47, Z:0.43 [[ 9.98487833e-01 8.64701394e-03 -5.42888292e-02 1.16600630e+01] [-8.27978002e-03 9.99941321e-01 6.98572688e-03 4.66307465e-01] [ 5.43460492e-02 -6.52566373e-03 9.98500838e-01 4.29933174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.00463044 meters Centerline goodness [0,1] 0.3110605507737878 Centerline is valid? [False, False] Translation: X:11.66, Y:0.47, Z:0.43 [[ 9.98491681e-01 8.60806458e-03 -5.42242081e-02 1.16598463e+01] [-8.23778578e-03 9.99941227e-01 7.04847720e-03 4.65213474e-01] [ 5.42816949e-02 -6.59115843e-03 9.98503908e-01 4.30002357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03463044 meters Centerline goodness [0,1] 0.3113672750560359 Centerline is valid? [False, False] Translation: X:11.66, Y:0.46, Z:0.43 [[ 9.98488553e-01 8.58382287e-03 -5.42856098e-02 1.16597224e+01] [-8.20726359e-03 9.99940716e-01 7.15576819e-03 4.64062853e-01] [ 5.43438154e-02 -6.69941632e-03 9.98499808e-01 4.30424020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06463044000003 meters Centerline goodness [0,1] 0.3141806381828015 Centerline is valid? [False, False] Translation: X:11.64, Y:0.46, Z:0.43 [[ 9.98499700e-01 8.48228386e-05 -5.47571257e-02 1.16394517e+01] [ 3.79767892e-04 9.99964022e-01 8.47411013e-03 4.64614359e-01] [ 5.47558744e-02 -8.48219142e-03 9.98463743e-01 4.28381413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09463044 meters Centerline goodness [0,1] 0.3141806381828015 Centerline is valid? [False, False] Translation: X:11.64, Y:0.46, Z:0.43 [[ 9.98499700e-01 8.48228386e-05 -5.47571257e-02 1.16394517e+01] [ 3.79767892e-04 9.99964022e-01 8.47411013e-03 4.64614359e-01] [ 5.47558744e-02 -8.48219142e-03 9.98463743e-01 4.28381413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12463044000003 meters Centerline goodness [0,1] 0.31410769530320404 Centerline is valid? [False, False] Translation: X:11.64, Y:0.46, Z:0.43 [[ 9.98499127e-01 1.54267298e-04 -5.47674199e-02 1.16398698e+01] [ 3.19593261e-04 9.99962594e-01 8.64337084e-03 4.63690174e-01] [ 5.47667046e-02 -8.64790153e-03 9.98461728e-01 4.27926596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15463044 meters Centerline goodness [0,1] 0.31349685317699805 Centerline is valid? [False, False] Translation: X:11.64, Y:0.46, Z:0.43 [[ 9.98495478e-01 1.41788760e-04 -5.48339371e-02 1.16400826e+01] [ 3.36946051e-04 9.99961912e-01 8.72128636e-03 4.62818219e-01] [ 5.48330852e-02 -8.72664107e-03 9.98457399e-01 4.27922438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18463044000003 meters Centerline goodness [0,1] 0.3149305854962491 Centerline is valid? [False, False] Translation: X:11.64, Y:0.46, Z:0.43 [[ 9.98499494e-01 9.75250425e-05 -5.47608576e-02 1.16398891e+01] [ 3.81775607e-04 9.99961714e-01 8.74208477e-03 4.62106125e-01] [ 5.47596137e-02 -8.74987357e-03 9.98461228e-01 4.27995526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21463044 meters Centerline goodness [0,1] 0.3116259023812089 Centerline is valid? [False, False] Translation: X:11.64, Y:0.46, Z:0.43 [[ 9.98493190e-01 2.20306442e-04 -5.48753219e-02 1.16402254e+01] [ 2.73213581e-04 9.99959589e-01 8.98581406e-03 4.60948173e-01] [ 5.48750840e-02 -8.98726683e-03 9.98452780e-01 4.27954576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24463044000004 meters Centerline goodness [0,1] 0.3140980075390415 Centerline is valid? [False, False] Translation: X:11.64, Y:0.46, Z:0.43 [[ 9.98486257e-01 2.10054842e-04 -5.50013707e-02 1.16408216e+01] [ 2.85514176e-04 9.99959439e-01 9.00210842e-03 4.60640891e-01] [ 5.50010308e-02 -9.00418521e-03 9.98445698e-01 4.27575265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27463044 meters Centerline goodness [0,1] 0.3138851687043678 Centerline is valid? [False, False] Translation: X:11.64, Y:0.46, Z:0.43 [[ 9.98475276e-01 1.62323583e-04 -5.52005218e-02 1.16414668e+01] [ 3.32618176e-04 9.99959830e-01 8.95694589e-03 4.60478116e-01] [ 5.51997583e-02 -8.96164972e-03 9.98435113e-01 4.27399889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30463044000004 meters Centerline goodness [0,1] 0.31492035973561594 Centerline is valid? [False, False] Translation: X:11.64, Y:0.46, Z:0.43 [[ 9.98478904e-01 1.35508528e-04 -5.51349210e-02 1.16413517e+01] [ 3.57337024e-04 9.99960072e-01 8.92894355e-03 4.60482809e-01] [ 5.51339296e-02 -8.93506352e-03 9.98438989e-01 4.27349492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33463044 meters Centerline goodness [0,1] 0.3158902083605203 Centerline is valid? [False, False] Translation: X:11.64, Y:0.46, Z:0.43 [[ 9.98494246e-01 2.05860771e-04 -5.48561611e-02 1.16404782e+01] [ 2.87777610e-04 9.99959541e-01 8.99072629e-03 4.60555869e-01] [ 5.48557925e-02 -8.99297484e-03 9.98453789e-01 4.27712556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36463044000004 meters Centerline goodness [0,1] 0.3141462161120391 Centerline is valid? [False, False] Translation: X:11.66, Y:0.46, Z:0.43 [[ 9.98613587e-01 8.11369158e-03 -5.20103020e-02 1.16600188e+01] [-7.72072464e-03 9.99940146e-01 7.75202996e-03 4.61108208e-01] [ 5.20700865e-02 -7.33972522e-03 9.98616460e-01 4.29315423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39463044 meters Centerline goodness [0,1] 0.3153242284116572 Centerline is valid? [False, False] Translation: X:11.66, Y:0.46, Z:0.43 [[ 9.98615659e-01 8.01687497e-03 -5.19855352e-02 1.16601386e+01] [-7.63397830e-03 9.99942284e-01 7.55983360e-03 4.61828976e-01] [ 5.20431410e-02 -7.15251176e-03 9.98619223e-01 4.29078250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42463044000004 meters Centerline goodness [0,1] 0.3174286890039202 Centerline is valid? [False, False] Translation: X:11.66, Y:0.46, Z:0.43 [[ 9.98602270e-01 7.84795758e-03 -5.22677360e-02 1.16612345e+01] [-7.47762402e-03 9.99945563e-01 7.27710952e-03 4.62640707e-01] [ 5.23220011e-02 -6.87609961e-03 9.98606593e-01 4.28452974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45463044 meters Centerline goodness [0,1] 0.31361354676088504 Centerline is valid? [False, False] Translation: X:11.66, Y:0.46, Z:0.43 [[ 9.98585042e-01 7.73576683e-03 -5.26124607e-02 1.16625200e+01] [-7.37426565e-03 9.99947875e-01 7.06167746e-03 4.63510994e-01] [ 5.26643458e-02 -6.66370722e-03 9.98590037e-01 4.27794484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48463044 meters Centerline goodness [0,1] 0.31260345235280207 Centerline is valid? [False, False] Translation: X:11.66, Y:0.47, Z:0.43 [[ 9.98569552e-01 7.65291490e-03 -5.29176954e-02 1.16633922e+01] [-7.30304872e-03 9.99950200e-01 6.80172657e-03 4.65514770e-01] [ 5.29671131e-02 -6.40553655e-03 9.98575713e-01 4.27612985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51463044 meters Centerline goodness [0,1] 0.3086111644376186 Centerline is valid? [False, False] Translation: X:11.68, Y:0.47, Z:0.43 [[ 9.98555137e-01 6.96963480e-04 -5.37322396e-02 1.16816478e+01] [-2.86061383e-04 9.99970663e-01 7.65452869e-03 4.71963996e-01] [ 5.37359982e-02 -7.62809822e-03 9.98526041e-01 4.30455278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54463044 meters Centerline goodness [0,1] 0.31190922205714533 Centerline is valid? [False, False] Translation: X:11.68, Y:0.47, Z:0.43 [[ 9.98560687e-01 5.95938438e-04 -5.36302043e-02 1.16812753e+01] [-1.92203987e-04 9.99971608e-01 7.53295979e-03 4.72288306e-01] [ 5.36331709e-02 -7.51180957e-03 9.98532451e-01 4.30673795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.57463044 meters Centerline goodness [0,1] 0.3131174592289394 Centerline is valid? [False, False] Translation: X:11.68, Y:0.47, Z:0.43 [[ 9.98560786e-01 4.47978576e-04 -5.36298132e-02 1.16811309e+01] [-5.09865520e-05 9.99972592e-01 7.40358957e-03 4.72477197e-01] [ 5.36316600e-02 -7.39019982e-03 9.98533440e-01 4.30946245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60463044 meters Centerline goodness [0,1] 0.31620177014130835 Centerline is valid? [False, False] Translation: X:11.68, Y:0.47, Z:0.43 [[ 9.98559238e-01 2.74868125e-04 -5.36597785e-02 1.16811283e+01] [ 1.14914385e-04 9.99973634e-01 7.26073997e-03 4.72793361e-01] [ 5.36603595e-02 -7.25644525e-03 9.98532879e-01 4.31080890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.63463044 meters Centerline goodness [0,1] 0.31627846679054494 Centerline is valid? [False, False] Translation: X:11.68, Y:0.47, Z:0.43 [[ 9.98554766e-01 1.01229413e-04 -5.37435450e-02 1.16815162e+01] [ 2.81373059e-04 9.99974674e-01 7.11142629e-03 4.72723278e-01] [ 5.37429037e-02 -7.11627060e-03 9.98529448e-01 4.30901485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66463044 meters Centerline goodness [0,1] 0.3123355650146521 Centerline is valid? [False, False] Translation: X:11.70, Y:0.47, Z:0.43 [[ 9.98582525e-01 5.78933679e-03 -5.29095823e-02 1.17031987e+01] [-5.59763568e-03 9.99977224e-01 3.77065455e-03 4.72660582e-01] [ 5.29302069e-02 -3.46914117e-03 9.98592188e-01 4.31971939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.69463044 meters Centerline goodness [0,1] 0.3126093449967997 Centerline is valid? [False, False] Translation: X:11.70, Y:0.47, Z:0.43 [[ 9.98575970e-01 5.58966392e-03 -5.30545655e-02 1.17033602e+01] [-5.40337253e-03 9.99978725e-01 3.65410655e-03 4.72300811e-01] [ 5.30738620e-02 -3.36222942e-03 9.98584929e-01 4.32279562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72463044 meters Centerline goodness [0,1] 0.31699972036395707 Centerline is valid? [False, False] Translation: X:11.70, Y:0.47, Z:0.43 [[ 9.98573251e-01 5.49927205e-03 -5.31151652e-02 1.17034131e+01] [-5.31511350e-03 9.99979366e-01 3.60779104e-03 4.72141236e-01] [ 5.31339095e-02 -3.32033050e-03 9.98581876e-01 4.32442559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.75463044 meters Centerline goodness [0,1] 0.31507321274763134 Centerline is valid? [False, False] Translation: X:11.70, Y:0.47, Z:0.43 [[ 9.98564565e-01 5.61137444e-03 -5.32665227e-02 1.17040871e+01] [-5.41837931e-03 9.99978226e-01 3.76691887e-03 4.72486176e-01] [ 5.32865004e-02 -3.47289347e-03 9.98573226e-01 4.32085214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78463044 meters Centerline goodness [0,1] 0.3165599465321346 Centerline is valid? [False, False] Translation: X:11.70, Y:0.47, Z:0.43 [[ 9.98561950e-01 5.58109128e-03 -5.33187007e-02 1.17043347e+01] [-5.38838483e-03 9.99978424e-01 3.75730844e-03 4.72545208e-01] [ 5.33385201e-02 -3.46460357e-03 9.98570478e-01 4.31977441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.81463044000003 meters Centerline goodness [0,1] 0.31524841721214725 Centerline is valid? [False, False] Translation: X:11.70, Y:0.47, Z:0.43 [[ 9.98560217e-01 5.48319759e-03 -5.33612841e-02 1.17043410e+01] [-5.29211231e-03 9.99979071e-01 3.72161227e-03 4.72206280e-01] [ 5.33805736e-02 -3.43386005e-03 9.98568337e-01 4.32150677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84463044 meters Centerline goodness [0,1] 0.31632961062481135 Centerline is valid? [False, False] Translation: X:11.70, Y:0.47, Z:0.43 [[ 9.98564267e-01 5.39236943e-03 -5.32947211e-02 1.17039613e+01] [-5.20246852e-03 9.99979617e-01 3.70131132e-03 4.71723413e-01] [ 5.33135936e-02 -3.41873311e-03 9.98571967e-01 4.32483812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.87463044000003 meters Centerline goodness [0,1] 0.31602606844041037 Centerline is valid? [False, False] Translation: X:11.70, Y:0.47, Z:0.43 [[ 9.98571397e-01 5.38795383e-03 -5.31613972e-02 1.17034083e+01] [-5.19381958e-03 9.99979333e-01 3.78926821e-03 4.71136029e-01] [ 5.31807149e-02 -3.50774414e-03 9.98578744e-01 4.32866489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90463044 meters Centerline goodness [0,1] 0.3162132566079059 Centerline is valid? [False, False] Translation: X:11.70, Y:0.47, Z:0.43 [[ 9.98580267e-01 5.29773257e-03 -5.30036347e-02 1.17030921e+01] [-5.10649510e-03 9.99979957e-01 3.74278391e-03 4.71055052e-01] [ 5.30224007e-02 -3.46680735e-03 9.98587305e-01 4.32923799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.93463044000003 meters Centerline goodness [0,1] 0.3142398630576656 Centerline is valid? [False, False] Translation: X:11.70, Y:0.47, Z:0.43 [[ 9.98558432e-01 5.20665175e-03 -5.34223691e-02 1.17042766e+01] [-5.02532072e-03 9.99981149e-01 3.52805821e-03 4.71970555e-01] [ 5.34397314e-02 -3.25450774e-03 9.98565773e-01 4.32686053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96463044 meters Centerline goodness [0,1] 0.3136092141037443 Centerline is valid? [False, False] Translation: X:11.71, Y:0.47, Z:0.43 [[ 9.98530045e-01 5.15215632e-03 -5.39555769e-02 1.17060701e+01] [-4.98416385e-03 9.99982305e-01 3.24763092e-03 4.73815259e-01] [ 5.39713544e-02 -2.97393361e-03 9.98538056e-01 4.31982494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99463044000004 meters Centerline goodness [0,1] 0.3103793691389599 Centerline is valid? [False, False] Translation: X:11.71, Y:0.48, Z:0.43 [[ 9.98497304e-01 5.25230386e-03 -5.45485761e-02 1.17079610e+01] [-5.09674585e-03 9.99982540e-01 2.99045689e-03 4.76577917e-01] [ 5.45633305e-02 -2.70794291e-03 9.98506640e-01 4.31365016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02463044 meters Centerline goodness [0,1] 0.3136231387985624 Centerline is valid? [False, False] Translation: X:11.71, Y:0.48, Z:0.43 [[ 9.98499176e-01 5.50441292e-03 -5.44894227e-02 1.17078535e+01] [-5.35884646e-03 9.99981673e-01 2.81721226e-03 4.79444789e-01] [ 5.45039311e-02 -2.52098367e-03 9.98510374e-01 4.31256763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05463044000004 meters Centerline goodness [0,1] 0.3122003196590304 Centerline is valid? [False, False] Translation: X:11.70, Y:0.49, Z:0.43 [[ 9.98549592e-01 6.85054797e-03 -5.34020799e-02 1.17046631e+01] [-6.68684635e-03 9.99972382e-01 3.24352695e-03 4.86838974e-01] [ 5.34228250e-02 -2.88173101e-03 9.98567823e-01 4.31891724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08463044 meters Centerline goodness [0,1] 0.31359846055163565 Centerline is valid? [False, False] Translation: X:11.70, Y:0.49, Z:0.43 [[ 9.98553483e-01 6.64931877e-03 -5.33547469e-02 1.17043444e+01] [-6.51435885e-03 9.99975128e-01 2.70299604e-03 4.89579616e-01] [ 5.33713930e-02 -2.35151414e-03 9.98571963e-01 4.32089816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11463044000004 meters Centerline goodness [0,1] 0.3144079580703819 Centerline is valid? [False, False] Translation: X:11.70, Y:0.49, Z:0.43 [[ 9.98549260e-01 6.48265403e-03 -5.34541991e-02 1.17046637e+01] [-6.37097326e-03 9.99977153e-01 2.25941626e-03 4.91946424e-01] [ 5.34676249e-02 -1.91558316e-03 9.98567746e-01 4.31935153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14463044 meters Centerline goodness [0,1] 0.3157633125864454 Centerline is valid? [False, False] Translation: X:11.71, Y:0.50, Z:0.43 [[ 9.98535566e-01 6.29402068e-03 -5.37318240e-02 1.17055950e+01] [-6.21465127e-03 9.99979337e-01 1.64409651e-03 4.95975335e-01] [ 5.37410618e-02 -1.30776429e-03 9.98554049e-01 4.31483160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17463044000004 meters Centerline goodness [0,1] 0.31257900713474596 Centerline is valid? [False, False] Translation: X:11.72, Y:0.50, Z:0.43 [[ 9.98463717e-01 -4.58798877e-04 -5.54075383e-02 1.17237503e+01] [ 5.80028509e-04 9.99997473e-01 2.17190130e-03 5.03646558e-01] [ 5.54064018e-02 -2.20070259e-03 9.98461460e-01 4.34196803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20463044 meters Centerline goodness [0,1] 0.3139978563772776 Centerline is valid? [False, False] Translation: X:11.72, Y:0.51, Z:0.43 [[ 9.98462733e-01 -6.72934523e-04 -5.54230849e-02 1.17237503e+01] [ 7.73974370e-04 9.99998078e-01 1.80161995e-03 5.05260619e-01] [ 5.54217660e-02 -1.84174642e-03 9.98461334e-01 4.34235421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23463044 meters Centerline goodness [0,1] 0.3148016463033594 Centerline is valid? [False, False] Translation: X:11.72, Y:0.51, Z:0.43 [[ 9.98463024e-01 -8.12771553e-04 -5.54159634e-02 1.17235927e+01] [ 8.94162836e-04 9.99998558e-01 1.44395485e-03 5.07249758e-01] [ 5.54147099e-02 -1.49128642e-03 9.98462311e-01 4.34385134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26463044 meters Centerline goodness [0,1] 0.31531415301251453 Centerline is valid? [False, False] Translation: X:11.72, Y:0.51, Z:0.43 [[ 9.98462089e-01 -8.68365060e-04 -5.54319706e-02 1.17235479e+01] [ 9.32083752e-04 9.99998934e-01 1.12365039e-03 5.09715644e-01] [ 5.54309358e-02 -1.17358955e-03 9.98461834e-01 4.34437807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29463044 meters Centerline goodness [0,1] 0.31089846509536956 Centerline is valid? [False, False] Translation: X:11.73, Y:0.52, Z:0.43 [[ 9.98428778e-01 2.08724823e-03 -5.59965987e-02 1.17259222e+01] [-1.91004046e-03 9.99992998e-01 3.21794987e-03 5.16000035e-01] [ 5.60029233e-02 -3.10593798e-03 9.98425774e-01 4.33365409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32463044 meters Centerline goodness [0,1] 0.3147538854495866 Centerline is valid? [False, False] Translation: X:11.73, Y:0.52, Z:0.43 [[ 9.98427117e-01 1.99254008e-03 -5.60296590e-02 1.17260467e+01] [-1.84443286e-03 9.99994668e-01 2.69495970e-03 5.19466634e-01] [ 5.60347300e-02 -2.58737790e-03 9.98425468e-01 4.33172021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35463044 meters Centerline goodness [0,1] 0.3120403130695829 Centerline is valid? [False, False] Translation: X:11.73, Y:0.52, Z:0.43 [[ 9.98431112e-01 1.94854197e-03 -5.59599725e-02 1.17257260e+01] [-1.82637733e-03 9.99995836e-01 2.23413100e-03 5.23177777e-01] [ 5.59640928e-02 -2.12842187e-03 9.98430513e-01 4.33297889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38463044 meters Centerline goodness [0,1] 0.31166909683506305 Centerline is valid? [False, False] Translation: X:11.73, Y:0.53, Z:0.43 [[ 9.98438033e-01 1.83033406e-03 -5.58403477e-02 1.17251192e+01] [-1.73774641e-03 9.99997034e-01 1.70658914e-03 5.26716539e-01] [ 5.58433057e-02 -1.60688714e-03 9.98438252e-01 4.33638022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41463044 meters Centerline goodness [0,1] 0.31053037773871284 Centerline is valid? [False, False] Translation: X:11.72, Y:0.53, Z:0.43 [[ 9.98441362e-01 1.72051953e-03 -5.57842829e-02 1.17247265e+01] [-1.65413497e-03 9.99997868e-01 1.23617415e-03 5.29849339e-01] [ 5.57862908e-02 -1.14197267e-03 9.98442079e-01 4.33904707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44463044 meters Centerline goodness [0,1] 0.3098223279538781 Centerline is valid? [False, False] Translation: X:11.72, Y:0.54, Z:0.43 [[ 9.98461152e-01 1.54077739e-03 -5.54342369e-02 1.17234307e+01] [-1.52038294e-03 9.99998760e-01 4.10074697e-04 5.36350361e-01] [ 5.54348000e-02 -3.25162386e-04 9.98462256e-01 4.34323609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47463044 meters Centerline goodness [0,1] 0.31048576931307514 Centerline is valid? [False, False] Translation: X:11.72, Y:0.54, Z:0.43 [[ 9.98469378e-01 1.36135487e-03 -5.52905684e-02 1.17227201e+01] [-1.36516767e-03 9.99999068e-01 -3.11899514e-05 5.38821527e-01] [ 5.52904744e-02 1.06623108e-04 9.98470306e-01 4.34712103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.50463044 meters Centerline goodness [0,1] 0.3109800557580956 Centerline is valid? [False, False] Translation: X:11.72, Y:0.54, Z:0.44 [[ 9.98485872e-01 1.25414750e-03 -5.49944680e-02 1.17215819e+01] [-1.27278053e-03 9.99999144e-01 -3.03793165e-04 5.40627705e-01] [ 5.49940399e-02 3.73329071e-04 9.98486613e-01 4.35265707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53463044 meters Centerline goodness [0,1] 0.31213550600343054 Centerline is valid? [False, False] Translation: X:11.72, Y:0.54, Z:0.44 [[ 9.98501985e-01 1.19199498e-03 -5.47025172e-02 1.17205290e+01] [-1.21678716e-03 9.99999172e-01 -4.19914837e-04 5.41588080e-01] [ 5.47019713e-02 4.85847119e-04 9.98502608e-01 4.35759995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56463044000003 meters Centerline goodness [0,1] 0.3131614185132392 Centerline is valid? [False, False] Translation: X:11.72, Y:0.54, Z:0.44 [[ 9.98497359e-01 1.08076757e-03 -5.47891896e-02 1.17206046e+01] [-1.11100586e-03 9.99999247e-01 -5.21447117e-04 5.41904284e-01] [ 5.47885848e-02 5.81534681e-04 9.98497808e-01 4.35971697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59463044 meters Centerline goodness [0,1] 0.31149583297534156 Centerline is valid? [False, False] Translation: X:11.72, Y:0.54, Z:0.44 [[ 9.98475041e-01 8.68293942e-04 -5.51981761e-02 1.17218141e+01] [-9.06475144e-04 9.99999367e-01 -6.66678093e-04 5.41777110e-01] [ 5.51975623e-02 7.15697211e-04 9.98475196e-01 4.35717237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62463044000003 meters Centerline goodness [0,1] 0.3153701257929721 Centerline is valid? [False, False] Translation: X:11.72, Y:0.54, Z:0.44 [[ 9.98427677e-01 2.19351909e-04 -5.60546616e-02 1.17244001e+01] [-2.76384167e-04 9.99999452e-01 -1.00968967e-03 5.40736688e-01] [ 5.60544094e-02 1.02359473e-03 9.98427191e-01 4.35023911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65463044 meters Centerline goodness [0,1] 0.31368362020620333 Centerline is valid? [False, False] Translation: X:11.72, Y:0.54, Z:0.43 [[ 9.98423018e-01 1.68609125e-04 -5.61377567e-02 1.17247366e+01] [-2.21791210e-04 9.99999533e-01 -9.41120675e-04 5.40138047e-01] [ 5.61375718e-02 9.52087406e-04 9.98422589e-01 4.34925833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68463044000003 meters Centerline goodness [0,1] 0.3127278185170891 Centerline is valid? [False, False] Translation: X:11.72, Y:0.54, Z:0.43 [[ 9.98424701e-01 9.65514847e-05 -5.61079956e-02 1.17247823e+01] [-1.49637573e-04 9.99999545e-01 -9.41940762e-04 5.39845264e-01] [ 5.61078791e-02 9.48852788e-04 9.98424261e-01 4.34865506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71463044 meters Centerline goodness [0,1] 0.31751658149396544 Centerline is valid? [False, False] Translation: X:11.72, Y:0.54, Z:0.43 [[ 9.98424750e-01 1.86869511e-05 -5.61071986e-02 1.17247594e+01] [-7.38180609e-05 9.99999517e-01 -9.80530813e-04 5.39590511e-01] [ 5.61071531e-02 9.83127956e-04 9.98424269e-01 4.34941825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74463044000004 meters Centerline goodness [0,1] 0.31436460512975384 Centerline is valid? [False, False] Translation: X:11.73, Y:0.54, Z:0.43 [[ 9.98415875e-01 -5.06971131e-05 -5.62648938e-02 1.17254131e+01] [-9.18285563e-06 9.99999434e-01 -1.06399193e-03 5.39768443e-01] [ 5.62649159e-02 1.06282311e-03 9.98415309e-01 4.34616925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77463044 meters Centerline goodness [0,1] 0.31239608749163306 Centerline is valid? [False, False] Translation: X:11.73, Y:0.54, Z:0.43 [[ 9.98387009e-01 -1.45272478e-04 -5.67746290e-02 1.17270879e+01] [ 7.00324362e-05 9.99999117e-01 -1.32722796e-03 5.41142672e-01] [ 5.67747716e-02 1.32111109e-03 9.98386138e-01 4.33946456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80463044000004 meters Centerline goodness [0,1] 0.31299280082276315 Centerline is valid? [False, False] Translation: X:11.73, Y:0.54, Z:0.43 [[ 9.98374757e-01 -1.72195291e-04 -5.69895997e-02 1.17278793e+01] [ 9.16201123e-05 9.99998993e-01 -1.41646740e-03 5.41864087e-01] [ 5.69897862e-02 1.40894390e-03 9.98373767e-01 4.33582200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83463044 meters Centerline goodness [0,1] 0.31278000216426793 Centerline is valid? [False, False] Translation: X:11.73, Y:0.54, Z:0.43 [[ 9.98376566e-01 -2.24025321e-04 -5.69577181e-02 1.17277808e+01] [ 1.38927825e-04 9.99998868e-01 -1.49800212e-03 5.42127366e-01] [ 5.69579892e-02 1.48765720e-03 9.98375468e-01 4.33630163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86463044000004 meters Centerline goodness [0,1] 0.3119216929403701 Centerline is valid? [False, False] Translation: X:11.73, Y:0.54, Z:0.43 [[ 9.98380032e-01 -3.27423992e-04 -5.68964359e-02 1.17275903e+01] [ 2.39576597e-04 9.99998769e-01 -1.55080185e-03 5.41935367e-01] [ 5.68968736e-02 1.53465854e-03 9.98378881e-01 4.33785127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89463044 meters Centerline goodness [0,1] 0.3118871494925167 Centerline is valid? [False, False] Translation: X:11.73, Y:0.54, Z:0.43 [[ 9.98392207e-01 -3.90980266e-04 -5.66819831e-02 1.17268860e+01] [ 3.04634678e-04 9.99998780e-01 -1.53196654e-03 5.41442373e-01] [ 5.66825129e-02 1.51223615e-03 9.98391109e-01 4.34069285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92463044000004 meters Centerline goodness [0,1] 0.31322755885142706 Centerline is valid? [False, False] Translation: X:11.73, Y:0.54, Z:0.43 [[ 9.98391127e-01 -4.67067928e-04 -5.67004267e-02 1.17268704e+01] [ 3.84386088e-04 9.99998847e-01 -1.46911998e-03 5.40665612e-01] [ 5.67010475e-02 1.44496150e-03 9.98390156e-01 4.34180634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95463044 meters Centerline goodness [0,1] 0.3080344731720879 Centerline is valid? [False, False] Translation: X:11.75, Y:0.54, Z:0.44 [[ 9.98312439e-01 -8.73910186e-03 -5.74099517e-02 1.17485043e+01] [ 8.71267629e-03 9.99961791e-01 -7.10588112e-04 5.43232603e-01] [ 5.74139680e-02 2.09194626e-04 9.98350436e-01 4.36082783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98463044 meters Centerline goodness [0,1] 0.3080344731720879 Centerline is valid? [False, False] Translation: X:11.75, Y:0.54, Z:0.44 [[ 9.98312439e-01 -8.73910186e-03 -5.74099517e-02 1.17485043e+01] [ 8.71267629e-03 9.99961791e-01 -7.10588112e-04 5.43232603e-01] [ 5.74139680e-02 2.09194626e-04 9.98350436e-01 4.36082783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01463044 meters Centerline goodness [0,1] 0.31204563487808534 Centerline is valid? [False, False] Translation: X:11.75, Y:0.54, Z:0.44 [[ 9.98284858e-01 -8.87642016e-03 -5.78666631e-02 1.17497891e+01] [ 8.85224134e-03 9.99960591e-01 -6.74168049e-04 5.41983709e-01] [ 5.78703668e-02 1.60762089e-04 9.98324093e-01 4.35921916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04463044 meters Centerline goodness [0,1] 0.31101190476190477 Centerline is valid? [False, False] Translation: X:11.75, Y:0.54, Z:0.44 [[ 9.98272027e-01 -8.94883750e-03 -5.80764845e-02 1.17503603e+01] [ 8.93256611e-03 9.99959958e-01 -5.39775999e-04 5.40461050e-01] [ 5.80789894e-02 2.00712427e-05 9.98311991e-01 4.35905242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.07463044 meters Centerline goodness [0,1] 0.3122683788675342 Centerline is valid? [False, False] Translation: X:11.75, Y:0.54, Z:0.44 [[ 9.98280878e-01 -8.96030726e-03 -5.79223702e-02 1.17494693e+01] [ 8.96527711e-03 9.99959796e-01 -1.74065817e-04 5.38221028e-01] [ 5.79216012e-02 -3.45523523e-04 9.98321075e-01 4.36769021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10463044 meters Centerline goodness [0,1] 0.3120327480340407 Centerline is valid? [False, False] Translation: X:11.75, Y:0.54, Z:0.44 [[ 9.98293459e-01 -8.83579050e-03 -5.77243321e-02 1.17485923e+01] [ 8.85478092e-03 9.99960793e-01 7.32065098e-05 5.37412077e-01] [ 5.77214221e-02 -5.84217894e-04 9.98332558e-01 4.37367639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.13463044 meters Centerline goodness [0,1] 0.31360193357646904 Centerline is valid? [False, False] Translation: X:11.75, Y:0.54, Z:0.44 [[ 9.98296699e-01 -8.79401895e-03 -5.76746646e-02 1.17483151e+01] [ 8.82048130e-03 9.99961078e-01 2.04261099e-04 5.36814558e-01] [ 5.76706235e-02 -7.12631481e-04 9.98335410e-01 4.37686356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16463044 meters Centerline goodness [0,1] 0.3110715663993825 Centerline is valid? [False, False] Translation: X:11.77, Y:0.53, Z:0.44 [[ 9.98302989e-01 -1.39698639e-03 -5.82167514e-02 1.17676150e+01] [ 1.33188638e-03 9.99998444e-01 -1.15702194e-03 5.32924004e-01] [ 5.82182771e-02 1.07752036e-03 9.98303296e-01 4.40537796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.19463044 meters Centerline goodness [0,1] 0.31682002529327113 Centerline is valid? [False, False] Translation: X:11.75, Y:0.53, Z:0.44 [[ 9.98280932e-01 5.87150670e-03 -5.83155803e-02 1.17490488e+01] [-6.02424543e-03 9.99978868e-01 -2.44371601e-03 5.26668251e-01] [ 5.82999997e-02 2.79082247e-03 9.98295208e-01 4.37873549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22463044 meters Centerline goodness [0,1] 0.31275552796626493 Centerline is valid? [False, False] Translation: X:11.77, Y:0.53, Z:0.44 [[ 9.98302645e-01 -1.92043418e-03 -5.82077470e-02 1.17696429e+01] [ 1.83609683e-03 9.99997186e-01 -1.50235081e-03 5.29678018e-01] [ 5.82104684e-02 1.39292573e-03 9.98303361e-01 4.39891342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.25463044 meters Centerline goodness [0,1] 0.3151967961415899 Centerline is valid? [False, False] Translation: X:11.77, Y:0.53, Z:0.44 [[ 9.98348917e-01 -2.24244309e-03 -5.73969689e-02 1.17673113e+01] [ 2.17517137e-03 9.99996872e-01 -1.23449197e-03 5.25851014e-01] [ 5.73995577e-02 1.10760548e-03 9.98350672e-01 4.40591139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28463044 meters Centerline goodness [0,1] 0.3193664320915919 Centerline is valid? [False, False] Translation: X:11.77, Y:0.52, Z:0.44 [[ 9.98371727e-01 -2.28615037e-03 -5.69970952e-02 1.17660622e+01] [ 2.23466610e-03 9.99997036e-01 -9.66999132e-04 5.23600695e-01] [ 5.69991370e-02 8.38055117e-04 9.98373876e-01 4.41100638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.31463044000003 meters Centerline goodness [0,1] 0.3140241964531644 Centerline is valid? [False, False] Translation: X:11.81, Y:0.52, Z:0.44 [[ 9.98505887e-01 -2.82557009e-03 -5.45711445e-02 1.18078731e+01] [ 2.75498795e-03 9.99995269e-01 -1.36858117e-03 5.22705682e-01] [ 5.45747534e-02 1.21619351e-03 9.98508947e-01 4.43964458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34463044 meters Centerline goodness [0,1] 0.31410283672861816 Centerline is valid? [False, False] Translation: X:11.81, Y:0.52, Z:0.44 [[ 9.98500903e-01 -2.83390854e-03 -5.46618354e-02 1.18080789e+01] [ 2.77706363e-03 9.99995521e-01 -1.11586638e-03 5.20564559e-01] [ 5.46647529e-02 9.62394195e-04 9.98504301e-01 4.44050482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.37463044000003 meters Centerline goodness [0,1] 0.3141578710740971 Centerline is valid? [False, False] Translation: X:11.81, Y:0.52, Z:0.44 [[ 9.98489672e-01 -2.78472591e-03 -5.48691136e-02 1.18090201e+01] [ 2.74165664e-03 9.99995872e-01 -8.60202904e-04 5.18713389e-01] [ 5.48712825e-02 7.08471446e-04 9.98493185e-01 4.43498658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40463044 meters Centerline goodness [0,1] 0.3151178149899868 Centerline is valid? [False, False] Translation: X:11.81, Y:0.52, Z:0.44 [[ 9.98473165e-01 -2.65697633e-03 -5.51749852e-02 1.18100237e+01] [ 2.63206775e-03 9.99996399e-01 -5.24109629e-04 5.16885709e-01] [ 5.51761791e-02 3.78085101e-04 9.98476563e-01 4.43181486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.43463044000003 meters Centerline goodness [0,1] 0.3164462137750953 Centerline is valid? [False, False] Translation: X:11.81, Y:0.51, Z:0.44 [[ 9.98466685e-01 -2.49042003e-03 -5.52998728e-02 1.18104480e+01] [ 2.49913659e-03 9.99996873e-01 8.84700836e-05 5.12887273e-01] [ 5.52994796e-02 -2.26536367e-04 9.98469787e-01 4.43089026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46463044 meters Centerline goodness [0,1] 0.31612004287245443 Centerline is valid? [False, False] Translation: X:11.81, Y:0.51, Z:0.44 [[ 9.98465531e-01 -2.47087065e-03 -5.53215803e-02 1.18105113e+01] [ 2.49338830e-03 9.99996834e-01 3.38013474e-04 5.10757666e-01] [ 5.53205700e-02 -4.75432984e-04 9.98468532e-01 4.43111568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49463044000004 meters Centerline goodness [0,1] 0.3177048687852714 Centerline is valid? [False, False] Translation: X:11.81, Y:0.51, Z:0.44 [[ 9.98464757e-01 -2.46333888e-03 -5.53358905e-02 1.18105844e+01] [ 2.49690627e-03 9.99996738e-01 5.37482440e-04 5.08993994e-01] [ 5.53343860e-02 -6.74825806e-04 9.98467651e-01 4.43093121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52463044 meters Centerline goodness [0,1] 0.3159953822473063 Centerline is valid? [False, False] Translation: X:11.81, Y:0.51, Z:0.44 [[ 9.98443128e-01 -2.35650886e-03 -5.57294158e-02 1.18120744e+01] [ 2.41242208e-03 9.99996652e-01 9.36045577e-04 5.06027475e-01] [ 5.57270235e-02 -1.06903115e-03 9.98445470e-01 4.42467044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55463044000004 meters Centerline goodness [0,1] 0.31930134010195965 Centerline is valid? [False, False] Translation: X:11.81, Y:0.50, Z:0.44 [[ 9.98427875e-01 -2.19886810e-03 -5.60084145e-02 1.18130147e+01] [ 2.26990884e-03 9.99996698e-01 1.20480878e-03 5.04872115e-01] [ 5.60055803e-02 -1.33004866e-03 9.98429570e-01 4.42109206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58463044 meters Centerline goodness [0,1] 0.31893637309292644 Centerline is valid? [False, False] Translation: X:11.81, Y:0.50, Z:0.44 [[ 9.98408276e-01 -2.08588880e-03 -5.63610165e-02 1.18141507e+01] [ 2.16937986e-03 9.99996638e-01 1.42021953e-03 5.03888155e-01] [ 5.63578646e-02 -1.54022739e-03 9.98409444e-01 4.41713860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61463044000004 meters Centerline goodness [0,1] 0.31656804733727806 Centerline is valid? [False, False] Translation: X:11.83, Y:0.50, Z:0.44 [[ 9.98379661e-01 5.65598168e-03 -5.66221087e-02 1.18344748e+01] [-5.65629698e-03 9.99983991e-01 1.54696994e-04 4.99614717e-01] [ 5.66220772e-02 1.65825130e-04 9.98395669e-01 4.44023684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64463044 meters Centerline goodness [0,1] 0.3181798585963097 Centerline is valid? [False, False] Translation: X:11.83, Y:0.50, Z:0.44 [[ 9.98366968e-01 5.62245907e-03 -5.68487859e-02 1.18348941e+01] [-5.62206862e-03 9.99984182e-01 1.66802773e-04 4.98987336e-01] [ 5.68488245e-02 1.53077396e-04 9.98382786e-01 4.44211182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67463044000004 meters Centerline goodness [0,1] 0.31760333614226144 Centerline is valid? [False, False] Translation: X:11.84, Y:0.50, Z:0.44 [[ 9.98364095e-01 5.63167563e-03 -5.68983193e-02 1.18350711e+01] [-5.62737236e-03 9.99984138e-01 2.35855683e-04 4.98230474e-01] [ 5.68987450e-02 8.47181834e-05 9.98379951e-01 4.44093220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70463044 meters Centerline goodness [0,1] 0.31404424130050446 Centerline is valid? [False, False] Translation: X:11.84, Y:0.50, Z:0.44 [[ 9.98346500e-01 5.75736142e-03 -5.71936940e-02 1.18361142e+01] [-5.74098467e-03 9.99983419e-01 4.50644207e-04 4.97087711e-01] [ 5.71953402e-02 -1.21550947e-04 9.98362999e-01 4.43740452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73463044 meters Centerline goodness [0,1] 0.31473166559760535 Centerline is valid? [False, False] Translation: X:11.85, Y:0.50, Z:0.45 [[ 9.98320894e-01 -1.23367718e-03 -5.79126107e-02 1.18547853e+01] [ 1.32489275e-03 9.99997942e-01 1.53668571e-03 5.01206652e-01] [ 5.79105958e-02 -1.61083345e-03 9.98320474e-01 4.46486942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76463044 meters Centerline goodness [0,1] 0.3137519838716596 Centerline is valid? [False, False] Translation: X:11.85, Y:0.50, Z:0.45 [[ 9.98322552e-01 -1.20440301e-03 -5.78846337e-02 1.18544668e+01] [ 1.29919712e-03 9.99997876e-01 1.60003316e-03 5.00651167e-01] [ 5.78825837e-02 -1.67255274e-03 9.98321997e-01 4.46861230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79463044 meters Centerline goodness [0,1] 0.3184137692440754 Centerline is valid? [False, False] Translation: X:11.85, Y:0.50, Z:0.45 [[ 9.98332358e-01 -1.19211300e-03 -5.77155220e-02 1.18536692e+01] [ 1.28769396e-03 9.99997860e-01 1.61890772e-03 5.00314629e-01] [ 5.77134686e-02 -1.69052789e-03 9.98331757e-01 4.47415835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82463044 meters Centerline goodness [0,1] 0.3166104462540017 Centerline is valid? [False, False] Translation: X:11.87, Y:0.50, Z:0.45 [[ 9.98358768e-01 7.07628576e-03 -5.68304255e-02 1.18731162e+01] [-7.06322013e-03 9.99974962e-01 4.30769966e-04 4.97182458e-01] [ 5.68320509e-02 -2.86571673e-05 9.98383752e-01 4.49848410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85463044 meters Centerline goodness [0,1] 0.3172868400146007 Centerline is valid? [False, False] Translation: X:11.87, Y:0.50, Z:0.45 [[ 9.98343258e-01 7.10677985e-03 -5.70984526e-02 1.18739732e+01] [-7.09639572e-03 9.99974746e-01 3.84626217e-04 4.97607980e-01] [ 5.70997441e-02 2.12042241e-05 9.98368478e-01 4.49570865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88463044 meters Centerline goodness [0,1] 0.32034819514518953 Centerline is valid? [False, False] Translation: X:11.87, Y:0.50, Z:0.45 [[ 9.98336244e-01 7.13363646e-03 -5.72176100e-02 1.18743649e+01] [-7.12825832e-03 9.99974549e-01 2.98094577e-04 4.98302939e-01] [ 5.72182802e-02 1.10263284e-04 9.98361686e-01 4.49404173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91463044 meters Centerline goodness [0,1] 0.3220027962250961 Centerline is valid? [False, False] Translation: X:11.87, Y:0.50, Z:0.45 [[ 9.98335658e-01 7.17399642e-03 -5.72227964e-02 1.18743493e+01] [-7.17549354e-03 9.99974240e-01 1.79308777e-04 4.99310913e-01] [ 5.72226087e-02 2.31591460e-04 9.98361417e-01 4.49442783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94463044 meters Centerline goodness [0,1] 0.3177600345274061 Centerline is valid? [False, False] Translation: X:11.89, Y:0.50, Z:0.45 [[ 9.98424194e-01 5.90754676e-04 -5.61139936e-02 1.18923569e+01] [-4.89144557e-04 9.99998216e-01 1.82449788e-03 5.04763572e-01] [ 5.61149714e-02 -1.79417497e-03 9.98422702e-01 4.52034571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97463044 meters Centerline goodness [0,1] 0.3187405650204874 Centerline is valid? [False, False] Translation: X:11.89, Y:0.51, Z:0.45 [[ 9.98448272e-01 7.76126566e-04 -5.56816491e-02 1.18910245e+01] [-6.73732228e-04 9.99998048e-01 1.85767256e-03 5.05646853e-01] [ 5.56829822e-02 -1.81727544e-03 9.98446845e-01 4.52476670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.00463044 meters Centerline goodness [0,1] 0.3232821359518585 Centerline is valid? [False, False] Translation: X:11.89, Y:0.51, Z:0.45 [[ 9.98491584e-01 1.00749711e-03 -5.48957360e-02 1.18884870e+01] [-9.06635088e-04 9.99997855e-01 1.86221105e-03 5.06811575e-01] [ 5.48974944e-02 -1.80963166e-03 9.98490356e-01 4.53408136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03463044 meters Centerline goodness [0,1] 0.3191122231089446 Centerline is valid? [False, False] Translation: X:11.89, Y:0.51, Z:0.45 [[ 9.98484334e-01 9.51620755e-04 -5.50284471e-02 1.18887335e+01] [-8.58202301e-04 9.99998150e-01 1.72124504e-03 5.07427495e-01] [ 5.50299833e-02 -1.67141067e-03 9.98483303e-01 4.53482820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06463044000003 meters Centerline goodness [0,1] 0.3160236119428522 Centerline is valid? [False, False] Translation: X:11.89, Y:0.51, Z:0.45 [[ 9.98464424e-01 8.78769566e-04 -5.53897322e-02 1.18900031e+01] [-7.92417759e-04 9.99998436e-01 1.58092932e-03 5.08093643e-01] [ 5.53910349e-02 -1.53460987e-03 9.98463559e-01 4.52982426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09463044 meters Centerline goodness [0,1] 0.31763061707159745 Centerline is valid? [False, False] Translation: X:11.89, Y:0.51, Z:0.45 [[ 9.98443948e-01 8.52324275e-04 -5.57580139e-02 1.18911758e+01] [-7.68949870e-04 9.99998554e-01 1.51672722e-03 5.08409505e-01] [ 5.57592260e-02 -1.47149200e-03 9.98443160e-01 4.52593889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12463044000003 meters Centerline goodness [0,1] 0.31811357982328214 Centerline is valid? [False, False] Translation: X:11.89, Y:0.51, Z:0.45 [[ 9.98430977e-01 7.83519964e-04 -5.59908070e-02 1.18919132e+01] [-7.04735476e-04 9.99998734e-01 1.42682783e-03 5.08678380e-01] [ 5.59918541e-02 -1.38513040e-03 9.98430265e-01 4.52373514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15463044 meters Centerline goodness [0,1] 0.32233282839212296 Centerline is valid? [False, False] Translation: X:11.89, Y:0.51, Z:0.45 [[ 9.98424928e-01 6.42470956e-04 -5.61003645e-02 1.18919881e+01] [-5.75248855e-04 9.99999097e-01 1.21438746e-03 5.09488355e-01] [ 5.61010941e-02 -1.18020304e-03 9.98424396e-01 4.52638056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18463044000003 meters Centerline goodness [0,1] 0.32060077477438487 Centerline is valid? [False, False] Translation: X:11.89, Y:0.51, Z:0.45 [[ 9.98423860e-01 5.43991372e-04 -5.61204105e-02 1.18920176e+01] [-4.87082596e-04 9.99999353e-01 1.02772119e-03 5.10336691e-01] [ 5.61209332e-02 -9.98766078e-04 9.98423479e-01 4.52645101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21463044 meters Centerline goodness [0,1] 0.3193926994723807 Centerline is valid? [False, False] Translation: X:11.89, Y:0.51, Z:0.45 [[ 9.98413556e-01 4.87356468e-04 -5.63039368e-02 1.18924389e+01] [-4.38158149e-04 9.99999511e-01 8.86140430e-04 5.11229396e-01] [ 5.63043411e-02 -8.60064590e-04 9.98413282e-01 4.52707196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24463044000004 meters Centerline goodness [0,1] 0.31665951051953634 Centerline is valid? [False, False] Translation: X:11.89, Y:0.51, Z:0.45 [[ 9.98403494e-01 3.57859030e-04 -5.64830595e-02 1.18930075e+01] [-3.22968778e-04 9.99999751e-01 6.26839002e-04 5.12478267e-01] [ 5.64832697e-02 -6.07595985e-04 9.98403361e-01 4.52563718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27463044 meters Centerline goodness [0,1] 0.3162438940783272 Centerline is valid? [False, False] Translation: X:11.89, Y:0.51, Z:0.45 [[ 9.98394177e-01 2.35140433e-04 -5.66481458e-02 1.18934368e+01] [-2.15470472e-04 9.99999914e-01 3.53338096e-04 5.13837415e-01] [ 5.66482240e-02 -3.40564694e-04 9.98394142e-01 4.52541691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30463044000004 meters Centerline goodness [0,1] 0.3144478954696369 Centerline is valid? [False, False] Translation: X:11.89, Y:0.52, Z:0.45 [[ 9.98392189e-01 9.65576427e-05 -5.66835760e-02 1.18932558e+01] [-1.03277392e-04 9.99999988e-01 -1.15619025e-04 5.16818698e-01] [ 5.66835642e-02 1.21287264e-04 9.98392187e-01 4.52846636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33463044 meters Centerline goodness [0,1] 0.32150132189138825 Centerline is valid? [False, False] Translation: X:11.89, Y:0.52, Z:0.45 [[ 9.98397740e-01 -4.57755532e-06 -5.65858051e-02 1.18929407e+01] [-2.14391116e-05 9.99999894e-01 -4.59166664e-04 5.18813551e-01] [ 5.65858012e-02 4.59644109e-04 9.98397634e-01 4.52923897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36463044000004 meters Centerline goodness [0,1] 0.3183443166645131 Centerline is valid? [False, False] Translation: X:11.89, Y:0.52, Z:0.45 [[ 9.98388244e-01 -1.48804193e-04 -5.67529045e-02 1.18934493e+01] [ 9.99346631e-05 9.99999622e-01 -8.63930127e-04 5.21134797e-01] [ 5.67530116e-02 8.56866100e-04 9.98387881e-01 4.52798850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39463044 meters Centerline goodness [0,1] 0.3180425495188366 Centerline is valid? [False, False] Translation: X:11.89, Y:0.52, Z:0.45 [[ 9.98381000e-01 -2.69285123e-04 -5.68797583e-02 1.18938948e+01] [ 1.97083747e-04 9.99999168e-01 -1.27497431e-03 5.23594262e-01] [ 5.68800543e-02 1.26170005e-03 9.98380222e-01 4.52575140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42463044000004 meters Centerline goodness [0,1] 0.31860790863053545 Centerline is valid? [False, False] Translation: X:11.89, Y:0.53, Z:0.45 [[ 9.98376207e-01 -3.67605326e-04 -5.69632754e-02 1.18943515e+01] [ 2.74696377e-04 9.99998619e-01 -1.63885400e-03 5.25949199e-01] [ 5.69637992e-02 1.62054523e-03 9.98374929e-01 4.52253856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45463044 meters Centerline goodness [0,1] 0.3199209859578306 Centerline is valid? [False, False] Translation: X:11.89, Y:0.53, Z:0.45 [[ 9.98363839e-01 -3.79483253e-04 -5.71795450e-02 1.18946351e+01] [ 2.60063650e-04 9.99997770e-01 -2.09592894e-03 5.31028984e-01] [ 5.71802128e-02 2.07762934e-03 9.98361711e-01 4.52533128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48463044 meters Centerline goodness [0,1] 0.3197537531050869 Centerline is valid? [False, False] Translation: X:11.89, Y:0.53, Z:0.45 [[ 9.98359667e-01 -4.66341304e-04 -5.72516979e-02 1.18945989e+01] [ 3.28794115e-04 9.99997037e-01 -2.41189597e-03 5.33093838e-01] [ 5.72526531e-02 2.38911564e-03 9.98356863e-01 4.52797000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51463044 meters Centerline goodness [0,1] 0.3142984941106307 Centerline is valid? [False, False] Translation: X:11.91, Y:0.53, Z:0.46 [[ 9.98369211e-01 7.03949968e-03 -5.66512527e-02 1.19143234e+01] [-7.28123576e-03 9.99965242e-01 -4.06180962e-03 5.32399900e-01] [ 5.66206906e-02 4.46767679e-03 9.98385766e-01 4.55166116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54463044 meters Centerline goodness [0,1] 0.32203901282465786 Centerline is valid? [False, False] Translation: X:11.90, Y:0.54, Z:0.45 [[ 9.98445953e-01 -8.71917201e-04 -5.57217907e-02 1.18951838e+01] [ 6.92338662e-04 9.99994505e-01 -3.24199334e-03 5.37366234e-01] [ 5.57243112e-02 3.19837678e-03 9.98441071e-01 4.52548281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.57463044 meters Centerline goodness [0,1] 0.32248661254102606 Centerline is valid? [False, False] Translation: X:11.90, Y:0.54, Z:0.45 [[ 9.98439630e-01 -9.60608081e-04 -5.58335294e-02 1.18952588e+01] [ 7.73659550e-04 9.99994023e-01 -3.36983864e-03 5.37967498e-01] [ 5.58364328e-02 3.32138430e-03 9.98434405e-01 4.52816203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60463044 meters Centerline goodness [0,1] 0.3228957753768519 Centerline is valid? [False, False] Translation: X:11.90, Y:0.54, Z:0.45 [[ 9.98433345e-01 -9.84800979e-04 -5.59453796e-02 1.18955115e+01] [ 7.99231550e-04 9.99994105e-01 -3.33925242e-03 5.37880192e-01] [ 5.59483384e-02 3.28930766e-03 9.98428247e-01 4.52852943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.63463044 meters Centerline goodness [0,1] 0.32049379529862143 Centerline is valid? [False, False] Translation: X:11.90, Y:0.54, Z:0.45 [[ 9.98416030e-01 -1.16768407e-03 -5.62500438e-02 1.18964508e+01] [ 9.82458601e-04 9.99994005e-01 -3.32043561e-03 5.36849533e-01] [ 5.62535838e-02 3.25991280e-03 9.98411191e-01 4.52744182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66463044 meters Centerline goodness [0,1] 0.3227533875338754 Centerline is valid? [False, False] Translation: X:11.90, Y:0.54, Z:0.45 [[ 9.98409365e-01 -1.29435326e-03 -5.63654636e-02 1.18969573e+01] [ 1.10946436e-03 9.99993902e-01 -3.31134983e-03 5.35776438e-01] [ 5.63694059e-02 3.24354721e-03 9.98404712e-01 4.52493984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.69463044 meters Centerline goodness [0,1] 0.3207409160338188 Centerline is valid? [False, False] Translation: X:11.90, Y:0.53, Z:0.45 [[ 9.98394463e-01 -1.42750913e-03 -5.66255995e-02 1.18976297e+01] [ 1.24314527e-03 9.99993812e-01 -3.29093098e-03 5.34565544e-01] [ 5.66299469e-02 3.21525343e-03 9.98390060e-01 4.52524632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72463044 meters Centerline goodness [0,1] 0.32078348832714076 Centerline is valid? [False, False] Translation: X:11.90, Y:0.53, Z:0.45 [[ 9.98386107e-01 -1.39941578e-03 -5.67734398e-02 1.18979697e+01] [ 1.22562662e-03 9.99994457e-01 -3.09580387e-03 5.33080959e-01] [ 5.67774575e-02 3.02122453e-03 9.98382288e-01 4.52619164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.75463044 meters Centerline goodness [0,1] 0.3200120256834239 Centerline is valid? [False, False] Translation: X:11.90, Y:0.53, Z:0.45 [[ 9.98369430e-01 -1.13874394e-03 -5.70717497e-02 1.18980777e+01] [ 9.98854646e-04 9.99996427e-01 -2.47957934e-03 5.30051578e-01] [ 5.70743694e-02 2.41852983e-03 9.98367000e-01 4.53497719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78463044 meters Centerline goodness [0,1] 0.32125407166123776 Centerline is valid? [False, False] Translation: X:11.90, Y:0.53, Z:0.45 [[ 9.98368301e-01 -1.01159568e-03 -5.70938908e-02 1.18978455e+01] [ 8.85868250e-04 9.99997127e-01 -2.22738362e-03 5.28757767e-01] [ 5.70959800e-02 2.17317154e-03 9.98366329e-01 4.53986320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.81463044000003 meters Centerline goodness [0,1] 0.32215011104163527 Centerline is valid? [False, False] Translation: X:11.90, Y:0.53, Z:0.45 [[ 9.98376341e-01 -9.69305285e-04 -5.69538623e-02 1.18970922e+01] [ 8.52031707e-04 9.99997467e-01 -2.08334478e-03 5.27680244e-01] [ 5.69557375e-02 2.03143564e-03 9.98374638e-01 4.54600173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84463044 meters Centerline goodness [0,1] 0.3244710647649416 Centerline is valid? [False, False] Translation: X:11.90, Y:0.53, Z:0.46 [[ 9.98382270e-01 -8.68080322e-04 -5.68514635e-02 1.18963854e+01] [ 7.55937913e-04 9.99997726e-01 -1.99402673e-03 5.27382367e-01] [ 5.68530652e-02 1.94782476e-03 9.98380656e-01 4.55291554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.87463044000003 meters Centerline goodness [0,1] 0.32106060282855864 Centerline is valid? [False, False] Translation: X:11.92, Y:0.53, Z:0.46 [[ 9.98423897e-01 7.87925306e-03 -5.55665268e-02 1.19164235e+01] [-8.05518634e-03 9.99963226e-01 -2.94290891e-03 5.26789564e-01] [ 5.55412954e-02 3.38586931e-03 9.98450650e-01 4.57524135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90463044 meters Centerline goodness [0,1] 0.32106060282855864 Centerline is valid? [False, False] Translation: X:11.92, Y:0.53, Z:0.46 [[ 9.98423897e-01 7.87925306e-03 -5.55665268e-02 1.19164235e+01] [-8.05518634e-03 9.99963226e-01 -2.94290891e-03 5.26789564e-01] [ 5.55412954e-02 3.38586931e-03 9.98450650e-01 4.57524135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.93463044000003 meters Centerline goodness [0,1] 0.32369154938711975 Centerline is valid? [False, False] Translation: X:11.90, Y:0.53, Z:0.46 [[ 9.98472109e-01 5.48736531e-04 -5.52552759e-02 1.18980412e+01] [-6.46463985e-04 9.99998258e-01 -1.75079540e-03 5.32167263e-01] [ 5.52542189e-02 1.78384092e-03 9.98470725e-01 4.55010524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96463044 meters Centerline goodness [0,1] 0.3220047691679735 Centerline is valid? [False, False] Translation: X:11.90, Y:0.53, Z:0.45 [[ 9.98454325e-01 6.46295584e-04 -5.55746616e-02 1.18990082e+01] [-7.54612418e-04 9.99997857e-01 -1.92806994e-03 5.33850947e-01] [ 5.55732964e-02 1.96702710e-03 9.98452673e-01 4.54723246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99463044000004 meters Centerline goodness [0,1] 0.32040768258998353 Centerline is valid? [False, False] Translation: X:11.90, Y:0.54, Z:0.45 [[ 9.98439255e-01 7.37323626e-04 -5.58436181e-02 1.18997444e+01] [-8.52614147e-04 9.99997554e-01 -2.04072757e-03 5.35068135e-01] [ 5.58419768e-02 2.08515558e-03 9.98437442e-01 4.54619466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02463044 meters Centerline goodness [0,1] 0.3189214617144568 Centerline is valid? [False, False] Translation: X:11.90, Y:0.54, Z:0.45 [[ 9.98424401e-01 8.16320420e-04 -5.61074832e-02 1.19008235e+01] [-9.37780577e-04 9.99997274e-01 -2.13848152e-03 5.35880943e-01] [ 5.61055846e-02 2.18772864e-03 9.98422444e-01 4.54063014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05463044000004 meters Centerline goodness [0,1] 0.3246699669966997 Centerline is valid? [False, False] Translation: X:11.86, Y:0.53, Z:0.45 [[ 9.98295930e-01 6.29164776e-05 -5.83543701e-02 1.18562070e+01] [-1.92901250e-04 9.99997513e-01 -2.22187663e-03 5.32145163e-01] [ 5.83540852e-02 2.22934703e-03 9.98293459e-01 4.52458568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08463044 meters Centerline goodness [0,1] 0.3267627648489059 Centerline is valid? [False, False] Translation: X:11.86, Y:0.53, Z:0.45 [[ 9.98281011e-01 -1.24981269e-05 -5.86090668e-02 1.18566531e+01] [-1.16854852e-04 9.99997565e-01 -2.20361940e-03 5.31437689e-01] [ 5.86089517e-02 2.20668016e-03 9.98278579e-01 4.52738860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11463044000004 meters Centerline goodness [0,1] 0.31749973241999363 Centerline is valid? [False, False] Translation: X:11.89, Y:0.53, Z:0.46 [[ 9.98039980e-01 1.95807446e-04 -6.25792296e-02 1.18947993e+01] [-3.71502550e-04 9.99996022e-01 -2.79593934e-03 5.33141798e-01] [ 6.25784333e-02 2.81370758e-03 9.98036083e-01 4.58341694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14463044 meters Centerline goodness [0,1] 0.3164936315958472 Centerline is valid? [False, False] Translation: X:11.90, Y:0.53, Z:0.46 [[ 9.98011409e-01 1.51904557e-04 -6.30333604e-02 1.18964666e+01] [-3.31572307e-04 9.99995912e-01 -2.83990904e-03 5.33242978e-01] [ 6.30326714e-02 2.85516174e-03 9.98007380e-01 4.57681649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17463044000004 meters Centerline goodness [0,1] 0.3245811506991645 Centerline is valid? [False, False] Translation: X:11.90, Y:0.53, Z:0.46 [[ 9.98016079e-01 1.89536156e-04 -6.29592698e-02 1.18964883e+01] [-3.72994659e-04 9.99995719e-01 -2.90218301e-03 5.34076261e-01] [ 6.29584502e-02 2.91990878e-03 9.98011878e-01 4.57445529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20463044 meters Centerline goodness [0,1] 0.32665927520163485 Centerline is valid? [False, False] Translation: X:11.90, Y:0.54, Z:0.46 [[ 9.98025801e-01 2.26594294e-04 -6.28048546e-02 1.18962719e+01] [-4.19797231e-04 9.99995221e-01 -3.06306349e-03 5.35586432e-01] [ 6.28038603e-02 3.08338169e-03 9.98021126e-01 4.57269432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23463044 meters Centerline goodness [0,1] 0.3258691936565631 Centerline is valid? [False, False] Translation: X:11.90, Y:0.54, Z:0.46 [[ 9.98019371e-01 2.35572660e-04 -6.29069174e-02 1.18965263e+01] [-4.45232191e-04 9.99994393e-01 -3.31885618e-03 5.37663466e-01] [ 6.29057829e-02 3.34029094e-03 9.98013880e-01 4.57247276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26463044 meters Centerline goodness [0,1] 0.3247012808389925 Centerline is valid? [False, False] Translation: X:11.90, Y:0.54, Z:0.46 [[ 9.98010595e-01 1.86549948e-04 -6.30461614e-02 1.18969545e+01] [-4.18653970e-04 9.99993184e-01 -3.66830297e-03 5.40158690e-01] [ 6.30450473e-02 3.68739976e-03 9.98003870e-01 4.57135405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29463044 meters Centerline goodness [0,1] 0.3271200017319391 Centerline is valid? [False, False] Translation: X:11.90, Y:0.54, Z:0.46 [[ 9.98001895e-01 1.18323615e-04 -6.31838944e-02 1.18971341e+01] [-3.69561072e-04 9.99992073e-01 -3.96461750e-03 5.42122300e-01] [ 6.31829244e-02 3.98004608e-03 9.97994027e-01 4.57291933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32463044 meters Centerline goodness [0,1] 0.32899507899507896 Centerline is valid? [False, False] Translation: X:11.90, Y:0.54, Z:0.46 [[ 9.97997385e-01 1.10772900e-04 -6.32550997e-02 1.18972061e+01] [-3.72950733e-04 9.99991390e-01 -4.13297760e-03 5.43586784e-01] [ 6.32540972e-02 4.14829187e-03 9.97988833e-01 4.57405969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35463044 meters Centerline goodness [0,1] 0.33085005598139694 Centerline is valid? [False, False] Translation: X:11.90, Y:0.54, Z:0.46 [[ 9.97977828e-01 -5.50210020e-05 -6.35629753e-02 1.18973942e+01] [-2.16348473e-04 9.99990892e-01 -4.26241029e-03 5.43990047e-01] [ 6.35626309e-02 4.26754272e-03 9.97968727e-01 4.58224771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38463044 meters Centerline goodness [0,1] 0.33106045847132926 Centerline is valid? [False, False] Translation: X:11.90, Y:0.54, Z:0.46 [[ 9.97965502e-01 -1.67153902e-04 -6.37560042e-02 1.18977006e+01] [-1.00660211e-04 9.99991186e-01 -4.19737481e-03 5.42908024e-01] [ 6.37561439e-02 4.19525296e-03 9.97956689e-01 4.58494427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41463044 meters Centerline goodness [0,1] 0.32638142334981723 Centerline is valid? [False, False] Translation: X:11.90, Y:0.54, Z:0.46 [[ 9.97951646e-01 -2.91815062e-04 -6.39720868e-02 1.18982208e+01] [ 3.05797408e-05 9.99991658e-01 -4.08452403e-03 5.41393331e-01] [ 6.39727450e-02 4.07420122e-03 9.97943329e-01 4.58660026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44463044 meters Centerline goodness [0,1] 0.3217234042553192 Centerline is valid? [False, False] Translation: X:11.92, Y:0.54, Z:0.46 [[ 9.97921707e-01 -8.01059857e-03 -6.39382226e-02 1.19185110e+01] [ 7.83130861e-03 9.99964670e-01 -3.05424029e-03 5.44451161e-01] [ 6.39604300e-02 2.54717273e-03 9.97949185e-01 4.60667143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47463044 meters Centerline goodness [0,1] 0.3315663585234986 Centerline is valid? [False, False] Translation: X:11.90, Y:0.54, Z:0.46 [[ 9.98009021e-01 -1.34297588e-03 -6.30570469e-02 1.19011075e+01] [ 1.08978430e-03 9.99991207e-01 -4.04949992e-03 5.36081737e-01] [ 6.30619308e-02 3.97271887e-03 9.98001709e-01 4.57707232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.50463044 meters Centerline goodness [0,1] 0.3313220788668507 Centerline is valid? [False, False] Translation: X:11.90, Y:0.53, Z:0.46 [[ 9.97997625e-01 -1.34758179e-03 -6.32370531e-02 1.19014960e+01] [ 1.10831709e-03 9.99992095e-01 -3.81854149e-03 5.34097748e-01] [ 6.32416991e-02 3.74080863e-03 9.97991229e-01 4.57898565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53463044 meters Centerline goodness [0,1] 0.3375450095948598 Centerline is valid? [False, False] Translation: X:11.90, Y:0.53, Z:0.46 [[ 9.98004744e-01 -1.20612690e-03 -6.31274543e-02 1.19007659e+01] [ 1.00040472e-03 9.99994086e-01 -3.29034514e-03 5.30541554e-01] [ 6.31310495e-02 3.22062705e-03 9.98000049e-01 4.58684594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56463044000003 meters Centerline goodness [0,1] 0.3349378516569326 Centerline is valid? [False, False] Translation: X:11.90, Y:0.53, Z:0.46 [[ 9.97995612e-01 -9.93660298e-04 -6.32753603e-02 1.19010482e+01] [ 8.11192310e-04 9.99995439e-01 -2.90933784e-03 5.28901713e-01] [ 6.32779626e-02 2.85217791e-03 9.97991866e-01 4.58896969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59463044 meters Centerline goodness [0,1] 0.3392068586691942 Centerline is valid? [False, False] Translation: X:11.90, Y:0.53, Z:0.46 [[ 9.97978791e-01 -7.19116401e-04 -6.35438022e-02 1.19023350e+01] [ 5.68582424e-04 9.99996989e-01 -2.38703114e-03 5.25946876e-01] [ 6.35453275e-02 2.34607657e-03 9.97976196e-01 4.58204250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62463044000003 meters Centerline goodness [0,1] 0.34002534078993363 Centerline is valid? [False, False] Translation: X:11.88, Y:0.52, Z:0.45 [[ 9.97973831e-01 6.62181603e-03 -6.32802059e-02 1.18843216e+01] [-6.86133815e-03 9.99970093e-01 -3.56853961e-03 5.18989792e-01] [ 6.32546832e-02 3.99549604e-03 9.97989419e-01 4.54974017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65463044 meters Centerline goodness [0,1] 0.333933239062433 Centerline is valid? [False, False] Translation: X:11.93, Y:0.52, Z:0.46 [[ 9.98042576e-01 7.47345551e-03 -6.20899595e-02 1.19268495e+01] [-7.71952700e-03 9.99963269e-01 -3.72420300e-03 5.20600759e-01] [ 6.20598462e-02 4.19621828e-03 9.98063609e-01 4.58029511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68463044000003 meters Centerline goodness [0,1] 0.3369957856712824 Centerline is valid? [False, False] Translation: X:11.93, Y:0.52, Z:0.46 [[ 9.98042101e-01 7.64251464e-03 -6.20770142e-02 1.19267090e+01] [-7.87754811e-03 9.99962697e-01 -3.54229526e-03 5.20015050e-01] [ 6.20476265e-02 4.02437448e-03 9.98065076e-01 4.58193431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71463044 meters Centerline goodness [0,1] 0.3398304533529909 Centerline is valid? [False, False] Translation: X:11.93, Y:0.52, Z:0.46 [[ 9.98044817e-01 7.82213304e-03 -6.20109479e-02 1.19263814e+01] [-8.04675523e-03 9.99961934e-01 -3.37338920e-03 5.19794853e-01] [ 6.19822003e-02 3.86578053e-03 9.98069768e-01 4.58416782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74463044000004 meters Centerline goodness [0,1] 0.33919951512002944 Centerline is valid? [False, False] Translation: X:11.93, Y:0.52, Z:0.46 [[ 9.98042023e-01 7.96861718e-03 -6.20372528e-02 1.19264421e+01] [-8.18673064e-03 9.99961166e-01 -3.26245082e-03 5.19810301e-01] [ 6.20088464e-02 3.76394530e-03 9.98068503e-01 4.58448658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77463044 meters Centerline goodness [0,1] 0.3342787769397709 Centerline is valid? [False, False] Translation: X:11.94, Y:0.52, Z:0.46 [[ 9.98055926e-01 1.19359396e-03 -6.23132671e-02 1.19442822e+01] [-1.32903185e-03 9.99996844e-01 -2.13209695e-03 5.24819565e-01] [ 6.23105256e-02 2.21076831e-03 9.98054363e-01 4.61094260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80463044000004 meters Centerline goodness [0,1] 0.3345614375282787 Centerline is valid? [False, False] Translation: X:11.94, Y:0.52, Z:0.46 [[ 9.98057640e-01 1.13874754e-03 -6.22868410e-02 1.19440374e+01] [-1.27758514e-03 9.99996788e-01 -2.18922218e-03 5.24752481e-01] [ 6.22841480e-02 2.26454667e-03 9.98055889e-01 4.61313391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83463044 meters Centerline goodness [0,1] 0.3356933172163702 Centerline is valid? [False, False] Translation: X:11.94, Y:0.52, Z:0.46 [[ 9.98057182e-01 1.14885466e-03 -6.22939977e-02 1.19438085e+01] [-1.28932394e-03 9.99996716e-01 -2.21479009e-03 5.24985221e-01] [ 6.22912487e-02 2.29080430e-03 9.98055386e-01 4.61625885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86463044000004 meters Centerline goodness [0,1] 0.33676403814136524 Centerline is valid? [False, False] Translation: X:11.94, Y:0.53, Z:0.46 [[ 9.98060774e-01 1.24036287e-03 -6.22346600e-02 1.19433564e+01] [-1.37809393e-03 9.99996696e-01 -2.17021712e-03 5.25354662e-01] [ 6.22317625e-02 2.25177378e-03 9.98059185e-01 4.62027610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89463044 meters Centerline goodness [0,1] 0.3392662866095131 Centerline is valid? [False, False] Translation: X:11.94, Y:0.53, Z:0.46 [[ 9.98076049e-01 1.12073218e-03 -6.19914867e-02 1.19424687e+01] [-1.26739203e-03 9.99996490e-01 -2.32653519e-03 5.25643430e-01] [ 6.19886617e-02 2.40062656e-03 9.98073967e-01 4.62542082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92463044000004 meters Centerline goodness [0,1] 0.33515352445340096 Centerline is valid? [False, False] Translation: X:11.94, Y:0.53, Z:0.46 [[ 9.98074365e-01 9.70078207e-04 -6.20211379e-02 1.19423634e+01] [-1.12689981e-03 9.99996256e-01 -2.49358923e-03 5.25692233e-01] [ 6.20184867e-02 2.55867910e-03 9.98071721e-01 4.62826428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95463044 meters Centerline goodness [0,1] 0.33186794241875706 Centerline is valid? [False, False] Translation: X:11.94, Y:0.53, Z:0.46 [[ 9.98068151e-01 8.82836656e-04 -6.21223543e-02 1.19425750e+01] [-1.04506117e-03 9.99996128e-01 -2.57892718e-03 5.25676697e-01] [ 6.21198370e-02 2.63886675e-03 9.98065209e-01 4.62911913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98463044 meters Centerline goodness [0,1] 0.33005666208791207 Centerline is valid? [False, False] Translation: X:11.94, Y:0.53, Z:0.46 [[ 9.98054794e-01 8.86324264e-04 -6.23365316e-02 1.19430844e+01] [-1.05161848e-03 9.99996018e-01 -2.61888376e-03 5.25999847e-01] [ 6.23339622e-02 2.67934374e-03 9.98051751e-01 4.62964917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01463044 meters Centerline goodness [0,1] 0.33125283458955146 Centerline is valid? [False, False] Translation: X:11.94, Y:0.53, Z:0.46 [[ 9.98039571e-01 9.93091124e-04 -6.25781789e-02 1.19436864e+01] [-1.15011508e-03 9.99996280e-01 -2.47327315e-03 5.25688272e-01] [ 6.25754900e-02 2.54039658e-03 9.98037001e-01 4.62950392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04463044 meters Centerline goodness [0,1] 0.3310174663982858 Centerline is valid? [False, False] Translation: X:11.94, Y:0.53, Z:0.46 [[ 9.98033474e-01 1.07791725e-03 -6.26739396e-02 1.19437968e+01] [-1.22921218e-03 9.99996423e-01 -2.37549302e-03 5.25335501e-01] [ 6.26711549e-02 2.44786113e-03 9.98031229e-01 4.63186098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.07463044 meters Centerline goodness [0,1] 0.32902879243661365 Centerline is valid? [False, False] Translation: X:11.94, Y:0.53, Z:0.46 [[ 9.98033970e-01 1.07269187e-03 -6.26661290e-02 1.19437806e+01] [-1.22842924e-03 9.99996252e-01 -2.44671659e-03 5.25621063e-01] [ 6.26632696e-02 2.51888718e-03 9.98031548e-01 4.63204911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10463044 meters Centerline goodness [0,1] 0.32807516593397124 Centerline is valid? [False, False] Translation: X:11.94, Y:0.53, Z:0.46 [[ 9.98030048e-01 1.11019883e-03 -6.27279046e-02 1.19438834e+01] [-1.26985790e-03 9.99996055e-01 -2.50545417e-03 5.26081934e-01] [ 6.27248756e-02 2.58017407e-03 9.98027521e-01 4.63235960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.13463044 meters Centerline goodness [0,1] 0.3288599376919893 Centerline is valid? [False, False] Translation: X:11.94, Y:0.53, Z:0.46 [[ 9.98022682e-01 1.20890249e-03 -6.28431786e-02 1.19441713e+01] [-1.36974290e-03 9.99995896e-01 -2.51637415e-03 5.26839649e-01] [ 6.28398787e-02 2.59747748e-03 9.98020242e-01 4.63216610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16463044 meters Centerline goodness [0,1] 0.3250361295054033 Centerline is valid? [False, False] Translation: X:11.95, Y:0.53, Z:0.46 [[ 9.97957324e-01 3.76902027e-03 -6.37728292e-02 1.19480952e+01] [-3.80132158e-03 9.99992701e-01 -3.85178962e-04 5.28858056e-01] [ 6.37709120e-02 6.26813198e-04 9.97964367e-01 4.61604882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.19463044 meters Centerline goodness [0,1] 0.324063112125191 Centerline is valid? [False, False] Translation: X:11.95, Y:0.53, Z:0.46 [[ 9.97950607e-01 3.73239052e-03 -6.38800021e-02 1.19483949e+01] [-3.77973771e-03 9.99992664e-01 -6.20356934e-04 5.30380869e-01] [ 6.38772181e-02 8.60535233e-04 9.97957394e-01 4.61519287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22463044 meters Centerline goodness [0,1] 0.3232245187045264 Centerline is valid? [False, False] Translation: X:11.95, Y:0.53, Z:0.46 [[ 9.97944675e-01 3.62666819e-03 -6.39786896e-02 1.19487655e+01] [-3.69355170e-03 9.99992749e-01 -9.27158184e-04 5.31973978e-01] [ 6.39748632e-02 1.16156117e-03 9.97950834e-01 4.61316453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.25463044 meters Centerline goodness [0,1] 0.3218550402665926 Centerline is valid? [False, False] Translation: X:11.95, Y:0.53, Z:0.46 [[ 9.97937610e-01 3.50762135e-03 -6.40954256e-02 1.19490670e+01] [-3.59420115e-03 9.99992778e-01 -1.23554035e-03 5.33635872e-01] [ 6.40906288e-02 1.46336404e-03 9.97943009e-01 4.61242215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28463044 meters Centerline goodness [0,1] 0.3230649586312674 Centerline is valid? [False, False] Translation: X:11.95, Y:0.54, Z:0.46 [[ 9.97935302e-01 3.53445874e-03 -6.41298710e-02 1.19492218e+01] [-3.63657843e-03 9.99992299e-01 -1.47573166e-03 5.36262942e-01] [ 6.41241612e-02 1.70589803e-03 9.97940470e-01 4.61150477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.31463044000003 meters Centerline goodness [0,1] 0.3172488989609612 Centerline is valid? [False, False] Translation: X:11.97, Y:0.54, Z:0.46 [[ 9.97946942e-01 -3.21837697e-03 -6.39651665e-02 1.19669983e+01] [ 3.21481884e-03 9.99994820e-01 -1.58549859e-04 5.43986280e-01] [ 6.39653454e-02 -4.74120747e-05 9.97952119e-01 4.63776699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34463044 meters Centerline goodness [0,1] 0.3222169526601707 Centerline is valid? [False, False] Translation: X:11.97, Y:0.55, Z:0.46 [[ 9.97951205e-01 -3.35269913e-03 -6.38917262e-02 1.19664636e+01] [ 3.32690655e-03 9.99994336e-01 -5.10077573e-04 5.45950677e-01] [ 6.38930744e-02 2.96470726e-04 9.97956706e-01 4.64211776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.37463044000003 meters Centerline goodness [0,1] 0.321754591383161 Centerline is valid? [False, False] Translation: X:11.97, Y:0.55, Z:0.46 [[ 9.97971326e-01 -3.01321302e-03 -6.35936494e-02 1.19652597e+01] [ 2.96685293e-03 9.99995260e-01 -8.23424587e-04 5.53536644e-01] [ 6.35958291e-02 6.33081121e-04 9.97975536e-01 4.64648583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40463044 meters Centerline goodness [0,1] 0.31979075102373344 Centerline is valid? [False, False] Translation: X:11.99, Y:0.56, Z:0.47 [[ 9.98017726e-01 5.10349952e-03 -6.27261704e-02 1.19854322e+01] [-5.25015526e-03 9.99983856e-01 -2.17342908e-03 5.56433072e-01] [ 6.27140656e-02 2.49844288e-03 9.98028408e-01 4.66415833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.43463044000003 meters Centerline goodness [0,1] 0.31981797399012224 Centerline is valid? [False, False] Translation: X:11.99, Y:0.56, Z:0.47 [[ 9.98021850e-01 4.92586816e-03 -6.26747339e-02 1.19852909e+01] [-5.10625220e-03 9.99983269e-01 -2.71824887e-03 5.59780678e-01] [ 6.26602955e-02 3.03290476e-03 9.98030305e-01 4.66360090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46463044 meters Centerline goodness [0,1] 0.31986714713671693 Centerline is valid? [False, False] Translation: X:11.98, Y:0.56, Z:0.47 [[ 9.98028264e-01 4.71349193e-03 -6.25888734e-02 1.19849513e+01] [-4.92449316e-03 9.99982699e-01 -3.21739259e-03 5.62533930e-01] [ 6.25726254e-02 3.51926722e-03 9.98034208e-01 4.66534357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49463044000004 meters Centerline goodness [0,1] 0.3226690445638226 Centerline is valid? [False, False] Translation: X:11.98, Y:0.56, Z:0.47 [[ 9.98025222e-01 4.46595707e-03 -6.26555036e-02 1.19847582e+01] [-4.70534693e-03 9.99982182e-01 -3.67369824e-03 5.64627129e-01] [ 6.26379806e-02 3.96125938e-03 9.98028452e-01 4.66976804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52463044 meters Centerline goodness [0,1] 0.31902977036749813 Centerline is valid? [False, False] Translation: X:12.00, Y:0.57, Z:0.47 [[ 9.98014385e-01 -3.50470412e-03 -6.28888318e-02 1.20044972e+01] [ 3.30505528e-03 9.99989164e-01 -3.27837910e-03 5.73310423e-01] [ 6.28996401e-02 3.06401843e-03 9.98015154e-01 4.69746882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55463044000004 meters Centerline goodness [0,1] 0.31761973375771524 Centerline is valid? [False, False] Translation: X:12.01, Y:0.57, Z:0.47 [[ 9.97995104e-01 -3.66340638e-03 -6.31850607e-02 1.20052714e+01] [ 3.45229006e-03 9.99988089e-01 -3.45009034e-03 5.73947064e-01] [ 6.31969472e-02 3.22504011e-03 9.97995864e-01 4.69733071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58463044 meters Centerline goodness [0,1] 0.31581889323644496 Centerline is valid? [False, False] Translation: X:12.01, Y:0.57, Z:0.47 [[ 9.97980812e-01 -3.79083643e-03 -6.34029046e-02 1.20058624e+01] [ 3.57473286e-03 9.99987410e-01 -3.52150903e-03 5.74005454e-01] [ 6.34154558e-02 3.28774999e-03 9.97981799e-01 4.69694583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61463044000004 meters Centerline goodness [0,1] 0.31688763779358364 Centerline is valid? [False, False] Translation: X:12.01, Y:0.57, Z:0.47 [[ 9.97978769e-01 -3.93040808e-03 -6.34265638e-02 1.20057098e+01] [ 3.71142705e-03 9.99986740e-01 -3.56996416e-03 5.73834188e-01] [ 6.34397542e-02 3.32734537e-03 9.97980123e-01 4.70053140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64463044 meters Centerline goodness [0,1] 0.3161053827520418 Centerline is valid? [False, False] Translation: X:12.01, Y:0.57, Z:0.47 [[ 9.97984352e-01 -3.97150110e-03 -6.33360921e-02 1.20052236e+01] [ 3.75414785e-03 9.99986650e-01 -3.55038114e-03 5.73767503e-01] [ 6.33493470e-02 3.30545177e-03 9.97985939e-01 4.70486769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67463044000004 meters Centerline goodness [0,1] 0.3189060642092747 Centerline is valid? [False, False] Translation: X:12.00, Y:0.57, Z:0.47 [[ 9.98012544e-01 -4.24893478e-03 -6.28721588e-02 1.20036346e+01] [ 4.02794917e-03 9.99985259e-01 -3.64117194e-03 5.73392816e-01] [ 6.28867031e-02 3.38068941e-03 9.98014947e-01 4.71357137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70463044 meters Centerline goodness [0,1] 0.3173338515351729 Centerline is valid? [False, False] Translation: X:12.00, Y:0.57, Z:0.47 [[ 9.97993047e-01 -4.37102844e-03 -6.31725663e-02 1.20043484e+01] [ 4.14900174e-03 9.99984748e-01 -3.64536226e-03 5.72673716e-01] [ 6.31875368e-02 3.37594310e-03 9.97995961e-01 4.71428792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73463044 meters Centerline goodness [0,1] 0.31718157181571816 Centerline is valid? [False, False] Translation: X:12.01, Y:0.57, Z:0.47 [[ 9.97964200e-01 -4.47892075e-03 -6.36191382e-02 1.20056655e+01] [ 4.26046079e-03 9.99984555e-01 -3.56911839e-03 5.71579846e-01] [ 6.36341414e-02 3.29080553e-03 9.97967869e-01 4.71163635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76463044 meters Centerline goodness [0,1] 0.3160445430460723 Centerline is valid? [False, False] Translation: X:12.01, Y:0.57, Z:0.47 [[ 9.97911787e-01 -4.65610038e-03 -6.44234831e-02 1.20078251e+01] [ 4.44567220e-03 9.99984306e-01 -3.40929437e-03 5.69571510e-01] [ 6.44383461e-02 3.11576935e-03 9.97916826e-01 4.70996286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79463044 meters Centerline goodness [0,1] 0.3160445430460723 Centerline is valid? [False, False] Translation: X:12.01, Y:0.57, Z:0.47 [[ 9.97911787e-01 -4.65610038e-03 -6.44234831e-02 1.20078251e+01] [ 4.44567220e-03 9.99984306e-01 -3.40929437e-03 5.69571510e-01] [ 6.44383461e-02 3.11576935e-03 9.97916826e-01 4.70996286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82463044 meters Centerline goodness [0,1] 0.31832601799139537 Centerline is valid? [False, False] Translation: X:12.01, Y:0.57, Z:0.47 [[ 9.97902856e-01 -4.64397336e-03 -6.45625607e-02 1.20080772e+01] [ 4.44061999e-03 9.99984719e-01 -3.29285314e-03 5.68742210e-01] [ 6.45768660e-02 2.99924976e-03 9.97908229e-01 4.71170666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85463044 meters Centerline goodness [0,1] 0.31375189721883756 Centerline is valid? [False, False] Translation: X:12.03, Y:0.57, Z:0.47 [[ 9.97926189e-01 2.81324661e-03 -6.43071243e-02 1.20274889e+01] [-3.12395366e-03 9.99983926e-01 -4.73157185e-03 5.65866798e-01] [ 6.42927796e-02 4.92265195e-03 9.97918938e-01 4.73821826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88463044 meters Centerline goodness [0,1] 0.31796163534198796 Centerline is valid? [False, False] Translation: X:12.03, Y:0.57, Z:0.47 [[ 9.97920500e-01 2.79030857e-03 -6.43963438e-02 1.20276344e+01] [-3.10207303e-03 9.99983946e-01 -4.74186069e-03 5.65654136e-01] [ 6.43820787e-02 4.93176216e-03 9.97913135e-01 4.73917384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91463044 meters Centerline goodness [0,1] 0.3175896117364907 Centerline is valid? [False, False] Translation: X:12.03, Y:0.57, Z:0.47 [[ 9.97919232e-01 2.84673468e-03 -6.44135228e-02 1.20275801e+01] [-3.15565153e-03 9.99984001e-01 -4.69460768e-03 5.65607343e-01] [ 6.43991280e-02 4.88810592e-03 9.97912250e-01 4.74039784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94463044 meters Centerline goodness [0,1] 0.3165639677683457 Centerline is valid? [False, False] Translation: X:12.03, Y:0.57, Z:0.47 [[ 9.97919931e-01 2.94112095e-03 -6.43984525e-02 1.20274160e+01] [-3.24389245e-03 9.99984170e-01 -4.59747910e-03 5.65483450e-01] [ 6.43839113e-02 4.79681768e-03 9.97913675e-01 4.74206150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97463044 meters Centerline goodness [0,1] 0.3182340319469429 Centerline is valid? [False, False] Translation: X:12.03, Y:0.56, Z:0.47 [[ 9.97931502e-01 3.11900035e-03 -6.42105008e-02 1.20266646e+01] [-3.40247842e-03 9.99984941e-01 -4.30594711e-03 5.64290306e-01] [ 6.41961036e-02 4.51551512e-03 9.97927087e-01 4.74673039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.00463044 meters Centerline goodness [0,1] 0.314875837263897 Centerline is valid? [False, False] Translation: X:12.03, Y:0.56, Z:0.47 [[ 9.97926133e-01 3.14603949e-03 -6.42925774e-02 1.20267777e+01] [-3.42224970e-03 9.99985381e-01 -4.18646950e-03 5.63332041e-01] [ 6.42784667e-02 4.39781257e-03 9.97922311e-01 4.74859723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03463044 meters Centerline goodness [0,1] 0.3161107994995038 Centerline is valid? [False, False] Translation: X:12.03, Y:0.56, Z:0.48 [[ 9.97913673e-01 3.13261283e-03 -6.44863381e-02 1.20270729e+01] [-3.40602757e-03 9.99985669e-01 -4.13038705e-03 5.62530849e-01] [ 6.44724751e-02 4.34141196e-03 9.97910042e-01 4.75060806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06463044000003 meters Centerline goodness [0,1] 0.316317973638377 Centerline is valid? [False, False] Translation: X:12.03, Y:0.56, Z:0.48 [[ 9.97876788e-01 3.25787216e-03 -6.50484639e-02 1.20284201e+01] [-3.51563691e-03 9.99986414e-01 -3.84858546e-03 5.60790236e-01] [ 6.50350420e-02 4.06910087e-03 9.97874684e-01 4.75067978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09463044 meters Centerline goodness [0,1] 0.317946496263403 Centerline is valid? [False, False] Translation: X:12.03, Y:0.56, Z:0.47 [[ 9.97868843e-01 3.32511238e-03 -6.51668286e-02 1.20288502e+01] [-3.57570477e-03 9.99986654e-01 -3.72914232e-03 5.60133341e-01] [ 6.51535591e-02 3.95421228e-03 9.97867415e-01 4.74894761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12463044000003 meters Centerline goodness [0,1] 0.3155735935408661 Centerline is valid? [False, False] Translation: X:12.03, Y:0.56, Z:0.47 [[ 9.97870222e-01 3.37347268e-03 -6.51432232e-02 1.20288268e+01] [-3.61508722e-03 9.99987016e-01 -3.59145572e-03 5.59183538e-01] [ 6.51302617e-02 3.81930515e-03 9.97869461e-01 4.74894278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15463044 meters Centerline goodness [0,1] 0.31945675915313254 Centerline is valid? [False, False] Translation: X:12.03, Y:0.56, Z:0.48 [[ 9.97881787e-01 3.36671965e-03 -6.49661824e-02 1.20279689e+01] [-3.60187579e-03 9.99987378e-01 -3.50288538e-03 5.58239668e-01] [ 6.49535692e-02 3.72946564e-03 9.97881318e-01 4.75509802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18463044000003 meters Centerline goodness [0,1] 0.3166994021281647 Centerline is valid? [False, False] Translation: X:12.03, Y:0.56, Z:0.48 [[ 9.97895458e-01 3.43967761e-03 -6.47520195e-02 1.20270385e+01] [-3.66512993e-03 9.99987627e-01 -3.36331535e-03 5.57355698e-01] [ 6.47396496e-02 3.59356168e-03 9.97895718e-01 4.76116995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21463044 meters Centerline goodness [0,1] 0.3212263947106867 Centerline is valid? [False, False] Translation: X:12.03, Y:0.56, Z:0.48 [[ 9.97907018e-01 3.74883061e-03 -6.45564104e-02 1.20261995e+01] [-3.94954203e-03 9.99987755e-01 -2.98174893e-03 5.56130970e-01] [ 6.45444418e-02 3.23047644e-03 9.97909605e-01 4.76581533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24463044000004 meters Centerline goodness [0,1] 0.32072013799051313 Centerline is valid? [False, False] Translation: X:12.03, Y:0.56, Z:0.48 [[ 9.97897011e-01 3.81109673e-03 -6.47072676e-02 1.20266260e+01] [-4.00677424e-03 9.99987784e-01 -2.89454139e-03 5.55591868e-01] [ 6.46954457e-02 3.14772161e-03 9.97900091e-01 4.76471763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27463044 meters Centerline goodness [0,1] 0.3207842632516035 Centerline is valid? [False, False] Translation: X:12.03, Y:0.55, Z:0.48 [[ 9.97895507e-01 3.80800181e-03 -6.47306450e-02 1.20266092e+01] [-3.99663886e-03 9.99988135e-01 -2.78494576e-03 5.54514150e-01] [ 6.47192719e-02 3.03778987e-03 9.97898887e-01 4.76625802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30463044000004 meters Centerline goodness [0,1] 0.3212049233426906 Centerline is valid? [False, False] Translation: X:12.03, Y:0.55, Z:0.48 [[ 9.97907224e-01 3.85853873e-03 -6.45467604e-02 1.20257303e+01] [-4.02672142e-03 9.99988828e-01 -2.47570547e-03 5.52216696e-01] [ 6.45364867e-02 2.73043620e-03 9.97911613e-01 4.77270863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33463044 meters Centerline goodness [0,1] 0.32430845511482254 Centerline is valid? [False, False] Translation: X:12.02, Y:0.55, Z:0.48 [[ 9.97925304e-01 3.88339939e-03 -6.42651286e-02 1.20244875e+01] [-4.02570800e-03 9.99989723e-01 -2.08505606e-03 5.49400696e-01] [ 6.42563710e-02 2.33944285e-03 9.97930682e-01 4.78126651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36463044000004 meters Centerline goodness [0,1] 0.32674916706330315 Centerline is valid? [False, False] Translation: X:12.04, Y:0.55, Z:0.48 [[ 9.98017416e-01 -4.85026020e-03 -6.27511941e-02 1.20439859e+01] [ 4.78395105e-03 9.99987829e-01 -1.20690456e-03 5.46005298e-01] [ 6.27562841e-02 9.04313129e-04 9.98028472e-01 4.80412450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39463044 meters Centerline goodness [0,1] 0.3236629339789874 Centerline is valid? [False, False] Translation: X:12.04, Y:0.54, Z:0.48 [[ 9.98009501e-01 -4.96366330e-03 -6.28680943e-02 1.20443973e+01] [ 4.92479527e-03 9.99987574e-01 -7.73192595e-04 5.41808058e-01] [ 6.28711510e-02 4.62041062e-04 9.98021545e-01 4.80413794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42463044000004 meters Centerline goodness [0,1] 0.3223358484855037 Centerline is valid? [False, False] Translation: X:12.05, Y:0.54, Z:0.48 [[ 9.97994627e-01 -5.02310357e-03 -6.30990740e-02 1.20451530e+01] [ 5.01170072e-03 9.99987384e-01 -3.38987645e-04 5.37964496e-01] [ 6.30999807e-02 2.20741739e-05 9.98007210e-01 4.80272097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45463044 meters Centerline goodness [0,1] 0.32269197584124243 Centerline is valid? [False, False] Translation: X:12.05, Y:0.53, Z:0.48 [[ 9.97986521e-01 -5.10792648e-03 -6.32203557e-02 1.20455055e+01] [ 5.14492163e-03 9.99986676e-01 4.22395827e-04 5.29891801e-01] [ 6.32173557e-02 -7.46809116e-04 9.97999503e-01 4.80479195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48463044 meters Centerline goodness [0,1] 0.3274056983653658 Centerline is valid? [False, False] Translation: X:12.05, Y:0.53, Z:0.48 [[ 9.97991286e-01 -4.94176468e-03 -6.31583061e-02 1.20453702e+01] [ 5.01006109e-03 9.99987024e-01 9.23026031e-04 5.27164857e-01] [ 6.31529252e-02 -1.23759891e-03 9.98003094e-01 4.80594363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51463044 meters Centerline goodness [0,1] 0.3267249588780192 Centerline is valid? [False, False] Translation: X:12.05, Y:0.53, Z:0.48 [[ 9.97990975e-01 -4.84753309e-03 -6.31705230e-02 1.20453693e+01] [ 4.93708867e-03 9.99987017e-01 1.26166085e-03 5.25097997e-01] [ 6.31635869e-02 -1.57100462e-03 9.98001951e-01 4.80736530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54463044 meters Centerline goodness [0,1] 0.3254740384407965 Centerline is valid? [False, False] Translation: X:12.05, Y:0.52, Z:0.48 [[ 9.97994853e-01 -4.76535230e-03 -6.31154909e-02 1.20454184e+01] [ 4.87015355e-03 9.99987006e-01 1.50672679e-03 5.23508381e-01] [ 6.31074907e-02 -1.81108772e-03 9.98005092e-01 4.80549934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.57463044 meters Centerline goodness [0,1] 0.32308121565934067 Centerline is valid? [False, False] Translation: X:12.05, Y:0.52, Z:0.48 [[ 9.97972319e-01 -4.48127653e-03 -6.34914800e-02 1.20470722e+01] [ 4.61718759e-03 9.99987353e-01 1.99405577e-03 5.21329715e-01] [ 6.34817411e-02 -2.28316454e-03 9.97980388e-01 4.79607340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60463044 meters Centerline goodness [0,1] 0.3224882649326041 Centerline is valid? [False, False] Translation: X:12.05, Y:0.52, Z:0.48 [[ 9.97965162e-01 -4.37693158e-03 -6.36111422e-02 1.20477832e+01] [ 4.52921716e-03 9.99987212e-01 2.25000407e-03 5.19999459e-01] [ 6.36004806e-02 -2.53353435e-03 9.97972224e-01 4.79088031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.63463044 meters Centerline goodness [0,1] 0.321371645198811 Centerline is valid? [False, False] Translation: X:12.05, Y:0.52, Z:0.48 [[ 9.97947859e-01 -4.36267355e-03 -6.38830045e-02 1.20484343e+01] [ 4.52728751e-03 9.99986794e-01 2.43227352e-03 5.18520428e-01] [ 6.38715497e-02 -2.71649888e-03 9.97954431e-01 4.79112650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66463044 meters Centerline goodness [0,1] 0.32515044209337185 Centerline is valid? [False, False] Translation: X:12.05, Y:0.52, Z:0.48 [[ 9.97930960e-01 -4.41679707e-03 -6.41427315e-02 1.20490623e+01] [ 4.59487517e-03 9.99985988e-01 2.62902768e-03 5.16461866e-01] [ 6.41302208e-02 -2.91831596e-03 9.97937272e-01 4.79130928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.69463044 meters Centerline goodness [0,1] 0.32223494587645574 Centerline is valid? [False, False] Translation: X:12.05, Y:0.51, Z:0.48 [[ 9.97900253e-01 -5.51488220e-03 -6.45342665e-02 1.20501002e+01] [ 5.66650513e-03 9.99981598e-01 2.16669677e-03 5.10478959e-01] [ 6.45211299e-02 -2.52783101e-03 9.97913139e-01 4.79202278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72463044 meters Centerline goodness [0,1] 0.3212197785724993 Centerline is valid? [False, False] Translation: X:12.07, Y:0.51, Z:0.48 [[ 9.97927134e-01 4.79252129e-04 -6.43522046e-02 1.20700031e+01] [-5.05663277e-04 9.99999794e-01 -3.94129072e-04 5.05865010e-01] [ 6.43520025e-02 4.25852641e-04 9.97927171e-01 4.81442117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.75463044 meters Centerline goodness [0,1] 0.3225178034156584 Centerline is valid? [False, False] Translation: X:12.07, Y:0.50, Z:0.48 [[ 9.97928867e-01 5.21602451e-04 -6.43249845e-02 1.20698905e+01] [-5.25467657e-04 9.99999861e-01 -4.31708640e-05 5.03620004e-01] [ 6.43249530e-02 7.68821502e-05 9.97929003e-01 4.81558149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78463044 meters Centerline goodness [0,1] 0.3226733507638454 Centerline is valid? [False, False] Translation: X:12.07, Y:0.50, Z:0.48 [[ 9.97922796e-01 6.23233055e-04 -6.44182085e-02 1.20700350e+01] [-6.04327706e-04 9.99999768e-01 3.12963013e-04 5.01682042e-01] [ 6.44183886e-02 -2.73383217e-04 9.97922941e-01 4.81652504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.81463044000003 meters Centerline goodness [0,1] 0.3211667848928441 Centerline is valid? [False, False] Translation: X:12.07, Y:0.50, Z:0.48 [[ 9.97916346e-01 6.38965001e-04 -6.45178960e-02 1.20702066e+01] [-6.05037583e-04 9.99999668e-01 5.45397436e-04 5.00120459e-01] [ 6.45182231e-02 -5.05225265e-04 9.97916401e-01 4.81820639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84463044 meters Centerline goodness [0,1] 0.3238704084949615 Centerline is valid? [False, False] Translation: X:12.07, Y:0.50, Z:0.48 [[ 9.97911190e-01 5.80037024e-04 -6.45981524e-02 1.20702115e+01] [-5.38751504e-04 9.99999639e-01 6.56530555e-04 4.98817644e-01] [ 6.45985099e-02 -6.20356835e-04 9.97911142e-01 4.82057771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.87463044000003 meters Centerline goodness [0,1] 0.3228079219830734 Centerline is valid? [False, False] Translation: X:12.09, Y:0.50, Z:0.48 [[ 9.97904280e-01 -7.54597061e-03 -6.42659009e-02 1.20907075e+01] [ 7.66408184e-03 9.99969364e-01 1.59152260e-03 4.99284462e-01] [ 6.42519225e-02 -2.08072634e-03 9.97931541e-01 4.84490333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90463044 meters Centerline goodness [0,1] 0.32301343818865313 Centerline is valid? [False, False] Translation: X:12.09, Y:0.50, Z:0.48 [[ 9.97911199e-01 -7.49271339e-03 -6.41646235e-02 1.20903402e+01] [ 7.63195281e-03 9.99969023e-01 1.92520245e-03 4.97302861e-01] [ 6.41482108e-02 -2.41088246e-03 9.97937470e-01 4.84685467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.93463044000003 meters Centerline goodness [0,1] 0.3221420465494722 Centerline is valid? [False, False] Translation: X:12.11, Y:0.49, Z:0.49 [[ 9.98013374e-01 -5.42009066e-04 -6.30000942e-02 1.21077219e+01] [ 5.57149565e-04 9.99999820e-01 2.22757589e-04 4.91861815e-01] [ 6.29999621e-02 -2.57415528e-04 9.98013496e-01 4.87628270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96463044 meters Centerline goodness [0,1] 0.3249881603306497 Centerline is valid? [False, False] Translation: X:12.10, Y:0.49, Z:0.49 [[ 9.98070210e-01 -3.02317057e-03 -6.20219010e-02 1.21034507e+01] [ 2.92826915e-03 9.99994399e-01 -1.62096662e-03 4.88049645e-01] [ 6.20264540e-02 1.43622168e-03 9.98073472e-01 4.89754073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99463044000004 meters Centerline goodness [0,1] 0.3229084388275729 Centerline is valid? [False, False] Translation: X:12.10, Y:0.49, Z:0.49 [[ 9.98063303e-01 -3.04290997e-03 -6.21319872e-02 1.21034987e+01] [ 2.95644136e-03 9.99994529e-01 -1.48357884e-03 4.86973721e-01] [ 6.21361617e-02 1.29701602e-03 9.98066839e-01 4.90020074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02463044 meters Centerline goodness [0,1] 0.32188053522268933 Centerline is valid? [False, False] Translation: X:12.10, Y:0.49, Z:0.49 [[ 9.98062682e-01 -2.96743943e-03 -6.21456159e-02 1.21034566e+01] [ 2.89036277e-03 9.99994938e-01 -1.33012104e-03 4.86640799e-01] [ 6.21492484e-02 1.14792080e-03 9.98066207e-01 4.90119741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05463044000004 meters Centerline goodness [0,1] 0.32340763306373754 Centerline is valid? [False, False] Translation: X:12.10, Y:0.49, Z:0.49 [[ 9.98075928e-01 -2.85921185e-03 -6.19376096e-02 1.21028159e+01] [ 2.78952961e-03 9.99995375e-01 -1.21148150e-03 4.86771635e-01] [ 6.19407871e-02 1.03637373e-03 9.98079288e-01 4.90320362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08463044 meters Centerline goodness [0,1] 0.3258884127602476 Centerline is valid? [False, False] Translation: X:12.10, Y:0.49, Z:0.49 [[ 9.98091839e-01 -2.82787440e-03 -6.16821137e-02 1.21021655e+01] [ 2.76171470e-03 9.99995516e-01 -1.15782046e-03 4.86828133e-01] [ 6.16851113e-02 9.85262754e-04 9.98095174e-01 4.90395177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11463044000004 meters Centerline goodness [0,1] 0.32699411983299453 Centerline is valid? [False, False] Translation: X:12.10, Y:0.49, Z:0.49 [[ 9.98099703e-01 -2.91171496e-03 -6.15508302e-02 1.21017833e+01] [ 2.84274846e-03 9.99995230e-01 -1.20802060e-03 4.86728390e-01] [ 6.15540540e-02 1.03075147e-03 9.98103219e-01 4.90519100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14463044 meters Centerline goodness [0,1] 0.3211032768264718 Centerline is valid? [False, False] Translation: X:12.15, Y:0.49, Z:0.49 [[ 9.98154511e-01 -3.86689605e-03 -6.06021425e-02 1.21456493e+01] [ 3.71367531e-03 9.99989618e-01 -2.64073387e-03 4.88039590e-01] [ 6.06117248e-02 2.41080375e-03 9.98158508e-01 4.93387261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17463044000004 meters Centerline goodness [0,1] 0.32167892500485296 Centerline is valid? [False, False] Translation: X:12.15, Y:0.49, Z:0.49 [[ 9.98143688e-01 -3.91429136e-03 -6.07771057e-02 1.21462133e+01] [ 3.76151580e-03 9.99989472e-01 -2.62791233e-03 4.87812294e-01] [ 6.07867523e-02 2.39442006e-03 9.98147904e-01 4.93149902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20463044 meters Centerline goodness [0,1] 0.3204205038353881 Centerline is valid? [False, False] Translation: X:12.15, Y:0.49, Z:0.49 [[ 9.98127126e-01 -3.98398823e-03 -6.10439842e-02 1.21469138e+01] [ 3.83038180e-03 9.99989197e-01 -2.63313780e-03 4.87553840e-01] [ 6.10538151e-02 2.39438449e-03 9.98131604e-01 4.93059795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23463044 meters Centerline goodness [0,1] 0.32273669661368354 Centerline is valid? [False, False] Translation: X:12.15, Y:0.49, Z:0.49 [[ 9.98125184e-01 -4.23862653e-03 -6.10585827e-02 1.21462707e+01] [ 4.06778274e-03 9.99987457e-01 -2.92206200e-03 4.88234484e-01] [ 6.10702023e-02 2.66821063e-03 9.98129907e-01 4.93887074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26463044 meters Centerline goodness [0,1] 0.3210503751339764 Centerline is valid? [False, False] Translation: X:12.16, Y:0.49, Z:0.50 [[ 9.98192869e-01 3.43286597e-03 -5.99934318e-02 1.21646971e+01] [-3.70924463e-03 9.99983013e-01 -4.49605698e-03 4.86299261e-01] [ 5.99769784e-02 4.71046233e-03 9.98188646e-01 4.96372344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29463044 meters Centerline goodness [0,1] 0.320455808782657 Centerline is valid? [False, False] Translation: X:12.16, Y:0.49, Z:0.50 [[ 9.98194412e-01 3.42152874e-03 -5.99683928e-02 1.21645512e+01] [-3.70543883e-03 9.99982445e-01 -4.62376329e-03 4.87649502e-01] [ 5.99515198e-02 4.83762389e-03 9.98189568e-01 4.96526939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32463044 meters Centerline goodness [0,1] 0.32080419580419584 Centerline is valid? [False, False] Translation: X:12.16, Y:0.49, Z:0.50 [[ 9.98199763e-01 3.33820176e-03 -5.98839668e-02 1.21646702e+01] [-3.63777069e-03 9.99981407e-01 -4.89416715e-03 4.89519910e-01] [ 5.98665156e-02 5.10320063e-03 9.98193347e-01 4.96190058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35463044 meters Centerline goodness [0,1] 0.32385773624091385 Centerline is valid? [False, False] Translation: X:12.15, Y:0.50, Z:0.49 [[ 9.98215303e-01 -4.48964007e-03 -5.95487383e-02 1.21464171e+01] [ 4.27267604e-03 9.99983764e-01 -3.77029945e-03 4.96071342e-01] [ 5.95646988e-02 3.50913814e-03 9.98218279e-01 4.92922387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38463044 meters Centerline goodness [0,1] 0.3224810191738515 Centerline is valid? [False, False] Translation: X:12.17, Y:0.50, Z:0.50 [[ 9.98239573e-01 3.02488874e-03 -5.92334850e-02 1.21664898e+01] [-3.36813109e-03 9.99978107e-01 -5.69575168e-03 4.96747087e-01] [ 5.92149592e-02 5.88523087e-03 9.98227906e-01 4.95203500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41463044 meters Centerline goodness [0,1] 0.32498601609225075 Centerline is valid? [False, False] Translation: X:12.17, Y:0.50, Z:0.50 [[ 9.98244251e-01 3.00798442e-03 -5.91554563e-02 1.21661215e+01] [-3.35721066e-03 9.99977515e-01 -5.80503437e-03 4.97806572e-01] [ 5.91366648e-02 5.99343951e-03 9.98231904e-01 4.95426881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44463044 meters Centerline goodness [0,1] 0.3228351521128572 Centerline is valid? [False, False] Translation: X:12.17, Y:0.50, Z:0.50 [[ 9.98244415e-01 2.93994894e-03 -5.91560992e-02 1.21660520e+01] [-3.29564536e-03 9.99977069e-01 -5.91617874e-03 4.98636461e-01] [ 5.91373494e-02 6.10074991e-03 9.98231213e-01 4.95526406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47463044 meters Centerline goodness [0,1] 0.32317582770813247 Centerline is valid? [False, False] Translation: X:12.17, Y:0.50, Z:0.50 [[ 9.98240725e-01 2.82984733e-03 -5.92236956e-02 1.21663515e+01] [-3.19125369e-03 9.99976855e-01 -6.00870245e-03 4.98944761e-01] [ 5.92053211e-02 6.18712933e-03 9.98226652e-01 4.95344067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.50463044 meters Centerline goodness [0,1] 0.3221336655996907 Centerline is valid? [False, False] Translation: X:12.17, Y:0.50, Z:0.49 [[ 9.98220901e-01 2.09586482e-03 -5.95872455e-02 1.21675902e+01] [-2.48755822e-03 9.99975781e-01 -6.50002431e-03 4.98719047e-01] [ 5.95721792e-02 6.63668687e-03 9.98201938e-01 4.94804417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53463044 meters Centerline goodness [0,1] 0.3228105687030298 Centerline is valid? [False, False] Translation: X:12.17, Y:0.50, Z:0.49 [[ 9.98213795e-01 1.91665389e-03 -5.97121901e-02 1.21679352e+01] [-2.30998770e-03 9.99976084e-01 -6.51882863e-03 4.97860422e-01] [ 5.96982677e-02 6.64511909e-03 9.98194349e-01 4.94703572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56463044000003 meters Centerline goodness [0,1] 0.3219004719004719 Centerline is valid? [False, False] Translation: X:12.17, Y:0.50, Z:0.49 [[ 9.98205291e-01 1.77131944e-03 -5.98586649e-02 1.21682055e+01] [-2.16148074e-03 9.99976837e-01 -6.45392107e-03 4.96791254e-01] [ 5.98458464e-02 6.57172151e-03 9.98185998e-01 4.94808789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59463044 meters Centerline goodness [0,1] 0.32649818564404265 Centerline is valid? [False, False] Translation: X:12.17, Y:0.50, Z:0.49 [[ 9.98211071e-01 1.72916788e-03 -5.97634262e-02 1.21679969e+01] [-2.10677736e-03 9.99978212e-01 -6.25597142e-03 4.95233673e-01] [ 5.97513064e-02 6.37068817e-03 9.98192965e-01 4.94750300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62463044000003 meters Centerline goodness [0,1] 0.3240530708324417 Centerline is valid? [False, False] Translation: X:12.17, Y:0.49, Z:0.49 [[ 9.98213059e-01 1.57863432e-03 -5.97343816e-02 1.21679866e+01] [-1.95040553e-03 9.99979088e-01 -6.16594584e-03 4.93874445e-01] [ 5.97233987e-02 6.27143393e-03 9.98195264e-01 4.94682425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65463044 meters Centerline goodness [0,1] 0.3277968486812648 Centerline is valid? [False, False] Translation: X:12.17, Y:0.49, Z:0.49 [[ 9.98225933e-01 1.24804723e-03 -5.95267063e-02 1.21675280e+01] [-1.60877798e-03 9.99980631e-01 -6.01244166e-03 4.91136584e-01] [ 5.95180495e-02 6.09754044e-03 9.98208606e-01 4.94681234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68463044000003 meters Centerline goodness [0,1] 0.3299369342314128 Centerline is valid? [False, False] Translation: X:12.17, Y:0.49, Z:0.49 [[ 9.98231682e-01 1.25572910e-03 -5.94300625e-02 1.21672557e+01] [-1.60918173e-03 9.99981301e-01 -5.89988552e-03 4.90284711e-01] [ 5.94215425e-02 5.98508641e-03 9.98215036e-01 4.94760031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71463044 meters Centerline goodness [0,1] 0.3299369342314128 Centerline is valid? [False, False] Translation: X:12.17, Y:0.49, Z:0.49 [[ 9.98231682e-01 1.25572910e-03 -5.94300625e-02 1.21672557e+01] [-1.60918173e-03 9.99981301e-01 -5.89988552e-03 4.90284711e-01] [ 5.94215425e-02 5.98508641e-03 9.98215036e-01 4.94760031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74463044000004 meters Centerline goodness [0,1] 0.3231901055549632 Centerline is valid? [False, False] Translation: X:12.17, Y:0.49, Z:0.49 [[ 9.98225755e-01 1.18636759e-03 -5.95309517e-02 1.21676222e+01] [-1.54229630e-03 9.99981208e-01 -5.93329332e-03 4.90138502e-01] [ 5.95227940e-02 6.01458057e-03 9.98208827e-01 4.94612182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77463044 meters Centerline goodness [0,1] 0.33013539151431526 Centerline is valid? [False, False] Translation: X:12.17, Y:0.49, Z:0.49 [[ 9.98220765e-01 1.16320434e-03 -5.96150213e-02 1.21680640e+01] [-1.52332584e-03 9.99980865e-01 -5.99569362e-03 4.90492182e-01] [ 5.96069064e-02 6.07583897e-03 9.98203437e-01 4.94308620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80463044000004 meters Centerline goodness [0,1] 0.32741731507084215 Centerline is valid? [False, False] Translation: X:12.17, Y:0.49, Z:0.49 [[ 9.98213505e-01 1.08677225e-03 -5.97379031e-02 1.21687517e+01] [-1.45567590e-03 9.99980138e-01 -6.13219848e-03 4.91140230e-01] [ 5.97300523e-02 6.20820236e-03 9.98195261e-01 4.93831876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83463044 meters Centerline goodness [0,1] 0.33171243734201616 Centerline is valid? [False, False] Translation: X:12.17, Y:0.49, Z:0.49 [[ 9.98215248e-01 1.10016551e-03 -5.97085304e-02 1.21688820e+01] [-1.47905079e-03 9.99979050e-01 -6.30175601e-03 4.92768879e-01] [ 5.97003465e-02 6.37882089e-03 9.98195962e-01 4.93634556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86463044000004 meters Centerline goodness [0,1] 0.3336938184020418 Centerline is valid? [False, False] Translation: X:12.17, Y:0.49, Z:0.49 [[ 9.98216817e-01 1.12072662e-03 -5.96819130e-02 1.21686920e+01] [-1.50351812e-03 9.99978585e-01 -6.36934082e-03 4.93649081e-01] [ 5.96734967e-02 6.44771595e-03 9.98197125e-01 4.93851803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89463044 meters Centerline goodness [0,1] 0.3336914713024045 Centerline is valid? [False, False] Translation: X:12.17, Y:0.49, Z:0.49 [[ 9.98220664e-01 1.04915501e-03 -5.96188302e-02 1.21685741e+01] [-1.43684302e-03 9.99978100e-01 -6.46028040e-03 4.93944345e-01] [ 5.96107467e-02 6.53444830e-03 9.98200310e-01 4.93851429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92463044000004 meters Centerline goodness [0,1] 0.330131023095233 Centerline is valid? [False, False] Translation: X:12.17, Y:0.49, Z:0.49 [[ 9.98212978e-01 7.14054065e-04 -5.97523345e-02 1.21690932e+01] [-1.10794501e-03 9.99977875e-01 -6.55918843e-03 4.92661581e-01] [ 5.97463289e-02 6.61366932e-03 9.98191683e-01 4.93573851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95463044 meters Centerline goodness [0,1] 0.3283537432412216 Centerline is valid? [False, False] Translation: X:12.17, Y:0.49, Z:0.49 [[ 9.98209669e-01 5.94843689e-04 -5.98088878e-02 1.21694242e+01] [-9.83107656e-04 9.99978634e-01 -6.46252759e-03 4.91221611e-01] [ 5.98037658e-02 6.50975610e-03 9.98188926e-01 4.93314532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98463044 meters Centerline goodness [0,1] 0.33093757397086354 Centerline is valid? [False, False] Translation: X:12.17, Y:0.49, Z:0.49 [[ 9.98208156e-01 6.00598218e-04 -5.98340675e-02 1.21696082e+01] [-9.75216412e-04 9.99980106e-01 -6.23194648e-03 4.89563540e-01] [ 5.98291342e-02 6.27913097e-03 9.98188884e-01 4.93127124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01463044 meters Centerline goodness [0,1] 0.33158245969043976 Centerline is valid? [False, False] Translation: X:12.17, Y:0.49, Z:0.49 [[ 9.98205284e-01 6.28762314e-04 -5.98816866e-02 1.21699444e+01] [-9.89721137e-04 9.99981520e-01 -5.99839775e-03 4.88051466e-01] [ 5.98768084e-02 6.04689849e-03 9.98187459e-01 4.92772372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04463044 meters Centerline goodness [0,1] 0.3290868215394498 Centerline is valid? [False, False] Translation: X:12.17, Y:0.49, Z:0.49 [[ 9.98192275e-01 5.67471207e-04 -6.00987448e-02 1.21708701e+01] [-9.20287663e-04 9.99982505e-01 -5.84309637e-03 4.86462474e-01] [ 6.00943776e-02 5.88784179e-03 9.98175335e-01 4.92291609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.07463044 meters Centerline goodness [0,1] 0.3313215355764878 Centerline is valid? [False, False] Translation: X:12.17, Y:0.49, Z:0.49 [[ 9.98189364e-01 6.18042123e-04 -6.01465783e-02 1.21709961e+01] [-9.64125440e-04 9.99983146e-01 -5.72514785e-03 4.85915849e-01] [ 6.01420262e-02 5.77277053e-03 9.98173137e-01 4.92275321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10463044 meters Centerline goodness [0,1] 0.32933782557988855 Centerline is valid? [False, False] Translation: X:12.17, Y:0.49, Z:0.49 [[ 9.98184785e-01 7.25104414e-04 -6.02213433e-02 1.21711592e+01] [-1.06162889e-03 9.99984000e-01 -5.55631902e-03 4.85362020e-01] [ 6.02163508e-02 5.61016582e-03 9.98169583e-01 4.92313144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.13463044 meters Centerline goodness [0,1] 0.3312017974032707 Centerline is valid? [False, False] Translation: X:12.17, Y:0.48, Z:0.49 [[ 9.98182693e-01 8.26175738e-04 -6.02546959e-02 1.21714368e+01] [-1.15000156e-03 9.99985082e-01 -5.33980353e-03 4.84369989e-01] [ 6.02493854e-02 5.39939246e-03 9.98168752e-01 4.92038400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16463044 meters Centerline goodness [0,1] 0.32898273378201126 Centerline is valid? [False, False] Translation: X:12.17, Y:0.48, Z:0.49 [[ 9.98179897e-01 8.52654845e-04 -6.03006383e-02 1.21718209e+01] [-1.16990254e-03 9.99985660e-01 -5.22599076e-03 4.83563143e-01] [ 6.02953176e-02 5.28702479e-03 9.98166580e-01 4.91705436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.19463044 meters Centerline goodness [0,1] 0.32811829341574383 Centerline is valid? [False, False] Translation: X:12.17, Y:0.48, Z:0.49 [[ 9.98181623e-01 8.57968473e-04 -6.02719794e-02 1.21717253e+01] [-1.17381413e-03 9.99985764e-01 -5.20512912e-03 4.83264577e-01] [ 6.02666556e-02 5.26641233e-03 9.98168420e-01 4.91734718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22463044 meters Centerline goodness [0,1] 0.33032355154251314 Centerline is valid? [False, False] Translation: X:12.17, Y:0.48, Z:0.49 [[ 9.98194329e-01 7.96607914e-04 -6.00620317e-02 1.21710249e+01] [-1.12439814e-03 9.99984658e-01 -5.42392827e-03 4.84429464e-01] [ 6.00567895e-02 5.48166807e-03 9.98179910e-01 4.92039510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.25463044 meters Centerline goodness [0,1] 0.33312544355792595 Centerline is valid? [False, False] Translation: X:12.17, Y:0.49, Z:0.49 [[ 9.98191736e-01 8.15492602e-04 -6.01048492e-02 1.21712543e+01] [-1.14665438e-03 9.99984352e-01 -5.47544980e-03 4.85121990e-01] [ 6.00994435e-02 5.53446823e-03 9.98177052e-01 4.91906833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28463044 meters Centerline goodness [0,1] 0.3339555478381664 Centerline is valid? [False, False] Translation: X:12.17, Y:0.49, Z:0.49 [[ 9.98183322e-01 8.51818371e-04 -6.02439288e-02 1.21718589e+01] [-1.18730534e-03 9.99983987e-01 -5.53323244e-03 4.86056230e-01] [ 6.02382508e-02 5.59470827e-03 9.98168349e-01 4.91528213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.31463044000003 meters Centerline goodness [0,1] 0.32358494614427324 Centerline is valid? [False, False] Translation: X:12.20, Y:0.49, Z:0.49 [[ 9.98101130e-01 -4.97331268e-03 -6.13954369e-02 1.21950982e+01] [ 4.77223445e-03 9.99982760e-01 -3.42133472e-03 4.90619112e-01] [ 6.14113938e-02 3.12184463e-03 9.98107657e-01 4.92747218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34463044 meters Centerline goodness [0,1] 0.3277059514905438 Centerline is valid? [False, False] Translation: X:12.20, Y:0.49, Z:0.49 [[ 9.98102453e-01 -5.09460586e-03 -6.13639769e-02 1.21952087e+01] [ 4.87492422e-03 9.99981164e-01 -3.72915982e-03 4.92346739e-01] [ 6.13818196e-02 3.42293883e-03 9.98108489e-01 4.92544055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.37463044000003 meters Centerline goodness [0,1] 0.32547300908605026 Centerline is valid? [False, False] Translation: X:12.19, Y:0.49, Z:0.49 [[ 9.98111851e-01 -5.21380578e-03 -6.12008972e-02 1.21946321e+01] [ 4.97597480e-03 9.99979468e-01 -4.03783792e-03 4.94280780e-01] [ 6.12206931e-02 3.72567976e-03 9.98117301e-01 4.92783994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40463044 meters Centerline goodness [0,1] 0.32726102349533315 Centerline is valid? [False, False] Translation: X:12.19, Y:0.50, Z:0.49 [[ 9.98123225e-01 -5.27449258e-03 -6.10098894e-02 1.21941417e+01] [ 5.02436346e-03 9.99978336e-01 -4.25249827e-03 4.95803388e-01] [ 6.10309975e-02 3.93798143e-03 9.98128103e-01 4.92853970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.43463044000003 meters Centerline goodness [0,1] 0.3235206534223848 Centerline is valid? [False, False] Translation: X:12.19, Y:0.50, Z:0.49 [[ 9.98125146e-01 -5.38664638e-03 -6.09686589e-02 1.21941099e+01] [ 5.12579789e-03 9.99977033e-01 -4.43399788e-03 4.96890319e-01] [ 6.09911430e-02 4.11317176e-03 9.98129832e-01 4.92766071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46463044 meters Centerline goodness [0,1] 0.32670953912111467 Centerline is valid? [False, False] Translation: X:12.19, Y:0.50, Z:0.49 [[ 9.98124692e-01 -5.49844017e-03 -6.09661068e-02 1.21941358e+01] [ 5.22901338e-03 9.99975850e-01 -4.57795360e-03 4.97574441e-01] [ 6.09898060e-02 4.25057594e-03 9.98129338e-01 4.92712047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49463044000004 meters Centerline goodness [0,1] 0.32646092390954196 Centerline is valid? [False, False] Translation: X:12.19, Y:0.50, Z:0.49 [[ 9.98119619e-01 -5.87439210e-03 -6.10140785e-02 1.21946193e+01] [ 5.58079261e-03 9.99972020e-01 -4.98129539e-03 4.98788071e-01] [ 6.10416335e-02 4.63142174e-03 9.98124476e-01 4.92223564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52463044 meters Centerline goodness [0,1] 0.3299058527484924 Centerline is valid? [False, False] Translation: X:12.19, Y:0.50, Z:0.49 [[ 9.98118272e-01 -5.90738606e-03 -6.10329220e-02 1.21947309e+01] [ 5.60904332e-03 9.99971475e-01 -5.05839990e-03 4.99456229e-01] [ 6.10610630e-02 4.70654507e-03 9.98122936e-01 4.92120142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55463044000004 meters Centerline goodness [0,1] 0.32637681159420295 Centerline is valid? [False, False] Translation: X:12.21, Y:0.50, Z:0.49 [[ 9.98157582e-01 1.74807558e-03 -6.06496935e-02 1.22137965e+01] [-2.12794480e-03 9.99978520e-01 -6.19930922e-03 4.95876653e-01] [ 6.06375539e-02 6.31694670e-03 9.98139862e-01 4.94012454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58463044 meters Centerline goodness [0,1] 0.3265710897919586 Centerline is valid? [False, False] Translation: X:12.21, Y:0.50, Z:0.49 [[ 9.98161773e-01 1.74582521e-03 -6.05807494e-02 1.22137559e+01] [-2.12707503e-03 9.99978335e-01 -6.22933195e-03 4.96296091e-01] [ 6.05685616e-02 6.34674082e-03 9.98143861e-01 4.93852677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61463044000004 meters Centerline goodness [0,1] 0.3267486350543829 Centerline is valid? [False, False] Translation: X:12.21, Y:0.50, Z:0.49 [[ 9.98151225e-01 1.53625771e-03 -6.07599601e-02 1.22143188e+01] [-1.93083646e-03 9.99977425e-01 -6.43587893e-03 4.96742553e-01] [ 6.07487013e-02 6.54129798e-03 9.98131658e-01 4.93654037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64463044 meters Centerline goodness [0,1] 0.3238665526090676 Centerline is valid? [False, False] Translation: X:12.22, Y:0.50, Z:0.49 [[ 9.98135846e-01 1.50705528e-03 -6.10127973e-02 1.22152228e+01] [-1.90435790e-03 9.99977358e-01 -6.45416601e-03 4.96934531e-01] [ 6.10016891e-02 6.55832465e-03 9.98116117e-01 4.93250320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67463044000004 meters Centerline goodness [0,1] 0.3248888984306233 Centerline is valid? [False, False] Translation: X:12.22, Y:0.50, Z:0.49 [[ 9.98120967e-01 1.58210430e-03 -6.12538287e-02 1.22161334e+01] [-1.97599315e-03 9.99977757e-01 -6.37039507e-03 4.96942275e-01] [ 6.12423876e-02 6.47946204e-03 9.98101892e-01 4.92796211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70463044 meters Centerline goodness [0,1] 0.3220793715524457 Centerline is valid? [False, False] Translation: X:12.22, Y:0.50, Z:0.49 [[ 9.98115178e-01 1.61495014e-03 -6.13472373e-02 1.22166490e+01] [-2.00743408e-03 9.99977908e-01 -6.33664982e-03 4.97071844e-01] [ 6.13356486e-02 6.44785690e-03 9.98096370e-01 4.92418403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73463044 meters Centerline goodness [0,1] 0.32112627766944524 Centerline is valid? [False, False] Translation: X:12.22, Y:0.50, Z:0.49 [[ 9.98116283e-01 1.66124519e-03 -6.13280268e-02 1.22166861e+01] [-2.04942146e-03 9.99978261e-01 -6.26714854e-03 4.96832377e-01] [ 6.13162823e-02 6.38102998e-03 9.98097989e-01 4.92300721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76463044 meters Centerline goodness [0,1] 0.32053759285499595 Centerline is valid? [False, False] Translation: X:12.22, Y:0.50, Z:0.49 [[ 9.98147173e-01 1.58599296e-03 -6.08252113e-02 1.22153353e+01] [-1.98193027e-03 9.99977237e-01 -6.44964846e-03 4.97440292e-01] [ 6.08135977e-02 6.55824970e-03 9.98127595e-01 4.92566570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79463044 meters Centerline goodness [0,1] 0.3202250824655585 Centerline is valid? [False, False] Translation: X:12.21, Y:0.50, Z:0.49 [[ 9.98156330e-01 1.60159190e-03 -6.06743342e-02 1.22149431e+01] [-2.00066503e-03 9.99976762e-01 -6.51711766e-03 4.98036826e-01] [ 6.06624865e-02 6.62649126e-03 9.98136340e-01 4.92639925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82463044 meters Centerline goodness [0,1] 0.3181603063287871 Centerline is valid? [False, False] Translation: X:12.22, Y:0.50, Z:0.49 [[ 9.98153705e-01 1.58784380e-03 -6.07178707e-02 1.22152215e+01] [-1.99439539e-03 9.99975994e-01 -6.63573112e-03 4.98839571e-01] [ 6.07058766e-02 6.74457504e-03 9.98132911e-01 4.92420951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85463044 meters Centerline goodness [0,1] 0.32049173231754824 Centerline is valid? [False, False] Translation: X:12.22, Y:0.50, Z:0.49 [[ 9.98148865e-01 1.60028773e-03 -6.07970552e-02 1.22156755e+01] [-2.01382273e-03 9.99975250e-01 -6.74122690e-03 4.99800347e-01] [ 6.07847626e-02 6.85118247e-03 9.98127384e-01 4.92094540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88463044 meters Centerline goodness [0,1] 0.31582696541898714 Centerline is valid? [False, False] Translation: X:12.22, Y:0.50, Z:0.49 [[ 9.98136303e-01 1.56992950e-03 -6.10037427e-02 1.22164394e+01] [-2.00895742e-03 9.99972520e-01 -7.13606998e-03 5.02680533e-01] [ 6.09908632e-02 7.24532443e-03 9.98112028e-01 4.91844819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91463044 meters Centerline goodness [0,1] 0.31516552181635316 Centerline is valid? [False, False] Translation: X:12.24, Y:0.51, Z:0.49 [[ 9.98118683e-01 -5.67170060e-03 -6.10485539e-02 1.22357963e+01] [ 5.31314393e-03 9.99967680e-01 -6.03403422e-03 5.07830266e-01] [ 6.10808040e-02 5.69832254e-03 9.98116559e-01 4.94689614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94463044 meters Centerline goodness [0,1] 0.31641893781324615 Centerline is valid? [False, False] Translation: X:12.24, Y:0.51, Z:0.49 [[ 9.98119755e-01 -5.71273213e-03 -6.10272052e-02 1.22357298e+01] [ 5.34113880e-03 9.99966202e-01 -6.25037475e-03 5.09303783e-01] [ 6.10608494e-02 5.91266774e-03 9.98116533e-01 4.94704974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97463044 meters Centerline goodness [0,1] 0.3150371273886713 Centerline is valid? [False, False] Translation: X:12.24, Y:0.51, Z:0.49 [[ 9.98120739e-01 -5.77693026e-03 -6.10050574e-02 1.22356347e+01] [ 5.39177791e-03 9.99964493e-01 -6.47618096e-03 5.10730825e-01] [ 6.10403037e-02 6.13508481e-03 9.98116447e-01 4.94781554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.00463044 meters Centerline goodness [0,1] 0.31273068635190204 Centerline is valid? [False, False] Translation: X:12.24, Y:0.51, Z:0.49 [[ 9.98123971e-01 -5.77029599e-03 -6.09527948e-02 1.22354640e+01] [ 5.37567702e-03 9.99963531e-01 -6.63617580e-03 5.12717651e-01] [ 6.09888646e-02 6.29606360e-03 9.98118589e-01 4.94850474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03463044 meters Centerline goodness [0,1] 0.31335243062978324 Centerline is valid? [False, False] Translation: X:12.24, Y:0.51, Z:0.49 [[ 9.98117149e-01 -5.79222591e-03 -6.10623127e-02 1.22358289e+01] [ 5.39509063e-03 9.99963224e-01 -6.66663920e-03 5.13012324e-01] [ 6.10986818e-02 6.32465020e-03 9.98111692e-01 4.94685987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06463044000003 meters Centerline goodness [0,1] 0.312497315868585 Centerline is valid? [False, False] Translation: X:12.24, Y:0.51, Z:0.49 [[ 9.98109878e-01 -5.82756340e-03 -6.11777062e-02 1.22362323e+01] [ 5.42945037e-03 9.99963004e-01 -6.67170759e-03 5.13013202e-01] [ 6.12143226e-02 6.32693593e-03 9.98104592e-01 4.94491151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09463044 meters Centerline goodness [0,1] 0.31241336660055874 Centerline is valid? [False, False] Translation: X:12.24, Y:0.51, Z:0.49 [[ 9.98101499e-01 -5.88616116e-03 -6.13086535e-02 1.22366390e+01] [ 5.48643318e-03 9.99962596e-01 -6.68623088e-03 5.12994067e-01] [ 6.13457165e-02 6.33717123e-03 9.98096460e-01 4.94353470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12463044000003 meters Centerline goodness [0,1] 0.3116203575166051 Centerline is valid? [False, False] Translation: X:12.24, Y:0.51, Z:0.49 [[ 9.98110889e-01 -5.91185810e-03 -6.11531087e-02 1.22360801e+01] [ 5.50854710e-03 9.99961968e-01 -6.76159264e-03 5.13815622e-01] [ 6.11907564e-02 6.41195446e-03 9.98105495e-01 4.94609123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15463044 meters Centerline goodness [0,1] 0.31159977774928405 Centerline is valid? [False, False] Translation: X:12.24, Y:0.51, Z:0.49 [[ 9.98119944e-01 -5.83061642e-03 -6.10129665e-02 1.22357604e+01] [ 5.42605248e-03 9.99962197e-01 -6.79437227e-03 5.14907666e-01] [ 6.10502753e-02 6.45053891e-03 9.98113848e-01 4.94628438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18463044000003 meters Centerline goodness [0,1] 0.31214463681083493 Centerline is valid? [False, False] Translation: X:12.24, Y:0.52, Z:0.49 [[ 9.98130270e-01 -5.83206310e-03 -6.08436587e-02 1.22354240e+01] [ 5.41333410e-03 9.99960534e-01 -7.04461743e-03 5.17029691e-01] [ 6.08823421e-02 6.70207885e-03 9.98122449e-01 4.94648690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21463044 meters Centerline goodness [0,1] 0.3140963570245089 Centerline is valid? [False, False] Translation: X:12.23, Y:0.52, Z:0.50 [[ 9.98184176e-01 -3.94770564e-03 -6.01063002e-02 1.22323947e+01] [ 3.61574255e-03 9.99977611e-01 -5.63069529e-03 5.20898189e-01] [ 6.01271828e-02 5.40314203e-03 9.98176101e-01 4.95908252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24463044000004 meters Centerline goodness [0,1] 0.31510025331673175 Centerline is valid? [False, False] Translation: X:12.23, Y:0.53, Z:0.50 [[ 9.98186080e-01 -3.90094111e-04 -6.02029618e-02 1.22327347e+01] [ 2.02068940e-04 9.99995083e-01 -3.12924455e-03 5.27787628e-01] [ 6.02038865e-02 3.11140320e-03 9.98181252e-01 4.95961838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27463044 meters Centerline goodness [0,1] 0.3174090115715301 Centerline is valid? [False, False] Translation: X:12.23, Y:0.53, Z:0.50 [[ 9.98165617e-01 -2.58021922e-04 -6.05419988e-02 1.22336503e+01] [ 4.33102257e-05 9.99993706e-01 -3.54777714e-03 5.33121129e-01] [ 6.05425332e-02 3.53864707e-03 9.98159346e-01 4.95933734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30463044000004 meters Centerline goodness [0,1] 0.31746987951807226 Centerline is valid? [False, False] Translation: X:12.23, Y:0.54, Z:0.50 [[ 9.98138363e-01 -2.40553931e-04 -6.09897621e-02 1.22347028e+01] [-9.81869031e-06 9.99991575e-01 -4.10482527e-03 5.38218608e-01] [ 6.09902357e-02 4.09778241e-03 9.98129951e-01 4.96008510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33463044 meters Centerline goodness [0,1] 0.3177297041826892 Centerline is valid? [False, False] Translation: X:12.24, Y:0.54, Z:0.50 [[ 9.98123084e-01 -3.80359654e-04 -6.12385798e-02 1.22352864e+01] [ 8.74968640e-05 9.99988548e-01 -4.78493557e-03 5.43095626e-01] [ 6.12396986e-02 4.77059647e-03 9.98111688e-01 4.96105112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36463044000004 meters Centerline goodness [0,1] 0.31874851962705364 Centerline is valid? [False, False] Translation: X:12.23, Y:0.55, Z:0.50 [[ 9.98139657e-01 1.74080293e-04 -6.09688037e-02 1.22341258e+01] [-4.89445612e-04 9.99986579e-01 -5.15767243e-03 5.52715456e-01] [ 6.09670876e-02 5.17791831e-03 9.98126346e-01 4.96812142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39463044 meters Centerline goodness [0,1] 0.3216743863901995 Centerline is valid? [False, False] Translation: X:12.23, Y:0.56, Z:0.50 [[ 9.98145023e-01 -9.28079630e-05 -6.08810636e-02 1.22336762e+01] [-2.56575815e-04 9.99983545e-01 -5.73094962e-03 5.55628577e-01] [ 6.08805937e-02 5.73593945e-03 9.98128575e-01 4.97178816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42463044000004 meters Centerline goodness [0,1] 0.320945077542627 Centerline is valid? [False, False] Translation: X:12.25, Y:0.56, Z:0.50 [[ 9.98107426e-01 -7.93477399e-03 -6.09803781e-02 1.22529281e+01] [ 7.64575235e-03 9.99958413e-01 -4.97146483e-03 5.62029874e-01] [ 6.10172895e-02 4.49581509e-03 9.98126584e-01 5.00193486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45463044 meters Centerline goodness [0,1] 0.31924269975398434 Centerline is valid? [False, False] Translation: X:12.25, Y:0.56, Z:0.50 [[ 9.98093595e-01 -8.23617453e-03 -6.11664975e-02 1.22533543e+01] [ 7.91308592e-03 9.99953442e-01 -5.52247889e-03 5.64687224e-01] [ 6.12091338e-02 5.02793506e-03 9.98112299e-01 5.00252014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48463044 meters Centerline goodness [0,1] 0.3177193771552186 Centerline is valid? [False, False] Translation: X:12.25, Y:0.57, Z:0.50 [[ 9.98074318e-01 -8.47709075e-03 -6.14474913e-02 1.22540794e+01] [ 8.12111489e-03 9.99948778e-01 -6.04061007e-03 5.67518306e-01] [ 6.14955506e-02 5.52995565e-03 9.98092038e-01 5.00192285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51463044 meters Centerline goodness [0,1] 0.3197335376495126 Centerline is valid? [False, False] Translation: X:12.27, Y:0.57, Z:0.50 [[ 9.98063099e-01 -1.29428481e-03 -6.21962570e-02 1.22728267e+01] [ 8.31354557e-04 9.99971766e-01 -7.46835873e-03 5.66650590e-01] [ 6.22041671e-02 7.40218612e-03 9.98035996e-01 5.02951611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54463044 meters Centerline goodness [0,1] 0.3208991831424489 Centerline is valid? [False, False] Translation: X:12.27, Y:0.58, Z:0.50 [[ 9.98059052e-01 -1.00987213e-03 -6.22664378e-02 1.22726723e+01] [ 5.21038793e-04 9.99968924e-01 -7.86640891e-03 5.75463657e-01] [ 6.22724469e-02 7.81869739e-03 9.98028562e-01 5.03498941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.57463044 meters Centerline goodness [0,1] 0.3250348152115694 Centerline is valid? [False, False] Translation: X:12.27, Y:0.58, Z:0.50 [[ 9.98060400e-01 -1.22792797e-03 -6.22408987e-02 1.22725005e+01] [ 7.05487650e-04 9.99964343e-01 -8.41512424e-03 5.78741119e-01] [ 6.22490126e-02 8.35489208e-03 9.98025679e-01 5.03695632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60463044 meters Centerline goodness [0,1] 0.3250348152115694 Centerline is valid? [False, False] Translation: X:12.27, Y:0.58, Z:0.50 [[ 9.98060400e-01 -1.22792797e-03 -6.22408987e-02 1.22725005e+01] [ 7.05487650e-04 9.99964343e-01 -8.41512424e-03 5.78741119e-01] [ 6.22490126e-02 8.35489208e-03 9.98025679e-01 5.03695632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.63463044 meters Centerline goodness [0,1] 0.32794844253490874 Centerline is valid? [False, False] Translation: X:12.27, Y:0.58, Z:0.50 [[ 9.98059487e-01 -1.33825544e-03 -6.22532716e-02 1.22723091e+01] [ 7.92618362e-04 9.99961065e-01 -8.78866353e-03 5.81337371e-01] [ 6.22626092e-02 8.72226593e-03 9.98021688e-01 5.04056188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66463044 meters Centerline goodness [0,1] 0.3317459975435799 Centerline is valid? [False, False] Translation: X:12.27, Y:0.58, Z:0.50 [[ 9.98057867e-01 -1.45310616e-03 -6.22766608e-02 1.22723520e+01] [ 8.85837271e-04 9.99957878e-01 -9.13549453e-03 5.83689782e-01] [ 6.22873125e-02 9.06258520e-03 9.98017114e-01 5.04121235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.69463044 meters Centerline goodness [0,1] 0.32032575500509 Centerline is valid? [False, False] Translation: X:12.29, Y:0.59, Z:0.51 [[ 9.97892018e-01 -9.36839570e-03 -6.42164624e-02 1.22939675e+01] [ 8.81791969e-03 9.99921955e-01 -8.85026763e-03 5.91961650e-01] [ 6.42943635e-02 8.26535581e-03 9.97896748e-01 5.06578736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72463044 meters Centerline goodness [0,1] 0.32795340740581547 Centerline is valid? [False, False] Translation: X:12.27, Y:0.59, Z:0.50 [[ 9.97904709e-01 -1.19727886e-03 -6.46897126e-02 1.22745624e+01] [ 5.49040470e-04 9.99949471e-01 -1.00375820e-02 5.90965273e-01] [ 6.46984617e-02 9.98103309e-03 9.97854943e-01 5.03980601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.75463044 meters Centerline goodness [0,1] 0.3306162936128003 Centerline is valid? [False, False] Translation: X:12.27, Y:0.59, Z:0.50 [[ 9.97897908e-01 -1.33379833e-03 -6.47918705e-02 1.22748790e+01] [ 6.64887736e-04 9.99946274e-01 -1.03444550e-02 5.92789842e-01] [ 6.48021869e-02 1.02796307e-02 9.97845181e-01 5.03940791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78463044 meters Centerline goodness [0,1] 0.3265384697653526 Centerline is valid? [False, False] Translation: X:12.29, Y:0.60, Z:0.51 [[ 9.97844197e-01 -9.13158142e-03 -6.49890175e-02 1.22945071e+01] [ 8.54418639e-03 9.99920152e-01 -9.31058038e-03 5.98611647e-01] [ 6.50688486e-02 8.73523033e-03 9.97842543e-01 5.06903773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.81463044000003 meters Centerline goodness [0,1] 0.3304898594613038 Centerline is valid? [False, False] Translation: X:12.29, Y:0.60, Z:0.51 [[ 9.97840850e-01 -9.25579190e-03 -6.50228248e-02 1.22944547e+01] [ 8.64348411e-03 9.99915676e-01 -9.69182551e-03 6.01179355e-01] [ 6.51070473e-02 9.10887565e-03 9.97836710e-01 5.07158650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84463044 meters Centerline goodness [0,1] 0.33278060125764497 Centerline is valid? [False, False] Translation: X:12.27, Y:0.60, Z:0.50 [[ 9.97902552e-01 -8.74271409e-04 -6.47281457e-02 1.22741316e+01] [ 1.74233283e-04 9.99941448e-01 -1.08199049e-02 6.01266184e-01] [ 6.47338153e-02 1.07859329e-02 9.97844275e-01 5.04891072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.87463044000003 meters Centerline goodness [0,1] 0.3315350662089259 Centerline is valid? [False, False] Translation: X:12.30, Y:0.61, Z:0.51 [[ 9.97919187e-01 -6.19623725e-03 -6.41786831e-02 1.22957516e+01] [ 5.69773769e-03 9.99952185e-01 -7.94748647e-03 6.08306367e-01] [ 6.42248589e-02 7.56527593e-03 9.97906776e-01 5.06587293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90463044 meters Centerline goodness [0,1] 0.3367080479452055 Centerline is valid? [False, False] Translation: X:12.30, Y:0.61, Z:0.51 [[ 9.97916637e-01 -6.34347344e-03 -6.42039332e-02 1.22958112e+01] [ 5.81672243e-03 9.99947903e-01 -8.38794204e-03 6.10979558e-01] [ 6.42537970e-02 7.99701046e-03 9.97901547e-01 5.06666303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.93463044000003 meters Centerline goodness [0,1] 0.3383196853439938 Centerline is valid? [False, False] Translation: X:12.30, Y:0.61, Z:0.51 [[ 9.97910769e-01 -6.47439624e-03 -6.42820217e-02 1.22960081e+01] [ 5.92113695e-03 9.99943805e-01 -8.79353298e-03 6.13496321e-01] [ 6.43353422e-02 8.39453861e-03 9.97893028e-01 5.06713694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96463044 meters Centerline goodness [0,1] 0.33459905710689675 Centerline is valid? [False, False] Translation: X:12.30, Y:0.62, Z:0.51 [[ 9.97900686e-01 -6.62610644e-03 -6.44229382e-02 1.22963143e+01] [ 6.04511766e-03 9.99939323e-01 -9.20910063e-03 6.15872793e-01] [ 6.44800496e-02 8.80032360e-03 9.97880192e-01 5.06816205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99463044000004 meters Centerline goodness [0,1] 0.34248199732654905 Centerline is valid? [False, False] Translation: X:12.30, Y:0.62, Z:0.51 [[ 9.97878873e-01 -6.92059547e-03 -6.47291317e-02 1.22968246e+01] [ 6.28421122e-03 9.99929952e-01 -1.00299367e-02 6.21613174e-01] [ 6.47940107e-02 9.60189040e-03 9.97852464e-01 5.07192807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02463044 meters Centerline goodness [0,1] 0.33998367837814625 Centerline is valid? [False, False] Translation: X:12.30, Y:0.62, Z:0.51 [[ 9.97877102e-01 -4.09393999e-03 -6.49963703e-02 1.22975732e+01] [ 3.61140461e-03 9.99965054e-01 -7.53978966e-03 6.23870516e-01] [ 6.50249664e-02 7.28905527e-03 9.97857016e-01 5.07035112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05463044000004 meters Centerline goodness [0,1] 0.33399800598205387 Centerline is valid? [False, False] Translation: X:12.32, Y:0.63, Z:0.51 [[ 9.97833401e-01 -9.63958560e-03 -6.50813465e-02 1.23189591e+01] [ 9.36424642e-03 9.99945874e-01 -4.53441738e-03 6.28059085e-01] [ 6.51215338e-02 3.91515535e-03 9.97869660e-01 5.08774018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08463044 meters Centerline goodness [0,1] 0.33902669298772636 Centerline is valid? [False, False] Translation: X:12.30, Y:0.63, Z:0.51 [[ 9.97878081e-01 -9.89366917e-04 -6.51026664e-02 1.22983505e+01] [ 6.28432374e-04 9.99984322e-01 -5.56432683e-03 6.28787157e-01] [ 6.51071508e-02 5.51160716e-03 9.97863057e-01 5.06486203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11463044000004 meters Centerline goodness [0,1] 0.33906066117470846 Centerline is valid? [False, False] Translation: X:12.30, Y:0.63, Z:0.51 [[ 9.97873133e-01 -1.19392701e-03 -6.51750386e-02 1.22984899e+01] [ 7.98273044e-04 9.99981099e-01 -6.09634035e-03 6.31793147e-01] [ 6.51810852e-02 6.03134676e-03 9.97855224e-01 5.06630461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14463044 meters Centerline goodness [0,1] 0.3369514022693213 Centerline is valid? [False, False] Translation: X:12.30, Y:0.64, Z:0.51 [[ 9.97870861e-01 -1.70170235e-03 -6.51985386e-02 1.22986135e+01] [ 1.24069604e-03 9.99973949e-01 -7.11064387e-03 6.36690343e-01] [ 6.52089403e-02 7.01461275e-03 9.97846977e-01 5.06639192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17463044000004 meters Centerline goodness [0,1] 0.33687213142881656 Centerline is valid? [False, False] Translation: X:12.30, Y:0.64, Z:0.51 [[ 9.97866900e-01 -1.85060871e-03 -6.52550787e-02 1.22988156e+01] [ 1.37262289e-03 9.99971907e-01 -7.36895544e-03 6.38025079e-01] [ 6.52668825e-02 7.26366611e-03 9.97841407e-01 5.06557194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20463044 meters Centerline goodness [0,1] 0.3364588485773887 Centerline is valid? [False, False] Translation: X:12.30, Y:0.64, Z:0.51 [[ 9.97848269e-01 -1.90777506e-03 -6.55377242e-02 1.22996066e+01] [ 1.41996797e-03 9.99970949e-01 -7.48892426e-03 6.38993885e-01] [ 6.55501074e-02 7.37974864e-03 9.97821989e-01 5.06434354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23463044 meters Centerline goodness [0,1] 0.334272260089879 Centerline is valid? [False, False] Translation: X:12.30, Y:0.64, Z:0.51 [[ 9.97806519e-01 -2.20101260e-03 -6.61612115e-02 1.23016385e+01] [ 1.69097507e-03 9.99968430e-01 -7.76402301e-03 6.40176397e-01] [ 6.61762115e-02 7.63511581e-03 9.97778740e-01 5.05749278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26463044 meters Centerline goodness [0,1] 0.33302586983568583 Centerline is valid? [False, False] Translation: X:12.30, Y:0.64, Z:0.51 [[ 9.97787963e-01 -2.33372678e-03 -6.64359456e-02 1.23025204e+01] [ 1.81863849e-03 9.99967828e-01 -7.81257942e-03 6.40000570e-01] [ 6.64520406e-02 7.67447473e-03 9.97760106e-01 5.05446242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29463044 meters Centerline goodness [0,1] 0.33094310544115757 Centerline is valid? [False, False] Translation: X:12.30, Y:0.64, Z:0.51 [[ 9.97775423e-01 -2.42873761e-03 -6.66206179e-02 1.23030577e+01] [ 1.91031339e-03 9.99967408e-01 -7.84433879e-03 6.39926869e-01] [ 6.66374984e-02 7.69962220e-03 9.97747543e-01 5.05327771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32463044 meters Centerline goodness [0,1] 0.33377092928162533 Centerline is valid? [False, False] Translation: X:12.30, Y:0.64, Z:0.51 [[ 9.97775994e-01 -2.44094059e-03 -6.66116165e-02 1.23029036e+01] [ 1.92431694e-03 9.99967581e-01 -7.81881961e-03 6.39973175e-01] [ 6.66285423e-02 7.67324865e-03 9.97748344e-01 5.05519308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35463044 meters Centerline goodness [0,1] 0.3303169352256963 Centerline is valid? [False, False] Translation: X:12.30, Y:0.64, Z:0.51 [[ 9.97773004e-01 -2.39379921e-03 -6.66580934e-02 1.23027792e+01] [ 1.87974274e-03 9.99968019e-01 -7.77349113e-03 6.40111847e-01] [ 6.66745698e-02 7.63087953e-03 9.97745595e-01 5.05888901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38463044 meters Centerline goodness [0,1] 0.33359025413749543 Centerline is valid? [False, False] Translation: X:12.30, Y:0.64, Z:0.51 [[ 9.97775597e-01 -2.40572118e-03 -6.66188411e-02 1.23024241e+01] [ 1.88787733e-03 9.99967523e-01 -7.83509760e-03 6.40610602e-01] [ 6.66355266e-02 7.69190098e-03 9.97747734e-01 5.06271134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41463044 meters Centerline goodness [0,1] 0.33542461677769875 Centerline is valid? [False, False] Translation: X:12.30, Y:0.64, Z:0.51 [[ 9.97782082e-01 -2.39671787e-03 -6.65219635e-02 1.23020341e+01] [ 1.86959752e-03 9.99966371e-01 -7.98512749e-03 6.41934858e-01] [ 6.65388645e-02 7.84304784e-03 9.97753009e-01 5.06599231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44463044 meters Centerline goodness [0,1] 0.3330778402316471 Centerline is valid? [False, False] Translation: X:12.32, Y:0.65, Z:0.51 [[ 9.97787908e-01 -1.00717467e-02 -6.57103529e-02 1.23211575e+01] [ 9.66578527e-03 9.99932204e-01 -6.49304450e-03 6.45278865e-01] [ 6.57712943e-02 5.84353913e-03 9.97817614e-01 5.09228719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47463044 meters Centerline goodness [0,1] 0.33393370213130924 Centerline is valid? [False, False] Translation: X:12.32, Y:0.65, Z:0.51 [[ 9.97792018e-01 -1.00106198e-02 -6.56572644e-02 1.23209095e+01] [ 9.60113971e-03 9.99932461e-01 -6.54920913e-03 6.46202248e-01] [ 6.57183916e-02 5.90436403e-03 9.97820741e-01 5.09454096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.50463044 meters Centerline goodness [0,1] 0.3352732252128888 Centerline is valid? [False, False] Translation: X:12.32, Y:0.65, Z:0.51 [[ 9.97792754e-01 -9.99605650e-03 -6.56482901e-02 1.23208282e+01] [ 9.57990806e-03 9.99931994e-01 -6.65080313e-03 6.47102114e-01] [ 6.57103074e-02 6.00721859e-03 9.97820660e-01 5.09606233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53463044 meters Centerline goodness [0,1] 0.3326000598009483 Centerline is valid? [False, False] Translation: X:12.32, Y:0.65, Z:0.51 [[ 9.97781933e-01 -1.00400541e-02 -6.58058584e-02 1.23211242e+01] [ 9.61508076e-03 9.99930846e-01 -6.77152375e-03 6.47690211e-01] [ 6.58692941e-02 6.12377542e-03 9.97809469e-01 5.09752250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56463044000003 meters Centerline goodness [0,1] 0.33352658249592027 Centerline is valid? [False, False] Translation: X:12.32, Y:0.65, Z:0.51 [[ 9.97765655e-01 -1.00745390e-02 -6.60469684e-02 1.23214488e+01] [ 9.63409006e-03 9.99929203e-01 -6.98384092e-03 6.49112328e-01] [ 6.61126514e-02 6.33193416e-03 9.97792074e-01 5.10128028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59463044 meters Centerline goodness [0,1] 0.33553842860201244 Centerline is valid? [False, False] Translation: X:12.32, Y:0.65, Z:0.51 [[ 9.97768830e-01 -1.00763847e-02 -6.59986953e-02 1.23210988e+01] [ 9.62835701e-03 9.99928418e-01 -7.10300187e-03 6.50119459e-01] [ 6.60655436e-02 6.45169487e-03 9.97794428e-01 5.10477961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62463044000003 meters Centerline goodness [0,1] 0.3365649775939331 Centerline is valid? [False, False] Translation: X:12.32, Y:0.65, Z:0.51 [[ 9.97778328e-01 -1.00876951e-02 -6.58532192e-02 1.23202776e+01] [ 9.62021775e-03 9.99926254e-01 -7.41203469e-03 6.52682444e-01] [ 6.59231331e-02 6.76204528e-03 9.97801792e-01 5.11180196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65463044 meters Centerline goodness [0,1] 0.3373729140749002 Centerline is valid? [False, False] Translation: X:12.32, Y:0.65, Z:0.51 [[ 9.97765322e-01 -1.01645974e-02 -6.60381970e-02 1.23207109e+01] [ 9.67620734e-03 9.99923451e-01 -7.71122227e-03 6.54547113e-01] [ 6.61115233e-02 7.05499088e-03 9.97787299e-01 5.11234222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68463044000003 meters Centerline goodness [0,1] 0.33838632903792965 Centerline is valid? [False, False] Translation: X:12.32, Y:0.66, Z:0.51 [[ 9.97794381e-01 -6.99185754e-03 -6.60112584e-02 1.23208562e+01] [ 6.68214054e-03 9.99965612e-01 -4.91150785e-03 6.56142044e-01] [ 6.60433290e-02 4.45957843e-03 9.97806790e-01 5.11000465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71463044 meters Centerline goodness [0,1] 0.33733727303871186 Centerline is valid? [False, False] Translation: X:12.32, Y:0.66, Z:0.51 [[ 9.97802702e-01 -3.76258574e-03 -6.61484054e-02 1.23216311e+01] [ 3.63279223e-03 9.99991233e-01 -2.08233068e-03 6.57954297e-01] [ 6.61556605e-02 1.83745176e-03 9.97807623e-01 5.10487038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74463044000004 meters Centerline goodness [0,1] 0.3374433441453827 Centerline is valid? [False, False] Translation: X:12.32, Y:0.66, Z:0.51 [[ 9.97782474e-01 -3.77237169e-03 -6.64522684e-02 1.23224060e+01] [ 3.61598440e-03 9.99990403e-01 -2.47349908e-03 6.61203631e-01] [ 6.64609616e-02 2.22772367e-03 9.97786539e-01 5.10441775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77463044 meters Centerline goodness [0,1] 0.33875443691513396 Centerline is valid? [False, False] Translation: X:12.32, Y:0.66, Z:0.51 [[ 9.97757386e-01 -3.82373379e-03 -6.68249806e-02 1.23233545e+01] [ 3.63797177e-03 9.99989174e-01 -2.90129814e-03 6.64553272e-01] [ 6.68353509e-02 2.65168426e-03 9.97760495e-01 5.10438470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80463044000004 meters Centerline goodness [0,1] 0.3373398295808203 Centerline is valid? [False, False] Translation: X:12.32, Y:0.67, Z:0.51 [[ 9.97724927e-01 -4.01446293e-03 -6.72967598e-02 1.23244740e+01] [ 3.77933062e-03 9.99986303e-01 -3.62091101e-03 6.70865640e-01] [ 6.73103740e-02 3.35833647e-03 9.97726433e-01 5.10514644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83463044 meters Centerline goodness [0,1] 0.3383666981699459 Centerline is valid? [False, False] Translation: X:12.32, Y:0.67, Z:0.51 [[ 9.97709234e-01 -4.12751257e-03 -6.75222021e-02 1.23248757e+01] [ 3.86901751e-03 9.99984680e-01 -3.95862138e-03 6.73032013e-01] [ 6.75375069e-02 3.68830852e-03 9.97709919e-01 5.10753665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86463044000004 meters Centerline goodness [0,1] 0.3402126464105113 Centerline is valid? [False, False] Translation: X:12.33, Y:0.68, Z:0.51 [[ 9.97691731e-01 -4.26744388e-03 -6.77716631e-02 1.23254460e+01] [ 3.98361453e-03 9.99982723e-01 -4.32261598e-03 6.75232341e-01] [ 6.77889387e-02 4.04266203e-03 9.97691494e-01 5.10802085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89463044 meters Centerline goodness [0,1] 0.3388759489302967 Centerline is valid? [False, False] Translation: X:12.33, Y:0.68, Z:0.51 [[ 9.97678203e-01 -4.35257121e-03 -6.79651304e-02 1.23258833e+01] [ 4.04867571e-03 9.99981185e-01 -4.60844865e-03 6.77226348e-01] [ 6.79839102e-02 4.32257999e-03 9.97677054e-01 5.10881063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92463044000004 meters Centerline goodness [0,1] 0.3388295252575002 Centerline is valid? [False, False] Translation: X:12.33, Y:0.68, Z:0.51 [[ 9.97661125e-01 -4.42762746e-03 -6.82105298e-02 1.23263650e+01] [ 4.10352887e-03 9.99979620e-01 -4.89082842e-03 6.79150010e-01] [ 6.82307944e-02 4.59948551e-03 9.97658961e-01 5.11117303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95463044 meters Centerline goodness [0,1] 0.34183213964060555 Centerline is valid? [False, False] Translation: X:12.33, Y:0.68, Z:0.51 [[ 9.97659810e-01 -4.49691278e-03 -6.82252193e-02 1.23261853e+01] [ 4.15088751e-03 9.99977799e-01 -5.21272479e-03 6.81485200e-01] [ 6.82471457e-02 4.91733081e-03 9.97656327e-01 5.11450570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98463044 meters Centerline goodness [0,1] 0.344227944353236 Centerline is valid? [False, False] Translation: X:12.32, Y:0.69, Z:0.51 [[ 9.97715655e-01 -2.13688457e-03 -6.75196741e-02 1.23229294e+01] [ 1.89636234e-03 9.99991627e-01 -3.62614732e-03 6.87194883e-01] [ 6.75268574e-02 3.48982218e-03 9.97711353e-01 5.13189443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01463044 meters Centerline goodness [0,1] 0.3444480414373584 Centerline is valid? [False, False] Translation: X:12.32, Y:0.69, Z:0.51 [[ 9.97706764e-01 -2.17082067e-03 -6.76498357e-02 1.23228829e+01] [ 1.90256065e-03 9.99990071e-01 -4.02959577e-03 6.90200884e-01] [ 6.76579116e-02 3.89164704e-03 9.97700988e-01 5.13737137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04463044 meters Centerline goodness [0,1] 0.345569565778715 Centerline is valid? [False, False] Translation: X:12.32, Y:0.69, Z:0.51 [[ 9.97697550e-01 -2.18681421e-03 -6.77850758e-02 1.23229121e+01] [ 1.89043289e-03 9.99988373e-01 -4.43620538e-03 6.93180586e-01] [ 6.77939889e-02 4.29784811e-03 9.97690084e-01 5.14204894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.07463044 meters Centerline goodness [0,1] 0.3468944766817107 Centerline is valid? [False, False] Translation: X:12.32, Y:0.70, Z:0.51 [[ 9.97680204e-01 -2.17762917e-03 -6.80401985e-02 1.23231931e+01] [ 1.85529506e-03 9.99986758e-01 -4.80023844e-03 6.95964007e-01] [ 6.80497506e-02 4.66286822e-03 9.97671033e-01 5.14690687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10463044 meters Centerline goodness [0,1] 0.3461365051420229 Centerline is valid? [False, False] Translation: X:12.32, Y:0.70, Z:0.52 [[ 9.97730172e-01 3.55433491e-04 -6.73377833e-02 1.23203080e+01] [-5.64651196e-04 9.99995073e-01 -3.08798098e-03 7.01553088e-01] [ 6.73363540e-02 3.11899416e-03 9.97725457e-01 5.16036418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.13463044 meters Centerline goodness [0,1] 0.3466329352743177 Centerline is valid? [False, False] Translation: X:12.32, Y:0.70, Z:0.52 [[ 9.97740253e-01 3.36699614e-04 -6.71883494e-02 1.23198453e+01] [-5.66681392e-04 9.99994046e-01 -3.40391196e-03 7.03879061e-01] [ 6.71868033e-02 3.43429437e-03 9.97734503e-01 5.16260808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16463044 meters Centerline goodness [0,1] 0.3462561111587614 Centerline is valid? [False, False] Translation: X:12.32, Y:0.71, Z:0.52 [[ 9.97747747e-01 2.66110437e-04 -6.70772913e-02 1.23196103e+01] [-5.19757570e-04 9.99992781e-01 -3.76399261e-03 7.06164601e-01] [ 6.70758055e-02 3.79037908e-03 9.97740682e-01 5.16280765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.19463044 meters Centerline goodness [0,1] 0.346790757381258 Centerline is valid? [False, False] Translation: X:12.32, Y:0.71, Z:0.52 [[ 9.97748227e-01 2.23793988e-04 -6.70703071e-02 1.23196004e+01] [-4.96885776e-04 9.99991655e-01 -4.05506987e-03 7.08148159e-01] [ 6.70688399e-02 4.07926505e-03 9.97740011e-01 5.16303799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22463044 meters Centerline goodness [0,1] 0.3464580467675378 Centerline is valid? [False, False] Translation: X:12.32, Y:0.71, Z:0.52 [[ 9.97738419e-01 1.94526305e-04 -6.72161369e-02 1.23201020e+01] [-4.86805197e-04 9.99990498e-01 -4.33199236e-03 7.10088591e-01] [ 6.72146555e-02 4.35491637e-03 9.97729034e-01 5.16177850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.25463044 meters Centerline goodness [0,1] 0.34487484208046937 Centerline is valid? [False, False] Translation: X:12.32, Y:0.71, Z:0.52 [[ 9.97677864e-01 7.62928681e-04 -6.81050553e-02 1.23227124e+01] [-1.05369975e-03 9.99990483e-01 -4.23362838e-03 7.13067264e-01] [ 6.81011772e-02 4.29555960e-03 9.97669173e-01 5.15677161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28463044 meters Centerline goodness [0,1] 0.34493522042160174 Centerline is valid? [False, False] Translation: X:12.32, Y:0.71, Z:0.52 [[ 9.97661393e-01 9.14128112e-04 -6.83440458e-02 1.23232987e+01] [-1.21207119e-03 9.99989942e-01 -4.31811890e-03 7.14509779e-01] [ 6.83394111e-02 4.39085837e-03 9.97652467e-01 5.15687441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.31463044000003 meters Centerline goodness [0,1] 0.34475966170645544 Centerline is valid? [False, False] Translation: X:12.32, Y:0.72, Z:0.52 [[ 9.97649502e-01 9.28409940e-04 -6.85172249e-02 1.23236068e+01] [-1.24121668e-03 9.99989001e-01 -4.52294257e-03 7.16000166e-01] [ 6.85122722e-02 4.59735612e-03 9.97639681e-01 5.15868999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34463044 meters Centerline goodness [0,1] 0.3452460213483387 Centerline is valid? [False, False] Translation: X:12.32, Y:0.72, Z:0.52 [[ 9.97635814e-01 9.56362774e-04 -6.87158500e-02 1.23240617e+01] [-1.28060790e-03 9.99988253e-01 -4.67474040e-03 7.17160402e-01] [ 6.87105721e-02 4.75168650e-03 9.97625320e-01 5.15881521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.37463044000003 meters Centerline goodness [0,1] 0.3423607998804874 Centerline is valid? [False, False] Translation: X:12.33, Y:0.72, Z:0.52 [[ 9.97584973e-01 1.44634214e-03 -6.94415580e-02 1.23258483e+01] [-1.75396712e-03 9.99988917e-01 -4.36921556e-03 7.17449337e-01] [ 6.94344690e-02 4.48046200e-03 9.97576453e-01 5.15805177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40463044 meters Centerline goodness [0,1] 0.3388992616481371 Centerline is valid? [False, False] Translation: X:12.33, Y:0.72, Z:0.52 [[ 9.97563992e-01 1.65382185e-03 -6.97376938e-02 1.23268147e+01] [-1.94728591e-03 9.99989533e-01 -4.14033997e-03 7.16905708e-01] [ 6.97301165e-02 4.26605329e-03 9.97556771e-01 5.15554456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.43463044000003 meters Centerline goodness [0,1] 0.3405360348807387 Centerline is valid? [False, False] Translation: X:12.33, Y:0.72, Z:0.52 [[ 9.97549172e-01 1.77571816e-03 -6.99463756e-02 1.23273314e+01] [-2.05647635e-03 9.99990115e-01 -3.94210095e-03 7.16008586e-01] [ 6.99386842e-02 4.07628261e-03 9.97542964e-01 5.15543563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46463044 meters Centerline goodness [0,1] 0.3390927341847849 Centerline is valid? [False, False] Translation: X:12.33, Y:0.71, Z:0.52 [[ 9.97536571e-01 1.86659313e-03 -7.01235048e-02 1.23277763e+01] [-2.13578184e-03 9.99990635e-01 -3.76399958e-03 7.14970936e-01] [ 7.01158223e-02 3.90449574e-03 9.97531216e-01 5.15526978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49463044000004 meters Centerline goodness [0,1] 0.3384942125942445 Centerline is valid? [False, False] Translation: X:12.33, Y:0.71, Z:0.52 [[ 9.97526387e-01 1.97281323e-03 -7.02653263e-02 1.23281387e+01] [-2.23242399e-03 9.99990969e-01 -3.61638440e-03 7.14191223e-01] [ 7.02575573e-02 3.76430087e-03 9.97521782e-01 5.15540449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52463044 meters Centerline goodness [0,1] 0.3384942125942445 Centerline is valid? [False, False] Translation: X:12.33, Y:0.71, Z:0.52 [[ 9.97526387e-01 1.97281323e-03 -7.02653263e-02 1.23281387e+01] [-2.23242399e-03 9.99990969e-01 -3.61638440e-03 7.14191223e-01] [ 7.02575573e-02 3.76430087e-03 9.97521782e-01 5.15540449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55463044000004 meters Centerline goodness [0,1] 0.3383984975243298 Centerline is valid? [False, False] Translation: X:12.33, Y:0.71, Z:0.52 [[ 9.97518728e-01 2.05328535e-03 -7.03716607e-02 1.23280976e+01] [-2.30510464e-03 9.99991227e-01 -3.49739822e-03 7.13583148e-01] [ 7.03638622e-02 3.65093427e-03 9.97514710e-01 5.15918928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58463044 meters Centerline goodness [0,1] 0.34105014495865993 Centerline is valid? [False, False] Translation: X:12.33, Y:0.71, Z:0.52 [[ 9.97516415e-01 2.38366184e-03 -7.03940364e-02 1.23275692e+01] [-2.61287336e-03 9.99991580e-01 -3.16422121e-03 7.12620004e-01] [ 7.03859013e-02 3.34029330e-03 9.97514244e-01 5.16671505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61463044000004 meters Centerline goodness [0,1] 0.343576923905782 Centerline is valid? [False, False] Translation: X:12.33, Y:0.71, Z:0.52 [[ 9.97516392e-01 2.49470462e-03 -7.03905115e-02 1.23274496e+01] [-2.71515037e-03 9.99991705e-01 -3.03624837e-03 7.12088167e-01] [ 7.03823530e-02 3.21982834e-03 9.97514891e-01 5.16841538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64463044 meters Centerline goodness [0,1] 0.342694351379612 Centerline is valid? [False, False] Translation: X:12.35, Y:0.71, Z:0.52 [[ 9.97537318e-01 -5.26566295e-03 -6.99397779e-02 1.23467320e+01] [ 5.16723199e-03 9.99985389e-01 -1.58821317e-03 7.14587842e-01] [ 6.99471190e-02 1.22290685e-03 9.97549951e-01 5.19054020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67463044000004 meters Centerline goodness [0,1] 0.3431745417821612 Centerline is valid? [False, False] Translation: X:12.35, Y:0.71, Z:0.52 [[ 9.97545347e-01 -5.16609544e-03 -6.98325952e-02 1.23463890e+01] [ 5.07832917e-03 9.99986077e-01 -1.43428555e-03 7.13797846e-01] [ 6.98390326e-02 1.07613198e-03 9.97557693e-01 5.19124756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70463044 meters Centerline goodness [0,1] 0.34569470780899847 Centerline is valid? [False, False] Translation: X:12.34, Y:0.71, Z:0.52 [[ 9.97587017e-01 -4.90243857e-03 -6.92539496e-02 1.23445966e+01] [ 4.84685213e-03 9.99987783e-01 -9.70658352e-04 7.11643788e-01] [ 6.92578621e-02 6.32652517e-04 9.97598591e-01 5.19716950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73463044 meters Centerline goodness [0,1] 0.3436740836289369 Centerline is valid? [False, False] Translation: X:12.34, Y:0.71, Z:0.52 [[ 9.97602919e-01 -4.80072181e-03 -6.90316555e-02 1.23438396e+01] [ 4.76134174e-03 9.99988395e-01 -7.34991495e-04 7.10169023e-01] [ 6.90343829e-02 4.04546358e-04 9.97614199e-01 5.20010281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76463044 meters Centerline goodness [0,1] 0.3444099114441417 Centerline is valid? [False, False] Translation: X:12.36, Y:0.70, Z:0.52 [[ 9.97607778e-01 1.94833451e-03 -6.91008376e-02 1.23622301e+01] [-2.08457593e-03 9.99996023e-01 -1.89957756e-03 7.03561146e-01] [ 6.90968618e-02 2.03907929e-03 9.97607872e-01 5.23152719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.79463044 meters Centerline goodness [0,1] 0.3477294790206019 Centerline is valid? [False, False] Translation: X:12.34, Y:0.70, Z:0.52 [[ 9.97594879e-01 -5.56183209e-03 -6.90906938e-02 1.23436463e+01] [ 5.52228115e-03 9.99984461e-01 -7.63435165e-04 7.04531251e-01] [ 6.90938663e-02 3.80060774e-04 9.97610091e-01 5.20161440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82463044 meters Centerline goodness [0,1] 0.34559845972831316 Centerline is valid? [False, False] Translation: X:12.34, Y:0.70, Z:0.52 [[ 9.97575002e-01 -5.37845105e-03 -6.93915489e-02 1.23447387e+01] [ 5.36921973e-03 9.99985535e-01 -3.19547072e-04 7.01916160e-01] [ 6.93922637e-02 -5.38063024e-05 9.97589450e-01 5.19720871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85463044 meters Centerline goodness [0,1] 0.34228129990073797 Centerline is valid? [False, False] Translation: X:12.35, Y:0.70, Z:0.52 [[ 9.97556042e-01 -5.06769648e-03 -6.96868784e-02 1.23458226e+01] [ 5.11313621e-03 9.99986816e-01 4.73694004e-04 6.96848801e-01] [ 6.96835591e-02 -8.28854818e-04 9.97568802e-01 5.19318247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88463044 meters Centerline goodness [0,1] 0.3438298237705798 Centerline is valid? [False, False] Translation: X:12.35, Y:0.69, Z:0.52 [[ 9.97551112e-01 -4.88909311e-03 -6.97701659e-02 1.23458081e+01] [ 4.96200603e-03 9.99987309e-01 8.71770416e-04 6.94492217e-01] [ 6.97650183e-02 -1.21583553e-03 9.97562712e-01 5.19643226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91463044 meters Centerline goodness [0,1] 0.34484694097836877 Centerline is valid? [False, False] Translation: X:12.35, Y:0.69, Z:0.52 [[ 9.97551474e-01 -4.72468145e-03 -6.97763166e-02 1.23456605e+01] [ 4.81918328e-03 9.99987684e-01 1.18607747e-03 6.92815771e-01] [ 6.97698534e-02 -1.51943819e-03 9.97561957e-01 5.19854399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94463044 meters Centerline goodness [0,1] 0.34252365524492034 Centerline is valid? [False, False] Translation: X:12.37, Y:0.69, Z:0.52 [[ 9.97510209e-01 2.96854929e-03 -7.04597055e-02 1.23651327e+01] [-2.92608758e-03 9.99995470e-01 7.05844688e-04 6.85089980e-01] [ 7.04614816e-02 -4.97916014e-04 9.97514377e-01 5.23054804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97463044 meters Centerline goodness [0,1] 0.34242767645235095 Centerline is valid? [False, False] Translation: X:12.37, Y:0.68, Z:0.52 [[ 9.97504368e-01 3.16114666e-03 -7.05339818e-02 1.23654804e+01] [-3.09925686e-03 9.99994710e-01 9.86867382e-04 6.83799240e-01] [ 7.05367283e-02 -7.65801598e-04 9.97508889e-01 5.22856979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.00463044 meters Centerline goodness [0,1] 0.3409713894123694 Centerline is valid? [False, False] Translation: X:12.37, Y:0.68, Z:0.52 [[ 9.97495492e-01 3.32019274e-03 -7.06521018e-02 1.23658152e+01] [-3.24310397e-03 9.99994014e-01 1.20578541e-03 6.82727759e-01] [ 7.06556824e-02 -9.73633401e-04 9.97500289e-01 5.22752606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03463044 meters Centerline goodness [0,1] 0.34120638751804844 Centerline is valid? [False, False] Translation: X:12.37, Y:0.68, Z:0.52 [[ 9.97480345e-01 3.51850971e-03 -7.08560598e-02 1.23665099e+01] [-3.42358582e-03 9.99993072e-01 1.46107158e-03 6.81650664e-01] [ 7.08607097e-02 -1.21480838e-03 9.97485481e-01 5.22434906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06463044000003 meters Centerline goodness [0,1] 0.337738966249705 Centerline is valid? [False, False] Translation: X:12.37, Y:0.68, Z:0.52 [[ 9.97462489e-01 3.73607430e-03 -7.10958820e-02 1.23673585e+01] [-3.61846095e-03 9.99991864e-01 1.78301238e-03 6.80256125e-01] [ 7.11019650e-02 -1.52123030e-03 9.97467892e-01 5.22086612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09463044 meters Centerline goodness [0,1] 0.3407131154608951 Centerline is valid? [False, False] Translation: X:12.37, Y:0.68, Z:0.52 [[ 9.97453945e-01 3.88262035e-03 -7.12078119e-02 1.23677106e+01] [-3.74734197e-03 9.99990912e-01 2.03326051e-03 6.78909043e-01] [ 7.12150591e-02 -1.76124369e-03 9.97459429e-01 5.21942187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12463044000003 meters Centerline goodness [0,1] 0.3383532423208191 Centerline is valid? [False, False] Translation: X:12.39, Y:0.68, Z:0.52 [[ 9.97499965e-01 -3.63076227e-03 -7.05736243e-02 1.23875886e+01] [ 3.88738872e-03 9.99986321e-01 3.49928906e-03 6.79954253e-01] [ 7.05599539e-02 -3.76488783e-03 9.97500435e-01 5.24127677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15463044 meters Centerline goodness [0,1] 0.3420113737107272 Centerline is valid? [False, False] Translation: X:12.37, Y:0.67, Z:0.52 [[ 9.97538556e-01 4.66968488e-03 -6.99644405e-02 1.23680947e+01] [-4.49096604e-03 9.99986239e-01 2.71150386e-03 6.74117185e-01] [ 6.99761396e-02 -2.39062172e-03 9.97545801e-01 5.21549855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18463044000003 meters Centerline goodness [0,1] 0.3405957629852673 Centerline is valid? [False, False] Translation: X:12.37, Y:0.67, Z:0.52 [[ 9.97542186e-01 4.91303111e-03 -6.98959878e-02 1.23680391e+01] [-4.71723812e-03 9.99984475e-01 2.96599005e-03 6.73741999e-01] [ 6.99094747e-02 -2.62898418e-03 9.97549875e-01 5.21451690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21463044 meters Centerline goodness [0,1] 0.3394740240175612 Centerline is valid? [False, False] Translation: X:12.37, Y:0.67, Z:0.52 [[ 9.97547864e-01 5.07050178e-03 -6.98036458e-02 1.23681152e+01] [-4.86817147e-03 9.99983443e-01 3.06837516e-03 6.73817171e-01] [ 6.98180482e-02 -2.72103497e-03 9.97556032e-01 5.21054638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24463044000004 meters Centerline goodness [0,1] 0.3413574271270302 Centerline is valid? [False, False] Translation: X:12.37, Y:0.67, Z:0.52 [[ 9.97549536e-01 5.12867845e-03 -6.97754926e-02 1.23683030e+01] [-4.92831227e-03 9.99983224e-01 3.04342956e-03 6.74109794e-01] [ 6.97899308e-02 -2.69209633e-03 9.97558078e-01 5.20692509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27463044 meters Centerline goodness [0,1] 0.33729711331872625 Centerline is valid? [False, False] Translation: X:12.39, Y:0.67, Z:0.52 [[ 9.97454576e-01 1.29608798e-02 -7.01169331e-02 1.23895358e+01] [-1.28664785e-02 9.99915607e-01 1.79782780e-03 6.72910297e-01] [ 7.01343172e-02 -8.91093552e-04 9.97537159e-01 5.22879145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30463044000004 meters Centerline goodness [0,1] 0.3405323523046959 Centerline is valid? [False, False] Translation: X:12.37, Y:0.68, Z:0.52 [[ 9.97450234e-01 5.57109830e-03 -7.11476946e-02 1.23713127e+01] [-5.38246663e-03 9.99981474e-01 2.84271322e-03 6.77875374e-01] [ 7.11622136e-02 -2.45251488e-03 9.97461741e-01 5.20098388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33463044 meters Centerline goodness [0,1] 0.33572707079855946 Centerline is valid? [False, False] Translation: X:12.37, Y:0.68, Z:0.52 [[ 9.97416025e-01 5.68906043e-03 -7.16163884e-02 1.23726961e+01] [-5.50346434e-03 9.99980968e-01 2.78858829e-03 6.79088685e-01] [ 7.16308898e-02 -2.38724441e-03 9.97428352e-01 5.19701456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36463044000004 meters Centerline goodness [0,1] 0.3357272256728778 Centerline is valid? [False, False] Translation: X:12.37, Y:0.68, Z:0.52 [[ 9.97403206e-01 5.65231659e-03 -7.17976087e-02 1.23733424e+01] [-5.47858734e-03 9.99981570e-01 2.61640810e-03 6.80085250e-01] [ 7.18110742e-02 -2.21626436e-03 9.97415790e-01 5.19372767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39463044 meters Centerline goodness [0,1] 0.3359364915451143 Centerline is valid? [False, False] Translation: X:12.37, Y:0.68, Z:0.52 [[ 9.97394580e-01 5.53198455e-03 -7.19266915e-02 1.23735786e+01] [-5.37564050e-03 9.99982750e-01 2.36705487e-03 6.81082838e-01] [ 7.19385452e-02 -1.97423567e-03 9.97407113e-01 5.19431415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42463044000004 meters Centerline goodness [0,1] 0.3351607008491885 Centerline is valid? [False, False] Translation: X:12.37, Y:0.68, Z:0.52 [[ 9.97408099e-01 5.39555197e-03 -7.17493647e-02 1.23728338e+01] [-5.26552593e-03 9.99984134e-01 2.00124630e-03 6.83051918e-01] [ 7.17590242e-02 -1.61826113e-03 9.97420685e-01 5.19811961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45463044 meters Centerline goodness [0,1] 0.33132916809311874 Centerline is valid? [False, False] Translation: X:12.37, Y:0.68, Z:0.52 [[ 9.97406708e-01 5.41266875e-03 -7.17674157e-02 1.23728643e+01] [-5.28844981e-03 9.99984171e-01 1.92075685e-03 6.84066950e-01] [ 7.17766761e-02 -1.53623739e-03 9.97419545e-01 5.19847084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48463044 meters Centerline goodness [0,1] 0.3333261641036671 Centerline is valid? [False, False] Translation: X:12.37, Y:0.68, Z:0.52 [[ 9.97407460e-01 5.38244927e-03 -7.17592392e-02 1.23728506e+01] [-5.26756947e-03 9.99984524e-01 1.79005362e-03 6.84990617e-01] [ 7.17677636e-02 -1.40741605e-03 9.97420376e-01 5.19816548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51463044 meters Centerline goodness [0,1] 0.33278145695364236 Centerline is valid? [False, False] Translation: X:12.37, Y:0.69, Z:0.52 [[ 9.97409697e-01 5.22033901e-03 -7.17401197e-02 1.23727121e+01] [-5.12376290e-03 9.99985703e-01 1.53015595e-03 6.85864321e-01] [ 7.17470820e-02 -1.15861302e-03 9.97422184e-01 5.19945912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54463044 meters Centerline goodness [0,1] 0.3344095742390977 Centerline is valid? [False, False] Translation: X:12.37, Y:0.69, Z:0.52 [[ 9.97412009e-01 5.06816166e-03 -7.17188754e-02 1.23723110e+01] [-4.98856707e-03 9.99986726e-01 1.28888915e-03 6.86675694e-01] [ 7.17244557e-02 -9.27779094e-04 9.97424053e-01 5.20374706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.57463044 meters Centerline goodness [0,1] 0.33437776865397495 Centerline is valid? [False, False] Translation: X:12.37, Y:0.69, Z:0.52 [[ 9.97413754e-01 4.95972704e-03 -7.17021903e-02 1.23718759e+01] [-4.89706724e-03 9.99987458e-01 1.04965578e-03 6.87926748e-01] [ 7.17064970e-02 -6.95810660e-04 9.97425533e-01 5.20857753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60463044 meters Centerline goodness [0,1] 0.3340094950366854 Centerline is valid? [False, False] Translation: X:12.37, Y:0.69, Z:0.52 [[ 9.97391838e-01 5.00187881e-03 -7.20034960e-02 1.23723117e+01] [-4.96273493e-03 9.99987425e-01 7.22528695e-04 6.91007953e-01] [ 7.20062045e-02 -3.63309958e-04 9.97404118e-01 5.21163255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.63463044 meters Centerline goodness [0,1] 0.3330382589170049 Centerline is valid? [False, False] Translation: X:12.37, Y:0.69, Z:0.52 [[ 9.97381878e-01 4.93245574e-03 -7.21461073e-02 1.23725286e+01] [-4.91390201e-03 9.99987832e-01 4.34658341e-04 6.92735004e-01] [ 7.21473734e-02 -7.90014499e-05 9.97393979e-01 5.21276599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66463044 meters Centerline goodness [0,1] 0.3339314280773056 Centerline is valid? [False, False] Translation: X:12.37, Y:0.69, Z:0.52 [[ 9.97378994e-01 4.83179578e-03 -7.21927647e-02 1.23725221e+01] [-4.83410154e-03 9.99988305e-01 1.42783591e-04 6.94299837e-01] [ 7.21926104e-02 2.06577800e-04 9.97390688e-01 5.21376925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.69463044 meters Centerline goodness [0,1] 0.3323251174464251 Centerline is valid? [False, False] Translation: X:12.39, Y:0.70, Z:0.52 [[ 9.97381529e-01 -1.12617838e-03 -7.23105563e-02 1.23904146e+01] [ 1.32167024e-03 9.99995600e-01 2.65571277e-03 7.01714953e-01] [ 7.23072474e-02 -2.74432958e-03 9.97378630e-01 5.24173178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72463044 meters Centerline goodness [0,1] 0.3332253466372943 Centerline is valid? [False, False] Translation: X:12.39, Y:0.70, Z:0.52 [[ 9.97371252e-01 -1.12612967e-03 -7.24521694e-02 1.23907074e+01] [ 1.31436555e-03 9.99995884e-01 2.55044656e-03 7.02647701e-01] [ 7.24489991e-02 -2.63897072e-03 9.97368627e-01 5.24190225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.75463044 meters Centerline goodness [0,1] 0.33185121846943133 Centerline is valid? [False, False] Translation: X:12.41, Y:0.70, Z:0.53 [[ 9.97340723e-01 6.08484038e-03 -7.26254521e-02 1.24108115e+01] [-6.00521918e-03 9.99981104e-01 1.31463221e-03 7.00241134e-01] [ 7.26320792e-02 -8.75004485e-04 9.97358419e-01 5.26987331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78463044 meters Centerline goodness [0,1] 0.33266778307355405 Centerline is valid? [False, False] Translation: X:12.41, Y:0.70, Z:0.53 [[ 9.97339250e-01 5.98603671e-03 -7.26538869e-02 1.24107574e+01] [-5.91248700e-03 9.99981768e-01 1.22735649e-03 7.00098584e-01] [ 7.26599093e-02 -7.94525637e-04 9.97356459e-01 5.27171716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.81463044000003 meters Centerline goodness [0,1] 0.33140046818289204 Centerline is valid? [False, False] Translation: X:12.41, Y:0.70, Z:0.53 [[ 9.97343984e-01 5.99783184e-03 -7.25879073e-02 1.24101943e+01] [-5.91913503e-03 9.99981638e-01 1.29922455e-03 6.99612521e-01] [ 7.25943669e-02 -8.66116164e-04 9.97361172e-01 5.27692705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84463044 meters Centerline goodness [0,1] 0.3358724420631334 Centerline is valid? [False, False] Translation: X:12.41, Y:0.70, Z:0.53 [[ 9.97376003e-01 6.16278886e-03 -7.21327117e-02 1.24082504e+01] [-6.05490996e-03 9.99980200e-01 1.71413131e-03 6.97935218e-01] [ 7.21418473e-02 -1.27287636e-03 9.97393570e-01 5.28976840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.87463044000003 meters Centerline goodness [0,1] 0.33311118754837044 Centerline is valid? [False, False] Translation: X:12.41, Y:0.70, Z:0.53 [[ 9.97379310e-01 6.22815511e-03 -7.20813555e-02 1.24080871e+01] [-6.10480815e-03 9.99979500e-01 1.93140222e-03 6.96589118e-01] [ 7.20919069e-02 -1.48629777e-03 9.97396886e-01 5.29101352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90463044 meters Centerline goodness [0,1] 0.33495438113272513 Centerline is valid? [False, False] Translation: X:12.41, Y:0.70, Z:0.53 [[ 9.97376374e-01 6.19138823e-03 -7.21251347e-02 1.24083345e+01] [-6.06067468e-03 9.99979571e-01 2.03102586e-03 6.95180945e-01] [ 7.21362361e-02 -1.58857023e-03 9.97393523e-01 5.28979304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.93463044000003 meters Centerline goodness [0,1] 0.3351958909114354 Centerline is valid? [False, False] Translation: X:12.41, Y:0.69, Z:0.53 [[ 9.97361258e-01 6.16622263e-03 -7.23360177e-02 1.24088246e+01] [-6.02461214e-03 9.99979485e-01 2.17569877e-03 6.93474636e-01] [ 7.23479496e-02 -1.73416121e-03 9.97377946e-01 5.29036188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96463044 meters Centerline goodness [0,1] 0.33584153321757027 Centerline is valid? [False, False] Translation: X:12.41, Y:0.69, Z:0.53 [[ 9.97348453e-01 6.17747528e-03 -7.25113905e-02 1.24092802e+01] [-6.02100415e-03 9.99979050e-01 2.37627064e-03 6.91625723e-01] [ 7.25245507e-02 -1.93337846e-03 9.97364754e-01 5.29030001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99463044000004 meters Centerline goodness [0,1] 0.3370459735447455 Centerline is valid? [False, False] Translation: X:12.41, Y:0.69, Z:0.53 [[ 9.97331751e-01 6.38589421e-03 -7.27227502e-02 1.24094213e+01] [-6.17587713e-03 9.99976085e-01 3.11241178e-03 6.85652387e-01] [ 7.27408866e-02 -2.65498032e-03 9.97347339e-01 5.29550327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02463044 meters Centerline goodness [0,1] 0.33553747396895595 Centerline is valid? [False, False] Translation: X:12.41, Y:0.68, Z:0.53 [[ 9.97325362e-01 6.57391036e-03 -7.27935863e-02 1.24094967e+01] [-6.32499062e-03 9.99973337e-01 3.64951836e-03 6.82412870e-01] [ 7.28156370e-02 -3.17933846e-03 9.97340351e-01 5.29774616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05463044000004 meters Centerline goodness [0,1] 0.3332328690447999 Centerline is valid? [False, False] Translation: X:12.41, Y:0.68, Z:0.53 [[ 9.97318572e-01 6.68134952e-03 -7.28767861e-02 1.24095784e+01] [-6.40112596e-03 9.99971197e-01 4.07805129e-03 6.79396101e-01] [ 7.29019339e-02 -3.60062280e-03 9.97332614e-01 5.29970522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08463044 meters Centerline goodness [0,1] 0.3333189701605085 Centerline is valid? [False, False] Translation: X:12.41, Y:0.67, Z:0.53 [[ 9.97380306e-01 4.41560024e-03 -7.22012955e-02 1.24068114e+01] [-4.24577964e-03 9.99987848e-01 2.50535093e-03 6.73179866e-01] [ 7.22114807e-02 -2.19223689e-03 9.97386934e-01 5.31199866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11463044000004 meters Centerline goodness [0,1] 0.33306914574586577 Centerline is valid? [False, False] Translation: X:12.41, Y:0.67, Z:0.53 [[ 9.97377598e-01 4.51206149e-03 -7.22327346e-02 1.24071882e+01] [-4.31766162e-03 9.99986625e-01 2.84721551e-03 6.70637649e-01] [ 7.22446154e-02 -2.52787246e-03 9.97383740e-01 5.30875902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14463044 meters Centerline goodness [0,1] 0.3326317598041322 Centerline is valid? [False, False] Translation: X:12.41, Y:0.67, Z:0.53 [[ 9.97367443e-01 4.71034144e-03 -7.23601789e-02 1.24076278e+01] [-4.48290239e-03 9.99984489e-01 3.30523623e-03 6.67896840e-01] [ 7.23746253e-02 -2.97215139e-03 9.97373090e-01 5.30765487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17463044000004 meters Centerline goodness [0,1] 0.33306967099215423 Centerline is valid? [False, False] Translation: X:12.41, Y:0.67, Z:0.53 [[ 9.97356265e-01 4.89276703e-03 -7.25020049e-02 1.24081415e+01] [-4.63210161e-03 9.99982192e-01 3.76299021e-03 6.65004873e-01] [ 7.25191252e-02 -3.41720521e-03 9.97361168e-01 5.30601762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20463044 meters Centerline goodness [0,1] 0.336284526798857 Centerline is valid? [False, False] Translation: X:12.41, Y:0.66, Z:0.53 [[ 9.97343559e-01 5.05757768e-03 -7.26652991e-02 1.24085234e+01] [-4.76354476e-03 9.99979754e-01 4.21913352e-03 6.62085008e-01] [ 7.26851665e-02 -3.86178124e-03 9.97347459e-01 5.30655298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23463044 meters Centerline goodness [0,1] 0.3316756756756757 Centerline is valid? [False, False] Translation: X:12.41, Y:0.65, Z:0.53 [[ 9.97315377e-01 5.32854332e-03 -7.30318155e-02 1.24095399e+01] [-4.97167670e-03 9.99974802e-01 5.06737278e-03 6.54107144e-01] [ 7.30569770e-02 -4.69067822e-03 9.97316738e-01 5.30590095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26463044 meters Centerline goodness [0,1] 0.3334267482969734 Centerline is valid? [False, False] Translation: X:12.41, Y:0.65, Z:0.53 [[ 9.97305180e-01 5.50961235e-03 -7.31575133e-02 1.24100708e+01] [-5.11044244e-03 9.99971023e-01 5.64237295e-03 6.50068170e-01] [ 7.31864807e-02 -5.25330051e-03 9.97304438e-01 5.30385411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29463044 meters Centerline goodness [0,1] 0.3311040362385419 Centerline is valid? [False, False] Translation: X:12.43, Y:0.65, Z:0.53 [[ 9.97379664e-01 -2.42587236e-03 -7.23043672e-02 1.24299390e+01] [ 2.93192444e-03 9.99971941e-01 6.89360186e-03 6.49499583e-01] [ 7.22856154e-02 -7.08752924e-03 9.97358790e-01 5.32271342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32463044 meters Centerline goodness [0,1] 0.33289648949426376 Centerline is valid? [False, False] Translation: X:12.43, Y:0.65, Z:0.53 [[ 9.97390709e-01 -2.23565641e-03 -7.21579849e-02 1.24295513e+01] [ 2.78311637e-03 9.99968097e-01 7.48731167e-03 6.45469325e-01] [ 7.21389438e-02 -7.66859917e-03 9.97365111e-01 5.32437549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35463044 meters Centerline goodness [0,1] 0.33529601375308904 Centerline is valid? [False, False] Translation: X:12.43, Y:0.64, Z:0.53 [[ 9.97395514e-01 -2.02007545e-03 -7.20979058e-02 1.24292503e+01] [ 2.60974265e-03 9.99963907e-01 8.08543693e-03 6.41651309e-01] [ 7.20789704e-02 -8.25253550e-03 9.97364787e-01 5.32749250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38463044 meters Centerline goodness [0,1] 0.33408360128617365 Centerline is valid? [False, False] Translation: X:12.43, Y:0.63, Z:0.53 [[ 9.97386524e-01 -1.66519852e-03 -7.22312199e-02 1.24298622e+01] [ 2.32579099e-03 9.99956231e-01 9.06238268e-03 6.33058161e-01] [ 7.22129677e-02 -9.20669308e-03 9.97346742e-01 5.32671175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41463044 meters Centerline goodness [0,1] 0.33408360128617365 Centerline is valid? [False, False] Translation: X:12.43, Y:0.63, Z:0.53 [[ 9.97386524e-01 -1.66519852e-03 -7.22312199e-02 1.24298622e+01] [ 2.32579099e-03 9.99956231e-01 9.06238268e-03 6.33058161e-01] [ 7.22129677e-02 -9.20669308e-03 9.97346742e-01 5.32671175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44463044 meters Centerline goodness [0,1] 0.3314858239181411 Centerline is valid? [False, False] Translation: X:12.43, Y:0.63, Z:0.53 [[ 9.97373012e-01 -1.43008346e-03 -7.24225737e-02 1.24305484e+01] [ 2.13172129e-03 9.99951534e-01 9.61174263e-03 6.29747115e-01] [ 7.24053181e-02 -9.74087744e-03 9.97327722e-01 5.32489302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47463044 meters Centerline goodness [0,1] 0.33026208901620424 Centerline is valid? [False, False] Translation: X:12.43, Y:0.63, Z:0.53 [[ 9.97357264e-01 -1.23314429e-03 -7.26427398e-02 1.24313183e+01] [ 1.97255131e-03 9.99946969e-01 1.01078165e-02 6.26522778e-01] [ 7.26264231e-02 -1.02243957e-02 9.97306806e-01 5.32300809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.50463044 meters Centerline goodness [0,1] 0.3358236112597667 Centerline is valid? [False, False] Translation: X:12.43, Y:0.62, Z:0.53 [[ 9.97353327e-01 -8.10638729e-04 -7.27027067e-02 1.24315657e+01] [ 1.61364561e-03 9.99938339e-01 1.09870197e-02 6.20868498e-01] [ 7.26893172e-02 -1.10752571e-02 9.97293137e-01 5.32363197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53463044 meters Centerline goodness [0,1] 0.3369268177221182 Centerline is valid? [False, False] Translation: X:12.43, Y:0.62, Z:0.53 [[ 9.97365799e-01 -6.48794727e-04 -7.25330396e-02 1.24310911e+01] [ 1.47803654e-03 9.99934159e-01 1.13795187e-02 6.18608238e-01] [ 7.25208810e-02 -1.14567493e-02 9.97301090e-01 5.32531124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56463044000003 meters Centerline goodness [0,1] 0.3363523466940733 Centerline is valid? [False, False] Translation: X:12.45, Y:0.61, Z:0.54 [[ 9.97336677e-01 6.82219749e-03 -7.26154918e-02 1.24494975e+01] [-6.09498439e-03 9.99929082e-01 1.02314558e-02 6.12989909e-01] [ 7.26801430e-02 -9.76161585e-03 9.97307529e-01 5.36022670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59463044 meters Centerline goodness [0,1] 0.33883324773155277 Centerline is valid? [False, False] Translation: X:12.45, Y:0.61, Z:0.54 [[ 9.97340845e-01 6.91434278e-03 -7.25495002e-02 1.24491360e+01] [-6.16899200e-03 9.99925920e-01 1.04927377e-02 6.11206999e-01] [ 7.26166761e-02 -1.00172786e-02 9.97309617e-01 5.36333766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62463044000003 meters Centerline goodness [0,1] 0.3406522301785868 Centerline is valid? [False, False] Translation: X:12.45, Y:0.61, Z:0.54 [[ 9.97335339e-01 7.00657949e-03 -7.26163180e-02 1.24491781e+01] [-6.24374386e-03 9.99922974e-01 1.07266991e-02 6.09653606e-01] [ 7.26858821e-02 -1.02447184e-02 9.97302265e-01 5.36522897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65463044 meters Centerline goodness [0,1] 0.3377518784153005 Centerline is valid? [False, False] Translation: X:12.47, Y:0.61, Z:0.54 [[ 9.97362532e-01 -4.33290552e-04 -7.25795554e-02 1.24697075e+01] [ 1.32169040e-03 9.99924792e-01 1.21927795e-02 6.09938256e-01] [ 7.25688139e-02 -1.22565491e-02 9.97288095e-01 5.38728495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68463044000003 meters Centerline goodness [0,1] 0.33770083340493173 Centerline is valid? [False, False] Translation: X:12.47, Y:0.61, Z:0.54 [[ 9.97354110e-01 -3.39218023e-04 -7.26956927e-02 1.24701444e+01] [ 1.25082459e-03 9.99921154e-01 1.24948774e-02 6.07931460e-01] [ 7.26857224e-02 -1.25527469e-02 9.97275897e-01 5.38633768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71463044 meters Centerline goodness [0,1] 0.3384988517095576 Centerline is valid? [False, False] Translation: X:12.47, Y:0.61, Z:0.54 [[ 9.97349364e-01 -3.09055335e-04 -7.27609123e-02 1.24704076e+01] [ 1.24146550e-03 9.99917692e-01 1.27698362e-02 6.05717029e-01] [ 7.27509768e-02 -1.28263182e-02 9.97267658e-01 5.38611606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74463044000004 meters Centerline goodness [0,1] 0.335282485275043 Centerline is valid? [False, False] Translation: X:12.49, Y:0.60, Z:0.54 [[ 9.97372027e-01 4.84412206e-03 -7.22881361e-02 1.24913094e+01] [-4.16193000e-03 9.99945404e-01 9.58476825e-03 6.02635154e-01] [ 7.23306192e-02 -9.25872157e-03 9.97337735e-01 5.40609818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77463044 meters Centerline goodness [0,1] 0.3377922133424506 Centerline is valid? [False, False] Translation: X:12.49, Y:0.60, Z:0.54 [[ 9.97380516e-01 4.86768093e-03 -7.21693287e-02 1.24909970e+01] [-4.16834152e-03 9.99942921e-01 9.83770358e-03 6.00601415e-01] [ 7.22130961e-02 -9.51110747e-03 9.97343876e-01 5.40726791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80463044000004 meters Centerline goodness [0,1] 0.3396607691811596 Centerline is valid? [False, False] Translation: X:12.49, Y:0.60, Z:0.54 [[ 9.97370600e-01 5.05702820e-03 -7.22932478e-02 1.24913545e+01] [-4.30924060e-03 9.99935630e-01 1.04960396e-02 5.96461917e-01] [ 7.23416730e-02 -1.01569123e-02 9.97328190e-01 5.40827075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83463044 meters Centerline goodness [0,1] 0.341485954995809 Centerline is valid? [False, False] Translation: X:12.49, Y:0.59, Z:0.54 [[ 9.97353963e-01 5.11929411e-03 -7.25180309e-02 1.24920298e+01] [-4.35098103e-03 9.99932764e-01 1.07487989e-02 5.94642726e-01] [ 7.25681813e-02 -1.04048326e-02 9.97309179e-01 5.40723450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86463044000004 meters Centerline goodness [0,1] 0.3377770120388517 Centerline is valid? [False, False] Translation: X:12.49, Y:0.59, Z:0.54 [[ 9.97347146e-01 5.14581909e-03 -7.26098515e-02 1.24924842e+01] [-4.36132194e-03 9.99930441e-01 1.09586942e-02 5.92809320e-01] [ 7.26611923e-02 -1.06129475e-02 9.97300214e-01 5.40483771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89463044 meters Centerline goodness [0,1] 0.3379257065602266 Centerline is valid? [False, False] Translation: X:12.49, Y:0.59, Z:0.54 [[ 9.97333197e-01 5.13771691e-03 -7.28017784e-02 1.24929806e+01] [-4.34131550e-03 9.99929043e-01 1.10933318e-02 5.91442882e-01] [ 7.28536070e-02 -1.07476926e-02 9.97284733e-01 5.40446589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92463044000004 meters Centerline goodness [0,1] 0.336226012793177 Centerline is valid? [False, False] Translation: X:12.49, Y:0.59, Z:0.54 [[ 9.97320569e-01 5.16380470e-03 -7.29727154e-02 1.24934309e+01] [-4.35619779e-03 9.99927542e-01 1.12220695e-02 5.90371507e-01] [ 7.30253765e-02 -1.08741171e-02 9.97270800e-01 5.40423528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95463044 meters Centerline goodness [0,1] 0.33816966691818473 Centerline is valid? [False, False] Translation: X:12.49, Y:0.59, Z:0.54 [[ 9.97320644e-01 5.25945301e-03 -7.29648612e-02 1.24935714e+01] [-4.43499918e-03 9.99924534e-01 1.14567457e-02 5.88827123e-01] [ 7.30196110e-02 -1.11024499e-02 9.97268706e-01 5.40286630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98463044 meters Centerline goodness [0,1] 0.3379325074754378 Centerline is valid? [False, False] Translation: X:12.49, Y:0.59, Z:0.54 [[ 9.97305204e-01 5.26102322e-03 -7.31754835e-02 1.24942996e+01] [-4.43284196e-03 9.99924328e-01 1.14755478e-02 5.88564267e-01] [ 7.32303193e-02 -1.11202482e-02 9.97253057e-01 5.40029829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01463044 meters Centerline goodness [0,1] 0.3366447823082239 Centerline is valid? [False, False] Translation: X:12.50, Y:0.59, Z:0.54 [[ 9.97286112e-01 5.21619091e-03 -7.34384238e-02 1.24952835e+01] [-4.38948310e-03 9.99925223e-01 1.14140566e-02 5.88512635e-01] [ 7.34924702e-02 -1.10607234e-02 9.97234434e-01 5.39564756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04463044 meters Centerline goodness [0,1] 0.33717119448037947 Centerline is valid? [False, False] Translation: X:12.50, Y:0.59, Z:0.54 [[ 9.97268102e-01 5.20780576e-03 -7.36831898e-02 1.24960305e+01] [-4.38062074e-03 9.99925611e-01 1.13833973e-02 5.88507845e-01] [ 7.37369911e-02 -1.10295209e-02 9.97216730e-01 5.39320057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.07463044 meters Centerline goodness [0,1] 0.3357363762397355 Centerline is valid? [False, False] Translation: X:12.50, Y:0.59, Z:0.54 [[ 9.97259338e-01 5.22016004e-03 -7.38008335e-02 1.24962315e+01] [-4.39194137e-03 9.99925598e-01 1.13801845e-02 5.88635286e-01] [ 7.38547490e-02 -1.10248663e-02 9.97208067e-01 5.39457264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10463044 meters Centerline goodness [0,1] 0.33899834561588205 Centerline is valid? [False, False] Translation: X:12.50, Y:0.59, Z:0.54 [[ 9.97265484e-01 5.24893233e-03 -7.37156973e-02 1.24956228e+01] [-4.42045375e-03 9.99925276e-01 1.13974933e-02 5.88584959e-01] [ 7.37700136e-02 -1.10404698e-02 9.97214166e-01 5.39965899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.13463044 meters Centerline goodness [0,1] 0.33729358781900065 Centerline is valid? [False, False] Translation: X:12.49, Y:0.59, Z:0.54 [[ 9.97304437e-01 5.36599866e-03 -7.31783158e-02 1.24937400e+01] [-4.53700869e-03 9.99923696e-01 1.14898834e-02 5.88533099e-01] [ 7.32343867e-02 -1.11269011e-02 9.97252684e-01 5.40800241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16463044 meters Centerline goodness [0,1] 0.3374852102828869 Centerline is valid? [False, False] Translation: X:12.49, Y:0.59, Z:0.54 [[ 9.97312356e-01 5.35961970e-03 -7.30707746e-02 1.24933733e+01] [-4.53347886e-03 9.99923972e-01 1.14672075e-02 5.88556955e-01] [ 7.31266791e-02 -1.11051229e-02 9.97260831e-01 5.40956814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.19463044 meters Centerline goodness [0,1] 0.3369940717362563 Centerline is valid? [False, False] Translation: X:12.49, Y:0.59, Z:0.54 [[ 9.97317643e-01 5.36274902e-03 -7.29983551e-02 1.24932702e+01] [-4.53808225e-03 9.99924054e-01 1.14582342e-02 5.88578079e-01] [ 7.30542589e-02 -1.10962266e-02 9.97266238e-01 5.40919438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22463044 meters Centerline goodness [0,1] 0.3379304418809478 Centerline is valid? [False, False] Translation: X:12.49, Y:0.59, Z:0.54 [[ 9.97322762e-01 5.32198739e-03 -7.29313707e-02 1.24930379e+01] [-4.50480113e-03 9.99925271e-01 1.13647800e-02 5.89009222e-01] [ 7.29864038e-02 -1.10058124e-02 9.97272208e-01 5.40994845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.25463044 meters Centerline goodness [0,1] 0.3395277561944229 Centerline is valid? [False, False] Translation: X:12.49, Y:0.59, Z:0.54 [[ 9.97353468e-01 5.55101375e-03 -7.24930806e-02 1.24918031e+01] [-4.73725705e-03 9.99923883e-01 1.13924180e-02 5.90140496e-01] [ 7.25508021e-02 -1.10188493e-02 9.97303848e-01 5.41202674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28463044 meters Centerline goodness [0,1] 0.33622522387098164 Centerline is valid? [False, False] Translation: X:12.49, Y:0.59, Z:0.54 [[ 9.97348914e-01 5.59277719e-03 -7.25524903e-02 1.24918559e+01] [-4.78786770e-03 9.99925104e-01 1.12633440e-02 5.91297016e-01] [ 7.26100497e-02 -1.08861122e-02 9.97300994e-01 5.41254481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.31463044000003 meters Centerline goodness [0,1] 0.3367599385770347 Centerline is valid? [False, False] Translation: X:12.49, Y:0.59, Z:0.54 [[ 9.97344846e-01 5.54489469e-03 -7.26120668e-02 1.24922762e+01] [-4.75601309e-03 9.99927827e-01 1.10327304e-02 5.92733281e-01] [ 7.26680015e-02 -1.06580929e-02 9.97299236e-01 5.40885986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34463044 meters Centerline goodness [0,1] 0.33638281384535906 Centerline is valid? [False, False] Translation: X:12.49, Y:0.59, Z:0.54 [[ 9.97339865e-01 5.50859710e-03 -7.26832110e-02 1.24926148e+01] [-4.73311307e-03 9.99930073e-01 1.08372970e-02 5.93918372e-01] [ 7.27378268e-02 -1.04644505e-02 9.97296197e-01 5.40601216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.37463044000003 meters Centerline goodness [0,1] 0.3370960459265948 Centerline is valid? [False, False] Translation: X:12.49, Y:0.59, Z:0.54 [[ 9.97341597e-01 5.49074627e-03 -7.26607851e-02 1.24928126e+01] [-4.72470213e-03 9.99931480e-01 1.07104276e-02 5.94768877e-01] [ 7.27146146e-02 -1.03386544e-02 9.97299201e-01 5.40218492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40463044 meters Centerline goodness [0,1] 0.33844255374423593 Centerline is valid? [False, False] Translation: X:12.49, Y:0.60, Z:0.54 [[ 9.97358400e-01 5.45604566e-03 -7.24324083e-02 1.24924745e+01] [-4.70302566e-03 9.99933154e-01 1.05626585e-02 5.95691760e-01] [ 7.24851968e-02 -1.01941047e-02 9.97317390e-01 5.39945179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.43463044000003 meters Centerline goodness [0,1] 0.3359632948844389 Centerline is valid? [False, False] Translation: X:12.49, Y:0.60, Z:0.54 [[ 9.97363126e-01 5.37416576e-03 -7.23734286e-02 1.24923477e+01] [-4.63250294e-03 9.99935066e-01 1.04116828e-02 5.96373515e-01] [ 7.24246832e-02 -1.00489584e-02 9.97323259e-01 5.39938962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46463044 meters Centerline goodness [0,1] 0.33690668388763323 Centerline is valid? [False, False] Translation: X:12.49, Y:0.60, Z:0.54 [[ 9.97359497e-01 5.31747422e-03 -7.24276126e-02 1.24925290e+01] [-4.58257138e-03 9.99936359e-01 1.03091170e-02 5.96850150e-01] [ 7.24778217e-02 -9.94999103e-03 9.97320391e-01 5.39850640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49463044000004 meters Centerline goodness [0,1] 0.333390587427001 Centerline is valid? [False, False] Translation: X:12.49, Y:0.60, Z:0.54 [[ 9.97352188e-01 5.28059280e-03 -7.25308730e-02 1.24929413e+01] [-4.55236426e-03 9.99937597e-01 1.02019015e-02 5.97588693e-01] [ 7.25802189e-02 -9.84470184e-03 9.97313990e-01 5.39645517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52463044 meters Centerline goodness [0,1] 0.33176531515007657 Centerline is valid? [False, False] Translation: X:12.49, Y:0.60, Z:0.54 [[ 9.97339966e-01 5.24202320e-03 -7.27015374e-02 1.24935393e+01] [-4.51856146e-03 9.99938663e-01 1.01120247e-02 5.98096436e-01] [ 7.27500855e-02 -9.75661997e-03 9.97302478e-01 5.39389399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55463044000004 meters Centerline goodness [0,1] 0.33484162895927605 Centerline is valid? [False, False] Translation: X:12.49, Y:0.60, Z:0.54 [[ 9.97317683e-01 5.13227196e-03 -7.30143744e-02 1.24947715e+01] [-4.40587927e-03 9.99939225e-01 1.01062120e-02 5.97670460e-01] [ 7.30618048e-02 -9.75741137e-03 9.97279683e-01 5.38869520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58463044 meters Centerline goodness [0,1] 0.3312422651815815 Centerline is valid? [False, False] Translation: X:12.50, Y:0.60, Z:0.54 [[ 9.97307362e-01 5.08333196e-03 -7.31586303e-02 1.24951686e+01] [-4.34714245e-03 9.99938339e-01 1.02186350e-02 5.96488375e-01] [ 7.32060640e-02 -9.87308893e-03 9.97267965e-01 5.38906303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61463044000004 meters Centerline goodness [0,1] 0.32956887667468227 Centerline is valid? [False, False] Translation: X:12.50, Y:0.60, Z:0.54 [[ 9.97302233e-01 5.07648980e-03 -7.32289960e-02 1.24951223e+01] [-4.32764280e-03 9.99936750e-01 1.03811458e-02 5.95149724e-01] [ 7.32770640e-02 -1.00362310e-02 9.97261122e-01 5.39275744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64463044 meters Centerline goodness [0,1] 0.330741294595172 Centerline is valid? [False, False] Translation: X:12.50, Y:0.59, Z:0.54 [[ 9.97291228e-01 5.04441279e-03 -7.33809294e-02 1.24955779e+01] [-4.28561905e-03 9.99935750e-01 1.04942579e-02 5.94014668e-01] [ 7.34291520e-02 -1.01513487e-02 9.97248770e-01 5.39220309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67463044000004 meters Centerline goodness [0,1] 0.33039190241370364 Centerline is valid? [False, False] Translation: X:12.50, Y:0.59, Z:0.54 [[ 9.97278141e-01 5.03457451e-03 -7.35592393e-02 1.24962214e+01] [-4.27223889e-03 9.99935566e-01 1.05172328e-02 5.93559135e-01] [ 7.36074493e-02 -1.01743438e-02 9.97235392e-01 5.38932632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70463044 meters Centerline goodness [0,1] 0.3266848444511239 Centerline is valid? [False, False] Translation: X:12.50, Y:0.59, Z:0.54 [[ 9.97268521e-01 5.10180947e-03 -7.36849324e-02 1.24969507e+01] [-4.34455543e-03 9.99936131e-01 1.04335477e-02 5.94564281e-01] [ 7.37334562e-02 -1.00849204e-02 9.97226991e-01 5.38418335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73463044 meters Centerline goodness [0,1] 0.3282586383852206 Centerline is valid? [False, False] Translation: X:12.50, Y:0.60, Z:0.54 [[ 9.97277863e-01 5.12487720e-03 -7.35567787e-02 1.24966129e+01] [-4.37739510e-03 9.99937170e-01 1.03195924e-02 5.95604881e-01] [ 7.36050438e-02 -9.96951401e-03 9.97237638e-01 5.38447838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76463044 meters Centerline goodness [0,1] 0.3300053792361485 Centerline is valid? [False, False] Translation: X:12.50, Y:0.60, Z:0.54 [[ 9.97292052e-01 5.10449434e-03 -7.33655713e-02 1.24960806e+01] [-4.36878299e-03 9.99938588e-01 1.01849995e-02 5.96534724e-01] [ 7.34130551e-02 -9.83690083e-03 9.97253107e-01 5.38492228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79463044 meters Centerline goodness [0,1] 0.32867599569429495 Centerline is valid? [False, False] Translation: X:12.50, Y:0.60, Z:0.54 [[ 9.97300923e-01 5.05989191e-03 -7.32479730e-02 1.24956700e+01] [-4.33798629e-03 9.99940475e-01 1.00113759e-02 5.97564408e-01] [ 7.32942694e-02 -9.66660568e-03 9.97263509e-01 5.38609990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82463044 meters Centerline goodness [0,1] 0.3293779370426797 Centerline is valid? [False, False] Translation: X:12.50, Y:0.60, Z:0.54 [[ 9.97313833e-01 4.94496303e-03 -7.30798595e-02 1.24953557e+01] [-4.24378224e-03 9.99943493e-01 9.74688341e-03 5.98740275e-01] [ 7.31239279e-02 -9.41056664e-03 9.97278463e-01 5.38468601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85463044 meters Centerline goodness [0,1] 0.3284709002630847 Centerline is valid? [False, False] Translation: X:12.49, Y:0.60, Z:0.54 [[ 9.97329539e-01 4.88639647e-03 -7.28691544e-02 1.24946982e+01] [-4.18682264e-03 9.99943702e-01 9.75007168e-03 5.98343516e-01] [ 7.29126947e-02 -9.41894427e-03 9.97293850e-01 5.38678245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88463044 meters Centerline goodness [0,1] 0.3344360837225393 Centerline is valid? [False, False] Translation: X:12.49, Y:0.60, Z:0.54 [[ 9.97351906e-01 4.78147352e-03 -7.25693656e-02 1.24937343e+01] [-4.08229988e-03 9.99943843e-01 9.77982147e-03 5.97442466e-01] [ 7.26120523e-02 -9.45767367e-03 9.97315418e-01 5.39096119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91463044 meters Centerline goodness [0,1] 0.3345612787867037 Centerline is valid? [False, False] Translation: X:12.49, Y:0.60, Z:0.54 [[ 9.97382652e-01 4.64100104e-03 -7.21547380e-02 1.24926269e+01] [-3.94319308e-03 9.99944102e-01 9.81043320e-03 5.96252129e-01] [ 7.21962350e-02 -9.50023582e-03 9.97345201e-01 5.39351200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94463044 meters Centerline goodness [0,1] 0.3328834329541316 Centerline is valid? [False, False] Translation: X:12.49, Y:0.60, Z:0.54 [[ 9.97399820e-01 4.50793081e-03 -7.19255050e-02 1.24920229e+01] [-3.81205154e-03 9.99944621e-01 9.80933878e-03 5.95436512e-01] [ 7.19657416e-02 -9.50964899e-03 9.97361769e-01 5.39522975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97463044 meters Centerline goodness [0,1] 0.3316270566727605 Centerline is valid? [False, False] Translation: X:12.49, Y:0.60, Z:0.54 [[ 9.97411790e-01 4.51248001e-03 -7.17590287e-02 1.24918277e+01] [-3.81335754e-03 9.99943953e-01 9.87665726e-03 5.95034064e-01] [ 7.17995751e-02 -9.57745157e-03 9.97373096e-01 5.39291960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.00463044 meters Centerline goodness [0,1] 0.33344856642827825 Centerline is valid? [False, False] Translation: X:12.49, Y:0.60, Z:0.54 [[ 9.97399315e-01 4.56158010e-03 -7.19291142e-02 1.24925145e+01] [-3.86270190e-03 9.99944004e-01 9.85231710e-03 5.95687151e-01] [ 7.19700286e-02 -9.54885360e-03 9.97361085e-01 5.38921989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03463044 meters Centerline goodness [0,1] 0.33332615947487354 Centerline is valid? [False, False] Translation: X:12.49, Y:0.60, Z:0.54 [[ 9.97377978e-01 4.61266155e-03 -7.22211364e-02 1.24936707e+01] [-3.91599401e-03 9.99944458e-01 9.78493563e-03 5.96606962e-01] [ 7.22622597e-02 -9.47646177e-03 9.97340645e-01 5.38286722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06463044000003 meters Centerline goodness [0,1] 0.3321686566204368 Centerline is valid? [False, False] Translation: X:12.49, Y:0.60, Z:0.54 [[ 9.97359430e-01 4.65079679e-03 -7.24743920e-02 1.24945964e+01] [-3.95965448e-03 9.99945336e-01 9.67712602e-03 5.97674070e-01] [ 7.25154366e-02 -9.36459934e-03 9.97323326e-01 5.37805115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09463044 meters Centerline goodness [0,1] 0.3309504502582049 Centerline is valid? [False, False] Translation: X:12.50, Y:0.60, Z:0.54 [[ 9.97349316e-01 4.61431697e-03 -7.26157758e-02 1.24951214e+01] [-3.93587212e-03 9.99947287e-01 9.48326126e-03 5.98895620e-01] [ 7.26557068e-02 -9.17231772e-03 9.97314904e-01 5.37544660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12463044000003 meters Centerline goodness [0,1] 0.33100591463284434 Centerline is valid? [False, False] Translation: X:12.49, Y:0.60, Z:0.54 [[ 9.97352976e-01 4.55092595e-03 -7.25694905e-02 1.24949080e+01] [-3.88683868e-03 9.99949296e-01 9.28964880e-03 5.99889067e-01] [ 7.26080875e-02 -8.98299297e-03 9.97320095e-01 5.37585481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15463044 meters Centerline goodness [0,1] 0.3308151603997689 Centerline is valid? [False, False] Translation: X:12.49, Y:0.60, Z:0.54 [[ 9.97369145e-01 4.45730740e-03 -7.23527481e-02 1.24945537e+01] [-3.81902624e-03 9.99952586e-01 8.95774024e-03 6.02003045e-01] [ 7.23892449e-02 -8.65785668e-03 9.97338879e-01 5.37283833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18463044000003 meters Centerline goodness [0,1] 0.33449963508350145 Centerline is valid? [False, False] Translation: X:12.49, Y:0.60, Z:0.54 [[ 9.97365268e-01 4.40620948e-03 -7.24093109e-02 1.24947835e+01] [-3.77865006e-03 9.99954126e-01 8.80153414e-03 6.03019049e-01] [ 7.24447706e-02 -8.50473501e-03 9.97336164e-01 5.37097860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21463044 meters Centerline goodness [0,1] 0.3307029206158597 Centerline is valid? [False, False] Translation: X:12.50, Y:0.60, Z:0.54 [[ 9.97364187e-01 4.35806054e-03 -7.24271123e-02 1.24951610e+01] [-3.73958667e-03 9.99955399e-01 8.67266863e-03 6.03818503e-01] [ 7.24616780e-02 -8.37896163e-03 9.97336001e-01 5.36618403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24463044000004 meters Centerline goodness [0,1] 0.33118025751072966 Centerline is valid? [False, False] Translation: X:12.50, Y:0.60, Z:0.54 [[ 9.97349075e-01 4.27244302e-03 -7.26400015e-02 1.24957784e+01] [-3.66374317e-03 9.99957070e-01 8.51085812e-03 6.04511182e-01] [ 7.26732452e-02 -8.22216216e-03 9.97321912e-01 5.36412210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27463044 meters Centerline goodness [0,1] 0.3317958573563955 Centerline is valid? [False, False] Translation: X:12.50, Y:0.61, Z:0.54 [[ 9.97319230e-01 4.06181616e-03 -7.30606205e-02 1.24970984e+01] [-3.46759251e-03 9.99959887e-01 8.25830017e-03 6.05315276e-01] [ 7.30912335e-02 -7.98281711e-03 9.97293310e-01 5.36017379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30463044000004 meters Centerline goodness [0,1] 0.330780063156098 Centerline is valid? [False, False] Translation: X:12.50, Y:0.61, Z:0.54 [[ 9.97308880e-01 3.99547555e-03 -7.32054299e-02 1.24973977e+01] [-3.40719254e-03 9.99960909e-01 8.15917600e-03 6.05782972e-01] [ 7.32351680e-02 -7.88779368e-03 9.97283507e-01 5.36068777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33463044 meters Centerline goodness [0,1] 0.3324187601817714 Centerline is valid? [False, False] Translation: X:12.50, Y:0.61, Z:0.54 [[ 9.97307961e-01 3.94482585e-03 -7.32206901e-02 1.24974696e+01] [-3.36320689e-03 9.99961822e-01 8.06496415e-03 6.06354624e-01] [ 7.32497096e-02 -7.79699662e-03 9.97283153e-01 5.35997719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36463044000004 meters Centerline goodness [0,1] 0.3324187601817714 Centerline is valid? [False, False] Translation: X:12.50, Y:0.61, Z:0.54 [[ 9.97307961e-01 3.94482585e-03 -7.32206901e-02 1.24974696e+01] [-3.36320689e-03 9.99961822e-01 8.06496415e-03 6.06354624e-01] [ 7.32497096e-02 -7.79699662e-03 9.97283153e-01 5.35997719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39463044 meters Centerline goodness [0,1] 0.3331393218219837 Centerline is valid? [False, False] Translation: X:12.50, Y:0.61, Z:0.54 [[ 9.97308950e-01 3.87442024e-03 -7.32109802e-02 1.24973611e+01] [-3.30329754e-03 9.99963176e-01 7.92052459e-03 6.06982465e-01] [ 7.32389717e-02 -7.65737241e-03 9.97285023e-01 5.36101026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42463044000004 meters Centerline goodness [0,1] 0.3341263490278349 Centerline is valid? [False, False] Translation: X:12.50, Y:0.61, Z:0.54 [[ 9.97315802e-01 3.77009060e-03 -7.31230324e-02 1.24970721e+01] [-3.20983249e-03 9.99964600e-01 7.77785676e-03 6.07299663e-01] [ 7.31497671e-02 -7.52226677e-03 9.97292599e-01 5.36181434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45463044 meters Centerline goodness [0,1] 0.3329890474038689 Centerline is valid? [False, False] Translation: X:12.50, Y:0.61, Z:0.54 [[ 9.97320923e-01 3.64656714e-03 -7.30594212e-02 1.24966666e+01] [-3.10021468e-03 9.99966388e-01 7.59019983e-03 6.07948287e-01] [ 7.30846437e-02 -7.34336521e-03 9.97298706e-01 5.36490376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48463044 meters Centerline goodness [0,1] 0.33346171951897974 Centerline is valid? [False, False] Translation: X:12.50, Y:0.61, Z:0.54 [[ 9.97352352e-01 3.62857303e-03 -7.26300167e-02 1.24954966e+01] [-3.09399378e-03 9.99967302e-01 7.47146198e-03 6.09124690e-01] [ 7.26547525e-02 -7.22696336e-03 9.97330967e-01 5.36688504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51463044 meters Centerline goodness [0,1] 0.33650218801871135 Centerline is valid? [False, False] Translation: X:12.50, Y:0.61, Z:0.54 [[ 9.97359107e-01 3.58444012e-03 -7.25393857e-02 1.24954416e+01] [-3.05305519e-03 9.99967699e-01 7.43502207e-03 6.09130816e-01] [ 7.25636930e-02 -7.19392023e-03 9.97337835e-01 5.36472129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54463044 meters Centerline goodness [0,1] 0.3355163188871054 Centerline is valid? [False, False] Translation: X:12.50, Y:0.61, Z:0.54 [[ 9.97354001e-01 3.47010642e-03 -7.26151096e-02 1.24958659e+01] [-2.94333237e-03 9.99968583e-01 7.36008090e-03 6.08905664e-01] [ 7.26383685e-02 -7.12687574e-03 9.97332881e-01 5.36218627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.57463044 meters Centerline goodness [0,1] 0.33637063655030797 Centerline is valid? [False, False] Translation: X:12.50, Y:0.61, Z:0.54 [[ 9.97350847e-01 3.32340985e-03 -7.26652775e-02 1.24959161e+01] [-2.78961168e-03 9.99968385e-01 7.44624159e-03 6.07227052e-01] [ 7.26877271e-02 -7.22380745e-03 9.97328587e-01 5.36337724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60463044 meters Centerline goodness [0,1] 0.33809041326233646 Centerline is valid? [False, False] Translation: X:12.50, Y:0.61, Z:0.54 [[ 9.97357969e-01 3.36309663e-03 -7.25656381e-02 1.24955698e+01] [-2.81759868e-03 9.99967010e-01 7.61836041e-03 6.06148946e-01] [ 7.25888654e-02 -7.39377161e-03 9.97334542e-01 5.36526589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.63463044 meters Centerline goodness [0,1] 0.34078811813186816 Centerline is valid? [False, False] Translation: X:12.50, Y:0.60, Z:0.54 [[ 9.97369514e-01 3.38714208e-03 -7.24056576e-02 1.24952318e+01] [-2.82931605e-03 9.99965535e-01 7.80535373e-03 6.04849541e-01] [ 7.24296000e-02 -7.57996337e-03 9.97344723e-01 5.36501822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66463044 meters Centerline goodness [0,1] 0.3401351730690333 Centerline is valid? [False, False] Translation: X:12.49, Y:0.60, Z:0.54 [[ 9.97389509e-01 3.34153467e-03 -7.21318382e-02 1.24946552e+01] [-2.77666328e-03 9.99964702e-01 7.92995041e-03 6.03419624e-01] [ 7.21557903e-02 -7.70896352e-03 9.97363582e-01 5.36506756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.69463044 meters Centerline goodness [0,1] 0.3390798451436271 Centerline is valid? [False, False] Translation: X:12.49, Y:0.60, Z:0.54 [[ 9.97399276e-01 3.29384671e-03 -7.19988521e-02 1.24944113e+01] [-2.71928526e-03 9.99963685e-01 8.07671136e-03 6.01810462e-01] [ 7.20228410e-02 -7.85992064e-03 9.97372013e-01 5.36438315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72463044 meters Centerline goodness [0,1] 0.34284545141281875 Centerline is valid? [False, False] Translation: X:12.49, Y:0.60, Z:0.54 [[ 9.97394637e-01 3.37462341e-03 -7.20593568e-02 1.24946136e+01] [-2.77834935e-03 9.99961083e-01 8.37339337e-03 5.99953549e-01] [ 7.20848095e-02 -8.15137156e-03 9.97365197e-01 5.36433558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.75463044 meters Centerline goodness [0,1] 0.3414670884169303 Centerline is valid? [False, False] Translation: X:12.50, Y:0.60, Z:0.54 [[ 9.97358774e-01 3.59415598e-03 -7.25434970e-02 1.24966765e+01] [-2.94281505e-03 9.99954414e-01 9.08351204e-03 5.95537879e-01] [ 7.25728376e-02 -8.84603833e-03 9.97323885e-01 5.35403872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78463044 meters Centerline goodness [0,1] 0.34358019613361335 Centerline is valid? [False, False] Translation: X:12.50, Y:0.59, Z:0.53 [[ 9.97341087e-01 3.65436606e-03 -7.27832546e-02 1.24976866e+01] [-2.98137461e-03 9.99951815e-01 9.35301108e-03 5.93556922e-01] [ 7.28139268e-02 -9.11114809e-03 9.97303925e-01 5.34931347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.81463044000003 meters Centerline goodness [0,1] 0.3396634873003965 Centerline is valid? [False, False] Translation: X:12.52, Y:0.59, Z:0.54 [[ 9.97248865e-01 1.09810812e-02 -7.33083639e-02 1.25176066e+01] [-1.04220081e-02 9.99913651e-01 8.00450493e-03 5.89091167e-01] [ 7.33899319e-02 -7.21846309e-03 9.97277199e-01 5.37797483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84463044 meters Centerline goodness [0,1] 0.337873954651263 Centerline is valid? [False, False] Translation: X:12.52, Y:0.59, Z:0.54 [[ 9.97231581e-01 1.11264817e-02 -7.35212536e-02 1.25185553e+01] [-1.05553335e-02 9.99911057e-01 8.15247391e-03 5.88174168e-01] [ 7.36054228e-02 -7.35386309e-03 9.97260328e-01 5.37222858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.87463044000003 meters Centerline goodness [0,1] 0.33495549721457385 Centerline is valid? [False, False] Translation: X:12.54, Y:0.59, Z:0.54 [[ 9.97223128e-01 4.23166016e-03 -7.43513752e-02 1.25376213e+01] [-3.55014006e-03 9.99950489e-01 9.29597970e-03 5.93554027e-01] [ 7.43870314e-02 -9.00620815e-03 9.97188777e-01 5.39592218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90463044 meters Centerline goodness [0,1] 0.33811750443780575 Centerline is valid? [False, False] Translation: X:12.54, Y:0.59, Z:0.54 [[ 9.97218864e-01 4.32977366e-03 -7.44028876e-02 1.25380609e+01] [-3.64973649e-03 9.99950340e-01 9.27346489e-03 5.94197915e-01] [ 7.44393447e-02 -8.97612320e-03 9.97185145e-01 5.39164629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.93463044000003 meters Centerline goodness [0,1] 0.33632152354808265 Centerline is valid? [False, False] Translation: X:12.54, Y:0.60, Z:0.54 [[ 9.97207631e-01 4.41738656e-03 -7.45481490e-02 1.25385725e+01] [-3.74064553e-03 9.99950544e-01 9.21508903e-03 5.95011197e-01] [ 7.45851688e-02 -8.91049891e-03 9.97174837e-01 5.38914025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96463044 meters Centerline goodness [0,1] 0.33722209044055806 Centerline is valid? [False, False] Translation: X:12.54, Y:0.60, Z:0.54 [[ 9.97205551e-01 4.36868882e-03 -7.45788349e-02 1.25386242e+01] [-3.70517864e-03 9.99952339e-01 9.03280254e-03 5.95856747e-01] [ 7.46147419e-02 -8.73123293e-03 9.97174210e-01 5.38885371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.99463044000004 meters Centerline goodness [0,1] 0.3376724305420633 Centerline is valid? [False, False] Translation: X:12.54, Y:0.60, Z:0.54 [[ 9.97203279e-01 4.51789985e-03 -7.46003297e-02 1.25384999e+01] [-3.86545451e-03 9.99953030e-01 8.88794640e-03 5.97378815e-01] [ 7.46369805e-02 -8.57472511e-03 9.97173904e-01 5.38999067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02463044 meters Centerline goodness [0,1] 0.33564377682403435 Centerline is valid? [False, False] Translation: X:12.54, Y:0.60, Z:0.54 [[ 9.97191126e-01 4.50869358e-03 -7.47631596e-02 1.25388096e+01] [-3.86579525e-03 9.99954319e-01 8.74161681e-03 5.98365092e-01] [ 7.47991576e-02 -8.42804364e-03 9.97163003e-01 5.39042679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05463044000004 meters Centerline goodness [0,1] 0.33610548541388374 Centerline is valid? [False, False] Translation: X:12.54, Y:0.60, Z:0.54 [[ 9.97185107e-01 4.43110479e-03 -7.48480365e-02 1.25390367e+01] [-3.80312238e-03 9.99956382e-01 8.53054473e-03 5.99334533e-01] [ 7.48825716e-02 -8.22187591e-03 9.97158463e-01 5.38978443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08463044 meters Centerline goodness [0,1] 0.33598469376786977 Centerline is valid? [False, False] Translation: X:12.54, Y:0.60, Z:0.54 [[ 9.97184101e-01 4.34629509e-03 -7.48664085e-02 1.25391187e+01] [-3.73874673e-03 9.99958951e-01 8.25333946e-03 6.00765320e-01] [ 7.48992068e-02 -7.95019235e-03 9.97159417e-01 5.38846359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11463044000004 meters Centerline goodness [0,1] 0.3374808946677287 Centerline is valid? [False, False] Translation: X:12.54, Y:0.60, Z:0.54 [[ 9.97184116e-01 4.23032201e-03 -7.48728421e-02 1.25390151e+01] [-3.64876819e-03 9.99962119e-01 7.90230556e-03 6.02636064e-01] [ 7.49034352e-02 -7.60685994e-03 9.97161778e-01 5.38921019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14463044 meters Centerline goodness [0,1] 0.3368665756696809 Centerline is valid? [False, False] Translation: X:12.54, Y:0.61, Z:0.54 [[ 9.97149547e-01 7.82084808e-03 -7.50440904e-02 1.25395317e+01] [-7.03255084e-03 9.99917348e-01 1.07629633e-02 6.06416879e-01] [ 7.51220633e-02 -1.02045326e-02 9.97122130e-01 5.38771641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17463044000004 meters Centerline goodness [0,1] 0.34451992948359633 Centerline is valid? [False, False] Translation: X:12.54, Y:0.61, Z:0.54 [[ 9.97142592e-01 7.75121287e-03 -7.51436677e-02 1.25397466e+01] [-6.99349851e-03 9.99922070e-01 1.03414381e-02 6.09159014e-01] [ 7.52179704e-02 -9.78637128e-03 9.97119092e-01 5.38682506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20463044 meters Centerline goodness [0,1] 0.33708178638109754 Centerline is valid? [False, False] Translation: X:12.54, Y:0.61, Z:0.54 [[ 9.97137923e-01 7.57272703e-03 -7.52237736e-02 1.25398864e+01] [-6.85441490e-03 9.99928460e-01 9.80259579e-03 6.12139229e-01] [ 7.52926245e-02 -9.25892505e-03 9.97118495e-01 5.38626927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23463044 meters Centerline goodness [0,1] 0.3387939374395357 Centerline is valid? [False, False] Translation: X:12.54, Y:0.61, Z:0.54 [[ 9.97145931e-01 7.42277937e-03 -7.51325082e-02 1.25395891e+01] [-6.73805497e-03 9.99933465e-01 9.36294303e-03 6.14619743e-01] [ 7.51970083e-02 -8.82997358e-03 9.97129601e-01 5.38632596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26463044 meters Centerline goodness [0,1] 0.3450144664680226 Centerline is valid? [False, False] Translation: X:12.54, Y:0.62, Z:0.54 [[ 9.97179638e-01 7.33574227e-03 -7.46924100e-02 1.25383500e+01] [-6.69849692e-03 9.99939032e-01 8.77853973e-03 6.19499777e-01] [ 7.47522532e-02 -8.25345419e-03 9.97167980e-01 5.38786620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29463044 meters Centerline goodness [0,1] 0.34424041504316194 Centerline is valid? [False, False] Translation: X:12.54, Y:0.62, Z:0.54 [[ 9.97189255e-01 7.21156790e-03 -7.45760265e-02 1.25378848e+01] [-6.60058914e-03 9.99942632e-01 8.43592305e-03 6.21654724e-01] [ 7.46325844e-02 -7.91996611e-03 9.97179649e-01 5.39036316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32463044 meters Centerline goodness [0,1] 0.3427116540790346 Centerline is valid? [False, False] Translation: X:12.56, Y:0.63, Z:0.54 [[ 9.97210653e-01 -1.20208788e-04 -7.46384524e-02 1.25550862e+01] [ 8.28890421e-04 9.99954872e-01 9.46395553e-03 6.29472747e-01] [ 7.46339465e-02 -9.49942438e-03 9.97165751e-01 5.42440189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35463044 meters Centerline goodness [0,1] 0.3470151661826396 Centerline is valid? [False, False] Translation: X:12.55, Y:0.63, Z:0.54 [[ 9.97209531e-01 -3.54249521e-04 -7.46527035e-02 1.25549754e+01] [ 1.03733843e-03 9.99957950e-01 9.11164790e-03 6.30933330e-01] [ 7.46463365e-02 -9.16366224e-03 9.97167966e-01 5.42606871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38463044 meters Centerline goodness [0,1] 0.35236318677743317 Centerline is valid? [False, False] Translation: X:12.56, Y:0.63, Z:0.54 [[ 9.97194981e-01 -5.14070203e-04 -7.48458775e-02 1.25552719e+01] [ 1.17908930e-03 9.99960220e-01 8.84126418e-03 6.32209781e-01] [ 7.48383551e-02 -8.90471424e-03 9.97155919e-01 5.42827537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41463044 meters Centerline goodness [0,1] 0.3464550129083189 Centerline is valid? [False, False] Translation: X:12.60, Y:0.64, Z:0.55 [[ 9.97260153e-01 -1.09573515e-03 -7.39661140e-02 1.25989069e+01] [ 1.76439939e-03 9.99958164e-01 8.97540594e-03 6.39297879e-01] [ 7.39531849e-02 -9.08132047e-03 9.97220365e-01 5.45763765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44463044 meters Centerline goodness [0,1] 0.3474708254218847 Centerline is valid? [False, False] Translation: X:12.60, Y:0.64, Z:0.55 [[ 9.97245860e-01 -1.26701399e-03 -7.41558513e-02 1.25996191e+01] [ 1.92379839e-03 9.99959551e-01 8.78605288e-03 6.39854628e-01] [ 7.41417198e-02 -8.90451576e-03 9.97207960e-01 5.45509599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47463044 meters Centerline goodness [0,1] 0.35410048622366286 Centerline is valid? [False, False] Translation: X:12.60, Y:0.64, Z:0.55 [[ 9.97230291e-01 -1.50136600e-03 -7.43605553e-02 1.26002967e+01] [ 2.14123291e-03 9.99961361e-01 8.52594937e-03 6.40302143e-01] [ 7.43448815e-02 -8.66155824e-03 9.97194974e-01 5.45324400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.50463044 meters Centerline goodness [0,1] 0.3526825921001844 Centerline is valid? [False, False] Translation: X:12.62, Y:0.64, Z:0.55 [[ 9.97209466e-01 3.68588046e-03 -7.45633672e-02 1.26229213e+01] [-3.29385512e-03 9.99980103e-01 5.37990207e-03 6.41257909e-01] [ 7.45817133e-02 -5.11928834e-03 9.97201765e-01 5.47382942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53463044 meters Centerline goodness [0,1] 0.3511786454660084 Centerline is valid? [False, False] Translation: X:12.62, Y:0.64, Z:0.55 [[ 9.97202818e-01 3.69266118e-03 -7.46518909e-02 1.26230523e+01] [-3.30301178e-03 9.99980275e-01 5.34233870e-03 6.41955100e-01] [ 7.46701458e-02 -5.08081913e-03 9.97195344e-01 5.47526691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56463044000003 meters Centerline goodness [0,1] 0.3533566628738273 Centerline is valid? [False, False] Translation: X:12.62, Y:0.64, Z:0.55 [[ 9.97201908e-01 3.61685987e-03 -7.46677562e-02 1.26231011e+01] [-3.23945784e-03 9.99981363e-01 5.17491017e-03 6.42914317e-01] [ 7.46850815e-02 -4.91854724e-03 9.97195039e-01 5.47512746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59463044 meters Centerline goodness [0,1] 0.35706436251589135 Centerline is valid? [False, False] Translation: X:12.62, Y:0.64, Z:0.55 [[ 9.97197041e-01 3.46002432e-03 -7.47401474e-02 1.26233861e+01] [-3.10268589e-03 9.99983198e-01 4.89665871e-03 6.44022714e-01] [ 7.47558342e-02 -4.65103837e-03 9.97191021e-01 5.47342113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62463044000003 meters Centerline goodness [0,1] 0.3516722908034684 Centerline is valid? [False, False] Translation: X:12.62, Y:0.65, Z:0.55 [[ 9.97182622e-01 3.35634091e-03 -7.49369932e-02 1.26238350e+01] [-3.01426814e-03 9.99984518e-01 4.67743806e-03 6.45085933e-01] [ 7.49515321e-02 -4.43837976e-03 9.97177300e-01 5.47377624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65463044 meters Centerline goodness [0,1] 0.3504636043909197 Centerline is valid? [False, False] Translation: X:12.62, Y:0.65, Z:0.55 [[ 9.97179770e-01 3.28653300e-03 -7.49780361e-02 1.26239930e+01] [-2.95756901e-03 9.99985510e-01 4.49808253e-03 6.46078221e-01] [ 7.49917327e-02 -4.26364418e-03 9.97175040e-01 5.47290593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68463044000003 meters Centerline goodness [0,1] 0.3570522331892566 Centerline is valid? [False, False] Translation: X:12.62, Y:0.65, Z:0.55 [[ 9.97178107e-01 3.20153769e-03 -7.50038237e-02 1.26239541e+01] [-2.88532394e-03 9.99986489e-01 4.32394725e-03 6.47028279e-01] [ 7.50166536e-02 -4.09533521e-03 9.97173871e-01 5.47427397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71463044 meters Centerline goodness [0,1] 0.3567345710847516 Centerline is valid? [False, False] Translation: X:12.62, Y:0.65, Z:0.55 [[ 9.97176374e-01 3.00365731e-03 -7.50350365e-02 1.26240795e+01] [-2.69643643e-03 9.99987564e-01 4.19533691e-03 6.46699291e-01] [ 7.50467048e-02 -3.98116365e-03 9.97172073e-01 5.47410958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74463044000004 meters Centerline goodness [0,1] 0.3553817886595736 Centerline is valid? [False, False] Translation: X:12.62, Y:0.65, Z:0.55 [[ 9.97161114e-01 2.87663640e-03 -7.52425323e-02 1.26245535e+01] [-2.56663900e-03 9.99987817e-01 4.21634870e-03 6.45759694e-01] [ 7.52537446e-02 -4.01125855e-03 9.97156349e-01 5.47500399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77463044 meters Centerline goodness [0,1] 0.35335576186014817 Centerline is valid? [False, False] Translation: X:12.62, Y:0.64, Z:0.55 [[ 9.97146458e-01 2.86950508e-03 -7.54367828e-02 1.26249410e+01] [-2.54514667e-03 9.99987101e-01 4.39552248e-03 6.44493045e-01] [ 7.54484227e-02 -4.19098199e-03 9.97140898e-01 5.47713254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80463044000004 meters Centerline goodness [0,1] 0.3574412815239745 Centerline is valid? [False, False] Translation: X:12.60, Y:0.65, Z:0.55 [[ 9.97084040e-01 -5.17486954e-03 -7.61356485e-02 1.26048321e+01] [ 5.62931365e-03 9.99967592e-01 5.75547691e-03 6.45063960e-01] [ 7.61033973e-02 -6.16728562e-03 9.97080858e-01 5.45244763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83463044 meters Centerline goodness [0,1] 0.3545184994198788 Centerline is valid? [False, False] Translation: X:12.63, Y:0.64, Z:0.55 [[ 9.97134033e-01 4.73937178e-04 -7.56537813e-02 1.26253994e+01] [-2.14908743e-04 9.99994088e-01 3.43197061e-03 6.40796708e-01] [ 7.56549605e-02 -3.40587604e-03 9.97128240e-01 5.47388033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86463044000004 meters Centerline goodness [0,1] 0.35500833653969477 Centerline is valid? [False, False] Translation: X:12.63, Y:0.64, Z:0.55 [[ 9.97119001e-01 4.23255220e-04 -7.58519584e-02 1.26259786e+01] [-1.58958496e-04 9.99993896e-01 3.49037923e-03 6.39799852e-01] [ 7.58529727e-02 -3.46826614e-03 9.97112981e-01 5.47332656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89463044 meters Centerline goodness [0,1] 0.3553243732230551 Centerline is valid? [False, False] Translation: X:12.63, Y:0.64, Z:0.55 [[ 9.97119007e-01 4.05364473e-04 -7.58519738e-02 1.26260976e+01] [-1.36928855e-04 9.99993710e-01 3.54410763e-03 6.39073639e-01] [ 7.58529334e-02 -3.52351075e-03 9.97112791e-01 5.47224007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92463044000004 meters Centerline goodness [0,1] 0.3537506688068486 Centerline is valid? [False, False] Translation: X:12.63, Y:0.64, Z:0.55 [[ 9.97118277e-01 5.76442237e-04 -7.58604566e-02 1.26258202e+01] [-2.78793018e-04 9.99992222e-01 3.93417273e-03 6.37106996e-01] [ 7.58621344e-02 -3.90168617e-03 9.97110683e-01 5.47680171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95463044 meters Centerline goodness [0,1] 0.35450109156286114 Centerline is valid? [False, False] Translation: X:12.63, Y:0.64, Z:0.55 [[ 9.97109918e-01 6.41330016e-04 -7.59697292e-02 1.26259620e+01] [-3.28941049e-04 9.99991440e-01 4.12446046e-03 6.35968897e-01] [ 7.59717240e-02 -4.08755087e-03 9.97101594e-01 5.47884135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98463044 meters Centerline goodness [0,1] 0.3536467401818534 Centerline is valid? [False, False] Translation: X:12.63, Y:0.63, Z:0.55 [[ 9.97090827e-01 6.62109574e-04 -7.62197160e-02 1.26265699e+01] [-3.35283484e-04 9.99990696e-01 4.30066320e-03 6.34583898e-01] [ 7.62218543e-02 -4.26259661e-03 9.97081772e-01 5.47940979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01463044 meters Centerline goodness [0,1] 0.3524825429464936 Centerline is valid? [False, False] Translation: X:12.63, Y:0.63, Z:0.55 [[ 9.97066817e-01 6.12371462e-04 -7.65335683e-02 1.26274608e+01] [-2.74205545e-04 9.99990155e-01 4.42896091e-03 6.32984944e-01] [ 7.65355269e-02 -4.39498403e-03 9.97057168e-01 5.47841165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04463044 meters Centerline goodness [0,1] 0.3532674118658642 Centerline is valid? [False, False] Translation: X:12.63, Y:0.63, Z:0.55 [[ 9.97056751e-01 6.06334426e-04 -7.66646503e-02 1.26279645e+01] [-2.53480587e-04 9.99989332e-01 4.61220948e-03 6.31235861e-01] [ 7.66666289e-02 -4.57920160e-03 9.97046267e-01 5.47697285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.07463044 meters Centerline goodness [0,1] 0.35140303381891624 Centerline is valid? [False, False] Translation: X:12.63, Y:0.63, Z:0.55 [[ 9.97034090e-01 7.50284021e-04 -7.69575241e-02 1.26286408e+01] [-3.56945346e-04 9.99986805e-01 5.12474183e-03 6.27886386e-01] [ 7.69603536e-02 -5.08207268e-03 9.97021202e-01 5.47856144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10463044 meters Centerline goodness [0,1] 0.3497701001246186 Centerline is valid? [False, False] Translation: X:12.63, Y:0.63, Z:0.55 [[ 9.97029719e-01 8.55394023e-04 -7.70130386e-02 1.26287304e+01] [-4.40018885e-04 9.99985267e-01 5.41037625e-03 6.26254336e-01] [ 7.70165320e-02 -5.36041872e-03 9.97015406e-01 5.47944310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.13463044 meters Centerline goodness [0,1] 0.35213414634146345 Centerline is valid? [False, False] Translation: X:12.63, Y:0.63, Z:0.55 [[ 9.97024188e-01 8.70710427e-04 -7.70844325e-02 1.26288286e+01] [-4.46387836e-04 9.99984656e-01 5.52170630e-03 6.25229547e-01] [ 7.70880575e-02 -5.47086519e-03 9.97009278e-01 5.48064462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16463044 meters Centerline goodness [0,1] 0.3508029886636894 Centerline is valid? [False, False] Translation: X:12.63, Y:0.62, Z:0.55 [[ 9.97012198e-01 8.92779812e-04 -7.72391110e-02 1.26293497e+01] [-4.61632949e-04 9.99984215e-01 5.59965066e-03 6.24548606e-01] [ 7.72428911e-02 -5.54726389e-03 9.96996872e-01 5.47880231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.19463044 meters Centerline goodness [0,1] 0.34645889306824285 Centerline is valid? [False, False] Translation: X:12.63, Y:0.63, Z:0.55 [[ 9.96960352e-01 1.10135757e-03 -7.79027829e-02 1.26312627e+01] [-6.71142417e-04 9.99984382e-01 5.54842806e-03 6.25670976e-01] [ 7.79076770e-02 -5.47927893e-03 9.96945521e-01 5.47385321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22463044 meters Centerline goodness [0,1] 0.34645889306824285 Centerline is valid? [False, False] Translation: X:12.63, Y:0.63, Z:0.55 [[ 9.96960352e-01 1.10135757e-03 -7.79027829e-02 1.26312627e+01] [-6.71142417e-04 9.99984382e-01 5.54842806e-03 6.25670976e-01] [ 7.79076770e-02 -5.47927893e-03 9.96945521e-01 5.47385321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.25463044 meters Centerline goodness [0,1] 0.3464734341440132 Centerline is valid? [False, False] Translation: X:12.63, Y:0.63, Z:0.55 [[ 9.96936711e-01 1.12683708e-03 -7.82043772e-02 1.26321183e+01] [-7.13610543e-04 9.99985638e-01 5.31167643e-03 6.27414535e-01] [ 7.82092395e-02 -5.23959776e-03 9.96923197e-01 5.47129998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28463044 meters Centerline goodness [0,1] 0.3442636967999829 Centerline is valid? [False, False] Translation: X:12.65, Y:0.63, Z:0.55 [[ 9.96932519e-01 9.20325660e-03 -7.77229246e-02 1.26525190e+01] [-8.90869956e-03 9.99951764e-01 4.13572164e-03 6.27773529e-01] [ 7.77572377e-02 -3.43062521e-03 9.96966420e-01 5.49511503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.31463044000003 meters Centerline goodness [0,1] 0.34652843909618214 Centerline is valid? [False, False] Translation: X:12.63, Y:0.63, Z:0.55 [[ 9.97086192e-01 1.75776851e-03 -7.62629457e-02 1.26323405e+01] [-1.38362332e-03 9.99986749e-01 4.95854854e-03 6.33518994e-01] [ 7.62706512e-02 -4.83858109e-03 9.97075411e-01 5.46650554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34463044 meters Centerline goodness [0,1] 0.34717217271216794 Centerline is valid? [False, False] Translation: X:12.63, Y:0.64, Z:0.55 [[ 9.97109477e-01 1.76472272e-03 -7.59577279e-02 1.26313300e+01] [-1.40868875e-03 9.99987771e-01 4.74058722e-03 6.35560528e-01] [ 7.59651649e-02 -4.61988365e-03 9.97099770e-01 5.46997691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.37463044000003 meters Centerline goodness [0,1] 0.3467642941746527 Centerline is valid? [False, False] Translation: X:12.63, Y:0.64, Z:0.55 [[ 9.97152570e-01 1.69390536e-03 -7.53915259e-02 1.26294343e+01] [-1.37519219e-03 9.99989899e-01 4.27915237e-03 6.38955990e-01] [ 7.53980128e-02 -4.16328995e-03 9.97144827e-01 5.47671273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40463044 meters Centerline goodness [0,1] 0.3459200549863608 Centerline is valid? [False, False] Translation: X:12.63, Y:0.64, Z:0.55 [[ 9.97144326e-01 1.59037314e-03 -7.55027351e-02 1.26297580e+01] [-1.28948907e-03 9.99991033e-01 4.03365750e-03 6.40367748e-01] [ 7.55084731e-02 -3.92477874e-03 9.97137436e-01 5.47621728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.43463044000003 meters Centerline goodness [0,1] 0.3453753799064514 Centerline is valid? [False, False] Translation: X:12.63, Y:0.64, Z:0.55 [[ 9.97122332e-01 1.48605099e-03 -7.57947667e-02 1.26305342e+01] [-1.20323158e-03 9.99992144e-01 3.77691302e-03 6.41779247e-01] [ 7.57997839e-02 -3.67484566e-03 9.97116286e-01 5.47504974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46463044 meters Centerline goodness [0,1] 0.343645252887551 Centerline is valid? [False, False] Translation: X:12.63, Y:0.64, Z:0.55 [[ 9.97097937e-01 1.43318332e-03 -7.61160361e-02 1.26316118e+01] [-1.16525980e-03 9.99992969e-01 3.56423056e-03 6.43250476e-01] [ 7.61206091e-02 -3.46519198e-03 9.97092596e-01 5.47117551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49463044000004 meters Centerline goodness [0,1] 0.34457065555818 Centerline is valid? [False, False] Translation: X:12.63, Y:0.64, Z:0.55 [[ 9.97086940e-01 1.33837316e-03 -7.62616685e-02 1.26320246e+01] [-1.08809726e-03 9.99993886e-01 3.32326080e-03 6.44651544e-01] [ 7.62656500e-02 -3.23059983e-03 9.97082300e-01 5.47029215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52463044 meters Centerline goodness [0,1] 0.34163176339858103 Centerline is valid? [False, False] Translation: X:12.63, Y:0.65, Z:0.55 [[ 9.97089606e-01 1.28154942e-03 -7.62277875e-02 1.26317015e+01] [-1.04740936e-03 9.99994611e-01 3.11148388e-03 6.46522886e-01] [ 7.62313643e-02 -3.02258653e-03 9.97085575e-01 5.47390441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55463044000004 meters Centerline goodness [0,1] 0.3432915615243146 Centerline is valid? [False, False] Translation: X:12.63, Y:0.65, Z:0.55 [[ 9.97092556e-01 1.22383020e-03 -7.61901434e-02 1.26315077e+01] [-9.94544096e-04 9.99994863e-01 3.04726291e-03 6.46800361e-01] [ 7.61934814e-02 -2.96262871e-03 9.97088650e-01 5.47565893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58463044 meters Centerline goodness [0,1] 0.3448417591450884 Centerline is valid? [False, False] Translation: X:12.63, Y:0.65, Z:0.55 [[ 9.97085194e-01 1.12415546e-03 -7.62879521e-02 1.26316374e+01] [-8.98878027e-04 9.99995134e-01 2.98726091e-03 6.46641142e-01] [ 7.62909390e-02 -2.90998006e-03 9.97081353e-01 5.47740013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61463044000004 meters Centerline goodness [0,1] 0.34043775126028974 Centerline is valid? [False, False] Translation: X:12.67, Y:0.65, Z:0.55 [[ 9.97198749e-01 -6.95579614e-04 -7.47941898e-02 1.26749429e+01] [ 8.36051546e-04 9.99997945e-01 1.84681954e-03 6.48428192e-01] [ 7.47927515e-02 -1.90417793e-03 9.97197282e-01 5.51253324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64463044 meters Centerline goodness [0,1] 0.34155927835051547 Centerline is valid? [False, False] Translation: X:12.67, Y:0.65, Z:0.55 [[ 9.97200278e-01 -7.36929153e-04 -7.47734087e-02 1.26748138e+01] [ 8.89255282e-04 9.99997597e-01 2.00389731e-03 6.46977073e-01] [ 7.47717522e-02 -2.06477960e-03 9.97198537e-01 5.51454516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67463044000004 meters Centerline goodness [0,1] 0.34486402553430096 Centerline is valid? [False, False] Translation: X:12.67, Y:0.65, Z:0.55 [[ 9.97201823e-01 -7.43398153e-04 -7.47527424e-02 1.26746859e+01] [ 9.11841392e-04 9.99997122e-01 2.21923476e-03 6.45490992e-01] [ 7.47508775e-02 -2.28118759e-03 9.97199630e-01 5.51732039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70463044 meters Centerline goodness [0,1] 0.3430740365330285 Centerline is valid? [False, False] Translation: X:12.67, Y:0.64, Z:0.55 [[ 9.97198220e-01 -7.60828350e-04 -7.48006095e-02 1.26749006e+01] [ 9.41183519e-04 9.99996735e-01 2.37592535e-03 6.44161003e-01] [ 7.47985576e-02 -2.43966963e-03 9.97195680e-01 5.51685278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73463044 meters Centerline goodness [0,1] 0.3432925779231961 Centerline is valid? [False, False] Translation: X:12.68, Y:0.64, Z:0.55 [[ 9.97183204e-01 -7.96472769e-04 -7.50001512e-02 1.26756322e+01] [ 9.88274483e-04 9.99996336e-01 2.52027312e-03 6.42667194e-01] [ 7.49978691e-02 -2.58729476e-03 9.97180338e-01 5.51445754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76463044 meters Centerline goodness [0,1] 0.3407985255352436 Centerline is valid? [False, False] Translation: X:12.68, Y:0.64, Z:0.55 [[ 9.97161234e-01 -7.92583511e-04 -7.52917331e-02 1.26765437e+01] [ 9.97708053e-04 9.99995893e-01 2.68682271e-03 6.41176509e-01] [ 7.52892943e-02 -2.75431462e-03 9.97157929e-01 5.51284325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79463044 meters Centerline goodness [0,1] 0.3427320188117531 Centerline is valid? [False, False] Translation: X:12.68, Y:0.64, Z:0.55 [[ 9.97156985e-01 -6.60087414e-04 -7.53492633e-02 1.26767155e+01] [ 8.95520064e-04 9.99994822e-01 3.09080779e-03 6.38789714e-01] [ 7.53468330e-02 -3.14949736e-03 9.97152413e-01 5.51360149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82463044 meters Centerline goodness [0,1] 0.3429162982293441 Centerline is valid? [False, False] Translation: X:12.68, Y:0.64, Z:0.55 [[ 9.97159000e-01 -5.42415285e-04 -7.53235358e-02 1.26763199e+01] [ 7.96126981e-04 9.99994111e-01 3.33830709e-03 6.37596293e-01] [ 7.53212814e-02 -3.38879006e-03 9.97153559e-01 5.51857856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85463044 meters Centerline goodness [0,1] 0.3405110659681385 Centerline is valid? [False, False] Translation: X:12.70, Y:0.63, Z:0.55 [[ 9.97175943e-01 7.07142470e-03 -7.47671943e-02 1.26953395e+01] [-6.93498291e-03 9.99973780e-01 2.08435213e-03 6.34401848e-01] [ 7.47799733e-02 -1.55995658e-03 9.97198838e-01 5.54850103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88463044 meters Centerline goodness [0,1] 0.34015136896721765 Centerline is valid? [False, False] Translation: X:12.70, Y:0.63, Z:0.55 [[ 9.97180907e-01 7.02401769e-03 -7.47054317e-02 1.26952960e+01] [-6.88905583e-03 9.99974140e-01 2.06412167e-03 6.33867511e-01] [ 7.47179982e-02 -1.54365283e-03 9.97203509e-01 5.54721280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91463044 meters Centerline goodness [0,1] 0.34227740241855664 Centerline is valid? [False, False] Translation: X:12.70, Y:0.63, Z:0.55 [[ 9.97145346e-01 7.02017723e-03 -7.51789546e-02 1.26969412e+01] [-6.88522082e-03 9.99974187e-01 2.05416680e-03 6.33104848e-01] [ 7.51914346e-02 -1.53067916e-03 9.97167942e-01 5.54026300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94463044 meters Centerline goodness [0,1] 0.34042091559991317 Centerline is valid? [False, False] Translation: X:12.70, Y:0.63, Z:0.55 [[ 9.97126253e-01 7.11233967e-03 -7.54231420e-02 1.26977701e+01] [-6.97214829e-03 9.99973443e-01 2.12187783e-03 6.33075575e-01] [ 7.54362305e-02 -1.58991876e-03 9.97149361e-01 5.53716429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97463044 meters Centerline goodness [0,1] 0.3392857142857143 Centerline is valid? [False, False] Translation: X:12.72, Y:0.64, Z:0.56 [[ 9.97096630e-01 5.66049972e-05 -7.61466209e-02 1.27159125e+01] [ 2.05949577e-04 9.99994061e-01 3.44015647e-03 6.38109566e-01] [ 7.61463634e-02 -3.44585078e-03 9.97090697e-01 5.56626192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.00463044 meters Centerline goodness [0,1] 0.33953709301321355 Centerline is valid? [False, False] Translation: X:12.72, Y:0.64, Z:0.56 [[ 9.97092908e-01 8.63417791e-05 -7.61953093e-02 1.27158249e+01] [ 1.78845460e-04 9.99993951e-01 3.47353137e-03 6.37960142e-01] [ 7.61951484e-02 -3.47706068e-03 9.97086862e-01 5.56897679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03463044 meters Centerline goodness [0,1] 0.3379210821056259 Centerline is valid? [False, False] Translation: X:12.71, Y:0.64, Z:0.56 [[ 9.97116367e-01 1.92838800e-04 -7.58875010e-02 1.27147147e+01] [ 7.68721846e-05 9.99993692e-01 3.55115261e-03 6.37882492e-01] [ 7.58877071e-02 -3.54674603e-03 9.97110062e-01 5.57463705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06463044000003 meters Centerline goodness [0,1] 0.3377552988577185 Centerline is valid? [False, False] Translation: X:12.71, Y:0.64, Z:0.56 [[ 9.97122245e-01 2.16690425e-04 -7.58101658e-02 1.27146066e+01] [ 5.00097523e-05 9.99993817e-01 3.51608414e-03 6.38308861e-01] [ 7.58104589e-02 -3.50975696e-03 9.97116069e-01 5.57339626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09463044 meters Centerline goodness [0,1] 0.3388194129462839 Centerline is valid? [False, False] Translation: X:12.71, Y:0.64, Z:0.56 [[ 9.97121459e-01 2.28031717e-04 -7.58204692e-02 1.27148275e+01] [ 3.35194936e-05 9.99994054e-01 3.44832168e-03 6.38939963e-01] [ 7.58208046e-02 -3.44093701e-03 9.97115523e-01 5.57073042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12463044000003 meters Centerline goodness [0,1] 0.33594368487493853 Centerline is valid? [False, False] Translation: X:12.74, Y:0.64, Z:0.56 [[ 9.97085150e-01 8.02339834e-03 -7.58737746e-02 1.27351258e+01] [-7.87342408e-03 9.99966415e-01 2.27555101e-03 6.37890862e-01] [ 7.58894840e-02 -1.67153171e-03 9.97114834e-01 5.59581888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15463044 meters Centerline goodness [0,1] 0.3360222591290468 Centerline is valid? [False, False] Translation: X:12.74, Y:0.64, Z:0.56 [[ 9.97068617e-01 7.97078928e-03 -7.60962479e-02 1.27356589e+01] [-7.83451665e-03 9.99967127e-01 2.08915131e-03 6.38977624e-01] [ 7.61103986e-02 -1.48684988e-03 9.97098288e-01 5.59571080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18463044000003 meters Centerline goodness [0,1] 0.3378937736917781 Centerline is valid? [False, False] Translation: X:12.74, Y:0.64, Z:0.56 [[ 9.97060239e-01 7.92688249e-03 -7.62105209e-02 1.27358877e+01] [-7.80630502e-03 9.99967763e-01 1.87993199e-03 6.40359513e-01] [ 7.62229662e-02 -1.27948287e-03 9.97089977e-01 5.59597046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21463044 meters Centerline goodness [0,1] 0.3337075013491635 Centerline is valid? [False, False] Translation: X:12.75, Y:0.65, Z:0.56 [[ 9.96938961e-01 1.47625656e-03 -7.81698666e-02 1.27536560e+01] [-1.27278232e-03 9.99995672e-01 2.65273434e-03 6.49720690e-01] [ 7.81734444e-02 -2.54512100e-03 9.96936525e-01 5.63095856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24463044000004 meters Centerline goodness [0,1] 0.3332402234636872 Centerline is valid? [False, False] Translation: X:12.75, Y:0.65, Z:0.56 [[ 9.96939806e-01 1.38154832e-03 -7.81608284e-02 1.27536742e+01] [-1.19672203e-03 9.99996376e-01 2.41148279e-03 6.51113705e-01] [ 7.81638768e-02 -2.31056640e-03 9.96937846e-01 5.63060229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27463044 meters Centerline goodness [0,1] 0.33102005082103736 Centerline is valid? [False, False] Translation: X:12.75, Y:0.65, Z:0.56 [[ 9.96944932e-01 1.26449250e-03 -7.80973932e-02 1.27534214e+01] [-1.10352228e-03 9.99997177e-01 2.10426984e-03 6.52965019e-01] [ 7.80998335e-02 -2.01165894e-03 9.96943514e-01 5.63200505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30463044000004 meters Centerline goodness [0,1] 0.3319316858584551 Centerline is valid? [False, False] Translation: X:12.75, Y:0.65, Z:0.56 [[ 9.96960875e-01 1.13811219e-03 -7.78955595e-02 1.27527313e+01] [-1.00034033e-03 9.99997866e-01 1.80767158e-03 6.54615687e-01] [ 7.78974506e-02 -1.72425577e-03 9.96959886e-01 5.63414476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33463044 meters Centerline goodness [0,1] 0.3297249411205462 Centerline is valid? [False, False] Translation: X:12.75, Y:0.66, Z:0.56 [[ 9.96986053e-01 1.05660418e-03 -7.75737964e-02 1.27514431e+01] [-9.46542206e-04 9.99998493e-01 1.45555870e-03 6.57473873e-01] [ 7.75752174e-02 -1.37774485e-03 9.96985550e-01 5.64101401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36463044000004 meters Centerline goodness [0,1] 0.32921068453147817 Centerline is valid? [False, False] Translation: X:12.75, Y:0.66, Z:0.56 [[ 9.96968680e-01 9.33270622e-04 -7.77983312e-02 1.27520432e+01] [-8.43948723e-04 9.99998947e-01 1.18099184e-03 6.59030802e-01] [ 7.77993514e-02 -1.11175407e-03 9.96968417e-01 5.64071056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39463044 meters Centerline goodness [0,1] 0.32743666074143873 Centerline is valid? [False, False] Translation: X:12.75, Y:0.66, Z:0.56 [[ 9.96943016e-01 7.73000459e-04 -7.81282616e-02 1.27528827e+01] [-7.03409787e-04 9.99999331e-01 9.18239650e-04 6.60258428e-01] [ 7.81289191e-02 -8.60476422e-04 9.96942893e-01 5.64053005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42463044000004 meters Centerline goodness [0,1] 0.32940614897263987 Centerline is valid? [False, False] Translation: X:12.75, Y:0.66, Z:0.56 [[ 9.96937826e-01 6.19880014e-04 -7.81958250e-02 1.27530863e+01] [-5.67960333e-04 9.99999603e-01 6.86208364e-04 6.61223504e-01] [ 7.81962193e-02 -6.39694948e-04 9.96937782e-01 5.64026388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45463044 meters Centerline goodness [0,1] 0.3279413026688407 Centerline is valid? [False, False] Translation: X:12.77, Y:0.67, Z:0.57 [[ 9.96935321e-01 -6.98258763e-03 -7.79179611e-02 1.27717127e+01] [ 7.14324480e-03 9.99972896e-01 1.78334589e-03 6.67531573e-01] [ 7.79033969e-02 -2.33446758e-03 9.96958179e-01 5.67012334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48463044 meters Centerline goodness [0,1] 0.32586614424735416 Centerline is valid? [False, False] Translation: X:12.79, Y:0.67, Z:0.57 [[ 9.97029458e-01 -6.17709708e-04 -7.70186877e-02 1.27896539e+01] [ 6.10612626e-04 9.99999807e-01 -1.15696770e-04 6.65766386e-01] [ 7.70187442e-02 6.83245050e-05 9.97029643e-01 5.70132092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51463044 meters Centerline goodness [0,1] 0.329433563872191 Centerline is valid? [False, False] Translation: X:12.79, Y:0.67, Z:0.57 [[ 9.97010560e-01 -7.42554641e-04 -7.72618409e-02 1.27903208e+01] [ 7.31782866e-04 9.99999718e-01 -1.67730742e-04 6.65522154e-01] [ 7.72619437e-02 1.10690429e-04 9.97010822e-01 5.70110693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54463044 meters Centerline goodness [0,1] 0.3277135413302328 Centerline is valid? [False, False] Translation: X:12.79, Y:0.66, Z:0.57 [[ 9.96991971e-01 -8.27216505e-04 -7.75004869e-02 1.27910531e+01] [ 8.19523735e-04 9.99999656e-01 -1.31065456e-04 6.64815734e-01] [ 7.75005687e-02 6.71577190e-05 9.96992306e-01 5.69984258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.57463044 meters Centerline goodness [0,1] 0.32538458242276214 Centerline is valid? [False, False] Translation: X:12.79, Y:0.66, Z:0.57 [[ 9.96971217e-01 -9.30800295e-04 -7.77658397e-02 1.27917332e+01] [ 9.28133749e-04 9.99999567e-01 -7.04326998e-05 6.63779451e-01] [ 7.77658716e-02 -1.95772591e-06 9.96971649e-01 5.70022530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60463044 meters Centerline goodness [0,1] 0.3246481876332623 Centerline is valid? [False, False] Translation: X:12.79, Y:0.66, Z:0.57 [[ 9.96956656e-01 -1.02124347e-03 -7.79511643e-02 1.27920846e+01] [ 1.02761584e-03 9.99999471e-01 4.16354028e-05 6.62271250e-01] [ 7.79510805e-02 -1.21612543e-04 9.96957178e-01 5.70222494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.63463044 meters Centerline goodness [0,1] 0.32885647682799035 Centerline is valid? [False, False] Translation: X:12.79, Y:0.66, Z:0.57 [[ 9.96967057e-01 -1.40436321e-03 -7.78120468e-02 1.27912929e+01] [ 1.42342169e-03 9.99998969e-01 1.89466416e-04 6.58912467e-01] [ 7.78117005e-02 -2.99651131e-04 9.96968028e-01 5.71001142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66463044 meters Centerline goodness [0,1] 0.32851367826663525 Centerline is valid? [False, False] Translation: X:12.79, Y:0.66, Z:0.57 [[ 9.96967039e-01 -1.32789982e-03 -7.78136284e-02 1.27913656e+01] [ 1.37270907e-03 9.99998921e-01 5.22367400e-04 6.56853626e-01] [ 7.78128508e-02 -6.27598554e-04 9.96967786e-01 5.71033146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.69463044 meters Centerline goodness [0,1] 0.32781684102212316 Centerline is valid? [False, False] Translation: X:12.79, Y:0.65, Z:0.57 [[ 9.96966586e-01 -1.29053228e-03 -7.78200553e-02 1.27915838e+01] [ 1.35674529e-03 9.99998761e-01 7.97982389e-04 6.54816664e-01] [ 7.78189291e-02 -9.01143771e-04 9.96967102e-01 5.70841346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72463044 meters Centerline goodness [0,1] 0.329445003317566 Centerline is valid? [False, False] Translation: X:12.79, Y:0.65, Z:0.57 [[ 9.96961828e-01 -1.23648531e-03 -7.78818674e-02 1.27918647e+01] [ 1.32416500e-03 9.99998546e-01 1.07417111e-03 6.52684163e-01] [ 7.78804260e-02 -1.17403604e-03 9.96962016e-01 5.70769538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.75463044 meters Centerline goodness [0,1] 0.3295330581164039 Centerline is valid? [False, False] Translation: X:12.79, Y:0.65, Z:0.57 [[ 9.96958842e-01 -1.08255816e-03 -7.79223652e-02 1.27920594e+01] [ 1.21703481e-03 9.99997851e-01 1.67830874e-03 6.48071951e-01] [ 7.79203809e-02 -1.76803897e-03 9.96958017e-01 5.70820020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78463044 meters Centerline goodness [0,1] 0.33355602008490826 Centerline is valid? [False, False] Translation: X:12.79, Y:0.65, Z:0.57 [[ 9.96948164e-01 -9.46527789e-04 -7.80606274e-02 1.27922020e+01] [ 1.10846672e-03 9.99997323e-01 2.03122388e-03 6.45917621e-01] [ 7.80584958e-02 -2.11155253e-03 9.96946544e-01 5.71104208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.81463044000003 meters Centerline goodness [0,1] 0.33062510718573146 Centerline is valid? [False, False] Translation: X:12.79, Y:0.64, Z:0.57 [[ 9.96950173e-01 -7.66070153e-04 -7.80369559e-02 1.27920911e+01] [ 9.59674834e-04 9.99996554e-01 2.44346381e-03 6.43601012e-01] [ 7.80348152e-02 -2.51090177e-03 9.96947473e-01 5.71263654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84463044 meters Centerline goodness [0,1] 0.3314732623777309 Centerline is valid? [False, False] Translation: X:12.79, Y:0.64, Z:0.57 [[ 9.96951390e-01 -6.57519770e-04 -7.80223977e-02 1.27917884e+01] [ 8.77879439e-04 9.99995722e-01 2.79004715e-03 6.41309144e-01] [ 7.80202294e-02 -2.85003565e-03 9.96947702e-01 5.71672012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.87463044000003 meters Centerline goodness [0,1] 0.33350674123206314 Centerline is valid? [False, False] Translation: X:12.79, Y:0.64, Z:0.57 [[ 9.96949408e-01 -5.85137471e-04 -7.80482936e-02 1.27917581e+01] [ 8.25754214e-04 9.99995006e-01 3.05068330e-03 6.39411020e-01] [ 7.80461188e-02 -3.10582561e-03 9.96944912e-01 5.71841782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90463044 meters Centerline goodness [0,1] 0.33178104046741264 Centerline is valid? [False, False] Translation: X:12.81, Y:0.63, Z:0.58 [[ 9.96874239e-01 7.01967157e-03 -7.86922881e-02 1.28110245e+01] [-6.86199365e-03 9.99973871e-01 2.27396430e-03 6.32104471e-01] [ 7.87061944e-02 -1.72687045e-03 9.96896360e-01 5.75010016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.93463044000003 meters Centerline goodness [0,1] 0.3314434767612313 Centerline is valid? [False, False] Translation: X:12.81, Y:0.63, Z:0.57 [[ 9.96878918e-01 7.12933990e-03 -7.86231177e-02 1.28108917e+01] [-6.95722880e-03 9.99972765e-01 2.46277450e-03 6.30997552e-01] [ 7.86385344e-02 -1.90808897e-03 9.96901369e-01 5.74997848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96463044 meters Centerline goodness [0,1] 0.33216693143274223 Centerline is valid? [False, False] Translation: X:12.81, Y:0.63, Z:0.58 [[ 9.96877143e-01 7.19767867e-03 -7.86393937e-02 1.28109179e+01] [-7.01687809e-03 9.99972065e-01 2.57520064e-03 6.30208885e-01] [ 7.86557324e-02 -2.01535562e-03 9.96899801e-01 5.75051237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99463044000004 meters Centerline goodness [0,1] 0.332511100148002 Centerline is valid? [False, False] Translation: X:12.81, Y:0.63, Z:0.58 [[ 9.96875318e-01 7.27454180e-03 -7.86554573e-02 1.28109657e+01] [-7.08714358e-03 9.99971344e-01 2.66141523e-03 6.29697149e-01] [ 7.86725640e-02 -2.09565664e-03 9.96898308e-01 5.75052432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02463044 meters Centerline goodness [0,1] 0.32914207510050464 Centerline is valid? [False, False] Translation: X:12.81, Y:0.63, Z:0.58 [[ 9.96873723e-01 7.39222535e-03 -7.86647038e-02 1.28109957e+01] [-7.19756993e-03 9.99970294e-01 2.75774791e-03 6.29536936e-01] [ 7.86827529e-02 -2.18293172e-03 9.96897316e-01 5.75060856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05463044000004 meters Centerline goodness [0,1] 0.33229043046714857 Centerline is valid? [False, False] Translation: X:12.81, Y:0.63, Z:0.57 [[ 9.96871296e-01 7.48947738e-03 -7.86862532e-02 1.28111104e+01] [-7.29379343e-03 9.99969552e-01 2.77400464e-03 6.29962379e-01] [ 7.87046333e-02 -2.19140432e-03 9.96895570e-01 5.74935606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08463044 meters Centerline goodness [0,1] 0.32797053692576084 Centerline is valid? [False, False] Translation: X:12.81, Y:0.63, Z:0.57 [[ 9.96841439e-01 7.74488830e-03 -7.90389941e-02 1.28124935e+01] [-7.55800716e-03 9.99967891e-01 2.66330426e-03 6.31850259e-01] [ 7.90570833e-02 -2.05751477e-03 9.96867967e-01 5.74182738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11463044000004 meters Centerline goodness [0,1] 0.3281082010923322 Centerline is valid? [False, False] Translation: X:12.81, Y:0.63, Z:0.57 [[ 9.96829005e-01 7.70976345e-03 -7.91990864e-02 1.28131618e+01] [-7.54133992e-03 9.99968622e-01 2.42547205e-03 6.33280992e-01] [ 7.92153011e-02 -1.82051366e-03 9.96855868e-01 5.73800383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14463044 meters Centerline goodness [0,1] 0.3265253747941572 Centerline is valid? [False, False] Translation: X:12.81, Y:0.63, Z:0.57 [[ 9.96815611e-01 7.69199018e-03 -7.93692038e-02 1.28136147e+01] [-7.54096873e-03 9.99969141e-01 2.20233352e-03 6.34798552e-01] [ 7.93836949e-02 -1.59679975e-03 9.96842856e-01 5.73660741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17463044000004 meters Centerline goodness [0,1] 0.3265253747941572 Centerline is valid? [False, False] Translation: X:12.81, Y:0.63, Z:0.57 [[ 9.96815611e-01 7.69199018e-03 -7.93692038e-02 1.28136147e+01] [-7.54096873e-03 9.99969141e-01 2.20233352e-03 6.34798552e-01] [ 7.93836949e-02 -1.59679975e-03 9.96842856e-01 5.73660741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20463044 meters Centerline goodness [0,1] 0.3277085124677558 Centerline is valid? [False, False] Translation: X:12.81, Y:0.64, Z:0.57 [[ 9.96814487e-01 7.67947737e-03 -7.93845309e-02 1.28135611e+01] [-7.54216574e-03 9.99969498e-01 2.02940115e-03 6.36159835e-01] [ 7.93976943e-02 -1.42420518e-03 9.96842002e-01 5.73765373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23463044 meters Centerline goodness [0,1] 0.3247984216846801 Centerline is valid? [False, False] Translation: X:12.81, Y:0.64, Z:0.57 [[ 9.96811536e-01 7.69868827e-03 -7.94197174e-02 1.28133832e+01] [-7.56897658e-03 9.99969484e-01 1.93415664e-03 6.37215690e-01] [ 7.94321843e-02 -1.32686368e-03 9.96839389e-01 5.74054768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26463044 meters Centerline goodness [0,1] 0.3268202606660512 Centerline is valid? [False, False] Translation: X:12.81, Y:0.64, Z:0.57 [[ 9.96826631e-01 7.60540117e-03 -7.92390402e-02 1.28127165e+01] [-7.48621849e-03 9.99970356e-01 1.80105354e-03 6.37677634e-01] [ 7.92503890e-02 -1.20213737e-03 9.96854017e-01 5.74347442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29463044 meters Centerline goodness [0,1] 0.3253963118731802 Centerline is valid? [False, False] Translation: X:12.81, Y:0.64, Z:0.57 [[ 9.96826700e-01 7.44541278e-03 -7.92533661e-02 1.28123797e+01] [-7.32906337e-03 9.99971595e-01 1.75885573e-03 6.37222963e-01] [ 7.92642103e-02 -1.17242141e-03 9.96852953e-01 5.74878573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32463044 meters Centerline goodness [0,1] 0.3254608418833753 Centerline is valid? [False, False] Translation: X:12.81, Y:0.64, Z:0.57 [[ 9.96818512e-01 7.34524707e-03 -7.93656147e-02 1.28128596e+01] [-7.23183111e-03 9.99972377e-01 1.71637359e-03 6.36999807e-01] [ 7.93760296e-02 -1.13695424e-03 9.96844097e-01 5.74673703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35463044 meters Centerline goodness [0,1] 0.32306014201385913 Centerline is valid? [False, False] Translation: X:12.83, Y:0.64, Z:0.58 [[ 9.96776726e-01 -2.06247571e-04 -8.02254017e-02 1.28317882e+01] [ 4.18081038e-04 9.99996471e-01 2.62369026e-03 6.41990116e-01] [ 8.02245774e-02 -2.64877410e-03 9.96773295e-01 5.77635692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38463044 meters Centerline goodness [0,1] 0.3222641186048505 Centerline is valid? [False, False] Translation: X:12.83, Y:0.64, Z:0.58 [[ 9.96763485e-01 -3.10203770e-04 -8.03894136e-02 1.28320387e+01] [ 5.28013059e-04 9.99996247e-01 2.68818394e-03 6.41105818e-01] [ 8.03882781e-02 -2.72193025e-03 9.96759909e-01 5.77951598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41463044 meters Centerline goodness [0,1] 0.3199494083347625 Centerline is valid? [False, False] Translation: X:12.83, Y:0.64, Z:0.58 [[ 9.96760018e-01 -3.13884423e-04 -8.04323859e-02 1.28319548e+01] [ 5.42318635e-04 9.99995882e-01 2.81824788e-03 6.40181193e-01] [ 8.04311701e-02 -2.85273679e-03 9.96756083e-01 5.78213540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44463044 meters Centerline goodness [0,1] 0.32077172350151295 Centerline is valid? [False, False] Translation: X:12.83, Y:0.64, Z:0.58 [[ 9.96763129e-01 -3.49375602e-04 -8.03936695e-02 1.28317808e+01] [ 5.91357982e-04 9.99995367e-01 2.98617853e-03 6.38752596e-01] [ 8.03922537e-02 -3.02405410e-03 9.96758717e-01 5.78380539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47463044 meters Centerline goodness [0,1] 0.3214140506302027 Centerline is valid? [False, False] Translation: X:12.83, Y:0.64, Z:0.58 [[ 9.96763895e-01 -4.09790790e-04 -8.03838955e-02 1.28315835e+01] [ 6.70811040e-04 9.99994590e-01 3.22019293e-03 6.36650350e-01] [ 8.03821410e-02 -3.26369445e-03 9.96758777e-01 5.78690791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.50463044 meters Centerline goodness [0,1] 0.32281658443694283 Centerline is valid? [False, False] Translation: X:12.83, Y:0.63, Z:0.58 [[ 9.96765123e-01 -4.76397174e-04 -8.03682958e-02 1.28313552e+01] [ 7.61371303e-04 9.99993532e-01 3.51524522e-03 6.33997421e-01] [ 8.03661013e-02 -3.56506395e-03 9.96759038e-01 5.79087297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53463044 meters Centerline goodness [0,1] 0.3203489246503234 Centerline is valid? [False, False] Translation: X:12.83, Y:0.63, Z:0.58 [[ 9.96772385e-01 -5.01209385e-04 -8.02780196e-02 1.28310445e+01] [ 8.17750735e-04 9.99992021e-01 3.91023554e-03 6.30909948e-01] [ 8.02754192e-02 -3.96326222e-03 9.96764842e-01 5.79382972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56463044000003 meters Centerline goodness [0,1] 0.31989552334667837 Centerline is valid? [False, False] Translation: X:12.83, Y:0.62, Z:0.58 [[ 9.96817316e-01 -2.57172851e-03 -7.96782590e-02 1.28294678e+01] [ 2.81722144e-03 9.99991625e-01 2.96879156e-03 6.22706168e-01] [ 7.96699568e-02 -3.18381413e-03 9.96816212e-01 5.79869027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59463044 meters Centerline goodness [0,1] 0.32224141654070393 Centerline is valid? [False, False] Translation: X:12.83, Y:0.62, Z:0.58 [[ 9.96824096e-01 -2.43966320e-03 -7.95975540e-02 1.28294844e+01] [ 2.73274894e-03 9.99989882e-01 3.57336964e-03 6.18311004e-01] [ 7.95880308e-02 -3.77954109e-03 9.96820676e-01 5.79760096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62463044000003 meters Centerline goodness [0,1] 0.32104504271848844 Centerline is valid? [False, False] Translation: X:12.83, Y:0.61, Z:0.58 [[ 9.96819560e-01 -2.38961938e-03 -7.96558453e-02 1.28298167e+01] [ 2.72385552e-03 9.99987936e-01 4.08760853e-03 6.13719703e-01] [ 7.96451165e-02 -4.29157916e-03 9.96814044e-01 5.79675230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65463044 meters Centerline goodness [0,1] 0.321662169454938 Centerline is valid? [False, False] Translation: X:12.83, Y:0.61, Z:0.58 [[ 9.96801900e-01 -2.24354553e-03 -7.98807767e-02 1.28304893e+01] [ 2.62510733e-03 9.99985641e-01 4.67194591e-03 6.09127755e-01] [ 7.98691479e-02 -4.86670017e-03 9.96793476e-01 5.79618364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68463044000003 meters Centerline goodness [0,1] 0.32268598615916955 Centerline is valid? [False, False] Translation: X:12.83, Y:0.60, Z:0.58 [[ 9.96785074e-01 -2.11950366e-03 -8.00938398e-02 1.28310942e+01] [ 2.56936443e-03 9.99981497e-01 5.51402792e-03 5.99869340e-01] [ 8.00806708e-02 -5.70209099e-03 9.96772076e-01 5.79713651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71463044 meters Centerline goodness [0,1] 0.3224043715846995 Centerline is valid? [False, False] Translation: X:12.83, Y:0.60, Z:0.58 [[ 9.96784089e-01 -1.79326202e-03 -8.01140741e-02 1.28312514e+01] [ 2.29102965e-03 9.99978637e-01 6.12174815e-03 5.96848516e-01] [ 8.01013848e-02 -6.28560487e-03 9.96766903e-01 5.79674243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74463044000004 meters Centerline goodness [0,1] 0.322211486849168 Centerline is valid? [False, False] Translation: X:12.83, Y:0.59, Z:0.58 [[ 9.96779784e-01 -1.51045748e-03 -8.01734468e-02 1.28315444e+01] [ 2.04768736e-03 9.99975997e-01 6.61905109e-03 5.94313038e-01] [ 8.01615246e-02 -6.76190647e-03 9.96758951e-01 5.79559057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77463044 meters Centerline goodness [0,1] 0.3250339813156703 Centerline is valid? [False, False] Translation: X:12.83, Y:0.59, Z:0.58 [[ 9.96778466e-01 -1.29744873e-03 -8.01935582e-02 1.28318278e+01] [ 1.86572853e-03 9.99973676e-01 7.01182813e-03 5.92150598e-01] [ 8.01823497e-02 -7.13885870e-03 9.96754648e-01 5.79270120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80463044000004 meters Centerline goodness [0,1] 0.3206442792446381 Centerline is valid? [False, False] Translation: X:12.85, Y:0.59, Z:0.58 [[ 9.96755296e-01 6.52333238e-03 -8.02267117e-02 1.28516353e+01] [-6.06522599e-03 9.99963890e-01 5.95251481e-03 5.87201151e-01] [ 8.02626449e-02 -5.44660753e-03 9.96758869e-01 5.82170115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83463044 meters Centerline goodness [0,1] 0.32363856045568307 Centerline is valid? [False, False] Translation: X:12.85, Y:0.59, Z:0.58 [[ 9.96756376e-01 6.72967311e-03 -8.01962507e-02 1.28516526e+01] [-6.23984472e-03 9.99960326e-01 6.35691951e-03 5.85002898e-01] [ 8.02358490e-02 -5.83588790e-03 9.96758823e-01 5.82062392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86463044000004 meters Centerline goodness [0,1] 0.32549146683949015 Centerline is valid? [False, False] Translation: X:12.85, Y:0.58, Z:0.58 [[ 9.96776261e-01 7.11645477e-03 -7.99152138e-02 1.28510598e+01] [-6.56281341e-03 9.99952627e-01 7.18838127e-03 5.79158596e-01] [ 7.99625838e-02 -6.64073917e-03 9.96775745e-01 5.82106911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89463044 meters Centerline goodness [0,1] 0.3241727304227304 Centerline is valid? [False, False] Translation: X:12.85, Y:0.58, Z:0.58 [[ 9.96779049e-01 7.25539153e-03 -7.98679319e-02 1.28510935e+01] [-6.66826552e-03 9.99948768e-01 7.61547768e-03 5.76189509e-01] [ 7.99190934e-02 -7.05836802e-03 9.96776363e-01 5.82000376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92463044000004 meters Centerline goodness [0,1] 0.32496819955587175 Centerline is valid? [False, False] Translation: X:12.85, Y:0.57, Z:0.58 [[ 9.96746659e-01 6.96442356e-03 -8.02969172e-02 1.28523969e+01] [-6.34947447e-03 9.99948547e-01 7.91123468e-03 5.68572632e-01] [ 8.03478828e-02 -7.37565351e-03 9.96739594e-01 5.81763495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95463044 meters Centerline goodness [0,1] 0.3214485038423561 Centerline is valid? [False, False] Translation: X:12.85, Y:0.57, Z:0.58 [[ 9.96732130e-01 7.13917027e-03 -8.04617532e-02 1.28532615e+01] [-6.48562082e-03 9.99943847e-01 8.38091024e-03 5.65783691e-01] [ 8.05170678e-02 -7.83167809e-03 9.96722462e-01 5.81211143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98463044 meters Centerline goodness [0,1] 0.32347702937579126 Centerline is valid? [False, False] Translation: X:12.85, Y:0.56, Z:0.58 [[ 9.96718589e-01 7.29988522e-03 -8.06149278e-02 1.28540659e+01] [-6.61242329e-03 9.99939492e-01 8.79140291e-03 5.63273001e-01] [ 8.06742261e-02 -8.22949468e-03 9.96706549e-01 5.80741487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01463044 meters Centerline goodness [0,1] 0.31933654360620656 Centerline is valid? [False, False] Translation: X:12.85, Y:0.56, Z:0.58 [[ 9.96713543e-01 7.42516455e-03 -8.06658521e-02 1.28545111e+01] [-6.71158067e-03 9.99935945e-01 9.11371498e-03 5.61029510e-01] [ 8.07283560e-02 -8.54236778e-03 9.96699534e-01 5.80391126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04463044 meters Centerline goodness [0,1] 0.32195132466748577 Centerline is valid? [False, False] Translation: X:12.85, Y:0.56, Z:0.58 [[ 9.96719169e-01 7.45606090e-03 -8.05934524e-02 1.28547010e+01] [-6.72758360e-03 9.99934060e-01 9.30668294e-03 5.59088961e-01] [ 8.06575293e-02 -8.73395010e-03 9.96703607e-01 5.80018437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.07463044 meters Centerline goodness [0,1] 0.3235173115648615 Centerline is valid? [False, False] Translation: X:12.85, Y:0.56, Z:0.58 [[ 9.96721838e-01 7.72200103e-03 -8.05353827e-02 1.28548602e+01] [-6.95412710e-03 9.99927692e-01 9.81074774e-03 5.56129356e-01] [ 8.06053180e-02 -9.21853324e-03 9.96703467e-01 5.79655629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10463044 meters Centerline goodness [0,1] 0.3227930923522472 Centerline is valid? [False, False] Translation: X:12.85, Y:0.55, Z:0.58 [[ 9.96723770e-01 7.90008547e-03 -8.04941918e-02 1.28548542e+01] [-7.10591718e-03 9.99923261e-01 1.01478460e-02 5.54439962e-01] [ 8.05681836e-02 -9.54261429e-03 9.96703419e-01 5.79585827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.13463044 meters Centerline goodness [0,1] 0.32112282211228216 Centerline is valid? [False, False] Translation: X:12.85, Y:0.55, Z:0.58 [[ 9.96724059e-01 8.02829314e-03 -8.04779237e-02 1.28549071e+01] [-7.20285181e-03 9.99918491e-01 1.05418112e-02 5.51834775e-01] [ 8.05559968e-02 -9.92760628e-03 9.96700644e-01 5.79497419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16463044 meters Centerline goodness [0,1] 0.3220466032725092 Centerline is valid? [False, False] Translation: X:12.86, Y:0.55, Z:0.58 [[ 9.96749434e-01 4.67279380e-03 -8.04284199e-02 1.28550662e+01] [-4.07755457e-03 9.99963083e-01 7.56350911e-03 5.50326301e-01] [ 8.04607935e-02 -7.21097215e-03 9.96731690e-01 5.79162984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.19463044 meters Centerline goodness [0,1] 0.3224284975878704 Centerline is valid? [False, False] Translation: X:12.86, Y:0.55, Z:0.58 [[ 9.96740095e-01 4.75217599e-03 -8.05394306e-02 1.28555025e+01] [-4.12524343e-03 9.99959899e-01 7.94877599e-03 5.47391212e-01] [ 8.05739748e-02 -7.59061897e-03 9.96719728e-01 5.79035935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22463044 meters Centerline goodness [0,1] 0.3229473322302684 Centerline is valid? [False, False] Translation: X:12.86, Y:0.54, Z:0.58 [[ 9.96684983e-01 3.14635325e-03 -8.12966538e-02 1.28593558e+01] [-2.58498099e-03 9.99972092e-01 7.00955920e-03 5.41252712e-01] [ 8.13164395e-02 -6.77617209e-03 9.96665300e-01 5.77098631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.25463044 meters Centerline goodness [0,1] 0.32958314365610974 Centerline is valid? [False, False] Translation: X:12.86, Y:0.54, Z:0.58 [[ 9.96675350e-01 3.27169283e-03 -8.14097235e-02 1.28599607e+01] [-2.67123155e-03 9.99968430e-01 7.48361345e-03 5.37938205e-01] [ 8.14316375e-02 -7.24126884e-03 9.96652624e-01 5.76788421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28463044 meters Centerline goodness [0,1] 0.3265517912351631 Centerline is valid? [False, False] Translation: X:12.86, Y:0.53, Z:0.58 [[ 9.96659214e-01 3.31940170e-03 -8.16051048e-02 1.28605925e+01] [-2.68616460e-03 9.99965436e-01 7.86833468e-03 5.34772784e-01] [ 8.16284024e-02 -7.62284352e-03 9.96633682e-01 5.76677116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.31463044000003 meters Centerline goodness [0,1] 0.32736517785965136 Centerline is valid? [False, False] Translation: X:12.86, Y:0.53, Z:0.58 [[ 9.96633045e-01 3.42476821e-03 -8.19197471e-02 1.28613892e+01] [-2.75332134e-03 9.99961698e-01 8.30796027e-03 5.31562763e-01] [ 8.19450623e-02 -8.05443635e-03 9.96604301e-01 5.76711487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34463044 meters Centerline goodness [0,1] 0.3263420294838183 Centerline is valid? [False, False] Translation: X:12.86, Y:0.53, Z:0.58 [[ 9.96612542e-01 3.56527508e-03 -8.21628210e-02 1.28620519e+01] [-2.85403504e-03 9.99957450e-01 8.77229202e-03 5.28516233e-01] [ 8.21906006e-02 -8.50808068e-03 9.96580312e-01 5.76730366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.37463044000003 meters Centerline goodness [0,1] 0.3267265208168163 Centerline is valid? [False, False] Translation: X:12.86, Y:0.53, Z:0.58 [[ 9.96595117e-01 3.77984753e-03 -8.23643493e-02 1.28625438e+01] [-3.02509773e-03 9.99952304e-01 9.28641620e-03 5.25506271e-01] [ 8.23955221e-02 -9.00563683e-03 9.96559018e-01 5.76810547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40463044 meters Centerline goodness [0,1] 0.3280349307407726 Centerline is valid? [False, False] Translation: X:12.86, Y:0.52, Z:0.58 [[ 9.96608735e-01 3.90660721e-03 -8.21934783e-02 1.28619111e+01] [-3.09416207e-03 9.99945116e-01 1.00096001e-02 5.17602825e-01] [ 8.22280707e-02 -9.72133493e-03 9.96566124e-01 5.77238287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.43463044000003 meters Centerline goodness [0,1] 0.3292465973636266 Centerline is valid? [False, False] Translation: X:12.86, Y:0.51, Z:0.58 [[ 9.96623479e-01 4.05191434e-03 -8.20074587e-02 1.28614518e+01] [-3.19892071e-03 9.99939440e-01 1.05301333e-02 5.13916363e-01] [ 8.20451595e-02 -1.02322428e-02 9.96576085e-01 5.77384315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46463044 meters Centerline goodness [0,1] 0.32990176144511274 Centerline is valid? [False, False] Translation: X:12.86, Y:0.51, Z:0.58 [[ 9.96702692e-01 1.13096517e-03 -8.11323864e-02 1.28594393e+01] [-4.73722777e-04 9.99966923e-01 8.11965508e-03 5.10895038e-01] [ 8.11388858e-02 -8.05444782e-03 9.96670260e-01 5.77383224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49463044000004 meters Centerline goodness [0,1] 0.33692768875757506 Centerline is valid? [False, False] Translation: X:12.86, Y:0.51, Z:0.58 [[ 9.96696672e-01 1.24994006e-03 -8.12045699e-02 1.28596843e+01] [-5.53525378e-04 9.99962883e-01 8.59799847e-03 5.07290131e-01] [ 8.12123029e-02 -8.52464767e-03 9.96660370e-01 5.77392698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52463044 meters Centerline goodness [0,1] 0.33638656005517364 Centerline is valid? [False, False] Translation: X:12.86, Y:0.50, Z:0.58 [[ 9.96655714e-01 1.48439550e-03 -8.17018026e-02 1.28610288e+01] [-7.20889979e-04 9.99955806e-01 9.37373177e-03 5.00465774e-01] [ 8.17121062e-02 -9.28348532e-03 9.96612738e-01 5.77377585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55463044000004 meters Centerline goodness [0,1] 0.3380458823019211 Centerline is valid? [False, False] Translation: X:12.86, Y:0.50, Z:0.58 [[ 9.96634475e-01 1.69202452e-03 -8.19564563e-02 1.28616819e+01] [-8.88202199e-04 9.99951158e-01 9.84338494e-03 4.97929661e-01] [ 8.19691087e-02 -9.73746288e-03 9.96587300e-01 5.77418866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58463044 meters Centerline goodness [0,1] 0.33635678121296997 Centerline is valid? [False, False] Translation: X:12.88, Y:0.49, Z:0.58 [[ 9.96568710e-01 9.68460803e-03 -8.22010563e-02 1.28812630e+01] [-9.00255605e-03 9.99921942e-01 8.66395673e-03 4.92307146e-01] [ 8.22785469e-02 -7.89420857e-03 9.96578106e-01 5.80557941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61463044000004 meters Centerline goodness [0,1] 0.3367414742888989 Centerline is valid? [False, False] Translation: X:12.88, Y:0.49, Z:0.58 [[ 9.96563462e-01 9.78905182e-03 -8.22522936e-02 1.28813091e+01] [-9.08286534e-03 9.99918648e-01 8.95541859e-03 4.90198404e-01] [ 8.23332672e-02 -8.17755645e-03 9.96571302e-01 5.80760135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64463044 meters Centerline goodness [0,1] 0.33507920559249205 Centerline is valid? [False, False] Translation: X:12.88, Y:0.49, Z:0.58 [[ 9.96576159e-01 9.86744444e-03 -8.20889299e-02 1.28808421e+01] [-9.14399488e-03 9.99916015e-01 9.18428854e-03 4.88408106e-01] [ 8.21726611e-02 -8.40222225e-03 9.96582689e-01 5.80907016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67463044000004 meters Centerline goodness [0,1] 0.34235245848539164 Centerline is valid? [False, False] Translation: X:12.88, Y:0.48, Z:0.58 [[ 9.96596673e-01 1.02087696e-02 -8.17976247e-02 1.28798484e+01] [-9.43670449e-03 9.99907256e-01 9.81977833e-03 4.84847494e-01] [ 8.18902863e-02 -9.01445840e-03 9.96600582e-01 5.81402612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70463044 meters Centerline goodness [0,1] 0.34036313451503 Centerline is valid? [False, False] Translation: X:12.88, Y:0.48, Z:0.58 [[ 9.96600612e-01 1.03871695e-02 -8.17271487e-02 1.28797242e+01] [-9.58582256e-03 9.99902119e-01 1.01914263e-02 4.82914118e-01] [ 8.18250092e-02 -9.37335973e-03 9.96602633e-01 5.81395985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73463044 meters Centerline goodness [0,1] 0.3380453378956373 Centerline is valid? [False, False] Translation: X:12.90, Y:0.48, Z:0.58 [[ 9.96662656e-01 3.22813200e-03 -8.15667143e-02 1.28987653e+01] [-2.31488704e-03 9.99933605e-01 1.12883817e-02 4.84952124e-01] [ 8.15977391e-02 -1.10618908e-02 9.96603955e-01 5.84032827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76463044 meters Centerline goodness [0,1] 0.3398325101996994 Centerline is valid? [False, False] Translation: X:12.90, Y:0.48, Z:0.58 [[ 9.96659041e-01 3.28486534e-03 -8.16086140e-02 1.28989133e+01] [-2.34067003e-03 9.99929248e-01 1.16627759e-02 4.82000348e-01] [ 8.16411507e-02 -1.14327922e-02 9.96596214e-01 5.84054182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79463044 meters Centerline goodness [0,1] 0.33975225950494836 Centerline is valid? [False, False] Translation: X:12.90, Y:0.48, Z:0.58 [[ 9.96668730e-01 -3.45238185e-04 -8.15556521e-02 1.28993044e+01] [ 1.08323525e-03 9.99958868e-01 9.00492723e-03 4.76322691e-01] [ 8.15491887e-02 -9.06327334e-03 9.96628109e-01 5.83697439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82463044 meters Centerline goodness [0,1] 0.3442867006127557 Centerline is valid? [False, False] Translation: X:12.90, Y:0.47, Z:0.58 [[ 9.96641114e-01 -3.51746513e-04 -8.18924010e-02 1.29002525e+01] [ 1.13036931e-03 9.99954598e-01 9.46170803e-03 4.72463682e-01] [ 8.18853549e-02 -9.52249589e-03 9.96596263e-01 5.83660157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85463044 meters Centerline goodness [0,1] 0.34139998710481634 Centerline is valid? [False, False] Translation: X:12.90, Y:0.47, Z:0.58 [[ 9.96592347e-01 -4.13525678e-04 -8.24834676e-02 1.29018778e+01] [ 1.22439018e-03 9.99951422e-01 9.78029073e-03 4.69055918e-01] [ 8.24754163e-02 -9.84795484e-03 9.96544441e-01 5.83484755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88463044 meters Centerline goodness [0,1] 0.34078200275292503 Centerline is valid? [False, False] Translation: X:12.90, Y:0.47, Z:0.58 [[ 9.96544251e-01 -4.54179572e-04 -8.30623203e-02 1.29036527e+01] [ 1.29384911e-03 9.99948607e-01 1.00553615e-02 4.66024360e-01] [ 8.30534845e-02 -1.01280828e-02 9.96493623e-01 5.83167161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.91463044 meters Centerline goodness [0,1] 0.3456959407987812 Centerline is valid? [False, False] Translation: X:12.90, Y:0.46, Z:0.58 [[ 9.96519961e-01 -3.72837285e-04 -8.33536295e-02 1.29047889e+01] [ 1.24192418e-03 9.99945408e-01 1.03748968e-02 4.63701889e-01] [ 8.33452109e-02 -1.04423106e-02 9.96466022e-01 5.82681016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94463044 meters Centerline goodness [0,1] 0.34093493231501937 Centerline is valid? [False, False] Translation: X:12.92, Y:0.46, Z:0.59 [[ 9.96506154e-01 7.80578105e-03 -8.31538034e-02 1.29246355e+01] [-7.05874715e-03 9.99932081e-01 9.27397054e-03 4.58856786e-01] [ 8.32205463e-02 -8.65460704e-03 9.96493572e-01 5.85078646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97463044 meters Centerline goodness [0,1] 0.34241396444079586 Centerline is valid? [False, False] Translation: X:12.92, Y:0.46, Z:0.58 [[ 9.96534463e-01 8.22167080e-03 -8.27735966e-02 1.29239163e+01] [-7.42487646e-03 9.99923136e-01 9.92941721e-03 4.56129900e-01] [ 8.28488707e-02 -9.28042272e-03 9.96518910e-01 5.84966519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.00463044 meters Centerline goodness [0,1] 0.33915993815495615 Centerline is valid? [False, False] Translation: X:12.92, Y:0.46, Z:0.59 [[ 9.96531088e-01 8.29669941e-03 -8.28067308e-02 1.29239211e+01] [-7.48641795e-03 9.99921060e-01 1.00909217e-02 4.55074107e-01] [ 8.28839154e-02 -9.43599137e-03 9.96514535e-01 5.85114894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03463044 meters Centerline goodness [0,1] 0.33915993815495615 Centerline is valid? [False, False] Translation: X:12.92, Y:0.46, Z:0.59 [[ 9.96531088e-01 8.29669941e-03 -8.28067308e-02 1.29239211e+01] [-7.48641795e-03 9.99921060e-01 1.00909217e-02 4.55074107e-01] [ 8.28839154e-02 -9.43599137e-03 9.96514535e-01 5.85114894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06463044000003 meters Centerline goodness [0,1] 0.34571830680957016 Centerline is valid? [False, False] Translation: X:12.92, Y:0.45, Z:0.59 [[ 9.96527797e-01 8.31839222e-03 -8.28441502e-02 1.29240268e+01] [-7.49690903e-03 9.99919649e-01 1.02221531e-02 4.53768392e-01] [ 8.29225254e-02 -9.56558469e-03 9.96510087e-01 5.85112434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09463044 meters Centerline goodness [0,1] 0.3424316552937642 Centerline is valid? [False, False] Translation: X:12.93, Y:0.45, Z:0.59 [[ 9.96487852e-01 8.36034059e-03 -8.33190618e-02 1.29253161e+01] [-7.50651730e-03 9.99916112e-01 1.05556392e-02 4.51036486e-01] [ 8.34003210e-02 -9.89313023e-03 9.96467015e-01 5.85001797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12463044000003 meters Centerline goodness [0,1] 0.3419246933699288 Centerline is valid? [False, False] Translation: X:12.93, Y:0.45, Z:0.58 [[ 9.96466649e-01 8.38810667e-03 -8.35694726e-02 1.29261551e+01] [-7.51604157e-03 9.99914030e-01 1.07443634e-02 4.49672237e-01] [ 8.36524131e-02 -1.00782882e-02 9.96444028e-01 5.84753173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15463044 meters Centerline goodness [0,1] 0.3442112273615915 Centerline is valid? [False, False] Translation: X:12.93, Y:0.45, Z:0.58 [[ 9.96452431e-01 8.44414878e-03 -8.37332011e-02 1.29266772e+01] [-7.54832605e-03 9.99910904e-01 1.10093557e-02 4.47857769e-01] [ 8.38187055e-02 -1.03382538e-02 9.96427391e-01 5.84620287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18463044000003 meters Centerline goodness [0,1] 0.3428589762785823 Centerline is valid? [False, False] Translation: X:12.93, Y:0.45, Z:0.58 [[ 9.96454477e-01 8.53989612e-03 -8.36991368e-02 1.29263866e+01] [-7.61413672e-03 9.99906329e-01 1.13735409e-02 4.45684153e-01] [ 8.37884255e-02 -1.06959191e-02 9.96426162e-01 5.84972629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21463044 meters Centerline goodness [0,1] 0.3440151613042167 Centerline is valid? [False, False] Translation: X:12.93, Y:0.44, Z:0.59 [[ 9.96458933e-01 8.62604802e-03 -8.36372270e-02 1.29258117e+01] [-7.66965569e-03 9.99901557e-01 1.17495756e-02 4.43208354e-01] [ 8.37303459e-02 -1.10665008e-02 9.96426998e-01 5.85589339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24463044000004 meters Centerline goodness [0,1] 0.34438083760168725 Centerline is valid? [False, False] Translation: X:12.92, Y:0.44, Z:0.59 [[ 9.96519234e-01 5.21857997e-03 -8.31996550e-02 1.29246559e+01] [-4.48132461e-03 9.99949046e-01 9.04556509e-03 4.39639233e-01] [ 8.32426207e-02 -8.64123493e-03 9.96491844e-01 5.85855968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27463044 meters Centerline goodness [0,1] 0.34462533692722375 Centerline is valid? [False, False] Translation: X:12.93, Y:0.44, Z:0.59 [[ 9.96500754e-01 5.29438079e-03 -8.34159284e-02 1.29251169e+01] [-4.52643395e-03 9.99945643e-01 9.39266847e-03 4.37025544e-01] [ 8.34611225e-02 -8.98222453e-03 9.96470552e-01 5.86010993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30463044000004 meters Centerline goodness [0,1] 0.3441991565539203 Centerline is valid? [False, False] Translation: X:12.93, Y:0.43, Z:0.59 [[ 9.96484558e-01 5.37065204e-03 -8.36043170e-02 1.29254794e+01] [-4.57218389e-03 9.99942121e-01 9.73909693e-03 4.34324085e-01] [ 8.36517833e-02 -9.32260539e-03 9.96451438e-01 5.86190139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33463044 meters Centerline goodness [0,1] 0.3429400345585255 Centerline is valid? [False, False] Translation: X:12.93, Y:0.43, Z:0.59 [[ 9.96469649e-01 5.48801783e-03 -8.37742236e-02 1.29257098e+01] [-4.65725190e-03 9.99938058e-01 1.01089295e-02 4.31924826e-01] [ 8.38245125e-02 -9.68308374e-03 9.96433484e-01 5.86500358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36463044000004 meters Centerline goodness [0,1] 0.34462495679225713 Centerline is valid? [False, False] Translation: X:12.93, Y:0.43, Z:0.59 [[ 9.96483559e-01 5.67405613e-03 -8.35961792e-02 1.29251501e+01] [-4.81028795e-03 9.99932983e-01 1.05304217e-02 4.29541818e-01] [ 8.36503271e-02 -1.00912704e-02 9.96444072e-01 5.86735058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39463044 meters Centerline goodness [0,1] 0.34517919373574835 Centerline is valid? [False, False] Translation: X:12.92, Y:0.43, Z:0.59 [[ 9.96497054e-01 5.83692232e-03 -8.34239298e-02 1.29247120e+01] [-4.94442446e-03 9.99928358e-01 1.09009460e-02 4.27428593e-01] [ 8.34815812e-02 -1.04502772e-02 9.96454523e-01 5.86872020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42463044000004 meters Centerline goodness [0,1] 0.3445392638565641 Centerline is valid? [False, False] Translation: X:12.92, Y:0.42, Z:0.59 [[ 9.96523481e-01 6.06683246e-03 -8.30911897e-02 1.29238557e+01] [-5.12861788e-03 9.99920718e-01 1.15001762e-02 4.23273465e-01] [ 8.31543717e-02 -1.10340527e-02 9.96475589e-01 5.87089004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45463044 meters Centerline goodness [0,1] 0.3421644428262406 Centerline is valid? [False, False] Translation: X:12.92, Y:0.42, Z:0.59 [[ 9.96521511e-01 6.11028362e-03 -8.31116287e-02 1.29240761e+01] [-5.15582284e-03 9.99918332e-01 1.16938660e-02 4.21675223e-01] [ 8.31762940e-02 -1.12246802e-02 9.96471631e-01 5.86911335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48463044 meters Centerline goodness [0,1] 0.34256910708911914 Centerline is valid? [False, False] Translation: X:12.92, Y:0.42, Z:0.59 [[ 9.96512099e-01 6.21720094e-03 -8.32164790e-02 1.29242964e+01] [-5.23959587e-03 9.99914737e-01 1.19609743e-02 4.19971752e-01] [ 8.32837475e-02 -1.14832348e-02 9.96459710e-01 5.86988621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51463044 meters Centerline goodness [0,1] 0.3439001788677456 Centerline is valid? [False, False] Translation: X:12.92, Y:0.42, Z:0.59 [[ 9.96501659e-01 6.37545619e-03 -8.33294481e-02 1.29246056e+01] [-5.36710337e-03 9.99909712e-01 1.23192122e-02 4.17963937e-01] [ 8.34004650e-02 -1.18288777e-02 9.96445904e-01 5.87002692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54463044 meters Centerline goodness [0,1] 0.34426017102876394 Centerline is valid? [False, False] Translation: X:12.92, Y:0.42, Z:0.59 [[ 9.96530439e-01 3.17187986e-03 -8.31686474e-02 1.29245414e+01] [-2.37992009e-03 9.99950897e-01 9.61974651e-03 4.15006080e-01] [ 8.31950763e-02 -9.38843548e-03 9.96489055e-01 5.86745186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.57463044 meters Centerline goodness [0,1] 0.34970018249761015 Centerline is valid? [False, False] Translation: X:12.93, Y:0.41, Z:0.59 [[ 9.96512879e-01 3.15298138e-03 -8.33794934e-02 1.29251605e+01] [-2.34493019e-03 9.99949353e-01 9.78740130e-03 4.13166654e-01] [ 8.34061299e-02 -9.55775236e-03 9.96469802e-01 5.86605025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60463044 meters Centerline goodness [0,1] 0.3452623453481142 Centerline is valid? [False, False] Translation: X:12.95, Y:0.41, Z:0.59 [[ 9.96518029e-01 1.00628013e-02 -8.27680948e-02 1.29461290e+01] [-9.48727652e-03 9.99928027e-01 7.34383131e-03 4.10255085e-01] [ 8.28360372e-02 -6.53301650e-03 9.96541776e-01 5.88132618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.63463044 meters Centerline goodness [0,1] 0.34586482354714376 Centerline is valid? [False, False] Translation: X:12.95, Y:0.41, Z:0.59 [[ 9.96518988e-01 1.01963865e-02 -8.27401932e-02 1.29461405e+01] [-9.59776914e-03 9.99924834e-01 7.62943447e-03 4.08761237e-01] [ 8.28117667e-02 -6.80875505e-03 9.96541947e-01 5.88058907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66463044 meters Centerline goodness [0,1] 0.3458447920247508 Centerline is valid? [False, False] Translation: X:12.95, Y:0.41, Z:0.59 [[ 9.96528025e-01 1.04182515e-02 -8.26036078e-02 1.29457309e+01] [-9.78710864e-03 9.99919767e-01 8.04187149e-03 4.06540153e-01] [ 8.26807626e-02 -7.20549983e-03 9.96550035e-01 5.88273121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.69463044 meters Centerline goodness [0,1] 0.3468932669408963 Centerline is valid? [False, False] Translation: X:12.95, Y:0.41, Z:0.59 [[ 9.96516276e-01 1.03380441e-02 -8.27552783e-02 1.29461533e+01] [-9.71061271e-03 9.99921003e-01 7.98068486e-03 4.06051527e-01] [ 8.28312456e-02 -7.14927790e-03 9.96537943e-01 5.88229536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72463044 meters Centerline goodness [0,1] 0.34616130910031695 Centerline is valid? [False, False] Translation: X:12.95, Y:0.41, Z:0.59 [[ 9.96498069e-01 1.02803134e-02 -8.29814050e-02 1.29468432e+01] [-9.66211045e-03 9.99922523e-01 7.84805389e-03 4.06409094e-01] [ 8.30556562e-02 -7.01879505e-03 9.96520193e-01 5.88055402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.75463044 meters Centerline goodness [0,1] 0.342235747270754 Centerline is valid? [False, False] Translation: X:12.97, Y:0.41, Z:0.59 [[ 9.96428861e-01 4.06671736e-03 -8.43385292e-02 1.29656732e+01] [-3.35084827e-03 9.99957165e-01 8.62786258e-03 4.12122157e-01] [ 8.43700036e-02 -8.31444566e-03 9.96399806e-01 5.91105785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78463044 meters Centerline goodness [0,1] 0.3462335419814375 Centerline is valid? [False, False] Translation: X:12.97, Y:0.41, Z:0.59 [[ 9.96424202e-01 4.23286642e-03 -8.43853830e-02 1.29659630e+01] [-3.50669783e-03 9.99955554e-01 8.75174914e-03 4.12362883e-01] [ 8.44186774e-02 -8.42454061e-03 9.96394758e-01 5.90887175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.81463044000003 meters Centerline goodness [0,1] 0.34721391334074014 Centerline is valid? [False, False] Translation: X:12.97, Y:0.41, Z:0.59 [[ 9.96420754e-01 4.27159789e-03 -8.44241349e-02 1.29661905e+01] [-3.54532693e-03 9.99955427e-01 8.75069854e-03 4.12753387e-01] [ 8.44577513e-02 -8.42006648e-03 9.96391485e-01 5.90761638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84463044 meters Centerline goodness [0,1] 0.346181176115932 Centerline is valid? [False, False] Translation: X:12.97, Y:0.41, Z:0.59 [[ 9.96402043e-01 4.18081392e-03 -8.46492190e-02 1.29671221e+01] [-3.46719145e-03 9.99957218e-01 8.57560682e-03 4.13370082e-01] [ 8.46814506e-02 -8.25125710e-03 9.96373910e-01 5.90265654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.87463044000003 meters Centerline goodness [0,1] 0.3454486835034928 Centerline is valid? [False, False] Translation: X:12.97, Y:0.41, Z:0.59 [[ 9.96397018e-01 4.15467800e-03 -8.47096334e-02 1.29674861e+01] [-3.44616548e-03 9.99957864e-01 8.50852379e-03 4.13676702e-01] [ 8.47414142e-02 -8.18594431e-03 9.96369351e-01 5.89997849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90463044 meters Centerline goodness [0,1] 0.3509543836945972 Centerline is valid? [False, False] Translation: X:12.97, Y:0.41, Z:0.59 [[ 9.96396020e-01 4.16767493e-03 -8.47207246e-02 1.29676566e+01] [-3.45924830e-03 9.99957832e-01 8.50698521e-03 4.13827566e-01] [ 8.47526064e-02 -8.18325618e-03 9.96368421e-01 5.89835172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.93463044000003 meters Centerline goodness [0,1] 0.35137656477122337 Centerline is valid? [False, False] Translation: X:12.97, Y:0.41, Z:0.59 [[ 9.96404985e-01 4.17708613e-03 -8.46147600e-02 1.29674392e+01] [-3.46877633e-03 9.99957719e-01 8.51628595e-03 4.13946063e-01] [ 8.46467557e-02 -8.19216010e-03 9.96377346e-01 5.89827565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96463044 meters Centerline goodness [0,1] 0.3479668174315663 Centerline is valid? [False, False] Translation: X:12.99, Y:0.41, Z:0.59 [[ 9.96485964e-01 1.11945110e-02 -8.30084770e-02 1.29875705e+01] [-1.07341965e-02 9.99924448e-01 5.98961890e-03 4.13964594e-01] [ 8.30692564e-02 -5.07754186e-03 9.96530841e-01 5.91595310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99463044000004 meters Centerline goodness [0,1] 0.3511947083791179 Centerline is valid? [False, False] Translation: X:12.99, Y:0.41, Z:0.59 [[ 9.96500253e-01 1.11551029e-02 -8.28420791e-02 1.29868998e+01] [-1.07005993e-02 9.99925173e-01 5.92836748e-03 4.14227109e-01] [ 8.29020118e-02 -5.02115980e-03 9.96545054e-01 5.91929775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02463044 meters Centerline goodness [0,1] 0.34996248258119844 Centerline is valid? [False, False] Translation: X:12.99, Y:0.41, Z:0.59 [[ 9.96507510e-01 1.11677070e-02 -8.27530320e-02 1.29865499e+01] [-1.07144305e-02 9.99925077e-01 5.91953908e-03 4.14656298e-01] [ 8.28129396e-02 -5.01221355e-03 9.96552505e-01 5.92111368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05463044000004 meters Centerline goodness [0,1] 0.3521970272322882 Centerline is valid? [False, False] Translation: X:12.97, Y:0.42, Z:0.59 [[ 9.96571915e-01 2.66103660e-03 -8.26881963e-02 1.29681675e+01] [-2.04963086e-03 9.99969938e-01 7.47811750e-03 4.17767177e-01] [ 8.27056101e-02 -7.28300160e-03 9.96547410e-01 5.88788099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08463044 meters Centerline goodness [0,1] 0.35042790316669903 Centerline is valid? [False, False] Translation: X:12.97, Y:0.42, Z:0.59 [[ 9.96552011e-01 2.40308573e-03 -8.29356073e-02 1.29690821e+01] [-1.80548425e-03 9.99971872e-01 7.27985479e-03 4.17468213e-01] [ 8.29507686e-02 -7.10501500e-03 9.96528318e-01 5.88433420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11463044000004 meters Centerline goodness [0,1] 0.3483919222139118 Centerline is valid? [False, False] Translation: X:12.97, Y:0.42, Z:0.59 [[ 9.96551025e-01 2.30218814e-03 -8.29503100e-02 1.29690322e+01] [-1.70033375e-03 9.99971722e-01 7.32551450e-03 4.16380724e-01] [ 8.29648291e-02 -7.15920577e-03 9.96526760e-01 5.88580656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14463044 meters Centerline goodness [0,1] 0.3533265584120737 Centerline is valid? [False, False] Translation: X:12.97, Y:0.41, Z:0.59 [[ 9.96560558e-01 2.28485167e-03 -8.28361832e-02 1.29685225e+01] [-1.66474195e-03 9.99970080e-01 7.55427291e-03 4.14546590e-01] [ 8.28509651e-02 -7.39038956e-03 9.96534545e-01 5.88916355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17463044000004 meters Centerline goodness [0,1] 0.3513125160847559 Centerline is valid? [False, False] Translation: X:12.97, Y:0.41, Z:0.59 [[ 9.96552195e-01 2.26303574e-03 -8.29373332e-02 1.29685369e+01] [-1.61563187e-03 9.99967708e-01 7.87222291e-03 4.12076758e-01] [ 8.29524701e-02 -7.71108482e-03 9.96523671e-01 5.89295358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20463044 meters Centerline goodness [0,1] 0.35626636656783606 Centerline is valid? [False, False] Translation: X:12.97, Y:0.41, Z:0.59 [[ 9.96544333e-01 2.17599892e-03 -8.30340770e-02 1.29685352e+01] [-1.50325129e-03 9.99965546e-01 8.16372538e-03 4.09153294e-01] [ 8.30489804e-02 -8.01069317e-03 9.96513269e-01 5.89668127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23463044 meters Centerline goodness [0,1] 0.3525362083522764 Centerline is valid? [False, False] Translation: X:12.97, Y:0.40, Z:0.59 [[ 9.96568201e-01 -1.59203549e-03 -8.27604201e-02 1.29682603e+01] [ 2.03196083e-03 9.99984250e-01 5.23169329e-03 4.04780773e-01] [ 8.27507876e-02 -5.38190510e-03 9.96555740e-01 5.89377222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26463044 meters Centerline goodness [0,1] 0.3535642341932549 Centerline is valid? [False, False] Translation: X:12.97, Y:0.40, Z:0.59 [[ 9.96553892e-01 -1.51793574e-03 -8.29339267e-02 1.29687482e+01] [ 1.98662254e-03 9.99982519e-01 5.56909865e-03 4.02399054e-01] [ 8.29240234e-02 -5.71466534e-03 9.96539487e-01 5.89339111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29463044 meters Centerline goodness [0,1] 0.3523588788285752 Centerline is valid? [False, False] Translation: X:12.97, Y:0.40, Z:0.59 [[ 9.96536129e-01 -1.38112932e-03 -8.31494772e-02 1.29694736e+01] [ 1.87638774e-03 9.99980962e-01 5.87839124e-03 4.00690193e-01] [ 8.31397754e-02 -6.01404992e-03 9.96519748e-01 5.89155099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32463044 meters Centerline goodness [0,1] 0.34995816976639427 Centerline is valid? [False, False] Translation: X:12.99, Y:0.40, Z:0.59 [[ 9.96486062e-01 6.91478554e-03 -8.34728287e-02 1.29892239e+01] [-6.55741656e-03 9.99968127e-01 4.55466692e-03 3.96449686e-01] [ 8.35016627e-02 -3.99129599e-03 9.96499645e-01 5.91928374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35463044 meters Centerline goodness [0,1] 0.3517136987782463 Centerline is valid? [False, False] Translation: X:12.99, Y:0.39, Z:0.59 [[ 9.96446210e-01 7.02513707e-03 -8.39380611e-02 1.29906913e+01] [-6.64438572e-03 9.99966335e-01 4.81459294e-03 3.94222555e-01] [ 8.39690585e-02 -4.23976603e-03 9.96459343e-01 5.91524481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38463044 meters Centerline goodness [0,1] 0.34918731396021163 Centerline is valid? [False, False] Translation: X:12.99, Y:0.39, Z:0.59 [[ 9.96427904e-01 7.06515495e-03 -8.41517368e-02 1.29912441e+01] [-6.66892632e-03 9.99965319e-01 4.98867477e-03 3.92750500e-01] [ 8.41840641e-02 -4.40965302e-03 9.96440464e-01 5.91492592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41463044 meters Centerline goodness [0,1] 0.3499076023894452 Centerline is valid? [False, False] Translation: X:12.99, Y:0.39, Z:0.59 [[ 9.96416596e-01 7.19536706e-03 -8.42745105e-02 1.29915613e+01] [-6.76603581e-03 9.99962643e-01 5.37894421e-03 3.90137834e-01] [ 8.43100657e-02 -4.78946492e-03 9.96428058e-01 5.91514936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44463044 meters Centerline goodness [0,1] 0.3536912171507607 Centerline is valid? [False, False] Translation: X:12.99, Y:0.39, Z:0.59 [[ 9.96406223e-01 7.33913615e-03 -8.43846893e-02 1.29916297e+01] [-6.86898421e-03 9.99959235e-01 5.86052241e-03 3.86823551e-01] [ 8.44242605e-02 -5.25982391e-03 9.96416017e-01 5.91801981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47463044 meters Centerline goodness [0,1] 0.3515562735595046 Centerline is valid? [False, False] Translation: X:12.99, Y:0.38, Z:0.59 [[ 9.96450972e-01 3.88291497e-03 -8.40855746e-02 1.29912753e+01] [-3.65077215e-03 9.99989089e-01 2.91437797e-03 3.84705753e-01] [ 8.40959735e-02 -2.59705748e-03 9.96454275e-01 5.91471894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.50463044 meters Centerline goodness [0,1] 0.350424433732884 Centerline is valid? [False, False] Translation: X:13.01, Y:0.38, Z:0.59 [[ 9.96511816e-01 -3.72321250e-03 -8.33686906e-02 1.30125869e+01] [ 4.05412022e-03 9.99984561e-01 3.80027177e-03 3.80867565e-01] [ 8.33532543e-02 -4.12500242e-03 9.96511525e-01 5.93738709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53463044 meters Centerline goodness [0,1] 0.354149583531138 Centerline is valid? [False, False] Translation: X:13.01, Y:0.38, Z:0.59 [[ 9.96500954e-01 -3.48806181e-03 -8.35085781e-02 1.30127992e+01] [ 3.86088561e-03 9.99983287e-01 4.30342238e-03 3.78141092e-01] [ 8.34921718e-02 -4.61078157e-03 9.96497766e-01 5.93981150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56463044000003 meters Centerline goodness [0,1] 0.35339095024584655 Centerline is valid? [False, False] Translation: X:13.01, Y:0.38, Z:0.59 [[ 9.96494397e-01 -3.24359487e-03 -8.35966230e-02 1.30129021e+01] [ 3.65210407e-03 9.99982125e-01 4.73421457e-03 3.76221983e-01] [ 8.35797728e-02 -5.02292186e-03 9.96488430e-01 5.94252714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59463044 meters Centerline goodness [0,1] 0.3512769207599131 Centerline is valid? [False, False] Translation: X:13.03, Y:0.37, Z:0.60 [[ 9.96456761e-01 6.06082242e-03 -8.38879593e-02 1.30332739e+01] [-5.75505439e-03 9.99975888e-01 3.88629577e-03 3.72270302e-01] [ 8.39094908e-02 -3.38974593e-03 9.96467615e-01 5.97122943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62463044000003 meters Centerline goodness [0,1] 0.3538762691447255 Centerline is valid? [False, False] Translation: X:13.03, Y:0.37, Z:0.60 [[ 9.96439832e-01 6.20993719e-03 -8.40779267e-02 1.30337904e+01] [-5.89958450e-03 9.99974838e-01 3.93920210e-03 3.72534383e-01] [ 8.41002734e-02 -3.42915305e-03 9.96451396e-01 5.97089357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65463044 meters Centerline goodness [0,1] 0.35032715957288096 Centerline is valid? [False, False] Translation: X:13.03, Y:0.37, Z:0.60 [[ 9.96436934e-01 6.41345374e-03 -8.40969892e-02 1.30338298e+01] [-6.09809645e-03 9.99973381e-01 4.00626103e-03 3.73064732e-01] [ 8.41204446e-02 -3.47915491e-03 9.96449520e-01 5.97173547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68463044000003 meters Centerline goodness [0,1] 0.3492359932088285 Centerline is valid? [False, False] Translation: X:13.03, Y:0.37, Z:0.60 [[ 9.96436807e-01 6.48609619e-03 -8.40929256e-02 1.30336486e+01] [-6.17768675e-03 9.99973206e-01 3.92717870e-03 3.73981239e-01] [ 8.41161445e-02 -3.39368566e-03 9.96450178e-01 5.97433807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71463044 meters Centerline goodness [0,1] 0.35366220807707194 Centerline is valid? [False, False] Translation: X:13.03, Y:0.37, Z:0.60 [[ 9.96444256e-01 6.47123949e-03 -8.40057626e-02 1.30332472e+01] [-6.17263959e-03 9.99973677e-01 3.81376081e-03 3.74485991e-01] [ 8.40282310e-02 -3.28166276e-03 9.96457971e-01 5.97670485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74463044000004 meters Centerline goodness [0,1] 0.35424799948234587 Centerline is valid? [False, False] Translation: X:13.03, Y:0.38, Z:0.60 [[ 9.96437507e-01 6.39738231e-03 -8.40914310e-02 1.30333410e+01] [-6.11069327e-03 9.99974609e-01 3.66619889e-03 3.75034353e-01] [ 8.41127499e-02 -3.13928114e-03 9.96451298e-01 5.97855430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77463044 meters Centerline goodness [0,1] 0.35954983784712524 Centerline is valid? [False, False] Translation: X:13.03, Y:0.38, Z:0.60 [[ 9.96421005e-01 6.32358167e-03 -8.42923044e-02 1.30337878e+01] [-6.05037847e-03 9.99975584e-01 3.49620389e-03 3.76046355e-01] [ 8.43123549e-02 -2.97369065e-03 9.96434937e-01 5.97994195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80463044000004 meters Centerline goodness [0,1] 0.3552645724483433 Centerline is valid? [False, False] Translation: X:13.03, Y:0.38, Z:0.60 [[ 9.96411930e-01 6.35749232e-03 -8.43969674e-02 1.30339847e+01] [-6.08343999e-03 9.99975357e-01 3.50395841e-03 3.76396641e-01] [ 8.44171639e-02 -2.97796208e-03 9.96426051e-01 5.98092830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83463044 meters Centerline goodness [0,1] 0.35286344551247895 Centerline is valid? [False, False] Translation: X:13.05, Y:0.38, Z:0.60 [[ 9.96322476e-01 3.99188521e-04 -8.56817678e-02 1.30513375e+01] [-3.01179068e-05 9.99990717e-01 4.30870741e-03 3.82519133e-01] [ 8.56826924e-02 -4.29028148e-03 9.96313239e-01 6.01333601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86463044000004 meters Centerline goodness [0,1] 0.3576587582245655 Centerline is valid? [False, False] Translation: X:13.05, Y:0.38, Z:0.60 [[ 9.96318499e-01 3.54647815e-04 -8.57281912e-02 1.30513540e+01] [ 7.26390978e-06 9.99991090e-01 4.22126979e-03 3.83121607e-01] [ 8.57289244e-02 -4.20635190e-03 9.96309620e-01 6.01501342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89463044 meters Centerline goodness [0,1] 0.3615396135989216 Centerline is valid? [False, False] Translation: X:13.05, Y:0.38, Z:0.60 [[ 9.96307922e-01 2.85529748e-04 -8.58512873e-02 1.30515961e+01] [ 6.65635528e-05 9.99991600e-01 4.09830948e-03 3.83703145e-01] [ 8.58517363e-02 -4.08889277e-03 9.96299533e-01 6.01625458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92463044000004 meters Centerline goodness [0,1] 0.3598453109893651 Centerline is valid? [False, False] Translation: X:13.05, Y:0.38, Z:0.60 [[ 9.96263820e-01 2.12769123e-04 -8.63617668e-02 1.30525596e+01] [ 1.25555171e-04 9.99992340e-01 3.91207337e-03 3.84965884e-01] [ 8.63619377e-02 -3.90830032e-03 9.96256162e-01 6.01997603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95463044 meters Centerline goodness [0,1] 0.3657704262394853 Centerline is valid? [False, False] Translation: X:13.05, Y:0.39, Z:0.60 [[ 9.96242059e-01 1.59852617e-04 -8.66125521e-02 1.30531523e+01] [ 1.72411153e-04 9.99992656e-01 3.82871393e-03 3.85232285e-01] [ 8.66125280e-02 -3.82925882e-03 9.96234715e-01 6.02011504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98463044 meters Centerline goodness [0,1] 0.3657704262394853 Centerline is valid? [False, False] Translation: X:13.05, Y:0.39, Z:0.60 [[ 9.96242059e-01 1.59852617e-04 -8.66125521e-02 1.30531523e+01] [ 1.72411153e-04 9.99992656e-01 3.82871393e-03 3.85232285e-01] [ 8.66125280e-02 -3.82925882e-03 9.96234715e-01 6.02011504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01463044 meters Centerline goodness [0,1] 0.3618354688472517 Centerline is valid? [False, False] Translation: X:13.07, Y:0.39, Z:0.60 [[ 9.96295928e-01 7.52312954e-03 -8.56611150e-02 1.30736358e+01] [-7.42955075e-03 9.99971405e-01 1.41117998e-03 3.85067788e-01] [ 8.56692820e-02 -7.69529265e-04 9.96323332e-01 6.03750989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04463044 meters Centerline goodness [0,1] 0.3586532101478652 Centerline is valid? [False, False] Translation: X:13.07, Y:0.39, Z:0.60 [[ 9.96293646e-01 7.35700532e-03 -8.57020726e-02 1.30737444e+01] [-7.27887736e-03 9.99972759e-01 1.22407361e-03 3.85517122e-01] [ 8.57087435e-02 -5.95721888e-04 9.96320057e-01 6.03798214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.07463044 meters Centerline goodness [0,1] 0.3632324533161623 Centerline is valid? [False, False] Translation: X:13.07, Y:0.39, Z:0.60 [[ 9.96305640e-01 7.30129479e-03 -8.55673053e-02 1.30734306e+01] [-7.22618214e-03 9.99973186e-01 1.18752130e-03 3.85321311e-01] [ 8.55736813e-02 -5.64809231e-04 9.96331685e-01 6.03849530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10463044 meters Centerline goodness [0,1] 0.3646671543525969 Centerline is valid? [False, False] Translation: X:13.07, Y:0.39, Z:0.60 [[ 9.96304863e-01 7.21586556e-03 -8.55835945e-02 1.30733561e+01] [-7.14504258e-03 9.99973831e-01 1.13381608e-03 3.85064240e-01] [ 8.55895363e-02 -5.18128046e-04 9.96330348e-01 6.03965115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.13463044 meters Centerline goodness [0,1] 0.37088489629613575 Centerline is valid? [False, False] Translation: X:13.07, Y:0.38, Z:0.60 [[ 9.96259138e-01 6.93369193e-03 -8.61374158e-02 1.30744823e+01] [-6.86871187e-03 9.99975858e-01 1.05073466e-03 3.83958415e-01] [ 8.61426218e-02 -4.55150916e-04 9.96282712e-01 6.04260521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16463044 meters Centerline goodness [0,1] 0.36613124892630133 Centerline is valid? [False, False] Translation: X:13.09, Y:0.39, Z:0.61 [[ 9.96210293e-01 5.48652185e-05 -8.69772949e-02 1.30943137e+01] [ 9.66550350e-05 9.99998485e-01 1.73785442e-03 3.87682837e-01] [ 8.69772585e-02 -1.73967525e-03 9.96208778e-01 6.07192503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.19463044 meters Centerline goodness [0,1] 0.36506874446914594 Centerline is valid? [False, False] Translation: X:13.09, Y:0.38, Z:0.61 [[ 9.96198449e-01 -1.66744914e-05 -8.71128581e-02 1.30944016e+01] [ 1.97314699e-04 9.99997848e-01 2.06502398e-03 3.84659646e-01] [ 8.71126362e-02 -2.07436234e-03 9.96196309e-01 6.07636418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22463044 meters Centerline goodness [0,1] 0.36056482231986686 Centerline is valid? [False, False] Translation: X:13.12, Y:0.38, Z:0.61 [[ 9.96312723e-01 6.31898203e-03 -8.55630100e-02 1.31154481e+01] [-6.41129605e-03 9.99979124e-01 -8.04152467e-04 3.82695220e-01] [ 8.55561423e-02 1.34975712e-03 9.96332437e-01 6.08702727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.25463044 meters Centerline goodness [0,1] 0.36410697025024163 Centerline is valid? [False, False] Translation: X:13.12, Y:0.38, Z:0.61 [[ 9.96310477e-01 6.30411067e-03 -8.55902542e-02 1.31154949e+01] [-6.38119093e-03 9.99979443e-01 -6.27014150e-04 3.80996056e-01] [ 8.55845420e-02 1.17086852e-03 9.96330224e-01 6.08767868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28463044 meters Centerline goodness [0,1] 0.3591239623329544 Centerline is valid? [False, False] Translation: X:13.12, Y:0.38, Z:0.61 [[ 9.96297159e-01 6.26756205e-03 -8.57478193e-02 1.31158329e+01] [-6.33259694e-03 9.99979831e-01 -4.86457895e-04 3.79392365e-01] [ 8.57430409e-02 1.02766300e-03 9.96316754e-01 6.08891870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.31463044000003 meters Centerline goodness [0,1] 0.35987412165366206 Centerline is valid? [False, False] Translation: X:13.12, Y:0.38, Z:0.61 [[ 9.96280601e-01 6.25192275e-03 -8.59411252e-02 1.31165274e+01] [-6.30629676e-03 9.99980050e-01 -3.61213563e-04 3.78030907e-01] [ 8.59371524e-02 9.01840305e-04 9.96300152e-01 6.08662470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34463044 meters Centerline goodness [0,1] 0.3581574062081768 Centerline is valid? [False, False] Translation: X:13.12, Y:0.38, Z:0.61 [[ 9.96252880e-01 6.24081631e-03 -8.62626897e-02 1.31175727e+01] [-6.28361007e-03 9.99980233e-01 -2.24566075e-04 3.76674633e-01] [ 8.62595831e-02 7.65765705e-04 9.96272401e-01 6.08346617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.37463044000003 meters Centerline goodness [0,1] 0.35442356941485353 Centerline is valid? [False, False] Translation: X:13.12, Y:0.38, Z:0.61 [[ 9.96243641e-01 6.34409460e-03 -8.63617994e-02 1.31180616e+01] [-6.36480745e-03 9.99979744e-01 3.55151043e-05 3.75094681e-01] [ 8.63602754e-02 5.14294528e-04 9.96263840e-01 6.08116672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40463044 meters Centerline goodness [0,1] 0.35480126399965606 Centerline is valid? [False, False] Translation: X:13.12, Y:0.37, Z:0.61 [[ 9.96257809e-01 6.40074408e-03 -8.61940151e-02 1.31172929e+01] [-6.40886042e-03 9.99979446e-01 1.82556447e-04 3.74182865e-01] [ 8.61934120e-02 3.70532126e-04 9.96278354e-01 6.08604146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.43463044000003 meters Centerline goodness [0,1] 0.3534151136946486 Centerline is valid? [False, False] Translation: X:13.12, Y:0.37, Z:0.61 [[ 9.96264374e-01 6.42335660e-03 -8.61164239e-02 1.31169600e+01] [-6.42499854e-03 9.99979326e-01 2.58100188e-04 3.73566491e-01] [ 8.61163014e-02 2.96161876e-04 9.96285047e-01 6.08861250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46463044 meters Centerline goodness [0,1] 0.35236152855302705 Centerline is valid? [False, False] Translation: X:13.12, Y:0.37, Z:0.61 [[ 9.96256961e-01 6.40894649e-03 -8.62032131e-02 1.31173115e+01] [-6.40602825e-03 9.99979433e-01 3.10480769e-04 3.72929125e-01] [ 8.62034300e-02 2.42901592e-04 9.96277526e-01 6.08719137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49463044000004 meters Centerline goodness [0,1] 0.3495931468321275 Centerline is valid? [False, False] Translation: X:13.12, Y:0.37, Z:0.61 [[ 9.96229459e-01 6.33103586e-03 -8.65261961e-02 1.31183765e+01] [-6.33144557e-03 9.99979920e-01 2.69700263e-04 3.72611298e-01] [ 8.65261661e-02 2.79152553e-04 9.96249539e-01 6.08404491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52463044 meters Centerline goodness [0,1] 0.3477234839463942 Centerline is valid? [False, False] Translation: X:13.12, Y:0.37, Z:0.61 [[ 9.96216077e-01 6.30157955e-03 -8.66822774e-02 1.31192024e+01] [-6.30103530e-03 9.99980109e-01 2.79890449e-04 3.72223849e-01] [ 8.66823169e-02 2.67356724e-04 9.96235968e-01 6.07871274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55463044000004 meters Centerline goodness [0,1] 0.3448011581367624 Centerline is valid? [False, False] Translation: X:13.14, Y:0.38, Z:0.61 [[ 9.96249075e-01 -2.21387157e-04 -8.65316850e-02 1.31385660e+01] [ 3.42978638e-04 9.99998975e-01 1.39030254e-03 3.76305988e-01] [ 8.65312884e-02 -1.41476614e-03 9.96248129e-01 6.10759344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58463044 meters Centerline goodness [0,1] 0.3437459937609504 Centerline is valid? [False, False] Translation: X:13.14, Y:0.38, Z:0.61 [[ 9.96250955e-01 -2.13771873e-04 -8.65100466e-02 1.31382843e+01] [ 3.39739705e-04 9.99998903e-01 1.44138596e-03 3.75825710e-01] [ 8.65096436e-02 -1.46537304e-03 9.96249936e-01 6.11070157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61463044000004 meters Centerline goodness [0,1] 0.34464995979047575 Centerline is valid? [False, False] Translation: X:13.12, Y:0.37, Z:0.61 [[ 9.96344740e-01 6.05583217e-03 -8.52084797e-02 1.31198703e+01] [-6.04248560e-03 9.99981658e-01 4.14540213e-04 3.70052104e-01] [ 8.52094272e-02 1.01846051e-04 9.96363058e-01 6.07493865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64463044 meters Centerline goodness [0,1] 0.3416117263009665 Centerline is valid? [False, False] Translation: X:13.16, Y:0.37, Z:0.61 [[ 9.96411168e-01 7.20582244e-03 -8.43377744e-02 1.31603555e+01] [-7.32550938e-03 9.99972552e-01 -1.10976017e-03 3.73391987e-01] [ 8.43274628e-02 1.72359459e-03 9.96436605e-01 6.11521368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67463044000004 meters Centerline goodness [0,1] 0.33848624344288625 Centerline is valid? [False, False] Translation: X:13.16, Y:0.37, Z:0.61 [[ 9.96389995e-01 7.27941125e-03 -8.45812469e-02 1.31614927e+01] [-7.38772428e-03 9.99972242e-01 -9.67653856e-04 3.72760082e-01] [ 8.45718552e-02 1.58902355e-03 9.96416116e-01 6.10909626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70463044 meters Centerline goodness [0,1] 0.33449432680185476 Centerline is valid? [False, False] Translation: X:13.16, Y:0.37, Z:0.61 [[ 9.96370701e-01 7.26878793e-03 -8.48091468e-02 1.31620992e+01] [-7.37247023e-03 9.99972409e-01 -9.09406120e-04 3.72223336e-01] [ 8.48001966e-02 1.53135852e-03 9.96396799e-01 6.10905059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73463044 meters Centerline goodness [0,1] 0.33672744494435236 Centerline is valid? [False, False] Translation: X:13.16, Y:0.37, Z:0.61 [[ 9.96358541e-01 7.24341183e-03 -8.49540539e-02 1.31623157e+01] [-7.34043675e-03 9.99972714e-01 -8.29773899e-04 3.71273617e-01] [ 8.49457254e-02 1.45035217e-03 9.96384524e-01 6.11097923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76463044 meters Centerline goodness [0,1] 0.3350724135691555 Centerline is valid? [False, False] Translation: X:13.16, Y:0.37, Z:0.61 [[ 9.96350516e-01 7.22863845e-03 -8.50493735e-02 1.31625027e+01] [-7.31509823e-03 9.99972996e-01 -7.04986477e-04 3.69985593e-01] [ 8.50419807e-02 1.32455816e-03 9.96376489e-01 6.11159877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79463044 meters Centerline goodness [0,1] 0.33202723535457346 Centerline is valid? [False, False] Translation: X:13.18, Y:0.37, Z:0.61 [[ 9.96353503e-01 3.39685030e-04 -8.53204617e-02 1.31819780e+01] [-3.38385099e-04 9.99999942e-01 2.96978099e-05 3.72971108e-01] [ 8.53204669e-02 -7.18344039e-07 9.96353561e-01 6.13981403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82463044 meters Centerline goodness [0,1] 0.3320372259051504 Centerline is valid? [False, False] Translation: X:13.18, Y:0.37, Z:0.61 [[ 9.96357174e-01 2.40893279e-04 -8.52779264e-02 1.31817205e+01] [-2.21206156e-04 9.99999947e-01 2.40307498e-04 3.70433012e-01] [ 8.52779797e-02 -2.20568098e-04 9.96357174e-01 6.14312831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85463044 meters Centerline goodness [0,1] 0.33195845443665584 Centerline is valid? [False, False] Translation: X:13.18, Y:0.37, Z:0.61 [[ 9.96369277e-01 2.79032602e-04 -8.51362802e-02 1.31811387e+01] [-2.46951331e-04 9.99999894e-01 3.87353704e-04 3.69487006e-01] [ 8.51363793e-02 -3.64922813e-04 9.96369241e-01 6.14603152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88463044 meters Centerline goodness [0,1] 0.33208411855405173 Centerline is valid? [False, False] Translation: X:13.18, Y:0.37, Z:0.62 [[ 9.96375849e-01 3.35152092e-04 -8.50591331e-02 1.31806358e+01] [-2.90146900e-04 9.99999811e-01 5.41466427e-04 3.68678647e-01] [ 8.50592985e-02 -5.14824427e-04 9.96375758e-01 6.15032927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91463044 meters Centerline goodness [0,1] 0.33067899648942545 Centerline is valid? [False, False] Translation: X:13.18, Y:0.37, Z:0.62 [[ 9.96386484e-01 4.04272940e-04 -8.49341517e-02 1.31803512e+01] [-3.47468053e-04 9.99999706e-01 6.83592510e-04 3.68061379e-01] [ 8.49344031e-02 -6.51610434e-04 9.96386332e-01 6.15071117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94463044 meters Centerline goodness [0,1] 0.33136004857316337 Centerline is valid? [False, False] Translation: X:13.18, Y:0.37, Z:0.62 [[ 9.96385955e-01 4.81015095e-04 -8.49399613e-02 1.31803734e+01] [-4.13415276e-04 9.99999584e-01 8.13441853e-04 3.67488951e-01] [ 8.49403173e-02 -7.75386560e-04 9.96385739e-01 6.15075200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97463044 meters Centerline goodness [0,1] 0.3295148683275554 Centerline is valid? [False, False] Translation: X:13.18, Y:0.37, Z:0.61 [[ 9.96388375e-01 4.51183709e-04 -8.49117355e-02 1.31805253e+01] [-3.83830166e-04 9.99999599e-01 8.09541953e-04 3.67355577e-01] [ 8.49120667e-02 -7.74026506e-04 9.96388148e-01 6.14867625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.00463044 meters Centerline goodness [0,1] 0.32799914310197087 Centerline is valid? [False, False] Translation: X:13.18, Y:0.37, Z:0.62 [[ 9.96388735e-01 3.90244650e-04 -8.49078076e-02 1.31803992e+01] [-3.20815701e-04 9.99999603e-01 8.31341040e-04 3.66763069e-01] [ 8.49080984e-02 -8.01099089e-04 9.96388465e-01 6.15107825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03463044 meters Centerline goodness [0,1] 0.32928245719693716 Centerline is valid? [False, False] Translation: X:13.18, Y:0.37, Z:0.62 [[ 9.96395864e-01 4.00072399e-04 -8.48240661e-02 1.31801847e+01] [-3.24231451e-04 9.99999535e-01 9.07871310e-04 3.66240576e-01] [ 8.48243899e-02 -8.77096588e-04 9.96395531e-01 6.15151810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06463044000003 meters Centerline goodness [0,1] 0.3297137429299253 Centerline is valid? [False, False] Translation: X:13.18, Y:0.37, Z:0.62 [[ 9.96389271e-01 3.64250489e-04 -8.49016375e-02 1.31803798e+01] [-2.83039196e-04 9.99999491e-01 9.68568905e-04 3.65605375e-01] [ 8.49019471e-02 -9.41041174e-04 9.96388867e-01 6.15188731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09463044 meters Centerline goodness [0,1] 0.32721653467259026 Centerline is valid? [False, False] Translation: X:13.18, Y:0.36, Z:0.62 [[ 9.96377835e-01 3.21975377e-04 -8.50359093e-02 1.31808711e+01] [-2.35102656e-04 9.99999440e-01 1.03161267e-03 3.64878033e-01] [ 8.50361939e-02 -1.00788383e-03 9.96377353e-01 6.15010205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12463044000003 meters Centerline goodness [0,1] 0.3237157534246575 Centerline is valid? [False, False] Translation: X:13.18, Y:0.36, Z:0.61 [[ 9.96328405e-01 3.41105947e-05 -8.56137138e-02 1.31827706e+01] [ 5.56848850e-05 9.99999451e-01 1.04645628e-03 3.62975680e-01] [ 8.56137025e-02 -1.04738151e-03 9.96327856e-01 6.14505234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15463044 meters Centerline goodness [0,1] 0.3215001920040961 Centerline is valid? [False, False] Translation: X:13.18, Y:0.36, Z:0.61 [[ 9.96297358e-01 -3.17305105e-05 -8.59742582e-02 1.31837735e+01] [ 1.33022429e-04 9.99999304e-01 1.17243706e-03 3.61622525e-01] [ 8.59741611e-02 -1.17953245e-03 9.96296669e-01 6.14430479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18463044000003 meters Centerline goodness [0,1] 0.324767161090031 Centerline is valid? [False, False] Translation: X:13.18, Y:0.36, Z:0.61 [[ 9.96277413e-01 -2.52590974e-05 -8.62050759e-02 1.31845811e+01] [ 1.43690711e-04 9.99999054e-01 1.36763103e-03 3.60095472e-01] [ 8.62049599e-02 -1.37492677e-03 9.96276475e-01 6.14167752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21463044 meters Centerline goodness [0,1] 0.32156090038765506 Centerline is valid? [False, False] Translation: X:13.19, Y:0.36, Z:0.61 [[ 9.96249661e-01 -9.01797212e-05 -8.65251683e-02 1.31853553e+01] [ 2.20253484e-04 9.99998860e-01 1.49376006e-03 3.58746026e-01] [ 8.65249349e-02 -1.50721543e-03 9.96248545e-01 6.14247105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24463044000004 meters Centerline goodness [0,1] 0.3211644408240263 Centerline is valid? [False, False] Translation: X:13.19, Y:0.36, Z:0.61 [[ 9.96243282e-01 -6.64268906e-05 -8.65986078e-02 1.31853020e+01] [ 2.19063092e-04 9.99998439e-01 1.75306914e-03 3.56859067e-01] [ 8.65983562e-02 -1.76545391e-03 9.96241742e-01 6.14568940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27463044 meters Centerline goodness [0,1] 0.32098421740154615 Centerline is valid? [False, False] Translation: X:13.19, Y:0.35, Z:0.61 [[ 9.96246099e-01 -6.23604646e-05 -8.65661961e-02 1.31850035e+01] [ 2.35415192e-04 9.99997994e-01 1.98889561e-03 3.54991007e-01] [ 8.65658985e-02 -2.00180849e-03 9.96244116e-01 6.14924809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30463044000004 meters Centerline goodness [0,1] 0.3173025542374692 Centerline is valid? [False, False] Translation: X:13.19, Y:0.35, Z:0.62 [[ 9.96233412e-01 -4.12796415e-04 -8.67111223e-02 1.31851592e+01] [ 6.01043428e-04 9.99997519e-01 2.14487079e-03 3.51173881e-01] [ 8.67100218e-02 -2.18890910e-03 9.96231188e-01 6.15298619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33463044 meters Centerline goodness [0,1] 0.31960047255933843 Centerline is valid? [False, False] Translation: X:13.19, Y:0.35, Z:0.62 [[ 9.96212357e-01 -4.66520840e-04 -8.69524143e-02 1.31857183e+01] [ 6.71391750e-04 9.99997067e-01 2.32689669e-03 3.49409906e-01] [ 8.69510738e-02 -2.37646237e-03 9.96209749e-01 6.15337476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36463044000004 meters Centerline goodness [0,1] 0.3180543572044866 Centerline is valid? [False, False] Translation: X:13.19, Y:0.35, Z:0.62 [[ 9.96192368e-01 -4.60968621e-04 -8.71811554e-02 1.31863857e+01] [ 6.90897919e-04 9.99996363e-01 2.60721814e-03 3.47305392e-01] [ 8.71796364e-02 -2.65752409e-03 9.96189063e-01 6.15226459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39463044 meters Centerline goodness [0,1] 0.3175520374626769 Centerline is valid? [False, False] Translation: X:13.19, Y:0.35, Z:0.62 [[ 9.96174003e-01 -5.25596202e-04 -8.73903881e-02 1.31867296e+01] [ 7.75748115e-04 9.99995699e-01 2.82852805e-03 3.45230397e-01] [ 8.73885255e-02 -2.88549904e-03 9.96170126e-01 6.15453517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42463044000004 meters Centerline goodness [0,1] 0.31789103087029325 Centerline is valid? [False, False] Translation: X:13.19, Y:0.34, Z:0.62 [[ 9.96186305e-01 -6.16698076e-04 -8.72494437e-02 1.31861686e+01] [ 8.83897485e-04 9.99995037e-01 3.02387664e-03 3.43270298e-01] [ 8.72471459e-02 -3.08946406e-03 9.96181906e-01 6.15778144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45463044 meters Centerline goodness [0,1] 0.3197300979692468 Centerline is valid? [False, False] Translation: X:13.19, Y:0.34, Z:0.62 [[ 9.96202346e-01 -6.88572815e-04 -8.70655603e-02 1.31851804e+01] [ 9.75043820e-04 9.99994251e-01 3.24780641e-03 3.41151919e-01] [ 8.70628233e-02 -3.32036510e-03 9.96197290e-01 6.16467716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48463044 meters Centerline goodness [0,1] 0.3166874382225279 Centerline is valid? [False, False] Translation: X:13.18, Y:0.34, Z:0.62 [[ 9.96251114e-01 -1.85035656e-03 -8.64886944e-02 1.31835181e+01] [ 2.09253481e-03 9.99994140e-01 2.70953818e-03 3.36334984e-01] [ 8.64831740e-02 -2.88036104e-03 9.96249148e-01 6.17097655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51463044 meters Centerline goodness [0,1] 0.3221716514954487 Centerline is valid? [False, False] Translation: X:13.18, Y:0.34, Z:0.62 [[ 9.96256995e-01 -1.91555752e-03 -8.64195086e-02 1.31832508e+01] [ 2.16536951e-03 9.99993744e-01 2.79704184e-03 3.35303423e-01] [ 8.64136101e-02 -2.97370266e-03 9.96254910e-01 6.17234598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54463044 meters Centerline goodness [0,1] 0.3140924078276881 Centerline is valid? [False, False] Translation: X:13.20, Y:0.33, Z:0.62 [[ 9.96307159e-01 4.76447013e-03 -8.57283159e-02 1.32042740e+01] [-4.77959003e-03 9.99988577e-01 2.88812196e-05 3.33525799e-01] [ 8.57274743e-02 3.80971638e-04 9.96318551e-01 6.18585935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.57463044 meters Centerline goodness [0,1] 0.31469775215891316 Centerline is valid? [False, False] Translation: X:13.21, Y:0.33, Z:0.62 [[ 9.96307696e-01 4.66835507e-03 -8.57273700e-02 1.32050041e+01] [-4.69834869e-03 9.99988952e-01 -1.48114554e-04 3.34555437e-01] [ 8.57257314e-02 5.50344747e-04 9.96318622e-01 6.17756255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60463044 meters Centerline goodness [0,1] 0.3140557460128186 Centerline is valid? [False, False] Translation: X:13.21, Y:0.33, Z:0.62 [[ 9.96306918e-01 4.58609625e-03 -8.57408471e-02 1.32053222e+01] [-4.62413829e-03 9.99989279e-01 -2.45086116e-04 3.34998972e-01] [ 8.57388039e-02 6.40658527e-04 9.96317443e-01 6.17424931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.63463044 meters Centerline goodness [0,1] 0.31602670043570646 Centerline is valid? [False, False] Translation: X:13.21, Y:0.34, Z:0.62 [[ 9.96308985e-01 4.52609111e-03 -8.57200107e-02 1.32053899e+01] [-4.57044534e-03 9.99989504e-01 -3.21186951e-04 3.35349469e-01] [ 8.57176573e-02 7.11780068e-04 9.96319214e-01 6.17274374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66463044 meters Centerline goodness [0,1] 0.31748631524503257 Centerline is valid? [False, False] Translation: X:13.21, Y:0.34, Z:0.62 [[ 9.96306688e-01 4.48003055e-03 -8.57491262e-02 1.32055770e+01] [-4.52538583e-03 9.99989704e-01 -3.34554367e-04 3.35322326e-01] [ 8.57467445e-02 7.21366634e-04 9.96316704e-01 6.17163108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.69463044 meters Centerline goodness [0,1] 0.3161370556198808 Centerline is valid? [False, False] Translation: X:13.21, Y:0.33, Z:0.62 [[ 9.96293343e-01 4.37772707e-03 -8.59093101e-02 1.32061139e+01] [-4.42511907e-03 9.99990144e-01 -3.61226779e-04 3.34986371e-01] [ 8.59068820e-02 7.40046761e-04 9.96302896e-01 6.16974253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72463044 meters Centerline goodness [0,1] 0.31290515182531564 Centerline is valid? [False, False] Translation: X:13.21, Y:0.33, Z:0.62 [[ 9.96263530e-01 4.20073768e-03 -8.62631559e-02 1.32073167e+01] [-4.25091138e-03 9.99990886e-01 -3.97951835e-04 3.34413980e-01] [ 8.62606980e-02 7.63161931e-04 9.96272307e-01 6.16559492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.75463044 meters Centerline goodness [0,1] 0.3144429634088661 Centerline is valid? [False, False] Translation: X:13.21, Y:0.33, Z:0.62 [[ 9.96199656e-01 3.54144740e-03 -8.70270304e-02 1.32098721e+01] [-3.61044946e-03 9.99993280e-01 -6.35491121e-04 3.32391234e-01] [ 8.70241951e-02 9.47282731e-04 9.96205748e-01 6.15641493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78463044 meters Centerline goodness [0,1] 0.31243948098896135 Centerline is valid? [False, False] Translation: X:13.21, Y:0.33, Z:0.62 [[ 9.96171208e-01 3.42520976e-03 -8.73566952e-02 1.32108514e+01] [-3.48325205e-03 9.99993802e-01 -5.12002826e-04 3.30920309e-01] [ 8.73544000e-02 8.14327861e-04 9.96176965e-01 6.15394917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.81463044000003 meters Centerline goodness [0,1] 0.3133343397528521 Centerline is valid? [False, False] Translation: X:13.21, Y:0.33, Z:0.62 [[ 9.96166761e-01 3.43199735e-03 -8.74071224e-02 1.32112742e+01] [-3.47147451e-03 9.99993930e-01 -2.99643847e-04 3.29608913e-01] [ 8.74055634e-02 6.01926838e-04 9.96172628e-01 6.15011388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84463044 meters Centerline goodness [0,1] 0.3133343397528521 Centerline is valid? [False, False] Translation: X:13.21, Y:0.33, Z:0.62 [[ 9.96166761e-01 3.43199735e-03 -8.74071224e-02 1.32112742e+01] [-3.47147451e-03 9.99993930e-01 -2.99643847e-04 3.29608913e-01] [ 8.74055634e-02 6.01926838e-04 9.96172628e-01 6.15011388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.87463044000003 meters Centerline goodness [0,1] 0.3123334765792867 Centerline is valid? [False, False] Translation: X:13.21, Y:0.33, Z:0.61 [[ 9.96175967e-01 3.38729285e-03 -8.73038888e-02 1.32112285e+01] [-3.41077933e-03 9.99994176e-01 -1.19848967e-04 3.28349722e-01] [ 8.73029744e-02 4.17164960e-04 9.96181719e-01 6.14849471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90463044 meters Centerline goodness [0,1] 0.3094477896586453 Centerline is valid? [False, False] Translation: X:13.21, Y:0.33, Z:0.61 [[ 9.96170855e-01 3.27184115e-03 -8.73666034e-02 1.32115032e+01] [-3.30065874e-03 9.99994536e-01 -1.85388524e-04 3.28143586e-01] [ 8.73655194e-02 4.73045987e-04 9.96176210e-01 6.14701796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.93463044000003 meters Centerline goodness [0,1] 0.309601258051313 Centerline is valid? [False, False] Translation: X:13.21, Y:0.33, Z:0.61 [[ 9.96159167e-01 3.12765832e-03 -8.75050350e-02 1.32119536e+01] [-3.16306584e-03 9.99994962e-01 -2.65978581e-04 3.27797274e-01] [ 8.75037623e-02 5.41741189e-04 9.96164042e-01 6.14539974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96463044 meters Centerline goodness [0,1] 0.3100468595503203 Centerline is valid? [False, False] Translation: X:13.21, Y:0.33, Z:0.61 [[ 9.96133731e-01 2.96711901e-03 -8.77996982e-02 1.32130082e+01] [-3.00644818e-03 9.99995431e-01 -3.15707066e-04 3.27256265e-01] [ 8.77983603e-02 5.78451700e-04 9.96138100e-01 6.14103355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99463044000004 meters Centerline goodness [0,1] 0.3087753134040502 Centerline is valid? [False, False] Translation: X:13.21, Y:0.33, Z:0.61 [[ 9.96099082e-01 2.77343731e-03 -8.81982208e-02 1.32141925e+01] [-2.81748087e-03 9.99995961e-01 -3.74882854e-04 3.26674665e-01] [ 8.81968248e-02 6.21917266e-04 9.96102873e-01 6.13835963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02463044 meters Centerline goodness [0,1] 0.31230494393146946 Centerline is valid? [False, False] Translation: X:13.21, Y:0.33, Z:0.61 [[ 9.96079873e-01 2.69354840e-03 -8.84173694e-02 1.32149861e+01] [-2.73038138e-03 9.99996229e-01 -2.95639830e-04 3.25842204e-01] [ 8.84162396e-02 5.35894023e-04 9.96083471e-01 6.13471373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05463044000004 meters Centerline goodness [0,1] 0.31521951008208615 Centerline is valid? [False, False] Translation: X:13.22, Y:0.32, Z:0.61 [[ 9.96062597e-01 2.63701504e-03 -8.86134754e-02 1.32155757e+01] [-2.66262474e-03 9.99996441e-01 -1.70800996e-04 3.24763021e-01] [ 8.86127096e-02 4.06072916e-04 9.96066074e-01 6.13209968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08463044 meters Centerline goodness [0,1] 0.31445926890118236 Centerline is valid? [False, False] Translation: X:13.22, Y:0.32, Z:0.61 [[ 9.96068533e-01 2.13998950e-03 -8.85601344e-02 1.32153510e+01] [-2.16419956e-03 9.99997642e-01 -1.77355429e-04 3.22360481e-01] [ 8.85595461e-02 3.68319965e-04 9.96070816e-01 6.13343136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11463044000004 meters Centerline goodness [0,1] 0.3065796210957501 Centerline is valid? [False, False] Translation: X:13.23, Y:0.32, Z:0.62 [[ 9.96139235e-01 -5.03596585e-03 -8.76428155e-02 1.32349684e+01] [ 5.10814923e-03 9.99986774e-01 5.99348893e-04 3.23758995e-01] [ 8.76386380e-02 -1.04472753e-03 9.96151784e-01 6.16319594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14463044 meters Centerline goodness [0,1] 0.3069249705661993 Centerline is valid? [False, False] Translation: X:13.23, Y:0.32, Z:0.62 [[ 9.96159135e-01 -5.03920489e-03 -8.74161517e-02 1.32339583e+01] [ 5.12357958e-03 9.99986600e-01 7.40861278e-04 3.22680254e-01] [ 8.74112470e-02 -1.18589934e-03 9.96171605e-01 6.16852087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17463044000004 meters Centerline goodness [0,1] 0.3123012009087959 Centerline is valid? [False, False] Translation: X:13.23, Y:0.32, Z:0.62 [[ 9.96177651e-01 -4.96129616e-03 -8.72093602e-02 1.32330810e+01] [ 5.05828694e-03 9.99986810e-01 8.91208102e-04 3.22196278e-01] [ 8.72037884e-02 -1.32893156e-03 9.96189607e-01 6.17343632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20463044 meters Centerline goodness [0,1] 0.31266407758564574 Centerline is valid? [False, False] Translation: X:13.23, Y:0.32, Z:0.62 [[ 9.96193606e-01 -4.82456102e-03 -8.70346118e-02 1.32325871e+01] [ 4.93030971e-03 9.99987346e-01 1.00009680e-03 3.22610588e-01] [ 8.70286855e-02 -1.42539763e-03 9.96204786e-01 6.17478136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23463044 meters Centerline goodness [0,1] 0.31230406676323696 Centerline is valid? [False, False] Translation: X:13.25, Y:0.32, Z:0.62 [[ 9.96246194e-01 4.20563285e-03 -8.64628981e-02 1.32516272e+01] [-4.24199592e-03 9.99990975e-01 -2.36834541e-04 3.21003400e-01] [ 8.64611217e-02 6.02720771e-04 9.96255043e-01 6.19947279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26463044 meters Centerline goodness [0,1] 0.31267672516134604 Centerline is valid? [False, False] Translation: X:13.25, Y:0.32, Z:0.62 [[ 9.96233846e-01 4.06073158e-03 -8.66119773e-02 1.32521570e+01] [-4.12907838e-03 9.99991289e-01 -6.09978213e-04 3.22907302e-01] [ 8.66087459e-02 9.65308584e-04 9.96241935e-01 6.19850268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29463044 meters Centerline goodness [0,1] 0.3129883340908599 Centerline is valid? [False, False] Translation: X:13.25, Y:0.32, Z:0.62 [[ 9.96244775e-01 4.05787158e-03 -8.64863085e-02 1.32519392e+01] [-4.15234063e-03 9.99990963e-01 -9.12430465e-04 3.24968152e-01] [ 8.64818244e-02 1.26812470e-03 9.96252622e-01 6.19838317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32463044 meters Centerline goodness [0,1] 0.31343510126198015 Centerline is valid? [False, False] Translation: X:13.25, Y:0.33, Z:0.62 [[ 9.96215756e-01 7.91628328e-03 -8.65534543e-02 1.32516835e+01] [-7.75691189e-03 9.99967544e-01 2.17748114e-03 3.28482443e-01] [ 8.65678827e-02 -1.49785350e-03 9.96244828e-01 6.20457696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35463044 meters Centerline goodness [0,1] 0.31770901053179046 Centerline is valid? [False, False] Translation: X:13.25, Y:0.33, Z:0.62 [[ 9.96215028e-01 7.97688293e-03 -8.65562623e-02 1.32519572e+01] [-7.84004498e-03 9.99967422e-01 1.92074399e-03 3.30930061e-01] [ 8.65687640e-02 -1.23486904e-03 9.96245113e-01 6.20248120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38463044 meters Centerline goodness [0,1] 0.31330777184215064 Centerline is valid? [False, False] Translation: X:13.25, Y:0.33, Z:0.62 [[ 9.96210080e-01 7.89716447e-03 -8.66205006e-02 1.32523648e+01] [-7.79510432e-03 9.99968468e-01 1.51643038e-03 3.33512362e-01] [ 8.66297448e-02 -8.35467387e-04 9.96240227e-01 6.20041784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.41463044 meters Centerline goodness [0,1] 0.3155020184357662 Centerline is valid? [False, False] Translation: X:13.25, Y:0.34, Z:0.62 [[ 9.96203978e-01 7.71728483e-03 -8.67068491e-02 1.32528562e+01] [-7.65823061e-03 9.99970162e-01 1.01370029e-03 3.36228751e-01] [ 8.67120849e-02 -3.45831212e-04 9.96233354e-01 6.19767533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44463044 meters Centerline goodness [0,1] 0.3143177699145594 Centerline is valid? [False, False] Translation: X:13.25, Y:0.34, Z:0.62 [[ 9.96192755e-01 7.53651977e-03 -8.68515788e-02 1.32534504e+01] [-7.51989271e-03 9.99971591e-01 5.18620824e-04 3.38950352e-01] [ 8.68530200e-02 1.36468247e-04 9.96221127e-01 6.19498706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47463044 meters Centerline goodness [0,1] 0.31677434689600037 Centerline is valid? [False, False] Translation: X:13.25, Y:0.34, Z:0.62 [[ 9.96197466e-01 7.41584222e-03 -8.68079154e-02 1.32537308e+01] [-7.43496417e-03 9.99972355e-01 1.03040615e-04 3.41584765e-01] [ 8.68062797e-02 5.42764942e-04 9.96225063e-01 6.19085970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.50463044 meters Centerline goodness [0,1] 0.3189604764482945 Centerline is valid? [False, False] Translation: X:13.25, Y:0.35, Z:0.62 [[ 9.96219873e-01 7.33680371e-03 -8.65571223e-02 1.32539051e+01] [-7.40742484e-03 9.99972442e-01 -4.94728904e-04 3.46854076e-01] [ 8.65511072e-02 1.13402414e-03 9.96246767e-01 6.18260091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53463044 meters Centerline goodness [0,1] 0.32036414869405005 Centerline is valid? [False, False] Translation: X:13.25, Y:0.35, Z:0.62 [[ 9.96218184e-01 7.18184001e-03 -8.65895536e-02 1.32542251e+01] [-7.28801939e-03 9.99973028e-01 -9.10169134e-04 3.49247732e-01] [ 8.65806814e-02 1.53779339e-03 9.96243655e-01 6.18006711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56463044000003 meters Centerline goodness [0,1] 0.32026214708882184 Centerline is valid? [False, False] Translation: X:13.25, Y:0.35, Z:0.62 [[ 9.96214038e-01 7.01698551e-03 -8.66507531e-02 1.32546337e+01] [-7.15938075e-03 9.99973483e-01 -1.33266200e-03 3.51649075e-01] [ 8.66391042e-02 1.94798232e-03 9.96237859e-01 6.17705308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59463044 meters Centerline goodness [0,1] 0.3179028958983744 Centerline is valid? [False, False] Translation: X:13.26, Y:0.35, Z:0.62 [[ 9.96207737e-01 6.85490340e-03 -8.67361178e-02 1.32550740e+01] [-7.03498909e-03 9.99973686e-01 -1.77074490e-03 3.54362607e-01] [ 8.67216972e-02 2.37421742e-03 9.96229748e-01 6.17514709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62463044000003 meters Centerline goodness [0,1] 0.3204197107984478 Centerline is valid? [False, False] Translation: X:13.26, Y:0.36, Z:0.62 [[ 9.96210053e-01 6.71685388e-03 -8.67203215e-02 1.32553148e+01] [-6.93329324e-03 9.99973556e-01 -2.19487390e-03 3.56928150e-01] [ 8.67032856e-02 2.78781286e-03 9.96230279e-01 6.17252701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65463044 meters Centerline goodness [0,1] 0.32074078898803704 Centerline is valid? [False, False] Translation: X:13.26, Y:0.36, Z:0.62 [[ 9.96205272e-01 6.51219510e-03 -8.67908234e-02 1.32557288e+01] [-6.77265618e-03 9.99973402e-01 -2.70689796e-03 3.59711282e-01] [ 8.67708871e-02 3.28443042e-03 9.96222880e-01 6.17029572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68463044000003 meters Centerline goodness [0,1] 0.3233298538622129 Centerline is valid? [False, False] Translation: X:13.26, Y:0.37, Z:0.62 [[ 9.96227080e-01 6.47539725e-03 -8.65429076e-02 1.32558781e+01] [-6.79043598e-03 9.99971345e-01 -3.34636899e-03 3.66266519e-01] [ 8.65187587e-02 3.92140748e-03 9.96242504e-01 6.16263831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71463044 meters Centerline goodness [0,1] 0.3236227662072264 Centerline is valid? [False, False] Translation: X:13.26, Y:0.37, Z:0.62 [[ 9.96224583e-01 6.38197177e-03 -8.65785858e-02 1.32562888e+01] [-6.73513700e-03 9.99970145e-01 -3.78763182e-03 3.69537422e-01] [ 8.65518285e-02 4.35645056e-03 9.96237824e-01 6.15893511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74463044000004 meters Centerline goodness [0,1] 0.3224043715846995 Centerline is valid? [False, False] Translation: X:13.26, Y:0.37, Z:0.62 [[ 9.96218815e-01 6.33254456e-03 -8.66485504e-02 1.32568807e+01] [-6.71861883e-03 9.99968757e-01 -4.16472953e-03 3.72523605e-01] [ 8.66194699e-02 4.73114050e-03 9.96230236e-01 6.15501102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77463044 meters Centerline goodness [0,1] 0.322774806763808 Centerline is valid? [False, False] Translation: X:13.26, Y:0.38, Z:0.62 [[ 9.96210814e-01 6.16479066e-03 -8.67525763e-02 1.32574552e+01] [-6.59394408e-03 9.99967396e-01 -4.66117264e-03 3.75547591e-01] [ 8.67210127e-02 5.21555222e-03 9.96218984e-01 6.15167260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80463044000004 meters Centerline goodness [0,1] 0.32155507559395247 Centerline is valid? [False, False] Translation: X:13.26, Y:0.38, Z:0.62 [[ 9.96192859e-01 5.96269377e-03 -8.69726006e-02 1.32581832e+01] [-6.43530224e-03 9.99966008e-01 -5.15462404e-03 3.78360945e-01] [ 8.69389088e-02 5.69469463e-03 9.96197368e-01 6.15012943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83463044 meters Centerline goodness [0,1] 0.32219133208336026 Centerline is valid? [False, False] Translation: X:13.26, Y:0.39, Z:0.62 [[ 9.96163775e-01 5.75677935e-03 -8.73189116e-02 1.32590619e+01] [-6.30091333e-03 9.99962404e-01 -5.95722836e-03 3.85139853e-01] [ 8.72813343e-02 6.48456399e-03 9.96162597e-01 6.15081996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86463044000004 meters Centerline goodness [0,1] 0.3182808220655151 Centerline is valid? [False, False] Translation: X:13.26, Y:0.39, Z:0.62 [[ 9.96168115e-01 5.67800749e-03 -8.72745467e-02 1.32589328e+01] [-6.25437483e-03 9.99960393e-01 -6.33204307e-03 3.87976215e-01] [ 8.72351367e-02 6.85362714e-03 9.96164173e-01 6.15164201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89463044 meters Centerline goodness [0,1] 0.3239458093744555 Centerline is valid? [False, False] Translation: X:13.26, Y:0.39, Z:0.62 [[ 9.96175872e-01 5.60399816e-03 -8.71907486e-02 1.32586733e+01] [-6.21037680e-03 9.99958371e-01 -6.68491407e-03 3.90523881e-01] [ 8.71496567e-02 7.20083751e-03 9.96169205e-01 6.15277755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92463044000004 meters Centerline goodness [0,1] 0.32092932953662956 Centerline is valid? [False, False] Translation: X:13.28, Y:0.40, Z:0.62 [[ 9.96183725e-01 -8.49354753e-04 -8.72769470e-02 1.32767951e+01] [ 3.43765724e-04 9.99983076e-01 -5.80779434e-03 3.97515644e-01] [ 8.72804028e-02 5.75562737e-03 9.96167157e-01 6.18617993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95463044 meters Centerline goodness [0,1] 0.32289929164049125 Centerline is valid? [False, False] Translation: X:13.28, Y:0.40, Z:0.62 [[ 9.96197194e-01 -1.02213855e-03 -8.71212145e-02 1.32762519e+01] [ 4.84259245e-04 9.99980695e-01 -6.19483001e-03 3.99659282e-01] [ 8.71258645e-02 6.12908301e-03 9.96178457e-01 6.18859626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98463044 meters Centerline goodness [0,1] 0.3213311862587225 Centerline is valid? [False, False] Translation: X:13.30, Y:0.40, Z:0.62 [[ 9.96302867e-01 7.34320249e-03 -8.55959965e-02 1.32961004e+01] [-8.04399567e-03 9.99936872e-01 -7.84519204e-03 4.01664665e-01] [ 8.55329842e-02 8.50472115e-03 9.96299041e-01 6.20859514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01463044 meters Centerline goodness [0,1] 0.3201377677322139 Centerline is valid? [False, False] Translation: X:13.30, Y:0.40, Z:0.62 [[ 9.96307258e-01 7.29234422e-03 -8.55492242e-02 1.32962201e+01] [-8.01347299e-03 9.99935174e-01 -8.08902498e-03 4.03349854e-01] [ 8.54846904e-02 8.74470069e-03 9.96301108e-01 6.20642521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04463044 meters Centerline goodness [0,1] 0.3208279430789134 Centerline is valid? [False, False] Translation: X:13.30, Y:0.41, Z:0.62 [[ 9.96300277e-01 7.16344416e-03 -8.56413685e-02 1.32966946e+01] [-7.91315715e-03 9.99933259e-01 -8.41783135e-03 4.05161443e-01] [ 8.55753521e-02 9.06438131e-03 9.96290468e-01 6.20387114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.07463044 meters Centerline goodness [0,1] 0.32101785101270164 Centerline is valid? [False, False] Translation: X:13.30, Y:0.41, Z:0.62 [[ 9.96278859e-01 7.00777130e-03 -8.59030097e-02 1.32975022e+01] [-7.79124309e-03 9.99931027e-01 -8.78854921e-03 4.07070656e-01] [ 8.58354965e-02 9.42513700e-03 9.96264741e-01 6.20191868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10463044 meters Centerline goodness [0,1] 0.32357034137856056 Centerline is valid? [False, False] Translation: X:13.28, Y:0.42, Z:0.62 [[ 9.96355447e-01 -5.72756485e-04 -8.52965111e-02 1.32793694e+01] [-5.55720223e-05 9.99972885e-01 -7.36384681e-03 4.15148597e-01] [ 8.52984160e-02 7.34174898e-03 9.96328399e-01 6.17175917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.13463044 meters Centerline goodness [0,1] 0.32259250448735965 Centerline is valid? [False, False] Translation: X:13.28, Y:0.42, Z:0.62 [[ 9.96374167e-01 -5.23848350e-04 -8.50778814e-02 1.32786201e+01] [-1.15145330e-04 9.99971826e-01 -7.50561030e-03 4.16706096e-01] [ 8.50794162e-02 7.48819253e-03 9.96346034e-01 6.17496627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16463044 meters Centerline goodness [0,1] 0.3230065585088022 Centerline is valid? [False, False] Translation: X:13.28, Y:0.42, Z:0.62 [[ 9.96395341e-01 -5.16243580e-04 -8.48295801e-02 1.32780538e+01] [-1.36502158e-04 9.99970431e-01 -7.68880889e-03 4.18358595e-01] [ 8.48310411e-02 7.67267278e-03 9.96365809e-01 6.17491614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.19463044 meters Centerline goodness [0,1] 0.3245066038347636 Centerline is valid? [False, False] Translation: X:13.28, Y:0.42, Z:0.62 [[ 9.96402624e-01 -5.60813648e-04 -8.47437118e-02 1.32779718e+01] [-1.06633110e-04 9.99969015e-01 -7.87133072e-03 4.19575625e-01] [ 8.47455003e-02 7.85205107e-03 9.96371690e-01 6.17349335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22463044 meters Centerline goodness [0,1] 0.3253865142263219 Centerline is valid? [False, False] Translation: X:13.28, Y:0.42, Z:0.62 [[ 9.96418243e-01 -6.45987024e-04 -8.45592604e-02 1.32780306e+01] [-3.10411156e-05 9.99967959e-01 -8.00499267e-03 4.20252199e-01] [ 8.45617222e-02 7.97894554e-03 9.96386296e-01 6.16716127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.25463044 meters Centerline goodness [0,1] 0.32299980638082737 Centerline is valid? [False, False] Translation: X:13.28, Y:0.42, Z:0.62 [[ 9.96410917e-01 -7.28106624e-04 -8.46448755e-02 1.32784514e+01] [ 5.22612963e-05 9.99968107e-01 -7.98642176e-03 4.19628151e-01] [ 8.46479909e-02 7.95333418e-03 9.96379176e-01 6.16459763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28463044 meters Centerline goodness [0,1] 0.3230514238973674 Centerline is valid? [False, False] Translation: X:13.28, Y:0.42, Z:0.62 [[ 9.96402017e-01 -7.66867328e-04 -8.47492292e-02 1.32789450e+01] [ 9.96408974e-05 9.99968972e-01 -7.87689928e-03 4.18517616e-01] [ 8.47526401e-02 7.84011384e-03 9.96371177e-01 6.16144943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.31463044000003 meters Centerline goodness [0,1] 0.3270474137931034 Centerline is valid? [False, False] Translation: X:13.28, Y:0.42, Z:0.62 [[ 9.96388879e-01 -7.28703540e-04 -8.49038959e-02 1.32793838e+01] [ 7.46996308e-05 9.99970307e-01 -7.70579507e-03 4.17429372e-01] [ 8.49069901e-02 7.67162621e-03 9.96359347e-01 6.16027615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34463044 meters Centerline goodness [0,1] 0.3255929816960901 Centerline is valid? [False, False] Translation: X:13.28, Y:0.42, Z:0.62 [[ 9.96374795e-01 -6.92286239e-04 -8.50693220e-02 1.32799463e+01] [ 4.76859652e-05 9.99971277e-01 -7.57915127e-03 4.16642188e-01] [ 8.50721255e-02 7.54761868e-03 9.96346208e-01 6.15835880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.37463044000003 meters Centerline goodness [0,1] 0.3254160850424138 Centerline is valid? [False, False] Translation: X:13.28, Y:0.42, Z:0.61 [[ 9.96312979e-01 -6.24283288e-04 -8.57907779e-02 1.32825773e+01] [-2.86091847e-05 9.99971052e-01 -7.60884718e-03 4.17188914e-01] [ 8.57930445e-02 7.58324760e-03 9.96284120e-01 6.14731131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40463044 meters Centerline goodness [0,1] 0.32327595469881587 Centerline is valid? [False, False] Translation: X:13.28, Y:0.42, Z:0.61 [[ 9.96301191e-01 -5.83713177e-04 -8.59278558e-02 1.32833563e+01] [-7.43078955e-05 9.99970702e-01 -7.65443422e-03 4.17806162e-01] [ 8.59298062e-02 7.63250705e-03 9.96271957e-01 6.14202219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.43463044000003 meters Centerline goodness [0,1] 0.32700983972844067 Centerline is valid? [False, False] Translation: X:13.28, Y:0.42, Z:0.61 [[ 9.96315752e-01 -4.91625098e-04 -8.57594379e-02 1.32830886e+01] [-1.65022383e-04 9.99970728e-01 -7.64959662e-03 4.18387713e-01] [ 8.57606883e-02 7.63556583e-03 9.96286506e-01 6.14014176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46463044 meters Centerline goodness [0,1] 0.3258027940012408 Centerline is valid? [False, False] Translation: X:13.28, Y:0.42, Z:0.61 [[ 9.96331546e-01 -3.78765316e-04 -8.55763207e-02 1.32828471e+01] [-2.75498625e-04 9.99970827e-01 -7.63344616e-03 4.19115848e-01] [ 8.55767155e-02 7.62901937e-03 9.96302376e-01 6.13814073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49463044000004 meters Centerline goodness [0,1] 0.32766754992567704 Centerline is valid? [False, False] Translation: X:13.28, Y:0.42, Z:0.61 [[ 9.96333329e-01 -2.33336822e-04 -8.55560827e-02 1.32828184e+01] [-4.12741182e-04 9.99971536e-01 -7.53374810e-03 4.19430690e-01] [ 8.55554053e-02 7.54143684e-03 9.96304873e-01 6.13791688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52463044 meters Centerline goodness [0,1] 0.3257996469929829 Centerline is valid? [False, False] Translation: X:13.28, Y:0.42, Z:0.61 [[ 9.96274022e-01 -2.20171329e-04 -8.62439834e-02 1.32849113e+01] [-4.27468855e-04 9.99971852e-01 -7.49085584e-03 4.18862554e-01] [ 8.62432051e-02 7.49981170e-03 9.96245885e-01 6.13264825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55463044000004 meters Centerline goodness [0,1] 0.32928788536691267 Centerline is valid? [False, False] Translation: X:13.29, Y:0.42, Z:0.61 [[ 9.96240093e-01 -2.75253963e-04 -8.66348780e-02 1.32862103e+01] [-3.72442240e-04 9.99972105e-01 -7.45990751e-03 4.18058917e-01] [ 8.66345147e-02 7.46412544e-03 9.96212200e-01 6.12785703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58463044 meters Centerline goodness [0,1] 0.32744087783215126 Centerline is valid? [False, False] Translation: X:13.29, Y:0.42, Z:0.61 [[ 9.96210670e-01 -3.38106544e-04 -8.69723317e-02 1.32871486e+01] [-3.07871909e-04 9.99972469e-01 -7.41388099e-03 4.16929936e-01] [ 8.69724440e-02 7.41256369e-03 9.96183140e-01 6.12640127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61463044000004 meters Centerline goodness [0,1] 0.32913086654289536 Centerline is valid? [False, False] Translation: X:13.29, Y:0.42, Z:0.61 [[ 9.96214773e-01 -3.26241534e-04 -8.69253731e-02 1.32869183e+01] [-3.08186192e-04 9.99973416e-01 -7.28501330e-03 4.15756268e-01] [ 8.69254390e-02 7.28422707e-03 9.96188189e-01 6.12802350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64463044 meters Centerline goodness [0,1] 0.33137462464084344 Centerline is valid? [False, False] Translation: X:13.28, Y:0.41, Z:0.61 [[ 9.96262787e-01 -7.27526205e-05 -8.63739219e-02 1.32848663e+01] [-5.26457749e-04 9.99975955e-01 -6.91460017e-03 4.14159545e-01] [ 8.63723482e-02 6.93423106e-03 9.96238794e-01 6.13782041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67463044000004 meters Centerline goodness [0,1] 0.33403562119895747 Centerline is valid? [False, False] Translation: X:13.28, Y:0.41, Z:0.61 [[ 9.96273492e-01 1.10901771e-04 -8.62503204e-02 1.32844637e+01] [-6.92269852e-04 9.99977244e-01 -6.71059368e-03 4.13645014e-01] [ 8.62476135e-02 6.74529509e-03 9.96250897e-01 6.13951556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70463044 meters Centerline goodness [0,1] 0.33355677125002703 Centerline is valid? [False, False] Translation: X:13.29, Y:0.41, Z:0.61 [[ 9.96256504e-01 2.21749480e-04 -8.64461080e-02 1.32850343e+01] [-7.98256394e-04 9.99977673e-01 -6.63446404e-03 4.13689515e-01] [ 8.64427067e-02 6.67863411e-03 9.96234437e-01 6.13860919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73463044 meters Centerline goodness [0,1] 0.33299057412167954 Centerline is valid? [False, False] Translation: X:13.29, Y:0.41, Z:0.61 [[ 9.96232861e-01 2.93159618e-04 -8.67179323e-02 1.32859790e+01] [-8.75026230e-04 9.99977360e-01 -6.67194072e-03 4.14156037e-01] [ 8.67140130e-02 6.72268706e-03 9.96210563e-01 6.13524953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76463044 meters Centerline goodness [0,1] 0.3350937188866283 Centerline is valid? [False, False] Translation: X:13.29, Y:0.41, Z:0.61 [[ 9.96225092e-01 3.96041852e-04 -8.68067396e-02 1.32864226e+01] [-9.76233468e-04 9.99977469e-01 -6.64136621e-03 4.14428086e-01] [ 8.68021535e-02 6.70103930e-03 9.96203033e-01 6.13245049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79463044 meters Centerline goodness [0,1] 0.3350937188866283 Centerline is valid? [False, False] Translation: X:13.29, Y:0.41, Z:0.61 [[ 9.96225092e-01 3.96041852e-04 -8.68067396e-02 1.32864226e+01] [-9.76233468e-04 9.99977469e-01 -6.64136621e-03 4.14428086e-01] [ 8.68021535e-02 6.70103930e-03 9.96203033e-01 6.13245049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82463044 meters Centerline goodness [0,1] 0.3356085722334179 Centerline is valid? [False, False] Translation: X:13.29, Y:0.42, Z:0.61 [[ 9.96228701e-01 5.66231237e-04 -8.67643608e-02 1.32864231e+01] [-1.14403491e-03 9.99977500e-01 -6.60987891e-03 4.15070379e-01] [ 8.67586659e-02 6.68421254e-03 9.96206934e-01 6.13107106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85463044 meters Centerline goodness [0,1] 0.33868782659183283 Centerline is valid? [False, False] Translation: X:13.28, Y:0.42, Z:0.61 [[ 9.96282528e-01 1.28257438e-03 -8.61364040e-02 1.32846283e+01] [-1.81643544e-03 9.99979624e-01 -6.11976605e-03 4.15579485e-01] [ 8.61267999e-02 6.25347721e-03 9.96264557e-01 6.13516535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88463044 meters Centerline goodness [0,1] 0.34280389224801167 Centerline is valid? [False, False] Translation: X:13.28, Y:0.42, Z:0.61 [[ 9.96307404e-01 1.46675708e-03 -8.58452423e-02 1.32838160e+01] [-1.98627570e-03 9.99980226e-01 -5.96670351e-03 4.15690859e-01] [ 8.58347931e-02 6.11518320e-03 9.96290617e-01 6.13662711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.91463044 meters Centerline goodness [0,1] 0.3414660477167224 Centerline is valid? [False, False] Translation: X:13.28, Y:0.42, Z:0.61 [[ 9.96316490e-01 1.51793096e-03 -8.57388366e-02 1.32835743e+01] [-2.02946586e-03 9.99980657e-01 -5.87935084e-03 4.15292728e-01] [ 8.57282537e-02 6.03169823e-03 9.96300299e-01 6.13699606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94463044 meters Centerline goodness [0,1] 0.33761397200462306 Centerline is valid? [False, False] Translation: X:13.28, Y:0.41, Z:0.61 [[ 9.96313538e-01 1.48593352e-03 -8.57736943e-02 1.32838070e+01] [-1.99057416e-03 9.99981209e-01 -5.79816911e-03 4.14329856e-01] [ 8.57634668e-02 5.94753327e-03 9.96297774e-01 6.13561825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97463044 meters Centerline goodness [0,1] 0.34184867394695784 Centerline is valid? [False, False] Translation: X:13.28, Y:0.41, Z:0.61 [[ 9.96305992e-01 1.52593067e-03 -8.58605979e-02 1.32841516e+01] [-2.01775325e-03 9.99982050e-01 -5.64166085e-03 4.13220112e-01] [ 8.58504479e-02 5.79406601e-03 9.96291187e-01 6.13413208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.00463044 meters Centerline goodness [0,1] 0.34731456696312923 Centerline is valid? [False, False] Translation: X:13.28, Y:0.41, Z:0.61 [[ 9.96305132e-01 1.68214988e-03 -8.58676611e-02 1.32847290e+01] [-2.13963370e-03 9.99984003e-01 -5.23602323e-03 4.10973145e-01] [ 8.58574797e-02 5.40040215e-03 9.96292793e-01 6.12786102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03463044 meters Centerline goodness [0,1] 0.3431114751271661 Centerline is valid? [False, False] Translation: X:13.28, Y:0.41, Z:0.61 [[ 9.96304021e-01 1.78577147e-03 -8.58784569e-02 1.32846903e+01] [-2.22350895e-03 9.99985019e-01 -5.00179213e-03 4.09740742e-01] [ 8.58682383e-02 5.17425713e-03 9.96293066e-01 6.12871903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06463044000003 meters Centerline goodness [0,1] 0.3495876580281567 Centerline is valid? [False, False] Translation: X:13.28, Y:0.41, Z:0.61 [[ 9.96298384e-01 1.83482462e-03 -8.59427963e-02 1.32847863e+01] [-2.25829321e-03 9.99985784e-01 -4.83036807e-03 4.08536998e-01] [ 8.59327117e-02 5.00657194e-03 9.96288364e-01 6.12963969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09463044 meters Centerline goodness [0,1] 0.34840954274353875 Centerline is valid? [False, False] Translation: X:13.29, Y:0.41, Z:0.61 [[ 9.96282512e-01 1.85244013e-03 -8.61262157e-02 1.32852648e+01] [-2.26652827e-03 9.99986337e-01 -4.71038524e-03 4.07595922e-01] [ 8.61163133e-02 4.88808195e-03 9.96273099e-01 6.12956034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12463044000003 meters Centerline goodness [0,1] 0.3436256051640667 Centerline is valid? [False, False] Translation: X:13.29, Y:0.41, Z:0.61 [[ 9.96235561e-01 1.94232767e-03 -8.66656495e-02 1.32872648e+01] [-2.34354560e-03 9.99987002e-01 -4.52798817e-03 4.06622137e-01] [ 8.66557282e-02 4.71404773e-03 9.96227164e-01 6.12131920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15463044 meters Centerline goodness [0,1] 0.34361763883812435 Centerline is valid? [False, False] Translation: X:13.29, Y:0.41, Z:0.61 [[ 9.96210523e-01 1.94983745e-03 -8.69528118e-02 1.32886122e+01] [-2.35358329e-03 9.99986920e-01 -4.54099738e-03 4.06652915e-01] [ 8.69428202e-02 4.72844006e-03 9.96202082e-01 6.11326859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18463044000003 meters Centerline goodness [0,1] 0.3476090841724424 Centerline is valid? [False, False] Translation: X:13.29, Y:0.41, Z:0.61 [[ 9.96198340e-01 1.94250350e-03 -8.70924427e-02 1.32893965e+01] [-2.34801670e-03 9.99986874e-01 -4.55392370e-03 4.06569956e-01] [ 8.70824535e-02 4.74110574e-03 9.96189825e-01 6.10759345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21463044 meters Centerline goodness [0,1] 0.34319219368657916 Centerline is valid? [False, False] Translation: X:13.29, Y:0.41, Z:0.61 [[ 9.96182512e-01 1.94190245e-03 -8.72733129e-02 1.32898885e+01] [-2.34664498e-03 9.99986962e-01 -4.53528742e-03 4.06430878e-01] [ 8.72633679e-02 4.72277350e-03 9.96174081e-01 6.10702304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24463044000004 meters Centerline goodness [0,1] 0.3433893368688735 Centerline is valid? [False, False] Translation: X:13.29, Y:0.41, Z:0.61 [[ 9.96183409e-01 2.03837065e-03 -8.72608754e-02 1.32896570e+01] [-2.42609368e-03 9.99987650e-01 -4.33743974e-03 4.05422070e-01] [ 8.72509565e-02 4.53258857e-03 9.96176052e-01 6.10959315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27463044 meters Centerline goodness [0,1] 0.34417437937894646 Centerline is valid? [False, False] Translation: X:13.29, Y:0.40, Z:0.61 [[ 9.96177892e-01 2.01796313e-03 -8.73243144e-02 1.32895742e+01] [-2.39352461e-03 9.99988331e-01 -4.19627360e-03 4.04193587e-01] [ 8.73148275e-02 4.38924788e-03 9.96171097e-01 6.11287475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30463044000004 meters Centerline goodness [0,1] 0.34190225823133946 Centerline is valid? [False, False] Translation: X:13.29, Y:0.40, Z:0.61 [[ 9.96150204e-01 -4.13726129e-04 -8.76618511e-02 1.32913049e+01] [-1.13845135e-04 9.99981914e-01 -6.01316872e-03 4.00100997e-01] [ 8.76627535e-02 5.99999912e-03 9.96132141e-01 6.10552765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33463044 meters Centerline goodness [0,1] 0.34478280631127844 Centerline is valid? [False, False] Translation: X:13.29, Y:0.40, Z:0.61 [[ 9.96152340e-01 -4.03343770e-04 -8.76376246e-02 1.32910756e+01] [-1.03092850e-04 9.99983324e-01 -5.77415500e-03 3.98174144e-01] [ 8.76384921e-02 5.76097282e-03 9.96135686e-01 6.10764682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36463044000004 meters Centerline goodness [0,1] 0.3419851621136417 Centerline is valid? [False, False] Translation: X:13.29, Y:0.40, Z:0.61 [[ 9.96168574e-01 -2.76307214e-04 -8.74533937e-02 1.32906334e+01] [-2.02681168e-04 9.99985029e-01 -5.46814328e-03 3.96659194e-01] [ 8.74535953e-02 5.46491765e-03 9.96153604e-01 6.10799286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39463044 meters Centerline goodness [0,1] 0.3423551450164718 Centerline is valid? [False, False] Translation: X:13.29, Y:0.39, Z:0.61 [[ 9.96184424e-01 -1.66550055e-04 -8.72729396e-02 1.32904076e+01] [-2.84633587e-04 9.99986660e-01 -5.15733035e-03 3.94868129e-01] [ 8.72726343e-02 5.16249297e-03 9.96171088e-01 6.10612968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42463044000004 meters Centerline goodness [0,1] 0.34300746043382635 Centerline is valid? [False, False] Translation: X:13.29, Y:0.39, Z:0.61 [[ 9.96174538e-01 -1.33846814e-04 -8.73857687e-02 1.32906840e+01] [-3.09843259e-04 9.99987131e-01 -5.06378857e-03 3.94076944e-01] [ 8.73853219e-02 5.07149313e-03 9.96161676e-01 6.10616616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45463044 meters Centerline goodness [0,1] 0.33944934532327997 Centerline is valid? [False, False] Translation: X:13.29, Y:0.39, Z:0.61 [[ 9.96154785e-01 -5.05956597e-05 -8.76107379e-02 1.32913327e+01] [-3.83393024e-04 9.99987741e-01 -4.93676741e-03 3.93537891e-01] [ 8.76099136e-02 4.95137382e-03 9.96142554e-01 6.10518220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48463044 meters Centerline goodness [0,1] 0.3437298065739025 Centerline is valid? [False, False] Translation: X:13.29, Y:0.39, Z:0.61 [[ 9.96141909e-01 6.06491089e-05 -8.77570172e-02 1.32918079e+01] [-4.82989262e-04 9.99988405e-01 -4.79138254e-03 3.93080432e-01] [ 8.77557090e-02 4.81528264e-03 9.96130387e-01 6.10380384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51463044 meters Centerline goodness [0,1] 0.3406275626915275 Centerline is valid? [False, False] Translation: X:13.29, Y:0.39, Z:0.61 [[ 9.96132372e-01 1.58465771e-04 -8.78650758e-02 1.32920254e+01] [-5.68779789e-04 9.99989051e-01 -4.64480250e-03 3.92507690e-01] [ 8.78633777e-02 4.67681401e-03 9.96121556e-01 6.10410314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54463044 meters Centerline goodness [0,1] 0.34310555281923893 Centerline is valid? [False, False] Translation: X:13.29, Y:0.39, Z:0.61 [[ 9.96124959e-01 1.73072380e-04 -8.79490514e-02 1.32921049e+01] [-5.76140143e-04 9.99989448e-01 -4.55760484e-03 3.91804113e-01] [ 8.79473346e-02 4.59061492e-03 9.96114548e-01 6.10589839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.57463044 meters Centerline goodness [0,1] 0.3419743556756293 Centerline is valid? [False, False] Translation: X:13.29, Y:0.39, Z:0.61 [[ 9.96142920e-01 2.97573635e-04 -8.77450552e-02 1.32911964e+01] [-6.66994821e-04 9.99991038e-01 -4.18087606e-03 3.89299179e-01] [ 8.77430247e-02 4.22327558e-03 9.96134191e-01 6.11095868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60463044 meters Centerline goodness [0,1] 0.3387575874983857 Centerline is valid? [False, False] Translation: X:13.29, Y:0.39, Z:0.61 [[ 9.96163355e-01 4.83372051e-04 -8.75119213e-02 1.32903117e+01] [-8.17670034e-04 9.99992506e-01 -3.78422153e-03 3.87410479e-01] [ 8.75094362e-02 3.84125869e-03 9.96156285e-01 6.11513997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.63463044 meters Centerline goodness [0,1] 0.34037291124540314 Centerline is valid? [False, False] Translation: X:13.29, Y:0.39, Z:0.61 [[ 9.96166102e-01 6.32687062e-04 -8.74796917e-02 1.32899774e+01] [-9.38004211e-04 9.99993612e-01 -3.44908598e-03 3.85782774e-01] [ 8.74769506e-02 3.51791885e-03 9.96160332e-01 6.11858864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66463044 meters Centerline goodness [0,1] 0.33664404820515015 Centerline is valid? [False, False] Translation: X:13.29, Y:0.38, Z:0.61 [[ 9.96153398e-01 6.75054110e-04 -8.76239196e-02 1.32902870e+01] [-9.59241549e-04 9.99994416e-01 -3.20119654e-03 3.83950578e-01] [ 8.76212693e-02 3.27293532e-03 9.96148483e-01 6.11973526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.69463044 meters Centerline goodness [0,1] 0.33926011511222376 Centerline is valid? [False, False] Translation: X:13.29, Y:0.38, Z:0.61 [[ 9.96135498e-01 6.37505973e-04 -8.78274662e-02 1.32907859e+01] [-9.10055891e-04 9.99994894e-01 -3.06323604e-03 3.82322700e-01] [ 8.78250650e-02 3.13132606e-03 9.96130992e-01 6.12019334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72463044 meters Centerline goodness [0,1] 0.33861317952911807 Centerline is valid? [False, False] Translation: X:13.29, Y:0.38, Z:0.61 [[ 9.96102566e-01 5.61722253e-04 -8.82006891e-02 1.32913930e+01] [-8.20741699e-04 9.99995457e-01 -2.90046727e-03 3.79711559e-01] [ 8.81986591e-02 2.96155287e-03 9.96098502e-01 6.12400549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.75463044 meters Centerline goodness [0,1] 0.3360549507516848 Centerline is valid? [False, False] Translation: X:13.29, Y:0.38, Z:0.61 [[ 9.96092694e-01 7.08023038e-04 -8.83110650e-02 1.32913799e+01] [-9.50993858e-04 9.99995878e-01 -2.70926316e-03 3.79030452e-01] [ 8.83087827e-02 2.78266052e-03 9.96089261e-01 6.12745874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78463044 meters Centerline goodness [0,1] 0.33726798391925417 Centerline is valid? [False, False] Translation: X:13.29, Y:0.38, Z:0.61 [[ 9.96089734e-01 9.71605170e-04 -8.83419340e-02 1.32914752e+01] [-1.19399020e-03 9.99996250e-01 -2.46451313e-03 3.78966932e-01] [ 8.83392082e-02 2.56035563e-03 9.96087159e-01 6.12807776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.81463044000003 meters Centerline goodness [0,1] 0.3377861357888593 Centerline is valid? [False, False] Translation: X:13.29, Y:0.38, Z:0.61 [[ 9.96073947e-01 1.17370427e-03 -8.85173107e-02 1.32920559e+01] [-1.38938517e-03 9.99996214e-01 -2.37502176e-03 3.79495567e-01] [ 8.85141880e-02 2.48868194e-03 9.96071807e-01 6.12606495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84463044 meters Centerline goodness [0,1] 0.33728373702422143 Centerline is valid? [False, False] Translation: X:13.29, Y:0.38, Z:0.61 [[ 9.96041668e-01 1.23930660e-03 -8.88788994e-02 1.32934510e+01] [-1.47093991e-03 9.99995691e-01 -2.54071758e-03 3.80967356e-01] [ 8.88753677e-02 2.66139610e-03 9.96039199e-01 6.12002471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.87463044000003 meters Centerline goodness [0,1] 0.3397597154753643 Centerline is valid? [False, False] Translation: X:13.29, Y:0.39, Z:0.61 [[ 9.96014000e-01 1.89985595e-03 -8.91768088e-02 1.32949323e+01] [-2.14153275e-03 9.99994289e-01 -2.61448571e-03 3.85833380e-01] [ 8.91713323e-02 2.79503942e-03 9.96012380e-01 6.11043160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90463044 meters Centerline goodness [0,1] 0.3392942092289063 Centerline is valid? [False, False] Translation: X:13.29, Y:0.39, Z:0.61 [[ 9.96032142e-01 2.11651430e-03 -8.89690532e-02 1.32945347e+01] [-2.37246820e-03 9.99993346e-01 -2.77123737e-03 3.88442599e-01] [ 8.89625958e-02 2.97131774e-03 9.96030536e-01 6.10907674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.93463044000003 meters Centerline goodness [0,1] 0.33921199939484314 Centerline is valid? [False, False] Translation: X:13.29, Y:0.39, Z:0.61 [[ 9.96055887e-01 2.26195412e-03 -8.86992349e-02 1.32938563e+01] [-2.53373120e-03 9.99992434e-01 -2.95155728e-03 3.90788009e-01] [ 8.86918876e-02 3.16465602e-03 9.96054082e-01 6.10909675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96463044 meters Centerline goodness [0,1] 0.3350815725555102 Centerline is valid? [False, False] Translation: X:13.29, Y:0.39, Z:0.61 [[ 9.96056680e-01 2.18023832e-03 -8.86923678e-02 1.32936252e+01] [-2.48048364e-03 9.99991560e-01 -3.27516773e-03 3.92933442e-01] [ 8.86844786e-02 3.48225267e-03 9.96053682e-01 6.11211240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99463044000004 meters Centerline goodness [0,1] 0.3356208449496033 Centerline is valid? [False, False] Translation: X:13.29, Y:0.40, Z:0.61 [[ 9.96043316e-01 1.92923389e-03 -8.88481332e-02 1.32937687e+01] [-2.27121754e-03 9.99990396e-01 -3.74814497e-03 3.95310184e-01] [ 8.88400489e-02 3.93510818e-03 9.96038132e-01 6.11472489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02463044 meters Centerline goodness [0,1] 0.33276348405846656 Centerline is valid? [False, False] Translation: X:13.29, Y:0.40, Z:0.61 [[ 9.96053781e-01 1.86090826e-03 -8.87321948e-02 1.32936033e+01] [-2.21192819e-03 9.99990112e-01 -3.85778326e-03 3.96173430e-01] [ 8.87241384e-02 4.03882885e-03 9.96048049e-01 6.11380882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05463044000004 meters Centerline goodness [0,1] 0.33978405677217116 Centerline is valid? [False, False] Translation: X:13.25, Y:0.39, Z:0.61 [[ 9.95949402e-01 -3.11201318e-05 -8.99154422e-02 1.32491848e+01] [-2.31135058e-04 9.99995750e-01 -2.90627300e-03 3.93225826e-01] [ 8.99151505e-02 2.91528347e-03 9.95945163e-01 6.08432937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08463044 meters Centerline goodness [0,1] 0.3372953721384282 Centerline is valid? [False, False] Translation: X:13.27, Y:0.39, Z:0.61 [[ 9.96088316e-01 6.98034070e-03 -8.80871194e-02 1.32695418e+01] [-7.47432604e-03 9.99958131e-01 -5.27932348e-03 3.93993769e-01] [ 8.80465798e-02 5.91706428e-03 9.96098784e-01 6.09476205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11463044000004 meters Centerline goodness [0,1] 0.3377174007095267 Centerline is valid? [False, False] Translation: X:13.27, Y:0.39, Z:0.61 [[ 9.96074591e-01 6.84568874e-03 -8.82527370e-02 1.32701059e+01] [-7.35852736e-03 9.99957872e-01 -5.48698884e-03 3.94911315e-01] [ 8.82114568e-02 6.11486035e-03 9.96083002e-01 6.09343854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14463044 meters Centerline goodness [0,1] 0.34010837159706653 Centerline is valid? [False, False] Translation: X:13.27, Y:0.40, Z:0.61 [[ 9.96008925e-01 6.48659626e-03 -8.90176685e-02 1.32719785e+01] [-7.04834257e-03 9.99957174e-01 -5.99761433e-03 3.96840736e-01] [ 8.89749522e-02 6.60110443e-03 9.96011990e-01 6.09295499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17463044000004 meters Centerline goodness [0,1] 0.3363808117440118 Centerline is valid? [False, False] Translation: X:13.27, Y:0.40, Z:0.61 [[ 9.95985414e-01 6.34071126e-03 -8.92908209e-02 1.32727218e+01] [-6.92209017e-03 9.99956803e-01 -6.20291621e-03 3.97686559e-01] [ 8.92476329e-02 6.79609318e-03 9.95986282e-01 6.09218167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20463044 meters Centerline goodness [0,1] 0.33574576564120295 Centerline is valid? [False, False] Translation: X:13.27, Y:0.40, Z:0.61 [[ 9.95986364e-01 6.31058542e-03 -8.92823550e-02 1.32727482e+01] [-6.89773897e-03 9.99956557e-01 -6.26935396e-03 3.98166763e-01] [ 8.92389131e-02 6.86003744e-03 9.95986625e-01 6.09192304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.23463044 meters Centerline goodness [0,1] 0.3380481208817153 Centerline is valid? [False, False] Translation: X:13.27, Y:0.40, Z:0.61 [[ 9.95994810e-01 6.22102672e-03 -8.91943738e-02 1.32724470e+01] [-6.81805992e-03 9.99956337e-01 -6.39050631e-03 3.98703250e-01] [ 8.91507237e-02 6.97304371e-03 9.95993737e-01 6.09333785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26463044 meters Centerline goodness [0,1] 0.3367838849911764 Centerline is valid? [False, False] Translation: X:13.27, Y:0.40, Z:0.61 [[ 9.96029911e-01 6.05182804e-03 -8.88132448e-02 1.32713777e+01] [-6.66768156e-03 9.99955730e-01 -6.63921401e-03 3.99866244e-01] [ 8.87691337e-02 7.20503417e-03 9.96026169e-01 6.09593361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29463044 meters Centerline goodness [0,1] 0.3383841640337868 Centerline is valid? [False, False] Translation: X:13.27, Y:0.40, Z:0.61 [[ 9.96035085e-01 6.00270315e-03 -8.87585318e-02 1.32713035e+01] [-6.63292858e-03 9.99954832e-01 -6.80720551e-03 4.01080367e-01] [ 8.87136612e-02 7.36894452e-03 9.96029912e-01 6.09549869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32463044 meters Centerline goodness [0,1] 0.3446936176641989 Centerline is valid? [False, False] Translation: X:13.27, Y:0.40, Z:0.61 [[ 9.96037793e-01 5.99976895e-03 -8.87283359e-02 1.32713828e+01] [-6.64359739e-03 9.99953691e-01 -6.96263446e-03 4.02521100e-01] [ 8.86824528e-02 7.52452241e-03 9.96031528e-01 6.09350905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.35463044 meters Centerline goodness [0,1] 0.3402446877012234 Centerline is valid? [False, False] Translation: X:13.27, Y:0.40, Z:0.61 [[ 9.96037705e-01 5.91328718e-03 -8.87351333e-02 1.32717241e+01] [-6.58020083e-03 9.99952248e-01 -7.22513510e-03 4.04375894e-01] [ 8.86881717e-02 7.78040198e-03 9.96029053e-01 6.09014859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38463044 meters Centerline goodness [0,1] 0.34159364436885054 Centerline is valid? [False, False] Translation: X:13.27, Y:0.41, Z:0.61 [[ 9.96033496e-01 5.77655836e-03 -8.87913653e-02 1.32720537e+01] [-6.47087744e-03 9.99950684e-01 -7.53380916e-03 4.05898481e-01] [ 8.87434670e-02 8.07848432e-03 9.96021754e-01 6.08794868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.41463044 meters Centerline goodness [0,1] 0.3443227415681597 Centerline is valid? [False, False] Translation: X:13.27, Y:0.41, Z:0.61 [[ 9.96008401e-01 5.52158388e-03 -8.90885871e-02 1.32732594e+01] [-6.27779816e-03 9.99946588e-01 -8.21037540e-03 4.09514927e-01] [ 8.90384944e-02 8.73688304e-03 9.95989866e-01 6.08226180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44463044 meters Centerline goodness [0,1] 0.3407084421611587 Centerline is valid? [False, False] Translation: X:13.27, Y:0.41, Z:0.61 [[ 9.95990746e-01 5.45423822e-03 -8.92898934e-02 1.32739917e+01] [-6.23841987e-03 9.99944366e-01 -8.50570719e-03 4.11557181e-01] [ 8.92385337e-02 9.02863350e-03 9.95969361e-01 6.07957681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.47463044 meters Centerline goodness [0,1] 0.34010316620982883 Centerline is valid? [False, False] Translation: X:13.27, Y:0.41, Z:0.61 [[ 9.95988702e-01 5.35451094e-03 -8.93187225e-02 1.32743131e+01] [-6.16729442e-03 9.99942029e-01 -8.82631338e-03 4.13632339e-01] [ 8.92662840e-02 9.34176327e-03 9.95963986e-01 6.07659043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.50463044 meters Centerline goodness [0,1] 0.3394020739073019 Centerline is valid? [False, False] Translation: X:13.27, Y:0.42, Z:0.61 [[ 9.95996898e-01 5.29794859e-03 -8.92306624e-02 1.32741435e+01] [-6.12965969e-03 9.99940265e-01 -9.04946685e-03 4.15167430e-01] [ 8.91773887e-02 9.56019451e-03 9.95969877e-01 6.07618424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53463044 meters Centerline goodness [0,1] 0.34136023429873086 Centerline is valid? [False, False] Translation: X:13.27, Y:0.42, Z:0.61 [[ 9.96015729e-01 5.13527352e-03 -8.90297515e-02 1.32733084e+01] [-5.99213861e-03 9.99938242e-01 -9.35988161e-03 4.16939027e-01] [ 8.89761876e-02 9.85606792e-03 9.95984988e-01 6.08103189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56463044000003 meters Centerline goodness [0,1] 0.3413839247172581 Centerline is valid? [False, False] Translation: X:13.27, Y:0.42, Z:0.61 [[ 9.96005287e-01 5.01894968e-03 -8.91531124e-02 1.32734124e+01] [-5.88396611e-03 9.99938108e-01 -9.44243330e-03 4.17241377e-01] [ 8.91002034e-02 9.92928739e-03 9.95973174e-01 6.08396395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59463044 meters Centerline goodness [0,1] 0.3397534999570557 Centerline is valid? [False, False] Translation: X:13.29, Y:0.42, Z:0.61 [[ 9.95934028e-01 -1.44891312e-03 -9.00739279e-02 1.32913590e+01] [ 6.90388415e-04 9.99964045e-01 -8.45172097e-03 4.22805569e-01] [ 9.00829351e-02 8.35517052e-03 9.95899220e-01 6.12083052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62463044000003 meters Centerline goodness [0,1] 0.33813915227085767 Centerline is valid? [False, False] Translation: X:13.29, Y:0.42, Z:0.61 [[ 9.95934849e-01 -1.48092417e-03 -9.00643323e-02 1.32913743e+01] [ 7.24034671e-04 9.99964154e-01 -8.43596692e-03 4.22731843e-01] [ 9.00735969e-02 8.33646374e-03 9.95900221e-01 6.12052938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65463044 meters Centerline goodness [0,1] 0.33813915227085767 Centerline is valid? [False, False] Translation: X:13.29, Y:0.42, Z:0.61 [[ 9.95934849e-01 -1.48092417e-03 -9.00643323e-02 1.32913743e+01] [ 7.24034671e-04 9.99964154e-01 -8.43596692e-03 4.22731843e-01] [ 9.00735969e-02 8.33646374e-03 9.95900221e-01 6.12052938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68463044000003 meters Centerline goodness [0,1] 0.3378097624708175 Centerline is valid? [False, False] Translation: X:13.29, Y:0.42, Z:0.61 [[ 9.95921846e-01 -1.58648522e-03 -9.02062070e-02 1.32915278e+01] [ 8.27061293e-04 9.99963910e-01 -8.45551073e-03 4.22440128e-01] [ 9.02163660e-02 8.34642179e-03 9.95887215e-01 6.12310558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71463044 meters Centerline goodness [0,1] 0.33857112022447655 Centerline is valid? [False, False] Translation: X:13.29, Y:0.42, Z:0.61 [[ 9.95915964e-01 -1.68047784e-03 -9.02694261e-02 1.32915854e+01] [ 9.15679491e-04 9.99963343e-01 -8.51314172e-03 4.22268742e-01] [ 9.02804232e-02 8.39571587e-03 9.95880995e-01 6.12444704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74463044000004 meters Centerline goodness [0,1] 0.3371342835708927 Centerline is valid? [False, False] Translation: X:13.29, Y:0.42, Z:0.61 [[ 9.95874151e-01 -1.79914156e-03 -9.07272786e-02 1.32930456e+01] [ 1.00618162e-03 9.99960905e-01 -8.78501995e-03 4.24094090e-01] [ 9.07395370e-02 8.65748617e-03 9.95837027e-01 6.12075186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77463044 meters Centerline goodness [0,1] 0.33487634477733486 Centerline is valid? [False, False] Translation: X:13.29, Y:0.43, Z:0.61 [[ 9.95840931e-01 -1.82591032e-03 -9.10906475e-02 1.32943885e+01] [ 1.00632669e-03 9.99958609e-01 -9.04256868e-03 4.26067766e-01] [ 9.11033880e-02 8.91329306e-03 9.95801549e-01 6.11528692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80463044000004 meters Centerline goodness [0,1] 0.3335690105840511 Centerline is valid? [False, False] Translation: X:13.30, Y:0.43, Z:0.61 [[ 9.95825356e-01 -1.83086332e-03 -9.12606623e-02 1.32952595e+01] [ 9.85209939e-04 9.99956171e-01 -9.31053992e-03 4.28270846e-01] [ 9.12737088e-02 9.18176082e-03 9.95783513e-01 6.11019650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83463044 meters Centerline goodness [0,1] 0.33476154591452256 Centerline is valid? [False, False] Translation: X:13.29, Y:0.43, Z:0.61 [[ 9.95836756e-01 -1.86301041e-03 -9.11355330e-02 1.32948962e+01] [ 9.90545759e-04 9.99953260e-01 -9.61756001e-03 4.30400898e-01] [ 9.11491909e-02 9.48724584e-03 9.95792055e-01 6.11074957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86463044000004 meters Centerline goodness [0,1] 0.33100866402823836 Centerline is valid? [False, False] Translation: X:13.31, Y:0.43, Z:0.61 [[ 9.95973134e-01 6.66334366e-03 -8.94042311e-02 1.33135727e+01] [-7.72025327e-03 9.99904286e-01 -1.14811004e-02 4.33076265e-01] [ 8.93191714e-02 1.21250909e-02 9.95929248e-01 6.13940072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89463044 meters Centerline goodness [0,1] 0.33344842468709535 Centerline is valid? [False, False] Translation: X:13.31, Y:0.43, Z:0.61 [[ 9.95968845e-01 6.57880185e-03 -8.94582575e-02 1.33137295e+01] [-7.65962199e-03 9.99901701e-01 -1.17439098e-02 4.34627920e-01] [ 8.93722029e-02 1.23817848e-02 9.95921333e-01 6.13915255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92463044000004 meters Centerline goodness [0,1] 0.33186058981233246 Centerline is valid? [False, False] Translation: X:13.31, Y:0.44, Z:0.61 [[ 9.95956022e-01 6.43633019e-03 -8.96112504e-02 1.33140769e+01] [-7.54616350e-03 9.99898901e-01 -1.20516954e-02 4.36121921e-01] [ 8.95246221e-02 1.26791798e-02 9.95903901e-01 6.13998447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.95463044 meters Centerline goodness [0,1] 0.3294337756177287 Centerline is valid? [False, False] Translation: X:13.31, Y:0.44, Z:0.61 [[ 9.95960033e-01 6.33878465e-03 -8.95736116e-02 1.33140393e+01] [-7.46775288e-03 9.99896782e-01 -1.22742961e-02 4.37230904e-01] [ 8.94865618e-02 1.28936219e-02 9.95904569e-01 6.13947953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98463044 meters Centerline goodness [0,1] 0.33053203318792235 Centerline is valid? [False, False] Translation: X:13.31, Y:0.44, Z:0.61 [[ 9.95972711e-01 6.26669938e-03 -8.94376159e-02 1.33136699e+01] [-7.41064646e-03 9.99894858e-01 -1.24641198e-02 4.38411269e-01] [ 8.93501034e-02 1.30767137e-02 9.95914433e-01 6.14059837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01463044 meters Centerline goodness [0,1] 0.33055567456407176 Centerline is valid? [False, False] Translation: X:13.31, Y:0.44, Z:0.61 [[ 9.96022103e-01 6.35551355e-03 -8.88795713e-02 1.33120353e+01] [-7.50718916e-03 9.99892064e-01 -1.26294351e-02 4.40672427e-01] [ 8.87897114e-02 1.32464323e-02 9.95962308e-01 6.14400439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04463044 meters Centerline goodness [0,1] 0.32770573886249843 Centerline is valid? [False, False] Translation: X:13.31, Y:0.44, Z:0.61 [[ 9.96022970e-01 6.38207933e-03 -8.88679487e-02 1.33122580e+01] [-7.54869446e-03 9.99889613e-01 -1.27976201e-02 4.42412365e-01] [ 8.87764634e-02 1.34175605e-02 9.95961198e-01 6.14119479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.07463044 meters Centerline goodness [0,1] 0.3256744325353529 Centerline is valid? [False, False] Translation: X:13.31, Y:0.44, Z:0.61 [[ 9.96007767e-01 6.29240534e-03 -8.90445599e-02 1.33131319e+01] [-7.48966286e-03 9.99885907e-01 -1.31178701e-02 4.44507388e-01] [ 8.89518576e-02 1.37324142e-02 9.95941257e-01 6.13593162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10463044 meters Centerline goodness [0,1] 0.32795698924731187 Centerline is valid? [False, False] Translation: X:13.31, Y:0.45, Z:0.61 [[ 9.95994732e-01 5.99178011e-03 -8.92109459e-02 1.33141274e+01] [-7.26077125e-03 9.99876932e-01 -1.39068943e-02 4.48638044e-01] [ 8.91166399e-02 1.44989338e-02 9.95915662e-01 6.12885218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.13463044 meters Centerline goodness [0,1] 0.32790391220755655 Centerline is valid? [False, False] Translation: X:13.31, Y:0.45, Z:0.61 [[ 9.96006728e-01 5.88238149e-03 -8.90842003e-02 1.33137172e+01] [-7.17830394e-03 9.99872928e-01 -1.42337813e-02 4.50544709e-01] [ 8.89891517e-02 1.48164154e-02 9.95922389e-01 6.12999407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16463044 meters Centerline goodness [0,1] 0.3262842465753425 Centerline is valid? [False, False] Translation: X:13.33, Y:0.46, Z:0.62 [[ 9.95988769e-01 -5.55267516e-05 -8.94783116e-02 1.33305897e+01] [-1.11622277e-03 9.99914284e-01 -1.30452543e-02 4.58802889e-01] [ 8.94713663e-02 1.30928045e-02 9.95903335e-01 6.16598715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.19463044 meters Centerline goodness [0,1] 0.32723240240304907 Centerline is valid? [False, False] Translation: X:13.33, Y:0.46, Z:0.62 [[ 9.96001092e-01 -1.03347241e-04 -8.93410010e-02 1.33306870e+01] [-1.09376356e-03 9.99910283e-01 -1.33502832e-02 4.61222241e-01] [ 8.93343653e-02 1.33946146e-02 9.95911620e-01 6.16039375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22463044 meters Centerline goodness [0,1] 0.3244067576629388 Centerline is valid? [False, False] Translation: X:13.33, Y:0.46, Z:0.62 [[ 9.96004036e-01 -2.54293490e-04 -8.93078725e-02 1.33312969e+01] [-9.79805485e-04 9.99904649e-01 -1.37743675e-02 4.63820764e-01] [ 8.93028596e-02 1.38068300e-02 9.95908816e-01 6.15195900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.25463044 meters Centerline goodness [0,1] 0.3198956041585781 Centerline is valid? [False, False] Translation: X:13.33, Y:0.47, Z:0.61 [[ 9.95949896e-01 -6.40873956e-04 -8.99076945e-02 1.33336938e+01] [-6.88251797e-04 9.99890955e-01 -1.47514446e-02 4.70742182e-01] [ 8.99073443e-02 1.47535789e-02 9.95840851e-01 6.14098829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28463044 meters Centerline goodness [0,1] 0.3197280379883445 Centerline is valid? [False, False] Translation: X:13.33, Y:0.47, Z:0.61 [[ 9.95938340e-01 -7.98871103e-04 -9.00343574e-02 1.33340648e+01] [-5.72907175e-04 9.99884168e-01 -1.52092915e-02 4.73726054e-01] [ 9.00360788e-02 1.51990979e-02 9.95822520e-01 6.13942506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.31463044000003 meters Centerline goodness [0,1] 0.32338491505248346 Centerline is valid? [False, False] Translation: X:13.33, Y:0.48, Z:0.61 [[ 9.95940338e-01 -8.88841453e-04 -9.00114041e-02 1.33338756e+01] [-5.11227792e-04 9.99879270e-01 -1.55301046e-02 4.76108546e-01] [ 9.00143409e-02 1.55130740e-02 9.95819644e-01 6.14064704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34463044 meters Centerline goodness [0,1] 0.32159195859017586 Centerline is valid? [False, False] Translation: X:13.35, Y:0.48, Z:0.62 [[ 9.95915998e-01 -7.26377207e-03 -8.99920160e-02 1.33508253e+01] [ 6.00856909e-03 9.99880965e-01 -1.42110090e-02 4.83915919e-01] [ 9.00845294e-02 1.36122480e-02 9.95841094e-01 6.18029610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.37463044000003 meters Centerline goodness [0,1] 0.31926399931053795 Centerline is valid? [False, False] Translation: X:13.35, Y:0.49, Z:0.62 [[ 9.95940526e-01 -7.30738870e-03 -8.97166144e-02 1.33496504e+01] [ 6.04768501e-03 9.99879393e-01 -1.43047393e-02 4.85011193e-01] [ 8.98103242e-02 1.37040918e-02 9.95864601e-01 6.18648244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40463044 meters Centerline goodness [0,1] 0.32139303482587067 Centerline is valid? [False, False] Translation: X:13.35, Y:0.49, Z:0.62 [[ 9.95951122e-01 -7.43972371e-03 -8.95880170e-02 1.33489857e+01] [ 6.16698382e-03 9.99876213e-01 -1.44750198e-02 4.85960293e-01] [ 8.96846173e-02 1.38639244e-02 9.95873717e-01 6.19102717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.43463044000003 meters Centerline goodness [0,1] 0.3182051831227244 Centerline is valid? [False, False] Translation: X:13.37, Y:0.49, Z:0.62 [[ 9.96124092e-01 -1.43796581e-03 -8.79472834e-02 1.33700953e+01] [-1.05302114e-04 9.99846148e-01 -1.75404911e-02 4.89104461e-01] [ 8.79589752e-02 1.74817669e-02 9.95970686e-01 6.19931398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46463044 meters Centerline goodness [0,1] 0.31824053739826896 Centerline is valid? [False, False] Translation: X:13.37, Y:0.49, Z:0.62 [[ 9.96105700e-01 -1.52519942e-03 -8.81538916e-02 1.33709491e+01] [-4.13158756e-05 9.99842177e-01 -1.77656784e-02 4.90567151e-01] [ 8.81670751e-02 1.77001356e-02 9.95948428e-01 6.19480604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.49463044000004 meters Centerline goodness [0,1] 0.3183435503922494 Centerline is valid? [False, False] Translation: X:13.38, Y:0.49, Z:0.62 [[ 9.96013239e-01 2.77688925e-04 -8.92051013e-02 1.33753478e+01] [-1.74500794e-03 9.99864459e-01 -1.63712579e-02 4.94249043e-01] [ 8.91884643e-02 1.64616533e-02 9.95878723e-01 6.17900517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52463044 meters Centerline goodness [0,1] 0.31633397724833656 Centerline is valid? [False, False] Translation: X:13.38, Y:0.50, Z:0.62 [[ 9.96007469e-01 1.86133083e-04 -8.92697397e-02 1.33754947e+01] [-1.67908511e-03 9.99859982e-01 -1.66492509e-02 4.96016822e-01] [ 8.92541413e-02 1.67326697e-02 9.95868323e-01 6.17926357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55463044000004 meters Centerline goodness [0,1] 0.31651582258168043 Centerline is valid? [False, False] Translation: X:13.38, Y:0.50, Z:0.62 [[ 9.95991923e-01 2.82665233e-05 -8.94432120e-02 1.33757226e+01] [-1.55374588e-03 9.99854525e-01 -1.69857042e-02 4.97742243e-01] [ 8.94297201e-02 1.70565962e-02 9.95847075e-01 6.18170128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58463044 meters Centerline goodness [0,1] 0.31560950589844416 Centerline is valid? [False, False] Translation: X:13.38, Y:0.50, Z:0.62 [[ 9.95984116e-01 -2.21991203e-05 -8.95301031e-02 1.33760137e+01] [-1.52214638e-03 9.99851235e-01 -1.71811422e-02 4.99069186e-01] [ 8.95171656e-02 1.72484227e-02 9.95835915e-01 6.18092836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61463044000004 meters Centerline goodness [0,1] 0.32060275396206805 Centerline is valid? [False, False] Translation: X:13.38, Y:0.50, Z:0.62 [[ 9.95971976e-01 -3.43501782e-05 -8.96650486e-02 1.33763058e+01] [-1.52016377e-03 9.99849732e-01 -1.72685518e-02 4.99894070e-01] [ 8.96521680e-02 1.73352992e-02 9.95822261e-01 6.18113497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64463044 meters Centerline goodness [0,1] 0.3176700614498732 Centerline is valid? [False, False] Translation: X:13.38, Y:0.50, Z:0.62 [[ 9.95951544e-01 -1.02687096e-04 -8.98916695e-02 1.33770483e+01] [-1.46687185e-03 9.99847631e-01 -1.73943230e-02 5.00562247e-01] [ 8.98797590e-02 1.74557624e-02 9.95799641e-01 6.17901870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67463044000004 meters Centerline goodness [0,1] 0.32259267383198065 Centerline is valid? [False, False] Translation: X:13.33, Y:0.50, Z:0.61 [[ 9.95786663e-01 -2.39453150e-03 -9.16689069e-02 1.33324707e+01] [ 7.51400491e-04 9.99838515e-01 -1.79549456e-02 4.98276277e-01] [ 9.16970974e-02 1.78104153e-02 9.95627657e-01 6.14818423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70463044 meters Centerline goodness [0,1] 0.3199500280015508 Centerline is valid? [False, False] Translation: X:13.37, Y:0.50, Z:0.62 [[ 9.95974945e-01 -1.76429345e-03 -8.96147106e-02 1.33730137e+01] [ 5.53370255e-05 9.99818170e-01 -1.90689491e-02 5.01931280e-01] [ 8.96320592e-02 1.89872366e-02 9.95793944e-01 6.19442841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.73463044 meters Centerline goodness [0,1] 0.3208162564641761 Centerline is valid? [False, False] Translation: X:13.37, Y:0.50, Z:0.62 [[ 9.95987421e-01 -1.82558189e-03 -8.94747103e-02 1.33723641e+01] [ 1.04708404e-04 9.99815004e-01 -1.92339926e-02 5.02897581e-01] [ 8.94932711e-02 1.91474459e-02 9.95803359e-01 6.19882216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76463044 meters Centerline goodness [0,1] 0.3228996848168677 Centerline is valid? [False, False] Translation: X:13.37, Y:0.50, Z:0.62 [[ 9.96015691e-01 -1.74549776e-03 -8.91610704e-02 1.33715555e+01] [ 1.96158946e-05 9.99812691e-01 -1.93541090e-02 5.04488087e-01] [ 8.91781523e-02 1.92752473e-02 9.95829163e-01 6.19972635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.79463044 meters Centerline goodness [0,1] 0.3220200279961236 Centerline is valid? [False, False] Translation: X:13.37, Y:0.51, Z:0.62 [[ 9.96029179e-01 2.21929966e-03 -8.89997138e-02 1.33713757e+01] [-3.65567486e-03 9.99865639e-01 -1.59793476e-02 5.06523220e-01] [ 8.89522927e-02 1.62412505e-02 9.95903465e-01 6.19831990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82463044 meters Centerline goodness [0,1] 0.3218872138470128 Centerline is valid? [False, False] Translation: X:13.37, Y:0.51, Z:0.62 [[ 9.96019858e-01 2.12595464e-03 -8.91062459e-02 1.33719552e+01] [-3.59284026e-03 9.99860609e-01 -1.63050516e-02 5.08260915e-01] [ 8.90591615e-02 1.65602997e-02 9.95888660e-01 6.19480503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.85463044 meters Centerline goodness [0,1] 0.3214670749062055 Centerline is valid? [False, False] Translation: X:13.37, Y:0.51, Z:0.62 [[ 9.96012350e-01 1.87629121e-03 -8.91957254e-02 1.33724878e+01] [-3.38482213e-03 9.99853739e-01 -1.67643444e-02 5.09841276e-01] [ 8.91512248e-02 1.69994057e-02 9.95873024e-01 6.19079660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88463044 meters Centerline goodness [0,1] 0.3191425185823549 Centerline is valid? [False, False] Translation: X:13.37, Y:0.51, Z:0.62 [[ 9.95983583e-01 1.73227757e-03 -8.95192765e-02 1.33737351e+01] [-3.27794417e-03 9.99848032e-01 -1.71221699e-02 5.11464562e-01] [ 8.94760121e-02 1.73468393e-02 9.95837904e-01 6.18476863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.91463044 meters Centerline goodness [0,1] 0.3237787558812688 Centerline is valid? [False, False] Translation: X:13.37, Y:0.51, Z:0.62 [[ 9.95962436e-01 1.75872865e-03 -8.97537325e-02 1.33747333e+01] [-3.32511297e-03 9.99844720e-01 -1.73054871e-02 5.13186847e-01] [ 8.97093598e-02 1.75340564e-02 9.95813631e-01 6.17881218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.94463044 meters Centerline goodness [0,1] 0.32133264015249974 Centerline is valid? [False, False] Translation: X:13.38, Y:0.51, Z:0.62 [[ 9.95964666e-01 1.88121742e-03 -8.97264973e-02 1.33750249e+01] [-3.45061215e-03 9.99843715e-01 -1.73389625e-02 5.14608948e-01] [ 8.96798560e-02 1.75786053e-02 9.95815503e-01 6.17493312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.97463044 meters Centerline goodness [0,1] 0.3215853315747368 Centerline is valid? [False, False] Translation: X:13.37, Y:0.52, Z:0.62 [[ 9.96014460e-01 1.75116119e-03 -8.91747098e-02 1.33734933e+01] [-3.32875108e-03 9.99840527e-01 -1.75453589e-02 5.15696919e-01] [ 8.91297641e-02 1.77722715e-02 9.95861452e-01 6.17889005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.00463044 meters Centerline goodness [0,1] 0.32088329164150786 Centerline is valid? [False, False] Translation: X:13.37, Y:0.52, Z:0.62 [[ 9.96033850e-01 1.61685937e-03 -8.89604191e-02 1.33730437e+01] [-3.19725436e-03 9.99839546e-01 -1.76255198e-02 5.15573044e-01] [ 8.89176471e-02 1.78400435e-02 9.95879202e-01 6.17864852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03463044 meters Centerline goodness [0,1] 0.323513658275308 Centerline is valid? [False, False] Translation: X:13.39, Y:0.52, Z:0.62 [[ 9.95958549e-01 -5.28514914e-03 -8.96584366e-02 1.33920496e+01] [ 3.80935909e-03 9.99854567e-01 -1.66232739e-02 5.20433146e-01] [ 8.97332538e-02 1.62145506e-02 9.95833837e-01 6.20998839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.06463044000003 meters Centerline goodness [0,1] 0.3232694020287148 Centerline is valid? [False, False] Translation: X:13.39, Y:0.52, Z:0.62 [[ 9.95944095e-01 -5.18327416e-03 -8.98247958e-02 1.33930426e+01] [ 3.71803848e-03 9.99857418e-01 -1.64718065e-02 5.20201858e-01] [ 8.98973663e-02 1.60710263e-02 9.95821362e-01 6.20291545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09463044 meters Centerline goodness [0,1] 0.3205471177079737 Centerline is valid? [False, False] Translation: X:13.39, Y:0.52, Z:0.62 [[ 9.95943877e-01 -5.05793487e-03 -8.98343494e-02 1.33937837e+01] [ 3.61031262e-03 9.99861124e-01 -1.62695417e-02 5.19900151e-01] [ 8.99041639e-02 1.58792203e-02 9.95823826e-01 6.19527791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.12463044000003 meters Centerline goodness [0,1] 0.3232784755305327 Centerline is valid? [False, False] Translation: X:13.39, Y:0.52, Z:0.62 [[ 9.95948881e-01 -5.13414544e-03 -8.97745291e-02 1.33934992e+01] [ 3.68567185e-03 9.99860469e-01 -1.62929098e-02 5.19431027e-01] [ 8.98456529e-02 1.58960258e-02 9.95828838e-01 6.19721038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.15463044 meters Centerline goodness [0,1] 0.3222267633203554 Centerline is valid? [False, False] Translation: X:13.39, Y:0.52, Z:0.62 [[ 9.95951962e-01 -5.14905289e-03 -8.97394942e-02 1.33930979e+01] [ 3.70606695e-03 9.99861271e-01 -1.62389362e-02 5.18922796e-01] [ 8.98106599e-02 1.58406198e-02 9.95832878e-01 6.20123674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18463044000003 meters Centerline goodness [0,1] 0.3240329466557419 Centerline is valid? [False, False] Translation: X:13.39, Y:0.52, Z:0.62 [[ 9.95936359e-01 -4.99056759e-03 -8.99214230e-02 1.33938917e+01] [ 3.56549000e-03 9.99865607e-01 -1.60017015e-02 5.18449956e-01] [ 8.99891958e-02 1.56160624e-02 9.95820307e-01 6.19732446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.21463044 meters Centerline goodness [0,1] 0.3199110458588824 Centerline is valid? [False, False] Translation: X:13.39, Y:0.52, Z:0.62 [[ 9.95921317e-01 -4.98580364e-03 -9.00881327e-02 1.33949069e+01] [ 3.55550551e-03 9.99865187e-01 -1.60301664e-02 5.18665911e-01] [ 9.01559109e-02 1.56444756e-02 9.95804781e-01 6.18988653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24463044000004 meters Centerline goodness [0,1] 0.31990081931867187 Centerline is valid? [False, False] Translation: X:13.40, Y:0.52, Z:0.62 [[ 9.95897601e-01 -5.07318251e-03 -9.03450655e-02 1.33958690e+01] [ 3.62622153e-03 9.99862635e-01 -1.61728846e-02 5.19080630e-01] [ 9.04147033e-02 1.57789257e-02 9.95779196e-01 6.18610669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.27463044 meters Centerline goodness [0,1] 0.3198504929864885 Centerline is valid? [False, False] Translation: X:13.40, Y:0.52, Z:0.62 [[ 9.95877959e-01 -5.07125798e-03 -9.05614334e-02 1.33965258e+01] [ 3.61273861e-03 9.99861239e-01 -1.62619724e-02 5.19786373e-01] [ 9.06313356e-02 1.58677651e-02 9.95758091e-01 6.18457440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30463044000004 meters Centerline goodness [0,1] 0.3214875314970892 Centerline is valid? [False, False] Translation: X:13.40, Y:0.52, Z:0.62 [[ 9.95879969e-01 -5.04882238e-03 -9.05405770e-02 1.33965477e+01] [ 3.57936605e-03 9.99859353e-01 -1.63848451e-02 5.21004339e-01] [ 9.06105669e-02 1.59932611e-02 9.95757973e-01 6.18330148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.33463044 meters Centerline goodness [0,1] 0.31899377075510604 Centerline is valid? [False, False] Translation: X:13.40, Y:0.52, Z:0.62 [[ 9.95878673e-01 -4.93693527e-03 -9.05610088e-02 1.33964698e+01] [ 3.46205973e-03 9.99858928e-01 -1.64358523e-02 5.22386193e-01] [ 9.06293759e-02 1.60545872e-02 9.95755274e-01 6.18470366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36463044000004 meters Centerline goodness [0,1] 0.3189487765934492 Centerline is valid? [False, False] Translation: X:13.40, Y:0.52, Z:0.62 [[ 9.95869840e-01 -4.97039076e-03 -9.06562520e-02 1.33970298e+01] [ 3.47112002e-03 9.99854718e-01 -1.66881476e-02 5.24147606e-01] [ 9.07260279e-02 1.63045441e-02 9.95742411e-01 6.18089127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.39463044 meters Centerline goodness [0,1] 0.318528769433693 Centerline is valid? [False, False] Translation: X:13.40, Y:0.52, Z:0.62 [[ 9.95858806e-01 -5.04326255e-03 -9.07733628e-02 1.33973338e+01] [ 3.52933009e-03 9.99852120e-01 -1.68309542e-02 5.24586304e-01] [ 9.08448222e-02 1.64408848e-02 9.95729339e-01 6.18060777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42463044000004 meters Centerline goodness [0,1] 0.3194644740523903 Centerline is valid? [False, False] Translation: X:13.40, Y:0.52, Z:0.62 [[ 9.95845983e-01 -5.11886967e-03 -9.09097124e-02 1.33976250e+01] [ 3.59504394e-03 9.99850420e-01 -1.69178175e-02 5.24879902e-01] [ 9.09827143e-02 1.65207162e-02 9.95715427e-01 6.18108903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.45463044 meters Centerline goodness [0,1] 0.3164017310081837 Centerline is valid? [False, False] Translation: X:13.40, Y:0.52, Z:0.62 [[ 9.95866403e-01 -5.00434746e-03 -9.06921376e-02 1.33972599e+01] [ 3.50426629e-03 9.99854537e-01 -1.66920583e-02 5.24463158e-01] [ 9.07624782e-02 1.63052507e-02 9.95739078e-01 6.17995211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48463044 meters Centerline goodness [0,1] 0.31569533462513044 Centerline is valid? [False, False] Translation: X:13.40, Y:0.52, Z:0.62 [[ 9.95878304e-01 -5.00690871e-03 -9.05612234e-02 1.33968380e+01] [ 3.51436889e-03 9.99855486e-01 -1.66329624e-02 5.24118729e-01] [ 9.06314158e-02 1.62461408e-02 9.95751982e-01 6.18172410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.51463044 meters Centerline goodness [0,1] 0.31786289024782743 Centerline is valid? [False, False] Translation: X:13.40, Y:0.52, Z:0.62 [[ 9.95898693e-01 -5.07805978e-03 -9.03327558e-02 1.33961160e+01] [ 3.58917674e-03 9.99855153e-01 -1.66370194e-02 5.23627568e-01] [ 9.04041552e-02 1.62445657e-02 9.95772666e-01 6.18404827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54463044 meters Centerline goodness [0,1] 0.3175133260548455 Centerline is valid? [False, False] Translation: X:13.40, Y:0.52, Z:0.62 [[ 9.95899394e-01 -5.19067968e-03 -9.03186294e-02 1.33958007e+01] [ 3.69855371e-03 9.99854035e-01 -1.66802202e-02 5.23160048e-01] [ 9.03920277e-02 1.62777728e-02 9.95773225e-01 6.18786134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.57463044 meters Centerline goodness [0,1] 0.32345048476454297 Centerline is valid? [False, False] Translation: X:13.40, Y:0.52, Z:0.62 [[ 9.95888620e-01 -5.19990998e-03 -9.04368119e-02 1.33959698e+01] [ 3.71446998e-03 9.99855548e-01 -1.65857291e-02 5.22345836e-01] [ 9.05099924e-02 1.61816140e-02 9.95764077e-01 6.18938048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60463044 meters Centerline goodness [0,1] 0.32345048476454297 Centerline is valid? [False, False] Translation: X:13.40, Y:0.52, Z:0.62 [[ 9.95888620e-01 -5.19990998e-03 -9.04368119e-02 1.33959698e+01] [ 3.71446998e-03 9.99855548e-01 -1.65857291e-02 5.22345836e-01] [ 9.05099924e-02 1.61816140e-02 9.95764077e-01 6.18938048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.63463044 meters Centerline goodness [0,1] 0.31658948632192785 Centerline is valid? [False, False] Translation: X:13.40, Y:0.52, Z:0.62 [[ 9.95856639e-01 -5.21541161e-03 -9.07874087e-02 1.33971750e+01] [ 3.74035269e-03 9.99858351e-01 -1.64099606e-02 5.21105993e-01] [ 9.08601335e-02 1.60023913e-02 9.95735085e-01 6.18580685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66463044 meters Centerline goodness [0,1] 0.319620865304017 Centerline is valid? [False, False] Translation: X:13.40, Y:0.52, Z:0.62 [[ 9.95848973e-01 -5.24978059e-03 -9.08694870e-02 1.33975763e+01] [ 3.77037294e-03 9.99857670e-01 -1.64445890e-02 5.21103689e-01] [ 9.09428840e-02 1.60337152e-02 9.95727027e-01 6.18394871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.69463044 meters Centerline goodness [0,1] 0.32250936897515325 Centerline is valid? [False, False] Translation: X:13.40, Y:0.52, Z:0.62 [[ 9.95862030e-01 -5.32196721e-03 -9.07220667e-02 1.33973620e+01] [ 3.82796399e-03 9.99854318e-01 -1.66339674e-02 5.21980862e-01] [ 9.07973755e-02 1.62178557e-02 9.95737324e-01 6.18227469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72463044 meters Centerline goodness [0,1] 0.3210018183392501 Centerline is valid? [False, False] Translation: X:13.40, Y:0.52, Z:0.62 [[ 9.95873439e-01 -5.31096375e-03 -9.05973958e-02 1.33971579e+01] [ 3.80334731e-03 9.99851546e-01 -1.68053700e-02 5.23415035e-01] [ 9.06731989e-02 1.63914482e-02 9.95745797e-01 6.18162527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.75463044 meters Centerline goodness [0,1] 0.3173386577354116 Centerline is valid? [False, False] Translation: X:13.42, Y:0.52, Z:0.62 [[ 9.95998563e-01 3.22224713e-03 -8.93111440e-02 1.34163634e+01] [-4.86304644e-03 9.99823263e-01 -1.81602155e-02 5.24235800e-01] [ 8.92368428e-02 1.85218727e-02 9.95838203e-01 6.20439125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78463044 meters Centerline goodness [0,1] 0.31751329701328623 Centerline is valid? [False, False] Translation: X:13.42, Y:0.53, Z:0.62 [[ 9.96020123e-01 3.37207879e-03 -8.90648258e-02 1.34157641e+01] [-5.02133575e-03 9.99819933e-01 -1.82999276e-02 5.26293610e-01] [ 8.89870794e-02 1.86743205e-02 9.95857705e-01 6.20462331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.81463044000003 meters Centerline goodness [0,1] 0.31893070760726394 Centerline is valid? [False, False] Translation: X:13.41, Y:0.53, Z:0.62 [[ 9.96040256e-01 4.50947303e-03 -8.87889295e-02 1.34149673e+01] [-6.11260645e-03 9.99823026e-01 -1.77919380e-02 5.31800778e-01] [ 8.86929839e-02 1.82642182e-02 9.95891547e-01 6.20659544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84463044 meters Centerline goodness [0,1] 0.317113695703774 Centerline is valid? [False, False] Translation: X:13.42, Y:0.53, Z:0.62 [[ 9.96030064e-01 4.32948970e-03 -8.89121340e-02 1.34155917e+01] [-5.96938851e-03 9.99816793e-01 -1.81864255e-02 5.33671904e-01] [ 8.88171068e-02 1.86449776e-02 9.95873429e-01 6.20257503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.87463044000003 meters Centerline goodness [0,1] 0.31440122802845216 Centerline is valid? [False, False] Translation: X:13.42, Y:0.53, Z:0.62 [[ 9.96019036e-01 4.24362082e-03 -8.90397149e-02 1.34162326e+01] [-5.90397704e-03 9.99813416e-01 -1.83922926e-02 5.34735812e-01] [ 8.89450516e-02 1.88447620e-02 9.95858249e-01 6.19834270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90463044 meters Centerline goodness [0,1] 0.3158396326539453 Centerline is valid? [False, False] Translation: X:13.42, Y:0.54, Z:0.62 [[ 9.96011110e-01 4.23010120e-03 -8.91289812e-02 1.34165905e+01] [-5.89721615e-03 9.99812402e-01 -1.84495002e-02 5.35356431e-01] [ 8.90342175e-02 1.89015201e-02 9.95849206e-01 6.19657331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.93463044000003 meters Centerline goodness [0,1] 0.3133638571827777 Centerline is valid? [False, False] Translation: X:13.43, Y:0.54, Z:0.62 [[ 9.96008745e-01 -2.27498989e-03 -8.92267008e-02 1.34343029e+01] [ 7.64234768e-04 9.99855840e-01 -1.69621582e-02 5.40979943e-01] [ 8.92524266e-02 1.68262677e-02 9.95866899e-01 6.23382338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96463044 meters Centerline goodness [0,1] 0.3183113798315699 Centerline is valid? [False, False] Translation: X:13.43, Y:0.54, Z:0.62 [[ 9.96045739e-01 -2.40956668e-03 -8.88092369e-02 1.34328760e+01] [ 8.93569758e-04 9.99853281e-01 -1.71060675e-02 5.41401466e-01] [ 8.88374252e-02 1.69590684e-02 9.95901753e-01 6.24003369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.99463044000004 meters Centerline goodness [0,1] 0.3130633517023367 Centerline is valid? [False, False] Translation: X:13.45, Y:0.55, Z:0.63 [[ 9.96001296e-01 -9.28063557e-03 -8.88554382e-02 1.34514642e+01] [ 7.87894522e-03 9.99839138e-01 -1.61127226e-02 5.47411597e-01] [ 8.89906811e-02 1.53482054e-02 9.95914199e-01 6.27171971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02463044 meters Centerline goodness [0,1] 0.31488230502079495 Centerline is valid? [False, False] Translation: X:13.45, Y:0.55, Z:0.63 [[ 9.95995214e-01 -9.20087528e-03 -8.89318716e-02 1.34516818e+01] [ 7.80161897e-03 9.99840451e-01 -1.60688413e-02 5.47903987e-01] [ 8.90655300e-02 1.53106764e-02 9.95908085e-01 6.27145316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05463044000004 meters Centerline goodness [0,1] 0.31653434587504314 Centerline is valid? [False, False] Translation: X:13.45, Y:0.55, Z:0.63 [[ 9.95996332e-01 -9.08002433e-03 -8.89317672e-02 1.34519185e+01] [ 7.68171738e-03 9.99841633e-01 -1.60530266e-02 5.49018333e-01] [ 8.90634453e-02 1.53056069e-02 9.95908350e-01 6.26884775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08463044 meters Centerline goodness [0,1] 0.3126714677640604 Centerline is valid? [False, False] Translation: X:13.47, Y:0.55, Z:0.63 [[ 9.96120015e-01 -2.69092538e-04 -8.80047869e-02 1.34717716e+01] [-1.22971365e-03 9.99855136e-01 -1.69763031e-02 5.49185288e-01] [ 8.79966063e-02 1.70186559e-02 9.95975383e-01 6.28985632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11463044000004 meters Centerline goodness [0,1] 0.31366798672803164 Centerline is valid? [False, False] Translation: X:13.47, Y:0.55, Z:0.63 [[ 9.96104228e-01 -3.58419856e-04 -8.81829860e-02 1.34720985e+01] [-1.16056458e-03 9.99851851e-01 -1.71734947e-02 5.50133524e-01] [ 8.81760771e-02 1.72089327e-02 9.95956240e-01 6.29142768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14463044 meters Centerline goodness [0,1] 0.31655408331168267 Centerline is valid? [False, False] Translation: X:13.47, Y:0.55, Z:0.63 [[ 9.96089283e-01 -3.86438853e-04 -8.83515168e-02 1.34724638e+01] [-1.14562666e-03 9.99849874e-01 -1.72892026e-02 5.50902969e-01] [ 8.83449342e-02 1.73228073e-02 9.95939302e-01 6.29185429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17463044000004 meters Centerline goodness [0,1] 0.3159030114764 Centerline is valid? [False, False] Translation: X:13.47, Y:0.55, Z:0.63 [[ 9.96067023e-01 -3.83033324e-04 -8.86021417e-02 1.34732851e+01] [-1.16293801e-03 9.99847999e-01 -1.73961857e-02 5.51859433e-01] [ 8.85953373e-02 1.74308056e-02 9.95915174e-01 6.28939896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20463044 meters Centerline goodness [0,1] 0.31572922066701226 Centerline is valid? [False, False] Translation: X:13.47, Y:0.55, Z:0.63 [[ 9.96040025e-01 -4.06145654e-04 -8.89050218e-02 1.34743001e+01] [-1.15560434e-03 9.99845945e-01 -1.75143230e-02 5.52547656e-01] [ 8.88984389e-02 1.75477057e-02 9.95886111e-01 6.28576738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.23463044 meters Centerline goodness [0,1] 0.31735341581495424 Centerline is valid? [False, False] Translation: X:13.48, Y:0.55, Z:0.63 [[ 9.96019838e-01 -5.79268160e-04 -8.91299485e-02 1.34753582e+01] [-1.01093584e-03 9.99841141e-01 -1.77952339e-02 5.53441746e-01] [ 8.91260976e-02 1.78145107e-02 9.95861025e-01 6.27954841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26463044 meters Centerline goodness [0,1] 0.3171245086879013 Centerline is valid? [False, False] Translation: X:13.48, Y:0.55, Z:0.63 [[ 9.96011815e-01 -6.29449283e-04 -8.92192156e-02 1.34755344e+01] [-9.61987375e-04 9.99841225e-01 -1.77932536e-02 5.53047975e-01] [ 8.92162498e-02 1.78081186e-02 9.95853067e-01 6.28021985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.29463044 meters Centerline goodness [0,1] 0.3164894188419809 Centerline is valid? [False, False] Translation: X:13.48, Y:0.55, Z:0.63 [[ 9.96003307e-01 -5.99104477e-04 -8.93143555e-02 1.34757139e+01] [-9.81816036e-04 9.99843645e-01 -1.76556480e-02 5.52202296e-01] [ 8.93109683e-02 1.76727741e-02 9.95846988e-01 6.28092343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32463044 meters Centerline goodness [0,1] 0.3141316442694514 Centerline is valid? [False, False] Translation: X:13.48, Y:0.55, Z:0.63 [[ 9.95991653e-01 -5.72480282e-04 -8.94443907e-02 1.34759290e+01] [-9.93090803e-04 9.99847108e-01 -1.74578070e-02 5.51058961e-01] [ 8.94407095e-02 1.74766564e-02 9.95838805e-01 6.28261668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.35463044 meters Centerline goodness [0,1] 0.32140455896067843 Centerline is valid? [False, False] Translation: X:13.48, Y:0.55, Z:0.63 [[ 9.95999509e-01 -9.81613351e-04 -8.93533128e-02 1.34753869e+01] [-5.76544840e-04 9.99848256e-01 -1.74106894e-02 5.48083425e-01] [ 8.93568446e-02 1.73925543e-02 9.95847806e-01 6.28700919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38463044 meters Centerline goodness [0,1] 0.3173223119258196 Centerline is valid? [False, False] Translation: X:13.50, Y:0.55, Z:0.63 [[ 9.95982536e-01 -8.29415947e-03 -8.91627407e-02 1.34953805e+01] [ 6.85590449e-03 9.99841598e-01 -1.64248485e-02 5.50684199e-01] [ 8.92848475e-02 1.57475711e-02 9.95881635e-01 6.31477642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.41463044 meters Centerline goodness [0,1] 0.32214663315711933 Centerline is valid? [False, False] Translation: X:13.48, Y:0.54, Z:0.63 [[ 9.96170907e-01 -2.34836218e-03 -8.73957064e-02 1.34797891e+01] [ 8.59002052e-04 9.99853838e-01 -1.70752792e-02 5.43169834e-01] [ 8.74230313e-02 1.69348233e-02 9.96027322e-01 6.27302256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.44463044 meters Centerline goodness [0,1] 0.3165467625899281 Centerline is valid? [False, False] Translation: X:13.50, Y:0.55, Z:0.63 [[ 9.96106636e-01 -9.11826146e-03 -8.76836762e-02 1.34991659e+01] [ 7.76708257e-03 9.99845973e-01 -1.57385568e-02 5.46980184e-01] [ 8.78136789e-02 1.49962345e-02 9.96024031e-01 6.30100153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.47463044 meters Centerline goodness [0,1] 0.3188130768567239 Centerline is valid? [False, False] Translation: X:13.50, Y:0.55, Z:0.63 [[ 9.96095199e-01 -9.00334099e-03 -8.78253627e-02 1.34996951e+01] [ 7.67099341e-03 9.99850501e-01 -1.54961535e-02 5.45866638e-01] [ 8.79517501e-02 1.47619363e-02 9.96015349e-01 6.29898293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.50463044 meters Centerline goodness [0,1] 0.3203376292554455 Centerline is valid? [False, False] Translation: X:13.50, Y:0.54, Z:0.63 [[ 9.96110160e-01 -8.93153864e-03 -8.76628600e-02 1.34989964e+01] [ 7.63090839e-03 9.99855951e-01 -1.51606585e-02 5.43503511e-01] [ 8.77856403e-02 1.44327387e-02 9.96034827e-01 6.30356720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.53463044 meters Centerline goodness [0,1] 0.32088764408057735 Centerline is valid? [False, False] Translation: X:13.50, Y:0.54, Z:0.63 [[ 9.96114720e-01 -8.89654093e-03 -8.76145888e-02 1.34985981e+01] [ 7.60849418e-03 9.99858181e-01 -1.50242808e-02 5.42506652e-01] [ 8.77358275e-02 1.42992922e-02 9.96041141e-01 6.30712547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.56463044000003 meters Centerline goodness [0,1] 0.32274503876136384 Centerline is valid? [False, False] Translation: X:13.50, Y:0.54, Z:0.63 [[ 9.96109527e-01 -8.84547806e-03 -8.76787796e-02 1.34987329e+01] [ 7.56076611e-03 9.99859301e-01 -1.49737753e-02 5.42348024e-01] [ 8.77988934e-02 1.42526015e-02 9.96036253e-01 6.30754954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59463044 meters Centerline goodness [0,1] 0.3185540928776639 Centerline is valid? [False, False] Translation: X:13.50, Y:0.54, Z:0.63 [[ 9.96093552e-01 -8.80026200e-03 -8.78646177e-02 1.34994039e+01] [ 7.51047140e-03 9.99859300e-01 -1.49991168e-02 5.42857805e-01] [ 8.79842513e-02 1.42806189e-02 9.96019496e-01 6.30505857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.62463044000003 meters Centerline goodness [0,1] 0.32145178764897075 Centerline is valid? [False, False] Translation: X:13.48, Y:0.54, Z:0.63 [[ 9.96078408e-01 -7.67388017e-04 -8.84715544e-02 1.34806260e+01] [-6.33950246e-04 9.99874809e-01 -1.58102354e-02 5.40294467e-01] [ 8.84726112e-02 1.58043207e-02 9.95953222e-01 6.26979556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.65463044 meters Centerline goodness [0,1] 0.3205952124218244 Centerline is valid? [False, False] Translation: X:13.48, Y:0.54, Z:0.63 [[ 9.96094906e-01 -6.34790204e-04 -8.82866674e-02 1.34800941e+01] [-7.63776075e-04 9.99874778e-01 -1.58065109e-02 5.41209174e-01] [ 8.82856458e-02 1.58122162e-02 9.95969688e-01 6.27122380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68463044000003 meters Centerline goodness [0,1] 0.3198448249994642 Centerline is valid? [False, False] Translation: X:13.48, Y:0.54, Z:0.63 [[ 9.96121866e-01 -5.05785641e-04 -8.79827981e-02 1.34790482e+01] [-8.82859170e-04 9.99875673e-01 -1.57435102e-02 5.41763909e-01] [ 8.79798224e-02 1.57601312e-02 9.95997575e-01 6.27542098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.71463044 meters Centerline goodness [0,1] 0.3191616894654593 Centerline is valid? [False, False] Translation: X:13.48, Y:0.54, Z:0.63 [[ 9.96143363e-01 -4.25161311e-04 -8.77394958e-02 1.34782289e+01] [-9.54991612e-04 9.99876487e-01 -1.56875458e-02 5.41991050e-01] [ 8.77353285e-02 1.57108351e-02 9.96019920e-01 6.27852791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74463044000004 meters Centerline goodness [0,1] 0.3199743095696853 Centerline is valid? [False, False] Translation: X:13.48, Y:0.54, Z:0.63 [[ 9.96148851e-01 -3.71171441e-04 -8.76774194e-02 1.34781200e+01] [-9.98682139e-04 9.99878135e-01 -1.55794078e-02 5.41468901e-01] [ 8.76725172e-02 1.56069711e-02 9.96027084e-01 6.27824276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.77463044 meters Centerline goodness [0,1] 0.32028963513777176 Centerline is valid? [False, False] Translation: X:13.48, Y:0.54, Z:0.63 [[ 9.96122515e-01 -4.45973099e-04 -8.79757749e-02 1.34791903e+01] [-9.20574667e-04 9.99879567e-01 -1.54920436e-02 5.40089954e-01] [ 8.79720888e-02 1.55129617e-02 9.96002138e-01 6.27428385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80463044000004 meters Centerline goodness [0,1] 0.3190706679574056 Centerline is valid? [False, False] Translation: X:13.48, Y:0.54, Z:0.63 [[ 9.96115838e-01 -3.83010778e-04 -8.80516400e-02 1.34794187e+01] [-9.68614402e-04 9.99882370e-01 -1.53071297e-02 5.39035533e-01] [ 8.80471453e-02 1.53329624e-02 9.95998293e-01 6.27395090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83463044 meters Centerline goodness [0,1] 0.3216447595987547 Centerline is valid? [False, False] Translation: X:13.48, Y:0.54, Z:0.63 [[ 9.96120472e-01 -2.89883093e-04 -8.79995566e-02 1.34790482e+01] [-1.04177483e-03 9.99885653e-01 -1.50862485e-02 5.37916036e-01] [ 8.79938674e-02 1.51193967e-02 9.96006267e-01 6.27723161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86463044000004 meters Centerline goodness [0,1] 0.32075878887282305 Centerline is valid? [False, False] Translation: X:13.48, Y:0.54, Z:0.63 [[ 9.96116442e-01 -2.02304545e-04 -8.80454056e-02 1.34789151e+01] [-1.10835055e-03 9.99889312e-01 -1.48369850e-02 5.36559435e-01] [ 8.80386616e-02 1.48769499e-02 9.96005959e-01 6.28089629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89463044 meters Centerline goodness [0,1] 0.3216727241259951 Centerline is valid? [False, False] Translation: X:13.48, Y:0.53, Z:0.63 [[ 9.96093977e-01 -1.54794721e-04 -8.82992916e-02 1.34793817e+01] [-1.13712563e-03 9.99893050e-01 -1.45806624e-02 5.34577175e-01] [ 8.82921050e-02 1.46241174e-02 9.95987269e-01 6.28303384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92463044000004 meters Centerline goodness [0,1] 0.3189755279342824 Centerline is valid? [False, False] Translation: X:13.48, Y:0.53, Z:0.63 [[ 9.96077168e-01 -1.19653451e-04 -8.84887579e-02 1.34799696e+01] [-1.16932303e-03 9.99893974e-01 -1.45145753e-02 5.34194727e-01] [ 8.84811126e-02 1.45611090e-02 9.95971419e-01 6.28174569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95463044 meters Centerline goodness [0,1] 0.3202091267023818 Centerline is valid? [False, False] Translation: X:13.48, Y:0.53, Z:0.63 [[ 9.96069188e-01 -1.16547335e-04 -8.85785526e-02 1.34803940e+01] [-1.17281434e-03 9.99894124e-01 -1.45039537e-02 5.34035971e-01] [ 8.85708647e-02 1.45508276e-02 9.95963591e-01 6.27934477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98463044 meters Centerline goodness [0,1] 0.3192290317723234 Centerline is valid? [False, False] Translation: X:13.48, Y:0.53, Z:0.63 [[ 9.96068153e-01 -7.85893224e-05 -8.85902235e-02 1.34803087e+01] [-1.20359458e-03 9.99895307e-01 -1.44196873e-02 5.33528912e-01] [ 8.85820819e-02 1.44696180e-02 9.95963777e-01 6.28075736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.01463044 meters Centerline goodness [0,1] 0.31948024054982815 Centerline is valid? [False, False] Translation: X:13.48, Y:0.53, Z:0.63 [[ 9.96075207e-01 8.76059451e-06 -8.85109151e-02 1.34799357e+01] [-1.28449496e-03 9.99896117e-01 -1.43563526e-02 5.33669001e-01] [ 8.85015945e-02 1.44136987e-02 9.95971743e-01 6.28312911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04463044 meters Centerline goodness [0,1] 0.3205205291187081 Centerline is valid? [False, False] Translation: X:13.48, Y:0.53, Z:0.63 [[ 9.96097344e-01 7.01056720e-05 -8.82614077e-02 1.34793027e+01] [-1.34194804e-03 9.99896123e-01 -1.43506944e-02 5.34129060e-01] [ 8.82512333e-02 1.44131308e-02 9.95993967e-01 6.28366936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.07463044 meters Centerline goodness [0,1] 0.32030059044551795 Centerline is valid? [False, False] Translation: X:13.48, Y:0.53, Z:0.63 [[ 9.96092437e-01 4.69882611e-05 -8.83167887e-02 1.34794232e+01] [-1.32999489e-03 9.99894441e-01 -1.44685350e-02 5.34845016e-01] [ 8.83067862e-02 1.45294591e-02 9.95987352e-01 6.28385351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10463044 meters Centerline goodness [0,1] 0.32103432632693185 Centerline is valid? [False, False] Translation: X:13.48, Y:0.54, Z:0.63 [[ 9.96056906e-01 -1.77783376e-04 -8.87164478e-02 1.34806380e+01] [-1.15333014e-03 9.99887538e-01 -1.49526483e-02 5.36866562e-01] [ 8.87091289e-02 1.49960079e-02 9.95944682e-01 6.28046515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.13463044 meters Centerline goodness [0,1] 0.3205167041717154 Centerline is valid? [False, False] Translation: X:13.48, Y:0.54, Z:0.63 [[ 9.96035427e-01 -2.56703069e-04 -8.89570814e-02 1.34815745e+01] [-1.09822805e-03 9.99884144e-01 -1.51820108e-02 5.38188802e-01] [ 8.89506724e-02 1.52195158e-02 9.95919748e-01 6.27558323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16463044 meters Centerline goodness [0,1] 0.31741935483870964 Centerline is valid? [False, False] Translation: X:13.48, Y:0.54, Z:0.63 [[ 9.96018503e-01 -2.67098882e-04 -8.91463405e-02 1.34823121e+01] [-1.10102992e-03 9.99882381e-01 -1.52974719e-02 5.39297475e-01] [ 8.91399411e-02 1.53347178e-02 9.95901058e-01 6.27216634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.19463044 meters Centerline goodness [0,1] 0.318409680207433 Centerline is valid? [False, False] Translation: X:13.48, Y:0.54, Z:0.63 [[ 9.96016804e-01 -2.19899736e-04 -8.91654574e-02 1.34824120e+01] [-1.15072172e-03 9.99881980e-01 -1.53199680e-02 5.39976344e-01] [ 8.91583029e-02 1.53615502e-02 9.95899001e-01 6.27145258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22463044 meters Centerline goodness [0,1] 0.3173763044549682 Centerline is valid? [False, False] Translation: X:13.50, Y:0.55, Z:0.63 [[ 9.95773913e-01 -5.54237388e-03 -9.16711260e-02 1.34976815e+01] [ 4.19579099e-03 9.99880550e-01 -1.48754869e-02 5.46715783e-01] [ 9.17426215e-02 1.44279889e-02 9.95678223e-01 6.30872963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.25463044 meters Centerline goodness [0,1] 0.31825997248968363 Centerline is valid? [False, False] Translation: X:13.50, Y:0.55, Z:0.63 [[ 9.95780474e-01 -5.77982815e-03 -9.15851562e-02 1.34974705e+01] [ 4.39849904e-03 9.99873623e-01 -1.52771291e-02 5.48540471e-01] [ 9.16618812e-02 1.48098296e-02 9.95680053e-01 6.30910724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28463044 meters Centerline goodness [0,1] 0.32109020116807263 Centerline is valid? [False, False] Translation: X:13.50, Y:0.55, Z:0.63 [[ 9.95790473e-01 -5.78520908e-03 -9.14760347e-02 1.34970010e+01] [ 4.39915614e-03 9.99872559e-01 -1.53464679e-02 5.49202357e-01] [ 9.15531593e-02 1.48794491e-02 9.95689018e-01 6.31168942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.31463044000003 meters Centerline goodness [0,1] 0.31874653118729457 Centerline is valid? [False, False] Translation: X:13.52, Y:0.55, Z:0.63 [[ 9.95966716e-01 1.98732182e-03 -8.97014507e-02 1.35159317e+01] [-3.51996872e-03 9.99850462e-01 -1.69311314e-02 5.48574151e-01] [ 8.96543893e-02 1.71785896e-02 9.95824777e-01 6.33767163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34463044 meters Centerline goodness [0,1] 0.3203561189074996 Centerline is valid? [False, False] Translation: X:13.52, Y:0.55, Z:0.63 [[ 9.95981650e-01 2.12523694e-03 -8.95323224e-02 1.35153023e+01] [-3.63872182e-03 9.99853180e-01 -1.67445142e-02 5.48642347e-01] [ 8.94835911e-02 1.70030121e-02 9.95843153e-01 6.34071652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.37463044000003 meters Centerline goodness [0,1] 0.32088738806129646 Centerline is valid? [False, False] Translation: X:13.53, Y:0.55, Z:0.64 [[ 9.95964886e-01 -4.71172457e-03 -8.96200066e-02 1.35341815e+01] [ 3.33761949e-03 9.99874665e-01 -1.54762565e-02 5.53025239e-01] [ 8.96816939e-02 1.51146906e-02 9.95855783e-01 6.37168664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40463044 meters Centerline goodness [0,1] 0.3253279341762336 Centerline is valid? [False, False] Translation: X:13.53, Y:0.55, Z:0.64 [[ 9.95971039e-01 -4.69599450e-03 -8.95524277e-02 1.35338390e+01] [ 3.33911123e-03 9.99877439e-01 -1.52956308e-02 5.51726154e-01] [ 8.96132804e-02 1.49349798e-02 9.95864653e-01 6.37423061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.43463044000003 meters Centerline goodness [0,1] 0.32955190017016445 Centerline is valid? [False, False] Translation: X:13.53, Y:0.55, Z:0.64 [[ 9.95979175e-01 -4.71079793e-03 -8.94611156e-02 1.35332161e+01] [ 3.37340068e-03 9.99880376e-01 -1.50947992e-02 5.50113842e-01] [ 8.95215225e-02 1.47323175e-02 9.95875924e-01 6.37951736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46463044 meters Centerline goodness [0,1] 0.32955190017016445 Centerline is valid? [False, False] Translation: X:13.53, Y:0.55, Z:0.64 [[ 9.95979175e-01 -4.71079793e-03 -8.94611156e-02 1.35332161e+01] [ 3.37340068e-03 9.99880376e-01 -1.50947992e-02 5.50113842e-01] [ 8.95215225e-02 1.47323175e-02 9.95875924e-01 6.37951736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.49463044000004 meters Centerline goodness [0,1] 0.32730572298917626 Centerline is valid? [False, False] Translation: X:13.53, Y:0.55, Z:0.64 [[ 9.95984195e-01 -4.64808444e-03 -8.94084944e-02 1.35328384e+01] [ 3.33840257e-03 9.99885015e-01 -1.47922610e-02 5.48169643e-01] [ 8.94669695e-02 1.44343766e-02 9.95885189e-01 6.38363102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52463044 meters Centerline goodness [0,1] 0.327326938034742 Centerline is valid? [False, False] Translation: X:13.53, Y:0.55, Z:0.64 [[ 9.95989047e-01 -4.49297220e-03 -8.93623604e-02 1.35327242e+01] [ 3.21754516e-03 9.99890973e-01 -1.44114658e-02 5.46166597e-01] [ 8.94173678e-02 1.40661346e-02 9.95894913e-01 6.38419289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55463044000004 meters Centerline goodness [0,1] 0.32833283113081657 Centerline is valid? [False, False] Translation: X:13.53, Y:0.54, Z:0.64 [[ 9.95955104e-01 -4.38806745e-03 -8.97450608e-02 1.35344366e+01] [ 3.13782125e-03 9.99896125e-01 -1.40674322e-02 5.43468189e-01] [ 8.97974674e-02 1.37289269e-02 9.95865418e-01 6.37551317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58463044 meters Centerline goodness [0,1] 0.32682737672073936 Centerline is valid? [False, False] Translation: X:13.54, Y:0.54, Z:0.64 [[ 9.95918655e-01 -4.30223641e-03 -9.01527769e-02 1.35356829e+01] [ 3.05186625e-03 9.99897300e-01 -1.40027194e-02 5.43229137e-01] [ 9.02037612e-02 1.36704353e-02 9.95829504e-01 6.37242503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61463044000004 meters Centerline goodness [0,1] 0.3303818843089712 Centerline is valid? [False, False] Translation: X:13.54, Y:0.54, Z:0.64 [[ 9.95898112e-01 -4.13574113e-03 -9.03871993e-02 1.35363647e+01] [ 2.88863558e-03 9.99898886e-01 -1.39238325e-02 5.43485810e-01] [ 9.04356453e-02 1.36056228e-02 9.95809360e-01 6.37065945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64463044 meters Centerline goodness [0,1] 0.32686998533344835 Centerline is valid? [False, False] Translation: X:13.54, Y:0.54, Z:0.64 [[ 9.95885510e-01 -3.91001659e-03 -9.05359774e-02 1.35367580e+01] [ 2.66948537e-03 9.99900948e-01 -1.38191196e-02 5.44024141e-01] [ 9.05810426e-02 1.35205765e-02 9.95797303e-01 6.37020841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67463044000004 meters Centerline goodness [0,1] 0.32840300570046643 Centerline is valid? [False, False] Translation: X:13.54, Y:0.54, Z:0.64 [[ 9.95895316e-01 -3.59974067e-03 -9.04409284e-02 1.35365703e+01] [ 2.37579740e-03 9.99904188e-01 -1.36370810e-02 5.44492598e-01] [ 9.04813531e-02 1.33662358e-02 9.95808450e-01 6.36961393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70463044 meters Centerline goodness [0,1] 0.3291672973382057 Centerline is valid? [False, False] Translation: X:13.54, Y:0.54, Z:0.64 [[ 9.95918674e-01 -3.33091465e-03 -9.01936743e-02 1.35359445e+01] [ 2.13046626e-03 9.99907910e-01 -1.34026780e-02 5.44315185e-01] [ 9.02300116e-02 1.31558228e-02 9.95834057e-01 6.36994987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.73463044 meters Centerline goodness [0,1] 0.327012791572611 Centerline is valid? [False, False] Translation: X:13.54, Y:0.54, Z:0.64 [[ 9.95913188e-01 -3.31585197e-03 -9.02547887e-02 1.35363758e+01] [ 2.12897954e-03 9.99910037e-01 -1.32433402e-02 5.42665693e-01] [ 9.02905820e-02 1.29970666e-02 9.95830652e-01 6.36700690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76463044 meters Centerline goodness [0,1] 0.3334493712197032 Centerline is valid? [False, False] Translation: X:13.54, Y:0.54, Z:0.64 [[ 9.95885259e-01 -3.32366152e-03 -9.05621580e-02 1.35372708e+01] [ 2.15067161e-03 9.99912574e-01 -1.30468268e-02 5.40894496e-01] [ 9.05976037e-02 1.27983730e-02 9.95805340e-01 6.36528866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.79463044 meters Centerline goodness [0,1] 0.3263275285236339 Centerline is valid? [False, False] Translation: X:13.56, Y:0.54, Z:0.64 [[ 9.95768246e-01 -1.06902718e-02 -9.12760580e-02 1.35579794e+01] [ 9.61102970e-03 9.99878710e-01 -1.22553166e-02 5.43512449e-01] [ 9.13959998e-02 1.13261982e-02 9.95750214e-01 6.39224512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82463044 meters Centerline goodness [0,1] 0.3270161550541012 Centerline is valid? [False, False] Translation: X:13.56, Y:0.54, Z:0.64 [[ 9.95717876e-01 -1.12311492e-02 -9.17593142e-02 1.35590931e+01] [ 1.01618204e-02 9.99875004e-01 -1.21125483e-02 5.37894210e-01] [ 9.18838825e-02 1.11282392e-02 9.95707545e-01 6.39501539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.85463044 meters Centerline goodness [0,1] 0.3272910588639094 Centerline is valid? [False, False] Translation: X:13.56, Y:0.54, Z:0.64 [[ 9.95715570e-01 -1.12797638e-02 -9.17783819e-02 1.35590548e+01] [ 1.02385897e-02 9.99877871e-01 -1.18073887e-02 5.35175921e-01] [ 9.19003576e-02 1.08171195e-02 9.95709453e-01 6.39738974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88463044 meters Centerline goodness [0,1] 0.3240651760736327 Centerline is valid? [False, False] Translation: X:13.56, Y:0.53, Z:0.64 [[ 9.95694003e-01 -1.13120450e-02 -9.20080992e-02 1.35595452e+01] [ 1.02986700e-02 9.99881051e-01 -1.14813314e-02 5.32314171e-01] [ 9.21270323e-02 1.04843317e-02 9.95692065e-01 6.39915042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.91463044 meters Centerline goodness [0,1] 0.3266052299600163 Centerline is valid? [False, False] Translation: X:13.56, Y:0.53, Z:0.64 [[ 9.95659275e-01 -1.13230081e-02 -9.23818055e-02 1.35604472e+01] [ 1.03350286e-02 9.99884248e-01 -1.11659476e-02 5.29772162e-01] [ 9.24975442e-02 1.01627107e-02 9.95661049e-01 6.39986886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.94463044 meters Centerline goodness [0,1] 0.32521075098135954 Centerline is valid? [False, False] Translation: X:13.56, Y:0.53, Z:0.64 [[ 9.95624691e-01 -1.13026630e-02 -9.27562636e-02 1.35616964e+01] [ 1.03420486e-02 9.99887865e-01 -1.08304988e-02 5.27399745e-01] [ 9.28682758e-02 9.82382228e-03 9.95629939e-01 6.39656172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.97463044 meters Centerline goodness [0,1] 0.3290367380595881 Centerline is valid? [False, False] Translation: X:13.55, Y:0.52, Z:0.64 [[ 9.95833496e-01 -5.58231146e-03 -9.10191536e-02 1.35466841e+01] [ 4.57289194e-03 9.99925753e-01 -1.12949636e-02 5.18904986e-01] [ 9.10754477e-02 1.08316823e-02 9.95785086e-01 6.35628201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.00463044 meters Centerline goodness [0,1] 0.32617111043451785 Centerline is valid? [False, False] Translation: X:13.54, Y:0.51, Z:0.64 [[ 9.95851102e-01 -8.56837486e-03 -9.05934130e-02 1.35447936e+01] [ 7.39737664e-03 9.99884802e-01 -1.32537465e-02 5.12814084e-01] [ 9.06965399e-02 1.25286044e-02 9.95799765e-01 6.36666445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.03463044 meters Centerline goodness [0,1] 0.32275041350718536 Centerline is valid? [False, False] Translation: X:13.57, Y:0.51, Z:0.64 [[ 9.96021013e-01 -3.33333027e-03 -8.90563384e-02 1.35654442e+01] [ 1.87205918e-03 9.99862330e-01 -1.64868792e-02 5.07996248e-01] [ 8.90990342e-02 1.62545594e-02 9.95890130e-01 6.38473626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.06463044000003 meters Centerline goodness [0,1] 0.3216421563411156 Centerline is valid? [False, False] Translation: X:13.59, Y:0.51, Z:0.64 [[ 9.96054354e-01 -1.13039498e-02 -8.80224144e-02 1.35856447e+01] [ 9.95713174e-03 9.99826776e-01 -1.57249415e-02 5.06906174e-01] [ 8.81849208e-02 1.47864456e-02 9.95994368e-01 6.41109210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09463044 meters Centerline goodness [0,1] 0.32645929505155524 Centerline is valid? [False, False] Translation: X:13.59, Y:0.50, Z:0.64 [[ 9.96034213e-01 -1.15208628e-02 -8.82219690e-02 1.35860835e+01] [ 1.02013561e-02 9.99829480e-01 -1.53929751e-02 5.02319131e-01] [ 8.83842657e-02 1.44319461e-02 9.95981898e-01 6.41200775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.12463044000003 meters Centerline goodness [0,1] 0.326273475827192 Centerline is valid? [False, False] Translation: X:13.59, Y:0.50, Z:0.64 [[ 9.96005501e-01 -1.15564380e-02 -8.85408949e-02 1.35870404e+01] [ 1.02746295e-02 9.99835912e-01 -1.49191419e-02 4.98429225e-01] [ 8.86987785e-02 1.39498225e-02 9.95960807e-01 6.40988005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.15463044 meters Centerline goodness [0,1] 0.32361778846153844 Centerline is valid? [False, False] Translation: X:13.59, Y:0.49, Z:0.64 [[ 9.95979454e-01 -1.15176943e-02 -8.88384496e-02 1.35878944e+01] [ 1.02798412e-02 9.99843776e-01 -1.43787328e-02 4.94404935e-01] [ 8.89901808e-02 1.34076773e-02 9.95942258e-01 6.40877987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18463044000003 meters Centerline goodness [0,1] 0.32381750225544526 Centerline is valid? [False, False] Translation: X:13.59, Y:0.49, Z:0.64 [[ 9.95959932e-01 -1.32220313e-02 -8.88199928e-02 1.35882262e+01] [ 1.19453312e-02 9.99817778e-01 -1.48902364e-02 4.85265188e-01] [ 8.90006870e-02 1.37690946e-02 9.95936388e-01 6.40725711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.21463044 meters Centerline goodness [0,1] 0.3194420489824077 Centerline is valid? [False, False] Translation: X:13.59, Y:0.48, Z:0.64 [[ 9.95942391e-01 -1.30571664e-02 -8.90407982e-02 1.35886040e+01] [ 1.18327156e-02 9.99828225e-01 -1.42656002e-02 4.81263866e-01] [ 8.92117715e-02 1.31541215e-02 9.95925815e-01 6.40922706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24463044000004 meters Centerline goodness [0,1] 0.32324888869707824 Centerline is valid? [False, False] Translation: X:13.59, Y:0.48, Z:0.64 [[ 9.95911639e-01 -1.29362339e-02 -8.94016837e-02 1.35893751e+01] [ 1.17577323e-02 9.99837072e-01 -1.36962052e-02 4.77487822e-01] [ 8.95642949e-02 1.25890491e-02 9.95901478e-01 6.41053323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27463044 meters Centerline goodness [0,1] 0.32090085022607795 Centerline is valid? [False, False] Translation: X:13.59, Y:0.47, Z:0.64 [[ 9.95869440e-01 -1.27901505e-02 -8.98914329e-02 1.35905599e+01] [ 1.16556710e-02 9.99845807e-01 -1.31341964e-02 4.73821152e-01] [ 9.00455606e-02 1.20321999e-02 9.95864962e-01 6.41041370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30463044000004 meters Centerline goodness [0,1] 0.3193663332331602 Centerline is valid? [False, False] Translation: X:13.61, Y:0.47, Z:0.64 [[ 9.95877908e-01 -4.63522030e-03 -9.05853576e-02 1.36093853e+01] [ 3.37843262e-03 9.99895973e-01 -1.40224836e-02 4.66292970e-01] [ 9.06409315e-02 1.36586451e-02 9.95789969e-01 6.44228317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33463044 meters Centerline goodness [0,1] 0.32300913487372385 Centerline is valid? [False, False] Translation: X:13.61, Y:0.46, Z:0.64 [[ 9.95862115e-01 -4.34409200e-03 -9.07732126e-02 1.36093850e+01] [ 3.14229589e-03 9.99905570e-01 -1.33782678e-02 4.62335489e-01] [ 9.08227573e-02 1.30376738e-02 9.95781726e-01 6.44830695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36463044000004 meters Centerline goodness [0,1] 0.32417119006941897 Centerline is valid? [False, False] Translation: X:13.61, Y:0.46, Z:0.64 [[ 9.95865668e-01 -4.20447857e-03 -9.07408012e-02 1.36092644e+01] [ 3.01399620e-03 9.99907637e-01 -1.32526370e-02 4.61997915e-01] [ 9.07881405e-02 1.29243538e-02 9.95786360e-01 6.44912200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39463044 meters Centerline goodness [0,1] 0.3273137208142737 Centerline is valid? [False, False] Translation: X:13.61, Y:0.46, Z:0.64 [[ 9.95867002e-01 -4.07235274e-03 -9.07321902e-02 1.36092223e+01] [ 2.88421998e-03 9.99908423e-01 -1.32222125e-02 4.62526728e-01] [ 9.07777267e-02 1.29058735e-02 9.95787549e-01 6.44940902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42463044000004 meters Centerline goodness [0,1] 0.32277321609448073 Centerline is valid? [False, False] Translation: X:13.61, Y:0.46, Z:0.64 [[ 9.95865585e-01 -3.92027333e-03 -9.07544395e-02 1.36094194e+01] [ 2.72973660e-03 9.99908639e-01 -1.32386299e-02 4.63451588e-01] [ 9.07980471e-02 1.29361602e-02 9.95785303e-01 6.44853733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45463044 meters Centerline goodness [0,1] 0.31973898858075045 Centerline is valid? [False, False] Translation: X:13.61, Y:0.46, Z:0.64 [[ 9.95868761e-01 -3.83937063e-03 -9.07230393e-02 1.36095572e+01] [ 2.63642343e-03 9.99907066e-01 -1.33756772e-02 4.64898993e-01] [ 9.07659622e-02 1.30812348e-02 9.95786333e-01 6.44635810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48463044 meters Centerline goodness [0,1] 0.32491277942886676 Centerline is valid? [False, False] Translation: X:13.61, Y:0.47, Z:0.64 [[ 9.95791580e-01 -1.10117721e-03 -9.16401508e-02 1.36131012e+01] [ 7.06864671e-05 9.99936743e-01 -1.12474560e-02 4.67740138e-01] [ 9.16467393e-02 1.11936443e-02 9.95728667e-01 6.43394663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.51463044 meters Centerline goodness [0,1] 0.32367097855515925 Centerline is valid? [False, False] Translation: X:13.61, Y:0.47, Z:0.64 [[ 9.95751031e-01 -1.07699314e-03 -9.20799843e-02 1.36145885e+01] [ 2.70273119e-05 9.99934981e-01 -1.14032452e-02 4.69164057e-01] [ 9.20862785e-02 1.13523045e-02 9.95686317e-01 6.42902950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54463044 meters Centerline goodness [0,1] 0.32662284305669675 Centerline is valid? [False, False] Translation: X:13.62, Y:0.47, Z:0.64 [[ 9.95724409e-01 -1.10135568e-03 -9.23671335e-02 1.36155756e+01] [ 3.98571115e-05 9.99933950e-01 -1.14932249e-02 4.69782442e-01] [ 9.23736908e-02 1.14404030e-02 9.95658686e-01 6.42586348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.57463044 meters Centerline goodness [0,1] 0.3267434046519694 Centerline is valid? [False, False] Translation: X:13.62, Y:0.47, Z:0.64 [[ 9.95711071e-01 -1.06535467e-03 -9.25112289e-02 1.36160695e+01] [ 7.11460877e-06 9.99934577e-01 -1.14386209e-02 4.69625929e-01] [ 9.25173627e-02 1.13889033e-02 9.95645936e-01 6.42372629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60463044 meters Centerline goodness [0,1] 0.32265072161400643 Centerline is valid? [False, False] Translation: X:13.62, Y:0.47, Z:0.64 [[ 9.95702675e-01 -1.11215138e-03 -9.26010029e-02 1.36164661e+01] [ 5.79217244e-05 9.99935169e-01 -1.13865556e-02 4.69041036e-01] [ 9.26076631e-02 1.13322602e-02 9.95638188e-01 6.42182763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.63463044 meters Centerline goodness [0,1] 0.3220727966883298 Centerline is valid? [False, False] Translation: X:13.62, Y:0.47, Z:0.64 [[ 9.95700056e-01 -1.15130325e-03 -9.26286795e-02 1.36167389e+01] [ 1.11601709e-04 9.99936949e-01 -1.12287991e-02 4.67589625e-01] [ 9.26357669e-02 1.11701784e-02 9.95637405e-01 6.41987498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66463044 meters Centerline goodness [0,1] 0.3215072389384316 Centerline is valid? [False, False] Translation: X:13.62, Y:0.46, Z:0.64 [[ 9.95650473e-01 -1.72065248e-03 -9.31513525e-02 1.36181483e+01] [ 6.65491336e-04 9.99935283e-01 -1.13572625e-02 4.64802914e-01] [ 9.31648659e-02 1.12458724e-02 9.95587183e-01 6.41938288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.69463044 meters Centerline goodness [0,1] 0.32467754700434215 Centerline is valid? [False, False] Translation: X:13.62, Y:0.46, Z:0.64 [[ 9.95642825e-01 -1.62114105e-03 -9.32348490e-02 1.36183919e+01] [ 5.88584004e-04 9.99938206e-01 -1.11012292e-02 4.63418986e-01] [ 9.32470844e-02 1.09979827e-02 9.95582255e-01 6.41921591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72463044 meters Centerline goodness [0,1] 0.3303011838440112 Centerline is valid? [False, False] Translation: X:13.60, Y:0.46, Z:0.64 [[ 9.95693592e-01 5.58748277e-03 -9.25367542e-02 1.35986637e+01] [-6.67408119e-03 9.99912321e-01 -1.14370449e-02 4.57312204e-01] [ 9.24647365e-02 1.20053901e-02 9.95643582e-01 6.38919315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.75463044 meters Centerline goodness [0,1] 0.33035772322492574 Centerline is valid? [False, False] Translation: X:13.60, Y:0.46, Z:0.64 [[ 9.95700872e-01 5.68463393e-03 -9.24524705e-02 1.35985157e+01] [-6.75978343e-03 9.99913075e-01 -1.13202216e-02 4.57067878e-01] [ 9.23800828e-02 1.18965132e-02 9.95652747e-01 6.38945978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78463044 meters Centerline goodness [0,1] 0.3282663693666652 Centerline is valid? [False, False] Translation: X:13.62, Y:0.46, Z:0.64 [[ 9.95741164e-01 -6.21301188e-04 -9.21908222e-02 1.36168272e+01] [-3.05296048e-04 9.99949587e-01 -1.00364189e-02 4.61262220e-01] [ 9.21924102e-02 1.00218209e-02 9.95690777e-01 6.42016317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.81463044000003 meters Centerline goodness [0,1] 0.33068174488852575 Centerline is valid? [False, False] Translation: X:13.62, Y:0.46, Z:0.64 [[ 9.95748366e-01 -5.14964244e-04 -9.21136645e-02 1.36166223e+01] [-4.07044593e-04 9.99950012e-01 -9.99040149e-03 4.61405139e-01] [ 9.21142046e-02 9.98542032e-03 9.95698380e-01 6.42108897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84463044 meters Centerline goodness [0,1] 0.33344792763369935 Centerline is valid? [False, False] Translation: X:13.62, Y:0.46, Z:0.64 [[ 9.95779532e-01 2.51132074e-05 -9.17775723e-02 1.36160096e+01] [-9.20620760e-04 9.99952384e-01 -9.71504558e-03 4.62030392e-01] [ 9.17729583e-02 9.75853588e-03 9.95732140e-01 6.41963602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.87463044000003 meters Centerline goodness [0,1] 0.3322600164239098 Centerline is valid? [False, False] Translation: X:13.62, Y:0.46, Z:0.64 [[ 9.95790383e-01 2.48893598e-04 -9.16594318e-02 1.36155829e+01] [-1.13647592e-03 9.99952971e-01 -9.63141365e-03 4.62643391e-01] [ 9.16527240e-02 9.69503782e-03 9.95743835e-01 6.42168875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90463044 meters Centerline goodness [0,1] 0.33468616461594625 Centerline is valid? [False, False] Translation: X:13.61, Y:0.46, Z:0.64 [[ 9.95854369e-01 8.42583244e-04 -9.09580436e-02 1.36135396e+01] [-1.70166218e-03 9.99954675e-01 -9.36764506e-03 4.64220760e-01] [ 9.09460279e-02 9.48359012e-03 9.95810666e-01 6.42682433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.93463044000003 meters Centerline goodness [0,1] 0.3398310591293048 Centerline is valid? [False, False] Translation: X:13.61, Y:0.47, Z:0.64 [[ 9.95873592e-01 9.04461834e-04 -9.07467404e-02 1.36129994e+01] [-1.77467661e-03 9.99953211e-01 -9.50925682e-03 4.65802027e-01] [ 9.07338937e-02 9.63106386e-03 9.95828601e-01 6.42740819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96463044 meters Centerline goodness [0,1] 0.338785400575496 Centerline is valid? [False, False] Translation: X:13.61, Y:0.47, Z:0.64 [[ 9.95872282e-01 9.34583029e-04 -9.07608084e-02 1.36132428e+01] [-1.82079409e-03 9.99951471e-01 -9.68193985e-03 4.67595420e-01] [ 9.07473553e-02 9.80723228e-03 9.95825655e-01 6.42523851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.99463044000004 meters Centerline goodness [0,1] 0.33406432748538006 Centerline is valid? [False, False] Translation: X:13.61, Y:0.47, Z:0.64 [[ 9.95864914e-01 9.21532131e-04 -9.08417530e-02 1.36139780e+01] [-1.83334545e-03 9.99948773e-01 -9.95444775e-03 4.69924706e-01] [ 9.08279261e-02 1.00798296e-02 9.95815588e-01 6.41937808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02463044 meters Centerline goodness [0,1] 0.3376362221069019 Centerline is valid? [False, False] Translation: X:13.61, Y:0.47, Z:0.64 [[ 9.95874792e-01 9.17783321e-04 -9.07334302e-02 1.36139410e+01] [-1.85018795e-03 9.99946341e-01 -1.01927312e-02 4.71879681e-01] [ 9.07192068e-02 1.03185580e-02 9.95823053e-01 6.41688654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.05463044000004 meters Centerline goodness [0,1] 0.3342640520629738 Centerline is valid? [False, False] Translation: X:13.61, Y:0.47, Z:0.64 [[ 9.95877129e-01 7.25342811e-04 -9.07095213e-02 1.36140047e+01] [-1.69814546e-03 9.99941870e-01 -1.06476538e-02 4.74320104e-01] [ 9.06965252e-02 1.07577929e-02 9.95820471e-01 6.41589762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08463044 meters Centerline goodness [0,1] 0.33725937728779987 Centerline is valid? [False, False] Translation: X:13.61, Y:0.48, Z:0.64 [[ 9.95867072e-01 3.99076162e-04 -9.08218951e-02 1.36143143e+01] [-1.44744569e-03 9.99933083e-01 -1.14775633e-02 4.78804398e-01] [ 9.08112371e-02 1.15615871e-02 9.95801009e-01 6.41575897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11463044000004 meters Centerline goodness [0,1] 0.3398533007334963 Centerline is valid? [False, False] Translation: X:13.61, Y:0.48, Z:0.64 [[ 9.95861041e-01 2.76548525e-04 -9.08884537e-02 1.36145913e+01] [-1.35883234e-03 9.99928908e-01 -1.18461618e-02 4.81095956e-01] [ 9.08787162e-02 1.19206332e-02 9.95790619e-01 6.41402861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14463044 meters Centerline goodness [0,1] 0.338053669576463 Centerline is valid? [False, False] Translation: X:13.61, Y:0.48, Z:0.64 [[ 9.95857737e-01 1.75130559e-04 -9.09248969e-02 1.36148733e+01] [-1.29018433e-03 9.99924686e-01 -1.22048275e-02 4.83631257e-01] [ 9.09159116e-02 1.22715817e-02 9.95782961e-01 6.41195116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17463044000004 meters Centerline goodness [0,1] 0.3340094369835813 Centerline is valid? [False, False] Translation: X:13.62, Y:0.49, Z:0.64 [[ 9.95856219e-01 5.54220276e-05 -9.09416715e-02 1.36151462e+01] [-1.20271271e-03 9.99920385e-01 -1.25609229e-02 4.86218973e-01] [ 9.09337351e-02 1.26182499e-02 9.95777001e-01 6.40967742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20463044 meters Centerline goodness [0,1] 0.3395658854335736 Centerline is valid? [False, False] Translation: X:13.62, Y:0.49, Z:0.64 [[ 9.95859136e-01 -6.45591289e-05 -9.09097160e-02 1.36153177e+01] [-1.11018365e-03 9.99916543e-01 -1.28714545e-02 4.88129838e-01] [ 9.09029599e-02 1.29190821e-02 9.95775953e-01 6.40664987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.23463044 meters Centerline goodness [0,1] 0.33557061371531505 Centerline is valid? [False, False] Translation: X:13.63, Y:0.50, Z:0.64 [[ 9.95726959e-01 -6.65347345e-03 -9.21062163e-02 1.36341175e+01] [ 5.54615210e-03 9.99909303e-01 -1.22729701e-02 4.95275442e-01] [ 9.21795204e-02 1.17096921e-02 9.95673550e-01 6.43828646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26463044 meters Centerline goodness [0,1] 0.3364639586757455 Centerline is valid? [False, False] Translation: X:13.64, Y:0.50, Z:0.64 [[ 9.95697738e-01 -6.96786669e-03 -9.23983898e-02 1.36352876e+01] [ 5.81553917e-03 9.99901999e-01 -1.27346876e-02 4.97310303e-01] [ 9.24780683e-02 1.21425532e-02 9.95640681e-01 6.43298209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.29463044 meters Centerline goodness [0,1] 0.33758441223278424 Centerline is valid? [False, False] Translation: X:13.64, Y:0.50, Z:0.64 [[ 9.95692715e-01 -6.97868329e-03 -9.24516865e-02 1.36355290e+01] [ 5.82198664e-03 9.99901445e-01 -1.27751679e-02 4.97833237e-01] [ 9.25317288e-02 1.21818892e-02 9.95635215e-01 6.43165113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32463044 meters Centerline goodness [0,1] 0.3373542936584323 Centerline is valid? [False, False] Translation: X:13.64, Y:0.50, Z:0.64 [[ 9.95692164e-01 -6.96598299e-03 -9.24585810e-02 1.36357633e+01] [ 5.80264755e-03 9.99900661e-01 -1.28451063e-02 4.98813940e-01] [ 9.25388751e-02 1.22532671e-02 9.95633675e-01 6.42917351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.35463044 meters Centerline goodness [0,1] 0.33634901918747995 Centerline is valid? [False, False] Translation: X:13.64, Y:0.50, Z:0.64 [[ 9.95704398e-01 -6.98040493e-03 -9.23256508e-02 1.36355837e+01] [ 5.80523118e-03 9.99898761e-01 -1.29910162e-02 4.99998096e-01] [ 9.24069864e-02 1.23992402e-02 9.95644117e-01 6.42772146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38463044 meters Centerline goodness [0,1] 0.3343015184845055 Centerline is valid? [False, False] Translation: X:13.65, Y:0.50, Z:0.65 [[ 9.95749652e-01 1.23560766e-03 -9.20929102e-02 1.36547524e+01] [-2.60063295e-03 9.99888512e-01 -1.47037317e-02 4.99641159e-01] [ 9.20644749e-02 1.48807356e-02 9.95641851e-01 6.45524368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.41463044 meters Centerline goodness [0,1] 0.3343015184845055 Centerline is valid? [False, False] Translation: X:13.65, Y:0.50, Z:0.65 [[ 9.95749652e-01 1.23560766e-03 -9.20929102e-02 1.36547524e+01] [-2.60063295e-03 9.99888512e-01 -1.47037317e-02 4.99641159e-01] [ 9.20644749e-02 1.48807356e-02 9.95641851e-01 6.45524368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.44463044 meters Centerline goodness [0,1] 0.33507853403141363 Centerline is valid? [False, False] Translation: X:13.66, Y:0.50, Z:0.65 [[ 9.95744513e-01 1.26755415e-03 -9.21480270e-02 1.36550292e+01] [-2.63510248e-03 9.99888173e-01 -1.47206237e-02 5.00140159e-01] [ 9.21190632e-02 1.49007998e-02 9.95636502e-01 6.45357376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.47463044 meters Centerline goodness [0,1] 0.33668341708542715 Centerline is valid? [False, False] Translation: X:13.65, Y:0.50, Z:0.65 [[ 9.95756573e-01 1.37397709e-03 -9.20160781e-02 1.36545648e+01] [-2.73177638e-03 9.99889218e-01 -1.46317843e-02 5.00408057e-01] [ 9.19857806e-02 1.48210627e-02 9.95650015e-01 6.45507371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.50463044 meters Centerline goodness [0,1] 0.3372327638018374 Centerline is valid? [False, False] Translation: X:13.65, Y:0.50, Z:0.65 [[ 9.95759301e-01 1.39021079e-03 -9.19863170e-02 1.36543044e+01] [-2.74611355e-03 9.99889419e-01 -1.46153372e-02 5.00512952e-01] [ 9.19558267e-02 1.48059629e-02 9.95653007e-01 6.45799760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.53463044 meters Centerline goodness [0,1] 0.3367151731401672 Centerline is valid? [False, False] Translation: X:13.65, Y:0.50, Z:0.65 [[ 9.95750259e-01 1.31188356e-03 -9.20852861e-02 1.36544525e+01] [-2.67642016e-03 9.99888422e-01 -1.46962555e-02 5.00556578e-01] [ 9.20557317e-02 1.48802591e-02 9.95642667e-01 6.45916395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.56463044000003 meters Centerline goodness [0,1] 0.33641384942723895 Centerline is valid? [False, False] Translation: X:13.66, Y:0.50, Z:0.65 [[ 9.95729993e-01 1.19235743e-03 -9.23057965e-02 1.36550277e+01] [-2.57225184e-03 9.99886697e-01 -1.48316361e-02 5.00771536e-01] [ 9.22776534e-02 1.50057386e-02 9.95620240e-01 6.45890323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59463044 meters Centerline goodness [0,1] 0.3367923915162807 Centerline is valid? [False, False] Translation: X:13.66, Y:0.50, Z:0.65 [[ 9.95725367e-01 1.28102864e-03 -9.23544903e-02 1.36552065e+01] [-2.65475210e-03 9.99887642e-01 -1.47531463e-02 5.00881364e-01] [ 9.23252143e-02 1.49352603e-02 9.95616891e-01 6.45805574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.62463044000003 meters Centerline goodness [0,1] 0.335318061750314 Centerline is valid? [False, False] Translation: X:13.66, Y:0.50, Z:0.65 [[ 9.95725515e-01 1.39589304e-03 -9.23512346e-02 1.36553155e+01] [-2.75933887e-03 9.99889056e-01 -1.46376596e-02 5.00984611e-01] [ 9.23205562e-02 1.48299195e-02 9.95618897e-01 6.45677378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.65463044 meters Centerline goodness [0,1] 0.33598215832322886 Centerline is valid? [False, False] Translation: X:13.66, Y:0.50, Z:0.65 [[ 9.95733527e-01 1.45746744e-03 -9.22638543e-02 1.36550841e+01] [-2.81606557e-03 9.99889497e-01 -1.45966643e-02 5.01202931e-01] [ 9.22323848e-02 1.47942091e-02 9.95627600e-01 6.45731866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68463044000003 meters Centerline goodness [0,1] 0.33276324904745413 Centerline is valid? [False, False] Translation: X:13.66, Y:0.50, Z:0.65 [[ 9.95724813e-01 1.43192600e-03 -9.23582494e-02 1.36553605e+01] [-2.78850758e-03 9.99890096e-01 -1.45608819e-02 5.00758671e-01] [ 9.23272488e-02 1.47561731e-02 9.95619372e-01 6.45669273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.71463044 meters Centerline goodness [0,1] 0.33274922118380057 Centerline is valid? [False, False] Translation: X:13.66, Y:0.50, Z:0.65 [[ 9.95690061e-01 1.32421649e-03 -9.27337572e-02 1.36563444e+01] [-2.68656693e-03 9.99890276e-01 -1.45676918e-02 5.00021683e-01] [ 9.27042913e-02 1.47540414e-02 9.95584367e-01 6.45572443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74463044000004 meters Centerline goodness [0,1] 0.3295045728403624 Centerline is valid? [False, False] Translation: X:13.66, Y:0.50, Z:0.65 [[ 9.95619504e-01 1.03295028e-03 -9.34919083e-02 1.36583842e+01] [-2.40890787e-03 9.99890429e-01 -1.46057405e-02 4.98198314e-01] [ 9.34665773e-02 1.47669735e-02 9.95512901e-01 6.45243455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.77463044 meters Centerline goodness [0,1] 0.33075130539852415 Centerline is valid? [False, False] Translation: X:13.66, Y:0.50, Z:0.65 [[ 9.95602866e-01 1.03545711e-03 -9.36688932e-02 1.36588343e+01] [-2.40978205e-03 9.99891090e-01 -1.45602402e-02 4.97992897e-01] [ 9.36436152e-02 1.47219384e-02 9.95496930e-01 6.45244002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80463044000004 meters Centerline goodness [0,1] 0.3308900069396252 Centerline is valid? [False, False] Translation: X:13.66, Y:0.50, Z:0.65 [[ 9.95609713e-01 1.12259472e-03 -9.35950756e-02 1.36586787e+01] [-2.48756968e-03 9.99892232e-01 -1.44684406e-02 4.97955833e-01] [ 9.35687469e-02 1.46377443e-02 9.95505211e-01 6.45220023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.83463044 meters Centerline goodness [0,1] 0.3300225049770622 Centerline is valid? [False, False] Translation: X:13.66, Y:0.50, Z:0.65 [[ 9.95627026e-01 1.22002375e-03 -9.34095114e-02 1.36582288e+01] [-2.57909406e-03 9.99892552e-01 -1.44302552e-02 4.98491229e-01] [ 9.33818695e-02 1.46080640e-02 9.95523195e-01 6.45290382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86463044000004 meters Centerline goodness [0,1] 0.32889603429796355 Centerline is valid? [False, False] Translation: X:13.68, Y:0.50, Z:0.65 [[ 9.95734402e-01 -3.44488733e-03 -9.22015895e-02 1.36787233e+01] [ 2.38463726e-03 9.99929794e-01 -1.16069595e-02 5.01881728e-01] [ 9.22351010e-02 1.13375816e-02 9.95672710e-01 6.47346364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.89463044 meters Centerline goodness [0,1] 0.3294638634507072 Centerline is valid? [False, False] Translation: X:13.68, Y:0.50, Z:0.65 [[ 9.95768092e-01 -3.39341874e-03 -9.18389447e-02 1.36778791e+01] [ 2.31967147e-03 9.99927736e-01 -1.17958530e-02 5.03629721e-01] [ 9.18723363e-02 1.15328978e-02 9.95704005e-01 6.47284464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92463044000004 meters Centerline goodness [0,1] 0.329438493995456 Centerline is valid? [False, False] Translation: X:13.68, Y:0.51, Z:0.65 [[ 9.95791870e-01 -3.18768602e-03 -9.15881507e-02 1.36773808e+01] [ 2.08619578e-03 9.99924377e-01 -1.21197791e-02 5.07763487e-01] [ 9.16198585e-02 1.18777067e-02 9.95723215e-01 6.47159136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.95463044 meters Centerline goodness [0,1] 0.3253954644832169 Centerline is valid? [False, False] Translation: X:13.70, Y:0.51, Z:0.65 [[ 9.95869610e-01 4.78305617e-03 -9.06688638e-02 1.36969134e+01] [-6.07303533e-03 9.99884156e-01 -1.39568225e-02 5.07590743e-01] [ 9.05916041e-02 1.44498106e-02 9.95783292e-01 6.49671631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98463044 meters Centerline goodness [0,1] 0.32892984491128585 Centerline is valid? [False, False] Translation: X:13.70, Y:0.51, Z:0.65 [[ 9.95868553e-01 4.66446250e-03 -9.06866455e-02 1.36968296e+01] [-5.97698736e-03 9.99881211e-01 -1.42070018e-02 5.08854543e-01] [ 9.06096049e-02 1.46903392e-02 9.95778135e-01 6.49820766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.01463044 meters Centerline goodness [0,1] 0.3274530473506443 Centerline is valid? [False, False] Translation: X:13.70, Y:0.51, Z:0.65 [[ 9.95891789e-01 4.54948138e-03 -9.04369771e-02 1.36960157e+01] [-5.87009366e-03 9.99879918e-01 -1.43419545e-02 5.09467499e-01] [ 9.03608688e-02 1.48139083e-02 9.95798906e-01 6.50098091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04463044 meters Centerline goodness [0,1] 0.32877005805857273 Centerline is valid? [False, False] Translation: X:13.71, Y:0.51, Z:0.65 [[ 9.95970200e-01 -2.56760633e-03 -8.96480249e-02 1.37141012e+01] [ 1.39606308e-03 9.99912843e-01 -1.31285137e-02 5.13712464e-01] [ 8.96739202e-02 1.29504541e-02 9.95886978e-01 6.53735027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.07463044 meters Centerline goodness [0,1] 0.32659282156963765 Centerline is valid? [False, False] Translation: X:13.71, Y:0.51, Z:0.65 [[ 9.96051712e-01 -3.40167617e-03 -8.87097246e-02 1.37116060e+01] [ 2.21247622e-03 9.99906418e-01 -1.35004039e-02 5.12800228e-01] [ 8.87473469e-02 1.32508322e-02 9.95966025e-01 6.54185746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10463044 meters Centerline goodness [0,1] 0.32591911371559334 Centerline is valid? [False, False] Translation: X:13.71, Y:0.51, Z:0.65 [[ 9.96037053e-01 -3.58574671e-03 -8.88669355e-02 1.37119593e+01] [ 2.40135620e-03 9.99906916e-01 -1.34310155e-02 5.11718580e-01] [ 8.89068236e-02 1.31643879e-02 9.95952948e-01 6.54273125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.13463044 meters Centerline goodness [0,1] 0.3243839725733876 Centerline is valid? [False, False] Translation: X:13.71, Y:0.51, Z:0.65 [[ 9.96014425e-01 -3.71768446e-03 -8.91147782e-02 1.37125134e+01] [ 2.54420255e-03 9.99908604e-01 -1.32781819e-02 5.10316742e-01] [ 8.91559976e-02 1.29985347e-02 9.95932852e-01 6.54326251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16463044 meters Centerline goodness [0,1] 0.3241686473523051 Centerline is valid? [False, False] Translation: X:13.71, Y:0.51, Z:0.65 [[ 9.95973358e-01 -3.78190756e-03 -8.95699063e-02 1.37136228e+01] [ 2.61688002e-03 9.99910495e-01 -1.31207716e-02 5.09212570e-01] [ 8.96115109e-02 1.28335453e-02 9.95894109e-01 6.54278916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.19463044 meters Centerline goodness [0,1] 0.32463943345712065 Centerline is valid? [False, False] Translation: X:13.71, Y:0.51, Z:0.65 [[ 9.95935886e-01 -3.84232327e-03 -8.99830349e-02 1.37145868e+01] [ 2.68392910e-03 9.99912012e-01 -1.29909363e-02 5.08226728e-01] [ 9.00250328e-02 1.26966316e-02 9.95858569e-01 6.54360517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22463044 meters Centerline goodness [0,1] 0.32400208487165005 Centerline is valid? [False, False] Translation: X:13.72, Y:0.51, Z:0.65 [[ 9.95901074e-01 -4.22018847e-03 -9.03506555e-02 1.37155823e+01] [ 3.04532468e-03 9.99909065e-01 -1.31372881e-02 5.07160222e-01] [ 9.03978812e-02 1.28082922e-02 9.95823363e-01 6.54258092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.25463044 meters Centerline goodness [0,1] 0.3225848142164782 Centerline is valid? [False, False] Translation: X:13.72, Y:0.51, Z:0.65 [[ 9.95890373e-01 -4.30715630e-03 -9.04644294e-02 1.37157377e+01] [ 3.12243921e-03 9.99907560e-01 -1.32333891e-02 5.07421229e-01] [ 9.05130651e-02 1.28965352e-02 9.95811762e-01 6.54449435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28463044 meters Centerline goodness [0,1] 0.32210271694527237 Centerline is valid? [False, False] Translation: X:13.72, Y:0.51, Z:0.65 [[ 9.95877213e-01 -4.26689055e-03 -9.06110899e-02 1.37161929e+01] [ 3.07366293e-03 9.99906772e-01 -1.33041318e-02 5.08373296e-01] [ 9.06594097e-02 1.29707738e-02 9.95797485e-01 6.54370714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.31463044000003 meters Centerline goodness [0,1] 0.3216258198136003 Centerline is valid? [False, False] Translation: X:13.72, Y:0.51, Z:0.65 [[ 9.95801754e-01 -9.91554782e-04 -9.15307842e-02 1.37186062e+01] [ 4.34855059e-05 9.99946340e-01 -1.03593413e-02 5.09280940e-01] [ 9.15361445e-02 1.03118700e-02 9.95748362e-01 6.54170807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34463044 meters Centerline goodness [0,1] 0.3191758229989934 Centerline is valid? [False, False] Translation: X:13.72, Y:0.51, Z:0.65 [[ 9.95687014e-01 8.78309526e-04 -9.27717521e-02 1.37232187e+01] [-1.70616311e-03 9.99959430e-01 -8.84461642e-03 5.11078597e-01] [ 9.27602200e-02 8.96475346e-03 9.95648118e-01 6.52826102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.37463044000003 meters Centerline goodness [0,1] 0.32027535764225024 Centerline is valid? [False, False] Translation: X:13.72, Y:0.51, Z:0.65 [[ 9.95656958e-01 8.19008454e-04 -9.30943133e-02 1.37242497e+01] [-1.68966515e-03 9.99955568e-01 -9.27397997e-03 5.14070625e-01] [ 9.30825815e-02 9.39100090e-03 9.95614103e-01 6.52594813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40463044 meters Centerline goodness [0,1] 0.31903761204271563 Centerline is valid? [False, False] Translation: X:13.72, Y:0.52, Z:0.65 [[ 9.95665913e-01 1.09451261e-03 -9.29956491e-02 1.37238807e+01] [-2.00178671e-03 9.99951305e-01 -9.66337122e-03 5.21151692e-01] [ 9.29805439e-02 9.80764679e-03 9.95619620e-01 6.52807724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.43463044000003 meters Centerline goodness [0,1] 0.3196709018061834 Centerline is valid? [False, False] Translation: X:13.72, Y:0.52, Z:0.65 [[ 9.95682124e-01 1.03767713e-03 -9.28225828e-02 1.37233131e+01] [-1.97758916e-03 9.99947698e-01 -1.00344904e-02 5.24033867e-01] [ 9.28073155e-02 1.01747276e-02 9.95632099e-01 6.52997791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46463044 meters Centerline goodness [0,1] 0.3169646694747701 Centerline is valid? [False, False] Translation: X:13.72, Y:0.53, Z:0.65 [[ 9.95698020e-01 9.03979524e-04 -9.26533056e-02 1.37228735e+01] [-1.87802618e-03 9.99943883e-01 -1.04261596e-02 5.26776370e-01] [ 9.26386811e-02 1.05553118e-02 9.95643842e-01 6.53064430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.49463044000004 meters Centerline goodness [0,1] 0.3203929510103839 Centerline is valid? [False, False] Translation: X:13.72, Y:0.53, Z:0.65 [[ 9.95714308e-01 7.55405988e-04 -9.24794369e-02 1.37224567e+01] [-1.76057404e-03 9.99940258e-01 -1.07879972e-02 5.29145204e-01] [ 9.24657627e-02 1.09045800e-02 9.95656152e-01 6.53101765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52463044 meters Centerline goodness [0,1] 0.3218506898181974 Centerline is valid? [False, False] Translation: X:13.72, Y:0.53, Z:0.65 [[ 9.95718668e-01 5.27708869e-04 -9.24340608e-02 1.37222762e+01] [-1.56783256e-03 9.99936269e-01 -1.11803474e-02 5.31429026e-01] [ 9.24222699e-02 1.12774017e-02 9.95656037e-01 6.53267517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.55463044000004 meters Centerline goodness [0,1] 0.31941428172103126 Centerline is valid? [False, False] Translation: X:13.72, Y:0.53, Z:0.65 [[ 9.95730948e-01 3.50204491e-04 -9.23025263e-02 1.37216973e+01] [-1.41044522e-03 9.99933777e-01 -1.14216014e-02 5.32707510e-01] [ 9.22924138e-02 1.15030296e-02 9.95665501e-01 6.53594402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58463044 meters Centerline goodness [0,1] 0.3238824143329274 Centerline is valid? [False, False] Translation: X:13.72, Y:0.53, Z:0.65 [[ 9.95749793e-01 -6.15600605e-04 -9.20976157e-02 1.37209241e+01] [-5.00546039e-04 9.99926721e-01 -1.20955803e-02 5.33459444e-01] [ 9.20983128e-02 1.20902707e-02 9.95676517e-01 6.54052081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61463044000004 meters Centerline goodness [0,1] 0.32353132522282224 Centerline is valid? [False, False] Translation: X:13.72, Y:0.53, Z:0.65 [[ 9.95729788e-01 -1.16137064e-03 -9.23084008e-02 1.37215674e+01] [ 1.78769042e-05 9.99923270e-01 -1.23876154e-02 5.33011579e-01] [ 9.23157046e-02 1.23330675e-02 9.95653407e-01 6.53912815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64463044 meters Centerline goodness [0,1] 0.32492555991887107 Centerline is valid? [False, False] Translation: X:13.72, Y:0.53, Z:0.65 [[ 9.95717107e-01 -1.62241136e-03 -9.24381457e-02 1.37217300e+01] [ 4.62680266e-04 9.99920937e-01 -1.25660724e-02 5.32162226e-01] [ 9.24512246e-02 1.24694840e-02 9.95639133e-01 6.54181554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67463044000004 meters Centerline goodness [0,1] 0.32065681585240857 Centerline is valid? [False, False] Translation: X:13.74, Y:0.54, Z:0.66 [[ 9.95730214e-01 -9.35240214e-03 -9.18361257e-02 1.37414791e+01] [ 8.31755329e-03 9.99897604e-01 -1.16447135e-02 5.35125510e-01] [ 9.19356281e-02 1.08311412e-02 9.95706044e-01 6.57053583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70463044 meters Centerline goodness [0,1] 0.32189422952794866 Centerline is valid? [False, False] Translation: X:13.74, Y:0.54, Z:0.66 [[ 9.95741085e-01 -9.29809168e-03 -9.17236993e-02 1.37412181e+01] [ 8.27370214e-03 9.99899157e-01 -1.15421521e-02 5.35130827e-01] [ 9.18217697e-02 1.07341004e-02 9.95717601e-01 6.57063777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.73463044 meters Centerline goodness [0,1] 0.31871058462587354 Centerline is valid? [False, False] Translation: X:13.76, Y:0.53, Z:0.66 [[ 9.95897002e-01 -1.27992447e-03 -9.04849373e-02 1.37599372e+01] [ 1.28497052e-04 9.99918965e-01 -1.27297533e-02 5.32739231e-01] [ 9.04938980e-02 1.26658961e-02 9.95816464e-01 6.58993009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76463044 meters Centerline goodness [0,1] 0.3219443845656391 Centerline is valid? [False, False] Translation: X:13.76, Y:0.54, Z:0.66 [[ 9.95934937e-01 -1.44779719e-03 -9.00638994e-02 1.37588795e+01] [ 2.48198192e-04 9.99911132e-01 -1.33291950e-02 5.37138155e-01] [ 9.00751936e-02 1.32526573e-02 9.95846789e-01 6.59220158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.79463044 meters Centerline goodness [0,1] 0.3235047241891398 Centerline is valid? [False, False] Translation: X:13.76, Y:0.54, Z:0.66 [[ 9.95920198e-01 -1.60804301e-03 -9.02240231e-02 1.37593585e+01] [ 3.65144067e-04 9.99904840e-01 -1.37905138e-02 5.39809989e-01] [ 9.02376131e-02 1.37013064e-02 9.95826013e-01 6.59204030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82463044 meters Centerline goodness [0,1] 0.31861212251017346 Centerline is valid? [False, False] Translation: X:13.76, Y:0.54, Z:0.66 [[ 9.95882140e-01 -1.71201998e-03 -9.06412283e-02 1.37608165e+01] [ 4.25451787e-04 9.99898921e-01 -1.42114920e-02 5.42602895e-01] [ 9.06563968e-02 1.41144076e-02 9.95782206e-01 6.58753979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.85463044 meters Centerline goodness [0,1] 0.3189840723202755 Centerline is valid? [False, False] Translation: X:13.76, Y:0.55, Z:0.66 [[ 9.95833629e-01 -1.73381712e-03 -9.11722397e-02 1.37624667e+01] [ 4.09342380e-04 9.99894149e-01 -1.45438643e-02 5.45383700e-01] [ 9.11878054e-02 1.44459485e-02 9.95728928e-01 6.58366572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88463044 meters Centerline goodness [0,1] 0.31793601206506517 Centerline is valid? [False, False] Translation: X:13.76, Y:0.55, Z:0.66 [[ 9.95795808e-01 -1.73593490e-03 -9.15843573e-02 1.37639744e+01] [ 3.77038879e-04 9.99889619e-01 -1.48528590e-02 5.48059562e-01] [ 9.16000317e-02 1.47558839e-02 9.95686546e-01 6.57828847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.91463044 meters Centerline goodness [0,1] 0.3159051724137931 Centerline is valid? [False, False] Translation: X:13.77, Y:0.55, Z:0.66 [[ 9.95771406e-01 -1.89976589e-03 -9.18460513e-02 1.37650390e+01] [ 4.75934242e-04 9.99879416e-01 -1.55217898e-02 5.53033381e-01] [ 9.18644640e-02 1.54124418e-02 9.95652237e-01 6.57465201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.94463044 meters Centerline goodness [0,1] 0.3184151809891038 Centerline is valid? [False, False] Translation: X:13.76, Y:0.56, Z:0.66 [[ 9.95775723e-01 -2.11671401e-03 -9.17944983e-02 1.37649701e+01] [ 6.51451081e-04 9.99871948e-01 -1.59894527e-02 5.55186291e-01] [ 9.18165890e-02 1.58621092e-02 9.95649591e-01 6.57453096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.97463044 meters Centerline goodness [0,1] 0.31528279181708785 Centerline is valid? [False, False] Translation: X:13.77, Y:0.56, Z:0.66 [[ 9.95763567e-01 -2.27649462e-03 -9.19224442e-02 1.37655108e+01] [ 7.72584075e-04 9.99865329e-01 -1.63929167e-02 5.57383046e-01] [ 9.19473833e-02 1.62524514e-02 9.95631225e-01 6.57231647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.00463044 meters Centerline goodness [0,1] 0.31228220203099943 Centerline is valid? [False, False] Translation: X:13.77, Y:0.56, Z:0.66 [[ 9.95739279e-01 -2.35619712e-03 -9.21831644e-02 1.37666133e+01] [ 8.19044487e-04 9.99860055e-01 -1.67092617e-02 5.59565920e-01] [ 9.22096341e-02 1.65625660e-02 9.95601861e-01 6.56768591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03463044 meters Centerline goodness [0,1] 0.3131180102767822 Centerline is valid? [False, False] Translation: X:13.77, Y:0.56, Z:0.66 [[ 9.95710795e-01 -2.34230845e-03 -9.24906875e-02 1.37679708e+01] [ 7.77260218e-04 9.99855976e-01 -1.69535415e-02 5.62040778e-01] [ 9.25170770e-02 1.68089350e-02 9.95569209e-01 6.56071417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.06463044000003 meters Centerline goodness [0,1] 0.31340473872119445 Centerline is valid? [False, False] Translation: X:13.77, Y:0.56, Z:0.65 [[ 9.95618105e-01 -2.24428802e-04 -9.35122401e-02 1.37723160e+01] [-1.19753603e-03 9.99884518e-01 -1.51497968e-02 5.64043179e-01] [ 9.35048411e-02 1.51953962e-02 9.95502860e-01 6.54378699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09463044 meters Centerline goodness [0,1] 0.3116733016566071 Centerline is valid? [False, False] Translation: X:13.79, Y:0.57, Z:0.66 [[ 9.95642789e-01 -5.02846949e-03 -9.31136486e-02 1.37943960e+01] [ 3.87543939e-03 9.99913613e-01 -1.25597249e-02 5.68586871e-01] [ 9.31687610e-02 1.21441432e-02 9.95576266e-01 6.56477718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.12463044000003 meters Centerline goodness [0,1] 0.31083656296169415 Centerline is valid? [False, False] Translation: X:13.79, Y:0.57, Z:0.66 [[ 9.95665094e-01 -5.08864307e-03 -9.28715573e-02 1.37933868e+01] [ 3.92580476e-03 9.99911654e-01 -1.26993320e-02 5.69054440e-01] [ 9.29279748e-02 1.22796860e-02 9.95597108e-01 6.57035132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15463044 meters Centerline goodness [0,1] 0.3143041237113402 Centerline is valid? [False, False] Translation: X:13.79, Y:0.57, Z:0.66 [[ 9.95680829e-01 -5.13547378e-03 -9.27001234e-02 1.37926713e+01] [ 3.96423311e-03 9.99910033e-01 -1.28144472e-02 5.69501004e-01] [ 9.27575917e-02 1.23916146e-02 9.95611610e-01 6.57401899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18463044000003 meters Centerline goodness [0,1] 0.3126913622838414 Centerline is valid? [False, False] Translation: X:13.79, Y:0.57, Z:0.66 [[ 9.95679943e-01 -5.14924913e-03 -9.27088742e-02 1.37927294e+01] [ 3.96975664e-03 9.99908880e-01 -1.29024635e-02 5.70042789e-01] [ 9.27668646e-02 1.24786925e-02 9.95609658e-01 6.57367713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.21463044 meters Centerline goodness [0,1] 0.3123558200202661 Centerline is valid? [False, False] Translation: X:13.79, Y:0.57, Z:0.66 [[ 9.95649922e-01 -5.10289244e-03 -9.30332916e-02 1.37937305e+01] [ 3.91554890e-03 9.99908600e-01 -1.29406372e-02 5.70549073e-01] [ 9.30908230e-02 1.25200680e-02 9.95578900e-01 6.57131517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24463044000004 meters Centerline goodness [0,1] 0.3110920770877944 Centerline is valid? [False, False] Translation: X:13.79, Y:0.57, Z:0.66 [[ 9.95621349e-01 -4.96636461e-03 -9.33459366e-02 1.37947841e+01] [ 3.77794378e-03 9.99909606e-01 -1.29037667e-02 5.71105093e-01] [ 9.34015835e-02 1.24946100e-02 9.95550114e-01 6.56821389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.27463044 meters Centerline goodness [0,1] 0.3110920770877944 Centerline is valid? [False, False] Translation: X:13.79, Y:0.57, Z:0.66 [[ 9.95621349e-01 -4.96636461e-03 -9.33459366e-02 1.37947841e+01] [ 3.77794378e-03 9.99909606e-01 -1.29037667e-02 5.71105093e-01] [ 9.34015835e-02 1.24946100e-02 9.95550114e-01 6.56821389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30463044000004 meters Centerline goodness [0,1] 0.31176319286663523 Centerline is valid? [False, False] Translation: X:13.79, Y:0.57, Z:0.66 [[ 9.95712690e-01 -2.63331365e-03 -9.24624480e-02 1.37907449e+01] [ 1.62295529e-03 9.99938173e-01 -1.10007218e-02 5.72878642e-01] [ 9.24856997e-02 1.08034959e-02 9.95655402e-01 6.58639720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.33463044 meters Centerline goodness [0,1] 0.31341455553406816 Centerline is valid? [False, False] Translation: X:13.79, Y:0.57, Z:0.66 [[ 9.95753118e-01 -2.47942793e-03 -9.20303227e-02 1.37893496e+01] [ 1.46488347e-03 9.99937432e-01 -1.10899374e-02 5.74194666e-01] [ 9.20520612e-02 1.09080260e-02 9.95694448e-01 6.59116499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36463044000004 meters Centerline goodness [0,1] 0.31397153945666234 Centerline is valid? [False, False] Translation: X:13.79, Y:0.58, Z:0.66 [[ 9.95752263e-01 -2.39214008e-03 -9.20418806e-02 1.37894102e+01] [ 1.36204952e-03 9.99935758e-01 -1.12527310e-02 5.75781698e-01] [ 9.20628858e-02 1.10795667e-02 9.95691553e-01 6.59090886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.39463044 meters Centerline goodness [0,1] 0.31330057716652004 Centerline is valid? [False, False] Translation: X:13.79, Y:0.58, Z:0.66 [[ 9.95716646e-01 -2.19393473e-03 -9.24313174e-02 1.37907048e+01] [ 1.15362219e-03 9.99935409e-01 -1.13069059e-02 5.77232267e-01] [ 9.24501538e-02 1.11518435e-02 9.95654863e-01 6.58687452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42463044000004 meters Centerline goodness [0,1] 0.3153723564629366 Centerline is valid? [False, False] Translation: X:13.79, Y:0.58, Z:0.66 [[ 9.95641263e-01 4.35874872e-04 -9.32645952e-02 1.37943323e+01] [-1.30418251e-03 9.99956373e-01 -9.24940553e-03 5.80017298e-01] [ 9.32564947e-02 9.33072386e-03 9.95598395e-01 6.57154259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.45463044 meters Centerline goodness [0,1] 0.31293810907847497 Centerline is valid? [False, False] Translation: X:13.79, Y:0.58, Z:0.66 [[ 9.95637394e-01 5.22197777e-04 -9.33054526e-02 1.37944970e+01] [-1.40020242e-03 9.99955356e-01 -9.34478530e-03 5.81196551e-01] [ 9.32964072e-02 9.43466420e-03 9.95593676e-01 6.57141476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48463044 meters Centerline goodness [0,1] 0.3145735105015002 Centerline is valid? [False, False] Translation: X:13.79, Y:0.58, Z:0.66 [[ 9.95660380e-01 5.41003925e-04 -9.30597361e-02 1.37937185e+01] [-1.42909119e-03 9.99954073e-01 -9.47682036e-03 5.82170854e-01] [ 9.30503351e-02 9.56868542e-03 9.95615425e-01 6.57337233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.51463044 meters Centerline goodness [0,1] 0.316791181346481 Centerline is valid? [False, False] Translation: X:13.79, Y:0.58, Z:0.66 [[ 9.95703003e-01 5.54981738e-04 -9.26024901e-02 1.37923038e+01] [-1.44737472e-03 9.99953160e-01 -9.56993282e-03 5.82804416e-01] [ 9.25928415e-02 9.66284135e-03 9.95657168e-01 6.57713238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54463044 meters Centerline goodness [0,1] 0.3166630552546046 Centerline is valid? [False, False] Translation: X:13.79, Y:0.58, Z:0.66 [[ 9.95728111e-01 5.46528846e-04 -9.23321700e-02 1.37914882e+01] [-1.44034729e-03 9.99952746e-01 -9.61410593e-03 5.83029281e-01] [ 9.23225525e-02 9.70602593e-03 9.95681846e-01 6.57932398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.57463044 meters Centerline goodness [0,1] 0.3162395012555199 Centerline is valid? [False, False] Translation: X:13.79, Y:0.58, Z:0.66 [[ 9.95714531e-01 7.54182254e-04 -9.24770438e-02 1.37925087e+01] [-1.64010147e-03 9.99953488e-01 -9.50425813e-03 5.83914372e-01] [ 9.24655746e-02 9.61519966e-03 9.95669456e-01 6.57097197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60463044 meters Centerline goodness [0,1] 0.3123225195766285 Centerline is valid? [False, False] Translation: X:13.79, Y:0.58, Z:0.66 [[ 9.95684339e-01 7.88133552e-04 -9.28012685e-02 1.37936282e+01] [-1.67781038e-03 9.99953378e-01 -9.50927428e-03 5.84346802e-01] [ 9.27894473e-02 9.62393841e-03 9.95639241e-01 6.56734081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.63463044 meters Centerline goodness [0,1] 0.3155335628227195 Centerline is valid? [False, False] Translation: X:13.79, Y:0.58, Z:0.66 [[ 9.95667963e-01 8.07016647e-04 -9.29766441e-02 1.37942272e+01] [-1.69727119e-03 9.99953468e-01 -9.49635757e-03 5.84379638e-01] [ 9.29646540e-02 9.61302558e-03 9.95623002e-01 6.56531738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66463044 meters Centerline goodness [0,1] 0.3116442765783939 Centerline is valid? [False, False] Translation: X:13.79, Y:0.58, Z:0.66 [[ 9.95661759e-01 7.50588412e-04 -9.30435280e-02 1.37942996e+01] [-1.64538451e-03 9.99953134e-01 -9.54062279e-03 5.84280053e-01] [ 9.30320063e-02 9.65232565e-03 9.95616331e-01 6.56666593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.69463044 meters Centerline goodness [0,1] 0.31259500310432675 Centerline is valid? [False, False] Translation: X:13.79, Y:0.58, Z:0.66 [[ 9.95668719e-01 7.51305399e-04 -9.29690101e-02 1.37939943e+01] [-1.63680939e-03 9.99954019e-01 -9.44883733e-03 5.83512731e-01] [ 9.29576363e-02 9.56008431e-03 9.95624167e-01 6.56833762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72463044 meters Centerline goodness [0,1] 0.3151534803285776 Centerline is valid? [False, False] Translation: X:13.79, Y:0.58, Z:0.66 [[ 9.95687352e-01 7.98820754e-04 -9.27688429e-02 1.37932742e+01] [-1.66423320e-03 9.99955817e-01 -9.25171060e-03 5.82198347e-01] [ 9.27573536e-02 9.36620022e-03 9.95644689e-01 6.57108289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.75463044 meters Centerline goodness [0,1] 0.3140733483835243 Centerline is valid? [False, False] Translation: X:13.81, Y:0.58, Z:0.66 [[ 9.95796514e-01 -6.85015239e-03 -9.13366237e-02 1.38133518e+01] [ 6.13051136e-03 9.99947937e-01 -8.15723072e-03 5.83016609e-01] [ 9.13877467e-02 7.56300170e-03 9.95786664e-01 6.59370979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78463044 meters Centerline goodness [0,1] 0.3137124177383973 Centerline is valid? [False, False] Translation: X:13.81, Y:0.58, Z:0.66 [[ 9.95784704e-01 -6.77358957e-03 -9.14709833e-02 1.38137247e+01] [ 6.07386886e-03 9.99950143e-01 -7.92585931e-03 5.81592708e-01] [ 9.15201094e-02 7.33686671e-03 9.95776200e-01 6.59313988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.81463044000003 meters Centerline goodness [0,1] 0.3124959470851436 Centerline is valid? [False, False] Translation: X:13.81, Y:0.58, Z:0.66 [[ 9.95763913e-01 -6.72600266e-03 -9.17005483e-02 1.38145508e+01] [ 6.03841677e-03 9.99951554e-01 -7.77355549e-03 5.80620130e-01] [ 9.17483906e-02 7.18689991e-03 9.95756286e-01 6.59011866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84463044 meters Centerline goodness [0,1] 0.3152042751249785 Centerline is valid? [False, False] Translation: X:13.82, Y:0.58, Z:0.66 [[ 9.95738497e-01 -6.64859044e-03 -9.19817483e-02 1.38153971e+01] [ 5.96389085e-03 9.99952441e-01 -7.71673233e-03 5.80618847e-01] [ 9.20286791e-02 7.13527834e-03 9.95730792e-01 6.58825014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.87463044000003 meters Centerline goodness [0,1] 0.31318042945049274 Centerline is valid? [False, False] Translation: X:13.82, Y:0.58, Z:0.66 [[ 9.95717569e-01 -6.60436360e-03 -9.22112023e-02 1.38162650e+01] [ 5.90863296e-03 9.99951998e-01 -7.81593686e-03 5.81694695e-01] [ 9.22583954e-02 7.23762350e-03 9.95708795e-01 6.58496955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90463044 meters Centerline goodness [0,1] 0.3102005792126997 Centerline is valid? [False, False] Translation: X:13.82, Y:0.58, Z:0.66 [[ 9.95653662e-01 -4.37140069e-03 -9.30305106e-02 1.38197599e+01] [ 3.83479883e-03 9.99974969e-01 -5.94600377e-03 5.83041087e-01] [ 9.30541744e-02 5.56340713e-03 9.95645504e-01 6.57163186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.93463044000003 meters Centerline goodness [0,1] 0.3123911875335841 Centerline is valid? [False, False] Translation: X:13.82, Y:0.59, Z:0.66 [[ 9.95640873e-01 -5.39108556e-04 -9.32682252e-02 1.38201757e+01] [ 2.76896546e-04 9.99995973e-01 -2.82429376e-03 5.85667087e-01] [ 9.32693722e-02 2.78615666e-03 9.95637013e-01 6.57334189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96463044 meters Centerline goodness [0,1] 0.31138136266947425 Centerline is valid? [False, False] Translation: X:13.82, Y:0.59, Z:0.66 [[ 9.95650632e-01 -4.79182495e-04 -9.31643182e-02 1.38199800e+01] [ 1.91779389e-04 9.99995196e-01 -3.09383386e-03 5.88075381e-01] [ 9.31653532e-02 3.06251064e-03 9.95645940e-01 6.57246575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.99463044000004 meters Centerline goodness [0,1] 0.31205415479531284 Centerline is valid? [False, False] Translation: X:13.82, Y:0.59, Z:0.66 [[ 9.95633329e-01 -4.73324109e-04 -9.33490815e-02 1.38205152e+01] [ 1.53440191e-04 9.99994092e-01 -3.43389715e-03 5.90716356e-01] [ 9.33501554e-02 3.40457894e-03 9.95627519e-01 6.57137851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02463044 meters Centerline goodness [0,1] 0.31131043065897046 Centerline is valid? [False, False] Translation: X:13.82, Y:0.59, Z:0.66 [[ 9.95618078e-01 -5.67523077e-04 -9.35110744e-02 1.38212280e+01] [ 2.06860476e-04 9.99992503e-01 -3.86654516e-03 5.93468850e-01] [ 9.35125677e-02 3.83025852e-03 9.95610732e-01 6.56730586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05463044000004 meters Centerline goodness [0,1] 0.31324493283436805 Centerline is valid? [False, False] Translation: X:13.82, Y:0.60, Z:0.66 [[ 9.95601964e-01 -6.86855558e-04 -9.36816769e-02 1.38220268e+01] [ 2.85775235e-04 9.99990737e-01 -4.29465850e-03 5.95896619e-01] [ 9.36837589e-02 4.24899854e-03 9.95592939e-01 6.56210410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08463044 meters Centerline goodness [0,1] 0.309696435102515 Centerline is valid? [False, False] Translation: X:13.82, Y:0.60, Z:0.66 [[ 9.95576359e-01 -7.67814063e-04 -9.39527712e-02 1.38229317e+01] [ 3.32391347e-04 9.99989133e-01 -4.65004647e-03 5.98160891e-01] [ 9.39553206e-02 4.59824725e-03 9.95565796e-01 6.55880333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11463044000004 meters Centerline goodness [0,1] 0.3129446768142814 Centerline is valid? [False, False] Translation: X:13.82, Y:0.60, Z:0.66 [[ 9.95570636e-01 -9.47858058e-04 -9.40117548e-02 1.38229163e+01] [ 4.66596959e-04 9.99986676e-01 -5.14100815e-03 6.01199816e-01] [ 9.40153752e-02 5.07437115e-03 9.95557813e-01 6.56021695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14463044 meters Centerline goodness [0,1] 0.30866064582090824 Centerline is valid? [False, False] Translation: X:13.82, Y:0.60, Z:0.66 [[ 9.95554645e-01 -1.11821494e-03 -9.41790746e-02 1.38231286e+01] [ 6.18685496e-04 9.99985588e-01 -5.33307003e-03 6.02088129e-01] [ 9.41836808e-02 5.25109542e-03 9.95540989e-01 6.56322432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17463044000004 meters Centerline goodness [0,1] 0.3123176345991744 Centerline is valid? [False, False] Translation: X:13.80, Y:0.60, Z:0.65 [[ 9.95579646e-01 5.64794337e-03 -9.37511026e-02 1.38049039e+01] [-6.29281575e-03 9.99958523e-01 -6.58435109e-03 5.96958643e-01] [ 9.37100260e-02 7.14520434e-03 9.95573893e-01 6.52903681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20463044 meters Centerline goodness [0,1] 0.3111811631497684 Centerline is valid? [False, False] Translation: X:13.82, Y:0.60, Z:0.66 [[ 9.95616280e-01 -1.61018598e-03 -9.35180782e-02 1.38235569e+01] [ 1.11208834e-03 9.99984920e-01 -5.37808781e-03 6.01259473e-01] [ 9.35253276e-02 5.25051141e-03 9.95603056e-01 6.56112658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.23463044 meters Centerline goodness [0,1] 0.3106312292358804 Centerline is valid? [False, False] Translation: X:13.82, Y:0.60, Z:0.66 [[ 9.95611989e-01 -1.68700555e-03 -9.35623929e-02 1.38236405e+01] [ 1.19323054e-03 9.99985067e-01 -5.33318687e-03 6.00722861e-01] [ 9.35699928e-02 5.19814328e-03 9.95599134e-01 6.56195457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26463044 meters Centerline goodness [0,1] 0.313922255409674 Centerline is valid? [False, False] Translation: X:13.82, Y:0.60, Z:0.66 [[ 9.95587138e-01 -1.87815373e-03 -9.38228304e-02 1.38242501e+01] [ 1.38071647e-03 9.99984647e-01 -5.36651186e-03 5.99957858e-01] [ 9.38314690e-02 5.21328746e-03 9.95574446e-01 6.56329043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.29463044 meters Centerline goodness [0,1] 0.3121903297454297 Centerline is valid? [False, False] Translation: X:13.82, Y:0.60, Z:0.66 [[ 9.95566691e-01 -1.92251274e-03 -9.40386460e-02 1.38248670e+01] [ 1.41616876e-03 9.99984141e-01 -5.45086325e-03 6.00353221e-01] [ 9.40476340e-02 5.29352329e-03 9.95553625e-01 6.56245228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32463044 meters Centerline goodness [0,1] 0.31329846523193006 Centerline is valid? [False, False] Translation: X:13.83, Y:0.60, Z:0.66 [[ 9.95555038e-01 -1.90403137e-03 -9.41623150e-02 1.38252439e+01] [ 1.39033898e-03 9.99983794e-01 -5.52069625e-03 6.01037902e-01] [ 9.41713006e-02 5.36523942e-03 9.95541551e-01 6.56152550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.35463044 meters Centerline goodness [0,1] 0.3147631115501911 Centerline is valid? [False, False] Translation: X:13.82, Y:0.60, Z:0.66 [[ 9.95567128e-01 -1.83536412e-03 -9.40357603e-02 1.38248517e+01] [ 1.31921237e-03 9.99983724e-01 -5.55075830e-03 6.01640010e-01] [ 9.40444175e-02 5.40209936e-03 9.95553346e-01 6.56290964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38463044 meters Centerline goodness [0,1] 0.3153505677079992 Centerline is valid? [False, False] Translation: X:13.84, Y:0.60, Z:0.66 [[ 9.95723890e-01 6.72597176e-03 -9.21341218e-02 1.38431954e+01] [-7.38654756e-03 9.99949390e-01 -6.83059108e-03 6.00737085e-01] [ 9.20835165e-02 7.48193579e-03 9.95723178e-01 6.59237714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.41463044 meters Centerline goodness [0,1] 0.3187363693291011 Centerline is valid? [False, False] Translation: X:13.84, Y:0.60, Z:0.66 [[ 9.95735869e-01 6.83403490e-03 -9.19966056e-02 1.38427876e+01] [-7.48910116e-03 9.99948990e-01 -6.77721040e-03 6.00861470e-01] [ 9.19455972e-02 7.43728338e-03 9.95736257e-01 6.59335547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.44463044 meters Centerline goodness [0,1] 0.3198860325066373 Centerline is valid? [False, False] Translation: X:13.84, Y:0.60, Z:0.66 [[ 9.95743315e-01 6.87281049e-03 -9.19130820e-02 1.38426844e+01] [-7.52591912e-03 9.99948823e-01 -6.76100595e-03 6.00816934e-01] [ 9.18619110e-02 7.42395690e-03 9.95744081e-01 6.59180884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.47463044 meters Centerline goodness [0,1] 0.3201549381113131 Centerline is valid? [False, False] Translation: X:13.84, Y:0.60, Z:0.66 [[ 9.95743512e-01 6.93747820e-03 -9.19060908e-02 1.38427577e+01] [-7.57759184e-03 9.99949392e-01 -6.61774211e-03 5.99993064e-01] [ 9.18555291e-02 7.28600062e-03 9.95745688e-01 6.59041267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.50463044 meters Centerline goodness [0,1] 0.32451954362066726 Centerline is valid? [False, False] Translation: X:13.84, Y:0.60, Z:0.66 [[ 9.95745693e-01 7.00839225e-03 -9.18770784e-02 1.38426366e+01] [-7.63044310e-03 9.99950273e-01 -6.42093891e-03 5.98795920e-01] [ 9.18275092e-02 7.09468509e-03 9.95749654e-01 6.59087562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53463044 meters Centerline goodness [0,1] 0.31895534238932166 Centerline is valid? [False, False] Translation: X:13.86, Y:0.60, Z:0.66 [[ 9.95830168e-01 -1.17170251e-04 -9.12264376e-02 1.38619521e+01] [-3.49264996e-04 9.99986949e-01 -5.09695823e-03 6.01160388e-01] [ 9.12258442e-02 5.10756697e-03 9.95817131e-01 6.61793609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.56463044000003 meters Centerline goodness [0,1] 0.31915898889676353 Centerline is valid? [False, False] Translation: X:13.86, Y:0.60, Z:0.66 [[ 9.95822645e-01 1.32170444e-04 -9.13084954e-02 1.38625008e+01] [-5.42426900e-04 9.99989870e-01 -4.46827958e-03 5.97391884e-01] [ 9.13069799e-02 4.49914217e-03 9.95812630e-01 6.61427328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59463044 meters Centerline goodness [0,1] 0.3215238341077268 Centerline is valid? [False, False] Translation: X:13.86, Y:0.60, Z:0.66 [[ 9.95816183e-01 1.63981104e-04 -9.13788969e-02 1.38629332e+01] [-5.56036423e-04 9.99990750e-01 -4.26499437e-03 5.95783352e-01] [ 9.13773523e-02 4.29796041e-03 9.95807063e-01 6.61140576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.62463044000003 meters Centerline goodness [0,1] 0.316359511119673 Centerline is valid? [False, False] Translation: X:13.86, Y:0.59, Z:0.66 [[ 9.95811994e-01 2.39339232e-04 -9.14243693e-02 1.38632260e+01] [-6.09399904e-04 9.99991735e-01 -4.01983062e-03 5.94158365e-01] [ 9.14226515e-02 4.05870955e-03 9.95803909e-01 6.60974829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.65463044 meters Centerline goodness [0,1] 0.315868199495705 Centerline is valid? [False, False] Translation: X:13.86, Y:0.59, Z:0.66 [[ 9.95820691e-01 3.47237544e-04 -9.13292455e-02 1.38631359e+01] [-6.97107212e-04 9.99992541e-01 -3.79898936e-03 5.92965388e-01] [ 9.13272451e-02 3.84677849e-03 9.95813505e-01 6.60818388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68463044000003 meters Centerline goodness [0,1] 0.31860480110034173 Centerline is valid? [False, False] Translation: X:13.86, Y:0.59, Z:0.66 [[ 9.95820156e-01 4.99817182e-04 -9.13343706e-02 1.38632658e+01] [-8.29085733e-04 9.99993294e-01 -3.56718343e-03 5.92016342e-01] [ 9.13319751e-02 3.62799719e-03 9.95813892e-01 6.60729001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.71463044 meters Centerline goodness [0,1] 0.3158188332725439 Centerline is valid? [False, False] Translation: X:13.86, Y:0.59, Z:0.66 [[ 9.95821824e-01 6.50768340e-04 -9.13152253e-02 1.38635757e+01] [-9.68672679e-04 9.99993624e-01 -3.43711799e-03 5.91833365e-01] [ 9.13124063e-02 3.51121168e-03 9.95816105e-01 6.60324218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74463044000004 meters Centerline goodness [0,1] 0.31982506032402624 Centerline is valid? [False, False] Translation: X:13.87, Y:0.59, Z:0.66 [[ 9.95786879e-01 1.04968931e-03 -9.16918142e-02 1.38650679e+01] [-1.36398274e-03 9.99993408e-01 -3.36511743e-03 5.92897260e-01] [ 9.16876774e-02 3.47600584e-03 9.95781747e-01 6.59573013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77463044 meters Centerline goodness [0,1] 0.3153887399463807 Centerline is valid? [False, False] Translation: X:13.87, Y:0.59, Z:0.66 [[ 9.95760403e-01 1.12829624e-03 -9.19779663e-02 1.38659942e+01] [-1.45757460e-03 9.99992768e-01 -3.51287381e-03 5.94354149e-01] [ 9.19733375e-02 3.63204539e-03 9.95754846e-01 6.59249109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80463044000004 meters Centerline goodness [0,1] 0.31508894671729026 Centerline is valid? [False, False] Translation: X:13.87, Y:0.60, Z:0.66 [[ 9.95746016e-01 1.22804712e-03 -9.21323136e-02 1.38665933e+01] [-1.56874463e-03 9.99992197e-01 -3.62558662e-03 5.95926840e-01] [ 9.21271423e-02 3.75469551e-03 9.95740173e-01 6.58966408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83463044 meters Centerline goodness [0,1] 0.31681006806215484 Centerline is valid? [False, False] Translation: X:13.87, Y:0.60, Z:0.66 [[ 9.95743460e-01 1.34441208e-03 -9.21583109e-02 1.38668876e+01] [-1.68515651e-03 9.99992029e-01 -3.61966496e-03 5.96804167e-01] [ 9.21527100e-02 3.75955889e-03 9.95737789e-01 6.58637486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86463044000004 meters Centerline goodness [0,1] 0.3202087286527514 Centerline is valid? [False, False] Translation: X:13.87, Y:0.60, Z:0.66 [[ 9.95748882e-01 1.33865689e-03 -9.20997888e-02 1.38670049e+01] [-1.68226823e-03 9.99991912e-01 -3.65332695e-03 5.96984092e-01] [ 9.20941533e-02 3.79273278e-03 9.95743080e-01 6.58323065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89463044 meters Centerline goodness [0,1] 0.31588571920313235 Centerline is valid? [False, False] Translation: X:13.87, Y:0.60, Z:0.66 [[ 9.95750058e-01 1.03187730e-03 -9.20910322e-02 1.38671499e+01] [-1.38124495e-03 9.99992089e-01 -3.73006578e-03 5.95555637e-01] [ 9.20864547e-02 3.84141348e-03 9.95743606e-01 6.58194940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92463044000004 meters Centerline goodness [0,1] 0.3163219376272639 Centerline is valid? [False, False] Translation: X:13.87, Y:0.59, Z:0.66 [[ 9.95736895e-01 8.33129291e-04 -9.22352503e-02 1.38674967e+01] [-1.18043106e-03 9.99992418e-01 -3.71089994e-03 5.94157856e-01] [ 9.22314593e-02 3.80395734e-03 9.95730329e-01 6.58304479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95463044 meters Centerline goodness [0,1] 0.31845968401567004 Centerline is valid? [False, False] Translation: X:13.87, Y:0.59, Z:0.66 [[ 9.95708070e-01 6.76983335e-04 -9.25471823e-02 1.38683632e+01] [-1.01370341e-03 9.99993037e-01 -3.59140107e-03 5.92309808e-01] [ 9.25441066e-02 3.66980242e-03 9.95701823e-01 6.58245197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98463044 meters Centerline goodness [0,1] 0.3159906879391726 Centerline is valid? [False, False] Translation: X:13.87, Y:0.59, Z:0.66 [[ 9.95661972e-01 4.71899751e-04 -9.30430781e-02 1.38697111e+01] [-7.99541961e-04 9.99993611e-01 -3.48415805e-03 5.90355251e-01] [ 9.30408395e-02 3.54343552e-03 9.95655988e-01 6.58156603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01463044 meters Centerline goodness [0,1] 0.3177342029110698 Centerline is valid? [False, False] Translation: X:13.87, Y:0.59, Z:0.66 [[ 9.95631949e-01 4.14415200e-04 -9.33640696e-02 1.38705048e+01] [-7.21418622e-04 9.99994444e-01 -3.25451250e-03 5.88295312e-01] [ 9.33622021e-02 3.30765120e-03 9.95626717e-01 6.58211826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04463044 meters Centerline goodness [0,1] 0.3174940898345153 Centerline is valid? [False, False] Translation: X:13.87, Y:0.59, Z:0.66 [[ 9.95603904e-01 4.14986836e-04 -9.36626631e-02 1.38713195e+01] [-7.01821021e-04 9.99995165e-01 -3.02949873e-03 5.86590872e-01] [ 9.36609530e-02 3.08191519e-03 9.95599381e-01 6.58216932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.07463044 meters Centerline goodness [0,1] 0.3173602624300508 Centerline is valid? [False, False] Translation: X:13.87, Y:0.58, Z:0.66 [[ 9.95605768e-01 5.58442284e-04 -9.36420997e-02 1.38713504e+01] [-8.11152890e-04 9.99996131e-01 -2.66064488e-03 5.84485674e-01] [ 9.36402516e-02 2.72491144e-03 9.95602369e-01 6.58191661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10463044 meters Centerline goodness [0,1] 0.31529099168595187 Centerline is valid? [False, False] Translation: X:13.87, Y:0.58, Z:0.66 [[ 9.95606069e-01 5.87996663e-04 -9.36387157e-02 1.38712772e+01] [-8.33021237e-04 9.99996331e-01 -2.57763567e-03 5.83787192e-01] [ 9.36368565e-02 2.64431275e-03 9.95602906e-01 6.58297921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.13463044 meters Centerline goodness [0,1] 0.3166219551454018 Centerline is valid? [False, False] Translation: X:13.87, Y:0.58, Z:0.66 [[ 9.95592489e-01 6.71336103e-04 -9.37824307e-02 1.38715683e+01] [-9.02903094e-04 9.99996648e-01 -2.42678383e-03 5.82891943e-01] [ 9.37804871e-02 2.50076420e-03 9.95589758e-01 6.58404710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16463044 meters Centerline goodness [0,1] 0.318582731635609 Centerline is valid? [False, False] Translation: X:13.87, Y:0.58, Z:0.66 [[ 9.95573014e-01 8.31368575e-04 -9.39876733e-02 1.38718802e+01] [-1.03071909e-03 9.99997321e-01 -2.07250330e-03 5.80805742e-01] [ 9.39856985e-02 2.16020324e-03 9.95571204e-01 6.58652988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.19463044 meters Centerline goodness [0,1] 0.3177803090545681 Centerline is valid? [False, False] Translation: X:13.87, Y:0.58, Z:0.66 [[ 9.95570221e-01 9.29263434e-04 -9.40163399e-02 1.38719561e+01] [-1.11182868e-03 9.99997597e-01 -1.88948351e-03 5.79842799e-01] [ 9.40143581e-02 1.98564358e-03 9.95568861e-01 6.58720327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22463044 meters Centerline goodness [0,1] 0.3177803090545681 Centerline is valid? [False, False] Translation: X:13.87, Y:0.58, Z:0.66 [[ 9.95570221e-01 9.29263434e-04 -9.40163399e-02 1.38719561e+01] [-1.11182868e-03 9.99997597e-01 -1.88948351e-03 5.79842799e-01] [ 9.40143581e-02 1.98564358e-03 9.95568861e-01 6.58720327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.25463044 meters Centerline goodness [0,1] 0.318363036872616 Centerline is valid? [False, False] Translation: X:13.87, Y:0.58, Z:0.66 [[ 9.95581033e-01 9.75797697e-04 -9.39013045e-02 1.38715043e+01] [-1.15048367e-03 9.99997707e-01 -1.80619706e-03 5.79236472e-01] [ 9.38993267e-02 1.90624745e-03 9.95579873e-01 6.58939632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28463044 meters Centerline goodness [0,1] 0.3169624697595752 Centerline is valid? [False, False] Translation: X:13.87, Y:0.58, Z:0.66 [[ 9.95594041e-01 1.03758087e-03 -9.37626179e-02 1.38710267e+01] [-1.20262712e-03 9.99997825e-01 -1.70376826e-03 5.78658493e-01] [ 9.37606462e-02 1.80902299e-03 9.95593124e-01 6.59131762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.31463044000003 meters Centerline goodness [0,1] 0.31881525584606096 Centerline is valid? [False, False] Translation: X:13.87, Y:0.58, Z:0.66 [[ 9.95594190e-01 1.08104180e-03 -9.37605490e-02 1.38709168e+01] [-1.24713499e-03 9.99997755e-01 -1.71288429e-03 5.78815586e-01] [ 9.37584868e-02 1.82226971e-03 9.95593303e-01 6.59260741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34463044 meters Centerline goodness [0,1] 0.3156349767521587 Centerline is valid? [False, False] Translation: X:13.87, Y:0.58, Z:0.66 [[ 9.95580858e-01 1.21625375e-03 -9.39003497e-02 1.38714167e+01] [-1.38057755e-03 9.99997627e-01 -1.68503873e-03 5.79248928e-01] [ 9.38980775e-02 1.80722902e-03 9.95580175e-01 6.59110046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.37463044000003 meters Centerline goodness [0,1] 0.3174801118039131 Centerline is valid? [False, False] Translation: X:13.87, Y:0.58, Z:0.66 [[ 9.95588224e-01 1.61706827e-03 -9.38161720e-02 1.38711379e+01] [-1.76732877e-03 9.99997285e-01 -1.51858500e-03 5.80058219e-01] [ 9.38134616e-02 1.67768937e-03 9.95588379e-01 6.59165903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40463044 meters Centerline goodness [0,1] 0.3203385427940604 Centerline is valid? [False, False] Translation: X:13.87, Y:0.58, Z:0.66 [[ 9.95590252e-01 1.67039902e-03 -9.37937118e-02 1.38710451e+01] [-1.82214061e-03 9.99997166e-01 -1.53220439e-03 5.80386886e-01] [ 9.37908866e-02 1.69635309e-03 9.95590474e-01 6.59193688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.43463044000003 meters Centerline goodness [0,1] 0.3173309372526367 Centerline is valid? [False, False] Translation: X:13.87, Y:0.58, Z:0.66 [[ 9.95582185e-01 1.77318536e-03 -9.38774105e-02 1.38713223e+01] [-1.91827857e-03 9.99997101e-01 -1.45534209e-03 5.80470063e-01] [ 9.38745578e-02 1.62899568e-03 9.95582701e-01 6.59126881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46463044 meters Centerline goodness [0,1] 0.32066518560058666 Centerline is valid? [False, False] Translation: X:13.87, Y:0.58, Z:0.66 [[ 9.95579569e-01 1.80838319e-03 -9.39044845e-02 1.38714159e+01] [-1.95194961e-03 9.99997062e-01 -1.43702694e-03 5.80580620e-01] [ 9.39016100e-02 1.61397149e-03 9.95580174e-01 6.59088641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.49463044000004 meters Centerline goodness [0,1] 0.32302829555541124 Centerline is valid? [False, False] Translation: X:13.87, Y:0.58, Z:0.66 [[ 9.95579219e-01 1.76490786e-03 -9.39090198e-02 1.38717214e+01] [-1.91561553e-03 9.99997018e-01 -1.51470452e-03 5.80896987e-01] [ 9.39060664e-02 1.68790192e-03 9.95579631e-01 6.58706259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52463044 meters Centerline goodness [0,1] 0.316368139023505 Centerline is valid? [False, False] Translation: X:13.89, Y:0.58, Z:0.66 [[ 9.95542530e-01 9.81493419e-03 -9.38015898e-02 1.38919415e+01] [-1.01322006e-02 9.99944443e-01 -2.90664252e-03 5.79166196e-01] [ 9.37678500e-02 3.84410277e-03 9.95586668e-01 6.61400072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55463044000004 meters Centerline goodness [0,1] 0.3214753668763103 Centerline is valid? [False, False] Translation: X:13.85, Y:0.58, Z:0.66 [[ 9.95320153e-01 8.94208344e-03 -9.62176282e-02 1.38478450e+01] [-9.20709600e-03 9.99954944e-01 -2.31067484e-03 5.76012983e-01] [ 9.61926308e-02 3.18574618e-03 9.95357639e-01 6.57739478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58463044 meters Centerline goodness [0,1] 0.3166663102290468 Centerline is valid? [False, False] Translation: X:13.89, Y:0.58, Z:0.66 [[ 9.95506229e-01 9.12549465e-03 -9.42553573e-02 1.38888915e+01] [-9.48494337e-03 9.99949351e-01 -3.36625706e-03 5.78715148e-01] [ 9.42198646e-02 4.24513660e-03 9.95542363e-01 6.62431845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61463044000004 meters Centerline goodness [0,1] 0.32046498587357386 Centerline is valid? [False, False] Translation: X:13.89, Y:0.58, Z:0.66 [[ 9.95520660e-01 9.13867405e-03 -9.41015394e-02 1.38882366e+01] [-9.48146726e-03 9.99949941e-01 -3.19633416e-03 5.77463465e-01] [ 9.40676186e-02 4.07423736e-03 9.95557474e-01 6.62769260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64463044 meters Centerline goodness [0,1] 0.32173988276772003 Centerline is valid? [False, False] Translation: X:13.89, Y:0.58, Z:0.66 [[ 9.95532414e-01 9.09874510e-03 -9.39809832e-02 1.38877841e+01] [-9.42817735e-03 9.99950866e-01 -3.06187596e-03 5.76125492e-01] [ 9.39485063e-02 3.93426615e-03 9.95569284e-01 6.63028851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67463044000004 meters Centerline goodness [0,1] 0.3242317118133119 Centerline is valid? [False, False] Translation: X:13.89, Y:0.57, Z:0.66 [[ 9.95517201e-01 9.13151904e-03 -9.41388240e-02 1.38879228e+01] [-9.42716938e-03 9.99951928e-01 -2.69632865e-03 5.73495882e-01] [ 9.41096769e-02 3.57170419e-03 9.95555429e-01 6.63360110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70463044 meters Centerline goodness [0,1] 0.3216448905425283 Centerline is valid? [False, False] Translation: X:13.89, Y:0.57, Z:0.66 [[ 9.95473509e-01 9.05520971e-03 -9.46070574e-02 1.38889173e+01] [-9.33182171e-03 9.99953378e-01 -2.48177855e-03 5.71285811e-01] [ 9.45801736e-02 3.35340100e-03 9.95511600e-01 6.63582112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.73463044 meters Centerline goodness [0,1] 0.3208304558011049 Centerline is valid? [False, False] Translation: X:13.89, Y:0.57, Z:0.66 [[ 9.95435811e-01 5.19350912e-03 -9.52920417e-02 1.38911198e+01] [-5.73797583e-03 9.99968738e-01 -5.44053694e-03 5.66595767e-01] [ 9.52608071e-02 5.96248874e-03 9.95434492e-01 6.62970807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76463044 meters Centerline goodness [0,1] 0.3187267287949551 Centerline is valid? [False, False] Translation: X:13.89, Y:0.56, Z:0.66 [[ 9.95388709e-01 5.17840077e-03 -9.57836171e-02 1.38925774e+01] [-5.68966451e-03 9.99970985e-01 -5.06534746e-03 5.63219903e-01] [ 9.57546075e-02 5.58696632e-03 9.95389291e-01 6.62746633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.79463044 meters Centerline goodness [0,1] 0.32289814854962495 Centerline is valid? [False, False] Translation: X:13.89, Y:0.56, Z:0.66 [[ 9.95374564e-01 5.39525130e-03 -9.59185526e-02 1.38930315e+01] [-5.85073390e-03 9.99972902e-01 -4.46802611e-03 5.59789380e-01] [ 9.58918473e-02 5.00855347e-03 9.95379158e-01 6.62638511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82463044 meters Centerline goodness [0,1] 0.3205290347473795 Centerline is valid? [False, False] Translation: X:13.91, Y:0.56, Z:0.67 [[ 9.95470792e-01 -1.51257597e-03 -9.50558466e-02 1.39122802e+01] [ 1.24006196e-03 9.99994951e-01 -2.92588919e-03 5.60394998e-01] [ 9.50597922e-02 2.79476209e-03 9.95467641e-01 6.65423449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.85463044 meters Centerline goodness [0,1] 0.32238495536874945 Centerline is valid? [False, False] Translation: X:13.91, Y:0.55, Z:0.67 [[ 9.95492413e-01 -1.63279915e-03 -9.48271590e-02 1.39112587e+01] [ 1.39701031e-03 9.99995766e-01 -2.55284539e-03 5.53131671e-01] [ 9.48309258e-02 2.40886370e-03 9.95490479e-01 6.66078482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88463044 meters Centerline goodness [0,1] 0.31975089348770513 Centerline is valid? [False, False] Translation: X:13.93, Y:0.55, Z:0.67 [[ 9.95455969e-01 5.06585510e-03 -9.50881256e-02 1.39331285e+01] [-5.57070910e-03 9.99971759e-01 -5.04462134e-03 5.49538578e-01] [ 9.50598849e-02 5.55140671e-03 9.95456076e-01 6.68178289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.91463044 meters Centerline goodness [0,1] 0.32238308554610573 Centerline is valid? [False, False] Translation: X:13.93, Y:0.55, Z:0.67 [[ 9.95424058e-01 5.25234399e-03 -9.54115142e-02 1.39343389e+01] [-5.72563201e-03 9.99972622e-01 -4.68739714e-03 5.47557397e-01] [ 9.53842822e-02 5.21223911e-03 9.95426879e-01 6.67701652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.94463044 meters Centerline goodness [0,1] 0.31986481250269083 Centerline is valid? [False, False] Translation: X:13.94, Y:0.55, Z:0.67 [[ 9.95396506e-01 5.48922512e-03 -9.56852333e-02 1.39353744e+01] [-5.92049453e-03 9.99973553e-01 -4.22384535e-03 5.45158910e-01] [ 9.56595171e-02 4.77090480e-03 9.95402680e-01 6.67269507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.97463044 meters Centerline goodness [0,1] 0.3197745703284648 Centerline is valid? [False, False] Translation: X:13.94, Y:0.54, Z:0.67 [[ 9.95388026e-01 5.63453169e-03 -9.57649765e-02 1.39355282e+01] [-6.03055126e-03 9.99974418e-01 -3.84640580e-03 5.42670079e-01] [ 9.57408540e-02 4.40618187e-03 9.95396541e-01 6.67349852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.00463044 meters Centerline goodness [0,1] 0.32350010829542997 Centerline is valid? [False, False] Translation: X:13.94, Y:0.54, Z:0.67 [[ 9.95394747e-01 5.74314894e-03 -9.56886258e-02 1.39351541e+01] [-6.10807274e-03 9.99975146e-01 -3.52118463e-03 5.40366476e-01] [ 9.56660248e-02 4.08944177e-03 9.95405087e-01 6.67617591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03463044 meters Centerline goodness [0,1] 0.31952839659112753 Centerline is valid? [False, False] Translation: X:13.95, Y:0.54, Z:0.67 [[ 9.95588280e-01 -4.83306007e-04 -9.38282667e-02 1.39535210e+01] [ 3.37041227e-04 9.99998703e-01 -1.57469695e-03 5.40473165e-01] [ 9.38289061e-02 1.53612583e-03 9.95587152e-01 6.70847840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.06463044000003 meters Centerline goodness [0,1] 0.3234711028746283 Centerline is valid? [False, False] Translation: X:13.95, Y:0.54, Z:0.67 [[ 9.95581625e-01 -2.39413793e-04 -9.38997929e-02 1.39536562e+01] [ 1.19936216e-04 9.99999176e-01 -1.27803587e-03 5.39569962e-01] [ 9.39000216e-02 1.26112704e-03 9.95580833e-01 6.70913634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09463044 meters Centerline goodness [0,1] 0.3240766632966938 Centerline is valid? [False, False] Translation: X:13.95, Y:0.54, Z:0.67 [[ 9.95582759e-01 -4.91692751e-05 -9.38880568e-02 1.39540273e+01] [-5.48129161e-05 9.99999388e-01 -1.10493329e-03 5.39313104e-01] [ 9.38880537e-02 1.10519881e-03 9.95582147e-01 6.70496855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.12463044000003 meters Centerline goodness [0,1] 0.3238447956591016 Centerline is valid? [False, False] Translation: X:13.95, Y:0.54, Z:0.67 [[ 9.95580157e-01 1.04642752e-04 -9.39156050e-02 1.39543891e+01] [-1.93920503e-04 9.99999538e-01 -9.41491044e-04 5.38784537e-01] [ 9.39154631e-02 9.55541962e-04 9.95579717e-01 6.70153684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.15463044 meters Centerline goodness [0,1] 0.32089664834572695 Centerline is valid? [False, False] Translation: X:13.96, Y:0.54, Z:0.67 [[ 9.95559307e-01 1.17708178e-04 -9.41363531e-02 1.39550825e+01] [-2.07866805e-04 9.99999529e-01 -9.47939952e-04 5.38615056e-01] [ 9.41361972e-02 9.63298264e-04 9.95558862e-01 6.70004724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18463044000003 meters Centerline goodness [0,1] 0.3191097795848491 Centerline is valid? [False, False] Translation: X:13.97, Y:0.54, Z:0.67 [[ 9.95591987e-01 8.56568720e-03 -9.33982032e-02 1.39742816e+01] [-8.81636506e-03 9.99958555e-01 -2.27167339e-03 5.35156588e-01] [ 9.33748738e-02 3.08509248e-03 9.95626243e-01 6.73005680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.21463044 meters Centerline goodness [0,1] 0.31956236700126817 Centerline is valid? [False, False] Translation: X:13.97, Y:0.53, Z:0.67 [[ 9.95613408e-01 8.65752536e-03 -9.31610874e-02 1.39735090e+01] [-8.89415988e-03 9.99958188e-01 -2.12515186e-03 5.34514155e-01] [ 9.31387936e-02 2.94441930e-03 9.95648781e-01 6.73286424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24463044000004 meters Centerline goodness [0,1] 0.32111948331539286 Centerline is valid? [False, False] Translation: X:13.97, Y:0.53, Z:0.67 [[ 9.95626907e-01 8.66603821e-03 -9.30159275e-02 1.39729273e+01] [-8.89250434e-03 9.99958420e-01 -2.02050039e-03 5.33598591e-01] [ 9.29945501e-02 2.83880909e-03 9.95662571e-01 6.73589474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.27463044 meters Centerline goodness [0,1] 0.3238273840317296 Centerline is valid? [False, False] Translation: X:13.97, Y:0.53, Z:0.67 [[ 9.95638869e-01 8.57556723e-03 -9.28961896e-02 1.39727516e+01] [-8.79698976e-03 9.99959357e-01 -1.97431401e-03 5.32461710e-01] [ 9.28754831e-02 2.78291060e-03 9.95673842e-01 6.73465510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30463044000004 meters Centerline goodness [0,1] 0.3202407143781545 Centerline is valid? [False, False] Translation: X:13.97, Y:0.53, Z:0.67 [[ 9.95632855e-01 8.53759976e-03 -9.29641165e-02 1.39732315e+01] [-8.75197825e-03 9.99959898e-01 -1.89857885e-03 5.31519020e-01] [ 9.29441792e-02 2.70390741e-03 9.95667650e-01 6.73113464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.33463044 meters Centerline goodness [0,1] 0.31918549703582777 Centerline is valid? [False, False] Translation: X:13.97, Y:0.53, Z:0.67 [[ 9.95613503e-01 8.51732614e-03 -9.31729995e-02 1.39740138e+01] [-8.72468789e-03 9.99960286e-01 -1.81843666e-03 5.30858669e-01] [ 9.31538110e-02 2.62336544e-03 9.95648274e-01 6.72783461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36463044000004 meters Centerline goodness [0,1] 0.3179717586649551 Centerline is valid? [False, False] Translation: X:13.99, Y:0.53, Z:0.68 [[ 9.95598060e-01 1.53960560e-03 -9.37130307e-02 1.39937218e+01] [-1.60161419e-03 9.99998545e-01 -5.86477856e-04 5.33735182e-01] [ 9.37119914e-02 7.33988336e-04 9.95599078e-01 6.76106419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.39463044 meters Centerline goodness [0,1] 0.3205568145030754 Centerline is valid? [False, False] Translation: X:13.99, Y:0.53, Z:0.68 [[ 9.95601518e-01 1.57532647e-03 -9.36756942e-02 1.39933610e+01] [-1.61907632e-03 9.99998613e-01 -3.91035845e-04 5.32499785e-01] [ 9.36749482e-02 5.40983979e-04 9.95602688e-01 6.76504897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42463044000004 meters Centerline goodness [0,1] 0.32110032501775754 Centerline is valid? [False, False] Translation: X:13.99, Y:0.53, Z:0.68 [[ 9.95599353e-01 1.50809598e-03 -9.36998026e-02 1.39933889e+01] [-1.54422895e-03 9.99998759e-01 -3.13119481e-04 5.31316199e-01] [ 9.36992141e-02 4.56435501e-04 9.95600446e-01 6.76616846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.45463044 meters Centerline goodness [0,1] 0.32229732638739395 Centerline is valid? [False, False] Translation: X:13.99, Y:0.53, Z:0.68 [[ 9.95590860e-01 1.50089880e-03 -9.37901231e-02 1.39936933e+01] [-1.52576830e-03 9.99998817e-01 -1.93452703e-04 5.30151305e-01] [ 9.37897219e-02 3.35701740e-04 9.95591972e-01 6.76565361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48463044 meters Centerline goodness [0,1] 0.3212170804711557 Centerline is valid? [False, False] Translation: X:13.99, Y:0.53, Z:0.68 [[ 9.95581842e-01 1.39895090e-03 -9.38873683e-02 1.39941577e+01] [-1.41663377e-03 9.99998989e-01 -1.21692276e-04 5.28444503e-01] [ 9.38871031e-02 2.54158636e-04 9.95582818e-01 6.76377557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.51463044 meters Centerline goodness [0,1] 0.32029851390117114 Centerline is valid? [False, False] Translation: X:13.99, Y:0.53, Z:0.68 [[ 9.95590187e-01 1.39619488e-03 -9.37988836e-02 1.39940234e+01] [-1.41578535e-03 9.99998988e-01 -1.42310140e-04 5.28475948e-01] [ 9.37985899e-02 2.74481664e-04 9.95591156e-01 6.76306354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54463044 meters Centerline goodness [0,1] 0.32004398637284914 Centerline is valid? [False, False] Translation: X:13.99, Y:0.53, Z:0.68 [[ 9.95601893e-01 1.37373172e-03 -9.36748799e-02 1.39940759e+01] [-1.40413401e-03 9.99998981e-01 -2.58640904e-04 5.29290490e-01] [ 9.36744292e-02 3.89035458e-04 9.95602807e-01 6.75905197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.57463044 meters Centerline goodness [0,1] 0.32126373269193265 Centerline is valid? [False, False] Translation: X:13.99, Y:0.53, Z:0.68 [[ 9.95611814e-01 1.44982933e-03 -9.35682258e-02 1.39941860e+01] [-1.48576930e-03 9.99998847e-01 -3.14442407e-04 5.30263068e-01] [ 9.35676620e-02 4.52083373e-04 9.95612820e-01 6.75453705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60463044 meters Centerline goodness [0,1] 0.3211887750710166 Centerline is valid? [False, False] Translation: X:13.99, Y:0.53, Z:0.68 [[ 9.95607226e-01 1.51475952e-03 -9.36160065e-02 1.39945075e+01] [-1.55884529e-03 9.99998706e-01 -3.97796004e-04 5.31486252e-01] [ 9.36152828e-02 5.41981447e-04 9.95608299e-01 6.75241568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.63463044 meters Centerline goodness [0,1] 0.3149051259663096 Centerline is valid? [False, False] Translation: X:14.01, Y:0.53, Z:0.68 [[ 9.95625405e-01 9.71850289e-03 -9.29279469e-02 1.40142957e+01] [-9.95221038e-03 9.99948370e-01 -2.05183010e-03 5.30574907e-01] [ 9.29032084e-02 2.96769265e-03 9.95670722e-01 6.77690432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66463044 meters Centerline goodness [0,1] 0.3153282790318077 Centerline is valid? [False, False] Translation: X:14.02, Y:0.53, Z:0.68 [[ 9.95580908e-01 9.40474250e-03 -9.34355726e-02 1.40163460e+01] [-9.68245107e-03 9.99949950e-01 -2.51929351e-03 5.31932897e-01] [ 9.34072029e-02 3.41284588e-03 9.95622141e-01 6.76729963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.69463044 meters Centerline goodness [0,1] 0.317224528628265 Centerline is valid? [False, False] Translation: X:14.02, Y:0.53, Z:0.68 [[ 9.95553690e-01 9.33811372e-03 -9.37318023e-02 1.40173644e+01] [-9.62720183e-03 9.99950192e-01 -2.63248638e-03 5.32406755e-01] [ 9.37025513e-02 3.52315651e-03 9.95594003e-01 6.76353771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72463044 meters Centerline goodness [0,1] 0.3183657485967889 Centerline is valid? [False, False] Translation: X:14.02, Y:0.53, Z:0.68 [[ 9.95542521e-01 9.35550665e-03 -9.38486172e-02 1.40180462e+01] [-9.64344321e-03 9.99950082e-01 -2.61504253e-03 5.32489861e-01] [ 9.38194674e-02 3.50840984e-03 9.95583045e-01 6.75847882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.75463044 meters Centerline goodness [0,1] 0.3143702940987193 Centerline is valid? [False, False] Translation: X:14.04, Y:0.54, Z:0.68 [[ 9.95544263e-01 2.49652985e-03 -9.42623323e-02 1.40375929e+01] [-2.67070698e-03 9.99994952e-01 -1.72168211e-03 5.37558279e-01] [ 9.42575582e-02 1.96575782e-03 9.95545905e-01 6.78688474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78463044 meters Centerline goodness [0,1] 0.3177170035671819 Centerline is valid? [False, False] Translation: X:14.04, Y:0.54, Z:0.68 [[ 9.95548116e-01 2.38250348e-03 -9.42245841e-02 1.40375424e+01] [-2.56527514e-03 9.99995056e-01 -1.81866683e-03 5.37404587e-01] [ 9.42197853e-02 2.05228232e-03 9.95549306e-01 6.78654913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.81463044000003 meters Centerline goodness [0,1] 0.3167050616832088 Centerline is valid? [False, False] Translation: X:14.04, Y:0.54, Z:0.68 [[ 9.95564413e-01 2.07627878e-03 -9.40594993e-02 1.40363485e+01] [-2.29539671e-03 9.99994898e-01 -2.22143526e-03 5.38351999e-01] [ 9.40544071e-02 2.42748575e-03 9.95564099e-01 6.79666350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84463044 meters Centerline goodness [0,1] 0.31876256566573713 Centerline is valid? [False, False] Translation: X:14.04, Y:0.54, Z:0.68 [[ 9.95568356e-01 2.07837678e-03 -9.40177039e-02 1.40361709e+01] [-2.31279258e-03 9.99994483e-01 -2.38442105e-03 5.39807868e-01] [ 9.40122295e-02 2.59129759e-03 9.95567670e-01 6.79746216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.87463044000003 meters Centerline goodness [0,1] 0.3168817087715494 Centerline is valid? [False, False] Translation: X:14.04, Y:0.54, Z:0.68 [[ 9.95561092e-01 2.24052583e-03 -9.40908745e-02 1.40365636e+01] [-2.48159048e-03 9.99993932e-01 -2.44511172e-03 5.41642892e-01] [ 9.40848252e-02 2.66775311e-03 9.95560610e-01 6.79439853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90463044 meters Centerline goodness [0,1] 0.31699388896112335 Centerline is valid? [False, False] Translation: X:14.04, Y:0.54, Z:0.68 [[ 9.95579022e-01 2.30396825e-03 -9.38994250e-02 1.40365097e+01] [-2.56011090e-03 9.99993323e-01 -2.60746897e-03 5.43640830e-01] [ 9.38927906e-02 2.83633435e-03 9.95578274e-01 6.78959125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.93463044000003 meters Centerline goodness [0,1] 0.31620876754801486 Centerline is valid? [False, False] Translation: X:14.04, Y:0.55, Z:0.68 [[ 9.95580365e-01 2.20165148e-03 -9.38876419e-02 1.40367367e+01] [-2.48777677e-03 9.99992611e-01 -2.93059330e-03 5.45684910e-01] [ 9.38804960e-02 3.15121264e-03 9.95578486e-01 6.78657107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96463044 meters Centerline goodness [0,1] 0.3138788348845226 Centerline is valid? [False, False] Translation: X:14.04, Y:0.55, Z:0.68 [[ 9.95598278e-01 1.87745044e-03 -9.37045545e-02 1.40361712e+01] [-2.22115785e-03 9.99991183e-01 -3.56382944e-03 5.48586705e-01] [ 9.36970374e-02 3.75627506e-03 9.95593670e-01 6.78756350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.99463044000004 meters Centerline goodness [0,1] 0.31741633836962635 Centerline is valid? [False, False] Translation: X:14.04, Y:0.55, Z:0.68 [[ 9.95584292e-01 1.77402127e-03 -9.38550464e-02 1.40363393e+01] [-2.13706221e-03 9.99990619e-01 -3.76773496e-03 5.49642407e-01] [ 9.38474819e-02 3.95167181e-03 9.95578743e-01 6.79001192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02463044 meters Centerline goodness [0,1] 0.3178933182628353 Centerline is valid? [False, False] Translation: X:14.04, Y:0.55, Z:0.68 [[ 9.95562999e-01 1.71411339e-03 -9.40817544e-02 1.40368946e+01] [-2.08902141e-03 9.99990265e-01 -3.88657416e-03 5.50424651e-01] [ 9.40741765e-02 4.06586823e-03 9.95556888e-01 6.79007515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05463044000004 meters Centerline goodness [0,1] 0.3167481503915546 Centerline is valid? [False, False] Translation: X:14.04, Y:0.55, Z:0.68 [[ 9.95545228e-01 1.63460616e-03 -9.42710347e-02 1.40375232e+01] [-2.01852190e-03 9.99990053e-01 -3.97725500e-03 5.50880969e-01] [ 9.42635958e-02 4.14982538e-03 9.95538625e-01 6.78809849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08463044 meters Centerline goodness [0,1] 0.3153085839933395 Centerline is valid? [False, False] Translation: X:14.06, Y:0.56, Z:0.68 [[ 9.95624783e-01 -5.87361077e-03 -9.32565885e-02 1.40571502e+01] [ 5.59502109e-03 9.99979071e-01 -3.24852313e-03 5.55838741e-01] [ 9.32737173e-02 2.71253756e-03 9.95636809e-01 6.81482200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11463044000004 meters Centerline goodness [0,1] 0.3153085839933395 Centerline is valid? [False, False] Translation: X:14.06, Y:0.56, Z:0.68 [[ 9.95624783e-01 -5.87361077e-03 -9.32565885e-02 1.40571502e+01] [ 5.59502109e-03 9.99979071e-01 -3.24852313e-03 5.55838741e-01] [ 9.32737173e-02 2.71253756e-03 9.95636809e-01 6.81482200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14463044 meters Centerline goodness [0,1] 0.3166137428984944 Centerline is valid? [False, False] Translation: X:14.06, Y:0.56, Z:0.68 [[ 9.95651498e-01 -5.85862989e-03 -9.29718845e-02 1.40560803e+01] [ 5.59008401e-03 9.99979418e-01 -3.14862703e-03 5.55291438e-01] [ 9.29884176e-02 2.61521457e-03 9.95663756e-01 6.81949461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17463044000004 meters Centerline goodness [0,1] 0.3179582326544701 Centerline is valid? [False, False] Translation: X:14.06, Y:0.56, Z:0.68 [[ 9.95681724e-01 -5.79602391e-03 -9.26515517e-02 1.40550337e+01] [ 5.53775599e-03 9.99980032e-01 -3.04437146e-03 5.55074430e-01] [ 9.26673469e-02 2.51814334e-03 9.95693940e-01 6.82295336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20463044 meters Centerline goodness [0,1] 0.31792828685258967 Centerline is valid? [False, False] Translation: X:14.05, Y:0.56, Z:0.68 [[ 9.95689887e-01 -5.78821107e-03 -9.25642733e-02 1.40546272e+01] [ 5.53131417e-03 9.99980107e-01 -3.03164851e-03 5.55125464e-01] [ 9.25799797e-02 2.50657968e-03 9.95702096e-01 6.82577688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.23463044 meters Centerline goodness [0,1] 0.31971035045875507 Centerline is valid? [False, False] Translation: X:14.07, Y:0.55, Z:0.69 [[ 9.95743055e-01 2.31156794e-03 -9.21435023e-02 1.40736364e+01] [-2.75830725e-03 9.99985051e-01 -4.72124347e-03 5.53738473e-01] [ 9.21312114e-02 4.95530549e-03 9.95734545e-01 6.85575072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26463044 meters Centerline goodness [0,1] 0.31691501696225366 Centerline is valid? [False, False] Translation: X:14.07, Y:0.56, Z:0.69 [[ 9.95717317e-01 2.15733392e-03 -9.24249445e-02 1.40746862e+01] [-2.63238313e-03 9.99983944e-01 -5.01823598e-03 5.55037436e-01] [ 9.24126345e-02 5.24004233e-03 9.95707009e-01 6.85127264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.29463044 meters Centerline goodness [0,1] 0.3168250684252495 Centerline is valid? [False, False] Translation: X:14.08, Y:0.56, Z:0.68 [[ 9.95680315e-01 2.07429325e-03 -9.28246084e-02 1.40762468e+01] [-2.59134561e-03 9.99981791e-01 -5.45002398e-03 5.57993777e-01] [ 9.28116132e-02 5.66702223e-03 9.95667560e-01 6.84360342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32463044 meters Centerline goodness [0,1] 0.31528054715807985 Centerline is valid? [False, False] Translation: X:14.08, Y:0.56, Z:0.68 [[ 9.95679313e-01 2.02048105e-03 -9.28365374e-02 1.40765488e+01] [-2.55788818e-03 9.99980653e-01 -5.67012087e-03 5.59623952e-01] [ 9.28232849e-02 5.88308753e-03 9.95665218e-01 6.84056765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.35463044 meters Centerline goodness [0,1] 0.31969215470091017 Centerline is valid? [False, False] Translation: X:14.08, Y:0.56, Z:0.68 [[ 9.95687265e-01 1.95286101e-03 -9.27526672e-02 1.40764181e+01] [-2.50887179e-03 9.99979575e-01 -5.87832761e-03 5.60902709e-01] [ 9.27392932e-02 6.08568049e-03 9.95671827e-01 6.83946810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38463044 meters Centerline goodness [0,1] 0.31654120826095344 Centerline is valid? [False, False] Translation: X:14.08, Y:0.56, Z:0.68 [[ 9.95676412e-01 1.76078839e-03 -9.28729351e-02 1.40768484e+01] [-2.34413920e-03 9.99978203e-01 -6.17245586e-03 5.62085246e-01] [ 9.28600424e-02 6.36347579e-03 9.95658837e-01 6.83818272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.41463044 meters Centerline goodness [0,1] 0.31940176633646344 Centerline is valid? [False, False] Translation: X:14.08, Y:0.56, Z:0.68 [[ 9.95655932e-01 1.56440145e-03 -9.30957418e-02 1.40774363e+01] [-2.17699144e-03 9.99976641e-01 -6.47902394e-03 5.63171747e-01] [ 9.30834314e-02 6.65354726e-03 9.95636081e-01 6.83790310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.44463044 meters Centerline goodness [0,1] 0.3171737458336894 Centerline is valid? [False, False] Translation: X:14.08, Y:0.56, Z:0.68 [[ 9.95635228e-01 1.41933365e-03 -9.33192322e-02 1.40781540e+01] [-2.05375635e-03 9.99975427e-01 -6.70272760e-03 5.64036188e-01] [ 9.33074257e-02 6.86512668e-03 9.95613677e-01 6.83649907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.47463044 meters Centerline goodness [0,1] 0.3239096186632713 Centerline is valid? [False, False] Translation: X:14.08, Y:0.57, Z:0.68 [[ 9.95624486e-01 1.37186357e-03 -9.34344706e-02 1.40782819e+01] [-2.03180071e-03 9.99973657e-01 -6.96833948e-03 5.66230692e-01] [ 9.34224496e-02 7.12768964e-03 9.95601046e-01 6.83826826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.50463044 meters Centerline goodness [0,1] 0.32420180040152835 Centerline is valid? [False, False] Translation: X:14.08, Y:0.57, Z:0.68 [[ 9.95629766e-01 1.30780607e-03 -9.33791116e-02 1.40782672e+01] [-1.98113802e-03 9.99972701e-01 -7.11839727e-03 5.67089767e-01] [ 9.33672530e-02 7.27228511e-03 9.95605178e-01 6.83690817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.53463044 meters Centerline goodness [0,1] 0.3212577483216438 Centerline is valid? [False, False] Translation: X:14.08, Y:0.57, Z:0.68 [[ 9.95617161e-01 1.19156518e-03 -9.35149623e-02 1.40786467e+01] [-1.88325629e-03 9.99971518e-01 -7.30868110e-03 5.67966113e-01] [ 9.35035900e-02 7.45276097e-03 9.95591048e-01 6.83677390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.56463044000003 meters Centerline goodness [0,1] 0.32178355982052764 Centerline is valid? [False, False] Translation: X:14.08, Y:0.57, Z:0.68 [[ 9.95602878e-01 1.11027793e-03 -9.36679041e-02 1.40791699e+01] [-1.82115281e-03 9.99970185e-01 -7.50417300e-03 5.69014255e-01] [ 9.36567797e-02 7.64175980e-03 9.95575216e-01 6.83520217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.59463044 meters Centerline goodness [0,1] 0.3254203544610591 Centerline is valid? [False, False] Translation: X:14.08, Y:0.57, Z:0.68 [[ 9.95594764e-01 1.13801857e-03 -9.37537814e-02 1.40796077e+01] [-1.87233061e-03 9.99968256e-01 -7.74475546e-03 5.71607376e-01] [ 9.37419916e-02 7.88617605e-03 9.95565290e-01 6.83222953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.62463044000003 meters Centerline goodness [0,1] 0.32623913655967574 Centerline is valid? [False, False] Translation: X:14.08, Y:0.57, Z:0.68 [[ 9.95619251e-01 1.16791366e-03 -9.34930140e-02 1.40789051e+01] [-1.91427283e-03 9.99967011e-01 -7.89376361e-03 5.73236307e-01] [ 9.34807105e-02 8.03815415e-03 9.95588642e-01 6.83324520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.65463044 meters Centerline goodness [0,1] 0.3263656933520095 Centerline is valid? [False, False] Translation: X:14.08, Y:0.58, Z:0.68 [[ 9.95642680e-01 1.05571637e-03 -9.32445151e-02 1.40779998e+01] [-1.83127773e-03 9.99964437e-01 -8.23232811e-03 5.75346570e-01] [ 9.32325081e-02 8.36721382e-03 9.95609205e-01 6.83756506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.68463044000003 meters Centerline goodness [0,1] 0.3278702665401535 Centerline is valid? [False, False] Translation: X:14.08, Y:0.58, Z:0.68 [[ 9.95668101e-01 9.30033709e-04 -9.29740192e-02 1.40771003e+01] [-1.74182526e-03 9.99961066e-01 -8.65061398e-03 5.77804207e-01] [ 9.29623539e-02 8.77508489e-03 9.95630955e-01 6.84078164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.71463044 meters Centerline goodness [0,1] 0.32506958379183115 Centerline is valid? [False, False] Translation: X:14.08, Y:0.58, Z:0.68 [[ 9.95684364e-01 8.38575497e-04 -9.28005635e-02 1.40767662e+01] [-1.69202966e-03 9.99956995e-01 -9.11835023e-03 5.81107561e-01] [ 9.27889262e-02 9.23602005e-03 9.95642964e-01 6.83943002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74463044000004 meters Centerline goodness [0,1] 0.31951178021604154 Centerline is valid? [False, False] Translation: X:14.10, Y:0.58, Z:0.69 [[ 9.95652891e-01 9.67106678e-03 -9.26379587e-02 1.40989646e+01] [-1.06461462e-02 9.99892950e-01 -1.00372972e-02 5.83042741e-01] [ 9.25309705e-02 1.09799012e-02 9.95649266e-01 6.85382763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.77463044 meters Centerline goodness [0,1] 0.31753937845891866 Centerline is valid? [False, False] Translation: X:14.10, Y:0.59, Z:0.68 [[ 9.95532930e-01 1.22054131e-02 -9.36227140e-02 1.41039799e+01] [-1.30621890e-02 9.99878182e-01 -8.54400672e-03 5.91270081e-01] [ 9.35070259e-02 9.72875763e-03 9.95571086e-01 6.82944122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80463044000004 meters Centerline goodness [0,1] 0.32253883211994205 Centerline is valid? [False, False] Translation: X:14.08, Y:0.60, Z:0.68 [[ 9.95636097e-01 3.82194156e-03 -9.32424483e-02 1.40837530e+01] [-4.58208461e-03 9.99957983e-01 -7.93960128e-03 5.98569107e-01] [ 9.32081858e-02 8.33219842e-03 9.95611776e-01 6.79946963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.83463044 meters Centerline goodness [0,1] 0.32139089245343955 Centerline is valid? [False, False] Translation: X:14.08, Y:0.60, Z:0.68 [[ 9.95644522e-01 3.50541544e-03 -9.31649014e-02 1.40833900e+01] [-4.32405286e-03 9.99953786e-01 -8.58656087e-03 6.01884593e-01] [ 9.31304964e-02 8.95201225e-03 9.95613666e-01 6.80189535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86463044000004 meters Centerline goodness [0,1] 0.32242183451373296 Centerline is valid? [False, False] Translation: X:14.08, Y:0.61, Z:0.68 [[ 9.95651432e-01 3.18916854e-03 -9.31023921e-02 1.40831746e+01] [-4.06518044e-03 9.99949223e-01 -9.22098892e-03 6.05026183e-01] [ 9.30682573e-02 9.55936884e-03 9.95613840e-01 6.80252885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.89463044 meters Centerline goodness [0,1] 0.32543504783920885 Centerline is valid? [False, False] Translation: X:14.10, Y:0.61, Z:0.68 [[ 9.95498049e-01 -2.84445833e-03 -9.47393473e-02 1.41002492e+01] [ 2.04130164e-03 9.99961164e-01 -8.57337620e-03 6.14907038e-01] [ 9.47600546e-02 8.34138769e-03 9.95465194e-01 6.83899953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92463044000004 meters Centerline goodness [0,1] 0.3210137275607181 Centerline is valid? [False, False] Translation: X:14.10, Y:0.62, Z:0.68 [[ 9.95510393e-01 -2.89825663e-03 -9.46079152e-02 1.41004151e+01] [ 2.03835611e-03 9.99955744e-01 -9.18447116e-03 6.23266678e-01] [ 9.46303472e-02 8.95039187e-03 9.95472244e-01 6.83402896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.95463044 meters Centerline goodness [0,1] 0.32417724799170766 Centerline is valid? [False, False] Translation: X:14.10, Y:0.63, Z:0.68 [[ 9.95513199e-01 -3.17032205e-03 -9.45696558e-02 1.41002867e+01] [ 2.26073905e-03 9.99950168e-01 -9.72371625e-03 6.26024701e-01] [ 9.45957705e-02 9.46629056e-03 9.95470758e-01 6.83432285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98463044 meters Centerline goodness [0,1] 0.321745625266752 Centerline is valid? [False, False] Translation: X:14.12, Y:0.63, Z:0.69 [[ 9.95692637e-01 4.01781972e-03 -9.26284519e-02 1.41196227e+01] [-5.13403239e-03 9.99917017e-01 -1.18152891e-02 6.27891367e-01] [ 9.25732936e-02 1.22399538e-02 9.95630639e-01 6.85894822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.01463044 meters Centerline goodness [0,1] 0.32474615732856194 Centerline is valid? [False, False] Translation: X:14.12, Y:0.63, Z:0.69 [[ 9.95707469e-01 3.87794758e-03 -9.24748476e-02 1.41187794e+01] [-5.02020384e-03 9.99913916e-01 -1.21226555e-02 6.29830376e-01] [ 9.24198759e-02 1.25348612e-02 9.95641222e-01 6.86476881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04463044 meters Centerline goodness [0,1] 0.3233090799500581 Centerline is valid? [False, False] Translation: X:14.12, Y:0.63, Z:0.69 [[ 9.95707823e-01 3.58329341e-03 -9.24829249e-02 1.41190788e+01] [-4.77710843e-03 9.99908063e-01 -1.26903454e-02 6.33731694e-01] [ 9.24289490e-02 1.30776771e-02 9.95633398e-01 6.86245713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.07463044 meters Centerline goodness [0,1] 0.3254023187402665 Centerline is valid? [False, False] Translation: X:14.12, Y:0.63, Z:0.69 [[ 9.95679348e-01 3.37291907e-03 -9.27968755e-02 1.41200699e+01] [-4.59923714e-03 9.99904862e-01 -1.30043953e-02 6.34951312e-01] [ 9.27441842e-02 1.33750027e-02 9.95600133e-01 6.86011530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10463044 meters Centerline goodness [0,1] 0.32389787160258354 Centerline is valid? [False, False] Translation: X:14.12, Y:0.64, Z:0.69 [[ 9.95637131e-01 3.12247426e-03 -9.32574599e-02 1.41213038e+01] [-4.38782365e-03 9.99901039e-01 -1.33663826e-02 6.36175212e-01] [ 9.32064948e-02 1.37172641e-02 9.95552302e-01 6.85927336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.13463044 meters Centerline goodness [0,1] 0.31936760575368117 Centerline is valid? [False, False] Translation: X:14.16, Y:0.64, Z:0.69 [[ 9.95665735e-01 4.02458510e-03 -9.29168862e-02 1.41648248e+01] [-5.35013919e-03 9.99887383e-01 -1.40213308e-02 6.40670421e-01] [ 9.28499921e-02 1.44576769e-02 9.95575138e-01 6.90190342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16463044 meters Centerline goodness [0,1] 0.3266511232649859 Centerline is valid? [False, False] Translation: X:14.12, Y:0.64, Z:0.69 [[ 9.95395860e-01 2.83458664e-03 -9.58073479e-02 1.41210766e+01] [-4.23240910e-03 9.99887503e-01 -1.43898643e-02 6.40073844e-01] [ 9.57557806e-02 1.47291073e-02 9.95295878e-01 6.86816306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.19463044 meters Centerline goodness [0,1] 0.3239488433489862 Centerline is valid? [False, False] Translation: X:14.14, Y:0.65, Z:0.69 [[ 9.95303128e-01 -3.79730267e-03 -9.67329478e-02 1.41390964e+01] [ 2.51735084e-03 9.99907710e-01 -1.33504155e-02 6.47716875e-01] [ 9.67747159e-02 1.30441995e-02 9.95220831e-01 6.90628982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22463044 meters Centerline goodness [0,1] 0.32569529850907286 Centerline is valid? [False, False] Translation: X:14.14, Y:0.65, Z:0.69 [[ 9.95301922e-01 -3.86902866e-03 -9.67425127e-02 1.41389941e+01] [ 2.55595436e-03 9.99902978e-01 -1.36931217e-02 6.50753011e-01] [ 9.67861057e-02 1.33815209e-02 9.95215245e-01 6.90831937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.25463044 meters Centerline goodness [0,1] 0.3250676773145642 Centerline is valid? [False, False] Translation: X:14.14, Y:0.65, Z:0.69 [[ 9.95302288e-01 -3.93260736e-03 -9.67361845e-02 1.41388702e+01] [ 2.59972477e-03 9.99900001e-01 -1.39007146e-02 6.52112622e-01] [ 9.67811770e-02 1.35839256e-02 9.95212983e-01 6.91001491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28463044 meters Centerline goodness [0,1] 0.3229008124504277 Centerline is valid? [False, False] Translation: X:14.16, Y:0.65, Z:0.69 [[ 9.95431471e-01 2.43744420e-03 -9.54476043e-02 1.41605550e+01] [-4.04801780e-03 9.99852619e-01 -1.66839111e-02 6.53481631e-01] [ 9.53928711e-02 1.69940638e-02 9.95294631e-01 6.92474656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.31463044000003 meters Centerline goodness [0,1] 0.3219396376548095 Centerline is valid? [False, False] Translation: X:14.16, Y:0.66, Z:0.69 [[ 9.95397604e-01 2.26565743e-03 -9.58043626e-02 1.41615094e+01] [-3.91197439e-03 9.99847840e-01 -1.69998234e-02 6.55286271e-01] [ 9.57512692e-02 1.72963677e-02 9.95255008e-01 6.92482717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34463044 meters Centerline goodness [0,1] 0.3235900077259851 Centerline is valid? [False, False] Translation: X:14.16, Y:0.66, Z:0.69 [[ 9.95390669e-01 2.29981739e-03 -9.58755793e-02 1.41615997e+01] [-3.94692149e-03 9.99847810e-01 -1.69934977e-02 6.55722545e-01] [ 9.58219060e-02 1.72935824e-02 9.95248258e-01 6.92617175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.37463044000003 meters Centerline goodness [0,1] 0.3226587786423166 Centerline is valid? [False, False] Translation: X:14.16, Y:0.66, Z:0.69 [[ 9.95390299e-01 2.28701933e-03 -9.58797312e-02 1.41615434e+01] [-3.93763219e-03 9.99847229e-01 -1.70297822e-02 6.56092132e-01] [ 9.58261362e-02 1.73288191e-02 9.95247237e-01 6.92762050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40463044 meters Centerline goodness [0,1] 0.326645264847512 Centerline is valid? [False, False] Translation: X:14.16, Y:0.66, Z:0.69 [[ 9.95378688e-01 2.15594420e-03 -9.60032228e-02 1.41617160e+01] [-3.81970119e-03 9.99845635e-01 -1.71498176e-02 6.56108000e-01] [ 9.59514292e-02 1.74372666e-02 9.95233272e-01 6.92990729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.43463044000003 meters Centerline goodness [0,1] 0.3265716137394685 Centerline is valid? [False, False] Translation: X:14.16, Y:0.66, Z:0.69 [[ 9.95364374e-01 1.98926533e-03 -9.61551147e-02 1.41619439e+01] [-3.67546162e-03 9.99842509e-01 -1.73622747e-02 6.56572699e-01] [ 9.61054330e-02 1.76352041e-02 9.95214924e-01 6.93195037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46463044 meters Centerline goodness [0,1] 0.3238626646143321 Centerline is valid? [False, False] Translation: X:14.18, Y:0.66, Z:0.70 [[ 9.95381178e-01 -2.43667531e-03 -9.59706879e-02 1.41832211e+01] [ 1.09243460e-03 9.99900601e-01 -1.40568365e-02 6.61508585e-01] [ 9.59954004e-02 1.38870688e-02 9.95284900e-01 6.95846549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.49463044000004 meters Centerline goodness [0,1] 0.3219241244718952 Centerline is valid? [False, False] Translation: X:14.18, Y:0.66, Z:0.70 [[ 9.95375428e-01 -2.38091803e-03 -9.60317062e-02 1.41832938e+01] [ 1.02411096e-03 9.99898997e-01 -1.41755543e-02 6.62980177e-01] [ 9.60557575e-02 1.40116513e-02 9.95277331e-01 6.95959358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52463044 meters Centerline goodness [0,1] 0.3238917847757722 Centerline is valid? [False, False] Translation: X:14.18, Y:0.66, Z:0.70 [[ 9.95362293e-01 -2.39825421e-03 -9.61673211e-02 1.41836090e+01] [ 1.01654938e-03 9.99895594e-01 -1.44141366e-02 6.64729906e-01] [ 9.61918494e-02 1.42495292e-02 9.95260810e-01 6.95998489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.55463044000004 meters Centerline goodness [0,1] 0.3243657893599551 Centerline is valid? [False, False] Translation: X:14.18, Y:0.67, Z:0.70 [[ 9.95352457e-01 -2.51061971e-03 -9.62662095e-02 1.41837888e+01] [ 1.09784463e-03 9.99890966e-01 -1.47258693e-02 6.66338257e-01] [ 9.62926843e-02 1.45517449e-02 9.95246686e-01 6.96123220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58463044 meters Centerline goodness [0,1] 0.32334065555411984 Centerline is valid? [False, False] Translation: X:14.18, Y:0.67, Z:0.70 [[ 9.95341567e-01 -2.59834185e-03 -9.63764154e-02 1.41836777e+01] [ 1.16136971e-03 9.99887372e-01 -1.49630971e-02 6.67609669e-01] [ 9.64044400e-02 1.47814639e-02 9.95232482e-01 6.96592237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61463044000004 meters Centerline goodness [0,1] 0.3229500096672324 Centerline is valid? [False, False] Translation: X:14.18, Y:0.67, Z:0.70 [[ 9.95350601e-01 -2.62302678e-03 -9.62824065e-02 1.41831780e+01] [ 1.17048770e-03 9.99884704e-01 -1.51396166e-02 6.68987558e-01] [ 9.63110172e-02 1.49565291e-02 9.95238911e-01 6.96948736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64463044 meters Centerline goodness [0,1] 0.3229603629826213 Centerline is valid? [False, False] Translation: X:14.18, Y:0.67, Z:0.70 [[ 9.95369450e-01 -2.38221504e-03 -9.60936202e-02 1.41821541e+01] [ 9.23039337e-04 9.99883644e-01 -1.52265332e-02 6.71777144e-01] [ 9.61187120e-02 1.50673278e-02 9.95255831e-01 6.97645653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67463044000004 meters Centerline goodness [0,1] 0.32469712293688535 Centerline is valid? [False, False] Translation: X:14.18, Y:0.67, Z:0.70 [[ 9.95345249e-01 -2.46178935e-03 -9.63419704e-02 1.41828847e+01] [ 9.77058364e-04 9.99880084e-01 -1.54551930e-02 6.73059985e-01] [ 9.63684649e-02 1.52891212e-02 9.95228296e-01 6.97559213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70463044 meters Centerline goodness [0,1] 0.32124830859769327 Centerline is valid? [False, False] Translation: X:14.18, Y:0.67, Z:0.70 [[ 9.95307850e-01 -2.54924186e-03 -9.67253065e-02 1.41841908e+01] [ 1.03618514e-03 9.99876370e-01 -1.56898287e-02 6.74288937e-01] [ 9.67533455e-02 1.55159844e-02 9.95187442e-01 6.97148899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.73463044 meters Centerline goodness [0,1] 0.3197099961503914 Centerline is valid? [False, False] Translation: X:14.19, Y:0.68, Z:0.70 [[ 9.95271388e-01 -2.63738222e-03 -9.70974128e-02 1.41855065e+01] [ 1.09321905e-03 9.99872145e-01 -1.59530037e-02 6.75758993e-01] [ 9.71270726e-02 1.57714194e-02 9.95147021e-01 6.96671472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76463044 meters Centerline goodness [0,1] 0.3252236290566527 Centerline is valid? [False, False] Translation: X:14.19, Y:0.68, Z:0.70 [[ 9.95258226e-01 -2.69120113e-03 -9.72307631e-02 1.41858044e+01] [ 1.12181957e-03 9.99868274e-01 -1.61918556e-02 6.77353648e-01] [ 9.72615309e-02 1.60060021e-02 9.95130144e-01 6.96668093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.79463044 meters Centerline goodness [0,1] 0.32054074833418755 Centerline is valid? [False, False] Translation: X:14.21, Y:0.68, Z:0.70 [[ 9.95307650e-01 -7.35059686e-03 -9.64813520e-02 1.42070782e+01] [ 6.12873628e-03 9.99897305e-01 -1.29544607e-02 6.81647456e-01] [ 9.65666669e-02 1.23023651e-02 9.95250486e-01 6.98929819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82463044 meters Centerline goodness [0,1] 0.32635230352303524 Centerline is valid? [False, False] Translation: X:14.19, Y:0.68, Z:0.70 [[ 9.95410334e-01 3.76440048e-04 -9.56980949e-02 1.41859805e+01] [-1.69184366e-03 9.99905204e-01 -1.36645803e-02 6.78687315e-01] [ 9.56838792e-02 1.37637707e-02 9.95316610e-01 6.96603628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.85463044 meters Centerline goodness [0,1] 0.325947258698876 Centerline is valid? [False, False] Translation: X:14.19, Y:0.68, Z:0.70 [[ 9.95399611e-01 1.99045604e-04 -9.58101016e-02 1.41863696e+01] [-1.54580223e-03 9.99901045e-01 -1.39825029e-02 6.80044483e-01] [ 9.57978376e-02 1.40662814e-02 9.95301419e-01 6.96478882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88463044 meters Centerline goodness [0,1] 0.32224416208791207 Centerline is valid? [False, False] Translation: X:14.19, Y:0.68, Z:0.70 [[ 9.95383958e-01 1.07095351e-04 -9.59727294e-02 1.41869617e+01] [-1.47909580e-03 9.99897730e-01 -1.42247057e-02 6.81545872e-01] [ 9.59613908e-02 1.43009968e-02 9.95282318e-01 6.96265149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.91463044 meters Centerline goodness [0,1] 0.32315537916613324 Centerline is valid? [False, False] Translation: X:14.19, Y:0.68, Z:0.70 [[ 9.95377410e-01 2.63355159e-05 -9.60406753e-02 1.41872586e+01] [-1.42072699e-03 9.99894578e-01 -1.44504066e-02 6.83142002e-01] [ 9.60301700e-02 1.45200559e-02 9.95272513e-01 6.96157478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.94463044 meters Centerline goodness [0,1] 0.3226449469510234 Centerline is valid? [False, False] Translation: X:14.19, Y:0.69, Z:0.70 [[ 9.95386720e-01 -5.91524014e-05 -9.59441219e-02 1.41868715e+01] [-1.36545346e-03 9.99889800e-01 -1.47825640e-02 6.85802181e-01] [ 9.59344233e-02 1.48453752e-02 9.95276947e-01 6.96350795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.97463044 meters Centerline goodness [0,1] 0.32676824517357805 Centerline is valid? [False, False] Translation: X:14.19, Y:0.69, Z:0.70 [[ 9.95386015e-01 -1.57135719e-04 -9.59513261e-02 1.41866892e+01] [-1.28911099e-03 9.99886505e-01 -1.50105370e-02 6.87072306e-01] [ 9.59427947e-02 1.50649705e-02 9.95272840e-01 6.96590916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.00463044 meters Centerline goodness [0,1] 0.32475579844227376 Centerline is valid? [False, False] Translation: X:14.19, Y:0.69, Z:0.70 [[ 9.95375388e-01 -3.09429056e-04 -9.60611320e-02 1.41868328e+01] [-1.16440893e-03 9.99882480e-01 -1.52862729e-02 6.88655410e-01] [ 9.60545730e-02 1.53274343e-02 9.95258051e-01 6.96797645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.03463044 meters Centerline goodness [0,1] 0.32475579844227376 Centerline is valid? [False, False] Translation: X:14.19, Y:0.69, Z:0.70 [[ 9.95375388e-01 -3.09429056e-04 -9.60611320e-02 1.41868328e+01] [-1.16440893e-03 9.99882480e-01 -1.52862729e-02 6.88655410e-01] [ 9.60545730e-02 1.53274343e-02 9.95258051e-01 6.96797645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.06463044000003 meters Centerline goodness [0,1] 0.3214652077278167 Centerline is valid? [False, False] Translation: X:14.19, Y:0.69, Z:0.70 [[ 9.95362334e-01 -4.18645717e-04 -9.61958893e-02 1.41870420e+01] [-1.08186649e-03 9.99878571e-01 -1.55458206e-02 6.90426986e-01] [ 9.61907165e-02 1.55777954e-02 9.95241015e-01 6.96982315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.09463044 meters Centerline goodness [0,1] 0.32013949806371556 Centerline is valid? [False, False] Translation: X:14.19, Y:0.69, Z:0.70 [[ 9.95357863e-01 -4.74105250e-04 -9.62418771e-02 1.41870455e+01] [-1.04385047e-03 9.99875867e-01 -1.57213390e-02 6.91815850e-01] [ 9.62373839e-02 1.57488205e-02 9.95233812e-01 6.97172099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.12463044000003 meters Centerline goodness [0,1] 0.32674378453038677 Centerline is valid? [False, False] Translation: X:14.19, Y:0.69, Z:0.70 [[ 9.95362656e-01 -5.32048174e-04 -9.61919955e-02 1.41866224e+01] [-1.00058731e-03 9.99873338e-01 -1.58841494e-02 6.93021298e-01] [ 9.61882628e-02 1.59067376e-02 9.95236049e-01 6.97600446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.15463044 meters Centerline goodness [0,1] 0.3234049900716567 Centerline is valid? [False, False] Translation: X:14.19, Y:0.69, Z:0.70 [[ 9.95354221e-01 -8.87597399e-04 -9.62766171e-02 1.41864803e+01] [-6.82731892e-04 9.99867297e-01 -1.62764307e-02 6.94232420e-01] [ 9.62782878e-02 1.62665451e-02 9.95221529e-01 6.98134339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18463044000003 meters Centerline goodness [0,1] 0.32384856002588713 Centerline is valid? [False, False] Translation: X:14.19, Y:0.69, Z:0.70 [[ 9.95340506e-01 -9.31804569e-04 -9.64178866e-02 1.41867264e+01] [-6.40338988e-04 9.99867376e-01 -1.62732910e-02 6.94117151e-01] [ 9.64202628e-02 1.62592058e-02 9.95207903e-01 6.98304201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.21463044 meters Centerline goodness [0,1] 0.32205310188550174 Centerline is valid? [False, False] Translation: X:14.21, Y:0.70, Z:0.70 [[ 9.95342920e-01 -8.33159437e-03 -9.60367480e-02 1.42057333e+01] [ 6.91865286e-03 9.99863014e-01 -1.50361289e-02 6.98834437e-01] [ 9.61488672e-02 1.43016596e-02 9.95264215e-01 7.01470125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24463044000004 meters Centerline goodness [0,1] 0.32414712268105506 Centerline is valid? [False, False] Translation: X:14.21, Y:0.70, Z:0.70 [[ 9.95333106e-01 -8.33998938e-03 -9.61376793e-02 1.42058247e+01] [ 6.93416854e-03 9.99864231e-01 -1.49478287e-02 6.98260346e-01] [ 9.62492915e-02 1.42114339e-02 9.95255801e-01 7.01710042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.27463044 meters Centerline goodness [0,1] 0.32350019435926225 Centerline is valid? [False, False] Translation: X:14.21, Y:0.70, Z:0.70 [[ 9.95311052e-01 -8.41279496e-03 -9.63594015e-02 1.42063692e+01] [ 7.00810982e-03 9.99864329e-01 -1.49067387e-02 6.97527705e-01] [ 9.64717357e-02 1.41615445e-02 9.95234975e-01 7.01777608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30463044000004 meters Centerline goodness [0,1] 0.3226471162397241 Centerline is valid? [False, False] Translation: X:14.21, Y:0.70, Z:0.70 [[ 9.95262931e-01 -8.72141984e-03 -9.68278611e-02 1.42073860e+01] [ 7.29578907e-03 9.99859859e-01 -1.50676590e-02 6.96637716e-01] [ 9.69457029e-02 1.42898468e-02 9.95187083e-01 7.02031149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.33463044 meters Centerline goodness [0,1] 0.3226139073274473 Centerline is valid? [False, False] Translation: X:14.23, Y:0.69, Z:0.71 [[ 9.95350777e-01 -9.02291768e-04 -9.63120750e-02 1.42272530e+01] [-6.68601740e-04 9.99867298e-01 -1.62769341e-02 6.94059049e-01] [ 9.63139808e-02 1.62656534e-02 9.95218089e-01 7.05148523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36463044000004 meters Centerline goodness [0,1] 0.3210767369512617 Centerline is valid? [False, False] Translation: X:14.23, Y:0.69, Z:0.71 [[ 9.95330233e-01 -7.70629937e-04 -9.65252978e-02 1.42275726e+01] [-7.92489415e-04 9.99869194e-01 -1.61544988e-02 6.93982473e-01] [ 9.65251208e-02 1.61555563e-02 9.95199427e-01 7.05396480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.39463044 meters Centerline goodness [0,1] 0.32270031273589994 Centerline is valid? [False, False] Translation: X:14.23, Y:0.69, Z:0.71 [[ 9.95312956e-01 -6.96229777e-04 -9.67038481e-02 1.42280194e+01] [-8.67646392e-04 9.99869546e-01 -1.61288168e-02 6.94245732e-01] [ 9.67024620e-02 1.61371250e-02 9.95182509e-01 7.05443921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42463044000004 meters Centerline goodness [0,1] 0.3187394292320538 Centerline is valid? [False, False] Translation: X:14.23, Y:0.69, Z:0.71 [[ 9.95260222e-01 -7.93603770e-04 -9.72443363e-02 1.42295879e+01] [-7.94215618e-04 9.99867021e-01 -1.62883466e-02 6.94185974e-01] [ 9.72443313e-02 1.62883764e-02 9.95127243e-01 7.05214198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.45463044 meters Centerline goodness [0,1] 0.3206415862158535 Centerline is valid? [False, False] Translation: X:14.23, Y:0.69, Z:0.70 [[ 9.95244506e-01 -8.10797665e-04 -9.74049113e-02 1.42301894e+01] [-7.80920216e-04 9.99866808e-01 -1.63020140e-02 6.93878577e-01] [ 9.74051554e-02 1.63005553e-02 9.95111314e-01 7.04953437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48463044 meters Centerline goodness [0,1] 0.3183733126988221 Centerline is valid? [False, False] Translation: X:14.23, Y:0.69, Z:0.70 [[ 9.95224803e-01 -7.24872274e-04 -9.76066917e-02 1.42309587e+01] [-8.57213182e-04 9.99868956e-01 -1.61658702e-02 6.93301833e-01] [ 9.76056191e-02 1.61723447e-02 9.95093764e-01 7.04635525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.51463044 meters Centerline goodness [0,1] 0.3197107554667651 Centerline is valid? [False, False] Translation: X:14.23, Y:0.69, Z:0.70 [[ 9.95215964e-01 -5.72266316e-04 -9.76977886e-02 1.42312494e+01] [-9.89420960e-04 9.99872529e-01 -1.59356821e-02 6.92436232e-01] [ 9.76944545e-02 1.59561095e-02 9.95088537e-01 7.04566915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54463044 meters Centerline goodness [0,1] 0.31830542127071826 Centerline is valid? [False, False] Translation: X:14.23, Y:0.69, Z:0.70 [[ 9.95202632e-01 -4.61647850e-04 -9.78340882e-02 1.42314030e+01] [-1.08415026e-03 9.99875429e-01 -1.57464496e-02 6.91606290e-01] [ 9.78291703e-02 1.57769749e-02 9.95078158e-01 7.04792033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.57463044 meters Centerline goodness [0,1] 0.3196405648267009 Centerline is valid? [False, False] Translation: X:14.23, Y:0.69, Z:0.71 [[ 9.95207691e-01 -3.49247969e-04 -9.77830727e-02 1.42308712e+01] [-1.17961477e-03 9.99877975e-01 -1.55770012e-02 6.90895361e-01] [ 9.77765810e-02 1.56176978e-02 9.95085839e-01 7.05308610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60463044 meters Centerline goodness [0,1] 0.32033438280317017 Centerline is valid? [False, False] Translation: X:14.23, Y:0.69, Z:0.71 [[ 9.95236112e-01 -2.72846327e-04 -9.74936294e-02 1.42293255e+01] [-1.23437481e-03 9.99880666e-01 -1.53990385e-02 6.89735346e-01] [ 9.74861967e-02 1.54460229e-02 9.95117009e-01 7.06455175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.63463044 meters Centerline goodness [0,1] 0.318369821780463 Centerline is valid? [False, False] Translation: X:14.23, Y:0.69, Z:0.71 [[ 9.95258761e-01 -1.86895203e-04 -9.72623472e-02 1.42286234e+01] [-1.30590558e-03 9.99882335e-01 -1.52843029e-02 6.89392310e-01] [ 9.72537594e-02 1.53388519e-02 9.95141410e-01 7.06693034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66463044 meters Centerline goodness [0,1] 0.3187501354308869 Centerline is valid? [False, False] Translation: X:14.23, Y:0.69, Z:0.71 [[ 9.95271216e-01 -2.21772986e-05 -9.71349850e-02 1.42282529e+01] [-1.45287787e-03 9.99884708e-01 -1.51148658e-02 6.89202135e-01] [ 9.71241214e-02 1.51845161e-02 9.95156438e-01 7.06787603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.69463044 meters Centerline goodness [0,1] 0.3161846974782684 Centerline is valid? [False, False] Translation: X:14.23, Y:0.69, Z:0.71 [[ 9.95262188e-01 1.26689794e-04 -9.72273660e-02 1.42285699e+01] [-1.59719468e-03 9.99885516e-01 -1.50467120e-02 6.89726197e-01] [ 9.72143288e-02 1.51307146e-02 9.95148449e-01 7.06710178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72463044 meters Centerline goodness [0,1] 0.3174195497809337 Centerline is valid? [False, False] Translation: X:14.23, Y:0.69, Z:0.71 [[ 9.95227379e-01 5.05683440e-04 -9.75818020e-02 1.42292323e+01] [-1.96669344e-03 9.99887404e-01 -1.48765511e-02 6.90789043e-01] [ 9.75632918e-02 1.49974644e-02 9.95116315e-01 7.06915973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.75463044 meters Centerline goodness [0,1] 0.31645596974608314 Centerline is valid? [False, False] Translation: X:14.23, Y:0.69, Z:0.71 [[ 9.95220912e-01 5.47423023e-04 -9.76475073e-02 1.42293636e+01] [-2.01302139e-03 9.99886796e-01 -1.49111838e-02 6.91332855e-01] [ 9.76282905e-02 1.50364885e-02 9.95109351e-01 7.06919819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78463044 meters Centerline goodness [0,1] 0.31596316027867044 Centerline is valid? [False, False] Translation: X:14.23, Y:0.69, Z:0.71 [[ 9.95211817e-01 5.39033885e-04 -9.77402092e-02 1.42294067e+01] [-2.01805078e-03 9.99884948e-01 -1.50338958e-02 6.92258258e-01] [ 9.77208602e-02 1.51591554e-02 9.95098404e-01 7.07171226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.81463044000003 meters Centerline goodness [0,1] 0.3165438076914763 Centerline is valid? [False, False] Translation: X:14.23, Y:0.69, Z:0.71 [[ 9.95208034e-01 5.38908036e-04 -9.77787240e-02 1.42295182e+01] [-2.03168249e-03 9.99882896e-01 -1.51679399e-02 6.93170248e-01] [ 9.77590996e-02 1.52939110e-02 9.95092586e-01 7.07095420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84463044 meters Centerline goodness [0,1] 0.3158088633654784 Centerline is valid? [False, False] Translation: X:14.23, Y:0.69, Z:0.71 [[ 9.95207317e-01 5.56317950e-04 -9.77859204e-02 1.42294584e+01] [-2.06084672e-03 9.99881044e-01 -1.52856153e-02 6.94216984e-01] [ 9.77657846e-02 1.54138780e-02 9.95090078e-01 7.07169243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.87463044000003 meters Centerline goodness [0,1] 0.3144962089481711 Centerline is valid? [False, False] Translation: X:14.25, Y:0.70, Z:0.71 [[ 9.95196283e-01 -6.48398849e-03 -9.76847848e-02 1.42482408e+01] [ 5.11704902e-03 9.99885549e-01 -1.42374090e-02 7.01329271e-01] [ 9.77659199e-02 1.36691586e-02 9.95115561e-01 7.10499130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90463044 meters Centerline goodness [0,1] 0.31592694978341784 Centerline is valid? [False, False] Translation: X:14.25, Y:0.70, Z:0.71 [[ 9.95184531e-01 -6.57137967e-03 -9.77986015e-02 1.42482783e+01] [ 5.19850178e-03 9.99884436e-01 -1.42860090e-02 7.01053893e-01] [ 9.78811783e-02 1.37088089e-02 9.95103685e-01 7.10822730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.93463044000003 meters Centerline goodness [0,1] 0.31397126919514984 Centerline is valid? [False, False] Translation: X:14.27, Y:0.70, Z:0.71 [[ 9.95241822e-01 7.18213830e-04 -9.74330493e-02 1.42676100e+01] [-2.26912024e-03 9.99872474e-01 -1.58077894e-02 6.98125872e-01] [ 9.74092707e-02 1.59536604e-02 9.95116533e-01 7.14080137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96463044 meters Centerline goodness [0,1] 0.31386798165931307 Centerline is valid? [False, False] Translation: X:14.27, Y:0.70, Z:0.71 [[ 9.95221664e-01 7.08943184e-04 -9.76388095e-02 1.42680212e+01] [-2.24555118e-03 9.99875343e-01 -1.56286867e-02 6.96902245e-01] [ 9.76155583e-02 1.57732606e-02 9.95099195e-01 7.14223262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.99463044000004 meters Centerline goodness [0,1] 0.3139935414424112 Centerline is valid? [False, False] Translation: X:14.29, Y:0.70, Z:0.72 [[ 9.95133908e-01 -6.94025138e-03 -9.82870201e-02 1.42879546e+01] [ 5.53009900e-03 9.99877940e-01 -1.46124607e-02 7.00618313e-01] [ 9.83764373e-02 1.39978182e-02 9.95050822e-01 7.17374850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02463044 meters Centerline goodness [0,1] 0.31396331030300406 Centerline is valid? [False, False] Translation: X:14.29, Y:0.70, Z:0.72 [[ 9.95083413e-01 -7.06311200e-03 -9.87882237e-02 1.42893395e+01] [ 5.65855399e-03 9.99878991e-01 -1.44908373e-02 6.98950308e-01] [ 9.88786198e-02 1.38605933e-02 9.95002966e-01 7.17287542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.05463044000004 meters Centerline goodness [0,1] 0.30928033957167667 Centerline is valid? [False, False] Translation: X:14.31, Y:0.70, Z:0.72 [[ 9.94896633e-01 -1.56834073e-02 -9.96730715e-02 1.43120907e+01] [ 1.43329405e-02 9.99795722e-01 -1.42506822e-02 7.00986632e-01] [ 9.98762097e-02 1.27493475e-02 9.94918186e-01 7.19765225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08463044 meters Centerline goodness [0,1] 0.31217723386711804 Centerline is valid? [False, False] Translation: X:14.29, Y:0.69, Z:0.72 [[ 9.95091928e-01 -8.57665797e-03 -9.85824361e-02 1.42943799e+01] [ 7.15738172e-03 9.99865721e-01 -1.47415055e-02 6.93137408e-01] [ 9.86956314e-02 1.39635610e-02 9.95019694e-01 7.16317887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11463044000004 meters Centerline goodness [0,1] 0.30948218178678577 Centerline is valid? [False, False] Translation: X:14.29, Y:0.69, Z:0.72 [[ 9.95076121e-01 -8.53026163e-03 -9.87458802e-02 1.42947140e+01] [ 7.12609594e-03 9.99868546e-01 -1.45639736e-02 6.92215487e-01] [ 9.88571342e-02 1.37885897e-02 9.95006101e-01 7.16448630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14463044 meters Centerline goodness [0,1] 0.31091258281003864 Centerline is valid? [False, False] Translation: X:14.29, Y:0.69, Z:0.72 [[ 9.95065805e-01 -8.47049221e-03 -9.88549194e-02 1.42947301e+01] [ 7.07714882e-03 9.99870735e-01 -1.44370002e-02 6.91649889e-01] [ 9.89644294e-02 1.36661542e-02 9.94997125e-01 7.16802279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17463044000004 meters Centerline goodness [0,1] 0.3102687653924403 Centerline is valid? [False, False] Translation: X:14.31, Y:0.69, Z:0.72 [[ 9.95255687e-01 -9.33615062e-04 -9.72894912e-02 1.43133111e+01] [-6.30279085e-04 9.99871109e-01 -1.60426738e-02 6.89477830e-01] [ 9.72919292e-02 1.60278819e-02 9.95126820e-01 7.20229242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20463044 meters Centerline goodness [0,1] 0.3097937587733506 Centerline is valid? [False, False] Translation: X:14.31, Y:0.69, Z:0.72 [[ 9.95261581e-01 -8.94012427e-04 -9.72295586e-02 1.43130757e+01] [-6.66212444e-04 9.99871559e-01 -1.60131679e-02 6.89508001e-01] [ 9.72313863e-02 1.60020664e-02 9.95133153e-01 7.20330213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.23463044 meters Centerline goodness [0,1] 0.30980745701590573 Centerline is valid? [False, False] Translation: X:14.31, Y:0.69, Z:0.72 [[ 9.95252740e-01 -8.40740541e-04 -9.73204812e-02 1.43131178e+01] [-7.17187634e-04 9.99872180e-01 -1.59721367e-02 6.89558905e-01] [ 9.73214702e-02 1.59661099e-02 9.95124924e-01 7.20571138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26463044 meters Centerline goodness [0,1] 0.30925483614141547 Centerline is valid? [False, False] Translation: X:14.31, Y:0.69, Z:0.72 [[ 9.95260266e-01 -7.82869789e-04 -9.72439741e-02 1.43128846e+01] [-7.68038777e-04 9.99873130e-01 -1.59101781e-02 6.89494240e-01] [ 9.72440923e-02 1.59094552e-02 9.95133396e-01 7.20632330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.29463044 meters Centerline goodness [0,1] 0.31087516087516087 Centerline is valid? [False, False] Translation: X:14.31, Y:0.69, Z:0.72 [[ 9.95256871e-01 -7.36250402e-04 -9.72790763e-02 1.43129641e+01] [-8.12799441e-04 9.99873524e-01 -1.58831845e-02 6.89606800e-01] [ 9.72784668e-02 1.58869168e-02 9.95130396e-01 7.20693136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32463044 meters Centerline goodness [0,1] 0.3077960730574053 Centerline is valid? [False, False] Translation: X:14.31, Y:0.69, Z:0.72 [[ 9.95252496e-01 -7.26461164e-04 -9.73238993e-02 1.43127722e+01] [-8.24602661e-04 9.99873311e-01 -1.58959618e-02 6.89592799e-01] [ 9.73231172e-02 1.59007492e-02 9.95125810e-01 7.21083850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.35463044 meters Centerline goodness [0,1] 0.3087965064746957 Centerline is valid? [False, False] Translation: X:14.31, Y:0.69, Z:0.72 [[ 9.95269584e-01 -5.18343355e-04 -9.71503297e-02 1.43118115e+01] [-1.01622784e-03 9.99875512e-01 -1.57456952e-02 6.89648267e-01] [ 9.71463974e-02 1.57699384e-02 9.95145159e-01 7.21757390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38463044 meters Centerline goodness [0,1] 0.3110947927690547 Centerline is valid? [False, False] Translation: X:14.31, Y:0.69, Z:0.72 [[ 9.95277451e-01 -4.04464152e-04 -9.70702423e-02 1.43115675e+01] [-1.12555757e-03 9.99876008e-01 -1.57067299e-02 6.90005566e-01] [ 9.70645592e-02 1.57418122e-02 9.95153590e-01 7.21855164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.41463044 meters Centerline goodness [0,1] 0.31123495992914696 Centerline is valid? [False, False] Translation: X:14.31, Y:0.69, Z:0.72 [[ 9.95282867e-01 -3.69083268e-04 -9.70148390e-02 1.43112693e+01] [-1.16380277e-03 9.99875387e-01 -1.57434702e-02 6.90339728e-01] [ 9.70085603e-02 1.57821123e-02 9.95158412e-01 7.22059362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.44463044 meters Centerline goodness [0,1] 0.30955041691739016 Centerline is valid? [False, False] Translation: X:14.31, Y:0.69, Z:0.72 [[ 9.95278646e-01 -3.76061684e-04 -9.70581038e-02 1.43114103e+01] [-1.16467215e-03 9.99874222e-01 -1.58172027e-02 6.90698058e-01] [ 9.70518443e-02 1.58555650e-02 9.95153024e-01 7.22031110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.47463044 meters Centerline goodness [0,1] 0.31242185142068724 Centerline is valid? [False, False] Translation: X:14.31, Y:0.69, Z:0.72 [[ 9.95279090e-01 -3.02416843e-04 -9.70538099e-02 1.43112612e+01] [-1.23779416e-03 9.99874263e-01 -1.58090595e-02 6.90995406e-01] [ 9.70463876e-02 1.58545590e-02 9.95153572e-01 7.22193995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.50463044 meters Centerline goodness [0,1] 0.31136847996900097 Centerline is valid? [False, False] Translation: X:14.31, Y:0.69, Z:0.72 [[ 9.95283608e-01 -1.88219167e-04 -9.70077562e-02 1.43110112e+01] [-1.34832549e-03 9.99874680e-01 -1.57736030e-02 6.91521920e-01] [ 9.69985681e-02 1.58300066e-02 9.95158625e-01 7.22340672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.53463044 meters Centerline goodness [0,1] 0.310343347639485 Centerline is valid? [False, False] Translation: X:14.31, Y:0.69, Z:0.72 [[ 9.95278143e-01 1.21209218e-04 -9.70639156e-02 1.43108652e+01] [-1.65190701e-03 9.99875543e-01 -1.56897937e-02 6.92814930e-01] [ 9.70499336e-02 1.57760493e-02 9.95154474e-01 7.22684379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.56463044000003 meters Centerline goodness [0,1] 0.30853246697730086 Centerline is valid? [False, False] Translation: X:14.31, Y:0.69, Z:0.72 [[ 9.95268241e-01 9.75358784e-05 -9.71654214e-02 1.43110358e+01] [-1.63783708e-03 9.99874261e-01 -1.57727265e-02 6.93333006e-01] [ 9.71516655e-02 1.58572348e-02 9.95143257e-01 7.22824189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.59463044 meters Centerline goodness [0,1] 0.31156374609332904 Centerline is valid? [False, False] Translation: X:14.31, Y:0.69, Z:0.72 [[ 9.95262853e-01 9.00090972e-05 -9.72206033e-02 1.43109990e+01] [-1.63440294e-03 9.99873743e-01 -1.58059377e-02 6.93454338e-01] [ 9.72069058e-02 1.58899603e-02 9.95137341e-01 7.23048933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.62463044000003 meters Centerline goodness [0,1] 0.31259323316398224 Centerline is valid? [False, False] Translation: X:14.31, Y:0.69, Z:0.72 [[ 9.95245450e-01 1.03348648e-04 -9.73985792e-02 1.43113403e+01] [-1.66057469e-03 9.99872093e-01 -1.59072544e-02 6.94284835e-01] [ 9.73844772e-02 1.59933602e-02 9.95118323e-01 7.23119818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.65463044 meters Centerline goodness [0,1] 0.3108177831283859 Centerline is valid? [False, False] Translation: X:14.31, Y:0.70, Z:0.72 [[ 9.95228387e-01 1.26665682e-04 -9.75727500e-02 1.43118059e+01] [-1.69569746e-03 9.99870588e-01 -1.59978781e-02 6.95266231e-01] [ 9.75580966e-02 1.60869963e-02 9.95099807e-01 7.23096259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.68463044000003 meters Centerline goodness [0,1] 0.3134663557052777 Centerline is valid? [False, False] Translation: X:14.31, Y:0.70, Z:0.72 [[ 9.95229146e-01 1.71598521e-04 -9.75649380e-02 1.43116619e+01] [-1.75080127e-03 9.99868841e-01 -1.61007886e-02 6.96389959e-01] [ 9.75493786e-02 1.61947909e-02 9.95098913e-01 7.23240387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.71463044 meters Centerline goodness [0,1] 0.31357923556168754 Centerline is valid? [False, False] Translation: X:14.31, Y:0.70, Z:0.72 [[ 9.95247468e-01 2.64851067e-04 -9.73776528e-02 1.43109249e+01] [-1.84724783e-03 9.99867707e-01 -1.61603063e-02 6.97614304e-01] [ 9.73604904e-02 1.62633846e-02 9.95116293e-01 7.23573488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74463044000004 meters Centerline goodness [0,1] 0.3102641687589862 Centerline is valid? [False, False] Translation: X:14.31, Y:0.70, Z:0.72 [[ 9.95268180e-01 3.41228926e-04 -9.71654957e-02 1.43102473e+01] [-1.92874908e-03 9.99866183e-01 -1.62448543e-02 6.99173680e-01] [ 9.71469501e-02 1.63553944e-02 9.95135655e-01 7.23787815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.77463044 meters Centerline goodness [0,1] 0.3102193686463349 Centerline is valid? [False, False] Translation: X:14.31, Y:0.70, Z:0.72 [[ 9.95266463e-01 3.30174060e-04 -9.71831212e-02 1.43101105e+01] [-1.93113969e-03 9.99863972e-01 -1.63801019e-02 7.00477107e-01] [ 9.71644934e-02 1.64902402e-02 9.95131717e-01 7.24023167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80463044000004 meters Centerline goodness [0,1] 0.31244470339440233 Centerline is valid? [False, False] Translation: X:14.31, Y:0.70, Z:0.72 [[ 9.95262043e-01 2.03366190e-04 -9.72287175e-02 1.43099505e+01] [-1.82957769e-03 9.99859926e-01 -1.66367671e-02 7.01773090e-01] [ 9.72117149e-02 1.67358303e-02 9.95123005e-01 7.24357840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.83463044 meters Centerline goodness [0,1] 0.3116802266921409 Centerline is valid? [False, False] Translation: X:14.31, Y:0.70, Z:0.72 [[ 9.95259429e-01 1.03460000e-04 -9.72556371e-02 1.43099093e+01] [-1.73686032e-03 9.99858863e-01 -1.67104063e-02 7.01755087e-01] [ 9.72401819e-02 1.68001089e-02 9.95119140e-01 7.24532332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86463044000004 meters Centerline goodness [0,1] 0.3125174659816419 Centerline is valid? [False, False] Translation: X:14.31, Y:0.70, Z:0.72 [[ 9.95261967e-01 3.80258481e-05 -9.72297026e-02 1.43095727e+01] [-1.66342102e-03 9.99860228e-01 -1.66360598e-02 7.00807236e-01] [ 9.72154799e-02 1.67189716e-02 9.95122920e-01 7.24857941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.89463044 meters Centerline goodness [0,1] 0.31109968727241566 Centerline is valid? [False, False] Translation: X:14.31, Y:0.70, Z:0.73 [[ 9.95249965e-01 5.72417907e-06 -9.73524898e-02 1.43095272e+01] [-1.61746058e-03 9.99862941e-01 -1.64767660e-02 6.99484179e-01] [ 9.73390524e-02 1.65559646e-02 9.95113566e-01 7.25308656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92463044000004 meters Centerline goodness [0,1] 0.31109968727241566 Centerline is valid? [False, False] Translation: X:14.31, Y:0.70, Z:0.73 [[ 9.95249965e-01 5.72417907e-06 -9.73524898e-02 1.43095272e+01] [-1.61746058e-03 9.99862941e-01 -1.64767660e-02 6.99484179e-01] [ 9.73390524e-02 1.65559646e-02 9.95113566e-01 7.25308656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.95463044 meters Centerline goodness [0,1] 0.3154640517203975 Centerline is valid? [False, False] Translation: X:14.31, Y:0.70, Z:0.73 [[ 9.95202369e-01 -1.88368778e-04 -9.78376628e-02 1.43107000e+01] [-1.40505776e-03 9.99867504e-01 -1.62172786e-02 6.96373226e-01] [ 9.78277545e-02 1.62769416e-02 9.95070245e-01 7.25379174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98463044 meters Centerline goodness [0,1] 0.3137119412653855 Centerline is valid? [False, False] Translation: X:14.31, Y:0.69, Z:0.73 [[ 9.95151538e-01 -2.00881781e-04 -9.83533185e-02 1.43121610e+01] [-1.38199044e-03 9.99870631e-01 -1.60253434e-02 6.94762485e-01] [ 9.83438138e-02 1.60835685e-02 9.95022519e-01 7.25187967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.01463044 meters Centerline goodness [0,1] 0.3117943635266741 Centerline is valid? [False, False] Translation: X:14.31, Y:0.69, Z:0.72 [[ 9.95118130e-01 -1.60229681e-04 -9.86908422e-02 1.43132281e+01] [-1.41137760e-03 9.99873313e-01 -1.58545290e-02 6.93616364e-01] [ 9.86808798e-02 1.59164193e-02 9.94991835e-01 7.24941694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04463044 meters Centerline goodness [0,1] 0.3139087530158454 Centerline is valid? [False, False] Translation: X:14.31, Y:0.69, Z:0.72 [[ 9.95091878e-01 -7.75805674e-05 -9.89552841e-02 1.43139162e+01] [-1.47998546e-03 9.99876176e-01 -1.56665961e-02 6.92573842e-01] [ 9.89442465e-02 1.57361550e-02 9.94968547e-01 7.24900855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.07463044 meters Centerline goodness [0,1] 0.31228502823025506 Centerline is valid? [False, False] Translation: X:14.31, Y:0.69, Z:0.73 [[ 9.95077056e-01 5.03048654e-05 -9.91042375e-02 1.43142226e+01] [-1.59247931e-03 9.99878877e-01 -1.54820913e-02 6.91829026e-01] [ 9.90914548e-02 1.55636953e-02 9.94956610e-01 7.25005048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10463044 meters Centerline goodness [0,1] 0.31043991555000217 Centerline is valid? [False, False] Translation: X:14.31, Y:0.69, Z:0.73 [[ 9.95074373e-01 1.70320608e-04 -9.91310399e-02 1.43139570e+01] [-1.69979073e-03 9.99880821e-01 -1.53445166e-02 6.91412769e-01] [ 9.91166121e-02 1.54374372e-02 9.94956071e-01 7.25431822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.13463044 meters Centerline goodness [0,1] 0.3135595055099699 Centerline is valid? [False, False] Translation: X:14.31, Y:0.69, Z:0.73 [[ 9.95086963e-01 3.96217810e-04 -9.90039297e-02 1.43134557e+01] [-1.91332625e-03 9.99882198e-01 -1.52292427e-02 6.91639890e-01] [ 9.89862327e-02 1.53438477e-02 9.94970498e-01 7.25668043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16463044 meters Centerline goodness [0,1] 0.31064313927528764 Centerline is valid? [False, False] Translation: X:14.31, Y:0.69, Z:0.73 [[ 9.95065376e-01 4.60532491e-04 -9.92203852e-02 1.43140704e+01] [-1.98720197e-03 9.99881151e-01 -1.52883716e-02 6.92311284e-01] [ 9.92015522e-02 1.54101001e-02 9.94948029e-01 7.25524658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.19463044 meters Centerline goodness [0,1] 0.31093305763763246 Centerline is valid? [False, False] Translation: X:14.31, Y:0.69, Z:0.73 [[ 9.95054620e-01 5.30474782e-04 -9.93278547e-02 1.43143364e+01] [-2.06785929e-03 9.99879651e-01 -1.53755662e-02 6.93233059e-01] [ 9.93077443e-02 1.55049242e-02 9.94935962e-01 7.25467786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22463044 meters Centerline goodness [0,1] 0.31579405871591604 Centerline is valid? [False, False] Translation: X:14.31, Y:0.69, Z:0.73 [[ 9.95061753e-01 5.76452232e-04 -9.92561139e-02 1.43140972e+01] [-2.12233226e-03 9.99878083e-01 -1.54697745e-02 6.94251973e-01] [ 9.92350954e-02 1.56040354e-02 9.94941662e-01 7.25526656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.25463044 meters Centerline goodness [0,1] 0.31258797288810936 Centerline is valid? [False, False] Translation: X:14.31, Y:0.70, Z:0.73 [[ 9.95052485e-01 6.15329211e-04 -9.93487465e-02 1.43140216e+01] [-2.17162988e-03 9.99876614e-01 -1.55576439e-02 6.95289458e-01] [ 9.93269152e-02 1.56964210e-02 9.94931046e-01 7.25884211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28463044 meters Centerline goodness [0,1] 0.3090161109675196 Centerline is valid? [False, False] Translation: X:14.31, Y:0.70, Z:0.73 [[ 9.95007641e-01 6.75485102e-04 -9.97964858e-02 1.43149192e+01] [-2.24015217e-03 9.99876312e-01 -1.55673515e-02 6.95885923e-01] [ 9.97736267e-02 1.57131930e-02 9.94886083e-01 7.26124283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.31463044000003 meters Centerline goodness [0,1] 0.3133124932629082 Centerline is valid? [False, False] Translation: X:14.32, Y:0.70, Z:0.73 [[ 9.94978377e-01 6.27926502e-04 -1.00088137e-01 1.43157241e+01] [-2.19374094e-03 9.99876917e-01 -1.55350637e-02 6.95165418e-01] [ 1.00066063e-01 1.56766199e-02 9.94857290e-01 7.26032380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34463044 meters Centerline goodness [0,1] 0.31219438640329145 Centerline is valid? [False, False] Translation: X:14.32, Y:0.69, Z:0.73 [[ 9.94962725e-01 5.92173227e-04 -1.00243831e-01 1.43160882e+01] [-2.14673102e-03 9.99879099e-01 -1.54006056e-02 6.93853902e-01] [ 1.00222592e-01 1.55382251e-02 9.94843704e-01 7.26097340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.37463044000003 meters Centerline goodness [0,1] 0.3179333028382234 Centerline is valid? [False, False] Translation: X:14.32, Y:0.69, Z:0.73 [[ 9.94971175e-01 6.13315585e-04 -1.00159798e-01 1.43154385e+01] [-2.14104361e-03 9.99882999e-01 -1.51461252e-02 6.92061080e-01] [ 1.00138790e-01 1.52844045e-02 9.94856075e-01 7.26676286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40463044 meters Centerline goodness [0,1] 0.31482886437040725 Centerline is valid? [False, False] Translation: X:14.33, Y:0.69, Z:0.73 [[ 9.95140246e-01 -7.67731239e-03 -9.81679687e-02 1.43342008e+01] [ 6.31306595e-03 9.99879243e-01 -1.42001441e-02 6.91204881e-01] [ 9.82651332e-02 1.35113940e-02 9.95068543e-01 7.29845289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.43463044000003 meters Centerline goodness [0,1] 0.31451265713793697 Centerline is valid? [False, False] Translation: X:14.33, Y:0.69, Z:0.73 [[ 9.95153345e-01 -7.64192488e-03 -9.80378504e-02 1.43334956e+01] [ 6.31985389e-03 9.99884958e-01 -1.37887764e-02 6.88220805e-01] [ 9.81319447e-02 1.31023621e-02 9.95087157e-01 7.30473161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46463044 meters Centerline goodness [0,1] 0.31543059361715897 Centerline is valid? [False, False] Translation: X:14.33, Y:0.68, Z:0.73 [[ 9.95150760e-01 -7.55667236e-03 -9.80706920e-02 1.43330184e+01] [ 6.28221664e-03 9.99891848e-01 -1.32975755e-02 6.84912566e-01] [ 9.81605709e-02 1.26169910e-02 9.95090606e-01 7.31207283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.49463044000004 meters Centerline goodness [0,1] 0.3177489550566639 Centerline is valid? [False, False] Translation: X:14.33, Y:0.68, Z:0.73 [[ 9.95139151e-01 -7.39506700e-03 -9.82007322e-02 1.43330848e+01] [ 6.16862134e-03 9.99899216e-01 -1.27869220e-02 6.81874482e-01] [ 9.82853953e-02 1.21190036e-02 9.95084474e-01 7.31610612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52463044 meters Centerline goodness [0,1] 0.31620578916740305 Centerline is valid? [False, False] Translation: X:14.33, Y:0.68, Z:0.73 [[ 9.95114811e-01 -7.18954051e-03 -9.84622943e-02 1.43336225e+01] [ 6.00710936e-03 9.99906306e-01 -1.23001745e-02 6.79267655e-01] [ 9.85415015e-02 1.16486120e-02 9.95064763e-01 7.31824067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.55463044000004 meters Centerline goodness [0,1] 0.31726855460292713 Centerline is valid? [False, False] Translation: X:14.33, Y:0.68, Z:0.73 [[ 9.95090509e-01 -6.89497830e-03 -9.87286115e-02 1.43343089e+01] [ 5.76254773e-03 9.99914353e-01 -1.17507093e-02 6.76262847e-01] [ 9.88011766e-02 1.11240910e-02 9.95045015e-01 7.31880985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58463044 meters Centerline goodness [0,1] 0.3184970972581592 Centerline is valid? [False, False] Translation: X:14.33, Y:0.68, Z:0.73 [[ 9.95101913e-01 -6.81410996e-03 -9.86192169e-02 1.43340393e+01] [ 5.69018123e-03 9.99915673e-01 -1.16734360e-02 6.75781039e-01] [ 9.86904447e-02 1.10550973e-02 9.95056773e-01 7.31890614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61463044000004 meters Centerline goodness [0,1] 0.3166346920738936 Centerline is valid? [False, False] Translation: X:14.35, Y:0.67, Z:0.73 [[ 9.95226887e-01 1.25490948e-03 -9.75800627e-02 1.43530947e+01] [-2.54566597e-03 9.99910895e-01 -1.31042912e-02 6.73693689e-01] [ 9.75549231e-02 1.32901492e-02 9.95141401e-01 7.34702835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64463044 meters Centerline goodness [0,1] 0.3159204518404709 Centerline is valid? [False, False] Translation: X:14.35, Y:0.67, Z:0.73 [[ 9.95244432e-01 1.47849572e-03 -9.73978203e-02 1.43525454e+01] [-2.75595186e-03 9.99911924e-01 -1.29826339e-02 6.73951075e-01] [ 9.73700471e-02 1.31893178e-02 9.95160849e-01 7.34808324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67463044000004 meters Centerline goodness [0,1] 0.3115690327529993 Centerline is valid? [False, False] Translation: X:14.39, Y:0.68, Z:0.74 [[ 9.95378181e-01 3.48168789e-03 -9.59695486e-02 1.43946836e+01] [-4.71121196e-03 9.99909669e-01 -1.25879951e-02 6.77808940e-01] [ 9.59170521e-02 1.29819485e-02 9.95304671e-01 7.39567125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70463044 meters Centerline goodness [0,1] 0.31910010176904924 Centerline is valid? [False, False] Translation: X:14.35, Y:0.67, Z:0.74 [[ 9.95234434e-01 3.54284499e-03 -9.74467517e-02 1.43487346e+01] [-4.72409965e-03 9.99918104e-01 -1.18940013e-02 6.74947286e-01] [ 9.73966327e-02 1.22976678e-02 9.95169666e-01 7.36363083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.73463044 meters Centerline goodness [0,1] 0.31388451500183345 Centerline is valid? [False, False] Translation: X:14.35, Y:0.68, Z:0.74 [[ 9.95215262e-01 3.70581385e-03 -9.76363118e-02 1.43495516e+01] [-4.90862151e-03 9.99914962e-01 -1.20819428e-02 6.76994847e-01] [ 9.75832357e-02 1.25033935e-02 9.95148822e-01 7.35917914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76463044 meters Centerline goodness [0,1] 0.31138675479634315 Centerline is valid? [False, False] Translation: X:14.35, Y:0.68, Z:0.74 [[ 9.95214353e-01 3.63117108e-03 -9.76483770e-02 1.43499169e+01] [-4.85837370e-03 9.99912146e-01 -1.23327311e-02 6.78528483e-01] [ 9.75950160e-02 1.27481233e-02 9.95144561e-01 7.35487060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.79463044 meters Centerline goodness [0,1] 0.31107862946562914 Centerline is valid? [False, False] Translation: X:14.35, Y:0.68, Z:0.74 [[ 9.95229359e-01 3.63875633e-03 -9.74950364e-02 1.43495518e+01] [-4.87432829e-03 9.99910765e-01 -1.24379972e-02 6.79592131e-01] [ 9.74410775e-02 1.28538828e-02 9.95158286e-01 7.35446941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82463044 meters Centerline goodness [0,1] 0.31590536223124077 Centerline is valid? [False, False] Translation: X:14.35, Y:0.68, Z:0.74 [[ 9.95255262e-01 3.62240909e-03 -9.72308631e-02 1.43487109e+01] [-4.86202973e-03 9.99909859e-01 -1.25153482e-02 6.80452391e-01] [ 9.71767629e-02 1.29287055e-02 9.95183162e-01 7.35703865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.85463044 meters Centerline goodness [0,1] 0.3160704636334162 Centerline is valid? [False, False] Translation: X:14.35, Y:0.68, Z:0.74 [[ 9.95280637e-01 3.57696389e-03 -9.69724639e-02 1.43477847e+01] [-4.81870812e-03 9.99909334e-01 -1.25739541e-02 6.80876113e-01] [ 9.69186952e-02 1.29818951e-02 9.95207635e-01 7.36091579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88463044 meters Centerline goodness [0,1] 0.31541980797731817 Centerline is valid? [False, False] Translation: X:14.37, Y:0.69, Z:0.74 [[ 9.95358682e-01 -4.36604793e-03 -9.61354822e-02 1.43667166e+01] [ 3.22371145e-03 9.99922384e-01 -1.20346812e-02 6.86026393e-01] [ 9.61805645e-02 1.16689113e-02 9.95295502e-01 7.39409125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.91463044 meters Centerline goodness [0,1] 0.31625528989710205 Centerline is valid? [False, False] Translation: X:14.37, Y:0.69, Z:0.74 [[ 9.95352095e-01 -4.44916757e-03 -9.61998513e-02 1.43669026e+01] [ 3.30214877e-03 9.99921591e-01 -1.20792080e-02 6.85969581e-01] [ 9.62460508e-02 1.17053988e-02 9.95288743e-01 7.39424861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.94463044 meters Centerline goodness [0,1] 0.3160592624635017 Centerline is valid? [False, False] Translation: X:14.37, Y:0.69, Z:0.74 [[ 9.95322653e-01 -4.49743310e-03 -9.65017638e-02 1.43677537e+01] [ 3.34312134e-03 9.99920962e-01 -1.21199156e-02 6.86158036e-01] [ 9.65486451e-02 1.17406094e-02 9.95259020e-01 7.39294745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.97463044 meters Centerline goodness [0,1] 0.31405475317956455 Centerline is valid? [False, False] Translation: X:14.37, Y:0.69, Z:0.74 [[ 9.95284815e-01 -4.52385849e-03 -9.68900028e-02 1.43689573e+01] [ 3.36128264e-03 9.99920430e-01 -1.21587876e-02 6.86529131e-01] [ 9.69372979e-02 1.17757819e-02 9.95220825e-01 7.39052895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.00463044 meters Centerline goodness [0,1] 0.3137111831233771 Centerline is valid? [False, False] Translation: X:14.37, Y:0.69, Z:0.74 [[ 9.95247277e-01 -4.58189729e-03 -9.72721121e-02 1.43701966e+01] [ 3.40620730e-03 9.99919174e-01 -1.22492294e-02 6.86872566e-01] [ 9.73203747e-02 1.18596832e-02 9.95182442e-01 7.38706146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.03463044 meters Centerline goodness [0,1] 0.31220890115577027 Centerline is valid? [False, False] Translation: X:14.37, Y:0.69, Z:0.74 [[ 9.95193056e-01 -4.62569220e-03 -9.78232297e-02 1.43718584e+01] [ 3.43424054e-03 9.99917906e-01 -1.23445129e-02 6.87682340e-01] [ 9.78723010e-02 1.19492250e-02 9.95127242e-01 7.38373940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.06463044000003 meters Centerline goodness [0,1] 0.31362123373535644 Centerline is valid? [False, False] Translation: X:14.37, Y:0.69, Z:0.74 [[ 9.95180508e-01 -4.54284695e-03 -9.79546735e-02 1.43721936e+01] [ 3.36074183e-03 9.99919569e-01 -1.22295012e-02 6.87492005e-01] [ 9.80023517e-02 1.18413609e-02 9.95115733e-01 7.38328931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.09463044 meters Centerline goodness [0,1] 0.3153428157000281 Centerline is valid? [False, False] Translation: X:14.37, Y:0.69, Z:0.74 [[ 9.95172110e-01 -4.47779621e-03 -9.80429575e-02 1.43722017e+01] [ 3.31172351e-03 9.99921876e-01 -1.20529973e-02 6.86661679e-01] [ 9.80892689e-02 1.16701156e-02 9.95109192e-01 7.38634030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.12463044000003 meters Centerline goodness [0,1] 0.31301429190125596 Centerline is valid? [False, False] Translation: X:14.37, Y:0.69, Z:0.74 [[ 9.95170399e-01 -4.49477120e-03 -9.80595402e-02 1.43720172e+01] [ 3.34332369e-03 9.99923562e-01 -1.19034910e-02 6.85415570e-01] [ 9.81055482e-02 1.15181571e-02 9.95109358e-01 7.38951882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.15463044 meters Centerline goodness [0,1] 0.3131840849722588 Centerline is valid? [False, False] Translation: X:14.37, Y:0.68, Z:0.74 [[ 9.95143805e-01 -4.96037901e-03 -9.83066730e-02 1.43724053e+01] [ 3.80709834e-03 9.99921759e-01 -1.19155755e-02 6.82603240e-01] [ 9.83580872e-02 1.14834480e-02 9.95084829e-01 7.39333070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18463044000003 meters Centerline goodness [0,1] 0.3146563799754326 Centerline is valid? [False, False] Translation: X:14.37, Y:0.68, Z:0.74 [[ 9.95145384e-01 -4.96681498e-03 -9.82903620e-02 1.43720687e+01] [ 3.83868416e-03 9.99924613e-01 -1.16633178e-02 6.80824452e-01] [ 9.83408817e-02 1.12293912e-02 9.95089429e-01 7.39747313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.21463044 meters Centerline goodness [0,1] 0.3141945085520782 Centerline is valid? [False, False] Translation: X:14.37, Y:0.68, Z:0.74 [[ 9.95168513e-01 -4.90018658e-03 -9.80592661e-02 1.43712547e+01] [ 3.80876891e-03 9.99928738e-01 -1.13142851e-02 6.78742235e-01] [ 9.81077202e-02 1.08861352e-02 9.95116258e-01 7.40157666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24463044000004 meters Centerline goodness [0,1] 0.31176887248062846 Centerline is valid? [False, False] Translation: X:14.37, Y:0.68, Z:0.74 [[ 9.95190324e-01 -4.83939262e-03 -9.78406808e-02 1.43703428e+01] [ 3.78223896e-03 9.99932483e-01 -1.09874365e-02 6.76649278e-01] [ 9.78872474e-02 1.05645336e-02 9.95141436e-01 7.40667892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.27463044 meters Centerline goodness [0,1] 0.3142813990118023 Centerline is valid? [False, False] Translation: X:14.37, Y:0.67, Z:0.74 [[ 9.95198056e-01 -4.76138296e-03 -9.77658321e-02 1.43698626e+01] [ 3.73717206e-03 9.99936233e-01 -1.06566164e-02 6.74416186e-01] [ 9.78103381e-02 1.02400762e-02 9.95152390e-01 7.41100744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30463044000004 meters Centerline goodness [0,1] 0.3160751112558341 Centerline is valid? [False, False] Translation: X:14.37, Y:0.67, Z:0.74 [[ 9.95136868e-01 -4.67420489e-03 -9.83908832e-02 1.43713739e+01] [ 3.69705612e-03 9.99942045e-01 -1.01112737e-02 6.70301885e-01] [ 9.84324432e-02 9.69834460e-03 9.95096476e-01 7.41134657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.33463044 meters Centerline goodness [0,1] 0.31687046856400825 Centerline is valid? [False, False] Translation: X:14.37, Y:0.67, Z:0.74 [[ 9.95094290e-01 -4.49457500e-03 -9.88289084e-02 1.43726555e+01] [ 3.54606334e-03 9.99945974e-01 -9.77107617e-03 6.68561732e-01] [ 9.88674859e-02 9.37268854e-03 9.95056467e-01 7.40889578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36463044000004 meters Centerline goodness [0,1] 0.3121307812936349 Centerline is valid? [False, False] Translation: X:14.37, Y:0.67, Z:0.74 [[ 9.95068833e-01 -4.29582870e-03 -9.90937077e-02 1.43736155e+01] [ 3.37508587e-03 9.99949582e-01 -9.45740534e-03 6.67063308e-01] [ 9.91293390e-02 9.07631952e-03 9.95033163e-01 7.40531732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.39463044 meters Centerline goodness [0,1] 0.3154355206050449 Centerline is valid? [False, False] Translation: X:14.37, Y:0.67, Z:0.74 [[ 9.95064423e-01 -4.08788938e-03 -9.91467750e-02 1.43737391e+01] [ 3.19632508e-03 9.99953034e-01 -9.14954631e-03 6.65682102e-01] [ 9.91795207e-02 8.78748270e-03 9.95030755e-01 7.40578165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42463044000004 meters Centerline goodness [0,1] 0.31558902635825714 Centerline is valid? [False, False] Translation: X:14.37, Y:0.67, Z:0.74 [[ 9.95076671e-01 -3.95077108e-03 -9.90293441e-02 1.43731878e+01] [ 3.07222284e-03 9.99954577e-01 -9.02252116e-03 6.65153750e-01] [ 9.90604918e-02 8.67386010e-03 9.95043609e-01 7.40885336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.45463044 meters Centerline goodness [0,1] 0.3138686131386861 Centerline is valid? [False, False] Translation: X:14.37, Y:0.66, Z:0.74 [[ 9.95094711e-01 -3.69698832e-03 -9.88577154e-02 1.43723948e+01] [ 2.83852575e-03 9.99957047e-01 -8.82306007e-03 6.64920235e-01] [ 9.88860880e-02 8.49917024e-03 9.95062463e-01 7.41364553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48463044 meters Centerline goodness [0,1] 0.32004172189747715 Centerline is valid? [False, False] Translation: X:14.37, Y:0.67, Z:0.74 [[ 9.95139284e-01 -1.66475568e-03 -9.84633648e-02 1.43701933e+01] [ 9.53749007e-04 9.99973135e-01 -7.26765587e-03 6.66310641e-01] [ 9.84728184e-02 7.13842053e-03 9.95114138e-01 7.42365688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.51463044 meters Centerline goodness [0,1] 0.31506937860898043 Centerline is valid? [False, False] Translation: X:14.39, Y:0.67, Z:0.74 [[ 9.95184151e-01 6.85360340e-03 -9.77830926e-02 1.43897640e+01] [-7.72609636e-03 9.99933627e-01 -8.54687778e-03 6.66259936e-01] [ 9.77180256e-02 9.26119891e-03 9.95171049e-01 7.44963895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54463044 meters Centerline goodness [0,1] 0.3164766616476662 Centerline is valid? [False, False] Translation: X:14.39, Y:0.67, Z:0.74 [[ 9.95191247e-01 6.97495698e-03 -9.77022612e-02 1.43896586e+01] [-7.86386268e-03 9.99931093e-01 -8.71597993e-03 6.68104602e-01] [ 9.76347353e-02 9.44238410e-03 9.95177522e-01 7.44824738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.57463044 meters Centerline goodness [0,1] 0.3153451914380464 Centerline is valid? [False, False] Translation: X:14.39, Y:0.67, Z:0.74 [[ 9.95230568e-01 7.43678282e-03 -9.72666975e-02 1.43884500e+01] [-8.33502671e-03 9.99926261e-01 -8.83178880e-03 6.71488711e-01] [ 9.71938450e-02 9.60038670e-03 9.95219166e-01 7.44850235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60463044 meters Centerline goodness [0,1] 0.3125974331048327 Centerline is valid? [False, False] Translation: X:14.41, Y:0.68, Z:0.75 [[ 9.95200486e-01 1.46043238e-03 -9.78461036e-02 1.44054344e+01] [-2.20001715e-03 9.99969819e-01 -7.45118930e-03 6.79033928e-01] [ 9.78322686e-02 7.63069032e-03 9.95173663e-01 7.48580859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.63463044 meters Centerline goodness [0,1] 0.31638017983218525 Centerline is valid? [False, False] Translation: X:14.41, Y:0.68, Z:0.75 [[ 9.95203535e-01 1.39942335e-03 -9.78159763e-02 1.44053714e+01] [-2.16119827e-03 9.99968155e-01 -7.68231738e-03 6.80516142e-01] [ 9.78021106e-02 7.85686914e-03 9.95174867e-01 7.48540021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66463044 meters Centerline goodness [0,1] 0.3170374518122887 Centerline is valid? [False, False] Translation: X:14.41, Y:0.68, Z:0.75 [[ 9.95195251e-01 1.19384217e-03 -9.79029458e-02 1.44055267e+01] [-1.98698041e-03 9.99965992e-01 -8.00417078e-03 6.81558483e-01] [ 9.78900606e-02 8.16024398e-03 9.95163779e-01 7.48582550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.69463044 meters Centerline goodness [0,1] 0.3163670072866813 Centerline is valid? [False, False] Translation: X:14.41, Y:0.68, Z:0.75 [[ 9.95195817e-01 9.52028197e-04 -9.78998483e-02 1.44053996e+01] [-1.77131431e-03 9.99964134e-01 -8.28204080e-03 6.82108268e-01] [ 9.78884523e-02 8.41566376e-03 9.95161810e-01 7.48695642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72463044 meters Centerline goodness [0,1] 0.31595719484098783 Centerline is valid? [False, False] Translation: X:14.41, Y:0.68, Z:0.75 [[ 9.95187584e-01 7.86549131e-04 -9.79849666e-02 1.44053626e+01] [-1.61786239e-03 9.99963369e-01 -8.40492443e-03 6.82228249e-01] [ 9.79747665e-02 8.52300263e-03 9.95152402e-01 7.49003045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.75463044 meters Centerline goodness [0,1] 0.31817591269325707 Centerline is valid? [False, False] Translation: X:14.40, Y:0.68, Z:0.75 [[ 9.95242990e-01 5.04341079e-04 -9.74224642e-02 1.44036895e+01] [-1.34098714e-03 9.99962783e-01 -8.52252861e-03 6.82581970e-01] [ 9.74145402e-02 8.61262913e-03 9.95206627e-01 7.49513297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78463044 meters Centerline goodness [0,1] 0.3179930721401063 Centerline is valid? [False, False] Translation: X:14.40, Y:0.68, Z:0.75 [[ 9.95257089e-01 3.34776948e-04 -9.72790553e-02 1.44031816e+01] [-1.18153092e-03 9.99961917e-01 -8.64690583e-03 6.82785590e-01] [ 9.72724558e-02 8.72083254e-03 9.95219582e-01 7.49792970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.81463044000003 meters Centerline goodness [0,1] 0.3182102830983178 Centerline is valid? [False, False] Translation: X:14.40, Y:0.68, Z:0.75 [[ 9.95259109e-01 6.19636484e-05 -9.72589404e-02 1.44030879e+01] [-9.36272279e-04 9.99959564e-01 -8.94388082e-03 6.83434722e-01] [ 9.72544534e-02 8.99253971e-03 9.95218923e-01 7.49930373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84463044 meters Centerline goodness [0,1] 0.3182102830983178 Centerline is valid? [False, False] Translation: X:14.40, Y:0.68, Z:0.75 [[ 9.95259109e-01 6.19636484e-05 -9.72589404e-02 1.44030879e+01] [-9.36272279e-04 9.99959564e-01 -8.94388082e-03 6.83434722e-01] [ 9.72544534e-02 8.99253971e-03 9.95218923e-01 7.49930373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.87463044000003 meters Centerline goodness [0,1] 0.31959675330282356 Centerline is valid? [False, False] Translation: X:14.40, Y:0.68, Z:0.75 [[ 9.95260517e-01 -3.16592145e-05 -9.72445530e-02 1.44030764e+01] [-8.62864108e-04 9.99957705e-01 -9.15663064e-03 6.84672738e-01] [ 9.72407299e-02 9.19714178e-03 9.95218395e-01 7.49852049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90463044 meters Centerline goodness [0,1] 0.3204155530649194 Centerline is valid? [False, False] Translation: X:14.40, Y:0.69, Z:0.75 [[ 9.95242228e-01 3.58386288e-05 -9.74315508e-02 1.44035919e+01] [-9.37327969e-04 9.99957177e-01 -9.20678440e-03 6.86029843e-01] [ 9.74270485e-02 9.25430594e-03 9.95199642e-01 7.49782366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.93463044000003 meters Centerline goodness [0,1] 0.3208089966001221 Centerline is valid? [False, False] Translation: X:14.40, Y:0.69, Z:0.75 [[ 9.95227794e-01 8.52798362e-05 -9.75788420e-02 1.44041180e+01] [-9.92354982e-04 9.99956750e-01 -9.24732344e-03 6.87004915e-01] [ 9.75738331e-02 9.30002616e-03 9.95184835e-01 7.49595031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96463044 meters Centerline goodness [0,1] 0.3177632861754447 Centerline is valid? [False, False] Translation: X:14.41, Y:0.69, Z:0.75 [[ 9.95161279e-01 -3.74707260e-04 -9.82542038e-02 1.44062288e+01] [-5.88429531e-04 9.99952067e-01 -9.77333841e-03 6.88270306e-01] [ 9.82531563e-02 9.78386362e-03 9.95113357e-01 7.49056814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.99463044000004 meters Centerline goodness [0,1] 0.31672421234354764 Centerline is valid? [False, False] Translation: X:14.41, Y:0.69, Z:0.75 [[ 9.95116248e-01 -6.92761707e-04 -9.87075119e-02 1.44074755e+01] [-3.07050385e-04 9.99948810e-01 -1.01134863e-02 6.88787568e-01] [ 9.87094653e-02 1.00944028e-02 9.95065096e-01 7.48906682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02463044 meters Centerline goodness [0,1] 0.31890188630379424 Centerline is valid? [False, False] Translation: X:14.41, Y:0.69, Z:0.75 [[ 9.95092602e-01 -8.40703827e-04 -9.89444626e-02 1.44083250e+01] [-1.75820785e-04 9.99947303e-01 -1.02645207e-02 6.89223836e-01] [ 9.89478780e-02 1.02315451e-02 9.95040016e-01 7.48583976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.05463044000004 meters Centerline goodness [0,1] 0.3174124639304018 Centerline is valid? [False, False] Translation: X:14.41, Y:0.69, Z:0.75 [[ 9.95088815e-01 -7.63961290e-04 -9.89831646e-02 1.44083620e+01] [-2.42865596e-04 9.99948364e-01 -1.01592496e-02 6.89378586e-01] [ 9.89858148e-02 1.01333953e-02 9.95037247e-01 7.48657707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08463044 meters Centerline goodness [0,1] 0.31647907895867344 Centerline is valid? [False, False] Translation: X:14.41, Y:0.69, Z:0.75 [[ 9.95160984e-01 -7.13736470e-04 -9.82553088e-02 1.44057623e+01] [-2.71418663e-04 9.99949834e-01 -1.00127509e-02 6.89664222e-01] [ 9.82575262e-02 9.99096734e-03 9.95110868e-01 7.49827026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11463044000004 meters Centerline goodness [0,1] 0.3191029046354211 Centerline is valid? [False, False] Translation: X:14.40, Y:0.69, Z:0.75 [[ 9.95188918e-01 -7.08559996e-04 -9.79720137e-02 1.44046586e+01] [-2.71158538e-04 9.99950099e-01 -9.98630704e-03 6.89696606e-01] [ 9.79742006e-02 9.96482805e-03 9.95139065e-01 7.50395271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14463044 meters Centerline goodness [0,1] 0.32362501625276296 Centerline is valid? [False, False] Translation: X:14.40, Y:0.69, Z:0.75 [[ 9.95187770e-01 -7.67247698e-04 -9.79832315e-02 1.44044916e+01] [-2.19136658e-04 9.99949416e-01 -1.00557105e-02 6.89794843e-01] [ 9.79859903e-02 1.00287918e-02 9.95137261e-01 7.50629495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17463044000004 meters Centerline goodness [0,1] 0.32083467785307085 Centerline is valid? [False, False] Translation: X:14.41, Y:0.69, Z:0.75 [[ 9.95169444e-01 -8.47472110e-04 -9.81685232e-02 1.44052130e+01] [-1.54363618e-04 9.99947995e-01 -1.01972196e-02 6.90347605e-01] [ 9.81720598e-02 1.01631150e-02 9.95117560e-01 7.50326912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20463044 meters Centerline goodness [0,1] 0.3246530417218687 Centerline is valid? [False, False] Translation: X:14.41, Y:0.69, Z:0.75 [[ 9.95152904e-01 -8.33579521e-04 -9.83361729e-02 1.44060572e+01] [-1.75126231e-04 9.99947466e-01 -1.02486509e-02 6.90848726e-01] [ 9.83395500e-02 1.02161959e-02 9.95100478e-01 7.49795621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.23463044 meters Centerline goodness [0,1] 0.3193176202651312 Centerline is valid? [False, False] Translation: X:14.41, Y:0.69, Z:0.75 [[ 9.95110879e-01 -7.39420038e-04 -9.87612884e-02 1.44075215e+01] [-2.77979365e-04 9.99947044e-01 -1.02874435e-02 6.91725493e-01] [ 9.87636652e-02 1.02646005e-02 9.95057976e-01 7.49282703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26463044 meters Centerline goodness [0,1] 0.3169405951229992 Centerline is valid? [False, False] Translation: X:14.41, Y:0.69, Z:0.75 [[ 9.95023118e-01 -4.67658423e-04 -9.96432405e-02 1.44106077e+01] [-5.65778448e-04 9.99946351e-01 -1.03428588e-02 6.93631531e-01] [ 9.96427317e-02 1.03477596e-02 9.94969472e-01 7.48118745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.29463044 meters Centerline goodness [0,1] 0.31700431034482757 Centerline is valid? [False, False] Translation: X:14.41, Y:0.69, Z:0.75 [[ 9.95004080e-01 -5.13823420e-04 -9.98329402e-02 1.44113289e+01] [-5.39951010e-04 9.99944433e-01 -1.05280714e-02 6.94584463e-01] [ 9.98328023e-02 1.05293789e-02 9.94948513e-01 7.47799905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32463044 meters Centerline goodness [0,1] 0.3158697426644327 Centerline is valid? [False, False] Translation: X:14.41, Y:0.70, Z:0.75 [[ 9.94988325e-01 -5.64180925e-04 -9.99895710e-02 1.44117285e+01] [-5.08910793e-04 9.99942557e-01 -1.07062047e-02 6.95635563e-01] [ 9.99898676e-02 1.07034345e-02 9.94930883e-01 7.47735463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.35463044 meters Centerline goodness [0,1] 0.3152285787803414 Centerline is valid? [False, False] Translation: X:14.41, Y:0.70, Z:0.75 [[ 9.95034112e-01 -3.43799175e-04 -9.95338997e-02 1.44101040e+01] [-7.28714277e-04 9.99942072e-01 -1.07388018e-02 6.97580874e-01] [ 9.95318259e-02 1.07580059e-02 9.94976221e-01 7.48292514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38463044 meters Centerline goodness [0,1] 0.31517301814606624 Centerline is valid? [False, False] Translation: X:14.41, Y:0.70, Z:0.75 [[ 9.95058618e-01 -2.92737671e-04 -9.92887725e-02 1.44091139e+01] [-7.80618652e-04 9.99941682e-01 -1.07714285e-02 6.98453684e-01] [ 9.92861354e-02 1.07957095e-02 9.95000360e-01 7.48802860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.41463044 meters Centerline goodness [0,1] 0.3200882524712855 Centerline is valid? [False, False] Translation: X:14.41, Y:0.70, Z:0.75 [[ 9.95082002e-01 -2.68026235e-04 -9.90542132e-02 1.44081368e+01] [-8.01206270e-04 9.99941848e-01 -1.07544803e-02 6.98616861e-01] [ 9.90513354e-02 1.07809527e-02 9.95023921e-01 7.49306402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.44463044 meters Centerline goodness [0,1] 0.32133914695216714 Centerline is valid? [False, False] Translation: X:14.41, Y:0.70, Z:0.75 [[ 9.95093295e-01 -3.35187107e-04 -9.89404998e-02 1.44075786e+01] [-7.41629460e-04 9.99940900e-01 -1.08464967e-02 6.99091704e-01] [ 9.89382880e-02 1.08666533e-02 9.95034236e-01 7.49659344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.47463044 meters Centerline goodness [0,1] 0.3194828584292789 Centerline is valid? [False, False] Translation: X:14.41, Y:0.70, Z:0.75 [[ 9.95100795e-01 -3.72763132e-04 -9.88649057e-02 1.44072485e+01] [-7.05433287e-04 9.99940665e-01 -1.08705736e-02 6.99333798e-01] [ 9.88630917e-02 1.08870591e-02 9.95041487e-01 7.49915243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.50463044 meters Centerline goodness [0,1] 0.3185289474806946 Centerline is valid? [False, False] Translation: X:14.41, Y:0.70, Z:0.75 [[ 9.95086435e-01 -4.07426000e-04 -9.90091965e-02 1.44073500e+01] [-6.74532574e-04 9.99940430e-01 -1.08941390e-02 6.99408683e-01] [ 9.90077370e-02 1.09073948e-02 9.95026882e-01 7.50254083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.53463044 meters Centerline goodness [0,1] 0.3210842983761403 Centerline is valid? [False, False] Translation: X:14.41, Y:0.70, Z:0.75 [[ 9.95077648e-01 -4.49638791e-04 -9.90972901e-02 1.44075417e+01] [-6.26571151e-04 9.99941171e-01 -1.08287450e-02 6.98586397e-01] [ 9.90963294e-02 1.08375336e-02 9.95018827e-01 7.50294095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.56463044000003 meters Centerline goodness [0,1] 0.32074655593762846 Centerline is valid? [False, False] Translation: X:14.41, Y:0.70, Z:0.75 [[ 9.95072239e-01 -3.64589872e-04 -9.91519345e-02 1.44077065e+01] [-6.92409169e-04 9.99943305e-01 -1.06257770e-02 6.97493124e-01] [ 9.91501872e-02 1.06420694e-02 9.95015571e-01 7.50255689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.59463044 meters Centerline goodness [0,1] 0.3178261243443117 Centerline is valid? [False, False] Translation: X:14.41, Y:0.70, Z:0.75 [[ 9.95045661e-01 -3.12682389e-04 -9.94184846e-02 1.44086584e+01] [-7.27455830e-04 9.99945385e-01 -1.04257984e-02 6.96258490e-01] [ 9.94163148e-02 1.04464680e-02 9.94991089e-01 7.49946637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.62463044000003 meters Centerline goodness [0,1] 0.32221279188701013 Centerline is valid? [False, False] Translation: X:14.41, Y:0.69, Z:0.75 [[ 9.94973429e-01 -3.84198381e-04 -1.00138541e-01 1.44105403e+01] [-6.31335576e-04 9.99948699e-01 -1.01094023e-02 6.92833489e-01] [ 1.00137287e-01 1.01218077e-02 9.94922144e-01 7.49811096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.65463044 meters Centerline goodness [0,1] 0.31617316942811335 Centerline is valid? [False, False] Translation: X:14.45, Y:0.69, Z:0.75 [[ 9.95079830e-01 -5.99988035e-04 -9.90745748e-02 1.44532278e+01] [-4.81358800e-04 9.99940584e-01 -1.08902089e-02 6.93783113e-01] [ 9.90752222e-02 1.08843177e-02 9.95020418e-01 7.54677509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68463044000003 meters Centerline goodness [0,1] 0.3185277819702883 Centerline is valid? [False, False] Translation: X:14.45, Y:0.69, Z:0.76 [[ 9.95067165e-01 -5.21774574e-04 -9.92021369e-02 1.44532738e+01] [-5.39096939e-04 9.99942961e-01 -1.06669323e-02 6.92418011e-01] [ 9.92020443e-02 1.06677936e-02 9.95010127e-01 7.55047835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.71463044 meters Centerline goodness [0,1] 0.3201215569636622 Centerline is valid? [False, False] Translation: X:14.45, Y:0.69, Z:0.76 [[ 9.95075107e-01 -3.53285739e-04 -9.91231848e-02 1.44528894e+01] [-6.85098425e-04 9.99945252e-01 -1.04414602e-02 6.91837191e-01] [ 9.91214468e-02 1.04579462e-02 9.95020387e-01 7.55262367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74463044000004 meters Centerline goodness [0,1] 0.3206194250664133 Centerline is valid? [False, False] Translation: X:14.45, Y:0.69, Z:0.76 [[ 9.95093584e-01 -1.01153484e-04 -9.89381018e-02 1.44522825e+01] [-9.15045139e-04 9.99947298e-01 -1.02256227e-02 6.92025122e-01] [ 9.89339219e-02 1.02659844e-02 9.95041049e-01 7.55481208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.77463044 meters Centerline goodness [0,1] 0.3230902215018908 Centerline is valid? [False, False] Translation: X:14.45, Y:0.70, Z:0.76 [[ 9.95192247e-01 1.76127949e-03 -9.79249131e-02 1.44488406e+01] [-2.64006446e-03 9.99957395e-01 -8.84521830e-03 6.95340689e-01] [ 9.79051622e-02 9.06122076e-03 9.95154497e-01 7.56404602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80463044000004 meters Centerline goodness [0,1] 0.32105285849788734 Centerline is valid? [False, False] Translation: X:14.45, Y:0.70, Z:0.76 [[ 9.95196412e-01 1.80410908e-03 -9.78817952e-02 1.44487016e+01] [-2.70517966e-03 9.99955173e-01 -9.07376989e-03 6.97291312e-01] [ 9.78610375e-02 9.29497109e-03 9.95156682e-01 7.56439972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.83463044 meters Centerline goodness [0,1] 0.32425050399947974 Centerline is valid? [False, False] Translation: X:14.45, Y:0.70, Z:0.76 [[ 9.95209801e-01 1.87501512e-03 -9.77442364e-02 1.44482305e+01] [-2.79261084e-03 9.99953302e-01 -9.25175901e-03 6.99030345e-01] [ 9.77223247e-02 9.48040286e-03 9.95168563e-01 7.56551264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86463044000004 meters Centerline goodness [0,1] 0.32221958636157777 Centerline is valid? [False, False] Translation: X:14.45, Y:0.70, Z:0.76 [[ 9.95202034e-01 1.88435959e-03 -9.78231067e-02 1.44481356e+01] [-2.82004202e-03 9.99951582e-01 -9.42766214e-03 7.00486991e-01] [ 9.78006052e-02 9.65829381e-03 9.95159163e-01 7.56881205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.89463044 meters Centerline goodness [0,1] 0.3202970722074354 Centerline is valid? [False, False] Translation: X:14.45, Y:0.70, Z:0.76 [[ 9.95193230e-01 1.90993816e-03 -9.79121371e-02 1.44482844e+01] [-2.84918928e-03 9.99951252e-01 -9.45387219e-03 7.00925629e-01] [ 9.78893078e-02 9.68739982e-03 9.95150158e-01 7.56936912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92463044000004 meters Centerline goodness [0,1] 0.32103408771588526 Centerline is valid? [False, False] Translation: X:14.45, Y:0.70, Z:0.76 [[ 9.95169502e-01 1.67377363e-03 -9.81573235e-02 1.44492926e+01] [-2.60586994e-03 9.99952719e-01 -9.36850932e-03 6.98542087e-01] [ 9.81370018e-02 9.57903997e-03 9.95126811e-01 7.56477822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.95463044 meters Centerline goodness [0,1] 0.31488521247902823 Centerline is valid? [False, False] Translation: X:14.49, Y:0.70, Z:0.76 [[ 9.95310392e-01 1.66475628e-03 -9.67184166e-02 1.44917959e+01] [-2.62614356e-03 9.99948397e-01 -9.81361812e-03 6.99736955e-01] [ 9.66970884e-02 1.00215925e-02 9.95263403e-01 7.60904233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98463044 meters Centerline goodness [0,1] 0.3216062008827646 Centerline is valid? [False, False] Translation: X:14.49, Y:0.70, Z:0.76 [[ 9.95323128e-01 1.68850344e-03 -9.65868552e-02 1.44914393e+01] [-2.62782518e-03 9.99950478e-01 -9.59877350e-03 6.98126369e-01] [ 9.65658644e-02 9.80769464e-03 9.95278274e-01 7.60949691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.01463044 meters Centerline goodness [0,1] 0.31995803267456047 Centerline is valid? [False, False] Translation: X:14.49, Y:0.70, Z:0.76 [[ 9.95302409e-01 1.63032571e-03 -9.68011176e-02 1.44921052e+01] [-2.56082165e-03 9.99951699e-01 -9.48899160e-03 6.96928831e-01] [ 9.67809719e-02 9.69230660e-03 9.95258510e-01 7.60826058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04463044 meters Centerline goodness [0,1] 0.3218192781462659 Centerline is valid? [False, False] Translation: X:14.49, Y:0.70, Z:0.76 [[ 9.95285428e-01 1.71183620e-03 -9.69741503e-02 1.44928264e+01] [-2.64144026e-03 9.99951778e-01 -9.45853453e-03 6.97269489e-01] [ 9.69532825e-02 9.67009302e-03 9.95241956e-01 7.60466887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.07463044 meters Centerline goodness [0,1] 0.32213024401841484 Centerline is valid? [False, False] Translation: X:14.49, Y:0.70, Z:0.76 [[ 9.95274608e-01 1.81360870e-03 -9.70832883e-02 1.44935495e+01] [-2.74330146e-03 9.99951645e-01 -9.44361588e-03 6.97882156e-01] [ 9.70614669e-02 9.66531983e-03 9.95231457e-01 7.59900154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10463044 meters Centerline goodness [0,1] 0.31977822841610215 Centerline is valid? [False, False] Translation: X:14.49, Y:0.70, Z:0.76 [[ 9.95266485e-01 1.88742342e-03 -9.71651206e-02 1.44939426e+01] [-2.82534257e-03 9.99950729e-01 -9.51615497e-03 6.99005558e-01] [ 9.71423722e-02 9.74563487e-03 9.95222780e-01 7.59670856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.13463044 meters Centerline goodness [0,1] 0.323530681867254 Centerline is valid? [False, False] Translation: X:14.49, Y:0.70, Z:0.76 [[ 9.95284359e-01 1.96806520e-03 -9.69802628e-02 1.44933594e+01] [-2.91318788e-03 9.99949628e-01 -9.60488500e-03 7.00173095e-01] [ 9.69564747e-02 9.84211354e-03 9.95239958e-01 7.59768380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16463044 meters Centerline goodness [0,1] 0.32013710368466153 Centerline is valid? [False, False] Translation: X:14.51, Y:0.70, Z:0.76 [[ 9.95398542e-01 -2.88447352e-03 -9.57779810e-02 1.45127816e+01] [ 2.26044648e-03 9.99975511e-01 -6.62321069e-03 7.04192072e-01] [ 9.57947400e-02 6.37623327e-03 9.95380687e-01 7.62436898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.19463044 meters Centerline goodness [0,1] 0.3187123934258924 Centerline is valid? [False, False] Translation: X:14.53, Y:0.70, Z:0.76 [[ 9.95598424e-01 4.99806146e-03 -9.35884482e-02 1.45317787e+01] [-5.79534873e-03 9.99949181e-01 -8.24922964e-03 7.04354366e-01] [ 9.35424619e-02 8.75529772e-03 9.95576794e-01 7.64932912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22463044 meters Centerline goodness [0,1] 0.3234618275528831 Centerline is valid? [False, False] Translation: X:14.53, Y:0.70, Z:0.76 [[ 9.95602922e-01 4.87285626e-03 -9.35471889e-02 1.45319044e+01] [-5.68362219e-03 9.99948546e-01 -8.40244735e-03 7.04601658e-01] [ 9.35014317e-02 8.89718802e-03 9.95579390e-01 7.64655518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.25463044 meters Centerline goodness [0,1] 0.3212280286568705 Centerline is valid? [False, False] Translation: X:14.53, Y:0.70, Z:0.76 [[ 9.95610778e-01 4.77238185e-03 -9.34687327e-02 1.45317974e+01] [-5.59418494e-03 9.99947952e-01 -8.53223683e-03 7.04799253e-01] [ 9.34231487e-02 9.01766832e-03 9.95585655e-01 7.64565576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28463044 meters Centerline goodness [0,1] 0.3240889689638161 Centerline is valid? [False, False] Translation: X:14.53, Y:0.70, Z:0.76 [[ 9.95623217e-01 4.62277622e-03 -9.33436596e-02 1.45314423e+01] [-5.44700635e-03 9.99948379e-01 -8.57721248e-03 7.04514985e-01] [ 9.32991906e-02 9.04811539e-03 9.95597003e-01 7.64690126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.31463044000003 meters Centerline goodness [0,1] 0.32442929271134513 Centerline is valid? [False, False] Translation: X:14.53, Y:0.70, Z:0.76 [[ 9.95634253e-01 4.59727704e-03 -9.32271361e-02 1.45310957e+01] [-5.40792763e-03 9.99949720e-01 -8.44466677e-03 7.03369495e-01] [ 9.31836262e-02 8.91196509e-03 9.95609054e-01 7.64814964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34463044 meters Centerline goodness [0,1] 0.32485200731891073 Centerline is valid? [False, False] Translation: X:14.53, Y:0.70, Z:0.76 [[ 9.95629182e-01 4.54611920e-03 -9.32837876e-02 1.45312385e+01] [-5.34553291e-03 9.99951087e-01 -8.32161462e-03 7.02216166e-01] [ 9.32413937e-02 8.78389392e-03 9.95604784e-01 7.64846348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.37463044000003 meters Centerline goodness [0,1] 0.32316508326331894 Centerline is valid? [False, False] Translation: X:14.53, Y:0.70, Z:0.76 [[ 9.95604249e-01 4.48623618e-03 -9.35524132e-02 1.45320380e+01] [-5.27815098e-03 9.99952292e-01 -8.21921489e-03 7.00980902e-01] [ 9.35110767e-02 8.67686903e-03 9.95580429e-01 7.64699576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40463044 meters Centerline goodness [0,1] 0.32157141014062707 Centerline is valid? [False, False] Translation: X:14.53, Y:0.70, Z:0.76 [[ 9.95580069e-01 4.44128501e-03 -9.38115225e-02 1.45329742e+01] [-5.22416996e-03 9.99953537e-01 -8.10135920e-03 6.99683930e-01] [ 9.37711833e-02 8.55563908e-03 9.95557013e-01 7.64402653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.43463044000003 meters Centerline goodness [0,1] 0.32058186187217064 Centerline is valid? [False, False] Translation: X:14.53, Y:0.70, Z:0.76 [[ 9.95554166e-01 4.43403995e-03 -9.40863496e-02 1.45338710e+01] [-5.20696451e-03 9.99954673e-01 -7.97114827e-03 6.98570483e-01] [ 9.40467406e-02 8.42561416e-03 9.95532129e-01 7.64191119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46463044 meters Centerline goodness [0,1] 0.32540890899599795 Centerline is valid? [False, False] Translation: X:14.53, Y:0.70, Z:0.76 [[ 9.95542698e-01 4.48511989e-03 -9.42052064e-02 1.45344554e+01] [-5.24774744e-03 9.99955425e-01 -7.84921250e-03 6.97913734e-01] [ 9.41658025e-02 8.30859132e-03 9.95521858e-01 7.63825591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.49463044000004 meters Centerline goodness [0,1] 0.3208520800904109 Centerline is valid? [False, False] Translation: X:14.58, Y:0.70, Z:0.77 [[ 9.95652054e-01 5.79842937e-03 -9.29697016e-02 1.45771155e+01] [-6.54629486e-03 9.99948608e-01 -7.74123748e-03 7.01173002e-01] [ 9.29200367e-02 8.31618607e-03 9.95638844e-01 7.67991410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52463044 meters Centerline goodness [0,1] 0.3234210356196263 Centerline is valid? [False, False] Translation: X:14.58, Y:0.70, Z:0.77 [[ 9.95646929e-01 5.83866659e-03 -9.30220578e-02 1.45772175e+01] [-6.58892455e-03 9.99948181e-01 -7.76029340e-03 7.01702005e-01] [ 9.29719277e-02 8.33942761e-03 9.95633805e-01 7.68021468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.55463044000004 meters Centerline goodness [0,1] 0.32159100660774054 Centerline is valid? [False, False] Translation: X:14.58, Y:0.70, Z:0.77 [[ 9.95645058e-01 5.88528788e-03 -9.30391419e-02 1.45774983e+01] [-6.64003250e-03 9.99947497e-01 -7.80463626e-03 7.02381940e-01] [ 9.29883246e-02 8.38843045e-03 9.95631863e-01 7.67758650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58463044 meters Centerline goodness [0,1] 0.320704 Centerline is valid? [False, False] Translation: X:14.58, Y:0.70, Z:0.77 [[ 9.95640343e-01 5.84240138e-03 -9.30922825e-02 1.45777911e+01] [-6.60032704e-03 9.99947516e-01 -7.83584968e-03 7.02263043e-01] [ 9.30416165e-02 8.41612758e-03 9.95626650e-01 7.67573679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61463044000004 meters Centerline goodness [0,1] 0.32429932675141426 Centerline is valid? [False, False] Translation: X:14.58, Y:0.70, Z:0.77 [[ 9.95636210e-01 5.82458742e-03 -9.31375968e-02 1.45778486e+01] [-6.58220386e-03 9.99947687e-01 -7.82925281e-03 7.01899102e-01] [ 9.30871223e-02 8.40813824e-03 9.95622464e-01 7.67643606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64463044 meters Centerline goodness [0,1] 0.3280653004515457 Centerline is valid? [False, False] Translation: X:14.58, Y:0.70, Z:0.77 [[ 9.95626638e-01 5.74869925e-03 -9.32445687e-02 1.45781846e+01] [-6.51398318e-03 9.99947538e-01 -7.90499144e-03 7.01925807e-01] [ 9.31942335e-02 8.47781361e-03 9.95611853e-01 7.67550684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67463044000004 meters Centerline goodness [0,1] 0.3221021085304506 Centerline is valid? [False, False] Translation: X:14.60, Y:0.71, Z:0.77 [[ 9.95557228e-01 -9.78364647e-04 -9.41533221e-02 1.45973536e+01] [ 3.28237494e-04 9.99976001e-01 -6.92022270e-03 7.07814967e-01] [ 9.41578330e-02 6.85857308e-03 9.95533657e-01 7.70660000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70463044 meters Centerline goodness [0,1] 0.31921629021218345 Centerline is valid? [False, False] Translation: X:14.60, Y:0.71, Z:0.77 [[ 9.95506270e-01 -8.94906893e-04 -9.46914193e-02 1.45992290e+01] [ 2.23283447e-04 9.99974748e-01 -7.10311692e-03 7.09846535e-01] [ 9.46953847e-02 7.05005441e-03 9.95481331e-01 7.69943714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.73463044 meters Centerline goodness [0,1] 0.31921629021218345 Centerline is valid? [False, False] Translation: X:14.60, Y:0.71, Z:0.77 [[ 9.95506270e-01 -8.94906893e-04 -9.46914193e-02 1.45992290e+01] [ 2.23283447e-04 9.99974748e-01 -7.10311692e-03 7.09846535e-01] [ 9.46953847e-02 7.05005441e-03 9.95481331e-01 7.69943714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76463044 meters Centerline goodness [0,1] 0.32123431410338776 Centerline is valid? [False, False] Translation: X:14.60, Y:0.71, Z:0.77 [[ 9.95492175e-01 -8.49455093e-04 -9.48399054e-02 1.45998399e+01] [ 1.67597226e-04 9.99974085e-01 -7.19730106e-03 7.11017636e-01] [ 9.48435615e-02 7.14896199e-03 9.95466519e-01 7.69632848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.79463044 meters Centerline goodness [0,1] 0.32248508007384824 Centerline is valid? [False, False] Translation: X:14.60, Y:0.71, Z:0.77 [[ 9.95504371e-01 -7.85494697e-04 -9.47123557e-02 1.45995754e+01] [ 9.72483681e-05 9.99973560e-01 -7.27109729e-03 7.12140381e-01] [ 9.47155630e-02 7.22919852e-03 9.95478127e-01 7.69532558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82463044 meters Centerline goodness [0,1] 0.3250678616054117 Centerline is valid? [False, False] Translation: X:14.60, Y:0.71, Z:0.77 [[ 9.95517672e-01 -7.36389963e-04 -9.45728398e-02 1.45990042e+01] [ 4.53304632e-05 9.99973287e-01 -7.30910710e-03 7.12851267e-01] [ 9.45756958e-02 7.27205826e-03 9.95491112e-01 7.69805086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.85463044 meters Centerline goodness [0,1] 0.3240192410475682 Centerline is valid? [False, False] Translation: X:14.60, Y:0.71, Z:0.77 [[ 9.95541310e-01 -6.91059232e-04 -9.43240332e-02 1.45980911e+01] [ 9.65847432e-07 9.99973237e-01 -7.31604845e-03 7.13363802e-01] [ 9.43265647e-02 7.28333735e-03 9.95514667e-01 7.70234956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88463044 meters Centerline goodness [0,1] 0.3267487600478878 Centerline is valid? [False, False] Translation: X:14.60, Y:0.71, Z:0.77 [[ 9.95555595e-01 -7.35666518e-04 -9.41727955e-02 1.45971469e+01] [ 4.19346525e-05 9.99972852e-01 -7.36835160e-03 7.13498447e-01] [ 9.41756595e-02 7.33165456e-03 9.95528599e-01 7.70917915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.91463044 meters Centerline goodness [0,1] 0.3314468397632523 Centerline is valid? [False, False] Translation: X:14.60, Y:0.71, Z:0.77 [[ 9.95582982e-01 -9.35490029e-04 -9.38810445e-02 1.45958895e+01] [ 2.26419819e-04 9.99971373e-01 -7.56322572e-03 7.13798680e-01] [ 9.38854322e-02 7.50856229e-03 9.95554693e-01 7.71586340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.94463044 meters Centerline goodness [0,1] 0.32614635812483994 Centerline is valid? [False, False] Translation: X:14.60, Y:0.71, Z:0.77 [[ 9.95567860e-01 -1.01109462e-03 -9.40404924e-02 1.45964949e+01] [ 2.90021048e-04 9.99970458e-01 -7.68104348e-03 7.14274142e-01] [ 9.40454806e-02 7.61972630e-03 9.95538742e-01 7.71387220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.97463044 meters Centerline goodness [0,1] 0.3310321021746634 Centerline is valid? [False, False] Translation: X:14.60, Y:0.71, Z:0.77 [[ 9.95548550e-01 -1.12016253e-03 -9.42434602e-02 1.45973659e+01] [ 3.91537718e-04 9.99969896e-01 -7.74943962e-03 7.14248430e-01] [ 9.42493038e-02 7.67804350e-03 9.95519019e-01 7.70959712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.00463044 meters Centerline goodness [0,1] 0.3325304342165224 Centerline is valid? [False, False] Translation: X:14.60, Y:0.71, Z:0.77 [[ 9.95549913e-01 -1.13357841e-03 -9.42289057e-02 1.45972215e+01] [ 4.06147675e-04 9.99969974e-01 -7.73864548e-03 7.14152596e-01] [ 9.42348487e-02 7.66593698e-03 9.95520480e-01 7.71116182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.03463044 meters Centerline goodness [0,1] 0.33205225089064017 Centerline is valid? [False, False] Translation: X:14.60, Y:0.71, Z:0.77 [[ 9.95541018e-01 -1.12515017e-03 -9.43229298e-02 1.45974645e+01] [ 4.00938550e-04 9.99970300e-01 -7.69660130e-03 7.14061064e-01] [ 9.43287883e-02 7.62446460e-03 9.95511902e-01 7.71197064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.06463044000003 meters Centerline goodness [0,1] 0.33141737707741326 Centerline is valid? [False, False] Translation: X:14.60, Y:0.71, Z:0.77 [[ 9.95521199e-01 -1.12680919e-03 -9.45318654e-02 1.45977079e+01] [ 4.05822866e-04 9.99970688e-01 -7.64579107e-03 7.13699955e-01] [ 9.45377099e-02 7.57318390e-03 9.95492475e-01 7.71566596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.09463044 meters Centerline goodness [0,1] 0.33226514108740535 Centerline is valid? [False, False] Translation: X:14.60, Y:0.71, Z:0.77 [[ 9.95509793e-01 -1.12099072e-03 -9.46519723e-02 1.45979327e+01] [ 4.01190054e-04 9.99970861e-01 -7.62339564e-03 7.13651938e-01] [ 9.46577600e-02 7.55119158e-03 9.95481234e-01 7.71667607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.12463044000003 meters Centerline goodness [0,1] 0.33079945886748696 Centerline is valid? [False, False] Translation: X:14.60, Y:0.71, Z:0.77 [[ 9.95499614e-01 -1.12559728e-03 -9.47589175e-02 1.45981576e+01] [ 4.03388222e-04 9.99970731e-01 -7.64035238e-03 7.13885678e-01] [ 9.47647440e-02 7.56774321e-03 9.95470930e-01 7.71745464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.15463044 meters Centerline goodness [0,1] 0.33487148525099186 Centerline is valid? [False, False] Translation: X:14.60, Y:0.71, Z:0.77 [[ 9.95512380e-01 -1.17896989e-03 -9.46240573e-02 1.45979942e+01] [ 4.43037867e-04 9.99969497e-01 -7.79806182e-03 7.14942310e-01] [ 9.46303646e-02 7.72114503e-03 9.95482535e-01 7.71544932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18463044000003 meters Centerline goodness [0,1] 0.3323345603972263 Centerline is valid? [False, False] Translation: X:14.60, Y:0.72, Z:0.77 [[ 9.95524335e-01 -1.19264019e-03 -9.44980247e-02 1.45977085e+01] [ 4.44903143e-04 9.99968431e-01 -7.93340004e-03 7.15965253e-01] [ 9.45045032e-02 7.85585033e-03 9.95493438e-01 7.71521109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.21463044 meters Centerline goodness [0,1] 0.33376327443140286 Centerline is valid? [False, False] Translation: X:14.60, Y:0.72, Z:0.77 [[ 9.95537949e-01 -1.19462360e-03 -9.43544662e-02 1.45972978e+01] [ 4.35545692e-04 9.99967381e-01 -8.06514414e-03 7.17136894e-01] [ 9.43610233e-02 7.98806138e-03 9.95505996e-01 7.71590534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24463044000004 meters Centerline goodness [0,1] 0.3334831460674157 Centerline is valid? [False, False] Translation: X:14.60, Y:0.72, Z:0.77 [[ 9.95534143e-01 -1.11017572e-03 -9.43956442e-02 1.45974453e+01] [ 3.40536305e-04 9.99966575e-01 -8.16905374e-03 7.18758061e-01] [ 9.44015581e-02 8.10042677e-03 9.95501245e-01 7.71507487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.27463044 meters Centerline goodness [0,1] 0.3332404330582056 Centerline is valid? [False, False] Translation: X:14.60, Y:0.72, Z:0.77 [[ 9.95523412e-01 -1.05482441e-03 -9.45093805e-02 1.45979782e+01] [ 2.68596292e-04 9.99965257e-01 -8.33138317e-03 7.20601821e-01] [ 9.45148851e-02 8.26870213e-03 9.95489108e-01 7.71183027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30463044000004 meters Centerline goodness [0,1] 0.33409974858714575 Centerline is valid? [False, False] Translation: X:14.60, Y:0.72, Z:0.77 [[ 9.95498964e-01 -1.20609241e-03 -9.47647464e-02 1.45988445e+01] [ 3.63892930e-04 9.99960292e-01 -8.90404413e-03 7.23926587e-01] [ 9.47717226e-02 8.82948249e-03 9.95459874e-01 7.70806629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.33463044 meters Centerline goodness [0,1] 0.3299288671833528 Centerline is valid? [False, False] Translation: X:14.62, Y:0.72, Z:0.77 [[ 9.95472534e-01 6.28996518e-03 -9.48412874e-02 1.46186984e+01] [-7.33759120e-03 9.99915816e-01 -1.07014030e-02 7.23067477e-01] [ 9.47659919e-02 1.13488593e-02 9.95434885e-01 7.73893797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36463044000004 meters Centerline goodness [0,1] 0.33104715509689553 Centerline is valid? [False, False] Translation: X:14.62, Y:0.72, Z:0.77 [[ 9.95447524e-01 6.23642783e-03 -9.51069598e-02 1.46195228e+01] [-7.30139175e-03 9.99914440e-01 -1.08536548e-02 7.24072351e-01] [ 9.50311344e-02 1.14986569e-02 9.95407888e-01 7.73706028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.39463044 meters Centerline goodness [0,1] 0.3285665426873584 Centerline is valid? [False, False] Translation: X:14.62, Y:0.73, Z:0.77 [[ 9.95427003e-01 6.30377443e-03 -9.53170724e-02 1.46202573e+01] [-7.37327574e-03 9.99913709e-01 -1.08724206e-02 7.25021254e-01] [ 9.52403101e-02 1.15255002e-02 9.95387586e-01 7.73476555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42463044000004 meters Centerline goodness [0,1] 0.33083928342383173 Centerline is valid? [False, False] Translation: X:14.62, Y:0.72, Z:0.77 [[ 9.95423944e-01 6.32864324e-03 -9.53473690e-02 1.46202682e+01] [-7.39232967e-03 9.99914279e-01 -1.08068132e-02 7.24888197e-01] [ 9.52708033e-02 1.14621998e-02 9.95385399e-01 7.73574706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.45463044 meters Centerline goodness [0,1] 0.3310442508262157 Centerline is valid? [False, False] Translation: X:14.62, Y:0.72, Z:0.77 [[ 9.95429741e-01 6.22287911e-03 -9.52937926e-02 1.46201117e+01] [-7.28776219e-03 9.99914788e-01 -1.08307830e-02 7.24317437e-01] [ 9.52182737e-02 1.14757620e-02 9.95390269e-01 7.73659615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48463044 meters Centerline goodness [0,1] 0.3339436892785592 Centerline is valid? [False, False] Translation: X:14.62, Y:0.72, Z:0.77 [[ 9.95523608e-01 4.51168853e-03 -9.44054605e-02 1.46165712e+01] [-5.68410934e-03 9.99909984e-01 -1.21537739e-02 7.22130326e-01] [ 9.43421285e-02 1.26359798e-02 9.95459640e-01 7.74982329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.51463044 meters Centerline goodness [0,1] 0.33691374399339 Centerline is valid? [False, False] Translation: X:14.62, Y:0.72, Z:0.78 [[ 9.95516089e-01 4.57995233e-03 -9.44814348e-02 1.46166309e+01] [-5.73232128e-03 9.99912416e-01 -1.19289770e-02 7.20865965e-01] [ 9.44185256e-02 1.24170865e-02 9.95455151e-01 7.75190491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54463044 meters Centerline goodness [0,1] 0.33427074835773474 Centerline is valid? [False, False] Translation: X:14.64, Y:0.72, Z:0.78 [[ 9.95518665e-01 -2.80856063e-03 -9.45235395e-02 1.46369463e+01] [ 1.80112733e-03 9.99940685e-01 -1.07416435e-02 7.23005777e-01] [ 9.45481014e-02 1.05232577e-02 9.95464674e-01 7.78243365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.57463044 meters Centerline goodness [0,1] 0.33653721262501624 Centerline is valid? [False, False] Translation: X:14.64, Y:0.72, Z:0.78 [[ 9.95525606e-01 -2.74113717e-03 -9.44523901e-02 1.46366326e+01] [ 1.75584439e-03 9.99943194e-01 -1.05131632e-02 7.21461018e-01] [ 9.44758426e-02 1.03002795e-02 9.95473867e-01 7.78452535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60463044 meters Centerline goodness [0,1] 0.33852089474596847 Centerline is valid? [False, False] Translation: X:14.64, Y:0.72, Z:0.78 [[ 9.95537429e-01 -2.61407396e-03 -9.43313001e-02 1.46360323e+01] [ 1.65844122e-03 9.99946526e-01 -1.02075755e-02 7.19696540e-01] [ 9.43529392e-02 1.00055805e-02 9.95488529e-01 7.78865566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.63463044 meters Centerline goodness [0,1] 0.3366611442218732 Centerline is valid? [False, False] Translation: X:14.64, Y:0.72, Z:0.78 [[ 9.95540352e-01 -2.38382193e-03 -9.43065504e-02 1.46356714e+01] [ 1.46703919e-03 9.99951006e-01 -9.78944116e-03 7.17857731e-01] [ 9.43252663e-02 9.60743229e-03 9.95495074e-01 7.79323053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66463044 meters Centerline goodness [0,1] 0.3365863158350283 Centerline is valid? [False, False] Translation: X:14.64, Y:0.72, Z:0.78 [[ 9.95547218e-01 -2.13865660e-03 -9.42399205e-02 1.46352712e+01] [ 1.26876129e-03 9.99956046e-01 -9.28959635e-03 7.15521124e-01] [ 9.42556455e-02 9.12866384e-03 9.95506173e-01 7.79631712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.69463044 meters Centerline goodness [0,1] 0.337726987425059 Centerline is valid? [False, False] Translation: X:14.64, Y:0.71, Z:0.78 [[ 9.95549097e-01 -1.90548393e-03 -9.42250735e-02 1.46351034e+01] [ 1.08340432e-03 9.99960912e-01 -8.77502367e-03 7.12907861e-01] [ 9.42381111e-02 8.63388304e-03 9.95512247e-01 7.79842615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72463044 meters Centerline goodness [0,1] 0.3363808866655167 Centerline is valid? [False, False] Translation: X:14.64, Y:0.71, Z:0.78 [[ 9.95537447e-01 -2.24148181e-03 -9.43407026e-02 1.46355353e+01] [ 1.44883942e-03 9.99963083e-01 -8.46956978e-03 7.05154450e-01] [ 9.43562042e-02 8.29508934e-03 9.95503942e-01 7.79864273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.75463044 meters Centerline goodness [0,1] 0.3340286439292933 Centerline is valid? [False, False] Translation: X:14.64, Y:0.70, Z:0.78 [[ 9.95540790e-01 -2.15342943e-03 -9.43074693e-02 1.46353031e+01] [ 1.39904076e-03 9.99966502e-01 -8.06463316e-03 7.02220132e-01] [ 9.43216768e-02 7.89673127e-03 9.95510453e-01 7.80077214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78463044 meters Centerline goodness [0,1] 0.3361563796569571 Centerline is valid? [False, False] Translation: X:14.63, Y:0.70, Z:0.78 [[ 9.95548981e-01 -1.94407373e-03 -9.42255108e-02 1.46347665e+01] [ 1.23834132e-03 9.99970749e-01 -7.54771628e-03 6.99205590e-01] [ 9.42374279e-02 7.39743791e-03 9.95522268e-01 7.80563850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.81463044000003 meters Centerline goodness [0,1] 0.3402289487223461 Centerline is valid? [False, False] Translation: X:14.63, Y:0.70, Z:0.78 [[ 9.95559107e-01 -1.64014723e-03 -9.41242541e-02 1.46343514e+01] [ 9.89170626e-04 9.99975273e-01 -6.96238026e-03 6.96473728e-01] [ 9.41333461e-02 6.83835613e-03 9.95536112e-01 7.80797713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84463044 meters Centerline goodness [0,1] 0.3381396542871813 Centerline is valid? [False, False] Translation: X:14.64, Y:0.69, Z:0.78 [[ 9.95538683e-01 -1.15024287e-03 -9.43472683e-02 1.46357125e+01] [ 5.74334306e-04 9.99981040e-01 -6.13106293e-03 6.92459505e-01] [ 9.43525317e-02 6.04952344e-03 9.95520468e-01 7.79931727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.87463044000003 meters Centerline goodness [0,1] 0.33538165078685367 Centerline is valid? [False, False] Translation: X:14.64, Y:0.69, Z:0.78 [[ 9.95512164e-01 -1.03178063e-03 -9.46280449e-02 1.46367913e+01] [ 4.76400751e-04 9.99982532e-01 -5.89148661e-03 6.90846474e-01] [ 9.46324706e-02 5.81996571e-03 9.95495265e-01 7.79458881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90463044 meters Centerline goodness [0,1] 0.33634200201530773 Centerline is valid? [False, False] Translation: X:14.64, Y:0.69, Z:0.78 [[ 9.95493007e-01 -9.29953758e-04 -9.48304216e-02 1.46373654e+01] [ 3.93173089e-04 9.99983797e-01 -5.67895429e-03 6.89365253e-01] [ 9.48341662e-02 5.61607451e-03 9.95477243e-01 7.79404783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.93463044000003 meters Centerline goodness [0,1] 0.33604266116200066 Centerline is valid? [False, False] Translation: X:14.64, Y:0.69, Z:0.78 [[ 9.95483680e-01 -8.23995384e-04 -9.49292555e-02 1.46376987e+01] [ 3.01664255e-04 9.99984738e-01 -5.51653926e-03 6.88414433e-01] [ 9.49323523e-02 5.46298804e-03 9.95468736e-01 7.79295295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96463044 meters Centerline goodness [0,1] 0.33504900383881275 Centerline is valid? [False, False] Translation: X:14.64, Y:0.69, Z:0.78 [[ 9.95475597e-01 -6.21746250e-04 -9.50155173e-02 1.46379346e+01] [ 1.21222997e-04 9.99986088e-01 -5.27348668e-03 6.87558876e-01] [ 9.50174742e-02 5.23810923e-03 9.95461823e-01 7.79240381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.99463044000004 meters Centerline goodness [0,1] 0.33500311740803645 Centerline is valid? [False, False] Translation: X:14.64, Y:0.69, Z:0.78 [[ 9.95460376e-01 -4.28261498e-04 -9.51759256e-02 1.46388149e+01] [-4.06409813e-05 9.99987873e-01 -4.92469906e-03 6.85324470e-01] [ 9.51768804e-02 4.90621082e-03 9.95448286e-01 7.78678255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02463044 meters Centerline goodness [0,1] 0.33273036587204174 Centerline is valid? [False, False] Translation: X:14.64, Y:0.68, Z:0.78 [[ 9.95452985e-01 -3.45780977e-04 -9.52535309e-02 1.46392421e+01] [-1.03634659e-04 9.99988888e-01 -4.71311206e-03 6.83903138e-01] [ 9.52541021e-02 4.70155304e-03 9.95441888e-01 7.78399739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.05463044000004 meters Centerline goodness [0,1] 0.334217907227616 Centerline is valid? [False, False] Translation: X:14.64, Y:0.68, Z:0.78 [[ 9.95445388e-01 -2.18050829e-04 -9.53332692e-02 1.46396576e+01] [-2.09849443e-04 9.99989950e-01 -4.47841873e-03 6.82790155e-01] [ 9.53332876e-02 4.47802690e-03 9.95435338e-01 7.78139579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08463044 meters Centerline goodness [0,1] 0.33348442660104904 Centerline is valid? [False, False] Translation: X:14.64, Y:0.68, Z:0.78 [[ 9.95430059e-01 -6.09801018e-05 -9.54934227e-02 1.46402256e+01] [-3.42784735e-04 9.99991072e-01 -4.21178522e-03 6.81768389e-01] [ 9.54928269e-02 4.22527130e-03 9.95421151e-01 7.77958866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11463044000004 meters Centerline goodness [0,1] 0.3323117150327918 Centerline is valid? [False, False] Translation: X:14.64, Y:0.68, Z:0.78 [[ 9.95393287e-01 -1.12591030e-04 -9.58759218e-02 1.46410165e+01] [-2.73751410e-04 9.99991897e-01 -4.01644569e-03 6.79857681e-01] [ 9.58755971e-02 4.02418925e-03 9.95385190e-01 7.78237988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14463044 meters Centerline goodness [0,1] 0.3327771717042076 Centerline is valid? [False, False] Translation: X:14.64, Y:0.68, Z:0.78 [[ 9.95381781e-01 -1.37008579e-04 -9.59952712e-02 1.46411100e+01] [-2.38390524e-04 9.99992370e-01 -3.89912037e-03 6.78798325e-01] [ 9.59950730e-02 3.90399774e-03 9.95374153e-01 7.78554669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17463044000004 meters Centerline goodness [0,1] 0.3374651446497037 Centerline is valid? [False, False] Translation: X:14.60, Y:0.67, Z:0.77 [[ 9.95193867e-01 -1.43864638e-03 -9.79137216e-02 1.45968546e+01] [ 1.09515967e-03 9.99993057e-01 -3.56170924e-03 6.73654640e-01] [ 9.79181659e-02 3.43736003e-03 9.95188534e-01 7.74807958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20463044 meters Centerline goodness [0,1] 0.3293004132850811 Centerline is valid? [False, False] Translation: X:14.62, Y:0.67, Z:0.78 [[ 9.95234026e-01 4.59091702e-03 -9.74071728e-02 1.46195937e+01] [-5.21704353e-03 9.99967330e-01 -6.17420860e-03 6.73061512e-01] [ 9.73756452e-02 6.65295994e-03 9.95225463e-01 7.76156294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.23463044 meters Centerline goodness [0,1] 0.3276254978382638 Centerline is valid? [False, False] Translation: X:14.62, Y:0.67, Z:0.78 [[ 9.95185305e-01 4.52425300e-03 -9.79067909e-02 1.46210081e+01] [-5.14278808e-03 9.99968376e-01 -6.06614912e-03 6.71907362e-01] [ 9.78762499e-02 6.54045634e-03 9.95177101e-01 7.76011448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26463044 meters Centerline goodness [0,1] 0.3317066878775501 Centerline is valid? [False, False] Translation: X:14.62, Y:0.67, Z:0.78 [[ 9.95143657e-01 4.44421752e-03 -9.83328571e-02 1.46219889e+01] [-5.04151588e-03 9.99970316e-01 -5.82660735e-03 6.69701203e-01] [ 9.83040435e-02 6.29405801e-03 9.95136523e-01 7.76149688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.29463044 meters Centerline goodness [0,1] 0.3320287299470991 Centerline is valid? [False, False] Translation: X:14.62, Y:0.67, Z:0.78 [[ 9.95138834e-01 4.37857056e-03 -9.83846001e-02 1.46219648e+01] [-4.97490296e-03 9.99970708e-01 -5.81673171e-03 6.69226039e-01] [ 9.83562493e-02 6.27790945e-03 9.95131467e-01 7.76387445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32463044 meters Centerline goodness [0,1] 0.3293572470608427 Centerline is valid? [False, False] Translation: X:14.62, Y:0.67, Z:0.78 [[ 9.95131998e-01 4.31562328e-03 -9.84565013e-02 1.46223728e+01] [-4.91988916e-03 9.99970519e-01 -5.89542665e-03 6.69490302e-01] [ 9.84281563e-02 6.35112277e-03 9.95123892e-01 7.76132269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.35463044 meters Centerline goodness [0,1] 0.33206531030945463 Centerline is valid? [False, False] Translation: X:14.62, Y:0.67, Z:0.78 [[ 9.95115164e-01 4.23245210e-03 -9.86301019e-02 1.46229132e+01] [-4.85838207e-03 9.99969550e-01 -6.10692308e-03 6.70700489e-01] [ 9.86012514e-02 6.55627448e-03 9.95105426e-01 7.76043996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38463044 meters Centerline goodness [0,1] 0.3329447322970639 Centerline is valid? [False, False] Translation: X:14.62, Y:0.67, Z:0.78 [[ 9.95126761e-01 4.23406859e-03 -9.85129546e-02 1.46226835e+01] [-4.87651530e-03 9.99968380e-01 -6.28157156e-03 6.72201733e-01] [ 9.84832430e-02 6.73135989e-03 9.95115943e-01 7.75945317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.41463044 meters Centerline goodness [0,1] 0.3346636012666464 Centerline is valid? [False, False] Translation: X:14.62, Y:0.68, Z:0.78 [[ 9.95152683e-01 4.34450333e-03 -9.82459347e-02 1.46216311e+01] [-5.01764520e-03 9.99965594e-01 -6.60555807e-03 6.75664979e-01] [ 9.82138567e-02 7.06650207e-03 9.95140243e-01 7.76416429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.44463044 meters Centerline goodness [0,1] 0.3338789928274496 Centerline is valid? [False, False] Translation: X:14.62, Y:0.68, Z:0.78 [[ 9.95155942e-01 4.25737235e-03 -9.82167261e-02 1.46213012e+01] [-4.96024704e-03 9.99963801e-01 -6.91329373e-03 6.77654038e-01] [ 9.81837383e-02 7.36698456e-03 9.95141036e-01 7.76728795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.47463044 meters Centerline goodness [0,1] 0.3310958610336693 Centerline is valid? [False, False] Translation: X:14.62, Y:0.68, Z:0.78 [[ 9.95160956e-01 4.09085646e-03 -9.81729884e-02 1.46208622e+01] [-4.83026630e-03 9.99961723e-01 -7.29520988e-03 6.79768950e-01] [ 9.81393870e-02 7.73410972e-03 9.95142625e-01 7.77121798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.50463044 meters Centerline goodness [0,1] 0.3314613939186881 Centerline is valid? [False, False] Translation: X:14.62, Y:0.68, Z:0.78 [[ 9.95179297e-01 3.95686632e-03 -9.79923982e-02 1.46201211e+01] [-4.73999969e-03 9.99958655e-01 -7.76026350e-03 6.83090171e-01] [ 9.79576403e-02 8.18733751e-03 9.95156906e-01 7.77474794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.53463044 meters Centerline goodness [0,1] 0.33476682370229505 Centerline is valid? [False, False] Translation: X:14.62, Y:0.68, Z:0.78 [[ 9.95201483e-01 3.85217534e-03 -9.77710055e-02 1.46195886e+01] [-4.65471992e-03 9.99957313e-01 -7.98164296e-03 6.84275356e-01] [ 9.77360852e-02 8.39843956e-03 9.95176931e-01 7.77482581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.56463044000003 meters Centerline goodness [0,1] 0.33459154567096316 Centerline is valid? [False, False] Translation: X:14.64, Y:0.69, Z:0.78 [[ 9.95241578e-01 -3.20383285e-03 -9.73855064e-02 1.46373666e+01] [ 2.54077640e-03 9.99972747e-01 -6.93182430e-03 6.90578960e-01] [ 9.74050607e-02 6.65140496e-03 9.95222595e-01 7.80956800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.59463044 meters Centerline goodness [0,1] 0.3365577699565997 Centerline is valid? [False, False] Translation: X:14.64, Y:0.69, Z:0.78 [[ 9.95260954e-01 -3.33674793e-03 -9.71828137e-02 1.46365640e+01] [ 2.65922411e-03 9.99971257e-01 -7.10033049e-03 6.91063983e-01] [ 9.72037124e-02 6.80825082e-03 9.95241220e-01 7.81326132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.62463044000003 meters Centerline goodness [0,1] 0.3373934750796247 Centerline is valid? [False, False] Translation: X:14.64, Y:0.69, Z:0.78 [[ 9.95276141e-01 -3.34820235e-03 -9.70267627e-02 1.46358314e+01] [ 2.66901214e-03 9.99971027e-01 -7.12897374e-03 6.91422008e-01] [ 9.70478207e-02 6.83633187e-03 9.95256241e-01 7.81811534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.65463044 meters Centerline goodness [0,1] 0.3373934750796247 Centerline is valid? [False, False] Translation: X:14.64, Y:0.69, Z:0.78 [[ 9.95276141e-01 -3.34820235e-03 -9.70267627e-02 1.46358314e+01] [ 2.66901214e-03 9.99971027e-01 -7.12897374e-03 6.91422008e-01] [ 9.70478207e-02 6.83633187e-03 9.95256241e-01 7.81811534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68463044000003 meters Centerline goodness [0,1] 0.33391802857876274 Centerline is valid? [False, False] Translation: X:14.64, Y:0.69, Z:0.78 [[ 9.95275980e-01 -3.31484985e-03 -9.70295616e-02 1.46356608e+01] [ 2.62732478e-03 9.99970537e-01 -7.21263633e-03 6.92760321e-01] [ 9.70506116e-02 6.92363552e-03 9.95255365e-01 7.82113028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.71463044 meters Centerline goodness [0,1] 0.33405602661801004 Centerline is valid? [False, False] Translation: X:14.64, Y:0.69, Z:0.78 [[ 9.95272640e-01 -3.33717066e-03 -9.70630459e-02 1.46360459e+01] [ 2.63674974e-03 9.99969560e-01 -7.34351778e-03 6.93712619e-01] [ 9.70845978e-02 7.05287137e-03 9.95251143e-01 7.81753195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74463044000004 meters Centerline goodness [0,1] 0.33341901762954396 Centerline is valid? [False, False] Translation: X:14.64, Y:0.69, Z:0.78 [[ 9.95257068e-01 -3.36780688e-03 -9.72215299e-02 1.46366185e+01] [ 2.64833519e-03 9.99968154e-01 -7.52842827e-03 6.94999683e-01] [ 9.72437881e-02 7.23524625e-03 9.95234292e-01 7.81552677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.77463044 meters Centerline goodness [0,1] 0.3332476435304199 Centerline is valid? [False, False] Translation: X:14.64, Y:0.70, Z:0.78 [[ 9.95254752e-01 -3.42804866e-03 -9.72431375e-02 1.46366858e+01] [ 2.68640655e-03 9.99966309e-01 -7.75658110e-03 6.96374191e-01] [ 9.72664512e-02 7.45853960e-03 9.95230429e-01 7.81497539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80463044000004 meters Centerline goodness [0,1] 0.3338332333533294 Centerline is valid? [False, False] Translation: X:14.64, Y:0.70, Z:0.78 [[ 9.95262120e-01 -3.40865620e-03 -9.71683748e-02 1.46364995e+01] [ 2.65482302e-03 9.99965379e-01 -7.88624283e-03 6.97571224e-01] [ 9.71918922e-02 7.59091392e-03 9.95236713e-01 7.81475177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.83463044 meters Centerline goodness [0,1] 0.3336747103629265 Centerline is valid? [False, False] Translation: X:14.64, Y:0.70, Z:0.78 [[ 9.95245386e-01 -3.33402771e-03 -9.73422055e-02 1.46372498e+01] [ 2.57154607e-03 9.99965033e-01 -7.95740921e-03 6.98757030e-01] [ 9.73653320e-02 7.66925484e-03 9.95219159e-01 7.81111680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86463044000004 meters Centerline goodness [0,1] 0.3307974257341346 Centerline is valid? [False, False] Translation: X:14.64, Y:0.70, Z:0.78 [[ 9.95212765e-01 -3.31311215e-03 -9.76758722e-02 1.46385385e+01] [ 2.54672575e-03 9.99964997e-01 -7.96985160e-03 6.99030457e-01] [ 9.76988583e-02 7.68294439e-03 9.95186367e-01 7.80582513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.89463044 meters Centerline goodness [0,1] 0.3326534993559468 Centerline is valid? [False, False] Translation: X:14.64, Y:0.70, Z:0.78 [[ 9.95175781e-01 -3.44692829e-03 -9.80473580e-02 1.46399171e+01] [ 2.66366803e-03 9.99963498e-01 -8.11836828e-03 6.99201749e-01] [ 9.80717625e-02 7.81803788e-03 9.95148636e-01 7.80004221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92463044000004 meters Centerline goodness [0,1] 0.33142527606313676 Centerline is valid? [False, False] Translation: X:14.64, Y:0.70, Z:0.78 [[ 9.95141357e-01 -3.49420111e-03 -9.83944599e-02 1.46409820e+01] [ 2.70876177e-03 9.99963404e-01 -8.11501346e-03 6.98724126e-01] [ 9.84192146e-02 7.80905836e-03 9.95114404e-01 7.79787775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.95463044 meters Centerline goodness [0,1] 0.33239599879792214 Centerline is valid? [False, False] Translation: X:14.64, Y:0.70, Z:0.78 [[ 9.95131224e-01 -3.44818792e-03 -9.84985107e-02 1.46410742e+01] [ 2.67626109e-03 9.99964674e-01 -7.96798988e-03 6.97845696e-01] [ 9.85225062e-02 7.66558779e-03 9.95105298e-01 7.80039582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98463044 meters Centerline goodness [0,1] 0.3329173838209982 Centerline is valid? [False, False] Translation: X:14.64, Y:0.70, Z:0.78 [[ 9.95172346e-01 -3.37754328e-03 -9.80846302e-02 1.46395052e+01] [ 2.64603737e-03 9.99967717e-01 -7.58702990e-03 6.95621476e-01] [ 9.81070893e-02 7.29086674e-03 9.95149156e-01 7.80830109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.01463044 meters Centerline goodness [0,1] 0.33466666666666667 Centerline is valid? [False, False] Translation: X:14.64, Y:0.69, Z:0.78 [[ 9.95180250e-01 -3.39237758e-03 -9.80038828e-02 1.46390605e+01] [ 2.66901988e-03 9.99968230e-01 -7.51106909e-03 6.94896941e-01] [ 9.80262495e-02 7.21329330e-03 9.95157687e-01 7.81173331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04463044 meters Centerline goodness [0,1] 0.3362667701997325 Centerline is valid? [False, False] Translation: X:14.64, Y:0.69, Z:0.78 [[ 9.95179075e-01 -3.38016417e-03 -9.80162399e-02 1.46392611e+01] [ 2.66148307e-03 9.99968616e-01 -7.46208819e-03 6.94518859e-01] [ 9.80383869e-02 7.16524546e-03 9.95156839e-01 7.80972372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.07463044 meters Centerline goodness [0,1] 0.32797749696336864 Centerline is valid? [False, False] Translation: X:14.66, Y:0.69, Z:0.78 [[ 9.95090065e-01 4.36314770e-03 -9.88773208e-02 1.46600056e+01] [-5.23683443e-03 9.99949493e-01 -8.57825211e-03 6.91485082e-01] [ 9.88348987e-02 9.05393761e-03 9.95062656e-01 7.83675121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10463044 meters Centerline goodness [0,1] 0.3315620764580599 Centerline is valid? [False, False] Translation: X:14.66, Y:0.69, Z:0.78 [[ 9.95055440e-01 4.42582121e-03 -9.92223924e-02 1.46614937e+01] [-5.29637985e-03 9.99949745e-01 -8.51211875e-03 6.91258042e-01] [ 9.91797329e-02 8.99554955e-03 9.95028874e-01 7.82902571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.13463044 meters Centerline goodness [0,1] 0.32904934125548957 Centerline is valid? [False, False] Translation: X:14.66, Y:0.69, Z:0.78 [[ 9.95027756e-01 4.50189300e-03 -9.94962173e-02 1.46627298e+01] [-5.36602444e-03 9.99950161e-01 -8.41916058e-03 6.90941230e-01] [ 9.94533563e-02 8.91119760e-03 9.95002322e-01 7.82238153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16463044 meters Centerline goodness [0,1] 0.330631812025711 Centerline is valid? [False, False] Translation: X:14.66, Y:0.69, Z:0.78 [[ 9.94985336e-01 4.45185980e-03 -9.99217841e-02 1.46638997e+01] [-5.31713712e-03 9.99950626e-01 -8.39490091e-03 6.89954500e-01] [ 9.98794776e-02 8.88410113e-03 9.94959880e-01 7.82115444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.19463044 meters Centerline goodness [0,1] 0.33106512081482287 Centerline is valid? [False, False] Translation: X:14.66, Y:0.69, Z:0.78 [[ 9.94970009e-01 4.44517359e-03 -1.00074578e-01 1.46640882e+01] [-5.30981980e-03 9.99950829e-01 -8.37531819e-03 6.89574501e-01] [ 1.00032428e-01 8.86456839e-03 9.94944688e-01 7.82326458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22463044 meters Centerline goodness [0,1] 0.3316546762589928 Centerline is valid? [False, False] Translation: X:14.66, Y:0.69, Z:0.78 [[ 9.94964163e-01 4.45934506e-03 -1.00132057e-01 1.46642349e+01] [-5.32907270e-03 9.99950351e-01 -8.42000778e-03 6.89968270e-01] [ 1.00089538e-01 8.91121700e-03 9.94938528e-01 7.82294149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.25463044 meters Centerline goodness [0,1] 0.33026216420325816 Centerline is valid? [False, False] Translation: X:14.68, Y:0.70, Z:0.79 [[ 9.94966312e-01 -1.96772475e-03 -1.00190645e-01 1.46822266e+01] [ 1.27182480e-03 9.99974627e-01 -7.00915733e-03 6.96578426e-01] [ 1.00201895e-01 6.84645047e-03 9.94943569e-01 7.85757875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28463044 meters Centerline goodness [0,1] 0.32838382971418767 Centerline is valid? [False, False] Translation: X:14.68, Y:0.70, Z:0.79 [[ 9.94992028e-01 1.64446745e-03 -9.99407827e-02 1.46815102e+01] [-2.05183966e-03 9.99990001e-01 -3.97348397e-03 6.98680809e-01] [ 9.99332491e-02 4.15864733e-03 9.94985453e-01 7.85916402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.31463044000003 meters Centerline goodness [0,1] 0.3307730372856559 Centerline is valid? [False, False] Translation: X:14.68, Y:0.70, Z:0.79 [[ 9.95010375e-01 1.62866602e-03 -9.97582176e-02 1.46808633e+01] [-2.05774560e-03 9.99989069e-01 -4.19845118e-03 7.00472740e-01] [ 9.97502893e-02 4.38277952e-03 9.95002850e-01 7.86129522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34463044 meters Centerline goodness [0,1] 0.33032246990924496 Centerline is valid? [False, False] Translation: X:14.68, Y:0.70, Z:0.79 [[ 9.95031384e-01 1.57332199e-03 -9.95493354e-02 1.46801772e+01] [-2.02880387e-03 9.99987932e-01 -4.47436961e-03 7.02433014e-01] [ 9.95410944e-02 4.65410426e-03 9.95022568e-01 7.86313494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.37463044000003 meters Centerline goodness [0,1] 0.33133349159419034 Centerline is valid? [False, False] Translation: X:14.68, Y:0.70, Z:0.79 [[ 9.95043433e-01 1.48027985e-03 -9.94302501e-02 1.46798103e+01] [-1.96130311e-03 9.99986842e-01 -4.74022151e-03 7.04011744e-01] [ 9.94219249e-02 4.91173914e-03 9.95033243e-01 7.86389022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40463044 meters Centerline goodness [0,1] 0.333074450413134 Centerline is valid? [False, False] Translation: X:14.68, Y:0.71, Z:0.79 [[ 9.95034574e-01 1.21434348e-03 -9.95224663e-02 1.46798107e+01] [-1.74223163e-03 9.99984871e-01 -5.21747116e-03 7.05975082e-01] [ 9.95146248e-02 5.36495539e-03 9.95021636e-01 7.86636518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.43463044000003 meters Centerline goodness [0,1] 0.3288561711653537 Centerline is valid? [False, False] Translation: X:14.68, Y:0.71, Z:0.79 [[ 9.95013182e-01 1.08956608e-03 -9.97375613e-02 1.46803536e+01] [-1.63570381e-03 9.99984114e-01 -5.39413705e-03 7.06597667e-01] [ 9.97300996e-02 5.53037858e-03 9.94999157e-01 7.86616722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46463044 meters Centerline goodness [0,1] 0.33044714396484876 Centerline is valid? [False, False] Translation: X:14.68, Y:0.71, Z:0.79 [[ 9.95003325e-01 1.00582033e-03 -9.98367210e-02 1.46805614e+01] [-1.55630920e-03 9.99984013e-01 -5.43616196e-03 7.06532710e-01] [ 9.98296571e-02 5.56437604e-03 9.94988983e-01 7.86676139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.49463044000004 meters Centerline goodness [0,1] 0.3288312469133151 Centerline is valid? [False, False] Translation: X:14.68, Y:0.71, Z:0.79 [[ 9.95015707e-01 9.42209977e-04 -9.97138673e-02 1.46801268e+01] [-1.48969972e-03 9.99984222e-01 -5.41629292e-03 7.06178690e-01] [ 9.97071908e-02 5.53784025e-03 9.95001411e-01 7.86906735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52463044 meters Centerline goodness [0,1] 0.3320226891839628 Centerline is valid? [False, False] Translation: X:14.68, Y:0.71, Z:0.79 [[ 9.95072862e-01 8.17566308e-04 -9.91429854e-02 1.46784114e+01] [-1.35449500e-03 9.99984779e-01 -5.34851100e-03 7.05181140e-01] [ 9.91371036e-02 5.45644682e-03 9.95058823e-01 7.87390878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.55463044000004 meters Centerline goodness [0,1] 0.33411582279844076 Centerline is valid? [False, False] Translation: X:14.68, Y:0.70, Z:0.79 [[ 9.95167470e-01 3.22672232e-04 -9.81916662e-02 1.46757223e+01] [-8.49811872e-04 9.99985452e-01 -5.32670045e-03 7.02975476e-01] [ 9.81885189e-02 5.38440345e-03 9.95153266e-01 7.88043046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58463044 meters Centerline goodness [0,1] 0.3288772912968152 Centerline is valid? [False, False] Translation: X:14.68, Y:0.70, Z:0.79 [[ 9.95117738e-01 2.17380749e-04 -9.86946851e-02 1.46772921e+01] [-7.34729323e-04 9.99986181e-01 -5.20559376e-03 7.01478691e-01] [ 9.86921897e-02 5.25269256e-03 9.95104146e-01 7.87711259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61463044000004 meters Centerline goodness [0,1] 0.3296738503598966 Centerline is valid? [False, False] Translation: X:14.68, Y:0.70, Z:0.79 [[ 9.95057289e-01 7.00147042e-05 -9.93025017e-02 1.46793681e+01] [-5.88617320e-04 9.99986342e-01 -5.19316430e-03 7.00395068e-01] [ 9.93007819e-02 5.22594716e-03 9.95043740e-01 7.87074029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64463044 meters Centerline goodness [0,1] 0.3275750795972808 Centerline is valid? [False, False] Translation: X:14.68, Y:0.70, Z:0.79 [[ 9.95016663e-01 4.28994151e-05 -9.97087657e-02 1.46808114e+01] [-5.58996702e-04 9.99986592e-01 -5.14811501e-03 6.99673307e-01] [ 9.97072080e-02 5.17819709e-03 9.95003346e-01 7.86568853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67463044000004 meters Centerline goodness [0,1] 0.3311054095427006 Centerline is valid? [False, False] Translation: X:14.68, Y:0.70, Z:0.79 [[ 9.94985996e-01 6.02750601e-05 -1.00014323e-01 1.46818794e+01] [-5.77706214e-04 9.99986599e-01 -5.14461654e-03 6.99658193e-01] [ 1.00012673e-01 5.17660031e-03 9.94972697e-01 7.86212241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70463044 meters Centerline goodness [0,1] 0.3287911611785095 Centerline is valid? [False, False] Translation: X:14.68, Y:0.70, Z:0.79 [[ 9.94996121e-01 6.41721144e-05 -9.99135375e-02 1.46815178e+01] [-5.84255442e-04 9.99986433e-01 -5.17608192e-03 6.99801425e-01] [ 9.99118498e-02 5.20855646e-03 9.94982660e-01 7.86373346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.73463044 meters Centerline goodness [0,1] 0.3248944247749861 Centerline is valid? [False, False] Translation: X:14.70, Y:0.70, Z:0.79 [[ 9.95081908e-01 7.79492515e-03 -9.87483456e-02 1.47006948e+01] [-8.50818242e-03 9.99940657e-01 -6.80391974e-03 6.98358137e-01] [ 9.86894495e-02 7.61062638e-03 9.95089177e-01 7.89128815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76463044 meters Centerline goodness [0,1] 0.32802018851239134 Centerline is valid? [False, False] Translation: X:14.70, Y:0.70, Z:0.79 [[ 9.95080160e-01 7.65477999e-03 -9.87769175e-02 1.47007888e+01] [-8.39465226e-03 9.99939722e-01 -7.07688956e-03 6.99629850e-01] [ 9.87167914e-02 7.87127027e-03 9.95084438e-01 7.89100281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.79463044 meters Centerline goodness [0,1] 0.3244734309847108 Centerline is valid? [False, False] Translation: X:14.72, Y:0.71, Z:0.79 [[ 9.94970044e-01 1.48084863e-03 -1.00161965e-01 1.47188945e+01] [-2.08022050e-03 9.99980550e-01 -5.87984920e-03 7.07017999e-01] [ 1.00151310e-01 6.05863279e-03 9.94953772e-01 7.92776935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82463044 meters Centerline goodness [0,1] 0.3287104832457576 Centerline is valid? [False, False] Translation: X:14.72, Y:0.71, Z:0.79 [[ 9.94938270e-01 2.42947848e-03 -1.00458635e-01 1.47197470e+01] [-3.00246867e-03 9.99980075e-01 -5.55294137e-03 7.14020653e-01] [ 1.00443143e-01 5.82645778e-03 9.94925740e-01 7.92617201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.85463044 meters Centerline goodness [0,1] 0.33088905280513736 Centerline is valid? [False, False] Translation: X:14.72, Y:0.72, Z:0.79 [[ 9.94954907e-01 2.27327129e-03 -1.00297381e-01 1.47192867e+01] [-2.88516325e-03 9.99978100e-01 -5.95614589e-03 7.16328852e-01] [ 1.00281644e-01 6.21547090e-03 9.94939676e-01 7.92682228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88463044 meters Centerline goodness [0,1] 0.32356903076824395 Centerline is valid? [False, False] Translation: X:14.76, Y:0.72, Z:0.80 [[ 9.95136222e-01 2.88729761e-03 -9.84660479e-02 1.47614822e+01] [-3.56883707e-03 9.99970876e-01 -6.74613770e-03 7.22746494e-01] [ 9.84437021e-02 7.06473527e-03 9.95117544e-01 7.97217975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.91463044 meters Centerline goodness [0,1] 0.32651266542264545 Centerline is valid? [False, False] Translation: X:14.76, Y:0.73, Z:0.80 [[ 9.95137100e-01 2.69723159e-03 -9.84625659e-02 1.47613812e+01] [-3.42267368e-03 9.99968226e-01 -7.19952462e-03 7.25241511e-01] [ 9.84400185e-02 7.50151929e-03 9.95114712e-01 7.97307674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.94463044 meters Centerline goodness [0,1] 0.3273084564222165 Centerline is valid? [False, False] Translation: X:14.76, Y:0.73, Z:0.80 [[ 9.95131812e-01 2.58566428e-03 -9.85189933e-02 1.47614478e+01] [-3.34585576e-03 9.99965888e-01 -7.55175630e-03 7.27582377e-01] [ 9.84961063e-02 7.84462327e-03 9.95106516e-01 7.97347786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.97463044 meters Centerline goodness [0,1] 0.3292019674546597 Centerline is valid? [False, False] Translation: X:14.76, Y:0.73, Z:0.80 [[ 9.95122083e-01 2.49822404e-03 -9.86194668e-02 1.47617871e+01] [-3.29065333e-03 9.99963590e-01 -7.87338181e-03 7.29800181e-01] [ 9.85962066e-02 8.15949858e-03 9.95094071e-01 7.97225321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.00463044 meters Centerline goodness [0,1] 0.3219774590163934 Centerline is valid? [False, False] Translation: X:14.78, Y:0.74, Z:0.80 [[ 9.95010928e-01 -2.51751552e-03 -9.97342221e-02 1.47839106e+01] [ 1.95346479e-03 9.99981545e-01 -5.75279217e-03 7.38895867e-01] [ 9.97468642e-02 5.52926379e-03 9.94997483e-01 7.99404446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.03463044 meters Centerline goodness [0,1] 0.32613246433735454 Centerline is valid? [False, False] Translation: X:14.78, Y:0.74, Z:0.80 [[ 9.95017412e-01 -2.69451243e-03 -9.96648817e-02 1.47835712e+01] [ 2.08916069e-03 9.99978735e-01 -6.17774136e-03 7.41298121e-01] [ 9.96794084e-02 5.93874427e-03 9.95001883e-01 7.99591567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.06463044000003 meters Centerline goodness [0,1] 0.3239870721945164 Centerline is valid? [False, False] Translation: X:14.80, Y:0.74, Z:0.80 [[ 9.95121999e-01 4.98584687e-03 -9.85258797e-02 1.48024705e+01] [-5.78945093e-03 9.99952255e-01 -7.87205518e-03 7.41736109e-01] [ 9.84819267e-02 8.40406603e-03 9.95103352e-01 8.02689072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.09463044 meters Centerline goodness [0,1] 0.32614641651352627 Centerline is valid? [False, False] Translation: X:14.80, Y:0.74, Z:0.80 [[ 9.95110861e-01 4.80551587e-03 -9.86472525e-02 1.48025894e+01] [-5.65191515e-03 9.99949562e-01 -8.30239716e-03 7.44260583e-01] [ 9.86023796e-02 8.81935149e-03 9.95087830e-01 8.02896764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.12463044000003 meters Centerline goodness [0,1] 0.3289276645614949 Centerline is valid? [False, False] Translation: X:14.78, Y:0.75, Z:0.80 [[ 9.95068752e-01 -2.92833396e-03 -9.91443537e-02 1.47835539e+01] [ 2.24685931e-03 9.99973084e-01 -6.98451928e-03 7.50054239e-01] [ 9.91621381e-02 6.72731347e-03 9.95048548e-01 7.99725540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.15463044 meters Centerline goodness [0,1] 0.32663986412400836 Centerline is valid? [False, False] Translation: X:14.80, Y:0.75, Z:0.80 [[ 9.95151761e-01 4.95479220e-03 -9.82263852e-02 1.48032140e+01] [-5.80387729e-03 9.99948209e-01 -8.36031086e-03 7.50975060e-01] [ 9.81798743e-02 8.88987196e-03 9.95128978e-01 8.02541911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18463044000003 meters Centerline goodness [0,1] 0.32681904680450724 Centerline is valid? [False, False] Translation: X:14.82, Y:0.76, Z:0.81 [[ 9.95242558e-01 -1.82643292e-03 -9.74110587e-02 1.48196356e+01] [ 1.15300460e-03 9.99975051e-01 -6.96910716e-03 7.59482322e-01] [ 9.74213570e-02 6.82363664e-03 9.95219834e-01 8.06657584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.21463044 meters Centerline goodness [0,1] 0.32983488779727765 Centerline is valid? [False, False] Translation: X:14.82, Y:0.76, Z:0.81 [[ 9.95251474e-01 -1.84207197e-03 -9.73196297e-02 1.48193412e+01] [ 1.16481493e-03 9.99974713e-01 -7.01545630e-03 7.59967903e-01] [ 9.73300918e-02 6.86878387e-03 9.95228453e-01 8.06750060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24463044000004 meters Centerline goodness [0,1] 0.32864618101164966 Centerline is valid? [False, False] Translation: X:14.82, Y:0.76, Z:0.81 [[ 9.95238240e-01 -1.90100269e-03 -9.74537415e-02 1.48196926e+01] [ 1.21715029e-03 9.99974223e-01 -7.07616932e-03 7.60208463e-01] [ 9.74646812e-02 6.92385845e-03 9.95214899e-01 8.06771096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.27463044 meters Centerline goodness [0,1] 0.3307479583459362 Centerline is valid? [False, False] Translation: X:14.82, Y:0.76, Z:0.81 [[ 9.95222678e-01 -1.98685990e-03 -9.76108283e-02 1.48203174e+01] [ 1.29655917e-03 9.99973706e-01 -7.13489047e-03 7.60248038e-01] [ 9.76224377e-02 6.97424659e-03 9.95199085e-01 8.06513492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30463044000004 meters Centerline goodness [0,1] 0.3286584319780408 Centerline is valid? [False, False] Translation: X:14.82, Y:0.76, Z:0.81 [[ 9.95181955e-01 -2.23462960e-03 -9.80198109e-02 1.48215178e+01] [ 1.51429302e-03 9.99971305e-01 -7.42266675e-03 7.61108464e-01] [ 9.80335851e-02 7.23847329e-03 9.95156782e-01 8.06355799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.33463044 meters Centerline goodness [0,1] 0.3271481038606081 Centerline is valid? [False, False] Translation: X:14.82, Y:0.76, Z:0.81 [[ 9.95193465e-01 -2.27180914e-03 -9.79020267e-02 1.48209122e+01] [ 1.53829524e-03 9.99970185e-01 -7.56715730e-03 7.62089761e-01] [ 9.79162989e-02 7.38018327e-03 9.95167288e-01 8.06767238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36463044000004 meters Centerline goodness [0,1] 0.3283678062372736 Centerline is valid? [False, False] Translation: X:14.82, Y:0.76, Z:0.81 [[ 9.95216943e-01 -2.29407463e-03 -9.76625462e-02 1.48198721e+01] [ 1.55028274e-03 9.99969221e-01 -7.69114053e-03 7.63085653e-01] [ 9.76771843e-02 7.50294881e-03 9.95189868e-01 8.07323423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.39463044 meters Centerline goodness [0,1] 0.3333477620985196 Centerline is valid? [False, False] Translation: X:14.82, Y:0.76, Z:0.81 [[ 9.95250606e-01 -2.25060014e-03 -9.73199187e-02 1.48186948e+01] [ 1.50345391e-03 9.99968839e-01 -7.74986864e-03 7.64091941e-01] [ 9.73343280e-02 7.56674545e-03 9.95222977e-01 8.07738937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42463044000004 meters Centerline goodness [0,1] 0.3294347816739406 Centerline is valid? [False, False] Translation: X:14.82, Y:0.77, Z:0.81 [[ 9.95253659e-01 -2.22434446e-03 -9.72892973e-02 1.48185649e+01] [ 1.46687587e-03 9.99968061e-01 -7.85656665e-03 7.65335669e-01] [ 9.73036656e-02 7.67656538e-03 9.95225134e-01 8.07786708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.45463044 meters Centerline goodness [0,1] 0.3294239170199488 Centerline is valid? [False, False] Translation: X:14.82, Y:0.77, Z:0.81 [[ 9.95225136e-01 -2.22433992e-03 -9.75806405e-02 1.48195471e+01] [ 1.45572386e-03 9.99967361e-01 -7.94721510e-03 7.66210420e-01] [ 9.75951328e-02 7.76721776e-03 9.95195890e-01 8.07467351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48463044 meters Centerline goodness [0,1] 0.3300824235101195 Centerline is valid? [False, False] Translation: X:14.82, Y:0.77, Z:0.81 [[ 9.95150880e-01 -2.45133690e-03 -9.83296341e-02 1.48217371e+01] [ 1.66273724e-03 9.99965803e-01 -8.10110457e-03 7.65881455e-01] [ 9.83461300e-02 7.89832500e-03 9.95120925e-01 8.07015657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.51463044 meters Centerline goodness [0,1] 0.32762229462917813 Centerline is valid? [False, False] Translation: X:14.82, Y:0.76, Z:0.81 [[ 9.95145378e-01 -2.43234311e-03 -9.83857756e-02 1.48219612e+01] [ 1.65927571e-03 9.99967112e-01 -7.93857197e-03 7.64791020e-01] [ 9.84018492e-02 7.73678408e-03 9.95116686e-01 8.06954410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54463044 meters Centerline goodness [0,1] 0.32762229462917813 Centerline is valid? [False, False] Translation: X:14.82, Y:0.76, Z:0.81 [[ 9.95145378e-01 -2.43234311e-03 -9.83857756e-02 1.48219612e+01] [ 1.65927571e-03 9.99967112e-01 -7.93857197e-03 7.64791020e-01] [ 9.84018492e-02 7.73678408e-03 9.95116686e-01 8.06954410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.57463044 meters Centerline goodness [0,1] 0.32875733495008985 Centerline is valid? [False, False] Translation: X:14.82, Y:0.76, Z:0.81 [[ 9.95150829e-01 -2.38844883e-03 -9.83316949e-02 1.48218167e+01] [ 1.63287129e-03 9.99968529e-01 -7.76372710e-03 7.63789682e-01] [ 9.83471436e-02 7.56551646e-03 9.95123411e-01 8.06979075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60463044 meters Centerline goodness [0,1] 0.3273619474146613 Centerline is valid? [False, False] Translation: X:14.84, Y:0.77, Z:0.81 [[ 9.95196133e-01 -1.02332027e-02 -9.73649726e-02 1.48418286e+01] [ 9.61201232e-03 9.99930362e-01 -6.84694493e-03 7.65577265e-01] [ 9.74282585e-02 5.87817980e-03 9.95225191e-01 8.10070481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.63463044 meters Centerline goodness [0,1] 0.3300447081076434 Centerline is valid? [False, False] Translation: X:14.84, Y:0.76, Z:0.81 [[ 9.95192210e-01 -1.01989390e-02 -9.74086547e-02 1.48417329e+01] [ 9.59283003e-03 9.99931617e-01 -6.68864419e-03 7.64380842e-01] [ 9.74702107e-02 5.72206193e-03 9.95221993e-01 8.10341210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66463044 meters Centerline goodness [0,1] 0.32930722111983435 Centerline is valid? [False, False] Translation: X:14.84, Y:0.76, Z:0.81 [[ 9.95171405e-01 -1.02074223e-02 -9.76200923e-02 1.48422347e+01] [ 9.60494664e-03 9.99931828e-01 -6.63959825e-03 7.63824270e-01] [ 9.76812105e-02 5.66990254e-03 9.95201604e-01 8.10385168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.69463044 meters Centerline goodness [0,1] 0.32550176587130675 Centerline is valid? [False, False] Translation: X:14.84, Y:0.76, Z:0.81 [[ 9.95091307e-01 -9.91748609e-03 -9.84628525e-02 1.48447934e+01] [ 9.32817291e-03 9.99935730e-01 -6.44369830e-03 7.63746764e-01] [ 9.85204296e-02 5.49358965e-03 9.95119865e-01 8.09743210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72463044 meters Centerline goodness [0,1] 0.3252158227032599 Centerline is valid? [False, False] Translation: X:14.86, Y:0.76, Z:0.81 [[ 9.95062247e-01 -1.89866907e-03 -9.92346705e-02 1.48646844e+01] [ 1.15132195e-03 9.99970549e-01 -7.58783341e-03 7.61517238e-01] [ 9.92461547e-02 7.43611550e-03 9.95035128e-01 8.12916497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.75463044 meters Centerline goodness [0,1] 0.3237630991238619 Centerline is valid? [False, False] Translation: X:14.87, Y:0.76, Z:0.81 [[ 9.95038749e-01 -1.79124988e-03 -9.94720079e-02 1.48653034e+01] [ 1.04300434e-03 9.99970775e-01 -7.57366636e-03 7.62031490e-01] [ 9.94826672e-02 7.43234176e-03 9.95011537e-01 8.12832189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78463044 meters Centerline goodness [0,1] 0.32294502196977815 Centerline is valid? [False, False] Translation: X:14.87, Y:0.76, Z:0.81 [[ 9.95016659e-01 -1.72631376e-03 -9.96938749e-02 1.48660403e+01] [ 9.69249278e-04 9.99970331e-01 -7.64182724e-03 7.62919198e-01] [ 9.97041093e-02 7.50711719e-03 9.94988811e-01 8.12575692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.81463044000003 meters Centerline goodness [0,1] 0.32080253881706455 Centerline is valid? [False, False] Translation: X:14.87, Y:0.76, Z:0.81 [[ 9.94995535e-01 -1.65627778e-03 -9.99056675e-02 1.48666331e+01] [ 8.89158155e-04 9.99969786e-01 -7.72247822e-03 7.63936006e-01] [ 9.99154395e-02 7.59499940e-03 9.94966945e-01 8.12456518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84463044 meters Centerline goodness [0,1] 0.32551846560159325 Centerline is valid? [False, False] Translation: X:14.85, Y:0.76, Z:0.81 [[ 9.94982133e-01 6.25374155e-03 -9.98571273e-02 1.48462398e+01] [-7.14574238e-03 9.99937680e-01 -8.57759680e-03 7.60047664e-01] [ 9.97972621e-02 9.24810886e-03 9.94964813e-01 8.09612591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.87463044000003 meters Centerline goodness [0,1] 0.3205084310536678 Centerline is valid? [False, False] Translation: X:14.87, Y:0.77, Z:0.81 [[ 9.95112371e-01 1.95048919e-03 -9.87297598e-02 1.48675366e+01] [-2.53072898e-03 9.99980254e-01 -5.75215664e-03 7.66103945e-01] [ 9.87165908e-02 5.97390049e-03 9.95097657e-01 8.11735179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90463044 meters Centerline goodness [0,1] 0.3216478851996294 Centerline is valid? [False, False] Translation: X:14.87, Y:0.77, Z:0.81 [[ 9.95125430e-01 1.88739497e-03 -9.85992724e-02 1.48669810e+01] [-2.48653063e-03 9.99979184e-01 -5.95394037e-03 7.67194711e-01] [ 9.85859825e-02 6.17008758e-03 9.95109408e-01 8.11978445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.93463044000003 meters Centerline goodness [0,1] 0.32307527112638246 Centerline is valid? [False, False] Translation: X:14.87, Y:0.77, Z:0.81 [[ 9.95135914e-01 1.82703784e-03 -9.84945391e-02 1.48664264e+01] [-2.44247658e-03 9.99978239e-01 -6.12823905e-03 7.68255935e-01] [ 9.84811992e-02 6.33900138e-03 9.95118722e-01 8.12321936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96463044 meters Centerline goodness [0,1] 0.32581060768735237 Centerline is valid? [False, False] Translation: X:14.87, Y:0.77, Z:0.81 [[ 9.95154509e-01 1.83537774e-03 -9.83063349e-02 1.48659455e+01] [-2.45013460e-03 9.99978191e-01 -6.13312233e-03 7.68555696e-01] [ 9.82929343e-02 6.34426809e-03 9.95137302e-01 8.12328989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.99463044000004 meters Centerline goodness [0,1] 0.3271832451652068 Centerline is valid? [False, False] Translation: X:14.86, Y:0.77, Z:0.81 [[ 9.95192667e-01 1.78196545e-03 -9.79202741e-02 1.48645884e+01] [-2.39719475e-03 9.99978119e-01 -6.16567082e-03 7.68703074e-01] [ 9.79071445e-02 6.37076435e-03 9.95175163e-01 8.12906741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02463044 meters Centerline goodness [0,1] 0.3300905953408111 Centerline is valid? [False, False] Translation: X:14.86, Y:0.77, Z:0.81 [[ 9.95192177e-01 1.68078823e-03 -9.79270434e-02 1.48644107e+01] [-2.30813524e-03 9.99977533e-01 -6.29333473e-03 7.69038615e-01] [ 9.79142655e-02 6.48910635e-03 9.95173697e-01 8.13135061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.05463044000004 meters Centerline goodness [0,1] 0.32781600242329834 Centerline is valid? [False, False] Translation: X:14.86, Y:0.77, Z:0.81 [[ 9.95176936e-01 1.55123670e-03 -9.80839470e-02 1.48645506e+01] [-2.20083295e-03 9.99976355e-01 -6.51501271e-03 7.69935081e-01] [ 9.80715215e-02 6.69945677e-03 9.95156819e-01 8.13425758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08463044 meters Centerline goodness [0,1] 0.3252083020969435 Centerline is valid? [False, False] Translation: X:14.88, Y:0.78, Z:0.82 [[ 9.94966066e-01 -4.48217606e-03 -1.00112123e-01 1.48815523e+01] [ 3.95512170e-03 9.99977259e-01 -5.46249782e-03 7.77207086e-01] [ 1.00134331e-01 5.03904433e-03 9.94961167e-01 8.17425569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11463044000004 meters Centerline goodness [0,1] 0.3280892077624584 Centerline is valid? [False, False] Translation: X:14.88, Y:0.78, Z:0.82 [[ 9.94952867e-01 -4.40200430e-03 -1.00246766e-01 1.48819029e+01] [ 3.86991558e-03 9.99977378e-01 -5.50163502e-03 7.78349155e-01] [ 1.00268716e-01 5.08592101e-03 9.94947395e-01 8.17362475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14463044 meters Centerline goodness [0,1] 0.3234311415720711 Centerline is valid? [False, False] Translation: X:14.90, Y:0.78, Z:0.82 [[ 9.95051083e-01 3.69717349e-03 -9.92958906e-02 1.49015227e+01] [-4.36743443e-03 9.99969118e-01 -6.53361417e-03 7.77464762e-01] [ 9.92686683e-02 6.93494815e-03 9.95036501e-01 8.19696576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17463044000004 meters Centerline goodness [0,1] 0.3262491473396999 Centerline is valid? [False, False] Translation: X:14.90, Y:0.78, Z:0.82 [[ 9.95099173e-01 3.29536801e-03 -9.88269979e-02 1.48998338e+01] [-4.00912761e-03 9.99967290e-01 -7.02459208e-03 7.78604483e-01] [ 9.88006167e-02 7.38637582e-03 9.95079836e-01 8.20345649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20463044 meters Centerline goodness [0,1] 0.3342661893914741 Centerline is valid? [False, False] Translation: X:14.85, Y:0.78, Z:0.82 [[ 9.94920680e-01 2.29318091e-03 -1.00635887e-01 1.48545026e+01] [-3.05953202e-03 9.99967483e-01 -7.46140725e-03 7.76535042e-01] [ 1.00615505e-01 7.73140709e-03 9.94895344e-01 8.16593956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.23463044 meters Centerline goodness [0,1] 0.32917373654932447 Centerline is valid? [False, False] Translation: X:14.88, Y:0.78, Z:0.82 [[ 9.94828138e-01 -2.89131255e-03 -1.01531354e-01 1.48759567e+01] [ 2.43062642e-03 9.99986184e-01 -4.66079715e-03 7.80866629e-01] [ 1.01543427e-01 4.38990736e-03 9.94821422e-01 8.19293127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26463044 meters Centerline goodness [0,1] 0.3277738272243411 Centerline is valid? [False, False] Translation: X:14.88, Y:0.78, Z:0.82 [[ 9.94795762e-01 -2.84931837e-03 -1.01849268e-01 1.48768478e+01] [ 2.38674916e-03 9.99986279e-01 -4.66327681e-03 7.81395531e-01] [ 1.01861158e-01 4.39591935e-03 9.94788912e-01 8.19159293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.29463044 meters Centerline goodness [0,1] 0.32884392318597755 Centerline is valid? [False, False] Translation: X:14.88, Y:0.78, Z:0.82 [[ 9.94779176e-01 -2.87214529e-03 -1.02010503e-01 1.48774112e+01] [ 2.40186395e-03 9.99985916e-01 -4.73265581e-03 7.81880698e-01] [ 1.02022659e-01 4.46293209e-03 9.94772064e-01 8.18941129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32463044 meters Centerline goodness [0,1] 0.325491452991453 Centerline is valid? [False, False] Translation: X:14.88, Y:0.78, Z:0.82 [[ 9.94770946e-01 -3.00188178e-03 -1.02086986e-01 1.48775931e+01] [ 2.51625744e-03 9.99984901e-01 -4.88540882e-03 7.82301339e-01] [ 1.02100110e-01 4.60298562e-03 9.94763479e-01 8.18991863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.35463044 meters Centerline goodness [0,1] 0.33034924606855487 Centerline is valid? [False, False] Translation: X:14.88, Y:0.78, Z:0.82 [[ 9.94782743e-01 -3.08079235e-03 -1.01969615e-01 1.48769379e+01] [ 2.58902702e-03 9.99984374e-01 -4.95466038e-03 7.82680316e-01] [ 1.01983285e-01 4.66480856e-03 9.94775175e-01 8.19424059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38463044 meters Centerline goodness [0,1] 0.3270092842422826 Centerline is valid? [False, False] Translation: X:14.92, Y:0.78, Z:0.82 [[ 9.94915962e-01 -2.56613272e-03 -1.00675933e-01 1.49195766e+01] [ 2.11730647e-03 9.99987340e-01 -4.56472777e-03 7.84869240e-01] [ 1.00686372e-01 4.32835871e-03 9.94908800e-01 8.24312164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.41463044 meters Centerline goodness [0,1] 0.3328230449125682 Centerline is valid? [False, False] Translation: X:14.90, Y:0.78, Z:0.82 [[ 9.94940129e-01 4.36490706e-03 -1.00374737e-01 1.49012741e+01] [-4.98457498e-03 9.99970032e-01 -5.92357627e-03 7.78260280e-01] [ 1.00345874e-01 6.39392914e-03 9.94932070e-01 8.21006676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.44463044 meters Centerline goodness [0,1] 0.32762505633168093 Centerline is valid? [False, False] Translation: X:14.90, Y:0.78, Z:0.82 [[ 9.94912168e-01 2.89351887e-04 -1.00745688e-01 1.49022078e+01] [-1.26206531e-03 9.99953204e-01 -9.59153495e-03 7.77705744e-01] [ 1.00738198e-01 9.66988247e-03 9.94865975e-01 8.20979900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.47463044 meters Centerline goodness [0,1] 0.3315749484424183 Centerline is valid? [False, False] Translation: X:14.90, Y:0.78, Z:0.82 [[ 9.94903258e-01 2.82604555e-04 -1.00833662e-01 1.49023751e+01] [-1.25233866e-03 9.99953575e-01 -9.55399573e-03 7.77300406e-01] [ 1.00826281e-01 9.63157937e-03 9.94857424e-01 8.21033343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.50463044 meters Centerline goodness [0,1] 0.3286393014595729 Centerline is valid? [False, False] Translation: X:14.92, Y:0.78, Z:0.82 [[ 9.94837429e-01 -6.49468026e-03 -1.01273441e-01 1.49210496e+01] [ 5.70820895e-03 9.99951276e-01 -8.05368004e-03 7.82599924e-01] [ 1.01320813e-01 7.43401237e-03 9.94826029e-01 8.24611136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.53463044 meters Centerline goodness [0,1] 0.33097409861457705 Centerline is valid? [False, False] Translation: X:14.92, Y:0.78, Z:0.82 [[ 9.94821957e-01 -6.32146897e-03 -1.01436246e-01 1.49214460e+01] [ 5.54510584e-03 9.99953152e-01 -7.93384820e-03 7.82950768e-01] [ 1.01481647e-01 7.33029167e-03 9.94810405e-01 8.24625541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.56463044000003 meters Centerline goodness [0,1] 0.3318533278464837 Centerline is valid? [False, False] Translation: X:14.92, Y:0.78, Z:0.82 [[ 9.94797462e-01 -6.24938801e-03 -1.01680646e-01 1.49220379e+01] [ 5.46677478e-03 9.99953267e-01 -7.97361451e-03 7.83598539e-01] [ 1.01725725e-01 7.37626628e-03 9.94785136e-01 8.24599819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.59463044 meters Centerline goodness [0,1] 0.3279379205090174 Centerline is valid? [False, False] Translation: X:14.94, Y:0.78, Z:0.83 [[ 9.94821752e-01 1.48214061e-03 -1.01624234e-01 1.49416736e+01] [-2.46697100e-03 9.99951203e-01 -9.56590858e-03 7.82011780e-01] [ 1.01605097e-01 9.76707797e-03 9.94776864e-01 8.28067408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.62463044000003 meters Centerline goodness [0,1] 0.3324540559394824 Centerline is valid? [False, False] Translation: X:14.94, Y:0.78, Z:0.83 [[ 9.94843180e-01 1.49022276e-03 -1.01414132e-01 1.49407277e+01] [-2.49102391e-03 9.99949438e-01 -9.74253510e-03 7.83067516e-01] [ 1.01394486e-01 9.94491963e-03 9.94796591e-01 8.28544256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.65463044 meters Centerline goodness [0,1] 0.33260474376731297 Centerline is valid? [False, False] Translation: X:14.96, Y:0.79, Z:0.83 [[ 9.94940329e-01 -5.08045176e-03 -1.00339077e-01 1.49579738e+01] [ 4.30711729e-03 9.99959342e-01 -7.92234214e-03 7.88915623e-01] [ 1.00375247e-01 7.45008552e-03 9.94921759e-01 8.32081635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68463044000003 meters Centerline goodness [0,1] 0.33039751419693564 Centerline is valid? [False, False] Translation: X:14.98, Y:0.79, Z:0.84 [[ 9.95118199e-01 2.87030492e-03 -9.86485222e-02 1.49769176e+01] [-3.79427640e-03 9.99950665e-01 -9.17996704e-03 7.88560211e-01] [ 9.86173061e-02 9.50945203e-03 9.95079995e-01 8.35192397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.71463044 meters Centerline goodness [0,1] 0.33198884359579495 Centerline is valid? [False, False] Translation: X:14.98, Y:0.79, Z:0.84 [[ 9.95168465e-01 2.72165758e-03 -9.81443758e-02 1.49751086e+01] [-3.67419287e-03 9.99947876e-01 -9.52601868e-03 7.90243035e-01] [ 9.81133336e-02 9.84059475e-03 9.95126593e-01 8.35828865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74463044000004 meters Centerline goodness [0,1] 0.3359881816430086 Centerline is valid? [False, False] Translation: X:14.97, Y:0.79, Z:0.84 [[ 9.95173903e-01 2.59060844e-03 -9.80927656e-02 1.49749979e+01] [-3.56473193e-03 9.99946049e-01 -9.75667789e-03 7.91299114e-01] [ 9.80621976e-02 1.00592656e-02 9.95129447e-01 8.35808681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.77463044 meters Centerline goodness [0,1] 0.3329744627707678 Centerline is valid? [False, False] Translation: X:14.97, Y:0.79, Z:0.84 [[ 9.95170593e-01 2.61303993e-03 -9.81257475e-02 1.49748906e+01] [-3.59513497e-03 9.99945192e-01 -9.83305518e-03 7.92216105e-01] [ 9.80946753e-02 1.01383427e-02 9.95125444e-01 8.36025772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80463044000004 meters Centerline goodness [0,1] 0.33212178226289235 Centerline is valid? [False, False] Translation: X:14.99, Y:0.80, Z:0.84 [[ 9.95149424e-01 -3.89473192e-03 -9.82977897e-02 1.49924315e+01] [ 3.10739563e-03 9.99961866e-01 -8.16153075e-03 7.98974559e-01] [ 9.83258282e-02 7.81649250e-03 9.95123577e-01 8.39651725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.83463044 meters Centerline goodness [0,1] 0.33209011533901045 Centerline is valid? [False, False] Translation: X:14.99, Y:0.80, Z:0.84 [[ 9.95141536e-01 -3.91545818e-03 -9.83767877e-02 1.49926187e+01] [ 3.10804823e-03 9.99960231e-01 -8.35923391e-03 8.00586132e-01] [ 9.84056056e-02 8.01286108e-03 9.95114130e-01 8.39665626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86463044000004 meters Centerline goodness [0,1] 0.328520240583543 Centerline is valid? [False, False] Translation: X:15.01, Y:0.80, Z:0.84 [[ 9.95196290e-01 3.80618910e-03 -9.78256472e-02 1.50124501e+01] [-4.79695037e-03 9.99939541e-01 -9.89462632e-03 8.00561532e-01] [ 9.77820719e-02 1.03163602e-02 9.95154380e-01 8.42606019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.89463044 meters Centerline goodness [0,1] 0.33365741941059546 Centerline is valid? [False, False] Translation: X:15.01, Y:0.80, Z:0.84 [[ 9.95190073e-01 3.50049443e-03 -9.79002780e-02 1.50123931e+01] [-4.57050684e-03 9.99932228e-01 -1.07074859e-02 8.04946812e-01] [ 9.78561616e-02 1.11034376e-02 9.95138626e-01 8.42786733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92463044000004 meters Centerline goodness [0,1] 0.3322443365000215 Centerline is valid? [False, False] Translation: X:15.01, Y:0.81, Z:0.84 [[ 9.95181959e-01 3.51587411e-03 -9.79821825e-02 1.50124587e+01] [-4.61508239e-03 9.99928913e-01 -1.09940657e-02 8.07761749e-01] [ 9.79365635e-02 1.13932916e-02 9.95127440e-01 8.42936151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.95463044 meters Centerline goodness [0,1] 0.33197683181534354 Centerline is valid? [False, False] Translation: X:15.01, Y:0.81, Z:0.84 [[ 9.95187214e-01 3.57979553e-03 -9.79264772e-02 1.50124839e+01] [-4.70146045e-03 9.99925936e-01 -1.12257988e-02 8.10411156e-01] [ 9.78790384e-02 1.16321689e-02 9.95130336e-01 8.42716541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98463044 meters Centerline goodness [0,1] 0.3292826931747429 Centerline is valid? [False, False] Translation: X:15.01, Y:0.81, Z:0.84 [[ 9.95181906e-01 3.49509604e-03 -9.79834569e-02 1.50126880e+01] [-4.65431934e-03 9.99921831e-01 -1.16047300e-02 8.13266861e-01] [ 9.79352379e-02 1.20048636e-02 9.95120381e-01 8.42649472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.01463044 meters Centerline goodness [0,1] 0.3321133310368585 Centerline is valid? [False, False] Translation: X:15.01, Y:0.82, Z:0.84 [[ 9.95201070e-01 3.26194191e-03 -9.77966813e-02 1.50122726e+01] [-4.46217895e-03 9.99917361e-01 -1.20565739e-02 8.15473668e-01] [ 9.77492716e-02 1.24351015e-02 9.95133382e-01 8.42592230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04463044 meters Centerline goodness [0,1] 0.32959536093463526 Centerline is valid? [False, False] Translation: X:15.03, Y:0.82, Z:0.85 [[ 9.95326012e-01 -4.54243106e-03 -9.64649963e-02 1.50303836e+01] [ 3.44153332e-03 9.99927077e-01 -1.15757240e-02 8.24748349e-01] [ 9.65105437e-02 1.11896318e-02 9.95269063e-01 8.45971681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.07463044 meters Centerline goodness [0,1] 0.33275481562426346 Centerline is valid? [False, False] Translation: X:15.03, Y:0.83, Z:0.85 [[ 9.95326366e-01 -4.57135837e-03 -9.64599788e-02 1.50299945e+01] [ 3.45814234e-03 9.99925518e-01 -1.17047262e-02 8.26026348e-01] [ 9.65063007e-02 1.13164503e-02 9.95268040e-01 8.46430160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10463044 meters Centerline goodness [0,1] 0.3313831831575351 Centerline is valid? [False, False] Translation: X:15.03, Y:0.83, Z:0.85 [[ 9.95331240e-01 -4.57630626e-03 -9.64094398e-02 1.50299023e+01] [ 3.45674251e-03 9.99924681e-01 -1.17764170e-02 8.26981842e-01] [ 9.64560708e-02 1.13881731e-02 9.95272091e-01 8.46423772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.13463044 meters Centerline goodness [0,1] 0.3330333997471988 Centerline is valid? [False, False] Translation: X:15.03, Y:0.83, Z:0.85 [[ 9.95325534e-01 -4.69815453e-03 -9.64624755e-02 1.50302558e+01] [ 3.55571206e-03 9.99921533e-01 -1.20118716e-02 8.28294921e-01] [ 9.65113400e-02 1.16127298e-02 9.95264139e-01 8.46192932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16463044 meters Centerline goodness [0,1] 0.33487342588215063 Centerline is valid? [False, False] Translation: X:15.03, Y:0.83, Z:0.85 [[ 9.95304791e-01 -4.91830107e-03 -9.66653124e-02 1.50309910e+01] [ 3.73637627e-03 9.99916084e-01 -1.24041925e-02 8.29983812e-01] [ 9.67182082e-02 1.19847743e-02 9.95239646e-01 8.45891720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.19463044 meters Centerline goodness [0,1] 0.33528754885538803 Centerline is valid? [False, False] Translation: X:15.03, Y:0.83, Z:0.85 [[ 9.95260133e-01 -5.23665923e-03 -9.71073899e-02 1.50322769e+01] [ 3.97412267e-03 9.99905107e-01 -1.31903087e-02 8.34678074e-01] [ 9.71672482e-02 1.27418717e-02 9.95186500e-01 8.45597330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22463044 meters Centerline goodness [0,1] 0.33480975736231444 Centerline is valid? [False, False] Translation: X:15.03, Y:0.84, Z:0.85 [[ 9.95238811e-01 -5.21021706e-03 -9.73270912e-02 1.50328647e+01] [ 3.91799639e-03 9.99901687e-01 -1.34634945e-02 8.37483498e-01] [ 9.73876704e-02 1.30180651e-02 9.95161380e-01 8.45490609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.25463044 meters Centerline goodness [0,1] 0.337106564991035 Centerline is valid? [False, False] Translation: X:15.03, Y:0.84, Z:0.84 [[ 9.95208334e-01 -2.27715537e-03 -9.77506359e-02 1.50344988e+01] [ 1.20531636e-03 9.99938522e-01 -1.10226851e-02 8.40254663e-01] [ 9.77697268e-02 1.08520476e-02 9.95149895e-01 8.44913292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28463044 meters Centerline goodness [0,1] 0.331416108961064 Centerline is valid? [False, False] Translation: X:15.05, Y:0.85, Z:0.85 [[ 9.95395605e-01 5.23968388e-03 -9.57085996e-02 1.50545398e+01] [-6.50188456e-03 9.99895899e-01 -1.28808581e-02 8.45063313e-01] [ 9.56311446e-02 1.34438358e-02 9.95326051e-01 8.47382707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.31463044000003 meters Centerline goodness [0,1] 0.33533127094612014 Centerline is valid? [False, False] Translation: X:15.05, Y:0.85, Z:0.85 [[ 9.95421643e-01 5.03548364e-03 -9.54484017e-02 1.50535780e+01] [-6.33071031e-03 9.99891883e-01 -1.32719544e-02 8.46933213e-01] [ 9.53712514e-02 1.38154468e-02 9.95345899e-01 8.47748686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34463044 meters Centerline goodness [0,1] 0.3377875325457793 Centerline is valid? [False, False] Translation: X:15.05, Y:0.85, Z:0.85 [[ 9.95438897e-01 4.95846792e-03 -9.52723244e-02 1.50529061e+01] [-6.27077952e-03 9.99889479e-01 -1.34798636e-02 8.48277286e-01] [ 9.51949553e-02 1.40158123e-02 9.95359974e-01 8.48010111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.37463044000003 meters Centerline goodness [0,1] 0.33482781442814746 Centerline is valid? [False, False] Translation: X:15.07, Y:0.85, Z:0.85 [[ 9.95421280e-01 -2.02938081e-03 -9.55633711e-02 1.50710123e+01] [ 8.92005040e-04 9.99928282e-01 -1.19430118e-02 8.54701259e-01] [ 9.55807544e-02 1.18030851e-02 9.95351700e-01 8.51475207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40463044 meters Centerline goodness [0,1] 0.3335541216187342 Centerline is valid? [False, False] Translation: X:15.07, Y:0.85, Z:0.85 [[ 9.95408755e-01 -2.01980991e-03 -9.56939442e-02 1.50717033e+01] [ 8.82928886e-04 9.99928550e-01 -1.19212398e-02 8.54895750e-01] [ 9.57111855e-02 1.17820155e-02 9.95339416e-01 8.51091322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.43463044000003 meters Centerline goodness [0,1] 0.33545299734862366 Centerline is valid? [False, False] Translation: X:15.07, Y:0.85, Z:0.85 [[ 9.95390264e-01 -2.13382933e-03 -9.58836264e-02 1.50726219e+01] [ 9.91627074e-04 9.99928003e-01 -1.19584522e-02 8.54477580e-01] [ 9.59022404e-02 1.18082461e-02 9.95320715e-01 8.50561797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46463044 meters Centerline goodness [0,1] 0.33545299734862366 Centerline is valid? [False, False] Translation: X:15.07, Y:0.85, Z:0.85 [[ 9.95390264e-01 -2.13382933e-03 -9.58836264e-02 1.50726219e+01] [ 9.91627074e-04 9.99928003e-01 -1.19584522e-02 8.54477580e-01] [ 9.59022404e-02 1.18082461e-02 9.95320715e-01 8.50561797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.49463044000004 meters Centerline goodness [0,1] 0.3340599687974183 Centerline is valid? [False, False] Translation: X:15.09, Y:0.86, Z:0.85 [[ 9.95307012e-01 -1.00944138e-02 -9.62395701e-02 1.50930476e+01] [ 9.05433551e-03 9.99895860e-01 -1.12377781e-02 8.59705566e-01] [ 9.63429865e-02 1.03136540e-02 9.95294759e-01 8.53162109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52463044 meters Centerline goodness [0,1] 0.3340317718244211 Centerline is valid? [False, False] Translation: X:15.09, Y:0.86, Z:0.85 [[ 9.95308800e-01 -1.00668558e-02 -9.62239679e-02 1.50929875e+01] [ 9.02272636e-03 9.99895671e-01 -1.12800028e-02 8.60328459e-01] [ 9.63274831e-02 1.03588835e-02 9.95295790e-01 8.53231702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.55463044000004 meters Centerline goodness [0,1] 0.3401526256790549 Centerline is valid? [False, False] Translation: X:15.09, Y:0.86, Z:0.85 [[ 9.95309911e-01 -1.01162958e-02 -9.62072884e-02 1.50929022e+01] [ 9.05665060e-03 9.99893495e-01 -1.14444991e-02 8.61378727e-01] [ 9.63128178e-02 1.05195076e-02 9.95295525e-01 8.53265653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58463044 meters Centerline goodness [0,1] 0.3352783438807251 Centerline is valid? [False, False] Translation: X:15.11, Y:0.86, Z:0.86 [[ 9.95388160e-01 -2.28360604e-03 -9.59020101e-02 1.51120776e+01] [ 1.06785673e-03 9.99918446e-01 -1.27264054e-02 8.60533904e-01] [ 9.59232509e-02 1.25653036e-02 9.95309421e-01 8.56477545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61463044000004 meters Centerline goodness [0,1] 0.3346441381098483 Centerline is valid? [False, False] Translation: X:15.11, Y:0.86, Z:0.86 [[ 9.95395063e-01 -2.14698615e-03 -9.58334971e-02 1.51122042e+01] [ 9.02858342e-04 9.99914781e-01 -1.30236555e-02 8.63912685e-01] [ 9.58532919e-02 1.28771583e-02 9.95312175e-01 8.56093489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64463044 meters Centerline goodness [0,1] 0.3336188987170975 Centerline is valid? [False, False] Translation: X:15.11, Y:0.87, Z:0.86 [[ 9.95404468e-01 -2.10236022e-03 -9.57367528e-02 1.51120626e+01] [ 8.49364994e-04 9.99913479e-01 -1.31267938e-02 8.65064296e-01] [ 9.57560669e-02 1.29851538e-02 9.95320130e-01 8.55965371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67463044000004 meters Centerline goodness [0,1] 0.33355507392545225 Centerline is valid? [False, False] Translation: X:15.11, Y:0.87, Z:0.86 [[ 9.95424980e-01 -2.07412420e-03 -9.55238591e-02 1.51116224e+01] [ 8.18394052e-04 9.99912765e-01 -1.31830246e-02 8.65844906e-01] [ 9.55428694e-02 1.30445358e-02 9.95339842e-01 8.55868277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70463044 meters Centerline goodness [0,1] 0.3335917312661498 Centerline is valid? [False, False] Translation: X:15.11, Y:0.87, Z:0.86 [[ 9.95426837e-01 -2.09195972e-03 -9.55041112e-02 1.51115400e+01] [ 8.31981567e-04 9.99912123e-01 -1.32308346e-02 8.66106435e-01] [ 9.55233969e-02 1.30908702e-02 9.95341102e-01 8.55888999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.73463044 meters Centerline goodness [0,1] 0.3349783289705188 Centerline is valid? [False, False] Translation: X:15.11, Y:0.87, Z:0.86 [[ 9.95409050e-01 -2.15685478e-03 -9.56878790e-02 1.51120006e+01] [ 8.90244242e-04 9.99911452e-01 -1.32776129e-02 8.65919672e-01] [ 9.57080439e-02 1.31314705e-02 9.95322829e-01 8.55893722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76463044 meters Centerline goodness [0,1] 0.3315467895808768 Centerline is valid? [False, False] Translation: X:15.11, Y:0.86, Z:0.86 [[ 9.95374120e-01 -2.32889601e-03 -9.60465391e-02 1.51132146e+01] [ 1.05685186e-03 9.99911089e-01 -1.32927846e-02 8.64870325e-01] [ 9.60689570e-02 1.31297868e-02 9.95288081e-01 8.55524505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.79463044 meters Centerline goodness [0,1] 0.33279078234424864 Centerline is valid? [False, False] Translation: X:15.11, Y:0.86, Z:0.86 [[ 9.95379948e-01 -2.33619626e-03 -9.59859384e-02 1.51131495e+01] [ 1.07699640e-03 9.99912714e-01 -1.31683009e-02 8.63991798e-01] [ 9.60083239e-02 1.30040862e-02 9.95295582e-01 8.55464469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82463044 meters Centerline goodness [0,1] 0.33420968259057393 Centerline is valid? [False, False] Translation: X:15.11, Y:0.86, Z:0.86 [[ 9.95389064e-01 -2.28531090e-03 -9.58925858e-02 1.51128585e+01] [ 1.04687267e-03 9.99915427e-01 -1.29631712e-02 8.62819926e-01] [ 9.59141007e-02 1.28030116e-02 9.95307273e-01 8.55614955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.85463044 meters Centerline goodness [0,1] 0.3327097176526246 Centerline is valid? [False, False] Translation: X:15.11, Y:0.86, Z:0.86 [[ 9.95410593e-01 -2.28687499e-03 -9.56688087e-02 1.51124481e+01] [ 1.06838731e-03 9.99917687e-01 -1.27858047e-02 8.61550486e-01] [ 9.56901735e-02 1.26249141e-02 9.95331102e-01 8.55477095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88463044 meters Centerline goodness [0,1] 0.33345445218655156 Centerline is valid? [False, False] Translation: X:15.11, Y:0.86, Z:0.86 [[ 9.95411490e-01 -2.28976473e-03 -9.56594141e-02 1.51123876e+01] [ 1.09117218e-03 9.99920270e-01 -1.25802239e-02 8.59895777e-01] [ 9.56805930e-02 1.24181185e-02 9.95334624e-01 8.55563445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.91463044 meters Centerline goodness [0,1] 0.3335112971426131 Centerline is valid? [False, False] Translation: X:15.11, Y:0.86, Z:0.86 [[ 9.95392677e-01 -2.18449719e-03 -9.58574230e-02 1.51130124e+01] [ 1.02116696e-03 9.99925258e-01 -1.21834258e-02 8.57461410e-01] [ 9.58768731e-02 1.20294064e-02 9.95320510e-01 8.55455129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.94463044 meters Centerline goodness [0,1] 0.33623611170691947 Centerline is valid? [False, False] Translation: X:15.12, Y:0.85, Z:0.85 [[ 9.95320990e-01 -4.83299428e-03 -9.65026943e-02 1.51160554e+01] [ 3.50927325e-03 9.99897483e-01 -1.38819491e-02 8.51198182e-01] [ 9.65598925e-02 1.34783410e-02 9.95235912e-01 8.54145873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.97463044 meters Centerline goodness [0,1] 0.331958762886598 Centerline is valid? [False, False] Translation: X:15.12, Y:0.85, Z:0.85 [[ 9.95283634e-01 -4.98462059e-03 -9.68795188e-02 1.51171261e+01] [ 3.69065908e-03 9.99901641e-01 -1.35310099e-02 8.47120025e-01] [ 9.69374368e-02 1.31096434e-02 9.95204135e-01 8.54050545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.00463044 meters Centerline goodness [0,1] 0.33243463003380835 Centerline is valid? [False, False] Translation: X:15.12, Y:0.84, Z:0.85 [[ 9.95283081e-01 -5.10140569e-03 -9.68791205e-02 1.51172471e+01] [ 3.84508946e-03 9.99906140e-01 -1.31501441e-02 8.43333252e-01] [ 9.69371116e-02 1.27156070e-02 9.95209279e-01 8.53965783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.03463044 meters Centerline goodness [0,1] 0.33848653965402953 Centerline is valid? [False, False] Translation: X:15.12, Y:0.84, Z:0.85 [[ 9.95291608e-01 -5.05202828e-03 -9.67940726e-02 1.51169655e+01] [ 3.84802844e-03 9.99912943e-01 -1.26214139e-02 8.39420684e-01] [ 9.68494097e-02 1.21895210e-02 9.95224401e-01 8.54120280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.06463044000003 meters Centerline goodness [0,1] 0.3383355191021865 Centerline is valid? [False, False] Translation: X:15.12, Y:0.83, Z:0.85 [[ 9.95346987e-01 -5.20939106e-03 -9.62145413e-02 1.51157765e+01] [ 4.06788051e-03 9.99919043e-01 -1.20565633e-02 8.32881321e-01] [ 9.62695594e-02 1.16090747e-02 9.95287597e-01 8.53961548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.09463044 meters Centerline goodness [0,1] 0.3419561892864066 Centerline is valid? [False, False] Translation: X:15.12, Y:0.83, Z:0.85 [[ 9.95353592e-01 -5.10492907e-03 -9.61517899e-02 1.51157247e+01] [ 4.00274356e-03 9.99924097e-01 -1.16523719e-02 8.30272890e-01] [ 9.62039762e-02 1.12133593e-02 9.95298476e-01 8.53856219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.12463044000003 meters Centerline goodness [0,1] 0.34055680963130175 Centerline is valid? [False, False] Translation: X:15.12, Y:0.83, Z:0.85 [[ 9.95356268e-01 -4.95405968e-03 -9.61319812e-02 1.51156678e+01] [ 3.89552132e-03 9.99929736e-01 -1.11958581e-02 8.27539040e-01] [ 9.61806916e-02 1.07693834e-02 9.95305629e-01 8.53923308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.15463044 meters Centerline goodness [0,1] 0.3423541832755166 Centerline is valid? [False, False] Translation: X:15.12, Y:0.83, Z:0.85 [[ 9.95356107e-01 -4.81031990e-03 -9.61409444e-02 1.51155711e+01] [ 3.79098370e-03 9.99934682e-01 -1.07823668e-02 8.25189131e-01] [ 9.61865314e-02 1.03678259e-02 9.95309328e-01 8.54095229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18463044000003 meters Centerline goodness [0,1] 0.340525510314056 Centerline is valid? [False, False] Translation: X:15.12, Y:0.82, Z:0.85 [[ 9.95345903e-01 -4.71789243e-03 -9.62511036e-02 1.51159799e+01] [ 3.76319534e-03 9.99941933e-01 -1.00979353e-02 8.20301068e-01] [ 9.62931556e-02 9.68872681e-03 9.95305861e-01 8.53939409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.21463044 meters Centerline goodness [0,1] 0.3397575913315345 Centerline is valid? [False, False] Translation: X:15.12, Y:0.82, Z:0.85 [[ 9.95331601e-01 -4.67249332e-03 -9.64010940e-02 1.51164840e+01] [ 3.75529795e-03 9.99945964e-01 -9.69360491e-03 8.17217628e-01] [ 9.64411782e-02 9.28633647e-03 9.95295365e-01 8.53808921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24463044000004 meters Centerline goodness [0,1] 0.34309623430962344 Centerline is valid? [False, False] Translation: X:15.12, Y:0.81, Z:0.85 [[ 9.95316321e-01 -4.65168457e-03 -9.65597379e-02 1.51168213e+01] [ 3.77252074e-03 9.99949773e-01 -9.28543809e-03 8.14070803e-01] [ 9.65980809e-02 8.87767447e-03 9.95283878e-01 8.53927247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.27463044 meters Centerline goodness [0,1] 0.34022954113146253 Centerline is valid? [False, False] Translation: X:15.12, Y:0.81, Z:0.85 [[ 9.95316182e-01 -4.55014335e-03 -9.65660078e-02 1.51167096e+01] [ 3.72291207e-03 9.99954832e-01 -8.74493221e-03 8.10510129e-01] [ 9.66014368e-02 8.34446578e-03 9.95288165e-01 8.54113883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30463044000004 meters Centerline goodness [0,1] 0.34582219539536085 Centerline is valid? [False, False] Translation: X:15.12, Y:0.81, Z:0.85 [[ 9.95349380e-01 -4.53639065e-03 -9.62238697e-02 1.51159012e+01] [ 3.75414755e-03 9.99958433e-01 -8.30889108e-03 8.07247485e-01] [ 9.62575624e-02 7.90901098e-03 9.95325037e-01 8.54196240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.33463044 meters Centerline goodness [0,1] 0.345010156891559 Centerline is valid? [False, False] Translation: X:15.12, Y:0.80, Z:0.85 [[ 9.95382638e-01 -6.21528356e-03 -9.57850464e-02 1.51153105e+01] [ 5.37015667e-03 9.99944370e-01 -9.07842228e-03 7.99955422e-01] [ 9.58361428e-02 8.52212320e-03 9.95360642e-01 8.53808555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36463044000004 meters Centerline goodness [0,1] 0.3424362508614749 Centerline is valid? [False, False] Translation: X:15.12, Y:0.80, Z:0.85 [[ 9.95373695e-01 -6.18428917e-03 -9.58799361e-02 1.51157012e+01] [ 5.36949018e-03 9.99947268e-01 -8.75379994e-03 7.97391493e-01] [ 9.59290163e-02 8.19847582e-03 9.95354414e-01 8.53673229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.39463044 meters Centerline goodness [0,1] 0.3442348548252109 Centerline is valid? [False, False] Translation: X:15.12, Y:0.80, Z:0.85 [[ 9.95355069e-01 -6.05713391e-03 -9.60812056e-02 1.51161399e+01] [ 5.27536764e-03 9.99950901e-01 -8.38845210e-03 7.95256914e-01] [ 9.61272981e-02 7.84262463e-03 9.95338151e-01 8.53766034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42463044000004 meters Centerline goodness [0,1] 0.3440647327192907 Centerline is valid? [False, False] Translation: X:15.12, Y:0.79, Z:0.85 [[ 9.95341060e-01 -5.82275759e-03 -9.62406870e-02 1.51165763e+01] [ 5.08467019e-03 9.99955767e-01 -7.91265147e-03 7.93108290e-01] [ 9.62825034e-02 7.38643475e-03 9.95326640e-01 8.53704451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.45463044 meters Centerline goodness [0,1] 0.340296264491198 Centerline is valid? [False, False] Translation: X:15.12, Y:0.79, Z:0.85 [[ 9.95256895e-01 -5.84338722e-03 -9.71059586e-02 1.51192600e+01] [ 5.15124028e-03 9.99959522e-01 -7.37692407e-03 7.88398552e-01] [ 9.71451342e-02 6.84171843e-03 9.95246710e-01 8.53037166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48463044 meters Centerline goodness [0,1] 0.33955504065563924 Centerline is valid? [False, False] Translation: X:15.12, Y:0.79, Z:0.85 [[ 9.95230231e-01 -5.83367274e-03 -9.73794381e-02 1.51201419e+01] [ 5.17239795e-03 9.99961829e-01 -7.04176640e-03 7.85552688e-01] [ 9.74168004e-02 6.50449360e-03 9.95222417e-01 8.52808163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.51463044 meters Centerline goodness [0,1] 0.3386107391248002 Centerline is valid? [False, False] Translation: X:15.12, Y:0.78, Z:0.85 [[ 9.95212007e-01 -5.76104526e-03 -9.75698282e-02 1.51205278e+01] [ 5.13825796e-03 9.99964800e-01 -6.63305922e-03 7.82626709e-01] [ 9.76046071e-02 6.09996123e-03 9.95206577e-01 8.52888398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54463044 meters Centerline goodness [0,1] 0.3391597143286079 Centerline is valid? [False, False] Translation: X:15.12, Y:0.78, Z:0.85 [[ 9.95203894e-01 -5.55511049e-03 -9.76644806e-02 1.51206591e+01] [ 4.97913484e-03 9.99968752e-01 -6.14023163e-03 7.80112749e-01] [ 9.76955385e-02 5.62449781e-03 9.95200456e-01 8.53033843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.57463044 meters Centerline goodness [0,1] 0.33882495195733375 Centerline is valid? [False, False] Translation: X:15.12, Y:0.78, Z:0.85 [[ 9.95198198e-01 -5.30159864e-03 -9.77365805e-02 1.51207428e+01] [ 4.77373947e-03 9.99972735e-01 -5.63389031e-03 7.77829080e-01] [ 9.77637843e-02 5.14026851e-03 9.95196373e-01 8.53144628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60463044 meters Centerline goodness [0,1] 0.3381032185982553 Centerline is valid? [False, False] Translation: X:15.12, Y:0.77, Z:0.85 [[ 9.95175725e-01 -5.35100385e-03 -9.79624605e-02 1.51215350e+01] [ 4.86742745e-03 9.99974765e-01 -5.17466771e-03 7.72668394e-01] [ 9.79876781e-02 4.67287852e-03 9.95176657e-01 8.52886156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.63463044 meters Centerline goodness [0,1] 0.3369027652345934 Centerline is valid? [False, False] Translation: X:15.12, Y:0.77, Z:0.85 [[ 9.95188630e-01 -5.34859472e-03 -9.78313971e-02 1.51211338e+01] [ 4.89914285e-03 9.99976316e-01 -4.83379365e-03 7.69746635e-01] [ 9.78549341e-02 4.33124649e-03 9.95191264e-01 8.53001541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66463044 meters Centerline goodness [0,1] 0.33781631950421764 Centerline is valid? [False, False] Translation: X:15.12, Y:0.77, Z:0.85 [[ 9.95198302e-01 -5.18635006e-03 -9.77417056e-02 1.51206940e+01] [ 4.78626434e-03 9.99979183e-01 -4.32732326e-03 7.66664129e-01] [ 9.77621139e-02 3.83872712e-03 9.95202408e-01 8.53251987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.69463044 meters Centerline goodness [0,1] 0.34013048814625013 Centerline is valid? [False, False] Translation: X:15.12, Y:0.76, Z:0.85 [[ 9.95198866e-01 -4.91768537e-03 -9.77498557e-02 1.51206651e+01] [ 4.58033016e-03 9.99982756e-01 -3.67531175e-03 7.63309852e-01] [ 9.77662442e-02 3.20993947e-03 9.95204229e-01 8.53309207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72463044 meters Centerline goodness [0,1] 0.3351845449044861 Centerline is valid? [False, False] Translation: X:15.12, Y:0.76, Z:0.85 [[ 9.95108919e-01 -4.95071902e-03 -9.86596614e-02 1.51235428e+01] [ 4.67223905e-03 9.99984423e-01 -3.05347845e-03 7.56394886e-01] [ 9.86732415e-02 2.57758211e-03 9.95116550e-01 8.52545741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.75463044 meters Centerline goodness [0,1] 0.33764003949006305 Centerline is valid? [False, False] Translation: X:15.12, Y:0.75, Z:0.85 [[ 9.95071700e-01 -4.94221151e-03 -9.90347769e-02 1.51247475e+01] [ 4.69501521e-03 9.99985255e-01 -2.72895930e-03 7.53405940e-01] [ 9.90468037e-02 2.25054039e-03 9.95080231e-01 8.52232496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78463044 meters Centerline goodness [0,1] 0.33343335405191077 Centerline is valid? [False, False] Translation: X:15.13, Y:0.75, Z:0.85 [[ 9.95057481e-01 -4.79685887e-03 -9.91846737e-02 1.51251555e+01] [ 4.59178058e-03 9.99986822e-01 -2.29581882e-03 7.50599921e-01] [ 9.91943794e-02 1.82903743e-03 9.95066395e-01 8.52161730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.81463044000003 meters Centerline goodness [0,1] 0.33773075677426323 Centerline is valid? [False, False] Translation: X:15.12, Y:0.75, Z:0.85 [[ 9.95067945e-01 -4.52961372e-03 -9.90922213e-02 1.51248522e+01] [ 4.37665838e-03 9.99988872e-01 -1.76089357e-03 7.48161080e-01] [ 9.90990948e-02 1.31851595e-03 9.95076696e-01 8.52265518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84463044 meters Centerline goodness [0,1] 0.3368599875276864 Centerline is valid? [False, False] Translation: X:15.12, Y:0.75, Z:0.85 [[ 9.95079965e-01 -4.22320384e-03 -9.89849875e-02 1.51243804e+01] [ 4.12269024e-03 9.99990758e-01 -1.21996632e-03 7.46019813e-01] [ 9.89892248e-02 8.05879603e-04 9.95088179e-01 8.52540613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.87463044000003 meters Centerline goodness [0,1] 0.3379198966408269 Centerline is valid? [False, False] Translation: X:15.12, Y:0.74, Z:0.85 [[ 9.95088599e-01 -4.05648128e-03 -9.89051278e-02 1.51241571e+01] [ 3.98964969e-03 9.99991660e-01 -8.73488897e-04 7.44319942e-01] [ 9.89078462e-02 4.74602031e-04 9.95096484e-01 8.52573695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90463044 meters Centerline goodness [0,1] 0.33921772239529246 Centerline is valid? [False, False] Translation: X:15.12, Y:0.74, Z:0.85 [[ 9.95084187e-01 -4.20035576e-03 -9.89435031e-02 1.51241160e+01] [ 4.13597215e-03 9.99991081e-01 -8.55819848e-04 7.42667396e-01] [ 9.89462154e-02 4.42385225e-04 9.95092685e-01 8.52730121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.93463044000003 meters Centerline goodness [0,1] 0.34014412703892294 Centerline is valid? [False, False] Translation: X:15.12, Y:0.74, Z:0.85 [[ 9.95084175e-01 -4.21651836e-03 -9.89429426e-02 1.51241064e+01] [ 4.15587186e-03 9.99991029e-01 -8.19039866e-04 7.42153712e-01] [ 9.89455085e-02 4.03819418e-04 9.95092771e-01 8.52750230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96463044 meters Centerline goodness [0,1] 0.3374949140201726 Centerline is valid? [False, False] Translation: X:15.14, Y:0.74, Z:0.86 [[ 9.95114026e-01 3.44637375e-03 -9.86721731e-02 1.51430129e+01] [-3.66386078e-03 9.99991242e-01 -2.02301911e-03 7.37395780e-01] [ 9.86643368e-02 2.37465579e-03 9.95117938e-01 8.55771789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.99463044000004 meters Centerline goodness [0,1] 0.34026745913818723 Centerline is valid? [False, False] Translation: X:15.14, Y:0.74, Z:0.86 [[ 9.95106859e-01 3.26084217e-03 -9.87507296e-02 1.51433234e+01] [-3.48892363e-03 9.99991630e-01 -2.13706731e-03 7.37283378e-01] [ 9.87429345e-02 2.47114410e-03 9.95109907e-01 8.55633744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02463044 meters Centerline goodness [0,1] 0.33807698932139163 Centerline is valid? [False, False] Translation: X:15.14, Y:0.74, Z:0.86 [[ 9.95101035e-01 3.11802476e-03 -9.88140072e-02 1.51436419e+01] [-3.35699152e-03 9.99991829e-01 -2.25217525e-03 7.37373543e-01] [ 9.88061775e-02 2.57285970e-03 9.95103371e-01 8.55403589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.05463044000004 meters Centerline goodness [0,1] 0.3368981669625478 Centerline is valid? [False, False] Translation: X:15.16, Y:0.74, Z:0.86 [[ 9.95055474e-01 -4.25356376e-03 -9.92295848e-02 1.51631313e+01] [ 4.17321567e-03 9.99990775e-01 -1.01727145e-03 7.40913775e-01] [ 9.92329964e-02 5.98135064e-04 9.95064046e-01 8.58710911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08463044 meters Centerline goodness [0,1] 0.3365117031603926 Centerline is valid? [False, False] Translation: X:15.16, Y:0.74, Z:0.86 [[ 9.95062048e-01 -4.26318687e-03 -9.91632245e-02 1.51629713e+01] [ 4.19028431e-03 9.99990776e-01 -9.43441058e-04 7.40554827e-01] [ 9.91663319e-02 5.23260288e-04 9.95070734e-01 8.58685295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11463044000004 meters Centerline goodness [0,1] 0.336983360171766 Centerline is valid? [False, False] Translation: X:15.16, Y:0.74, Z:0.86 [[ 9.95069893e-01 -4.40045132e-03 -9.90784768e-02 1.51628190e+01] [ 4.32480254e-03 9.99990169e-01 -9.78287796e-04 7.40060215e-01] [ 9.90818077e-02 5.44969884e-04 9.95079142e-01 8.58630059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14463044 meters Centerline goodness [0,1] 0.33693882796435914 Centerline is valid? [False, False] Translation: X:15.16, Y:0.74, Z:0.86 [[ 9.95052136e-01 -4.62754041e-03 -9.92463209e-02 1.51629505e+01] [ 4.54411687e-03 9.99989107e-01 -1.06660686e-03 7.39251403e-01] [ 9.92501755e-02 6.10342555e-04 9.95062325e-01 8.58958116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17463044000004 meters Centerline goodness [0,1] 0.33480497213887694 Centerline is valid? [False, False] Translation: X:15.16, Y:0.74, Z:0.86 [[ 9.94982836e-01 -5.12645104e-03 -9.99143414e-02 1.51647676e+01] [ 5.03005859e-03 9.99986609e-01 -1.21664650e-03 7.37926463e-01] [ 9.99192405e-02 7.07967392e-04 9.94995299e-01 8.58676390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20463044 meters Centerline goodness [0,1] 0.3341266267875903 Centerline is valid? [False, False] Translation: X:15.17, Y:0.74, Z:0.86 [[ 9.94959119e-01 -5.01888505e-03 -1.00155695e-01 1.51658162e+01] [ 4.93922366e-03 9.99987258e-01 -1.04333038e-03 7.37636434e-01] [ 1.00159655e-01 5.43379699e-04 9.94971230e-01 8.58117455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.23463044 meters Centerline goodness [0,1] 0.3320206322367999 Centerline is valid? [False, False] Translation: X:15.17, Y:0.74, Z:0.86 [[ 9.94944915e-01 -4.93582970e-03 -1.00300812e-01 1.51665773e+01] [ 4.86663925e-03 9.99987721e-01 -9.34500095e-04 7.37684509e-01] [ 1.00304193e-01 4.41648252e-04 9.94956720e-01 8.57650901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26463044 meters Centerline goodness [0,1] 0.33217174324556875 Centerline is valid? [False, False] Translation: X:15.17, Y:0.74, Z:0.86 [[ 9.94957189e-01 -4.89208915e-03 -1.00181138e-01 1.51663032e+01] [ 4.82886674e-03 9.99987959e-01 -8.73563330e-04 7.37668677e-01] [ 1.00184205e-01 3.85396751e-04 9.94968832e-01 8.57623476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.29463044 meters Centerline goodness [0,1] 0.3325297606348936 Centerline is valid? [False, False] Translation: X:15.18, Y:0.73, Z:0.86 [[ 9.95129880e-01 2.23135966e-03 -9.85471586e-02 1.51842294e+01] [-2.52903445e-03 9.99992609e-01 -2.89581744e-03 7.34863402e-01] [ 9.85399687e-02 3.13094363e-03 9.95128169e-01 8.61240118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32463044 meters Centerline goodness [0,1] 0.33480460760038755 Centerline is valid? [False, False] Translation: X:15.18, Y:0.74, Z:0.86 [[ 9.95103795e-01 2.24838160e-03 -9.88098284e-02 1.51848012e+01] [-2.55454409e-03 9.99992320e-01 -2.97209488e-03 7.35778773e-01] [ 9.88023872e-02 3.20995696e-03 9.95101897e-01 8.61352317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.35463044 meters Centerline goodness [0,1] 0.33480460760038755 Centerline is valid? [False, False] Translation: X:15.18, Y:0.74, Z:0.86 [[ 9.95103795e-01 2.24838160e-03 -9.88098284e-02 1.51848012e+01] [-2.55454409e-03 9.99992320e-01 -2.97209488e-03 7.35778773e-01] [ 9.88023872e-02 3.20995696e-03 9.95101897e-01 8.61352317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38463044 meters Centerline goodness [0,1] 0.33555184599041776 Centerline is valid? [False, False] Translation: X:15.19, Y:0.74, Z:0.86 [[ 9.95073679e-01 2.36764051e-03 -9.91098741e-02 1.51858843e+01] [-2.67200822e-03 9.99992113e-01 -2.93838743e-03 7.36611577e-01] [ 9.91021353e-02 3.18873439e-03 9.95072158e-01 8.60892791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.41463044 meters Centerline goodness [0,1] 0.3319724090508628 Centerline is valid? [False, False] Translation: X:15.21, Y:0.74, Z:0.86 [[ 9.94880529e-01 -3.02840812e-03 -1.01012685e-01 1.52100922e+01] [ 2.98178525e-03 9.99995367e-01 -6.12536948e-04 7.39534747e-01] [ 1.01014072e-01 3.08202949e-04 9.94884949e-01 8.62488718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.44463044 meters Centerline goodness [0,1] 0.3330591037021 Centerline is valid? [False, False] Translation: X:15.21, Y:0.74, Z:0.86 [[ 9.94888684e-01 -3.08536357e-03 -1.00930606e-01 1.52097347e+01] [ 3.03086585e-03 9.99995167e-01 -6.93293409e-04 7.39714385e-01] [ 1.00932257e-01 3.83842639e-04 9.94893226e-01 8.62687797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.47463044 meters Centerline goodness [0,1] 0.3313946001631112 Centerline is valid? [False, False] Translation: X:15.23, Y:0.74, Z:0.87 [[ 9.95037552e-01 4.51375038e-03 -9.93976642e-02 1.52279237e+01] [-4.74336676e-03 9.99986600e-01 -2.07387319e-03 7.35444361e-01] [ 9.93869713e-02 2.53506128e-03 9.95045629e-01 8.65596943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.50463044 meters Centerline goodness [0,1] 0.33573812856681384 Centerline is valid? [False, False] Translation: X:15.23, Y:0.74, Z:0.87 [[ 9.95066987e-01 4.55739161e-03 -9.91005608e-02 1.52267285e+01] [-4.78324087e-03 9.99986476e-01 -2.04151325e-03 7.35567474e-01] [ 9.90899166e-02 2.50546429e-03 9.95075329e-01 8.66193412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.53463044 meters Centerline goodness [0,1] 0.334321114904765 Centerline is valid? [False, False] Translation: X:15.23, Y:0.74, Z:0.87 [[ 9.95092129e-01 4.58975302e-03 -9.88462915e-02 1.52257801e+01] [-4.81818743e-03 9.99986245e-01 -2.07241466e-03 7.36233883e-01] [ 9.88354200e-02 2.53850347e-03 9.95100556e-01 8.66635178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.56463044000003 meters Centerline goodness [0,1] 0.33381780874620615 Centerline is valid? [False, False] Translation: X:15.23, Y:0.74, Z:0.87 [[ 9.95105179e-01 4.58816486e-03 -9.87148997e-02 1.52254456e+01] [-4.82399905e-03 9.99986052e-01 -2.15049175e-03 7.37035988e-01] [ 9.87036560e-02 2.61616606e-03 9.95113433e-01 8.66722020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.59463044 meters Centerline goodness [0,1] 0.33196352895852066 Centerline is valid? [False, False] Translation: X:15.23, Y:0.74, Z:0.87 [[ 9.95086905e-01 4.23088139e-03 -9.89148637e-02 1.52261996e+01] [-4.52599095e-03 9.99985951e-01 -2.75926559e-03 7.39320202e-01] [ 9.89017999e-02 3.19339684e-03 9.95092074e-01 8.66487061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.62463044000003 meters Centerline goodness [0,1] 0.33368477676169983 Centerline is valid? [False, False] Translation: X:15.23, Y:0.74, Z:0.87 [[ 9.95059574e-01 4.13480641e-03 -9.91934896e-02 1.52270673e+01] [-4.44990603e-03 9.99985731e-01 -2.95557894e-03 7.40253844e-01] [ 9.91798535e-02 3.38237883e-03 9.95063775e-01 8.66265655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.65463044 meters Centerline goodness [0,1] 0.3337999052500108 Centerline is valid? [False, False] Translation: X:15.23, Y:0.74, Z:0.87 [[ 9.95036170e-01 4.16704583e-03 -9.94266383e-02 1.52277961e+01] [-4.48916430e-03 9.99985375e-01 -3.01625367e-03 7.41235798e-01] [ 9.94126152e-02 3.44762401e-03 9.95040324e-01 8.66081207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.68463044000003 meters Centerline goodness [0,1] 0.334488399121863 Centerline is valid? [False, False] Translation: X:15.23, Y:0.74, Z:0.87 [[ 9.95026450e-01 4.19887642e-03 -9.95225285e-02 1.52281705e+01] [-4.52476362e-03 9.99985115e-01 -3.04901373e-03 7.42037848e-01] [ 9.95082446e-02 3.48416523e-03 9.95030638e-01 8.65932845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.71463044 meters Centerline goodness [0,1] 0.33229880598301653 Centerline is valid? [False, False] Translation: X:15.23, Y:0.74, Z:0.87 [[ 9.95025353e-01 3.99748937e-03 -9.95417807e-02 1.52283294e+01] [-4.33814758e-03 9.99985451e-01 -3.20604689e-03 7.42039066e-01] [ 9.95275163e-02 3.62192488e-03 9.95028218e-01 8.65818193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74463044000004 meters Centerline goodness [0,1] 0.3331256043837971 Centerline is valid? [False, False] Translation: X:15.23, Y:0.74, Z:0.87 [[ 9.95022020e-01 3.78334350e-03 -9.95834653e-02 1.52286705e+01] [-4.13929930e-03 9.99985761e-01 -3.36807235e-03 7.41807620e-01] [ 9.95693048e-02 3.76351192e-03 9.95023512e-01 8.65519719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.77463044 meters Centerline goodness [0,1] 0.3322756119673618 Centerline is valid? [False, False] Translation: X:15.23, Y:0.74, Z:0.87 [[ 9.95028138e-01 3.69488119e-03 -9.95256334e-02 1.52285388e+01] [-4.05820992e-03 9.99985820e-01 -3.44840069e-03 7.41797936e-01] [ 9.95114807e-02 3.83515163e-03 9.95029023e-01 8.65480222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80463044000004 meters Centerline goodness [0,1] 0.3310526767330131 Centerline is valid? [False, False] Translation: X:15.25, Y:0.75, Z:0.87 [[ 9.94965027e-01 -3.57957200e-03 -1.00158783e-01 1.52478788e+01] [ 3.36446062e-03 9.99991657e-01 -2.31653656e-03 7.46021108e-01] [ 1.00166240e-01 1.96789258e-03 9.94968769e-01 8.69008959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.83463044 meters Centerline goodness [0,1] 0.3344072164948454 Centerline is valid? [False, False] Translation: X:15.25, Y:0.75, Z:0.87 [[ 9.94961226e-01 -3.60068331e-03 -1.00195781e-01 1.52483274e+01] [ 3.37213756e-03 9.99991312e-01 -2.45026195e-03 7.47190145e-01] [ 1.00203733e-01 2.10004167e-03 9.94964724e-01 8.68637288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86463044000004 meters Centerline goodness [0,1] 0.3322647273979087 Centerline is valid? [False, False] Translation: X:15.25, Y:0.75, Z:0.87 [[ 9.94944386e-01 -3.61991908e-03 -1.00362165e-01 1.52489811e+01] [ 3.37155499e-03 9.99990820e-01 -2.64418509e-03 7.48771115e-01] [ 1.00370815e-01 2.29244055e-03 9.94947458e-01 8.68356056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.89463044 meters Centerline goodness [0,1] 0.32947641843591013 Centerline is valid? [False, False] Translation: X:15.25, Y:0.75, Z:0.87 [[ 9.94840053e-01 -1.93659277e-03 -1.01437264e-01 1.52531477e+01] [ 1.78937369e-03 9.99997210e-01 -1.54230059e-03 7.53100546e-01] [ 1.01439968e-01 1.35283323e-03 9.94840742e-01 8.67073052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92463044000004 meters Centerline goodness [0,1] 0.32924344151526197 Centerline is valid? [False, False] Translation: X:15.25, Y:0.76, Z:0.87 [[ 9.94823885e-01 -2.06754967e-03 -1.01593127e-01 1.52537921e+01] [ 1.87941566e-03 9.99996337e-01 -1.94751860e-03 7.55615564e-01] [ 1.01596781e-01 1.74650231e-03 9.94824127e-01 8.66789174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.95463044 meters Centerline goodness [0,1] 0.3301506562924327 Centerline is valid? [False, False] Translation: X:15.25, Y:0.76, Z:0.87 [[ 9.94822361e-01 -2.16130891e-03 -1.01606092e-01 1.52540139e+01] [ 1.93834369e-03 9.99995492e-01 -2.29308613e-03 7.57932800e-01] [ 1.01610590e-01 2.08426583e-03 9.94822066e-01 8.66571733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98463044 meters Centerline goodness [0,1] 0.3318312518776019 Centerline is valid? [False, False] Translation: X:15.25, Y:0.76, Z:0.87 [[ 9.94842414e-01 -2.27973681e-03 -1.01406969e-01 1.52537435e+01] [ 2.00675824e-03 9.99994084e-01 -2.79384265e-03 7.62207383e-01] [ 1.01412739e-01 2.57593389e-03 9.94841103e-01 8.66394621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.01463044 meters Centerline goodness [0,1] 0.33319696839204205 Centerline is valid? [False, False] Translation: X:15.25, Y:0.76, Z:0.87 [[ 9.94840811e-01 -2.38358381e-03 -1.01420314e-01 1.52536107e+01] [ 2.08957945e-03 9.99993302e-01 -3.00500868e-03 7.63426190e-01] [ 1.01426798e-01 2.77757947e-03 9.94839128e-01 8.66630910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04463044 meters Centerline goodness [0,1] 0.32894090511073615 Centerline is valid? [False, False] Translation: X:15.25, Y:0.76, Z:0.87 [[ 9.94839959e-01 -2.48358687e-03 -1.01426266e-01 1.52536549e+01] [ 2.17270019e-03 9.99992598e-01 -3.17550398e-03 7.64282887e-01] [ 1.01433402e-01 2.93874938e-03 9.94837991e-01 8.66612423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.07463044 meters Centerline goodness [0,1] 0.3301550487480136 Centerline is valid? [False, False] Translation: X:15.25, Y:0.76, Z:0.87 [[ 9.94836325e-01 -2.62693340e-03 -1.01458293e-01 1.52536242e+01] [ 2.30080882e-03 9.99991804e-01 -3.33125730e-03 7.64739868e-01] [ 1.01466212e-01 3.08061963e-03 9.94834216e-01 8.66753136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10463044 meters Centerline goodness [0,1] 0.3295680636672871 Centerline is valid? [False, False] Translation: X:15.25, Y:0.77, Z:0.87 [[ 9.94829503e-01 -2.71841007e-03 -1.01522758e-01 1.52536427e+01] [ 2.38480600e-03 9.99991352e-01 -3.40722812e-03 7.65011267e-01] [ 1.01531142e-01 3.14749898e-03 9.94827382e-01 8.66902556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.13463044 meters Centerline goodness [0,1] 0.3325126876147284 Centerline is valid? [False, False] Translation: X:15.25, Y:0.77, Z:0.87 [[ 9.94823434e-01 -2.76294305e-03 -1.01581012e-01 1.52535209e+01] [ 2.42456937e-03 9.99991094e-01 -3.45438601e-03 7.65367132e-01] [ 1.01589651e-01 3.19021394e-03 9.94821273e-01 8.67218024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16463044 meters Centerline goodness [0,1] 0.32862688222497116 Centerline is valid? [False, False] Translation: X:15.27, Y:0.77, Z:0.87 [[ 9.94750622e-01 -1.06527830e-02 -1.01772880e-01 1.52738160e+01] [ 1.04225168e-02 9.99941781e-01 -2.79404189e-03 7.70967194e-01] [ 1.01796719e-01 1.71864535e-03 9.94803737e-01 8.70372663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.19463044 meters Centerline goodness [0,1] 0.3292958413115036 Centerline is valid? [False, False] Translation: X:15.27, Y:0.77, Z:0.87 [[ 9.94750680e-01 -1.07736556e-02 -1.01759580e-01 1.52736622e+01] [ 1.05136757e-02 9.99939953e-01 -3.09084061e-03 7.72672241e-01] [ 1.01786769e-01 2.00474858e-03 9.94804219e-01 8.70538709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22463044 meters Centerline goodness [0,1] 0.32984080918441383 Centerline is valid? [False, False] Translation: X:15.29, Y:0.77, Z:0.87 [[ 9.94874170e-01 -2.97918215e-03 -1.01076751e-01 1.52922939e+01] [ 2.56379336e-03 9.99987728e-01 -4.23929137e-03 7.70395275e-01] [ 1.01088140e-01 3.95842158e-03 9.94869599e-01 8.73553546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.25463044 meters Centerline goodness [0,1] 0.32763727015106636 Centerline is valid? [False, False] Translation: X:15.29, Y:0.77, Z:0.87 [[ 9.94888121e-01 -3.02771716e-03 -1.00937898e-01 1.52919748e+01] [ 2.59527357e-03 9.99986885e-01 -4.41529510e-03 7.71842201e-01] [ 1.00949943e-01 4.13076318e-03 9.94882931e-01 8.73537595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28463044 meters Centerline goodness [0,1] 0.32979429329794296 Centerline is valid? [False, False] Translation: X:15.29, Y:0.77, Z:0.87 [[ 9.94898410e-01 -3.12575283e-03 -1.00833447e-01 1.52923131e+01] [ 2.67012689e-03 9.99985609e-01 -4.65324622e-03 7.73730712e-01] [ 1.00846541e-01 4.36026917e-03 9.94892438e-01 8.72881585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.31463044000003 meters Centerline goodness [0,1] 0.33020694402615847 Centerline is valid? [False, False] Translation: X:15.29, Y:0.77, Z:0.87 [[ 9.94893044e-01 -3.20785305e-03 -1.00883796e-01 1.52927807e+01] [ 2.74269844e-03 9.99984961e-01 -4.74915921e-03 7.74167550e-01] [ 1.00897514e-01 4.44821164e-03 9.94886881e-01 8.72440009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34463044 meters Centerline goodness [0,1] 0.32711584279550965 Centerline is valid? [False, False] Translation: X:15.29, Y:0.77, Z:0.87 [[ 9.94881021e-01 -3.22270921e-03 -1.01001823e-01 1.52933978e+01] [ 2.75998611e-03 9.99985048e-01 -4.72073881e-03 7.74154262e-01] [ 1.01015527e-01 4.41780982e-03 9.94875041e-01 8.72007818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.37463044000003 meters Centerline goodness [0,1] 0.32677520512049485 Centerline is valid? [False, False] Translation: X:15.29, Y:0.77, Z:0.87 [[ 9.94857174e-01 -3.30753447e-03 -1.01233703e-01 1.52941742e+01] [ 2.84041793e-03 9.99984646e-01 -4.75803527e-03 7.74202091e-01] [ 1.01247886e-01 4.44601950e-03 9.94851295e-01 8.71722095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40463044 meters Centerline goodness [0,1] 0.3283173439689555 Centerline is valid? [False, False] Translation: X:15.29, Y:0.77, Z:0.87 [[ 9.94827219e-01 -3.48715944e-03 -1.01521640e-01 1.52949039e+01] [ 3.02405177e-03 9.99984311e-01 -4.71520867e-03 7.73264983e-01] [ 1.01536490e-01 4.38381124e-03 9.94822157e-01 8.71626353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.43463044000003 meters Centerline goodness [0,1] 0.324897575964493 Centerline is valid? [False, False] Translation: X:15.31, Y:0.78, Z:0.87 [[ 9.94759329e-01 -1.12611117e-02 -1.01622163e-01 1.53149859e+01] [ 1.09597281e-02 9.99933732e-01 -3.52357882e-03 7.75291136e-01] [ 1.01655108e-01 2.39136163e-03 9.94816828e-01 8.74942278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46463044 meters Centerline goodness [0,1] 0.32568649393130755 Centerline is valid? [False, False] Translation: X:15.32, Y:0.77, Z:0.87 [[ 9.94764026e-01 -1.12003096e-02 -1.01582896e-01 1.53150108e+01] [ 1.09106647e-02 9.99934674e-01 -3.40649041e-03 7.74869990e-01] [ 1.01614414e-01 2.28031719e-03 9.94821246e-01 8.74802116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.49463044000004 meters Centerline goodness [0,1] 0.32695058170562497 Centerline is valid? [False, False] Translation: X:15.33, Y:0.77, Z:0.88 [[ 9.94803533e-01 -3.66040554e-03 -1.01747391e-01 1.53339406e+01] [ 3.23332538e-03 9.99985259e-01 -4.36205853e-03 7.69806506e-01] [ 1.01761858e-01 4.01040881e-03 9.94800704e-01 8.77702940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52463044 meters Centerline goodness [0,1] 0.3263058459820949 Centerline is valid? [False, False] Translation: X:15.33, Y:0.77, Z:0.88 [[ 9.94794852e-01 -3.72089102e-03 -1.01830039e-01 1.53343578e+01] [ 3.28477349e-03 9.99984703e-01 -4.45014406e-03 7.70038998e-01] [ 1.01845040e-01 4.09249179e-03 9.94791857e-01 8.77460813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.55463044000004 meters Centerline goodness [0,1] 0.32818773214247376 Centerline is valid? [False, False] Translation: X:15.33, Y:0.77, Z:0.88 [[ 9.94776867e-01 -3.72765829e-03 -1.02005338e-01 1.53347155e+01] [ 3.27876811e-03 9.99984192e-01 -4.56796382e-03 7.70704775e-01] [ 1.02020753e-01 4.20965289e-03 9.94773363e-01 8.77570261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58463044 meters Centerline goodness [0,1] 0.32604211431027075 Centerline is valid? [False, False] Translation: X:15.33, Y:0.77, Z:0.88 [[ 9.94767720e-01 -3.71322389e-03 -1.02095033e-01 1.53347507e+01] [ 3.25545741e-03 9.99983890e-01 -4.64998266e-03 7.71440111e-01] [ 1.02110654e-01 4.29328661e-03 9.94763782e-01 8.77821566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.61463044000004 meters Centerline goodness [0,1] 0.32888496033114867 Centerline is valid? [False, False] Translation: X:15.33, Y:0.77, Z:0.88 [[ 9.94749398e-01 -3.65110989e-03 -1.02275627e-01 1.53348940e+01] [ 3.18856771e-03 9.99983939e-01 -4.68562699e-03 7.72174501e-01] [ 1.02291092e-01 4.33491186e-03 9.94745063e-01 8.78203573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64463044 meters Centerline goodness [0,1] 0.32698310192659563 Centerline is valid? [False, False] Translation: X:15.34, Y:0.77, Z:0.88 [[ 9.94724443e-01 -3.55157569e-03 -1.02521553e-01 1.53354865e+01] [ 3.09077908e-03 9.99984398e-01 -4.65313647e-03 7.72578775e-01] [ 1.02536480e-01 4.31171711e-03 9.94719900e-01 8.78266237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.67463044000004 meters Centerline goodness [0,1] 0.32446478602134443 Centerline is valid? [False, False] Translation: X:15.34, Y:0.77, Z:0.88 [[ 9.94685971e-01 -3.61946296e-03 -1.02891781e-01 1.53364383e+01] [ 3.14831159e-03 9.99983805e-01 -4.74112665e-03 7.72663604e-01] [ 1.02907275e-01 4.39199678e-03 9.94681257e-01 8.78208955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70463044 meters Centerline goodness [0,1] 0.3258812115985771 Centerline is valid? [False, False] Translation: X:15.34, Y:0.77, Z:0.88 [[ 9.94687241e-01 -3.69032012e-03 -1.02876988e-01 1.53362295e+01] [ 3.21355485e-03 9.99983318e-01 -4.79967926e-03 7.72594168e-01] [ 1.02892984e-01 4.44357888e-03 9.94682506e-01 8.78399529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.73463044 meters Centerline goodness [0,1] 0.3260897601238071 Centerline is valid? [False, False] Translation: X:15.34, Y:0.77, Z:0.88 [[ 9.94688155e-01 -3.68301024e-03 -1.02868406e-01 1.53360374e+01] [ 3.21454208e-03 9.99983697e-01 -4.71945938e-03 7.71939903e-01] [ 1.02884111e-01 4.36371552e-03 9.94683778e-01 8.78595820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76463044 meters Centerline goodness [0,1] 0.3270459189160124 Centerline is valid? [False, False] Translation: X:15.34, Y:0.77, Z:0.88 [[ 9.94703913e-01 -3.67076313e-03 -1.02716365e-01 1.53350579e+01] [ 3.21806027e-03 9.99984367e-01 -4.57267544e-03 7.70898977e-01] [ 1.02731545e-01 4.21791070e-03 9.94700175e-01 8.79283530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.79463044 meters Centerline goodness [0,1] 0.32592149149063543 Centerline is valid? [False, False] Translation: X:15.33, Y:0.77, Z:0.88 [[ 9.94721269e-01 -3.67027734e-03 -1.02548163e-01 1.53343347e+01] [ 3.22164553e-03 9.99984504e-01 -4.54012163e-03 7.70540055e-01] [ 1.02563238e-01 4.18578172e-03 9.94717679e-01 8.79613171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82463044 meters Centerline goodness [0,1] 0.3302165885680969 Centerline is valid? [False, False] Translation: X:15.33, Y:0.77, Z:0.88 [[ 9.94751217e-01 -3.69566384e-03 -1.02256339e-01 1.53332545e+01] [ 3.24715942e-03 9.99984367e-01 -4.55218992e-03 7.70411304e-01] [ 1.02271564e-01 4.19625383e-03 9.94747666e-01 8.80070952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.85463044 meters Centerline goodness [0,1] 0.32722040886445625 Centerline is valid? [False, False] Translation: X:15.33, Y:0.77, Z:0.88 [[ 9.94792610e-01 -3.75326159e-03 -1.01850751e-01 1.53319393e+01] [ 3.30348242e-03 9.99984035e-01 -4.58437243e-03 7.70188563e-01] [ 1.01866331e-01 4.22403765e-03 9.94789127e-01 8.80501231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88463044 meters Centerline goodness [0,1] 0.32957758639297197 Centerline is valid? [False, False] Translation: X:15.33, Y:0.77, Z:0.88 [[ 9.94820647e-01 -3.69759298e-03 -1.01578584e-01 1.53309618e+01] [ 3.25849308e-03 9.99984618e-01 -4.48834678e-03 7.69855395e-01] [ 1.01593617e-01 4.13410693e-03 9.94817393e-01 8.80838983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.91463044 meters Centerline goodness [0,1] 0.32884561531999223 Centerline is valid? [False, False] Translation: X:15.33, Y:0.77, Z:0.88 [[ 9.94790665e-01 -3.49559109e-03 -1.01878916e-01 1.53322032e+01] [ 3.09544997e-03 9.99986864e-01 -4.08544239e-03 7.68374140e-01] [ 1.01891859e-01 3.74879887e-03 9.94788418e-01 8.80219962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.94463044 meters Centerline goodness [0,1] 0.3269681525923058 Centerline is valid? [False, False] Translation: X:15.33, Y:0.77, Z:0.88 [[ 9.94767240e-01 -3.46018651e-03 -1.02108598e-01 1.53331400e+01] [ 3.07850311e-03 9.99987674e-01 -3.89536071e-03 7.67204123e-01] [ 1.02120818e-01 3.56063558e-03 9.94765631e-01 8.79716608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.97463044 meters Centerline goodness [0,1] 0.32781542711615663 Centerline is valid? [False, False] Translation: X:15.33, Y:0.77, Z:0.88 [[ 9.94770261e-01 -3.46831030e-03 -1.02078883e-01 1.53330337e+01] [ 3.10005631e-03 9.99988104e-01 -3.76596222e-03 7.66214475e-01] [ 1.02090730e-01 3.42981694e-03 9.94769179e-01 8.79700088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.00463044 meters Centerline goodness [0,1] 0.32647313691507795 Centerline is valid? [False, False] Translation: X:15.33, Y:0.77, Z:0.88 [[ 9.94796059e-01 -3.44999091e-03 -1.01827790e-01 1.53322015e+01] [ 3.09239543e-03 9.99988486e-01 -3.66941480e-03 7.65570465e-01] [ 1.01839277e-01 3.33542759e-03 9.94795274e-01 8.79944718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.03463044 meters Centerline goodness [0,1] 0.32687421952374796 Centerline is valid? [False, False] Translation: X:15.33, Y:0.77, Z:0.88 [[ 9.94807963e-01 -3.45456345e-03 -1.01711274e-01 1.53315861e+01] [ 3.09862133e-03 9.99988511e-01 -3.65731917e-03 7.65426253e-01] [ 1.01722740e-01 3.32316551e-03 9.94807238e-01 8.80350991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.06463044000003 meters Centerline goodness [0,1] 0.32922623050391553 Centerline is valid? [False, False] Translation: X:15.33, Y:0.77, Z:0.88 [[ 9.94798210e-01 -3.44868614e-03 -1.01806812e-01 1.53320600e+01] [ 3.08720764e-03 9.99988360e-01 -3.70797744e-03 7.66076973e-01] [ 1.01818415e-01 3.37439055e-03 9.94797278e-01 8.80075941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.09463044 meters Centerline goodness [0,1] 0.32578748605269936 Centerline is valid? [False, False] Translation: X:15.35, Y:0.76, Z:0.88 [[ 9.94813944e-01 3.92712058e-03 -1.01635594e-01 1.53515409e+01] [-4.46391833e-03 9.99977261e-01 -5.05469490e-03 7.62029557e-01] [ 1.01613432e-01 5.48217396e-03 9.94808854e-01 8.82808121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.12463044000003 meters Centerline goodness [0,1] 0.32781499613501675 Centerline is valid? [False, False] Translation: X:15.35, Y:0.76, Z:0.88 [[ 9.94806679e-01 3.80785077e-03 -1.01711213e-01 1.53516694e+01] [-4.37915652e-03 9.99975862e-01 -5.39424596e-03 7.63829304e-01] [ 1.01688218e-01 5.81164123e-03 9.94799342e-01 8.82961870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.15463044 meters Centerline goodness [0,1] 0.32823362801476264 Centerline is valid? [False, False] Translation: X:15.35, Y:0.77, Z:0.88 [[ 9.94797467e-01 7.53518213e-03 -1.01593411e-01 1.53515807e+01] [-7.83521423e-03 9.99966041e-01 -2.55454583e-03 7.68304599e-01] [ 1.01570712e-01 3.33726186e-03 9.94822724e-01 8.82901561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18463044000003 meters Centerline goodness [0,1] 0.32668734624023965 Centerline is valid? [False, False] Translation: X:15.35, Y:0.77, Z:0.88 [[ 9.94801081e-01 7.68611894e-03 -1.01546703e-01 1.53516198e+01] [-8.01208997e-03 9.99963975e-01 -2.80258940e-03 7.71669789e-01] [ 1.01521503e-01 3.60162028e-03 9.94826825e-01 8.82855357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.21463044 meters Centerline goodness [0,1] 0.3299440882498974 Centerline is valid? [False, False] Translation: X:15.35, Y:0.78, Z:0.88 [[ 9.94826532e-01 7.61443438e-03 -1.01302478e-01 1.53512894e+01] [-7.98987600e-03 9.99962632e-01 -3.30091416e-03 7.75444857e-01] [ 1.01273558e-01 4.09323123e-03 9.94850196e-01 8.82665660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24463044000004 meters Centerline goodness [0,1] 0.325147347740668 Centerline is valid? [False, False] Translation: X:15.37, Y:0.78, Z:0.89 [[ 9.94838189e-01 2.46378814e-04 -1.01473724e-01 1.53709429e+01] [-5.03685082e-04 9.99996723e-01 -2.51007982e-03 7.82193218e-01] [ 1.01472773e-01 2.54823407e-03 9.94835053e-01 8.86246554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.27463044 meters Centerline goodness [0,1] 0.325147347740668 Centerline is valid? [False, False] Translation: X:15.37, Y:0.78, Z:0.89 [[ 9.94838189e-01 2.46378814e-04 -1.01473724e-01 1.53709429e+01] [-5.03685082e-04 9.99996723e-01 -2.51007982e-03 7.82193218e-01] [ 1.01472773e-01 2.54823407e-03 9.94835053e-01 8.86246554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30463044000004 meters Centerline goodness [0,1] 0.3292066483893078 Centerline is valid? [False, False] Translation: X:15.37, Y:0.79, Z:0.89 [[ 9.94832577e-01 -3.38901669e-05 -1.01529027e-01 1.53710877e+01] [-2.80680123e-04 9.99995205e-01 -3.08404154e-03 7.85001308e-01] [ 1.01528644e-01 3.09660217e-03 9.94827797e-01 8.86257205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.33463044 meters Centerline goodness [0,1] 0.32429785150011714 Centerline is valid? [False, False] Translation: X:15.37, Y:0.79, Z:0.89 [[ 9.94777221e-01 -2.91417096e-04 -1.02069558e-01 1.53733515e+01] [-8.83446283e-05 9.99993091e-01 -3.71607671e-03 7.89927393e-01] [ 1.02069936e-01 3.70568576e-03 9.94770323e-01 8.85278217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36463044000004 meters Centerline goodness [0,1] 0.3252211443955386 Centerline is valid? [False, False] Translation: X:15.37, Y:0.79, Z:0.88 [[ 9.94755454e-01 -3.80024804e-04 -1.02281192e-01 1.53741850e+01] [-1.73820088e-05 9.99992455e-01 -3.88451460e-03 7.91158397e-01] [ 1.02281897e-01 3.86591994e-03 9.94747942e-01 8.84925935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.39463044 meters Centerline goodness [0,1] 0.3251304515879663 Centerline is valid? [False, False] Translation: X:15.37, Y:0.79, Z:0.88 [[ 9.94749594e-01 -5.63667979e-04 -1.02337318e-01 1.53746917e+01] [ 1.49932944e-04 9.99991785e-01 -4.05050298e-03 7.91672204e-01] [ 1.02338761e-01 4.01389246e-03 9.94741507e-01 8.84470849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42463044000004 meters Centerline goodness [0,1] 0.32518226982385956 Centerline is valid? [False, False] Translation: X:15.38, Y:0.79, Z:0.88 [[ 9.94732165e-01 -8.50738931e-04 -1.02504612e-01 1.53750864e+01] [ 4.11432852e-04 9.99990641e-01 -4.30678648e-03 7.92150924e-01] [ 1.02507317e-01 4.24192527e-03 9.94723206e-01 8.84466138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.45463044 meters Centerline goodness [0,1] 0.3279538656854518 Centerline is valid? [False, False] Translation: X:15.37, Y:0.79, Z:0.88 [[ 9.94780898e-01 -1.35982435e-03 -1.02025075e-01 1.53740581e+01] [ 8.86461448e-04 9.99988633e-01 -4.68486768e-03 7.93032252e-01] [ 1.02030286e-01 4.56997558e-03 9.94770796e-01 8.84266801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48463044 meters Centerline goodness [0,1] 0.32714156119054816 Centerline is valid? [False, False] Translation: X:15.37, Y:0.79, Z:0.88 [[ 9.94796970e-01 -1.32471085e-03 -1.01868706e-01 1.53736074e+01] [ 8.60323699e-04 9.99989038e-01 -4.60248234e-03 7.93098902e-01] [ 1.01873686e-01 4.49089542e-03 9.94787205e-01 8.84347759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.51463044 meters Centerline goodness [0,1] 0.32764556526229716 Centerline is valid? [False, False] Translation: X:15.37, Y:0.79, Z:0.88 [[ 9.94809642e-01 -1.40106352e-03 -1.01743858e-01 1.53732920e+01] [ 9.37242752e-04 9.99988951e-01 -4.60637053e-03 7.92985410e-01] [ 1.01749188e-01 4.48710312e-03 9.94799964e-01 8.84370048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54463044 meters Centerline goodness [0,1] 0.32565274291476265 Centerline is valid? [False, False] Translation: X:15.37, Y:0.79, Z:0.88 [[ 9.94820673e-01 -1.53917986e-03 -1.01633949e-01 1.53731837e+01] [ 1.07482278e-03 9.99988734e-01 -4.62352006e-03 7.92233201e-01] [ 1.01639920e-01 4.49033485e-03 9.94811120e-01 8.84157817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.57463044 meters Centerline goodness [0,1] 0.32854527834607516 Centerline is valid? [False, False] Translation: X:15.37, Y:0.79, Z:0.88 [[ 9.94842803e-01 -1.95569010e-03 -1.01409925e-01 1.53729901e+01] [ 1.47797899e-03 9.99987457e-01 -4.78561457e-03 7.90772551e-01] [ 1.01418012e-01 4.61105247e-03 9.94833215e-01 8.83684801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60463044 meters Centerline goodness [0,1] 0.32475677068791475 Centerline is valid? [False, False] Translation: X:15.37, Y:0.79, Z:0.88 [[ 9.94829875e-01 -1.91008953e-03 -1.01537536e-01 1.53734200e+01] [ 1.44284178e-03 9.99988031e-01 -4.67496632e-03 7.90123557e-01] [ 1.01545251e-01 4.50429356e-03 9.94820724e-01 8.83507973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.63463044 meters Centerline goodness [0,1] 0.3269885751239491 Centerline is valid? [False, False] Translation: X:15.37, Y:0.79, Z:0.88 [[ 9.94812631e-01 -1.78937207e-03 -1.01708538e-01 1.53737480e+01] [ 1.33205857e-03 9.99988697e-01 -4.56405288e-03 7.90114412e-01] [ 1.01715555e-01 4.40489573e-03 9.94803771e-01 8.83636821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66463044 meters Centerline goodness [0,1] 0.32684364512520436 Centerline is valid? [False, False] Translation: X:15.37, Y:0.79, Z:0.88 [[ 9.94794624e-01 -1.70315280e-03 -1.01885994e-01 1.53742775e+01] [ 1.24377923e-03 9.99988775e-01 -4.57205917e-03 7.90659124e-01] [ 1.01892637e-01 4.42153620e-03 9.94785575e-01 8.83606985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.69463044 meters Centerline goodness [0,1] 0.32268289051032784 Centerline is valid? [False, False] Translation: X:15.39, Y:0.79, Z:0.89 [[ 9.94769172e-01 5.72896973e-03 -1.01987613e-01 1.53939473e+01] [-6.35120658e-03 9.99963141e-01 -5.77742650e-03 7.86011170e-01] [ 1.01950755e-01 6.39495017e-03 9.94768892e-01 8.86703863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72463044 meters Centerline goodness [0,1] 0.3223389266043295 Centerline is valid? [False, False] Translation: X:15.39, Y:0.79, Z:0.89 [[ 9.94749549e-01 5.75105993e-03 -1.02177586e-01 1.53943916e+01] [-6.39327095e-03 9.99961808e-01 -5.95887149e-03 7.87315885e-01] [ 1.02139414e-01 6.58083372e-03 9.94748326e-01 8.86880677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.75463044 meters Centerline goodness [0,1] 0.3262505628336799 Centerline is valid? [False, False] Translation: X:15.39, Y:0.79, Z:0.89 [[ 9.94726689e-01 9.49118614e-03 -1.02121166e-01 1.53937946e+01] [-9.83877379e-03 9.99947391e-01 -2.90051572e-03 7.89587609e-01] [ 1.02088264e-01 3.88996744e-03 9.94767739e-01 8.87512757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78463044 meters Centerline goodness [0,1] 0.3262120496414308 Centerline is valid? [False, False] Translation: X:15.39, Y:0.79, Z:0.89 [[ 9.94732653e-01 9.59000258e-03 -1.02053811e-01 1.53935924e+01] [-9.95467210e-03 9.99945755e-01 -3.06460894e-03 7.91302929e-01] [ 1.02018885e-01 4.06437880e-03 9.94774159e-01 8.87665578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.81463044000003 meters Centerline goodness [0,1] 0.3268196524608429 Centerline is valid? [False, False] Translation: X:15.39, Y:0.79, Z:0.89 [[ 9.94730274e-01 9.64591837e-03 -1.02071731e-01 1.53936301e+01] [-1.00261457e-02 9.99944576e-01 -3.21270995e-03 7.92692267e-01] [ 1.02035084e-01 4.21916589e-03 9.94771853e-01 8.87760098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84463044 meters Centerline goodness [0,1] 0.3284234205005083 Centerline is valid? [False, False] Translation: X:15.39, Y:0.79, Z:0.89 [[ 9.94729214e-01 9.62094769e-03 -1.02084421e-01 1.53939564e+01] [-1.00374694e-02 9.99943260e-01 -3.56726587e-03 7.94650632e-01] [ 1.02044309e-01 4.57313283e-03 9.94769343e-01 8.87500503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.87463044000003 meters Centerline goodness [0,1] 0.32568699265351586 Centerline is valid? [False, False] Translation: X:15.41, Y:0.80, Z:0.89 [[ 9.94755425e-01 2.37964807e-03 -1.02254498e-01 1.54133595e+01] [-2.62135406e-03 9.99994079e-01 -2.22945881e-03 7.98181322e-01] [ 1.02248587e-01 2.48581149e-03 9.94755773e-01 8.90924175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90463044 meters Centerline goodness [0,1] 0.3325766910954018 Centerline is valid? [False, False] Translation: X:15.41, Y:0.80, Z:0.89 [[ 9.94753062e-01 2.40342991e-03 -1.02276923e-01 1.54135272e+01] [-2.65705778e-03 9.99993724e-01 -2.34365220e-03 7.99286199e-01] [ 1.02270648e-01 2.60311089e-03 9.94753205e-01 8.90812712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.93463044000003 meters Centerline goodness [0,1] 0.3268634876915132 Centerline is valid? [False, False] Translation: X:15.41, Y:0.80, Z:0.89 [[ 9.94725258e-01 2.42398725e-03 -1.02546506e-01 1.54146116e+01] [-2.71160438e-03 9.99992771e-01 -2.66544072e-03 8.02002582e-01] [ 1.02539303e-01 2.92944676e-03 9.94724640e-01 8.90438669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96463044 meters Centerline goodness [0,1] 0.3243773874815937 Centerline is valid? [False, False] Translation: X:15.43, Y:0.81, Z:0.89 [[ 9.94592448e-01 -4.89751049e-03 -1.03739468e-01 1.54343869e+01] [ 4.73932699e-03 9.99987201e-01 -1.77125424e-03 8.06917018e-01] [ 1.03746815e-01 1.27002084e-03 9.94602929e-01 8.94053084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.99463044000004 meters Centerline goodness [0,1] 0.32469236726615613 Centerline is valid? [False, False] Translation: X:15.43, Y:0.81, Z:0.89 [[ 9.94573790e-01 -4.94483858e-03 -1.03915948e-01 1.54349659e+01] [ 4.77157946e-03 9.99986781e-01 -1.91583046e-03 8.07854266e-01] [ 1.03924048e-01 1.40959156e-03 9.94584237e-01 8.93841378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02463044 meters Centerline goodness [0,1] 0.3260513968404287 Centerline is valid? [False, False] Translation: X:15.44, Y:0.81, Z:0.89 [[ 9.94558864e-01 -4.94079928e-03 -1.04058903e-01 1.54354555e+01] [ 4.76006497e-03 9.99986700e-01 -1.98511380e-03 8.08598529e-01] [ 1.04067327e-01 1.47898539e-03 9.94569155e-01 8.93687433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.05463044000004 meters Centerline goodness [0,1] 0.32727429731013347 Centerline is valid? [False, False] Translation: X:15.44, Y:0.81, Z:0.89 [[ 9.94556666e-01 -4.91910474e-03 -1.04080932e-01 1.54355316e+01] [ 4.73769898e-03 9.99986797e-01 -1.99008299e-03 8.08927142e-01] [ 1.04089347e-01 1.48614618e-03 9.94566840e-01 8.93652350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08463044 meters Centerline goodness [0,1] 0.324818378586889 Centerline is valid? [False, False] Translation: X:15.44, Y:0.81, Z:0.89 [[ 9.94554329e-01 -4.97974428e-03 -1.04100377e-01 1.54356891e+01] [ 4.79634815e-03 9.99986473e-01 -2.01198222e-03 8.08743346e-01] [ 1.04108988e-01 1.50172397e-03 9.94564761e-01 8.93502792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11463044000004 meters Centerline goodness [0,1] 0.32705627705627704 Centerline is valid? [False, False] Translation: X:15.44, Y:0.81, Z:0.89 [[ 9.94564288e-01 -5.11716848e-03 -1.03998513e-01 1.54356549e+01] [ 4.93490090e-03 9.99985804e-01 -2.00983290e-03 8.08044958e-01] [ 1.04007321e-01 1.48568567e-03 9.94575422e-01 8.93194142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14463044 meters Centerline goodness [0,1] 0.32301806588735393 Centerline is valid? [False, False] Translation: X:15.48, Y:0.80, Z:0.90 [[ 9.94691080e-01 -5.47112175e-03 -1.02760506e-01 1.54789016e+01] [ 5.33967121e-03 9.99984536e-01 -1.55423349e-03 8.04639966e-01] [ 1.02767421e-01 9.97274869e-04 9.94704912e-01 8.97826924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17463044000004 meters Centerline goodness [0,1] 0.32307791399188446 Centerline is valid? [False, False] Translation: X:15.48, Y:0.80, Z:0.90 [[ 9.94679146e-01 -5.42633994e-03 -1.02878328e-01 1.54793375e+01] [ 5.30824572e-03 9.99984901e-01 -1.42164713e-03 8.04052591e-01] [ 1.02884489e-01 8.67979310e-04 9.94692932e-01 8.97643864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20463044 meters Centerline goodness [0,1] 0.3248119328346949 Centerline is valid? [False, False] Translation: X:15.48, Y:0.80, Z:0.90 [[ 9.94654974e-01 -5.41484267e-03 -1.03112373e-01 1.54801087e+01] [ 5.30360086e-03 9.99985021e-01 -1.35297609e-03 8.03633159e-01] [ 1.03118154e-01 7.98877535e-04 9.94668793e-01 8.97392966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.23463044 meters Centerline goodness [0,1] 0.31993593166043777 Centerline is valid? [False, False] Translation: X:15.48, Y:0.80, Z:0.90 [[ 9.94611793e-01 -5.42371899e-03 -1.03527601e-01 1.54815723e+01] [ 5.32081021e-03 9.99985038e-01 -1.27016609e-03 8.02911635e-01] [ 1.03532941e-01 7.12471460e-04 9.94625770e-01 8.96885342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26463044 meters Centerline goodness [0,1] 0.32213498090702364 Centerline is valid? [False, False] Translation: X:15.48, Y:0.80, Z:0.90 [[ 9.94609874e-01 -5.38801337e-03 -1.03547901e-01 1.54815544e+01] [ 5.28930755e-03 9.99985258e-01 -1.22780304e-03 8.02914297e-01] [ 1.03552990e-01 6.73488329e-04 9.94623710e-01 8.96987511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.29463044 meters Centerline goodness [0,1] 0.32235475512345546 Centerline is valid? [False, False] Translation: X:15.48, Y:0.80, Z:0.90 [[ 9.94613695e-01 -5.33581011e-03 -1.03513895e-01 1.54814326e+01] [ 5.24388264e-03 9.99985578e-01 -1.16018886e-03 8.02780865e-01] [ 1.03518593e-01 6.11125015e-04 9.94627331e-01 8.97060611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32463044 meters Centerline goodness [0,1] 0.323083493487081 Centerline is valid? [False, False] Translation: X:15.48, Y:0.80, Z:0.90 [[ 9.94616336e-01 -5.32867561e-03 -1.03488885e-01 1.54812650e+01] [ 5.23901014e-03 9.99985629e-01 -1.13822811e-03 8.02702198e-01] [ 1.03493463e-01 5.89920957e-04 9.94629959e-01 8.97184224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.35463044 meters Centerline goodness [0,1] 0.3262163561076604 Centerline is valid? [False, False] Translation: X:15.48, Y:0.80, Z:0.90 [[ 9.94616983e-01 -5.27031782e-03 -1.03485657e-01 1.54811290e+01] [ 5.18834934e-03 9.99985977e-01 -1.06124420e-03 8.02595549e-01] [ 1.03489799e-01 5.18611759e-04 9.94630380e-01 8.97330135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38463044 meters Centerline goodness [0,1] 0.32637554773674105 Centerline is valid? [False, False] Translation: X:15.48, Y:0.80, Z:0.90 [[ 9.94646842e-01 -5.12938668e-03 -1.03205376e-01 1.54801099e+01] [ 5.06537839e-03 9.99986782e-01 -8.82282170e-04 8.02008247e-01] [ 1.03208537e-01 3.54784892e-04 9.94659676e-01 8.97766977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.41463044 meters Centerline goodness [0,1] 0.32442536101854225 Centerline is valid? [False, False] Translation: X:15.50, Y:0.80, Z:0.90 [[ 9.94761018e-01 2.07887985e-03 -1.02206633e-01 1.54983354e+01] [-2.32338392e-03 9.99994717e-01 -2.27326617e-03 7.96547497e-01] [ 1.02201367e-01 2.49882181e-03 9.94760593e-01 9.00895636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.44463044 meters Centerline goodness [0,1] 0.325107892150579 Centerline is valid? [False, False] Translation: X:15.50, Y:0.80, Z:0.90 [[ 9.94779936e-01 2.01552845e-03 -1.02023609e-01 1.54976486e+01] [-2.26184912e-03 9.99994800e-01 -2.29872431e-03 7.96085315e-01] [ 1.02018445e-01 2.51748683e-03 9.94779322e-01 9.01194715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.47463044 meters Centerline goodness [0,1] 0.3269466222747288 Centerline is valid? [False, False] Translation: X:15.50, Y:0.80, Z:0.90 [[ 9.94784543e-01 2.09291196e-03 -1.01977119e-01 1.54974390e+01] [-2.32419293e-03 9.99994990e-01 -2.14920494e-03 7.95396863e-01] [ 1.01972110e-01 2.37501035e-03 9.94784423e-01 9.01283534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.50463044 meters Centerline goodness [0,1] 0.32486688423222265 Centerline is valid? [False, False] Translation: X:15.50, Y:0.79, Z:0.90 [[ 9.94780955e-01 2.19583441e-03 -1.02009948e-01 1.54975027e+01] [-2.40950817e-03 9.99995154e-01 -1.97146520e-03 7.94599456e-01] [ 1.02005125e-01 2.20696984e-03 9.94781425e-01 9.01307270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.53463044 meters Centerline goodness [0,1] 0.3305905025876442 Centerline is valid? [False, False] Translation: X:15.50, Y:0.79, Z:0.90 [[ 9.94793987e-01 2.37374585e-03 -1.01878799e-01 1.54969324e+01] [-2.53973776e-03 9.99995650e-01 -1.49962820e-03 7.91932771e-01] [ 1.01874796e-01 1.75056655e-03 9.94795688e-01 9.01545495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.56463044000003 meters Centerline goodness [0,1] 0.328555392453156 Centerline is valid? [False, False] Translation: X:15.50, Y:0.79, Z:0.90 [[ 9.94807340e-01 2.34181958e-03 -1.01749067e-01 1.54965705e+01] [-2.49300612e-03 9.99995969e-01 -1.35874111e-03 7.90341375e-01] [ 1.01745475e-01 1.60534668e-03 9.94809168e-01 9.01589331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.59463044 meters Centerline goodness [0,1] 0.32759919908713153 Centerline is valid? [False, False] Translation: X:15.50, Y:0.79, Z:0.90 [[ 9.94819415e-01 2.30939241e-03 -1.01631678e-01 1.54962449e+01] [-2.44741342e-03 9.99996244e-01 -1.23338171e-03 7.88856419e-01] [ 1.01628448e-01 1.47572680e-03 9.94821331e-01 9.01627139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.62463044000003 meters Centerline goodness [0,1] 0.32605943568286666 Centerline is valid? [False, False] Translation: X:15.50, Y:0.79, Z:0.90 [[ 9.94807295e-01 2.37288865e-03 -1.01748784e-01 1.54964543e+01] [-2.49042983e-03 9.99996370e-01 -1.02819626e-03 7.87589198e-01] [ 1.01745975e-01 1.27625535e-03 9.94809594e-01 9.01727748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.65463044 meters Centerline goodness [0,1] 0.32617823479006003 Centerline is valid? [False, False] Translation: X:15.50, Y:0.79, Z:0.90 [[ 9.94799449e-01 2.51461369e-03 -1.01822064e-01 1.54965411e+01] [-2.60615345e-03 9.99996311e-01 -7.65999069e-04 7.86474616e-01] [ 1.01819762e-01 1.02737938e-03 9.94802332e-01 9.01790691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68463044000003 meters Centerline goodness [0,1] 0.3289903690076832 Centerline is valid? [False, False] Translation: X:15.50, Y:0.78, Z:0.90 [[ 9.94777934e-01 2.65927286e-03 -1.02028378e-01 1.54968882e+01] [-2.71727388e-03 9.99996216e-01 -4.29501073e-04 7.84510905e-01] [ 1.02026850e-01 7.04497237e-04 9.94781396e-01 9.01984718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.71463044 meters Centerline goodness [0,1] 0.3280277412823882 Centerline is valid? [False, False] Translation: X:15.50, Y:0.78, Z:0.90 [[ 9.94767543e-01 2.62687669e-03 -1.02130475e-01 1.54972338e+01] [-2.67842078e-03 9.99996345e-01 -3.67558998e-04 7.83533809e-01] [ 1.02129136e-01 6.39184148e-04 9.94770944e-01 9.01914604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74463044000004 meters Centerline goodness [0,1] 0.3283778251782906 Centerline is valid? [False, False] Translation: X:15.50, Y:0.78, Z:0.90 [[ 9.94774222e-01 2.60165417e-03 -1.02066050e-01 1.54971765e+01] [-2.64948288e-03 9.99996435e-01 -3.33042896e-04 7.82734074e-01] [ 1.02064819e-01 6.01724739e-04 9.94777568e-01 9.01780591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.77463044 meters Centerline goodness [0,1] 0.32546139682267805 Centerline is valid? [False, False] Translation: X:15.50, Y:0.78, Z:0.90 [[ 9.94774340e-01 2.72513653e-03 -1.02061674e-01 1.54972171e+01] [-2.75279026e-03 9.99996203e-01 -1.30106939e-04 7.81602510e-01] [ 1.02060932e-01 4.10381426e-04 9.94778065e-01 9.01758052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80463044000004 meters Centerline goodness [0,1] 0.3279006596818005 Centerline is valid? [False, False] Translation: X:15.50, Y:0.78, Z:0.90 [[ 9.94781187e-01 2.81365215e-03 -1.01992519e-01 1.54972594e+01] [-2.82461748e-03 9.99996010e-01 3.69105045e-05 7.80801254e-01] [ 1.01992216e-01 2.51371977e-04 9.94785165e-01 9.01481473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.83463044 meters Centerline goodness [0,1] 0.32745288099084546 Centerline is valid? [False, False] Translation: X:15.50, Y:0.78, Z:0.90 [[ 9.94766277e-01 2.83243722e-03 -1.02137314e-01 1.54978508e+01] [-2.82964447e-03 9.99995982e-01 1.72228392e-04 7.79752679e-01] [ 1.02137392e-01 1.17685290e-04 9.94770295e-01 9.01197493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86463044000004 meters Centerline goodness [0,1] 0.32418931323783706 Centerline is valid? [False, False] Translation: X:15.52, Y:0.78, Z:0.90 [[ 9.94684557e-01 -4.69241338e-03 -1.02862109e-01 1.55179407e+01] [ 4.87034267e-03 9.99987047e-01 1.47869839e-03 7.81397047e-01] [ 1.02853838e-01 -1.97181217e-03 9.94694526e-01 9.04417430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.89463044 meters Centerline goodness [0,1] 0.32602441986831165 Centerline is valid? [False, False] Translation: X:15.52, Y:0.78, Z:0.90 [[ 9.94677859e-01 -4.57667056e-03 -1.02932068e-01 1.55182660e+01] [ 4.78051729e-03 9.99987070e-01 1.73379712e-03 7.80025044e-01] [ 1.02922802e-01 -2.21663813e-03 9.94686877e-01 9.04236650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92463044 meters Centerline goodness [0,1] 0.32800982800982803 Centerline is valid? [False, False] Translation: X:15.52, Y:0.78, Z:0.90 [[ 9.94727668e-01 -4.65190590e-03 -1.02446207e-01 1.55168530e+01] [ 4.87351925e-03 9.99986294e-01 1.91302646e-03 7.77678655e-01] [ 1.02435904e-01 -2.40221391e-03 9.94736706e-01 9.04480185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.95463044 meters Centerline goodness [0,1] 0.329159135898098 Centerline is valid? [False, False] Translation: X:15.52, Y:0.78, Z:0.90 [[ 9.94748289e-01 -4.63978003e-03 -1.02246340e-01 1.55162774e+01] [ 4.87669990e-03 9.99985972e-01 2.06730070e-03 7.76307593e-01] [ 1.02235314e-01 -2.55506855e-03 9.94756961e-01 9.04593089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98463044 meters Centerline goodness [0,1] 0.3322349880771732 Centerline is valid? [False, False] Translation: X:15.52, Y:0.78, Z:0.90 [[ 9.94752901e-01 -4.52219098e-03 -1.02206735e-01 1.55160785e+01] [ 4.78369130e-03 9.99985882e-01 2.31358203e-03 7.75169151e-01] [ 1.02194829e-01 -2.79036790e-03 9.94760489e-01 9.04665353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.01463044 meters Centerline goodness [0,1] 0.3267454073867656 Centerline is valid? [False, False] Translation: X:15.54, Y:0.77, Z:0.91 [[ 9.94748664e-01 3.00694328e-03 -1.02303736e-01 1.55351755e+01] [-2.86362548e-03 9.99994702e-01 1.54774141e-03 7.69389610e-01] [ 1.02307848e-01 -1.24665411e-03 9.94752004e-01 9.07527024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04463044 meters Centerline goodness [0,1] 0.3305007784120394 Centerline is valid? [False, False] Translation: X:15.54, Y:0.77, Z:0.91 [[ 9.94727283e-01 3.08578103e-03 -1.02509079e-01 1.55358587e+01] [-2.93097134e-03 9.99994326e-01 1.66079306e-03 7.69114783e-01] [ 1.02513622e-01 -1.35158500e-03 9.94730682e-01 9.07354360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.07463044 meters Centerline goodness [0,1] 0.3285911661845343 Centerline is valid? [False, False] Translation: X:15.54, Y:0.77, Z:0.91 [[ 9.94712494e-01 3.04689656e-03 -1.02653641e-01 1.55364891e+01] [-2.90010007e-03 9.99994548e-01 1.57923452e-03 7.69375398e-01] [ 1.02657893e-01 -1.27317848e-03 9.94715907e-01 9.07079760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10463044 meters Centerline goodness [0,1] 0.3280929449111365 Centerline is valid? [False, False] Translation: X:15.54, Y:0.77, Z:0.91 [[ 9.94729610e-01 2.99855749e-03 -1.02489081e-01 1.55364861e+01] [-2.87921182e-03 9.99994994e-01 1.31238601e-03 7.70752468e-01] [ 1.02492503e-01 -1.01038145e-03 9.94733264e-01 9.06708592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.13463044 meters Centerline goodness [0,1] 0.3268528211592283 Centerline is valid? [False, False] Translation: X:15.56, Y:0.77, Z:0.91 [[ 9.94814591e-01 -2.50224605e-03 -1.01674324e-01 1.55569323e+01] [ 2.94680796e-03 9.99986744e-01 4.22244924e-03 7.72477374e-01] [ 1.01662411e-01 -4.50016883e-03 9.94808777e-01 9.09314209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16463044 meters Centerline goodness [0,1] 0.3268528211592283 Centerline is valid? [False, False] Translation: X:15.56, Y:0.77, Z:0.91 [[ 9.94814591e-01 -2.50224605e-03 -1.01674324e-01 1.55569323e+01] [ 2.94680796e-03 9.99986744e-01 4.22244924e-03 7.72477374e-01] [ 1.01662411e-01 -4.50016883e-03 9.94808777e-01 9.09314209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.19463044 meters Centerline goodness [0,1] 0.3251519351743256 Centerline is valid? [False, False] Translation: X:15.56, Y:0.77, Z:0.91 [[ 9.94839147e-01 1.21067592e-03 -1.01457412e-01 1.55562120e+01] [-4.67445980e-04 9.99972887e-01 7.34899024e-03 7.74212106e-01] [ 1.01463559e-01 -7.26363732e-03 9.94812739e-01 9.09564357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22463044 meters Centerline goodness [0,1] 0.33075944179625993 Centerline is valid? [False, False] Translation: X:15.56, Y:0.78, Z:0.91 [[ 9.94831529e-01 1.15206690e-03 -1.01532760e-01 1.55564347e+01] [-4.31714984e-04 9.99974584e-01 7.11646118e-03 7.75547196e-01] [ 1.01538378e-01 -7.03584675e-03 9.94806742e-01 9.09559643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.25463044 meters Centerline goodness [0,1] 0.32811123288848776 Centerline is valid? [False, False] Translation: X:15.56, Y:0.78, Z:0.91 [[ 9.94816974e-01 1.08704686e-03 -1.01675990e-01 1.55569963e+01] [-3.89186843e-04 9.99976235e-01 6.88315249e-03 7.76858511e-01] [ 1.01681056e-01 -6.80790597e-03 9.94793755e-01 9.09347746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28463044 meters Centerline goodness [0,1] 0.32859494239114173 Centerline is valid? [False, False] Translation: X:15.56, Y:0.78, Z:0.91 [[ 9.94796809e-01 1.02430018e-03 -1.01873744e-01 1.55575541e+01] [-3.49500344e-04 9.99977884e-01 6.64151203e-03 7.78290644e-01] [ 1.01878294e-01 -6.57135006e-03 9.94775166e-01 9.09304365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.31463044000003 meters Centerline goodness [0,1] 0.3293096054888508 Centerline is valid? [False, False] Translation: X:15.56, Y:0.78, Z:0.91 [[ 9.94792372e-01 9.46107232e-04 -1.01917814e-01 1.55577157e+01] [-3.05137753e-04 9.99980080e-01 6.30448839e-03 7.80538403e-01] [ 1.01921749e-01 -6.24055799e-03 9.94772845e-01 9.09256758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34463044 meters Centerline goodness [0,1] 0.33302499677322206 Centerline is valid? [False, False] Translation: X:15.56, Y:0.79, Z:0.91 [[ 9.94782842e-01 1.71138570e-03 -1.02000826e-01 1.55576206e+01] [-1.06218015e-03 9.99978836e-01 6.41868234e-03 7.87351263e-01] [ 1.02009652e-01 -6.27685181e-03 9.94763606e-01 9.09649429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.37463044000003 meters Centerline goodness [0,1] 0.3318022794101865 Centerline is valid? [False, False] Translation: X:15.56, Y:0.79, Z:0.91 [[ 9.94750582e-01 1.69822672e-03 -1.02315177e-01 1.55585937e+01] [-1.08461190e-03 9.99981094e-01 6.05263378e-03 7.90307509e-01] [ 1.02323522e-01 -5.90988872e-03 9.94733618e-01 9.09472328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40463044 meters Centerline goodness [0,1] 0.32983315080847775 Centerline is valid? [False, False] Translation: X:15.56, Y:0.79, Z:0.91 [[ 9.94719702e-01 1.62045610e-03 -1.02616217e-01 1.55595139e+01] [-1.05181753e-03 9.99983793e-01 5.59527762e-03 7.93583076e-01] [ 1.02623621e-01 -5.45779935e-03 9.94705285e-01 9.09321736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.43463044000003 meters Centerline goodness [0,1] 0.33075052194313515 Centerline is valid? [False, False] Translation: X:15.56, Y:0.80, Z:0.91 [[ 9.94698937e-01 1.60990982e-03 -1.02817478e-01 1.55601661e+01] [-1.08194859e-03 9.99985944e-01 5.19049964e-03 7.96775257e-01] [ 1.02824389e-01 -5.05174124e-03 9.94686697e-01 9.09178461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46463044 meters Centerline goodness [0,1] 0.32741507658081626 Centerline is valid? [False, False] Translation: X:15.56, Y:0.80, Z:0.91 [[ 9.94691011e-01 1.57299571e-03 -1.02894698e-01 1.55604374e+01] [-1.08640346e-03 9.99987962e-01 4.78490171e-03 7.99789931e-01] [ 1.02900986e-01 -4.64771356e-03 9.94680746e-01 9.09129528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.49463044000004 meters Centerline goodness [0,1] 0.3318261689452706 Centerline is valid? [False, False] Translation: X:15.56, Y:0.81, Z:0.91 [[ 9.94735797e-01 4.11208605e-03 -1.02390360e-01 1.55576702e+01] [-3.46942329e-03 9.99973155e-01 6.45388996e-03 8.05715897e-01] [ 1.02414150e-01 -6.06467987e-03 9.94723359e-01 9.10555545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52463044 meters Centerline goodness [0,1] 0.3313577701904701 Centerline is valid? [False, False] Translation: X:15.56, Y:0.81, Z:0.91 [[ 9.94742715e-01 4.01399848e-03 -1.02327016e-01 1.55572495e+01] [-3.41216577e-03 9.99975842e-01 6.05582456e-03 8.08381733e-01] [ 1.02348852e-01 -5.67483062e-03 9.94732380e-01 9.10909708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.55463044000004 meters Centerline goodness [0,1] 0.3297742329709912 Centerline is valid? [False, False] Translation: X:15.56, Y:0.81, Z:0.91 [[ 9.94730338e-01 3.87082491e-03 -1.02452778e-01 1.55574648e+01] [-3.31108674e-03 9.99978653e-01 5.63287653e-03 8.10978243e-01] [ 1.02472395e-01 -5.26396314e-03 9.94721920e-01 9.11052268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58463044 meters Centerline goodness [0,1] 0.3296717442608882 Centerline is valid? [False, False] Translation: X:15.56, Y:0.81, Z:0.91 [[ 9.94723534e-01 3.71211841e-03 -1.02524686e-01 1.55576297e+01] [-3.19604495e-03 9.99981386e-01 5.19746216e-03 8.13572421e-01] [ 1.02542071e-01 -4.84236442e-03 9.94716882e-01 9.11101604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61463044000004 meters Centerline goodness [0,1] 0.3330817664309126 Centerline is valid? [False, False] Translation: X:15.56, Y:0.82, Z:0.91 [[ 9.94698304e-01 3.58098117e-03 -1.02773831e-01 1.55581320e+01] [-3.12199746e-03 9.99984424e-01 4.62646781e-03 8.17624048e-01] [ 1.02788798e-01 -4.28108004e-03 9.94693991e-01 9.11284175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64463044 meters Centerline goodness [0,1] 0.33274298056155505 Centerline is valid? [False, False] Translation: X:15.56, Y:0.82, Z:0.91 [[ 9.94687192e-01 3.51049959e-03 -1.02883751e-01 1.55581635e+01] [-3.08239376e-03 9.99985919e-01 4.31975475e-03 8.19697969e-01] [ 1.02897467e-01 -3.97967649e-03 9.94684007e-01 9.11626056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.67463044 meters Centerline goodness [0,1] 0.33310426285837 Centerline is valid? [False, False] Translation: X:15.56, Y:0.82, Z:0.91 [[ 9.94696411e-01 3.44348355e-03 -1.02796847e-01 1.55577346e+01] [-3.04942748e-03 9.99987389e-01 3.99025431e-03 8.22004134e-01] [ 1.02809291e-01 -3.65562011e-03 9.94694368e-01 9.11957068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70463044 meters Centerline goodness [0,1] 0.3329749951624347 Centerline is valid? [False, False] Translation: X:15.56, Y:0.82, Z:0.91 [[ 9.94713136e-01 3.29456547e-03 -1.02639777e-01 1.55570648e+01] [-2.94678722e-03 9.99989393e-01 3.53978330e-03 8.24529502e-01] [ 1.02650350e-01 -3.21861137e-03 9.94712293e-01 9.12347201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.73463044 meters Centerline goodness [0,1] 0.33159029304420207 Centerline is valid? [False, False] Translation: X:15.56, Y:0.83, Z:0.91 [[ 9.94716370e-01 3.15499818e-03 -1.02612814e-01 1.55567192e+01] [-2.85215006e-03 9.99991134e-01 3.09795468e-03 8.26989422e-01] [ 1.02621679e-01 -2.78891909e-03 9.94716549e-01 9.12747570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76463044 meters Centerline goodness [0,1] 0.33490525593758036 Centerline is valid? [False, False] Translation: X:15.56, Y:0.83, Z:0.91 [[ 9.94706687e-01 3.13539102e-03 -1.02707235e-01 1.55567947e+01] [-2.86531598e-03 9.99992039e-01 2.77699130e-03 8.29381178e-01] [ 1.02715124e-01 -2.46800313e-03 9.94707752e-01 9.12970959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.79463044 meters Centerline goodness [0,1] 0.3367937409245574 Centerline is valid? [False, False] Translation: X:15.56, Y:0.83, Z:0.91 [[ 9.94632855e-01 3.71731943e-03 -1.03400507e-01 1.55585632e+01] [-3.44398818e-03 9.99990088e-01 2.82183134e-03 8.34943502e-01] [ 1.03409972e-01 -2.45057604e-03 9.94635799e-01 9.12932891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82463044 meters Centerline goodness [0,1] 0.3335772707705553 Centerline is valid? [False, False] Translation: X:15.56, Y:0.84, Z:0.91 [[ 9.94616891e-01 3.63048337e-03 -1.03557037e-01 1.55589538e+01] [-3.38697004e-03 9.99991071e-01 2.52723862e-03 8.36817037e-01] [ 1.03565287e-01 -2.16288963e-03 9.94620306e-01 9.12957868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.85463044 meters Centerline goodness [0,1] 0.33086604095563144 Centerline is valid? [False, False] Translation: X:15.56, Y:0.84, Z:0.91 [[ 9.94616590e-01 3.47040966e-03 -1.03565419e-01 1.55588770e+01] [-3.25753209e-03 9.99992220e-01 2.22455719e-03 8.38178995e-01] [ 1.03572333e-01 -1.87521381e-03 9.94620156e-01 9.13093083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88463044 meters Centerline goodness [0,1] 0.3325333219045986 Centerline is valid? [False, False] Translation: X:15.56, Y:0.84, Z:0.91 [[ 9.94582503e-01 3.24452278e-03 -1.03899559e-01 1.55594144e+01] [-3.07478523e-03 9.99993664e-01 1.79379626e-03 8.40235093e-01] [ 1.03904721e-01 -1.46460954e-03 9.94586177e-01 9.13454905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.91463044 meters Centerline goodness [0,1] 0.3342857761326493 Centerline is valid? [False, False] Translation: X:15.56, Y:0.84, Z:0.91 [[ 9.94535756e-01 3.19190691e-03 -1.04347700e-01 1.55605268e+01] [-3.03341787e-03 9.99993992e-01 1.67751853e-03 8.40913395e-01] [ 1.04352427e-01 -1.35182198e-03 9.94539463e-01 9.13449660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.94463044 meters Centerline goodness [0,1] 0.33423807677394335 Centerline is valid? [False, False] Translation: X:15.56, Y:0.84, Z:0.91 [[ 9.94495979e-01 3.11188082e-03 -1.04728524e-01 1.55618325e+01] [-2.96116828e-03 9.99994344e-01 1.59453474e-03 8.41176852e-01] [ 1.04732894e-01 -1.27563960e-03 9.94499569e-01 9.13044651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.97463044 meters Centerline goodness [0,1] 0.33342054770626195 Centerline is valid? [False, False] Translation: X:15.56, Y:0.84, Z:0.91 [[ 9.94472124e-01 3.02415320e-03 -1.04957365e-01 1.55624575e+01] [-2.87988660e-03 9.99994689e-01 1.52604999e-03 8.41095844e-01] [ 1.04961423e-01 -1.21534887e-03 9.94475552e-01 9.12967753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.00463044 meters Centerline goodness [0,1] 0.3315493198004179 Centerline is valid? [False, False] Translation: X:15.61, Y:0.84, Z:0.92 [[ 9.94624099e-01 2.01400544e-03 -1.03531860e-01 1.56066146e+01] [-1.88240163e-03 9.99997291e-01 1.36883431e-03 8.39863237e-01] [ 1.03534336e-01 -1.16658705e-03 9.94625196e-01 9.17161074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.03463044 meters Centerline goodness [0,1] 0.33506037416809387 Centerline is valid? [False, False] Translation: X:15.59, Y:0.84, Z:0.91 [[ 9.94582857e-01 -5.52908663e-03 -1.03799664e-01 1.55872873e+01] [ 5.82675422e-03 9.99979735e-01 2.56470265e-03 8.44137919e-01] [ 1.03783380e-01 -3.15562442e-03 9.94594919e-01 9.14321632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.06463044000003 meters Centerline goodness [0,1] 0.33022080397489983 Centerline is valid? [False, False] Translation: X:15.61, Y:0.84, Z:0.92 [[ 9.94678941e-01 1.10257107e-04 -1.03023256e-01 1.56096263e+01] [-7.75489716e-05 9.99999945e-01 3.21488304e-04 8.40358144e-01] [ 1.03023286e-01 -3.11788298e-04 9.94678896e-01 9.16196760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.09463044 meters Centerline goodness [0,1] 0.3345713603092896 Centerline is valid? [False, False] Translation: X:15.61, Y:0.84, Z:0.92 [[ 9.94677135e-01 6.09595759e-05 -1.03040734e-01 1.56094434e+01] [-2.53550196e-05 9.99999940e-01 3.46848403e-04 8.39478199e-01] [ 1.03040749e-01 -3.42389576e-04 9.94677077e-01 9.16531746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.12463044000003 meters Centerline goodness [0,1] 0.3339956374316999 Centerline is valid? [False, False] Translation: X:15.61, Y:0.84, Z:0.92 [[ 9.94667405e-01 7.89893231e-05 -1.03134610e-01 1.56093753e+01] [-3.92726458e-05 9.99999924e-01 3.87126072e-04 8.38975078e-01] [ 1.03134633e-01 -3.81011316e-04 9.94667332e-01 9.16929866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.15463044 meters Centerline goodness [0,1] 0.33613445378151263 Centerline is valid? [False, False] Translation: X:15.61, Y:0.84, Z:0.92 [[ 9.94656008e-01 4.27651131e-04 -1.03243613e-01 1.56092963e+01] [-3.67668224e-04 9.99999752e-01 6.00014033e-04 8.39058478e-01] [ 1.03243844e-01 -5.58848167e-04 9.94655919e-01 9.17384633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.18463044000003 meters Centerline goodness [0,1] 0.339061582301886 Centerline is valid? [False, False] Translation: X:15.61, Y:0.84, Z:0.92 [[ 9.94647199e-01 6.24444545e-04 -1.03327437e-01 1.56094797e+01] [-5.56085062e-04 9.99999607e-01 6.90386329e-04 8.39371739e-01] [ 1.03327827e-01 -6.29231984e-04 9.94647156e-01 9.17456567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.21463044 meters Centerline goodness [0,1] 0.3349250392549096 Centerline is valid? [False, False] Translation: X:15.63, Y:0.84, Z:0.92 [[ 9.94617498e-01 8.46497153e-03 -1.03268474e-01 1.56296571e+01] [-8.54207593e-03 9.99963469e-01 -3.04409353e-04 8.35595566e-01] [ 1.03262125e-01 1.18489801e-03 9.94653472e-01 9.20758447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24463044000004 meters Centerline goodness [0,1] 0.3359622803257608 Centerline is valid? [False, False] Translation: X:15.63, Y:0.84, Z:0.92 [[ 9.94606755e-01 8.47414762e-03 -1.03371135e-01 1.56296546e+01] [-8.56214162e-03 9.99963261e-01 -4.07537445e-04 8.36118285e-01] [ 1.03363884e-01 1.29041780e-03 9.94642771e-01 9.21054775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.27463044 meters Centerline goodness [0,1] 0.3408442176282328 Centerline is valid? [False, False] Translation: X:15.63, Y:0.84, Z:0.92 [[ 9.94596400e-01 8.54187366e-03 -1.03465151e-01 1.56293715e+01] [-8.63358311e-03 9.99962634e-01 -4.38565091e-04 8.36531075e-01] [ 1.03457539e-01 1.32947024e-03 9.94632983e-01 9.21699434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30463044000004 meters Centerline goodness [0,1] 0.3399695036831819 Centerline is valid? [False, False] Translation: X:15.65, Y:0.84, Z:0.92 [[ 9.94754567e-01 3.59430567e-03 -1.02227356e-01 1.56478845e+01] [-3.31453570e-03 9.99990283e-01 2.90647464e-03 8.39841840e-01] [ 1.02236809e-01 -2.55239270e-03 9.94756815e-01 9.24696555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.33463044 meters Centerline goodness [0,1] 0.3423610072833678 Centerline is valid? [False, False] Translation: X:15.65, Y:0.84, Z:0.92 [[ 9.94768281e-01 3.73444145e-03 -1.02088793e-01 1.56475759e+01] [-3.44964844e-03 9.99989651e-01 2.96606462e-03 8.40178187e-01] [ 1.02098813e-01 -2.59837656e-03 9.94770868e-01 9.24674045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36463044000004 meters Centerline goodness [0,1] 0.34185851910657195 Centerline is valid? [False, False] Translation: X:15.65, Y:0.84, Z:0.92 [[ 9.94769217e-01 3.71550713e-03 -1.02080357e-01 1.56473932e+01] [-3.43571679e-03 9.99989845e-01 2.91656599e-03 8.40251261e-01] [ 1.02090157e-01 -2.55059087e-03 9.94771881e-01 9.24889442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.39463044 meters Centerline goodness [0,1] 0.3434691431995207 Centerline is valid? [False, False] Translation: X:15.65, Y:0.84, Z:0.92 [[ 9.94749776e-01 3.65511387e-03 -1.02271811e-01 1.56479177e+01] [-3.38070944e-03 9.99990206e-01 2.85629159e-03 8.39999765e-01] [ 1.02281250e-01 -2.49554415e-03 9.94752390e-01 9.24827914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42463044 meters Centerline goodness [0,1] 0.34387845137409345 Centerline is valid? [False, False] Translation: X:15.65, Y:0.84, Z:0.92 [[ 9.94717028e-01 3.64654703e-03 -1.02590136e-01 1.56487004e+01] [-3.37205732e-03 9.99990256e-01 2.84889634e-03 8.39619744e-01] [ 1.02599525e-01 -2.48790588e-03 9.94719633e-01 9.24849281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.45463044 meters Centerline goodness [0,1] 0.34228638213141716 Centerline is valid? [False, False] Translation: X:15.65, Y:0.84, Z:0.92 [[ 9.94677543e-01 3.94212319e-03 -1.02961372e-01 1.56495104e+01] [-3.63899405e-03 9.99988475e-01 3.13177739e-03 8.39048983e-01] [ 1.02972532e-01 -2.74043282e-03 9.94680425e-01 9.24955731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48463044 meters Centerline goodness [0,1] 0.34211543416645196 Centerline is valid? [False, False] Translation: X:15.65, Y:0.84, Z:0.92 [[ 9.94666161e-01 4.10889709e-03 -1.03064760e-01 1.56497684e+01] [-3.79263971e-03 9.99987480e-01 3.26430942e-03 8.39117880e-01] [ 1.03076882e-01 -2.85601062e-03 9.94669292e-01 9.24988174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.51463044 meters Centerline goodness [0,1] 0.34019662800224226 Centerline is valid? [False, False] Translation: X:15.65, Y:0.84, Z:0.92 [[ 9.94667185e-01 4.17522544e-03 -1.03052214e-01 1.56497916e+01] [-3.85198469e-03 9.99987018e-01 3.33547880e-03 8.38901190e-01] [ 1.03064803e-01 -2.92073576e-03 9.94670355e-01 9.24942709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54463044 meters Centerline goodness [0,1] 0.34109012412304374 Centerline is valid? [False, False] Translation: X:15.65, Y:0.84, Z:0.92 [[ 9.94666975e-01 4.21542004e-03 -1.03052606e-01 1.56499818e+01] [-3.88404811e-03 9.99986622e-01 3.41601514e-03 8.38317112e-01] [ 1.03065628e-01 -2.99753616e-03 9.94670041e-01 9.24717932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.57463044 meters Centerline goodness [0,1] 0.33971044467425027 Centerline is valid? [False, False] Translation: X:15.65, Y:0.84, Z:0.92 [[ 9.94675396e-01 4.14037794e-03 -1.02974335e-01 1.56499591e+01] [-3.81559859e-03 9.99987107e-01 3.35076226e-03 8.37860762e-01] [ 1.02986881e-01 -2.94001205e-03 9.94678369e-01 9.24569998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60463044 meters Centerline goodness [0,1] 0.33763584038486316 Centerline is valid? [False, False] Translation: X:15.65, Y:0.84, Z:0.92 [[ 9.94675639e-01 4.18038552e-03 -1.02970372e-01 1.56499276e+01] [-3.85198163e-03 9.99986842e-01 3.38794758e-03 8.37751024e-01] [ 1.02983180e-01 -2.97326894e-03 9.94678654e-01 9.24641429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.63463044 meters Centerline goodness [0,1] 0.33749057619816913 Centerline is valid? [False, False] Translation: X:15.65, Y:0.84, Z:0.92 [[ 9.94680846e-01 4.24685149e-03 -1.02917342e-01 1.56497434e+01] [-3.90880408e-03 9.99986284e-01 3.48610536e-03 8.37398737e-01] [ 1.02930736e-01 -3.06527850e-03 9.94683803e-01 9.24726005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66463044 meters Centerline goodness [0,1] 0.33695207323640275 Centerline is valid? [False, False] Translation: X:15.65, Y:0.84, Z:0.92 [[ 9.94681881e-01 4.26923857e-03 -1.02906413e-01 1.56497137e+01] [-3.93026822e-03 9.99986164e-01 3.49650620e-03 8.37373535e-01] [ 1.02919917e-01 -3.07346156e-03 9.94684897e-01 9.24744693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.69463044 meters Centerline goodness [0,1] 0.33540717935561115 Centerline is valid? [False, False] Translation: X:15.65, Y:0.84, Z:0.92 [[ 9.94666329e-01 4.22880010e-03 -1.03058292e-01 1.56502817e+01] [-3.89600120e-03 9.99986527e-01 3.43031017e-03 8.37364642e-01] [ 1.03071410e-01 -3.01049879e-03 9.94669403e-01 9.24548805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72463044 meters Centerline goodness [0,1] 0.3318005028257086 Centerline is valid? [False, False] Translation: X:15.65, Y:0.84, Z:0.92 [[ 9.94616325e-01 4.06538620e-03 -1.03546316e-01 1.56521135e+01] [-3.73079489e-03 9.99987176e-01 3.42479171e-03 8.35611378e-01] [ 1.03558911e-01 -3.02004368e-03 9.94618737e-01 9.23820611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.75463044 meters Centerline goodness [0,1] 0.32817736530033514 Centerline is valid? [False, False] Translation: X:15.65, Y:0.83, Z:0.92 [[ 9.94590137e-01 4.13993731e-03 -1.03794602e-01 1.56529061e+01] [-3.77840989e-03 9.99986092e-01 3.67948345e-03 8.33999727e-01] [ 1.03808391e-01 -3.26739940e-03 9.94591947e-01 9.23633755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78463044 meters Centerline goodness [0,1] 0.333132023380713 Centerline is valid? [False, False] Translation: X:15.65, Y:0.83, Z:0.92 [[ 9.94576397e-01 4.30687993e-03 -1.03919400e-01 1.56532908e+01] [-3.90460823e-03 9.99984078e-01 4.07412058e-03 8.32018100e-01] [ 1.03935292e-01 -3.64625962e-03 9.94577378e-01 9.23574419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.81463044000003 meters Centerline goodness [0,1] 0.32950281928692404 Centerline is valid? [False, False] Translation: X:15.65, Y:0.83, Z:0.92 [[ 9.94574474e-01 4.39016988e-03 -1.03934316e-01 1.56533971e+01] [-3.95863750e-03 9.99982669e-01 4.35788678e-03 8.30237291e-01] [ 1.03951647e-01 -3.92280467e-03 9.94574616e-01 9.23571216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84463044 meters Centerline goodness [0,1] 0.32757438051959187 Centerline is valid? [False, False] Translation: X:15.65, Y:0.83, Z:0.92 [[ 9.94555717e-01 4.32969957e-03 -1.04116183e-01 1.56540448e+01] [-3.87491413e-03 9.99982050e-01 4.56993175e-03 8.27329546e-01] [ 1.04134101e-01 -4.14161048e-03 9.94554642e-01 9.23476052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.87463044000003 meters Centerline goodness [0,1] 0.3287709437281445 Centerline is valid? [False, False] Translation: X:15.65, Y:0.83, Z:0.92 [[ 9.94542104e-01 4.28104491e-03 -1.04248147e-01 1.56544695e+01] [-3.82982566e-03 9.99982414e-01 4.52810692e-03 8.26959343e-01] [ 1.04265699e-01 -4.10414076e-03 9.94541010e-01 9.23351981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90463044 meters Centerline goodness [0,1] 0.32869861389553556 Centerline is valid? [False, False] Translation: X:15.65, Y:0.83, Z:0.92 [[ 9.94528046e-01 4.33614909e-03 -1.04379900e-01 1.56548936e+01] [-3.88952845e-03 9.99982392e-01 4.48197028e-03 8.27473000e-01] [ 1.04397496e-01 -4.05145655e-03 9.94527400e-01 9.23239299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.93463044000003 meters Centerline goodness [0,1] 0.32605668501895924 Centerline is valid? [False, False] Translation: X:15.66, Y:0.83, Z:0.92 [[ 9.94507385e-01 4.54224492e-03 -1.04567821e-01 1.56554582e+01] [-4.09352049e-03 9.99981472e-01 4.50544345e-03 8.28553224e-01] [ 1.04586349e-01 -4.05264626e-03 9.94507552e-01 9.23162620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96463044 meters Centerline goodness [0,1] 0.3267526713578316 Centerline is valid? [False, False] Translation: X:15.66, Y:0.83, Z:0.92 [[ 9.94493924e-01 4.81311901e-03 -1.04683661e-01 1.56557624e+01] [-4.36347516e-03 9.99980247e-01 4.52386171e-03 8.29962143e-01] [ 1.04703367e-01 -4.04216843e-03 9.94495282e-01 9.23104905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.99463044000004 meters Centerline goodness [0,1] 0.32686007414432283 Centerline is valid? [False, False] Translation: X:15.66, Y:0.83, Z:0.92 [[ 9.94470058e-01 5.11988059e-03 -1.04895620e-01 1.56562733e+01] [-4.67104105e-03 9.99978857e-01 4.52413435e-03 8.31649470e-01] [ 1.04916565e-01 -4.00914440e-03 9.94472946e-01 9.23100700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02463044 meters Centerline goodness [0,1] 0.3252607084374731 Centerline is valid? [False, False] Translation: X:15.65, Y:0.83, Z:0.92 [[ 9.94509089e-01 5.37850083e-03 -1.04511931e-01 1.56547733e+01] [-4.95848093e-03 9.99978555e-01 4.27827839e-03 8.34480017e-01] [ 1.04532700e-01 -3.73656633e-03 9.94514431e-01 9.23699814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.05463044000004 meters Centerline goodness [0,1] 0.32510775862068964 Centerline is valid? [False, False] Translation: X:15.65, Y:0.84, Z:0.92 [[ 9.94517380e-01 5.30033877e-03 -1.04436998e-01 1.56543372e+01] [-4.90252002e-03 9.99979718e-01 4.06551236e-03 8.35565817e-01] [ 1.04456429e-01 -3.53121823e-03 9.94523195e-01 9.23981029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08463044 meters Centerline goodness [0,1] 0.32510775862068964 Centerline is valid? [False, False] Translation: X:15.65, Y:0.84, Z:0.92 [[ 9.94517380e-01 5.30033877e-03 -1.04436998e-01 1.56543372e+01] [-4.90252002e-03 9.99979718e-01 4.06551236e-03 8.35565817e-01] [ 1.04456429e-01 -3.53121823e-03 9.94523195e-01 9.23981029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11463044000004 meters Centerline goodness [0,1] 0.3277029942186557 Centerline is valid? [False, False] Translation: X:15.65, Y:0.84, Z:0.92 [[ 9.94506107e-01 5.24356103e-03 -1.04547159e-01 1.56543920e+01] [-4.86188744e-03 9.99980555e-01 3.90524544e-03 8.36410799e-01] [ 1.04565604e-01 -3.37549391e-03 9.94512263e-01 9.24193621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14463044 meters Centerline goodness [0,1] 0.3268421504637582 Centerline is valid? [False, False] Translation: X:15.67, Y:0.84, Z:0.93 [[ 9.94633384e-01 -2.00642570e-03 -1.03442767e-01 1.56721462e+01] [ 2.60494052e-03 9.99980639e-01 5.65118249e-03 8.40349110e-01] [ 1.03429426e-01 -5.89031702e-03 9.94619353e-01 9.27906544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.17463044 meters Centerline goodness [0,1] 0.32616232745440055 Centerline is valid? [False, False] Translation: X:15.67, Y:0.84, Z:0.93 [[ 9.94650027e-01 -2.04111981e-03 -1.03281935e-01 1.56714619e+01] [ 2.65410353e-03 9.99979669e-01 5.79797271e-03 8.39039534e-01] [ 1.03268001e-01 -6.04107466e-03 9.94635222e-01 9.28327901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20463044 meters Centerline goodness [0,1] 0.32953854175719133 Centerline is valid? [False, False] Translation: X:15.67, Y:0.84, Z:0.93 [[ 9.94663718e-01 -2.17629147e-03 -1.03147231e-01 1.56708689e+01] [ 2.79889587e-03 9.99978727e-01 5.89172386e-03 8.37328749e-01] [ 1.03132215e-01 -6.14898232e-03 9.94648650e-01 9.28747490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.23463044 meters Centerline goodness [0,1] 0.3259592416449676 Centerline is valid? [False, False] Translation: X:15.69, Y:0.83, Z:0.93 [[ 9.94788594e-01 2.51660542e-03 -1.01928018e-01 1.56919663e+01] [-2.27019638e-03 9.99994214e-01 2.53340938e-03 8.34653372e-01] [ 1.01933804e-01 -2.28881014e-03 9.94788551e-01 9.31319440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26463044 meters Centerline goodness [0,1] 0.32677858400240434 Centerline is valid? [False, False] Translation: X:15.69, Y:0.83, Z:0.93 [[ 9.94797352e-01 2.52749477e-03 -1.01842233e-01 1.56914467e+01] [-2.25757269e-03 9.99993627e-01 2.76556513e-03 8.32834236e-01] [ 1.01848574e-01 -2.52126063e-03 9.94796719e-01 9.31737554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.29463044 meters Centerline goodness [0,1] 0.3261584454409566 Centerline is valid? [False, False] Translation: X:15.69, Y:0.83, Z:0.93 [[ 9.94791029e-01 2.65205536e-03 -1.01900809e-01 1.56914981e+01] [-2.35615007e-03 9.99992652e-01 3.02410673e-03 8.31632843e-01] [ 1.01908080e-01 -2.76826065e-03 9.94789968e-01 9.31878947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32463044 meters Centerline goodness [0,1] 0.32762003320181965 Centerline is valid? [False, False] Translation: X:15.69, Y:0.83, Z:0.93 [[ 9.94789658e-01 2.85751801e-03 -1.01908636e-01 1.56915663e+01] [-2.53254428e-03 9.99991288e-01 3.31811186e-03 8.30438975e-01] [ 1.01917230e-01 -3.04273523e-03 9.94788229e-01 9.31888718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.35463044 meters Centerline goodness [0,1] 0.32527439611459386 Centerline is valid? [False, False] Translation: X:15.69, Y:0.83, Z:0.93 [[ 9.94788259e-01 2.87140965e-03 -1.01921904e-01 1.56918005e+01] [-2.55434150e-03 9.99991485e-01 3.24126862e-03 8.30888367e-01] [ 1.01930343e-01 -2.96403262e-03 9.94787123e-01 9.31641029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38463044 meters Centerline goodness [0,1] 0.3240535470668485 Centerline is valid? [False, False] Translation: X:15.69, Y:0.83, Z:0.93 [[ 9.94769119e-01 2.86473786e-03 -1.02108735e-01 1.56922900e+01] [-2.56078074e-03 9.99991892e-01 3.10775600e-03 8.31620040e-01] [ 1.02116810e-01 -2.83002162e-03 9.94768389e-01 9.31586154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.41463044 meters Centerline goodness [0,1] 0.32291666666666663 Centerline is valid? [False, False] Translation: X:15.69, Y:0.83, Z:0.93 [[ 9.94725743e-01 3.03757630e-03 -1.02525458e-01 1.56934997e+01] [-2.72622061e-03 9.99991238e-01 3.17684863e-03 8.31890077e-01] [ 1.02534210e-01 -2.88058609e-03 9.94725308e-01 9.31310203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.44463044 meters Centerline goodness [0,1] 0.32385788986679864 Centerline is valid? [False, False] Translation: X:15.69, Y:0.83, Z:0.93 [[ 9.94723553e-01 3.14342395e-03 -1.02543514e-01 1.56936565e+01] [-2.81154882e-03 9.99990333e-01 3.38080598e-03 8.30900385e-01] [ 1.02553150e-01 -3.07466124e-03 9.94722774e-01 9.31184527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.47463044 meters Centerline goodness [0,1] 0.3212601114122895 Centerline is valid? [False, False] Translation: X:15.69, Y:0.83, Z:0.93 [[ 9.94726639e-01 3.22441182e-03 -1.02511062e-01 1.56934952e+01] [-2.86463340e-03 9.99989211e-01 3.65667730e-03 8.29090073e-01] [ 1.02521746e-01 -3.34373771e-03 9.94725143e-01 9.31361497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.50463044 meters Centerline goodness [0,1] 0.32563225359431835 Centerline is valid? [False, False] Translation: X:15.69, Y:0.83, Z:0.93 [[ 9.94716467e-01 3.28034357e-03 -1.02607941e-01 1.56937525e+01] [-2.88933924e-03 9.99987989e-01 3.95905856e-03 8.26788862e-01] [ 1.02619696e-01 -3.64167159e-03 9.94713997e-01 9.31392528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.53463044 meters Centerline goodness [0,1] 0.32305366591080875 Centerline is valid? [False, False] Translation: X:15.69, Y:0.82, Z:0.93 [[ 9.94682005e-01 3.33237996e-03 -1.02939812e-01 1.56948240e+01] [-2.91209951e-03 9.99986801e-01 4.23279392e-03 8.24788443e-01] [ 1.02952558e-01 -3.91051297e-03 9.94678581e-01 9.31136489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.56463044000003 meters Centerline goodness [0,1] 0.32683700517099035 Centerline is valid? [False, False] Translation: X:15.70, Y:0.82, Z:0.93 [[ 9.94633091e-01 3.40891370e-03 -1.03408862e-01 1.56963387e+01] [-2.96261098e-03 9.99985625e-01 4.46918923e-03 8.23204909e-01] [ 1.03422611e-01 -4.13884327e-03 9.94628892e-01 9.30690669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.59463044 meters Centerline goodness [0,1] 0.3209550211677734 Centerline is valid? [False, False] Translation: X:15.70, Y:0.82, Z:0.93 [[ 9.94586575e-01 3.48582994e-03 -1.03852752e-01 1.56977140e+01] [-3.02607593e-03 9.99984914e-01 4.58421032e-03 8.22542517e-01] [ 1.03867165e-01 -4.24512773e-03 9.94582119e-01 9.30379665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.62463044000003 meters Centerline goodness [0,1] 0.3226702856404291 Centerline is valid? [False, False] Translation: X:15.70, Y:0.82, Z:0.93 [[ 9.94598207e-01 3.64704953e-03 -1.03735753e-01 1.56971774e+01] [-3.19054918e-03 9.99984485e-01 4.56620250e-03 8.23097484e-01] [ 1.03750797e-01 -4.21056280e-03 9.94594411e-01 9.30676928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.65463044 meters Centerline goodness [0,1] 0.32002479321178956 Centerline is valid? [False, False] Translation: X:15.72, Y:0.82, Z:0.93 [[ 9.94722130e-01 1.15722535e-02 -1.01950806e-01 1.57160317e+01] [-1.12907303e-02 9.99930686e-01 3.33800306e-03 8.21763750e-01] [ 1.01982367e-01 -2.16928646e-03 9.94783841e-01 9.33880556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.68463044000003 meters Centerline goodness [0,1] 0.3208639216937972 Centerline is valid? [False, False] Translation: X:15.71, Y:0.82, Z:0.93 [[ 9.94771694e-01 1.18825763e-02 -1.01430181e-01 1.57142467e+01] [-1.16070361e-02 9.99927170e-01 3.30631315e-03 8.23538754e-01] [ 1.01462081e-01 -2.11172296e-03 9.94837166e-01 9.34469350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.71463044 meters Centerline goodness [0,1] 0.32377933057280883 Centerline is valid? [False, False] Translation: X:15.70, Y:0.83, Z:0.93 [[ 9.94813944e-01 4.10742880e-03 -1.01628474e-01 1.56958006e+01] [-3.69373545e-03 9.99984111e-01 4.25849154e-03 8.27597818e-01] [ 1.01644351e-01 -3.86101806e-03 9.94813308e-01 9.31120652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74463044000004 meters Centerline goodness [0,1] 0.3217879959829918 Centerline is valid? [False, False] Translation: X:15.70, Y:0.83, Z:0.93 [[ 9.94767202e-01 4.08775172e-03 -1.02085772e-01 1.56969564e+01] [-3.67850788e-03 9.99984428e-01 4.19675590e-03 8.27765912e-01] [ 1.02101338e-01 -3.79927180e-03 9.94766748e-01 9.31091701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.77463044 meters Centerline goodness [0,1] 0.32457355615204775 Centerline is valid? [False, False] Translation: X:15.70, Y:0.83, Z:0.93 [[ 9.94727948e-01 4.05636974e-03 -1.02468805e-01 1.56980284e+01] [-3.64224487e-03 9.99984428e-01 4.22825080e-03 8.27056171e-01] [ 1.02484361e-01 -3.83274276e-03 9.94727232e-01 9.30962166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80463044000004 meters Centerline goodness [0,1] 0.3202983138780804 Centerline is valid? [False, False] Translation: X:15.70, Y:0.83, Z:0.93 [[ 9.94695465e-01 4.06637632e-03 -1.02783246e-01 1.56988086e+01] [-3.63778506e-03 9.99983892e-01 4.35696019e-03 8.26020005e-01] [ 1.02799307e-01 -3.95994519e-03 9.94694235e-01 9.30971799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.83463044 meters Centerline goodness [0,1] 0.3234371596602047 Centerline is valid? [False, False] Translation: X:15.70, Y:0.82, Z:0.93 [[ 9.94687053e-01 4.09432796e-03 -1.02863516e-01 1.56988586e+01] [-3.64785216e-03 9.99983094e-01 4.52820822e-03 8.24729498e-01] [ 1.02880317e-01 -4.12891919e-03 9.94685172e-01 9.31218867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86463044000004 meters Centerline goodness [0,1] 0.32366877988618903 Centerline is valid? [False, False] Translation: X:15.72, Y:0.83, Z:0.93 [[ 9.94779755e-01 -3.55304765e-03 -1.01983409e-01 1.57177586e+01] [ 4.16887920e-03 9.99974338e-01 5.82604726e-03 8.27270060e-01] [ 1.01960092e-01 -6.22079038e-03 9.94769039e-01 9.34524532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.89463044 meters Centerline goodness [0,1] 0.32133290474659815 Centerline is valid? [False, False] Translation: X:15.74, Y:0.82, Z:0.94 [[ 9.94792260e-01 4.09346897e-03 -1.01841066e-01 1.57374351e+01] [-3.61078287e-03 9.99981361e-01 4.92349342e-03 8.24056096e-01] [ 1.01859322e-01 -4.53012717e-03 9.94788498e-01 9.37769897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92463044 meters Centerline goodness [0,1] 0.3228940524041872 Centerline is valid? [False, False] Translation: X:15.74, Y:0.82, Z:0.94 [[ 9.94792664e-01 4.14555896e-03 -1.01835013e-01 1.57373763e+01] [-3.65375812e-03 9.99980748e-01 5.01543973e-03 8.23801823e-01] [ 1.01853845e-01 -4.61724214e-03 9.94788659e-01 9.37849288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.95463044 meters Centerline goodness [0,1] 0.32178271063216535 Centerline is valid? [False, False] Translation: X:15.74, Y:0.82, Z:0.94 [[ 9.94807050e-01 4.12063953e-03 -1.01695394e-01 1.57368468e+01] [-3.63157269e-03 9.99980937e-01 4.99380401e-03 8.23904880e-01] [ 1.01714033e-01 -4.59855722e-03 9.94803050e-01 9.38111830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98463044 meters Centerline goodness [0,1] 0.3232969352372338 Centerline is valid? [False, False] Translation: X:15.74, Y:0.82, Z:0.94 [[ 9.94837453e-01 4.04303662e-03 -1.01400667e-01 1.57357701e+01] [-3.56710450e-03 9.99981758e-01 4.87446212e-03 8.24357460e-01] [ 1.01418525e-01 -4.48759071e-03 9.94833727e-01 9.38547384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.01463044 meters Centerline goodness [0,1] 0.3228789446456286 Centerline is valid? [False, False] Translation: X:15.74, Y:0.82, Z:0.94 [[ 9.94836821e-01 3.90429183e-03 -1.01412304e-01 1.57358030e+01] [-3.44846087e-03 9.99983151e-01 4.66975086e-03 8.24922397e-01] [ 1.01428827e-01 -4.29592374e-03 9.94833523e-01 9.38519857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04463044 meters Centerline goodness [0,1] 0.3230072268363715 Centerline is valid? [False, False] Translation: X:15.74, Y:0.83, Z:0.94 [[ 9.94819343e-01 3.78617843e-03 -1.01588086e-01 1.57364592e+01] [-3.35094095e-03 9.99984464e-01 4.45464371e-03 8.25788872e-01] [ 1.01603374e-01 -4.09115005e-03 9.94816574e-01 9.38222837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.07463044 meters Centerline goodness [0,1] 0.3249967519812914 Centerline is valid? [False, False] Translation: X:15.74, Y:0.83, Z:0.94 [[ 9.94800965e-01 3.72017534e-03 -1.01770332e-01 1.57371357e+01] [-3.30385561e-03 9.99985473e-01 4.25902654e-03 8.26993072e-01] [ 1.01784698e-01 -3.90064923e-03 9.94798804e-01 9.37905106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10463044 meters Centerline goodness [0,1] 0.3223243697117144 Centerline is valid? [False, False] Translation: X:15.74, Y:0.83, Z:0.94 [[ 9.94778319e-01 3.73226821e-03 -1.01991012e-01 1.57377684e+01] [-3.32694259e-03 9.99985879e-01 4.14394509e-03 8.28224831e-01] [ 1.02005038e-01 -3.78298849e-03 9.94776689e-01 9.37786461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.13463044 meters Centerline goodness [0,1] 0.32144012770455377 Centerline is valid? [False, False] Translation: X:15.74, Y:0.83, Z:0.94 [[ 9.94765214e-01 3.68868822e-03 -1.02120331e-01 1.57381283e+01] [-3.29808892e-03 9.99986587e-01 3.99347139e-03 8.29340928e-01] [ 1.02133692e-01 -3.63576449e-03 9.94764037e-01 9.37751471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16463044 meters Centerline goodness [0,1] 0.3205821741370427 Centerline is valid? [False, False] Translation: X:15.74, Y:0.83, Z:0.94 [[ 9.94746526e-01 3.37595200e-03 -1.02313012e-01 1.57386884e+01] [-3.01396972e-03 9.99988641e-01 3.69237244e-03 8.29854704e-01] [ 1.02324315e-01 -3.36460634e-03 9.94745402e-01 9.37684490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.19463044 meters Centerline goodness [0,1] 0.3237444512142049 Centerline is valid? [False, False] Translation: X:15.74, Y:0.83, Z:0.94 [[ 9.94732679e-01 3.22351299e-03 -1.02452462e-01 1.57388037e+01] [-2.86552261e-03 9.99989265e-01 3.64119506e-03 8.29304203e-01] [ 1.02463100e-01 -3.32843587e-03 9.94731237e-01 9.37994583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22463044 meters Centerline goodness [0,1] 0.32218306052284473 Centerline is valid? [False, False] Translation: X:15.76, Y:0.83, Z:0.94 [[ 9.94747690e-01 -4.62101732e-03 -1.02253016e-01 1.57576246e+01] [ 5.13588193e-03 9.99975423e-01 4.77250408e-03 8.33318002e-01] [ 1.02228449e-01 -5.27259683e-03 9.94746975e-01 9.41348957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.25463044 meters Centerline goodness [0,1] 0.32054375457796547 Centerline is valid? [False, False] Translation: X:15.76, Y:0.83, Z:0.94 [[ 9.94741979e-01 -4.61864350e-03 -1.02308667e-01 1.57576582e+01] [ 5.14948236e-03 9.99974613e-01 4.92509628e-03 8.32381886e-01] [ 1.02283323e-01 -5.42603670e-03 9.94740509e-01 9.41533957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28463044 meters Centerline goodness [0,1] 0.3250960057277994 Centerline is valid? [False, False] Translation: X:15.76, Y:0.83, Z:0.94 [[ 9.94757461e-01 -4.84655783e-03 -1.02147464e-01 1.57573768e+01] [ 5.38767976e-03 9.99972875e-01 5.02223214e-03 8.30646178e-01] [ 1.02120352e-01 -5.54624072e-03 9.94756590e-01 9.41556105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.31463044000003 meters Centerline goodness [0,1] 0.32341036129612577 Centerline is valid? [False, False] Translation: X:15.78, Y:0.83, Z:0.94 [[ 9.94886530e-01 8.84875424e-04 -1.00995092e-01 1.57785777e+01] [-6.44480902e-04 9.99996881e-01 2.41286276e-03 8.28792932e-01] [ 1.00996912e-01 -2.33543525e-03 9.94883998e-01 9.43490004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34463044 meters Centerline goodness [0,1] 0.3228278653233445 Centerline is valid? [False, False] Translation: X:15.78, Y:0.83, Z:0.94 [[ 9.94897201e-01 9.09536079e-04 -1.00889705e-01 1.57782235e+01] [-6.58293574e-04 9.99996599e-01 2.52353352e-03 8.28017877e-01] [ 1.00891657e-01 -2.44424139e-03 9.94894416e-01 9.43638615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.37463044000003 meters Centerline goodness [0,1] 0.3234426476604725 Centerline is valid? [False, False] Translation: X:15.78, Y:0.83, Z:0.94 [[ 9.94888901e-01 8.97325911e-04 -1.00971627e-01 1.57784615e+01] [-6.45515070e-04 9.99996600e-01 2.52652245e-03 8.27861931e-01] [ 1.00973551e-01 -2.44843044e-03 9.94886098e-01 9.43631301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40463044 meters Centerline goodness [0,1] 0.3234391877295312 Centerline is valid? [False, False] Translation: X:15.78, Y:0.83, Z:0.94 [[ 9.94865461e-01 9.17753670e-04 -1.01202138e-01 1.57791997e+01] [-6.64498367e-04 9.99996563e-01 2.53615238e-03 8.27773819e-01] [ 1.01204117e-01 -2.45588175e-03 9.94862651e-01 9.43428403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.43463044000003 meters Centerline goodness [0,1] 0.3220079054798367 Centerline is valid? [False, False] Translation: X:15.78, Y:0.83, Z:0.94 [[ 9.94794398e-01 1.03733824e-03 -1.01897151e-01 1.57813850e+01] [-7.87194733e-04 9.99996578e-01 2.49504309e-03 8.28490886e-01] [ 1.01899390e-01 -2.40184199e-03 9.94791810e-01 9.42835377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46463044 meters Centerline goodness [0,1] 0.32175538505010104 Centerline is valid? [False, False] Translation: X:15.78, Y:0.83, Z:0.94 [[ 9.94770053e-01 1.10317722e-03 -1.02133858e-01 1.57820014e+01] [-8.62417603e-04 9.99996745e-01 2.40142132e-03 8.29592438e-01] [ 1.02136175e-01 -2.30077998e-03 9.94767766e-01 9.42729239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.49463044000004 meters Centerline goodness [0,1] 0.3174555515044931 Centerline is valid? [False, False] Translation: X:15.80, Y:0.83, Z:0.95 [[ 9.94779475e-01 9.15534093e-03 -1.01636493e-01 1.58023050e+01] [-9.06724394e-03 9.99958009e-01 1.32873858e-03 8.28878109e-01] [ 1.01644390e-01 -4.00238992e-04 9.94820716e-01 9.45675369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52463044 meters Centerline goodness [0,1] 0.32035934578434955 Centerline is valid? [False, False] Translation: X:15.80, Y:0.83, Z:0.95 [[ 9.94782839e-01 9.21484589e-03 -1.01598176e-01 1.58020641e+01] [-9.14998032e-03 9.99957528e-01 1.10445998e-03 8.30878213e-01] [ 1.01604039e-01 -1.69076518e-04 9.94824905e-01 9.45789979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.55463044000004 meters Centerline goodness [0,1] 0.3200604294809539 Centerline is valid? [False, False] Translation: X:15.80, Y:0.83, Z:0.95 [[ 9.94846196e-01 9.60065486e-03 -1.00939950e-01 1.58003631e+01] [-9.55606824e-03 9.99953912e-01 9.25245635e-04 8.34087624e-01] [ 1.00944181e-01 4.41119490e-05 9.94892090e-01 9.45863529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58463044 meters Centerline goodness [0,1] 0.3219485966232928 Centerline is valid? [False, False] Translation: X:15.80, Y:0.84, Z:0.95 [[ 9.94869204e-01 9.54713804e-03 -1.00718015e-01 1.57995025e+01] [-9.52984579e-03 9.99954377e-01 6.52836245e-04 8.35809005e-01] [ 1.00719653e-01 3.10340477e-04 9.94914798e-01 9.46202789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61463044000004 meters Centerline goodness [0,1] 0.3227751340410413 Centerline is valid? [False, False] Translation: X:15.80, Y:0.84, Z:0.95 [[ 9.94890353e-01 9.50401135e-03 -1.00512985e-01 1.57984492e+01] [-9.50525190e-03 9.99954715e-01 4.66581958e-04 8.36942475e-01] [ 1.00512868e-01 4.91203354e-04 9.94935637e-01 9.46858437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64463044 meters Centerline goodness [0,1] 0.32463849683955326 Centerline is valid? [False, False] Translation: X:15.80, Y:0.84, Z:0.95 [[ 9.94906210e-01 9.45524271e-03 -1.00360508e-01 1.57976624e+01] [-9.47273932e-03 9.99955087e-01 3.02219217e-04 8.38015166e-01] [ 1.00358858e-01 6.50009152e-04 9.94951093e-01 9.47335329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.67463044 meters Centerline goodness [0,1] 0.3270523727670315 Centerline is valid? [False, False] Translation: X:15.80, Y:0.84, Z:0.95 [[ 9.94909046e-01 9.48495305e-03 -1.00329591e-01 1.57973873e+01] [-9.50031729e-03 9.99954818e-01 3.24658879e-04 8.38297594e-01] [ 1.00328137e-01 6.30156890e-04 9.94954204e-01 9.47613999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70463044 meters Centerline goodness [0,1] 0.3258381118055108 Centerline is valid? [False, False] Translation: X:15.82, Y:0.84, Z:0.95 [[ 9.95112456e-01 1.22112192e-03 -9.87406110e-02 1.58172565e+01] [-1.13278838e-03 9.99998907e-01 9.50660068e-04 8.42457455e-01] [ 9.87416639e-02 -8.34161459e-04 9.95112751e-01 9.49886726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.73463044 meters Centerline goodness [0,1] 0.3253517490641539 Centerline is valid? [False, False] Translation: X:15.82, Y:0.84, Z:0.95 [[ 9.95128055e-01 1.05025729e-03 -9.85852478e-02 1.58167108e+01] [-9.63620409e-04 9.99999107e-01 9.26412951e-04 8.41637991e-01] [ 9.85861327e-02 -8.26900762e-04 9.95128178e-01 9.50172736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76463044 meters Centerline goodness [0,1] 0.32364557396754534 Centerline is valid? [False, False] Translation: X:15.82, Y:0.84, Z:0.95 [[ 9.95111786e-01 9.97112628e-04 -9.87498829e-02 1.58169222e+01] [-9.02559448e-04 9.99999091e-01 1.00217007e-03 8.40754788e-01] [ 9.87507924e-02 -9.08143609e-04 9.95111781e-01 9.50466371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.79463044 meters Centerline goodness [0,1] 0.3267109119117394 Centerline is valid? [False, False] Translation: X:15.82, Y:0.84, Z:0.95 [[ 9.95099877e-01 1.00539610e-03 -9.88697316e-02 1.58173183e+01] [-9.05076331e-04 9.99999029e-01 1.05951315e-03 8.40570397e-01] [ 9.88707008e-02 -9.64836756e-04 9.95099821e-01 9.50360246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82463044 meters Centerline goodness [0,1] 0.3302168464639861 Centerline is valid? [False, False] Translation: X:15.82, Y:0.84, Z:0.95 [[ 9.95078155e-01 1.02877346e-03 -9.90878744e-02 1.58181324e+01] [-9.26575407e-04 9.99998990e-01 1.07740198e-03 8.40611236e-01] [ 9.90888828e-02 -9.80286784e-04 9.95078104e-01 9.50051037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.85463044 meters Centerline goodness [0,1] 0.3206746556356348 Centerline is valid? [False, False] Translation: X:15.86, Y:0.84, Z:0.95 [[ 9.95240589e-01 5.55745285e-04 -9.74467055e-02 1.58613146e+01] [-5.16312424e-04 9.99999774e-01 4.29876804e-04 8.43024001e-01] [ 9.74469225e-02 -3.77517899e-04 9.95240652e-01 9.54286119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88463044 meters Centerline goodness [0,1] 0.3270727068384196 Centerline is valid? [False, False] Translation: X:15.86, Y:0.84, Z:0.95 [[ 9.95237993e-01 4.70500564e-04 -9.74736685e-02 1.58613978e+01] [-4.42751667e-04 9.99999855e-01 3.06310571e-04 8.43440291e-01] [ 9.74737985e-02 -2.61695289e-04 9.95238057e-01 9.54253472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.91463044 meters Centerline goodness [0,1] 0.3262417468605705 Centerline is valid? [False, False] Translation: X:15.86, Y:0.84, Z:0.95 [[ 9.95227641e-01 5.02693072e-04 -9.75791450e-02 1.58617194e+01] [-4.79116993e-04 9.99999850e-01 2.65041488e-04 8.44098510e-01] [ 9.75792636e-02 -2.17024788e-04 9.95227733e-01 9.54165384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.94463044 meters Centerline goodness [0,1] 0.32259098583121404 Centerline is valid? [False, False] Translation: X:15.88, Y:0.84, Z:0.96 [[ 9.95247899e-01 8.20344834e-03 -9.70274299e-02 1.58820655e+01] [-8.34123924e-03 9.99964697e-01 -1.01458013e-03 8.42963028e-01] [ 9.70156815e-02 1.81908775e-03 9.95281191e-01 9.56847039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.97463044 meters Centerline goodness [0,1] 0.32259098583121404 Centerline is valid? [False, False] Translation: X:15.88, Y:0.84, Z:0.96 [[ 9.95247899e-01 8.20344834e-03 -9.70274299e-02 1.58820655e+01] [-8.34123924e-03 9.99964697e-01 -1.01458013e-03 8.42963028e-01] [ 9.70156815e-02 1.81908775e-03 9.95281191e-01 9.56847039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.00463044 meters Centerline goodness [0,1] 0.3295972891958817 Centerline is valid? [False, False] Translation: X:15.86, Y:0.85, Z:0.95 [[ 9.95329279e-01 -1.73906338e-04 -9.65380502e-02 1.58604513e+01] [ 1.09552574e-04 9.99999768e-01 -6.71915511e-04 8.46464766e-01] [ 9.65381447e-02 6.58201190e-04 9.95329068e-01 9.54274787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.03463044 meters Centerline goodness [0,1] 0.3258451097461449 Centerline is valid? [False, False] Translation: X:15.88, Y:0.84, Z:0.96 [[ 9.95347979e-01 7.35895298e-03 -9.60637670e-02 1.58796319e+01] [-7.58405332e-03 9.99969284e-01 -1.97832341e-03 8.43597225e-01] [ 9.60462579e-02 2.69767294e-03 9.95373216e-01 9.57630798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.06463044000003 meters Centerline goodness [0,1] 0.32772238767318396 Centerline is valid? [False, False] Translation: X:15.88, Y:0.84, Z:0.96 [[ 9.95334217e-01 7.41825540e-03 -9.62016951e-02 1.58800400e+01] [-7.63651058e-03 9.99969035e-01 -1.90074182e-03 8.43408487e-01] [ 9.61846160e-02 2.62651863e-03 9.95360046e-01 9.57540491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.09463044 meters Centerline goodness [0,1] 0.32162040702775574 Centerline is valid? [False, False] Translation: X:15.90, Y:0.85, Z:0.96 [[ 9.95320890e-01 1.05200578e-04 -9.66246047e-02 1.58995477e+01] [-1.71348865e-04 9.99999757e-01 -6.76293097e-04 8.48599074e-01] [ 9.66245101e-02 6.89685164e-04 9.95320666e-01 9.60215439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.12463044000003 meters Centerline goodness [0,1] 0.3268085290055248 Centerline is valid? [False, False] Translation: X:15.90, Y:0.85, Z:0.96 [[ 9.95294900e-01 4.23982082e-05 -9.68919993e-02 1.59004206e+01] [-1.06273741e-04 9.99999780e-01 -6.54084078e-04 8.47810325e-01] [ 9.68919503e-02 6.61303623e-04 9.95294686e-01 9.59959611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.15463044 meters Centerline goodness [0,1] 0.3244222145567437 Centerline is valid? [False, False] Translation: X:15.90, Y:0.85, Z:0.96 [[ 9.95280206e-01 -8.70050578e-05 -9.70427984e-02 1.59008129e+01] [ 1.37130200e-05 9.99999714e-01 -7.55921477e-04 8.47598611e-01] [ 9.70428365e-02 7.51022933e-04 9.95279922e-01 9.59985166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.18463044000003 meters Centerline goodness [0,1] 0.32680401251213465 Centerline is valid? [False, False] Translation: X:15.90, Y:0.85, Z:0.96 [[ 9.95268779e-01 -1.12313834e-04 -9.71598942e-02 1.59012010e+01] [ 3.93625910e-05 9.99999716e-01 -7.52753435e-04 8.47433584e-01] [ 9.71599511e-02 7.45367527e-04 9.95268501e-01 9.59830366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.21463044 meters Centerline goodness [0,1] 0.3263662803316404 Centerline is valid? [False, False] Translation: X:15.90, Y:0.85, Z:0.96 [[ 9.95267096e-01 -7.80554460e-06 -9.71772006e-02 1.59014724e+01] [-5.54127006e-05 9.99999789e-01 -6.47847234e-04 8.47463508e-01] [ 9.71771851e-02 6.50165886e-04 9.95266885e-01 9.59555965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24463044000004 meters Centerline goodness [0,1] 0.3268179952916783 Centerline is valid? [False, False] Translation: X:15.90, Y:0.85, Z:0.96 [[ 9.95277591e-01 2.34269049e-04 -9.70693672e-02 1.59011032e+01] [-2.76040563e-04 9.99999875e-01 -4.16897406e-04 8.47671130e-01] [ 9.70692574e-02 4.41723729e-04 9.95277531e-01 9.59736248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.27463044 meters Centerline goodness [0,1] 0.3242540759993985 Centerline is valid? [False, False] Translation: X:15.90, Y:0.85, Z:0.96 [[ 9.95278927e-01 2.47459110e-04 -9.70556310e-02 1.59008218e+01] [-2.83457651e-04 9.99999896e-01 -3.57118308e-04 8.47227722e-01] [ 9.70555325e-02 3.82943488e-04 9.95278894e-01 9.60079965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30463044000004 meters Centerline goodness [0,1] 0.3239469846444196 Centerline is valid? [False, False] Translation: X:15.90, Y:0.85, Z:0.96 [[ 9.95263942e-01 1.62892500e-04 -9.72093557e-02 1.59010289e+01] [-1.98255960e-04 9.99999918e-01 -3.54127659e-04 8.46452558e-01] [ 9.72092900e-02 3.71722824e-04 9.95263893e-01 9.60309292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.33463044 meters Centerline goodness [0,1] 0.32743496672716277 Centerline is valid? [False, False] Translation: X:15.90, Y:0.84, Z:0.96 [[ 9.95208005e-01 2.16222754e-04 -9.77802614e-02 1.59025319e+01] [-2.18439440e-04 9.99999976e-01 -1.19648949e-05 8.43864973e-01] [ 9.77802565e-02 3.32666247e-05 9.95208029e-01 9.60168623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36463044000004 meters Centerline goodness [0,1] 0.3209584160105827 Centerline is valid? [False, False] Translation: X:15.95, Y:0.84, Z:0.96 [[ 9.95288663e-01 -1.30974079e-04 -9.69559729e-02 1.59468824e+01] [ 1.14760402e-04 9.99999978e-01 -1.72803682e-04 8.44255090e-01] [ 9.69559935e-02 1.60862839e-04 9.95288656e-01 9.64061266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.39463044 meters Centerline goodness [0,1] 0.3281092337748771 Centerline is valid? [False, False] Translation: X:15.95, Y:0.84, Z:0.96 [[ 9.95304107e-01 -8.32634057e-05 -9.67973542e-02 1.59466158e+01] [ 8.98783166e-05 9.99999994e-01 6.39774970e-05 8.42447321e-01] [ 9.67973482e-02 -7.23770488e-05 9.95304108e-01 9.63920695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42463044 meters Centerline goodness [0,1] 0.3232377092886851 Centerline is valid? [False, False] Translation: X:15.95, Y:0.84, Z:0.96 [[ 9.95318028e-01 -5.70179539e-05 -9.66541274e-02 1.59459346e+01] [ 8.24765438e-05 9.99999963e-01 2.59403709e-04 8.40768133e-01] [ 9.66541091e-02 -2.66160886e-04 9.95317996e-01 9.64380983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.45463044 meters Centerline goodness [0,1] 0.33169463995668647 Centerline is valid? [False, False] Translation: X:15.93, Y:0.83, Z:0.96 [[ 9.95415710e-01 7.50927800e-03 -9.53476551e-02 1.59254121e+01] [-7.58998527e-03 9.99971079e-01 -4.83805870e-04 8.33728057e-01] [ 9.53412645e-02 1.20527526e-03 9.95443916e-01 9.61680967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48463044 meters Centerline goodness [0,1] 0.32835082587749487 Centerline is valid? [False, False] Translation: X:15.94, Y:0.84, Z:0.96 [[ 9.95498729e-01 4.54868601e-04 -9.47738068e-02 1.59434531e+01] [-3.61590261e-04 9.99999433e-01 1.00139164e-03 8.37937026e-01] [ 9.47742086e-02 -9.62614819e-04 9.95498329e-01 9.64771641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.51463044 meters Centerline goodness [0,1] 0.329232508096594 Centerline is valid? [False, False] Translation: X:15.95, Y:0.84, Z:0.96 [[ 9.95446907e-01 8.52495654e-04 -9.53138396e-02 1.59450289e+01] [-7.51665082e-04 9.99999119e-01 1.09377843e-03 8.39005769e-01] [ 9.53146881e-02 -1.01715427e-03 9.95446671e-01 9.64319274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54463044 meters Centerline goodness [0,1] 0.3276366869808497 Centerline is valid? [False, False] Translation: X:15.95, Y:0.84, Z:0.96 [[ 9.95425261e-01 9.47142280e-04 -9.55387507e-02 1.59457639e+01] [-8.56457157e-04 9.99999143e-01 9.90199039e-04 8.40117613e-01] [ 9.55396067e-02 -9.03844290e-04 9.95425219e-01 9.63992105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.57463044 meters Centerline goodness [0,1] 0.3255548126900597 Centerline is valid? [False, False] Translation: X:15.95, Y:0.84, Z:0.96 [[ 9.95408406e-01 1.10635184e-03 -9.57124875e-02 1.59464078e+01] [-1.02165959e-03 9.99999042e-01 9.33861780e-04 8.41313827e-01] [ 9.57134290e-02 -8.31788285e-04 9.95408583e-01 9.63648981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60463044 meters Centerline goodness [0,1] 0.33024912577919685 Centerline is valid? [False, False] Translation: X:15.95, Y:0.84, Z:0.96 [[ 9.95412023e-01 1.18220291e-03 -9.56739567e-02 1.59462980e+01] [-1.10913220e-03 9.99999051e-01 8.16923022e-04 8.42569881e-01] [ 9.56748317e-02 -7.07059932e-04 9.95412390e-01 9.63605096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.63463044 meters Centerline goodness [0,1] 0.3286867681118639 Centerline is valid? [False, False] Translation: X:15.95, Y:0.84, Z:0.96 [[ 9.95420303e-01 1.20601791e-03 -9.55874776e-02 1.59460456e+01] [-1.14261478e-03 9.99999089e-01 7.18031972e-04 8.43453270e-01] [ 9.55882565e-02 -6.05523938e-04 9.95420775e-01 9.63648075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66463044 meters Centerline goodness [0,1] 0.3280546398638312 Centerline is valid? [False, False] Translation: X:15.94, Y:0.84, Z:0.96 [[ 9.95470538e-01 1.13723665e-03 -9.50637451e-02 1.59442183e+01] [-1.07650186e-03 9.99999182e-01 6.90166757e-04 8.43215957e-01] [ 9.50644523e-02 -5.84704374e-04 9.95470948e-01 9.64315417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.69463044 meters Centerline goodness [0,1] 0.32910225347884814 Centerline is valid? [False, False] Translation: X:15.94, Y:0.84, Z:0.96 [[ 9.95496068e-01 1.10416497e-03 -9.47964090e-02 1.59434122e+01] [-1.03756864e-03 9.99999179e-01 7.51806456e-04 8.42630146e-01] [ 9.47971613e-02 -6.50062589e-04 9.95496397e-01 9.64572850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72463044 meters Centerline goodness [0,1] 0.33212058212058215 Centerline is valid? [False, False] Translation: X:15.94, Y:0.84, Z:0.96 [[ 9.95506418e-01 1.08714369e-03 -9.46878543e-02 1.59430974e+01] [-1.01287219e-03 9.99999141e-01 8.32440382e-04 8.42103949e-01] [ 9.46886779e-02 -7.32793048e-04 9.95506664e-01 9.64681476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.75463044 meters Centerline goodness [0,1] 0.3308275549219104 Centerline is valid? [False, False] Translation: X:15.94, Y:0.84, Z:0.96 [[ 9.95489138e-01 1.08157283e-03 -9.48694176e-02 1.59437661e+01] [-9.99191995e-04 9.99999081e-01 9.15859486e-04 8.41606644e-01] [ 9.48703210e-02 -8.16935407e-04 9.95489304e-01 9.64470705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78463044 meters Centerline goodness [0,1] 0.333804778275817 Centerline is valid? [False, False] Translation: X:15.95, Y:0.84, Z:0.96 [[ 9.95442200e-01 8.50056524e-04 -9.53630142e-02 1.59452992e+01] [-7.83076919e-04 9.99999420e-01 7.39785977e-04 8.41603804e-01] [ 9.53635877e-02 -6.61737605e-04 9.95442288e-01 9.64064962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.81463044000003 meters Centerline goodness [0,1] 0.32821484719919025 Centerline is valid? [False, False] Translation: X:15.95, Y:0.84, Z:0.96 [[ 9.95428135e-01 7.41889537e-04 -9.55106200e-02 1.59455827e+01] [-6.88158059e-04 9.99999586e-01 5.95507980e-04 8.42154040e-01] [ 9.55110222e-02 -5.27058995e-04 9.95428233e-01 9.64176174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84463044 meters Centerline goodness [0,1] 0.3301672962763087 Centerline is valid? [False, False] Translation: X:15.95, Y:0.84, Z:0.96 [[ 9.95424349e-01 7.12655039e-04 -9.55502855e-02 1.59455032e+01] [-6.70209146e-04 9.99999662e-01 4.76317730e-04 8.43099165e-01] [ 9.55505926e-02 -4.10099592e-04 9.95424490e-01 9.64347323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.87463044000003 meters Centerline goodness [0,1] 0.32669603901103605 Centerline is valid? [False, False] Translation: X:15.95, Y:0.84, Z:0.96 [[ 9.95429169e-01 7.38081068e-04 -9.54998686e-02 1.59451882e+01] [-7.02281812e-04 9.99999670e-01 4.08472017e-04 8.44147714e-01] [ 9.55001386e-02 -3.39537140e-04 9.95429359e-01 9.64616863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90463044 meters Centerline goodness [0,1] 0.3316681804420224 Centerline is valid? [False, False] Translation: X:15.94, Y:0.85, Z:0.96 [[ 9.95451926e-01 6.24249346e-04 -9.52631766e-02 1.59443560e+01] [-6.15160958e-04 9.99999803e-01 1.24770796e-04 8.45868548e-01] [ 9.52632357e-02 -6.56011426e-05 9.95452114e-01 9.64915075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.93463044000003 meters Centerline goodness [0,1] 0.33107757502378277 Centerline is valid? [False, False] Translation: X:15.94, Y:0.85, Z:0.97 [[ 9.95459405e-01 4.76536893e-04 -9.51858542e-02 1.59439723e+01] [-4.87667010e-04 9.99999877e-01 -9.36680940e-05 8.46682913e-01] [ 9.51857978e-02 1.39661786e-04 9.95459514e-01 9.65162352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96463044 meters Centerline goodness [0,1] 0.3326291737621522 Centerline is valid? [False, False] Translation: X:15.94, Y:0.85, Z:0.97 [[ 9.95457366e-01 3.35219017e-04 -9.52077725e-02 1.59439913e+01] [-3.65208373e-04 9.99999889e-01 -2.97563786e-04 8.47450097e-01] [ 9.52076622e-02 3.30982738e-04 9.95457378e-01 9.65193627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.99463044000004 meters Centerline goodness [0,1] 0.33032549145987755 Centerline is valid? [False, False] Translation: X:15.94, Y:0.85, Z:0.97 [[ 9.95454497e-01 3.01783614e-04 -9.52378811e-02 1.59441635e+01] [-3.40778195e-04 9.99999865e-01 -3.93179828e-04 8.48180332e-01] [ 9.52377496e-02 4.23847621e-04 9.95454465e-01 9.65069656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02463044 meters Centerline goodness [0,1] 0.3332612924140912 Centerline is valid? [False, False] Translation: X:15.94, Y:0.85, Z:0.97 [[ 9.95439410e-01 3.11727411e-04 -9.53954047e-02 1.59443279e+01] [-3.58103392e-04 9.99999826e-01 -4.69025451e-04 8.49263171e-01] [ 9.53952419e-02 5.01047837e-04 9.95439349e-01 9.65316130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.05463044000004 meters Centerline goodness [0,1] 0.3273385921289548 Centerline is valid? [False, False] Translation: X:15.94, Y:0.85, Z:0.97 [[ 9.95420165e-01 2.15810065e-04 -9.55962790e-02 1.59449012e+01] [-2.70754748e-04 9.99999806e-01 -5.61786645e-04 8.49410172e-01] [ 9.55961392e-02 5.85096901e-04 9.95420030e-01 9.65239747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08463044 meters Centerline goodness [0,1] 0.3299444276913799 Centerline is valid? [False, False] Translation: X:15.95, Y:0.85, Z:0.97 [[ 9.95402345e-01 9.50455580e-05 -9.57818482e-02 1.59454089e+01] [-1.57991036e-04 9.99999777e-01 -6.49591880e-04 8.49130084e-01] [ 9.57817650e-02 6.61737955e-04 9.95402138e-01 9.65206520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11463044000004 meters Centerline goodness [0,1] 0.3314468397632523 Centerline is valid? [False, False] Translation: X:15.95, Y:0.85, Z:0.97 [[ 9.95386242e-01 -6.67062783e-05 -9.59490727e-02 1.59459722e+01] [-9.91460987e-06 9.99999681e-01 -7.98080911e-04 8.49049683e-01] [ 9.59490953e-02 7.95350056e-04 9.95385924e-01 9.65024930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14463044 meters Centerline goodness [0,1] 0.3315684833815966 Centerline is valid? [False, False] Translation: X:15.95, Y:0.85, Z:0.96 [[ 9.95377898e-01 -1.25702076e-04 -9.60355343e-02 1.59463327e+01] [ 4.38417796e-05 9.99999634e-01 -8.54505490e-04 8.49092139e-01] [ 9.60356065e-02 8.46345510e-04 9.95377539e-01 9.64836387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.17463044 meters Centerline goodness [0,1] 0.33066460055096414 Centerline is valid? [False, False] Translation: X:15.95, Y:0.85, Z:0.96 [[ 9.95373544e-01 1.83145689e-04 -9.60805656e-02 1.59465787e+01] [-2.31448294e-04 9.99999852e-01 -4.91585852e-04 8.48572605e-01] [ 9.60804613e-02 5.11549235e-04 9.95373439e-01 9.64713745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20463044 meters Centerline goodness [0,1] 0.3325786977145321 Centerline is valid? [False, False] Translation: X:15.95, Y:0.85, Z:0.96 [[ 9.95374486e-01 2.33553268e-04 -9.60706920e-02 1.59465109e+01] [-2.71214837e-04 9.99999891e-01 -3.78961421e-04 8.47964436e-01] [ 9.60705931e-02 4.03264327e-04 9.95374441e-01 9.64776297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.23463044 meters Centerline goodness [0,1] 0.32882931112015246 Centerline is valid? [False, False] Translation: X:15.95, Y:0.85, Z:0.97 [[ 9.95369685e-01 1.89448731e-04 -9.61205214e-02 1.59464949e+01] [-2.20901576e-04 9.99999925e-01 -3.16581887e-04 8.46924712e-01] [ 9.61204543e-02 3.36349188e-04 9.95369653e-01 9.65013039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26463044 meters Centerline goodness [0,1] 0.32938113272508174 Centerline is valid? [False, False] Translation: X:15.95, Y:0.85, Z:0.97 [[ 9.95355409e-01 1.20589609e-04 -9.62683501e-02 1.59468599e+01] [-1.48148409e-04 9.99999950e-01 -2.79123072e-04 8.45817698e-01] [ 9.62683116e-02 2.92088663e-04 9.95355377e-01 9.65016086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.29463044 meters Centerline goodness [0,1] 0.3321917808219178 Centerline is valid? [False, False] Translation: X:15.95, Y:0.84, Z:0.97 [[ 9.95329546e-01 2.41826985e-04 -9.65351576e-02 1.59473892e+01] [-2.41497360e-04 9.99999971e-01 1.50983399e-05 8.44119094e-01] [ 9.65351585e-02 8.28516191e-06 9.95329575e-01 9.65176120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32463044 meters Centerline goodness [0,1] 0.33333333333333337 Centerline is valid? [False, False] Translation: X:15.95, Y:0.84, Z:0.97 [[ 9.95341290e-01 3.86135439e-04 -9.64135227e-02 1.59469025e+01] [-3.61423052e-04 9.99999897e-01 2.73780190e-04 8.43089022e-01] [ 9.64136185e-02 -2.37658658e-04 9.95341327e-01 9.65425149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.35463044 meters Centerline goodness [0,1] 0.33229565254988436 Centerline is valid? [False, False] Translation: X:15.95, Y:0.84, Z:0.97 [[ 9.95360541e-01 4.52495804e-04 -9.62142893e-02 1.59460992e+01] [-4.10046850e-04 9.99999810e-01 4.60963375e-04 8.41901788e-01] [ 9.62144795e-02 -4.19372388e-04 9.95360537e-01 9.65846483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38463044 meters Centerline goodness [0,1] 0.3352287468650005 Centerline is valid? [False, False] Translation: X:15.95, Y:0.84, Z:0.97 [[ 9.95383029e-01 5.06830263e-04 -9.59810830e-02 1.59453208e+01] [-4.43474760e-04 9.99999670e-01 6.81413925e-04 8.40295895e-01] [ 9.59813966e-02 -6.35702669e-04 9.95382925e-01 9.66163432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.41463044 meters Centerline goodness [0,1] 0.33314763231197775 Centerline is valid? [False, False] Translation: X:15.96, Y:0.83, Z:0.97 [[ 9.95294718e-01 7.83850755e-03 -9.65762983e-02 1.59639407e+01] [-7.90008112e-03 9.99968761e-01 -2.55200663e-04 8.33064895e-01] [ 9.65712810e-02 1.01696046e-03 9.95325552e-01 9.69813876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.44463044 meters Centerline goodness [0,1] 0.3336064690026954 Centerline is valid? [False, False] Translation: X:15.96, Y:0.83, Z:0.97 [[ 9.95279855e-01 7.99438088e-03 -9.67165964e-02 1.59644753e+01] [-8.02378130e-03 9.99967805e-01 8.49451884e-05 8.31162281e-01] [ 9.67141617e-02 6.91488583e-04 9.95311958e-01 9.69602364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.47463044 meters Centerline goodness [0,1] 0.3308325630387584 Centerline is valid? [False, False] Translation: X:15.97, Y:0.83, Z:0.97 [[ 9.95256314e-01 8.12461935e-03 -9.69477199e-02 1.59650881e+01] [-8.11938884e-03 9.99966937e-01 4.48465634e-04 8.28804766e-01] [ 9.69481580e-02 3.40817981e-04 9.95289374e-01 9.69568231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.50463044 meters Centerline goodness [0,1] 0.3321694148076302 Centerline is valid? [False, False] Translation: X:15.97, Y:0.83, Z:0.97 [[ 9.95238974e-01 8.22317193e-03 -9.71172656e-02 1.59656248e+01] [-8.18089971e-03 9.99966189e-01 8.33463069e-04 8.25887161e-01] [ 9.71208356e-02 -3.49883202e-05 9.95272597e-01 9.69442014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.53463044 meters Centerline goodness [0,1] 0.3288082857386412 Centerline is valid? [False, False] Translation: X:15.99, Y:0.82, Z:0.97 [[ 9.95356442e-01 1.16238210e-04 -9.62576726e-02 1.59868295e+01] [ 4.37051506e-05 9.99998622e-01 1.65950670e-03 8.23186013e-01] [ 9.62577329e-02 -1.65600764e-03 9.95355066e-01 9.71767546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.56463044000003 meters Centerline goodness [0,1] 0.3320274662591214 Centerline is valid? [False, False] Translation: X:15.99, Y:0.82, Z:0.97 [[ 9.95371087e-01 2.71274364e-04 -9.61058089e-02 1.59864050e+01] [-7.84411183e-05 9.99997976e-01 2.01024055e-03 8.21126504e-01] [ 9.61061598e-02 -1.99339667e-03 9.95369094e-01 9.71851992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.59463044 meters Centerline goodness [0,1] 0.3342427785717379 Centerline is valid? [False, False] Translation: X:15.99, Y:0.82, Z:0.97 [[ 9.95383697e-01 4.93239217e-04 -9.59742248e-02 1.59861889e+01] [-2.64327874e-04 9.99997090e-01 2.39783260e-03 8.19349935e-01] [ 9.59751283e-02 -2.36139482e-03 9.95380931e-01 9.71713278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.62463044000003 meters Centerline goodness [0,1] 0.33414586793795975 Centerline is valid? [False, False] Translation: X:15.99, Y:0.82, Z:0.97 [[ 9.95371161e-01 6.96656404e-04 -9.61028974e-02 1.59866280e+01] [-4.35937256e-04 9.99996168e-01 2.73388597e-03 8.17800510e-01] [ 9.61044337e-02 -2.67933641e-03 9.95367650e-01 9.71623325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.65463044 meters Centerline goodness [0,1] 0.3296410212290022 Centerline is valid? [False, False] Translation: X:15.99, Y:0.82, Z:0.97 [[ 9.95290928e-01 9.37438859e-04 -9.69282715e-02 1.59892264e+01] [-6.40723156e-04 9.99995014e-01 3.09226850e-03 8.15541535e-01] [ 9.69306870e-02 -3.01560260e-03 9.95286566e-01 9.70963146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68463044000003 meters Centerline goodness [0,1] 0.33183807914012053 Centerline is valid? [False, False] Translation: X:15.99, Y:0.82, Z:0.97 [[ 9.95255257e-01 1.06686057e-03 -9.72925290e-02 1.59902070e+01] [-7.59342987e-04 9.99994599e-01 3.19772453e-03 8.15223267e-01] [ 9.72954150e-02 -3.10867374e-03 9.95250691e-01 9.70781961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.71463044 meters Centerline goodness [0,1] 0.327882204170864 Centerline is valid? [False, False] Translation: X:16.01, Y:0.81, Z:0.97 [[ 9.95232516e-01 9.16640187e-03 -9.70990057e-02 1.60102656e+01] [-8.99280314e-03 9.99957088e-01 2.22534138e-03 8.12419555e-01] [ 9.71152373e-02 -1.34153985e-03 9.95272240e-01 9.73878056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74463044000004 meters Centerline goodness [0,1] 0.3310842956619523 Centerline is valid? [False, False] Translation: X:16.01, Y:0.81, Z:0.97 [[ 9.95256918e-01 9.25329583e-03 -9.68402984e-02 1.60095023e+01] [-9.07577733e-03 9.99956230e-01 2.27344030e-03 8.12315768e-01] [ 9.68570965e-02 -1.38375620e-03 9.95297337e-01 9.74028746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.77463044 meters Centerline goodness [0,1] 0.33309537716053383 Centerline is valid? [False, False] Translation: X:16.01, Y:0.81, Z:0.97 [[ 9.95278092e-01 9.34925894e-03 -9.66132023e-02 1.60086936e+01] [-9.16292469e-03 9.99955206e-01 2.37215969e-03 8.11969169e-01] [ 9.66310526e-02 -1.47569907e-03 9.95319176e-01 9.74316335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80463044000004 meters Centerline goodness [0,1] 0.3278649701823505 Centerline is valid? [False, False] Translation: X:16.01, Y:0.81, Z:0.97 [[ 9.95290175e-01 9.40237845e-03 -9.64834883e-02 1.60083889e+01] [-9.21275316e-03 9.99954656e-01 2.41066537e-03 8.11838520e-01] [ 9.65017793e-02 -1.51043300e-03 9.95331666e-01 9.74279885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.83463044 meters Centerline goodness [0,1] 0.3286800128465903 Centerline is valid? [False, False] Translation: X:16.03, Y:0.82, Z:0.98 [[ 9.95259687e-01 2.61262253e-03 -9.72179485e-02 1.60260098e+01] [-2.26150291e-03 9.99990517e-01 3.72169011e-03 8.17224678e-01] [ 9.72267500e-02 -3.48418946e-03 9.95256158e-01 9.77849576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86463044000004 meters Centerline goodness [0,1] 0.3271277732655068 Centerline is valid? [False, False] Translation: X:16.03, Y:0.82, Z:0.98 [[ 9.95271724e-01 2.58294397e-03 -9.70954383e-02 1.60255104e+01] [-2.23349284e-03 9.99990633e-01 3.70756360e-03 8.17167277e-01] [ 9.71041052e-02 -3.47317125e-03 9.95268170e-01 9.78088811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.89463044 meters Centerline goodness [0,1] 0.3271277732655068 Centerline is valid? [False, False] Translation: X:16.03, Y:0.82, Z:0.98 [[ 9.95271724e-01 2.58294397e-03 -9.70954383e-02 1.60255104e+01] [-2.23349284e-03 9.99990633e-01 3.70756360e-03 8.17167277e-01] [ 9.71041052e-02 -3.47317125e-03 9.95268170e-01 9.78088811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92463044 meters Centerline goodness [0,1] 0.329410757841585 Centerline is valid? [False, False] Translation: X:16.02, Y:0.82, Z:0.98 [[ 9.95295683e-01 2.43179942e-03 -9.68534491e-02 1.60243496e+01] [-2.09885467e-03 9.99991534e-01 3.53934568e-03 8.17370284e-01] [ 9.68612362e-02 -3.31941416e-03 9.95292360e-01 9.78775394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.95463044 meters Centerline goodness [0,1] 0.33364857603439013 Centerline is valid? [False, False] Translation: X:16.02, Y:0.82, Z:0.98 [[ 9.95303681e-01 2.37960095e-03 -9.67725126e-02 1.60240324e+01] [-2.05357581e-03 9.99991876e-01 3.46844412e-03 8.17637035e-01] [ 9.67799800e-02 -3.25342551e-03 9.95300483e-01 9.78906867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98463044 meters Centerline goodness [0,1] 0.3297958834353203 Centerline is valid? [False, False] Translation: X:16.02, Y:0.82, Z:0.98 [[ 9.95315634e-01 2.38259739e-03 -9.66494249e-02 1.60234198e+01] [-2.05597921e-03 9.99991835e-01 3.47885867e-03 8.17809588e-01] [ 9.66569245e-02 -3.26385321e-03 9.95312406e-01 9.79318368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.01463044 meters Centerline goodness [0,1] 0.33394527116045014 Centerline is valid? [False, False] Translation: X:16.02, Y:0.82, Z:0.98 [[ 9.95333660e-01 2.42978360e-03 -9.64624359e-02 1.60227118e+01] [-2.10264780e-03 9.99991689e-01 3.49283407e-03 8.18202042e-01] [ 9.64701211e-02 -3.27370879e-03 9.95330497e-01 9.79632651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04463044 meters Centerline goodness [0,1] 0.3325703426979637 Centerline is valid? [False, False] Translation: X:16.02, Y:0.82, Z:0.98 [[ 9.95339339e-01 2.43023316e-03 -9.64038092e-02 1.60225065e+01] [-2.10309979e-03 9.99991682e-01 3.49483063e-03 8.18340145e-01] [ 9.64115005e-02 -3.27579558e-03 9.95336170e-01 9.79698053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.07463044 meters Centerline goodness [0,1] 0.33665325790005807 Centerline is valid? [False, False] Translation: X:16.02, Y:0.82, Z:0.98 [[ 9.95332374e-01 2.39920900e-03 -9.64764670e-02 1.60228110e+01] [-2.07517703e-03 9.99991865e-01 3.45886007e-03 8.18459230e-01] [ 9.64839807e-02 -3.24250966e-03 9.95329256e-01 9.79606108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10463044 meters Centerline goodness [0,1] 0.32903708453564173 Centerline is valid? [False, False] Translation: X:16.03, Y:0.82, Z:0.98 [[ 9.95243505e-01 2.19996303e-03 -9.73936682e-02 1.60258332e+01] [-1.89021689e-03 9.99992859e-01 3.27250472e-03 8.18700010e-01] [ 9.74001721e-02 -3.07284391e-03 9.95240556e-01 9.78693628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.13463044 meters Centerline goodness [0,1] 0.33217790680040726 Centerline is valid? [False, False] Translation: X:16.03, Y:0.82, Z:0.98 [[ 9.95206074e-01 2.14266107e-03 -9.77766794e-02 1.60272355e+01] [-1.83227643e-03 9.99992994e-01 3.26410585e-03 8.18275567e-01] [ 9.77829883e-02 -3.06930406e-03 9.95203028e-01 9.78161650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16463044 meters Centerline goodness [0,1] 0.329568678068194 Centerline is valid? [False, False] Translation: X:16.03, Y:0.82, Z:0.98 [[ 9.95177951e-01 2.06021373e-03 -9.80642752e-02 1.60279864e+01] [-1.75055949e-03 9.99993207e-01 3.24360256e-03 8.17758642e-01] [ 9.80702916e-02 -3.05629440e-03 9.95174797e-01 9.78128105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.19463044 meters Centerline goodness [0,1] 0.3316674924067812 Centerline is valid? [False, False] Translation: X:16.03, Y:0.82, Z:0.98 [[ 9.95203407e-01 2.07006330e-03 -9.78053863e-02 1.60268355e+01] [-1.75451825e-03 9.99992976e-01 3.31215113e-03 8.17283069e-01] [ 9.78115557e-02 -3.12466275e-03 9.95200048e-01 9.78769536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22463044 meters Centerline goodness [0,1] 0.3300908190935308 Centerline is valid? [False, False] Translation: X:16.03, Y:0.82, Z:0.98 [[ 9.95216079e-01 2.06911649e-03 -9.76763799e-02 1.60266794e+01] [-1.76304526e-03 9.99993262e-01 3.21972982e-03 8.18057351e-01] [ 9.76823838e-02 -3.03211901e-03 9.95213021e-01 9.78587563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.25463044 meters Centerline goodness [0,1] 0.3317190762144594 Centerline is valid? [False, False] Translation: X:16.03, Y:0.82, Z:0.98 [[ 9.95216893e-01 2.01624219e-03 -9.76691907e-02 1.60268823e+01] [-1.72691663e-03 9.99993868e-01 3.04674606e-03 8.19066979e-01] [ 9.76747347e-02 -2.86350660e-03 9.95214272e-01 9.78303440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28463044 meters Centerline goodness [0,1] 0.32973380752236237 Centerline is valid? [False, False] Translation: X:16.03, Y:0.82, Z:0.98 [[ 9.95212962e-01 1.95288887e-03 -9.77105205e-02 1.60272143e+01] [-1.68625823e-03 9.99994627e-01 2.81128720e-03 8.20486105e-01] [ 9.77154856e-02 -2.63306429e-03 9.95210908e-01 9.77975794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.31463044000003 meters Centerline goodness [0,1] 0.3294125250436244 Centerline is valid? [False, False] Translation: X:16.03, Y:0.82, Z:0.98 [[ 9.95205776e-01 1.88504961e-03 -9.77850194e-02 1.60274304e+01] [-1.64405425e-03 9.99995410e-01 2.54505930e-03 8.22140641e-01] [ 9.77893681e-02 -2.37209383e-03 9.95204307e-01 9.77906511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34463044 meters Centerline goodness [0,1] 0.32773651921214075 Centerline is valid? [False, False] Translation: X:16.03, Y:0.83, Z:0.98 [[ 9.95168796e-01 2.19163448e-03 -9.81542857e-02 1.60281447e+01] [-1.98186121e-03 9.99995539e-01 2.23462746e-03 8.26825657e-01] [ 9.81587454e-02 -2.02930335e-03 9.95168701e-01 9.78003433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.37463044000003 meters Centerline goodness [0,1] 0.3299756260650115 Centerline is valid? [False, False] Translation: X:16.03, Y:0.83, Z:0.98 [[ 9.95163796e-01 2.16186238e-03 -9.82056292e-02 1.60282977e+01] [-1.99462575e-03 9.99996389e-01 1.80107028e-03 8.30062447e-01] [ 9.82091683e-02 -1.59647646e-03 9.95164514e-01 9.77834219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40463044 meters Centerline goodness [0,1] 0.3274395509499136 Centerline is valid? [False, False] Translation: X:16.03, Y:0.83, Z:0.98 [[ 9.95176115e-01 2.11530853e-03 -9.80817272e-02 1.60279909e+01] [-1.99347617e-03 9.99997115e-01 1.34013302e-03 8.33360309e-01] [ 9.80842790e-02 -1.13814479e-03 9.95177461e-01 9.77748113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.43463044000003 meters Centerline goodness [0,1] 0.3297619561930272 Centerline is valid? [False, False] Translation: X:16.03, Y:0.84, Z:0.98 [[ 9.95198892e-01 2.04179165e-03 -9.78519158e-02 1.60273280e+01] [-1.96684879e-03 9.99997694e-01 8.62335820e-04 8.36742551e-01] [ 9.78534509e-02 -6.65735730e-04 9.95200612e-01 9.77774907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46463044 meters Centerline goodness [0,1] 0.3273363532922562 Centerline is valid? [False, False] Translation: X:16.03, Y:0.84, Z:0.98 [[ 9.95205073e-01 2.53112479e-03 -9.77775798e-02 1.60265706e+01] [-2.48715798e-03 9.99996744e-01 5.71545224e-04 8.44945943e-01] [ 9.77787081e-02 -3.25616419e-04 9.95208128e-01 9.78254806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.49463044000004 meters Centerline goodness [0,1] 0.3284854239043653 Centerline is valid? [False, False] Translation: X:16.03, Y:0.85, Z:0.98 [[ 9.95202519e-01 2.41459557e-03 -9.78065200e-02 1.60266155e+01] [-2.40817318e-03 9.99997083e-01 1.83714815e-04 8.47588713e-01] [ 9.78066784e-02 5.27015920e-05 9.95205431e-01 9.78190435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52463044 meters Centerline goodness [0,1] 0.3274260151410874 Centerline is valid? [False, False] Translation: X:16.03, Y:0.85, Z:0.98 [[ 9.95190998e-01 2.23279808e-03 -9.79279903e-02 1.60269093e+01] [-2.26823459e-03 9.99997396e-01 -2.50534836e-04 8.50192087e-01] [ 9.79271759e-02 4.71453668e-04 9.95193472e-01 9.78146555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.55463044000004 meters Centerline goodness [0,1] 0.32436408605360223 Centerline is valid? [False, False] Translation: X:16.03, Y:0.85, Z:0.98 [[ 9.95191450e-01 2.04884857e-03 -9.79274205e-02 1.60269986e+01] [-2.11928220e-03 9.99997565e-01 -6.15230649e-04 8.52292573e-01] [ 9.79259215e-02 8.19808121e-04 9.95193369e-01 9.78055326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58463044 meters Centerline goodness [0,1] 0.32378168060362433 Centerline is valid? [False, False] Translation: X:16.03, Y:0.86, Z:0.98 [[ 9.95181972e-01 1.51997532e-03 -9.80333187e-02 1.60269376e+01] [-1.66987977e-03 9.99997559e-01 -1.44708592e-03 8.55654481e-01] [ 9.80308799e-02 1.60381767e-03 9.95182081e-01 9.78404350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61463044000004 meters Centerline goodness [0,1] 0.32607850757870194 Centerline is valid? [False, False] Translation: X:16.03, Y:0.86, Z:0.98 [[ 9.95154883e-01 1.29866446e-03 -9.83110980e-02 1.60274863e+01] [-1.48470594e-03 9.99997243e-01 -1.81924005e-03 8.57316676e-01] [ 9.83084644e-02 1.95638869e-03 9.95154068e-01 9.78522348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64463044 meters Centerline goodness [0,1] 0.3255959308590888 Centerline is valid? [False, False] Translation: X:16.03, Y:0.86, Z:0.98 [[ 9.95129381e-01 1.20151882e-03 -9.85701392e-02 1.60282574e+01] [-1.41783930e-03 9.99996738e-01 -2.12456478e-03 8.59495617e-01] [ 9.85672650e-02 2.25397345e-03 9.95127838e-01 9.78316702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.67463044 meters Centerline goodness [0,1] 0.32630259546603846 Centerline is valid? [False, False] Translation: X:16.03, Y:0.86, Z:0.98 [[ 9.95108690e-01 1.10778593e-03 -9.87798985e-02 1.60288025e+01] [-1.35652631e-03 9.99996076e-01 -2.45100002e-03 8.61906668e-01] [ 9.87767957e-02 2.57300894e-03 9.95106288e-01 9.78266287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70463044 meters Centerline goodness [0,1] 0.3250767348515744 Centerline is valid? [False, False] Translation: X:16.03, Y:0.87, Z:0.98 [[ 9.95136086e-01 8.10539574e-04 -9.85064153e-02 1.60277967e+01] [-1.13170225e-03 9.99994225e-01 -3.20449029e-03 8.67252500e-01] [ 9.85032491e-02 3.30038386e-03 9.95131256e-01 9.78650449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.73463044 meters Centerline goodness [0,1] 0.3252813203300825 Centerline is valid? [False, False] Translation: X:16.03, Y:0.87, Z:0.98 [[ 9.95144420e-01 5.41740046e-04 -9.84240330e-02 1.60272915e+01] [-9.12393612e-04 9.99992661e-01 -3.72091378e-03 8.69813674e-01] [ 9.84212949e-02 3.79264804e-03 9.95137611e-01 9.78993088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76463044 meters Centerline goodness [0,1] 0.3234165684278213 Centerline is valid? [False, False] Translation: X:16.03, Y:0.87, Z:0.98 [[ 9.95150502e-01 3.62943997e-04 -9.83633430e-02 1.60269733e+01] [-7.74867974e-04 9.99991090e-01 -4.14960978e-03 8.72532239e-01] [ 9.83609606e-02 4.20570486e-03 9.95141916e-01 9.79138405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.79463044 meters Centerline goodness [0,1] 0.32498541455087626 Centerline is valid? [False, False] Translation: X:16.03, Y:0.88, Z:0.98 [[ 9.95138169e-01 2.71897495e-04 -9.84883318e-02 1.60272270e+01] [-7.18307918e-04 9.99989630e-01 -4.49719214e-03 8.75016600e-01] [ 9.84860877e-02 4.54607249e-03 9.95128044e-01 9.79172227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82463044 meters Centerline goodness [0,1] 0.3258741258741259 Centerline is valid? [False, False] Translation: X:16.03, Y:0.88, Z:0.98 [[ 9.95117695e-01 -9.97239033e-05 -9.86953094e-02 1.60275850e+01] [-4.16284727e-04 9.99986353e-01 -5.20769268e-03 8.78720219e-01] [ 9.86944819e-02 5.22335248e-03 9.95104073e-01 9.79347948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.85463044 meters Centerline goodness [0,1] 0.3246295141204052 Centerline is valid? [False, False] Translation: X:16.03, Y:0.88, Z:0.98 [[ 9.95130399e-01 -4.10682039e-04 -9.85663196e-02 1.60271187e+01] [-1.40784130e-04 9.99984378e-01 -5.58785388e-03 8.79718959e-01] [ 9.85670746e-02 5.57451983e-03 9.95114796e-01 9.79543316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88463044 meters Centerline goodness [0,1] 0.327741714334683 Centerline is valid? [False, False] Translation: X:16.03, Y:0.88, Z:0.98 [[ 9.95142909e-01 -5.57224248e-04 -9.84392256e-02 1.60263231e+01] [-7.76798185e-06 9.99983532e-01 -5.73902649e-03 8.80200638e-01] [ 9.84408024e-02 5.71191619e-03 9.95126516e-01 9.80155696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.91463044 meters Centerline goodness [0,1] 0.32694865085152935 Centerline is valid? [False, False] Translation: X:16.03, Y:0.88, Z:0.98 [[ 9.95159329e-01 -5.44480375e-04 -9.82731538e-02 1.60253877e+01] [-1.74045136e-05 9.99983660e-01 -5.71663491e-03 8.81119750e-01] [ 9.82746606e-02 5.69067296e-03 9.95143059e-01 9.80860704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.94463044 meters Centerline goodness [0,1] 0.3265371959481257 Centerline is valid? [False, False] Translation: X:16.03, Y:0.88, Z:0.98 [[ 9.95152360e-01 -5.33449471e-04 -9.83437605e-02 1.60255682e+01] [-2.56431091e-05 9.99983847e-01 -5.68373277e-03 8.81069707e-01] [ 9.83452040e-02 5.65870193e-03 9.95136272e-01 9.80896832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.97463044 meters Centerline goodness [0,1] 0.3266470094483783 Centerline is valid? [False, False] Translation: X:16.03, Y:0.88, Z:0.98 [[ 9.95132970e-01 -6.54841737e-04 -9.85390396e-02 1.60263361e+01] [ 8.31088361e-05 9.99983141e-01 -5.80608819e-03 8.81202014e-01] [ 9.85411804e-02 5.76964032e-03 9.95116248e-01 9.80573137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.00463044 meters Centerline goodness [0,1] 0.3258588194979868 Centerline is valid? [False, False] Translation: X:16.03, Y:0.88, Z:0.98 [[ 9.95106207e-01 -7.28975560e-04 -9.88084321e-02 1.60273344e+01] [ 1.53866839e-04 9.99983006e-01 -5.82793707e-03 8.80805426e-01] [ 9.88110014e-02 5.78421301e-03 9.95089407e-01 9.80218869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.03463044 meters Centerline goodness [0,1] 0.326178686759957 Centerline is valid? [False, False] Translation: X:16.03, Y:0.88, Z:0.98 [[ 9.95101562e-01 -7.72247763e-04 -9.88548678e-02 1.60274754e+01] [ 2.02002379e-04 9.99983285e-01 -5.77838992e-03 8.80029440e-01] [ 9.88576777e-02 5.73011591e-03 9.95085084e-01 9.80212989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.06463044000003 meters Centerline goodness [0,1] 0.32556498685082635 Centerline is valid? [False, False] Translation: X:16.03, Y:0.88, Z:0.98 [[ 9.95110214e-01 -7.19178964e-04 -9.87681404e-02 1.60271252e+01] [ 1.68147853e-04 9.99984377e-01 -5.58724787e-03 8.78875747e-01] [ 9.87706156e-02 5.54331977e-03 9.95094788e-01 9.80440122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.09463044 meters Centerline goodness [0,1] 0.3308091218781869 Centerline is valid? [False, False] Translation: X:16.03, Y:0.88, Z:0.98 [[ 9.95108352e-01 -6.98953623e-04 -9.87870375e-02 1.60269636e+01] [ 1.69236969e-04 9.99985565e-01 -5.37048610e-03 8.77117891e-01] [ 9.87893652e-02 5.32749716e-03 9.95094106e-01 9.80762544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.12463044000003 meters Centerline goodness [0,1] 0.3288421866941722 Centerline is valid? [False, False] Translation: X:16.03, Y:0.88, Z:0.98 [[ 9.95078009e-01 -6.99118247e-04 -9.90922149e-02 1.60279047e+01] [ 1.73569897e-04 9.99985875e-01 -5.31215077e-03 8.76384731e-01] [ 9.90945290e-02 5.26880499e-03 9.95064075e-01 9.80553672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.15463044 meters Centerline goodness [0,1] 0.3283746200116422 Centerline is valid? [False, False] Translation: X:16.03, Y:0.88, Z:0.98 [[ 9.95065183e-01 -6.50892932e-04 -9.92212575e-02 1.60286066e+01] [ 1.32441721e-04 9.99986306e-01 -5.23170021e-03 8.75776503e-01] [ 9.92233040e-02 5.19274170e-03 9.95051643e-01 9.80060195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.18463044000003 meters Centerline goodness [0,1] 0.32824213700990956 Centerline is valid? [False, False] Translation: X:16.03, Y:0.88, Z:0.98 [[ 9.95081069e-01 -2.19778028e-04 -9.90637008e-02 1.60283684e+01] [-2.71686765e-04 9.99987724e-01 -4.94758103e-03 8.75794626e-01] [ 9.90635721e-02 4.95015852e-03 9.95068794e-01 9.79869031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.21463044 meters Centerline goodness [0,1] 0.3268682014203266 Centerline is valid? [False, False] Translation: X:16.03, Y:0.88, Z:0.98 [[ 9.95104714e-01 -8.36745150e-05 -9.88261199e-02 1.60275891e+01] [-3.98792197e-04 9.99988100e-01 -4.86221168e-03 8.75867154e-01] [ 9.88253507e-02 4.87782084e-03 9.95092838e-01 9.80110920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24463044000004 meters Centerline goodness [0,1] 0.3263963537859569 Centerline is valid? [False, False] Translation: X:16.03, Y:0.88, Z:0.98 [[ 9.95112698e-01 -6.30977808e-05 -9.87457029e-02 1.60272537e+01] [-4.19417932e-04 9.99988075e-01 -4.86568148e-03 8.75835004e-01] [ 9.87448323e-02 4.88331715e-03 9.95100805e-01 9.80239046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.27463044 meters Centerline goodness [0,1] 0.3296841194288187 Centerline is valid? [False, False] Translation: X:16.03, Y:0.88, Z:0.98 [[ 9.95106727e-01 -8.89155667e-05 -9.88058387e-02 1.60273396e+01] [-3.97887641e-04 9.99987881e-01 -4.90715087e-03 8.75691494e-01] [ 9.88050776e-02 4.92245246e-03 9.95094632e-01 9.80275628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30463044000004 meters Centerline goodness [0,1] 0.325370374352248 Centerline is valid? [False, False] Translation: X:16.03, Y:0.87, Z:0.98 [[ 9.95061848e-01 4.42512804e-05 -9.92568175e-02 1.60285820e+01] [-5.13366131e-04 9.99988820e-01 -4.70073772e-03 8.74527460e-01] [ 9.92554997e-02 4.72847985e-03 9.95050746e-01 9.80093100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.33463044 meters Centerline goodness [0,1] 0.3267668913081043 Centerline is valid? [False, False] Translation: X:16.03, Y:0.87, Z:0.98 [[ 9.95045723e-01 1.09070713e-04 -9.94182954e-02 1.60287066e+01] [-5.60824929e-04 9.99989645e-01 -4.51603864e-03 8.73345545e-01] [ 9.94167734e-02 4.54942119e-03 9.95035481e-01 9.80442908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36463044000004 meters Centerline goodness [0,1] 0.32383270351630056 Centerline is valid? [False, False] Translation: X:16.05, Y:0.88, Z:0.98 [[ 9.95066904e-01 -7.30362630e-03 -9.89369157e-02 1.60473615e+01] [ 7.02940880e-03 9.99970426e-01 -3.11995023e-03 8.77350609e-01] [ 9.89567767e-02 2.40909119e-03 9.95088816e-01 9.83667048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.39463044 meters Centerline goodness [0,1] 0.32867659721026343 Centerline is valid? [False, False] Translation: X:16.05, Y:0.88, Z:0.98 [[ 9.95076969e-01 -7.21919652e-03 -9.88418337e-02 1.60470521e+01] [ 6.96799820e-03 9.99971557e-01 -2.88639581e-03 8.76008806e-01] [ 9.88598598e-02 2.18345628e-03 9.95098970e-01 9.83833668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42463044 meters Centerline goodness [0,1] 0.3238343630416658 Centerline is valid? [False, False] Translation: X:16.07, Y:0.87, Z:0.99 [[ 9.95161169e-01 1.81873732e-04 -9.82558670e-02 1.60658346e+01] [-5.86326100e-04 9.99991474e-01 -4.08745857e-03 8.72017313e-01] [ 9.82542859e-02 4.12529002e-03 9.95152791e-01 9.87030207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.45463044 meters Centerline goodness [0,1] 0.3301563342318059 Centerline is valid? [False, False] Translation: X:16.07, Y:0.87, Z:0.99 [[ 9.95177372e-01 2.06268224e-04 -9.80915638e-02 1.60653609e+01] [-5.94126792e-04 9.99992121e-01 -3.92485272e-03 8.70748514e-01] [ 9.80899814e-02 3.96420344e-03 9.95169654e-01 9.87161276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48463044 meters Centerline goodness [0,1] 0.3281280247789895 Centerline is valid? [False, False] Translation: X:16.07, Y:0.87, Z:0.99 [[ 9.95175811e-01 2.03518113e-04 -9.81074142e-02 1.60652633e+01] [-5.57243802e-04 9.99993443e-01 -3.57810647e-03 8.67470173e-01] [ 9.81060428e-02 3.61551475e-03 9.95169399e-01 9.87394286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.51463044 meters Centerline goodness [0,1] 0.3277383073257636 Centerline is valid? [False, False] Translation: X:16.07, Y:0.87, Z:0.99 [[ 9.95149093e-01 2.87124496e-04 -9.83778455e-02 1.60659215e+01] [-6.18936653e-04 9.99994223e-01 -3.34233191e-03 8.65963599e-01] [ 9.83763175e-02 3.38700822e-03 9.95143521e-01 9.87458357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54463044 meters Centerline goodness [0,1] 0.32883664161367 Centerline is valid? [False, False] Translation: X:16.07, Y:0.86, Z:0.99 [[ 9.95120278e-01 4.16432595e-04 -9.86684310e-02 1.60665492e+01] [-7.22012978e-04 9.99995053e-01 -3.06135628e-03 8.64603991e-01] [ 9.86666680e-02 3.11765760e-03 9.95115656e-01 9.87615799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.57463044 meters Centerline goodness [0,1] 0.3283419256850707 Centerline is valid? [False, False] Translation: X:16.07, Y:0.86, Z:0.99 [[ 9.95121669e-01 5.76328543e-04 -9.86535943e-02 1.60663246e+01] [-8.48765060e-04 9.99995942e-01 -2.71959984e-03 8.63039396e-01] [ 9.86516266e-02 2.79006646e-03 9.95118120e-01 9.87896056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60463044 meters Centerline goodness [0,1] 0.3288554770091622 Centerline is valid? [False, False] Translation: X:16.06, Y:0.86, Z:0.99 [[ 9.95163100e-01 7.98830895e-04 -9.82332219e-02 1.60648627e+01] [-1.01132680e-03 9.99997255e-01 -2.11340326e-03 8.59662379e-01] [ 9.82312640e-02 2.20252683e-03 9.95161177e-01 9.88545262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.63463044 meters Centerline goodness [0,1] 0.33541509637127165 Centerline is valid? [False, False] Translation: X:16.06, Y:0.86, Z:0.99 [[ 9.95178110e-01 7.83670697e-04 -9.80811634e-02 1.60643046e+01] [-9.78628030e-04 9.99997640e-01 -1.93962163e-03 8.58037660e-01] [ 9.80794119e-02 2.02625397e-03 9.95176529e-01 9.88841895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66463044 meters Centerline goodness [0,1] 0.33220819985810424 Centerline is valid? [False, False] Translation: X:16.06, Y:0.86, Z:0.99 [[ 9.95184182e-01 7.29352173e-04 -9.80199524e-02 1.60641705e+01] [-9.13343394e-04 9.99997904e-01 -1.83222140e-03 8.56666870e-01] [ 9.80184107e-02 1.91292363e-03 9.95182763e-01 9.88858331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.69463044 meters Centerline goodness [0,1] 0.32959089839823785 Centerline is valid? [False, False] Translation: X:16.06, Y:0.86, Z:0.99 [[ 9.95171375e-01 7.41822906e-04 -9.81498089e-02 1.60646577e+01] [-9.07695472e-04 9.99998234e-01 -1.64535169e-03 8.55231729e-01] [ 9.81484151e-02 1.72649704e-03 9.95170291e-01 9.88710020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72463044 meters Centerline goodness [0,1] 0.33514305411926926 Centerline is valid? [False, False] Translation: X:16.06, Y:0.85, Z:0.99 [[ 9.95188492e-01 6.86297124e-04 -9.79764951e-02 1.60643480e+01] [-8.03714791e-04 9.99999005e-01 -1.15896440e-03 8.51127309e-01] [ 9.79756023e-02 1.23213320e-03 9.95188054e-01 9.88761606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.75463044 meters Centerline goodness [0,1] 0.3338919685445404 Centerline is valid? [False, False] Translation: X:16.06, Y:0.85, Z:0.99 [[ 9.95202631e-01 5.47102240e-04 -9.78336527e-02 1.60639766e+01] [-6.41125310e-04 9.99999362e-01 -9.29615745e-04 8.48417862e-01] [ 9.78330818e-02 9.87879666e-04 9.95202347e-01 9.88940852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78463044 meters Centerline goodness [0,1] 0.3338919685445404 Centerline is valid? [False, False] Translation: X:16.06, Y:0.85, Z:0.99 [[ 9.95202631e-01 5.47102240e-04 -9.78336527e-02 1.60639766e+01] [-6.41125310e-04 9.99999362e-01 -9.29615745e-04 8.48417862e-01] [ 9.78330818e-02 9.87879666e-04 9.95202347e-01 9.88940852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.81463044000003 meters Centerline goodness [0,1] 0.3367848822158944 Centerline is valid? [False, False] Translation: X:16.06, Y:0.85, Z:0.99 [[ 9.95220709e-01 3.26533054e-04 -9.76505718e-02 1.60634942e+01] [-3.98769879e-04 9.99999661e-01 -7.20232322e-04 8.45148638e-01] [ 9.76503035e-02 7.55730229e-04 9.95220502e-01 9.89119331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84463044 meters Centerline goodness [0,1] 0.3387117649596617 Centerline is valid? [False, False] Translation: X:16.06, Y:0.84, Z:0.99 [[ 9.95214540e-01 1.27568699e-04 -9.77138804e-02 1.60635057e+01] [-1.76741403e-04 9.99999862e-01 -4.94575934e-04 8.42046224e-01] [ 9.77138038e-02 5.09479249e-04 9.95214426e-01 9.89376156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.87463044000003 meters Centerline goodness [0,1] 0.3369971279880801 Centerline is valid? [False, False] Translation: X:16.06, Y:0.84, Z:0.99 [[ 9.95172261e-01 1.28756553e-04 -9.81435371e-02 1.60644970e+01] [-1.34492154e-04 9.99999990e-01 -5.18252133e-05 8.38809076e-01] [ 9.81435294e-02 6.47745504e-05 9.95172268e-01 9.89539211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90463044 meters Centerline goodness [0,1] 0.33288291186753316 Centerline is valid? [False, False] Translation: X:16.09, Y:0.84, Z:0.99 [[ 9.95025233e-01 -7.99213461e-03 -9.93021204e-02 1.60879812e+01] [ 8.15601241e-03 9.99965965e-01 1.24444029e-03 8.35794891e-01] [ 9.92887949e-02 -2.04815882e-03 9.95056551e-01 9.91680358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.93463044000003 meters Centerline goodness [0,1] 0.33327562701521285 Centerline is valid? [False, False] Translation: X:16.09, Y:0.83, Z:0.99 [[ 9.94998157e-01 -7.96151301e-03 -9.95755066e-02 1.60888696e+01] [ 8.16523584e-03 9.99965321e-01 1.63853246e-03 8.32378174e-01] [ 9.95590083e-02 -2.44339428e-03 9.95028660e-01 9.91523758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96463044 meters Centerline goodness [0,1] 0.3320502950987939 Centerline is valid? [False, False] Translation: X:16.11, Y:0.83, Z:0.99 [[ 9.95052155e-01 -3.02011720e-03 -9.93080444e-02 1.61106123e+01] [ 2.88808636e-03 9.99994744e-01 -1.47324182e-03 8.28378903e-01] [ 9.93119718e-02 1.17914224e-03 9.95055648e-01 9.93598155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.99463044000004 meters Centerline goodness [0,1] 0.3362210154297043 Centerline is valid? [False, False] Translation: X:16.11, Y:0.83, Z:0.99 [[ 9.95058822e-01 -3.00795152e-03 -9.92415917e-02 1.61103580e+01] [ 2.90686054e-03 9.99995099e-01 -1.16321748e-03 8.25619315e-01] [ 9.92446042e-02 8.68988349e-04 9.95062688e-01 9.93808788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02463044 meters Centerline goodness [0,1] 0.3354133493996643 Centerline is valid? [False, False] Translation: X:16.11, Y:0.82, Z:0.99 [[ 9.95054653e-01 -2.74486816e-03 -9.92910021e-02 1.61105565e+01] [ 2.71442812e-03 9.99996218e-01 -4.41665865e-04 8.20863032e-01] [ 9.92918389e-02 1.69963386e-04 9.95058341e-01 9.93838491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.05463044000004 meters Centerline goodness [0,1] 0.33613409076182044 Centerline is valid? [False, False] Translation: X:16.11, Y:0.82, Z:0.99 [[ 9.95037965e-01 -2.61009215e-03 -9.94617327e-02 1.61111442e+01] [ 2.61410998e-03 9.99996579e-01 -8.99295199e-05 8.18756156e-01] [ 9.94616271e-02 -1.70520622e-04 9.95041384e-01 9.93675974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08463044 meters Centerline goodness [0,1] 0.33363520710697114 Centerline is valid? [False, False] Translation: X:16.11, Y:0.82, Z:0.99 [[ 9.95024662e-01 -2.48626318e-03 -9.95978980e-02 1.61115537e+01] [ 2.52423792e-03 9.99996782e-01 2.55264385e-04 8.16510192e-01] [ 9.95969427e-02 -5.05403149e-04 9.95027735e-01 9.93640180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11463044000004 meters Centerline goodness [0,1] 0.3358249028073115 Centerline is valid? [False, False] Translation: X:16.11, Y:0.81, Z:0.99 [[ 9.95013454e-01 -2.35344178e-03 -9.97130280e-02 1.61116886e+01] [ 2.42797700e-03 9.99996856e-01 6.26150896e-04 8.14124650e-01] [ 9.97112409e-02 -8.65129505e-04 9.95016040e-01 9.93913370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14463044 meters Centerline goodness [0,1] 0.33612144408368627 Centerline is valid? [False, False] Translation: X:16.11, Y:0.81, Z:0.99 [[ 9.95006650e-01 -2.02619067e-03 -9.97880837e-02 1.61115626e+01] [ 2.17837622e-03 9.99996625e-01 1.41615103e-03 8.09146377e-01] [ 9.97848774e-02 -1.62645568e-03 9.95007705e-01 9.94355268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.17463044 meters Centerline goodness [0,1] 0.3338596790713554 Centerline is valid? [False, False] Translation: X:16.13, Y:0.80, Z:1.00 [[ 9.94853262e-01 4.94739933e-03 -1.01205286e-01 1.61306149e+01] [-4.94471204e-03 9.99987736e-01 2.77413946e-04 8.02114150e-01] [ 1.01205417e-01 2.24444827e-04 9.94865525e-01 9.98187337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20463044 meters Centerline goodness [0,1] 0.334632528693555 Centerline is valid? [False, False] Translation: X:16.13, Y:0.80, Z:1.00 [[ 9.94847607e-01 5.03617711e-03 -1.01256489e-01 1.61308494e+01] [-5.00118747e-03 9.99987314e-01 5.99406838e-04 7.99481756e-01] [ 1.01258223e-01 -8.99157763e-05 9.94860173e-01 9.98111985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.23463044 meters Centerline goodness [0,1] 0.33706197431539997 Centerline is valid? [False, False] Translation: X:16.13, Y:0.80, Z:1.00 [[ 9.94854244e-01 5.19454664e-03 -1.01183253e-01 1.61306028e+01] [-5.12103500e-03 9.99986401e-01 9.86256115e-04 7.97041540e-01] [ 1.01187000e-01 -4.63018104e-04 9.94867316e-01 9.98194983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26463044 meters Centerline goodness [0,1] 0.33571027269977094 Centerline is valid? [False, False] Translation: X:16.13, Y:0.79, Z:1.00 [[ 9.94864414e-01 5.77214403e-03 -1.01051867e-01 1.61299853e+01] [-5.59843399e-03 9.99982324e-01 2.00252852e-03 7.91847598e-01] [ 1.01061640e-01 -1.42651216e-03 9.94879143e-01 9.98637862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.29463044 meters Centerline goodness [0,1] 0.3352896752616248 Centerline is valid? [False, False] Translation: X:16.13, Y:0.79, Z:1.00 [[ 9.94862435e-01 5.93151156e-03 -1.01062122e-01 1.61302877e+01] [-5.72112363e-03 9.99980822e-01 2.37148023e-03 7.89473820e-01] [ 1.01074250e-01 -1.78110771e-03 9.94877291e-01 9.98389802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32463044 meters Centerline goodness [0,1] 0.3323051878507476 Centerline is valid? [False, False] Translation: X:16.13, Y:0.79, Z:1.00 [[ 9.94843483e-01 6.00978407e-03 -1.01243896e-01 1.61310472e+01] [-5.77463766e-03 9.99979906e-01 2.61549263e-03 7.87274069e-01] [ 1.01257580e-01 -2.01735899e-03 9.94858197e-01 9.98120717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.35463044 meters Centerline goodness [0,1] 0.33079734148270046 Centerline is valid? [False, False] Translation: X:16.13, Y:0.79, Z:1.00 [[ 9.94825769e-01 6.03256255e-03 -1.01416453e-01 1.61318586e+01] [-5.78323582e-03 9.99979489e-01 2.75228314e-03 7.85625386e-01] [ 1.01430977e-01 -2.15152693e-03 9.94840252e-01 9.97684335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38463044 meters Centerline goodness [0,1] 0.3343153910668588 Centerline is valid? [False, False] Translation: X:16.13, Y:0.78, Z:1.00 [[ 9.94804509e-01 6.62923772e-03 -1.01587612e-01 1.61327986e+01] [-6.32466743e-03 9.99974488e-01 3.31990203e-03 7.84102339e-01] [ 1.01607029e-01 -2.66014565e-03 9.94821057e-01 9.97023586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.41463044 meters Centerline goodness [0,1] 0.3321617994760049 Centerline is valid? [False, False] Translation: X:16.13, Y:0.78, Z:1.00 [[ 9.94791554e-01 6.91766947e-03 -1.01695182e-01 1.61332533e+01] [-6.59409379e-03 9.99972072e-01 3.51764415e-03 7.84337792e-01] [ 1.01716676e-01 -2.82873512e-03 9.94809387e-01 9.96820742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.44463044 meters Centerline goodness [0,1] 0.33692237700123484 Centerline is valid? [False, False] Translation: X:16.11, Y:0.79, Z:0.99 [[ 9.94781267e-01 5.15414398e-04 -1.02029239e-01 1.61112776e+01] [ 9.69411318e-05 9.99982015e-01 5.99671578e-03 7.85732056e-01] [ 1.02030495e-01 -5.97531135e-03 9.94763325e-01 9.94557115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.47463044 meters Centerline goodness [0,1] 0.3328524985467307 Centerline is valid? [False, False] Translation: X:16.11, Y:0.79, Z:0.99 [[ 9.94793793e-01 6.38212209e-04 -1.01906335e-01 1.61109233e+01] [-1.50455108e-05 9.99981299e-01 6.11574434e-03 7.85292220e-01] [ 1.01908333e-01 -6.08237128e-03 9.94775199e-01 9.94649726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.50463044 meters Centerline goodness [0,1] 0.335187611417771 Centerline is valid? [False, False] Translation: X:16.11, Y:0.78, Z:1.00 [[ 9.94807389e-01 5.93814404e-04 -1.01773800e-01 1.61102056e+01] [ 2.67738006e-05 9.99981417e-01 6.09624622e-03 7.84936633e-01] [ 1.01775529e-01 -6.06731565e-03 9.94788887e-01 9.95122067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.53463044 meters Centerline goodness [0,1] 0.3396965565006601 Centerline is valid? [False, False] Translation: X:16.11, Y:0.78, Z:1.00 [[ 9.94848597e-01 7.81443988e-04 -1.01368919e-01 1.61086039e+01] [-1.33092603e-04 9.99979495e-01 6.40256385e-03 7.83824364e-01] [ 1.01371843e-01 -6.35609021e-03 9.94828302e-01 9.95880332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.56463044000003 meters Centerline goodness [0,1] 0.3375295726347318 Centerline is valid? [False, False] Translation: X:16.11, Y:0.78, Z:1.00 [[ 9.94843725e-01 7.93923697e-04 -1.01416628e-01 1.61088380e+01] [-1.43689209e-04 9.99979390e-01 6.41866172e-03 7.83808856e-01] [ 1.01419634e-01 -6.37099286e-03 9.94823335e-01 9.95774407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.59463044 meters Centerline goodness [0,1] 0.3351699003108586 Centerline is valid? [False, False] Translation: X:16.13, Y:0.78, Z:1.00 [[ 9.94835357e-01 8.29572427e-03 -1.01162218e-01 1.61285865e+01] [-7.84427259e-03 9.99957425e-01 4.85963401e-03 7.81553906e-01] [ 1.01198226e-01 -4.04099172e-03 9.94858075e-01 9.98949144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.62463044000003 meters Centerline goodness [0,1] 0.3383607687666983 Centerline is valid? [False, False] Translation: X:16.13, Y:0.78, Z:1.00 [[ 9.94848038e-01 8.19174027e-03 -1.01045911e-01 1.61282170e+01] [-7.75268503e-03 9.99958727e-01 4.73704159e-03 7.81576396e-01] [ 1.01080545e-01 -3.92925942e-03 9.94870486e-01 9.99061785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.65463044 meters Centerline goodness [0,1] 0.3387003035064683 Centerline is valid? [False, False] Translation: X:16.13, Y:0.78, Z:1.00 [[ 9.94942974e-01 8.42911287e-03 -1.00087103e-01 1.61250266e+01] [-7.98559680e-03 9.99956444e-01 4.83111496e-03 7.82605814e-01] [ 1.00123466e-01 -4.00742864e-03 9.94966950e-01 1.00006973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68463044000003 meters Centerline goodness [0,1] 0.33829536947920014 Centerline is valid? [False, False] Translation: X:16.12, Y:0.78, Z:1.00 [[ 9.94943869e-01 8.53742760e-03 -1.00069030e-01 1.61247619e+01] [-8.09082369e-03 9.99955420e-01 4.86795545e-03 7.83321558e-01] [ 1.00106129e-01 -4.03370155e-03 9.94968589e-01 1.00035931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.71463044 meters Centerline goodness [0,1] 0.3392830066067367 Centerline is valid? [False, False] Translation: X:16.11, Y:0.79, Z:1.00 [[ 9.94926720e-01 6.17130037e-04 -1.00600405e-01 1.61064586e+01] [ 9.17994739e-06 9.99980624e-01 6.22513850e-03 7.86833542e-01] [ 1.00602297e-01 -6.19448013e-03 9.94907436e-01 9.96874524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74463044000004 meters Centerline goodness [0,1] 0.33968972204266323 Centerline is valid? [False, False] Translation: X:16.11, Y:0.79, Z:1.00 [[ 9.94886586e-01 4.69566530e-04 -1.00997331e-01 1.61076537e+01] [ 1.39556003e-04 9.99981846e-01 6.02392552e-03 7.87227333e-01] [ 1.00998326e-01 -6.00721747e-03 9.94868459e-01 9.96630772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.77463044 meters Centerline goodness [0,1] 0.34042231626219877 Centerline is valid? [False, False] Translation: X:16.11, Y:0.79, Z:1.00 [[ 9.94846956e-01 2.87061395e-04 -1.01387633e-01 1.61087076e+01] [ 3.02084959e-04 9.99983161e-01 5.79542932e-03 7.87571814e-01] [ 1.01387590e-01 -5.79619289e-03 9.94830117e-01 9.96537327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80463044000004 meters Centerline goodness [0,1] 0.3384628647786543 Centerline is valid? [False, False] Translation: X:16.11, Y:0.79, Z:1.00 [[ 9.94839505e-01 2.26840552e-04 -1.01460873e-01 1.61089646e+01] [ 3.46196297e-04 9.99984090e-01 5.63021666e-03 7.88437302e-01] [ 1.01460536e-01 -5.63628733e-03 9.94823598e-01 9.96432774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.83463044 meters Centerline goodness [0,1] 0.33646576395711414 Centerline is valid? [False, False] Translation: X:16.13, Y:0.79, Z:1.00 [[ 9.94945150e-01 8.07568622e-03 -1.00094617e-01 1.61281241e+01] [-7.67944551e-03 9.99961080e-01 4.34333906e-03 7.87478004e-01] [ 1.00125797e-01 -3.55271297e-03 9.94968443e-01 9.99159654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86463044000004 meters Centerline goodness [0,1] 0.337040846941837 Centerline is valid? [False, False] Translation: X:16.13, Y:0.79, Z:1.00 [[ 9.94985761e-01 8.04938998e-03 -9.96922450e-02 1.61271053e+01] [-7.66018366e-03 9.99961474e-01 4.28625328e-03 7.87816926e-01] [ 9.97229060e-02 -3.50110008e-03 9.95009088e-01 9.99205836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.89463044 meters Centerline goodness [0,1] 0.3411478515456816 Centerline is valid? [False, False] Translation: X:16.13, Y:0.79, Z:1.00 [[ 9.95019423e-01 7.97018300e-03 -9.93620859e-02 1.61261349e+01] [-7.58003581e-03 9.99962011e-01 4.30342574e-03 7.87222594e-01] [ 9.93926103e-02 -3.52882403e-03 9.95042038e-01 9.99423698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92463044 meters Centerline goodness [0,1] 0.34129979940035804 Centerline is valid? [False, False] Translation: X:16.13, Y:0.79, Z:1.00 [[ 9.95038006e-01 7.85132191e-03 -9.91852933e-02 1.61254043e+01] [-7.44879577e-03 9.99962453e-01 4.42799748e-03 7.85746741e-01] [ 9.92163348e-02 -3.66721480e-03 9.95059129e-01 9.99846768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.95463044 meters Centerline goodness [0,1] 0.33898885299214787 Centerline is valid? [False, False] Translation: X:16.14, Y:0.79, Z:1.00 [[ 9.95119227e-01 -2.73192937e-04 -9.86795310e-02 1.61449896e+01] [ 8.01265106e-04 9.99985571e-01 5.31179377e-03 7.87672670e-01] [ 9.86766560e-02 -5.36493657e-03 9.95105087e-01 1.00297925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98463044 meters Centerline goodness [0,1] 0.34231351351351347 Centerline is valid? [False, False] Translation: X:16.14, Y:0.78, Z:1.00 [[ 9.95086381e-01 -3.15847184e-03 -9.89601827e-02 1.61449364e+01] [ 3.53405290e-03 9.99987202e-01 3.62020852e-03 7.80847833e-01] [ 9.89474819e-02 -3.95215072e-03 9.95084809e-01 1.00399217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.01463044 meters Centerline goodness [0,1] 0.34141121535734364 Centerline is valid? [False, False] Translation: X:16.15, Y:0.78, Z:1.00 [[ 9.95046373e-01 -3.66176895e-03 -9.93443870e-02 1.61459423e+01] [ 4.04772303e-03 9.99985023e-01 3.68373119e-03 7.76516697e-01] [ 9.93294101e-02 -4.06760192e-03 9.95046292e-01 1.00407061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04463044 meters Centerline goodness [0,1] 0.34010260795211633 Centerline is valid? [False, False] Translation: X:16.17, Y:0.77, Z:1.01 [[ 9.95209483e-01 -1.41392175e-02 -9.67376254e-02 1.61652967e+01] [ 1.45082930e-02 9.99889904e-01 3.11285213e-03 7.69976573e-01] [ 9.66829617e-02 -4.50143777e-03 9.95305050e-01 1.00664050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.07463044 meters Centerline goodness [0,1] 0.34339614533422147 Centerline is valid? [False, False] Translation: X:16.16, Y:0.76, Z:1.01 [[ 9.95278414e-01 -1.45263951e-02 -9.59680282e-02 1.61628929e+01] [ 1.49205253e-02 9.99882934e-01 3.39052690e-03 7.64323241e-01] [ 9.59075415e-02 -4.80641164e-03 9.95378642e-01 1.00748707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10463044 meters Centerline goodness [0,1] 0.3434614558728796 Centerline is valid? [False, False] Translation: X:16.16, Y:0.76, Z:1.01 [[ 9.95300919e-01 -1.45767286e-02 -9.57266908e-02 1.61620453e+01] [ 1.50205647e-02 9.99879511e-01 3.91750313e-03 7.59279878e-01] [ 9.56580524e-02 -5.33696342e-03 9.95399947e-01 1.00800632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.13463044 meters Centerline goodness [0,1] 0.3456226163028723 Centerline is valid? [False, False] Translation: X:16.16, Y:0.75, Z:1.01 [[ 9.95271620e-01 -1.46231934e-02 -9.60237681e-02 1.61626591e+01] [ 1.51176604e-02 9.99875935e-01 4.42389598e-03 7.54280874e-01] [ 9.59471634e-02 -5.85463284e-03 9.95369210e-01 1.00828007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16463044 meters Centerline goodness [0,1] 0.3387837431869877 Centerline is valid? [False, False] Translation: X:16.18, Y:0.74, Z:1.01 [[ 9.95081152e-01 -8.61738124e-03 -9.86875924e-02 1.61822472e+01] [ 8.96885860e-03 9.99954916e-01 3.11842045e-03 7.44895794e-01] [ 9.86562706e-02 -3.98819648e-03 9.95113579e-01 1.01238268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.19463044 meters Centerline goodness [0,1] 0.3418104099652426 Centerline is valid? [False, False] Translation: X:16.18, Y:0.74, Z:1.01 [[ 9.95004785e-01 -8.71686720e-03 -9.94459305e-02 1.61841178e+01] [ 9.11440325e-03 9.99952183e-01 3.54388026e-03 7.40192283e-01] [ 9.94102837e-02 -4.43256813e-03 9.95036657e-01 1.01239422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22463044 meters Centerline goodness [0,1] 0.3424292917270779 Centerline is valid? [False, False] Translation: X:16.19, Y:0.73, Z:1.01 [[ 9.94938273e-01 -1.05714895e-02 -9.99303574e-02 1.61858777e+01] [ 1.09202057e-02 9.99936041e-01 2.94322145e-03 7.30189591e-01] [ 9.98928517e-02 -4.01958372e-03 9.94990081e-01 1.01205162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.25463044 meters Centerline goodness [0,1] 0.3393317853457173 Centerline is valid? [False, False] Translation: X:16.20, Y:0.72, Z:1.02 [[ 9.94957569e-01 -3.96805839e-03 -1.00218215e-01 1.62035953e+01] [ 4.13247514e-03 9.99990434e-01 1.43304268e-03 7.21097073e-01] [ 1.00211570e-01 -1.83996594e-03 9.94964449e-01 1.01588938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28463044 meters Centerline goodness [0,1] 0.34463739388977466 Centerline is valid? [False, False] Translation: X:16.20, Y:0.72, Z:1.02 [[ 9.94958466e-01 -4.00600186e-03 -1.00207802e-01 1.62034700e+01] [ 4.21909337e-03 9.99989267e-01 1.91465934e-03 7.16514361e-01] [ 1.00199056e-01 -2.32779259e-03 9.94964688e-01 1.01606369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.31463044000003 meters Centerline goodness [0,1] 0.3431991153320757 Centerline is valid? [False, False] Translation: X:16.20, Y:0.71, Z:1.02 [[ 9.94940517e-01 -4.14496344e-03 -1.00380207e-01 1.62038584e+01] [ 4.39379485e-03 9.99987798e-01 2.25793180e-03 7.12474078e-01] [ 1.00369623e-01 -2.68755787e-03 9.94946589e-01 1.01611534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34463044 meters Centerline goodness [0,1] 0.3440625135287242 Centerline is valid? [False, False] Translation: X:16.21, Y:0.71, Z:1.01 [[ 9.94846645e-01 -6.24463249e-03 -1.01198603e-01 1.62075597e+01] [ 6.38881127e-03 9.99978986e-01 1.10066934e-03 7.05243523e-01] [ 1.01189603e-01 -1.74153597e-03 9.94865635e-01 1.01456160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.37463044000003 meters Centerline goodness [0,1] 0.3423643193299081 Centerline is valid? [False, False] Translation: X:16.21, Y:0.70, Z:1.01 [[ 9.94813642e-01 -6.06954431e-03 -1.01533140e-01 1.62085074e+01] [ 6.25896424e-03 9.99979216e-01 1.54712890e-03 7.02820444e-01] [ 1.01521639e-01 -2.17459722e-03 9.94830954e-01 1.01442154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40463044 meters Centerline goodness [0,1] 0.34131930218014794 Centerline is valid? [False, False] Translation: X:16.21, Y:0.70, Z:1.01 [[ 9.94782194e-01 -5.91989787e-03 -1.01849604e-01 1.62094288e+01] [ 6.14924613e-03 9.99979215e-01 1.93801170e-03 7.00580212e-01] [ 1.01836015e-01 -2.55419782e-03 9.94797920e-01 1.01427936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.43463044000003 meters Centerline goodness [0,1] 0.34002118781484447 Centerline is valid? [False, False] Translation: X:16.21, Y:0.70, Z:1.01 [[ 9.94760419e-01 -5.75604764e-03 -1.02071427e-01 1.62101570e+01] [ 6.02623744e-03 9.99979107e-01 2.33890239e-03 6.98317932e-01] [ 1.02055831e-01 -2.94175418e-03 9.94774323e-01 1.01405702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46463044 meters Centerline goodness [0,1] 0.34049225711566744 Centerline is valid? [False, False] Translation: X:16.21, Y:0.69, Z:1.01 [[ 9.94698985e-01 -5.67695276e-03 -1.02672786e-01 1.62119159e+01] [ 6.00039546e-03 9.99977960e-01 2.84164530e-03 6.94174891e-01] [ 1.02654391e-01 -3.44265902e-03 9.94711126e-01 1.01374716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.49463044000004 meters Centerline goodness [0,1] 0.34228853575971885 Centerline is valid? [False, False] Translation: X:16.21, Y:0.69, Z:1.01 [[ 9.94694795e-01 -5.59109955e-03 -1.02718080e-01 1.62120330e+01] [ 5.93708045e-03 9.99977685e-01 3.06283208e-03 6.92752502e-01] [ 1.02698664e-01 -3.65642863e-03 9.94705793e-01 1.01379729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52463044 meters Centerline goodness [0,1] 0.3369613931749792 Centerline is valid? [False, False] Translation: X:16.23, Y:0.69, Z:1.02 [[ 9.94893300e-01 1.05089745e-03 -1.00926792e-01 1.62315114e+01] [-9.79646378e-04 9.99999235e-01 7.55528083e-04 6.89228585e-01] [ 1.00927509e-01 -6.52797261e-04 9.94893568e-01 1.01579080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.55463044000004 meters Centerline goodness [0,1] 0.3419748052449728 Centerline is valid? [False, False] Translation: X:16.23, Y:0.69, Z:1.02 [[ 9.94919561e-01 1.08140631e-03 -1.00667262e-01 1.62306954e+01] [-1.00409463e-03 9.99999161e-01 8.18657547e-04 6.88740909e-01] [ 1.00668063e-01 -7.13418950e-04 9.94919812e-01 1.01601205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58463044 meters Centerline goodness [0,1] 0.3409139715672379 Centerline is valid? [False, False] Translation: X:16.23, Y:0.69, Z:1.02 [[ 9.94932433e-01 1.10573693e-03 -1.00539704e-01 1.62304799e+01] [-1.03233225e-03 9.99999161e-01 7.82130477e-04 6.89061349e-01] [ 1.00540484e-01 -6.74376599e-04 9.94932740e-01 1.01594698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61463044000004 meters Centerline goodness [0,1] 0.34069427922569484 Centerline is valid? [False, False] Translation: X:16.23, Y:0.69, Z:1.02 [[ 9.94866117e-01 1.42546095e-03 -1.01189811e-01 1.62326668e+01] [-1.34551934e-03 9.99998726e-01 8.58263623e-04 6.90432506e-01] [ 1.01190906e-01 -7.17704549e-04 9.94866768e-01 1.01523562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64463044 meters Centerline goodness [0,1] 0.3395724239407971 Centerline is valid? [False, False] Translation: X:16.23, Y:0.69, Z:1.01 [[ 9.94819119e-01 1.45804395e-03 -1.01650351e-01 1.62343257e+01] [-1.39987399e-03 9.99998813e-01 6.43586695e-04 6.92311672e-01] [ 1.01651168e-01 -4.97954667e-04 9.94819980e-01 1.01461107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.67463044 meters Centerline goodness [0,1] 0.3395724239407971 Centerline is valid? [False, False] Translation: X:16.23, Y:0.69, Z:1.01 [[ 9.94819119e-01 1.45804395e-03 -1.01650351e-01 1.62343257e+01] [-1.39987399e-03 9.99998813e-01 6.43586695e-04 6.92311672e-01] [ 1.01651168e-01 -4.97954667e-04 9.94819980e-01 1.01461107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70463044 meters Centerline goodness [0,1] 0.33668589564881735 Centerline is valid? [False, False] Translation: X:16.24, Y:0.69, Z:1.01 [[ 9.94769955e-01 1.51386148e-03 -1.02129553e-01 1.62360082e+01] [-1.47609322e-03 9.99998811e-01 4.45380356e-04 6.94152908e-01] [ 1.02130106e-01 -2.92298255e-04 9.94771007e-01 1.01401806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.73463044 meters Centerline goodness [0,1] 0.33598512689696913 Centerline is valid? [False, False] Translation: X:16.24, Y:0.70, Z:1.01 [[ 9.94754994e-01 1.55328018e-03 -1.02274578e-01 1.62364698e+01] [-1.53345449e-03 9.99998787e-01 2.72470321e-04 6.95753923e-01] [ 1.02274878e-01 -1.14207801e-04 9.94756169e-01 1.01388396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76463044 meters Centerline goodness [0,1] 0.33776086956521734 Centerline is valid? [False, False] Translation: X:16.24, Y:0.70, Z:1.01 [[ 9.94758236e-01 1.68957469e-03 -1.02240881e-01 1.62361338e+01] [-1.68812412e-03 9.99998570e-01 1.00712175e-04 6.97958956e-01] [ 1.02240905e-01 7.24110306e-05 9.94759666e-01 1.01418373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.79463044 meters Centerline goodness [0,1] 0.3379548265312764 Centerline is valid? [False, False] Translation: X:16.24, Y:0.70, Z:1.01 [[ 9.94760963e-01 1.59529672e-03 -1.02215859e-01 1.62359152e+01] [-1.61401043e-03 9.99998692e-01 -1.00375177e-04 6.98908681e-01] [ 1.02215565e-01 2.64826770e-04 9.94762237e-01 1.01440226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82463044 meters Centerline goodness [0,1] 0.33673271800167814 Centerline is valid? [False, False] Translation: X:16.24, Y:0.70, Z:1.01 [[ 9.94773784e-01 1.51657972e-03 -1.02092207e-01 1.62353954e+01] [-1.55112060e-03 9.99998763e-01 -2.58944971e-04 6.99718613e-01] [ 1.02091688e-01 4.15948994e-04 9.94774906e-01 1.01469795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.85463044 meters Centerline goodness [0,1] 0.33995246326706996 Centerline is valid? [False, False] Translation: X:16.23, Y:0.70, Z:1.02 [[ 9.94844966e-01 1.55553376e-03 -1.01395632e-01 1.62331003e+01] [-1.59655265e-03 9.99998673e-01 -3.23393305e-04 7.00718198e-01] [ 1.01394995e-01 4.83609667e-04 9.94846129e-01 1.01541108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88463044 meters Centerline goodness [0,1] 0.33759029927760575 Centerline is valid? [False, False] Translation: X:16.23, Y:0.70, Z:1.02 [[ 9.94873128e-01 1.59885117e-03 -1.01118264e-01 1.62324007e+01] [-1.64390503e-03 9.99998583e-01 -3.62229628e-04 7.01640065e-01] [ 1.01117541e-01 5.26601346e-04 9.94874347e-01 1.01548801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.91463044 meters Centerline goodness [0,1] 0.3391155002146844 Centerline is valid? [False, False] Translation: X:16.23, Y:0.70, Z:1.02 [[ 9.94901832e-01 1.64221216e-03 -1.00834757e-01 1.62316278e+01] [-1.69373749e-03 9.99998475e-01 -4.25377972e-04 7.02611624e-01] [ 1.00833905e-01 5.93996932e-04 9.94903096e-01 1.01563908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.94463044 meters Centerline goodness [0,1] 0.3393758016246259 Centerline is valid? [False, False] Translation: X:16.23, Y:0.70, Z:1.02 [[ 9.94921014e-01 1.59424325e-03 -1.00646081e-01 1.62311445e+01] [-1.66042584e-03 9.99998457e-01 -5.73810384e-04 7.03532066e-01] [ 1.00645011e-01 7.38011364e-04 9.94922126e-01 1.01574088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.97463044 meters Centerline goodness [0,1] 0.3412766689607708 Centerline is valid? [False, False] Translation: X:16.23, Y:0.70, Z:1.02 [[ 9.94926534e-01 1.60510517e-03 -1.00591330e-01 1.62307811e+01] [-1.68256203e-03 9.99998350e-01 -6.85179250e-04 7.04413864e-01] [ 1.00590064e-01 8.50954169e-04 9.94927593e-01 1.01599352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.00463044 meters Centerline goodness [0,1] 0.3391678807095724 Centerline is valid? [False, False] Translation: X:16.23, Y:0.71, Z:1.02 [[ 9.94917557e-01 1.60984925e-03 -1.00680005e-01 1.62309928e+01] [-1.70255582e-03 9.99998202e-01 -8.34885941e-04 7.05702983e-01] [ 1.00678480e-01 1.00205601e-03 9.94918509e-01 1.01604499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.03463044 meters Centerline goodness [0,1] 0.33889859574192716 Centerline is valid? [False, False] Translation: X:16.23, Y:0.71, Z:1.02 [[ 9.94906042e-01 2.06878740e-03 -1.00785359e-01 1.62312097e+01] [-2.15861962e-03 9.99997364e-01 -7.82273860e-04 7.07980509e-01] [ 1.00783475e-01 9.95846243e-04 9.94907885e-01 1.01608824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.06463044000003 meters Centerline goodness [0,1] 0.3369322572336224 Centerline is valid? [False, False] Translation: X:16.23, Y:0.71, Z:1.02 [[ 9.94889784e-01 2.00132338e-03 -1.00947080e-01 1.62316634e+01] [-2.10985900e-03 9.99997305e-01 -9.68420051e-04 7.09015809e-01] [ 1.00944869e-01 1.17645532e-03 9.94891325e-01 1.01605601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.09463044 meters Centerline goodness [0,1] 0.3397739307095463 Centerline is valid? [False, False] Translation: X:16.23, Y:0.71, Z:1.02 [[ 9.94885502e-01 1.95959087e-03 -1.00990086e-01 1.62318211e+01] [-2.07701737e-03 9.99997284e-01 -1.05761791e-03 7.09315983e-01] [ 1.00987739e-01 1.26196689e-03 9.94886870e-01 1.01596272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.12463044000003 meters Centerline goodness [0,1] 0.33713723981707056 Centerline is valid? [False, False] Translation: X:16.23, Y:0.71, Z:1.02 [[ 9.94869988e-01 1.95051595e-03 -1.01142985e-01 1.62323195e+01] [-2.06738570e-03 9.99997311e-01 -1.05068372e-03 7.09112306e-01] [ 1.01140663e-01 1.25439525e-03 9.94871345e-01 1.01586318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.15463044 meters Centerline goodness [0,1] 0.33571214264283566 Centerline is valid? [False, False] Translation: X:16.23, Y:0.71, Z:1.02 [[ 9.94854703e-01 2.04799871e-03 -1.01291287e-01 1.62329687e+01] [-2.14700966e-03 9.99997318e-01 -8.68479863e-04 7.08148208e-01] [ 1.01289237e-01 1.08148465e-03 9.94856432e-01 1.01551802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.18463044000003 meters Centerline goodness [0,1] 0.3340967955990325 Centerline is valid? [False, False] Translation: X:16.23, Y:0.71, Z:1.02 [[ 9.94839432e-01 2.09669069e-03 -1.01440167e-01 1.62333941e+01] [-2.18721424e-03 9.99997303e-01 -7.81169245e-04 7.07636058e-01] [ 1.01438256e-01 9.99009346e-04 9.94841335e-01 1.01549998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.21463044 meters Centerline goodness [0,1] 0.3402380283819686 Centerline is valid? [False, False] Translation: X:16.23, Y:0.71, Z:1.02 [[ 9.94815642e-01 2.08648545e-03 -1.01673422e-01 1.62340867e+01] [-2.17324846e-03 9.99997363e-01 -7.42589557e-04 7.07118501e-01] [ 1.01671605e-01 9.59701315e-04 9.94817553e-01 1.01535406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24463044000004 meters Centerline goodness [0,1] 0.3347161005963184 Centerline is valid? [False, False] Translation: X:16.24, Y:0.71, Z:1.02 [[ 9.94783819e-01 2.04442347e-03 -1.01985165e-01 1.62351111e+01] [-2.12938866e-03 9.99997471e-01 -7.24253273e-04 7.06388057e-01] [ 1.01983427e-01 9.37641491e-04 9.94785656e-01 1.01507261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.27463044 meters Centerline goodness [0,1] 0.33640423741612546 Centerline is valid? [False, False] Translation: X:16.24, Y:0.71, Z:1.01 [[ 9.94763913e-01 2.01593628e-03 -1.02179714e-01 1.62357944e+01] [-2.09975313e-03 9.99997542e-01 -7.12737585e-04 7.05881432e-01] [ 1.02178026e-01 9.23557804e-04 9.94765700e-01 1.01484797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30463044000004 meters Centerline goodness [0,1] 0.33467420999419195 Centerline is valid? [False, False] Translation: X:16.24, Y:0.71, Z:1.01 [[ 9.94765856e-01 2.03949194e-03 -1.02160327e-01 1.62358033e+01] [-2.11629048e-03 9.99997554e-01 -6.43366819e-04 7.05388637e-01] [ 1.02158765e-01 8.56200272e-04 9.94767739e-01 1.01481748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.33463044 meters Centerline goodness [0,1] 0.33490016818319035 Centerline is valid? [False, False] Translation: X:16.23, Y:0.70, Z:1.02 [[ 9.94799703e-01 2.34894393e-03 -1.01823536e-01 1.62348148e+01] [-2.39432613e-03 9.99997081e-01 -3.23479725e-04 7.04739608e-01] [ 1.01822479e-01 5.65596288e-04 9.94802424e-01 1.01502848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36463044000004 meters Centerline goodness [0,1] 0.3358785175017158 Centerline is valid? [False, False] Translation: X:16.23, Y:0.70, Z:1.01 [[ 9.94806503e-01 2.36296294e-03 -1.01756761e-01 1.62347528e+01] [-2.40519028e-03 9.99997065e-01 -2.92294330e-04 7.04305336e-01] [ 1.01755772e-01 5.35520674e-04 9.94809266e-01 1.01493748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.39463044 meters Centerline goodness [0,1] 0.33520651868502394 Centerline is valid? [False, False] Translation: X:16.24, Y:0.70, Z:1.01 [[ 9.94795885e-01 2.35005254e-03 -1.01860813e-01 1.62351972e+01] [-2.39034002e-03 9.99997106e-01 -2.73458282e-04 7.03833113e-01] [ 1.01859875e-01 5.15517151e-04 9.94798623e-01 1.01473962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42463044 meters Centerline goodness [0,1] 0.336787899681117 Centerline is valid? [False, False] Translation: X:16.24, Y:0.70, Z:1.01 [[ 9.94759859e-01 2.32343603e-03 -1.02212648e-01 1.62365932e+01] [-2.35718162e-03 9.99997200e-01 -2.09368715e-04 7.03102574e-01] [ 1.02211876e-01 4.49205369e-04 9.94762550e-01 1.01408256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.45463044 meters Centerline goodness [0,1] 0.3337715800590555 Centerline is valid? [False, False] Translation: X:16.24, Y:0.70, Z:1.01 [[ 9.94755635e-01 2.32249376e-03 -1.02253761e-01 1.62367280e+01] [-2.35016662e-03 9.99997227e-01 -1.50157529e-04 7.02564764e-01] [ 1.02253129e-01 3.89683425e-04 9.94758335e-01 1.01407746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48463044 meters Centerline goodness [0,1] 0.33179325532190507 Centerline is valid? [False, False] Translation: X:16.24, Y:0.70, Z:1.01 [[ 9.94754520e-01 2.32535513e-03 -1.02264550e-01 1.62366212e+01] [-2.34768872e-03 9.99997239e-01 -9.80325370e-05 7.02188033e-01] [ 1.02264040e-01 3.37603639e-04 9.94757233e-01 1.01426765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.51463044 meters Centerline goodness [0,1] 0.3348157423198981 Centerline is valid? [False, False] Translation: X:16.24, Y:0.70, Z:1.01 [[ 9.94758432e-01 2.31668488e-03 -1.02226684e-01 1.62364293e+01] [-2.33887834e-03 9.99997260e-01 -9.72389515e-05 7.02152205e-01] [ 1.02226178e-01 3.35825044e-04 9.94761125e-01 1.01444216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54463044 meters Centerline goodness [0,1] 0.33445909609138036 Centerline is valid? [False, False] Translation: X:16.24, Y:0.70, Z:1.01 [[ 9.94764853e-01 2.34488359e-03 -1.02163540e-01 1.62361568e+01] [-2.36729543e-03 9.99997193e-01 -9.81297831e-05 7.02398153e-01] [ 1.02163023e-01 3.39467342e-04 9.94767612e-01 1.01458606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.57463044 meters Centerline goodness [0,1] 0.32997228735877215 Centerline is valid? [False, False] Translation: X:16.24, Y:0.70, Z:1.01 [[ 9.94766908e-01 2.38136671e-03 -1.02142680e-01 1.62359689e+01] [-2.40763803e-03 9.99997093e-01 -1.33919074e-04 7.03074539e-01] [ 1.02142064e-01 3.79140865e-04 9.94769750e-01 1.01479495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60463044 meters Centerline goodness [0,1] 0.3349005968482974 Centerline is valid? [False, False] Translation: X:16.23, Y:0.70, Z:1.02 [[ 9.94822434e-01 2.64543283e-03 -1.01593929e-01 1.62342942e+01] [-2.65628538e-03 9.99996472e-01 2.84584077e-05 7.03541383e-01] [ 1.01593645e-01 2.41551405e-04 9.94825951e-01 1.01519485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.63463044 meters Centerline goodness [0,1] 0.33949721759088847 Centerline is valid? [False, False] Translation: X:16.23, Y:0.70, Z:1.02 [[ 9.94834393e-01 2.70069197e-03 -1.01475297e-01 1.62337753e+01] [-2.70878979e-03 9.99996330e-01 5.79924925e-05 7.03699723e-01] [ 1.01475081e-01 2.17182322e-04 9.94838058e-01 1.01546328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66463044 meters Centerline goodness [0,1] 0.33643410852713174 Centerline is valid? [False, False] Translation: X:16.23, Y:0.70, Z:1.02 [[ 9.94826920e-01 2.67728665e-03 -1.01549158e-01 1.62339609e+01] [-2.68605522e-03 9.99996391e-01 5.03889421e-05 7.03626154e-01] [ 1.01548927e-01 2.22638370e-04 9.94830521e-01 1.01550944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.69463044 meters Centerline goodness [0,1] 0.33349063686479763 Centerline is valid? [False, False] Translation: X:16.23, Y:0.70, Z:1.02 [[ 9.94815958e-01 2.66212672e-03 -1.01656892e-01 1.62342856e+01] [-2.67183932e-03 9.99996430e-01 4.06153280e-05 7.03564355e-01] [ 1.01656637e-01 2.31206105e-04 9.94819519e-01 1.01544481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72463044 meters Centerline goodness [0,1] 0.33433890708498537 Centerline is valid? [False, False] Translation: X:16.23, Y:0.70, Z:1.02 [[ 9.94818623e-01 2.75296860e-03 -1.01628383e-01 1.62342030e+01] [-2.75281935e-03 9.99996201e-01 1.41714210e-04 7.03124211e-01] [ 1.01628387e-01 1.38784644e-04 9.94822422e-01 1.01544966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.75463044 meters Centerline goodness [0,1] 0.33690324530909244 Centerline is valid? [False, False] Translation: X:16.23, Y:0.70, Z:1.02 [[ 9.94810419e-01 2.75956011e-03 -1.01708478e-01 1.62342508e+01] [-2.76298733e-03 9.99996177e-01 1.07178646e-04 7.03345928e-01] [ 1.01708385e-01 1.74396803e-04 9.94814241e-01 1.01561235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78463044 meters Centerline goodness [0,1] 0.3371784643912116 Centerline is valid? [False, False] Translation: X:16.23, Y:0.70, Z:1.02 [[ 9.94828887e-01 2.76211090e-03 -1.01527611e-01 1.62338077e+01] [-2.77031682e-03 9.99996161e-01 6.01717572e-05 7.03562113e-01] [ 1.01527387e-01 2.21403046e-04 9.94832720e-01 1.01561407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.81463044000003 meters Centerline goodness [0,1] 0.3360012048451989 Centerline is valid? [False, False] Translation: X:16.23, Y:0.70, Z:1.02 [[ 9.94842350e-01 2.73014224e-03 -1.01396474e-01 1.62334640e+01] [-2.74966392e-03 9.99996218e-01 -5.27651728e-05 7.04145757e-01] [ 1.01395947e-01 3.31299256e-04 9.94846095e-01 1.01565849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84463044 meters Centerline goodness [0,1] 0.3353700516351119 Centerline is valid? [False, False] Translation: X:16.23, Y:0.70, Z:1.02 [[ 9.94845620e-01 2.78055507e-03 -1.01363013e-01 1.62332833e+01] [-2.80464864e-03 9.99996062e-01 -9.51856341e-05 7.04741892e-01] [ 1.01362350e-01 3.78982649e-04 9.94849501e-01 1.01576591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.87463044000003 meters Centerline goodness [0,1] 0.33530108801034153 Centerline is valid? [False, False] Translation: X:16.23, Y:0.71, Z:1.02 [[ 9.94830399e-01 3.26047176e-03 -1.01498016e-01 1.62339880e+01] [-3.26425962e-03 9.99994664e-01 1.28767654e-04 7.06043538e-01] [ 1.01497895e-01 2.03213900e-04 9.94835733e-01 1.01531762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90463044 meters Centerline goodness [0,1] 0.33222000984863087 Centerline is valid? [False, False] Translation: X:16.24, Y:0.71, Z:1.01 [[ 9.94788407e-01 3.26345378e-03 -1.01908660e-01 1.62353579e+01] [-3.27930940e-03 9.99994623e-01 1.19445813e-05 7.06839572e-01] [ 1.01908151e-01 3.22307695e-04 9.94793760e-01 1.01490029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.93463044000003 meters Centerline goodness [0,1] 0.3310650317776208 Centerline is valid? [False, False] Translation: X:16.24, Y:0.71, Z:1.01 [[ 9.94750377e-01 3.13125291e-03 -1.02283347e-01 1.62365368e+01] [-3.16446586e-03 9.99994980e-01 -1.62454720e-04 7.07026150e-01] [ 1.02282325e-01 4.85274054e-04 9.94755292e-01 1.01460412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96463044 meters Centerline goodness [0,1] 0.3300453611776789 Centerline is valid? [False, False] Translation: X:16.24, Y:0.71, Z:1.01 [[ 9.94733672e-01 3.01028378e-03 -1.02449303e-01 1.62370616e+01] [-3.05649815e-03 9.99995286e-01 -2.94116592e-04 7.07120169e-01] [ 1.02447935e-01 6.05703782e-04 9.94738184e-01 1.01448838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.99463044000004 meters Centerline goodness [0,1] 0.3359073359073359 Centerline is valid? [False, False] Translation: X:16.24, Y:0.71, Z:1.01 [[ 9.94781109e-01 3.32691410e-03 -1.01977827e-01 1.62358045e+01] [-3.34272901e-03 9.99994413e-01 1.58057528e-05 7.06820291e-01] [ 1.01977310e-01 3.25160977e-04 9.94786672e-01 1.01458773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02463044 meters Centerline goodness [0,1] 0.33690777929420945 Centerline is valid? [False, False] Translation: X:16.24, Y:0.71, Z:1.01 [[ 9.94811587e-01 3.35533205e-03 -1.01679140e-01 1.62351889e+01] [-3.37281681e-03 9.99994312e-01 -4.20873363e-08 7.07095621e-01] [ 1.01678562e-01 3.42986983e-04 9.94817246e-01 1.01448842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.05463044000004 meters Centerline goodness [0,1] 0.33588082901554406 Centerline is valid? [False, False] Translation: X:16.23, Y:0.71, Z:1.01 [[ 9.94836641e-01 3.22993573e-03 -1.01437792e-01 1.62348498e+01] [-3.26540252e-03 9.99994652e-01 -1.83596451e-04 7.07551168e-01] [ 1.01436656e-01 5.13883696e-04 9.94841867e-01 1.01421065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08463044 meters Centerline goodness [0,1] 0.3337402291465895 Centerline is valid? [False, False] Translation: X:16.23, Y:0.71, Z:1.01 [[ 9.94842881e-01 3.18686058e-03 -1.01377938e-01 1.62347707e+01] [-3.23494931e-03 9.99994720e-01 -3.09954426e-04 7.08196894e-01] [ 1.01376415e-01 6.36308444e-04 9.94847937e-01 1.01414437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11463044000004 meters Centerline goodness [0,1] 0.33619185106978944 Centerline is valid? [False, False] Translation: X:16.23, Y:0.71, Z:1.01 [[ 9.94852951e-01 3.31507672e-03 -1.01274957e-01 1.62346434e+01] [-3.36450207e-03 9.99994290e-01 -3.17225743e-04 7.09184950e-01] [ 1.01273327e-01 6.56332769e-04 9.94858423e-01 1.01399343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14463044 meters Centerline goodness [0,1] 0.336719070108473 Centerline is valid? [False, False] Translation: X:16.23, Y:0.71, Z:1.01 [[ 9.94860399e-01 3.45368739e-03 -1.01197124e-01 1.62346996e+01] [-3.50775166e-03 9.99993784e-01 -3.56307416e-04 7.10579204e-01] [ 1.01195264e-01 7.09450518e-04 9.94866330e-01 1.01367203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.17463044 meters Centerline goodness [0,1] 0.3335826157560736 Centerline is valid? [False, False] Translation: X:16.24, Y:0.71, Z:1.01 [[ 9.94838081e-01 3.44657618e-03 -1.01416534e-01 1.62356212e+01] [-3.52097389e-03 9.99993648e-01 -5.54590289e-04 7.12032080e-01] [ 1.01413978e-01 9.08812506e-04 9.94843897e-01 1.01321662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20463044 meters Centerline goodness [0,1] 0.3336616913292074 Centerline is valid? [False, False] Translation: X:16.24, Y:0.71, Z:1.01 [[ 9.94815065e-01 3.27180729e-03 -1.01647836e-01 1.62361980e+01] [-3.36629590e-03 9.99994047e-01 -7.58049183e-04 7.12232163e-01] [ 1.01644751e-01 1.09629544e-03 9.94820156e-01 1.01322154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.23463044 meters Centerline goodness [0,1] 0.33281243310356634 Centerline is valid? [False, False] Translation: X:16.24, Y:0.71, Z:1.01 [[ 9.94812096e-01 3.17884437e-03 -1.01679830e-01 1.62364396e+01] [-3.28279719e-03 9.99994246e-01 -8.55039579e-04 7.12319080e-01] [ 1.01676527e-01 1.18439798e-03 9.94816808e-01 1.01302798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26463044 meters Centerline goodness [0,1] 0.33082722826203037 Centerline is valid? [False, False] Translation: X:16.24, Y:0.71, Z:1.01 [[ 9.94809215e-01 3.15373984e-03 -1.01708798e-01 1.62369896e+01] [-3.26471190e-03 9.99994243e-01 -9.24637718e-04 7.13000125e-01] [ 1.01705296e-01 1.25188804e-03 9.94813784e-01 1.01252137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.29463044 meters Centerline goodness [0,1] 0.33167891366937385 Centerline is valid? [False, False] Translation: X:16.24, Y:0.71, Z:1.01 [[ 9.94795673e-01 3.01184747e-03 -1.01845458e-01 1.62374826e+01] [-3.14089929e-03 9.99994455e-01 -1.10679705e-03 7.13421088e-01] [ 1.01841560e-01 1.42092325e-03 9.94799617e-01 1.01233121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32463044 meters Centerline goodness [0,1] 0.3320361212642442 Centerline is valid? [False, False] Translation: X:16.24, Y:0.71, Z:1.01 [[ 9.94763521e-01 2.87415580e-03 -1.02162993e-01 1.62383155e+01] [-3.01956399e-03 9.99994636e-01 -1.26867581e-03 7.13725863e-01] [ 1.02158799e-01 1.57052011e-03 9.94766864e-01 1.01227763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.35463044 meters Centerline goodness [0,1] 0.33393813720407806 Centerline is valid? [False, False] Translation: X:16.24, Y:0.71, Z:1.01 [[ 9.94749198e-01 2.82775759e-03 -1.02303647e-01 1.62388585e+01] [-2.98409140e-03 9.99994602e-01 -1.37512407e-03 7.14252864e-01] [ 1.02299206e-01 1.67318700e-03 9.94752267e-01 1.01205203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38463044 meters Centerline goodness [0,1] 0.3298862683550835 Centerline is valid? [False, False] Translation: X:16.24, Y:0.71, Z:1.01 [[ 9.94743311e-01 2.89873498e-03 -1.02358887e-01 1.62390051e+01] [-3.05596144e-03 9.99994379e-01 -1.37925018e-03 7.14976471e-01] [ 1.02354313e-01 1.68480471e-03 9.94746579e-01 1.01202913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.41463044 meters Centerline goodness [0,1] 0.3304108054544279 Centerline is valid? [False, False] Translation: X:16.24, Y:0.72, Z:1.01 [[ 9.94755953e-01 2.96795269e-03 -1.02233970e-01 1.62387977e+01] [-3.12717132e-03 9.99994134e-01 -1.39715794e-03 7.15763528e-01] [ 1.02229223e-01 1.70953432e-03 9.94759400e-01 1.01192644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.44463044 meters Centerline goodness [0,1] 0.3320215900049459 Centerline is valid? [False, False] Translation: X:16.24, Y:0.72, Z:1.01 [[ 9.94727904e-01 2.81144113e-03 -1.02510940e-01 1.62397489e+01] [-3.00368296e-03 9.99994008e-01 -1.72101603e-03 7.17593416e-01] [ 1.02505488e-01 2.01985304e-03 9.94730388e-01 1.01161403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.47463044 meters Centerline goodness [0,1] 0.3326073831292048 Centerline is valid? [False, False] Translation: X:16.24, Y:0.72, Z:1.01 [[ 9.94713273e-01 2.68903220e-03 -1.02656094e-01 1.62401231e+01] [-2.89792728e-03 9.99994023e-01 -1.88581695e-03 7.18088535e-01] [ 1.02650409e-01 2.17333704e-03 9.94715120e-01 1.01160115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.50463044 meters Centerline goodness [0,1] 0.3307027513885613 Centerline is valid? [False, False] Translation: X:16.24, Y:0.72, Z:1.01 [[ 9.94711646e-01 2.60144466e-03 -1.02674111e-01 1.62401171e+01] [-2.82502679e-03 9.99993945e-01 -2.03223710e-03 7.18835107e-01] [ 1.02668203e-01 2.31154703e-03 9.94712972e-01 1.01168972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.53463044 meters Centerline goodness [0,1] 0.3310880606008436 Centerline is valid? [False, False] Translation: X:16.24, Y:0.72, Z:1.01 [[ 9.94711081e-01 2.47596607e-03 -1.02682691e-01 1.62402249e+01] [-2.73319356e-03 9.99993469e-01 -2.36444930e-03 7.20941221e-01] [ 1.02676167e-01 2.63259559e-03 9.94711352e-01 1.01160720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.56463044000003 meters Centerline goodness [0,1] 0.33189831457046304 Centerline is valid? [False, False] Translation: X:16.24, Y:0.72, Z:1.01 [[ 9.94692074e-01 2.33604795e-03 -1.02869920e-01 1.62410292e+01] [-2.62097143e-03 9.99993095e-01 -2.63466407e-03 7.22219542e-01] [ 1.02863055e-01 2.89029859e-03 9.94691328e-01 1.01119708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.59463044 meters Centerline goodness [0,1] 0.33189831457046304 Centerline is valid? [False, False] Translation: X:16.24, Y:0.72, Z:1.01 [[ 9.94692074e-01 2.33604795e-03 -1.02869920e-01 1.62410292e+01] [-2.62097143e-03 9.99993095e-01 -2.63466407e-03 7.22219542e-01] [ 1.02863055e-01 2.89029859e-03 9.94691328e-01 1.01119708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.62463044000003 meters Centerline goodness [0,1] 0.33102376481253637 Centerline is valid? [False, False] Translation: X:16.24, Y:0.72, Z:1.01 [[ 9.94680214e-01 2.20683371e-03 -1.02987388e-01 1.62414678e+01] [-2.51857723e-03 9.99992632e-01 -2.89706818e-03 7.23466751e-01] [ 1.02980236e-01 3.14103809e-03 9.94678443e-01 1.01102564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.65463044 meters Centerline goodness [0,1] 0.32950601945075186 Centerline is valid? [False, False] Translation: X:16.24, Y:0.72, Z:1.01 [[ 9.94664885e-01 2.10215323e-03 -1.03137519e-01 1.62418871e+01] [-2.43585763e-03 9.99992198e-01 -3.10968525e-03 7.24661850e-01] [ 1.03130177e-01 3.34432303e-03 9.94662245e-01 1.01098787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68463044000003 meters Centerline goodness [0,1] 0.3320652524340706 Centerline is valid? [False, False] Translation: X:16.24, Y:0.73, Z:1.01 [[ 9.94678235e-01 2.18341711e-03 -1.03006994e-01 1.62416258e+01] [-2.51587711e-03 9.99992037e-01 -3.09773601e-03 7.25346164e-01] [ 1.02999411e-01 3.34040352e-03 9.94675808e-01 1.01090154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.71463044 meters Centerline goodness [0,1] 0.3327364128675915 Centerline is valid? [False, False] Translation: X:16.24, Y:0.73, Z:1.01 [[ 9.94696843e-01 2.24530925e-03 -1.02825819e-01 1.62410973e+01] [-2.57250486e-03 9.99992041e-01 -3.04953641e-03 7.25552512e-01] [ 1.02818154e-01 3.29788416e-03 9.94694703e-01 1.01099820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74463044000004 meters Centerline goodness [0,1] 0.3391046468523081 Centerline is valid? [False, False] Translation: X:16.24, Y:0.72, Z:1.01 [[ 9.94739443e-01 2.04980959e-03 -1.02416982e-01 1.62398108e+01] [-2.37378658e-03 9.99992557e-01 -3.04153477e-03 7.24318603e-01] [ 1.02409985e-01 3.26865066e-03 9.94736905e-01 1.01147607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.77463044 meters Centerline goodness [0,1] 0.33777461569971756 Centerline is valid? [False, False] Translation: X:16.26, Y:0.73, Z:1.01 [[ 9.94735805e-01 -5.41539109e-03 -1.02329626e-01 1.62585150e+01] [ 5.22117076e-03 9.99984024e-01 -2.16573717e-03 7.27577508e-01] [ 1.02339719e-01 1.62005585e-03 9.94748188e-01 1.01485626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80463044000004 meters Centerline goodness [0,1] 0.3306321949964628 Centerline is valid? [False, False] Translation: X:16.26, Y:0.73, Z:1.01 [[ 9.94719450e-01 -5.42568523e-03 -1.02487937e-01 1.62588619e+01] [ 5.24104661e-03 9.99984122e-01 -2.07076153e-03 7.26668681e-01] [ 1.02497545e-01 1.52268272e-03 9.94732092e-01 1.01494059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.83463044 meters Centerline goodness [0,1] 0.3356441612125387 Centerline is valid? [False, False] Translation: X:16.26, Y:0.73, Z:1.01 [[ 9.94719788e-01 -5.31451558e-03 -1.02490485e-01 1.62590661e+01] [ 5.14956222e-03 9.99984985e-01 -1.87397243e-03 7.25949862e-01] [ 1.02498905e-01 1.33629633e-03 9.94732220e-01 1.01476246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86463044000004 meters Centerline goodness [0,1] 0.3297627667277141 Centerline is valid? [False, False] Translation: X:16.28, Y:0.72, Z:1.02 [[ 9.94851161e-01 2.66610708e-03 -1.01311698e-01 1.62786806e+01] [-2.98828741e-03 9.99990949e-01 -3.02845830e-03 7.22550285e-01] [ 1.01302707e-01 3.31561373e-03 9.94850123e-01 1.01732790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.89463044 meters Centerline goodness [0,1] 0.33438777706046907 Centerline is valid? [False, False] Translation: X:16.28, Y:0.72, Z:1.02 [[ 9.94853519e-01 2.65568098e-03 -1.01288806e-01 1.62786340e+01] [-2.97758359e-03 9.99990986e-01 -3.02701250e-03 7.22154634e-01] [ 1.01279854e-01 3.31302993e-03 9.94852459e-01 1.01734916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92463044 meters Centerline goodness [0,1] 0.33457025803822316 Centerline is valid? [False, False] Translation: X:16.28, Y:0.72, Z:1.02 [[ 9.94860848e-01 2.62981127e-03 -1.01217473e-01 1.62786216e+01] [-2.95545739e-03 9.99990928e-01 -3.06746873e-03 7.22051991e-01] [ 1.01208488e-01 3.35084847e-03 9.94859595e-01 1.01720102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.95463044 meters Centerline goodness [0,1] 0.3342560999163072 Centerline is valid? [False, False] Translation: X:16.28, Y:0.72, Z:1.02 [[ 9.94847466e-01 2.73385009e-03 -1.01346165e-01 1.62789795e+01] [-3.05748627e-03 9.99990711e-01 -3.03817879e-03 7.22371864e-01] [ 1.01336918e-01 3.33238898e-03 9.94846583e-01 1.01716813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98463044 meters Centerline goodness [0,1] 0.33374180371923035 Centerline is valid? [False, False] Translation: X:16.28, Y:0.72, Z:1.02 [[ 9.94841811e-01 2.91269976e-03 -1.01396687e-01 1.62792690e+01] [-3.22594962e-03 9.99990517e-01 -2.92551390e-03 7.22621050e-01] [ 1.01387205e-01 3.23752414e-03 9.94841773e-01 1.01698365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.01463044 meters Centerline goodness [0,1] 0.3357357357357358 Centerline is valid? [False, False] Translation: X:16.28, Y:0.72, Z:1.02 [[ 9.94844646e-01 3.04899080e-03 -1.01364857e-01 1.62793866e+01] [-3.35473267e-03 9.99990323e-01 -2.84592262e-03 7.22899625e-01] [ 1.01355199e-01 3.17130288e-03 9.94845248e-01 1.01674196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04463044 meters Centerline goodness [0,1] 0.33529600685151484 Centerline is valid? [False, False] Translation: X:16.28, Y:0.72, Z:1.02 [[ 9.94868207e-01 3.07984698e-03 -1.01132413e-01 1.62788015e+01] [-3.39397559e-03 9.99989936e-01 -2.93419697e-03 7.23222767e-01] [ 1.01122359e-01 3.26238023e-03 9.94868647e-01 1.01682996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.07463044 meters Centerline goodness [0,1] 0.33706194232510023 Centerline is valid? [False, False] Translation: X:16.28, Y:0.72, Z:1.02 [[ 9.94865333e-01 3.05432498e-03 -1.01161453e-01 1.62788681e+01] [-3.38361113e-03 9.99989521e-01 -3.08362956e-03 7.24048758e-01] [ 1.01150975e-01 3.41008717e-03 9.94865243e-01 1.01684440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10463044 meters Centerline goodness [0,1] 0.33604791451223714 Centerline is valid? [False, False] Translation: X:16.28, Y:0.73, Z:1.02 [[ 9.94880360e-01 3.16267084e-03 -1.01010233e-01 1.62787382e+01] [-3.50444028e-03 9.99988719e-01 -3.20624588e-03 7.25572114e-01] [ 1.00998953e-01 3.54381539e-03 9.94880220e-01 1.01650609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.13463044 meters Centerline goodness [0,1] 0.33527878879245365 Centerline is valid? [False, False] Translation: X:16.28, Y:0.73, Z:1.02 [[ 9.94903116e-01 4.05534042e-03 -1.00753875e-01 1.62783760e+01] [-4.36895376e-03 9.99986274e-01 -2.89220593e-03 7.30146197e-01] [ 1.00740763e-01 3.31765371e-03 9.94907178e-01 1.01615868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16463044 meters Centerline goodness [0,1] 0.33531750295476526 Centerline is valid? [False, False] Translation: X:16.28, Y:0.73, Z:1.02 [[ 9.94909002e-01 3.98869087e-03 -1.00698403e-01 1.62782215e+01] [-4.33263875e-03 9.99985503e-01 -3.19715342e-03 7.32184887e-01] [ 1.00684191e-01 3.61716653e-03 9.94911860e-01 1.01615567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.19463044 meters Centerline goodness [0,1] 0.3354736186569889 Centerline is valid? [False, False] Translation: X:16.28, Y:0.73, Z:1.02 [[ 9.94902146e-01 3.80991621e-03 -1.00773035e-01 1.62783775e+01] [-4.19126813e-03 9.99984834e-01 -3.57281316e-03 7.33946619e-01] [ 1.00757895e-01 3.97696629e-03 9.94903026e-01 1.01615867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22463044 meters Centerline goodness [0,1] 0.33448899608079585 Centerline is valid? [False, False] Translation: X:16.28, Y:0.73, Z:1.02 [[ 9.94881102e-01 3.60025804e-03 -1.00988275e-01 1.62788266e+01] [-4.01286466e-03 9.99984410e-01 -3.88283989e-03 7.34942768e-01] [ 1.00972721e-01 4.26821630e-03 9.94880039e-01 1.01622538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.25463044 meters Centerline goodness [0,1] 0.3356180571968802 Centerline is valid? [False, False] Translation: X:16.28, Y:0.74, Z:1.02 [[ 9.94847890e-01 3.43840497e-03 -1.01320543e-01 1.62797324e+01] [-3.87438891e-03 9.99984063e-01 -4.10654593e-03 7.35818772e-01] [ 1.01304808e-01 4.47794375e-03 9.94845357e-01 1.01610238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28463044 meters Centerline goodness [0,1] 0.33287568379277055 Centerline is valid? [False, False] Translation: X:16.28, Y:0.74, Z:1.02 [[ 9.94824038e-01 3.28278761e-03 -1.01559617e-01 1.62807769e+01] [-3.73109358e-03 9.99984116e-01 -4.22457397e-03 7.36556636e-01] [ 1.01544136e-01 4.58163618e-03 9.94820485e-01 1.01567452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.31463044000003 meters Centerline goodness [0,1] 0.33283963337411726 Centerline is valid? [False, False] Translation: X:16.28, Y:0.74, Z:1.02 [[ 9.94833813e-01 3.13808281e-03 -1.01468406e-01 1.62806878e+01] [-3.59518363e-03 9.99984196e-01 -4.32230124e-03 7.36545882e-01] [ 1.01453238e-01 4.66476898e-03 9.94829372e-01 1.01557666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34463044 meters Centerline goodness [0,1] 0.33598839851951257 Centerline is valid? [False, False] Translation: X:16.28, Y:0.74, Z:1.02 [[ 9.94847463e-01 3.02995345e-03 -1.01337777e-01 1.62804612e+01] [-3.48928272e-03 9.99984426e-01 -4.35570827e-03 7.36218102e-01] [ 1.01323001e-01 4.68686148e-03 9.94842542e-01 1.01549750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.37463044000003 meters Centerline goodness [0,1] 0.33317571198280493 Centerline is valid? [False, False] Translation: X:16.30, Y:0.74, Z:1.02 [[ 9.94805613e-01 -4.18792667e-03 -1.01706704e-01 1.62989875e+01] [ 3.86401922e-03 9.99986817e-01 -3.38152198e-03 7.41147806e-01] [ 1.01719525e-01 2.97096039e-03 9.94808681e-01 1.01911191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40463044 meters Centerline goodness [0,1] 0.33343336048355987 Centerline is valid? [False, False] Translation: X:16.30, Y:0.74, Z:1.02 [[ 9.94779850e-01 -4.16855052e-03 -1.01959174e-01 1.62995183e+01] [ 3.85160175e-03 9.99987120e-01 -3.30525450e-03 7.40932261e-01] [ 1.01971639e-01 2.89529444e-03 9.94783093e-01 1.01926241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.43463044000003 meters Centerline goodness [0,1] 0.3307150653853562 Centerline is valid? [False, False] Translation: X:16.30, Y:0.74, Z:1.02 [[ 9.94726718e-01 -4.20100443e-03 -1.02474918e-01 1.63013827e+01] [ 3.89363461e-03 9.99987302e-01 -3.19930680e-03 7.40508668e-01] [ 1.02487058e-01 2.78343606e-03 9.94730444e-01 1.01861522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46463044 meters Centerline goodness [0,1] 0.33262255535452745 Centerline is valid? [False, False] Translation: X:16.30, Y:0.74, Z:1.02 [[ 9.94717617e-01 -4.25945655e-03 -1.02560805e-01 1.63017473e+01] [ 3.95664718e-03 9.99987193e-01 -3.15574107e-03 7.39867035e-01] [ 1.02572933e-01 2.73327432e-03 9.94721731e-01 1.01849465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.49463044000004 meters Centerline goodness [0,1] 0.3352142290115643 Centerline is valid? [False, False] Translation: X:16.30, Y:0.74, Z:1.02 [[ 9.94730724e-01 -4.30874297e-03 -1.02431549e-01 1.63012934e+01] [ 4.02280686e-03 9.99987415e-01 -2.99789634e-03 7.38299411e-01] [ 1.02443177e-01 2.57003725e-03 9.94735538e-01 1.01870765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52463044 meters Centerline goodness [0,1] 0.3338278931750742 Centerline is valid? [False, False] Translation: X:16.30, Y:0.74, Z:1.02 [[ 9.94753999e-01 -4.43672888e-03 -1.02199789e-01 1.63004110e+01] [ 4.16450284e-03 9.99987190e-01 -2.87687669e-03 7.36585833e-01] [ 1.02211244e-01 2.43617328e-03 9.94759733e-01 1.01915709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.55463044000004 meters Centerline goodness [0,1] 0.335508323104421 Centerline is valid? [False, False] Translation: X:16.30, Y:0.73, Z:1.02 [[ 9.94800578e-01 -4.69208927e-03 -1.01733938e-01 1.62989208e+01] [ 4.45683092e-03 9.99986843e-01 -2.53965950e-03 7.32720609e-01] [ 1.01744516e-01 2.07304378e-03 9.94808402e-01 1.01981372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58463044 meters Centerline goodness [0,1] 0.33318400000000004 Centerline is valid? [False, False] Translation: X:16.32, Y:0.73, Z:1.02 [[ 9.94905212e-01 9.55581546e-04 -1.00810250e-01 1.63200930e+01] [-1.49734032e-03 9.99984842e-01 -5.29851509e-03 7.29922592e-01] [ 1.00803659e-01 5.42246753e-03 9.94891562e-01 1.02197895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61463044000004 meters Centerline goodness [0,1] 0.3363167770181379 Centerline is valid? [False, False] Translation: X:16.32, Y:0.73, Z:1.02 [[ 9.94908327e-01 9.67946850e-04 -1.00779378e-01 1.63199865e+01] [-1.47877240e-03 9.99986436e-01 -4.99416913e-03 7.27656626e-01] [ 1.00773177e-01 5.11777022e-03 9.94896264e-01 1.02207449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64463044 meters Centerline goodness [0,1] 0.3383282806409701 Centerline is valid? [False, False] Translation: X:16.32, Y:0.73, Z:1.02 [[ 9.94906568e-01 1.00049574e-03 -1.00796427e-01 1.63199608e+01] [-1.47858325e-03 9.99988009e-01 -4.66850316e-03 7.25329779e-01] [ 1.00790548e-01 4.79376036e-03 9.94896118e-01 1.02221097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.67463044 meters Centerline goodness [0,1] 0.3405900086132644 Centerline is valid? [False, False] Translation: X:16.32, Y:0.72, Z:1.02 [[ 9.94896773e-01 9.34457619e-04 -1.00893697e-01 1.63201601e+01] [-1.39256084e-03 9.99989039e-01 -4.47011975e-03 7.23117690e-01] [ 1.00888414e-01 4.58780833e-03 9.94887169e-01 1.02230280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70463044 meters Centerline goodness [0,1] 0.33702144115498645 Centerline is valid? [False, False] Translation: X:16.32, Y:0.72, Z:1.02 [[ 9.94884677e-01 9.13463070e-04 -1.01013093e-01 1.63203930e+01] [-1.34820874e-03 9.99990121e-01 -4.23567050e-03 7.20934307e-01] [ 1.01008226e-01 4.35019041e-03 9.94876080e-01 1.02240917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.73463044 meters Centerline goodness [0,1] 0.33832657987757564 Centerline is valid? [False, False] Translation: X:16.32, Y:0.72, Z:1.02 [[ 9.94837217e-01 5.98296566e-04 -1.01481790e-01 1.63216332e+01] [-1.01132366e-03 9.99991414e-01 -4.01856323e-03 7.15541016e-01] [ 1.01478514e-01 4.10044720e-03 9.94829281e-01 1.02232040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76463044 meters Centerline goodness [0,1] 0.33669801777758646 Centerline is valid? [False, False] Translation: X:16.32, Y:0.71, Z:1.02 [[ 9.94824333e-01 5.97568006e-04 -1.01608021e-01 1.63220764e+01] [-9.83441681e-04 9.99992494e-01 -3.74761944e-03 7.13387369e-01] [ 1.01605019e-01 3.82814857e-03 9.94817453e-01 1.02220657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.79463044 meters Centerline goodness [0,1] 0.33786107290233836 Centerline is valid? [False, False] Translation: X:16.32, Y:0.71, Z:1.02 [[ 9.94822140e-01 4.60259884e-04 -1.01630201e-01 1.63222490e+01] [-8.06875592e-04 9.99993998e-01 -3.36947659e-03 7.09073820e-01] [ 1.01628040e-01 3.43403284e-03 9.94816540e-01 1.02214229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82463044 meters Centerline goodness [0,1] 0.33641929222039724 Centerline is valid? [False, False] Translation: X:16.32, Y:0.71, Z:1.02 [[ 9.94829655e-01 4.69734730e-04 -1.01556568e-01 1.63220287e+01] [-7.95578992e-04 9.99994665e-01 -3.16802110e-03 7.07316273e-01] [ 1.01554538e-01 3.23243761e-03 9.94824722e-01 1.02223968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.85463044 meters Centerline goodness [0,1] 0.3377879788922734 Centerline is valid? [False, False] Translation: X:16.32, Y:0.71, Z:1.02 [[ 9.94847064e-01 4.09185774e-04 -1.01386148e-01 1.63215487e+01] [-7.26234565e-04 9.99994961e-01 -3.09025067e-03 7.06241089e-01] [ 1.01384373e-01 3.14795694e-03 9.94842349e-01 1.02236703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88463044 meters Centerline goodness [0,1] 0.3398081123913137 Centerline is valid? [False, False] Translation: X:16.32, Y:0.71, Z:1.02 [[ 9.94845813e-01 3.53992983e-04 -1.01398639e-01 1.63216992e+01] [-6.61099195e-04 9.99995296e-01 -2.99511367e-03 7.05044826e-01] [ 1.01397101e-01 3.04671085e-03 9.94841367e-01 1.02222489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.91463044 meters Centerline goodness [0,1] 0.3393545331237755 Centerline is valid? [False, False] Translation: X:16.32, Y:0.70, Z:1.02 [[ 9.94833958e-01 4.04679835e-04 -1.01514685e-01 1.63221596e+01] [-6.90774606e-04 9.99995889e-01 -2.78312308e-03 7.03685081e-01] [ 1.01513142e-01 2.83886912e-03 9.94830148e-01 1.02204102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.94463044 meters Centerline goodness [0,1] 0.34067924528301885 Centerline is valid? [False, False] Translation: X:16.32, Y:0.70, Z:1.02 [[ 9.94813546e-01 4.58786768e-04 -1.01714295e-01 1.63231881e+01] [-6.95533838e-04 9.99997131e-01 -2.29211667e-03 7.00036076e-01] [ 1.01712952e-01 2.35097444e-03 9.94811011e-01 1.02142571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.97463044 meters Centerline goodness [0,1] 0.3393909415458729 Centerline is valid? [False, False] Translation: X:16.32, Y:0.70, Z:1.02 [[ 9.94799733e-01 4.27279277e-04 -1.01849442e-01 1.63236793e+01] [-6.36025684e-04 9.99997763e-01 -2.01709360e-03 6.97409599e-01] [ 1.01848353e-01 2.07138304e-03 9.94797780e-01 1.02127866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.00463044 meters Centerline goodness [0,1] 0.3367604267701261 Centerline is valid? [False, False] Translation: X:16.32, Y:0.69, Z:1.02 [[ 9.94779734e-01 3.55871717e-04 -1.02044868e-01 1.63243483e+01] [-5.39731840e-04 9.99998281e-01 -1.77415282e-03 6.94748845e-01] [ 1.02044061e-01 1.81996813e-03 9.94778215e-01 1.02106721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.03463044 meters Centerline goodness [0,1] 0.33840435646987643 Centerline is valid? [False, False] Translation: X:16.32, Y:0.69, Z:1.02 [[ 9.94762409e-01 3.46152840e-04 -1.02213650e-01 1.63249072e+01] [-4.96447677e-04 9.99998833e-01 -1.44496407e-03 6.91957920e-01] [ 1.02213030e-01 1.48813967e-03 9.94761420e-01 1.02089705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.06463044000003 meters Centerline goodness [0,1] 0.3359277574715115 Centerline is valid? [False, False] Translation: X:16.33, Y:0.69, Z:1.02 [[ 9.94733574e-01 4.60331095e-04 -1.02493433e-01 1.63258150e+01] [-5.63595429e-04 9.99999362e-01 -9.78565080e-04 6.88922544e-01] [ 1.02492917e-01 1.03117637e-03 9.94733200e-01 1.02068407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.09463044 meters Centerline goodness [0,1] 0.3324596172697438 Centerline is valid? [False, False] Translation: X:16.33, Y:0.68, Z:1.02 [[ 9.94670810e-01 -1.08959475e-03 -1.03096039e-01 1.63289614e+01] [ 9.26784363e-04 9.99998247e-01 -1.62709920e-03 6.81332291e-01] [ 1.03097631e-01 1.52288029e-03 9.94670076e-01 1.01922204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.12463044000003 meters Centerline goodness [0,1] 0.33805933277480615 Centerline is valid? [False, False] Translation: X:16.33, Y:0.68, Z:1.02 [[ 9.94661696e-01 -9.27979650e-04 -1.03185508e-01 1.63291964e+01] [ 8.21542212e-04 9.99999086e-01 -1.07400965e-03 6.77558690e-01] [ 1.03186410e-01 9.83505014e-04 9.94661549e-01 1.01923847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.15463044 meters Centerline goodness [0,1] 0.33502341769432387 Centerline is valid? [False, False] Translation: X:16.33, Y:0.67, Z:1.02 [[ 9.94666288e-01 -7.06229933e-04 -1.03142991e-01 1.63291357e+01] [ 6.57351069e-04 9.99999655e-01 -5.07884646e-04 6.74118604e-01] [ 1.03143314e-01 4.37374580e-04 9.94666409e-01 1.01924615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.18463044000003 meters Centerline goodness [0,1] 0.340632078524431 Centerline is valid? [False, False] Translation: X:16.33, Y:0.67, Z:1.02 [[ 9.94665983e-01 -4.19330203e-04 -1.03147496e-01 1.63290767e+01] [ 4.27285732e-04 9.99999907e-01 5.50320515e-05 6.71313066e-01] [ 1.03147463e-01 -9.88119630e-05 9.94666070e-01 1.01935517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.21463044 meters Centerline goodness [0,1] 0.33644899884234447 Centerline is valid? [False, False] Translation: X:16.35, Y:0.66, Z:1.02 [[ 9.94590351e-01 7.91810806e-03 -1.03572864e-01 1.63485069e+01] [-8.06452041e-03 9.99966986e-01 -9.94927817e-04 6.64206063e-01] [ 1.03561567e-01 1.82481108e-03 9.94621371e-01 1.02292681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24463044000004 meters Centerline goodness [0,1] 0.33790110524403016 Centerline is valid? [False, False] Translation: X:16.35, Y:0.66, Z:1.02 [[ 9.94568910e-01 8.01071269e-03 -1.03771444e-01 1.63491590e+01] [-8.14991793e-03 9.99966368e-01 -9.17513643e-04 6.63866339e-01] [ 1.03760604e-01 1.75825930e-03 9.94600747e-01 1.02275651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.27463044 meters Centerline goodness [0,1] 0.3401030549985986 Centerline is valid? [False, False] Translation: X:16.35, Y:0.66, Z:1.02 [[ 9.94568229e-01 8.15484676e-03 -1.03766738e-01 1.63492957e+01] [-8.29040256e-03 9.99965251e-01 -8.75112850e-04 6.64202524e-01] [ 1.03755996e-01 1.73062747e-03 9.94601276e-01 1.02262801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30463044000004 meters Centerline goodness [0,1] 0.33782732693803474 Centerline is valid? [False, False] Translation: X:16.35, Y:0.66, Z:1.02 [[ 9.94585714e-01 8.26922718e-03 -1.03589952e-01 1.63492477e+01] [-8.40398055e-03 9.99964312e-01 -8.64436448e-04 6.64682634e-01] [ 1.03579107e-01 1.73032408e-03 9.94619714e-01 1.02219823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.33463044 meters Centerline goodness [0,1] 0.3382489274087489 Centerline is valid? [False, False] Translation: X:16.35, Y:0.67, Z:1.02 [[ 9.94592621e-01 8.33806598e-03 -1.03518090e-01 1.63493624e+01] [-8.47909610e-03 9.99963626e-01 -9.22386814e-04 6.65532243e-01] [ 1.03506634e-01 1.79513895e-03 9.94627143e-01 1.02189117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36463044000004 meters Centerline goodness [0,1] 0.33955119516340715 Centerline is valid? [False, False] Translation: X:16.35, Y:0.67, Z:1.02 [[ 9.94629155e-01 8.35251224e-03 -1.03165304e-01 1.63487636e+01] [-8.50989678e-03 9.99963201e-01 -1.08550610e-03 6.66837503e-01] [ 1.03152441e-01 1.95760210e-03 9.94663632e-01 1.02157936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.39463044 meters Centerline goodness [0,1] 0.3391377524598653 Centerline is valid? [False, False] Translation: X:16.35, Y:0.67, Z:1.02 [[ 9.94634245e-01 8.27272241e-03 -1.03122646e-01 1.63487453e+01] [-8.43905042e-03 9.99963698e-01 -1.17671969e-03 6.67009534e-01] [ 1.03109168e-01 2.04066291e-03 9.94667952e-01 1.02147179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42463044 meters Centerline goodness [0,1] 0.33937053987809906 Centerline is valid? [False, False] Translation: X:16.35, Y:0.67, Z:1.02 [[ 9.94632669e-01 8.14844172e-03 -1.03147740e-01 1.63488803e+01] [-8.32881191e-03 9.99964446e-01 -1.31807449e-03 6.67311088e-01] [ 1.03133333e-01 2.17009807e-03 9.94665173e-01 1.02141346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.45463044 meters Centerline goodness [0,1] 0.3395792100507702 Centerline is valid? [False, False] Translation: X:16.37, Y:0.67, Z:1.02 [[ 9.94601226e-01 1.08603871e-03 -1.03765228e-01 1.63679804e+01] [-1.14857679e-03 9.99999193e-01 -5.42937723e-04 6.72091787e-01] [ 1.03764555e-01 6.59188858e-04 9.94601670e-01 1.02499612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48463044 meters Centerline goodness [0,1] 0.3395792100507702 Centerline is valid? [False, False] Translation: X:16.37, Y:0.67, Z:1.02 [[ 9.94601226e-01 1.08603871e-03 -1.03765228e-01 1.63679804e+01] [-1.14857679e-03 9.99999193e-01 -5.42937723e-04 6.72091787e-01] [ 1.03764555e-01 6.59188858e-04 9.94601670e-01 1.02499612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.51463044 meters Centerline goodness [0,1] 0.337738301559792 Centerline is valid? [False, False] Translation: X:16.37, Y:0.67, Z:1.02 [[ 9.94584452e-01 9.32165415e-04 -1.03927372e-01 1.63685555e+01] [-1.01183090e-03 9.99999233e-01 -7.13830966e-04 6.72768028e-01] [ 1.03926627e-01 8.15122106e-04 9.94584633e-01 1.02478053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54463044 meters Centerline goodness [0,1] 0.33708859393546997 Centerline is valid? [False, False] Translation: X:16.37, Y:0.67, Z:1.02 [[ 9.94575653e-01 8.60974784e-04 -1.04012162e-01 1.63689286e+01] [-9.45266376e-04 9.99999264e-01 -7.61110729e-04 6.72929590e-01] [ 1.04011430e-01 8.55301399e-04 9.94575734e-01 1.02457095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.57463044 meters Centerline goodness [0,1] 0.33381942955179067 Centerline is valid? [False, False] Translation: X:16.37, Y:0.67, Z:1.02 [[ 9.94561190e-01 7.61438736e-04 -1.04151139e-01 1.63693234e+01] [-8.52298448e-04 9.99999294e-01 -8.27881109e-04 6.73014104e-01] [ 1.04150435e-01 9.12146275e-04 9.94561137e-01 1.02459000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60463044 meters Centerline goodness [0,1] 0.3336689661082308 Centerline is valid? [False, False] Translation: X:16.37, Y:0.67, Z:1.02 [[ 9.94579563e-01 5.58548388e-04 -1.03976828e-01 1.63689685e+01] [-6.62999687e-04 9.99999310e-01 -9.70003977e-04 6.72815949e-01] [ 1.03976214e-01 1.03368274e-03 9.94579247e-01 1.02455472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.63463044 meters Centerline goodness [0,1] 0.33529916362856527 Centerline is valid? [False, False] Translation: X:16.37, Y:0.67, Z:1.02 [[ 9.94597676e-01 5.35828153e-04 -1.03803547e-01 1.63685170e+01] [-6.48262954e-04 9.99999239e-01 -1.04941581e-03 6.73334881e-01] [ 1.03802905e-01 1.11103852e-03 9.94597266e-01 1.02460161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66463044 meters Centerline goodness [0,1] 0.33520587159122706 Centerline is valid? [False, False] Translation: X:16.37, Y:0.67, Z:1.02 [[ 9.94626890e-01 5.57015217e-04 -1.03523136e-01 1.63680317e+01] [-6.79653344e-04 9.99999109e-01 -1.14937371e-03 6.74293476e-01] [ 1.03522404e-01 1.21355785e-03 9.94626382e-01 1.02439556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.69463044 meters Centerline goodness [0,1] 0.33866782006920415 Centerline is valid? [False, False] Translation: X:16.37, Y:0.68, Z:1.02 [[ 9.94650473e-01 6.19737987e-04 -1.03295949e-01 1.63676237e+01] [-7.50485168e-04 9.99998966e-01 -1.22689304e-03 6.75408850e-01] [ 1.03295082e-01 1.29785182e-03 9.94649909e-01 1.02425241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72463044 meters Centerline goodness [0,1] 0.3363024161449256 Centerline is valid? [False, False] Translation: X:16.37, Y:0.68, Z:1.02 [[ 9.94651266e-01 6.76151761e-04 -1.03287956e-01 1.63677848e+01] [-8.18159242e-04 9.99998778e-01 -1.33250958e-03 6.76795690e-01] [ 1.03286929e-01 1.40988833e-03 9.94650603e-01 1.02411368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.75463044 meters Centerline goodness [0,1] 0.33551273227804546 Centerline is valid? [False, False] Translation: X:16.37, Y:0.68, Z:1.02 [[ 9.94632754e-01 1.06715130e-03 -1.03462772e-01 1.63691446e+01] [-1.22009717e-03 9.99998255e-01 -1.41499373e-03 6.79869709e-01] [ 1.03461082e-01 1.53363374e-03 9.94632320e-01 1.02303049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78463044 meters Centerline goodness [0,1] 0.3325203427510738 Centerline is valid? [False, False] Translation: X:16.37, Y:0.68, Z:1.02 [[ 9.94626839e-01 1.14999538e-03 -1.03518739e-01 1.63697037e+01] [-1.32189582e-03 9.99997859e-01 -1.59198369e-03 6.81689043e-01] [ 1.03516687e-01 1.72027069e-03 9.94626229e-01 1.02253895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.81463044000003 meters Centerline goodness [0,1] 0.3305086563834123 Centerline is valid? [False, False] Translation: X:16.37, Y:0.68, Z:1.02 [[ 9.94638435e-01 1.20739153e-03 -1.03406607e-01 1.63696304e+01] [-1.39657715e-03 9.99997481e-01 -1.75714906e-03 6.83360884e-01] [ 1.03404225e-01 1.89214330e-03 9.94637615e-01 1.02235785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84463044 meters Centerline goodness [0,1] 0.33314751286449396 Centerline is valid? [False, False] Translation: X:16.37, Y:0.68, Z:1.02 [[ 9.94670719e-01 1.26270865e-03 -1.03094939e-01 1.63687737e+01] [-1.46163370e-03 9.99997213e-01 -1.85401062e-03 6.84394723e-01] [ 1.03092311e-01 1.99481711e-03 9.94669793e-01 1.02243031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.87463044000003 meters Centerline goodness [0,1] 0.3332972246896462 Centerline is valid? [False, False] Translation: X:16.37, Y:0.68, Z:1.02 [[ 9.94696055e-01 1.31539942e-03 -1.02849541e-01 1.63679755e+01] [-1.51002785e-03 9.99997214e-01 -1.81452432e-03 6.84310987e-01] [ 1.02846868e-01 1.96020585e-03 9.94695270e-01 1.02267346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90463044 meters Centerline goodness [0,1] 0.3330968657293951 Centerline is valid? [False, False] Translation: X:16.37, Y:0.68, Z:1.02 [[ 9.94709901e-01 1.37045458e-03 -1.02714827e-01 1.63680105e+01] [-1.52879197e-03 9.99997761e-01 -1.46281702e-03 6.82075460e-01] [ 1.02712592e-01 1.61210817e-03 9.94709769e-01 1.02228173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.93463044000003 meters Centerline goodness [0,1] 0.3306613226452906 Centerline is valid? [False, False] Translation: X:16.37, Y:0.68, Z:1.02 [[ 9.94696672e-01 1.36771575e-03 -1.02842888e-01 1.63687901e+01] [-1.50113856e-03 9.99998129e-01 -1.21996131e-03 6.80368102e-01] [ 1.02841027e-01 1.36787288e-03 9.94696864e-01 1.02182718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96463044 meters Centerline goodness [0,1] 0.3325980339665474 Centerline is valid? [False, False] Translation: X:16.37, Y:0.68, Z:1.02 [[ 9.94700773e-01 1.39475139e-03 -1.02802859e-01 1.63690753e+01] [-1.49992873e-03 9.99998428e-01 -9.45801259e-04 6.78172456e-01] [ 1.02801378e-01 1.09498620e-03 9.94701301e-01 1.02141268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.99463044000004 meters Centerline goodness [0,1] 0.3316908046962036 Centerline is valid? [False, False] Translation: X:16.37, Y:0.68, Z:1.02 [[ 9.94698649e-01 1.27532188e-03 -1.02824954e-01 1.63695166e+01] [-1.35743813e-03 9.99998813e-01 -7.28631628e-04 6.75065542e-01] [ 1.02823903e-01 8.64347409e-04 9.94699200e-01 1.02104626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02463044 meters Centerline goodness [0,1] 0.33040296212892195 Centerline is valid? [False, False] Translation: X:16.37, Y:0.67, Z:1.02 [[ 9.94696559e-01 1.33568060e-03 -1.02844402e-01 1.63699912e+01] [-1.40626759e-03 9.99998823e-01 -6.13844862e-04 6.74427763e-01] [ 1.02843461e-01 7.55216122e-04 9.94697267e-01 1.02054608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.05463044000004 meters Centerline goodness [0,1] 0.3294873167076956 Centerline is valid? [False, False] Translation: X:16.37, Y:0.67, Z:1.02 [[ 9.94683853e-01 1.41486536e-03 -1.02966163e-01 1.63709007e+01] [-1.47693704e-03 9.99998771e-01 -5.26598344e-04 6.74130532e-01] [ 1.02965292e-01 6.75873410e-04 9.94684720e-01 1.01991264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08463044 meters Centerline goodness [0,1] 0.33189415637156416 Centerline is valid? [False, False] Translation: X:16.37, Y:0.67, Z:1.02 [[ 9.94671296e-01 1.45819580e-03 -1.03086790e-01 1.63715087e+01] [-1.51887424e-03 9.99998716e-01 -5.10120370e-04 6.74116722e-01] [ 1.03085914e-01 6.63977960e-04 9.94672234e-01 1.01955191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.11463044000004 meters Centerline goodness [0,1] 0.32891303879077993 Centerline is valid? [False, False] Translation: X:16.37, Y:0.67, Z:1.02 [[ 9.94634743e-01 1.60716496e-03 -1.03436673e-01 1.63730410e+01] [-1.66080644e-03 9.99998527e-01 -4.32469361e-04 6.74022172e-01] [ 1.03435826e-01 6.01937344e-04 9.94635947e-01 1.01879360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14463044 meters Centerline goodness [0,1] 0.329428263214671 Centerline is valid? [False, False] Translation: X:16.37, Y:0.67, Z:1.02 [[ 9.94612387e-01 1.72781693e-03 -1.03649475e-01 1.63739230e+01] [-1.77747536e-03 9.99998346e-01 -3.86735570e-04 6.74297857e-01] [ 1.03648635e-01 5.68886376e-04 9.94613813e-01 1.01837710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.17463044 meters Centerline goodness [0,1] 0.3295734474264229 Centerline is valid? [False, False] Translation: X:16.37, Y:0.67, Z:1.02 [[ 9.94616836e-01 1.75917386e-03 -1.03606252e-01 1.63742401e+01] [-1.81650646e-03 9.99998245e-01 -4.59017961e-04 6.74851015e-01] [ 1.03605263e-01 6.44748418e-04 9.94618285e-01 1.01790196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20463044 meters Centerline goodness [0,1] 0.32889032675509544 Centerline is valid? [False, False] Translation: X:16.37, Y:0.68, Z:1.02 [[ 9.94616857e-01 1.71580050e-03 -1.03606776e-01 1.63745392e+01] [-1.79021684e-03 9.99998202e-01 -6.25272183e-04 6.75600231e-01] [ 1.03605517e-01 8.07384849e-04 9.94618140e-01 1.01754010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.23463044 meters Centerline goodness [0,1] 0.3269792830740136 Centerline is valid? [False, False] Translation: X:16.37, Y:0.68, Z:1.02 [[ 9.94623747e-01 1.68791941e-03 -1.03541072e-01 1.63746976e+01] [-1.77999259e-03 9.99998098e-01 -7.96850011e-04 6.76622458e-01] [ 1.03539531e-01 9.76868285e-04 9.94624860e-01 1.01719445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26463044 meters Centerline goodness [0,1] 0.33006839118897113 Centerline is valid? [False, False] Translation: X:16.37, Y:0.68, Z:1.02 [[ 9.94696279e-01 2.14393286e-03 -1.02833438e-01 1.63733901e+01] [-2.23634906e-03 9.99997192e-01 -7.83414923e-04 6.79004176e-01] [ 1.02831470e-01 1.00923137e-03 9.94698281e-01 1.01663556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.29463044 meters Centerline goodness [0,1] 0.32897256589564283 Centerline is valid? [False, False] Translation: X:16.37, Y:0.68, Z:1.02 [[ 9.94723647e-01 2.19014608e-03 -1.02567387e-01 1.63729466e+01] [-2.30196749e-03 9.99996878e-01 -9.71870894e-04 6.80759813e-01] [ 1.02564938e-01 1.20284975e-03 9.94725584e-01 1.01635162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32463044 meters Centerline goodness [0,1] 0.32673246130461775 Centerline is valid? [False, False] Translation: X:16.37, Y:0.68, Z:1.02 [[ 9.94731856e-01 2.16642700e-03 -1.02488249e-01 1.63729976e+01] [-2.30153967e-03 9.99996631e-01 -1.20009001e-03 6.82430736e-01] [ 1.02485304e-01 1.42964853e-03 9.94733491e-01 1.01605180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.35463044 meters Centerline goodness [0,1] 0.3300551172592673 Centerline is valid? [False, False] Translation: X:16.37, Y:0.68, Z:1.02 [[ 9.94736914e-01 2.11400661e-03 -1.02440240e-01 1.63731197e+01] [-2.26664893e-03 9.99996488e-01 -1.37368073e-03 6.83486407e-01] [ 1.02436976e-01 1.59864699e-03 9.94738212e-01 1.01576006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38463044 meters Centerline goodness [0,1] 0.3256760810868726 Centerline is valid? [False, False] Translation: X:16.37, Y:0.68, Z:1.01 [[ 9.94726772e-01 2.08051520e-03 -1.02539364e-01 1.63740678e+01] [-2.24206771e-03 9.99996420e-01 -1.46028819e-03 6.84085571e-01] [ 1.02535959e-01 1.68248795e-03 9.94727876e-01 1.01494090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.41463044 meters Centerline goodness [0,1] 0.32910737386804656 Centerline is valid? [False, False] Translation: X:16.37, Y:0.68, Z:1.01 [[ 9.94729037e-01 1.99652697e-03 -1.02519057e-01 1.63741705e+01] [-2.16603510e-03 9.99996465e-01 -1.54213371e-03 6.84053406e-01] [ 1.02515616e-01 1.75606506e-03 9.94729845e-01 1.01482076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.44463044 meters Centerline goodness [0,1] 0.32400743224483697 Centerline is valid? [False, False] Translation: X:16.37, Y:0.68, Z:1.01 [[ 9.94738148e-01 1.86913232e-03 -1.02433022e-01 1.63740590e+01] [-2.05170163e-03 9.99996489e-01 -1.67699943e-03 6.84454870e-01] [ 1.02429528e-01 1.87833731e-03 9.94738490e-01 1.01471327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.47463044 meters Centerline goodness [0,1] 0.32911912171507607 Centerline is valid? [False, False] Translation: X:16.37, Y:0.69, Z:1.01 [[ 9.94769512e-01 2.01931578e-03 -1.02125119e-01 1.63739528e+01] [-2.19997114e-03 9.99996208e-01 -1.65636127e-03 6.85778818e-01] [ 1.02121387e-01 1.87237001e-03 9.94770183e-01 1.01393936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.50463044 meters Centerline goodness [0,1] 0.32822922983626446 Centerline is valid? [False, False] Translation: X:16.37, Y:0.69, Z:1.01 [[ 9.94801332e-01 2.07125326e-03 -1.01813656e-01 1.63737267e+01] [-2.25513932e-03 9.99996027e-01 -1.69103608e-03 6.86648109e-01] [ 1.01809749e-01 1.91184892e-03 9.94802051e-01 1.01332194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.53463044 meters Centerline goodness [0,1] 0.3267548584478821 Centerline is valid? [False, False] Translation: X:16.37, Y:0.69, Z:1.01 [[ 9.94827696e-01 2.11838899e-03 -1.01554750e-01 1.63735538e+01] [-2.30472855e-03 9.99995869e-01 -1.71757160e-03 6.87499095e-01] [ 1.01550692e-01 1.94274393e-03 9.94828469e-01 1.01283962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.56463044000003 meters Centerline goodness [0,1] 0.3232394819921397 Centerline is valid? [False, False] Translation: X:16.37, Y:0.69, Z:1.01 [[ 9.94841974e-01 2.04298028e-03 -1.01416335e-01 1.63736518e+01] [-2.24735727e-03 9.99995668e-01 -1.90101436e-03 6.88449314e-01] [ 1.01412012e-01 2.11912762e-03 9.94842255e-01 1.01233833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.59463044 meters Centerline goodness [0,1] 0.32594596916204954 Centerline is valid? [False, False] Translation: X:16.37, Y:0.69, Z:1.01 [[ 9.94843985e-01 1.98025162e-03 -1.01397849e-01 1.63739865e+01] [-2.19814295e-03 9.99995509e-01 -2.03718889e-03 6.89054596e-01] [ 1.01393359e-01 2.24957208e-03 9.94843870e-01 1.01188318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.62463044000003 meters Centerline goodness [0,1] 0.32529420623480565 Centerline is valid? [False, False] Translation: X:16.37, Y:0.69, Z:1.01 [[ 9.94843613e-01 2.01379958e-03 -1.01400842e-01 1.63745919e+01] [-2.23672327e-03 9.99995325e-01 -2.08479221e-03 6.89639954e-01] [ 1.01396170e-01 2.30084783e-03 9.94843467e-01 1.01113702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.65463044 meters Centerline goodness [0,1] 0.32534520388097754 Centerline is valid? [False, False] Translation: X:16.37, Y:0.69, Z:1.01 [[ 9.94849259e-01 1.97434104e-03 -1.01346207e-01 1.63749913e+01] [-2.19953855e-03 9.99995354e-01 -2.11036437e-03 6.89552252e-01] [ 1.01341570e-01 2.32240932e-03 9.94848980e-01 1.01051538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68463044000003 meters Centerline goodness [0,1] 0.32318551414902064 Centerline is valid? [False, False] Translation: X:16.38, Y:0.69, Z:1.01 [[ 9.94835003e-01 1.90942474e-03 -1.01487299e-01 1.63759544e+01] [-2.13276587e-03 9.99995537e-01 -2.09222170e-03 6.89025188e-01] [ 1.01482851e-01 2.29786403e-03 9.94834635e-01 1.00985263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.71463044 meters Centerline goodness [0,1] 0.3247708008994984 Centerline is valid? [False, False] Translation: X:16.38, Y:0.69, Z:1.01 [[ 9.94827950e-01 1.92334476e-03 -1.01556142e-01 1.63767456e+01] [-2.13198747e-03 9.99995834e-01 -1.94595794e-03 6.87935241e-01] [ 1.01551976e-01 2.15240977e-03 9.94827906e-01 1.00916760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74463044000004 meters Centerline goodness [0,1] 0.32180725477570293 Centerline is valid? [False, False] Translation: X:16.38, Y:0.69, Z:1.01 [[ 9.94828616e-01 1.89844059e-03 -1.01550094e-01 1.63772718e+01] [-2.09544991e-03 9.99996124e-01 -1.83338388e-03 6.86963727e-01] [ 1.01546220e-01 2.03669589e-03 9.94828738e-01 1.00863290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.77463044 meters Centerline goodness [0,1] 0.31865706817500106 Centerline is valid? [False, False] Translation: X:16.38, Y:0.68, Z:1.01 [[ 9.94808362e-01 1.73345029e-03 -1.01751257e-01 1.63784035e+01] [-1.91428242e-03 9.99996757e-01 -1.67958115e-03 6.84390613e-01] [ 1.01748016e-01 1.86564201e-03 9.94808454e-01 1.00798785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80463044000004 meters Centerline goodness [0,1] 0.3179961942229159 Centerline is valid? [False, False] Translation: X:16.38, Y:0.68, Z:1.01 [[ 9.94785471e-01 1.71116632e-03 -1.01975190e-01 1.63793722e+01] [-1.88175287e-03 9.99996987e-01 -1.57665070e-03 6.83073621e-01] [ 1.01972184e-01 1.76032132e-03 9.94785693e-01 1.00756295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.83463044 meters Centerline goodness [0,1] 0.32363975451608007 Centerline is valid? [False, False] Translation: X:16.38, Y:0.68, Z:1.01 [[ 9.94776780e-01 1.71386160e-03 -1.02059889e-01 1.63799950e+01] [-1.87615907e-03 9.99997124e-01 -1.49424822e-03 6.82173711e-01] [ 1.02057035e-01 1.67792402e-03 9.94777134e-01 1.00709860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86463044000004 meters Centerline goodness [0,1] 0.32333203446335024 Centerline is valid? [False, False] Translation: X:16.38, Y:0.68, Z:1.01 [[ 9.94780968e-01 1.74448126e-03 -1.02018536e-01 1.63802425e+01] [-1.89717237e-03 9.99997221e-01 -1.39969221e-03 6.81338573e-01] [ 1.02015811e-01 1.58593392e-03 9.94781513e-01 1.00670824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.89463044 meters Centerline goodness [0,1] 0.31881800725410714 Centerline is valid? [False, False] Translation: X:16.40, Y:0.68, Z:1.01 [[ 9.94976583e-01 8.53170711e-03 -9.97437219e-02 1.64017024e+01] [-8.95731945e-03 9.99952586e-01 -3.81999489e-03 6.80038564e-01] [ 9.97064016e-02 4.69424184e-03 9.95005828e-01 1.00778565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92463044 meters Centerline goodness [0,1] 0.3235813692963937 Centerline is valid? [False, False] Translation: X:16.40, Y:0.68, Z:1.01 [[ 9.94993512e-01 8.49102258e-03 -9.95781763e-02 1.64015617e+01] [-8.92186589e-03 9.99952663e-01 -3.88215617e-03 6.80013960e-01] [ 9.95404991e-02 4.75114334e-03 9.95022168e-01 1.00746851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.95463044 meters Centerline goodness [0,1] 0.32332429290972486 Centerline is valid? [False, False] Translation: X:16.40, Y:0.68, Z:1.01 [[ 9.95003518e-01 8.47829856e-03 -9.94792344e-02 1.64015854e+01] [-8.91741105e-03 9.99952357e-01 -3.97028320e-03 6.80562575e-01] [ 9.94408337e-02 4.83754297e-03 9.95031717e-01 1.00718784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98463044 meters Centerline goodness [0,1] 0.32149660737601404 Centerline is valid? [False, False] Translation: X:16.40, Y:0.68, Z:1.01 [[ 9.95015645e-01 8.46770731e-03 -9.93587653e-02 1.64018330e+01] [-8.92206887e-03 9.99951671e-01 -4.12948003e-03 6.81791220e-01] [ 9.93189962e-02 4.99538298e-03 9.95043106e-01 1.00659192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.01463044 meters Centerline goodness [0,1] 0.32140862017102834 Centerline is valid? [False, False] Translation: X:16.40, Y:0.68, Z:1.01 [[ 9.95022195e-01 8.53573364e-03 -9.92873253e-02 1.64027354e+01] [-9.02707991e-03 9.99949127e-01 -4.50052877e-03 6.84883152e-01] [ 9.92438589e-02 5.37440064e-03 9.95048628e-01 1.00530697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04463044 meters Centerline goodness [0,1] 0.32013750987551515 Centerline is valid? [False, False] Translation: X:16.40, Y:0.69, Z:1.00 [[ 9.94998362e-01 8.40886109e-03 -9.95366829e-02 1.64036650e+01] [-8.94489963e-03 9.99947790e-01 -4.94027321e-03 6.87540838e-01] [ 9.94899440e-02 5.80590939e-03 9.95021629e-01 1.00489649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.07463044 meters Centerline goodness [0,1] 0.32274665173765127 Centerline is valid? [False, False] Translation: X:16.40, Y:0.69, Z:1.00 [[ 9.94989134e-01 8.42479069e-03 -9.96275324e-02 1.64043782e+01] [-8.98866645e-03 9.99946016e-01 -5.21230978e-03 6.90025719e-01] [ 9.95782415e-02 6.08171026e-03 9.95011149e-01 1.00426704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10463044 meters Centerline goodness [0,1] 0.3218169632240071 Centerline is valid? [False, False] Translation: X:16.40, Y:0.69, Z:1.00 [[ 9.94995686e-01 8.50769749e-03 -9.95550272e-02 1.64046214e+01] [-9.09549123e-03 9.99943773e-01 -5.45181312e-03 6.92724254e-01] [ 9.95030472e-02 6.33003241e-03 9.95017123e-01 1.00376488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.13463044 meters Centerline goodness [0,1] 0.3203325904337391 Centerline is valid? [False, False] Translation: X:16.42, Y:0.70, Z:1.01 [[ 9.94979799e-01 2.49802722e-03 -1.00044792e-01 1.64219715e+01] [-2.94140541e-03 9.99986495e-01 -4.28453567e-03 7.00778298e-01] [ 1.00032738e-01 4.55729873e-03 9.94973709e-01 1.00728221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16463044 meters Centerline goodness [0,1] 0.3201392470345539 Centerline is valid? [False, False] Translation: X:16.42, Y:0.70, Z:1.01 [[ 9.95007035e-01 2.33871436e-03 -9.97774014e-02 1.64214086e+01] [-2.81883476e-03 9.99985117e-01 -4.67120672e-03 7.02961541e-01] [ 9.97649918e-02 4.92913956e-03 9.94998819e-01 1.00711177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.19463044 meters Centerline goodness [0,1] 0.3235747638180041 Centerline is valid? [False, False] Translation: X:16.42, Y:0.71, Z:1.01 [[ 9.95038790e-01 1.97747630e-03 -9.94680675e-02 1.64210046e+01] [-2.53720428e-03 9.99981650e-01 -5.50102831e-03 7.07621391e-01] [ 9.94553642e-02 5.72610735e-03 9.95025549e-01 1.00659714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22463044 meters Centerline goodness [0,1] 0.32287217980242444 Centerline is valid? [False, False] Translation: X:16.42, Y:0.71, Z:1.01 [[ 9.95040689e-01 1.95743859e-03 -9.94494595e-02 1.64212967e+01] [-2.54882711e-03 9.99979816e-01 -5.81991700e-03 7.11010373e-01] [ 9.94360601e-02 6.04453370e-03 9.95025594e-01 1.00624991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.25463044 meters Centerline goodness [0,1] 0.3211887750710166 Centerline is valid? [False, False] Translation: X:16.42, Y:0.72, Z:1.01 [[ 9.95035879e-01 2.75228934e-03 -9.94787615e-02 1.64222040e+01] [-3.34505951e-03 9.99977629e-01 -5.79245720e-03 7.19610812e-01] [ 9.94605935e-02 6.09646512e-03 9.95022826e-01 1.00535811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28463044 meters Centerline goodness [0,1] 0.3202262900901288 Centerline is valid? [False, False] Translation: X:16.42, Y:0.72, Z:1.01 [[ 9.95046521e-01 2.44519949e-03 -9.93802930e-02 1.64219632e+01] [-3.09436983e-03 9.99974869e-01 -6.37856740e-03 7.22589113e-01] [ 9.93621986e-02 6.65449068e-03 9.95029081e-01 1.00538535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.31463044000003 meters Centerline goodness [0,1] 0.3208166241341597 Centerline is valid? [False, False] Translation: X:16.42, Y:0.73, Z:1.01 [[ 9.95044864e-01 2.14757061e-03 -9.94037508e-02 1.64219996e+01] [-2.85217364e-03 9.99971804e-01 -6.94672653e-03 7.25561508e-01] [ 9.93860294e-02 7.19582131e-03 9.95022933e-01 1.00545421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34463044 meters Centerline goodness [0,1] 0.3188855151178206 Centerline is valid? [False, False] Translation: X:16.42, Y:0.73, Z:1.01 [[ 9.95028773e-01 1.90959794e-03 -9.95695466e-02 1.64227991e+01] [-2.66309776e-03 9.99968812e-01 -7.43521026e-03 7.28494586e-01] [ 9.95522430e-02 7.66341158e-03 9.95002826e-01 1.00505341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.37463044000003 meters Centerline goodness [0,1] 0.31839065653312726 Centerline is valid? [False, False] Translation: X:16.42, Y:0.73, Z:1.00 [[ 9.95007994e-01 1.76763356e-03 -9.97795987e-02 1.64239546e+01] [-2.56083629e-03 9.99966128e-01 -7.82202875e-03 7.31243409e-01] [ 9.97623925e-02 8.03850035e-03 9.94978818e-01 1.00432995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40463044 meters Centerline goodness [0,1] 0.31839065653312726 Centerline is valid? [False, False] Translation: X:16.42, Y:0.73, Z:1.00 [[ 9.95007994e-01 1.76763356e-03 -9.97795987e-02 1.64239546e+01] [-2.56083629e-03 9.99966128e-01 -7.82202875e-03 7.31243409e-01] [ 9.97623925e-02 8.03850035e-03 9.94978818e-01 1.00432995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.43463044000003 meters Centerline goodness [0,1] 0.3214247282901108 Centerline is valid? [False, False] Translation: X:16.42, Y:0.73, Z:1.00 [[ 9.94992363e-01 1.63198075e-03 -9.99376509e-02 1.64248749e+01] [-2.46201022e-03 9.99963490e-01 -8.18270385e-03 7.33985458e-01] [ 9.99206482e-02 8.38777536e-03 9.94960054e-01 1.00374878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46463044 meters Centerline goodness [0,1] 0.3183730414251985 Centerline is valid? [False, False] Translation: X:16.43, Y:0.74, Z:1.00 [[ 9.94974309e-01 1.01980921e-03 -1.00125341e-01 1.64257732e+01] [-1.93605268e-03 9.99957135e-01 -9.05422310e-03 7.37955149e-01] [ 1.00111816e-01 9.20256731e-03 9.94933635e-01 1.00343620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.49463044000004 meters Centerline goodness [0,1] 0.3218316533126562 Centerline is valid? [False, False] Translation: X:16.43, Y:0.74, Z:1.00 [[ 9.94958387e-01 7.11384702e-04 -1.00286096e-01 1.64263083e+01] [-1.67454554e-03 9.99953279e-01 -9.52027946e-03 7.39830816e-01] [ 1.00274638e-01 9.64021554e-03 9.94913093e-01 1.00334756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52463044 meters Centerline goodness [0,1] 0.32034539049746547 Centerline is valid? [False, False] Translation: X:16.43, Y:0.74, Z:1.00 [[ 9.94938068e-01 4.68929114e-04 -1.00488913e-01 1.64270830e+01] [-1.47354298e-03 9.99949677e-01 -9.92326877e-03 7.41967113e-01] [ 1.00479203e-01 1.00211126e-02 9.94888691e-01 1.00312349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.55463044000004 meters Centerline goodness [0,1] 0.32027246327297576 Centerline is valid? [False, False] Translation: X:16.43, Y:0.74, Z:1.00 [[ 9.94919005e-01 2.17343064e-04 -1.00678326e-01 1.64276413e+01] [-1.26618733e-03 9.99945594e-01 -1.03539922e-02 7.44296780e-01] [ 1.00670599e-01 1.04288612e-02 9.94865151e-01 1.00310540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58463044 meters Centerline goodness [0,1] 0.3232895527513091 Centerline is valid? [False, False] Translation: X:16.43, Y:0.75, Z:1.00 [[ 9.94903603e-01 -1.92381188e-04 -1.00830466e-01 1.64281075e+01] [-9.27649490e-04 9.99938394e-01 -1.10610533e-02 7.48292401e-01] [ 1.00826382e-01 1.10982171e-02 9.94842133e-01 1.00313561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61463044000004 meters Centerline goodness [0,1] 0.32032950616757006 Centerline is valid? [False, False] Translation: X:16.43, Y:0.75, Z:1.00 [[ 9.94897312e-01 -3.98288865e-04 -1.00891922e-01 1.64281345e+01] [-7.58558441e-04 9.99934415e-01 -1.14275799e-02 7.50386546e-01] [ 1.00889857e-01 1.14458009e-02 9.94831760e-01 1.00339140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64463044 meters Centerline goodness [0,1] 0.32655926053904627 Centerline is valid? [False, False] Translation: X:16.43, Y:0.75, Z:1.00 [[ 9.94899135e-01 -5.16606109e-04 -1.00873411e-01 1.64281224e+01] [-6.68815548e-04 9.99931125e-01 -1.17174042e-02 7.52312696e-01] [ 1.00872517e-01 1.17251010e-02 9.94830266e-01 1.00342063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.67463044 meters Centerline goodness [0,1] 0.3253519613111231 Centerline is valid? [False, False] Translation: X:16.43, Y:0.75, Z:1.00 [[ 9.94887797e-01 -6.51204625e-04 -1.00984389e-01 1.64285649e+01] [-5.61712156e-04 9.99928055e-01 -1.19820336e-02 7.53922700e-01] [ 1.00984927e-01 1.19775031e-02 9.94815854e-01 1.00331034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70463044 meters Centerline goodness [0,1] 0.33042970776413627 Centerline is valid? [False, False] Translation: X:16.43, Y:0.76, Z:1.00 [[ 9.94831597e-01 -1.19150284e-03 -1.01531641e-01 1.64304184e+01] [-8.44352836e-05 9.99921095e-01 -1.25616773e-02 7.55198866e-01] [ 1.01538597e-01 1.25053263e-02 9.94753000e-01 1.00289288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.73463044 meters Centerline goodness [0,1] 0.32811026322558523 Centerline is valid? [False, False] Translation: X:16.43, Y:0.75, Z:1.00 [[ 9.94787443e-01 -1.49151365e-03 -1.01959399e-01 1.64316994e+01] [ 1.93401534e-04 9.99918820e-01 -1.27403570e-02 7.54698710e-01] [ 1.01970125e-01 1.26542281e-02 9.94706974e-01 1.00276562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76463044 meters Centerline goodness [0,1] 0.32833496864468237 Centerline is valid? [False, False] Translation: X:16.43, Y:0.75, Z:1.00 [[ 9.94708574e-01 -1.77351181e-03 -1.02721503e-01 1.64338381e+01] [ 4.56177642e-04 9.99917378e-01 -1.28463996e-02 7.53901731e-01] [ 1.02735799e-01 1.27315645e-02 9.94627198e-01 1.00264200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.79463044 meters Centerline goodness [0,1] 0.3346848109728482 Centerline is valid? [False, False] Translation: X:16.44, Y:0.75, Z:1.00 [[ 9.94637622e-01 -1.85581358e-03 -1.03404824e-01 1.64358368e+01] [ 5.42796063e-04 9.99918893e-01 -1.27245290e-02 7.52454513e-01] [ 1.03420051e-01 1.26001675e-02 9.94557956e-01 1.00238389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82463044 meters Centerline goodness [0,1] 0.3346851608171366 Centerline is valid? [False, False] Translation: X:16.44, Y:0.75, Z:1.00 [[ 9.94581130e-01 -1.87401790e-03 -1.03946443e-01 1.64374979e+01] [ 5.72512716e-04 9.99921090e-01 -1.25493441e-02 7.50931736e-01] [ 1.03961758e-01 1.24218301e-02 9.94503721e-01 1.00214301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.85463044 meters Centerline goodness [0,1] 0.3318076328004126 Centerline is valid? [False, False] Translation: X:16.44, Y:0.75, Z:1.00 [[ 9.94548190e-01 -1.96831912e-03 -1.04259405e-01 1.64380572e+01] [ 6.72698869e-04 9.99922137e-01 -1.24605969e-02 7.49191117e-01] [ 1.04275813e-01 1.23225289e-02 9.94472076e-01 1.00266890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88463044 meters Centerline goodness [0,1] 0.34089047885866985 Centerline is valid? [False, False] Translation: X:16.44, Y:0.75, Z:1.00 [[ 9.94562569e-01 -1.83993652e-03 -1.04124496e-01 1.64373982e+01] [ 5.51348512e-04 9.99922929e-01 -1.24028848e-02 7.49601983e-01] [ 1.04139292e-01 1.22780361e-02 9.94486932e-01 1.00316474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.91463044 meters Centerline goodness [0,1] 0.33719642096293145 Centerline is valid? [False, False] Translation: X:16.46, Y:0.75, Z:1.01 [[ 9.94712190e-01 6.53260699e-03 -1.02493825e-01 1.64577135e+01] [-7.95625742e-03 9.99877386e-01 -1.34874491e-02 7.48850617e-01] [ 1.02393149e-01 1.42315973e-02 9.94642199e-01 1.00558186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.94463044 meters Centerline goodness [0,1] 0.34911727888807353 Centerline is valid? [False, False] Translation: X:16.46, Y:0.75, Z:1.01 [[ 9.94690150e-01 6.72337198e-03 -1.02695190e-01 1.64582596e+01] [-8.16580176e-03 9.99873739e-01 -1.36317923e-02 7.51019858e-01] [ 1.02590572e-01 1.43979981e-02 9.94619461e-01 1.00562537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.97463044 meters Centerline goodness [0,1] 0.3431340941818729 Centerline is valid? [False, False] Translation: X:16.46, Y:0.76, Z:1.01 [[ 9.94567941e-01 7.48124910e-03 -1.03820240e-01 1.64614494e+01] [-8.93728266e-03 9.99868029e-01 -1.35664588e-02 7.56441631e-01] [ 1.03705045e-01 1.44206358e-02 9.94503549e-01 1.00542294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.00463044 meters Centerline goodness [0,1] 0.34298479250794744 Centerline is valid? [False, False] Translation: X:16.46, Y:0.76, Z:1.01 [[ 9.94522163e-01 7.33676133e-03 -1.04268111e-01 1.64623980e+01] [-8.84287052e-03 9.99863037e-01 -1.39896488e-02 7.58689301e-01] [ 1.04151192e-01 1.48350451e-02 9.94450829e-01 1.00571085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.03463044 meters Centerline goodness [0,1] 0.3449731142483772 Centerline is valid? [False, False] Translation: X:16.46, Y:0.76, Z:1.01 [[ 9.94498536e-01 7.22556939e-03 -1.04500968e-01 1.64630256e+01] [-8.76351136e-03 9.99859841e-01 -1.42653470e-02 7.60213607e-01] [ 1.04383246e-01 1.51026622e-02 9.94422469e-01 1.00580702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.06463044000003 meters Centerline goodness [0,1] 0.348100318573475 Centerline is valid? [False, False] Translation: X:16.48, Y:0.77, Z:1.01 [[ 9.94473825e-01 5.61797976e-04 -1.04983315e-01 1.64807729e+01] [-1.94001293e-03 9.99913272e-01 -1.30262874e-02 7.66485242e-01] [ 1.04966891e-01 1.31579709e-02 9.94388666e-01 1.00991576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.09463044 meters Centerline goodness [0,1] 0.3483289939818174 Centerline is valid? [False, False] Translation: X:16.48, Y:0.77, Z:1.01 [[ 9.94465912e-01 5.36871339e-04 -1.05058369e-01 1.64807797e+01] [-1.91018655e-03 9.99914039e-01 -1.29717435e-02 7.66113866e-01] [ 1.05042374e-01 1.31006378e-02 9.94381452e-01 1.01029017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.12463044000003 meters Centerline goodness [0,1] 0.35518433427092955 Centerline is valid? [False, False] Translation: X:16.48, Y:0.76, Z:1.01 [[ 9.94437394e-01 4.35373585e-04 -1.05328434e-01 1.64810082e+01] [-1.80394291e-03 9.99915185e-01 -1.28984319e-02 7.64986208e-01] [ 1.05313885e-01 1.30166894e-02 9.94353836e-01 1.01098980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.15463044 meters Centerline goodness [0,1] 0.3567157115814834 Centerline is valid? [False, False] Translation: X:16.48, Y:0.76, Z:1.01 [[ 9.94327608e-01 -2.58912741e-04 -1.06360426e-01 1.64834825e+01] [-1.12804880e-03 9.99915122e-01 -1.29798355e-02 7.62077979e-01] [ 1.06354759e-01 1.30261885e-02 9.94242920e-01 1.01145393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18463044000003 meters Centerline goodness [0,1] 0.3610122322179794 Centerline is valid? [False, False] Translation: X:16.48, Y:0.76, Z:1.01 [[ 9.94262566e-01 -3.75696836e-04 -1.06966389e-01 1.64848235e+01] [-9.98176416e-04 9.99917705e-01 -1.27901426e-02 7.60042497e-01] [ 1.06962391e-01 1.28235313e-02 9.94180368e-01 1.01183635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.21463044 meters Centerline goodness [0,1] 0.3573891994944627 Centerline is valid? [False, False] Translation: X:16.51, Y:0.76, Z:1.01 [[ 9.94253259e-01 -8.58976230e-03 -1.06708353e-01 1.65066649e+01] [ 7.34930245e-03 9.99900838e-01 -1.20125798e-02 7.61052488e-01] [ 1.06800956e-01 1.11593147e-02 9.94217796e-01 1.01481150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24463044000004 meters Centerline goodness [0,1] 0.36205966736415207 Centerline is valid? [False, False] Translation: X:16.51, Y:0.76, Z:1.02 [[ 9.94227755e-01 -8.56635416e-03 -1.06947602e-01 1.65072746e+01] [ 7.33699279e-03 9.99902475e-01 -1.18831730e-02 7.60109302e-01] [ 1.07038968e-01 1.10299066e-02 9.94193643e-01 1.01502167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.27463044 meters Centerline goodness [0,1] 0.35976934827979434 Centerline is valid? [False, False] Translation: X:16.53, Y:0.76, Z:1.02 [[ 9.94286497e-01 -7.21624307e-04 -1.06741941e-01 1.65262882e+01] [-6.98218472e-04 9.99911790e-01 -1.32636697e-02 7.56666978e-01] [ 1.06742097e-01 1.32624169e-02 9.94198287e-01 1.01841076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30463044000004 meters Centerline goodness [0,1] 0.3653921355637627 Centerline is valid? [False, False] Translation: X:16.53, Y:0.76, Z:1.02 [[ 9.94255009e-01 -7.21758212e-04 -1.07034835e-01 1.65268567e+01] [-7.05049231e-04 9.99911411e-01 -1.32918690e-02 7.56969418e-01] [ 1.07034946e-01 1.32909721e-02 9.94166420e-01 1.01874391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.33463044 meters Centerline goodness [0,1] 0.3623229034136243 Centerline is valid? [False, False] Translation: X:16.55, Y:0.76, Z:1.02 [[ 9.94146719e-01 -7.52041998e-03 -1.07776367e-01 1.65461518e+01] [ 6.24829855e-03 9.99906832e-01 -1.21361840e-02 7.62848944e-01] [ 1.07857595e-01 1.13917286e-02 9.94101085e-01 1.02252422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36463044000004 meters Centerline goodness [0,1] 0.3616040512465374 Centerline is valid? [False, False] Translation: X:16.55, Y:0.76, Z:1.02 [[ 9.94103784e-01 -7.41081273e-03 -1.08179231e-01 1.65470522e+01] [ 6.13260706e-03 9.99907458e-01 -1.21435420e-02 7.63986315e-01] [ 1.08259214e-01 1.14085203e-02 9.94057236e-01 1.02282527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.39463044 meters Centerline goodness [0,1] 0.35843574457094896 Centerline is valid? [False, False] Translation: X:16.57, Y:0.76, Z:1.03 [[ 9.94165828e-01 6.90695225e-04 -1.07860230e-01 1.65668623e+01] [-2.14346066e-03 9.99908539e-01 -1.33536085e-02 7.62234902e-01] [ 1.07841142e-01 1.35068954e-02 9.94076381e-01 1.02582617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42463044 meters Centerline goodness [0,1] 0.36319366288633015 Centerline is valid? [False, False] Translation: X:16.57, Y:0.76, Z:1.03 [[ 9.94085996e-01 4.16209087e-04 -1.08594932e-01 1.65683301e+01] [-1.92562174e-03 9.99902991e-01 -1.37949797e-02 7.63572142e-01] [ 1.08578656e-01 1.39225089e-02 9.93990362e-01 1.02652756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.45463044 meters Centerline goodness [0,1] 0.3643567365724458 Centerline is valid? [False, False] Translation: X:16.57, Y:0.76, Z:1.03 [[ 9.94054997e-01 3.41064151e-04 -1.08878587e-01 1.65686834e+01] [-1.86797653e-03 9.99901335e-01 -1.39223050e-02 7.64049831e-01] [ 1.08863096e-01 1.40429195e-02 9.93957556e-01 1.02711482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48463044 meters Centerline goodness [0,1] 0.36237799084391464 Centerline is valid? [False, False] Translation: X:16.59, Y:0.77, Z:1.03 [[ 9.94044419e-01 -6.54316757e-03 -1.08779043e-01 1.65873581e+01] [ 5.20512221e-03 9.99907321e-01 -1.25799827e-02 7.69312309e-01] [ 1.08851274e-01 1.19388534e-02 9.93986350e-01 1.03103836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.51463044 meters Centerline goodness [0,1] 0.36028955089628 Centerline is valid? [False, False] Translation: X:16.61, Y:0.77, Z:1.03 [[ 9.94214354e-01 1.22200808e-03 -1.07407286e-01 1.66066482e+01] [-2.73793915e-03 9.99898701e-01 -1.39675265e-02 7.67440693e-01] [ 1.07379337e-01 1.41807899e-02 9.94116987e-01 1.03401918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54463044 meters Centerline goodness [0,1] 0.3637446145186083 Centerline is valid? [False, False] Translation: X:16.61, Y:0.77, Z:1.04 [[ 9.94183705e-01 1.32104515e-03 -1.07689436e-01 1.66061528e+01] [-2.83321822e-03 9.99899513e-01 -1.38901924e-02 7.67622377e-01] [ 1.07660265e-01 1.41145106e-02 9.94087545e-01 1.03573341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.57463044 meters Centerline goodness [0,1] 0.36058136784846595 Centerline is valid? [False, False] Translation: X:16.61, Y:0.77, Z:1.04 [[ 9.94137473e-01 1.28337418e-03 -1.08115856e-01 1.66071760e+01] [-2.81185341e-03 9.99898235e-01 -1.39861564e-02 7.68106517e-01] [ 1.08086904e-01 1.42081681e-02 9.94039913e-01 1.03605140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60463044 meters Centerline goodness [0,1] 0.3593323738534574 Centerline is valid? [False, False] Translation: X:16.61, Y:0.77, Z:1.04 [[ 9.94065825e-01 1.27216408e-03 -1.08772773e-01 1.66089650e+01] [-2.81823314e-03 9.99897165e-01 -1.40612026e-02 7.68694942e-01] [ 1.08743700e-01 1.42843080e-02 9.93967186e-01 1.03612329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.63463044 meters Centerline goodness [0,1] 0.35739675563885476 Centerline is valid? [False, False] Translation: X:16.61, Y:0.77, Z:1.04 [[ 9.93982692e-01 1.35309850e-03 -1.09528888e-01 1.66109044e+01] [-2.91106073e-03 9.99896838e-01 -1.40655593e-02 7.69182775e-01] [ 1.09498557e-01 1.42997678e-02 9.93884089e-01 1.03625118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66463044 meters Centerline goodness [0,1] 0.3555798687089715 Centerline is valid? [False, False] Translation: X:16.61, Y:0.77, Z:1.04 [[ 9.93917079e-01 1.47056237e-03 -1.10121194e-01 1.66123964e+01] [-3.03662229e-03 9.99896614e-01 -1.40548823e-02 7.69890923e-01] [ 1.10089141e-01 1.43037840e-02 9.93818788e-01 1.03644266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.69463044 meters Centerline goodness [0,1] 0.3558599108367627 Centerline is valid? [False, False] Translation: X:16.61, Y:0.77, Z:1.04 [[ 9.93888751e-01 1.58473229e-03 -1.10374991e-01 1.66130345e+01] [-3.15078734e-03 9.99896813e-01 -1.40155239e-02 7.70561345e-01] [ 1.10341391e-01 1.42776396e-02 9.93791189e-01 1.03668075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72463044 meters Centerline goodness [0,1] 0.35465841179758373 Centerline is valid? [False, False] Translation: X:16.61, Y:0.77, Z:1.04 [[ 9.93910417e-01 1.73879544e-03 -1.10177404e-01 1.66113219e+01] [-3.28984472e-03 9.99898013e-01 -1.38975214e-02 7.70366994e-01] [ 1.10142002e-01 1.41753579e-02 9.93814771e-01 1.03844174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.75463044 meters Centerline goodness [0,1] 0.35538128602344066 Centerline is valid? [False, False] Translation: X:16.61, Y:0.77, Z:1.04 [[ 9.93890607e-01 1.73827537e-03 -1.10355968e-01 1.66110940e+01] [-3.28836028e-03 9.99898458e-01 -1.38657796e-02 7.69959658e-01] [ 1.10320660e-01 1.41439583e-02 9.93795402e-01 1.03947068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78463044 meters Centerline goodness [0,1] 0.3559677908134551 Centerline is valid? [False, False] Translation: X:16.61, Y:0.77, Z:1.04 [[ 9.93865379e-01 1.81055129e-03 -1.10581785e-01 1.66112410e+01] [-3.35185458e-03 9.99899794e-01 -1.37538235e-02 7.69481750e-01] [ 1.10545802e-01 1.40401031e-02 9.93771856e-01 1.04007161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.81463044000003 meters Centerline goodness [0,1] 0.35087530646479415 Centerline is valid? [False, False] Translation: X:16.61, Y:0.77, Z:1.04 [[ 9.93734783e-01 2.19499831e-03 -1.11742399e-01 1.66144903e+01] [-3.72757011e-03 9.99901813e-01 -1.35081518e-02 7.70012618e-01] [ 1.11701777e-01 1.38400479e-02 9.93645393e-01 1.04001669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84463044 meters Centerline goodness [0,1] 0.3509287257019439 Centerline is valid? [False, False] Translation: X:16.61, Y:0.77, Z:1.04 [[ 9.93715240e-01 2.24436161e-03 -1.11915082e-01 1.66148423e+01] [-3.78669620e-03 9.99900744e-01 -1.35706363e-02 7.70850695e-01] [ 1.11873516e-01 1.39091366e-02 9.93625107e-01 1.04021499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.87463044000003 meters Centerline goodness [0,1] 0.3515601463309662 Centerline is valid? [False, False] Translation: X:16.61, Y:0.77, Z:1.04 [[ 9.93715481e-01 2.23581208e-03 -1.11913112e-01 1.66144374e+01] [-3.78911457e-03 9.99899399e-01 -1.36687706e-02 7.71624763e-01] [ 1.11871292e-01 1.40069206e-02 9.93623983e-01 1.04092333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90463044 meters Centerline goodness [0,1] 0.3488771892124207 Centerline is valid? [False, False] Translation: X:16.61, Y:0.77, Z:1.04 [[ 9.93715382e-01 2.24655509e-03 -1.11913770e-01 1.66137402e+01] [-3.80784902e-03 9.99898364e-01 -1.37390724e-02 7.72405171e-01] [ 1.11871530e-01 1.40788783e-02 9.93622940e-01 1.04198468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.93463044000003 meters Centerline goodness [0,1] 0.3478514738003071 Centerline is valid? [False, False] Translation: X:16.61, Y:0.77, Z:1.04 [[ 9.93712537e-01 2.34123978e-03 -1.11937087e-01 1.66132051e+01] [-3.90245329e-03 9.99898121e-01 -1.37301724e-02 7.73060774e-01] [ 1.11893538e-01 1.40806737e-02 9.93620436e-01 1.04289098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96463044 meters Centerline goodness [0,1] 0.34490317088742284 Centerline is valid? [False, False] Translation: X:16.66, Y:0.78, Z:1.05 [[ 9.93817988e-01 4.36736804e-03 -1.10935715e-01 1.66569461e+01] [-5.92011937e-03 9.99889017e-01 -1.36713211e-02 7.78692182e-01] [ 1.10863695e-01 1.42435575e-02 9.93733547e-01 1.04790807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.99463044000004 meters Centerline goodness [0,1] 0.3440846342407431 Centerline is valid? [False, False] Translation: X:16.66, Y:0.78, Z:1.05 [[ 9.93773798e-01 4.26353895e-03 -1.11334900e-01 1.66579888e+01] [-5.85560408e-03 9.99885175e-01 -1.39767182e-02 7.80408515e-01] [ 1.11262526e-01 1.45416294e-02 9.93684654e-01 1.04796173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02463044 meters Centerline goodness [0,1] 0.34325115098317627 Centerline is valid? [False, False] Translation: X:16.66, Y:0.78, Z:1.05 [[ 9.93737002e-01 4.17245833e-03 -1.11666297e-01 1.66586672e+01] [-5.80879807e-03 9.99880411e-01 -1.43325092e-02 7.82915856e-01] [ 1.11593141e-01 1.48913917e-02 9.93642399e-01 1.04827237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.05463044000004 meters Centerline goodness [0,1] 0.34116261642222456 Centerline is valid? [False, False] Translation: X:16.66, Y:0.79, Z:1.05 [[ 9.93712826e-01 4.15514557e-03 -1.11881874e-01 1.66591779e+01] [-5.82323984e-03 9.99876650e-01 -1.45867693e-02 7.85181521e-01] [ 1.11807463e-01 1.51465748e-02 9.93614449e-01 1.04854345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08463044 meters Centerline goodness [0,1] 0.3403351376997563 Centerline is valid? [False, False] Translation: X:16.66, Y:0.79, Z:1.05 [[ 9.93711489e-01 4.28524424e-03 -1.11888841e-01 1.66582570e+01] [-5.97966317e-03 9.99872407e-01 -1.48125810e-02 7.89199840e-01] [ 1.11811089e-01 1.53884895e-02 9.93610323e-01 1.04985584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11463044000004 meters Centerline goodness [0,1] 0.3391253794974485 Centerline is valid? [False, False] Translation: X:16.66, Y:0.79, Z:1.05 [[ 9.93706189e-01 4.14033872e-03 -1.11941356e-01 1.66579743e+01] [-5.86844500e-03 9.99868578e-01 -1.51125159e-02 7.91079142e-01] [ 1.11864074e-01 1.56743222e-02 9.93599892e-01 1.05052118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14463044 meters Centerline goodness [0,1] 0.3377357676205275 Centerline is valid? [False, False] Translation: X:16.66, Y:0.79, Z:1.05 [[ 9.93701886e-01 4.02760202e-03 -1.11983658e-01 1.66576033e+01] [-5.77533471e-03 9.99866467e-01 -1.52870234e-02 7.91964489e-01] [ 1.11907134e-01 1.58374871e-02 9.93592455e-01 1.05124708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.17463044 meters Centerline goodness [0,1] 0.33885823475105736 Centerline is valid? [False, False] Translation: X:16.68, Y:0.80, Z:1.06 [[ 9.93646977e-01 -2.80701978e-03 -1.12506911e-01 1.66755633e+01] [ 1.21608418e-03 9.99898337e-01 -1.42069143e-02 7.98685455e-01] [ 1.12535353e-01 1.39798395e-02 9.93549374e-01 1.05553759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20463044 meters Centerline goodness [0,1] 0.33696190004948046 Centerline is valid? [False, False] Translation: X:16.68, Y:0.80, Z:1.06 [[ 9.93615383e-01 -2.92203152e-03 -1.12782677e-01 1.66759571e+01] [ 1.30586859e-03 9.99895446e-01 -1.44011025e-02 7.99912367e-01] [ 1.12812966e-01 1.41618776e-02 9.93515312e-01 1.05600512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.23463044 meters Centerline goodness [0,1] 0.3360894626627232 Centerline is valid? [False, False] Translation: X:16.68, Y:0.80, Z:1.06 [[ 9.93582179e-01 -3.04656326e-03 -1.13071535e-01 1.66763469e+01] [ 1.40089012e-03 9.99891982e-01 -1.46308681e-02 8.01121448e-01] [ 1.13103895e-01 1.43785690e-02 9.93479122e-01 1.05649449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26463044 meters Centerline goodness [0,1] 0.3325821270694288 Centerline is valid? [False, False] Translation: X:16.68, Y:0.80, Z:1.06 [[ 9.93543268e-01 -3.27847929e-03 -1.13406463e-01 1.66765471e+01] [ 1.58639725e-03 9.99886122e-01 -1.50075366e-02 8.03197710e-01] [ 1.13442750e-01 1.47307292e-02 9.93435327e-01 1.05751364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.29463044 meters Centerline goodness [0,1] 0.3325821270694288 Centerline is valid? [False, False] Translation: X:16.68, Y:0.80, Z:1.06 [[ 9.93543268e-01 -3.27847929e-03 -1.13406463e-01 1.66765471e+01] [ 1.58639725e-03 9.99886122e-01 -1.50075366e-02 8.03197710e-01] [ 1.13442750e-01 1.47307292e-02 9.93435327e-01 1.05751364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32463044 meters Centerline goodness [0,1] 0.33017936834878137 Centerline is valid? [False, False] Translation: X:16.70, Y:0.81, Z:1.06 [[ 9.93429103e-01 -1.02101193e-02 -1.13992858e-01 1.66957860e+01] [ 8.67539559e-03 9.99865040e-01 -1.39513209e-02 8.10031506e-01] [ 1.14119918e-01 1.28707150e-02 9.93383606e-01 1.06126893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.35463044 meters Centerline goodness [0,1] 0.32907704173451024 Centerline is valid? [False, False] Translation: X:16.70, Y:0.81, Z:1.06 [[ 9.93394412e-01 -1.02225125e-02 -1.14293664e-01 1.66963960e+01] [ 8.67747193e-03 9.99864236e-01 -1.40075352e-02 8.10849255e-01] [ 1.14421339e-01 1.29232271e-02 9.93348251e-01 1.06156874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38463044 meters Centerline goodness [0,1] 0.3280749640009456 Centerline is valid? [False, False] Translation: X:16.70, Y:0.81, Z:1.06 [[ 9.93359448e-01 -1.02491204e-02 -1.14594775e-01 1.66970088e+01] [ 8.69246587e-03 9.99863152e-01 -1.40754647e-02 8.11601464e-01] [ 1.14723354e-01 1.29858847e-02 9.93312599e-01 1.06187255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.41463044 meters Centerline goodness [0,1] 0.32459149108417307 Centerline is valid? [False, False] Translation: X:16.72, Y:0.81, Z:1.07 [[ 9.93394717e-01 -3.54518035e-03 -1.14692490e-01 1.67178088e+01] [ 1.69708595e-03 9.99867216e-01 -1.62071064e-02 8.10867950e-01] [ 1.14734718e-01 1.59054108e-02 9.93268827e-01 1.06596850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.44463044 meters Centerline goodness [0,1] 0.32396605435599957 Centerline is valid? [False, False] Translation: X:16.72, Y:0.81, Z:1.07 [[ 9.93374011e-01 -3.64660082e-03 -1.14868518e-01 1.67178200e+01] [ 1.78551860e-03 9.99865543e-01 -1.63005736e-02 8.11041104e-01] [ 1.14912515e-01 1.59874663e-02 9.93246956e-01 1.06655122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.47463044 meters Centerline goodness [0,1] 0.3217378225650501 Centerline is valid? [False, False] Translation: X:16.72, Y:0.81, Z:1.07 [[ 9.93362864e-01 -3.59510762e-03 -1.14966497e-01 1.67177408e+01] [ 1.74044476e-03 9.99866794e-01 -1.62285151e-02 8.11186263e-01] [ 1.15009526e-01 1.59207114e-02 9.93236799e-01 1.06707123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.50463044 meters Centerline goodness [0,1] 0.32180490012282625 Centerline is valid? [False, False] Translation: X:16.72, Y:0.81, Z:1.07 [[ 9.93374117e-01 -3.49776825e-03 -1.14872234e-01 1.67170631e+01] [ 1.66193884e-03 9.99869434e-01 -1.60733752e-02 8.11006328e-01] [ 1.14913457e-01 1.57759643e-02 9.93250228e-01 1.06777027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.53463044 meters Centerline goodness [0,1] 0.3196412517659146 Centerline is valid? [False, False] Translation: X:16.74, Y:0.82, Z:1.07 [[ 9.93488586e-01 -1.06160404e-02 -1.13436016e-01 1.67354042e+01] [ 9.01091651e-03 9.99852029e-01 -1.46534314e-02 8.15255461e-01] [ 1.13574792e-01 1.35358544e-02 9.93437239e-01 1.07143107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.56463044000003 meters Centerline goodness [0,1] 0.3197278911564626 Centerline is valid? [False, False] Translation: X:16.73, Y:0.82, Z:1.07 [[ 9.93501992e-01 -1.06865545e-02 -1.13311912e-01 1.67341472e+01] [ 9.08157135e-03 9.99851132e-01 -1.46710466e-02 8.15050500e-01] [ 1.13451827e-01 1.35466638e-02 9.93451142e-01 1.07278563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.59463044 meters Centerline goodness [0,1] 0.3172178904978151 Centerline is valid? [False, False] Translation: X:16.74, Y:0.82, Z:1.07 [[ 9.93464973e-01 -1.06648840e-02 -1.13638060e-01 1.67350398e+01] [ 9.05069052e-03 9.99850822e-01 -1.47111721e-02 8.15603688e-01] [ 1.13778000e-01 1.35865313e-02 9.93413294e-01 1.07279613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.62463044000003 meters Centerline goodness [0,1] 0.3155780612353909 Centerline is valid? [False, False] Translation: X:16.74, Y:0.82, Z:1.07 [[ 9.93435278e-01 -1.05832927e-02 -1.13904970e-01 1.67359431e+01] [ 8.95993400e-03 9.99851002e-01 -1.47544154e-02 8.16673475e-01] [ 1.14044148e-01 1.36369758e-02 9.93382084e-01 1.07265439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.65463044 meters Centerline goodness [0,1] 0.3168276278347849 Centerline is valid? [False, False] Translation: X:16.74, Y:0.82, Z:1.07 [[ 9.93423194e-01 -1.04694476e-02 -1.14020820e-01 1.67361930e+01] [ 8.83977557e-03 9.99851561e-01 -1.47890137e-02 8.18006083e-01] [ 1.14158728e-01 1.36838308e-02 9.93368279e-01 1.07275430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68463044000003 meters Centerline goodness [0,1] 0.3148203785570196 Centerline is valid? [False, False] Translation: X:16.76, Y:0.82, Z:1.08 [[ 9.93621954e-01 -1.89312071e-03 -1.12746745e-01 1.67554941e+01] [ 9.48227300e-05 9.99872736e-01 -1.59531155e-02 8.19192153e-01] [ 1.12762597e-01 1.58406748e-02 9.93495682e-01 1.07613228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.71463044 meters Centerline goodness [0,1] 0.3128972685105652 Centerline is valid? [False, False] Translation: X:16.76, Y:0.82, Z:1.08 [[ 9.93612589e-01 -1.95901075e-03 -1.12828122e-01 1.67554087e+01] [ 1.32889205e-04 9.99868921e-01 -1.61902329e-02 8.20711100e-01] [ 1.12845050e-01 1.60718256e-02 9.93482607e-01 1.07651306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74463044000004 meters Centerline goodness [0,1] 0.3151549198392464 Centerline is valid? [False, False] Translation: X:16.76, Y:0.82, Z:1.08 [[ 9.93606456e-01 -2.02890185e-03 -1.12880887e-01 1.67554090e+01] [ 1.74195064e-04 9.99864870e-01 -1.64380915e-02 8.22343201e-01] [ 1.12898984e-01 1.63133306e-02 9.93472543e-01 1.07670619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.77463044 meters Centerline goodness [0,1] 0.3119944932025469 Centerline is valid? [False, False] Translation: X:16.76, Y:0.83, Z:1.08 [[ 9.93596629e-01 -2.01058918e-03 -1.12967683e-01 1.67556640e+01] [ 1.12473652e-04 9.99858760e-01 -1.68061495e-02 8.26027832e-01] [ 1.12985518e-01 1.66858276e-02 9.93456519e-01 1.07684414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80463044000004 meters Centerline goodness [0,1] 0.3115591917369924 Centerline is valid? [False, False] Translation: X:16.76, Y:0.83, Z:1.08 [[ 9.93589172e-01 -2.04758637e-03 -1.13032582e-01 1.67557252e+01] [ 1.24244375e-04 9.99855137e-01 -1.70202418e-02 8.27704981e-01] [ 1.13051058e-01 1.68970843e-02 9.93445493e-01 1.07705336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.83463044 meters Centerline goodness [0,1] 0.3097453005709886 Centerline is valid? [False, False] Translation: X:16.76, Y:0.83, Z:1.08 [[ 9.93584888e-01 -2.13023473e-03 -1.13068708e-01 1.67557452e+01] [ 1.82708546e-04 9.99851504e-01 -1.72318406e-02 8.29081406e-01] [ 1.13088625e-01 1.71006378e-02 9.93437734e-01 1.07724215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86463044000004 meters Centerline goodness [0,1] 0.31020880675727824 Centerline is valid? [False, False] Translation: X:16.76, Y:0.83, Z:1.08 [[ 9.93581921e-01 -2.16512998e-03 -1.13094117e-01 1.67556120e+01] [ 2.04939348e-04 9.99849610e-01 -1.73411348e-02 8.29786247e-01] [ 1.13114655e-01 1.72066606e-02 9.93432940e-01 1.07751352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.89463044 meters Centerline goodness [0,1] 0.31076207855404936 Centerline is valid? [False, False] Translation: X:16.76, Y:0.83, Z:1.08 [[ 9.93559990e-01 -2.19913768e-03 -1.13285969e-01 1.67559251e+01] [ 2.27678792e-04 9.99848365e-01 -1.74124976e-02 8.30251181e-01] [ 1.13307084e-01 1.72745682e-02 9.93409832e-01 1.07777329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92463044 meters Centerline goodness [0,1] 0.31080528095453464 Centerline is valid? [False, False] Translation: X:16.76, Y:0.83, Z:1.08 [[ 9.93508705e-01 -2.24934746e-03 -1.13733869e-01 1.67571915e+01] [ 2.61738090e-04 9.99847041e-01 -1.74878806e-02 8.30782557e-01] [ 1.13755809e-01 1.73445932e-02 9.93357328e-01 1.07773273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.95463044 meters Centerline goodness [0,1] 0.3062424866907093 Centerline is valid? [False, False] Translation: X:16.76, Y:0.83, Z:1.08 [[ 9.93439678e-01 -2.24502874e-03 -1.14335321e-01 1.67591654e+01] [ 2.41295351e-04 9.99846205e-01 -1.75358855e-02 8.31412195e-01] [ 1.14357105e-01 1.73932559e-02 9.93287434e-01 1.07732352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98463044 meters Centerline goodness [0,1] 0.3075070943331327 Centerline is valid? [False, False] Translation: X:16.76, Y:0.83, Z:1.08 [[ 9.93423178e-01 -2.24729138e-03 -1.14478557e-01 1.67595982e+01] [ 2.36431616e-04 9.99845503e-01 -1.75759338e-02 8.31748766e-01] [ 1.14500369e-01 1.74332737e-02 9.93270228e-01 1.07727646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.01463044 meters Centerline goodness [0,1] 0.3075695492775501 Centerline is valid? [False, False] Translation: X:16.76, Y:0.83, Z:1.08 [[ 9.93429050e-01 -2.24732778e-03 -1.14427583e-01 1.67592574e+01] [ 2.30614728e-04 9.99844473e-01 -1.76345496e-02 8.32303673e-01] [ 1.14449417e-01 1.74922852e-02 9.93275063e-01 1.07758905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04463044 meters Centerline goodness [0,1] 0.30646928646627847 Centerline is valid? [False, False] Translation: X:16.76, Y:0.83, Z:1.08 [[ 9.93441404e-01 -2.12816122e-03 -1.14322559e-01 1.67587773e+01] [ 1.23558504e-04 9.99846175e-01 -1.75388457e-02 8.32608437e-01] [ 1.14342298e-01 1.74096900e-02 9.93288851e-01 1.07794382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.07463044 meters Centerline goodness [0,1] 0.30596260194091196 Centerline is valid? [False, False] Translation: X:16.76, Y:0.83, Z:1.08 [[ 9.93449661e-01 -1.98312877e-03 -1.14253395e-01 1.67583567e+01] [-1.25915944e-05 9.99847490e-01 -1.74641238e-02 8.33172351e-01] [ 1.14270604e-01 1.73511665e-02 9.93298125e-01 1.07830183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10463044 meters Centerline goodness [0,1] 0.304062741064541 Centerline is valid? [False, False] Translation: X:16.76, Y:0.83, Z:1.08 [[ 9.93447842e-01 -1.90716025e-03 -1.14270502e-01 1.67581180e+01] [-1.02261687e-04 9.99845519e-01 -1.75763408e-02 8.34723546e-01] [ 1.14286370e-01 1.74728633e-02 9.93294178e-01 1.07878110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.13463044 meters Centerline goodness [0,1] 0.3038917308813055 Centerline is valid? [False, False] Translation: X:16.76, Y:0.84, Z:1.08 [[ 9.93452444e-01 -1.90830071e-03 -1.14230466e-01 1.67577141e+01] [-1.13751171e-04 9.99843471e-01 -1.76923762e-02 8.35686030e-01] [ 1.14246348e-01 1.75895282e-02 9.93296723e-01 1.07914424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16463044 meters Centerline goodness [0,1] 0.30434128519234904 Centerline is valid? [False, False] Translation: X:16.76, Y:0.84, Z:1.08 [[ 9.93471761e-01 -1.85946991e-03 -1.14063154e-01 1.67570175e+01] [-1.68618221e-04 9.99842119e-01 -1.77681723e-02 8.36831275e-01] [ 1.14078185e-01 1.76714106e-02 9.93314597e-01 1.07950903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.19463044 meters Centerline goodness [0,1] 0.30472038484666264 Centerline is valid? [False, False] Translation: X:16.76, Y:0.84, Z:1.08 [[ 9.93507670e-01 -1.71382606e-03 -1.13752240e-01 1.67559267e+01] [-3.07525892e-04 9.99842412e-01 -1.77498510e-02 8.37905053e-01] [ 1.13764734e-01 1.76695949e-02 9.93350578e-01 1.07995488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22463044 meters Centerline goodness [0,1] 0.30401615918516445 Centerline is valid? [False, False] Translation: X:16.75, Y:0.84, Z:1.08 [[ 9.93547594e-01 -1.59830560e-03 -1.13404688e-01 1.67549811e+01] [-4.23364547e-04 9.99841465e-01 -1.78007195e-02 8.39337666e-01] [ 1.13415160e-01 1.77338736e-02 9.93389406e-01 1.08006788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.25463044 meters Centerline goodness [0,1] 0.3031476580821446 Centerline is valid? [False, False] Translation: X:16.75, Y:0.84, Z:1.08 [[ 9.93576556e-01 -1.70249109e-03 -1.13149146e-01 1.67544186e+01] [-3.64744684e-04 9.99833447e-01 -1.82467952e-02 8.42144652e-01] [ 1.13161366e-01 1.81708585e-02 9.93410451e-01 1.08007058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28463044 meters Centerline goodness [0,1] 0.30228263437050396 Centerline is valid? [False, False] Translation: X:16.75, Y:0.84, Z:1.08 [[ 9.93570253e-01 -1.77819238e-03 -1.13203313e-01 1.67545225e+01] [-3.11679558e-04 9.99829904e-01 -1.84408512e-02 8.43288075e-01] [ 1.13216849e-01 1.83575644e-02 9.93400697e-01 1.08013596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.31463044000003 meters Centerline goodness [0,1] 0.3013810609645915 Centerline is valid? [False, False] Translation: X:16.75, Y:0.84, Z:1.08 [[ 9.93568909e-01 -1.73469553e-03 -1.13215784e-01 1.67544609e+01] [-3.63807128e-04 9.99828570e-01 -1.85121326e-02 8.44351040e-01] [ 1.13228488e-01 1.84342681e-02 9.93397950e-01 1.08022780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34463044 meters Centerline goodness [0,1] 0.3052943338305554 Centerline is valid? [False, False] Translation: X:16.75, Y:0.85, Z:1.08 [[ 9.93573343e-01 -1.67188020e-03 -1.13177807e-01 1.67542388e+01] [-4.31227420e-04 9.99827743e-01 -1.85553009e-02 8.45357473e-01] [ 1.13189334e-01 1.84848578e-02 9.93401472e-01 1.08038984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.37463044000003 meters Centerline goodness [0,1] 0.3041336889194769 Centerline is valid? [False, False] Translation: X:16.77, Y:0.85, Z:1.08 [[ 9.93638607e-01 -8.37719757e-03 -1.12303791e-01 1.67711821e+01] [ 6.52583114e-03 9.99836853e-01 -1.68428250e-02 8.52127878e-01] [ 1.12426564e-01 1.60028056e-02 9.93531166e-01 1.08472612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40463044 meters Centerline goodness [0,1] 0.3062640498011413 Centerline is valid? [False, False] Translation: X:16.77, Y:0.85, Z:1.09 [[ 9.93646532e-01 -8.44049679e-03 -1.12228904e-01 1.67708000e+01] [ 6.58121416e-03 9.99835068e-01 -1.69270480e-02 8.52585318e-01] [ 1.12353267e-01 1.60809000e-02 9.93538197e-01 1.08500240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.43463044000003 meters Centerline goodness [0,1] 0.3053150969529086 Centerline is valid? [False, False] Translation: X:16.77, Y:0.85, Z:1.08 [[ 9.93642252e-01 -8.52088768e-03 -1.12260718e-01 1.67709567e+01] [ 6.64332079e-03 9.99831910e-01 -1.70885346e-02 8.53421077e-01] [ 1.12387458e-01 1.62341061e-02 9.93531838e-01 1.08495322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46463044 meters Centerline goodness [0,1] 0.30505181347150256 Centerline is valid? [False, False] Translation: X:16.77, Y:0.85, Z:1.08 [[ 9.93626905e-01 -8.59514133e-03 -1.12390820e-01 1.67714051e+01] [ 6.69087739e-03 9.99827792e-01 -1.73094687e-02 8.54973005e-01] [ 1.12520243e-01 1.64471606e-02 9.93513304e-01 1.08478400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.49463044000004 meters Centerline goodness [0,1] 0.3056821372265296 Centerline is valid? [False, False] Translation: X:16.77, Y:0.86, Z:1.08 [[ 9.93628788e-01 -8.59477283e-03 -1.12374201e-01 1.67715235e+01] [ 6.66800096e-03 9.99824442e-01 -1.75106583e-02 8.57058521e-01] [ 1.12504973e-01 1.66497829e-02 9.93511659e-01 1.08462039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52463044 meters Centerline goodness [0,1] 0.3065595426294475 Centerline is valid? [False, False] Translation: X:16.77, Y:0.86, Z:1.09 [[ 9.93704692e-01 -5.90546075e-03 -1.11875425e-01 1.67696613e+01] [ 4.20083434e-03 9.99871563e-01 -1.54664303e-02 8.61540616e-01] [ 1.11952393e-01 1.48990943e-02 9.93601871e-01 1.08518372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.55463044000004 meters Centerline goodness [0,1] 0.30486805795101757 Centerline is valid? [False, False] Translation: X:16.77, Y:0.86, Z:1.09 [[ 9.93686837e-01 -6.01345645e-03 -1.12028162e-01 1.67699153e+01] [ 4.26794738e-03 9.99865837e-01 -1.58142962e-02 8.63766898e-01] [ 1.12108230e-01 1.52363277e-02 9.93579186e-01 1.08527709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58463044 meters Centerline goodness [0,1] 0.30523888541689115 Centerline is valid? [False, False] Translation: X:16.77, Y:0.87, Z:1.09 [[ 9.93653426e-01 -6.13692069e-03 -1.12317442e-01 1.67705527e+01] [ 4.34988449e-03 9.99860139e-01 -1.61487362e-02 8.65747073e-01] [ 1.12400837e-01 1.55576792e-02 9.93541147e-01 1.08533507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61463044000004 meters Centerline goodness [0,1] 0.305934885334027 Centerline is valid? [False, False] Translation: X:16.77, Y:0.87, Z:1.09 [[ 9.93628345e-01 -6.18798576e-03 -1.12536306e-01 1.67710732e+01] [ 4.37446081e-03 9.99856682e-01 -1.63548166e-02 8.67210812e-01] [ 1.12621381e-01 1.57583237e-02 9.93513009e-01 1.08533564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64463044 meters Centerline goodness [0,1] 0.3079311318092013 Centerline is valid? [False, False] Translation: X:16.77, Y:0.87, Z:1.09 [[ 9.93622153e-01 -6.35274926e-03 -1.12581792e-01 1.67708733e+01] [ 4.50336860e-03 9.99850843e-01 -1.66736988e-02 8.69024920e-01] [ 1.12670924e-01 1.60603592e-02 9.93502556e-01 1.08571135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.67463044 meters Centerline goodness [0,1] 0.3043356823650739 Centerline is valid? [False, False] Translation: X:16.79, Y:0.87, Z:1.09 [[ 9.93721557e-01 7.32206159e-04 -1.11879093e-01 1.67903460e+01] [-2.80325066e-03 9.99827598e-01 -1.83552676e-02 8.67850605e-01] [ 1.11846365e-01 1.85536502e-02 9.93552290e-01 1.08898993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70463044 meters Centerline goodness [0,1] 0.30849171222771843 Centerline is valid? [False, False] Translation: X:16.79, Y:0.87, Z:1.09 [[ 9.93712696e-01 5.93962400e-04 -1.11958586e-01 1.67906168e+01] [-2.68762120e-03 9.99824316e-01 -1.85502990e-02 8.68551868e-01] [ 1.11927899e-01 1.87345699e-02 9.93539713e-01 1.08890857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.73463044 meters Centerline goodness [0,1] 0.31275890637945314 Centerline is valid? [False, False] Translation: X:16.79, Y:0.87, Z:1.09 [[ 9.93705585e-01 5.81024587e-04 -1.12021754e-01 1.67906895e+01] [-2.68681352e-03 9.99822501e-01 -1.86479864e-02 8.69434419e-01] [ 1.11991035e-01 1.88315898e-02 9.93530764e-01 1.08899137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76463044 meters Centerline goodness [0,1] 0.3077887275242047 Centerline is valid? [False, False] Translation: X:16.81, Y:0.87, Z:1.09 [[ 9.93682551e-01 -4.31202712e-03 -1.12144521e-01 1.68114584e+01] [ 2.59200405e-03 9.99876836e-01 -1.54788377e-02 8.73719421e-01] [ 1.12197454e-01 1.50903719e-02 9.93571342e-01 1.09178744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.79463044 meters Centerline goodness [0,1] 0.30854570129898107 Centerline is valid? [False, False] Translation: X:16.81, Y:0.87, Z:1.09 [[ 9.93678110e-01 -4.28055659e-03 -1.12185071e-01 1.68116222e+01] [ 2.54866213e-03 9.99875428e-01 -1.55767035e-02 8.74900722e-01] [ 1.12237773e-01 1.51923074e-02 9.93565235e-01 1.09171492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82463044 meters Centerline goodness [0,1] 0.3040384120723656 Centerline is valid? [False, False] Translation: X:16.81, Y:0.88, Z:1.09 [[ 9.93632886e-01 -4.44087511e-03 -1.12578715e-01 1.68123434e+01] [ 2.65795480e-03 9.99868743e-01 -1.59822477e-02 8.77020793e-01] [ 1.12634914e-01 1.55812578e-02 9.93514268e-01 1.09200811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.85463044 meters Centerline goodness [0,1] 0.314108290663471 Centerline is valid? [False, False] Translation: X:16.79, Y:0.87, Z:1.09 [[ 9.93624870e-01 3.09667229e-03 -1.12694400e-01 1.67926275e+01] [-5.04173654e-03 9.99843139e-01 -1.69787344e-02 8.72421061e-01] [ 1.12624145e-01 1.74386682e-02 9.93484622e-01 1.08917344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88463044 meters Centerline goodness [0,1] 0.31397293598905274 Centerline is valid? [False, False] Translation: X:16.79, Y:0.87, Z:1.09 [[ 9.93620162e-01 3.18737752e-03 -1.12733381e-01 1.67923378e+01] [-5.13399107e-03 9.99842626e-01 -1.69813157e-02 8.73332874e-01] [ 1.12661514e-01 1.74517498e-02 9.93480156e-01 1.08964859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.91463044 meters Centerline goodness [0,1] 0.31213164121316417 Centerline is valid? [False, False] Translation: X:16.81, Y:0.88, Z:1.09 [[ 9.93774389e-01 -1.63389012e-03 -1.11399257e-01 1.68119287e+01] [ 1.12292934e-04 9.99906639e-01 -1.36638589e-02 8.76985252e-01] [ 1.11411182e-01 1.35662837e-02 9.93681792e-01 1.09245461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.94463044 meters Centerline goodness [0,1] 0.31321334979316917 Centerline is valid? [False, False] Translation: X:16.81, Y:0.88, Z:1.09 [[ 9.93824818e-01 -1.70171427e-03 -1.10947439e-01 1.68101991e+01] [ 1.63425996e-04 9.99903757e-01 -1.38726382e-02 8.78274283e-01] [ 1.10960369e-01 1.37688404e-02 9.93729448e-01 1.09322851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.97463044 meters Centerline goodness [0,1] 0.3143135767688807 Centerline is valid? [False, False] Translation: X:16.81, Y:0.88, Z:1.09 [[ 9.93818185e-01 -1.78218894e-03 -1.11005580e-01 1.68102988e+01] [ 2.25063571e-04 9.99901431e-01 -1.40384024e-02 8.79089560e-01] [ 1.11019657e-01 1.39266363e-02 9.93720627e-01 1.09325755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.00463044 meters Centerline goodness [0,1] 0.3151280498356117 Centerline is valid? [False, False] Translation: X:16.81, Y:0.88, Z:1.09 [[ 9.93815683e-01 -1.76483422e-03 -1.11028253e-01 1.68101873e+01] [ 2.04126624e-04 9.99901039e-01 -1.40666478e-02 8.79620564e-01] [ 1.11042091e-01 1.39569914e-02 9.93717695e-01 1.09351171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.03463044 meters Centerline goodness [0,1] 0.3191964769941644 Centerline is valid? [False, False] Translation: X:16.81, Y:0.88, Z:1.09 [[ 9.93835172e-01 -1.66657872e-03 -1.10855191e-01 1.68094048e+01] [ 1.12880562e-04 9.99901703e-01 -1.40203649e-02 8.80102942e-01] [ 1.10867660e-01 1.39214184e-02 9.93737670e-01 1.09393069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.06463044000003 meters Centerline goodness [0,1] 0.3155930658913888 Centerline is valid? [False, False] Translation: X:16.81, Y:0.88, Z:1.09 [[ 9.93835280e-01 -1.58202726e-03 -1.10855466e-01 1.68090166e+01] [ 3.67834061e-05 9.99902834e-01 -1.39399251e-02 8.80246635e-01] [ 1.10866748e-01 1.38499117e-02 9.93738771e-01 1.09436289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.09463044 meters Centerline goodness [0,1] 0.3170852753322976 Centerline is valid? [False, False] Translation: X:16.81, Y:0.88, Z:1.09 [[ 9.93811513e-01 -1.69958749e-03 -1.11066597e-01 1.68092678e+01] [ 1.45979734e-04 9.99902059e-01 -1.39947089e-02 8.80121730e-01] [ 1.11079504e-01 1.38918894e-02 9.93714425e-01 1.09477853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.12463044000003 meters Centerline goodness [0,1] 0.320481144343303 Centerline is valid? [False, False] Translation: X:16.81, Y:0.88, Z:1.10 [[ 9.93833140e-01 -1.73167850e-03 -1.10872410e-01 1.68085417e+01] [ 1.78365558e-04 9.99901723e-01 -1.40183000e-02 8.80008588e-01] [ 1.10885789e-01 1.39120753e-02 9.93735778e-01 1.09511062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.15463044 meters Centerline goodness [0,1] 0.3225729523479166 Centerline is valid? [False, False] Translation: X:16.81, Y:0.88, Z:1.10 [[ 9.93856329e-01 -1.77164728e-03 -1.10663721e-01 1.68074981e+01] [ 2.12696361e-04 9.99900603e-01 -1.40974977e-02 8.80314299e-01] [ 1.10677697e-01 1.39873495e-02 9.93757919e-01 1.09576206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18463044000003 meters Centerline goodness [0,1] 0.3267251487384375 Centerline is valid? [False, False] Translation: X:16.81, Y:0.88, Z:1.10 [[ 9.93932723e-01 -1.66552687e-03 -1.09977127e-01 1.68053712e+01] [ 9.27577027e-05 9.99897682e-01 -1.43044429e-02 8.82251611e-01] [ 1.09989699e-01 1.42074527e-02 9.93831180e-01 1.09637416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.21463044 meters Centerline goodness [0,1] 0.3267251487384375 Centerline is valid? [False, False] Translation: X:16.81, Y:0.88, Z:1.10 [[ 9.93932723e-01 -1.66552687e-03 -1.09977127e-01 1.68053712e+01] [ 9.27577027e-05 9.99897682e-01 -1.43044429e-02 8.82251611e-01] [ 1.09989699e-01 1.42074527e-02 9.93831180e-01 1.09637416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24463044000004 meters Centerline goodness [0,1] 0.3252874059987899 Centerline is valid? [False, False] Translation: X:16.81, Y:0.88, Z:1.10 [[ 9.93939780e-01 -1.51708638e-03 -1.09915479e-01 1.68052546e+01] [-6.24107278e-05 9.99896813e-01 -1.43652410e-02 8.83857516e-01] [ 1.09925930e-01 1.42850444e-02 9.93837123e-01 1.09632189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.27463044 meters Centerline goodness [0,1] 0.32890076700780047 Centerline is valid? [False, False] Translation: X:16.81, Y:0.89, Z:1.10 [[ 9.93956541e-01 -1.34823773e-03 -1.09766012e-01 1.68050703e+01] [-2.38079251e-04 9.99895747e-01 -1.44374163e-02 8.85638001e-01] [ 1.09774033e-01 1.43762974e-02 9.93852597e-01 1.09606015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30463044000004 meters Centerline goodness [0,1] 0.32286513228651326 Centerline is valid? [False, False] Translation: X:16.80, Y:0.89, Z:1.10 [[ 9.93964433e-01 -1.28489346e-03 -1.09695286e-01 1.68049618e+01] [-3.19133655e-04 9.99893308e-01 -1.46037621e-02 8.87362209e-01] [ 1.09702347e-01 1.45506276e-02 9.93857975e-01 1.09599278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.33463044 meters Centerline goodness [0,1] 0.32412693625180433 Centerline is valid? [False, False] Translation: X:16.80, Y:0.89, Z:1.10 [[ 9.93971506e-01 -1.38071002e-03 -1.09630010e-01 1.68046030e+01] [-2.51127471e-04 9.99889408e-01 -1.48697503e-02 8.88794611e-01] [ 1.09638416e-01 1.48076393e-02 9.93861234e-01 1.09618550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36463044000004 meters Centerline goodness [0,1] 0.3253100557452141 Centerline is valid? [False, False] Translation: X:16.80, Y:0.89, Z:1.10 [[ 9.93962265e-01 -1.50420106e-03 -1.09712140e-01 1.68047734e+01] [-1.55248367e-04 9.99885744e-01 -1.51153757e-02 8.89922323e-01] [ 1.09722342e-01 1.50411457e-02 9.93848465e-01 1.09622482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.39463044 meters Centerline goodness [0,1] 0.32410469212647774 Centerline is valid? [False, False] Translation: X:16.81, Y:0.89, Z:1.10 [[ 9.93925252e-01 -1.52504212e-03 -1.10046658e-01 1.68055248e+01] [-1.47741845e-04 9.99884600e-01 -1.51909246e-02 8.90470476e-01] [ 1.10057125e-01 1.51149021e-02 9.93810328e-01 1.09625878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42463044 meters Centerline goodness [0,1] 0.3267641586985679 Centerline is valid? [False, False] Translation: X:16.81, Y:0.89, Z:1.10 [[ 9.93868963e-01 -1.34005003e-03 -1.10556267e-01 1.68069012e+01] [-3.19706352e-04 9.99887537e-01 -1.49936823e-02 8.90654778e-01] [ 1.10563926e-01 1.49371010e-02 9.93756762e-01 1.09609067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.45463044 meters Centerline goodness [0,1] 0.3272101033295063 Centerline is valid? [False, False] Translation: X:16.81, Y:0.89, Z:1.10 [[ 9.93853207e-01 -1.32572822e-03 -1.10697988e-01 1.68073455e+01] [-3.32698265e-04 9.99888012e-01 -1.49617262e-02 8.90646834e-01] [ 1.10705427e-01 1.49065886e-02 9.93741466e-01 1.09598392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48463044 meters Centerline goodness [0,1] 0.3268522929026112 Centerline is valid? [False, False] Translation: X:16.81, Y:0.89, Z:1.10 [[ 9.93854031e-01 -1.51091909e-03 -1.10688219e-01 1.68073018e+01] [-1.78111356e-04 9.99883729e-01 -1.52478748e-02 8.91712066e-01] [ 1.10698387e-01 1.51738767e-02 9.93738205e-01 1.09599897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.51463044 meters Centerline goodness [0,1] 0.3237872714411266 Centerline is valid? [False, False] Translation: X:16.83, Y:0.90, Z:1.10 [[ 9.93836365e-01 -8.45353516e-03 -1.10534234e-01 1.68252878e+01] [ 6.96504771e-03 9.99879888e-01 -1.38455032e-02 8.98162369e-01] [ 1.10638001e-01 1.29902884e-02 9.93775873e-01 1.09977300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54463044 meters Centerline goodness [0,1] 0.3300514995455922 Centerline is valid? [False, False] Translation: X:16.82, Y:0.90, Z:1.10 [[ 9.93847928e-01 -8.37059763e-03 -1.10436542e-01 1.68247828e+01] [ 6.88340018e-03 9.99880517e-01 -1.38409303e-02 8.99089901e-01] [ 1.10539203e-01 1.29956009e-02 9.93786797e-01 1.10010877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.57463044 meters Centerline goodness [0,1] 0.3298624585004096 Centerline is valid? [False, False] Translation: X:16.82, Y:0.90, Z:1.10 [[ 9.93843710e-01 -8.28958399e-03 -1.10480601e-01 1.68247038e+01] [ 6.80410852e-03 9.99881407e-01 -1.38158232e-02 8.99751142e-01] [ 1.10582026e-01 1.29790470e-02 9.93782250e-01 1.10038964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60463044 meters Centerline goodness [0,1] 0.3333260713274221 Centerline is valid? [False, False] Translation: X:16.82, Y:0.90, Z:1.10 [[ 9.93845088e-01 -8.37115846e-03 -1.10462051e-01 1.68245962e+01] [ 6.87217330e-03 9.99879163e-01 -1.39438950e-02 9.00322867e-01] [ 1.10565430e-01 1.30989572e-02 9.93782523e-01 1.10047189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.63463044 meters Centerline goodness [0,1] 0.3270674266050113 Centerline is valid? [False, False] Translation: X:16.85, Y:0.90, Z:1.10 [[ 9.93994343e-01 -2.49771060e-03 -1.09402960e-01 1.68463166e+01] [ 6.66808548e-04 9.99859172e-01 -1.67687869e-02 9.01130334e-01] [ 1.09429437e-01 1.65951285e-02 9.93856026e-01 1.10278783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66463044 meters Centerline goodness [0,1] 0.3253032742887816 Centerline is valid? [False, False] Translation: X:16.85, Y:0.90, Z:1.10 [[ 9.93969770e-01 -2.74300674e-03 -1.09620123e-01 1.68470351e+01] [ 8.67934088e-04 9.99852564e-01 -1.71492425e-02 9.02598387e-01] [ 1.09651001e-01 1.69506856e-02 9.93825605e-01 1.10262040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.69463044 meters Centerline goodness [0,1] 0.323002152921365 Centerline is valid? [False, False] Translation: X:16.85, Y:0.90, Z:1.10 [[ 9.93957317e-01 -2.71048089e-03 -1.09733792e-01 1.68472936e+01] [ 8.19143059e-04 9.99850404e-01 -1.72771044e-02 9.04233747e-01] [ 1.09764205e-01 1.70828167e-02 9.93810846e-01 1.10266349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72463044 meters Centerline goodness [0,1] 0.3299155609167672 Centerline is valid? [False, False] Translation: X:16.85, Y:0.91, Z:1.10 [[ 9.93972692e-01 -2.61641977e-03 -1.09596721e-01 1.68468915e+01] [ 7.14622083e-04 9.99848555e-01 -1.73883733e-02 9.06173059e-01] [ 1.09625618e-01 1.72052480e-02 9.93824030e-01 1.10273992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.75463044 meters Centerline goodness [0,1] 0.3259186379774992 Centerline is valid? [False, False] Translation: X:16.85, Y:0.91, Z:1.10 [[ 9.93967693e-01 -2.61767844e-03 -1.09642025e-01 1.68469198e+01] [ 6.84352250e-04 9.99843692e-01 -1.76669962e-02 9.08954352e-01] [ 1.09671134e-01 1.74853897e-02 9.93814119e-01 1.10287534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78463044 meters Centerline goodness [0,1] 0.32891019604485916 Centerline is valid? [False, False] Translation: X:16.85, Y:0.91, Z:1.10 [[ 9.93992880e-01 -2.86019104e-03 -1.09407376e-01 1.68462084e+01] [ 8.58117831e-04 9.99831404e-01 -1.83419608e-02 9.13466275e-01] [ 1.09441392e-01 1.81378941e-02 9.93827751e-01 1.10304023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.81463044000003 meters Centerline goodness [0,1] 0.3317039408227711 Centerline is valid? [False, False] Translation: X:16.85, Y:0.92, Z:1.10 [[ 9.94006301e-01 -2.98750892e-03 -1.09281966e-01 1.68457494e+01] [ 9.54897239e-04 9.99825668e-01 -1.86473057e-02 9.15261062e-01] [ 1.09318624e-01 1.84311863e-02 9.93835867e-01 1.10319943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84463044 meters Centerline goodness [0,1] 0.33086494166272007 Centerline is valid? [False, False] Translation: X:16.85, Y:0.92, Z:1.10 [[ 9.94008296e-01 -3.05361613e-03 -1.09261993e-01 1.68454091e+01] [ 1.00268495e-03 9.99822371e-01 -1.88207857e-02 9.16568885e-01] [ 1.09300057e-01 1.85984618e-02 9.93834793e-01 1.10358646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.87463044000003 meters Centerline goodness [0,1] 0.3310367100871999 Centerline is valid? [False, False] Translation: X:16.85, Y:0.92, Z:1.10 [[ 9.94006133e-01 -3.10464695e-03 -1.09280232e-01 1.68454440e+01] [ 1.04424755e-03 9.99820712e-01 -1.89064556e-02 9.17218520e-01] [ 1.09319337e-01 1.86790172e-02 9.93831161e-01 1.10365380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90463044 meters Centerline goodness [0,1] 0.3341808153063863 Centerline is valid? [False, False] Translation: X:16.85, Y:0.92, Z:1.10 [[ 9.94002675e-01 -3.66483688e-03 -1.09294335e-01 1.68455890e+01] [ 1.57474550e-03 9.99814352e-01 -1.92036968e-02 9.16692044e-01] [ 1.09344423e-01 1.89164153e-02 9.93823911e-01 1.10362386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.93463044000003 meters Centerline goodness [0,1] 0.3377032893458025 Centerline is valid? [False, False] Translation: X:16.85, Y:0.92, Z:1.10 [[ 9.93993353e-01 -3.77463401e-03 -1.09375349e-01 1.68456345e+01] [ 1.69107026e-03 9.99815457e-01 -1.91361659e-02 9.15655773e-01] [ 1.09427396e-01 1.88362603e-02 9.93816301e-01 1.10386623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96463044 meters Centerline goodness [0,1] 0.3330829810519088 Centerline is valid? [False, False] Translation: X:16.86, Y:0.92, Z:1.11 [[ 9.94008662e-01 -1.15402224e-02 -1.08690404e-01 1.68648044e+01] [ 9.64735699e-03 9.99792790e-01 -1.79249929e-02 9.19233229e-01] [ 1.08874741e-01 1.67690231e-02 9.93914026e-01 1.10720450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.99463044000004 meters Centerline goodness [0,1] 0.33195410143752935 Centerline is valid? [False, False] Translation: X:16.86, Y:0.92, Z:1.11 [[ 9.94018543e-01 -1.15065007e-02 -1.08603580e-01 1.68645652e+01] [ 9.63752651e-03 9.99796568e-01 -1.77183835e-02 9.17899705e-01] [ 1.08785363e-01 1.65657319e-02 9.93927221e-01 1.10736178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02463044 meters Centerline goodness [0,1] 0.3375329999356099 Centerline is valid? [False, False] Translation: X:16.86, Y:0.92, Z:1.11 [[ 9.94003322e-01 -1.15367540e-02 -1.08739589e-01 1.68646989e+01] [ 9.67396619e-03 9.99797554e-01 -1.76427359e-02 9.17075029e-01] [ 1.08921115e-01 1.64849950e-02 9.93913696e-01 1.10766998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.05463044000004 meters Centerline goodness [0,1] 0.3413729128014842 Centerline is valid? [False, False] Translation: X:16.87, Y:0.92, Z:1.11 [[ 9.93976280e-01 -1.15518875e-02 -1.08984901e-01 1.68655812e+01] [ 9.68789323e-03 9.99797868e-01 -1.76172703e-02 9.16682438e-01] [ 1.09166384e-01 1.64553147e-02 9.93887279e-01 1.10735912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08463044 meters Centerline goodness [0,1] 0.3339388434756282 Centerline is valid? [False, False] Translation: X:16.87, Y:0.92, Z:1.10 [[ 9.93791057e-01 -9.51637141e-03 -1.10854742e-01 1.68729397e+01] [ 7.79684697e-03 9.99842635e-01 -1.59347001e-02 9.17448237e-01] [ 1.10988938e-01 1.49714450e-02 9.93708867e-01 1.10466500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11463044000004 meters Centerline goodness [0,1] 0.32957794930231554 Centerline is valid? [False, False] Translation: X:16.87, Y:0.92, Z:1.10 [[ 9.93738689e-01 -9.36971948e-03 -1.11335648e-01 1.68747133e+01] [ 7.64022035e-03 9.99843590e-01 -1.59506091e-02 9.18338422e-01] [ 1.11467687e-01 1.50001085e-02 9.93654845e-01 1.10393542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14463044 meters Centerline goodness [0,1] 0.32705225882605427 Centerline is valid? [False, False] Translation: X:16.88, Y:0.92, Z:1.10 [[ 9.93706548e-01 -9.32393784e-03 -1.11625987e-01 1.68755093e+01] [ 7.57897320e-03 9.99842524e-01 -1.60463910e-02 9.19222991e-01] [ 1.11758025e-01 1.50993935e-02 9.93620729e-01 1.10381562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.17463044 meters Centerline goodness [0,1] 0.3266922862234054 Centerline is valid? [False, False] Translation: X:16.88, Y:0.92, Z:1.10 [[ 9.93701361e-01 -5.79908713e-03 -1.11910570e-01 1.68755279e+01] [ 4.37211042e-03 9.99906039e-01 -1.29922505e-02 9.19716102e-01] [ 1.11975398e-01 1.24211316e-02 9.93633346e-01 1.10458943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20463044 meters Centerline goodness [0,1] 0.3272164682624952 Centerline is valid? [False, False] Translation: X:16.88, Y:0.92, Z:1.10 [[ 9.93710686e-01 -5.77505913e-03 -1.11828986e-01 1.68753385e+01] [ 4.33302774e-03 9.99904361e-01 -1.31337221e-02 9.20930592e-01] [ 1.11894139e-01 1.25665619e-02 9.93640671e-01 1.10454519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.23463044 meters Centerline goodness [0,1] 0.32707120849024307 Centerline is valid? [False, False] Translation: X:16.89, Y:0.92, Z:1.11 [[ 9.93744761e-01 1.84760240e-03 -1.11659917e-01 1.68946568e+01] [-3.49442634e-03 9.99887969e-01 -1.45546629e-02 9.19929447e-01] [ 1.11620517e-01 1.48538074e-02 9.93639887e-01 1.10805982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26463044 meters Centerline goodness [0,1] 0.3293390109772537 Centerline is valid? [False, False] Translation: X:16.89, Y:0.92, Z:1.11 [[ 9.93761588e-01 1.82615641e-03 -1.11510408e-01 1.68941118e+01] [-3.48883296e-03 9.99885610e-01 -1.47171973e-02 9.21288770e-01] [ 1.11470776e-01 1.50144266e-02 9.93654282e-01 1.10823613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.29463044 meters Centerline goodness [0,1] 0.3330115623055967 Centerline is valid? [False, False] Translation: X:16.89, Y:0.92, Z:1.11 [[ 9.93800964e-01 1.93684304e-03 -1.11157060e-01 1.68926802e+01] [-3.59371247e-03 9.99885385e-01 -1.47072428e-02 9.22340354e-01] [ 1.11115834e-01 1.50155386e-02 9.93694020e-01 1.10887917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32463044 meters Centerline goodness [0,1] 0.3335983497356999 Centerline is valid? [False, False] Translation: X:16.89, Y:0.92, Z:1.11 [[ 9.93842828e-01 2.05567614e-03 -1.10779999e-01 1.68912135e+01] [-3.70837827e-03 9.99884855e-01 -1.47148017e-02 9.23604794e-01] [ 1.10736994e-01 1.50350143e-02 9.93736015e-01 1.10951759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.35463044 meters Centerline goodness [0,1] 0.3364775810828272 Centerline is valid? [False, False] Translation: X:16.89, Y:0.93, Z:1.11 [[ 9.93853435e-01 1.79611833e-03 -1.10689312e-01 1.68906746e+01] [-3.51728283e-03 9.99875900e-01 -1.53562088e-02 9.27371554e-01] [ 1.10647994e-01 1.56511465e-02 9.93736415e-01 1.10992995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38463044 meters Centerline goodness [0,1] 0.3352994360012055 Centerline is valid? [False, False] Translation: X:16.89, Y:0.93, Z:1.11 [[ 9.93820334e-01 1.57923493e-03 -1.10989410e-01 1.68915221e+01] [-3.35236277e-03 9.99869697e-01 -1.57908500e-02 9.29608065e-01] [ 1.10950011e-01 1.60653446e-02 9.93696131e-01 1.10982030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.41463044 meters Centerline goodness [0,1] 0.33359846937678694 Centerline is valid? [False, False] Translation: X:16.89, Y:0.93, Z:1.11 [[ 9.93783379e-01 1.49179937e-03 -1.11321023e-01 1.68925100e+01] [-3.30712989e-03 9.99864526e-01 -1.61242990e-02 9.32176738e-01] [ 1.11281888e-01 1.63922134e-02 9.93653681e-01 1.10960223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.44463044 meters Centerline goodness [0,1] 0.33392062912270903 Centerline is valid? [False, False] Translation: X:16.89, Y:0.93, Z:1.11 [[ 9.93759862e-01 1.48139611e-03 -1.11530904e-01 1.68932353e+01] [-3.32011156e-03 9.99861597e-01 -1.63022307e-02 9.34165821e-01] [ 1.11491318e-01 1.65707975e-02 9.93627241e-01 1.10939513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.47463044 meters Centerline goodness [0,1] 0.3331269482044493 Centerline is valid? [False, False] Translation: X:16.91, Y:0.94, Z:1.11 [[ 9.93841108e-01 -6.40342606e-03 -1.10629324e-01 1.69117242e+01] [ 4.73296636e-03 9.99870894e-01 -1.53556284e-02 9.42492005e-01] [ 1.10713370e-01 1.47374499e-02 9.93743104e-01 1.11308490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.50463044 meters Centerline goodness [0,1] 0.34028613163773846 Centerline is valid? [False, False] Translation: X:16.91, Y:0.94, Z:1.11 [[ 9.93893553e-01 -6.76729109e-03 -1.10135417e-01 1.69098038e+01] [ 5.07877977e-03 9.99865343e-01 -1.56045477e-02 9.42481171e-01] [ 1.10226187e-01 1.49499058e-02 9.93794087e-01 1.11397953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.53463044 meters Centerline goodness [0,1] 0.3421375260791947 Centerline is valid? [False, False] Translation: X:16.91, Y:0.94, Z:1.11 [[ 9.93931743e-01 -7.00079295e-03 -1.09775582e-01 1.69083101e+01] [ 5.31464872e-03 9.99863485e-01 -1.56450017e-02 9.41739908e-01] [ 1.09870123e-01 1.49666452e-02 9.93833263e-01 1.11481750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.56463044000003 meters Centerline goodness [0,1] 0.34364519735144894 Centerline is valid? [False, False] Translation: X:16.91, Y:0.94, Z:1.12 [[ 9.93933390e-01 -7.05604525e-03 -1.09757137e-01 1.69081334e+01] [ 5.38328551e-03 9.99864920e-01 -1.55294220e-02 9.40895525e-01] [ 1.09851887e-01 1.48443570e-02 9.93837113e-01 1.11507293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.59463044 meters Centerline goodness [0,1] 0.34534683326152515 Centerline is valid? [False, False] Translation: X:16.91, Y:0.94, Z:1.11 [[ 9.93898365e-01 -6.99579556e-03 -1.10077699e-01 1.69090457e+01] [ 5.34444916e-03 9.99868825e-01 -1.52895512e-02 9.39707865e-01] [ 1.10170222e-01 1.46079552e-02 9.93805378e-01 1.11497385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.62463044000003 meters Centerline goodness [0,1] 0.34274028629856845 Centerline is valid? [False, False] Translation: X:16.91, Y:0.94, Z:1.11 [[ 9.93841360e-01 -7.27036184e-03 -1.10573476e-01 1.69104108e+01] [ 5.62734914e-03 9.99869187e-01 -1.51638397e-02 9.37149882e-01] [ 1.10669258e-01 1.44482155e-02 9.93752265e-01 1.11496548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.65463044 meters Centerline goodness [0,1] 0.3403839204098552 Centerline is valid? [False, False] Translation: X:16.93, Y:0.93, Z:1.12 [[ 9.93945524e-01 -2.50688976e-03 -1.09845396e-01 1.69321367e+01] [ 4.96021261e-04 9.99831871e-01 -1.83298548e-02 9.34842285e-01] [ 1.09872879e-01 1.81643915e-02 9.93779656e-01 1.11739696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68463044000003 meters Centerline goodness [0,1] 0.34618109982607204 Centerline is valid? [False, False] Translation: X:16.93, Y:0.93, Z:1.12 [[ 9.93946969e-01 -2.44176903e-03 -1.09833785e-01 1.69317371e+01] [ 4.64001103e-04 9.99837359e-01 -1.80288735e-02 9.32676266e-01] [ 1.09859943e-01 1.78687812e-02 9.93786446e-01 1.11782624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.71463044 meters Centerline goodness [0,1] 0.34647674544081153 Centerline is valid? [False, False] Translation: X:16.93, Y:0.93, Z:1.12 [[ 9.93963139e-01 -2.18726547e-03 -1.09692727e-01 1.69312540e+01] [ 2.83096358e-04 9.99849061e-01 -1.73716893e-02 9.28619864e-01] [ 1.09714167e-01 1.72357652e-02 9.93813730e-01 1.11802381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74463044000004 meters Centerline goodness [0,1] 0.3437896684524193 Centerline is valid? [False, False] Translation: X:16.93, Y:0.93, Z:1.12 [[ 9.93931026e-01 -2.03943282e-03 -1.09986160e-01 1.69324986e+01] [ 1.63725896e-04 9.99854448e-01 -1.70603622e-02 9.26741526e-01] [ 1.10004945e-01 1.69388158e-02 9.93786692e-01 1.11742910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.77463044 meters Centerline goodness [0,1] 0.3405845341121395 Centerline is valid? [False, False] Translation: X:16.93, Y:0.93, Z:1.12 [[ 9.93875054e-01 -1.86920261e-03 -1.10493819e-01 1.69342659e+01] [ 1.28255905e-05 9.99858886e-01 -1.67990556e-02 9.25375333e-01] [ 1.10509628e-01 1.66947451e-02 9.93734828e-01 1.11682284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80463044000004 meters Centerline goodness [0,1] 0.3438883872909412 Centerline is valid? [False, False] Translation: X:16.94, Y:0.92, Z:1.12 [[ 9.93821951e-01 -1.66983875e-03 -1.10973605e-01 1.69358750e+01] [-1.75602801e-04 9.99861901e-01 -1.66177000e-02 9.24813556e-01] [ 1.10986028e-01 1.65345223e-02 9.93684412e-01 1.11634018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.83463044 meters Centerline goodness [0,1] 0.34038186055461717 Centerline is valid? [False, False] Translation: X:16.94, Y:0.92, Z:1.12 [[ 9.93782502e-01 -1.43331630e-03 -1.11329621e-01 1.69369636e+01] [-4.04861696e-04 9.99864002e-01 -1.64867699e-02 9.24877897e-01] [ 1.11338111e-01 1.64293366e-02 9.93646769e-01 1.11607721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86463044000004 meters Centerline goodness [0,1] 0.34279447813185393 Centerline is valid? [False, False] Translation: X:16.94, Y:0.92, Z:1.12 [[ 9.93772109e-01 -1.24256707e-03 -1.11424641e-01 1.69371437e+01] [-5.87805895e-04 9.99865459e-01 -1.63926488e-02 9.24994307e-01] [ 1.11430019e-01 1.63560532e-02 9.93637676e-01 1.11609720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.89463044 meters Centerline goodness [0,1] 0.33882917219819275 Centerline is valid? [False, False] Translation: X:16.94, Y:0.92, Z:1.12 [[ 9.93804756e-01 -1.02766313e-03 -1.11135278e-01 1.69361124e+01] [-7.82406557e-04 9.99867780e-01 -1.62422468e-02 9.24432830e-01] [ 1.11137275e-01 1.62285751e-02 9.93672551e-01 1.11643579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92463044 meters Centerline goodness [0,1] 0.3402904395203672 Centerline is valid? [False, False] Translation: X:16.94, Y:0.92, Z:1.12 [[ 9.93812092e-01 -8.84333311e-04 -1.11070899e-01 1.69358454e+01] [-9.02488116e-04 9.99871009e-01 -1.60359092e-02 9.23534048e-01] [ 1.11070753e-01 1.60369206e-02 9.93683101e-01 1.11653448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.95463044 meters Centerline goodness [0,1] 0.3388631164888727 Centerline is valid? [False, False] Translation: X:16.94, Y:0.92, Z:1.12 [[ 9.93807747e-01 -7.06812868e-04 -1.11111038e-01 1.69359317e+01] [-1.04488753e-03 9.99876103e-01 -1.57062939e-02 9.22106534e-01] [ 1.11108373e-01 1.57251351e-02 9.93683878e-01 1.11655998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98463044 meters Centerline goodness [0,1] 0.3411073108165883 Centerline is valid? [False, False] Translation: X:16.94, Y:0.92, Z:1.12 [[ 9.93798656e-01 -5.32009797e-04 -1.11193296e-01 1.69360978e+01] [-1.17888314e-03 9.99881942e-01 -1.53203434e-02 9.20161017e-01] [ 1.11188319e-01 1.53564205e-02 9.93680702e-01 1.11662503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.01463044 meters Centerline goodness [0,1] 0.3384421358642212 Centerline is valid? [False, False] Translation: X:16.94, Y:0.91, Z:1.12 [[ 9.93789408e-01 -7.89890099e-04 -1.11274384e-01 1.69363495e+01] [-8.83121703e-04 9.99887330e-01 -1.49849232e-02 9.13794289e-01] [ 1.11273683e-01 1.49901268e-02 9.93676740e-01 1.11667748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04463044 meters Centerline goodness [0,1] 0.3403535807542485 Centerline is valid? [False, False] Translation: X:16.94, Y:0.91, Z:1.12 [[ 9.93805825e-01 -8.31521892e-04 -1.11127363e-01 1.69357497e+01] [-8.04641411e-04 9.99891954e-01 -1.46776575e-02 9.10774586e-01] [ 1.11127561e-01 1.46761592e-02 9.93697779e-01 1.11701727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.07463044 meters Centerline goodness [0,1] 0.3411825369542798 Centerline is valid? [False, False] Translation: X:16.93, Y:0.91, Z:1.12 [[ 9.93833944e-01 -7.88335618e-04 -1.10875923e-01 1.69348132e+01] [-8.06264827e-04 9.99896905e-01 -1.43362748e-02 9.08269583e-01] [ 1.10875794e-01 1.43372719e-02 9.93730849e-01 1.11742583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10463044 meters Centerline goodness [0,1] 0.3411825369542798 Centerline is valid? [False, False] Translation: X:16.93, Y:0.91, Z:1.12 [[ 9.93833944e-01 -7.88335618e-04 -1.10875923e-01 1.69348132e+01] [-8.06264827e-04 9.99896905e-01 -1.43362748e-02 9.08269583e-01] [ 1.10875794e-01 1.43372719e-02 9.93730849e-01 1.11742583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.13463044 meters Centerline goodness [0,1] 0.34505905892983924 Centerline is valid? [False, False] Translation: X:16.93, Y:0.90, Z:1.12 [[ 9.93838003e-01 -4.58546472e-04 -1.10841386e-01 1.69345765e+01] [-1.05796705e-03 9.99906648e-01 -1.36226331e-02 9.04690914e-01] [ 1.10837285e-01 1.36559570e-02 9.93744741e-01 1.11767666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16463044 meters Centerline goodness [0,1] 0.3383334759907558 Centerline is valid? [False, False] Translation: X:16.94, Y:0.90, Z:1.12 [[ 9.93807837e-01 -4.06115831e-04 -1.11111737e-01 1.69357907e+01] [-1.09494883e-03 9.99908970e-01 -1.34481526e-02 9.03485508e-01] [ 1.11107084e-01 1.34865411e-02 9.93716926e-01 1.11707992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.19463044 meters Centerline goodness [0,1] 0.33910885794348544 Centerline is valid? [False, False] Translation: X:16.94, Y:0.90, Z:1.12 [[ 9.93769801e-01 -3.93754818e-04 -1.11451462e-01 1.69369867e+01] [-1.10472099e-03 9.99909833e-01 -1.33830248e-02 9.02815140e-01] [ 1.11446682e-01 1.34227686e-02 9.93679760e-01 1.11669601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22463044 meters Centerline goodness [0,1] 0.3397230868305249 Centerline is valid? [False, False] Translation: X:16.94, Y:0.90, Z:1.12 [[ 9.93745817e-01 -2.79393883e-04 -1.11665451e-01 1.69377924e+01] [-1.20544829e-03 9.99911760e-01 -1.32295031e-02 9.02231576e-01] [ 1.11659294e-01 1.32813703e-02 9.93657792e-01 1.11636567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.25463044 meters Centerline goodness [0,1] 0.34123304509089336 Centerline is valid? [False, False] Translation: X:16.94, Y:0.90, Z:1.12 [[ 9.93735963e-01 -1.46777236e-04 -1.11753360e-01 1.69379466e+01] [-1.32066732e-03 9.99913882e-01 -1.30569605e-02 9.01665606e-01] [ 1.11745652e-01 1.31227602e-02 9.93650191e-01 1.11644727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28463044 meters Centerline goodness [0,1] 0.33871798172222933 Centerline is valid? [False, False] Translation: X:16.94, Y:0.90, Z:1.12 [[ 9.93735741e-01 -9.93220852e-05 -1.11755386e-01 1.69376482e+01] [-1.35708641e-03 9.99915147e-01 -1.29559655e-02 9.01132106e-01] [ 1.11747190e-01 1.30264677e-02 9.93651285e-01 1.11682924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.31463044000003 meters Centerline goodness [0,1] 0.34061331338818246 Centerline is valid? [False, False] Translation: X:16.96, Y:0.90, Z:1.12 [[ 9.93914894e-01 -7.57057939e-03 -1.09890258e-01 1.69558655e+01] [ 6.34454721e-03 9.99913719e-01 -1.15022590e-02 9.02956845e-01] [ 1.09967856e-01 1.07350626e-02 9.93877170e-01 1.12004828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34463044 meters Centerline goodness [0,1] 0.3445284075006997 Centerline is valid? [False, False] Translation: X:16.96, Y:0.90, Z:1.12 [[ 9.93948370e-01 -7.49214365e-03 -1.09592452e-01 1.69552168e+01] [ 6.29336090e-03 9.99916570e-01 -1.12803642e-02 9.01658572e-01] [ 1.09667823e-01 1.05223948e-02 9.93912596e-01 1.11997927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.37463044000003 meters Centerline goodness [0,1] 0.34298865339327766 Centerline is valid? [False, False] Translation: X:16.96, Y:0.90, Z:1.12 [[ 9.93952730e-01 -7.48167818e-03 -1.09553621e-01 1.69552667e+01] [ 6.29779104e-03 9.99918021e-01 -1.11484972e-02 9.00556625e-01] [ 1.09628050e-01 1.03911334e-02 9.93918364e-01 1.11986749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40463044 meters Centerline goodness [0,1] 0.34125413960689865 Centerline is valid? [False, False] Translation: X:16.96, Y:0.90, Z:1.12 [[ 9.93945506e-01 -7.47591459e-03 -1.09619528e-01 1.69556853e+01] [ 6.30553668e-03 9.99919402e-01 -1.10194983e-02 8.99362671e-01] [ 1.09693073e-01 1.02615708e-02 9.93912536e-01 1.11960883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.43463044000003 meters Centerline goodness [0,1] 0.3432074862858987 Centerline is valid? [False, False] Translation: X:16.96, Y:0.90, Z:1.12 [[ 9.93913098e-01 -7.44208769e-03 -1.09915280e-01 1.69565722e+01] [ 6.28225725e-03 9.99920918e-01 -1.08945853e-02 8.98354163e-01] [ 1.09987666e-01 1.01377549e-02 9.93881250e-01 1.11944464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46463044 meters Centerline goodness [0,1] 0.34135480003425533 Centerline is valid? [False, False] Translation: X:16.96, Y:0.90, Z:1.12 [[ 9.93867840e-01 -7.28728128e-03 -1.10334091e-01 1.69580302e+01] [ 6.15926691e-03 9.99925261e-01 -1.05610091e-02 8.96286825e-01] [ 1.10402806e-01 9.81667018e-03 9.93838444e-01 1.11902109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.49463044000004 meters Centerline goodness [0,1] 0.3416806505744159 Centerline is valid? [False, False] Translation: X:16.96, Y:0.89, Z:1.12 [[ 9.93851623e-01 -7.17187864e-03 -1.10487629e-01 1.69584930e+01] [ 6.06724694e-03 9.99928229e-01 -1.03307555e-02 8.94981145e-01] [ 1.10553790e-01 9.59688241e-03 9.93823807e-01 1.11895059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52463044 meters Centerline goodness [0,1] 0.3428816466552316 Centerline is valid? [False, False] Translation: X:16.96, Y:0.89, Z:1.12 [[ 9.93871877e-01 -6.95423716e-03 -1.10319222e-01 1.69579813e+01] [ 5.90300243e-03 9.99934037e-01 -9.85277369e-03 8.92026265e-01] [ 1.10380463e-01 9.14118005e-03 9.93847369e-01 1.11911442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.55463044000004 meters Centerline goodness [0,1] 0.3431614133579035 Centerline is valid? [False, False] Translation: X:16.96, Y:0.89, Z:1.12 [[ 9.93879165e-01 -6.79397075e-03 -1.10263532e-01 1.69579057e+01] [ 5.77145444e-03 9.99937360e-01 -9.58990551e-03 8.90758492e-01] [ 1.10321778e-01 8.89482634e-03 9.93856120e-01 1.11906847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58463044 meters Centerline goodness [0,1] 0.3428534505040062 Centerline is valid? [False, False] Translation: X:16.96, Y:0.89, Z:1.12 [[ 9.93866012e-01 -6.64287810e-03 -1.10391225e-01 1.69582913e+01] [ 5.64559064e-03 9.99940405e-01 -9.34423506e-03 8.89578218e-01] [ 1.10446719e-01 8.66369397e-03 9.93844285e-01 1.11897926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61463044000004 meters Centerline goodness [0,1] 0.3420290476905584 Centerline is valid? [False, False] Translation: X:16.96, Y:0.89, Z:1.12 [[ 9.93839639e-01 -6.53536276e-03 -1.10634810e-01 1.69593449e+01] [ 5.55498118e-03 9.99942549e-01 -9.16733909e-03 8.88463603e-01] [ 1.10688366e-01 8.49629069e-03 9.93818846e-01 1.11848282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64463044 meters Centerline goodness [0,1] 0.3392092081423852 Centerline is valid? [False, False] Translation: X:16.98, Y:0.88, Z:1.12 [[ 9.93676474e-01 6.85239361e-04 -1.12279100e-01 1.69796705e+01] [-1.84043174e-03 9.99946435e-01 -1.01852532e-02 8.83534821e-01] [ 1.12266107e-01 1.03274885e-02 9.93624509e-01 1.12197243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.67463044 meters Centerline goodness [0,1] 0.3365423699805319 Centerline is valid? [False, False] Translation: X:16.98, Y:0.88, Z:1.12 [[ 9.93648957e-01 7.86562804e-04 -1.12521695e-01 1.69805906e+01] [-1.92621560e-03 9.99947944e-01 -1.00199367e-02 8.82524370e-01] [ 1.12507956e-01 1.01730407e-02 9.93598747e-01 1.12160389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70463044 meters Centerline goodness [0,1] 0.33911742707554227 Centerline is valid? [False, False] Translation: X:16.98, Y:0.88, Z:1.12 [[ 9.93632591e-01 1.23377074e-03 -1.12662117e-01 1.69807935e+01] [-2.31788944e-03 9.99952261e-01 -9.49226474e-03 8.81050568e-01] [ 1.12645028e-01 9.69296194e-03 9.93588015e-01 1.12175556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.73463044 meters Centerline goodness [0,1] 0.33842953941161336 Centerline is valid? [False, False] Translation: X:16.98, Y:0.88, Z:1.12 [[ 9.93632498e-01 1.35592770e-03 -1.12661531e-01 1.69806647e+01] [-2.42579196e-03 9.99953254e-01 -9.35972901e-03 8.80664118e-01] [ 1.12643574e-01 9.57342436e-03 9.93589339e-01 1.12192361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76463044 meters Centerline goodness [0,1] 0.3355184743742551 Centerline is valid? [False, False] Translation: X:16.98, Y:0.88, Z:1.12 [[ 9.93619733e-01 1.41020114e-03 -1.12773392e-01 1.69809230e+01] [-2.48112586e-03 9.99953149e-01 -9.35646718e-03 8.80665848e-01] [ 1.12754914e-01 9.57657540e-03 9.93576680e-01 1.12199395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.79463044 meters Centerline goodness [0,1] 0.33460790805972696 Centerline is valid? [False, False] Translation: X:16.98, Y:0.88, Z:1.12 [[ 9.93619427e-01 1.39102943e-03 -1.12776327e-01 1.69810924e+01] [-2.47761627e-03 9.99951849e-01 -9.49530133e-03 8.81293661e-01] [ 1.12757689e-01 9.71413232e-03 9.93575030e-01 1.12177020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82463044 meters Centerline goodness [0,1] 0.3338962399264659 Centerline is valid? [False, False] Translation: X:16.98, Y:0.88, Z:1.12 [[ 9.93620970e-01 2.03812579e-03 -1.12752887e-01 1.69810920e+01] [-3.09165068e-03 9.99953179e-01 -9.16959751e-03 8.82919007e-01] [ 1.12728919e-01 9.45969692e-03 9.93580749e-01 1.12157838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.85463044 meters Centerline goodness [0,1] 0.3375699803298532 Centerline is valid? [False, False] Translation: X:16.98, Y:0.88, Z:1.12 [[ 9.93642546e-01 2.26530683e-03 -1.12558245e-01 1.69806089e+01] [-3.30875225e-03 9.99953262e-01 -9.08432832e-03 8.83956774e-01] [ 1.12532405e-01 9.39900247e-03 9.93603601e-01 1.12156968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88463044 meters Centerline goodness [0,1] 0.3343241451574963 Centerline is valid? [False, False] Translation: X:17.00, Y:0.89, Z:1.12 [[ 9.93750619e-01 -2.49628354e-03 -1.11595140e-01 1.70013236e+01] [ 1.84101762e-03 9.99980458e-01 -5.97447489e-03 8.86943887e-01] [ 1.11607873e-01 5.73168951e-03 9.93735795e-01 1.12430831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.91463044 meters Centerline goodness [0,1] 0.3337522365169975 Centerline is valid? [False, False] Translation: X:17.02, Y:0.88, Z:1.13 [[ 9.93852909e-01 4.73924244e-03 -1.10607118e-01 1.70191476e+01] [-5.65856433e-03 9.99951996e-01 -7.99917490e-03 8.84933181e-01] [ 1.10563898e-01 8.57588074e-03 9.93832017e-01 1.12818887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.94463044 meters Centerline goodness [0,1] 0.3409217697292194 Centerline is valid? [False, False] Translation: X:17.02, Y:0.89, Z:1.13 [[ 9.93866958e-01 4.37812789e-03 -1.10495707e-01 1.70179754e+01] [-5.34873970e-03 9.99949660e-01 -8.48927249e-03 8.86028518e-01] [ 1.10452977e-01 9.02822020e-03 9.93840345e-01 1.12912921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.97463044 meters Centerline goodness [0,1] 0.3425872249060655 Centerline is valid? [False, False] Translation: X:17.02, Y:0.89, Z:1.13 [[ 9.93871404e-01 4.38693351e-03 -1.10455366e-01 1.70176409e+01] [-5.36961242e-03 9.99948596e-01 -8.60072505e-03 8.87241596e-01] [ 1.10411957e-01 9.14111718e-03 9.93843871e-01 1.12939152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.00463044 meters Centerline goodness [0,1] 0.34161330525591993 Centerline is valid? [False, False] Translation: X:17.02, Y:0.89, Z:1.13 [[ 9.93876460e-01 4.42957009e-03 -1.10408157e-01 1.70175107e+01] [-5.42544094e-03 9.99947252e-01 -8.72110924e-03 8.88888954e-01] [ 1.10363702e-01 9.26671811e-03 9.93848067e-01 1.12938505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.03463044 meters Centerline goodness [0,1] 0.34018004855724815 Centerline is valid? [False, False] Translation: X:17.02, Y:0.89, Z:1.13 [[ 9.93886958e-01 4.36025031e-03 -1.10316379e-01 1.70175203e+01] [-5.38433017e-03 9.99945121e-01 -8.98692034e-03 8.90739019e-01] [ 1.10271140e-01 9.52596272e-03 9.93855891e-01 1.12909590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.06463044000003 meters Centerline goodness [0,1] 0.33780622660768966 Centerline is valid? [False, False] Translation: X:17.04, Y:0.90, Z:1.13 [[ 9.93914190e-01 -7.91205903e-04 -1.10154246e-01 1.70381110e+01] [ 7.59089408e-05 9.99978887e-01 -6.49763630e-03 8.96363943e-01] [ 1.10157061e-01 6.44973123e-03 9.93893265e-01 1.13160590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.09463044 meters Centerline goodness [0,1] 0.33964486902135493 Centerline is valid? [False, False] Translation: X:17.04, Y:0.90, Z:1.13 [[ 9.93865908e-01 -7.08463815e-04 -1.10589577e-01 1.70390048e+01] [-6.28525949e-05 9.99975701e-01 -6.97094313e-03 9.02030564e-01] [ 1.10591828e-01 6.93513356e-03 9.93841713e-01 1.13164356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.12463044000003 meters Centerline goodness [0,1] 0.3405583417637056 Centerline is valid? [False, False] Translation: X:17.04, Y:0.90, Z:1.13 [[ 9.93831633e-01 -6.96896462e-04 -1.10897244e-01 1.70399169e+01] [-1.09549766e-04 9.99973598e-01 -7.26575389e-03 9.04778147e-01] [ 1.10899380e-01 7.23308482e-03 9.93805318e-01 1.13138728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.15463044 meters Centerline goodness [0,1] 0.33956750438340155 Centerline is valid? [False, False] Translation: X:17.04, Y:0.91, Z:1.13 [[ 9.93803579e-01 -7.90363588e-04 -1.11147749e-01 1.70406299e+01] [-6.02697674e-05 9.99970740e-01 -7.64960857e-03 9.07434288e-01] [ 1.11150543e-01 7.60890723e-03 9.93774452e-01 1.13123854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18463044000003 meters Centerline goodness [0,1] 0.33701361346339376 Centerline is valid? [False, False] Translation: X:17.06, Y:0.91, Z:1.13 [[ 9.93838113e-01 6.71461732e-03 -1.10637784e-01 1.70604432e+01] [-7.79213660e-03 9.99926304e-01 -9.30965741e-03 9.08084840e-01] [ 1.10567119e-01 1.01143971e-02 9.93817192e-01 1.13459168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.21463044 meters Centerline goodness [0,1] 0.3408455550298912 Centerline is valid? [False, False] Translation: X:17.06, Y:0.91, Z:1.14 [[ 9.93900242e-01 6.35890574e-03 -1.10099379e-01 1.70580276e+01] [-7.49511432e-03 9.99922814e-01 -9.90905688e-03 9.10917628e-01] [ 1.10027870e-01 1.06738215e-02 9.93871187e-01 1.13582760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24463044000004 meters Centerline goodness [0,1] 0.3408712719204676 Centerline is valid? [False, False] Translation: X:17.08, Y:0.92, Z:1.14 [[ 9.94039125e-01 -6.63954273e-04 -1.09021908e-01 1.70753056e+01] [-2.51790017e-04 9.99964808e-01 -8.38565437e-03 9.17113269e-01] [ 1.09023639e-01 8.36311916e-03 9.94003976e-01 1.13998111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.27463044 meters Centerline goodness [0,1] 0.34183476808428626 Centerline is valid? [False, False] Translation: X:17.07, Y:0.92, Z:1.14 [[ 9.94041042e-01 -6.77100483e-04 -1.09004346e-01 1.70749766e+01] [-2.46203157e-04 9.99964212e-01 -8.45665636e-03 9.17979997e-01] [ 1.09006171e-01 8.43310072e-03 9.94005301e-01 1.14032962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30463044000004 meters Centerline goodness [0,1] 0.33925083181281523 Centerline is valid? [False, False] Translation: X:17.08, Y:0.92, Z:1.14 [[ 9.93984032e-01 -9.20332652e-04 -1.09521220e-01 1.70766049e+01] [-3.78135195e-05 9.99961751e-01 -8.74609944e-03 9.19087623e-01] [ 1.09525081e-01 8.69762457e-03 9.93945978e-01 1.13998501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.33463044 meters Centerline goodness [0,1] 0.34074089963319676 Centerline is valid? [False, False] Translation: X:17.08, Y:0.92, Z:1.14 [[ 9.93969805e-01 -1.02358640e-03 -1.09649346e-01 1.70769271e+01] [ 5.35725706e-05 9.99960845e-01 -8.84908883e-03 9.19219926e-01] [ 1.09654110e-01 8.78985290e-03 9.93930941e-01 1.14001983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36463044000004 meters Centerline goodness [0,1] 0.3427609136836651 Centerline is valid? [False, False] Translation: X:17.08, Y:0.92, Z:1.14 [[ 9.93970862e-01 -1.06526173e-03 -1.09639369e-01 1.70765001e+01] [ 9.75026768e-05 9.99960995e-01 -8.83173044e-03 9.18818531e-01] [ 1.09644501e-01 8.76779258e-03 9.93932195e-01 1.14049252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.39463044 meters Centerline goodness [0,1] 0.34282770611088453 Centerline is valid? [False, False] Translation: X:17.08, Y:0.92, Z:1.14 [[ 9.93982073e-01 -1.03804994e-03 -1.09537944e-01 1.70759482e+01] [ 8.42144326e-05 9.99962046e-01 -8.71207609e-03 9.18150076e-01] [ 1.09542830e-01 8.65042277e-03 9.93944434e-01 1.14092311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42463044 meters Centerline goodness [0,1] 0.3429942293976529 Centerline is valid? [False, False] Translation: X:17.08, Y:0.92, Z:1.14 [[ 9.93993483e-01 -1.00184703e-03 -1.09434695e-01 1.70756774e+01] [ 6.47122735e-05 9.99963304e-01 -8.56663134e-03 9.17315048e-01] [ 1.09439262e-01 8.50809396e-03 9.93957072e-01 1.14098302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.45463044 meters Centerline goodness [0,1] 0.3407852392190517 Centerline is valid? [False, False] Translation: X:17.08, Y:0.92, Z:1.14 [[ 9.93980747e-01 -9.93502444e-04 -1.09550391e-01 1.70761233e+01] [ 6.57220525e-05 9.99964108e-01 -8.47226855e-03 9.16763028e-01] [ 1.09554876e-01 8.41407194e-03 9.93945136e-01 1.14088199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48463044 meters Centerline goodness [0,1] 0.3433331178207366 Centerline is valid? [False, False] Translation: X:17.08, Y:0.92, Z:1.14 [[ 9.93996397e-01 -9.29737386e-04 -1.09408858e-01 1.70762201e+01] [ 2.37854507e-05 9.99965708e-01 -8.28143961e-03 9.15565465e-01] [ 1.09412806e-01 8.22911879e-03 9.93962333e-01 1.14042921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.51463044 meters Centerline goodness [0,1] 0.3433018462859596 Centerline is valid? [False, False] Translation: X:17.08, Y:0.91, Z:1.14 [[ 9.94017806e-01 -8.77644485e-04 -1.09214607e-01 1.70758181e+01] [-1.43160545e-05 9.99966658e-01 -8.16599229e-03 9.14947538e-01] [ 1.09218132e-01 8.11870527e-03 9.93984651e-01 1.14036343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54463044 meters Centerline goodness [0,1] 0.34342521464075915 Centerline is valid? [False, False] Translation: X:17.08, Y:0.91, Z:1.14 [[ 9.94029546e-01 -8.72683336e-04 -1.09107745e-01 1.70756080e+01] [-1.01827130e-05 9.99967268e-01 -8.09087098e-03 9.14223258e-01] [ 1.09111235e-01 8.04367582e-03 9.93997001e-01 1.14032748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.57463044 meters Centerline goodness [0,1] 0.34044242281202397 Centerline is valid? [False, False] Translation: X:17.08, Y:0.91, Z:1.14 [[ 9.94021418e-01 -8.38830682e-04 -1.09182032e-01 1.70760232e+01] [-3.79437576e-05 9.99967774e-01 -8.02806596e-03 9.13755393e-01] [ 1.09185248e-01 7.98421229e-03 9.93989353e-01 1.14005070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60463044 meters Centerline goodness [0,1] 0.3395425607168121 Centerline is valid? [False, False] Translation: X:17.08, Y:0.91, Z:1.14 [[ 9.93968766e-01 -6.46352943e-04 -1.09661639e-01 1.70781756e+01] [-2.11764653e-04 9.99969453e-01 -7.81331243e-03 9.13143133e-01] [ 1.09663340e-01 7.78941097e-03 9.93938266e-01 1.13894090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.63463044 meters Centerline goodness [0,1] 0.33968941701342714 Centerline is valid? [False, False] Translation: X:17.08, Y:0.91, Z:1.14 [[ 9.93951587e-01 -5.63763381e-04 -1.09817692e-01 1.70791630e+01] [-2.96501160e-04 9.99969402e-01 -7.81708227e-03 9.13813759e-01] [ 1.09818738e-01 7.80236240e-03 9.93921007e-01 1.13825402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66463044 meters Centerline goodness [0,1] 0.340888602704443 Centerline is valid? [False, False] Translation: X:17.08, Y:0.91, Z:1.14 [[ 9.93958618e-01 -5.69068776e-04 -1.09754003e-01 1.70792237e+01] [-3.03663956e-04 9.99968473e-01 -7.93483803e-03 9.14760626e-01] [ 1.09755059e-01 7.92022898e-03 9.93927109e-01 1.13797172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.69463044 meters Centerline goodness [0,1] 0.34000128229787785 Centerline is valid? [False, False] Translation: X:17.08, Y:0.92, Z:1.14 [[ 9.93976552e-01 -6.15592862e-04 -1.09591221e-01 1.70786649e+01] [-2.76254234e-04 9.99966973e-01 -8.12257363e-03 9.15846918e-01] [ 1.09592602e-01 8.10392276e-03 9.93943554e-01 1.13812638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72463044 meters Centerline goodness [0,1] 0.3422505855304153 Centerline is valid? [False, False] Translation: X:17.08, Y:0.92, Z:1.14 [[ 9.93989822e-01 -7.91330465e-04 -1.09469662e-01 1.70780774e+01] [-1.32332942e-04 9.99964457e-01 -8.43009764e-03 9.17034551e-01] [ 1.09472442e-01 8.39391770e-03 9.93954389e-01 1.13842422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.75463044 meters Centerline goodness [0,1] 0.3384025531732602 Centerline is valid? [False, False] Translation: X:17.08, Y:0.92, Z:1.14 [[ 9.93977543e-01 -9.08705720e-04 -1.09580191e-01 1.70783928e+01] [-4.51092509e-05 9.99962140e-01 -8.70147145e-03 9.18441086e-01] [ 1.09583949e-01 8.65401030e-03 9.93939871e-01 1.13834102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78463044 meters Centerline goodness [0,1] 0.33875193265761894 Centerline is valid? [False, False] Translation: X:17.08, Y:0.92, Z:1.14 [[ 9.93921956e-01 -9.46085527e-04 -1.10082927e-01 1.70803250e+01] [-3.04323982e-05 9.99960672e-01 -8.86872993e-03 9.19804348e-01] [ 1.10086988e-01 8.81817548e-03 9.93882838e-01 1.13750678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.81463044000003 meters Centerline goodness [0,1] 0.33560017963687694 Centerline is valid? [False, False] Translation: X:17.08, Y:0.92, Z:1.14 [[ 9.93900759e-01 -1.06191022e-03 -1.10273083e-01 1.70809520e+01] [ 8.68251309e-05 9.99960862e-01 -8.84688327e-03 9.19017275e-01] [ 1.10278162e-01 8.78334953e-03 9.93861952e-01 1.13737824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84463044 meters Centerline goodness [0,1] 0.3394767366928728 Centerline is valid? [False, False] Translation: X:17.08, Y:0.92, Z:1.14 [[ 9.93889454e-01 -1.30536896e-03 -1.10372321e-01 1.70810300e+01] [ 3.39582080e-04 9.99961497e-01 -8.76860833e-03 9.16940124e-01] [ 1.10379517e-01 8.67754689e-03 9.93851630e-01 1.13768696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.87463044000003 meters Centerline goodness [0,1] 0.3412749517063748 Centerline is valid? [False, False] Translation: X:17.08, Y:0.91, Z:1.14 [[ 9.93852757e-01 -5.30544429e-03 -1.10582774e-01 1.70814898e+01] [ 4.02462889e-03 9.99922250e-01 -1.18024103e-02 9.12630953e-01] [ 1.10636793e-01 1.12848034e-02 9.93796837e-01 1.13789865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90463044 meters Centerline goodness [0,1] 0.34214079074252657 Centerline is valid? [False, False] Translation: X:17.08, Y:0.91, Z:1.14 [[ 9.93811550e-01 -5.37236699e-03 -1.10949272e-01 1.70824611e+01] [ 4.12504715e-03 9.99925723e-01 -1.14687408e-02 9.09482663e-01] [ 1.11002645e-01 1.09400961e-02 9.93759894e-01 1.13798705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.93463044000003 meters Centerline goodness [0,1] 0.3413586840418714 Centerline is valid? [False, False] Translation: X:17.08, Y:0.91, Z:1.14 [[ 9.93805251e-01 -5.34748400e-03 -1.11006881e-01 1.70826134e+01] [ 4.14049011e-03 9.99929812e-01 -1.11008241e-02 9.06581405e-01] [ 1.11058451e-01 1.05724344e-02 9.93757639e-01 1.13808104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96463044 meters Centerline goodness [0,1] 0.34180079409127784 Centerline is valid? [False, False] Translation: X:17.08, Y:0.90, Z:1.14 [[ 9.93826172e-01 -5.20335683e-03 -1.10826283e-01 1.70820628e+01] [ 4.04786491e-03 9.99935109e-01 -1.06486031e-02 9.03821113e-01] [ 1.10874500e-01 1.01342506e-02 9.93782744e-01 1.13827790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.99463044000004 meters Centerline goodness [0,1] 0.3456416464891041 Centerline is valid? [False, False] Translation: X:17.08, Y:0.90, Z:1.14 [[ 9.93858987e-01 -5.06835607e-03 -1.10537891e-01 1.70811639e+01] [ 3.95791327e-03 9.99939502e-01 -1.02629221e-02 9.01690322e-01] [ 1.10583220e-01 9.76239801e-03 9.93818921e-01 1.13853825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02463044 meters Centerline goodness [0,1] 0.3456416464891041 Centerline is valid? [False, False] Translation: X:17.08, Y:0.90, Z:1.14 [[ 9.93858987e-01 -5.06835607e-03 -1.10537891e-01 1.70811639e+01] [ 3.95791327e-03 9.99939502e-01 -1.02629221e-02 9.01690322e-01] [ 1.10583220e-01 9.76239801e-03 9.93818921e-01 1.13853825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.05463044000004 meters Centerline goodness [0,1] 0.34466404858473354 Centerline is valid? [False, False] Translation: X:17.10, Y:0.90, Z:1.14 [[ 9.93992853e-01 2.41161672e-03 -1.09418427e-01 1.70996015e+01] [-3.68199248e-03 9.99928128e-01 -1.14096945e-02 8.96965100e-01] [ 1.09383047e-01 1.17440326e-02 9.93930293e-01 1.14218498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08463044 meters Centerline goodness [0,1] 0.3447810148562609 Centerline is valid? [False, False] Translation: X:17.10, Y:0.89, Z:1.14 [[ 9.93980328e-01 2.75358408e-03 -1.09524084e-01 1.70996909e+01] [-3.94585535e-03 9.99935281e-01 -1.06706824e-02 8.92759968e-01] [ 1.09487613e-01 1.10386146e-02 9.93926864e-01 1.14236895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11463044000004 meters Centerline goodness [0,1] 0.34474880924157847 Centerline is valid? [False, False] Translation: X:17.10, Y:0.89, Z:1.14 [[ 9.93960251e-01 2.87298572e-03 -1.09703078e-01 1.71003417e+01] [-4.03499781e-03 9.99938070e-01 -1.03718114e-02 8.90842799e-01] [ 1.09666486e-01 1.07518200e-02 9.93910288e-01 1.14211589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14463044 meters Centerline goodness [0,1] 0.34546861232296744 Centerline is valid? [False, False] Translation: X:17.10, Y:0.89, Z:1.14 [[ 9.93941909e-01 2.96895976e-03 -1.09866587e-01 1.71007385e+01] [-4.10872764e-03 9.99940055e-01 -1.01491712e-02 8.89438242e-01] [ 1.09829869e-01 1.05390985e-02 9.93894525e-01 1.14213027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.17463044 meters Centerline goodness [0,1] 0.346406354263082 Centerline is valid? [False, False] Translation: X:17.10, Y:0.89, Z:1.14 [[ 9.93963554e-01 3.02558191e-03 -1.09669045e-01 1.71003296e+01] [-4.14594208e-03 9.99941511e-01 -9.98923963e-03 8.88120020e-01] [ 1.09632408e-01 1.03836216e-02 9.93917962e-01 1.14204155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20463044 meters Centerline goodness [0,1] 0.3461836164265749 Centerline is valid? [False, False] Translation: X:17.10, Y:0.89, Z:1.14 [[ 9.94052848e-01 3.31422767e-03 -1.08848296e-01 1.70978924e+01] [-4.37868265e-03 9.99944890e-01 -9.54169213e-03 8.86008987e-01] [ 1.08810674e-01 9.96155838e-03 9.94012578e-01 1.14261914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.23463044 meters Centerline goodness [0,1] 0.3504035503730938 Centerline is valid? [False, False] Translation: X:17.10, Y:0.89, Z:1.14 [[ 9.94087239e-01 3.51340918e-03 -1.08527495e-01 1.70969682e+01] [-4.54462084e-03 9.99946835e-01 -9.25596955e-03 8.85077453e-01] [ 1.08489205e-01 9.69445753e-03 9.94050356e-01 1.14278770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26463044 meters Centerline goodness [0,1] 0.3485372282960978 Centerline is valid? [False, False] Translation: X:17.12, Y:0.89, Z:1.15 [[ 9.94107489e-01 -3.36904876e-03 -1.08346431e-01 1.71154447e+01] [ 2.55066860e-03 9.99967170e-01 -7.69106456e-03 8.88835718e-01] [ 1.08368785e-01 7.36938904e-03 9.94083446e-01 1.14593704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.29463044 meters Centerline goodness [0,1] 0.34565319448593745 Centerline is valid? [False, False] Translation: X:17.14, Y:0.89, Z:1.15 [[ 9.94075974e-01 4.17265616e-03 -1.08607304e-01 1.71355133e+01] [-5.17635983e-03 9.99946449e-01 -8.96129628e-03 8.85129266e-01] [ 1.08564095e-01 9.47039981e-03 9.94044339e-01 1.14907521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32463044 meters Centerline goodness [0,1] 0.34726522187822495 Centerline is valid? [False, False] Translation: X:17.14, Y:0.88, Z:1.15 [[ 9.94041502e-01 4.15572190e-03 -1.08923013e-01 1.71364975e+01] [-5.15230359e-03 9.99947391e-01 -8.86957036e-03 8.83919564e-01] [ 1.08880423e-01 9.37792548e-03 9.94010618e-01 1.14885599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.35463044 meters Centerline goodness [0,1] 0.3480810003894249 Centerline is valid? [False, False] Translation: X:17.14, Y:0.88, Z:1.15 [[ 9.93993051e-01 4.35700703e-03 -1.09356442e-01 1.71373329e+01] [-5.29548848e-03 9.99951592e-01 -8.29290546e-03 8.80320690e-01] [ 1.09315016e-01 8.82218618e-03 9.93968006e-01 1.14909371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38463044 meters Centerline goodness [0,1] 0.3457937919067715 Centerline is valid? [False, False] Translation: X:17.16, Y:0.88, Z:1.15 [[ 9.93955359e-01 -2.96641074e-03 -1.09744910e-01 1.71570950e+01] [ 2.21357930e-03 9.99973182e-01 -6.98102698e-03 8.82559813e-01] [ 1.09762675e-01 6.69590012e-03 9.93935270e-01 1.15247709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.41463044 meters Centerline goodness [0,1] 0.34602766162753296 Centerline is valid? [False, False] Translation: X:17.16, Y:0.88, Z:1.15 [[ 9.93916496e-01 -2.93231668e-03 -1.10097231e-01 1.71580829e+01] [ 2.21539455e-03 9.99975544e-01 -6.63348003e-03 8.79778002e-01] [ 1.10113990e-01 6.34921642e-03 9.93898685e-01 1.15240076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.44463044 meters Centerline goodness [0,1] 0.34571029743369486 Centerline is valid? [False, False] Translation: X:17.16, Y:0.88, Z:1.15 [[ 9.93890232e-01 -2.99267273e-03 -1.10332459e-01 1.71588771e+01] [ 2.30861875e-03 9.99977318e-01 -6.32716101e-03 8.76700431e-01] [ 1.10348891e-01 6.03378794e-03 9.93874598e-01 1.15223696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.47463044 meters Centerline goodness [0,1] 0.34807032590051457 Centerline is valid? [False, False] Translation: X:17.16, Y:0.87, Z:1.15 [[ 9.93907649e-01 -6.40777893e-03 -1.10029662e-01 1.71585930e+01] [ 5.49968268e-03 9.99948284e-01 -8.55470107e-03 8.69532399e-01] [ 1.10078788e-01 7.89745460e-03 9.93891488e-01 1.15196564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.50463044 meters Centerline goodness [0,1] 0.3479832981791572 Centerline is valid? [False, False] Translation: X:17.16, Y:0.86, Z:1.15 [[ 9.93921237e-01 -6.26156224e-03 -1.09915275e-01 1.71583748e+01] [ 5.42695614e-03 9.99954141e-01 -7.89069695e-03 8.64929809e-01] [ 1.09959643e-01 7.24622589e-03 9.93909638e-01 1.15200846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.53463044 meters Centerline goodness [0,1] 0.3467441162601278 Centerline is valid? [False, False] Translation: X:17.16, Y:0.86, Z:1.15 [[ 9.93904049e-01 -6.27879028e-03 -1.10069609e-01 1.71588456e+01] [ 5.48991526e-03 9.99957039e-01 -7.46865140e-03 8.60414494e-01] [ 1.10111774e-01 6.81885004e-03 9.93895820e-01 1.15203494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.56463044000003 meters Centerline goodness [0,1] 0.34511394360757053 Centerline is valid? [False, False] Translation: X:17.16, Y:0.86, Z:1.15 [[ 9.93865711e-01 -6.17834603e-03 -1.10420905e-01 1.71599131e+01] [ 5.43354015e-03 9.99960423e-01 -7.04479167e-03 8.56835217e-01] [ 1.10460060e-01 6.40160047e-03 9.93859947e-01 1.15189481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.59463044 meters Centerline goodness [0,1] 0.34383444134677243 Centerline is valid? [False, False] Translation: X:17.16, Y:0.85, Z:1.15 [[ 9.93836584e-01 -5.94844857e-03 -1.10695352e-01 1.71609601e+01] [ 5.25282105e-03 9.99964590e-01 -6.57473144e-03 8.54081040e-01] [ 1.10730542e-01 5.95274576e-03 9.93832638e-01 1.15151177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.62463044000003 meters Centerline goodness [0,1] 0.340781884212775 Centerline is valid? [False, False] Translation: X:17.18, Y:0.85, Z:1.15 [[ 9.93663077e-01 2.79706388e-03 -1.12364874e-01 1.71820154e+01] [-3.53559575e-03 9.99973436e-01 -6.37389027e-03 8.46766942e-01] [ 1.12344061e-01 6.73077619e-03 9.93646571e-01 1.15498011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.65463044 meters Centerline goodness [0,1] 0.344057921343501 Centerline is valid? [False, False] Translation: X:17.18, Y:0.85, Z:1.15 [[ 9.93666972e-01 2.94849562e-03 -1.12326555e-01 1.71819707e+01] [-3.66807915e-03 9.99974052e-01 -6.20004767e-03 8.45893364e-01] [ 1.12305360e-01 6.57280529e-03 9.93652004e-01 1.15493019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68463044000003 meters Centerline goodness [0,1] 0.3425510445069455 Centerline is valid? [False, False] Translation: X:17.18, Y:0.84, Z:1.15 [[ 9.93667404e-01 2.95704519e-03 -1.12322513e-01 1.71819168e+01] [-3.67069675e-03 9.99974368e-01 -6.14731893e-03 8.44871485e-01] [ 1.12301456e-01 6.52069233e-03 9.93652788e-01 1.15495508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.71463044 meters Centerline goodness [0,1] 0.3451281720152386 Centerline is valid? [False, False] Translation: X:17.18, Y:0.84, Z:1.15 [[ 9.93659636e-01 3.04326363e-03 -1.12388905e-01 1.71821701e+01] [-3.73893426e-03 9.99975132e-01 -5.97959475e-03 8.43643355e-01] [ 1.12367912e-01 6.36189667e-03 9.93646305e-01 1.15483476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74463044000004 meters Centerline goodness [0,1] 0.3427525528225548 Centerline is valid? [False, False] Translation: X:17.18, Y:0.84, Z:1.15 [[ 9.93629775e-01 3.53387049e-03 -1.12638275e-01 1.71831845e+01] [-4.13991908e-03 9.99978184e-01 -5.14703784e-03 8.39989700e-01] [ 1.12617629e-01 5.58056340e-03 9.93622729e-01 1.15440623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.77463044 meters Centerline goodness [0,1] 0.3452104311902917 Centerline is valid? [False, False] Translation: X:17.18, Y:0.84, Z:1.15 [[ 9.93627119e-01 3.71350055e-03 -1.12655925e-01 1.71832571e+01] [-4.26605617e-03 9.99980023e-01 -4.66413761e-03 8.37039001e-01] [ 1.12636354e-01 5.11501012e-03 9.93623112e-01 1.15443596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80463044000004 meters Centerline goodness [0,1] 0.3447090861934815 Centerline is valid? [False, False] Translation: X:17.18, Y:0.83, Z:1.16 [[ 9.93767880e-01 1.90424749e-03 -1.11453014e-01 1.71793221e+01] [-2.57706888e-03 9.99979315e-01 -5.89306790e-03 8.32897285e-01] [ 1.11439487e-01 6.14356369e-03 9.93752231e-01 1.15537483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.83463044 meters Centerline goodness [0,1] 0.348950233281493 Centerline is valid? [False, False] Translation: X:17.17, Y:0.82, Z:1.16 [[ 9.93908090e-01 -5.86477690e-04 -1.10210547e-01 1.71740141e+01] [-2.11369862e-04 9.99973859e-01 -7.22748047e-03 8.24813917e-01] [ 1.10211905e-01 7.20674650e-03 9.93881984e-01 1.15780049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86463044000004 meters Centerline goodness [0,1] 0.34769678427009565 Centerline is valid? [False, False] Translation: X:17.19, Y:0.83, Z:1.16 [[ 9.93961288e-01 -7.92021716e-03 -1.09445095e-01 1.71934578e+01] [ 7.31631497e-03 9.99955721e-01 -5.91833388e-03 8.25644881e-01] [ 1.09487124e-01 5.08185997e-03 9.93975223e-01 1.16089603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.89463044 meters Centerline goodness [0,1] 0.34938540029707443 Centerline is valid? [False, False] Translation: X:17.19, Y:0.82, Z:1.16 [[ 9.93941885e-01 -7.86407825e-03 -1.09625203e-01 1.71942637e+01] [ 7.29349524e-03 9.99957694e-01 -5.60487122e-03 8.23221355e-01] [ 1.09664642e-01 4.77136538e-03 9.93957192e-01 1.16050511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92463044 meters Centerline goodness [0,1] 0.34616459260214494 Centerline is valid? [False, False] Translation: X:17.21, Y:0.82, Z:1.16 [[ 9.93777007e-01 -5.92802357e-04 -1.11386301e-01 1.72138441e+01] [-1.79205096e-04 9.99976035e-01 -6.92076177e-03 8.17341768e-01] [ 1.11387735e-01 6.89765491e-03 9.93753086e-01 1.16445213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.95463044 meters Centerline goodness [0,1] 0.34745434183321844 Centerline is valid? [False, False] Translation: X:17.21, Y:0.82, Z:1.16 [[ 9.93759538e-01 -4.76784529e-04 -1.11542610e-01 1.72142316e+01] [-2.75034330e-04 9.99977351e-01 -6.72471014e-03 8.16336218e-01] [ 1.11543290e-01 6.71342288e-03 9.93736899e-01 1.16446969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98463044 meters Centerline goodness [0,1] 0.3479181521574728 Centerline is valid? [False, False] Translation: X:17.21, Y:0.81, Z:1.17 [[ 9.93888536e-01 1.25321660e-03 -1.10381195e-01 1.72106889e+01] [-1.83482585e-03 9.99984964e-01 -5.16767933e-03 8.14820517e-01] [ 1.10373059e-01 5.33862751e-03 9.93875891e-01 1.16510487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.01463044 meters Centerline goodness [0,1] 0.3474155282429018 Centerline is valid? [False, False] Translation: X:17.21, Y:0.82, Z:1.17 [[ 9.93915163e-01 1.62107047e-03 -1.10136372e-01 1.72101527e+01] [-2.18548104e-03 9.99985091e-01 -5.00412749e-03 8.15598870e-01] [ 1.10126618e-01 5.21437914e-03 9.93903888e-01 1.16508508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04463044 meters Centerline goodness [0,1] 0.3490425508948425 Centerline is valid? [False, False] Translation: X:17.21, Y:0.82, Z:1.16 [[ 9.93939991e-01 1.79980880e-03 -1.09909299e-01 1.72096667e+01] [-2.36992722e-03 9.99984406e-01 -5.05675781e-03 8.16822171e-01] [ 1.09898484e-01 5.28659086e-03 9.93928758e-01 1.16493155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.07463044 meters Centerline goodness [0,1] 0.344638318774961 Centerline is valid? [False, False] Translation: X:17.23, Y:0.82, Z:1.17 [[ 9.93958886e-01 1.00073424e-02 -1.09295861e-01 1.72297561e+01] [-1.07855946e-02 9.99920501e-01 -6.53172752e-03 8.16611109e-01] [ 1.09221807e-01 7.67108945e-03 9.93987802e-01 1.16764206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10463044 meters Centerline goodness [0,1] 0.3481484656266073 Centerline is valid? [False, False] Translation: X:17.23, Y:0.82, Z:1.17 [[ 9.93938952e-01 9.91973030e-03 -1.09484969e-01 1.72305556e+01] [-1.07318110e-02 9.99919083e-01 -6.83050295e-03 8.18100156e-01] [ 1.09408353e-01 7.96407494e-03 9.93964982e-01 1.16719119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.13463044 meters Centerline goodness [0,1] 0.34569360001718696 Centerline is valid? [False, False] Translation: X:17.23, Y:0.82, Z:1.17 [[ 9.93906190e-01 9.76645612e-03 -1.09795732e-01 1.72314338e+01] [-1.06236293e-02 9.99917468e-01 -7.22469640e-03 8.20010188e-01] [ 1.09716111e-01 8.34709962e-03 9.93927915e-01 1.16697997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16463044 meters Centerline goodness [0,1] 0.34832114899398325 Centerline is valid? [False, False] Translation: X:17.23, Y:0.82, Z:1.17 [[ 9.93912517e-01 9.78640338e-03 -1.09736665e-01 1.72314174e+01] [-1.06421007e-02 9.99917343e-01 -7.21475002e-03 8.20197967e-01] [ 1.09656988e-01 8.33865899e-03 9.93934511e-01 1.16681376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.19463044 meters Centerline goodness [0,1] 0.34798212059999145 Centerline is valid? [False, False] Translation: X:17.25, Y:0.83, Z:1.17 [[ 9.93876127e-01 3.12901022e-03 -1.10455663e-01 1.72494685e+01] [-3.80229903e-03 9.99975452e-01 -5.88544586e-03 8.25751856e-01] [ 1.10434536e-01 6.26938960e-03 9.93863627e-01 1.17045756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22463044 meters Centerline goodness [0,1] 0.34661783713916416 Centerline is valid? [False, False] Translation: X:17.25, Y:0.82, Z:1.17 [[ 9.93871186e-01 3.11640222e-03 -1.10500467e-01 1.72497966e+01] [-3.77865775e-03 9.99976131e-01 -5.78433055e-03 8.24989349e-01] [ 1.10479803e-01 6.16642291e-03 9.93859240e-01 1.17027303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.25463044 meters Centerline goodness [0,1] 0.34641086441043323 Centerline is valid? [False, False] Translation: X:17.25, Y:0.82, Z:1.17 [[ 9.93870277e-01 -9.26766213e-04 -1.10548697e-01 1.72504082e+01] [-9.45593064e-05 9.99957370e-01 -9.23309289e-03 8.23610616e-01] [ 1.10552541e-01 9.18694999e-03 9.93827820e-01 1.16981882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28463044 meters Centerline goodness [0,1] 0.3422757298103558 Centerline is valid? [False, False] Translation: X:17.25, Y:0.82, Z:1.17 [[ 9.93789738e-01 -1.19572037e-03 -1.11267814e-01 1.72522959e+01] [ 1.61995762e-04 9.99956750e-01 -9.29899578e-03 8.22441951e-01] [ 1.11274120e-01 9.22322167e-03 9.93746951e-01 1.16976173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.31463044000003 meters Centerline goodness [0,1] 0.3418081512209725 Centerline is valid? [False, False] Translation: X:17.25, Y:0.82, Z:1.17 [[ 9.93736262e-01 -1.24780367e-03 -1.11743830e-01 1.72536661e+01] [ 2.19888562e-04 9.99957556e-01 -9.21070513e-03 8.21381582e-01] [ 1.11750581e-01 9.12844050e-03 9.93694359e-01 1.16960077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34463044 meters Centerline goodness [0,1] 0.34518805905808814 Centerline is valid? [False, False] Translation: X:17.25, Y:0.82, Z:1.17 [[ 9.93698459e-01 -1.09013812e-03 -1.12081149e-01 1.72546541e+01] [ 9.47673588e-05 9.99960516e-01 -8.88574846e-03 8.20151040e-01] [ 1.12086411e-01 8.81913291e-03 9.93659328e-01 1.16942992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.37463044000003 meters Centerline goodness [0,1] 0.34205507339547836 Centerline is valid? [False, False] Translation: X:17.25, Y:0.82, Z:1.17 [[ 9.93708763e-01 -1.06606595e-03 -1.11989993e-01 1.72542695e+01] [ 7.63793152e-05 9.99960913e-01 -8.84119606e-03 8.20091223e-01] [ 1.11995041e-01 8.77702028e-03 9.93670003e-01 1.16966433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40463044 meters Centerline goodness [0,1] 0.34160916575310074 Centerline is valid? [False, False] Translation: X:17.25, Y:0.82, Z:1.17 [[ 9.93726537e-01 -1.06352375e-03 -1.11832188e-01 1.72538851e+01] [ 7.88192161e-05 9.99961195e-01 -8.80925020e-03 8.19799992e-01] [ 1.11837218e-01 8.74517117e-03 9.93688059e-01 1.16967071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.43463044000003 meters Centerline goodness [0,1] 0.3423607233366265 Centerline is valid? [False, False] Translation: X:17.25, Y:0.82, Z:1.17 [[ 9.93729251e-01 -1.13649248e-03 -1.11807353e-01 1.72540383e+01] [ 1.42749882e-04 9.99960423e-01 -8.89559355e-03 8.19821966e-01] [ 1.11813037e-01 8.82385103e-03 9.93690085e-01 1.16944879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46463044 meters Centerline goodness [0,1] 0.3410208507805622 Centerline is valid? [False, False] Translation: X:17.25, Y:0.82, Z:1.17 [[ 9.93716624e-01 -1.17430988e-03 -1.11919133e-01 1.72546206e+01] [ 1.74546293e-04 9.99960002e-01 -8.94229018e-03 8.19824647e-01] [ 1.11925157e-01 8.86656733e-03 9.93677082e-01 1.16910098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.49463044000004 meters Centerline goodness [0,1] 0.34276145203111497 Centerline is valid? [False, False] Translation: X:17.25, Y:0.82, Z:1.17 [[ 9.93723757e-01 -1.01062655e-03 -1.11857382e-01 1.72543809e+01] [ 3.47164314e-05 9.99961925e-01 -8.72619681e-03 8.19241362e-01] [ 1.11861942e-01 8.66754579e-03 9.93685956e-01 1.16915157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52463044 meters Centerline goodness [0,1] 0.34232391940761153 Centerline is valid? [False, False] Translation: X:17.25, Y:0.82, Z:1.17 [[ 9.93733164e-01 -9.07745658e-04 -1.11774664e-01 1.72540102e+01] [-4.53562841e-05 9.99963668e-01 -8.52415640e-03 8.18419842e-01] [ 1.11778341e-01 8.47580659e-03 9.93697018e-01 1.16940526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.55463044000004 meters Centerline goodness [0,1] 0.343505039193729 Centerline is valid? [False, False] Translation: X:17.25, Y:0.82, Z:1.17 [[ 9.93750076e-01 -9.24673966e-04 -1.11624064e-01 1.72534528e+01] [-1.78105608e-05 9.99964365e-01 -8.44208885e-03 8.17536182e-01] [ 1.11627892e-01 8.39131452e-03 9.93714647e-01 1.16968035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58463044 meters Centerline goodness [0,1] 0.3438627573839207 Centerline is valid? [False, False] Translation: X:17.25, Y:0.82, Z:1.17 [[ 9.93772703e-01 -9.53074642e-04 -1.11422197e-01 1.72528756e+01] [ 2.44972348e-05 9.99965264e-01 -8.33493575e-03 8.16366775e-01] [ 1.11426270e-01 8.28030210e-03 9.93738206e-01 1.16979871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61463044000004 meters Centerline goodness [0,1] 0.3427271173403983 Centerline is valid? [False, False] Translation: X:17.27, Y:0.82, Z:1.17 [[ 9.93900992e-01 5.19038206e-03 -1.10153883e-01 1.72736261e+01] [-6.45249283e-03 9.99917526e-01 -1.11043297e-02 8.15013173e-01] [ 1.10087162e-01 1.17473715e-02 9.93852512e-01 1.17215363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64463044 meters Centerline goodness [0,1] 0.3440936122876823 Centerline is valid? [False, False] Translation: X:17.27, Y:0.81, Z:1.17 [[ 9.93925723e-01 5.33896407e-03 -1.09923399e-01 1.72727216e+01] [-6.56569019e-03 9.99920113e-01 -1.08008924e-02 8.13730696e-01] [ 1.09856952e-01 1.14570078e-02 9.93881375e-01 1.17253298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.67463044 meters Centerline goodness [0,1] 0.3494912318683697 Centerline is valid? [False, False] Translation: X:17.27, Y:0.81, Z:1.17 [[ 9.93940996e-01 5.45810354e-03 -1.09779347e-01 1.72723261e+01] [-6.66463589e-03 9.99921326e-01 -1.06265954e-02 8.13261132e-01] [ 1.09712710e-01 1.12938482e-02 9.93899175e-01 1.17261356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70463044 meters Centerline goodness [0,1] 0.3489238410596026 Centerline is valid? [False, False] Translation: X:17.27, Y:0.81, Z:1.17 [[ 9.93948825e-01 5.51903087e-03 -1.09705398e-01 1.72720075e+01] [-6.71406043e-03 9.99922052e-01 -1.05266633e-02 8.12706263e-01] [ 1.09638750e-01 1.11995333e-02 9.93908404e-01 1.17275767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.73463044 meters Centerline goodness [0,1] 0.3457465054455021 Centerline is valid? [False, False] Translation: X:17.29, Y:0.82, Z:1.18 [[ 9.94012350e-01 -1.89374070e-03 -1.09251365e-01 1.72920268e+01] [ 8.47195618e-04 9.99953321e-01 -9.62486274e-03 8.15390859e-01] [ 1.09264493e-01 9.47467516e-03 9.93967555e-01 1.17567389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76463044 meters Centerline goodness [0,1] 0.3489909609173477 Centerline is valid? [False, False] Translation: X:17.29, Y:0.81, Z:1.18 [[ 9.93998765e-01 -1.89131105e-03 -1.09374943e-01 1.72923312e+01] [ 8.60477447e-04 9.99954777e-01 -9.47120034e-03 8.14126477e-01] [ 1.09387910e-01 9.32024676e-03 9.93955441e-01 1.17568027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.79463044 meters Centerline goodness [0,1] 0.34564575566234945 Centerline is valid? [False, False] Translation: X:17.29, Y:0.81, Z:1.18 [[ 9.93950492e-01 -1.99499434e-03 -1.09810928e-01 1.72933548e+01] [ 9.67042942e-04 9.99955224e-01 -9.41356406e-03 8.13007346e-01] [ 1.09824791e-01 9.25042474e-03 9.93907916e-01 1.17576525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82463044 meters Centerline goodness [0,1] 0.3446101040437627 Centerline is valid? [False, False] Translation: X:17.29, Y:0.81, Z:1.18 [[ 9.93917767e-01 -2.02949106e-03 -1.10106099e-01 1.72942700e+01] [ 1.01547136e-03 9.99956565e-01 -9.26477175e-03 8.11695384e-01] [ 1.10120120e-01 9.09661167e-03 9.93876658e-01 1.17560712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.85463044 meters Centerline goodness [0,1] 0.34509660641750306 Centerline is valid? [False, False] Translation: X:17.30, Y:0.81, Z:1.18 [[ 9.93876822e-01 -2.08474724e-03 -1.10474056e-01 1.72951790e+01] [ 1.09075496e-03 9.99958388e-01 -9.05718910e-03 8.09881643e-01] [ 1.10488341e-01 8.88123019e-03 9.93837738e-01 1.17564101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88463044 meters Centerline goodness [0,1] 0.34609103021446685 Centerline is valid? [False, False] Translation: X:17.30, Y:0.81, Z:1.18 [[ 9.93868154e-01 -2.04603179e-03 -1.10552729e-01 1.72956247e+01] [ 1.06066833e-03 9.99959196e-01 -8.97113836e-03 8.09588601e-01] [ 1.10566573e-01 8.79886895e-03 9.93829771e-01 1.17537248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.91463044 meters Centerline goodness [0,1] 0.34609103021446685 Centerline is valid? [False, False] Translation: X:17.30, Y:0.81, Z:1.18 [[ 9.93868154e-01 -2.04603179e-03 -1.10552729e-01 1.72956247e+01] [ 1.06066833e-03 9.99959196e-01 -8.97113836e-03 8.09588601e-01] [ 1.10566573e-01 8.79886895e-03 9.93829771e-01 1.17537248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.94463044 meters Centerline goodness [0,1] 0.34191748141521294 Centerline is valid? [False, False] Translation: X:17.30, Y:0.81, Z:1.18 [[ 9.93845080e-01 -2.12682056e-03 -1.10758448e-01 1.72963417e+01] [ 1.13577781e-03 9.99958763e-01 -9.01010885e-03 8.09446584e-01] [ 1.10773044e-01 8.82885537e-03 9.93806512e-01 1.17516836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.97463044 meters Centerline goodness [0,1] 0.3437566839200924 Centerline is valid? [False, False] Translation: X:17.30, Y:0.81, Z:1.18 [[ 9.93851203e-01 -2.12996884e-03 -1.10703429e-01 1.72962496e+01] [ 1.14220396e-03 9.99958979e-01 -8.98527436e-03 8.09289353e-01] [ 1.10718027e-01 8.80357984e-03 9.93812867e-01 1.17510720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.00463044 meters Centerline goodness [0,1] 0.345711759504863 Centerline is valid? [False, False] Translation: X:17.30, Y:0.81, Z:1.18 [[ 9.93874536e-01 -2.15006571e-03 -1.10493367e-01 1.72955519e+01] [ 1.16418178e-03 9.99958945e-01 -8.98630240e-03 8.09186083e-01] [ 1.10508152e-01 8.80262277e-03 9.93836235e-01 1.17532964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.03463044 meters Centerline goodness [0,1] 0.3514426094673275 Centerline is valid? [False, False] Translation: X:17.30, Y:0.81, Z:1.18 [[ 9.93888833e-01 -2.36301618e-03 -1.10360334e-01 1.72951928e+01] [ 1.37928912e-03 9.99958644e-01 -8.98926605e-03 8.07930338e-01] [ 1.10377012e-01 8.78211233e-03 9.93850990e-01 1.17537369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.06463044000003 meters Centerline goodness [0,1] 0.3471362809121079 Centerline is valid? [False, False] Translation: X:17.30, Y:0.81, Z:1.18 [[ 9.93835242e-01 -2.54740962e-03 -1.10837824e-01 1.72966702e+01] [ 1.55642980e-03 9.99958050e-01 -9.02641288e-03 8.07136511e-01] [ 1.10856169e-01 8.79825594e-03 9.93797515e-01 1.17511438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.09463044 meters Centerline goodness [0,1] 0.34588578413501747 Centerline is valid? [False, False] Translation: X:17.30, Y:0.81, Z:1.17 [[ 9.93789603e-01 -2.64332875e-03 -1.11244048e-01 1.72980099e+01] [ 1.66259491e-03 9.99958942e-01 -8.90789840e-03 8.05727699e-01] [ 1.11263027e-01 8.66762303e-03 9.93753194e-01 1.17472575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.12463044000003 meters Centerline goodness [0,1] 0.3496115666810531 Centerline is valid? [False, False] Translation: X:17.30, Y:0.80, Z:1.17 [[ 9.93773966e-01 -2.68965622e-03 -1.11382545e-01 1.72983862e+01] [ 1.72989376e-03 9.99960549e-01 -8.71255670e-03 8.04030824e-01] [ 1.11401584e-01 8.46563205e-03 9.93739413e-01 1.17466373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.15463044 meters Centerline goodness [0,1] 0.3455359437923057 Centerline is valid? [False, False] Translation: X:17.30, Y:0.80, Z:1.17 [[ 9.93757795e-01 -2.84672207e-03 -1.11522827e-01 1.72986194e+01] [ 1.90268608e-03 9.99961463e-01 -8.57047180e-03 8.02215751e-01] [ 1.11542927e-01 8.30478023e-03 9.93724915e-01 1.17485264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18463044000003 meters Centerline goodness [0,1] 0.3504059423043704 Centerline is valid? [False, False] Translation: X:17.30, Y:0.80, Z:1.18 [[ 9.93765306e-01 -6.47064924e-03 -1.11304304e-01 1.72980030e+01] [ 5.25552962e-03 9.99923388e-01 -1.12070285e-02 7.97882967e-01] [ 1.11368294e-01 1.05521930e-02 9.93723178e-01 1.17503186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.21463044 meters Centerline goodness [0,1] 0.3512094344495137 Centerline is valid? [False, False] Translation: X:17.30, Y:0.79, Z:1.17 [[ 9.93721497e-01 -6.66272051e-03 -1.11683459e-01 1.72990558e+01] [ 5.47487020e-03 9.99925177e-01 -1.09391828e-02 7.94905084e-01] [ 1.11747987e-01 1.02590487e-02 9.93683621e-01 1.17495626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24463044000004 meters Centerline goodness [0,1] 0.351636792959107 Centerline is valid? [False, False] Translation: X:17.30, Y:0.79, Z:1.17 [[ 9.93673409e-01 -9.61805087e-03 -1.11895704e-01 1.73009172e+01] [ 8.23123521e-03 9.99883566e-01 -1.28492104e-02 7.88930645e-01] [ 1.12006259e-01 1.18468788e-02 9.93636880e-01 1.17383887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.27463044 meters Centerline goodness [0,1] 0.3516189170077356 Centerline is valid? [False, False] Translation: X:17.30, Y:0.79, Z:1.17 [[ 9.93668598e-01 -9.48577898e-03 -1.11949710e-01 1.73007736e+01] [ 8.14534026e-03 9.99889632e-01 -1.24248934e-02 7.86517217e-01] [ 1.12055214e-01 1.14343579e-02 9.93636193e-01 1.17420054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30463044000004 meters Centerline goodness [0,1] 0.35695322786039585 Centerline is valid? [False, False] Translation: X:17.30, Y:0.78, Z:1.17 [[ 9.93690724e-01 -9.34467051e-03 -1.11765032e-01 1.72999391e+01] [ 8.04556116e-03 9.99894799e-01 -1.20689622e-02 7.84716664e-01] [ 1.11866055e-01 1.10936033e-02 9.93661370e-01 1.17464277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.33463044 meters Centerline goodness [0,1] 0.3563191238054333 Centerline is valid? [False, False] Translation: X:17.32, Y:0.78, Z:1.18 [[ 9.93832043e-01 -1.55514473e-03 -1.10884863e-01 1.73175999e+01] [ 6.36041662e-05 9.99909495e-01 -1.34535236e-02 7.80153865e-01] [ 1.10895749e-01 1.33634901e-02 9.93742195e-01 1.17828598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36463044000004 meters Centerline goodness [0,1] 0.3620053800763624 Centerline is valid? [False, False] Translation: X:17.32, Y:0.78, Z:1.18 [[ 9.93838370e-01 -1.59790522e-03 -1.10827532e-01 1.73175625e+01] [ 1.01705657e-04 9.99908804e-01 -1.35045911e-02 7.79988909e-01] [ 1.10839004e-01 1.34101090e-02 9.93747898e-01 1.17817886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.39463044 meters Centerline goodness [0,1] 0.3549244060475162 Centerline is valid? [False, False] Translation: X:17.32, Y:0.78, Z:1.18 [[ 9.93808711e-01 -1.48627791e-03 -1.11094718e-01 1.73185356e+01] [-1.48006749e-05 9.99908740e-01 -1.35096550e-02 7.80776953e-01] [ 1.11104658e-01 1.34276571e-02 9.93717995e-01 1.17784984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42463044 meters Centerline goodness [0,1] 0.35681974840599695 Centerline is valid? [False, False] Translation: X:17.32, Y:0.78, Z:1.18 [[ 9.93782416e-01 -1.41818107e-03 -1.11330586e-01 1.73194390e+01] [-9.88549893e-05 9.99907243e-01 -1.36197062e-02 7.82171101e-01] [ 1.11339574e-01 1.35460302e-02 9.93690095e-01 1.17751533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.45463044 meters Centerline goodness [0,1] 0.3533014927930437 Centerline is valid? [False, False] Translation: X:17.32, Y:0.78, Z:1.18 [[ 9.93776508e-01 -1.37794521e-03 -1.11383814e-01 1.73197788e+01] [-1.56179970e-04 9.99905267e-01 -1.37634240e-02 7.83564684e-01] [ 1.11392227e-01 1.36951634e-02 9.93682149e-01 1.17730810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48463044 meters Centerline goodness [0,1] 0.3567500214832001 Centerline is valid? [False, False] Translation: X:17.32, Y:0.79, Z:1.18 [[ 9.93783762e-01 -1.41845388e-03 -1.11318564e-01 1.73195574e+01] [-1.41347907e-04 9.99901944e-01 -1.40029119e-02 7.85166532e-01] [ 1.11327511e-01 1.39316011e-02 9.93686115e-01 1.17741187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.51463044 meters Centerline goodness [0,1] 0.3583807496850975 Centerline is valid? [False, False] Translation: X:17.32, Y:0.79, Z:1.18 [[ 9.93787498e-01 -1.43226046e-03 -1.11285024e-01 1.73194397e+01] [-1.79174977e-04 9.99895304e-01 -1.44689042e-02 7.88927383e-01] [ 1.11294096e-01 1.43989556e-02 9.93683196e-01 1.17749404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54463044 meters Centerline goodness [0,1] 0.3568163194893691 Centerline is valid? [False, False] Translation: X:17.32, Y:0.79, Z:1.18 [[ 9.93773979e-01 -1.45626887e-03 -1.11405381e-01 1.73197451e+01] [-1.86932696e-04 9.99891374e-01 -1.47378836e-02 7.91147416e-01] [ 1.11414742e-01 1.46669505e-02 9.93665757e-01 1.17753814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.57463044 meters Centerline goodness [0,1] 0.35457551423541034 Centerline is valid? [False, False] Translation: X:17.32, Y:0.79, Z:1.18 [[ 9.93754114e-01 -1.50055923e-03 -1.11581852e-01 1.73204094e+01] [-1.77389770e-04 9.99887082e-01 -1.50263827e-02 7.93520661e-01] [ 1.11591800e-01 1.49523231e-02 9.93641635e-01 1.17731328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60463044 meters Centerline goodness [0,1] 0.3555674863094599 Centerline is valid? [False, False] Translation: X:17.32, Y:0.80, Z:1.18 [[ 9.93733093e-01 -1.59728628e-03 -1.11767566e-01 1.73211998e+01] [-1.16032174e-04 9.99882618e-01 -1.53211155e-02 7.95565860e-01] [ 1.11778919e-01 1.52380681e-02 9.93616261e-01 1.17701285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.63463044 meters Centerline goodness [0,1] 0.35299393525241307 Centerline is valid? [False, False] Translation: X:17.32, Y:0.80, Z:1.18 [[ 9.93685815e-01 -1.94082732e-03 -1.12181703e-01 1.73226676e+01] [ 1.49188374e-04 9.99872348e-01 -1.59770547e-02 7.98963390e-01] [ 1.12198391e-01 1.58594364e-02 9.93559258e-01 1.17657943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66463044 meters Centerline goodness [0,1] 0.35475405569532403 Centerline is valid? [False, False] Translation: X:17.32, Y:0.80, Z:1.18 [[ 9.93670846e-01 -2.12699434e-03 -1.12310844e-01 1.73228878e+01] [ 2.98515663e-04 9.99867186e-01 -1.62948249e-02 8.00416056e-01] [ 1.12330586e-01 1.61581659e-02 9.93539508e-01 1.17673693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.69463044 meters Centerline goodness [0,1] 0.3525877314469563 Centerline is valid? [False, False] Translation: X:17.36, Y:0.80, Z:1.18 [[ 9.93855970e-01 -1.48408782e-03 -1.10671168e-01 1.73644741e+01] [-3.72868068e-04 9.99859531e-01 -1.67564555e-02 8.03804515e-01] [ 1.10680491e-01 1.66947691e-02 9.93715811e-01 1.18214370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72463044 meters Centerline goodness [0,1] 0.3534820073125361 Centerline is valid? [False, False] Translation: X:17.36, Y:0.81, Z:1.18 [[ 9.93842256e-01 -1.54128907e-03 -1.10793477e-01 1.73646153e+01] [-3.38344273e-04 9.99856376e-01 -1.69443960e-02 8.05229179e-01] [ 1.10803681e-01 1.68775430e-02 9.93698995e-01 1.18238386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.75463044 meters Centerline goodness [0,1] 0.3522532922866427 Centerline is valid? [False, False] Translation: X:17.37, Y:0.81, Z:1.18 [[ 9.93815164e-01 -1.60253740e-03 -1.11035366e-01 1.73652272e+01] [-3.02200507e-04 9.99853133e-01 -1.71353826e-02 8.06814410e-01] [ 1.11046519e-01 1.70629580e-02 9.93668721e-01 1.18247771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78463044 meters Centerline goodness [0,1] 0.3554018232365682 Centerline is valid? [False, False] Translation: X:17.37, Y:0.81, Z:1.18 [[ 9.93762531e-01 -1.75910469e-03 -1.11503080e-01 1.73667853e+01] [-2.08196864e-04 9.99844569e-01 -1.76293741e-02 8.10231670e-01] [ 1.11516761e-01 1.75426260e-02 9.93607703e-01 1.18213287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.81463044000003 meters Centerline goodness [0,1] 0.35056065022660055 Centerline is valid? [False, False] Translation: X:17.39, Y:0.82, Z:1.19 [[ 9.93565036e-01 -8.40363548e-03 -1.12950867e-01 1.73857783e+01] [ 6.53907947e-03 9.99836341e-01 -1.68680371e-02 8.16935395e-01] [ 1.13074135e-01 1.60208972e-02 9.93457383e-01 1.18583413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84463044 meters Centerline goodness [0,1] 0.3536408972172449 Centerline is valid? [False, False] Translation: X:17.37, Y:0.82, Z:1.18 [[ 9.93616245e-01 -5.89031647e-04 -1.12811399e-01 1.73656381e+01] [-1.41606894e-03 9.99842464e-01 -1.76929635e-02 8.15338225e-01] [ 1.12804049e-01 1.77397646e-02 9.93458881e-01 1.18295683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.87463044000003 meters Centerline goodness [0,1] 0.3522211466064322 Centerline is valid? [False, False] Translation: X:17.36, Y:0.82, Z:1.18 [[ 9.93634128e-01 -6.07372877e-04 -1.12653678e-01 1.73649181e+01] [-1.41792117e-03 9.99838829e-01 -1.78970620e-02 8.17037411e-01] [ 1.12646392e-01 1.79428656e-02 9.93473122e-01 1.18341605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90463044 meters Centerline goodness [0,1] 0.35160090625400764 Centerline is valid? [False, False] Translation: X:17.36, Y:0.82, Z:1.18 [[ 9.93653415e-01 -7.13574614e-04 -1.12482808e-01 1.73642079e+01] [-1.34282407e-03 9.99833372e-01 -1.82050704e-02 8.18948951e-01] [ 1.12477056e-01 1.82405750e-02 9.93486886e-01 1.18386837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.93463044000003 meters Centerline goodness [0,1] 0.35288672665432474 Centerline is valid? [False, False] Translation: X:17.36, Y:0.82, Z:1.18 [[ 9.93658250e-01 -7.86785989e-04 -1.12439596e-01 1.73638422e+01] [-1.30433315e-03 9.99827585e-01 -1.85229386e-02 8.20957896e-01] [ 1.12434783e-01 1.85521294e-02 9.93485902e-01 1.18424414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96463044 meters Centerline goodness [0,1] 0.3537366701066391 Centerline is valid? [False, False] Translation: X:17.36, Y:0.82, Z:1.18 [[ 9.93644663e-01 -8.44668047e-04 -1.12559183e-01 1.73641467e+01] [-1.28753261e-03 9.99821138e-01 -1.88688903e-02 8.23390448e-01] [ 1.12554989e-01 1.88938957e-02 9.93465850e-01 1.18426770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.99463044000004 meters Centerline goodness [0,1] 0.3536430947526559 Centerline is valid? [False, False] Translation: X:17.36, Y:0.83, Z:1.18 [[ 9.93611311e-01 -8.11634746e-04 -1.12853465e-01 1.73649273e+01] [-1.35605115e-03 9.99816087e-01 -1.91298800e-02 8.25898151e-01] [ 1.12848236e-01 1.91607002e-02 9.93427473e-01 1.18424690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02463044 meters Centerline goodness [0,1] 0.3507832086913665 Centerline is valid? [False, False] Translation: X:17.37, Y:0.83, Z:1.18 [[ 9.93576635e-01 3.05507392e-03 -1.13120010e-01 1.73654028e+01] [-4.90066461e-03 9.99859327e-01 -1.60408551e-02 8.29301589e-01] [ 1.13055092e-01 1.64921821e-02 9.93451838e-01 1.18453988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.05463044000004 meters Centerline goodness [0,1] 0.3537006649969773 Centerline is valid? [False, False] Translation: X:17.37, Y:0.83, Z:1.18 [[ 9.93575999e-01 3.02175255e-03 -1.13126492e-01 1.73652531e+01] [-4.89614634e-03 9.99855242e-01 -1.62948424e-02 8.31239756e-01] [ 1.13060878e-01 1.67440482e-02 9.93446966e-01 1.18476067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08463044 meters Centerline goodness [0,1] 0.35203829723289615 Centerline is valid? [False, False] Translation: X:17.38, Y:0.84, Z:1.19 [[ 9.93469478e-01 -3.37563476e-03 -1.14048237e-01 1.73821885e+01] [ 1.65404600e-03 9.99883310e-01 -1.51865270e-02 8.38076806e-01] [ 1.14086193e-01 1.48987100e-02 9.93359134e-01 1.18896745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11463044000004 meters Centerline goodness [0,1] 0.35054162401910616 Centerline is valid? [False, False] Translation: X:17.38, Y:0.84, Z:1.19 [[ 9.93462546e-01 -3.46567165e-03 -1.14105908e-01 1.73821470e+01] [ 1.71831621e-03 9.99879809e-01 -1.54082495e-02 8.39318675e-01] [ 1.14145594e-01 1.51114488e-02 9.93349097e-01 1.18921991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14463044 meters Centerline goodness [0,1] 0.3518422753716871 Centerline is valid? [False, False] Translation: X:17.38, Y:0.84, Z:1.19 [[ 9.93479042e-01 -3.47227347e-03 -1.13961994e-01 1.73814712e+01] [ 1.69979796e-03 9.99876138e-01 -1.56467052e-02 8.41553002e-01] [ 1.14002209e-01 1.53509614e-02 9.93361890e-01 1.18960379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.17463044 meters Centerline goodness [0,1] 0.353907073837347 Centerline is valid? [False, False] Translation: X:17.38, Y:0.84, Z:1.19 [[ 9.93482324e-01 -3.41879996e-03 -1.13934996e-01 1.73813694e+01] [ 1.64265514e-03 9.99875722e-01 -1.56793461e-02 8.42383060e-01] [ 1.13974441e-01 1.53899973e-02 9.93364472e-01 1.18968662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20463044 meters Centerline goodness [0,1] 0.3542526302145218 Centerline is valid? [False, False] Translation: X:17.38, Y:0.84, Z:1.19 [[ 9.93482141e-01 -3.42980885e-03 -1.13936262e-01 1.73814405e+01] [ 1.64486981e-03 9.99874507e-01 -1.57564380e-02 8.43005476e-01] [ 1.13976005e-01 1.54663295e-02 9.93363107e-01 1.18963807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.23463044 meters Centerline goodness [0,1] 0.3530960654393197 Centerline is valid? [False, False] Translation: X:17.38, Y:0.84, Z:1.19 [[ 9.93477645e-01 -3.50748233e-03 -1.13973093e-01 1.73815424e+01] [ 1.70622941e-03 9.99872165e-01 -1.58979030e-02 8.43591618e-01] [ 1.14014284e-01 1.55997470e-02 9.93356628e-01 1.18965702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26463044 meters Centerline goodness [0,1] 0.3521462127550036 Centerline is valid? [False, False] Translation: X:17.38, Y:0.84, Z:1.19 [[ 9.93492845e-01 -3.48043019e-03 -1.13841355e-01 1.73809125e+01] [ 1.66945198e-03 9.99870608e-01 -1.59993813e-02 8.44705288e-01] [ 1.13882310e-01 1.57052181e-02 9.93370105e-01 1.19005362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.29463044 meters Centerline goodness [0,1] 0.35524630381450684 Centerline is valid? [False, False] Translation: X:17.38, Y:0.85, Z:1.19 [[ 9.93510139e-01 -3.45049705e-03 -1.13691240e-01 1.73803460e+01] [ 1.63229064e-03 9.99869349e-01 -1.60817047e-02 8.45614037e-01] [ 1.13731876e-01 1.57917595e-02 9.93385968e-01 1.19035524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32463044 meters Centerline goodness [0,1] 0.35512678443387 Centerline is valid? [False, False] Translation: X:17.38, Y:0.85, Z:1.19 [[ 9.93530625e-01 -3.47198196e-03 -1.13511421e-01 1.73797563e+01] [ 1.63791064e-03 9.99866669e-01 -1.62468643e-02 8.46701993e-01] [ 1.13552696e-01 1.59558357e-02 9.93403844e-01 1.19053494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.35463044 meters Centerline goodness [0,1] 0.35454821630066835 Centerline is valid? [False, False] Translation: X:17.38, Y:0.85, Z:1.19 [[ 9.93518502e-01 -3.60315303e-03 -1.13613394e-01 1.73798263e+01] [ 1.73545114e-03 9.99861803e-01 -1.65337219e-02 8.47953111e-01] [ 1.13657267e-01 1.62293881e-02 9.93387453e-01 1.19073307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38463044 meters Centerline goodness [0,1] 0.3536120042872455 Centerline is valid? [False, False] Translation: X:17.40, Y:0.85, Z:1.19 [[ 9.93521731e-01 4.13688792e-03 -1.13566969e-01 1.73995444e+01] [-6.22552374e-03 9.99817835e-01 -1.80427355e-02 8.46550589e-01] [ 1.13471641e-01 1.86328637e-02 9.93366500e-01 1.19407961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.41463044 meters Centerline goodness [0,1] 0.35502084781097987 Centerline is valid? [False, False] Translation: X:17.40, Y:0.85, Z:1.19 [[ 9.93465241e-01 4.33527721e-03 -1.14052707e-01 1.74009327e+01] [-6.43374277e-03 9.99816612e-01 -1.80374293e-02 8.47751293e-01] [ 1.13953594e-01 1.86533449e-02 9.93310944e-01 1.19381158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.44463044 meters Centerline goodness [0,1] 0.35134550956446553 Centerline is valid? [False, False] Translation: X:17.40, Y:0.85, Z:1.19 [[ 9.93457136e-01 4.32453724e-03 -1.14123689e-01 1.74010680e+01] [-6.42713295e-03 9.99816205e-01 -1.80623207e-02 8.47806839e-01] [ 1.14024603e-01 1.86776295e-02 9.93302339e-01 1.19390874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.47463044 meters Centerline goodness [0,1] 0.35183115543328747 Centerline is valid? [False, False] Translation: X:17.40, Y:0.85, Z:1.19 [[ 9.93446713e-01 4.25430886e-03 -1.14217029e-01 1.74011650e+01] [-6.36256840e-03 9.99815934e-01 -1.81001632e-02 8.47450763e-01] [ 1.14119002e-01 1.87082613e-02 9.93290921e-01 1.19406999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.50463044 meters Centerline goodness [0,1] 0.3496084951195967 Centerline is valid? [False, False] Translation: X:17.40, Y:0.85, Z:1.19 [[ 9.93441236e-01 4.24149870e-03 -1.14265136e-01 1.74011590e+01] [-6.34375249e-03 9.99817128e-01 -1.80406933e-02 8.46759168e-01] [ 1.14167720e-01 1.86472384e-02 9.93286470e-01 1.19425995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.53463044 meters Centerline goodness [0,1] 0.35009704550355836 Centerline is valid? [False, False] Translation: X:17.40, Y:0.85, Z:1.19 [[ 9.93437182e-01 4.42194046e-03 -1.14293530e-01 1.74011746e+01] [-6.49366777e-03 9.99821184e-01 -1.77604215e-02 8.45722047e-01] [ 1.14194557e-01 1.83860473e-02 9.93288254e-01 1.19432823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.56463044000003 meters Centerline goodness [0,1] 0.3480265980265981 Centerline is valid? [False, False] Translation: X:17.42, Y:0.85, Z:1.20 [[ 9.93352525e-01 -2.15815240e-03 -1.15091717e-01 1.74193058e+01] [ 2.73543944e-04 9.99865668e-01 -1.63881205e-02 8.51300281e-01] [ 1.15111625e-01 1.62476982e-02 9.93219677e-01 1.19803776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.59463044 meters Centerline goodness [0,1] 0.3455158721687338 Centerline is valid? [False, False] Translation: X:17.42, Y:0.85, Z:1.20 [[ 9.93330284e-01 -2.04180795e-03 -1.15285633e-01 1.74200838e+01] [ 1.63608122e-04 9.99867152e-01 -1.62988202e-02 8.51474171e-01] [ 1.15303596e-01 1.61712500e-02 9.93198657e-01 1.19774291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.62463044000003 meters Centerline goodness [0,1] 0.34346054888507715 Centerline is valid? [False, False] Translation: X:17.42, Y:0.85, Z:1.20 [[ 9.93233953e-01 -2.00178558e-03 -1.16113339e-01 1.74225288e+01] [ 7.58584374e-05 9.99862396e-01 -1.65886621e-02 8.54063005e-01] [ 1.16130568e-01 1.64676143e-02 9.93097432e-01 1.19728322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.65463044 meters Centerline goodness [0,1] 0.344836527864814 Centerline is valid? [False, False] Translation: X:17.42, Y:0.86, Z:1.20 [[ 9.93179978e-01 -2.04513917e-03 -1.16573364e-01 1.74238380e+01] [ 6.74447662e-05 9.99856054e-01 -1.69666545e-02 8.56835075e-01] [ 1.16591283e-01 1.68430793e-02 9.93037151e-01 1.19710235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68463044000003 meters Centerline goodness [0,1] 0.3412970017864445 Centerline is valid? [False, False] Translation: X:17.43, Y:0.86, Z:1.20 [[ 9.93042033e-01 5.36378182e-05 -1.17760428e-01 1.74284998e+01] [-1.88819643e-03 9.99878592e-01 -1.54672257e-02 8.60425567e-01] [ 1.17745302e-01 1.55819600e-02 9.92921571e-01 1.19567972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.71463044 meters Centerline goodness [0,1] 0.34091153045233036 Centerline is valid? [False, False] Translation: X:17.43, Y:0.86, Z:1.20 [[ 9.93010976e-01 1.22840433e-04 -1.18021976e-01 1.74294856e+01] [-2.00667183e-03 9.99872478e-01 -1.58430018e-02 8.64081456e-01] [ 1.18004980e-01 1.59691061e-02 9.92884592e-01 1.19527895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74463044000004 meters Centerline goodness [0,1] 0.34167495782324697 Centerline is valid? [False, False] Translation: X:17.43, Y:0.87, Z:1.20 [[ 9.93179727e-01 9.18363632e-04 -1.16589818e-01 1.74256186e+01] [-2.78032713e-03 9.99871171e-01 -1.58085779e-02 8.71116105e-01] [ 1.16560280e-01 1.60249169e-02 9.93054330e-01 1.19566261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.77463044 meters Centerline goodness [0,1] 0.34224209873108935 Centerline is valid? [False, False] Translation: X:17.44, Y:0.88, Z:1.20 [[ 9.93287913e-01 -6.07250239e-03 -1.15508639e-01 1.74428149e+01] [ 4.39833061e-03 9.99881638e-01 -1.47432696e-02 8.78391815e-01] [ 1.15584495e-01 1.41362663e-02 9.93197055e-01 1.19997334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80463044000004 meters Centerline goodness [0,1] 0.341198557805133 Centerline is valid? [False, False] Translation: X:17.44, Y:0.88, Z:1.20 [[ 9.93326432e-01 -6.10768868e-03 -1.15175061e-01 1.74413444e+01] [ 4.41715930e-03 9.99878823e-01 -1.49274284e-02 8.80063756e-01] [ 1.15252277e-01 1.43190626e-02 9.93233043e-01 1.20070156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.83463044 meters Centerline goodness [0,1] 0.341198557805133 Centerline is valid? [False, False] Translation: X:17.44, Y:0.88, Z:1.20 [[ 9.93326432e-01 -6.10768868e-03 -1.15175061e-01 1.74413444e+01] [ 4.41715930e-03 9.99878823e-01 -1.49274284e-02 8.80063756e-01] [ 1.15252277e-01 1.43190626e-02 9.93233043e-01 1.20070156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86463044000004 meters Centerline goodness [0,1] 0.34398762727155563 Centerline is valid? [False, False] Translation: X:17.44, Y:0.88, Z:1.20 [[ 9.93358876e-01 -6.05571792e-03 -1.14897661e-01 1.74401614e+01] [ 4.36724909e-03 9.99878833e-01 -1.49414576e-02 8.80996260e-01] [ 1.14974220e-01 1.43404428e-02 9.93264960e-01 1.20126946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.89463044 meters Centerline goodness [0,1] 0.3414436852076548 Centerline is valid? [False, False] Translation: X:17.44, Y:0.88, Z:1.20 [[ 9.93385459e-01 -6.07085119e-03 -1.14666801e-01 1.74393986e+01] [ 4.38594729e-03 9.99878765e-01 -1.49404964e-02 8.81378036e-01] [ 1.14743601e-01 1.43387493e-02 9.93291652e-01 1.20158142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92463044 meters Centerline goodness [0,1] 0.3423696278127333 Centerline is valid? [False, False] Translation: X:17.44, Y:0.88, Z:1.20 [[ 9.93396132e-01 -6.17133257e-03 -1.14568931e-01 1.74389477e+01] [ 4.48411916e-03 9.99877761e-01 -1.49785073e-02 8.81202028e-01] [ 1.14647363e-01 1.43658505e-02 9.93302373e-01 1.20185954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.95463044 meters Centerline goodness [0,1] 0.34401392560118627 Centerline is valid? [False, False] Translation: X:17.44, Y:0.88, Z:1.20 [[ 9.93318885e-01 -6.68120702e-03 -1.15208307e-01 1.74402428e+01] [ 4.95936224e-03 9.99871784e-01 -1.52256574e-02 8.80256084e-01] [ 1.15295261e-01 1.45525733e-02 9.93224660e-01 1.20221927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98463044 meters Centerline goodness [0,1] 0.34464078421256283 Centerline is valid? [False, False] Translation: X:17.44, Y:0.88, Z:1.20 [[ 9.93278835e-01 -6.58090637e-03 -1.15558845e-01 1.74410332e+01] [ 4.87916946e-03 9.99875546e-01 -1.50028463e-02 8.79321068e-01] [ 1.15643196e-01 1.43381785e-02 9.93187328e-01 1.20236570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.01463044 meters Centerline goodness [0,1] 0.3433448713262959 Centerline is valid? [False, False] Translation: X:17.44, Y:0.88, Z:1.20 [[ 9.93260525e-01 -6.48798833e-03 -1.15721373e-01 1.74415696e+01] [ 4.80537834e-03 9.99878731e-01 -1.48132439e-02 8.78431081e-01] [ 1.15803448e-01 1.41573255e-02 9.93171250e-01 1.20223691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04463044 meters Centerline goodness [0,1] 0.3418495398674304 Centerline is valid? [False, False] Translation: X:17.44, Y:0.88, Z:1.20 [[ 9.93235999e-01 -6.59146650e-03 -1.15925852e-01 1.74423741e+01] [ 4.91384069e-03 9.99879118e-01 -1.47513796e-02 8.76733435e-01] [ 1.16009071e-01 1.40819601e-02 9.93148324e-01 1.20201512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.07463044 meters Centerline goodness [0,1] 0.34220327671209283 Centerline is valid? [False, False] Translation: X:17.44, Y:0.88, Z:1.20 [[ 9.93205006e-01 -6.63210124e-03 -1.16188771e-01 1.74433499e+01] [ 4.95028252e-03 9.99878849e-01 -1.47574706e-02 8.76227573e-01] [ 1.16272567e-01 1.40820265e-02 9.93117509e-01 1.20168164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10463044 meters Centerline goodness [0,1] 0.3361948365763704 Centerline is valid? [False, False] Translation: X:17.46, Y:0.87, Z:1.20 [[ 9.93106046e-01 1.28681991e-03 -1.17212308e-01 1.74644681e+01] [-3.13918821e-03 9.99873068e-01 -1.56202898e-02 8.72896764e-01] [ 1.17177329e-01 1.58805558e-02 9.92984029e-01 1.20478491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.13463044 meters Centerline goodness [0,1] 0.33721576337835524 Centerline is valid? [False, False] Translation: X:17.47, Y:0.87, Z:1.20 [[ 9.93060184e-01 1.48448959e-03 -1.17597901e-01 1.74658640e+01] [-3.33435612e-03 9.99873761e-01 -1.55352612e-02 8.73554237e-01] [ 1.17559994e-01 1.58195626e-02 9.92939771e-01 1.20431663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16463044 meters Centerline goodness [0,1] 0.3385524499654935 Centerline is valid? [False, False] Translation: X:17.47, Y:0.87, Z:1.20 [[ 9.93035464e-01 1.70256988e-03 -1.17803519e-01 1.74666195e+01] [-3.54745342e-03 9.99874306e-01 -1.54527741e-02 8.74372863e-01] [ 1.17762402e-01 1.57630552e-02 9.92916685e-01 1.20404962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.19463044 meters Centerline goodness [0,1] 0.33623132405976297 Centerline is valid? [False, False] Translation: X:17.47, Y:0.88, Z:1.20 [[ 9.93088428e-01 2.10360046e-03 -1.17349684e-01 1.74651672e+01] [-3.93885498e-03 9.99873509e-01 -1.54094743e-02 8.76118526e-01] [ 1.17302425e-01 1.57651940e-02 9.92971097e-01 1.20447421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22463044 meters Centerline goodness [0,1] 0.33918892864028793 Centerline is valid? [False, False] Translation: X:17.46, Y:0.88, Z:1.20 [[ 9.93119446e-01 2.06901901e-03 -1.17087507e-01 1.74643844e+01] [-3.93061994e-03 9.99869483e-01 -1.56705542e-02 8.77734854e-01] [ 1.17039802e-01 1.60229586e-02 9.92997960e-01 1.20462953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.25463044 meters Centerline goodness [0,1] 0.3369195559643231 Centerline is valid? [False, False] Translation: X:17.46, Y:0.88, Z:1.20 [[ 9.93130103e-01 2.07919277e-03 -1.16996905e-01 1.74641335e+01] [-3.96135896e-03 9.99866421e-01 -1.58570844e-02 8.79148338e-01] [ 1.16948306e-01 1.62116146e-02 9.93005678e-01 1.20464409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28463044 meters Centerline goodness [0,1] 0.33365452559902353 Centerline is valid? [False, False] Translation: X:17.46, Y:0.88, Z:1.20 [[ 9.93118456e-01 2.17055883e-03 -1.17094065e-01 1.74642266e+01] [-4.06446245e-03 9.99864723e-01 -1.59378485e-02 8.80336901e-01] [ 1.17043631e-01 1.63040959e-02 9.92992933e-01 1.20478287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.31463044000003 meters Centerline goodness [0,1] 0.33278453676580644 Centerline is valid? [False, False] Translation: X:17.47, Y:0.88, Z:1.20 [[ 9.93061849e-01 2.33334623e-03 -1.17570062e-01 1.74655974e+01] [-4.25263075e-03 9.99861723e-01 -1.60763866e-02 8.82477421e-01] [ 1.17516293e-01 1.64648283e-02 9.92934454e-01 1.20454763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34463044 meters Centerline goodness [0,1] 0.33500464653886886 Centerline is valid? [False, False] Translation: X:17.47, Y:0.88, Z:1.20 [[ 9.93067495e-01 2.27256762e-03 -1.17523557e-01 1.74653449e+01] [-4.20455210e-03 9.99860031e-01 -1.61938129e-02 8.82903571e-01] [ 1.17470306e-01 1.65756831e-02 9.92938051e-01 1.20469815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.37463044000003 meters Centerline goodness [0,1] 0.33571613125484456 Centerline is valid? [False, False] Translation: X:17.46, Y:0.88, Z:1.21 [[ 9.93101539e-01 2.20112675e-03 -1.17236887e-01 1.74643810e+01] [-4.13721871e-03 9.99859017e-01 -1.62735628e-02 8.83029755e-01] [ 1.17184538e-01 1.66463349e-02 9.92970636e-01 1.20503325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40463044 meters Centerline goodness [0,1] 0.3369021044190633 Centerline is valid? [False, False] Translation: X:17.46, Y:0.88, Z:1.21 [[ 9.93148182e-01 2.15962821e-03 -1.16841875e-01 1.74631172e+01] [-4.08685052e-03 9.99859490e-01 -1.62572143e-02 8.82680059e-01] [ 1.16790348e-01 1.66233381e-02 9.93017462e-01 1.20543526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.43463044000003 meters Centerline goodness [0,1] 0.33442168160478014 Centerline is valid? [False, False] Translation: X:17.48, Y:0.89, Z:1.21 [[ 9.93218483e-01 -4.97676049e-03 -1.16156259e-01 1.74815421e+01] [ 3.24604181e-03 9.99880956e-01 -1.50843297e-02 8.87317368e-01] [ 1.16217503e-01 1.46049870e-02 9.93116401e-01 1.20900309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46463044 meters Centerline goodness [0,1] 0.33657797966688296 Centerline is valid? [False, False] Translation: X:17.48, Y:0.89, Z:1.21 [[ 9.93180959e-01 -5.02586930e-03 -1.16474557e-01 1.74822932e+01] [ 3.29236240e-03 9.99881009e-01 -1.50707559e-02 8.86785677e-01] [ 1.16536441e-01 1.45845114e-02 9.93079327e-01 1.20907890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.49463044000004 meters Centerline goodness [0,1] 0.3353253509318773 Centerline is valid? [False, False] Translation: X:17.48, Y:0.89, Z:1.21 [[ 9.93140687e-01 -5.02907905e-03 -1.16817315e-01 1.74830431e+01] [ 3.28810713e-03 9.99880713e-01 -1.50913088e-02 8.86976226e-01] [ 1.16879276e-01 1.46036849e-02 9.93038754e-01 1.20921789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52463044 meters Centerline goodness [0,1] 0.33414366542606977 Centerline is valid? [False, False] Translation: X:17.48, Y:0.89, Z:1.21 [[ 9.93124943e-01 -4.96899518e-03 -1.16953648e-01 1.74832474e+01] [ 3.22848329e-03 9.99881277e-01 -1.50668064e-02 8.87286641e-01] [ 1.17014629e-01 1.45856384e-02 9.93023079e-01 1.20939096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.55463044000004 meters Centerline goodness [0,1] 0.3373198008921068 Centerline is valid? [False, False] Translation: X:17.48, Y:0.89, Z:1.21 [[ 9.93146031e-01 -4.82359197e-03 -1.16780538e-01 1.74826599e+01] [ 3.09901778e-03 9.99883519e-01 -1.49447239e-02 8.87486999e-01] [ 1.16839023e-01 1.44803883e-02 9.93045297e-01 1.20958545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58463044 meters Centerline goodness [0,1] 0.3388828984257063 Centerline is valid? [False, False] Translation: X:17.48, Y:0.89, Z:1.21 [[ 9.93218889e-01 -4.74404326e-03 -1.16162527e-01 1.74809359e+01] [ 3.02952735e-03 9.99883926e-01 -1.49317414e-02 8.88283644e-01] [ 1.16219880e-01 1.44785701e-02 9.93117974e-01 1.20985773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.61463044000004 meters Centerline goodness [0,1] 0.3364269141531323 Centerline is valid? [False, False] Translation: X:17.48, Y:0.89, Z:1.21 [[ 9.93214647e-01 -4.74000066e-03 -1.16198959e-01 1.74810643e+01] [ 3.02018385e-03 9.99883349e-01 -1.49722246e-02 8.88789401e-01] [ 1.16256372e-01 1.45196905e-02 9.93113103e-01 1.20984833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64463044 meters Centerline goodness [0,1] 0.33590035924021766 Centerline is valid? [False, False] Translation: X:17.48, Y:0.89, Z:1.21 [[ 9.93208312e-01 -4.74675005e-03 -1.16252819e-01 1.74813640e+01] [ 3.01768894e-03 9.99882267e-01 -1.50447746e-02 8.89509711e-01] [ 1.16310546e-01 1.45917804e-02 9.93105703e-01 1.20970018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.67463044 meters Centerline goodness [0,1] 0.33913960899147355 Centerline is valid? [False, False] Translation: X:17.48, Y:0.89, Z:1.21 [[ 9.93189358e-01 -4.71295712e-03 -1.16416012e-01 1.74816747e+01] [ 2.97936471e-03 9.99882140e-01 -1.50608864e-02 8.89968504e-01] [ 1.16473272e-01 1.46114664e-02 9.93086342e-01 1.20978776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70463044 meters Centerline goodness [0,1] 0.33863288739524766 Centerline is valid? [False, False] Translation: X:17.48, Y:0.89, Z:1.21 [[ 9.93177145e-01 -4.73020846e-03 -1.16519461e-01 1.74819801e+01] [ 2.99289404e-03 9.99881803e-01 -1.50805316e-02 8.90236628e-01] [ 1.16577022e-01 1.46289089e-02 9.93073911e-01 1.20975403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.73463044 meters Centerline goodness [0,1] 0.33357640750670237 Centerline is valid? [False, False] Translation: X:17.48, Y:0.89, Z:1.21 [[ 9.93153604e-01 -4.77404893e-03 -1.16718157e-01 1.74828170e+01] [ 3.02575061e-03 9.99880633e-01 -1.51514040e-02 8.90598972e-01] [ 1.16776558e-01 1.46945114e-02 9.93049499e-01 1.20940804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76463044 meters Centerline goodness [0,1] 0.3358255585960225 Centerline is valid? [False, False] Translation: X:17.48, Y:0.89, Z:1.21 [[ 9.93128933e-01 -4.78930472e-03 -1.16927261e-01 1.74836696e+01] [ 3.03462956e-03 9.99880173e-01 -1.51799708e-02 8.90829355e-01] [ 1.16985952e-01 1.47208373e-02 9.93024463e-01 1.20903800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.79463044 meters Centerline goodness [0,1] 0.3336493707981383 Centerline is valid? [False, False] Translation: X:17.48, Y:0.89, Z:1.21 [[ 9.93104447e-01 -4.78855852e-03 -1.17135081e-01 1.74845207e+01] [ 3.02742916e-03 9.99879763e-01 -1.52083337e-02 8.91036091e-01] [ 1.17193823e-01 1.47488457e-02 9.92999536e-01 1.20867609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82463044 meters Centerline goodness [0,1] 0.3325105177298875 Centerline is valid? [False, False] Translation: X:17.48, Y:0.89, Z:1.21 [[ 9.93089662e-01 -4.83485213e-03 -1.17258467e-01 1.74848697e+01] [ 3.06481912e-03 9.99878698e-01 -1.52707563e-02 8.91071414e-01] [ 1.17318075e-01 1.48058542e-02 9.92984016e-01 1.20866285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.85463044 meters Centerline goodness [0,1] 0.3335767363944848 Centerline is valid? [False, False] Translation: X:17.48, Y:0.89, Z:1.21 [[ 9.93084803e-01 -4.78222176e-03 -1.17301767e-01 1.74849621e+01] [ 3.01829488e-03 9.99879757e-01 -1.52105463e-02 8.90835912e-01] [ 1.17360402e-01 1.47513110e-02 9.92979826e-01 1.20869554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88463044 meters Centerline goodness [0,1] 0.3336554775250735 Centerline is valid? [False, False] Translation: X:17.49, Y:0.89, Z:1.21 [[ 9.93087769e-01 -4.64042903e-03 -1.17282351e-01 1.74851593e+01] [ 2.89481872e-03 9.99882555e-01 -1.50497918e-02 8.90525539e-01] [ 1.17338414e-01 1.46062530e-02 9.92984569e-01 1.20841144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.91463044 meters Centerline goodness [0,1] 0.33723834955637866 Centerline is valid? [False, False] Translation: X:17.49, Y:0.89, Z:1.21 [[ 9.93085819e-01 -4.53481074e-03 -1.17302990e-01 1.74854011e+01] [ 2.80752532e-03 9.99885255e-01 -1.48860383e-02 8.89823963e-01] [ 1.17357036e-01 1.44537825e-02 9.92984599e-01 1.20825764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.94463044 meters Centerline goodness [0,1] 0.3327666351037273 Centerline is valid? [False, False] Translation: X:17.49, Y:0.89, Z:1.21 [[ 9.93080539e-01 -4.45619461e-03 -1.17350691e-01 1.74858269e+01] [ 2.74776979e-03 9.99887938e-01 -1.47160491e-02 8.88773393e-01] [ 1.17403118e-01 1.42917692e-02 9.92981497e-01 1.20794950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.97463044 meters Centerline goodness [0,1] 0.33338367602321517 Centerline is valid? [False, False] Translation: X:17.49, Y:0.89, Z:1.21 [[ 9.93059780e-01 -4.51435713e-03 -1.17524011e-01 1.74864635e+01] [ 2.81296981e-03 9.99888890e-01 -1.46387818e-02 8.87205387e-01] [ 1.17577038e-01 1.42065939e-02 9.92962141e-01 1.20773533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.00463044 meters Centerline goodness [0,1] 0.33380453640043695 Centerline is valid? [False, False] Translation: X:17.49, Y:0.89, Z:1.21 [[ 9.93062354e-01 -4.43888441e-03 -1.17505140e-01 1.74863598e+01] [ 2.75187078e-03 9.99890861e-01 -1.45152858e-02 8.86493106e-01] [ 1.17556747e-01 1.40912249e-02 9.92966187e-01 1.20784603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.03463044 meters Centerline goodness [0,1] 0.33233011587161687 Centerline is valid? [False, False] Translation: X:17.49, Y:0.89, Z:1.21 [[ 9.93089378e-01 -4.28562343e-03 -1.17282224e-01 1.74858218e+01] [ 2.61858108e-03 9.99893399e-01 -1.43643382e-02 8.86338463e-01] [ 1.17331282e-01 1.39579586e-02 9.92994736e-01 1.20784687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.06463044000003 meters Centerline goodness [0,1] 0.333797476489364 Centerline is valid? [False, False] Translation: X:17.49, Y:0.89, Z:1.21 [[ 9.93119565e-01 -4.11269092e-03 -1.17032537e-01 1.74851748e+01] [ 2.46362547e-03 9.99895687e-01 -1.42318307e-02 8.86523541e-01] [ 1.17078860e-01 1.38455852e-02 9.93026103e-01 1.20792945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.09463044 meters Centerline goodness [0,1] 0.3338841201716738 Centerline is valid? [False, False] Translation: X:17.48, Y:0.89, Z:1.21 [[ 9.93194412e-01 -3.72547899e-03 -1.16408678e-01 1.74832348e+01] [ 2.09629398e-03 9.99898185e-01 -1.41146884e-02 8.87946662e-01] [ 1.16449409e-01 1.37746029e-02 9.93101100e-01 1.20835611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.12463044000003 meters Centerline goodness [0,1] 0.3388086798651335 Centerline is valid? [False, False] Translation: X:17.48, Y:0.89, Z:1.21 [[ 9.93197871e-01 -3.74795026e-03 -1.16378440e-01 1.74830066e+01] [ 2.08865899e-03 9.99894473e-01 -1.43764006e-02 8.89814194e-01] [ 1.16420041e-01 1.40355356e-02 9.93100890e-01 1.20854677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.15463044 meters Centerline goodness [0,1] 0.3363997850617947 Centerline is valid? [False, False] Translation: X:17.48, Y:0.89, Z:1.21 [[ 9.93180701e-01 -3.75146568e-03 -1.16524765e-01 1.74833392e+01] [ 2.04777512e-03 9.99889306e-01 -1.47371221e-02 8.92558442e-01] [ 1.16567152e-01 1.43980087e-02 9.93078444e-01 1.20849478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18463044000003 meters Centerline goodness [0,1] 0.33813943449169004 Centerline is valid? [False, False] Translation: X:17.48, Y:0.90, Z:1.21 [[ 9.93177402e-01 -3.71136637e-03 -1.16554169e-01 1.74835108e+01] [ 1.96576197e-03 9.99884235e-01 -1.50881464e-02 8.95542107e-01] [ 1.16596674e-01 1.47560883e-02 9.93069722e-01 1.20830090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.21463044 meters Centerline goodness [0,1] 0.33672394142061457 Centerline is valid? [False, False] Translation: X:17.48, Y:0.90, Z:1.21 [[ 9.93115392e-01 9.09963296e-07 -1.17140162e-01 1.74848887e+01] [-1.45527659e-03 9.99922923e-01 -1.23300810e-02 9.00445844e-01] [ 1.17131122e-01 1.24156646e-02 9.93038847e-01 1.20828610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24463044000004 meters Centerline goodness [0,1] 0.3338494290690923 Centerline is valid? [False, False] Translation: X:17.48, Y:0.90, Z:1.21 [[ 9.93111235e-01 -6.88632697e-05 -1.17175386e-01 1.74849056e+01] [-1.42120464e-03 9.99919191e-01 -1.26329603e-02 9.02680479e-01] [ 1.17166787e-01 1.27124650e-02 9.93030884e-01 1.20831232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.27463044 meters Centerline goodness [0,1] 0.33752647732676266 Centerline is valid? [False, False] Translation: X:17.48, Y:0.90, Z:1.21 [[ 9.93107895e-01 -2.47520899e-04 -1.17203448e-01 1.74847450e+01] [-1.28008107e-03 9.99915218e-01 -1.29583093e-02 9.04187298e-01] [ 1.17196718e-01 1.30190292e-02 9.93023380e-01 1.20857983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30463044000004 meters Centerline goodness [0,1] 0.3363364010604134 Centerline is valid? [False, False] Translation: X:17.48, Y:0.91, Z:1.21 [[ 9.93150878e-01 -7.03041215e-04 -1.16836803e-01 1.74834264e+01] [-8.90782408e-04 9.99907273e-01 -1.35886751e-02 9.06702969e-01] [ 1.16835522e-01 1.35996808e-02 9.93058160e-01 1.20914807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.33463044 meters Centerline goodness [0,1] 0.3383190424000172 Centerline is valid? [False, False] Translation: X:17.48, Y:0.91, Z:1.21 [[ 9.93172815e-01 -7.60252078e-04 -1.16649820e-01 1.74828544e+01] [-8.48114054e-04 9.99905273e-01 -1.37377313e-02 9.08008719e-01] [ 1.16649215e-01 1.37428736e-02 9.93078091e-01 1.20929560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36463044000004 meters Centerline goodness [0,1] 0.33779091085563917 Centerline is valid? [False, False] Translation: X:17.48, Y:0.91, Z:1.21 [[ 9.93173800e-01 -7.38053487e-04 -1.16641584e-01 1.74827232e+01] [-8.81206559e-04 9.99903970e-01 -1.38301781e-02 9.09400165e-01] [ 1.16640591e-01 1.38385558e-02 9.93077775e-01 1.20945428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.39463044 meters Centerline goodness [0,1] 0.3390253344229859 Centerline is valid? [False, False] Translation: X:17.48, Y:0.91, Z:1.21 [[ 9.93148277e-01 -7.21521243e-04 -1.16858803e-01 1.74835970e+01] [-9.15990657e-04 9.99902157e-01 -1.39584280e-02 9.11062466e-01] [ 1.16857441e-01 1.39698303e-02 9.93050443e-01 1.20912299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42463044 meters Centerline goodness [0,1] 0.3382448256492244 Centerline is valid? [False, False] Translation: X:17.49, Y:0.91, Z:1.21 [[ 9.93077893e-01 -9.20443177e-04 -1.17454043e-01 1.74855470e+01] [-7.64984553e-04 9.99897403e-01 -1.43037902e-02 9.12768921e-01] [ 1.17455158e-01 1.42946284e-02 9.92975302e-01 1.20858016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.45463044 meters Centerline goodness [0,1] 0.33503247730890007 Centerline is valid? [False, False] Translation: X:17.49, Y:0.91, Z:1.21 [[ 9.93065247e-01 -9.97797495e-04 -1.17560280e-01 1.74861009e+01] [-6.95868632e-04 9.99896578e-01 -1.43648625e-02 9.12820869e-01] [ 1.17562455e-01 1.43470523e-02 9.92961848e-01 1.20830282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48463044 meters Centerline goodness [0,1] 0.3356602675974404 Centerline is valid? [False, False] Translation: X:17.49, Y:0.91, Z:1.21 [[ 9.93074372e-01 -9.99348063e-04 -1.17483161e-01 1.74858496e+01] [-6.86366844e-04 9.99897411e-01 -1.43072321e-02 9.12606508e-01] [ 1.17485407e-01 1.42887821e-02 9.92971807e-01 1.20840142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.51463044 meters Centerline goodness [0,1] 0.3414134001036091 Centerline is valid? [False, False] Translation: X:17.49, Y:0.91, Z:1.21 [[ 9.93096108e-01 -1.07880092e-03 -1.17298580e-01 1.74853070e+01] [-6.08025997e-04 9.99896936e-01 -1.43438905e-02 9.12514398e-01] [ 1.17301964e-01 1.43161825e-02 9.92993100e-01 1.20857453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54463044 meters Centerline goodness [0,1] 0.33371183717193353 Centerline is valid? [False, False] Translation: X:17.50, Y:0.92, Z:1.21 [[ 9.93146778e-01 -8.52094860e-03 -1.16562731e-01 1.75039946e+01] [ 7.01755187e-03 9.99886898e-01 -1.33020718e-02 9.17360672e-01] [ 1.16662894e-01 1.23929248e-02 9.93094248e-01 1.21206790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.57463044 meters Centerline goodness [0,1] 0.3384863123993559 Centerline is valid? [False, False] Translation: X:17.50, Y:0.92, Z:1.21 [[ 9.93177526e-01 -8.62899749e-03 -1.16292487e-01 1.75032160e+01] [ 7.12463800e-03 9.99885562e-01 -1.33454852e-02 9.17175606e-01] [ 1.16394337e-01 1.24258941e-02 9.93125347e-01 1.21224066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60463044 meters Centerline goodness [0,1] 0.34102393188122215 Centerline is valid? [False, False] Translation: X:17.50, Y:0.92, Z:1.21 [[ 9.93240999e-01 -8.65109049e-03 -1.15747472e-01 1.75014497e+01] [ 7.15133957e-03 9.99885096e-01 -1.33661043e-02 9.17754295e-01] [ 1.15849804e-01 1.24480133e-02 9.93188738e-01 1.21277338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.63463044 meters Centerline goodness [0,1] 0.3459921099406078 Centerline is valid? [False, False] Translation: X:17.50, Y:0.92, Z:1.21 [[ 9.93254613e-01 -8.64730011e-03 -1.15630866e-01 1.75011439e+01] [ 7.13652195e-03 9.99883765e-01 -1.34731470e-02 9.18927951e-01] [ 1.15733932e-01 1.25570632e-02 9.93200875e-01 1.21280649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66463044 meters Centerline goodness [0,1] 0.3399199332063112 Centerline is valid? [False, False] Translation: X:17.52, Y:0.92, Z:1.22 [[ 9.93341647e-01 -9.02817642e-04 -1.15202248e-01 1.75216809e+01] [-8.01913604e-04 9.99890884e-01 -1.47505222e-02 9.18586374e-01] [ 1.15202994e-01 1.47446902e-02 9.93232533e-01 1.21566402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.69463044 meters Centerline goodness [0,1] 0.34060543471245075 Centerline is valid? [False, False] Translation: X:17.52, Y:0.92, Z:1.22 [[ 9.93322313e-01 -9.97416567e-04 -1.15368049e-01 1.75225024e+01] [-7.37343069e-04 9.99887325e-01 -1.49930897e-02 9.19971792e-01] [ 1.15370004e-01 1.49780364e-02 9.93209656e-01 1.21518710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72463044 meters Centerline goodness [0,1] 0.34060543471245075 Centerline is valid? [False, False] Translation: X:17.52, Y:0.92, Z:1.22 [[ 9.93322313e-01 -9.97416567e-04 -1.15368049e-01 1.75225024e+01] [-7.37343069e-04 9.99887325e-01 -1.49930897e-02 9.19971792e-01] [ 1.15370004e-01 1.49780364e-02 9.93209656e-01 1.21518710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.75463044 meters Centerline goodness [0,1] 0.334524064171123 Centerline is valid? [False, False] Translation: X:17.53, Y:0.92, Z:1.21 [[ 9.93156887e-01 6.75159180e-04 -1.16785880e-01 1.75281734e+01] [-2.30490147e-03 9.99901836e-01 -1.38204710e-02 9.23183093e-01] [ 1.16765085e-01 1.39950759e-02 9.93060951e-01 1.21328798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78463044 meters Centerline goodness [0,1] 0.33842140439385116 Centerline is valid? [False, False] Translation: X:17.53, Y:0.92, Z:1.21 [[ 9.93136960e-01 6.24938467e-04 -1.16955494e-01 1.75287451e+01] [-2.28253684e-03 9.99898836e-01 -1.40394983e-02 9.24747922e-01] [ 1.16934888e-01 1.42100999e-02 9.93037917e-01 1.21311632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.81463044000003 meters Centerline goodness [0,1] 0.33665043858708477 Centerline is valid? [False, False] Translation: X:17.53, Y:0.93, Z:1.21 [[ 9.93125834e-01 3.55269141e-04 -1.17051065e-01 1.75289189e+01] [-2.07800381e-03 9.99891312e-01 -1.45960973e-02 9.27575139e-01] [ 1.17033158e-01 1.47389939e-02 9.93018631e-01 1.21319974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84463044 meters Centerline goodness [0,1] 0.3369020598689564 Centerline is valid? [False, False] Translation: X:17.53, Y:0.93, Z:1.21 [[ 9.93133120e-01 2.19436591e-04 -1.16989560e-01 1.75284385e+01] [-1.96878995e-03 9.99887977e-01 -1.48377213e-02 9.28709154e-01] [ 1.16973199e-01 1.49661603e-02 9.93022298e-01 1.21358295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.87463044000003 meters Centerline goodness [0,1] 0.33938872148084376 Centerline is valid? [False, False] Translation: X:17.53, Y:0.93, Z:1.21 [[ 9.93144367e-01 1.77419318e-04 -1.16894116e-01 1.75278007e+01] [-1.94444950e-03 9.99885563e-01 -1.50026375e-02 9.29892872e-01] [ 1.16878077e-01 1.51270797e-02 9.93031060e-01 1.21402408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90463044 meters Centerline goodness [0,1] 0.343365933875714 Centerline is valid? [False, False] Translation: X:17.53, Y:0.93, Z:1.21 [[ 9.93155024e-01 1.74946131e-04 -1.16803540e-01 1.75274973e+01] [-1.95931748e-03 9.99883130e-01 -1.51620431e-02 9.31540588e-01] [ 1.16787237e-01 1.52871145e-02 9.93039297e-01 1.21412667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.93463044000003 meters Centerline goodness [0,1] 0.34331195058208597 Centerline is valid? [False, False] Translation: X:17.53, Y:0.93, Z:1.21 [[ 9.93155576e-01 2.44482238e-04 -1.16798721e-01 1.75276472e+01] [-2.04314387e-03 9.99881164e-01 -1.52801891e-02 9.33449655e-01] [ 1.16781105e-01 1.54142417e-02 9.93038053e-01 1.21392302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96463044 meters Centerline goodness [0,1] 0.3404009252120278 Centerline is valid? [False, False] Translation: X:17.55, Y:0.94, Z:1.22 [[ 9.93053513e-01 -4.86731013e-03 -1.17562879e-01 1.75496152e+01] [ 3.37465663e-03 9.99911195e-01 -1.28923626e-02 9.41491195e-01] [ 1.17615190e-01 1.24060717e-02 9.92981750e-01 1.21622778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.99463044000004 meters Centerline goodness [0,1] 0.33854681390452457 Centerline is valid? [False, False] Translation: X:17.55, Y:0.94, Z:1.22 [[ 9.93029782e-01 -5.02047582e-03 -1.17756730e-01 1.75502284e+01] [ 3.48963637e-03 9.99906753e-01 -1.32025985e-02 9.43150662e-01] [ 1.17812033e-01 1.26996454e-02 9.92954704e-01 1.21608512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02463044 meters Centerline goodness [0,1] 0.33575687384720976 Centerline is valid? [False, False] Translation: X:17.55, Y:0.94, Z:1.22 [[ 9.92989033e-01 -5.09558107e-03 -1.18096639e-01 1.75511864e+01] [ 3.53595472e-03 9.99903801e-01 -1.34121227e-02 9.44596111e-01] [ 1.18153621e-01 1.29005064e-02 9.92911526e-01 1.21597685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.05463044000004 meters Centerline goodness [0,1] 0.33884119245869104 Centerline is valid? [False, False] Translation: X:17.55, Y:0.95, Z:1.22 [[ 9.92956328e-01 -5.16107167e-03 -1.18368465e-01 1.75519930e+01] [ 3.57375936e-03 9.99900881e-01 -1.36182650e-02 9.46043835e-01] [ 1.18427018e-01 1.30993220e-02 9.92876351e-01 1.21582577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08463044 meters Centerline goodness [0,1] 0.33832971847016124 Centerline is valid? [False, False] Translation: X:17.55, Y:0.95, Z:1.22 [[ 9.92942025e-01 -5.29510927e-03 -1.18482473e-01 1.75520237e+01] [ 3.67458411e-03 9.99896755e-01 -1.38916208e-02 9.47807149e-01] [ 1.18543798e-01 1.33582003e-02 9.92858966e-01 1.21614749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11463044000004 meters Centerline goodness [0,1] 0.34446674002632316 Centerline is valid? [False, False] Translation: X:17.55, Y:0.95, Z:1.22 [[ 9.92945324e-01 -5.39864326e-03 -1.18450150e-01 1.75516655e+01] [ 3.75919196e-03 9.99894088e-01 -1.40599180e-02 9.48613745e-01] [ 1.18513509e-01 1.35154530e-02 9.92860454e-01 1.21649861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14463044 meters Centerline goodness [0,1] 0.34098586397572994 Centerline is valid? [False, False] Translation: X:17.55, Y:0.95, Z:1.22 [[ 9.92944464e-01 -5.49546635e-03 -1.18452905e-01 1.75516380e+01] [ 3.83177073e-03 9.99890859e-01 -1.42683798e-02 9.49800548e-01] [ 1.18518388e-01 1.37138244e-02 9.92857151e-01 1.21656876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.17463044 meters Centerline goodness [0,1] 0.3436210880974493 Centerline is valid? [False, False] Translation: X:17.55, Y:0.95, Z:1.22 [[ 9.92951040e-01 -5.46414885e-03 -1.18399219e-01 1.75515811e+01] [ 3.79460649e-03 9.99890237e-01 -1.43218059e-02 9.50744913e-01] [ 1.18464479e-01 1.37715736e-02 9.92862786e-01 1.21650328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20463044 meters Centerline goodness [0,1] 0.3402938901778809 Centerline is valid? [False, False] Translation: X:17.55, Y:0.95, Z:1.22 [[ 9.92969270e-01 -5.44510311e-03 -1.18247113e-01 1.75511979e+01] [ 3.76239220e-03 9.99888529e-01 -1.44490319e-02 9.52157320e-01] [ 1.18312608e-01 1.39025527e-02 9.92879069e-01 1.21650265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.23463044 meters Centerline goodness [0,1] 0.33596170694702654 Centerline is valid? [False, False] Translation: X:17.57, Y:0.95, Z:1.22 [[ 9.93236472e-01 2.19111565e-03 -1.16088368e-01 1.75702272e+01] [-4.08472732e-03 9.99862422e-01 -1.60764251e-02 9.53772943e-01] [ 1.16037172e-01 1.64418810e-02 9.93108775e-01 1.21961540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26463044 meters Centerline goodness [0,1] 0.3417852299877311 Centerline is valid? [False, False] Translation: X:17.57, Y:0.95, Z:1.22 [[ 9.93249351e-01 2.08834675e-03 -1.15980021e-01 1.75698485e+01] [-4.00319320e-03 9.99859464e-01 -1.62796642e-02 9.54697373e-01] [ 1.15929724e-01 1.66340563e-02 9.93118124e-01 1.21971431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.29463044 meters Centerline goodness [0,1] 0.34195636332461743 Centerline is valid? [False, False] Translation: X:17.59, Y:0.96, Z:1.22 [[ 9.93194769e-01 -4.71164198e-03 -1.16369886e-01 1.75870634e+01] [ 3.00568391e-03 9.99885498e-01 -1.48309241e-02 9.61051703e-01] [ 1.16426439e-01 1.43802252e-02 9.93095209e-01 1.22378074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32463044 meters Centerline goodness [0,1] 0.34250204626717784 Centerline is valid? [False, False] Translation: X:17.59, Y:0.96, Z:1.22 [[ 9.93183201e-01 -4.57984640e-03 -1.16473831e-01 1.75875499e+01] [ 2.87263173e-03 9.99886034e-01 -1.48211394e-02 9.62103458e-01] [ 1.16528436e-01 1.43855202e-02 9.93083169e-01 1.22352336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.35463044 meters Centerline goodness [0,1] 0.34071890040324326 Centerline is valid? [False, False] Translation: X:17.59, Y:0.97, Z:1.22 [[ 9.93104955e-01 -4.44258782e-03 -1.17144404e-01 1.75899963e+01] [ 2.68843870e-03 9.99881951e-01 -1.51280088e-02 9.65283684e-01] [ 1.17197783e-01 1.47087650e-02 9.92999664e-01 1.22251048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38463044 meters Centerline goodness [0,1] 0.3392930494000649 Centerline is valid? [False, False] Translation: X:17.59, Y:0.97, Z:1.22 [[ 9.93068939e-01 -4.57233192e-03 -1.17444350e-01 1.75909826e+01] [ 2.76797960e-03 9.99875695e-01 -1.55219812e-02 9.67323958e-01] [ 1.17500723e-01 1.50893138e-02 9.92958153e-01 1.22221402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.41463044 meters Centerline goodness [0,1] 0.33923957974509134 Centerline is valid? [False, False] Translation: X:17.59, Y:0.97, Z:1.22 [[ 9.93063485e-01 -4.60795521e-03 -1.17489071e-01 1.75912796e+01] [ 2.76752111e-03 9.99870977e-01 -1.58230593e-02 9.69458186e-01] [ 1.17546824e-01 1.53881489e-02 9.92948110e-01 1.22192934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.44463044 meters Centerline goodness [0,1] 0.33993822864103007 Centerline is valid? [False, False] Translation: X:17.59, Y:0.97, Z:1.22 [[ 9.93073330e-01 -4.54704489e-03 -1.17408201e-01 1.75910262e+01] [ 2.67963660e-03 9.99867468e-01 -1.60582191e-02 9.71822587e-01] [ 1.17465658e-01 1.56323778e-02 9.92953900e-01 1.22194663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.47463044 meters Centerline goodness [0,1] 0.33632508986031295 Centerline is valid? [False, False] Translation: X:17.61, Y:0.98, Z:1.22 [[ 9.93136357e-01 4.40675969e-03 -1.16879238e-01 1.76133989e+01] [-6.37356565e-03 9.99844223e-01 -1.64592668e-02 9.75127948e-01] [ 1.16788498e-01 1.70912337e-02 9.93009736e-01 1.22442924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.50463044 meters Centerline goodness [0,1] 0.33654800431499465 Centerline is valid? [False, False] Translation: X:17.61, Y:0.98, Z:1.22 [[ 9.93114993e-01 4.26555602e-03 -1.17065862e-01 1.76140267e+01] [-6.27039111e-03 9.99839833e-01 -1.67627570e-02 9.76592862e-01] [ 1.16975610e-01 1.73813940e-02 9.92982676e-01 1.22421954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.53463044 meters Centerline goodness [0,1] 0.33610236050576103 Centerline is valid? [False, False] Translation: X:17.61, Y:0.98, Z:1.22 [[ 9.93094194e-01 4.01332085e-03 -1.17251076e-01 1.76144344e+01] [-6.07460087e-03 9.99833134e-01 -1.72279842e-02 9.78831563e-01] [ 1.17162370e-01 1.78212646e-02 9.92952860e-01 1.22424239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.56463044000003 meters Centerline goodness [0,1] 0.33668581337379433 Centerline is valid? [False, False] Translation: X:17.61, Y:0.98, Z:1.22 [[ 9.93093710e-01 4.02841934e-03 -1.17254655e-01 1.76144773e+01] [-6.09670417e-03 9.99831999e-01 -1.72859320e-02 9.79659135e-01] [ 1.17165321e-01 1.78814173e-02 9.92951430e-01 1.22419801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.59463044 meters Centerline goodness [0,1] 0.336387462906405 Centerline is valid? [False, False] Translation: X:17.61, Y:0.98, Z:1.22 [[ 9.93110443e-01 4.01669299e-03 -1.17113250e-01 1.76143012e+01] [-6.08914276e-03 9.99831045e-01 -1.73436986e-02 9.80356637e-01] [ 1.17023799e-01 1.79373275e-02 9.92967111e-01 1.22407768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.62463044000003 meters Centerline goodness [0,1] 0.33686870868795094 Centerline is valid? [False, False] Translation: X:17.63, Y:0.99, Z:1.23 [[ 9.93131591e-01 -3.50430821e-03 -1.16950256e-01 1.76322277e+01] [ 1.61021006e-03 9.99866073e-01 -1.62863125e-02 9.86568788e-01] [ 1.16991665e-01 1.59861369e-02 9.93004226e-01 1.22781516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.65463044 meters Centerline goodness [0,1] 0.3341065790321541 Centerline is valid? [False, False] Translation: X:17.63, Y:0.99, Z:1.23 [[ 9.93131828e-01 -3.66813896e-03 -1.16943222e-01 1.76322530e+01] [ 1.75433782e-03 9.99862921e-01 -1.64639504e-02 9.87064355e-01] [ 1.16987584e-01 1.61457152e-02 9.93002125e-01 1.22783327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68463044000003 meters Centerline goodness [0,1] 0.3358287393551985 Centerline is valid? [False, False] Translation: X:17.63, Y:0.99, Z:1.23 [[ 9.93102307e-01 -3.77465661e-03 -1.17190270e-01 1.76334566e+01] [ 1.82514491e-03 9.99858239e-01 -1.67383000e-02 9.89296909e-01] [ 1.17236838e-01 1.64089552e-02 9.92968413e-01 1.22721395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.71463044 meters Centerline goodness [0,1] 0.3320336768139849 Centerline is valid? [False, False] Translation: X:17.63, Y:0.99, Z:1.23 [[ 9.93078158e-01 -3.79306148e-03 -1.17394145e-01 1.76344849e+01] [ 1.81871854e-03 9.99855182e-01 -1.69206269e-02 9.90973173e-01] [ 1.17441325e-01 1.65899981e-02 9.92941241e-01 1.22663642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74463044000004 meters Centerline goodness [0,1] 0.3329537641801307 Centerline is valid? [False, False] Translation: X:17.63, Y:0.99, Z:1.23 [[ 9.93075443e-01 -3.95082452e-03 -1.17411905e-01 1.76348322e+01] [ 1.93935783e-03 9.99849482e-01 -1.72410219e-02 9.92684972e-01] [ 1.17462348e-01 1.68939317e-02 9.92933629e-01 1.22632486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.77463044 meters Centerline goodness [0,1] 0.33139722491126167 Centerline is valid? [False, False] Translation: X:17.63, Y:0.99, Z:1.23 [[ 9.93088911e-01 -4.11796931e-03 -1.17292187e-01 1.76345448e+01] [ 2.07595690e-03 9.99844244e-01 -1.75264712e-02 9.94039299e-01] [ 1.17346091e-01 1.71618507e-02 9.92942781e-01 1.22632659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80463044000004 meters Centerline goodness [0,1] 0.3335054874112331 Centerline is valid? [False, False] Translation: X:17.63, Y:0.99, Z:1.23 [[ 9.93132058e-01 -4.35915041e-03 -1.16917546e-01 1.76330097e+01] [ 2.30786191e-03 9.99841132e-01 -1.76743893e-02 9.94602249e-01] [ 1.16976017e-01 1.72831731e-02 9.92984342e-01 1.22715079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.83463044 meters Centerline goodness [0,1] 0.3342239131364083 Centerline is valid? [False, False] Translation: X:17.65, Y:1.00, Z:1.23 [[ 9.93138793e-01 -1.20710538e-02 -1.16316927e-01 1.76519339e+01] [ 1.02387824e-02 9.99814116e-01 -1.63370716e-02 9.99024678e-01] [ 1.16492511e-01 1.50340359e-02 9.93077778e-01 1.23070485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86463044000004 meters Centerline goodness [0,1] 0.3373428929296419 Centerline is valid? [False, False] Translation: X:17.65, Y:1.00, Z:1.23 [[ 9.93150011e-01 -1.21857452e-02 -1.16209135e-01 1.76517433e+01] [ 1.03763627e-02 9.99815538e-01 -1.61623495e-02 9.97354657e-01] [ 1.16384649e-01 1.48458095e-02 9.93093256e-01 1.23076639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.89463044 meters Centerline goodness [0,1] 0.3346867749419954 Centerline is valid? [False, False] Translation: X:17.65, Y:1.00, Z:1.23 [[ 9.93140056e-01 -1.23915836e-02 -1.16272427e-01 1.76520546e+01] [ 1.05996307e-02 9.99815529e-01 -1.60173814e-02 9.95122570e-01] [ 1.16449459e-01 1.46750583e-02 9.93088197e-01 1.23072808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92463044 meters Centerline goodness [0,1] 0.33982669880773997 Centerline is valid? [False, False] Translation: X:17.65, Y:0.99, Z:1.23 [[ 9.93135045e-01 -1.25941891e-02 -1.16293458e-01 1.76522263e+01] [ 1.08223100e-02 9.99815729e-01 -1.58551739e-02 9.92644879e-01] [ 1.16471711e-01 1.44877650e-02 9.93088337e-01 1.23074072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.95463044 meters Centerline goodness [0,1] 0.3344978353122723 Centerline is valid? [False, False] Translation: X:17.67, Y:0.99, Z:1.23 [[ 9.93113666e-01 -7.76544845e-03 -1.16897149e-01 1.76749013e+01] [ 5.67059861e-03 9.99817513e-01 -1.82423814e-02 9.86762865e-01] [ 1.17017477e-01 1.74538815e-02 9.92976471e-01 1.23295278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98463044 meters Centerline goodness [0,1] 0.3377962416858601 Centerline is valid? [False, False] Translation: X:17.68, Y:0.99, Z:1.23 [[ 9.93107382e-01 -7.66036179e-03 -1.16957455e-01 1.76753611e+01] [ 5.59708716e-03 9.99823049e-01 -1.79595025e-02 9.85064088e-01] [ 1.17074336e-01 1.71810934e-02 9.92974526e-01 1.23264338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.01463044 meters Centerline goodness [0,1] 0.33958427962710613 Centerline is valid? [False, False] Translation: X:17.68, Y:0.98, Z:1.23 [[ 9.93101763e-01 -7.55333303e-03 -1.17012114e-01 1.76755644e+01] [ 5.52597206e-03 9.99829118e-01 -1.76408205e-02 9.82980200e-01] [ 1.17125366e-01 1.68725243e-02 9.92973800e-01 1.23258949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04463044 meters Centerline goodness [0,1] 0.33838090942285803 Centerline is valid? [False, False] Translation: X:17.68, Y:0.98, Z:1.23 [[ 9.93087416e-01 -7.51599219e-03 -1.17136221e-01 1.76762485e+01] [ 5.51104369e-03 9.99832882e-01 -1.74308850e-02 9.81196851e-01] [ 1.17247656e-01 1.66648497e-02 9.92962874e-01 1.23219904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.07463044 meters Centerline goodness [0,1] 0.3349049527442618 Centerline is valid? [False, False] Translation: X:17.68, Y:0.98, Z:1.23 [[ 9.93072365e-01 -7.26335614e-03 -1.17279674e-01 1.76771606e+01] [ 5.32202129e-03 9.99843734e-01 -1.68577282e-02 9.77654681e-01] [ 1.17383791e-01 1.61167791e-02 9.92955837e-01 1.23160230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10463044 meters Centerline goodness [0,1] 0.3358370710560765 Centerline is valid? [False, False] Translation: X:17.68, Y:0.98, Z:1.23 [[ 9.93070120e-01 -7.11522453e-03 -1.17307759e-01 1.76774889e+01] [ 5.21279095e-03 9.99850008e-01 -1.65163019e-02 9.75713652e-01] [ 1.17407681e-01 1.57903451e-02 9.92958258e-01 1.23132816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.13463044 meters Centerline goodness [0,1] 0.338195686367456 Centerline is valid? [False, False] Translation: X:17.68, Y:0.97, Z:1.23 [[ 9.93102621e-01 -6.81041840e-03 -1.17050431e-01 1.76770190e+01] [ 4.99075819e-03 9.99862210e-01 -1.58320217e-02 9.71933369e-01] [ 1.17142125e-01 1.51386518e-02 9.92999770e-01 1.23120416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16463044 meters Centerline goodness [0,1] 0.33572022249216804 Centerline is valid? [False, False] Translation: X:17.70, Y:0.97, Z:1.23 [[ 9.93210453e-01 7.45306132e-04 -1.16329021e-01 1.76958830e+01] [-2.71664361e-03 9.99855371e-01 -1.67885922e-02 9.67130928e-01] [ 1.16299683e-01 1.69906298e-02 9.93068831e-01 1.23459241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.19463044 meters Centerline goodness [0,1] 0.34097321699874117 Centerline is valid? [False, False] Translation: X:17.68, Y:0.97, Z:1.23 [[ 9.93177275e-01 -6.93517836e-03 -1.16407919e-01 1.76758482e+01] [ 5.18699327e-03 9.99869280e-01 -1.53139750e-02 9.67996483e-01] [ 1.16498907e-01 1.46056848e-02 9.93083420e-01 1.23104826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22463044 meters Centerline goodness [0,1] 0.33829810065457666 Centerline is valid? [False, False] Translation: X:17.70, Y:0.96, Z:1.23 [[ 9.93264462e-01 6.49947939e-04 -1.15867533e-01 1.76950315e+01] [-2.56647507e-03 9.99862344e-01 -1.63922539e-02 9.63140151e-01] [ 1.15840929e-01 1.65792144e-02 9.93129402e-01 1.23449043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.25463044 meters Centerline goodness [0,1] 0.3354116843184147 Centerline is valid? [False, False] Translation: X:17.70, Y:0.96, Z:1.23 [[ 9.93239749e-01 7.45687912e-04 -1.16078617e-01 1.76957000e+01] [-2.62351865e-03 9.99868145e-01 -1.60252893e-02 9.59660320e-01] [ 1.16051361e-01 1.62214888e-02 9.93110741e-01 1.23433593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28463044 meters Centerline goodness [0,1] 0.3378454110445316 Centerline is valid? [False, False] Translation: X:17.70, Y:0.96, Z:1.23 [[ 9.93218287e-01 9.02971070e-04 -1.16260998e-01 1.76961914e+01] [-2.75142396e-03 9.99872338e-01 -1.57396618e-02 9.58246368e-01] [ 1.16231944e-01 1.59528033e-02 9.93093975e-01 1.23429095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.31463044000003 meters Centerline goodness [0,1] 0.3420781672315415 Centerline is valid? [False, False] Translation: X:17.70, Y:0.96, Z:1.23 [[ 9.93212947e-01 1.10460859e-03 -1.16304868e-01 1.76966111e+01] [-2.91361972e-03 9.99877396e-01 -1.53851830e-02 9.56631901e-01] [ 1.16273614e-01 1.56196311e-02 9.93094393e-01 1.23395424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34463044 meters Centerline goodness [0,1] 0.33737615305773827 Centerline is valid? [False, False] Translation: X:17.70, Y:0.95, Z:1.23 [[ 9.93200757e-01 1.22252446e-03 -1.16407736e-01 1.76970864e+01] [-2.99917560e-03 9.99881666e-01 -1.50883759e-02 9.54730499e-01] [ 1.16375516e-01 1.53349136e-02 9.93086894e-01 1.23373422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.37463044000003 meters Centerline goodness [0,1] 0.33821439338472803 Centerline is valid? [False, False] Translation: X:17.70, Y:0.95, Z:1.23 [[ 9.93191857e-01 1.04708671e-03 -1.16485356e-01 1.76978755e+01] [-2.79797175e-03 9.99885544e-01 -1.48684432e-02 9.48525897e-01] [ 1.16456455e-01 1.50931394e-02 9.93081110e-01 1.23310333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40463044 meters Centerline goodness [0,1] 0.33679307484526877 Centerline is valid? [False, False] Translation: X:17.72, Y:0.95, Z:1.24 [[ 9.93202931e-01 -6.28960393e-03 -1.16225555e-01 1.77174021e+01] [ 4.74392900e-03 9.99896659e-01 -1.35707656e-02 9.50513689e-01] [ 1.16298899e-01 1.29271584e-02 9.93130130e-01 1.23619666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.43463044000003 meters Centerline goodness [0,1] 0.3397469008264463 Centerline is valid? [False, False] Translation: X:17.72, Y:0.95, Z:1.24 [[ 9.93194772e-01 -6.10537679e-03 -1.16305069e-01 1.77177813e+01] [ 4.60225961e-03 9.99902442e-01 -1.31880836e-02 9.48434404e-01] [ 1.16374241e-01 1.25630696e-02 9.93125977e-01 1.23602504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46463044 meters Centerline goodness [0,1] 0.33668352477284413 Centerline is valid? [False, False] Translation: X:17.72, Y:0.95, Z:1.24 [[ 9.93168405e-01 -5.88279039e-03 -1.16541459e-01 1.77185826e+01] [ 4.41780608e-03 9.99907999e-01 -1.28248244e-02 9.46763894e-01] [ 1.16606183e-01 1.22223529e-02 9.93103022e-01 1.23581131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.49463044000004 meters Centerline goodness [0,1] 0.3369250872946167 Centerline is valid? [False, False] Translation: X:17.72, Y:0.94, Z:1.24 [[ 9.93113893e-01 -5.59517049e-03 -1.17019182e-01 1.77201521e+01] [ 4.17165401e-03 9.99914338e-01 -1.24062022e-02 9.44800598e-01] [ 1.17078573e-01 1.18326083e-02 9.93052162e-01 1.23539176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52463044 meters Centerline goodness [0,1] 0.340205962528666 Centerline is valid? [False, False] Translation: X:17.72, Y:0.94, Z:1.24 [[ 9.93116210e-01 -5.43200963e-03 -1.17007209e-01 1.77202293e+01] [ 4.03440947e-03 9.99917705e-01 -1.21780972e-02 9.43913602e-01] [ 1.17063731e-01 1.16222108e-02 9.93056397e-01 1.23527727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.55463044000004 meters Centerline goodness [0,1] 0.3391488351002958 Centerline is valid? [False, False] Translation: X:17.72, Y:0.94, Z:1.24 [[ 9.93116770e-01 -5.27228692e-03 -1.17009763e-01 1.77201937e+01] [ 3.90278605e-03 9.99921216e-01 -1.19301949e-02 9.42944622e-01] [ 1.17063444e-01 1.13914125e-02 9.93059105e-01 1.23537769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58463044 meters Centerline goodness [0,1] 0.34230420320532207 Centerline is valid? [False, False] Translation: X:17.72, Y:0.94, Z:1.24 [[ 9.93145919e-01 -5.00787988e-03 -1.16773733e-01 1.77190992e+01] [ 3.70679899e-03 9.99928643e-01 -1.13564088e-02 9.39998325e-01] [ 1.16822272e-01 1.08457143e-02 9.93093615e-01 1.23600905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61463044000004 meters Centerline goodness [0,1] 0.339776760894667 Centerline is valid? [False, False] Translation: X:17.74, Y:0.94, Z:1.24 [[ 9.93290334e-01 5.78241585e-04 -1.15645912e-01 1.77402360e+01] [-2.22568017e-03 9.99897874e-01 -1.41169198e-02 9.37970807e-01] [ 1.15625939e-01 1.42795908e-02 9.93190181e-01 1.23870771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64463044 meters Centerline goodness [0,1] 0.339776760894667 Centerline is valid? [False, False] Translation: X:17.74, Y:0.94, Z:1.24 [[ 9.93290334e-01 5.78241585e-04 -1.15645912e-01 1.77402360e+01] [-2.22568017e-03 9.99897874e-01 -1.41169198e-02 9.37970807e-01] [ 1.15625939e-01 1.42795908e-02 9.93190181e-01 1.23870771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.67463044 meters Centerline goodness [0,1] 0.3365055033957123 Centerline is valid? [False, False] Translation: X:17.74, Y:0.94, Z:1.24 [[ 9.93293753e-01 5.62845321e-04 -1.15616620e-01 1.77401651e+01] [-2.18852944e-03 9.99900515e-01 -1.39345302e-02 9.36307538e-01] [ 1.15597275e-01 1.40941122e-02 9.93196167e-01 1.23879404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70463044 meters Centerline goodness [0,1] 0.34031560743623 Centerline is valid? [False, False] Translation: X:17.74, Y:0.94, Z:1.24 [[ 9.93292936e-01 5.50519997e-04 -1.15623699e-01 1.77403298e+01] [-2.16003742e-03 9.99902505e-01 -1.37954728e-02 9.35030063e-01] [ 1.15604832e-01 1.39526972e-02 9.93197284e-01 1.23865510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.73463044 meters Centerline goodness [0,1] 0.34340253648366925 Centerline is valid? [False, False] Translation: X:17.74, Y:0.93, Z:1.24 [[ 9.93281850e-01 7.35598166e-04 -1.15717869e-01 1.77408482e+01] [-2.30143287e-03 9.99907588e-01 -1.33984606e-02 9.33319579e-01] [ 1.15697319e-01 1.35747647e-02 9.93191752e-01 1.23833881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76463044 meters Centerline goodness [0,1] 0.34300540540540536 Centerline is valid? [False, False] Translation: X:17.74, Y:0.93, Z:1.24 [[ 9.93277181e-01 8.36390796e-04 -1.15757259e-01 1.77410028e+01] [-2.38088328e-03 9.99909977e-01 -1.32048870e-02 9.32700610e-01] [ 1.15735794e-01 1.33917175e-02 9.93189754e-01 1.23835715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.79463044 meters Centerline goodness [0,1] 0.3377736914129319 Centerline is valid? [False, False] Translation: X:17.76, Y:0.94, Z:1.24 [[ 9.93294864e-01 -6.48043669e-03 -1.15426670e-01 1.77601245e+01] [ 5.13663085e-03 9.99915573e-01 -1.19357209e-02 9.36885183e-01] [ 1.15494274e-01 1.12627861e-02 9.93244291e-01 1.24182708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82463044 meters Centerline goodness [0,1] 0.3391688199827735 Centerline is valid? [False, False] Translation: X:17.76, Y:0.94, Z:1.24 [[ 9.93306409e-01 -6.50024622e-03 -1.15326166e-01 1.77597618e+01] [ 5.17147605e-03 9.99916800e-01 -1.18173103e-02 9.35851225e-01] [ 1.15393387e-01 1.11418035e-02 9.93257382e-01 1.24198857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.85463044 meters Centerline goodness [0,1] 0.3402652200120555 Centerline is valid? [False, False] Translation: X:17.76, Y:0.93, Z:1.24 [[ 9.93301139e-01 -6.52833908e-03 -1.15369962e-01 1.77598469e+01] [ 5.21704106e-03 9.99918360e-01 -1.16643297e-02 9.34335271e-01] [ 1.15436692e-01 1.09843022e-02 9.93254104e-01 1.24208599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88463044 meters Centerline goodness [0,1] 0.33753802301588987 Centerline is valid? [False, False] Translation: X:17.78, Y:0.93, Z:1.25 [[ 9.93333185e-01 -1.50129330e-02 -1.14296961e-01 1.77798661e+01] [ 1.38640862e-02 9.99845131e-01 -1.08397550e-02 9.34146028e-01] [ 1.14441997e-01 9.18286544e-03 9.93387490e-01 1.24527877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.91463044 meters Centerline goodness [0,1] 0.34273664278183036 Centerline is valid? [False, False] Translation: X:17.76, Y:0.93, Z:1.24 [[ 9.93663798e-01 -8.42582145e-03 -1.12077034e-01 1.77623473e+01] [ 7.21158081e-03 9.99910880e-01 -1.12349847e-02 9.25885990e-01] [ 1.12161710e-01 1.03555449e-02 9.93636007e-01 1.24127717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.94463044 meters Centerline goodness [0,1] 0.3415990928346777 Centerline is valid? [False, False] Translation: X:17.78, Y:0.92, Z:1.25 [[ 9.93649866e-01 -1.80209795e-03 -1.12501980e-01 1.77796245e+01] [ 3.78348576e-04 9.99919592e-01 -1.26753950e-02 9.19364695e-01] [ 1.12515776e-01 1.25523396e-02 9.93570651e-01 1.24541003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.97463044 meters Centerline goodness [0,1] 0.34350650752196155 Centerline is valid? [False, False] Translation: X:17.78, Y:0.92, Z:1.25 [[ 9.93651188e-01 -1.91547742e-03 -1.12488437e-01 1.77795678e+01] [ 5.13772525e-04 9.99921883e-01 -1.24885469e-02 9.17100756e-01] [ 1.12503571e-01 1.23514660e-02 9.93574551e-01 1.24546504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.00463044 meters Centerline goodness [0,1] 0.34094854375174133 Centerline is valid? [False, False] Translation: X:17.80, Y:0.92, Z:1.25 [[ 9.93542908e-01 -1.01900463e-02 -1.12998461e-01 1.78017722e+01] [ 8.93039880e-03 9.99892279e-01 -1.16480719e-02 9.16343242e-01] [ 1.13104983e-01 1.05637379e-02 9.93526885e-01 1.24792922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.03463044 meters Centerline goodness [0,1] 0.34203072697622516 Centerline is valid? [False, False] Translation: X:17.80, Y:0.91, Z:1.25 [[ 9.93519137e-01 -1.00249954e-02 -1.13222008e-01 1.78025536e+01] [ 8.80388441e-03 9.99897622e-01 -1.12799750e-02 9.14482058e-01] [ 1.13323498e-01 1.02100776e-02 9.93505681e-01 1.24770509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.06463044000003 meters Centerline goodness [0,1] 0.3427878215313265 Centerline is valid? [False, False] Translation: X:17.80, Y:0.91, Z:1.25 [[ 9.93507980e-01 -9.93618336e-03 -1.13327689e-01 1.78029073e+01] [ 8.73985374e-03 9.99900770e-01 -1.10483409e-02 9.13075053e-01] [ 1.13426222e-01 9.98614747e-03 9.93496235e-01 1.24763592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.09463044 meters Centerline goodness [0,1] 0.34243868917235754 Centerline is valid? [False, False] Translation: X:17.80, Y:0.91, Z:1.25 [[ 9.93500290e-01 -9.91327580e-03 -1.13397091e-01 1.78032915e+01] [ 8.73414235e-03 9.99902552e-01 -1.08903748e-02 9.11687283e-01] [ 1.13494000e-01 9.82916419e-03 9.93490060e-01 1.24742622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.12463044000003 meters Centerline goodness [0,1] 0.3404287213311348 Centerline is valid? [False, False] Translation: X:17.80, Y:0.91, Z:1.25 [[ 9.93445887e-01 -9.92366756e-03 -1.13871816e-01 1.78046049e+01] [ 8.76555908e-03 9.99904691e-01 -1.06664947e-02 9.09520327e-01] [ 1.13966814e-01 9.59843520e-03 9.93438189e-01 1.24730038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.15463044 meters Centerline goodness [0,1] 0.3443194868794557 Centerline is valid? [False, False] Translation: X:17.81, Y:0.91, Z:1.25 [[ 9.93415679e-01 -9.82638300e-03 -1.14143465e-01 1.78055932e+01] [ 8.68685120e-03 9.99907387e-01 -1.04764540e-02 9.08624189e-01] [ 1.14235839e-01 9.41592642e-03 9.93409036e-01 1.24690114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18463044000003 meters Centerline goodness [0,1] 0.3427088493097582 Centerline is valid? [False, False] Translation: X:17.81, Y:0.91, Z:1.25 [[ 9.93381891e-01 -9.57423256e-03 -1.14458522e-01 1.78066891e+01] [ 8.48661774e-03 9.99914127e-01 -9.98578353e-03 9.06557406e-01] [ 1.14544299e-01 8.94833080e-03 9.93377839e-01 1.24657867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.21463044 meters Centerline goodness [0,1] 0.34089338171764294 Centerline is valid? [False, False] Translation: X:17.81, Y:0.91, Z:1.25 [[ 9.93386882e-01 -9.47333354e-03 -1.14423589e-01 1.78064301e+01] [ 8.40884653e-03 9.99916797e-01 -9.78213930e-03 9.05607329e-01] [ 1.14506738e-01 8.75527846e-03 9.93383890e-01 1.24680918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24463044000004 meters Centerline goodness [0,1] 0.3434760074288429 Centerline is valid? [False, False] Translation: X:17.81, Y:0.90, Z:1.25 [[ 9.93387062e-01 -9.41189063e-03 -1.14427102e-01 1.78061442e+01] [ 8.36141096e-03 9.99918413e-01 -9.65684925e-03 9.04934431e-01] [ 1.14508656e-01 8.63621708e-03 9.93384711e-01 1.24719444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.27463044 meters Centerline goodness [0,1] 0.3422529413039239 Centerline is valid? [False, False] Translation: X:17.81, Y:0.90, Z:1.25 [[ 9.93386846e-01 -9.38301585e-03 -1.14431348e-01 1.78058569e+01] [ 8.34215543e-03 9.99919395e-01 -9.57143369e-03 9.04387989e-01] [ 1.14511933e-01 8.55353223e-03 9.93385048e-01 1.24756700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30463044000004 meters Centerline goodness [0,1] 0.33780770220430567 Centerline is valid? [False, False] Translation: X:17.83, Y:0.90, Z:1.25 [[ 9.93463684e-01 -3.08141426e-03 -1.14107027e-01 1.78286873e+01] [ 1.74974552e-03 9.99929216e-01 -1.17686662e-02 9.02240554e-01] [ 1.14135214e-01 1.14920842e-02 9.93398754e-01 1.24940858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.33463044 meters Centerline goodness [0,1] 0.3406010353790303 Centerline is valid? [False, False] Translation: X:17.83, Y:0.90, Z:1.25 [[ 9.93460406e-01 -2.95891597e-03 -1.14138807e-01 1.78290343e+01] [ 1.65440995e-03 9.99932249e-01 -1.15221523e-02 9.01206606e-01] [ 1.14165167e-01 1.12579697e-02 9.93397993e-01 1.24909796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36463044000004 meters Centerline goodness [0,1] 0.3441272027024119 Centerline is valid? [False, False] Translation: X:17.83, Y:0.90, Z:1.25 [[ 9.93462354e-01 -2.86642907e-03 -1.14124209e-01 1.78288477e+01] [ 1.60053647e-03 9.99936195e-01 -1.11823202e-02 8.99295432e-01] [ 1.14148981e-01 1.09265542e-02 9.93403554e-01 1.24929911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.39463044 meters Centerline goodness [0,1] 0.3424798270584962 Centerline is valid? [False, False] Translation: X:17.83, Y:0.90, Z:1.25 [[ 9.93455413e-01 -2.90582848e-03 -1.14183618e-01 1.78287250e+01] [ 1.67650049e-03 9.99939614e-01 -1.08607920e-02 8.96690821e-01] [ 1.14208283e-01 1.05982837e-02 9.93400294e-01 1.24964056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42463044 meters Centerline goodness [0,1] 0.3414895900407813 Centerline is valid? [False, False] Translation: X:17.83, Y:0.89, Z:1.25 [[ 9.93427100e-01 -6.84201133e-03 -1.14261908e-01 1.78285940e+01] [ 5.30560070e-03 9.99891456e-01 -1.37450982e-02 8.91545637e-01] [ 1.14343550e-01 1.30485250e-02 9.93355570e-01 1.25008847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.45463044 meters Centerline goodness [0,1] 0.3418335587180973 Centerline is valid? [False, False] Translation: X:17.83, Y:0.89, Z:1.25 [[ 9.93422290e-01 -6.93049358e-03 -1.14298389e-01 1.78285134e+01] [ 5.43508200e-03 9.99895580e-01 -1.33898500e-02 8.88290107e-01] [ 1.14379253e-01 1.26805543e-02 9.93356225e-01 1.25030390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48463044 meters Centerline goodness [0,1] 0.3444303552623095 Centerline is valid? [False, False] Translation: X:17.83, Y:0.89, Z:1.25 [[ 9.93425379e-01 -6.95549907e-03 -1.14270015e-01 1.78282526e+01] [ 5.49700077e-03 9.99899425e-01 -1.30737660e-02 8.85816486e-01] [ 1.14349457e-01 1.23596686e-02 9.93363700e-01 1.25054237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.51463044 meters Centerline goodness [0,1] 0.34564076082279027 Centerline is valid? [False, False] Translation: X:17.83, Y:0.88, Z:1.25 [[ 9.93421818e-01 -6.78504775e-03 -1.14311218e-01 1.78281517e+01] [ 5.37859807e-03 9.99906055e-01 -1.26076310e-02 8.83387591e-01] [ 1.14386023e-01 1.19098616e-02 9.93364985e-01 1.25079980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54463044 meters Centerline goodness [0,1] 0.3495544446859379 Centerline is valid? [False, False] Translation: X:17.83, Y:0.88, Z:1.25 [[ 9.93474817e-01 -6.54992223e-03 -1.13863451e-01 1.78269946e+01] [ 5.22501754e-03 9.99915178e-01 -1.19304596e-02 8.79906849e-01] [ 1.13931937e-01 1.12576726e-02 9.93424772e-01 1.25094204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.57463044 meters Centerline goodness [0,1] 0.3441312037731804 Centerline is valid? [False, False] Translation: X:17.87, Y:0.88, Z:1.26 [[ 9.93692548e-01 -6.52519993e-03 -1.11948834e-01 1.78687324e+01] [ 5.20123184e-03 9.99913089e-01 -1.21145299e-02 8.78032095e-01] [ 1.12018154e-01 1.14558463e-02 9.93640124e-01 1.25639918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60463044 meters Centerline goodness [0,1] 0.349892571130933 Centerline is valid? [False, False] Translation: X:17.87, Y:0.88, Z:1.26 [[ 9.93705784e-01 -6.59710903e-03 -1.11827063e-01 1.78681938e+01] [ 5.29191273e-03 9.99914421e-01 -1.19643683e-02 8.76257771e-01] [ 1.11896423e-01 1.12972829e-02 9.93655656e-01 1.25668252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.63463044 meters Centerline goodness [0,1] 0.3454940702955167 Centerline is valid? [False, False] Translation: X:17.87, Y:0.87, Z:1.26 [[ 9.93637603e-01 -1.04895052e-02 -1.12135118e-01 1.78687920e+01] [ 8.84771581e-03 9.99846407e-01 -1.51288107e-02 8.73555273e-01] [ 1.12276588e-01 1.40404156e-02 9.93577795e-01 1.25693953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66463044 meters Centerline goodness [0,1] 0.34669618675035463 Centerline is valid? [False, False] Translation: X:17.87, Y:0.87, Z:1.26 [[ 9.93588123e-01 -1.04774754e-02 -1.12573819e-01 1.78699574e+01] [ 8.86183517e-03 9.99850570e-01 -1.48426658e-02 8.71454072e-01] [ 1.12712511e-01 1.37498858e-02 9.93532501e-01 1.25683620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.69463044 meters Centerline goodness [0,1] 0.3459425690958833 Centerline is valid? [False, False] Translation: X:17.87, Y:0.87, Z:1.26 [[ 9.93556888e-01 -1.04474929e-02 -1.12851940e-01 1.78708346e+01] [ 8.86066392e-03 9.99854830e-01 -1.45536052e-02 8.69525330e-01] [ 1.12987606e-01 1.34598915e-02 9.93505225e-01 1.25660936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72463044 meters Centerline goodness [0,1] 0.34389362748241736 Centerline is valid? [False, False] Translation: X:17.87, Y:0.87, Z:1.26 [[ 9.93524783e-01 -1.04626141e-02 -1.13132839e-01 1.78716088e+01] [ 8.89615586e-03 9.99857570e-01 -1.43421889e-02 8.67961942e-01] [ 1.13266782e-01 1.32428728e-02 9.93476352e-01 1.25651334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.75463044 meters Centerline goodness [0,1] 0.34319361019612904 Centerline is valid? [False, False] Translation: X:17.87, Y:0.87, Z:1.26 [[ 9.93472181e-01 -1.05265857e-02 -1.13587924e-01 1.78728179e+01] [ 8.99332176e-03 9.99861516e-01 -1.40024831e-02 8.65308873e-01] [ 1.13719592e-01 1.28895447e-02 9.93429270e-01 1.25641053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78463044 meters Centerline goodness [0,1] 0.34378761822871884 Centerline is valid? [False, False] Translation: X:17.87, Y:0.86, Z:1.26 [[ 9.93456176e-01 -1.05179846e-02 -1.13728621e-01 1.78731831e+01] [ 9.00025749e-03 9.99863571e-01 -1.38504123e-02 8.64107954e-01] [ 1.13858783e-01 1.27361908e-02 9.93415304e-01 1.25639160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.81463044000003 meters Centerline goodness [0,1] 0.3437332360577645 Centerline is valid? [False, False] Translation: X:17.87, Y:0.86, Z:1.26 [[ 9.93448628e-01 -1.04816511e-02 -1.13797882e-01 1.78735308e+01] [ 8.97627135e-03 9.99865408e-01 -1.37329086e-02 8.63359525e-01] [ 1.13926509e-01 1.26214585e-02 9.93409004e-01 1.25622097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84463044 meters Centerline goodness [0,1] 0.3459326211996713 Centerline is valid? [False, False] Translation: X:17.87, Y:0.86, Z:1.26 [[ 9.93445615e-01 -1.04376476e-02 -1.13828228e-01 1.78737838e+01] [ 8.94210326e-03 9.99866968e-01 -1.36413065e-02 8.63009099e-01] [ 1.13955468e-01 1.25340323e-02 9.93406789e-01 1.25604008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.87463044000003 meters Centerline goodness [0,1] 0.34619606155170557 Centerline is valid? [False, False] Translation: X:17.89, Y:0.86, Z:1.26 [[ 9.93554372e-01 -2.15146326e-03 -1.13336144e-01 1.78934917e+01] [ 5.04418446e-04 9.99893884e-01 -1.45590608e-02 8.60458351e-01] [ 1.13355440e-01 1.44080496e-02 9.93450025e-01 1.25859917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90463044 meters Centerline goodness [0,1] 0.34692025070239896 Centerline is valid? [False, False] Translation: X:17.89, Y:0.86, Z:1.26 [[ 9.93542308e-01 -2.10351468e-03 -1.13442752e-01 1.78936814e+01] [ 4.45870465e-04 9.99892795e-01 -1.46355583e-02 8.61487635e-01] [ 1.13461376e-01 1.44904656e-02 9.93436733e-01 1.25870526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.93463044000003 meters Centerline goodness [0,1] 0.3429812489248236 Centerline is valid? [False, False] Translation: X:17.89, Y:0.86, Z:1.26 [[ 9.93512687e-01 -2.09301752e-03 -1.13702068e-01 1.78946112e+01] [ 4.18380060e-04 9.99891123e-01 -1.47501604e-02 8.62603710e-01] [ 1.13720561e-01 1.46069008e-02 9.93405392e-01 1.25840844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96463044 meters Centerline goodness [0,1] 0.34121258963459145 Centerline is valid? [False, False] Translation: X:17.90, Y:0.86, Z:1.26 [[ 9.93457515e-01 -2.14231771e-03 -1.14182210e-01 1.78965198e+01] [ 4.36720656e-04 9.99887991e-01 -1.49604245e-02 8.64194509e-01] [ 1.14201471e-01 1.48126804e-02 9.93347174e-01 1.25764593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.99463044000004 meters Centerline goodness [0,1] 0.3428503909942425 Centerline is valid? [False, False] Translation: X:17.90, Y:0.87, Z:1.26 [[ 9.93465606e-01 -2.20783864e-03 -1.14110536e-01 1.78964706e+01] [ 4.85696074e-04 9.99885606e-01 -1.51174799e-02 8.65092847e-01] [ 1.14130859e-01 1.49632733e-02 9.93353033e-01 1.25754686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02463044 meters Centerline goodness [0,1] 0.34539516373231816 Centerline is valid? [False, False] Translation: X:17.90, Y:0.87, Z:1.26 [[ 9.93487485e-01 -2.25891270e-03 -1.13918898e-01 1.78959016e+01] [ 5.20776648e-04 9.99883040e-01 -1.52851146e-02 8.66207538e-01] [ 1.13940102e-01 1.51262437e-02 9.93372463e-01 1.25768908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.05463044000004 meters Centerline goodness [0,1] 0.34538793103448273 Centerline is valid? [False, False] Translation: X:17.90, Y:0.87, Z:1.26 [[ 9.93502385e-01 -2.31536417e-03 -1.13787739e-01 1.78954347e+01] [ 5.56790721e-04 9.99879957e-01 -1.54842106e-02 8.67683986e-01] [ 1.13809931e-01 1.53202442e-02 9.93384412e-01 1.25791993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08463044 meters Centerline goodness [0,1] 0.34474390636744334 Centerline is valid? [False, False] Translation: X:17.90, Y:0.87, Z:1.26 [[ 9.93502286e-01 -2.39916299e-03 -1.13786871e-01 1.78953785e+01] [ 6.11851241e-04 9.99875933e-01 -1.57398628e-02 8.69441757e-01] [ 1.13810516e-01 1.55679690e-02 9.93380493e-01 1.25803504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11463044000004 meters Centerline goodness [0,1] 0.3422970758216165 Centerline is valid? [False, False] Translation: X:17.90, Y:0.87, Z:1.26 [[ 9.93475945e-01 -2.59527772e-03 -1.14012329e-01 1.78962707e+01] [ 7.52784328e-04 9.99868479e-01 -1.62005572e-02 8.72461981e-01] [ 1.14039379e-01 1.60090372e-02 9.93347236e-01 1.25770014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14463044 meters Centerline goodness [0,1] 0.3410512337217272 Centerline is valid? [False, False] Translation: X:17.92, Y:0.88, Z:1.26 [[ 9.93337157e-01 -9.92248408e-03 -1.14816538e-01 1.79157680e+01] [ 8.21902438e-03 9.99849163e-01 -1.53002792e-02 8.77532589e-01] [ 1.14951036e-01 1.42546559e-02 9.93268878e-01 1.26128008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.17463044 meters Centerline goodness [0,1] 0.33798704066842866 Centerline is valid? [False, False] Translation: X:17.92, Y:0.88, Z:1.26 [[ 9.93317734e-01 -9.95926374e-03 -1.14981266e-01 1.79163491e+01] [ 8.25059185e-03 9.99848497e-01 -1.53268071e-02 8.77820666e-01] [ 1.15116489e-01 1.42757258e-02 9.93249414e-01 1.26112402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20463044 meters Centerline goodness [0,1] 0.34234543775635107 Centerline is valid? [False, False] Translation: X:17.92, Y:0.88, Z:1.26 [[ 9.93323668e-01 -9.94710533e-03 -1.14931046e-01 1.79161838e+01] [ 8.24924271e-03 9.99849849e-01 -1.52390828e-02 8.77591696e-01] [ 1.15065374e-01 1.41892475e-02 9.93256576e-01 1.26117624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.23463044 meters Centerline goodness [0,1] 0.34282332687755546 Centerline is valid? [False, False] Translation: X:17.92, Y:0.88, Z:1.26 [[ 9.93360922e-01 -1.04535643e-02 -1.14563526e-01 1.79150117e+01] [ 8.72427311e-03 9.99840475e-01 -1.55856295e-02 8.77615655e-01] [ 1.14708175e-01 1.44826718e-02 9.93293656e-01 1.26153100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26463044 meters Centerline goodness [0,1] 0.344455708215603 Centerline is valid? [False, False] Translation: X:17.91, Y:0.88, Z:1.26 [[ 9.93365946e-01 -1.06380481e-02 -1.14502967e-01 1.79147453e+01] [ 8.88737738e-03 9.99835848e-01 -1.57889687e-02 8.78298654e-01] [ 1.14652135e-01 1.46665927e-02 9.93297427e-01 1.26166424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.29463044 meters Centerline goodness [0,1] 0.3443675675675676 Centerline is valid? [False, False] Translation: X:17.91, Y:0.88, Z:1.26 [[ 9.93367266e-01 -1.07589443e-02 -1.14480217e-01 1.79146724e+01] [ 8.98613400e-03 9.99831762e-01 -1.59905605e-02 8.79452241e-01] [ 1.14632998e-01 1.48557648e-02 9.93296825e-01 1.26172136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32463044 meters Centerline goodness [0,1] 0.34368685783070374 Centerline is valid? [False, False] Translation: X:17.91, Y:0.88, Z:1.26 [[ 9.93356619e-01 -1.07620806e-02 -1.14572273e-01 1.79148231e+01] [ 8.97338585e-03 9.99829858e-01 -1.61162669e-02 8.80907777e-01] [ 1.14726224e-01 1.49810992e-02 9.93284179e-01 1.26186675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.35463044 meters Centerline goodness [0,1] 0.3447414331560016 Centerline is valid? [False, False] Translation: X:17.91, Y:0.88, Z:1.26 [[ 9.93419866e-01 -7.77727697e-03 -1.14264968e-01 1.79138784e+01] [ 6.25546276e-03 9.99886982e-01 -1.36708306e-02 8.84211541e-01] [ 1.14358376e-01 1.28660945e-02 9.93356243e-01 1.26207987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38463044 meters Centerline goodness [0,1] 0.3438623857186187 Centerline is valid? [False, False] Translation: X:17.91, Y:0.89, Z:1.26 [[ 9.93427744e-01 -8.04088839e-03 -1.14178204e-01 1.79136096e+01] [ 6.46482680e-03 9.99878742e-01 -1.41671090e-02 8.86691311e-01] [ 1.14278276e-01 1.33358568e-02 9.93359266e-01 1.26222228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.41463044 meters Centerline goodness [0,1] 0.3453565685976272 Centerline is valid? [False, False] Translation: X:17.91, Y:0.89, Z:1.26 [[ 9.93443259e-01 -8.30803568e-03 -1.14023975e-01 1.79131523e+01] [ 6.66900952e-03 9.99868997e-01 -1.47483435e-02 8.89847412e-01] [ 1.14131568e-01 1.38912154e-02 9.93368521e-01 1.26239550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.44463044 meters Centerline goodness [0,1] 0.3425267095165416 Centerline is valid? [False, False] Translation: X:17.93, Y:0.89, Z:1.26 [[ 9.93581236e-01 -3.23544611e-04 -1.13120390e-01 1.79347800e+01] [-1.47065390e-03 9.99874451e-01 -1.57771566e-02 8.93662605e-01] [ 1.13111293e-01 1.58422477e-02 9.93456017e-01 1.26440826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.47463044 meters Centerline goodness [0,1] 0.34004956362460936 Centerline is valid? [False, False] Translation: X:17.94, Y:0.90, Z:1.26 [[ 9.93553852e-01 -4.68577757e-04 -1.13360148e-01 1.79358452e+01] [-1.37962219e-03 9.99867418e-01 -1.62247899e-02 8.97003734e-01] [ 1.13352721e-01 1.62765966e-02 9.93421478e-01 1.26396355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.50463044 meters Centerline goodness [0,1] 0.3397327269997211 Centerline is valid? [False, False] Translation: X:17.96, Y:0.90, Z:1.27 [[ 9.93352091e-01 -7.49151087e-03 -1.14871670e-01 1.79554836e+01] [ 5.76472321e-03 9.99865454e-01 -1.53571638e-02 9.04025801e-01] [ 1.14971263e-01 1.45928674e-02 9.93261626e-01 1.26788881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.53463044 meters Centerline goodness [0,1] 0.3397327269997211 Centerline is valid? [False, False] Translation: X:17.96, Y:0.90, Z:1.27 [[ 9.93352091e-01 -7.49151087e-03 -1.14871670e-01 1.79554836e+01] [ 5.76472321e-03 9.99865454e-01 -1.53571638e-02 9.04025801e-01] [ 1.14971263e-01 1.45928674e-02 9.93261626e-01 1.26788881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.56463044000003 meters Centerline goodness [0,1] 0.3422537342469899 Centerline is valid? [False, False] Translation: X:17.96, Y:0.91, Z:1.27 [[ 9.93333749e-01 -7.69170319e-03 -1.15016959e-01 1.79560307e+01] [ 5.91972185e-03 9.99858596e-01 -1.57399054e-02 9.06267491e-01] [ 1.15121762e-01 1.49541109e-02 9.93238820e-01 1.26770808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.59463044 meters Centerline goodness [0,1] 0.3416475576515381 Centerline is valid? [False, False] Translation: X:17.96, Y:0.91, Z:1.27 [[ 9.93269992e-01 -8.19260663e-03 -1.15531830e-01 1.79574421e+01] [ 6.33115165e-03 9.99844319e-01 -1.64698182e-02 9.09747506e-01] [ 1.15648775e-01 1.56275267e-02 9.93167227e-01 1.26766196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.62463044000003 meters Centerline goodness [0,1] 0.3369964936286667 Centerline is valid? [False, False] Translation: X:17.96, Y:0.91, Z:1.27 [[ 9.93233537e-01 -8.33370068e-03 -1.15834754e-01 1.79583359e+01] [ 6.44254775e-03 9.99839937e-01 -1.66911242e-02 9.11077620e-01] [ 1.15955312e-01 1.58319134e-02 9.93128248e-01 1.26756806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.65463044 meters Centerline goodness [0,1] 0.3383193638512787 Centerline is valid? [False, False] Translation: X:17.96, Y:0.91, Z:1.27 [[ 9.93199048e-01 -8.48594360e-03 -1.16119073e-01 1.79592855e+01] [ 6.55834849e-03 9.99834453e-01 -1.69721756e-02 9.12749642e-01] [ 1.16243874e-01 1.60951994e-02 9.93090281e-01 1.26733511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68463044000003 meters Centerline goodness [0,1] 0.33599948397084434 Centerline is valid? [False, False] Translation: X:17.96, Y:0.92, Z:1.27 [[ 9.93154207e-01 -8.74490468e-03 -1.16482825e-01 1.79609928e+01] [ 6.75876686e-03 9.99825155e-01 -1.74349990e-02 9.15746490e-01] [ 1.16614926e-01 1.65283624e-02 9.93039663e-01 1.26653058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.71463044 meters Centerline goodness [0,1] 0.33947955712521394 Centerline is valid? [False, False] Translation: X:17.96, Y:0.92, Z:1.27 [[ 9.93149387e-01 -8.91503275e-03 -1.16511016e-01 1.79611356e+01] [ 6.88811309e-03 9.99818056e-01 -1.77878924e-02 9.17660080e-01] [ 1.16648397e-01 1.68634934e-02 9.93030097e-01 1.26650934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74463044000004 meters Centerline goodness [0,1] 0.33528744731380644 Centerline is valid? [False, False] Translation: X:17.98, Y:0.92, Z:1.27 [[ 9.93298876e-01 -1.68377441e-03 -1.15561706e-01 1.79804657e+01] [-5.51302153e-04 9.99813464e-01 -1.93062929e-02 9.15525637e-01] [ 1.15572657e-01 1.92406284e-02 9.93112662e-01 1.26957879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.77463044 meters Centerline goodness [0,1] 0.3386475612642269 Centerline is valid? [False, False] Translation: X:17.98, Y:0.92, Z:1.27 [[ 9.93287032e-01 -1.85482510e-03 -1.15660848e-01 1.79806454e+01] [-4.25015842e-04 9.99806168e-01 -1.96836556e-02 9.17788158e-01] [ 1.15674939e-01 1.96006775e-02 9.93093713e-01 1.26977183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80463044000004 meters Centerline goodness [0,1] 0.342897733387864 Centerline is valid? [False, False] Translation: X:17.98, Y:0.92, Z:1.27 [[ 9.93196757e-01 1.22627011e-03 -1.16441821e-01 1.79833847e+01] [-3.24840432e-03 9.99847173e-01 -1.71778655e-02 9.21394544e-01] [ 1.16402961e-01 1.74392504e-02 9.93048953e-01 1.26917876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.83463044 meters Centerline goodness [0,1] 0.33722878625134267 Centerline is valid? [False, False] Translation: X:17.98, Y:0.92, Z:1.27 [[ 9.93152118e-01 1.16572933e-03 -1.16822568e-01 1.79845031e+01] [-3.22201271e-03 9.99843165e-01 -1.74144626e-02 9.23165812e-01] [ 1.16783946e-01 1.76716142e-02 9.93000113e-01 1.26909567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86463044000004 meters Centerline goodness [0,1] 0.3377898340114964 Centerline is valid? [False, False] Translation: X:17.98, Y:0.92, Z:1.27 [[ 9.93140835e-01 1.02373476e-03 -1.16919773e-01 1.79849316e+01] [-3.11181964e-03 9.99838890e-01 -1.76779793e-02 9.24372814e-01] [ 1.16882839e-01 1.79205564e-02 9.92984016e-01 1.26898388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.89463044 meters Centerline goodness [0,1] 0.33911071168742246 Centerline is valid? [False, False] Translation: X:18.00, Y:0.93, Z:1.27 [[ 9.93387232e-01 -6.65357987e-03 -1.14619099e-01 1.80034451e+01] [ 4.75923324e-03 9.99847660e-01 -1.67930541e-02 9.28837494e-01] [ 1.14713372e-01 1.61365064e-02 9.93267565e-01 1.27226056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92463044 meters Centerline goodness [0,1] 0.33767597334419 Centerline is valid? [False, False] Translation: X:18.00, Y:0.93, Z:1.27 [[ 9.93416035e-01 -6.64408965e-03 -1.14369740e-01 1.80023018e+01] [ 4.74230786e-03 9.99846066e-01 -1.68924248e-02 9.29913787e-01] [ 1.14464370e-01 1.62388291e-02 9.93294623e-01 1.27296398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.95463044 meters Centerline goodness [0,1] 0.3390649728388725 Centerline is valid? [False, False] Translation: X:18.00, Y:0.93, Z:1.27 [[ 9.93462078e-01 -3.52079595e-03 -1.14108301e-01 1.80014653e+01] [ 1.92793853e-03 9.99899203e-01 -1.40665248e-02 9.30671163e-01] [ 1.14146324e-01 1.37545652e-02 9.93368727e-01 1.27317674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98463044 meters Centerline goodness [0,1] 0.3388489514653963 Centerline is valid? [False, False] Translation: X:18.00, Y:0.93, Z:1.27 [[ 9.93437000e-01 -3.52409482e-03 -1.14326320e-01 1.80022406e+01] [ 1.90745021e-03 9.99896688e-01 -1.42469304e-02 9.32564299e-01] [ 1.14364716e-01 1.39353560e-02 9.93341088e-01 1.27302201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.01463044 meters Centerline goodness [0,1] 0.339160162549184 Centerline is valid? [False, False] Translation: X:18.00, Y:0.94, Z:1.27 [[ 9.93410783e-01 -3.68313778e-03 -1.14548897e-01 1.80033842e+01] [ 2.00085230e-03 9.99888506e-01 -1.47976883e-02 9.36585615e-01] [ 1.14590627e-01 1.44709877e-02 9.93307394e-01 1.27253662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04463044 meters Centerline goodness [0,1] 0.3370512820512821 Centerline is valid? [False, False] Translation: X:18.00, Y:0.94, Z:1.27 [[ 9.93417156e-01 -3.76682846e-03 -1.14490898e-01 1.80031534e+01] [ 2.05489003e-03 9.99884375e-01 -1.50669611e-02 9.38384913e-01] [ 1.14534415e-01 1.47325114e-02 9.93310033e-01 1.27272980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.07463044 meters Centerline goodness [0,1] 0.3383272256951929 Centerline is valid? [False, False] Translation: X:18.00, Y:0.94, Z:1.27 [[ 9.93430383e-01 -3.87562293e-03 -1.14372438e-01 1.80026774e+01] [ 2.13157781e-03 9.99879646e-01 -1.53671842e-02 9.40376138e-01] [ 1.14418230e-01 1.50224339e-02 9.93319080e-01 1.27300553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10463044 meters Centerline goodness [0,1] 0.3378899102318472 Centerline is valid? [False, False] Translation: X:18.00, Y:0.94, Z:1.27 [[ 9.93394709e-01 -4.08705613e-03 -1.14674531e-01 1.80037952e+01] [ 2.29416031e-03 9.99873136e-01 -1.57622700e-02 9.42450464e-01] [ 1.14724404e-01 1.53950738e-02 9.93278059e-01 1.27269154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.13463044 meters Centerline goodness [0,1] 0.33821964514517777 Centerline is valid? [False, False] Translation: X:18.00, Y:0.94, Z:1.27 [[ 9.93377668e-01 -4.16252116e-03 -1.14819345e-01 1.80043841e+01] [ 2.35845842e-03 9.99871701e-01 -1.58435601e-02 9.42618346e-01] [ 1.14870563e-01 1.54678422e-02 9.93260036e-01 1.27243907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16463044 meters Centerline goodness [0,1] 0.33665347216246455 Centerline is valid? [False, False] Translation: X:18.02, Y:0.95, Z:1.28 [[ 9.93332187e-01 -1.20876666e-02 -1.14651882e-01 1.80244033e+01] [ 1.04515904e-02 9.99834953e-01 -1.48603793e-02 9.45828661e-01] [ 1.14812587e-01 1.35629986e-02 9.93294576e-01 1.27583454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.19463044 meters Centerline goodness [0,1] 0.33514500537056924 Centerline is valid? [False, False] Translation: X:18.02, Y:0.95, Z:1.28 [[ 9.93331272e-01 -1.21013322e-02 -1.14658367e-01 1.80243583e+01] [ 1.04556856e-02 9.99833676e-01 -1.49431751e-02 9.46695012e-01] [ 1.14820129e-01 1.36446913e-02 9.93292585e-01 1.27592812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22463044 meters Centerline goodness [0,1] 0.3361626232889958 Centerline is valid? [False, False] Translation: X:18.02, Y:0.95, Z:1.28 [[ 9.93387725e-01 -8.66603349e-03 -1.14480251e-01 1.80240762e+01] [ 7.33672013e-03 9.99900745e-01 -1.20279753e-02 9.48832911e-01] [ 1.14573123e-01 1.11085334e-02 9.93352707e-01 1.27578590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.25463044 meters Centerline goodness [0,1] 0.33357706617346605 Centerline is valid? [False, False] Translation: X:18.02, Y:0.95, Z:1.28 [[ 9.93385456e-01 -8.80669444e-03 -1.14489203e-01 1.80239442e+01] [ 7.43760482e-03 9.99895704e-01 -1.23799227e-02 9.50858765e-01] [ 1.14586289e-01 1.14465097e-02 9.93347351e-01 1.27603952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28463044 meters Centerline goodness [0,1] 0.3384310515659329 Centerline is valid? [False, False] Translation: X:18.02, Y:0.95, Z:1.28 [[ 9.93383877e-01 -8.92985101e-03 -1.14493364e-01 1.80236078e+01] [ 7.52232127e-03 9.99890806e-01 -1.27197176e-02 9.52863847e-01] [ 1.14594447e-01 1.17743065e-02 9.93342579e-01 1.27647010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.31463044000003 meters Centerline goodness [0,1] 0.33993664294393333 Centerline is valid? [False, False] Translation: X:18.02, Y:0.95, Z:1.28 [[ 9.93480698e-01 -5.96092713e-03 -1.13844504e-01 1.80215815e+01] [ 4.84116047e-03 9.99937175e-01 -1.01098702e-02 9.54498978e-01] [ 1.13897616e-01 9.49282137e-03 9.93447140e-01 1.27685368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34463044 meters Centerline goodness [0,1] 0.33718727123971926 Centerline is valid? [False, False] Translation: X:18.02, Y:0.96, Z:1.28 [[ 9.93407891e-01 -3.55294937e-03 -1.14578092e-01 1.80246797e+01] [ 2.62465504e-03 9.99962510e-01 -8.25169210e-03 9.58802501e-01] [ 1.14603114e-01 7.89656807e-03 9.93379973e-01 1.27595315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.37463044000003 meters Centerline goodness [0,1] 0.34029213923416857 Centerline is valid? [False, False] Translation: X:18.03, Y:0.96, Z:1.28 [[ 9.93393194e-01 -3.69146687e-03 -1.14701065e-01 1.80251462e+01] [ 2.72806162e-03 9.99959683e-01 -8.55510971e-03 9.60345907e-01] [ 1.14728021e-01 8.18567619e-03 9.93363214e-01 1.27576179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40463044 meters Centerline goodness [0,1] 0.33707599320298554 Centerline is valid? [False, False] Translation: X:18.05, Y:0.96, Z:1.28 [[ 9.93449323e-01 1.86688076e-03 -1.14258291e-01 1.80462489e+01] [-3.18979929e-03 9.99929969e-01 -1.13965815e-02 9.58597361e-01] [ 1.14229014e-01 1.16863872e-02 9.93385706e-01 1.27821729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.43463044000003 meters Centerline goodness [0,1] 0.3355215014420386 Centerline is valid? [False, False] Translation: X:18.05, Y:0.96, Z:1.28 [[ 9.93437528e-01 1.76980316e-03 -1.14362340e-01 1.80462753e+01] [-3.11812117e-03 9.99927716e-01 -1.16120688e-02 9.60051894e-01] [ 1.14333523e-01 1.18924605e-02 9.93371237e-01 1.27849587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46463044 meters Centerline goodness [0,1] 0.33921146017024795 Centerline is valid? [False, False] Translation: X:18.05, Y:0.96, Z:1.28 [[ 9.93415807e-01 1.80550987e-03 -1.14550313e-01 1.80468095e+01] [-3.15557442e-03 9.99927674e-01 -1.16055399e-02 9.60528048e-01] [ 1.14521074e-01 1.18905988e-02 9.93349655e-01 1.27840154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.49463044000004 meters Centerline goodness [0,1] 0.3354437194478541 Centerline is valid? [False, False] Translation: X:18.07, Y:0.96, Z:1.28 [[ 9.93329686e-01 -5.98969375e-03 -1.15153198e-01 1.80675398e+01] [ 4.80864283e-03 9.99932981e-01 -1.05314024e-02 9.63279254e-01] [ 1.15208560e-01 9.90742404e-03 9.93291916e-01 1.28157608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52463044 meters Centerline goodness [0,1] 0.3331536271888208 Centerline is valid? [False, False] Translation: X:18.07, Y:0.96, Z:1.28 [[ 9.93290865e-01 -6.36515628e-03 -1.15467498e-01 1.80686468e+01] [ 5.17016899e-03 9.99929967e-01 -1.06456701e-02 9.61862791e-01] [ 1.15527172e-01 9.97726035e-03 9.93254211e-01 1.28115046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.55463044000004 meters Centerline goodness [0,1] 0.33524392346147214 Centerline is valid? [False, False] Translation: X:18.07, Y:0.96, Z:1.28 [[ 9.93295351e-01 -6.23639111e-03 -1.15435925e-01 1.80684285e+01] [ 5.07794342e-03 9.99933784e-01 -1.03267728e-02 9.60348111e-01] [ 1.15492683e-01 9.67135831e-03 9.93261247e-01 1.28127903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58463044 meters Centerline goodness [0,1] 0.3335978722491527 Centerline is valid? [False, False] Translation: X:18.07, Y:0.96, Z:1.28 [[ 9.93295100e-01 -6.11946618e-03 -1.15444345e-01 1.80683250e+01] [ 4.99672606e-03 9.99937392e-01 -1.00122665e-02 9.58834142e-01] [ 1.15498387e-01 9.36829144e-03 9.93263489e-01 1.28142305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.61463044000004 meters Centerline goodness [0,1] 0.33194292926051894 Centerline is valid? [False, False] Translation: X:18.07, Y:0.96, Z:1.28 [[ 9.93293743e-01 -6.03196304e-03 -1.15460619e-01 1.80684343e+01] [ 4.93571127e-03 9.99940012e-01 -9.77813969e-03 9.57663918e-01] [ 1.15512675e-01 9.14268470e-03 9.93263929e-01 1.28133916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64463044 meters Centerline goodness [0,1] 0.33684324091056206 Centerline is valid? [False, False] Translation: X:18.07, Y:0.96, Z:1.28 [[ 9.93280774e-01 -6.04200306e-03 -1.15571619e-01 1.80685717e+01] [ 4.95622705e-03 9.99940866e-01 -9.67989148e-03 9.56730461e-01] [ 1.15623271e-01 9.04205091e-03 9.93251982e-01 1.28150236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.67463044 meters Centerline goodness [0,1] 0.3334337479020527 Centerline is valid? [False, False] Translation: X:18.07, Y:0.96, Z:1.28 [[ 9.93266330e-01 -6.04890803e-03 -1.15695325e-01 1.80686214e+01] [ 4.97308017e-03 9.99941695e-01 -9.58519507e-03 9.55733483e-01] [ 1.15746559e-01 8.94528940e-03 9.93238499e-01 1.28183819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70463044 meters Centerline goodness [0,1] 0.33787760754782303 Centerline is valid? [False, False] Translation: X:18.07, Y:0.96, Z:1.28 [[ 9.93257405e-01 -5.99341321e-03 -1.15774812e-01 1.80686391e+01] [ 4.91690219e-03 9.99942006e-01 -9.58167072e-03 9.56050157e-01] [ 1.15825525e-01 8.94781196e-03 9.93229271e-01 1.28206905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.73463044 meters Centerline goodness [0,1] 0.33980979430243563 Centerline is valid? [False, False] Translation: X:18.09, Y:0.95, Z:1.29 [[ 9.93429151e-01 1.90553077e-03 -1.14432912e-01 1.80875413e+01] [-3.14107181e-03 9.99938697e-01 -1.06177351e-02 9.53953411e-01] [ 1.14405664e-01 1.09074096e-02 9.93374236e-01 1.28531941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76463044 meters Centerline goodness [0,1] 0.34072189400146624 Centerline is valid? [False, False] Translation: X:18.09, Y:0.96, Z:1.29 [[ 9.93435671e-01 1.88607816e-03 -1.14376615e-01 1.80870878e+01] [-3.14978520e-03 9.99935971e-01 -1.08689313e-02 9.55918452e-01] [ 1.14348792e-01 1.11578458e-02 9.93378003e-01 1.28577581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.79463044 meters Centerline goodness [0,1] 0.34008105894019747 Centerline is valid? [False, False] Translation: X:18.09, Y:0.96, Z:1.29 [[ 9.93457636e-01 1.94290255e-03 -1.14184725e-01 1.80862751e+01] [-3.23235693e-03 9.99933073e-01 -1.11086413e-02 9.58328564e-01] [ 1.14155500e-01 1.14050503e-02 9.93397426e-01 1.28632359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82463044 meters Centerline goodness [0,1] 0.3425247738043946 Centerline is valid? [False, False] Translation: X:18.09, Y:0.96, Z:1.29 [[ 9.93475239e-01 1.88956374e-03 -1.14032362e-01 1.80856238e+01] [-3.22529797e-03 9.99928322e-01 -1.15302827e-02 9.61538743e-01] [ 1.14002401e-01 1.18228387e-02 9.93410123e-01 1.28678559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.85463044 meters Centerline goodness [0,1] 0.3436111949631291 Centerline is valid? [False, False] Translation: X:18.09, Y:0.97, Z:1.29 [[ 9.93465389e-01 3.58544031e-03 -1.14077453e-01 1.80856682e+01] [-4.85143432e-03 9.99929672e-01 -1.08219802e-02 9.69412714e-01] [ 1.14030628e-01 1.13047021e-02 9.93412915e-01 1.28717163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.88463044 meters Centerline goodness [0,1] 0.3443811162490591 Centerline is valid? [False, False] Translation: X:18.09, Y:0.97, Z:1.29 [[ 9.93462489e-01 3.46693013e-03 -1.14106369e-01 1.80858468e+01] [-4.77225219e-03 9.99926244e-01 -1.11683434e-02 9.71723413e-01] [ 1.14059233e-01 1.16398746e-02 9.93405760e-01 1.28711777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.91463044 meters Centerline goodness [0,1] 0.34110315680524406 Centerline is valid? [False, False] Translation: X:18.09, Y:0.97, Z:1.29 [[ 9.93459468e-01 3.34900733e-03 -1.14136193e-01 1.80859792e+01] [-4.68023964e-03 9.99924092e-01 -1.13975702e-02 9.73126313e-01] [ 1.14089359e-01 1.18572088e-02 9.93399731e-01 1.28708227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.94463044 meters Centerline goodness [0,1] 0.3410917329229717 Centerline is valid? [False, False] Translation: X:18.11, Y:0.98, Z:1.29 [[ 9.93481805e-01 -4.82858210e-03 -1.13888491e-01 1.81055705e+01] [ 3.65767433e-03 9.99938311e-01 -1.04879020e-02 9.76932606e-01] [ 1.13932107e-01 1.00029728e-02 9.93438179e-01 1.29051696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.97463044 meters Centerline goodness [0,1] 0.34336711541370446 Centerline is valid? [False, False] Translation: X:18.10, Y:0.98, Z:1.29 [[ 9.93535436e-01 -5.58021195e-03 -1.13385177e-01 1.81041390e+01] [ 4.33719922e-03 9.99927799e-01 -1.12064731e-02 9.78476706e-01] [ 1.13439525e-01 1.06422541e-02 9.93487905e-01 1.29085099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.00463044 meters Centerline goodness [0,1] 0.3427735844999248 Centerline is valid? [False, False] Translation: X:18.10, Y:0.98, Z:1.29 [[ 9.93520269e-01 -5.74485013e-03 -1.13509784e-01 1.81044435e+01] [ 4.47862160e-03 9.99924907e-01 -1.14070994e-02 9.79280541e-01] [ 1.13566792e-01 1.08248171e-02 9.93471392e-01 1.29087970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.03463044 meters Centerline goodness [0,1] 0.34067595292085084 Centerline is valid? [False, False] Translation: X:18.11, Y:0.98, Z:1.29 [[ 9.93484144e-01 -5.82840066e-03 -1.13821290e-01 1.81054736e+01] [ 4.54281233e-03 9.99922967e-01 -1.15509115e-02 9.80344034e-01] [ 1.13879846e-01 1.09585787e-02 9.93434090e-01 1.29060689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.06463044000003 meters Centerline goodness [0,1] 0.3379388642546537 Centerline is valid? [False, False] Translation: X:18.11, Y:0.98, Z:1.29 [[ 9.93405179e-01 -5.93168610e-03 -1.14503124e-01 1.81080533e+01] [ 4.61396476e-03 9.99920089e-01 -1.17697715e-02 9.82273550e-01] [ 1.14563788e-01 1.11638386e-02 9.93353163e-01 1.28972973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.09463044 meters Centerline goodness [0,1] 0.3397711789259684 Centerline is valid? [False, False] Translation: X:18.11, Y:0.98, Z:1.29 [[ 9.93389540e-01 -6.03964562e-03 -1.14633084e-01 1.81084509e+01] [ 4.69796119e-03 9.99917312e-01 -1.19707214e-02 9.83409684e-01] [ 1.14695904e-01 1.13530476e-02 9.93335773e-01 1.28971691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.12463044000003 meters Centerline goodness [0,1] 0.33563939956868016 Centerline is valid? [False, False] Translation: X:18.13, Y:0.99, Z:1.29 [[ 9.93343024e-01 -1.38758978e-02 -1.14355133e-01 1.81279805e+01] [ 1.27170053e-02 9.99860187e-01 -1.08574854e-02 9.87324991e-01] [ 1.14489802e-01 9.33095257e-03 9.93380601e-01 1.29326724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.15463044 meters Centerline goodness [0,1] 0.33710114972225813 Centerline is valid? [False, False] Translation: X:18.13, Y:0.99, Z:1.29 [[ 9.93307493e-01 -1.39131535e-02 -1.14658839e-01 1.81289074e+01] [ 1.27294859e-02 9.99857928e-01 -1.10491534e-02 9.89372590e-01] [ 1.14796277e-01 9.51565875e-03 9.93343479e-01 1.29307940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.18463044000003 meters Centerline goodness [0,1] 0.3359065125602423 Centerline is valid? [False, False] Translation: X:18.15, Y:0.98, Z:1.30 [[ 9.93196898e-01 -7.20997514e-03 -1.16223655e-01 1.81477692e+01] [ 5.90250539e-03 9.99915414e-01 -1.15898544e-02 9.84080585e-01] [ 1.16297387e-01 1.08249966e-02 9.93155445e-01 1.29621496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.21463044 meters Centerline goodness [0,1] 0.3353889127632145 Centerline is valid? [False, False] Translation: X:18.15, Y:0.98, Z:1.30 [[ 9.93180390e-01 -7.21564566e-03 -1.16364284e-01 1.81484614e+01] [ 5.90805511e-03 9.99915518e-01 -1.15780508e-02 9.84105987e-01] [ 1.16437996e-01 1.08116064e-02 9.93139115e-01 1.29586358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24463044000004 meters Centerline goodness [0,1] 0.3373372514532078 Centerline is valid? [False, False] Translation: X:18.15, Y:0.98, Z:1.30 [[ 9.93186311e-01 -7.22331865e-03 -1.16313265e-01 1.81485772e+01] [ 5.92295234e-03 9.99916082e-01 -1.15216205e-02 9.83625414e-01] [ 1.16386728e-01 1.07541979e-02 9.93145748e-01 1.29555272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.27463044 meters Centerline goodness [0,1] 0.3345751172201169 Centerline is valid? [False, False] Translation: X:18.15, Y:0.98, Z:1.30 [[ 9.93194364e-01 -7.29417001e-03 -1.16240057e-01 1.81483550e+01] [ 6.00304031e-03 9.99916385e-01 -1.14536619e-02 9.82506769e-01] [ 1.16313883e-01 1.06779186e-02 9.93155105e-01 1.29563873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30463044000004 meters Centerline goodness [0,1] 0.3343504233099832 Centerline is valid? [False, False] Translation: X:18.15, Y:0.98, Z:1.30 [[ 9.93178495e-01 -7.22123169e-03 -1.16380118e-01 1.81488780e+01] [ 5.94345923e-03 9.99918234e-01 -1.13225985e-02 9.81889810e-01] [ 1.16452365e-01 1.05536609e-02 9.93140205e-01 1.29545379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.33463044 meters Centerline goodness [0,1] 0.3373811013092337 Centerline is valid? [False, False] Translation: X:18.15, Y:0.98, Z:1.30 [[ 9.93156295e-01 -7.11728783e-03 -1.16575807e-01 1.81495995e+01] [ 5.85502385e-03 9.99920508e-01 -1.11667104e-02 9.81211879e-01] [ 1.16646017e-01 1.04077346e-02 9.93119019e-01 1.29519218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36463044000004 meters Centerline goodness [0,1] 0.336140426448417 Centerline is valid? [False, False] Translation: X:18.15, Y:0.98, Z:1.30 [[ 9.93139701e-01 -6.96199730e-03 -1.16726450e-01 1.81500257e+01] [ 5.71793413e-03 9.99923266e-01 -1.09894174e-02 9.80779999e-01] [ 1.16794002e-01 1.02465926e-02 9.93103302e-01 1.29520149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.39463044 meters Centerline goodness [0,1] 0.3372235476175124 Centerline is valid? [False, False] Translation: X:18.15, Y:0.98, Z:1.30 [[ 9.93193525e-01 -6.76760571e-03 -1.16279070e-01 1.81480602e+01] [ 5.55969208e-03 9.99927198e-01 -1.07092604e-02 9.79243546e-01] [ 1.16343081e-01 9.98989227e-03 9.93158844e-01 1.29626268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42463044 meters Centerline goodness [0,1] 0.3372235476175124 Centerline is valid? [False, False] Translation: X:18.15, Y:0.98, Z:1.30 [[ 9.93193525e-01 -6.76760571e-03 -1.16279070e-01 1.81480602e+01] [ 5.55969208e-03 9.99927198e-01 -1.07092604e-02 9.79243546e-01] [ 1.16343081e-01 9.98989227e-03 9.93158844e-01 1.29626268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.45463044 meters Centerline goodness [0,1] 0.33740310077519375 Centerline is valid? [False, False] Translation: X:18.15, Y:0.98, Z:1.30 [[ 9.93240551e-01 -6.74903138e-03 -1.15877771e-01 1.81467253e+01] [ 5.55618254e-03 9.99928234e-01 -1.06139531e-02 9.78401576e-01] [ 1.15941088e-01 9.89837057e-03 9.93206769e-01 1.29663246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48463044 meters Centerline goodness [0,1] 0.3383325510944234 Centerline is valid? [False, False] Translation: X:18.15, Y:0.98, Z:1.30 [[ 9.93269217e-01 -6.72039302e-03 -1.15633464e-01 1.81460332e+01] [ 5.54490776e-03 9.99929664e-01 -1.04842846e-02 9.77320157e-01] [ 1.15695789e-01 9.77254028e-03 9.93236619e-01 1.29675264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.51463044 meters Centerline goodness [0,1] 0.33911853973410855 Centerline is valid? [False, False] Translation: X:18.15, Y:0.98, Z:1.30 [[ 9.93294849e-01 -6.53198994e-03 -1.15423900e-01 1.81454356e+01] [ 5.39772218e-03 9.99934053e-01 -1.01368048e-02 9.75650187e-01] [ 1.15482501e-01 9.44580980e-03 9.93264601e-01 1.29686532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54463044 meters Centerline goodness [0,1] 0.3406295107395997 Centerline is valid? [False, False] Translation: X:18.15, Y:0.98, Z:1.30 [[ 9.93297510e-01 -6.57274969e-03 -1.15398679e-01 1.81453986e+01] [ 5.43723595e-03 9.99933685e-01 -1.01519436e-02 9.75431226e-01] [ 1.15457752e-01 9.45645048e-03 9.93267377e-01 1.29685538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.57463044 meters Centerline goodness [0,1] 0.3379020979020979 Centerline is valid? [False, False] Translation: X:18.15, Y:0.98, Z:1.30 [[ 9.93280468e-01 -6.61156191e-03 -1.15543062e-01 1.81456980e+01] [ 5.46511327e-03 9.99932674e-01 -1.02362399e-02 9.75725448e-01] [ 1.15602961e-01 9.53600124e-03 9.93249727e-01 1.29695461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60463044 meters Centerline goodness [0,1] 0.33934172646414296 Centerline is valid? [False, False] Translation: X:18.15, Y:0.98, Z:1.30 [[ 9.93245389e-01 -6.57191736e-03 -1.15846477e-01 1.81464682e+01] [ 5.41750875e-03 9.99932514e-01 -1.02770347e-02 9.76318443e-01] [ 1.15906199e-01 9.58001800e-03 9.93213963e-01 1.29699402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.63463044 meters Centerline goodness [0,1] 0.33908515856964583 Centerline is valid? [False, False] Translation: X:18.15, Y:0.98, Z:1.30 [[ 9.93286312e-01 -2.66015522e-03 -1.15651309e-01 1.81465069e+01] [ 1.87642854e-03 9.99974538e-01 -6.88497784e-03 9.77420379e-01] [ 1.15666679e-01 6.62174283e-03 9.93266013e-01 1.29646055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66463044 meters Centerline goodness [0,1] 0.3359629566112159 Centerline is valid? [False, False] Translation: X:18.15, Y:0.98, Z:1.30 [[ 9.93276955e-01 -2.65717821e-03 -1.15731718e-01 1.81469552e+01] [ 1.85094066e-03 9.99973271e-01 -7.07334600e-03 9.78873602e-01] [ 1.15747420e-01 6.81157904e-03 9.93255323e-01 1.29629282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.69463044 meters Centerline goodness [0,1] 0.3402216875751848 Centerline is valid? [False, False] Translation: X:18.15, Y:0.98, Z:1.30 [[ 9.93284218e-01 -2.76236028e-03 -1.15666904e-01 1.81470300e+01] [ 1.92856258e-03 9.99971349e-01 -7.31990164e-03 9.80066801e-01] [ 1.15683810e-01 7.04767191e-03 9.93261087e-01 1.29609873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72463044 meters Centerline goodness [0,1] 0.33738569123184503 Centerline is valid? [False, False] Translation: X:18.15, Y:0.98, Z:1.30 [[ 9.93279658e-01 -2.82443306e-03 -1.15704551e-01 1.81472969e+01] [ 1.97909491e-03 9.99970511e-01 -7.42023575e-03 9.80457232e-01] [ 1.15722097e-01 7.14137895e-03 9.93255957e-01 1.29589551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.75463044 meters Centerline goodness [0,1] 0.33576065601776717 Centerline is valid? [False, False] Translation: X:18.17, Y:0.98, Z:1.30 [[ 9.93174937e-01 -1.06212695e-02 -1.16149613e-01 1.81679965e+01] [ 9.99470482e-03 9.99932197e-01 -5.97556023e-03 9.82265156e-01] [ 1.16205206e-01 4.77389556e-03 9.93213753e-01 1.29953004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78463044 meters Centerline goodness [0,1] 0.33783521809369954 Centerline is valid? [False, False] Translation: X:18.17, Y:0.98, Z:1.30 [[ 9.93164514e-01 -1.04965855e-02 -1.16250029e-01 1.81683559e+01] [ 9.90040103e-03 9.99934717e-01 -5.70471519e-03 9.81145113e-01] [ 1.16302320e-01 4.51479878e-03 9.93203598e-01 1.29934512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.81463044000003 meters Centerline goodness [0,1] 0.3360465871452385 Centerline is valid? [False, False] Translation: X:18.17, Y:0.98, Z:1.30 [[ 9.93145513e-01 -1.04878359e-02 -1.16413040e-01 1.81688868e+01] [ 9.90881533e-03 9.99935496e-01 -5.55147376e-03 9.80035987e-01] [ 1.16463754e-01 4.35990594e-03 9.93185373e-01 1.29921166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84463044 meters Centerline goodness [0,1] 0.3362932948250964 Centerline is valid? [False, False] Translation: X:18.17, Y:0.98, Z:1.30 [[ 9.93126318e-01 -1.05237439e-02 -1.16573443e-01 1.81696554e+01] [ 9.96247296e-03 9.99935812e-01 -5.39637739e-03 9.78414187e-01] [ 1.16622750e-01 4.19792463e-03 9.93167414e-01 1.29877423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.87463044000003 meters Centerline goodness [0,1] 0.3355135345162543 Centerline is valid? [False, False] Translation: X:18.17, Y:0.98, Z:1.30 [[ 9.93065217e-01 -1.03930364e-02 -1.17104484e-01 1.81712719e+01] [ 9.88537384e-03 9.99939059e-01 -4.91511620e-03 9.75340910e-01] [ 1.17148430e-01 3.72340933e-03 9.93107437e-01 1.29839683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90463044 meters Centerline goodness [0,1] 0.33213871839993137 Centerline is valid? [False, False] Translation: X:18.17, Y:0.97, Z:1.30 [[ 9.93038718e-01 -1.01869040e-02 -1.17347057e-01 1.81719902e+01] [ 9.71592966e-03 9.99942288e-01 -4.58487632e-03 9.73996695e-01] [ 1.17386991e-01 3.41282395e-03 9.93080383e-01 1.29828884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.93463044000003 meters Centerline goodness [0,1] 0.33194842098465116 Centerline is valid? [False, False] Translation: X:18.17, Y:0.97, Z:1.30 [[ 9.93027072e-01 -1.00291622e-02 -1.17459142e-01 1.81723764e+01] [ 9.58795670e-03 9.99944700e-01 -4.32071122e-03 9.72841991e-01] [ 1.17495979e-01 3.16439005e-03 9.93068317e-01 1.29815421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96463044 meters Centerline goodness [0,1] 0.3297552872020957 Centerline is valid? [False, False] Translation: X:18.19, Y:0.97, Z:1.30 [[ 9.93068973e-01 -2.61840705e-03 -1.17503863e-01 1.81915684e+01] [ 2.03868458e-03 9.99985152e-01 -5.05356803e-03 9.66493846e-01] [ 1.17515351e-01 4.77898831e-03 9.93059567e-01 1.30142680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.99463044000004 meters Centerline goodness [0,1] 0.3342466935640467 Centerline is valid? [False, False] Translation: X:18.19, Y:0.97, Z:1.30 [[ 9.93063588e-01 -2.46738981e-03 -1.17552639e-01 1.81915320e+01] [ 1.90657350e-03 9.99986261e-01 -4.88298000e-03 9.66006867e-01] [ 1.17563072e-01 4.62498689e-03 9.93054648e-01 1.30162249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02463044 meters Centerline goodness [0,1] 0.33431731160024813 Centerline is valid? [False, False] Translation: X:18.21, Y:0.96, Z:1.30 [[ 9.93200761e-01 5.66371409e-03 -1.16276273e-01 1.82110593e+01] [-6.35870315e-03 9.99964064e-01 -5.60697577e-03 9.61304987e-01] [ 1.16240338e-01 6.30821890e-03 9.93201082e-01 1.30479953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.05463044000004 meters Centerline goodness [0,1] 0.33381366139022717 Centerline is valid? [False, False] Translation: X:18.21, Y:0.96, Z:1.31 [[ 9.93211214e-01 5.73480229e-03 -1.16183458e-01 1.82105920e+01] [-6.42879996e-03 9.99963658e-01 -5.59944032e-03 9.61412902e-01] [ 1.16147123e-01 6.30834713e-03 9.93211987e-01 1.30507188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08463044 meters Centerline goodness [0,1] 0.3340885288648556 Centerline is valid? [False, False] Translation: X:18.23, Y:0.96, Z:1.31 [[ 9.93311495e-01 -1.61000893e-03 -1.15454241e-01 1.82290793e+01] [ 1.15350644e-03 9.99991252e-01 -4.02067204e-03 9.63296292e-01] [ 1.15459705e-01 3.86060255e-03 9.93304662e-01 1.30850763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.11463044000004 meters Centerline goodness [0,1] 0.3391861096039067 Centerline is valid? [False, False] Translation: X:18.23, Y:0.96, Z:1.31 [[ 9.93324624e-01 -1.50429193e-03 -1.15342659e-01 1.82284530e+01] [ 1.06315535e-03 9.99991884e-01 -3.88599799e-03 9.62890238e-01] [ 1.15347569e-01 3.73743033e-03 9.93318161e-01 1.30892418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14463044 meters Centerline goodness [0,1] 0.3360549148351063 Centerline is valid? [False, False] Translation: X:18.27, Y:0.96, Z:1.31 [[ 9.93683569e-01 -7.98143183e-04 -1.12215540e-01 1.82687517e+01] [ 4.89568541e-04 9.99996023e-01 -2.77736750e-03 9.59195704e-01] [ 1.12217311e-01 2.70488725e-03 9.93680008e-01 1.31474890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.17463044 meters Centerline goodness [0,1] 0.3363095876886094 Centerline is valid? [False, False] Translation: X:18.27, Y:0.96, Z:1.32 [[ 9.93696874e-01 -7.65287658e-04 -1.12097886e-01 1.82681064e+01] [ 4.53890517e-04 9.99995967e-01 -2.80339796e-03 9.59532474e-01] [ 1.12099579e-01 2.73484763e-03 9.93693215e-01 1.31517227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20463044 meters Centerline goodness [0,1] 0.3398828437412187 Centerline is valid? [False, False] Translation: X:18.27, Y:0.96, Z:1.32 [[ 9.93700691e-01 -8.17769567e-04 -1.12063679e-01 1.82677882e+01] [ 4.85113353e-04 9.99995395e-01 -2.99569255e-03 9.60635412e-01] [ 1.12065612e-01 2.92245817e-03 9.93696512e-01 1.31548415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.23463044 meters Centerline goodness [0,1] 0.3410413344252403 Centerline is valid? [False, False] Translation: X:18.27, Y:0.97, Z:1.32 [[ 9.93711183e-01 -7.35542562e-04 -1.11971177e-01 1.82672789e+01] [ 3.52741544e-04 9.99994026e-01 -3.43851838e-03 9.65059989e-01] [ 1.11973037e-01 3.37739728e-03 9.93705506e-01 1.31594088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26463044 meters Centerline goodness [0,1] 0.3420627918486798 Centerline is valid? [False, False] Translation: X:18.27, Y:0.97, Z:1.32 [[ 9.93695796e-01 -7.64204865e-04 -1.12107455e-01 1.82675922e+01] [ 3.36584969e-04 9.99992596e-01 -3.83325213e-03 9.68130550e-01] [ 1.12109554e-01 3.77135284e-03 9.93688696e-01 1.31606477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.29463044 meters Centerline goodness [0,1] 0.34148805812928607 Centerline is valid? [False, False] Translation: X:18.27, Y:0.97, Z:1.32 [[ 9.93694237e-01 -7.99783594e-04 -1.12121022e-01 1.82677153e+01] [ 3.23897533e-04 9.99990863e-01 -4.26254744e-03 9.71593071e-01] [ 1.12123406e-01 4.19935310e-03 9.93685417e-01 1.31607867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32463044 meters Centerline goodness [0,1] 0.3455168227540756 Centerline is valid? [False, False] Translation: X:18.27, Y:0.98, Z:1.32 [[ 9.93717037e-01 -9.24776664e-04 -1.11917807e-01 1.82669752e+01] [ 3.86285335e-04 9.99988246e-01 -4.83307786e-03 9.75541840e-01] [ 1.11920961e-01 4.75947960e-03 9.93705714e-01 1.31643430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.35463044 meters Centerline goodness [0,1] 0.3450869163497282 Centerline is valid? [False, False] Translation: X:18.28, Y:0.98, Z:1.32 [[ 9.94036003e-01 7.10887518e-03 -1.08820445e-01 1.82848412e+01] [-7.83391835e-03 9.99949866e-01 -6.23667829e-03 9.82511675e-01] [ 1.08770653e-01 7.05197323e-03 9.94041858e-01 1.31989483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.38463044 meters Centerline goodness [0,1] 0.3421420131055968 Centerline is valid? [False, False] Translation: X:18.28, Y:0.99, Z:1.32 [[ 9.94024061e-01 7.06902834e-03 -1.08932066e-01 1.82849758e+01] [-7.85400122e-03 9.99946180e-01 -6.77870465e-03 9.88207799e-01] [ 1.08878284e-01 7.59374811e-03 9.94026083e-01 1.32021089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.41463044 meters Centerline goodness [0,1] 0.34530350884783456 Centerline is valid? [False, False] Translation: X:18.29, Y:0.99, Z:1.32 [[ 9.93975125e-01 7.11784707e-03 -1.09374527e-01 1.82862465e+01] [-7.95752149e-03 9.99942110e-01 -7.24248523e-03 9.94021758e-01] [ 1.09316644e-01 8.06920031e-03 9.93974225e-01 1.32015158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.44463044 meters Centerline goodness [0,1] 0.3413021472722966 Centerline is valid? [False, False] Translation: X:18.29, Y:1.00, Z:1.32 [[ 9.93895422e-01 7.34184171e-03 -1.10081728e-01 1.82884588e+01] [-8.22108060e-03 9.99937814e-01 -7.53539433e-03 9.99923412e-01] [ 1.10019559e-01 8.39438469e-03 9.93893974e-01 1.31980799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.47463044 meters Centerline goodness [0,1] 0.3408614466944738 Centerline is valid? [False, False] Translation: X:18.29, Y:1.01, Z:1.32 [[ 9.93848995e-01 7.35731843e-03 -1.10499074e-01 1.82898465e+01] [-8.29399300e-03 9.99933446e-01 -8.01950461e-03 1.00533099e+00] [ 1.10432718e-01 8.88665514e-03 9.93843872e-01 1.31951050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.50463044 meters Centerline goodness [0,1] 0.3399266299101109 Centerline is valid? [False, False] Translation: X:18.31, Y:1.02, Z:1.32 [[ 9.93785262e-01 2.56514255e-03 -1.11284647e-01 1.83102101e+01] [-3.19348479e-03 9.99979949e-01 -5.46838241e-03 1.01735067e+00] [ 1.11268389e-01 5.78978368e-03 9.93773528e-01 1.32259651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.53463044 meters Centerline goodness [0,1] 0.3383962809828831 Centerline is valid? [False, False] Translation: X:18.31, Y:1.02, Z:1.32 [[ 9.93775518e-01 2.40418049e-03 -1.11375218e-01 1.83102896e+01] [-3.09073909e-03 9.99977271e-01 -5.99213195e-03 1.02131869e+00] [ 1.11358280e-01 6.29906577e-03 9.93760361e-01 1.32285695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.56463044000003 meters Centerline goodness [0,1] 0.34112759898074985 Centerline is valid? [False, False] Translation: X:18.31, Y:1.02, Z:1.32 [[ 9.93757040e-01 2.25497897e-03 -1.11543090e-01 1.83105901e+01] [-2.99673628e-03 9.99974496e-01 -6.48275314e-03 1.02479608e+00] [ 1.11525627e-01 6.77654680e-03 9.93738453e-01 1.32306040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.59463044 meters Centerline goodness [0,1] 0.34010663126565743 Centerline is valid? [False, False] Translation: X:18.31, Y:1.03, Z:1.32 [[ 9.93727104e-01 2.10560240e-03 -1.11812383e-01 1.83112796e+01] [-2.90672998e-03 9.99971258e-01 -7.00239519e-03 1.02858983e+00] [ 1.11794425e-01 7.28347830e-03 9.93704663e-01 1.32314151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.62463044000003 meters Centerline goodness [0,1] 0.33744944036638347 Centerline is valid? [False, False] Translation: X:18.31, Y:1.04, Z:1.32 [[ 9.93655796e-01 4.31450569e-03 -1.12381241e-01 1.83139934e+01] [-5.00324981e-03 9.99970388e-01 -5.84733039e-03 1.03683819e+00] [ 1.12352685e-01 6.37250516e-03 9.93647958e-01 1.32213896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.65463044 meters Centerline goodness [0,1] 0.3371814605780742 Centerline is valid? [False, False] Translation: X:18.31, Y:1.04, Z:1.32 [[ 9.93647860e-01 4.21747057e-03 -1.12455075e-01 1.83141097e+01] [-4.96737733e-03 9.99967251e-01 -6.38914158e-03 1.04098719e+00] [ 1.12424446e-01 6.90716364e-03 9.93636269e-01 1.32231568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.68463044000003 meters Centerline goodness [0,1] 0.3364208094463934 Centerline is valid? [False, False] Translation: X:18.31, Y:1.05, Z:1.32 [[ 9.93663851e-01 4.11934816e-03 -1.12317330e-01 1.83137164e+01] [-4.93288692e-03 9.99963568e-01 -6.96627424e-03 1.04528537e+00] [ 1.12284541e-01 7.47618358e-03 9.93647970e-01 1.32245861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.71463044 meters Centerline goodness [0,1] 0.3384203767123287 Centerline is valid? [False, False] Translation: X:18.31, Y:1.05, Z:1.32 [[ 9.93661621e-01 7.19558454e-03 -1.12182026e-01 1.83127607e+01] [-7.81095694e-03 9.99956758e-01 -5.04692922e-03 1.05290484e+00] [ 1.12140859e-01 5.89118884e-03 9.93674857e-01 1.32317342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74463044000004 meters Centerline goodness [0,1] 0.33821294810058855 Centerline is valid? [False, False] Translation: X:18.31, Y:1.06, Z:1.32 [[ 9.93621136e-01 7.16878910e-03 -1.12541752e-01 1.83136773e+01] [-7.83629649e-03 9.99954225e-01 -5.48995253e-03 1.05673274e+00] [ 1.12497244e-01 6.33684340e-03 9.93631830e-01 1.32319689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.77463044 meters Centerline goodness [0,1] 0.3352849751964061 Centerline is valid? [False, False] Translation: X:18.33, Y:1.06, Z:1.33 [[ 9.93432167e-01 1.08563787e-03 -1.14417440e-01 1.83332946e+01] [-1.50810618e-03 9.99992362e-01 -3.60584555e-03 1.06392694e+00] [ 1.14412651e-01 3.75471661e-03 9.93426216e-01 1.32707822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80463044000004 meters Centerline goodness [0,1] 0.33750862366333223 Centerline is valid? [False, False] Translation: X:18.33, Y:1.07, Z:1.33 [[ 9.93408225e-01 9.07664908e-04 -1.14626675e-01 1.83340723e+01] [-1.38156658e-03 9.99990824e-01 -4.05492891e-03 1.06639466e+00] [ 1.14621943e-01 4.18656411e-03 9.93400364e-01 1.32679941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.83463044 meters Centerline goodness [0,1] 0.3362552519888242 Centerline is valid? [False, False] Translation: X:18.35, Y:1.07, Z:1.33 [[ 9.93391617e-01 -7.08634971e-03 -1.14555134e-01 1.83533133e+01] [ 6.73932691e-03 9.99971455e-01 -3.41631624e-03 1.07430850e+00] [ 1.14576073e-01 2.62171542e-03 9.93411018e-01 1.33011630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86463044000004 meters Centerline goodness [0,1] 0.3368944046400546 Centerline is valid? [False, False] Translation: X:18.35, Y:1.08, Z:1.33 [[ 9.93415496e-01 -7.15283091e-03 -1.14343734e-01 1.83526209e+01] [ 6.78485012e-03 9.99970477e-01 -3.60705805e-03 1.07567584e+00] [ 1.14366159e-01 2.80750226e-03 9.93434698e-01 1.33032291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.89463044 meters Centerline goodness [0,1] 0.3412001384442329 Centerline is valid? [False, False] Translation: X:18.33, Y:1.07, Z:1.33 [[ 9.93541499e-01 1.06243260e-03 -1.13464363e-01 1.83330569e+01] [-1.60866670e-03 9.99987554e-01 -4.72269649e-03 1.07269813e+00] [ 1.13457933e-01 4.87472129e-03 9.93530842e-01 1.32682031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92463044 meters Centerline goodness [0,1] 0.34022677490014175 Centerline is valid? [False, False] Translation: X:18.35, Y:1.08, Z:1.33 [[ 9.93538467e-01 -7.01272143e-03 -1.13279016e-01 1.83524672e+01] [ 6.64153829e-03 9.99971270e-01 -3.65377623e-03 1.07727890e+00] [ 1.13301385e-01 2.87782031e-03 9.93556498e-01 1.33004547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.95463044 meters Centerline goodness [0,1] 0.33778410902983014 Centerline is valid? [False, False] Translation: X:18.37, Y:1.07, Z:1.33 [[ 9.93480466e-01 -3.95160102e-04 -1.14001783e-01 1.83718232e+01] [-1.41953388e-04 9.99988929e-01 -4.70329175e-03 1.07305729e+00] [ 1.14002380e-01 4.68881142e-03 9.93469412e-01 1.33345656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98463044 meters Centerline goodness [0,1] 0.340687962803513 Centerline is valid? [False, False] Translation: X:18.37, Y:1.07, Z:1.33 [[ 9.93466903e-01 -3.65583366e-04 -1.14120024e-01 1.83725959e+01] [-1.61600507e-04 9.99989360e-01 -4.61027094e-03 1.07258330e+00] [ 1.14120495e-01 4.59859345e-03 9.93456273e-01 1.33294876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.01463044 meters Centerline goodness [0,1] 0.3361261705273534 Centerline is valid? [False, False] Translation: X:18.37, Y:1.07, Z:1.33 [[ 9.93472673e-01 -3.13401346e-04 -1.14069936e-01 1.83728732e+01] [-2.06746271e-04 9.99989636e-01 -4.54804209e-03 1.07232347e+00] [ 1.14070179e-01 4.54193907e-03 9.93462312e-01 1.33253070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04463044 meters Centerline goodness [0,1] 0.3379595707081592 Centerline is valid? [False, False] Translation: X:18.37, Y:1.07, Z:1.33 [[ 9.93478026e-01 -3.35381385e-04 -1.14023242e-01 1.83729877e+01] [-1.82508040e-04 9.99989716e-01 -4.53149423e-03 1.07185754e+00] [ 1.14023589e-01 4.52275010e-03 9.93467748e-01 1.33226793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.07463044 meters Centerline goodness [0,1] 0.33694018635407275 Centerline is valid? [False, False] Translation: X:18.37, Y:1.07, Z:1.33 [[ 9.93485007e-01 -2.78152130e-04 -1.13962557e-01 1.83729546e+01] [-2.31773413e-04 9.99990022e-01 -4.46122638e-03 1.07152633e+00] [ 1.13962661e-01 4.45857501e-03 9.93475029e-01 1.33218119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10463044 meters Centerline goodness [0,1] 0.33981024174681573 Centerline is valid? [False, False] Translation: X:18.37, Y:1.07, Z:1.33 [[ 9.93423555e-01 1.71359267e-04 -1.14497209e-01 1.83743482e+01] [-6.59591566e-04 9.99990852e-01 -4.22626983e-03 1.07233316e+00] [ 1.14495437e-01 4.27399739e-03 9.93414580e-01 1.33211907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.13463044 meters Centerline goodness [0,1] 0.33631864246995047 Centerline is valid? [False, False] Translation: X:18.38, Y:1.07, Z:1.33 [[ 9.93335985e-01 4.57369189e-04 -1.15253680e-01 1.83763493e+01] [-9.42355428e-04 9.99990930e-01 -4.15353781e-03 1.07315433e+00] [ 1.15250735e-01 4.23446850e-03 9.93327407e-01 1.33200911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16463044 meters Centerline goodness [0,1] 0.335628003636836 Centerline is valid? [False, False] Translation: X:18.38, Y:1.07, Z:1.33 [[ 9.93296246e-01 5.24443288e-04 -1.15595384e-01 1.83773865e+01] [-1.02377074e-03 9.99990401e-01 -4.26028586e-03 1.07423643e+00] [ 1.15592040e-01 4.35006913e-03 9.93287248e-01 1.33176895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.19463044 meters Centerline goodness [0,1] 0.33349887718086024 Centerline is valid? [False, False] Translation: X:18.38, Y:1.07, Z:1.33 [[ 9.93262582e-01 6.55404247e-04 -1.15883620e-01 1.83780663e+01] [-1.15829262e-03 9.99990203e-01 -4.27231123e-03 1.07477869e+00] [ 1.15879685e-01 4.37775402e-03 9.93253610e-01 1.33182362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22463044 meters Centerline goodness [0,1] 0.3357057869118443 Centerline is valid? [False, False] Translation: X:18.38, Y:1.08, Z:1.33 [[ 9.93329630e-01 1.44740929e-03 -1.15300265e-01 1.83762494e+01] [-1.89905615e-03 9.99990949e-01 -3.80738541e-03 1.07548528e+00] [ 1.15293711e-01 4.00095042e-03 9.93323388e-01 1.33230995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.25463044 meters Centerline goodness [0,1] 0.3370697074010327 Centerline is valid? [False, False] Translation: X:18.38, Y:1.08, Z:1.33 [[ 9.93350939e-01 1.71820554e-03 -1.15112816e-01 1.83756429e+01] [-2.14996849e-03 9.99991112e-01 -3.62672872e-03 1.07557679e+00] [ 1.15105561e-01 3.85010330e-03 9.93345804e-01 1.33253264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28463044 meters Centerline goodness [0,1] 0.33833743151719076 Centerline is valid? [False, False] Translation: X:18.38, Y:1.08, Z:1.33 [[ 9.93351403e-01 1.74269095e-03 -1.15108438e-01 1.83755027e+01] [-2.17579640e-03 9.99991019e-01 -3.63704967e-03 1.07555431e+00] [ 1.15101066e-01 3.86332092e-03 9.93346274e-01 1.33267885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.31463044000003 meters Centerline goodness [0,1] 0.33424663398762766 Centerline is valid? [False, False] Translation: X:18.38, Y:1.07, Z:1.33 [[ 9.93334492e-01 1.71876267e-03 -1.15254646e-01 1.83758115e+01] [-2.13613622e-03 9.99991601e-01 -3.49790282e-03 1.07308866e+00] [ 1.15247666e-01 3.72078714e-03 9.93329820e-01 1.33277882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34463044 meters Centerline goodness [0,1] 0.33424663398762766 Centerline is valid? [False, False] Translation: X:18.38, Y:1.07, Z:1.33 [[ 9.93334492e-01 1.71876267e-03 -1.15254646e-01 1.83758115e+01] [-2.13613622e-03 9.99991601e-01 -3.49790282e-03 1.07308866e+00] [ 1.15247666e-01 3.72078714e-03 9.93329820e-01 1.33277882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.37463044000003 meters Centerline goodness [0,1] 0.3350372552417259 Centerline is valid? [False, False] Translation: X:18.38, Y:1.07, Z:1.33 [[ 9.93328767e-01 1.83807502e-03 -1.15302136e-01 1.83756873e+01] [-2.22219087e-03 9.99992402e-01 -3.20293345e-03 1.07139520e+00] [ 1.15295372e-01 3.43778929e-03 9.93325304e-01 1.33304673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40463044 meters Centerline goodness [0,1] 0.3360146252285192 Centerline is valid? [False, False] Translation: X:18.39, Y:1.07, Z:1.34 [[ 9.93390704e-01 -5.80893215e-03 -1.14634919e-01 1.83948331e+01] [ 5.67173564e-03 9.99982756e-01 -1.52294359e-03 1.07292728e+00] [ 1.14641789e-01 8.62699045e-04 9.93406521e-01 1.33624336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.43463044000003 meters Centerline goodness [0,1] 0.3362742137279434 Centerline is valid? [False, False] Translation: X:18.39, Y:1.07, Z:1.34 [[ 9.93396483e-01 -5.66040008e-03 -1.14592269e-01 1.83945900e+01] [ 5.55764139e-03 9.99983817e-01 -1.21619955e-03 1.07124773e+00] [ 1.14597299e-01 5.71305615e-04 9.93411865e-01 1.33643730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46463044 meters Centerline goodness [0,1] 0.3345223093188663 Centerline is valid? [False, False] Translation: X:18.41, Y:1.06, Z:1.34 [[ 9.93415326e-01 1.49264515e-03 -1.14558990e-01 1.84137135e+01] [-1.75916124e-03 9.99995976e-01 -2.22539140e-03 1.06423683e+00] [ 1.14555208e-01 2.41226566e-03 9.93413955e-01 1.34048857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.49463044000004 meters Centerline goodness [0,1] 0.33556456630409126 Centerline is valid? [False, False] Translation: X:18.41, Y:1.06, Z:1.34 [[ 9.93414811e-01 1.61148924e-03 -1.14561843e-01 1.84137346e+01] [-1.86367910e-03 9.99996070e-01 -2.09427073e-03 1.06370235e+00] [ 1.14558018e-01 2.29398607e-03 9.93413911e-01 1.34048354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52463044 meters Centerline goodness [0,1] 0.3326859045504994 Centerline is valid? [False, False] Translation: X:18.41, Y:1.06, Z:1.34 [[ 9.93406612e-01 1.83579313e-03 -1.14629547e-01 1.84137617e+01] [-2.07427669e-03 9.99995925e-01 -1.96122673e-03 1.06377553e+00] [ 1.14625480e-01 2.18606900e-03 9.93406372e-01 1.34069280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.55463044000004 meters Centerline goodness [0,1] 0.3389194865310846 Centerline is valid? [False, False] Translation: X:18.41, Y:1.06, Z:1.34 [[ 9.93420082e-01 2.07844471e-03 -1.14508607e-01 1.84132059e+01] [-2.30555178e-03 9.99995629e-01 -1.85091600e-03 1.06416080e+00] [ 1.14504259e-01 2.10274265e-03 9.93420532e-01 1.34098207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58463044 meters Centerline goodness [0,1] 0.33882595262615856 Centerline is valid? [False, False] Translation: X:18.41, Y:1.06, Z:1.34 [[ 9.93436738e-01 2.24479930e-03 -1.14360865e-01 1.84125871e+01] [-2.47123534e-03 9.99995257e-01 -1.83828034e-03 1.06483271e+00] [ 1.14356196e-01 2.10882783e-03 9.93437574e-01 1.34125793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.61463044000004 meters Centerline goodness [0,1] 0.3397623557775099 Centerline is valid? [False, False] Translation: X:18.41, Y:1.07, Z:1.34 [[ 9.93461119e-01 2.54449316e-03 -1.14142585e-01 1.84119887e+01] [-2.77500711e-03 9.99994419e-01 -1.86067905e-03 1.06583810e+00] [ 1.14137213e-01 2.16525878e-03 9.93462636e-01 1.34128176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64463044 meters Centerline goodness [0,1] 0.3339350180505415 Centerline is valid? [False, False] Translation: X:18.45, Y:1.07, Z:1.35 [[ 9.93647237e-01 2.37098053e-03 -1.12514649e-01 1.84545863e+01] [-2.57587695e-03 9.99995278e-01 -1.67572556e-03 1.06692190e+00] [ 1.12510145e-01 1.95490396e-03 9.93648653e-01 1.34640410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.67463044 meters Centerline goodness [0,1] 0.34074266087745453 Centerline is valid? [False, False] Translation: X:18.44, Y:1.07, Z:1.34 [[ 9.93753606e-01 -4.65170105e-03 -1.11499468e-01 1.84357279e+01] [ 4.58805956e-03 9.99989133e-01 -8.27356069e-04 1.07093393e+00] [ 1.11502105e-01 3.10621877e-04 9.93764149e-01 1.34255263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70463044 meters Centerline goodness [0,1] 0.3406576884249415 Centerline is valid? [False, False] Translation: X:18.44, Y:1.07, Z:1.34 [[ 9.93732138e-01 -4.59248974e-03 -1.11693096e-01 1.84360970e+01] [ 4.53120492e-03 9.99989412e-01 -8.02530861e-04 1.07096063e+00] [ 1.11695599e-01 2.91396401e-04 9.93742426e-01 1.34270697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.73463044 meters Centerline goodness [0,1] 0.3376520132353573 Centerline is valid? [False, False] Translation: X:18.44, Y:1.07, Z:1.34 [[ 9.93660332e-01 -4.25581283e-03 -1.12343365e-01 1.84381540e+01] [ 4.20990034e-03 9.99990930e-01 -6.45906058e-04 1.07177615e+00] [ 1.12345095e-01 1.68856856e-04 9.93669236e-01 1.34217094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76463044 meters Centerline goodness [0,1] 0.33519385170237426 Centerline is valid? [False, False] Translation: X:18.44, Y:1.07, Z:1.34 [[ 9.93622964e-01 -4.21626198e-03 -1.12674881e-01 1.84392564e+01] [ 4.15908057e-03 9.99991075e-01 -7.42546999e-04 1.07274336e+00] [ 1.12677006e-01 2.69187840e-04 9.93631632e-01 1.34184100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.79463044 meters Centerline goodness [0,1] 0.3328762427151183 Centerline is valid? [False, False] Translation: X:18.44, Y:1.07, Z:1.34 [[ 9.93596851e-01 -4.15145586e-03 -1.12907323e-01 1.84401111e+01] [ 4.08349069e-03 9.99991315e-01 -8.33217119e-04 1.07374382e+00] [ 1.12909802e-01 3.66825902e-04 9.93605174e-01 1.34152089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82463044 meters Centerline goodness [0,1] 0.3343234464484144 Centerline is valid? [False, False] Translation: X:18.44, Y:1.08, Z:1.34 [[ 9.93563826e-01 -4.09634215e-03 -1.13199572e-01 1.84409492e+01] [ 4.01322984e-03 9.99991484e-01 -9.62082047e-04 1.07504006e+00] [ 1.13202549e-01 5.01594020e-04 9.93571805e-01 1.34138525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.85463044 meters Centerline goodness [0,1] 0.33241355522980076 Centerline is valid? [False, False] Translation: X:18.44, Y:1.08, Z:1.34 [[ 9.93529377e-01 -3.93349620e-03 -1.13507292e-01 1.84418873e+01] [ 3.83391088e-03 9.99992050e-01 -1.09562867e-03 1.07709611e+00] [ 1.13510699e-01 6.53362429e-04 9.93536559e-01 1.34104611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.88463044 meters Centerline goodness [0,1] 0.33428596172165925 Centerline is valid? [False, False] Translation: X:18.44, Y:1.08, Z:1.34 [[ 9.93524110e-01 -3.93822800e-03 -1.13553218e-01 1.84419888e+01] [ 3.82899786e-03 9.99991973e-01 -1.18001667e-03 1.07790261e+00] [ 1.13556954e-01 7.37579981e-04 9.93531214e-01 1.34108021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.91463044 meters Centerline goodness [0,1] 0.33386354842870036 Centerline is valid? [False, False] Translation: X:18.44, Y:1.08, Z:1.34 [[ 9.93507488e-01 -3.92818352e-03 -1.13698901e-01 1.84423962e+01] [ 3.80717193e-03 9.99991932e-01 -1.28143727e-03 1.07871825e+00] [ 1.13703018e-01 8.40246260e-04 9.93514428e-01 1.34104642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.94463044 meters Centerline goodness [0,1] 0.33329753184542354 Centerline is valid? [False, False] Translation: X:18.44, Y:1.08, Z:1.34 [[ 9.93482400e-01 -3.92315079e-03 -1.13918081e-01 1.84429612e+01] [ 3.78951643e-03 9.99991854e-01 -1.38960340e-03 1.07971342e+00] [ 1.13922605e-01 9.48852079e-04 9.93489174e-01 1.34102292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.97463044 meters Centerline goodness [0,1] 0.3348857266062958 Centerline is valid? [False, False] Translation: X:18.44, Y:1.08, Z:1.34 [[ 9.93441680e-01 -3.89190047e-03 -1.14273710e-01 1.84436529e+01] [ 3.73652379e-03 9.99991781e-01 -1.57385285e-03 1.08183421e+00] [ 1.14278896e-01 1.13654459e-03 9.93448057e-01 1.34125228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.00463044 meters Centerline goodness [0,1] 0.3327695107590194 Centerline is valid? [False, False] Translation: X:18.44, Y:1.08, Z:1.34 [[ 9.93443861e-01 -3.96145121e-03 -1.14252361e-01 1.84436604e+01] [ 3.78688520e-03 9.99991307e-01 -1.74489973e-03 1.08278697e+00] [ 1.14258281e-01 1.30079935e-03 9.93450227e-01 1.34123608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.03463044 meters Centerline goodness [0,1] 0.3327632647825901 Centerline is valid? [False, False] Translation: X:18.44, Y:1.08, Z:1.34 [[ 9.93439838e-01 -4.09738362e-03 -1.14282542e-01 1.84436316e+01] [ 3.90139947e-03 9.99990511e-01 -1.93852072e-03 1.08335048e+00] [ 1.14289400e-01 1.47994187e-03 9.93446397e-01 1.34139176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.06463044000003 meters Centerline goodness [0,1] 0.3355965707655616 Centerline is valid? [False, False] Translation: X:18.44, Y:1.08, Z:1.34 [[ 9.93420975e-01 -4.22533899e-03 -1.14441744e-01 1.84436927e+01] [ 4.01877312e-03 9.99989853e-01 -2.03564359e-03 1.08333770e+00] [ 1.14449184e-01 1.56233564e-03 9.93427875e-01 1.34179048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.09463044 meters Centerline goodness [0,1] 0.3361281307105235 Centerline is valid? [False, False] Translation: X:18.44, Y:1.08, Z:1.34 [[ 9.93397457e-01 -4.10029009e-03 -1.14650254e-01 1.84439807e+01] [ 3.92048669e-03 9.99990706e-01 -1.79372016e-03 1.08248838e+00] [ 1.14656543e-01 1.33239225e-03 9.93404299e-01 1.34214038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.12463044000003 meters Centerline goodness [0,1] 0.33250710485266777 Centerline is valid? [False, False] Translation: X:18.44, Y:1.08, Z:1.34 [[ 9.93379017e-01 -4.00276497e-03 -1.14813354e-01 1.84443071e+01] [ 3.85506197e-03 9.99991431e-01 -1.50847439e-03 1.08105689e+00] [ 1.14818408e-01 1.05587421e-03 9.93385936e-01 1.34233591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.15463044 meters Centerline goodness [0,1] 0.33084804976247795 Centerline is valid? [False, False] Translation: X:18.44, Y:1.08, Z:1.34 [[ 9.93379794e-01 -4.06761151e-03 -1.14804355e-01 1.84443112e+01] [ 3.94493645e-03 9.99991379e-01 -1.29573726e-03 1.07877115e+00] [ 1.14808636e-01 8.34263325e-04 9.93387276e-01 1.34246602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.18463044000003 meters Centerline goodness [0,1] 0.33632614485780565 Centerline is valid? [False, False] Translation: X:18.44, Y:1.08, Z:1.34 [[ 9.93414107e-01 -4.42684259e-03 -1.14493729e-01 1.84436622e+01] [ 4.30911267e-03 9.99989902e-01 -1.27574292e-03 1.07598763e+00] [ 1.14498221e-01 7.73974637e-04 9.93423152e-01 1.34246101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.21463044 meters Centerline goodness [0,1] 0.33658567966890396 Centerline is valid? [False, False] Translation: X:18.44, Y:1.07, Z:1.34 [[ 9.93383073e-01 -8.27492385e-03 -1.14549539e-01 1.84433217e+01] [ 7.85560185e-03 9.99960692e-01 -4.11155453e-03 1.07056261e+00] [ 1.14579059e-01 3.18449311e-03 9.93409029e-01 1.34321355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24463044000004 meters Centerline goodness [0,1] 0.34097396604640184 Centerline is valid? [False, False] Translation: X:18.44, Y:1.07, Z:1.34 [[ 9.93364445e-01 -8.02026416e-03 -1.14729052e-01 1.84439435e+01] [ 7.66525109e-03 9.99964372e-01 -3.53520339e-03 1.06749525e+00] [ 1.14753318e-01 2.63231836e-03 9.93390531e-01 1.34312882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.27463044 meters Centerline goodness [0,1] 0.339299191374663 Centerline is valid? [False, False] Translation: X:18.44, Y:1.06, Z:1.34 [[ 9.93340116e-01 -7.78421918e-03 -1.14955727e-01 1.84446204e+01] [ 7.48507875e-03 9.99967385e-01 -3.03365742e-03 1.06492301e+00] [ 1.14975592e-01 2.15300094e-03 9.93365984e-01 1.34312343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30463044000004 meters Centerline goodness [0,1] 0.33730217896014825 Centerline is valid? [False, False] Translation: X:18.46, Y:1.06, Z:1.35 [[ 9.93176117e-01 -1.21214378e-03 -1.16617884e-01 1.84637728e+01] [ 7.76742787e-04 9.99992558e-01 -3.77894332e-03 1.05821687e+00] [ 1.16621597e-01 3.66257416e-03 9.93169668e-01 1.34709267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.33463044 meters Centerline goodness [0,1] 0.33870240319567035 Centerline is valid? [False, False] Translation: X:18.46, Y:1.05, Z:1.35 [[ 9.93177974e-01 -1.09275948e-03 -1.16603253e-01 1.84631999e+01] [ 7.13188865e-04 9.99994311e-01 -3.29690449e-03 1.05347873e+00] [ 1.16606192e-01 3.19125278e-03 9.93173103e-01 1.34774864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36463044000004 meters Centerline goodness [0,1] 0.34111194752123886 Centerline is valid? [False, False] Translation: X:18.46, Y:1.05, Z:1.35 [[ 9.93192375e-01 -8.05973710e-04 -1.16482860e-01 1.84624820e+01] [ 4.80073256e-04 9.99995892e-01 -2.82586898e-03 1.05132329e+00] [ 1.16484659e-01 2.75071122e-03 9.93188682e-01 1.34827785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.39463044 meters Centerline goodness [0,1] 0.3385319727017949 Centerline is valid? [False, False] Translation: X:18.46, Y:1.05, Z:1.35 [[ 9.93200449e-01 -4.75964508e-04 -1.16415814e-01 1.84623216e+01] [ 2.01275805e-04 9.99997168e-01 -2.37129245e-03 1.04959879e+00] [ 1.16416613e-01 2.33173704e-03 9.93197732e-01 1.34833227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42463044 meters Centerline goodness [0,1] 0.340494805612081 Centerline is valid? [False, False] Translation: X:18.46, Y:1.05, Z:1.35 [[ 9.93195153e-01 -2.74463525e-04 -1.16461633e-01 1.84626315e+01] [ 3.80633633e-05 9.99997935e-01 -2.03207361e-03 1.04790333e+00] [ 1.16461950e-01 2.01381274e-03 9.93193113e-01 1.34818363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.45463044 meters Centerline goodness [0,1] 0.3394328127681483 Centerline is valid? [False, False] Translation: X:18.46, Y:1.04, Z:1.35 [[ 9.93190213e-01 -1.40211206e-04 -1.16503996e-01 1.84625285e+01] [-5.28336737e-05 9.99998631e-01 -1.65389093e-03 1.04468470e+00] [ 1.16504068e-01 1.64878362e-03 9.93188846e-01 1.34846108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48463044 meters Centerline goodness [0,1] 0.34140045175863176 Centerline is valid? [False, False] Translation: X:18.46, Y:1.04, Z:1.35 [[ 9.93210688e-01 -7.56016526e-05 -1.16329376e-01 1.84616389e+01] [-8.99339610e-05 9.99998991e-01 -1.41774119e-03 1.04289877e+00] [ 1.16329365e-01 1.41857767e-03 9.93209679e-01 1.34901399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.51463044 meters Centerline goodness [0,1] 0.3425422672882339 Centerline is valid? [False, False] Translation: X:18.46, Y:1.04, Z:1.35 [[ 9.93234718e-01 1.49504958e-04 -1.16123951e-01 1.84608112e+01] [-2.72139809e-04 9.99999422e-01 -1.04021465e-03 1.04110352e+00] [ 1.16123728e-01 1.06477925e-03 9.93234185e-01 1.34943442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54463044 meters Centerline goodness [0,1] 0.34267236748812924 Centerline is valid? [False, False] Translation: X:18.46, Y:1.04, Z:1.35 [[ 9.93251069e-01 3.33808513e-04 -1.15983630e-01 1.84601139e+01] [-4.18566673e-04 9.99999663e-01 -7.06422058e-04 1.03954765e+00] [ 1.15983355e-01 7.50201346e-04 9.93250874e-01 1.34992542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.57463044 meters Centerline goodness [0,1] 0.3416383056144181 Centerline is valid? [False, False] Translation: X:18.46, Y:1.04, Z:1.35 [[ 9.93247330e-01 4.53968182e-04 -1.16015234e-01 1.84599458e+01] [-4.95988479e-04 9.99999821e-01 -3.33328049e-04 1.03682040e+00] [ 1.16015062e-01 3.88619414e-04 9.93247378e-01 1.35031814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60463044 meters Centerline goodness [0,1] 0.3439845592965902 Centerline is valid? [False, False] Translation: X:18.46, Y:1.04, Z:1.35 [[ 9.93232569e-01 4.83709620e-04 -1.16141425e-01 1.84602276e+01] [-5.16383500e-04 9.99999835e-01 -2.51239979e-04 1.03610829e+00] [ 1.16141285e-01 3.09513245e-04 9.93232655e-01 1.35035280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.63463044 meters Centerline goodness [0,1] 0.3398946196024675 Centerline is valid? [False, False] Translation: X:18.46, Y:1.04, Z:1.35 [[ 9.93209792e-01 5.81324234e-04 -1.16335596e-01 1.84608501e+01] [-6.01108538e-04 9.99999810e-01 -1.34978139e-04 1.03565042e+00] [ 1.16335495e-01 2.03991929e-04 9.93209953e-01 1.35023377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66463044 meters Centerline goodness [0,1] 0.3428742694440282 Centerline is valid? [False, False] Translation: X:18.46, Y:1.03, Z:1.35 [[ 9.93177494e-01 8.12500586e-04 -1.16609628e-01 1.84612206e+01] [-7.85761589e-04 9.99999653e-01 2.75273832e-04 1.03362843e+00] [ 1.16609811e-01 -1.81768408e-04 9.93177788e-01 1.35066722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.69463044 meters Centerline goodness [0,1] 0.3424871575342465 Centerline is valid? [False, False] Translation: X:18.46, Y:1.03, Z:1.35 [[ 9.93184626e-01 8.27257832e-04 -1.16548760e-01 1.84607368e+01] [-7.81417446e-04 9.99999598e-01 4.39006862e-04 1.03209073e+00] [ 1.16549076e-01 -3.44941632e-04 9.93184874e-01 1.35108601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72463044 meters Centerline goodness [0,1] 0.34332127645913146 Centerline is valid? [False, False] Translation: X:18.46, Y:1.03, Z:1.35 [[ 9.93189497e-01 8.07171691e-04 -1.16507385e-01 1.84602677e+01] [-7.42501916e-04 9.99999545e-01 5.98470384e-04 1.03041188e+00] [ 1.16507815e-01 -5.07887544e-04 9.93189645e-01 1.35157627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.75463044 meters Centerline goodness [0,1] 0.34758644447315157 Centerline is valid? [False, False] Translation: X:18.46, Y:1.03, Z:1.35 [[ 9.93188554e-01 8.01735910e-04 -1.16515464e-01 1.84600610e+01] [-7.12360367e-04 9.99999419e-01 8.08710515e-04 1.02860068e+00] [ 1.16516045e-01 -7.20201029e-04 9.93188548e-01 1.35186877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78463044 meters Centerline goodness [0,1] 0.34629255935769176 Centerline is valid? [False, False] Translation: X:18.46, Y:1.02, Z:1.35 [[ 9.93190742e-01 8.15275864e-04 -1.16496715e-01 1.84598984e+01] [-6.78216561e-04 9.99999031e-01 1.21614299e-03 1.02490587e+00] [ 1.16497594e-01 -1.12885196e-03 9.93190332e-01 1.35212661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.81463044000003 meters Centerline goodness [0,1] 0.34612142563814385 Centerline is valid? [False, False] Translation: X:18.46, Y:1.02, Z:1.35 [[ 9.93202926e-01 8.53017238e-04 -1.16392523e-01 1.84592973e+01] [-6.87903231e-04 9.99998699e-01 1.45875888e-03 1.02305032e+00] [ 1.16393616e-01 -1.36877680e-03 9.93202221e-01 1.35256206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84463044 meters Centerline goodness [0,1] 0.34717386632280245 Centerline is valid? [False, False] Translation: X:18.46, Y:1.02, Z:1.35 [[ 9.93211054e-01 1.00446270e-03 -1.16321934e-01 1.84588158e+01] [-8.00245585e-04 9.99998056e-01 1.80230826e-03 1.02110278e+00] [ 1.16323518e-01 -1.69698638e-03 9.93209927e-01 1.35302575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.87463044000003 meters Centerline goodness [0,1] 0.346902995445896 Centerline is valid? [False, False] Translation: X:18.46, Y:1.02, Z:1.35 [[ 9.93209478e-01 1.15909256e-03 -1.16333957e-01 1.84586681e+01] [-9.10323068e-04 9.99997184e-01 2.19151658e-03 1.01885079e+00] [ 1.16336170e-01 -2.07073355e-03 9.93207736e-01 1.35333300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90463044 meters Centerline goodness [0,1] 0.34770189003436425 Centerline is valid? [False, False] Translation: X:18.46, Y:1.02, Z:1.35 [[ 9.93214437e-01 1.32948569e-03 -1.16289783e-01 1.84586890e+01] [-1.03009875e-03 9.99995999e-01 2.63455151e-03 1.01615115e+00] [ 1.16292821e-01 -2.49688464e-03 9.93211833e-01 1.35323667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.93463044000003 meters Centerline goodness [0,1] 0.3461081466439111 Centerline is valid? [False, False] Translation: X:18.46, Y:1.01, Z:1.35 [[ 9.93152498e-01 -1.52112838e-03 -1.16815245e-01 1.84610588e+01] [ 1.60942151e-03 9.99998486e-01 6.61513998e-04 1.01002232e+00] [ 1.16814062e-01 -8.44989247e-04 9.93153443e-01 1.35230376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96463044 meters Centerline goodness [0,1] 0.3476268342011274 Centerline is valid? [False, False] Translation: X:18.46, Y:1.01, Z:1.35 [[ 9.93124715e-01 -1.34476043e-03 -1.17053374e-01 1.84615955e+01] [ 1.49564231e-03 9.99998160e-01 1.20117329e-03 1.00614585e+00] [ 1.17051544e-01 -1.36798486e-03 9.93124899e-01 1.35248056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.99463044000004 meters Centerline goodness [0,1] 0.3477500054008512 Centerline is valid? [False, False] Translation: X:18.46, Y:1.00, Z:1.35 [[ 9.93121505e-01 -1.11929425e-03 -1.17082978e-01 1.84614514e+01] [ 1.33937356e-03 9.99997481e-01 1.80102402e-03 1.00237872e+00] [ 1.17080667e-01 -1.94545353e-03 9.93120503e-01 1.35281540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02463044 meters Centerline goodness [0,1] 0.34577098452250976 Centerline is valid? [False, False] Translation: X:18.46, Y:1.00, Z:1.35 [[ 9.93129240e-01 -7.72967539e-04 -1.17020152e-01 1.84611079e+01] [ 1.07341157e-03 9.99996288e-01 2.50445538e-03 9.98505662e-01] [ 1.17017782e-01 -2.61285865e-03 9.93126383e-01 1.35312843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.05463044000004 meters Centerline goodness [0,1] 0.3489508232002583 Centerline is valid? [False, False] Translation: X:18.46, Y:0.99, Z:1.35 [[ 9.93273320e-01 -1.66336465e-03 -1.15781450e-01 1.84576190e+01] [ 1.97040575e-03 9.99994839e-01 2.53749974e-03 9.89033374e-01] [ 1.15776631e-01 -2.74856722e-03 9.93271472e-01 1.35372894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08463044 meters Centerline goodness [0,1] 0.34992160484546486 Centerline is valid? [False, False] Translation: X:18.46, Y:0.98, Z:1.35 [[ 9.93273204e-01 -1.45034174e-03 -1.15785312e-01 1.84580862e+01] [ 1.82433492e-03 9.99993456e-01 3.12415053e-03 9.84310156e-01] [ 1.15780023e-01 -3.31436619e-03 9.93269350e-01 1.35336489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.11463044000004 meters Centerline goodness [0,1] 0.3492478463978057 Centerline is valid? [False, False] Translation: X:18.46, Y:0.98, Z:1.35 [[ 9.93255793e-01 -1.22340845e-03 -1.15937192e-01 1.84588808e+01] [ 1.66437511e-03 9.99991745e-01 3.70676449e-03 9.79557347e-01] [ 1.15931700e-01 -3.87472828e-03 9.93249630e-01 1.35304768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14463044 meters Centerline goodness [0,1] 0.3460853519857532 Centerline is valid? [False, False] Translation: X:18.46, Y:0.98, Z:1.35 [[ 9.93239740e-01 -8.84444487e-04 -1.16077715e-01 1.84595808e+01] [ 1.40556472e-03 9.99989299e-01 4.40763086e-03 9.75092846e-01] [ 1.16072575e-01 -4.54098887e-03 9.93230354e-01 1.35277510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.17463044 meters Centerline goodness [0,1] 0.35006565210840135 Centerline is valid? [False, False] Translation: X:18.46, Y:0.97, Z:1.35 [[ 9.93219933e-01 -5.01427536e-04 -1.16249358e-01 1.84602156e+01] [ 1.10815911e-03 9.99986101e-01 5.15465343e-03 9.70825274e-01] [ 1.16245158e-01 -5.24852732e-03 9.93206684e-01 1.35266847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20463044 meters Centerline goodness [0,1] 0.3510668194297326 Centerline is valid? [False, False] Translation: X:18.46, Y:0.97, Z:1.35 [[ 9.93202733e-01 -1.24183152e-04 -1.16397233e-01 1.84607846e+01] [ 8.16210550e-04 9.99982275e-01 5.89774844e-03 9.66516701e-01] [ 1.16394437e-01 -5.95266452e-03 9.93185230e-01 1.35254433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.23463044 meters Centerline goodness [0,1] 0.3510668194297326 Centerline is valid? [False, False] Translation: X:18.46, Y:0.97, Z:1.35 [[ 9.93202733e-01 -1.24183152e-04 -1.16397233e-01 1.84607846e+01] [ 8.16210550e-04 9.99982275e-01 5.89774844e-03 9.66516701e-01] [ 1.16394437e-01 -5.95266452e-03 9.93185230e-01 1.35254433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26463044 meters Centerline goodness [0,1] 0.34953182918728976 Centerline is valid? [False, False] Translation: X:18.48, Y:0.95, Z:1.36 [[ 9.93214413e-01 4.97002975e-03 -1.16191345e-01 1.84814808e+01] [-4.62778459e-03 9.99984123e-01 3.21511459e-03 9.54646130e-01] [ 1.16205479e-01 -2.65558964e-03 9.93221644e-01 1.35570457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.29463044 meters Centerline goodness [0,1] 0.35047996211958155 Centerline is valid? [False, False] Translation: X:18.48, Y:0.95, Z:1.36 [[ 9.93211459e-01 5.25975754e-03 -1.16203842e-01 1.84814247e+01] [-4.84148408e-03 9.99980747e-01 3.88144486e-03 9.50394328e-01] [ 1.16222021e-01 -3.29249646e-03 9.93217802e-01 1.35589750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32463044 meters Centerline goodness [0,1] 0.34880338772804076 Centerline is valid? [False, False] Translation: X:18.50, Y:0.95, Z:1.36 [[ 9.93230329e-01 -1.78348612e-03 -1.16147894e-01 1.85004179e+01] [ 2.46613789e-03 9.99980520e-01 5.73399612e-03 9.50343269e-01] [ 1.16135405e-01 -5.98161558e-03 9.93215378e-01 1.35918664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.35463044 meters Centerline goodness [0,1] 0.3460457130593412 Centerline is valid? [False, False] Translation: X:18.50, Y:0.94, Z:1.36 [[ 9.93121071e-01 -1.63422362e-03 -1.17080601e-01 1.85040340e+01] [ 2.42647512e-03 9.99975114e-01 6.62450154e-03 9.40615633e-01] [ 1.17066862e-01 -6.86302523e-03 9.93100322e-01 1.35804338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.38463044 meters Centerline goodness [0,1] 0.34699582813642427 Centerline is valid? [False, False] Translation: X:18.51, Y:0.94, Z:1.36 [[ 9.93062710e-01 -1.63243894e-03 -1.17574613e-01 1.85057121e+01] [ 2.47145456e-03 9.99972511e-01 6.99058477e-03 9.36476611e-01] [ 1.17559969e-01 -7.23266936e-03 9.93039446e-01 1.35768628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.41463044 meters Centerline goodness [0,1] 0.34590664156333184 Centerline is valid? [False, False] Translation: X:18.51, Y:0.93, Z:1.36 [[ 9.93036366e-01 -1.54846705e-03 -1.17798043e-01 1.85062509e+01] [ 2.44706766e-03 9.99969000e-01 7.48406434e-03 9.31511121e-01] [ 1.17782802e-01 -7.72020783e-03 9.93009371e-01 1.35784360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.44463044 meters Centerline goodness [0,1] 0.3454661967318168 Centerline is valid? [False, False] Translation: X:18.53, Y:0.93, Z:1.36 [[ 9.93099482e-01 3.67849466e-03 -1.17217270e-01 1.85271456e+01] [-3.14489646e-03 9.99983836e-01 4.73684598e-03 9.25727432e-01] [ 1.17232799e-01 -4.33552311e-03 9.93094997e-01 1.36097012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.47463044 meters Centerline goodness [0,1] 0.3467208730073821 Centerline is valid? [False, False] Translation: X:18.53, Y:0.92, Z:1.36 [[ 9.93126830e-01 3.97785046e-03 -1.16975539e-01 1.85261625e+01] [-3.35877290e-03 9.99979294e-01 5.48901602e-03 9.21062823e-01] [ 1.16994952e-01 -5.05839481e-03 9.93119627e-01 1.36150878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.50463044 meters Centerline goodness [0,1] 0.34689434364994665 Centerline is valid? [False, False] Translation: X:18.52, Y:0.92, Z:1.36 [[ 9.93161079e-01 4.28474828e-03 -1.16673529e-01 1.85249739e+01] [-3.58113462e-03 9.99974121e-01 6.23958049e-03 9.16155369e-01] [ 1.16697245e-01 -5.77908487e-03 9.93150721e-01 1.36212630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.53463044 meters Centerline goodness [0,1] 0.3483728128627316 Centerline is valid? [False, False] Translation: X:18.52, Y:0.91, Z:1.36 [[ 9.93211194e-01 9.36051961e-04 -1.16321314e-01 1.85238489e+01] [-4.68199987e-04 9.99991692e-01 4.04932425e-03 9.07651652e-01] [ 1.16324138e-01 -3.96737253e-03 9.93203380e-01 1.36252022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.56463044000003 meters Centerline goodness [0,1] 0.3499514615467587 Centerline is valid? [False, False] Translation: X:18.52, Y:0.90, Z:1.36 [[ 9.93202160e-01 1.07797765e-03 -1.16397197e-01 1.85242282e+01] [-5.42445415e-04 9.99989123e-01 4.63248238e-03 9.01488211e-01] [ 1.16400925e-01 -4.53785238e-03 9.93191941e-01 1.36246969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.59463044 meters Centerline goodness [0,1] 0.34992607195662884 Centerline is valid? [False, False] Translation: X:18.52, Y:0.90, Z:1.36 [[ 9.93184459e-01 1.35291742e-03 -1.16545274e-01 1.85247619e+01] [-7.34653620e-04 9.99985431e-01 5.34771707e-03 8.95911990e-01] [ 1.16550811e-01 -5.22564907e-03 9.93170983e-01 1.36241722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.62463044000003 meters Centerline goodness [0,1] 0.35246677276441996 Centerline is valid? [False, False] Translation: X:18.52, Y:0.89, Z:1.36 [[ 9.93184255e-01 1.71296764e-03 -1.16542274e-01 1.85248392e+01] [-1.00363294e-03 9.99980616e-01 6.14491187e-03 8.90973761e-01] [ 1.16550541e-01 -5.98606405e-03 9.93166722e-01 1.36244607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.65463044 meters Centerline goodness [0,1] 0.35269825565138835 Centerline is valid? [False, False] Translation: X:18.52, Y:0.88, Z:1.36 [[ 9.93232047e-01 1.24658137e-03 -1.16140207e-01 1.85241852e+01] [-4.85655480e-04 9.99978235e-01 6.57985439e-03 8.80186191e-01] [ 1.16145882e-01 -6.47891812e-03 9.93211034e-01 1.36240533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.68463044000003 meters Centerline goodness [0,1] 0.3483353751585101 Centerline is valid? [False, False] Translation: X:18.52, Y:0.88, Z:1.36 [[ 9.93221498e-01 1.43727144e-03 -1.16228184e-01 1.85246409e+01] [-6.25171851e-04 9.99975141e-01 7.02326715e-03 8.77041767e-01] [ 1.16235389e-01 -6.90299732e-03 9.93197706e-01 1.36224615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.71463044 meters Centerline goodness [0,1] 0.3490294597612299 Centerline is valid? [False, False] Translation: X:18.53, Y:0.88, Z:1.36 [[ 9.93184645e-01 1.63173653e-03 -1.16540119e-01 1.85256849e+01] [-7.80617766e-04 9.99972695e-01 7.34849432e-03 8.75023043e-01] [ 1.16548927e-01 -7.20743843e-03 9.93158799e-01 1.36203162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74463044000004 meters Centerline goodness [0,1] 0.3513658620393437 Centerline is valid? [False, False] Translation: X:18.53, Y:0.87, Z:1.36 [[ 9.93117579e-01 2.89036409e-03 -1.17085952e-01 1.85276943e+01] [-1.91758886e-03 9.99962712e-01 8.42001191e-03 8.73226690e-01] [ 1.17105923e-01 -8.13753913e-03 9.93086091e-01 1.36134160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.77463044 meters Centerline goodness [0,1] 0.35118035679700443 Centerline is valid? [False, False] Translation: X:18.53, Y:0.87, Z:1.36 [[ 9.93164284e-01 3.22207594e-03 -1.16680433e-01 1.85268250e+01] [-2.23188308e-03 9.99960391e-01 8.61602694e-03 8.73282687e-01] [ 1.16703573e-01 -8.29671314e-03 9.93132136e-01 1.36119545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80463044000004 meters Centerline goodness [0,1] 0.3520265923225392 Centerline is valid? [False, False] Translation: X:18.53, Y:0.87, Z:1.36 [[ 9.93218010e-01 3.34133028e-03 -1.16218849e-01 1.85257113e+01] [-2.35669331e-03 9.99960168e-01 8.60864618e-03 8.73687129e-01] [ 1.16242984e-01 -8.27637024e-03 9.93186322e-01 1.36123437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.83463044 meters Centerline goodness [0,1] 0.35544665601657954 Centerline is valid? [False, False] Translation: X:18.52, Y:0.87, Z:1.36 [[ 9.93255403e-01 3.33430764e-03 -1.15899041e-01 1.85248946e+01] [-2.35948508e-03 9.99960689e-01 8.54713943e-03 8.73771157e-01] [ 1.15922984e-01 -8.21603036e-03 9.93224224e-01 1.36123764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86463044000004 meters Centerline goodness [0,1] 0.3554198735864471 Centerline is valid? [False, False] Translation: X:18.53, Y:0.87, Z:1.36 [[ 9.93245677e-01 3.31548015e-03 -1.15982902e-01 1.85254274e+01] [-2.34822337e-03 9.99961327e-01 8.47529423e-03 8.73909786e-01] [ 1.16006516e-01 -8.14569559e-03 9.93215050e-01 1.36091451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.89463044 meters Centerline goodness [0,1] 0.35309932464404004 Centerline is valid? [False, False] Translation: X:18.53, Y:0.87, Z:1.36 [[ 9.93232342e-01 3.27048426e-03 -1.16098312e-01 1.85264736e+01] [-2.30998418e-03 9.99961995e-01 8.40674557e-03 8.73979264e-01] [ 1.16121394e-01 -8.08166633e-03 9.93202149e-01 1.36006947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92463044 meters Centerline goodness [0,1] 0.3546176975945017 Centerline is valid? [False, False] Translation: X:18.53, Y:0.87, Z:1.36 [[ 9.93153695e-01 3.22190075e-03 -1.16770537e-01 1.85292075e+01] [-2.26896046e-03 9.99963040e-01 8.29280428e-03 8.74137398e-01] [ 1.16792940e-01 -7.97108148e-03 9.93124298e-01 1.35892948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.95463044 meters Centerline goodness [0,1] 0.3510567535672138 Centerline is valid? [False, False] Translation: X:18.53, Y:0.87, Z:1.36 [[ 9.93139245e-01 3.14434428e-03 -1.16895479e-01 1.85295673e+01] [-2.20611578e-03 9.99964316e-01 8.15473725e-03 8.74695484e-01] [ 1.16916949e-01 -7.84090463e-03 9.93110743e-01 1.35892355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98463044 meters Centerline goodness [0,1] 0.3544075687040096 Centerline is valid? [False, False] Translation: X:18.53, Y:0.88, Z:1.36 [[ 9.93156294e-01 3.10357196e-03 -1.16751634e-01 1.85291121e+01] [-2.17723052e-03 9.99965139e-01 8.06098848e-03 8.75276189e-01] [ 1.16772582e-01 -7.75162622e-03 9.93128429e-01 1.35906723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.01463044 meters Centerline goodness [0,1] 0.35500633441412033 Centerline is valid? [False, False] Translation: X:18.53, Y:0.88, Z:1.36 [[ 9.93169784e-01 3.07713027e-03 -1.16637522e-01 1.85287714e+01] [-2.16113669e-03 9.99965832e-01 7.97898872e-03 8.75900560e-01] [ 1.16658089e-01 -7.67242087e-03 9.93142499e-01 1.35914384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04463044 meters Centerline goodness [0,1] 0.35417794426520577 Centerline is valid? [False, False] Translation: X:18.53, Y:0.88, Z:1.36 [[ 9.93182302e-01 3.03320328e-03 -1.16532031e-01 1.85289190e+01] [-2.13891952e-03 9.99967304e-01 7.79843176e-03 8.77440264e-01] [ 1.16551875e-01 -7.49601178e-03 9.93156317e-01 1.35872751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.07463044 meters Centerline goodness [0,1] 0.35247784001888693 Centerline is valid? [False, False] Translation: X:18.53, Y:0.88, Z:1.36 [[ 9.93159572e-01 3.01583529e-03 -1.16726043e-01 1.85297450e+01] [-2.12799248e-03 9.99967858e-01 7.73008519e-03 8.78069653e-01] [ 1.16745604e-01 -7.42881595e-03 9.93134068e-01 1.35835596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10463044 meters Centerline goodness [0,1] 0.3504330303549992 Centerline is valid? [False, False] Translation: X:18.53, Y:0.88, Z:1.36 [[ 9.93124695e-01 2.96835935e-03 -1.17023625e-01 1.85308373e+01] [-2.08502727e-03 9.99968411e-01 7.67001969e-03 8.78447966e-01] [ 1.17042696e-01 -7.37328852e-03 9.93099513e-01 1.35800803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.13463044 meters Centerline goodness [0,1] 0.3506602434513313 Centerline is valid? [False, False] Translation: X:18.53, Y:0.88, Z:1.36 [[ 9.93057718e-01 2.77231848e-03 -1.17595422e-01 1.85322907e+01] [-1.89568271e-03 9.99969582e-01 7.56587104e-03 8.78697158e-01] [ 1.17612820e-01 -7.29042302e-03 9.93032766e-01 1.35803902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16463044 meters Centerline goodness [0,1] 0.34956141291526366 Centerline is valid? [False, False] Translation: X:18.53, Y:0.88, Z:1.36 [[ 9.93041132e-01 2.66048734e-03 -1.17737978e-01 1.85325937e+01] [-1.78070753e-03 9.99969709e-01 7.57691736e-03 8.78166175e-01] [ 1.17754570e-01 -7.31453369e-03 9.93015790e-01 1.35819479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.19463044 meters Centerline goodness [0,1] 0.3504674910595028 Centerline is valid? [False, False] Translation: X:18.53, Y:0.88, Z:1.36 [[ 9.93045522e-01 2.51147626e-03 -1.17704224e-01 1.85323852e+01] [-1.62638808e-03 9.99969683e-01 7.61504291e-03 8.77084618e-01] [ 1.17719781e-01 -7.37065151e-03 9.93019500e-01 1.35844576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22463044 meters Centerline goodness [0,1] 0.34905172413793106 Centerline is valid? [False, False] Translation: X:18.53, Y:0.88, Z:1.36 [[ 9.93059186e-01 2.35329173e-03 -1.17592158e-01 1.85319762e+01] [-1.46046864e-03 9.99969456e-01 7.67813154e-03 8.75794435e-01] [ 1.17606635e-01 -7.45309940e-03 9.93032291e-01 1.35872461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.25463044 meters Centerline goodness [0,1] 0.3516075399995682 Centerline is valid? [False, False] Translation: X:18.53, Y:0.87, Z:1.36 [[ 9.93093146e-01 2.28121668e-03 -1.17306432e-01 1.85310987e+01] [-1.37197162e-03 9.99968395e-01 7.83119007e-03 8.74334127e-01] [ 1.17320589e-01 -7.61616009e-03 9.93064889e-01 1.35905163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28463044 meters Centerline goodness [0,1] 0.35144392353306364 Centerline is valid? [False, False] Translation: X:18.55, Y:0.88, Z:1.36 [[ 9.93227620e-01 -5.08693512e-03 -1.16073330e-01 1.85504865e+01] [ 6.17974180e-03 9.99939890e-01 9.05686854e-03 8.77132099e-01] [ 1.16020281e-01 -9.71283519e-03 9.93199353e-01 1.36231693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.31463044000003 meters Centerline goodness [0,1] 0.3519402856651179 Centerline is valid? [False, False] Translation: X:18.55, Y:0.88, Z:1.36 [[ 9.93239667e-01 -5.05665053e-03 -1.15971523e-01 1.85502636e+01] [ 6.14973825e-03 9.99939960e-01 9.06961488e-03 8.77162245e-01] [ 1.15918698e-01 -9.72149577e-03 9.93211130e-01 1.36233916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34463044 meters Centerline goodness [0,1] 0.35305208578835734 Centerline is valid? [False, False] Translation: X:18.57, Y:0.87, Z:1.37 [[ 9.93301097e-01 2.59001097e-03 -1.15525850e-01 1.85685638e+01] [-1.74375442e-03 9.99970909e-01 7.42571850e-03 8.74971830e-01] [ 1.15541722e-01 -7.17452563e-03 9.93276717e-01 1.36612274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.37463044000003 meters Centerline goodness [0,1] 0.35151528233465723 Centerline is valid? [False, False] Translation: X:18.57, Y:0.88, Z:1.37 [[ 9.93302519e-01 2.56822309e-03 -1.15514114e-01 1.85688461e+01] [-1.73996999e-03 9.99972056e-01 7.27040808e-03 8.75901303e-01] [ 1.15529558e-01 -7.02072357e-03 9.93279231e-01 1.36577925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40463044 meters Centerline goodness [0,1] 0.3485595025496482 Centerline is valid? [False, False] Translation: X:18.57, Y:0.88, Z:1.37 [[ 9.93227128e-01 2.61161431e-03 -1.16159599e-01 1.85708689e+01] [-1.83038429e-03 9.99974989e-01 6.83164940e-03 8.79108019e-01] [ 1.16174536e-01 -6.57276280e-03 9.93207066e-01 1.36524590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.43463044000003 meters Centerline goodness [0,1] 0.34758384228008143 Centerline is valid? [False, False] Translation: X:18.57, Y:0.88, Z:1.36 [[ 9.93200297e-01 2.57587836e-03 -1.16389579e-01 1.85718602e+01] [-1.82623783e-03 9.99976901e-01 6.54696856e-03 8.81075958e-01] [ 1.16403754e-01 -6.28989607e-03 9.93182059e-01 1.36472029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46463044 meters Centerline goodness [0,1] 0.3477102271506243 Centerline is valid? [False, False] Translation: X:18.57, Y:0.88, Z:1.36 [[ 9.93200459e-01 2.59964084e-03 -1.16387668e-01 1.85721081e+01] [-1.87334020e-03 9.99978088e-01 6.34931128e-03 8.82844827e-01] [ 1.16401624e-01 -6.08810519e-03 9.93183567e-01 1.36442331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.49463044000004 meters Centerline goodness [0,1] 0.34622144112478037 Centerline is valid? [False, False] Translation: X:18.57, Y:0.88, Z:1.36 [[ 9.93244870e-01 2.54815060e-03 -1.16009199e-01 1.85712249e+01] [-1.84813087e-03 9.99979434e-01 6.14133789e-03 8.84237664e-01] [ 1.16022462e-01 -5.88545217e-03 9.93229153e-01 1.36438304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52463044 meters Centerline goodness [0,1] 0.3499903031870192 Centerline is valid? [False, False] Translation: X:18.57, Y:0.89, Z:1.36 [[ 9.93339666e-01 2.38703228e-03 -1.15198134e-01 1.85688567e+01] [-1.72410390e-03 9.99981379e-01 5.85397538e-03 8.85638465e-01] [ 1.15209962e-01 -5.61637239e-03 9.93325285e-01 1.36489238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.55463044000004 meters Centerline goodness [0,1] 0.34900639512425424 Centerline is valid? [False, False] Translation: X:18.57, Y:0.89, Z:1.36 [[ 9.93328962e-01 2.30608359e-03 -1.15292046e-01 1.85692440e+01] [-1.65349689e-03 9.99982069e-01 5.75560865e-03 8.86043332e-01] [ 1.15303251e-01 -5.52657772e-03 9.93314964e-01 1.36473468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58463044 meters Centerline goodness [0,1] 0.34837808807733617 Centerline is valid? [False, False] Translation: X:18.57, Y:0.89, Z:1.36 [[ 9.93301475e-01 2.14260895e-03 -1.15531767e-01 1.85702995e+01] [-1.50377211e-03 9.99983097e-01 5.61640912e-03 8.86270589e-01] [ 1.15541848e-01 -5.40505402e-03 9.93287907e-01 1.36425606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.61463044000004 meters Centerline goodness [0,1] 0.34633272176473096 Centerline is valid? [False, False] Translation: X:18.57, Y:0.89, Z:1.36 [[ 9.93184812e-01 1.36504995e-03 -1.16542119e-01 1.85731440e+01] [-7.73302768e-04 9.99986580e-01 5.12260347e-03 8.85686694e-01] [ 1.16547548e-01 -4.99756962e-03 9.93172540e-01 1.36403834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64463044 meters Centerline goodness [0,1] 0.34772614981418226 Centerline is valid? [False, False] Translation: X:18.57, Y:0.88, Z:1.36 [[ 9.93165529e-01 1.27501388e-03 -1.16707350e-01 1.85733373e+01] [-6.61115073e-04 9.99985743e-01 5.29871516e-03 8.83891804e-01] [ 1.16712442e-01 -5.18534426e-03 9.93152213e-01 1.36441694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.67463044 meters Centerline goodness [0,1] 0.3476373638180372 Centerline is valid? [False, False] Translation: X:18.57, Y:0.88, Z:1.36 [[ 9.93145400e-01 1.21277398e-03 -1.16879182e-01 1.85735852e+01] [-5.71754809e-04 9.99984613e-01 5.51783178e-03 8.81926589e-01] [ 1.16884075e-01 -5.41318301e-03 9.93130812e-01 1.36470760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70463044 meters Centerline goodness [0,1] 0.3449316945741082 Centerline is valid? [False, False] Translation: X:18.57, Y:0.88, Z:1.36 [[ 9.93122216e-01 1.18582424e-03 -1.17076289e-01 1.85742710e+01] [-5.11501711e-04 9.99983110e-01 5.78956258e-03 8.79584461e-01] [ 1.17081177e-01 -5.68985850e-03 9.93106048e-01 1.36461007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.73463044 meters Centerline goodness [0,1] 0.34655993819477227 Centerline is valid? [False, False] Translation: X:18.57, Y:0.88, Z:1.36 [[ 9.93111230e-01 1.20767008e-03 -1.17169218e-01 1.85744092e+01] [-4.95811703e-04 9.99981245e-01 6.10442979e-03 8.77062334e-01] [ 1.17174392e-01 -6.00428391e-03 9.93093203e-01 1.36481085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76463044 meters Centerline goodness [0,1] 0.3475184907278379 Centerline is valid? [False, False] Translation: X:18.57, Y:0.87, Z:1.36 [[ 9.93107038e-01 1.36513691e-03 -1.17203014e-01 1.85745644e+01] [-5.85215610e-04 9.99977460e-01 6.68860272e-03 8.72192902e-01] [ 1.17209504e-01 -6.57390940e-03 9.93085453e-01 1.36490554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.79463044 meters Centerline goodness [0,1] 0.3472133247918001 Centerline is valid? [False, False] Translation: X:18.58, Y:0.87, Z:1.36 [[ 9.93086736e-01 1.54347389e-03 -1.17372710e-01 1.85751399e+01] [-7.19647677e-04 9.99974812e-01 7.06094667e-03 8.70139816e-01] [ 1.17380653e-01 -6.92766548e-03 9.93062833e-01 1.36484337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82463044 meters Centerline goodness [0,1] 0.3450746268656717 Centerline is valid? [False, False] Translation: X:18.58, Y:0.87, Z:1.36 [[ 9.93066933e-01 1.71875587e-03 -1.17537706e-01 1.85757128e+01] [-8.56025948e-04 9.99972326e-01 7.39011573e-03 8.68246495e-01] [ 1.17547155e-01 -7.23826424e-03 9.93040923e-01 1.36475121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.85463044 meters Centerline goodness [0,1] 0.3471513742708938 Centerline is valid? [False, False] Translation: X:18.58, Y:0.87, Z:1.36 [[ 9.93060902e-01 1.90097593e-03 -1.17585850e-01 1.85758264e+01] [-9.95686516e-04 9.99969417e-01 7.75722970e-03 8.66273979e-01] [ 1.17597000e-01 -7.58632288e-03 9.93032423e-01 1.36481213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.88463044 meters Centerline goodness [0,1] 0.34630316993045773 Centerline is valid? [False, False] Translation: X:18.59, Y:0.86, Z:1.37 [[ 9.93089068e-01 9.73939589e-03 -1.16958316e-01 1.85946278e+01] [-9.02755159e-03 9.99937374e-01 6.61452038e-03 8.61006771e-01] [ 1.17015412e-01 -5.51296065e-03 9.93114797e-01 1.36829758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.91463044 meters Centerline goodness [0,1] 0.3491091194360264 Centerline is valid? [False, False] Translation: X:18.59, Y:0.86, Z:1.37 [[ 9.93112243e-01 1.01093444e-02 -1.16729917e-01 1.85937701e+01] [-9.34220677e-03 9.99931032e-01 7.11717476e-03 8.58566465e-01] [ 1.16793817e-01 -5.97763836e-03 9.93138194e-01 1.36867791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.94463044 meters Centerline goodness [0,1] 0.34562280926733346 Centerline is valid? [False, False] Translation: X:18.59, Y:0.86, Z:1.37 [[ 9.93102605e-01 1.02797372e-02 -1.16797012e-01 1.85939177e+01] [-9.49029262e-03 9.99928223e-01 7.31324338e-03 8.57840235e-01] [ 1.16863807e-01 -6.15436323e-03 9.93128881e-01 1.36875720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.97463044 meters Centerline goodness [0,1] 0.3463465821483639 Centerline is valid? [False, False] Translation: X:18.59, Y:0.86, Z:1.37 [[ 9.93102301e-01 1.04322018e-02 -1.16786085e-01 1.85939745e+01] [-9.62583728e-03 9.99925794e-01 7.46652733e-03 8.57232385e-01] [ 1.16855311e-01 -6.29086162e-03 9.93129025e-01 1.36872726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.00463044 meters Centerline goodness [0,1] 0.34297669874041503 Centerline is valid? [False, False] Translation: X:18.59, Y:0.86, Z:1.37 [[ 9.93133079e-01 1.06378619e-02 -1.16505464e-01 1.85937633e+01] [-9.80795836e-03 9.99922298e-01 7.69429509e-03 8.55747609e-01] [ 1.16578263e-01 -6.49877823e-03 9.93160246e-01 1.36824149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.03463044 meters Centerline goodness [0,1] 0.34602620830496933 Centerline is valid? [False, False] Translation: X:18.59, Y:0.86, Z:1.37 [[ 9.93144371e-01 1.07101321e-02 -1.16402544e-01 1.85936617e+01] [-9.86938001e-03 9.99920900e-01 7.79678629e-03 8.55035410e-01] [ 1.16476841e-01 -6.59451347e-03 9.93171515e-01 1.36805006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.06463044000003 meters Centerline goodness [0,1] 0.34382484474682606 Centerline is valid? [False, False] Translation: X:18.59, Y:0.85, Z:1.37 [[ 9.93139992e-01 1.08074872e-02 -1.16430900e-01 1.85939214e+01] [-9.94796765e-03 9.99918828e-01 7.96081990e-03 8.54151276e-01] [ 1.16507486e-01 -6.74795778e-03 9.93166890e-01 1.36790088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.09463044 meters Centerline goodness [0,1] 0.34970504980660777 Centerline is valid? [False, False] Translation: X:18.55, Y:0.85, Z:1.36 [[ 9.92895553e-01 9.90019367e-03 -1.18576588e-01 1.85499975e+01] [-8.98221063e-03 9.99925431e-01 8.27362674e-03 8.50408656e-01] [ 1.18649656e-01 -7.14976730e-03 9.92910439e-01 1.36275143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.12463044000003 meters Centerline goodness [0,1] 0.3477206387362637 Centerline is valid? [False, False] Translation: X:18.55, Y:0.85, Z:1.36 [[ 9.92838103e-01 9.75407290e-03 -1.19068714e-01 1.85514493e+01] [-8.81741575e-03 9.99925921e-01 8.39081873e-03 8.47705633e-01] [ 1.19141738e-01 -7.28084620e-03 9.92850561e-01 1.36254119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.15463044 meters Centerline goodness [0,1] 0.3477206387362637 Centerline is valid? [False, False] Translation: X:18.55, Y:0.85, Z:1.36 [[ 9.92838103e-01 9.75407290e-03 -1.19068714e-01 1.85514493e+01] [-8.81741575e-03 9.99925921e-01 8.39081873e-03 8.47705633e-01] [ 1.19141738e-01 -7.28084620e-03 9.92850561e-01 1.36254119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.18463044000003 meters Centerline goodness [0,1] 0.3465115282420502 Centerline is valid? [False, False] Translation: X:18.55, Y:0.85, Z:1.36 [[ 9.92879914e-01 6.61314556e-03 -1.18935877e-01 1.85516465e+01] [-5.99053363e-03 9.99966423e-01 5.59160969e-03 8.46913741e-01] [ 1.18968861e-01 -4.83930758e-03 9.92886192e-01 1.36202061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.21463044 meters Centerline goodness [0,1] 0.3466734859139923 Centerline is valid? [False, False] Translation: X:18.55, Y:0.85, Z:1.36 [[ 9.92873848e-01 6.73328603e-03 -1.18979765e-01 1.85518869e+01] [-6.07740995e-03 9.99964277e-01 5.87447875e-03 8.45215192e-01] [ 1.19015069e-01 -5.10952752e-03 9.92879301e-01 1.36189339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.24463044000004 meters Centerline goodness [0,1] 0.3443934706070628 Centerline is valid? [False, False] Translation: X:18.55, Y:0.84, Z:1.36 [[ 9.92871509e-01 6.83537264e-03 -1.18993459e-01 1.85520888e+01] [-6.15134208e-03 9.99962384e-01 6.11481699e-03 8.43717274e-01] [ 1.19030780e-01 -5.33925810e-03 9.92876209e-01 1.36177126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.27463044 meters Centerline goodness [0,1] 0.34781019543763836 Centerline is valid? [False, False] Translation: X:18.55, Y:0.84, Z:1.36 [[ 9.92890965e-01 7.01041910e-03 -1.18820816e-01 1.85517018e+01] [-6.27700628e-03 9.99958877e-01 6.54555333e-03 8.40564349e-01] [ 1.18861817e-01 -5.75318175e-03 9.92894138e-01 1.36178291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30463044000004 meters Centerline goodness [0,1] 0.3507765314926661 Centerline is valid? [False, False] Translation: X:18.55, Y:0.84, Z:1.36 [[ 9.92904089e-01 7.16574188e-03 -1.18701819e-01 1.85513416e+01] [-6.40005805e-03 9.99956191e-01 6.83042733e-03 8.39010215e-01] [ 1.18745564e-01 -6.02226069e-03 9.92906452e-01 1.36188330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.33463044 meters Centerline goodness [0,1] 0.34951851059276695 Centerline is valid? [False, False] Translation: X:18.55, Y:0.84, Z:1.36 [[ 9.92900118e-01 7.33188030e-03 -1.18724887e-01 1.85515681e+01] [-6.53400142e-03 9.99953389e-01 7.10826345e-03 8.37745037e-01] [ 1.18771470e-01 -6.28204704e-03 9.92901744e-01 1.36176715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36463044000004 meters Centerline goodness [0,1] 0.3527547853078117 Centerline is valid? [False, False] Translation: X:18.55, Y:0.84, Z:1.36 [[ 9.92880836e-01 7.49935221e-03 -1.18875589e-01 1.85523024e+01] [-6.67172119e-03 9.99950668e-01 7.35860195e-03 8.36789616e-01] [ 1.18924910e-01 -6.51311006e-03 9.92881889e-01 1.36139105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.39463044 meters Centerline goodness [0,1] 0.3487753042955585 Centerline is valid? [False, False] Translation: X:18.55, Y:0.84, Z:1.36 [[ 9.92862710e-01 7.54895976e-03 -1.19023744e-01 1.85532653e+01] [-6.71332775e-03 9.99949935e-01 7.42010809e-03 8.36338073e-01] [ 1.19073799e-01 -6.56810323e-03 9.92863682e-01 1.36077327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42463044 meters Centerline goodness [0,1] 0.3504460456338995 Centerline is valid? [False, False] Translation: X:18.55, Y:0.84, Z:1.36 [[ 9.92806310e-01 7.44662784e-03 -1.19499700e-01 1.85546301e+01] [-6.63100920e-03 9.99951939e-01 7.22145888e-03 8.36376291e-01] [ 1.19547733e-01 -6.37710633e-03 9.92807973e-01 1.36057064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.45463044 meters Centerline goodness [0,1] 0.34926201643788457 Centerline is valid? [False, False] Translation: X:18.55, Y:0.84, Z:1.36 [[ 9.92805987e-01 7.52250766e-03 -1.19497633e-01 1.85543897e+01] [-6.70213560e-03 9.99951145e-01 7.26558155e-03 8.36434017e-01] [ 1.19546450e-01 -6.41242352e-03 9.92807900e-01 1.36082040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48463044 meters Centerline goodness [0,1] 0.3495039299059399 Centerline is valid? [False, False] Translation: X:18.55, Y:0.84, Z:1.36 [[ 9.92810781e-01 7.69828113e-03 -1.19446596e-01 1.85542864e+01] [-6.86740133e-03 9.99949288e-01 7.36614266e-03 8.36951129e-01] [ 1.19497245e-01 -6.49289814e-03 9.92813301e-01 1.36079598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.51463044 meters Centerline goodness [0,1] 0.34522320008482665 Centerline is valid? [False, False] Translation: X:18.57, Y:0.84, Z:1.36 [[ 9.92810754e-01 1.65910004e-03 -1.19683141e-01 1.85724704e+01] [-5.87762135e-04 9.99959451e-01 8.98619630e-03 8.43149469e-01] [ 1.19693197e-01 -8.85124710e-03 9.92771471e-01 1.36440443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54463044 meters Centerline goodness [0,1] 0.3500299554946936 Centerline is valid? [False, False] Translation: X:18.57, Y:0.84, Z:1.36 [[ 9.92815820e-01 1.63668008e-03 -1.19641414e-01 1.85728815e+01] [-5.85019008e-04 9.99960890e-01 8.82470299e-03 8.44144852e-01] [ 1.19651178e-01 -8.69131224e-03 9.92777949e-01 1.36383542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.57463044 meters Centerline goodness [0,1] 0.3497870692992644 Centerline is valid? [False, False] Translation: X:18.57, Y:0.84, Z:1.36 [[ 9.92807734e-01 1.52295020e-03 -1.19709997e-01 1.85732770e+01] [-4.93146715e-04 9.99962625e-01 8.63163841e-03 8.44764169e-01] [ 1.19718669e-01 -8.51052278e-03 9.92771379e-01 1.36358103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60463044 meters Centerline goodness [0,1] 0.3469256771212186 Centerline is valid? [False, False] Translation: X:18.57, Y:0.85, Z:1.36 [[ 9.92791073e-01 1.44746435e-03 -1.19849031e-01 1.85735751e+01] [-4.36032732e-04 9.99964076e-01 8.46500751e-03 8.45704472e-01] [ 1.19856978e-01 -8.35172578e-03 9.92756039e-01 1.36365048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.63463044 meters Centerline goodness [0,1] 0.34805559694344523 Centerline is valid? [False, False] Translation: X:18.57, Y:0.85, Z:1.36 [[ 9.92815964e-01 1.32659660e-03 -1.19644061e-01 1.85729679e+01] [-3.37446424e-04 9.99965603e-01 8.28732128e-03 8.46786656e-01] [ 1.19650939e-01 -8.18741141e-03 9.92782262e-01 1.36377664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66463044 meters Centerline goodness [0,1] 0.3502833315513739 Centerline is valid? [False, False] Translation: X:18.57, Y:0.85, Z:1.36 [[ 9.92841997e-01 1.23064141e-03 -1.19428865e-01 1.85721398e+01] [-2.50824307e-04 9.99966193e-01 8.21887488e-03 8.46892685e-01] [ 1.19434942e-01 -8.13008849e-03 9.92808741e-01 1.36413905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.69463044 meters Centerline goodness [0,1] 0.35054307075987057 Centerline is valid? [False, False] Translation: X:18.57, Y:0.85, Z:1.36 [[ 9.92872295e-01 1.16999077e-03 -1.19177338e-01 1.85712794e+01] [-1.92347769e-04 9.99966242e-01 8.21443506e-03 8.46745181e-01] [ 1.19182925e-01 -8.13296149e-03 9.92839003e-01 1.36446977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72463044 meters Centerline goodness [0,1] 0.35146048109965633 Centerline is valid? [False, False] Translation: X:18.57, Y:0.85, Z:1.36 [[ 9.92903718e-01 1.12454266e-03 -1.18915695e-01 1.85704946e+01] [-1.45957318e-04 9.99966060e-01 8.23762524e-03 8.46494248e-01] [ 1.18920923e-01 -8.16181211e-03 9.92870182e-01 1.36468401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.75463044 meters Centerline goodness [0,1] 0.3519199521080989 Centerline is valid? [False, False] Translation: X:18.57, Y:0.85, Z:1.36 [[ 9.92901376e-01 1.05766676e-03 -1.18935862e-01 1.85708660e+01] [-9.49034419e-05 9.99967188e-01 8.10018339e-03 8.47571072e-01] [ 1.18940527e-01 -8.03139581e-03 9.92868898e-01 1.36440006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78463044 meters Centerline goodness [0,1] 0.35450621658184633 Centerline is valid? [False, False] Translation: X:18.57, Y:0.85, Z:1.36 [[ 9.92897069e-01 9.03234362e-04 -1.18973086e-01 1.85711720e+01] [ 2.17995629e-05 9.99969785e-01 7.77362198e-03 8.49087745e-01] [ 1.18976512e-01 -7.72100003e-03 9.92867048e-01 1.36414736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.81463044000003 meters Centerline goodness [0,1] 0.34909152802008425 Centerline is valid? [False, False] Translation: X:18.59, Y:0.85, Z:1.37 [[ 9.92958385e-01 8.53861508e-03 -1.18155564e-01 1.85907471e+01] [-7.88578971e-03 9.99950957e-01 5.99155275e-03 8.49264503e-01] [ 1.18200929e-01 -5.01761261e-03 9.92977021e-01 1.36744110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84463044 meters Centerline goodness [0,1] 0.3505000746380057 Centerline is valid? [False, False] Translation: X:18.59, Y:0.85, Z:1.37 [[ 9.92976493e-01 8.48402910e-03 -1.18007226e-01 1.85904619e+01] [-7.85934796e-03 9.99952537e-01 5.75794101e-03 8.50920858e-01] [ 1.18050476e-01 -4.79004023e-03 9.92996043e-01 1.36733537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.87463044000003 meters Centerline goodness [0,1] 0.3521032669597448 Centerline is valid? [False, False] Translation: X:18.59, Y:0.85, Z:1.37 [[ 9.92989264e-01 8.29879729e-03 -1.17912901e-01 1.85906547e+01] [-7.73214607e-03 9.99956260e-01 5.26232718e-03 8.53940865e-01] [ 1.17951415e-01 -4.31371461e-03 9.93009998e-01 1.36686754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90463044 meters Centerline goodness [0,1] 0.3516109579600276 Centerline is valid? [False, False] Translation: X:18.59, Y:0.86, Z:1.37 [[ 9.92970226e-01 8.11258441e-03 -1.18086059e-01 1.85917220e+01] [-7.57884077e-03 9.99958938e-01 4.96830935e-03 8.55093310e-01] [ 1.18121515e-01 -4.03842783e-03 9.92990936e-01 1.36613873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.93463044000003 meters Centerline goodness [0,1] 0.3477189180000425 Centerline is valid? [False, False] Translation: X:18.62, Y:0.86, Z:1.37 [[ 9.92690454e-01 2.37281588e-03 -1.20664961e-01 1.86155307e+01] [-1.64857264e-03 9.99980026e-01 6.10157375e-03 8.62449788e-01] [ 1.20677029e-01 -5.85804906e-03 9.92674538e-01 1.36826221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96463044 meters Centerline goodness [0,1] 0.3488116292110598 Centerline is valid? [False, False] Translation: X:18.62, Y:0.86, Z:1.37 [[ 9.92668543e-01 2.32293824e-03 -1.20846051e-01 1.86160968e+01] [-1.61002751e-03 9.99980724e-01 5.99663613e-03 8.63104723e-01] [ 1.20857652e-01 -5.75810658e-03 9.92653148e-01 1.36814053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.99463044000004 meters Centerline goodness [0,1] 0.3470315717227179 Centerline is valid? [False, False] Translation: X:18.62, Y:0.86, Z:1.37 [[ 9.92650918e-01 2.19385094e-03 -1.20993145e-01 1.86166212e+01] [-1.49865229e-03 9.99981845e-01 5.83646725e-03 8.63678825e-01] [ 1.21003753e-01 -5.61224792e-03 9.92636184e-01 1.36802745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02463044 meters Centerline goodness [0,1] 0.3511038147492116 Centerline is valid? [False, False] Translation: X:18.62, Y:0.86, Z:1.37 [[ 9.92649828e-01 2.02981460e-03 -1.21004956e-01 1.86166586e+01] [-1.35717918e-03 9.99983169e-01 5.64089912e-03 8.64072308e-01] [ 1.21014369e-01 -5.43521213e-03 9.92635875e-01 1.36802751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.05463044000004 meters Centerline goodness [0,1] 0.34977106128678603 Centerline is valid? [False, False] Translation: X:18.62, Y:0.86, Z:1.37 [[ 9.92647305e-01 1.91192607e-03 -1.21027570e-01 1.86165090e+01] [-1.24851677e-03 9.99983780e-01 5.55706655e-03 8.64061706e-01] [ 1.21036231e-01 -5.36510218e-03 9.92633591e-01 1.36830151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08463044 meters Centerline goodness [0,1] 0.3491375611430533 Centerline is valid? [False, False] Translation: X:18.62, Y:0.86, Z:1.37 [[ 9.92636703e-01 1.77566944e-03 -1.21116570e-01 1.86167214e+01] [-1.10783137e-03 9.99983812e-01 5.58112419e-03 8.63360716e-01] [ 1.21124519e-01 -5.40585198e-03 9.92622601e-01 1.36844411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.11463044000004 meters Centerline goodness [0,1] 0.3496089120644702 Centerline is valid? [False, False] Translation: X:18.62, Y:0.86, Z:1.37 [[ 9.92600897e-01 1.78173453e-03 -1.21409571e-01 1.86177264e+01] [-1.09947949e-03 9.99983229e-01 5.68621003e-03 8.62684113e-01] [ 1.21417666e-01 -5.51064985e-03 9.92586209e-01 1.36819999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14463044 meters Centerline goodness [0,1] 0.3469545269386618 Centerline is valid? [False, False] Translation: X:18.62, Y:0.86, Z:1.37 [[ 9.92559263e-01 1.72149788e-03 -1.21750346e-01 1.86188399e+01] [-1.03365650e-03 9.99983149e-01 5.71253853e-03 8.62198760e-01] [ 1.21758128e-01 -5.54418499e-03 9.92544316e-01 1.36800520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.17463044 meters Centerline goodness [0,1] 0.34944890315676835 Centerline is valid? [False, False] Translation: X:18.62, Y:0.86, Z:1.37 [[ 9.92536852e-01 1.64052784e-03 -1.21934023e-01 1.86190513e+01] [-9.53390026e-04 9.99983338e-01 5.69345420e-03 8.61637249e-01] [ 1.21941331e-01 -5.53471242e-03 9.92521878e-01 1.36841988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20463044 meters Centerline goodness [0,1] 0.35293990861281144 Centerline is valid? [False, False] Translation: X:18.62, Y:0.86, Z:1.37 [[ 9.92546834e-01 1.70409017e-03 -1.21851870e-01 1.86187314e+01] [-1.02000135e-03 9.99983370e-01 5.67625856e-03 8.62182101e-01] [ 1.21859516e-01 -5.50966339e-03 9.92532066e-01 1.36857003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.23463044 meters Centerline goodness [0,1] 0.34758090355655236 Centerline is valid? [False, False] Translation: X:18.64, Y:0.86, Z:1.37 [[ 9.92633952e-01 9.83633037e-03 -1.20752161e-01 1.86384334e+01] [-9.36607978e-03 9.99946185e-01 4.46130520e-03 8.61734090e-01] [ 1.20789546e-01 -3.29746864e-03 9.92672661e-01 1.37157981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26463044 meters Centerline goodness [0,1] 0.3502912621359223 Centerline is valid? [False, False] Translation: X:18.64, Y:0.86, Z:1.37 [[ 9.92636982e-01 9.86178125e-03 -1.20725175e-01 1.86385448e+01] [-9.41895313e-03 9.99946659e-01 4.23817166e-03 8.63686557e-01] [ 1.20760531e-01 -3.06986116e-03 9.92676921e-01 1.37135993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.29463044 meters Centerline goodness [0,1] 0.35017669367350457 Centerline is valid? [False, False] Translation: X:18.64, Y:0.87, Z:1.37 [[ 9.92620459e-01 9.69803733e-03 -1.20874202e-01 1.86392763e+01] [-9.34437069e-03 9.99950242e-01 3.49240155e-03 8.68215181e-01] [ 1.20902057e-01 -2.33713588e-03 9.92661690e-01 1.37091883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32463044 meters Centerline goodness [0,1] 0.3482516294770812 Centerline is valid? [False, False] Translation: X:18.66, Y:0.88, Z:1.37 [[ 9.92602597e-01 3.33293846e-03 -1.21362989e-01 1.86572129e+01] [-2.79028551e-03 9.99985338e-01 4.64099432e-03 8.75562122e-01] [ 1.21376678e-01 -4.26802563e-03 9.92597343e-01 1.37497253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.35463044 meters Centerline goodness [0,1] 0.35196566819779607 Centerline is valid? [False, False] Translation: X:18.64, Y:0.88, Z:1.37 [[ 9.92566401e-01 -3.21882556e-03 -1.21661739e-01 1.86358210e+01] [ 4.12201073e-03 9.99965779e-01 7.17278872e-03 8.77789054e-01] [ 1.21634488e-01 -7.62096008e-03 9.92545703e-01 1.37217631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.38463044 meters Centerline goodness [0,1] 0.3484703327585106 Centerline is valid? [False, False] Translation: X:18.66, Y:0.88, Z:1.38 [[ 9.92683611e-01 4.34906425e-03 -1.20666213e-01 1.86550261e+01] [-3.66983349e-03 9.99976151e-01 5.85065984e-03 8.76106684e-01] [ 1.20688780e-01 -5.36502923e-03 9.92675896e-01 1.37552107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.41463044 meters Centerline goodness [0,1] 0.3502856287040801 Centerline is valid? [False, False] Translation: X:18.66, Y:0.88, Z:1.38 [[ 9.92680968e-01 4.15821959e-03 -1.20694677e-01 1.86550668e+01] [-3.48716054e-03 9.99977269e-01 5.77065358e-03 8.75509147e-01] [ 1.20715929e-01 -5.30753627e-03 9.92672904e-01 1.37563336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.44463044 meters Centerline goodness [0,1] 0.3520210557849913 Centerline is valid? [False, False] Translation: X:18.66, Y:0.88, Z:1.38 [[ 9.92655741e-01 -1.02115581e-04 -1.20973423e-01 1.86561095e+01] [ 3.52937153e-04 9.99997832e-01 2.05193609e-03 8.75289799e-01] [ 1.20972951e-01 -2.07956215e-03 9.92653626e-01 1.37533990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.47463044 meters Centerline goodness [0,1] 0.3509098295806873 Centerline is valid? [False, False] Translation: X:18.66, Y:0.87, Z:1.37 [[ 9.92610160e-01 -1.36783079e-04 -1.21346821e-01 1.86574085e+01] [ 3.95184698e-04 9.99997706e-01 2.10538340e-03 8.74729731e-01] [ 1.21346254e-01 -2.13777936e-03 9.92607937e-01 1.37498423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.50463044 meters Centerline goodness [0,1] 0.34920125745813824 Centerline is valid? [False, False] Translation: X:18.66, Y:0.87, Z:1.37 [[ 9.92579217e-01 -1.19796281e-04 -1.21599682e-01 1.86581132e+01] [ 3.83568452e-04 9.99997624e-01 2.14577927e-03 8.74599754e-01] [ 1.21599136e-01 -2.17649771e-03 9.92576905e-01 1.37494072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.53463044 meters Centerline goodness [0,1] 0.34942222030944026 Centerline is valid? [False, False] Translation: X:18.66, Y:0.88, Z:1.38 [[ 9.92572107e-01 -1.02924441e-05 -1.21657768e-01 1.86581145e+01] [ 2.60846863e-04 9.99997878e-01 2.04357603e-03 8.76234802e-01] [ 1.21657488e-01 -2.06013061e-03 9.92570003e-01 1.37513063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.56463044000003 meters Centerline goodness [0,1] 0.3487799657534246 Centerline is valid? [False, False] Translation: X:18.66, Y:0.88, Z:1.38 [[ 9.92559090e-01 1.22309734e-04 -1.21763858e-01 1.86582259e+01] [ 1.20406232e-04 9.99998021e-01 1.98597347e-03 8.77580494e-01] [ 1.21763860e-01 -1.98585715e-03 9.92557111e-01 1.37530996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.59463044 meters Centerline goodness [0,1] 0.3478048053799826 Centerline is valid? [False, False] Translation: X:18.68, Y:0.88, Z:1.38 [[ 9.92599399e-01 8.37102686e-03 -1.21146024e-01 1.86778503e+01] [-8.34715981e-03 9.99964914e-01 7.04499711e-04 8.77426524e-01] [ 1.21147671e-01 3.11939232e-04 9.92634447e-01 1.37874308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.62463044000003 meters Centerline goodness [0,1] 0.34617431095030327 Centerline is valid? [False, False] Translation: X:18.68, Y:0.88, Z:1.38 [[ 9.92595415e-01 8.47021882e-03 -1.21171769e-01 1.86779817e+01] [-8.46212136e-03 9.99964027e-01 5.81416409e-04 8.78915661e-01] [ 1.21172335e-01 4.48258955e-04 9.92631384e-01 1.37865279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.65463044 meters Centerline goodness [0,1] 0.3483218450041873 Centerline is valid? [False, False] Translation: X:18.68, Y:0.88, Z:1.38 [[ 9.92630311e-01 8.59960134e-03 -1.20876437e-01 1.86769484e+01] [-8.63339227e-03 9.99962702e-01 2.44164516e-04 8.81792403e-01] [ 1.20874029e-01 8.01208600e-04 9.92667531e-01 1.37896792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.68463044000003 meters Centerline goodness [0,1] 0.34826040554962645 Centerline is valid? [False, False] Translation: X:18.68, Y:0.88, Z:1.38 [[ 9.92619476e-01 8.50029498e-03 -1.20972394e-01 1.86772714e+01] [-8.56580458e-03 9.99963313e-01 -2.15035349e-05 8.83194582e-01] [ 1.20967773e-01 1.05757071e-03 9.92655872e-01 1.37886214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.71463044 meters Centerline goodness [0,1] 0.34858620615956737 Centerline is valid? [False, False] Translation: X:18.68, Y:0.88, Z:1.38 [[ 9.92617851e-01 8.42676257e-03 -1.20990870e-01 1.86774178e+01] [-8.51132141e-03 9.99963761e-01 -1.82099499e-04 8.84002091e-01] [ 1.20984951e-01 1.21054740e-03 9.92653603e-01 1.37874398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.74463044000004 meters Centerline goodness [0,1] 0.3471495927989713 Centerline is valid? [False, False] Translation: X:18.68, Y:0.88, Z:1.38 [[ 9.92624117e-01 8.38458221e-03 -1.20942388e-01 1.86773374e+01] [-8.47413519e-03 9.99964068e-01 -2.26140921e-04 8.84210273e-01] [ 1.20936146e-01 1.24935508e-03 9.92659502e-01 1.37872554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.77463044 meters Centerline goodness [0,1] 0.3507139488015094 Centerline is valid? [False, False] Translation: X:18.68, Y:0.88, Z:1.38 [[ 9.92624934e-01 8.21338044e-03 -1.20947430e-01 1.86772707e+01] [-8.30400795e-03 9.99965491e-01 -2.45299419e-04 8.83596922e-01] [ 1.20941242e-01 1.24783874e-03 9.92658883e-01 1.37893280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80463044000004 meters Centerline goodness [0,1] 0.3480920602327173 Centerline is valid? [False, False] Translation: X:18.68, Y:0.88, Z:1.38 [[ 9.92614986e-01 8.11489517e-03 -1.21035689e-01 1.86774991e+01] [-8.20417662e-03 9.99966317e-01 -2.39324672e-04 8.83011165e-01] [ 1.21029670e-01 1.23055543e-03 9.92648127e-01 1.37901503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.83463044 meters Centerline goodness [0,1] 0.3503891549777626 Centerline is valid? [False, False] Translation: X:18.68, Y:0.88, Z:1.38 [[ 9.92604535e-01 8.05829928e-03 -1.21125144e-01 1.86776714e+01] [-8.13650446e-03 9.99966887e-01 -1.51073356e-04 8.82048043e-01] [ 1.21119916e-01 1.13549137e-03 9.92637233e-01 1.37912578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86463044000004 meters Centerline goodness [0,1] 0.35057065159204304 Centerline is valid? [False, False] Translation: X:18.68, Y:0.88, Z:1.38 [[ 9.92593007e-01 8.03313850e-03 -1.21221246e-01 1.86780538e+01] [-8.09417930e-03 9.99967242e-01 -1.11402142e-05 8.80833198e-01] [ 1.21217185e-01 9.92244199e-04 9.92625513e-01 1.37905259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.89463044 meters Centerline goodness [0,1] 0.35025402473793654 Centerline is valid? [False, False] Translation: X:18.68, Y:0.88, Z:1.38 [[ 9.92660346e-01 4.33009476e-03 -1.20858127e-01 1.86770084e+01] [-4.74256092e-03 9.99983870e-01 -3.12537731e-03 8.79479331e-01] [ 1.20842645e-01 3.67561516e-03 9.92664870e-01 1.37926824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92463044 meters Centerline goodness [0,1] 0.3532761093392127 Centerline is valid? [False, False] Translation: X:18.68, Y:0.88, Z:1.38 [[ 9.92660870e-01 4.38291455e-03 -1.20851921e-01 1.86767239e+01] [-4.76526475e-03 9.99984513e-01 -2.87496616e-03 8.77874937e-01] [ 1.20837448e-01 3.42975780e-03 9.92666383e-01 1.37963759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.95463044 meters Centerline goodness [0,1] 0.35260387693097694 Centerline is valid? [False, False] Translation: X:18.68, Y:0.88, Z:1.38 [[ 9.92670049e-01 4.45957423e-03 -1.20773700e-01 1.86763448e+01] [-4.81486667e-03 9.99984897e-01 -2.65013872e-03 8.76599404e-01] [ 1.20760058e-01 3.21222260e-03 9.92676528e-01 1.37996876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98463044 meters Centerline goodness [0,1] 0.3517400796198793 Centerline is valid? [False, False] Translation: X:18.68, Y:0.87, Z:1.38 [[ 9.92671920e-01 4.54698658e-03 -1.20755055e-01 1.86764149e+01] [-4.86429806e-03 9.99985448e-01 -2.33308396e-03 8.74149140e-01] [ 1.20742690e-01 2.90337552e-03 9.92679592e-01 1.37994079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.01463044 meters Centerline goodness [0,1] 0.351508871907784 Centerline is valid? [False, False] Translation: X:18.68, Y:0.87, Z:1.38 [[ 9.92666162e-01 4.57220558e-03 -1.20801433e-01 1.86769708e+01] [-4.87575934e-03 9.99985655e-01 -2.21736868e-03 8.73047791e-01] [ 1.20789562e-01 2.79010558e-03 9.92674215e-01 1.37950538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04463044 meters Centerline goodness [0,1] 0.351508871907784 Centerline is valid? [False, False] Translation: X:18.68, Y:0.87, Z:1.38 [[ 9.92666162e-01 4.57220558e-03 -1.20801433e-01 1.86769708e+01] [-4.87575934e-03 9.99985655e-01 -2.21736868e-03 8.73047791e-01] [ 1.20789562e-01 2.79010558e-03 9.92674215e-01 1.37950538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.07463044 meters Centerline goodness [0,1] 0.35187963478931805 Centerline is valid? [False, False] Translation: X:18.68, Y:0.87, Z:1.38 [[ 9.92656135e-01 4.64581809e-03 -1.20880994e-01 1.86776173e+01] [-4.92709517e-03 9.99985805e-01 -2.02810291e-03 8.71786265e-01] [ 1.20869856e-01 2.60880095e-03 9.92664934e-01 1.37906123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10463044 meters Centerline goodness [0,1] 0.345613474043279 Centerline is valid? [False, False] Translation: X:18.68, Y:0.87, Z:1.38 [[ 9.92619262e-01 4.79136806e-03 -1.21177736e-01 1.86788312e+01] [-5.01189912e-03 9.99986292e-01 -1.51517293e-03 8.67926809e-01] [ 1.21168816e-01 2.11132043e-03 9.92629669e-01 1.37864710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.13463044 meters Centerline goodness [0,1] 0.348767817276318 Centerline is valid? [False, False] Translation: X:18.68, Y:0.87, Z:1.38 [[ 9.92566995e-01 4.79961618e-03 -1.21604789e-01 1.86800565e+01] [-4.98793820e-03 9.99986786e-01 -1.24427719e-03 8.65344731e-01] [ 1.21597210e-01 1.84158565e-03 9.92577819e-01 1.37858759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16463044 meters Centerline goodness [0,1] 0.3465452368736104 Centerline is valid? [False, False] Translation: X:18.68, Y:0.86, Z:1.38 [[ 9.92520587e-01 4.76502697e-03 -1.21984342e-01 1.86811775e+01] [-4.92553196e-03 9.99987355e-01 -1.01427074e-03 8.62767436e-01] [ 1.21977966e-01 1.60752236e-03 9.92531507e-01 1.37845145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.19463044 meters Centerline goodness [0,1] 0.34965517241379307 Centerline is valid? [False, False] Translation: X:18.68, Y:0.86, Z:1.38 [[ 9.92485110e-01 4.83417802e-03 -1.22269933e-01 1.86818311e+01] [-4.95749072e-03 9.99987464e-01 -7.04329354e-04 8.60215123e-01] [ 1.22264995e-01 1.30518845e-03 9.92496633e-01 1.37856271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22463044 meters Centerline goodness [0,1] 0.34673722096062387 Centerline is valid? [False, False] Translation: X:18.70, Y:0.86, Z:1.38 [[ 9.92617361e-01 -2.13080599e-03 -1.21269266e-01 1.87018507e+01] [ 2.28396878e-03 9.99996760e-01 1.12401093e-03 8.58401280e-01] [ 1.21266478e-01 -1.39268798e-03 9.92619011e-01 1.38150400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.25463044 meters Centerline goodness [0,1] 0.34650214592274675 Centerline is valid? [False, False] Translation: X:18.70, Y:0.86, Z:1.38 [[ 9.92640492e-01 -1.89170280e-03 -1.21083754e-01 1.87015791e+01] [ 2.10305281e-03 9.99996480e-01 1.61771690e-03 8.55773357e-01] [ 1.21080267e-01 -1.86045683e-03 9.92640976e-01 1.38135713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28463044 meters Centerline goodness [0,1] 0.34566291077804623 Centerline is valid? [False, False] Translation: X:18.70, Y:0.85, Z:1.38 [[ 9.92634514e-01 -1.76525909e-03 -1.21134655e-01 1.87020112e+01] [ 2.01524516e-03 9.99996085e-01 1.94122587e-03 8.53507356e-01] [ 1.21130754e-01 -2.17104383e-03 9.92634186e-01 1.38108002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.31463044000003 meters Centerline goodness [0,1] 0.34468231450434184 Centerline is valid? [False, False] Translation: X:18.70, Y:0.85, Z:1.38 [[ 9.92618610e-01 -1.81591635e-03 -1.21264162e-01 1.87026616e+01] [ 2.07738769e-03 9.99995782e-01 2.02982470e-03 8.51835127e-01] [ 1.21259964e-01 -2.26675445e-03 9.92618196e-01 1.38081100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34463044 meters Centerline goodness [0,1] 0.3465879717387558 Centerline is valid? [False, False] Translation: X:18.70, Y:0.85, Z:1.38 [[ 9.92560725e-01 -1.65162570e-03 -1.21739387e-01 1.87041769e+01] [ 1.92876610e-03 9.99995810e-01 2.15869910e-03 8.50875361e-01] [ 1.21735312e-01 -2.37744674e-03 9.92559752e-01 1.38042495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.37463044000003 meters Centerline goodness [0,1] 0.3444165755568418 Centerline is valid? [False, False] Translation: X:18.72, Y:0.85, Z:1.38 [[ 9.92540949e-01 6.88760075e-03 -1.21716992e-01 1.87240216e+01] [-6.79887189e-03 9.99976233e-01 1.14427983e-03 8.49459318e-01] [ 1.21721981e-01 -3.08206357e-04 9.92564187e-01 1.38384550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40463044 meters Centerline goodness [0,1] 0.34228872640707364 Centerline is valid? [False, False] Translation: X:18.72, Y:0.85, Z:1.38 [[ 9.92546038e-01 7.18884048e-03 -1.21658059e-01 1.87241648e+01] [-7.09275265e-03 9.99974098e-01 1.22285974e-03 8.50705417e-01] [ 1.21663699e-01 -3.50854066e-04 9.92571318e-01 1.38354625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.43463044000003 meters Centerline goodness [0,1] 0.3448639800116312 Centerline is valid? [False, False] Translation: X:18.72, Y:0.85, Z:1.38 [[ 9.92634436e-01 7.58287018e-03 -1.20910617e-01 1.87220663e+01] [-7.48736704e-03 9.99971195e-01 1.24417034e-03 8.52397812e-01] [ 1.20916568e-01 -3.29704156e-04 9.92662619e-01 1.38382396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46463044 meters Centerline goodness [0,1] 0.3457815551692315 Centerline is valid? [False, False] Translation: X:18.72, Y:0.85, Z:1.38 [[ 9.92618311e-01 7.46321508e-03 -1.21050359e-01 1.87224213e+01] [-7.40242128e-03 9.99972149e-01 9.51903950e-04 8.53725907e-01] [ 1.21054092e-01 -4.88115368e-05 9.92645911e-01 1.38380638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.49463044000004 meters Centerline goodness [0,1] 0.3420933977455717 Centerline is valid? [False, False] Translation: X:18.72, Y:0.85, Z:1.38 [[ 9.92597917e-01 7.41677423e-03 -1.21220319e-01 1.87231574e+01] [-7.38303662e-03 9.99972480e-01 7.27463460e-04 8.54998135e-01] [ 1.21222378e-01 1.72895336e-04 9.92625360e-01 1.38340178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52463044 meters Centerline goodness [0,1] 0.3420715566561353 Centerline is valid? [False, False] Translation: X:18.72, Y:0.86, Z:1.38 [[ 9.92558373e-01 7.35366110e-03 -1.21547524e-01 1.87242349e+01] [-7.34882592e-03 9.99972878e-01 4.88063878e-04 8.56563550e-01] [ 1.21547816e-01 4.08799706e-04 9.92585493e-01 1.38310280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.55463044000004 meters Centerline goodness [0,1] 0.3436689737930443 Centerline is valid? [False, False] Translation: X:18.72, Y:0.86, Z:1.38 [[ 9.92563441e-01 7.20259824e-03 -1.21515174e-01 1.87241662e+01] [-7.25195181e-03 9.99973704e-01 3.60991470e-05 8.59269030e-01] [ 1.21512239e-01 8.45391496e-04 9.92589573e-01 1.38304916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58463044 meters Centerline goodness [0,1] 0.3433391058944263 Centerline is valid? [False, False] Translation: X:18.72, Y:0.86, Z:1.38 [[ 9.92558479e-01 7.09565169e-03 -1.21561987e-01 1.87241550e+01] [-7.17146498e-03 9.99974267e-01 -1.86154189e-04 8.60605270e-01] [ 1.21557538e-01 1.05654645e-03 9.92583825e-01 1.38318812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.61463044000004 meters Centerline goodness [0,1] 0.34102624430517825 Centerline is valid? [False, False] Translation: X:18.72, Y:0.86, Z:1.38 [[ 9.92571478e-01 7.00705693e-03 -1.21460950e-01 1.87239534e+01] [-7.10344274e-03 9.99974705e-01 -3.60568329e-04 8.61643453e-01] [ 1.21455351e-01 1.22068075e-03 9.92596145e-01 1.38314248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64463044 meters Centerline goodness [0,1] 0.34561640024822926 Centerline is valid? [False, False] Translation: X:18.72, Y:0.86, Z:1.38 [[ 9.92574610e-01 6.94893633e-03 -1.21438688e-01 1.87238089e+01] [-7.06297842e-03 9.99974927e-01 -5.08659629e-04 8.62674752e-01] [ 1.21432108e-01 1.36260146e-03 9.92598804e-01 1.38322959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.67463044 meters Centerline goodness [0,1] 0.3402066265962226 Centerline is valid? [False, False] Translation: X:18.72, Y:0.87, Z:1.38 [[ 9.92539498e-01 6.66635834e-03 -1.21741139e-01 1.87247688e+01] [-6.84448779e-03 9.99976030e-01 -1.04505283e-03 8.65750188e-01] [ 1.21731255e-01 1.87051195e-03 9.92561335e-01 1.38304050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70463044 meters Centerline goodness [0,1] 0.3424507187742102 Centerline is valid? [False, False] Translation: X:18.73, Y:0.87, Z:1.38 [[ 9.92519052e-01 6.46632757e-03 -1.21918489e-01 1.87250405e+01] [-6.68644624e-03 9.99976670e-01 -1.39641299e-03 8.67407894e-01] [ 1.21906615e-01 2.20116792e-03 9.92539134e-01 1.38324056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.73463044 meters Centerline goodness [0,1] 0.33932144225448047 Centerline is valid? [False, False] Translation: X:18.74, Y:0.88, Z:1.39 [[ 9.92476641e-01 -3.96796562e-04 -1.22433492e-01 1.87434110e+01] [ 3.09020864e-04 9.99999681e-01 -7.35913394e-04 8.75662433e-01] [ 1.22433745e-01 6.92542350e-04 9.92476447e-01 1.38700878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76463044 meters Centerline goodness [0,1] 0.342399212531028 Centerline is valid? [False, False] Translation: X:18.74, Y:0.88, Z:1.39 [[ 9.92513660e-01 -4.34614050e-04 -1.22132901e-01 1.87421398e+01] [ 3.02625696e-04 9.99999350e-01 -1.09924213e-03 8.79196084e-01] [ 1.22133300e-01 1.05405227e-03 9.92513147e-01 1.38755671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.79463044 meters Centerline goodness [0,1] 0.3415002445819775 Centerline is valid? [False, False] Translation: X:18.74, Y:0.88, Z:1.39 [[ 9.92540993e-01 -4.23585274e-04 -1.21910612e-01 1.87414826e+01] [ 2.71139112e-04 9.99999161e-01 -1.26706144e-03 8.81200753e-01] [ 1.21911046e-01 1.22455569e-03 9.92540275e-01 1.38765895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.82463044 meters Centerline goodness [0,1] 0.34402062963360913 Centerline is valid? [False, False] Translation: X:18.74, Y:0.88, Z:1.39 [[ 9.92558175e-01 -5.35610384e-04 -1.21770205e-01 1.87409022e+01] [ 3.49660966e-04 9.99998740e-01 -1.54841538e-03 8.82962897e-01] [ 1.21770881e-01 1.49431406e-03 9.92557112e-01 1.38789639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.85463044 meters Centerline goodness [0,1] 0.3422411953041622 Centerline is valid? [False, False] Translation: X:18.74, Y:0.88, Z:1.39 [[ 9.92550505e-01 -7.18738338e-04 -1.21831759e-01 1.87409402e+01] [ 5.00934592e-04 9.99998221e-01 -1.81836147e-03 8.84111871e-01] [ 1.21832850e-01 1.74378586e-03 9.92549100e-01 1.38809420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.88463044 meters Centerline goodness [0,1] 0.342948442995625 Centerline is valid? [False, False] Translation: X:18.74, Y:0.89, Z:1.39 [[ 9.92444976e-01 -1.20108425e-03 -1.22684666e-01 1.87432743e+01] [ 9.22170003e-04 9.99996860e-01 -2.33018112e-03 8.85443745e-01] [ 1.22687079e-01 2.19944043e-03 9.92442967e-01 1.38788391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.91463044 meters Centerline goodness [0,1] 0.34165005465886433 Centerline is valid? [False, False] Translation: X:18.75, Y:0.89, Z:1.39 [[ 9.92381087e-01 -1.39138008e-03 -1.23198384e-01 1.87450833e+01] [ 1.08993928e-03 9.99996246e-01 -2.51415416e-03 8.85861787e-01] [ 1.23201420e-01 2.36072028e-03 9.92378878e-01 1.38734238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.94463044 meters Centerline goodness [0,1] 0.3395748335838523 Centerline is valid? [False, False] Translation: X:18.75, Y:0.89, Z:1.39 [[ 9.92328097e-01 -1.57190327e-03 -1.23622318e-01 1.87466539e+01] [ 1.25449068e-03 9.99995714e-01 -2.64539758e-03 8.85933789e-01] [ 1.23625947e-01 2.47001930e-03 9.92325816e-01 1.38679841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.97463044 meters Centerline goodness [0,1] 0.3358440502428691 Centerline is valid? [False, False] Translation: X:18.75, Y:0.89, Z:1.39 [[ 9.92279101e-01 -2.00564977e-03 -1.24008719e-01 1.87477595e+01] [ 1.65144521e-03 9.99994258e-01 -2.95901524e-03 8.86222580e-01] [ 1.24013942e-01 2.73137538e-03 9.92276716e-01 1.38678875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.00463044 meters Centerline goodness [0,1] 0.3389068487871716 Centerline is valid? [False, False] Translation: X:18.75, Y:0.89, Z:1.39 [[ 9.92289518e-01 -2.15224481e-03 -1.23922882e-01 1.87472699e+01] [ 1.77961991e-03 9.99993557e-01 -3.11752561e-03 8.86781395e-01] [ 1.23928793e-01 2.87295236e-03 9.92286955e-01 1.38716392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.03463044 meters Centerline goodness [0,1] 0.3394558260013273 Centerline is valid? [False, False] Translation: X:18.75, Y:0.89, Z:1.39 [[ 9.92305846e-01 -2.23668122e-03 -1.23790574e-01 1.87468305e+01] [ 1.84752610e-03 9.99992985e-01 -3.25836261e-03 8.87628615e-01] [ 1.23796993e-01 3.00458595e-03 9.92303017e-01 1.38729538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.06463044000003 meters Centerline goodness [0,1] 0.3353761397364994 Centerline is valid? [False, False] Translation: X:18.75, Y:0.89, Z:1.39 [[ 9.92299174e-01 -2.34887540e-03 -1.23841961e-01 1.87470076e+01] [ 1.92381702e-03 9.99991842e-01 -3.55173792e-03 8.89474914e-01] [ 1.23849293e-01 3.28613733e-03 9.92295598e-01 1.38726017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.09463044 meters Centerline goodness [0,1] 0.33628318584070793 Centerline is valid? [False, False] Translation: X:18.75, Y:0.90, Z:1.39 [[ 9.92198790e-01 -2.41384405e-03 -1.24642429e-01 1.87494184e+01] [ 1.91440945e-03 9.99989653e-01 -4.12655900e-03 8.95349357e-01] [ 1.24651100e-01 3.85575020e-03 9.92193145e-01 1.38677222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.12463044000003 meters Centerline goodness [0,1] 0.3368669527896996 Centerline is valid? [False, False] Translation: X:18.75, Y:0.90, Z:1.39 [[ 9.92145058e-01 -2.50281341e-03 -1.25067663e-01 1.87506160e+01] [ 1.95281414e-03 9.99987878e-01 -4.52001866e-03 8.98194166e-01] [ 1.25077460e-01 4.24028027e-03 9.92137918e-01 1.38656614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.15463044 meters Centerline goodness [0,1] 0.33918115926256454 Centerline is valid? [False, False] Translation: X:18.75, Y:0.90, Z:1.39 [[ 9.92117626e-01 -2.62623595e-03 -1.25282560e-01 1.87511366e+01] [ 2.01978366e-03 9.99985622e-01 -4.96745296e-03 9.01279558e-01] [ 1.25293804e-01 4.67525397e-03 9.92108666e-01 1.38654010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.18463044000003 meters Centerline goodness [0,1] 0.3336257247384523 Centerline is valid? [False, False] Translation: X:18.79, Y:0.91, Z:1.39 [[ 9.92301841e-01 -1.22012276e-03 -1.23836860e-01 1.87932519e+01] [ 6.03776458e-04 9.99987245e-01 -5.01449005e-03 9.07644001e-01] [ 1.23841399e-01 4.90111793e-03 9.92289921e-01 1.39212956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.21463044 meters Centerline goodness [0,1] 0.33488660410832993 Centerline is valid? [False, False] Translation: X:18.79, Y:0.91, Z:1.39 [[ 9.92368686e-01 -1.57137363e-03 -1.23296071e-01 1.87913009e+01] [ 8.80049377e-04 9.99983588e-01 -5.66128665e-03 9.11277230e-01] [ 1.23302943e-01 5.50957697e-03 9.92353782e-01 1.39282939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.24463044000004 meters Centerline goodness [0,1] 0.3369033310439561 Centerline is valid? [False, False] Translation: X:18.79, Y:0.91, Z:1.39 [[ 9.92395283e-01 -1.78035473e-03 -1.23078973e-01 1.87899880e+01] [ 1.06617971e-03 9.99982214e-01 -5.86819449e-03 9.11840958e-01] [ 1.23087231e-01 5.69234422e-03 9.92379530e-01 1.39369105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.27463044 meters Centerline goodness [0,1] 0.3350528649386084 Centerline is valid? [False, False] Translation: X:18.79, Y:0.91, Z:1.39 [[ 9.92405336e-01 -1.97764538e-03 -1.22994868e-01 1.87894117e+01] [ 1.24720447e-03 9.99981129e-01 -6.01550055e-03 9.12065742e-01] [ 1.23004443e-01 5.81641510e-03 9.92389075e-01 1.39416497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30463044000004 meters Centerline goodness [0,1] 0.3394170759431231 Centerline is valid? [False, False] Translation: X:18.79, Y:0.91, Z:1.39 [[ 9.92394345e-01 -2.29874572e-03 -1.23077942e-01 1.87896170e+01] [ 1.54796434e-03 9.99979611e-01 -6.19532454e-03 9.12108860e-01] [ 1.23089674e-01 5.95768477e-03 9.92377669e-01 1.39421266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.33463044 meters Centerline goodness [0,1] 0.3368167548273341 Centerline is valid? [False, False] Translation: X:18.79, Y:0.91, Z:1.39 [[ 9.92402895e-01 -2.26396434e-03 -1.23009626e-01 1.87893734e+01] [ 1.52025750e-03 9.99979998e-01 -6.13944723e-03 9.12148170e-01] [ 1.23021065e-01 5.90579890e-03 9.92386487e-01 1.39432771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36463044000004 meters Centerline goodness [0,1] 0.33688731573608444 Centerline is valid? [False, False] Translation: X:18.79, Y:0.91, Z:1.39 [[ 9.92420272e-01 -2.21214429e-03 -1.22870296e-01 1.87889653e+01] [ 1.48157734e-03 9.99980680e-01 -6.03688756e-03 9.11860154e-01] [ 1.22881277e-01 5.80908775e-03 9.92404376e-01 1.39443627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.39463044 meters Centerline goodness [0,1] 0.33862184297414344 Centerline is valid? [False, False] Translation: X:18.81, Y:0.91, Z:1.40 [[ 9.92615526e-01 3.46030829e-03 -1.21253635e-01 1.88088085e+01] [-4.57953212e-03 9.99949435e-01 -8.95297993e-03 9.09137172e-01] [ 1.21216524e-01 9.44215180e-03 9.92581181e-01 1.39767971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42463044 meters Centerline goodness [0,1] 0.3360388216095508 Centerline is valid? [False, False] Translation: X:18.81, Y:0.91, Z:1.40 [[ 9.92612674e-01 3.48019162e-03 -1.21276412e-01 1.88087198e+01] [-4.58243324e-03 9.99950683e-01 -8.81095761e-03 9.07948653e-01] [ 1.21239767e-01 9.30160925e-03 9.92579669e-01 1.39785760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.45463044 meters Centerline goodness [0,1] 0.3390083826109559 Centerline is valid? [False, False] Translation: X:18.81, Y:0.91, Z:1.40 [[ 9.92606387e-01 3.60921564e-03 -1.21324087e-01 1.88087906e+01] [-4.68120323e-03 9.99952475e-01 -8.55187243e-03 9.06600084e-01] [ 1.21287456e-01 9.05658590e-03 9.92576109e-01 1.39793993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48463044 meters Centerline goodness [0,1] 0.3336246775672046 Centerline is valid? [False, False] Translation: X:18.83, Y:0.91, Z:1.40 [[ 9.92608039e-01 -3.27166436e-03 -1.21320147e-01 1.88278177e+01] [ 2.41679505e-03 9.99971210e-01 -7.19286945e-03 9.10540196e-01] [ 1.21340187e-01 6.84649411e-03 9.92587369e-01 1.40133787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.51463044 meters Centerline goodness [0,1] 0.3357653301382173 Centerline is valid? [False, False] Translation: X:18.83, Y:0.91, Z:1.40 [[ 9.92652286e-01 -3.11511489e-03 -1.20961711e-01 1.88269520e+01] [ 2.31364216e-03 9.99974436e-01 -6.76572010e-03 9.07726304e-01] [ 1.20979695e-01 6.43614541e-03 9.92634117e-01 1.40135555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54463044 meters Centerline goodness [0,1] 0.33719986328291895 Centerline is valid? [False, False] Translation: X:18.83, Y:0.91, Z:1.40 [[ 9.92679771e-01 -3.00661519e-03 -1.20738696e-01 1.88261880e+01] [ 2.23522433e-03 9.99976221e-01 -6.52385481e-03 9.06124070e-01] [ 1.20755440e-01 6.20622063e-03 9.92662887e-01 1.40162062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.57463044 meters Centerline goodness [0,1] 0.3382542547705003 Centerline is valid? [False, False] Translation: X:18.83, Y:0.90, Z:1.40 [[ 9.92699007e-01 -2.89845985e-03 -1.20583087e-01 1.88256021e+01] [ 2.15324195e-03 9.99977774e-01 -6.30995847e-03 9.04956959e-01] [ 1.20598696e-01 6.00424494e-03 9.92683184e-01 1.40186369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60463044 meters Centerline goodness [0,1] 0.3398612811097511 Centerline is valid? [False, False] Translation: X:18.83, Y:0.90, Z:1.40 [[ 9.92688568e-01 -2.73355955e-03 -1.20672842e-01 1.88260021e+01] [ 2.01482845e-03 9.99979501e-01 -6.07764208e-03 9.04007222e-01] [ 1.20686982e-01 5.79007074e-03 9.92673727e-01 1.40168312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.63463044 meters Centerline goodness [0,1] 0.336395366266247 Centerline is valid? [False, False] Translation: X:18.83, Y:0.90, Z:1.40 [[ 9.92604663e-01 -2.55972462e-03 -1.21364865e-01 1.88285896e+01] [ 1.85724497e-03 9.99980865e-01 -5.90093034e-03 9.03127992e-01] [ 1.21377647e-01 5.63188669e-03 9.92590423e-01 1.40073409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66463044 meters Centerline goodness [0,1] 0.3357358903404337 Centerline is valid? [False, False] Translation: X:18.83, Y:0.90, Z:1.40 [[ 9.92570289e-01 -2.51656748e-03 -1.21646570e-01 1.88296743e+01] [ 1.81531071e-03 9.99981093e-01 -5.87518758e-03 9.02943156e-01] [ 1.21659056e-01 5.61071032e-03 9.92556091e-01 1.40030957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.69463044 meters Centerline goodness [0,1] 0.3341166919477856 Centerline is valid? [False, False] Translation: X:18.83, Y:0.90, Z:1.40 [[ 9.92547986e-01 -2.45490001e-03 -1.21829675e-01 1.88303532e+01] [ 1.75465503e-03 9.99981322e-01 -5.85468887e-03 9.03031009e-01] [ 1.21841772e-01 5.59729059e-03 9.92533754e-01 1.40005813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72463044 meters Centerline goodness [0,1] 0.333889852094437 Centerline is valid? [False, False] Translation: X:18.83, Y:0.90, Z:1.40 [[ 9.92541424e-01 -2.38557002e-03 -1.21884497e-01 1.88306556e+01] [ 1.68662430e-03 9.99981540e-01 -5.83734204e-03 9.03256398e-01] [ 1.21896172e-01 5.58823043e-03 9.92527126e-01 1.39983199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.75463044 meters Centerline goodness [0,1] 0.3328620394173093 Centerline is valid? [False, False] Translation: X:18.83, Y:0.90, Z:1.40 [[ 9.92545003e-01 -2.34805825e-03 -1.21856077e-01 1.88306715e+01] [ 1.63131796e-03 9.99980781e-01 -5.98129074e-03 9.04434887e-01] [ 1.21867780e-01 5.73791423e-03 9.92529758e-01 1.39972456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78463044 meters Centerline goodness [0,1] 0.33600240431058537 Centerline is valid? [False, False] Translation: X:18.83, Y:0.91, Z:1.40 [[ 9.92563957e-01 -2.37273747e-03 -1.21701117e-01 1.88303984e+01] [ 1.64198965e-03 9.99980020e-01 -6.10438376e-03 9.05356911e-01] [ 1.21713169e-01 5.85915933e-03 9.92548021e-01 1.39953525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.81463044000003 meters Centerline goodness [0,1] 0.3348176831235883 Centerline is valid? [False, False] Translation: X:18.83, Y:0.91, Z:1.40 [[ 9.92550642e-01 -2.32851675e-03 -1.21810513e-01 1.88307167e+01] [ 1.58816169e-03 9.99979675e-01 -6.17466017e-03 9.06446409e-01] [ 1.21822415e-01 5.93520813e-03 9.92534167e-01 1.39943419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84463044 meters Centerline goodness [0,1] 0.3319528648279395 Centerline is valid? [False, False] Translation: X:18.83, Y:0.91, Z:1.40 [[ 9.92482305e-01 -2.24780879e-03 -1.22367570e-01 1.88325825e+01] [ 1.48821934e-03 9.99979057e-01 -6.29848541e-03 9.08527133e-01] [ 1.22379165e-01 6.06902553e-03 9.92464864e-01 1.39893320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.87463044000003 meters Centerline goodness [0,1] 0.33426736215889985 Centerline is valid? [False, False] Translation: X:18.83, Y:0.91, Z:1.40 [[ 9.92448130e-01 -2.38853551e-03 -1.22641768e-01 1.88332528e+01] [ 1.60140115e-03 9.99977486e-01 -6.51632942e-03 9.09340693e-01] [ 1.22654572e-01 6.27072028e-03 9.92429612e-01 1.39895728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90463044 meters Centerline goodness [0,1] 0.3300282984744356 Centerline is valid? [False, False] Translation: X:18.85, Y:0.91, Z:1.40 [[ 9.92518243e-01 4.80483308e-03 -1.22001846e-01 1.88524711e+01] [-5.85809312e-03 9.99948595e-01 -8.27592570e-03 9.08206433e-01] [ 1.21955810e-01 8.92870541e-03 9.92495370e-01 1.40245233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.93463044000003 meters Centerline goodness [0,1] 0.33588018233123507 Centerline is valid? [False, False] Translation: X:18.81, Y:0.91, Z:1.40 [[ 9.92378626e-01 3.73332950e-03 -1.23169496e-01 1.88060992e+01] [-4.79492226e-03 9.99953862e-01 -8.32366088e-03 9.06801876e-01] [ 1.23132738e-01 8.85081131e-03 9.92350740e-01 1.39805854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96463044 meters Centerline goodness [0,1] 0.33588018233123507 Centerline is valid? [False, False] Translation: X:18.81, Y:0.91, Z:1.40 [[ 9.92378626e-01 3.73332950e-03 -1.23169496e-01 1.88060992e+01] [-4.79492226e-03 9.99953862e-01 -8.32366088e-03 9.06801876e-01] [ 1.23132738e-01 8.85081131e-03 9.92350740e-01 1.39805854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.99463044000004 meters Centerline goodness [0,1] 0.3362325721932059 Centerline is valid? [False, False] Translation: X:18.82, Y:0.91, Z:1.40 [[ 9.92362270e-01 -2.90696134e-03 -1.23323453e-01 1.88228842e+01] [ 2.05822995e-03 9.99973318e-01 -7.00899953e-03 9.13666638e-01] [ 1.23340537e-01 6.70163866e-03 9.92341776e-01 1.40261131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02463044 meters Centerline goodness [0,1] 0.3357306940896112 Centerline is valid? [False, False] Translation: X:18.84, Y:0.92, Z:1.41 [[ 9.92573648e-01 4.87685812e-03 -1.21547395e-01 1.88421347e+01] [-5.98921916e-03 9.99943449e-01 -8.78800226e-03 9.17421619e-01] [ 1.21497664e-01 9.45071345e-03 9.92546725e-01 1.40592877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.05463044000004 meters Centerline goodness [0,1] 0.3377146037590444 Centerline is valid? [False, False] Translation: X:18.84, Y:0.92, Z:1.41 [[ 9.92593028e-01 4.74625117e-03 -1.21394212e-01 1.88420153e+01] [-5.90720096e-03 9.99940181e-01 -9.20537483e-03 9.20271472e-01] [ 1.21343260e-01 9.85429088e-03 9.92561689e-01 1.40564051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08463044 meters Centerline goodness [0,1] 0.33600716815292064 Centerline is valid? [False, False] Translation: X:18.84, Y:0.92, Z:1.41 [[ 9.92594110e-01 4.76641433e-03 -1.21384573e-01 1.88419952e+01] [-5.96212654e-03 9.99937201e-01 -9.48931683e-03 9.23122952e-01] [ 1.21331721e-01 1.01427502e-02 9.92560194e-01 1.40562348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.11463044000004 meters Centerline goodness [0,1] 0.3343391542544085 Centerline is valid? [False, False] Translation: X:18.84, Y:0.93, Z:1.41 [[ 9.92601734e-01 4.77648047e-03 -1.21321817e-01 1.88419260e+01] [-6.00808624e-03 9.99934049e-01 -9.78778088e-03 9.25836938e-01] [ 1.21267065e-01 1.04442802e-02 9.92564968e-01 1.40548683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14463044 meters Centerline goodness [0,1] 0.3343747993751204 Centerline is valid? [False, False] Translation: X:18.84, Y:0.93, Z:1.41 [[ 9.92584344e-01 4.44531883e-03 -1.21476576e-01 1.88424278e+01] [-5.77160167e-03 9.99927497e-01 -1.05683332e-02 9.30077916e-01] [ 1.21420789e-01 1.11910765e-02 9.92538035e-01 1.40530326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.17463044 meters Centerline goodness [0,1] 0.3348940628140167 Centerline is valid? [False, False] Translation: X:18.84, Y:0.93, Z:1.41 [[ 9.92575500e-01 4.20405935e-03 -1.21557405e-01 1.88425568e+01] [-5.57281682e-03 9.99924820e-01 -1.09223963e-02 9.31449993e-01] [ 1.21502348e-01 1.15187201e-02 9.92524306e-01 1.40537348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20463044 meters Centerline goodness [0,1] 0.33523875016117244 Centerline is valid? [False, False] Translation: X:18.84, Y:0.93, Z:1.41 [[ 9.92569422e-01 4.10815529e-03 -1.21610305e-01 1.88423391e+01] [-5.49222635e-03 9.99923884e-01 -1.10481866e-02 9.32019300e-01] [ 1.21555661e-01 1.16340035e-02 9.92516434e-01 1.40577048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.23463044 meters Centerline goodness [0,1] 0.33547396044462463 Centerline is valid? [False, False] Translation: X:18.86, Y:0.94, Z:1.41 [[ 9.92663855e-01 -3.31785303e-03 -1.20861335e-01 1.88607958e+01] [ 2.15474410e-03 9.99950118e-01 -9.75292014e-03 9.37131435e-01] [ 1.20887664e-01 9.42094606e-03 9.92621488e-01 1.40998650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26463044 meters Centerline goodness [0,1] 0.33479230850950814 Centerline is valid? [False, False] Translation: X:18.86, Y:0.94, Z:1.41 [[ 9.92638227e-01 -3.43316687e-03 -1.21068424e-01 1.88613453e+01] [ 2.26673119e-03 9.99949694e-01 -9.77092202e-03 9.36787911e-01] [ 1.21095879e-01 9.42456114e-03 9.92596074e-01 1.41002206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.29463044 meters Centerline goodness [0,1] 0.3384728024462724 Centerline is valid? [False, False] Translation: X:18.86, Y:0.94, Z:1.41 [[ 9.92605393e-01 -3.53014719e-03 -1.21334547e-01 1.88621301e+01] [ 2.36681560e-03 9.99949856e-01 -9.73058606e-03 9.36024921e-01] [ 1.21362813e-01 9.37145570e-03 9.92563975e-01 1.40993612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.32463044 meters Centerline goodness [0,1] 0.33551329489716897 Centerline is valid? [False, False] Translation: X:18.86, Y:0.94, Z:1.41 [[ 9.92590014e-01 -3.61047083e-03 -1.21457929e-01 1.88625929e+01] [ 2.44798213e-03 9.99949773e-01 -9.71897744e-03 9.35667191e-01] [ 1.21486918e-01 9.34963311e-03 9.92548998e-01 1.40979894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.35463044 meters Centerline goodness [0,1] 0.3399879007864489 Centerline is valid? [False, False] Translation: X:18.86, Y:0.93, Z:1.41 [[ 9.92588899e-01 -3.71385592e-03 -1.21463926e-01 1.88622394e+01] [ 2.56780149e-03 9.99950713e-01 -9.59051515e-03 9.34439694e-01] [ 1.21493557e-01 9.20754362e-03 9.92549513e-01 1.41029691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.38463044 meters Centerline goodness [0,1] 0.33801848269933377 Centerline is valid? [False, False] Translation: X:18.86, Y:0.93, Z:1.41 [[ 9.92559559e-01 -3.72754811e-03 -1.21703027e-01 1.88624977e+01] [ 2.59365527e-03 9.99951757e-01 -9.47397103e-03 9.33453261e-01] [ 1.21732470e-01 9.08782482e-03 9.92521343e-01 1.41070594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.41463044 meters Centerline goodness [0,1] 0.33586349932647697 Centerline is valid? [False, False] Translation: X:18.86, Y:0.93, Z:1.41 [[ 9.92532338e-01 -3.72126953e-03 -1.21925020e-01 1.88628448e+01] [ 2.60766997e-03 9.99953430e-01 -9.29177179e-03 9.32000188e-01] [ 1.21953919e-01 8.90444376e-03 9.92495820e-01 1.41102112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.44463044 meters Centerline goodness [0,1] 0.33996254923484215 Centerline is valid? [False, False] Translation: X:18.86, Y:0.93, Z:1.41 [[ 9.92517175e-01 -3.73325402e-03 -1.22048024e-01 1.88630971e+01] [ 2.64605601e-03 9.99955376e-01 -9.06881864e-03 9.30073562e-01] [ 1.22076434e-01 8.67801235e-03 9.92482764e-01 1.41111788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.47463044 meters Centerline goodness [0,1] 0.33769156574857995 Centerline is valid? [False, False] Translation: X:18.86, Y:0.93, Z:1.41 [[ 9.92488566e-01 -7.37957515e-03 -1.22114656e-01 1.88635499e+01] [ 5.99328040e-03 9.99913406e-01 -1.17158243e-02 9.25000862e-01] [ 1.22190539e-01 1.08959543e-02 9.92446850e-01 1.41096253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.50463044 meters Centerline goodness [0,1] 0.33608591476981 Centerline is valid? [False, False] Translation: X:18.86, Y:0.92, Z:1.41 [[ 9.92462433e-01 -7.25754173e-03 -1.22334162e-01 1.88642117e+01] [ 5.92895236e-03 9.99919467e-01 -1.12208622e-02 9.21567087e-01] [ 1.22405746e-01 1.04109708e-02 9.92425536e-01 1.41089478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.53463044 meters Centerline goodness [0,1] 0.3393041458799243 Centerline is valid? [False, False] Translation: X:18.86, Y:0.92, Z:1.41 [[ 9.92440353e-01 -7.14630677e-03 -1.22519697e-01 1.88647091e+01] [ 5.87401410e-03 9.99925045e-01 -1.07424563e-02 9.18149514e-01] [ 1.22587283e-01 9.94156469e-03 9.92407942e-01 1.41092181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.56463044000003 meters Centerline goodness [0,1] 0.3386936839836172 Centerline is valid? [False, False] Translation: X:18.86, Y:0.91, Z:1.41 [[ 9.92514588e-01 -9.77537134e-03 -1.21734279e-01 1.88618405e+01] [ 8.33026380e-03 9.99888736e-01 -1.23742906e-02 9.10942643e-01] [ 1.21841698e-01 1.12675853e-02 9.92485588e-01 1.41183066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.59463044 meters Centerline goodness [0,1] 0.3375939366690218 Centerline is valid? [False, False] Translation: X:18.88, Y:0.90, Z:1.42 [[ 9.92647375e-01 -2.30531604e-03 -1.21020142e-01 1.88801242e+01] [ 6.60886874e-04 9.99906937e-01 -1.36264415e-02 9.03875610e-01] [ 1.21040293e-01 1.34462708e-02 9.92556520e-01 1.41550870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.62463044000003 meters Centerline goodness [0,1] 0.3395756912714246 Centerline is valid? [False, False] Translation: X:18.88, Y:0.90, Z:1.42 [[ 9.92635800e-01 -2.07216144e-03 -1.21119259e-01 1.88804424e+01] [ 4.90826070e-04 9.99914275e-01 -1.30843954e-02 9.00666193e-01] [ 1.21135989e-01 1.29285908e-02 9.92551723e-01 1.41544035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.65463044 meters Centerline goodness [0,1] 0.34100598596098364 Centerline is valid? [False, False] Translation: X:18.88, Y:0.90, Z:1.41 [[ 9.92596505e-01 -1.82275083e-03 -1.21444865e-01 1.88817552e+01] [ 3.00854176e-04 9.99921216e-01 -1.25487432e-02 8.97648555e-01] [ 1.21458170e-01 1.24193015e-02 9.92518853e-01 1.41485839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.68463044000003 meters Centerline goodness [0,1] 0.33699241027400195 Centerline is valid? [False, False] Translation: X:18.88, Y:0.89, Z:1.41 [[ 9.92511541e-01 -1.27722864e-03 -1.22144218e-01 1.88842325e+01] [-1.26219731e-04 9.99934076e-01 -1.14816649e-02 8.90893801e-01] [ 1.22150831e-01 1.14111019e-02 9.92445949e-01 1.41409522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.71463044 meters Centerline goodness [0,1] 0.33988000172659383 Centerline is valid? [False, False] Translation: X:18.88, Y:0.89, Z:1.41 [[ 9.92522651e-01 -1.00995658e-03 -1.22056408e-01 1.88838685e+01] [-3.27327481e-04 9.99940150e-01 -1.09357312e-02 8.87853544e-01] [ 1.22060148e-01 1.08939134e-02 9.92462918e-01 1.41424759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.74463044000004 meters Centerline goodness [0,1] 0.3392738138744975 Centerline is valid? [False, False] Translation: X:18.88, Y:0.89, Z:1.41 [[ 9.92542156e-01 -8.05527749e-04 -1.21899222e-01 1.88832311e+01] [-4.79847089e-04 9.99944602e-01 -1.05148463e-02 8.85307575e-01] [ 1.21900939e-01 1.04949212e-02 9.92486785e-01 1.41455345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.77463044 meters Centerline goodness [0,1] 0.3411584642911035 Centerline is valid? [False, False] Translation: X:18.88, Y:0.88, Z:1.41 [[ 9.92583734e-01 -4.34481872e-04 -1.21562091e-01 1.88823943e+01] [-7.68346545e-04 9.99951215e-01 -9.84771612e-03 8.81324659e-01] [ 1.21560439e-01 9.86808466e-03 9.92534977e-01 1.41455962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80463044000004 meters Centerline goodness [0,1] 0.3406375361256093 Centerline is valid? [False, False] Translation: X:18.88, Y:0.88, Z:1.41 [[ 9.92577251e-01 -2.59148234e-04 -1.21615515e-01 1.88826112e+01] [-9.16225349e-04 9.99953416e-01 -9.60864740e-03 8.80265230e-01] [ 1.21612340e-01 9.64875204e-03 9.92530776e-01 1.41448979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.83463044 meters Centerline goodness [0,1] 0.3427880671760998 Centerline is valid? [False, False] Translation: X:18.88, Y:0.88, Z:1.41 [[ 9.92578219e-01 -2.14358810e-05 -1.21607886e-01 1.88828170e+01] [-1.12712697e-03 9.99955409e-01 -9.37600875e-03 8.79645688e-01] [ 1.21602665e-01 9.44348959e-03 9.92533935e-01 1.41423059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86463044000004 meters Centerline goodness [0,1] 0.34059482591772217 Centerline is valid? [False, False] Translation: X:18.88, Y:0.88, Z:1.41 [[ 9.92555619e-01 2.16410855e-04 -1.21792020e-01 1.88833137e+01] [-1.35177716e-03 9.99956400e-01 -9.23962502e-03 8.79811331e-01] [ 1.21784710e-01 9.33547740e-03 9.92512636e-01 1.41416695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.89463044 meters Centerline goodness [0,1] 0.3404021465054633 Centerline is valid? [False, False] Translation: X:18.88, Y:0.88, Z:1.41 [[ 9.92574670e-01 8.77824770e-04 -1.21633690e-01 1.88831007e+01] [-1.97623566e-03 9.99958351e-01 -8.91014036e-03 8.80499576e-01] [ 1.21620802e-01 9.08435646e-03 9.92535065e-01 1.41389896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92463044 meters Centerline goodness [0,1] 0.3389462365591398 Centerline is valid? [False, False] Translation: X:18.88, Y:0.88, Z:1.41 [[ 9.92573118e-01 1.04403981e-03 -1.21645040e-01 1.88832754e+01] [-2.14449148e-03 9.99957954e-01 -8.91584802e-03 8.81440611e-01] [ 1.21630616e-01 9.11049782e-03 9.92533623e-01 1.41371712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.95463044 meters Centerline goodness [0,1] 0.3397979104541652 Centerline is valid? [False, False] Translation: X:18.88, Y:0.88, Z:1.41 [[ 9.92578516e-01 1.18470395e-03 -1.21599700e-01 1.88832027e+01] [-2.28533035e-03 9.99957674e-01 -8.91216020e-03 8.82348810e-01] [ 1.21583995e-01 9.12391422e-03 9.92539212e-01 1.41364748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98463044 meters Centerline goodness [0,1] 0.33784015795347244 Centerline is valid? [False, False] Translation: X:18.88, Y:0.88, Z:1.41 [[ 9.92568089e-01 1.35187390e-03 -1.21683032e-01 1.88836533e+01] [-2.45402044e-03 9.99957311e-01 -8.90811291e-03 8.83300866e-01] [ 1.21665795e-01 9.14052126e-03 9.92529035e-01 1.41334952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.01463044 meters Centerline goodness [0,1] 0.3354523855390741 Centerline is valid? [False, False] Translation: X:18.88, Y:0.88, Z:1.41 [[ 9.92538827e-01 1.31484448e-03 -1.21921897e-01 1.88845963e+01] [-2.42636956e-03 9.99956837e-01 -8.96867818e-03 8.83471002e-01] [ 1.21904842e-01 9.19758889e-03 9.92499176e-01 1.41297260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04463044 meters Centerline goodness [0,1] 0.3369787078615474 Centerline is valid? [False, False] Translation: X:18.89, Y:0.88, Z:1.41 [[ 9.92533075e-01 1.31035563e-03 -1.21968758e-01 1.88850613e+01] [-2.42307479e-03 9.99956787e-01 -8.97510871e-03 8.83439023e-01] [ 1.21951727e-01 9.20363167e-03 9.92493360e-01 1.41253697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.07463044 meters Centerline goodness [0,1] 0.3370868612197533 Centerline is valid? [False, False] Translation: X:18.89, Y:0.88, Z:1.41 [[ 9.92530324e-01 1.31828441e-03 -1.21991058e-01 1.88852734e+01] [-2.43082927e-03 9.99956801e-01 -8.97151246e-03 8.83458507e-01] [ 1.21973961e-01 9.20103760e-03 9.92490652e-01 1.41236530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10463044 meters Centerline goodness [0,1] 0.33453907236574565 Centerline is valid? [False, False] Translation: X:18.89, Y:0.88, Z:1.41 [[ 9.92519276e-01 1.22124260e-03 -1.22081920e-01 1.88854279e+01] [-2.36159952e-03 9.99954921e-01 -9.19665664e-03 8.84835313e-01] [ 1.22065185e-01 9.41616760e-03 9.92477419e-01 1.41244734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.13463044 meters Centerline goodness [0,1] 0.33392464040693326 Centerline is valid? [False, False] Translation: X:18.89, Y:0.89, Z:1.41 [[ 9.92518498e-01 1.15415114e-03 -1.22088901e-01 1.88854386e+01] [-2.31955336e-03 9.99953093e-01 -9.40382462e-03 8.86202359e-01] [ 1.22072321e-01 9.61666161e-03 9.92474618e-01 1.41242012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16463044 meters Centerline goodness [0,1] 0.3321578790839954 Centerline is valid? [False, False] Translation: X:18.89, Y:0.89, Z:1.41 [[ 9.92495895e-01 1.10469472e-03 -1.22272966e-01 1.88860084e+01] [-2.30493090e-03 9.99950539e-01 -9.67502803e-03 8.88412048e-01] [ 1.22256231e-01 9.88425634e-03 9.92449352e-01 1.41232915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.19463044 meters Centerline goodness [0,1] 0.3383625806730126 Centerline is valid? [False, False] Translation: X:18.87, Y:0.90, Z:1.41 [[ 9.92513543e-01 -3.71186090e-03 -1.22078205e-01 1.88666604e+01] [ 2.95043608e-03 9.99975056e-01 -6.41736620e-03 8.97062448e-01] [ 1.22098980e-01 6.00913893e-03 9.92499738e-01 1.40842528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22463044 meters Centerline goodness [0,1] 0.3371488703719612 Centerline is valid? [False, False] Translation: X:18.89, Y:0.90, Z:1.41 [[ 9.92626070e-01 4.06061368e-03 -1.21148655e-01 1.88864186e+01] [-5.11088381e-03 9.99951995e-01 -8.35979360e-03 8.99215511e-01] [ 1.21108894e-01 8.91732576e-03 9.92599172e-01 1.41145048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.25463044 meters Centerline goodness [0,1] 0.3411569464201043 Centerline is valid? [False, False] Translation: X:18.89, Y:0.90, Z:1.41 [[ 9.92633367e-01 3.77487749e-03 -1.21098100e-01 1.88862610e+01] [-4.89145338e-03 9.99948212e-01 -8.92448219e-03 9.01842437e-01] [ 1.21058140e-01 9.45108451e-03 9.92600425e-01 1.41145477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28463044 meters Centerline goodness [0,1] 0.33782394517027203 Centerline is valid? [False, False] Translation: X:18.90, Y:0.91, Z:1.42 [[ 9.92552270e-01 -2.83914340e-03 -1.21786412e-01 1.89027194e+01] [ 1.85761847e-03 9.99964882e-01 -8.17217814e-03 9.10017846e-01] [ 1.21805337e-01 7.88508127e-03 9.92522688e-01 1.41588486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.31463044000003 meters Centerline goodness [0,1] 0.3398533007334963 Centerline is valid? [False, False] Translation: X:18.90, Y:0.91, Z:1.42 [[ 9.92568318e-01 -2.90438862e-03 -1.21654015e-01 1.89014977e+01] [ 1.90192707e-03 9.99963283e-01 -8.35557651e-03 9.12359341e-01] [ 1.21673816e-01 8.06210345e-03 9.92537397e-01 1.41681258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34463044 meters Centerline goodness [0,1] 0.34185496018936945 Centerline is valid? [False, False] Translation: X:18.90, Y:0.91, Z:1.42 [[ 9.92570050e-01 -2.86763907e-03 -1.21640751e-01 1.89013838e+01] [ 1.86674903e-03 9.99963467e-01 -8.34140792e-03 9.13043058e-01] [ 1.21660227e-01 8.05235893e-03 9.92539142e-01 1.41691088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.37463044000003 meters Centerline goodness [0,1] 0.33965017705762424 Centerline is valid? [False, False] Translation: X:18.90, Y:0.91, Z:1.42 [[ 9.92545839e-01 -2.92339894e-03 -1.21836821e-01 1.89018962e+01] [ 1.91489339e-03 9.99962938e-01 -8.39377709e-03 9.13423788e-01] [ 1.21856844e-01 8.09790400e-03 9.92514652e-01 1.41694841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40463044 meters Centerline goodness [0,1] 0.3410246466735608 Centerline is valid? [False, False] Translation: X:18.90, Y:0.91, Z:1.42 [[ 9.92517962e-01 -3.15020946e-03 -1.22058062e-01 1.89025268e+01] [ 2.11050321e-03 9.99960391e-01 -8.64647790e-03 9.13961482e-01] [ 1.22080465e-01 8.32418070e-03 9.92485299e-01 1.41691098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.43463044000003 meters Centerline goodness [0,1] 0.3404854556790574 Centerline is valid? [False, False] Translation: X:18.90, Y:0.92, Z:1.42 [[ 9.92461541e-01 -3.56647270e-03 -1.22504569e-01 1.89036521e+01] [ 2.45702665e-03 9.99954603e-01 -9.20623896e-03 9.15687780e-01] [ 1.22531841e-01 8.83584112e-03 9.92425249e-01 1.41694078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46463044 meters Centerline goodness [0,1] 0.3400947745352403 Centerline is valid? [False, False] Translation: X:18.90, Y:0.92, Z:1.42 [[ 9.92460044e-01 -3.52411845e-03 -1.22517926e-01 1.89035941e+01] [ 2.40184849e-03 9.99953809e-01 -9.30653206e-03 9.16957690e-01] [ 1.22545064e-01 8.94209172e-03 9.92422665e-01 1.41704119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.49463044000004 meters Centerline goodness [0,1] 0.34312396445247784 Centerline is valid? [False, False] Translation: X:18.90, Y:0.92, Z:1.42 [[ 9.92483567e-01 -3.39278793e-03 -1.22330938e-01 1.89029687e+01] [ 2.26545931e-03 9.99953691e-01 -9.35331391e-03 9.18436086e-01] [ 1.22357007e-01 9.00587459e-03 9.92445292e-01 1.41720969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52463044 meters Centerline goodness [0,1] 0.33982527168122734 Centerline is valid? [False, False] Translation: X:18.92, Y:0.92, Z:1.42 [[ 9.92666947e-01 5.06532543e-03 -1.20775307e-01 1.89229244e+01] [-6.38645105e-03 9.99923909e-01 -1.05541347e-02 9.20798867e-01] [ 1.20712657e-01 1.12480663e-02 9.92623763e-01 1.42052686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.55463044000004 meters Centerline goodness [0,1] 0.342644681538959 Centerline is valid? [False, False] Translation: X:18.92, Y:0.92, Z:1.42 [[ 9.92659379e-01 5.04072923e-03 -1.20838522e-01 1.89231742e+01] [-6.39143600e-03 9.99921329e-01 -1.07928018e-02 9.22631795e-01] [ 1.20774612e-01 1.14859076e-02 9.92613503e-01 1.42036248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58463044 meters Centerline goodness [0,1] 0.3403087478559177 Centerline is valid? [False, False] Translation: X:18.92, Y:0.92, Z:1.42 [[ 9.92639412e-01 5.13543828e-03 -1.20998454e-01 1.89237518e+01] [-6.50319789e-03 9.99919318e-01 -1.09117641e-02 9.24365919e-01] [ 1.20932655e-01 1.16183240e-02 9.92592720e-01 1.42016523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.61463044000004 meters Centerline goodness [0,1] 0.3428337534199358 Centerline is valid? [False, False] Translation: X:18.92, Y:0.93, Z:1.42 [[ 9.92641156e-01 5.13403075e-03 -1.20984199e-01 1.89235024e+01] [-6.52109700e-03 9.99917443e-01 -1.10717133e-02 9.26008667e-01] [ 1.20917368e-01 1.17791880e-02 9.92592686e-01 1.42035163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64463044 meters Centerline goodness [0,1] 0.34187629221226745 Centerline is valid? [False, False] Translation: X:18.92, Y:0.93, Z:1.42 [[ 9.92629389e-01 4.91828624e-03 -1.21089664e-01 1.89233585e+01] [-6.32008610e-03 9.99917359e-01 -1.11952034e-02 9.25691438e-01] [ 1.21024596e-01 1.18779850e-02 9.92578441e-01 1.42085008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.67463044 meters Centerline goodness [0,1] 0.34441197954711467 Centerline is valid? [False, False] Translation: X:18.92, Y:0.93, Z:1.42 [[ 9.92616933e-01 4.61466563e-03 -1.21203664e-01 1.89232744e+01] [-6.03450985e-03 9.99917377e-01 -1.13500885e-02 9.25167679e-01] [ 1.21141273e-01 1.19976947e-02 9.92562767e-01 1.42130648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70463044 meters Centerline goodness [0,1] 0.3457780275844178 Centerline is valid? [False, False] Translation: X:18.92, Y:0.92, Z:1.42 [[ 9.92635836e-01 3.98848314e-03 -1.21071012e-01 1.89225366e+01] [-5.41125708e-03 9.99920090e-01 -1.14250575e-02 9.23146212e-01] [ 1.21015769e-01 1.19960678e-02 9.92578097e-01 1.42193261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.73463044 meters Centerline goodness [0,1] 0.345625187921481 Centerline is valid? [False, False] Translation: X:18.94, Y:0.93, Z:1.43 [[ 9.92656929e-01 -3.79217749e-03 -1.20904260e-01 1.89421964e+01] [ 2.56767507e-03 9.99943842e-01 -1.02820536e-02 9.25650109e-01] [ 1.20936461e-01 9.89610888e-03 9.92610920e-01 1.42581303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76463044 meters Centerline goodness [0,1] 0.34840075157117245 Centerline is valid? [False, False] Translation: X:18.94, Y:0.92, Z:1.43 [[ 9.92618123e-01 -4.07978216e-03 -1.21213104e-01 1.89429343e+01] [ 2.86652746e-03 9.99944054e-01 -1.01819585e-02 9.23535813e-01] [ 1.21247863e-01 9.75933589e-03 9.92574285e-01 1.42596773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.79463044 meters Centerline goodness [0,1] 0.3467946786067938 Centerline is valid? [False, False] Translation: X:18.94, Y:0.92, Z:1.43 [[ 9.92576778e-01 -8.11154022e-03 -1.21348844e-01 1.89424923e+01] [ 6.56927656e-03 9.99892559e-01 -1.31040173e-02 9.18848557e-01] [ 1.21442099e-01 1.22095691e-02 9.92523422e-01 1.42700109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82463044 meters Centerline goodness [0,1] 0.34906128079667187 Centerline is valid? [False, False] Translation: X:18.94, Y:0.92, Z:1.43 [[ 9.92575367e-01 -8.32457040e-03 -1.21345958e-01 1.89418681e+01] [ 6.81500345e-03 9.99894212e-01 -1.28499147e-02 9.15768716e-01] [ 1.21440092e-01 1.19275357e-02 9.92527097e-01 1.42780183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.85463044 meters Centerline goodness [0,1] 0.34906128079667187 Centerline is valid? [False, False] Translation: X:18.94, Y:0.92, Z:1.43 [[ 9.92575367e-01 -8.32457040e-03 -1.21345958e-01 1.89418681e+01] [ 6.81500345e-03 9.99894212e-01 -1.28499147e-02 9.15768716e-01] [ 1.21440092e-01 1.19275357e-02 9.92527097e-01 1.42780183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.88463044 meters Centerline goodness [0,1] 0.3506127928630203 Centerline is valid? [False, False] Translation: X:18.94, Y:0.91, Z:1.43 [[ 9.92612175e-01 -8.47436226e-03 -1.21034104e-01 1.89407150e+01] [ 7.00485458e-03 9.99896564e-01 -1.25615980e-02 9.12791401e-01] [ 1.21128036e-01 1.16209688e-02 9.92568865e-01 1.42836014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.91463044 meters Centerline goodness [0,1] 0.3515083461098275 Centerline is valid? [False, False] Translation: X:18.94, Y:0.91, Z:1.43 [[ 9.92700287e-01 -1.11299906e-02 -1.20092728e-01 1.89379300e+01] [ 9.49084193e-03 9.99853955e-01 -1.42123809e-02 9.06849556e-01] [ 1.20233373e-01 1.29688535e-02 9.92660942e-01 1.42887826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.94463044 meters Centerline goodness [0,1] 0.3496739761991866 Centerline is valid? [False, False] Translation: X:18.94, Y:0.90, Z:1.43 [[ 9.92712026e-01 -1.10026122e-02 -1.20007401e-01 1.89377777e+01] [ 9.41379070e-03 9.99860484e-01 -1.37982654e-02 9.04448396e-01] [ 1.20142475e-01 1.25679794e-02 9.92677103e-01 1.42884899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.97463044 meters Centerline goodness [0,1] 0.3522722377772992 Centerline is valid? [False, False] Translation: X:18.94, Y:0.90, Z:1.43 [[ 9.92717492e-01 -1.07743768e-02 -1.19982888e-01 1.89376699e+01] [ 9.23931020e-03 9.99868291e-01 -1.33430098e-02 9.02342821e-01] [ 1.20110848e-01 1.21372801e-02 9.92686290e-01 1.42893270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.00463044 meters Centerline goodness [0,1] 0.34795783363919597 Centerline is valid? [False, False] Translation: X:18.96, Y:0.90, Z:1.43 [[ 9.92772960e-01 -3.47717663e-03 -1.19957320e-01 1.89574000e+01] [ 1.73540283e-03 9.99891596e-01 -1.46213561e-02 8.95462387e-01] [ 1.19995157e-01 1.43075127e-02 9.92671374e-01 1.43229404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.03463044 meters Centerline goodness [0,1] 0.3504114566634605 Centerline is valid? [False, False] Translation: X:18.96, Y:0.89, Z:1.43 [[ 9.92755949e-01 -3.44596597e-03 -1.20098919e-01 1.89578027e+01] [ 1.71996689e-03 9.99893793e-01 -1.44721754e-02 8.94308766e-01] [ 1.20136035e-01 1.41607721e-02 9.92656439e-01 1.43223225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.06463044000003 meters Centerline goodness [0,1] 0.3471464921846601 Centerline is valid? [False, False] Translation: X:18.96, Y:0.89, Z:1.43 [[ 9.92736718e-01 -3.35189724e-03 -1.20260436e-01 1.89582255e+01] [ 1.64692950e-03 9.99896767e-01 -1.42738865e-02 8.93272471e-01] [ 1.20295866e-01 1.39721508e-02 9.92639755e-01 1.43219991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.09463044 meters Centerline goodness [0,1] 0.3502555512605764 Centerline is valid? [False, False] Translation: X:18.96, Y:0.89, Z:1.43 [[ 9.92732216e-01 -3.15327980e-03 -1.20302967e-01 1.89583162e+01] [ 1.48571219e-03 9.99901610e-01 -1.39485770e-02 8.92058492e-01] [ 1.20335114e-01 1.36684661e-02 9.92639226e-01 1.43217939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.12463044000003 meters Centerline goodness [0,1] 0.34911255272229 Centerline is valid? [False, False] Translation: X:18.96, Y:0.89, Z:1.43 [[ 9.92741336e-01 -2.95138587e-03 -1.20232812e-01 1.89580918e+01] [ 1.36023326e-03 9.99910442e-01 -1.33138512e-02 8.88220045e-01] [ 1.20261338e-01 1.30536658e-02 9.92656442e-01 1.43221499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.15463044 meters Centerline goodness [0,1] 0.3483990042063696 Centerline is valid? [False, False] Translation: X:18.96, Y:0.89, Z:1.43 [[ 9.92728010e-01 -2.97173989e-03 -1.20342290e-01 1.89583615e+01] [ 1.41232802e-03 9.99913960e-01 -1.30413558e-02 8.85704310e-01] [ 1.20370692e-01 1.27765564e-02 9.92646793e-01 1.43221189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.18463044000003 meters Centerline goodness [0,1] 0.34835767204830625 Centerline is valid? [False, False] Translation: X:18.96, Y:0.88, Z:1.43 [[ 9.92686341e-01 -2.97481498e-03 -1.20685453e-01 1.89592719e+01] [ 1.45401241e-03 9.99918454e-01 -1.26874788e-02 8.82596906e-01] [ 1.20713355e-01 1.24192088e-02 9.92609716e-01 1.43216135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.21463044 meters Centerline goodness [0,1] 0.34779061278825096 Centerline is valid? [False, False] Translation: X:18.96, Y:0.88, Z:1.43 [[ 9.92651799e-01 -2.84376749e-03 -1.20972390e-01 1.89599868e+01] [ 1.37626841e-03 9.99924475e-01 -1.22126826e-02 8.79417599e-01] [ 1.20997984e-01 1.19564509e-02 9.92580743e-01 1.43213692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.24463044000004 meters Centerline goodness [0,1] 0.346053567196018 Centerline is valid? [False, False] Translation: X:18.96, Y:0.87, Z:1.43 [[ 9.92559630e-01 -2.75191768e-03 -1.21728416e-01 1.89620684e+01] [ 1.36561727e-03 9.99933280e-01 -1.14704318e-02 8.72708787e-01] [ 1.21751860e-01 1.12188531e-02 9.92497165e-01 1.43183970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.27463044 meters Centerline goodness [0,1] 0.34719032970841823 Centerline is valid? [False, False] Translation: X:18.96, Y:0.87, Z:1.43 [[ 9.92512199e-01 -2.61789499e-03 -1.22117490e-01 1.89630669e+01] [ 1.28234855e-03 9.99938523e-01 -1.10138808e-02 8.69768001e-01] [ 1.22138816e-01 1.07748138e-02 9.92454540e-01 1.43176946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30463044000004 meters Centerline goodness [0,1] 0.3455309838913794 Centerline is valid? [False, False] Translation: X:18.96, Y:0.87, Z:1.43 [[ 9.92484138e-01 -2.53361009e-03 -1.22347111e-01 1.89635829e+01] [ 1.23893300e-03 9.99942446e-01 -1.06569163e-02 8.67070867e-01] [ 1.22367070e-01 1.04252405e-02 9.92430156e-01 1.43183438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.33463044 meters Centerline goodness [0,1] 0.34746776262856893 Centerline is valid? [False, False] Translation: X:18.96, Y:0.86, Z:1.43 [[ 9.92469096e-01 -2.18899958e-03 -1.22475717e-01 1.89633999e+01] [ 9.93824652e-04 9.99951302e-01 -9.81870328e-03 8.61668177e-01] [ 1.22491246e-01 9.62304018e-03 9.92422940e-01 1.43233309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36463044000004 meters Centerline goodness [0,1] 0.3422664460252305 Centerline is valid? [False, False] Translation: X:18.96, Y:0.86, Z:1.43 [[ 9.92439276e-01 -2.04643522e-03 -1.22719585e-01 1.89640409e+01] [ 8.97812376e-04 9.99955281e-01 -9.41430369e-03 8.59140503e-01] [ 1.22733363e-01 9.23294558e-03 9.92396732e-01 1.43229282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.39463044 meters Centerline goodness [0,1] 0.344261586972485 Centerline is valid? [False, False] Translation: X:18.96, Y:0.86, Z:1.43 [[ 9.92421444e-01 -1.92852583e-03 -1.22865613e-01 1.89644043e+01] [ 8.21952501e-04 9.99958652e-01 -9.05642166e-03 8.56795900e-01] [ 1.22877998e-01 8.88679736e-03 9.92381994e-01 1.43228128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42463044 meters Centerline goodness [0,1] 0.34475333232843086 Centerline is valid? [False, False] Translation: X:18.96, Y:0.85, Z:1.43 [[ 9.92447301e-01 -1.93405341e-03 -1.22656489e-01 1.89637002e+01] [ 8.93092113e-04 9.99963124e-01 -8.54121328e-03 8.51335955e-01] [ 1.22668486e-01 8.36716052e-03 9.92412431e-01 1.43246299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.45463044 meters Centerline goodness [0,1] 0.3414257858535644 Centerline is valid? [False, False] Translation: X:18.96, Y:0.85, Z:1.43 [[ 9.92468141e-01 -1.90712172e-03 -1.22488174e-01 1.89631648e+01] [ 9.04669700e-04 9.99965648e-01 -8.23916565e-03 8.48984833e-01] [ 1.22499679e-01 8.06629808e-03 9.92435773e-01 1.43261354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48463044 meters Centerline goodness [0,1] 0.34280246651073787 Centerline is valid? [False, False] Translation: X:18.96, Y:0.85, Z:1.43 [[ 9.92476468e-01 -1.92175011e-03 -1.22420451e-01 1.89629104e+01] [ 9.53981394e-04 9.99967836e-01 -7.96340971e-03 8.46705002e-01] [ 1.22431818e-01 7.78670991e-03 9.92446380e-01 1.43272665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.51463044 meters Centerline goodness [0,1] 0.343028743028743 Centerline is valid? [False, False] Translation: X:18.96, Y:0.84, Z:1.43 [[ 9.92482710e-01 -1.88961918e-03 -1.22370339e-01 1.89628368e+01] [ 9.59435458e-04 9.99970203e-01 -7.65986093e-03 8.44461313e-01] [ 1.22381167e-01 7.48487309e-03 9.92454949e-01 1.43261245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54463044 meters Centerline goodness [0,1] 0.3399628689101811 Centerline is valid? [False, False] Translation: X:18.97, Y:0.84, Z:1.43 [[ 9.92370065e-01 -1.94227303e-03 -1.23279690e-01 1.89653095e+01] [ 1.05973251e-03 9.99973345e-01 -7.22401592e-03 8.40845250e-01] [ 1.23290435e-01 7.03825365e-03 9.92345671e-01 1.43239175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.57463044 meters Centerline goodness [0,1] 0.3417735088546804 Centerline is valid? [False, False] Translation: X:18.97, Y:0.84, Z:1.43 [[ 9.92351682e-01 -1.81024903e-03 -1.23429582e-01 1.89655175e+01] [ 9.59964638e-04 9.99975402e-01 -6.94794520e-03 8.39476171e-01] [ 1.23439124e-01 6.77631707e-03 9.92329010e-01 1.43258423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60463044 meters Centerline goodness [0,1] 0.34083394168420145 Centerline is valid? [False, False] Translation: X:18.96, Y:0.84, Z:1.43 [[ 9.92378104e-01 -1.72164560e-03 -1.23218236e-01 1.89645614e+01] [ 8.92580237e-04 9.99976595e-01 -6.78331590e-03 8.38680633e-01] [ 1.23227030e-01 6.62163202e-03 9.92356414e-01 1.43309293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.63463044 meters Centerline goodness [0,1] 0.34611067944401275 Centerline is valid? [False, False] Translation: X:18.96, Y:0.84, Z:1.43 [[ 9.92414547e-01 -1.73054133e-03 -1.22924254e-01 1.89633677e+01] [ 9.04715606e-04 9.99976649e-01 -6.77366722e-03 8.38370737e-01] [ 1.22933106e-01 6.61107439e-03 9.92392939e-01 1.43364088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66463044 meters Centerline goodness [0,1] 0.3438195514466701 Centerline is valid? [False, False] Translation: X:18.98, Y:0.84, Z:1.44 [[ 9.92610168e-01 5.91988605e-03 -1.21202346e-01 1.89822579e+01] [-6.98861769e-03 9.99940344e-01 -8.39455775e-03 8.36336521e-01] [ 1.21145421e-01 9.17956024e-03 9.92592325e-01 1.43669963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.69463044 meters Centerline goodness [0,1] 0.34263050702111697 Centerline is valid? [False, False] Translation: X:18.98, Y:0.84, Z:1.44 [[ 9.92609820e-01 5.94298233e-03 -1.21204068e-01 1.89825440e+01] [-7.02034730e-03 9.99939538e-01 -8.46376433e-03 8.37331366e-01] [ 1.21146440e-01 9.25211024e-03 9.92591527e-01 1.43641202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72463044 meters Centerline goodness [0,1] 0.34520370769562403 Centerline is valid? [False, False] Translation: X:18.98, Y:0.84, Z:1.44 [[ 9.92596780e-01 5.98824463e-03 -1.21308585e-01 1.89832122e+01] [-7.07518014e-03 9.99938577e-01 -8.53133529e-03 8.38589978e-01] [ 1.21250046e-01 9.32645603e-03 9.92578180e-01 1.43598840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.75463044 meters Centerline goodness [0,1] 0.34667475675558546 Centerline is valid? [False, False] Translation: X:18.98, Y:0.84, Z:1.44 [[ 9.92563929e-01 5.91888140e-03 -1.21580484e-01 1.89845846e+01] [-7.04734630e-03 9.99935971e-01 -8.85371796e-03 8.41277582e-01] [ 1.21520295e-01 9.64470085e-03 9.92542089e-01 1.43524155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78463044 meters Centerline goodness [0,1] 0.3422486273164036 Centerline is valid? [False, False] Translation: X:19.00, Y:0.85, Z:1.44 [[ 9.92463082e-01 -1.25709971e-03 -1.22537545e-01 1.90041357e+01] [ 2.44486992e-04 9.99965704e-01 -8.27837936e-03 8.46760799e-01] [ 1.22543749e-01 8.18602706e-03 9.92429352e-01 1.43915536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.81463044000003 meters Centerline goodness [0,1] 0.34292704912755134 Centerline is valid? [False, False] Translation: X:19.00, Y:0.85, Z:1.44 [[ 9.92477996e-01 -1.71878354e-03 -1.22411084e-01 1.90038483e+01] [ 6.33300032e-04 9.99960141e-01 -8.90588212e-03 8.49408194e-01] [ 1.22421512e-01 8.76136910e-03 9.92439526e-01 1.43913346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84463044 meters Centerline goodness [0,1] 0.3478865285199183 Centerline is valid? [False, False] Translation: X:19.00, Y:0.85, Z:1.44 [[ 9.92466680e-01 -1.86860301e-03 -1.22500599e-01 1.90040480e+01] [ 7.52966076e-04 9.99957828e-01 -9.15285695e-03 8.50841116e-01] [ 1.22512536e-01 8.99166675e-03 9.92426233e-01 1.43916820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.87463044000003 meters Centerline goodness [0,1] 0.34267513200367683 Centerline is valid? [False, False] Translation: X:19.02, Y:0.86, Z:1.44 [[ 9.92281929e-01 -8.68166952e-03 -1.23698024e-01 1.90233836e+01] [ 7.72816971e-03 9.99936630e-01 -8.18603382e-03 8.57188605e-01] [ 1.23761254e-01 7.16689411e-03 9.92286142e-01 1.44328876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90463044 meters Centerline goodness [0,1] 0.34025136964228164 Centerline is valid? [False, False] Translation: X:19.02, Y:0.86, Z:1.44 [[ 9.92243676e-01 -9.06179937e-03 -1.23977298e-01 1.90245860e+01] [ 8.02769386e-03 9.99928719e-01 -8.83810978e-03 8.61294852e-01] [ 1.24048550e-01 7.77430674e-03 9.92245694e-01 1.44277903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.93463044000003 meters Centerline goodness [0,1] 0.3365485158233926 Centerline is valid? [False, False] Translation: X:19.04, Y:0.86, Z:1.45 [[ 9.92454539e-01 -1.57053339e-03 -1.22603106e-01 1.90427281e+01] [ 2.73650305e-04 9.99943844e-01 -1.05940196e-02 8.60409981e-01] [ 1.22612860e-01 1.04805325e-02 9.92399237e-01 1.44608250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96463044 meters Centerline goodness [0,1] 0.3449885957739811 Centerline is valid? [False, False] Translation: X:19.04, Y:0.86, Z:1.45 [[ 9.92489676e-01 -1.79396334e-03 -1.22315271e-01 1.90418043e+01] [ 4.52467002e-04 9.99939457e-01 -1.09944235e-02 8.62465685e-01] [ 1.22327590e-01 1.08565082e-02 9.92430399e-01 1.44633571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.99463044000004 meters Centerline goodness [0,1] 0.34339330624879083 Centerline is valid? [False, False] Translation: X:19.04, Y:0.86, Z:1.45 [[ 9.92504492e-01 -2.00843676e-03 -1.22191652e-01 1.90414897e+01] [ 6.20168100e-04 9.99934844e-01 -1.13983751e-02 8.64780169e-01] [ 1.22206583e-01 1.12371591e-02 9.92441070e-01 1.44638833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02463044 meters Centerline goodness [0,1] 0.3454121910185065 Centerline is valid? [False, False] Translation: X:19.04, Y:0.87, Z:1.45 [[ 9.92491738e-01 -2.15347581e-03 -1.22292734e-01 1.90422566e+01] [ 7.10859841e-04 9.99929666e-01 -1.18388213e-02 8.69056520e-01] [ 1.22309627e-01 1.16629994e-02 9.92423463e-01 1.44589694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.05463044000004 meters Centerline goodness [0,1] 0.34080660256955675 Centerline is valid? [False, False] Translation: X:19.09, Y:0.87, Z:1.45 [[ 9.92511097e-01 -1.56681668e-03 -1.22144453e-01 1.90860856e+01] [ 5.82834579e-05 9.99923697e-01 -1.23529976e-02 8.71306482e-01] [ 1.22154488e-01 1.22533682e-02 9.92435457e-01 1.45151208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08463044 meters Centerline goodness [0,1] 0.34110119620808454 Centerline is valid? [False, False] Translation: X:19.09, Y:0.87, Z:1.45 [[ 9.92484360e-01 -1.84204067e-03 -1.22357677e-01 1.90868023e+01] [ 2.69775905e-04 9.99917205e-01 -1.28650677e-02 8.73986122e-01] [ 1.22371244e-01 1.27353693e-02 9.92402685e-01 1.45138067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.11463044000004 meters Centerline goodness [0,1] 0.34143629871934666 Centerline is valid? [False, False] Translation: X:19.09, Y:0.88, Z:1.45 [[ 9.92464694e-01 -1.60386183e-03 -1.22520438e-01 1.90871702e+01] [-2.42707768e-05 9.99911737e-01 -1.32860131e-02 8.82904250e-01] [ 1.22530933e-01 1.31888726e-02 9.92377057e-01 1.45158252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14463044 meters Centerline goodness [0,1] 0.3454806743597443 Centerline is valid? [False, False] Translation: X:19.09, Y:0.89, Z:1.45 [[ 9.92490450e-01 -1.68068610e-03 -1.22310597e-01 1.90868234e+01] [ 4.26350430e-06 9.99906079e-01 -1.37052454e-02 8.86662180e-01] [ 1.22322144e-01 1.36018037e-02 9.92397241e-01 1.45150029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.17463044 meters Centerline goodness [0,1] 0.34321915601846875 Centerline is valid? [False, False] Translation: X:19.09, Y:0.89, Z:1.45 [[ 9.92522507e-01 -1.78226723e-03 -1.22048751e-01 1.90861076e+01] [ 6.15098733e-05 9.99900571e-01 -1.41012511e-02 8.89957553e-01] [ 1.22061748e-01 1.39883019e-02 9.92423930e-01 1.45166169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20463044 meters Centerline goodness [0,1] 0.3483612731068024 Centerline is valid? [False, False] Translation: X:19.09, Y:0.89, Z:1.45 [[ 9.92553664e-01 -2.04218753e-03 -1.21791022e-01 1.90854396e+01] [ 2.59740817e-04 9.99892659e-01 -1.46493689e-02 8.93114581e-01] [ 1.21807866e-01 1.45086507e-02 9.92447652e-01 1.45176240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.23463044 meters Centerline goodness [0,1] 0.3497044993744878 Centerline is valid? [False, False] Translation: X:19.09, Y:0.90, Z:1.45 [[ 9.92547022e-01 -2.61310170e-03 -1.21834232e-01 1.90856030e+01] [ 7.14347137e-04 9.99877654e-01 -1.56258126e-02 8.98501336e-01] [ 1.21860158e-01 1.54223219e-02 9.92427455e-01 1.45179605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26463044 meters Centerline goodness [0,1] 0.3469304812834224 Centerline is valid? [False, False] Translation: X:19.11, Y:0.90, Z:1.46 [[ 9.92331829e-01 -9.86764627e-03 -1.23207837e-01 1.91055752e+01] [ 8.10769214e-03 9.99857933e-01 -1.47776593e-02 9.04633365e-01] [ 1.23336154e-01 1.36654104e-02 9.92270855e-01 1.45600680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.29463044 meters Centerline goodness [0,1] 0.34635871557654574 Centerline is valid? [False, False] Translation: X:19.11, Y:0.91, Z:1.46 [[ 9.92214289e-01 -1.06846394e-02 -1.24083211e-01 1.91083228e+01] [ 8.84082388e-03 9.99842317e-01 -1.54006560e-02 9.05842910e-01] [ 1.24228195e-01 1.41837531e-02 9.92152295e-01 1.45537978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.32463044 meters Centerline goodness [0,1] 0.3460848903769306 Centerline is valid? [False, False] Translation: X:19.11, Y:0.91, Z:1.46 [[ 9.92192129e-01 -1.09891967e-02 -1.24233716e-01 1.91086300e+01] [ 9.12498004e-03 9.99837222e-01 -1.55648130e-02 9.05615843e-01] [ 1.24384538e-01 1.43096548e-02 9.92130899e-01 1.45545991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.35463044 meters Centerline goodness [0,1] 0.34531788689265297 Centerline is valid? [False, False] Translation: X:19.11, Y:0.91, Z:1.46 [[ 9.92213373e-01 -1.12198718e-02 -1.24043285e-01 1.91080933e+01] [ 9.34568303e-03 9.99833372e-01 -1.56807409e-02 9.05483453e-01] [ 1.24198552e-01 1.43993716e-02 9.92152900e-01 1.45554557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.38463044 meters Centerline goodness [0,1] 0.344114119259767 Centerline is valid? [False, False] Translation: X:19.11, Y:0.91, Z:1.46 [[ 9.92219975e-01 -1.12029417e-02 -1.23992000e-01 1.91078722e+01] [ 9.33588878e-03 9.99834279e-01 -1.56286679e-02 9.06052569e-01] [ 1.24146539e-01 1.43495010e-02 9.92160133e-01 1.45570350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.41463044 meters Centerline goodness [0,1] 0.3436228096482584 Centerline is valid? [False, False] Translation: X:19.11, Y:0.91, Z:1.46 [[ 9.92200351e-01 -1.13285161e-02 -1.24137540e-01 1.91084983e+01] [ 9.43372709e-03 9.99830022e-01 -1.58408421e-02 9.07079245e-01] [ 1.24295892e-01 1.45462094e-02 9.92138568e-01 1.45549952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.44463044 meters Centerline goodness [0,1] 0.3439708717070037 Centerline is valid? [False, False] Translation: X:19.11, Y:0.91, Z:1.46 [[ 9.92164856e-01 -1.14950151e-02 -1.24405636e-01 1.91092247e+01] [ 9.56057815e-03 9.99824108e-01 -1.61353105e-02 9.08318637e-01] [ 1.24569230e-01 1.48194982e-02 9.92100242e-01 1.45551780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.47463044 meters Centerline goodness [0,1] 0.34076242574468996 Centerline is valid? [False, False] Translation: X:19.11, Y:0.91, Z:1.46 [[ 9.92152127e-01 -1.15559843e-02 -1.24501470e-01 1.91093607e+01] [ 9.59201220e-03 9.99820113e-01 -1.63626201e-02 9.10019394e-01] [ 1.24668160e-01 1.50399888e-02 9.92084497e-01 1.45569736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.50463044 meters Centerline goodness [0,1] 0.3443388109782328 Centerline is valid? [False, False] Translation: X:19.11, Y:0.91, Z:1.46 [[ 9.92221566e-01 -7.72941058e-03 -1.24244194e-01 1.91083041e+01] [ 6.13018129e-03 9.99893439e-01 -1.32488190e-02 9.12886548e-01] [ 1.24333360e-01 1.23841245e-02 9.92163217e-01 1.45615012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.53463044 meters Centerline goodness [0,1] 0.3420375611011063 Centerline is valid? [False, False] Translation: X:19.11, Y:0.91, Z:1.46 [[ 9.92197006e-01 -7.87169935e-03 -1.24431259e-01 1.91089741e+01] [ 6.22528175e-03 9.99887935e-01 -1.36148369e-02 9.14929409e-01] [ 1.24524486e-01 1.27339808e-02 9.92134818e-01 1.45605034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.56463044000003 meters Centerline goodness [0,1] 0.3425656600222431 Centerline is valid? [False, False] Translation: X:19.11, Y:0.92, Z:1.46 [[ 9.92134524e-01 -8.12048711e-03 -1.24912544e-01 1.91110292e+01] [ 6.40828667e-03 9.99880014e-01 -1.41029095e-02 9.17676942e-01] [ 1.25012079e-01 1.31915081e-02 9.92067520e-01 1.45517434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.59463044 meters Centerline goodness [0,1] 0.34283749811993725 Centerline is valid? [False, False] Translation: X:19.11, Y:0.92, Z:1.45 [[ 9.92133017e-01 -5.23797562e-03 -1.25078537e-01 1.91116563e+01] [ 3.83454359e-03 9.99926997e-01 -1.14585281e-02 9.18582419e-01] [ 1.25129425e-01 1.08887650e-02 9.92080673e-01 1.45492118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.62463044000003 meters Centerline goodness [0,1] 0.34226101127932407 Centerline is valid? [False, False] Translation: X:19.11, Y:0.92, Z:1.45 [[ 9.92110901e-01 -5.26289108e-03 -1.25252791e-01 1.91121450e+01] [ 3.84016670e-03 9.99925372e-01 -1.15975625e-02 9.19922180e-01] [ 1.25304481e-01 1.10250766e-02 9.92057072e-01 1.45495662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.65463044 meters Centerline goodness [0,1] 0.3445887818306951 Centerline is valid? [False, False] Translation: X:19.11, Y:0.92, Z:1.46 [[ 9.92088355e-01 -5.36148291e-03 -1.25427074e-01 1.91124195e+01] [ 3.91024687e-03 9.99922570e-01 -1.18136964e-02 9.21244833e-01] [ 1.25480702e-01 1.12297798e-02 9.92032502e-01 1.45517276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.68463044000003 meters Centerline goodness [0,1] 0.34286207417315695 Centerline is valid? [False, False] Translation: X:19.11, Y:0.92, Z:1.46 [[ 9.92110839e-01 -2.11687290e-03 -1.25345933e-01 1.91120780e+01] [ 9.77724723e-04 9.99957670e-01 -9.14885685e-03 9.23969826e-01] [ 1.25359994e-01 8.95412623e-03 9.92070913e-01 1.45535333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.71463044 meters Centerline goodness [0,1] 0.34510710966040514 Centerline is valid? [False, False] Translation: X:19.11, Y:0.93, Z:1.46 [[ 9.92202820e-01 -9.30837182e-06 -1.24633721e-01 1.91090362e+01] [-9.42127211e-04 9.99970866e-01 -7.57491125e-03 9.27379284e-01] [ 1.24630161e-01 7.63326912e-03 9.92173904e-01 1.45654801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.74463044000004 meters Centerline goodness [0,1] 0.3436071596394549 Centerline is valid? [False, False] Translation: X:19.15, Y:0.93, Z:1.46 [[ 9.92474933e-01 1.00036777e-03 -1.22443891e-01 1.91506200e+01] [-1.92334493e-03 9.99970622e-01 -7.41999654e-03 9.29004641e-01] [ 1.22432871e-01 7.59966240e-03 9.92447700e-01 1.46214260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.77463044 meters Centerline goodness [0,1] 0.3436071596394549 Centerline is valid? [False, False] Translation: X:19.15, Y:0.93, Z:1.46 [[ 9.92474933e-01 1.00036777e-03 -1.22443891e-01 1.91506200e+01] [-1.92334493e-03 9.99970622e-01 -7.41999654e-03 9.29004641e-01] [ 1.22432871e-01 7.59966240e-03 9.92447700e-01 1.46214260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80463044000004 meters Centerline goodness [0,1] 0.34614223487298923 Centerline is valid? [False, False] Translation: X:19.15, Y:0.94, Z:1.46 [[ 9.92613536e-01 2.26916660e-03 -1.21298059e-01 1.91471165e+01] [-3.16206000e-03 9.99969302e-01 -7.16917175e-03 9.37010062e-01] [ 1.21278067e-01 7.49976867e-03 9.92590240e-01 1.46305319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.83463044 meters Centerline goodness [0,1] 0.3475641246341883 Centerline is valid? [False, False] Translation: X:19.15, Y:0.94, Z:1.46 [[ 9.92584496e-01 2.25772854e-03 -1.21535674e-01 1.91476029e+01] [-3.19645122e-03 9.99966545e-01 -7.52943467e-03 9.40357010e-01] [ 1.21514609e-01 7.86208297e-03 9.92558506e-01 1.46330145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86463044000004 meters Centerline goodness [0,1] 0.34583639427855317 Centerline is valid? [False, False] Translation: X:19.15, Y:0.95, Z:1.46 [[ 9.92550052e-01 6.10242820e-03 -1.21684653e-01 1.91478829e+01] [-6.71435635e-03 9.99966789e-01 -4.61939277e-03 9.45102004e-01] [ 1.21652422e-01 5.40201265e-03 9.92558062e-01 1.46359006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.89463044 meters Centerline goodness [0,1] 0.3456734483646665 Centerline is valid? [False, False] Translation: X:19.17, Y:0.95, Z:1.47 [[ 9.92521136e-01 -6.71479891e-04 -1.22071058e-01 1.91658464e+01] [ 2.41898821e-04 9.99993727e-01 -3.53389242e-03 9.52674135e-01] [ 1.22072665e-01 3.47793408e-03 9.92515072e-01 1.46799271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92463044 meters Centerline goodness [0,1] 0.34835318098916424 Centerline is valid? [False, False] Translation: X:19.16, Y:0.96, Z:1.47 [[ 9.92560136e-01 -8.68260161e-04 -1.21752302e-01 1.91648027e+01] [ 3.68912882e-04 9.99991429e-01 -4.12381935e-03 9.56448216e-01] [ 1.21754839e-01 4.04822270e-03 9.92551949e-01 1.46837478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.95463044 meters Centerline goodness [0,1] 0.3515409185082873 Centerline is valid? [False, False] Translation: X:19.16, Y:0.96, Z:1.47 [[ 9.92587072e-01 -1.03837783e-03 -1.21531176e-01 1.91639170e+01] [ 4.71516790e-04 9.99988877e-01 -4.69299182e-03 9.60388019e-01] [ 1.21534697e-01 4.60089902e-03 9.92576521e-01 1.46884879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98463044 meters Centerline goodness [0,1] 0.35200502338472195 Centerline is valid? [False, False] Translation: X:19.16, Y:0.97, Z:1.47 [[ 9.92631413e-01 2.48152485e-03 -1.21147515e-01 1.91631457e+01] [-2.76725816e-03 9.99993772e-01 -2.19037087e-03 9.66618159e-01] [ 1.21141325e-01 2.50947738e-03 9.92632098e-01 1.46875380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.01463044 meters Centerline goodness [0,1] 0.35172458366546744 Centerline is valid? [False, False] Translation: X:19.16, Y:0.97, Z:1.47 [[ 9.92605523e-01 2.23348100e-03 -1.21364279e-01 1.91639034e+01] [-2.58711714e-03 9.99992855e-01 -2.75634413e-03 9.70005009e-01] [ 1.21357256e-01 3.04994601e-03 9.92604208e-01 1.46858746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04463044 meters Centerline goodness [0,1] 0.34967180059204594 Centerline is valid? [False, False] Translation: X:19.16, Y:0.97, Z:1.47 [[ 9.92581618e-01 1.97964421e-03 -1.21564030e-01 1.91647080e+01] [-2.39076529e-03 9.99991906e-01 -3.23616693e-03 9.72668213e-01] [ 1.21556639e-01 3.50279086e-03 9.92578316e-01 1.46833174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.07463044 meters Centerline goodness [0,1] 0.3478813741971637 Centerline is valid? [False, False] Translation: X:19.17, Y:0.97, Z:1.47 [[ 9.92565709e-01 1.71003960e-03 -1.21697945e-01 1.91652061e+01] [-2.17540338e-03 9.99990821e-01 -3.69116249e-03 9.74981536e-01] [ 1.21690516e-01 3.92846343e-03 9.92560318e-01 1.46818229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10463044 meters Centerline goodness [0,1] 0.3483733539891557 Centerline is valid? [False, False] Translation: X:19.17, Y:0.98, Z:1.47 [[ 9.92503034e-01 1.18735308e-03 -1.22214228e-01 1.91668275e+01] [-1.73352783e-03 9.99988981e-01 -4.36276232e-03 9.78227498e-01] [ 1.22207701e-01 4.54191661e-03 9.92494156e-01 1.46789094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.13463044 meters Centerline goodness [0,1] 0.35143604261664474 Centerline is valid? [False, False] Translation: X:19.17, Y:0.98, Z:1.47 [[ 9.92477666e-01 1.06698234e-03 -1.22421178e-01 1.91675705e+01] [-1.62564888e-03 9.99988716e-01 -4.46368772e-03 9.78798015e-01] [ 1.22415034e-01 4.62912422e-03 9.92468201e-01 1.46764804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16463044 meters Centerline goodness [0,1] 0.3492395191520531 Centerline is valid? [False, False] Translation: X:19.19, Y:0.98, Z:1.47 [[ 9.92281981e-01 -7.56686691e-03 -1.23770805e-01 1.91893771e+01] [ 7.12323897e-03 9.99966523e-01 -4.02640926e-03 9.83277731e-01] [ 1.23797128e-01 3.11368434e-03 9.92302663e-01 1.47118646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.19463044 meters Centerline goodness [0,1] 0.34719089053604035 Centerline is valid? [False, False] Translation: X:19.19, Y:0.98, Z:1.47 [[ 9.92276006e-01 -7.75694406e-03 -1.23806935e-01 1.91894190e+01] [ 7.28963589e-03 9.99964496e-01 -4.22704808e-03 9.83882438e-01] [ 1.23835328e-01 3.29189091e-03 9.92297322e-01 1.47129414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22463044 meters Centerline goodness [0,1] 0.34523963034601335 Centerline is valid? [False, False] Translation: X:19.19, Y:0.98, Z:1.47 [[ 9.92280187e-01 -7.89055313e-03 -1.23764976e-01 1.91891959e+01] [ 7.39802803e-03 9.99962783e-01 -4.43859684e-03 9.84867758e-01] [ 1.23795393e-01 3.48871494e-03 9.92301632e-01 1.47147185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.25463044 meters Centerline goodness [0,1] 0.34612253641816626 Centerline is valid? [False, False] Translation: X:19.19, Y:0.99, Z:1.47 [[ 9.92286687e-01 -7.95507987e-03 -1.23708721e-01 1.91888336e+01] [ 7.44078328e-03 9.99961650e-01 -4.61878999e-03 9.86080729e-01] [ 1.23740720e-01 3.66267403e-03 9.92307825e-01 1.47179037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28463044 meters Centerline goodness [0,1] 0.34415235474926376 Centerline is valid? [False, False] Translation: X:19.19, Y:0.99, Z:1.47 [[ 9.92376784e-01 -4.77046825e-03 -1.23148536e-01 1.91874097e+01] [ 4.56637518e-03 9.99987693e-01 -1.93948567e-03 9.88436318e-01] [ 1.23156273e-01 1.36235814e-03 9.92386354e-01 1.47181510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.31463044000003 meters Centerline goodness [0,1] 0.3431495895084764 Centerline is valid? [False, False] Translation: X:19.21, Y:0.99, Z:1.48 [[ 9.92420760e-01 2.63674107e-03 -1.22857979e-01 1.92067198e+01] [-3.03805641e-03 9.99990644e-01 -3.07927788e-03 9.85521611e-01] [ 1.22848710e-01 3.42918877e-03 9.92419485e-01 1.47507293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34463044 meters Centerline goodness [0,1] 0.3434936275034808 Centerline is valid? [False, False] Translation: X:19.21, Y:0.99, Z:1.48 [[ 9.92419026e-01 2.57936931e-03 -1.22873199e-01 1.92067620e+01] [-3.00513421e-03 9.99990106e-01 -3.27987372e-03 9.86899589e-01] [ 1.22863523e-01 3.62425954e-03 9.92416958e-01 1.47515072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.37463044000003 meters Centerline goodness [0,1] 0.34047552925594415 Centerline is valid? [False, False] Translation: X:19.21, Y:0.99, Z:1.48 [[ 9.92438489e-01 2.39337137e-03 -1.22719666e-01 1.92059677e+01] [-2.88701912e-03 9.99988441e-01 -3.84490283e-03 9.90315908e-01] [ 1.22709046e-01 4.17012358e-03 9.92433927e-01 1.47576386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40463044 meters Centerline goodness [0,1] 0.3458544766491787 Centerline is valid? [False, False] Translation: X:19.21, Y:0.99, Z:1.48 [[ 9.92450403e-01 2.30251504e-03 -1.22625025e-01 1.92055376e+01] [-2.83108138e-03 9.99987438e-01 -4.13636398e-03 9.92239873e-01] [ 1.22613960e-01 4.45229752e-03 9.92444454e-01 1.47602679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.43463044000003 meters Centerline goodness [0,1] 0.3414431496197192 Centerline is valid? [False, False] Translation: X:19.22, Y:1.00, Z:1.48 [[ 9.92463564e-01 -5.11398922e-03 -1.22433330e-01 1.92241500e+01] [ 4.80204521e-03 9.99984429e-01 -2.84280995e-03 9.97111678e-01] [ 1.22445962e-01 2.23345491e-03 9.92472669e-01 1.48013461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46463044 meters Centerline goodness [0,1] 0.3421024258760108 Centerline is valid? [False, False] Translation: X:19.22, Y:1.00, Z:1.48 [[ 9.92453683e-01 -5.29288454e-03 -1.22505806e-01 1.92239098e+01] [ 4.93934825e-03 9.99982715e-01 -3.18938920e-03 9.99043935e-01] [ 1.22520569e-01 2.56022222e-03 9.92462672e-01 1.48065943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.49463044000004 meters Centerline goodness [0,1] 0.3441180920270591 Centerline is valid? [False, False] Translation: X:19.22, Y:1.00, Z:1.48 [[ 9.92439562e-01 -5.36515415e-03 -1.22617011e-01 1.92241959e+01] [ 4.99408207e-03 9.99981974e-01 -3.33341037e-03 9.99925245e-01] [ 1.22632685e-01 2.69584891e-03 9.92448466e-01 1.48065835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52463044 meters Centerline goodness [0,1] 0.3411394167934352 Centerline is valid? [False, False] Translation: X:19.24, Y:1.00, Z:1.48 [[ 9.92450635e-01 1.76448831e-03 -1.22632064e-01 1.92433394e+01] [-2.34301113e-03 9.99986797e-01 -4.57350108e-03 9.96401586e-01] [ 1.22622375e-01 4.82630235e-03 9.92441666e-01 1.48410342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.55463044000004 meters Centerline goodness [0,1] 0.34155446228206454 Centerline is valid? [False, False] Translation: X:19.24, Y:1.00, Z:1.48 [[ 9.92454492e-01 1.65833565e-03 -1.22602328e-01 1.92432136e+01] [-2.26446225e-03 9.99985894e-01 -4.80466797e-03 9.97637159e-01] [ 1.22592631e-01 5.04604266e-03 9.92444247e-01 1.48420996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58463044 meters Centerline goodness [0,1] 0.3418759390427131 Centerline is valid? [False, False] Translation: X:19.26, Y:1.00, Z:1.49 [[ 9.92589503e-01 -6.13163177e-03 -1.21360954e-01 1.92614424e+01] [ 5.71364582e-03 9.99976488e-01 -3.79185167e-03 1.00322037e+00] [ 1.21381351e-01 3.07033865e-03 9.92601199e-01 1.48839061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.61463044000004 meters Centerline goodness [0,1] 0.34204552824437384 Centerline is valid? [False, False] Translation: X:19.26, Y:1.00, Z:1.49 [[ 9.92577585e-01 -6.09316880e-03 -1.21460324e-01 1.92617694e+01] [ 5.66958686e-03 9.99976583e-01 -3.83270237e-03 1.00405561e+00] [ 1.21480834e-01 3.11562461e-03 9.92588888e-01 1.48831491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64463044 meters Centerline goodness [0,1] 0.3388606808492405 Centerline is valid? [False, False] Translation: X:19.26, Y:1.00, Z:1.49 [[ 9.92519202e-01 -6.07081548e-03 -1.21937599e-01 1.92632877e+01] [ 5.64528096e-03 9.99976712e-01 -3.83494796e-03 1.00454935e+00] [ 1.21958041e-01 3.11788748e-03 9.92530360e-01 1.48796772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.67463044 meters Centerline goodness [0,1] 0.3376418117259894 Centerline is valid? [False, False] Translation: X:19.27, Y:1.00, Z:1.49 [[ 9.92429145e-01 -6.14311450e-03 -1.22664808e-01 1.92660324e+01] [ 5.70569295e-03 9.99976051e-01 -3.91694586e-03 1.00491258e+00] [ 1.22685932e-01 3.18740350e-03 9.92440428e-01 1.48692345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70463044 meters Centerline goodness [0,1] 0.3342664814616946 Centerline is valid? [False, False] Translation: X:19.29, Y:1.00, Z:1.49 [[ 9.92423107e-01 8.00758269e-04 -1.22864706e-01 1.92851795e+01] [-1.45947037e-03 9.99985041e-01 -5.27137409e-03 1.00005278e+00] [ 1.22858647e-01 5.41075084e-03 9.92409430e-01 1.49036237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.73463044 meters Centerline goodness [0,1] 0.33640937801091964 Centerline is valid? [False, False] Translation: X:19.29, Y:1.00, Z:1.49 [[ 9.92420250e-01 8.05282100e-04 -1.22887751e-01 1.92853683e+01] [-1.47069780e-03 9.99984745e-01 -5.32421222e-03 1.00065068e+00] [ 1.22881589e-01 5.46458676e-03 9.92406294e-01 1.49023260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76463044 meters Centerline goodness [0,1] 0.3404929122323237 Centerline is valid? [False, False] Translation: X:19.29, Y:1.00, Z:1.49 [[ 9.92409989e-01 1.03313533e-03 -1.22968882e-01 1.92856109e+01] [-1.69762406e-03 9.99984519e-01 -5.29906208e-03 1.00243018e+00] [ 1.22961504e-01 5.46759708e-03 9.92396379e-01 1.49030031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.79463044 meters Centerline goodness [0,1] 0.33677499678014855 Centerline is valid? [False, False] Translation: X:19.29, Y:1.00, Z:1.49 [[ 9.92380837e-01 1.09824170e-03 -1.23203365e-01 1.92863808e+01] [-1.76676675e-03 9.99984304e-01 -5.31707076e-03 1.00295446e+00] [ 1.23195592e-01 5.49423074e-03 9.92367200e-01 1.49013677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.82463044 meters Centerline goodness [0,1] 0.3358372793801119 Centerline is valid? [False, False] Translation: X:19.29, Y:1.00, Z:1.49 [[ 9.92363387e-01 1.04765981e-03 -1.23344275e-01 1.92868707e+01] [-1.73336526e-03 9.99983635e-01 -5.45210191e-03 1.00356785e+00] [ 1.23336544e-01 5.62426700e-03 9.92348963e-01 1.49005160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.85463044 meters Centerline goodness [0,1] 0.3367349126380105 Centerline is valid? [False, False] Translation: X:19.29, Y:1.01, Z:1.49 [[ 9.92364654e-01 9.49387456e-04 -1.23334879e-01 1.92868437e+01] [-1.68887351e-03 9.99981220e-01 -5.89134851e-03 1.00610600e+00] [ 1.23326969e-01 6.05466304e-03 9.92347620e-01 1.49018778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.88463044 meters Centerline goodness [0,1] 0.3370649428485808 Centerline is valid? [False, False] Translation: X:19.29, Y:1.01, Z:1.49 [[ 9.92390261e-01 9.48800182e-04 -1.23128674e-01 1.92862369e+01] [-1.71235358e-03 9.99979956e-01 -6.09558946e-03 1.00779155e+00] [ 1.23120423e-01 6.26004344e-03 9.92371993e-01 1.49038932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.91463044 meters Centerline goodness [0,1] 0.3387848960907782 Centerline is valid? [False, False] Translation: X:19.29, Y:1.01, Z:1.49 [[ 9.92438131e-01 9.62914704e-04 -1.22742128e-01 1.92850669e+01] [-1.74548142e-03 9.99978830e-01 -6.26832869e-03 1.00926187e+00] [ 1.22733493e-01 6.43517251e-03 9.92418802e-01 1.49071738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.94463044 meters Centerline goodness [0,1] 0.34173238443290377 Centerline is valid? [False, False] Translation: X:19.30, Y:1.01, Z:1.49 [[ 9.92514595e-01 -6.23086186e-03 -1.21967025e-01 1.93027704e+01] [ 5.69921869e-03 9.99972680e-01 -4.70728797e-03 1.01396426e+00] [ 1.21993023e-01 3.97693527e-03 9.92522990e-01 1.49495593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.97463044 meters Centerline goodness [0,1] 0.341468668547918 Centerline is valid? [False, False] Translation: X:19.30, Y:1.02, Z:1.49 [[ 9.92508578e-01 -6.31960106e-03 -1.22011416e-01 1.93031252e+01] [ 5.73515901e-03 9.99970340e-01 -5.14065928e-03 1.01731564e+00] [ 1.22040284e-01 4.40239355e-03 9.92515384e-01 1.49478208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.00463044 meters Centerline goodness [0,1] 0.3398427429749935 Centerline is valid? [False, False] Translation: X:19.30, Y:1.02, Z:1.49 [[ 9.92462478e-01 -6.40339463e-03 -1.22381476e-01 1.93042564e+01] [ 5.78214220e-03 9.99968536e-01 -5.43083807e-03 1.01932260e+00] [ 1.22412401e-01 4.68227591e-03 9.92468277e-01 1.49460211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.03463044 meters Centerline goodness [0,1] 0.3411497892552259 Centerline is valid? [False, False] Translation: X:19.31, Y:1.02, Z:1.49 [[ 9.92425065e-01 -6.44270858e-03 -1.22682443e-01 1.93051050e+01] [ 5.78470972e-03 9.99966915e-01 -5.71886645e-03 1.02169414e+00] [ 1.22715229e-01 4.96586409e-03 9.92429500e-01 1.49456973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.06463044000003 meters Centerline goodness [0,1] 0.3401483005443402 Centerline is valid? [False, False] Translation: X:19.30, Y:1.03, Z:1.50 [[ 9.92512488e-01 -3.24548827e-03 -1.22100072e-01 1.93031806e+01] [ 2.84945786e-03 9.99990099e-01 -3.41796376e-03 1.02712813e+00] [ 1.22109956e-01 3.04445271e-03 9.92511909e-01 1.49507190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.09463044 meters Centerline goodness [0,1] 0.3417960779259832 Centerline is valid? [False, False] Translation: X:19.30, Y:1.03, Z:1.50 [[ 9.92531696e-01 -3.42001522e-03 -1.21939067e-01 1.93026155e+01] [ 2.96463164e-03 9.99987939e-01 -3.91575169e-03 1.03035362e+00] [ 1.21950988e-01 3.52500326e-03 9.92529864e-01 1.49533493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.12463044000003 meters Centerline goodness [0,1] 0.34029704237975333 Centerline is valid? [False, False] Translation: X:19.30, Y:1.03, Z:1.50 [[ 9.92529828e-01 -3.59386791e-03 -1.21949272e-01 1.93027506e+01] [ 3.08403932e-03 9.99985699e-01 -4.36915688e-03 1.03317506e+00] [ 1.21963230e-01 3.96042218e-03 9.92526718e-01 1.49527499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.15463044 meters Centerline goodness [0,1] 0.3397544408493861 Centerline is valid? [False, False] Translation: X:19.30, Y:1.04, Z:1.50 [[ 9.92513818e-01 -3.75761792e-03 -1.22074576e-01 1.93032415e+01] [ 3.20071167e-03 9.99983559e-01 -4.75779316e-03 1.03567257e+00] [ 1.22090447e-01 4.33144993e-03 9.92509527e-01 1.49513466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.18463044000003 meters Centerline goodness [0,1] 0.33917474788741475 Centerline is valid? [False, False] Translation: X:19.30, Y:1.04, Z:1.49 [[ 9.92472509e-01 -3.98870216e-03 -1.22402651e-01 1.93044967e+01] [ 3.36920901e-03 9.99980450e-01 -5.26767070e-03 1.03940875e+00] [ 1.22421269e-01 4.81561824e-03 9.92466545e-01 1.49472006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.21463044 meters Centerline goodness [0,1] 0.3380360205831904 Centerline is valid? [False, False] Translation: X:19.31, Y:1.04, Z:1.49 [[ 9.92431399e-01 -4.21079363e-03 -1.22728105e-01 1.93056438e+01] [ 3.55886402e-03 9.99978373e-01 -5.53071496e-03 1.04038227e+00] [ 1.22748739e-01 5.05208255e-03 9.92424921e-01 1.49438760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.24463044000004 meters Centerline goodness [0,1] 0.3380351665442606 Centerline is valid? [False, False] Translation: X:19.31, Y:1.04, Z:1.49 [[ 9.92384088e-01 -4.44326145e-03 -1.23101905e-01 1.93067168e+01] [ 3.76559314e-03 9.99976453e-01 -5.73705260e-03 1.04080706e+00] [ 1.23124498e-01 5.22980802e-03 9.92377452e-01 1.49424147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.27463044 meters Centerline goodness [0,1] 0.3346191762033346 Centerline is valid? [False, False] Translation: X:19.33, Y:1.04, Z:1.50 [[ 9.92322661e-01 -1.36444874e-02 -1.22920968e-01 1.93274307e+01] [ 1.31054337e-02 9.99900636e-01 -5.19287176e-03 1.04296415e+00] [ 1.22979608e-01 3.54207174e-03 9.92402877e-01 1.49748915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30463044000004 meters Centerline goodness [0,1] 0.33711647175592285 Centerline is valid? [False, False] Translation: X:19.33, Y:1.04, Z:1.50 [[ 9.92328613e-01 -1.36398301e-02 -1.22873426e-01 1.93272868e+01] [ 1.31183063e-02 9.99901187e-01 -5.05244856e-03 1.04223926e+00] [ 1.22930199e-01 3.40179804e-03 9.92409489e-01 1.49751992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.33463044 meters Centerline goodness [0,1] 0.3359395137039265 Centerline is valid? [False, False] Translation: X:19.33, Y:1.04, Z:1.50 [[ 9.92328585e-01 -1.36399431e-02 -1.22873642e-01 1.93272397e+01] [ 1.31372241e-02 9.99901694e-01 -4.90063852e-03 1.04142616e+00] [ 1.22928407e-01 3.24882513e-03 9.92410224e-01 1.49758673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36463044000004 meters Centerline goodness [0,1] 0.3357442437730035 Centerline is valid? [False, False] Translation: X:19.33, Y:1.04, Z:1.50 [[ 9.92346854e-01 -1.36746859e-02 -1.22722141e-01 1.93268552e+01] [ 1.31920781e-02 9.99901726e-01 -4.74425243e-03 1.04018095e+00] [ 1.22774957e-01 3.08898391e-03 9.92429730e-01 1.49760830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.39463044 meters Centerline goodness [0,1] 0.33550101542583066 Centerline is valid? [False, False] Translation: X:19.31, Y:1.03, Z:1.49 [[ 9.92680693e-01 -7.56636025e-03 -1.20531291e-01 1.93080987e+01] [ 6.86006327e-03 9.99956789e-01 -6.27373138e-03 1.03352629e+00] [ 1.20573552e-01 5.40095973e-03 9.92689704e-01 1.49320170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42463044 meters Centerline goodness [0,1] 0.33632064266741535 Centerline is valid? [False, False] Translation: X:19.31, Y:1.03, Z:1.49 [[ 9.92676361e-01 -7.53051822e-03 -1.20569207e-01 1.93082589e+01] [ 6.85112473e-03 9.99958238e-01 -6.04842806e-03 1.03196081e+00] [ 1.20609720e-01 5.17809688e-03 9.92686498e-01 1.49311661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.45463044 meters Centerline goodness [0,1] 0.33400432575968475 Centerline is valid? [False, False] Translation: X:19.31, Y:1.03, Z:1.49 [[ 9.92663359e-01 -7.52703315e-03 -1.20676423e-01 1.93086587e+01] [ 6.86672942e-03 9.99959097e-01 -5.88660616e-03 1.03056025e+00] [ 1.20715796e-01 5.01476590e-03 9.92674442e-01 1.49301305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48463044 meters Centerline goodness [0,1] 0.3339870689655172 Centerline is valid? [False, False] Translation: X:19.31, Y:1.03, Z:1.49 [[ 9.92636731e-01 -7.43914210e-03 -1.20900698e-01 1.93092139e+01] [ 6.80407127e-03 9.99960807e-01 -5.66480987e-03 1.02923693e+00] [ 1.20938101e-01 4.80048139e-03 9.92648443e-01 1.49300693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.51463044 meters Centerline goodness [0,1] 0.3335414558529076 Centerline is valid? [False, False] Translation: X:19.31, Y:1.03, Z:1.49 [[ 9.92615241e-01 -7.25666390e-03 -1.21088087e-01 1.93099120e+01] [ 6.66928654e-03 9.99963950e-01 -5.25540417e-03 1.02676777e+00] [ 1.21121859e-01 4.40902313e-03 9.92627854e-01 1.49277564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.54463044 meters Centerline goodness [0,1] 0.3321829717911343 Centerline is valid? [False, False] Translation: X:19.31, Y:1.03, Z:1.49 [[ 9.92629323e-01 -7.15190455e-03 -1.20978832e-01 1.93095248e+01] [ 6.57989443e-03 9.99965209e-01 -5.12700910e-03 1.02619373e+00] [ 1.21011291e-01 4.29319163e-03 9.92641847e-01 1.49296654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.57463044 meters Centerline goodness [0,1] 0.3376295942098285 Centerline is valid? [False, False] Translation: X:19.29, Y:1.02, Z:1.49 [[ 9.92822283e-01 1.28823545e-03 -1.19592033e-01 1.92887298e+01] [-2.00846259e-03 9.99980566e-01 -5.90203193e-03 1.02294222e+00] [ 1.19582106e-01 6.09986494e-03 9.92805576e-01 1.48903509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60463044 meters Centerline goodness [0,1] 0.3389344880329176 Centerline is valid? [False, False] Translation: X:19.31, Y:1.02, Z:1.49 [[ 9.92840659e-01 9.24986602e-03 -1.19087638e-01 1.93090915e+01] [-1.01312848e-02 9.99925568e-01 -6.79813572e-03 1.01857530e+00] [ 1.19015892e-01 7.95597632e-03 9.92860474e-01 1.49242393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.63463044 meters Centerline goodness [0,1] 0.3326370534572427 Centerline is valid? [False, False] Translation: X:19.33, Y:1.02, Z:1.49 [[ 9.92846837e-01 3.99779082e-03 -1.19328019e-01 1.93310787e+01] [-4.51887611e-03 9.99981399e-01 -4.09656841e-03 1.01952538e+00] [ 1.19309422e-01 4.60649352e-03 9.92846434e-01 1.49495655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66463044 meters Centerline goodness [0,1] 0.3326370534572427 Centerline is valid? [False, False] Translation: X:19.33, Y:1.02, Z:1.49 [[ 9.92846837e-01 3.99779082e-03 -1.19328019e-01 1.93310787e+01] [-4.51887611e-03 9.99981399e-01 -4.09656841e-03 1.01952538e+00] [ 1.19309422e-01 4.60649352e-03 9.92846434e-01 1.49495655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.69463044 meters Centerline goodness [0,1] 0.33543148080517304 Centerline is valid? [False, False] Translation: X:19.33, Y:1.02, Z:1.50 [[ 9.92812093e-01 4.24932171e-03 -1.19608077e-01 1.93314619e+01] [-4.77082938e-03 9.99980320e-01 -4.07413139e-03 1.02044020e+00] [ 1.19588410e-01 4.61547663e-03 9.92812827e-01 1.49539228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72463044 meters Centerline goodness [0,1] 0.3355041158896984 Centerline is valid? [False, False] Translation: X:19.33, Y:1.02, Z:1.50 [[ 9.92781158e-01 4.43320769e-03 -1.19857915e-01 1.93318099e+01] [-4.96602477e-03 9.99979070e-01 -4.14708464e-03 1.02184692e+00] [ 1.19837022e-01 4.71236487e-03 9.92782394e-01 1.49578552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.75463044 meters Centerline goodness [0,1] 0.3355811356412679 Centerline is valid? [False, False] Translation: X:19.33, Y:1.02, Z:1.50 [[ 9.92781187e-01 5.12862378e-03 -1.19829930e-01 1.93318518e+01] [-5.63187791e-03 9.99976685e-01 -3.86145790e-03 1.02336022e+00] [ 1.19807332e-01 4.50845029e-03 9.92786924e-01 1.49577466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78463044 meters Centerline goodness [0,1] 0.33330486033996753 Centerline is valid? [False, False] Translation: X:19.35, Y:1.03, Z:1.50 [[ 9.92953249e-01 -2.15705543e-03 -1.18487100e-01 1.93503818e+01] [ 1.90137572e-03 9.99995614e-01 -2.27086973e-03 1.02642493e+00] [ 1.18491479e-01 2.02957898e-03 9.92952995e-01 1.49894012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.81463044000003 meters Centerline goodness [0,1] 0.3393908149675645 Centerline is valid? [False, False] Translation: X:19.35, Y:1.03, Z:1.50 [[ 9.92987058e-01 -2.19307498e-03 -1.18202759e-01 1.93495142e+01] [ 1.93059495e-03 9.99995410e-01 -2.33504796e-03 1.02653440e+00] [ 1.18207337e-01 2.09047076e-03 9.92986735e-01 1.49912544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84463044 meters Centerline goodness [0,1] 0.3382996994418205 Centerline is valid? [False, False] Translation: X:19.35, Y:1.03, Z:1.50 [[ 9.93000145e-01 -2.16425718e-03 -1.18093305e-01 1.93492410e+01] [ 1.90693901e-03 9.99995555e-01 -2.29188990e-03 1.02626770e+00] [ 1.18097740e-01 2.05065028e-03 9.92999858e-01 1.49910350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.87463044000003 meters Centerline goodness [0,1] 0.33757619987979737 Centerline is valid? [False, False] Translation: X:19.35, Y:1.03, Z:1.50 [[ 9.92922287e-01 -2.05797351e-03 -1.18748039e-01 1.93512714e+01] [ 1.82328479e-03 9.99996164e-01 -2.08496504e-03 1.02517989e+00] [ 1.18751874e-01 1.85369677e-03 9.92922231e-01 1.49865983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90463044 meters Centerline goodness [0,1] 0.33671321160042966 Centerline is valid? [False, False] Translation: X:19.35, Y:1.02, Z:1.50 [[ 9.92870445e-01 -1.93098585e-03 -1.19182844e-01 1.93525265e+01] [ 1.71339550e-03 9.99996673e-01 -1.92812713e-03 1.02471669e+00] [ 1.19186171e-01 1.71017309e-03 9.92870451e-01 1.49845582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.93463044000003 meters Centerline goodness [0,1] 0.3390458445272554 Centerline is valid? [False, False] Translation: X:19.35, Y:1.02, Z:1.50 [[ 9.92870260e-01 -1.91545589e-03 -1.19184638e-01 1.93525018e+01] [ 1.70094502e-03 9.99996745e-01 -1.90151973e-03 1.02435811e+00] [ 1.19187892e-01 1.68523587e-03 9.92870287e-01 1.49850985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96463044 meters Centerline goodness [0,1] 0.3347207103370259 Centerline is valid? [False, False] Translation: X:19.39, Y:1.02, Z:1.50 [[ 9.93077913e-01 -2.13233290e-03 -1.17438123e-01 1.93948064e+01] [ 1.99086442e-03 9.99997144e-01 -1.32191595e-03 1.02174912e+00] [ 1.17440607e-01 1.07896215e-03 9.93079322e-01 1.50393841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.99463044000004 meters Centerline goodness [0,1] 0.3386372822225532 Centerline is valid? [False, False] Translation: X:19.39, Y:1.02, Z:1.50 [[ 9.93089323e-01 -2.05255766e-03 -1.17343016e-01 1.93943815e+01] [ 1.91613358e-03 9.99997351e-01 -1.27540978e-03 1.02196339e+00] [ 1.17345323e-01 1.04175095e-03 9.93090625e-01 1.50419966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02463044 meters Centerline goodness [0,1] 0.33825235210723026 Centerline is valid? [False, False] Translation: X:19.39, Y:1.02, Z:1.50 [[ 9.93101354e-01 -1.99424855e-03 -1.17242156e-01 1.93941827e+01] [ 1.86025860e-03 9.99997486e-01 -1.25226457e-03 1.02229268e+00] [ 1.17244359e-01 1.02552491e-03 9.93102567e-01 1.50415472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.05463044000004 meters Centerline goodness [0,1] 0.3369630326886873 Centerline is valid? [False, False] Translation: X:19.40, Y:1.02, Z:1.50 [[ 9.93069606e-01 -2.00608884e-03 -1.17510563e-01 1.93951965e+01] [ 1.84968852e-03 9.99997253e-01 -1.43998867e-03 1.02396854e+00] [ 1.17513129e-01 1.21265104e-03 9.93070589e-01 1.50381904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08463044 meters Centerline goodness [0,1] 0.33516436722875154 Centerline is valid? [False, False] Translation: X:19.40, Y:1.03, Z:1.50 [[ 9.93028987e-01 -2.09561264e-03 -1.17851772e-01 1.93963468e+01] [ 1.91470838e-03 9.99996809e-01 -1.64821480e-03 1.02510972e+00] [ 1.17854850e-01 1.41107330e-03 9.93029830e-01 1.50358024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.11463044000004 meters Centerline goodness [0,1] 0.33600620796689085 Centerline is valid? [False, False] Translation: X:19.40, Y:1.03, Z:1.50 [[ 9.92993369e-01 -2.15576354e-03 -1.18150424e-01 1.93971487e+01] [ 1.94916505e-03 9.99996363e-01 -1.86412983e-03 1.02658832e+00] [ 1.18154012e-01 1.62077388e-03 9.92993959e-01 1.50353462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14463044 meters Centerline goodness [0,1] 0.335720546422387 Centerline is valid? [False, False] Translation: X:19.40, Y:1.03, Z:1.50 [[ 9.92966099e-01 -2.17764077e-03 -1.18378984e-01 1.93977408e+01] [ 1.94374262e-03 9.99995924e-01 -2.09126114e-03 1.02846720e+00] [ 1.18383055e-01 1.84645314e-03 9.92966285e-01 1.50353977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.17463044 meters Centerline goodness [0,1] 0.33488451888228865 Centerline is valid? [False, False] Translation: X:19.39, Y:1.03, Z:1.50 [[ 9.93049146e-01 5.25284803e-04 -1.17699266e-01 1.93945377e+01] [-5.50807534e-04 9.99999831e-01 -1.84319221e-04 1.03369212e+00] [ 1.17699149e-01 2.47867687e-04 9.93049268e-01 1.50495501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20463044 meters Centerline goodness [0,1] 0.3373543198727046 Centerline is valid? [False, False] Translation: X:19.39, Y:1.04, Z:1.51 [[ 9.93083615e-01 4.42086968e-04 -1.17408423e-01 1.93935803e+01] [-5.16453399e-04 9.99999685e-01 -6.02977013e-04 1.03660795e+00] [ 1.17408119e-01 6.59442571e-04 9.93083531e-01 1.50530835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.23463044 meters Centerline goodness [0,1] 0.3372654613839381 Centerline is valid? [False, False] Translation: X:19.39, Y:1.04, Z:1.51 [[ 9.93122682e-01 3.57063485e-04 -1.17077797e-01 1.93925552e+01] [-4.81887570e-04 9.99999345e-01 -1.03785882e-03 1.03955736e+00] [ 1.17077350e-01 1.08713947e-03 9.93122204e-01 1.50561481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26463044 meters Centerline goodness [0,1] 0.33989715020355693 Centerline is valid? [False, False] Translation: X:19.39, Y:1.04, Z:1.51 [[ 9.93147440e-01 1.99069802e-04 -1.16867969e-01 1.93918170e+01] [-3.80240944e-04 9.99998760e-01 -1.52792734e-03 1.04261216e+00] [ 1.16867520e-01 1.56189512e-03 9.93146285e-01 1.50593577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.29463044 meters Centerline goodness [0,1] 0.3386417365140769 Centerline is valid? [False, False] Translation: X:19.39, Y:1.05, Z:1.51 [[ 9.93181848e-01 1.65057461e-03 -1.16563682e-01 1.93909588e+01] [-1.77482795e-03 9.99997962e-01 -9.62183540e-04 1.05045258e+00] [ 1.16561857e-01 1.16250371e-03 9.93182754e-01 1.50617972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.32463044 meters Centerline goodness [0,1] 0.33883074547482195 Centerline is valid? [False, False] Translation: X:19.39, Y:1.05, Z:1.51 [[ 9.93150268e-01 1.56967425e-03 -1.16833560e-01 1.93916204e+01] [-1.74483813e-03 9.99997502e-01 -1.39699694e-03 1.05377593e+00] [ 1.16831075e-01 1.59128354e-03 9.93150526e-01 1.50631784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.35463044 meters Centerline goodness [0,1] 0.34139628889032225 Centerline is valid? [False, False] Translation: X:19.39, Y:1.06, Z:1.51 [[ 9.93153174e-01 1.46578033e-03 -1.16810203e-01 1.93916283e+01] [-1.69071843e-03 9.99996902e-01 -1.82660916e-03 1.05663991e+00] [ 1.16807164e-01 2.01159585e-03 9.93152576e-01 1.50632172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.38463044 meters Centerline goodness [0,1] 0.34034182521767176 Centerline is valid? [False, False] Translation: X:19.39, Y:1.06, Z:1.51 [[ 9.93146032e-01 1.30869014e-03 -1.16872778e-01 1.93918103e+01] [-1.58981709e-03 9.99996063e-01 -2.31221976e-03 1.05959720e+00] [ 1.16869292e-01 2.48217822e-03 9.93144203e-01 1.50642119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.41463044 meters Centerline goodness [0,1] 0.34101175312025 Centerline is valid? [False, False] Translation: X:19.39, Y:1.07, Z:1.51 [[ 9.93161972e-01 2.74866903e-03 -1.16712223e-01 1.93913404e+01] [-2.98142391e-03 9.99993900e-01 -1.81972878e-03 1.06741243e+00] [ 1.16706510e-01 2.15525404e-03 9.93164108e-01 1.50676247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.44463044 meters Centerline goodness [0,1] 0.3417111268239378 Centerline is valid? [False, False] Translation: X:19.39, Y:1.07, Z:1.51 [[ 9.93157794e-01 2.77414523e-03 -1.16747166e-01 1.93914034e+01] [-3.04786648e-03 9.99993009e-01 -2.16610408e-03 1.07052639e+00] [ 1.16740341e-01 2.50711292e-03 9.93159306e-01 1.50687849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.47463044 meters Centerline goodness [0,1] 0.3439698762775686 Centerline is valid? [False, False] Translation: X:19.39, Y:1.07, Z:1.51 [[ 9.93159520e-01 2.74571355e-03 -1.16733152e-01 1.93913039e+01] [-3.06752602e-03 9.99991974e-01 -2.57725556e-03 1.07372120e+00] [ 1.16725138e-01 2.91770787e-03 9.93159972e-01 1.50707127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.50463044 meters Centerline goodness [0,1] 0.34030674452929477 Centerline is valid? [False, False] Translation: X:19.39, Y:1.08, Z:1.51 [[ 9.93137925e-01 2.74508844e-03 -1.16916747e-01 1.93915692e+01] [-3.11236976e-03 9.99990779e-01 -2.95893731e-03 1.07690123e+00] [ 1.16907547e-01 3.30252101e-03 9.93137311e-01 1.50737849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.53463044 meters Centerline goodness [0,1] 0.3425827107790822 Centerline is valid? [False, False] Translation: X:19.39, Y:1.08, Z:1.51 [[ 9.93156370e-01 6.27375700e-03 -1.16623606e-01 1.93906195e+01] [-6.36950851e-03 9.99979614e-01 -4.48355506e-04 1.08240111e+00] [ 1.16618416e-01 1.18812218e-03 9.93176084e-01 1.50774698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.56463044000003 meters Centerline goodness [0,1] 0.34320823218543905 Centerline is valid? [False, False] Translation: X:19.39, Y:1.09, Z:1.51 [[ 9.93144698e-01 6.24238949e-03 -1.16724643e-01 1.93907750e+01] [-6.38384865e-03 9.99979272e-01 -8.38086421e-04 1.08539034e+00] [ 1.16716992e-01 1.57749354e-03 9.93163962e-01 1.50794367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.59463044 meters Centerline goodness [0,1] 0.34267088362486287 Centerline is valid? [False, False] Translation: X:19.39, Y:1.09, Z:1.51 [[ 9.93132743e-01 6.14181738e-03 -1.16831643e-01 1.93910843e+01] [-6.33390866e-03 9.99979130e-01 -1.27296751e-03 1.08819799e+00] [ 1.16821387e-01 2.00422668e-03 9.93150918e-01 1.50793134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.62463044000003 meters Centerline goodness [0,1] 0.34545924187958754 Centerline is valid? [False, False] Translation: X:19.39, Y:1.09, Z:1.51 [[ 9.93120622e-01 6.02202601e-03 -1.16940861e-01 1.93915320e+01] [-6.25975744e-03 9.99979020e-01 -1.66575253e-03 1.09067552e+00] [ 1.16928376e-01 2.38631462e-03 9.93137483e-01 1.50777475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.65463044 meters Centerline goodness [0,1] 0.3427212795849994 Centerline is valid? [False, False] Translation: X:19.39, Y:1.09, Z:1.51 [[ 9.93046364e-01 6.12063353e-03 -1.17564691e-01 1.93936989e+01] [-6.39640413e-03 9.99977605e-01 -1.96852808e-03 1.09404234e+00] [ 1.17550010e-01 2.70683093e-03 9.93063275e-01 1.50705370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.68463044000003 meters Centerline goodness [0,1] 0.34177759618072734 Centerline is valid? [False, False] Translation: X:19.39, Y:1.10, Z:1.51 [[ 9.93007685e-01 6.09631132e-03 -1.17892209e-01 1.93948335e+01] [-6.38610429e-03 9.99977444e-01 -2.08051764e-03 1.09505464e+00] [ 1.17876866e-01 2.81884195e-03 9.93024219e-01 1.50671630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.71463044 meters Centerline goodness [0,1] 0.3396569813502345 Centerline is valid? [False, False] Translation: X:19.41, Y:1.10, Z:1.51 [[ 9.92933098e-01 -1.51282217e-03 -1.18665810e-01 1.94133687e+01] [ 1.44260284e-03 9.99998730e-01 -6.77635335e-04 1.09970853e+00] [ 1.18666684e-01 5.01658919e-04 9.92934019e-01 1.51083005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.74463044000004 meters Centerline goodness [0,1] 0.3462624493816351 Centerline is valid? [False, False] Translation: X:19.37, Y:1.10, Z:1.51 [[ 9.92666016e-01 -1.32377980e-03 -1.20881879e-01 1.93695281e+01] [ 1.14231688e-03 9.99998114e-01 -1.57044343e-03 1.10120105e+00] [ 1.20883730e-01 1.42084041e-03 9.92665656e-01 1.50617013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.77463044 meters Centerline goodness [0,1] 0.34078212290502796 Centerline is valid? [False, False] Translation: X:19.41, Y:1.10, Z:1.51 [[ 9.92915942e-01 -1.93693998e-03 -1.18803114e-01 1.94115466e+01] [ 1.80679111e-03 9.99997644e-01 -1.20319841e-03 1.10120142e+00] [ 1.18805165e-01 9.80022471e-04 9.92917102e-01 1.51181138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80463044000004 meters Centerline goodness [0,1] 0.3397673472010968 Centerline is valid? [False, False] Translation: X:19.41, Y:1.10, Z:1.51 [[ 9.92903935e-01 -1.94833099e-03 -1.18903234e-01 1.94119886e+01] [ 1.81667171e-03 9.99997611e-01 -1.21565957e-03 1.10121003e+00] [ 1.18905319e-01 9.91025028e-04 9.92905103e-01 1.51165453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.83463044 meters Centerline goodness [0,1] 0.3427456728385748 Centerline is valid? [False, False] Translation: X:19.41, Y:1.10, Z:1.51 [[ 9.92893008e-01 -1.91657783e-03 -1.18994965e-01 1.94124501e+01] [ 1.79173535e-03 9.99997727e-01 -1.15611587e-03 1.10098959e+00] [ 1.18996910e-01 9.34691875e-04 9.92894185e-01 1.51141675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86463044000004 meters Centerline goodness [0,1] 0.3410809417425674 Centerline is valid? [False, False] Translation: X:19.41, Y:1.10, Z:1.51 [[ 9.92901738e-01 -1.80839590e-03 -1.18923796e-01 1.94123342e+01] [ 1.70231322e-03 9.99998057e-01 -9.93599558e-04 1.10047341e+00] [ 1.18925362e-01 7.84101176e-04 9.92902887e-01 1.51138014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.89463044 meters Centerline goodness [0,1] 0.3421080976282286 Centerline is valid? [False, False] Translation: X:19.41, Y:1.10, Z:1.51 [[ 9.92890127e-01 -1.77892977e-03 -1.19021139e-01 1.94125925e+01] [ 1.67444987e-03 9.99998120e-01 -9.77823650e-04 1.10029822e+00] [ 1.19022655e-01 7.71576517e-04 9.92891239e-01 1.51139392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92463044 meters Centerline goodness [0,1] 0.33968409400544963 Centerline is valid? [False, False] Translation: X:19.43, Y:1.10, Z:1.52 [[ 9.92776505e-01 5.04734470e-03 -1.19872162e-01 1.94323390e+01] [-5.33807743e-03 9.99983538e-01 -2.10437718e-03 1.09565506e+00] [ 1.19859567e-01 2.72906310e-03 9.92787105e-01 1.51514483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.95463044 meters Centerline goodness [0,1] 0.34112733066356626 Centerline is valid? [False, False] Translation: X:19.43, Y:1.09, Z:1.51 [[ 9.92742990e-01 5.06591373e-03 -1.20148630e-01 1.94332299e+01] [-5.35101554e-03 9.99983581e-01 -2.05039885e-03 1.09496280e+00] [ 1.20136270e-01 2.67843627e-03 9.92753798e-01 1.51493916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.98463044 meters Centerline goodness [0,1] 0.3451648422825313 Centerline is valid? [False, False] Translation: X:19.43, Y:1.09, Z:1.52 [[ 9.92745700e-01 5.30054029e-03 -1.20116106e-01 1.94330716e+01] [-5.53734146e-03 9.99983328e-01 -1.63774875e-03 1.09274316e+00] [ 1.20105422e-01 2.29099192e-03 9.92758500e-01 1.51503071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.01463044 meters Centerline goodness [0,1] 0.3425883977304597 Centerline is valid? [False, False] Translation: X:19.43, Y:1.09, Z:1.52 [[ 9.92790850e-01 5.34727286e-03 -1.19740284e-01 1.94320213e+01] [-5.56176814e-03 9.99983471e-01 -1.45722086e-03 1.09124259e+00] [ 1.19730512e-01 2.11268323e-03 9.92804181e-01 1.51522850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.04463044 meters Centerline goodness [0,1] 0.3449588234029286 Centerline is valid? [False, False] Translation: X:19.45, Y:1.09, Z:1.52 [[ 9.92927665e-01 -2.41394446e-03 -1.18696358e-01 1.94496985e+01] [ 2.44571236e-03 9.99997002e-01 1.21977192e-04 1.09255797e+00] [ 1.18695707e-01 -4.11411678e-04 9.92930592e-01 1.51892573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.07463044 meters Centerline goodness [0,1] 0.34337868090235923 Centerline is valid? [False, False] Translation: X:19.45, Y:1.09, Z:1.52 [[ 9.92913425e-01 -2.12271618e-03 -1.18820981e-01 1.94497702e+01] [ 2.22647713e-03 9.99997247e-01 7.40514773e-04 1.08834569e+00] [ 1.18819082e-01 -9.99819256e-04 9.92915417e-01 1.51918574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.10463044 meters Centerline goodness [0,1] 0.3382879808922631 Centerline is valid? [False, False] Translation: X:19.45, Y:1.09, Z:1.52 [[ 9.92873576e-01 -1.85000168e-03 -1.19158045e-01 1.94511036e+01] [ 2.00911150e-03 9.99997243e-01 1.21516884e-03 1.08594258e+00] [ 1.19155468e-01 -1.44591083e-03 9.92874556e-01 1.51870926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.13463044 meters Centerline goodness [0,1] 0.3394168420148581 Centerline is valid? [False, False] Translation: X:19.45, Y:1.08, Z:1.52 [[ 9.92857205e-01 -1.61479044e-03 -1.19297792e-01 1.94518055e+01] [ 1.82875011e-03 9.99996910e-01 1.68404021e-03 1.08325538e+00] [ 1.19294704e-01 -1.89017731e-03 9.92857090e-01 1.51837659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16463044 meters Centerline goodness [0,1] 0.34074630066480804 Centerline is valid? [False, False] Translation: X:19.45, Y:1.08, Z:1.52 [[ 9.92901952e-01 -1.23071618e-03 -1.18929386e-01 1.94507768e+01] [ 1.53641194e-03 9.99995748e-01 2.47874378e-03 1.07643397e+00] [ 1.18925830e-01 -2.64387407e-03 9.92899621e-01 1.51856703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.19463044 meters Centerline goodness [0,1] 0.34513406687319725 Centerline is valid? [False, False] Translation: X:19.45, Y:1.07, Z:1.52 [[ 9.92917406e-01 -9.70439833e-04 -1.18802707e-01 1.94502883e+01] [ 1.33178505e-03 9.99994726e-01 2.96220386e-03 1.07358853e+00] [ 1.18799206e-01 -3.09944344e-03 9.92913462e-01 1.51881616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22463044 meters Centerline goodness [0,1] 0.34310604431060443 Centerline is valid? [False, False] Translation: X:19.45, Y:1.07, Z:1.52 [[ 9.92934918e-01 -7.54003526e-04 -1.18657830e-01 1.94499520e+01] [ 1.16511853e-03 9.99993557e-01 3.39537812e-03 1.07113177e+00] [ 1.18654506e-01 -3.50963993e-03 9.92929399e-01 1.51880438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.25463044 meters Centerline goodness [0,1] 0.3429269848017855 Centerline is valid? [False, False] Translation: X:19.47, Y:1.06, Z:1.52 [[ 9.92844871e-01 6.37207361e-03 -1.19241179e-01 1.94693548e+01] [-6.10987591e-03 9.99978047e-01 2.56433865e-03 1.06423553e+00] [ 1.19254901e-01 -1.81744167e-03 9.92862007e-01 1.52270490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28463044 meters Centerline goodness [0,1] 0.34332711402775096 Centerline is valid? [False, False] Translation: X:19.47, Y:1.06, Z:1.52 [[ 9.92819385e-01 6.61023001e-03 -1.19440250e-01 1.94703202e+01] [-6.29633856e-03 9.99975662e-01 3.00520263e-03 1.06180265e+00] [ 1.19457208e-01 -2.23158718e-03 9.92836842e-01 1.52218554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.31463044000003 meters Centerline goodness [0,1] 0.342806624115922 Centerline is valid? [False, False] Translation: X:19.47, Y:1.06, Z:1.52 [[ 9.92823749e-01 7.13299166e-03 -1.19373884e-01 1.94706813e+01] [-6.71838829e-03 9.99969922e-01 3.87523349e-03 1.05676965e+00] [ 1.19397936e-01 -3.04542373e-03 9.92841809e-01 1.52164624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34463044 meters Centerline goodness [0,1] 0.3420979320690025 Centerline is valid? [False, False] Translation: X:19.49, Y:1.06, Z:1.53 [[ 9.92994577e-01 2.27068598e-05 -1.18159930e-01 1.94881083e+01] [ 6.63882352e-04 9.99983125e-01 5.77131393e-03 1.05822135e+00] [ 1.18158068e-01 -5.80932773e-03 9.92977806e-01 1.52504699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.37463044000003 meters Centerline goodness [0,1] 0.34282530907844266 Centerline is valid? [False, False] Translation: X:19.49, Y:1.06, Z:1.53 [[ 9.93021485e-01 1.74951135e-04 -1.17933451e-01 1.94873545e+01] [ 5.40631499e-04 9.99981639e-01 6.03566344e-03 1.05661367e+00] [ 1.17932341e-01 -6.05730202e-03 9.93003158e-01 1.52535683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40463044 meters Centerline goodness [0,1] 0.3439743755105551 Centerline is valid? [False, False] Translation: X:19.49, Y:1.05, Z:1.53 [[ 9.93030966e-01 5.02282401e-04 -1.17852655e-01 1.94870522e+01] [ 2.61074292e-04 9.99979089e-01 6.46168517e-03 1.05464193e+00] [ 1.17853436e-01 -6.44742177e-03 9.93010070e-01 1.52547744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.43463044000003 meters Centerline goodness [0,1] 0.34293311603371 Centerline is valid? [False, False] Translation: X:19.49, Y:1.05, Z:1.53 [[ 9.93013139e-01 6.01766420e-04 -1.18002305e-01 1.94875809e+01] [ 1.79098770e-04 9.99978160e-01 6.60665662e-03 1.05377346e+00] [ 1.18003704e-01 -6.58163089e-03 9.92991343e-01 1.52535547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46463044 meters Centerline goodness [0,1] 0.34127035064073763 Centerline is valid? [False, False] Translation: X:19.49, Y:1.05, Z:1.53 [[ 9.93008671e-01 6.70508467e-04 -1.18039523e-01 1.94879000e+01] [ 1.26473409e-04 9.99977250e-01 6.74420217e-03 1.05270802e+00] [ 1.18041359e-01 -6.71198009e-03 9.92985995e-01 1.52517093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.49463044000004 meters Centerline goodness [0,1] 0.3429820238681893 Centerline is valid? [False, False] Translation: X:19.49, Y:1.05, Z:1.53 [[ 9.93011675e-01 7.21647810e-04 -1.18013949e-01 1.94879822e+01] [ 9.31723274e-05 9.99976199e-01 6.89877636e-03 1.05153021e+00] [ 1.18016119e-01 -6.86156110e-03 9.92987973e-01 1.52504390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52463044 meters Centerline goodness [0,1] 0.34347882120457085 Centerline is valid? [False, False] Translation: X:19.49, Y:1.05, Z:1.52 [[ 9.93023921e-01 1.00926184e-03 -1.17908752e-01 1.94878056e+01] [-1.38514954e-04 9.99972663e-01 7.39288279e-03 1.04898830e+00] [ 1.17912990e-01 -7.32497733e-03 9.92996914e-01 1.52496712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.55463044000004 meters Centerline goodness [0,1] 0.34290809092080954 Centerline is valid? [False, False] Translation: X:19.49, Y:1.05, Z:1.53 [[ 9.92998664e-01 1.14231024e-03 -1.18120062e-01 1.94883264e+01] [-2.34636309e-04 9.99970343e-01 7.69795417e-03 1.04714480e+00] [ 1.18125352e-01 -7.61634295e-03 9.92969482e-01 1.52506533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58463044 meters Centerline goodness [0,1] 0.3443647254002111 Centerline is valid? [False, False] Translation: X:19.49, Y:1.04, Z:1.52 [[ 9.92976153e-01 1.21153326e-03 -1.18308463e-01 1.94890817e+01] [-2.71305253e-04 9.99968258e-01 7.96304112e-03 1.04497741e+00] [ 1.18314355e-01 -7.87501222e-03 9.92944962e-01 1.52482217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.61463044000004 meters Centerline goodness [0,1] 0.3443647254002111 Centerline is valid? [False, False] Translation: X:19.49, Y:1.04, Z:1.52 [[ 9.92976153e-01 1.21153326e-03 -1.18308463e-01 1.94890817e+01] [-2.71305253e-04 9.99968258e-01 7.96304112e-03 1.04497741e+00] [ 1.18314355e-01 -7.87501222e-03 9.92944962e-01 1.52482217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64463044 meters Centerline goodness [0,1] 0.34381930538509575 Centerline is valid? [False, False] Translation: X:19.49, Y:1.04, Z:1.52 [[ 9.92944185e-01 1.22934403e-03 -1.18576279e-01 1.94899241e+01] [-2.59843236e-04 9.99966417e-01 8.19129186e-03 1.04267061e+00] [ 1.18582367e-01 -8.10268438e-03 9.92911159e-01 1.52468666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.67463044 meters Centerline goodness [0,1] 0.34067717006105636 Centerline is valid? [False, False] Translation: X:19.51, Y:1.04, Z:1.53 [[ 9.92618197e-01 6.45030126e-03 -1.21109493e-01 1.95138447e+01] [-5.75704026e-03 9.99964985e-01 6.07328510e-03 1.03695996e+00] [ 1.21144427e-01 -5.33122108e-03 9.92620575e-01 1.52717479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70463044 meters Centerline goodness [0,1] 0.3425811621510406 Centerline is valid? [False, False] Translation: X:19.51, Y:1.04, Z:1.53 [[ 9.92622373e-01 6.64938716e-03 -1.21064489e-01 1.95141844e+01] [-5.92716144e-03 9.99962432e-01 6.32476388e-03 1.03620750e+00] [ 1.21101997e-01 -5.56053336e-03 9.92624494e-01 1.52666337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.73463044 meters Centerline goodness [0,1] 0.34275420163534764 Centerline is valid? [False, False] Translation: X:19.51, Y:1.04, Z:1.53 [[ 9.92616753e-01 6.90418229e-03 -1.21096298e-01 1.95145910e+01] [-6.15089104e-03 9.99959347e-01 6.59329913e-03 1.03552517e+00] [ 1.21136896e-01 -5.79976904e-03 9.92618867e-01 1.52634607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76463044 meters Centerline goodness [0,1] 0.33968703715628823 Centerline is valid? [False, False] Translation: X:19.51, Y:1.04, Z:1.53 [[ 9.92606107e-01 6.82660278e-03 -1.21187932e-01 1.95148899e+01] [-6.08422059e-03 9.99960399e-01 6.49485406e-03 1.03548578e+00] [ 1.21227470e-01 -5.70949770e-03 9.92608333e-01 1.52629238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.79463044 meters Centerline goodness [0,1] 0.33779128239145784 Centerline is valid? [False, False] Translation: X:19.52, Y:1.04, Z:1.53 [[ 9.92575912e-01 6.81420212e-03 -1.21435688e-01 1.95156415e+01] [-6.07462520e-03 9.99960686e-01 6.45944861e-03 1.03546389e+00] [ 1.21474930e-01 -5.67381680e-03 9.92578284e-01 1.52616319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.82463044 meters Centerline goodness [0,1] 0.337304909727142 Centerline is valid? [False, False] Translation: X:19.52, Y:1.04, Z:1.53 [[ 9.92541777e-01 6.90760251e-03 -1.21709107e-01 1.95163639e+01] [-6.15609467e-03 9.99959602e-01 6.54957003e-03 1.03543422e+00] [ 1.21749432e-01 -5.75146909e-03 9.92544204e-01 1.52611782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.85463044 meters Centerline goodness [0,1] 0.3391488351002958 Centerline is valid? [False, False] Translation: X:19.52, Y:1.03, Z:1.53 [[ 9.92506616e-01 7.09953084e-03 -1.21984482e-01 1.95175385e+01] [-6.31784187e-03 9.99956964e-01 6.79369567e-03 1.03490487e+00] [ 1.22027465e-01 -5.97210923e-03 9.92508757e-01 1.52563502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.88463044 meters Centerline goodness [0,1] 0.3393006993006993 Centerline is valid? [False, False] Translation: X:19.52, Y:1.03, Z:1.53 [[ 9.92505816e-01 6.99850384e-03 -1.21996825e-01 1.95175904e+01] [-6.21393154e-03 9.99957502e-01 6.81036759e-03 1.03406843e+00] [ 1.22039303e-01 -6.00124953e-03 9.92507125e-01 1.52573064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.91463044 meters Centerline goodness [0,1] 0.3398105987729537 Centerline is valid? [False, False] Translation: X:19.54, Y:1.04, Z:1.53 [[ 9.92628413e-01 -9.99783051e-04 -1.21193375e-01 1.95361136e+01] [ 1.96913212e-03 9.99967022e-01 7.87886641e-03 1.03693666e+00] [ 1.21181501e-01 -8.05943243e-03 9.92597647e-01 1.52922400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.94463044 meters Centerline goodness [0,1] 0.34261592470547697 Centerline is valid? [False, False] Translation: X:19.54, Y:1.04, Z:1.53 [[ 9.92652595e-01 -1.08417760e-03 -1.20994424e-01 1.95352615e+01] [ 2.06719160e-03 9.99965869e-01 7.99923231e-03 1.03560745e+00] [ 1.20981622e-01 -8.19057737e-03 9.92620956e-01 1.52974208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.97463044 meters Centerline goodness [0,1] 0.3420365535248042 Centerline is valid? [False, False] Translation: X:19.53, Y:1.03, Z:1.53 [[ 9.92709196e-01 -1.49540464e-03 -1.20524750e-01 1.95339027e+01] [ 2.49227526e-03 9.99963920e-01 8.12077090e-03 1.03226732e+00] [ 1.20508258e-01 -8.36194481e-03 9.92677106e-01 1.53020713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.00463044 meters Centerline goodness [0,1] 0.34499331867752925 Centerline is valid? [False, False] Translation: X:19.53, Y:1.03, Z:1.53 [[ 9.92709841e-01 -1.63502413e-03 -1.20517630e-01 1.95340055e+01] [ 2.65076345e-03 9.99962304e-01 8.26830452e-03 1.03013745e+00] [ 1.20499568e-01 -8.52749099e-03 9.92676753e-01 1.53018137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.03463044 meters Centerline goodness [0,1] 0.34294178704264333 Centerline is valid? [False, False] Translation: X:19.53, Y:1.03, Z:1.53 [[ 9.92699853e-01 -1.75485701e-03 -1.20598185e-01 1.95343347e+01] [ 2.79685853e-03 9.99960204e-01 8.47155265e-03 1.02764240e+00] [ 1.20578520e-01 -8.74700513e-03 9.92665256e-01 1.53016169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.06463044000003 meters Centerline goodness [0,1] 0.34455369026662663 Centerline is valid? [False, False] Translation: X:19.53, Y:1.02, Z:1.53 [[ 9.92694315e-01 -1.83898254e-03 -1.20642513e-01 1.95344296e+01] [ 2.93559704e-03 9.99955972e-01 8.91268668e-03 1.02222372e+00] [ 1.20620811e-01 -9.20173120e-03 9.92656007e-01 1.53041373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.09463044 meters Centerline goodness [0,1] 0.3483543757418798 Centerline is valid? [False, False] Translation: X:19.53, Y:1.02, Z:1.53 [[ 9.92687174e-01 -1.66310599e-03 -1.20703802e-01 1.95344771e+01] [ 2.80418002e-03 9.99952968e-01 9.28426244e-03 1.02042883e+00] [ 1.20682684e-01 -9.55484344e-03 9.92645150e-01 1.53062730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.12463044000003 meters Centerline goodness [0,1] 0.34644214867157797 Centerline is valid? [False, False] Translation: X:19.55, Y:1.01, Z:1.53 [[ 9.92636770e-01 5.59370304e-03 -1.20999805e-01 1.95529769e+01] [-4.62867331e-03 9.99955214e-01 8.25506452e-03 1.01474495e+00] [ 1.21040563e-01 -7.63421202e-03 9.92618205e-01 1.53487236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.15463044 meters Centerline goodness [0,1] 0.3474418105759949 Centerline is valid? [False, False] Translation: X:19.55, Y:1.01, Z:1.54 [[ 9.92668052e-01 5.63911724e-03 -1.20740792e-01 1.95519213e+01] [-4.64163178e-03 9.99952752e-01 8.54103408e-03 1.01168510e+00] [ 1.20783251e-01 -7.91797737e-03 9.92647325e-01 1.53538839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.18463044000003 meters Centerline goodness [0,1] 0.35000430403718685 Centerline is valid? [False, False] Translation: X:19.55, Y:1.01, Z:1.54 [[ 9.92680769e-01 5.66778912e-03 -1.20634848e-01 1.95515066e+01] [-4.65186010e-03 9.99951321e-01 8.70147535e-03 1.01019123e+00] [ 1.20678294e-01 -8.07661081e-03 9.92658812e-01 1.53562211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.21463044 meters Centerline goodness [0,1] 0.3481967353217674 Centerline is valid? [False, False] Translation: X:19.55, Y:1.01, Z:1.54 [[ 9.92681820e-01 5.77406204e-03 -1.20621159e-01 1.95515589e+01] [-4.73364285e-03 9.99949099e-01 8.91026862e-03 1.00888266e+00] [ 1.20666468e-01 -8.27408419e-03 9.92658624e-01 1.53557535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.24463044000004 meters Centerline goodness [0,1] 0.3486698506688566 Centerline is valid? [False, False] Translation: X:19.55, Y:1.01, Z:1.54 [[ 9.92661228e-01 5.93920790e-03 -1.20782502e-01 1.95520199e+01] [-4.86953982e-03 9.99946287e-01 9.14938413e-03 1.00777704e+00] [ 1.20830354e-01 -8.49408368e-03 9.92636830e-01 1.53553304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.27463044 meters Centerline goodness [0,1] 0.3480099234171071 Centerline is valid? [False, False] Translation: X:19.55, Y:1.01, Z:1.54 [[ 9.92618090e-01 6.17752747e-03 -1.21124583e-01 1.95527269e+01] [-5.07212822e-03 9.99942651e-01 9.43232937e-03 1.00647095e+00] [ 1.21175906e-01 -8.74834135e-03 9.92592498e-01 1.53575451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30463044000004 meters Centerline goodness [0,1] 0.3478653036680698 Centerline is valid? [False, False] Translation: X:19.55, Y:1.01, Z:1.54 [[ 9.92601254e-01 6.26258489e-03 -1.21258113e-01 1.95530667e+01] [-5.14324791e-03 9.99941249e-01 9.54181619e-03 1.00595893e+00] [ 1.21310746e-01 -8.84755818e-03 9.92575148e-01 1.53577905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.33463044 meters Centerline goodness [0,1] 0.3485754559822306 Centerline is valid? [False, False] Translation: X:19.55, Y:1.01, Z:1.54 [[ 9.92600985e-01 6.37582871e-03 -1.21254414e-01 1.95532182e+01] [-5.24251616e-03 9.99939567e-01 9.66329106e-03 1.00540553e+00] [ 1.21308698e-01 -8.95611400e-03 9.92574424e-01 1.53568084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36463044000004 meters Centerline goodness [0,1] 0.34786536186686745 Centerline is valid? [False, False] Translation: X:19.55, Y:1.00, Z:1.54 [[ 9.92601564e-01 6.47228906e-03 -1.21244563e-01 1.95532176e+01] [-5.32123611e-03 9.99937673e-01 9.81502461e-03 1.00452296e+00] [ 1.21300532e-01 -9.09723783e-03 9.92574139e-01 1.53565014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.39463044 meters Centerline goodness [0,1] 0.3477821496914576 Centerline is valid? [False, False] Translation: X:19.55, Y:1.00, Z:1.54 [[ 9.92592774e-01 6.61226840e-03 -1.21308959e-01 1.95533486e+01] [-5.43919238e-03 9.99935218e-01 9.99874214e-03 1.00318709e+00] [ 1.21367214e-01 -9.26485643e-03 9.92564437e-01 1.53572221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42463044 meters Centerline goodness [0,1] 0.34893452649198475 Centerline is valid? [False, False] Translation: X:19.55, Y:1.00, Z:1.54 [[ 9.92583211e-01 6.63386782e-03 -1.21385996e-01 1.95534375e+01] [-5.45434458e-03 9.99934654e-01 1.00468217e-02 1.00263165e+00] [ 1.21444713e-01 -9.31022555e-03 9.92554533e-01 1.53587485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.45463044 meters Centerline goodness [0,1] 0.34614642926014016 Centerline is valid? [False, False] Translation: X:19.55, Y:1.00, Z:1.54 [[ 9.92580954e-01 6.67015075e-03 -1.21402466e-01 1.95533994e+01] [-5.49075569e-03 9.99934456e-01 1.00466990e-02 1.00261374e+00] [ 1.21461522e-01 -9.30557079e-03 9.92552520e-01 1.53598568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48463044 meters Centerline goodness [0,1] 0.3486001282325283 Centerline is valid? [False, False] Translation: X:19.55, Y:1.00, Z:1.54 [[ 9.92578887e-01 6.89877443e-03 -1.21406593e-01 1.95530006e+01] [-5.70859103e-03 9.99932209e-01 1.01483766e-02 1.00293625e+00] [ 1.21468374e-01 -9.38000376e-03 9.92550981e-01 1.53645569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.51463044 meters Centerline goodness [0,1] 0.3479104670720663 Centerline is valid? [False, False] Translation: X:19.55, Y:1.00, Z:1.54 [[ 9.92580643e-01 6.95314780e-03 -1.21389130e-01 1.95531341e+01] [-5.76307398e-03 9.99931858e-01 1.01521308e-02 1.00311234e+00] [ 1.21451448e-01 -9.37723394e-03 9.92553078e-01 1.53621757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54463044 meters Centerline goodness [0,1] 0.34673161938280617 Centerline is valid? [False, False] Translation: X:19.55, Y:1.00, Z:1.54 [[ 9.92555086e-01 6.99506585e-03 -1.21595516e-01 1.95536608e+01] [-5.80273373e-03 9.99931579e-01 1.01570716e-02 1.00321706e+00] [ 1.21658245e-01 -9.37586667e-03 9.92527765e-01 1.53622106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.57463044 meters Centerline goodness [0,1] 0.34808462963760933 Centerline is valid? [False, False] Translation: X:19.55, Y:1.00, Z:1.54 [[ 9.92513337e-01 6.92681834e-03 -1.21939720e-01 1.95546671e+01] [-5.74527246e-03 9.99933108e-01 1.00385292e-02 1.00346666e+00] [ 1.22001098e-01 -9.26279725e-03 9.92486742e-01 1.53602670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60463044 meters Centerline goodness [0,1] 0.34400446898566917 Centerline is valid? [False, False] Translation: X:19.56, Y:1.00, Z:1.54 [[ 9.92493963e-01 6.84715185e-03 -1.22101801e-01 1.95552133e+01] [-5.67443257e-03 9.99934401e-01 9.94958806e-03 1.00358406e+00] [ 1.22161917e-01 -9.18204765e-03 9.92467710e-01 1.53590801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.63463044 meters Centerline goodness [0,1] 0.3441872405973214 Centerline is valid? [False, False] Translation: X:19.56, Y:1.00, Z:1.54 [[ 9.92480901e-01 6.76781071e-03 -1.22212347e-01 1.95555642e+01] [-5.60160385e-03 9.99935467e-01 9.88352780e-03 1.00360241e+00] [ 1.22271350e-01 -9.12462743e-03 9.92454764e-01 1.53584976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66463044 meters Centerline goodness [0,1] 0.3431901945658695 Centerline is valid? [False, False] Translation: X:19.56, Y:1.00, Z:1.54 [[ 9.92435511e-01 6.70388697e-03 -1.22583911e-01 1.95564574e+01] [-5.52928112e-03 9.99935511e-01 9.91973336e-03 1.00312629e+00] [ 1.22642506e-01 -9.16689474e-03 9.92408577e-01 1.53591416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.69463044 meters Centerline goodness [0,1] 0.3433475475175177 Centerline is valid? [False, False] Translation: X:19.56, Y:1.00, Z:1.54 [[ 9.92422893e-01 6.68782958e-03 -1.22686900e-01 1.95565401e+01] [-5.50370267e-03 9.99934973e-01 9.98797891e-03 1.00262737e+00] [ 1.22745720e-01 -9.23706670e-03 9.92395166e-01 1.53616366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72463044 meters Centerline goodness [0,1] 0.3459020629656747 Centerline is valid? [False, False] Translation: X:19.56, Y:1.00, Z:1.54 [[ 9.92428309e-01 6.68457212e-03 -1.22643255e-01 1.95561987e+01] [-5.48972348e-03 9.99934148e-01 1.00778060e-02 1.00191873e+00] [ 1.22702545e-01 -9.32822244e-03 9.92399652e-01 1.53651169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.75463044 meters Centerline goodness [0,1] 0.34353298147396316 Centerline is valid? [False, False] Translation: X:19.58, Y:1.01, Z:1.54 [[ 9.92560030e-01 -1.13960949e-03 -1.21750930e-01 1.95761378e+01] [ 2.50684226e-03 9.99935504e-01 1.10771674e-02 1.00507899e+00] [ 1.21730454e-01 -1.12999640e-02 9.92498870e-01 1.53988047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78463044 meters Centerline goodness [0,1] 0.3435743402703283 Centerline is valid? [False, False] Translation: X:19.58, Y:1.00, Z:1.54 [[ 9.92560265e-01 -1.10763686e-03 -1.21749309e-01 1.95759213e+01] [ 2.49054383e-03 9.99934097e-01 1.12070531e-02 1.00425618e+00] [ 1.21728872e-01 -1.14268976e-02 9.92497611e-01 1.54019409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.81463044000003 meters Centerline goodness [0,1] 0.34556266368983724 Centerline is valid? [False, False] Translation: X:19.58, Y:1.00, Z:1.54 [[ 9.92553204e-01 -1.06000155e-03 -1.21807278e-01 1.95759645e+01] [ 2.46422392e-03 9.99932230e-01 1.13781676e-02 1.00298558e+00] [ 1.21786963e-01 -1.15935971e-02 9.92488551e-01 1.54035720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84463044 meters Centerline goodness [0,1] 0.3466846107835597 Centerline is valid? [False, False] Translation: X:19.60, Y:1.00, Z:1.54 [[ 9.92500006e-01 6.00320833e-03 -1.22097092e-01 1.95952328e+01] [-4.81271691e-03 9.99937987e-01 1.00429459e-02 9.98306941e-01] [ 1.22149810e-01 -9.38000516e-03 9.92467349e-01 1.54435851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.87463044000003 meters Centerline goodness [0,1] 0.3453775763277175 Centerline is valid? [False, False] Translation: X:19.60, Y:1.00, Z:1.54 [[ 9.92454052e-01 2.61371148e-03 -1.22589249e-01 1.95963418e+01] [-1.74561047e-03 9.99972641e-01 7.18824683e-03 9.96031622e-01] [ 1.22604683e-01 -6.92001161e-03 9.92431461e-01 1.54450174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90463044 meters Centerline goodness [0,1] 0.3444900062259817 Centerline is valid? [False, False] Translation: X:19.60, Y:0.99, Z:1.54 [[ 9.92415439e-01 2.63812566e-03 -1.22900922e-01 1.95970757e+01] [-1.74509310e-03 9.99971294e-01 7.37335881e-03 9.94315630e-01] [ 1.22916846e-01 -7.10296157e-03 9.92391554e-01 1.54461062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.93463044000003 meters Centerline goodness [0,1] 0.3483804272915231 Centerline is valid? [False, False] Translation: X:19.60, Y:0.99, Z:1.54 [[ 9.92412977e-01 2.72444315e-03 -1.22918919e-01 1.95972690e+01] [-1.80481123e-03 9.99969549e-01 7.59233900e-03 9.92858304e-01] [ 1.22935861e-01 -7.31289031e-03 9.92387674e-01 1.54445619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96463044 meters Centerline goodness [0,1] 0.3509681288553804 Centerline is valid? [False, False] Translation: X:19.62, Y:0.99, Z:1.55 [[ 9.92657662e-01 1.04908157e-02 -1.20501907e-01 1.96158805e+01] [-9.75925544e-03 9.99930201e-01 6.65951055e-03 9.87348707e-01] [ 1.20563360e-01 -5.43460528e-03 9.92690758e-01 1.54770389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.99463044000004 meters Centerline goodness [0,1] 0.35017833354819305 Centerline is valid? [False, False] Translation: X:19.61, Y:0.99, Z:1.55 [[ 9.92689651e-01 1.05652862e-02 -1.20231576e-01 1.96148834e+01] [-9.81724037e-03 9.99928604e-01 6.81234484e-03 9.86185932e-01] [ 1.20294966e-01 -5.58220194e-03 9.92722499e-01 1.54810428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02463044 meters Centerline goodness [0,1] 0.3498647430117223 Centerline is valid? [False, False] Translation: X:19.61, Y:0.98, Z:1.55 [[ 9.92696342e-01 1.06141203e-02 -1.20172011e-01 1.96146123e+01] [-9.84889618e-03 9.99927277e-01 6.95990021e-03 9.84987503e-01] [ 1.20237145e-01 -5.72550583e-03 9.92728688e-01 1.54827128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.05463044000004 meters Centerline goodness [0,1] 0.34932553086207263 Centerline is valid? [False, False] Translation: X:19.62, Y:0.98, Z:1.55 [[ 9.92672124e-01 1.06335295e-02 -1.20370189e-01 1.96152986e+01] [-9.85666804e-03 9.99926587e-01 7.04750321e-03 9.83986244e-01] [ 1.20436292e-01 -5.80941098e-03 9.92704060e-01 1.54803986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08463044 meters Centerline goodness [0,1] 0.3492647058823529 Centerline is valid? [False, False] Translation: X:19.62, Y:0.98, Z:1.55 [[ 9.92576466e-01 1.09255714e-02 -1.21130474e-01 1.96178195e+01] [-1.01236663e-02 9.99922590e-01 7.23362808e-03 9.83592096e-01] [ 1.21200128e-01 -5.95364450e-03 9.92610237e-01 1.54729226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.11463044000004 meters Centerline goodness [0,1] 0.3493244692258203 Centerline is valid? [False, False] Translation: X:19.62, Y:0.98, Z:1.55 [[ 9.92564350e-01 1.09836079e-02 -1.21224470e-01 1.96180930e+01] [-1.01821474e-02 9.99922031e-01 7.22886239e-03 9.83750560e-01] [ 1.21294417e-01 -5.94078567e-03 9.92598797e-01 1.54726688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14463044 meters Centerline goodness [0,1] 0.34956382794955954 Centerline is valid? [False, False] Translation: X:19.62, Y:0.98, Z:1.55 [[ 9.92577401e-01 1.09707900e-02 -1.21118724e-01 1.96175389e+01] [-1.01765508e-02 9.99922482e-01 7.17416098e-03 9.83793577e-01] [ 1.21188042e-01 -5.88833920e-03 9.92612103e-01 1.54756350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.17463044 meters Centerline goodness [0,1] 0.35188490570095265 Centerline is valid? [False, False] Translation: X:19.63, Y:0.99, Z:1.55 [[ 9.92825259e-01 4.06700457e-03 -1.19505082e-01 1.96340687e+01] [-3.00526868e-03 9.99954411e-01 9.06331746e-03 9.86661905e-01] [ 1.19536495e-01 -8.63914562e-03 9.92792220e-01 1.55221727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20463044 meters Centerline goodness [0,1] 0.3507604359975256 Centerline is valid? [False, False] Translation: X:19.63, Y:0.99, Z:1.55 [[ 9.92810650e-01 4.21974081e-03 -1.19621095e-01 1.96339690e+01] [-3.12479528e-03 9.99951503e-01 9.33954105e-03 9.85632563e-01] [ 1.19654705e-01 -8.89860439e-03 9.92775688e-01 1.55276219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.23463044 meters Centerline goodness [0,1] 0.3522246331664769 Centerline is valid? [False, False] Translation: X:19.63, Y:0.98, Z:1.55 [[ 9.92803356e-01 4.26856619e-03 -1.19679889e-01 1.96341178e+01] [-3.15191136e-03 9.99949734e-01 9.51808587e-03 9.84503000e-01] [ 1.19714501e-01 -9.07236719e-03 9.92766906e-01 1.55281978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26463044 meters Centerline goodness [0,1] 0.35213729879543754 Centerline is valid? [False, False] Translation: X:19.63, Y:0.98, Z:1.55 [[ 9.92781712e-01 4.22395628e-03 -1.19860877e-01 1.96346947e+01] [-3.09133630e-03 9.99948815e-01 9.63381850e-03 9.83095713e-01] [ 1.19895435e-01 -9.19374855e-03 9.92743955e-01 1.55276630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.29463044 meters Centerline goodness [0,1] 0.352262720419253 Centerline is valid? [False, False] Translation: X:19.63, Y:0.98, Z:1.55 [[ 9.92879724e-01 1.57267949e-03 -1.19110788e-01 1.96320519e+01] [-6.88505732e-04 9.99971908e-01 7.46390768e-03 9.80487552e-01] [ 1.19119180e-01 -7.32875414e-03 9.92852915e-01 1.55343125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32463044 meters Centerline goodness [0,1] 0.3535260065850352 Centerline is valid? [False, False] Translation: X:19.63, Y:0.98, Z:1.55 [[ 9.92884428e-01 1.61499406e-03 -1.19071006e-01 1.96319051e+01] [-7.15694325e-04 9.99970901e-01 7.59500862e-03 9.79728860e-01] [ 1.19079807e-01 -7.45574734e-03 9.92856692e-01 1.55348511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.35463044 meters Centerline goodness [0,1] 0.35295887231939493 Centerline is valid? [False, False] Translation: X:19.63, Y:0.98, Z:1.55 [[ 9.92862424e-01 1.72077077e-03 -1.19252869e-01 1.96324952e+01] [-8.04586689e-04 9.99969796e-01 7.73042116e-03 9.79478078e-01] [ 1.19262569e-01 -7.57929542e-03 9.92833820e-01 1.55340002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.38463044 meters Centerline goodness [0,1] 0.35143927233814876 Centerline is valid? [False, False] Translation: X:19.63, Y:0.98, Z:1.55 [[ 9.92830726e-01 1.84242221e-03 -1.19514662e-01 1.96335119e+01] [-9.08902604e-04 9.99968658e-01 7.86495994e-03 9.79362698e-01] [ 1.19525407e-01 -7.69994670e-03 9.92801283e-01 1.55301711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.41463044 meters Centerline goodness [0,1] 0.35523454823362255 Centerline is valid? [False, False] Translation: X:19.64, Y:0.98, Z:1.55 [[ 9.92765408e-01 1.73775133e-03 -1.20057594e-01 1.96352096e+01] [-8.01239031e-04 9.99968880e-01 7.84835704e-03 9.78582973e-01] [ 1.20067496e-01 -7.69538255e-03 9.92735905e-01 1.55268892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.44463044 meters Centerline goodness [0,1] 0.351942841204111 Centerline is valid? [False, False] Translation: X:19.64, Y:0.98, Z:1.55 [[ 9.92744994e-01 1.70361899e-03 -1.20226761e-01 1.96357120e+01] [-7.56026574e-04 9.99968296e-01 7.92688228e-03 9.77516642e-01] [ 1.20236453e-01 -7.77847807e-03 9.92714808e-01 1.55264865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.47463044 meters Centerline goodness [0,1] 0.351942841204111 Centerline is valid? [False, False] Translation: X:19.64, Y:0.98, Z:1.55 [[ 9.92744994e-01 1.70361899e-03 -1.20226761e-01 1.96357120e+01] [-7.56026574e-04 9.99968296e-01 7.92688228e-03 9.77516642e-01] [ 1.20236453e-01 -7.77847807e-03 9.92714808e-01 1.55264865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.50463044 meters Centerline goodness [0,1] 0.3551262358566082 Centerline is valid? [False, False] Translation: X:19.64, Y:0.98, Z:1.55 [[ 9.92725827e-01 1.73693646e-03 -1.20384446e-01 1.96359314e+01] [-7.72458601e-04 9.99967237e-01 8.05785120e-03 9.76648055e-01] [ 1.20394497e-01 -7.90624500e-03 9.92694644e-01 1.55288474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.53463044 meters Centerline goodness [0,1] 0.35194200556984634 Centerline is valid? [False, False] Translation: X:19.68, Y:0.98, Z:1.56 [[ 9.92931207e-01 1.63628443e-03 -1.18679989e-01 1.96787993e+01] [-6.94168222e-04 9.99967925e-01 7.97919403e-03 9.77899666e-01] [ 1.18689238e-01 -7.84040689e-03 9.92900495e-01 1.55809506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.56463044000003 meters Centerline goodness [0,1] 0.3526953166863145 Centerline is valid? [False, False] Translation: X:19.68, Y:0.98, Z:1.56 [[ 9.92921654e-01 1.55242119e-03 -1.18761020e-01 1.96790968e+01] [-6.09762389e-04 9.99968026e-01 7.97336760e-03 9.77142970e-01] [ 1.18769601e-01 -7.84451334e-03 9.92890853e-01 1.55805338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.59463044 meters Centerline goodness [0,1] 0.35406523331466244 Centerline is valid? [False, False] Translation: X:19.68, Y:0.98, Z:1.56 [[ 9.92912289e-01 1.47510616e-03 -1.18840274e-01 1.96792897e+01] [-5.28274910e-04 9.99967873e-01 7.99836696e-03 9.76273568e-01] [ 1.18848254e-01 -7.87889652e-03 9.92881169e-01 1.55809115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.62463044000003 meters Centerline goodness [0,1] 0.3532367149758454 Centerline is valid? [False, False] Translation: X:19.68, Y:0.97, Z:1.56 [[ 9.92879977e-01 1.49951716e-03 -1.19109625e-01 1.96799179e+01] [-4.96604231e-04 9.99964181e-01 8.44931762e-03 9.72972612e-01] [ 1.19118028e-01 -8.33000794e-03 9.92845157e-01 1.55827876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.65463044 meters Centerline goodness [0,1] 0.35327611115832414 Centerline is valid? [False, False] Translation: X:19.70, Y:0.97, Z:1.56 [[ 9.92849265e-01 6.84008408e-03 -1.19178651e-01 1.97015846e+01] [-6.19749297e-03 9.99964197e-01 5.76162634e-03 9.69871681e-01] [ 1.19213794e-01 -4.98181762e-03 9.92856109e-01 1.56082710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.68463044000003 meters Centerline goodness [0,1] 0.35508509219217277 Centerline is valid? [False, False] Translation: X:19.70, Y:0.97, Z:1.56 [[ 9.92829345e-01 6.86596852e-03 -1.19342997e-01 1.97020619e+01] [-6.19363694e-03 9.99962797e-01 6.00360811e-03 9.67801672e-01] [ 1.19379777e-01 -5.22139111e-03 9.92834934e-01 1.56086461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.71463044 meters Centerline goodness [0,1] 0.3553711865871575 Centerline is valid? [False, False] Translation: X:19.70, Y:0.97, Z:1.56 [[ 9.92802051e-01 6.81412676e-03 -1.19572804e-01 1.97026531e+01] [-6.12961524e-03 9.99962660e-01 6.09149999e-03 9.66394013e-01] [ 1.19609848e-01 -5.31471840e-03 9.92806748e-01 1.56089333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.74463044000004 meters Centerline goodness [0,1] 0.35495650306089577 Centerline is valid? [False, False] Translation: X:19.70, Y:0.97, Z:1.56 [[ 9.92749040e-01 7.02500417e-03 -1.19999973e-01 1.97037961e+01] [-6.31468736e-03 9.99960226e-01 6.29854253e-03 9.65932971e-01] [ 1.20039448e-01 -5.49510973e-03 9.92753914e-01 1.56089964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.77463044 meters Centerline goodness [0,1] 0.3545627579717273 Centerline is valid? [False, False] Translation: X:19.70, Y:0.97, Z:1.56 [[ 9.92726616e-01 7.19632723e-03 -1.20175204e-01 1.97044249e+01] [-6.47998170e-03 9.99958839e-01 6.35056731e-03 9.66738290e-01] [ 1.20215958e-01 -5.52564407e-03 9.92732386e-01 1.56068162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80463044000004 meters Centerline goodness [0,1] 0.3527906776745786 Centerline is valid? [False, False] Translation: X:19.70, Y:0.97, Z:1.56 [[ 9.92723835e-01 7.19962095e-03 -1.20197977e-01 1.97045172e+01] [-6.49749696e-03 9.99959470e-01 6.23229339e-03 9.67576177e-01] [ 1.20237976e-01 -5.40596020e-03 9.92730379e-01 1.56066040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.83463044 meters Centerline goodness [0,1] 0.355192903892525 Centerline is valid? [False, False] Translation: X:19.70, Y:0.97, Z:1.56 [[ 9.92732979e-01 7.12851824e-03 -1.20126672e-01 1.97042844e+01] [-6.45152318e-03 9.99961046e-01 6.02364762e-03 9.68455737e-01] [ 1.20164932e-01 -5.20487363e-03 9.92740298e-01 1.56071217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86463044000004 meters Centerline goodness [0,1] 0.3549948373773877 Centerline is valid? [False, False] Translation: X:19.70, Y:0.97, Z:1.56 [[ 9.92786716e-01 7.06673091e-03 -1.19685413e-01 1.97028448e+01] [-6.42990043e-03 9.99963047e-01 5.70620949e-03 9.70311794e-01] [ 1.19721315e-01 -4.89548369e-03 9.92795468e-01 1.56109394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.89463044 meters Centerline goodness [0,1] 0.35347018990451373 Centerline is valid? [False, False] Translation: X:19.70, Y:0.97, Z:1.56 [[ 9.92776883e-01 7.06287057e-03 -1.19767175e-01 1.97031740e+01] [-6.43523224e-03 9.99963465e-01 5.62643908e-03 9.70982862e-01] [ 1.19802538e-01 -4.81506906e-03 9.92786063e-01 1.56094525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92463044 meters Centerline goodness [0,1] 0.35098787271680987 Centerline is valid? [False, False] Translation: X:19.70, Y:0.97, Z:1.56 [[ 9.92743419e-01 7.07005715e-03 -1.20043822e-01 1.97041156e+01] [-6.44253352e-03 9.99963483e-01 5.61475147e-03 9.71195633e-01] [ 1.20079135e-01 -4.80062123e-03 9.92752716e-01 1.56070804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.95463044 meters Centerline goodness [0,1] 0.35192986207633914 Centerline is valid? [False, False] Translation: X:19.70, Y:0.97, Z:1.56 [[ 9.92699856e-01 7.14784563e-03 -1.20398941e-01 1.97046367e+01] [-6.48154289e-03 9.99961442e-01 5.92483057e-03 9.69325546e-01] [ 1.20436649e-01 -5.10120754e-03 9.92707908e-01 1.56122085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98463044 meters Centerline goodness [0,1] 0.35497278999014437 Centerline is valid? [False, False] Translation: X:19.70, Y:0.97, Z:1.56 [[ 9.92708320e-01 7.13872939e-03 -1.20329673e-01 1.97040697e+01] [-6.44745899e-03 9.99960407e-01 6.13315522e-03 9.67544614e-01] [ 1.20368691e-01 -5.31261359e-03 9.92715042e-01 1.56173181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.01463044 meters Centerline goodness [0,1] 0.354709504229073 Centerline is valid? [False, False] Translation: X:19.72, Y:0.97, Z:1.57 [[ 9.92746223e-01 -7.37005082e-04 -1.20226422e-01 1.97235159e+01] [ 1.59766640e-03 9.99973784e-01 7.06243695e-03 9.69827617e-01] [ 1.20218066e-01 -7.20328933e-03 9.92721375e-01 1.56551827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04463044 meters Centerline goodness [0,1] 0.35550547327752735 Centerline is valid? [False, False] Translation: X:19.72, Y:0.97, Z:1.57 [[ 9.92729179e-01 -7.33831584e-04 -1.20367098e-01 1.97239513e+01] [ 1.62616190e-03 9.99971920e-01 7.31534949e-03 9.67568720e-01] [ 1.20358350e-01 -7.45789728e-03 9.92702497e-01 1.56554062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.07463044 meters Centerline goodness [0,1] 0.35439877064925085 Centerline is valid? [False, False] Translation: X:19.74, Y:0.96, Z:1.57 [[ 9.92629309e-01 6.10398984e-03 -1.21036340e-01 1.97425032e+01] [-5.43645660e-03 9.99968142e-01 5.84460185e-03 9.61538039e-01] [ 1.21068159e-01 -5.14351429e-03 9.92630871e-01 1.56974820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10463044 meters Centerline goodness [0,1] 0.35719206096353384 Centerline is valid? [False, False] Translation: X:19.74, Y:0.96, Z:1.57 [[ 9.92783818e-01 3.99925139e-03 -1.19851145e-01 1.97378146e+01] [-3.50392568e-03 9.99984429e-01 4.34329109e-03 9.57324222e-01] [ 1.19866649e-01 -3.89199961e-03 9.92782372e-01 1.57132027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.13463044 meters Centerline goodness [0,1] 0.35908400863820056 Centerline is valid? [False, False] Translation: X:19.74, Y:0.96, Z:1.57 [[ 9.92795451e-01 4.10593432e-03 -1.19751137e-01 1.97371846e+01] [-3.58335814e-03 9.99983097e-01 4.57885640e-03 9.55993785e-01] [ 1.19767913e-01 -4.11675659e-03 9.92793382e-01 1.57184508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16463044 meters Centerline goodness [0,1] 0.35851848674616116 Centerline is valid? [False, False] Translation: X:19.74, Y:0.95, Z:1.57 [[ 9.92782983e-01 4.27412628e-03 -1.19848571e-01 1.97372015e+01] [-3.71947339e-03 9.99981315e-01 4.85125957e-03 9.54781737e-01] [ 1.19867067e-01 -4.37047438e-03 9.92780331e-01 1.57215829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.19463044 meters Centerline goodness [0,1] 0.35856522576091376 Centerline is valid? [False, False] Translation: X:19.74, Y:0.95, Z:1.57 [[ 9.92763806e-01 4.40743286e-03 -1.20002502e-01 1.97377637e+01] [-3.82770069e-03 9.99979867e-01 5.06107305e-03 9.53739529e-01] [ 1.20022392e-01 -4.56511649e-03 9.92760689e-01 1.57201197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22463044 meters Centerline goodness [0,1] 0.35757366879200414 Centerline is valid? [False, False] Translation: X:19.74, Y:0.95, Z:1.57 [[ 9.92722906e-01 4.56206829e-03 -1.20334616e-01 1.97389675e+01] [-3.94427949e-03 9.99977794e-01 5.37160797e-03 9.51612966e-01] [ 1.20356450e-01 -4.85788492e-03 9.92718855e-01 1.57162133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.25463044 meters Centerline goodness [0,1] 0.3563877982482634 Centerline is valid? [False, False] Translation: X:19.74, Y:0.95, Z:1.57 [[ 9.92708415e-01 4.53936146e-03 -1.20454959e-01 1.97392316e+01] [-3.91500642e-03 9.99977651e-01 5.41945467e-03 9.50787806e-01] [ 1.20476868e-01 -4.90835631e-03 9.92704000e-01 1.57169515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28463044 meters Centerline goodness [0,1] 0.356360374981315 Centerline is valid? [False, False] Translation: X:19.74, Y:0.95, Z:1.57 [[ 9.92697088e-01 4.58805188e-03 -1.20546427e-01 1.97393876e+01] [-3.95358641e-03 9.99977049e-01 5.50188731e-03 9.50358123e-01] [ 1.20568903e-01 -4.98511680e-03 9.92692444e-01 1.57186622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.31463044000003 meters Centerline goodness [0,1] 0.35676105016851645 Centerline is valid? [False, False] Translation: X:19.74, Y:0.95, Z:1.57 [[ 9.92700895e-01 4.62458966e-03 -1.20513673e-01 1.97392041e+01] [-3.98638610e-03 9.99976729e-01 5.53624310e-03 9.50213455e-01] [ 1.20536471e-01 -5.01541945e-03 9.92696230e-01 1.57201877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34463044 meters Centerline goodness [0,1] 0.35759180334926166 Centerline is valid? [False, False] Translation: X:19.74, Y:0.95, Z:1.57 [[ 9.92680762e-01 4.62770091e-03 -1.20679278e-01 1.97396836e+01] [-4.00560446e-03 9.99977413e-01 5.39703173e-03 9.51550958e-01] [ 1.20701528e-01 -4.87413612e-03 9.92676878e-01 1.57196088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.37463044000003 meters Centerline goodness [0,1] 0.3563850267379679 Centerline is valid? [False, False] Translation: X:19.74, Y:0.95, Z:1.57 [[ 9.92651824e-01 4.59158457e-03 -1.20918455e-01 1.97403871e+01] [-3.98825926e-03 9.99978365e-01 5.23106586e-03 9.52709975e-01] [ 1.20939858e-01 -4.71037292e-03 9.92648661e-01 1.57183300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40463044 meters Centerline goodness [0,1] 0.3540900389322664 Centerline is valid? [False, False] Translation: X:19.74, Y:0.95, Z:1.57 [[ 9.92642623e-01 4.52567450e-03 -1.20996449e-01 1.97407917e+01] [-3.94672861e-03 9.99979591e-01 5.02404080e-03 9.53998615e-01] [ 1.21016717e-01 -4.50953689e-03 9.92640226e-01 1.57156973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.43463044000003 meters Centerline goodness [0,1] 0.3542600896860987 Centerline is valid? [False, False] Translation: X:19.74, Y:0.96, Z:1.57 [[ 9.92629634e-01 4.40188272e-03 -1.21107530e-01 1.97410372e+01] [-3.85814352e-03 9.99981400e-01 4.72384540e-03 9.55689641e-01] [ 1.21126072e-01 -4.22177870e-03 9.92628154e-01 1.57162178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46463044 meters Centerline goodness [0,1] 0.3570258973585556 Centerline is valid? [False, False] Translation: X:19.74, Y:0.96, Z:1.57 [[ 9.92634529e-01 4.26072330e-03 -1.21072450e-01 1.97408267e+01] [-3.76045523e-03 9.99983424e-01 4.36015765e-03 9.57802043e-01] [ 1.21089021e-01 -3.87275550e-03 9.92634097e-01 1.57170721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.49463044000004 meters Centerline goodness [0,1] 0.3564290758136649 Centerline is valid? [False, False] Translation: X:19.74, Y:0.96, Z:1.57 [[ 9.92681675e-01 4.52771531e-03 -1.20675568e-01 1.97397675e+01] [-4.06529801e-03 9.99983422e-01 4.07782144e-03 9.64096123e-01] [ 1.20692031e-01 -3.55739647e-03 9.92683625e-01 1.57175832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52463044 meters Centerline goodness [0,1] 0.35609745598553655 Centerline is valid? [False, False] Translation: X:19.74, Y:0.97, Z:1.57 [[ 9.92676567e-01 4.37911633e-03 -1.20723061e-01 1.97399934e+01] [-3.97319103e-03 9.99985616e-01 3.60295462e-03 9.67175804e-01] [ 1.20737103e-01 -3.09691284e-03 9.92679687e-01 1.57155461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.55463044000004 meters Centerline goodness [0,1] 0.353537084234649 Centerline is valid? [False, False] Translation: X:19.74, Y:0.97, Z:1.57 [[ 9.92660675e-01 4.28936506e-03 -1.20856884e-01 1.97403590e+01] [-3.93110444e-03 9.99987145e-01 3.20260723e-03 9.70106430e-01] [ 1.20869068e-01 -2.70400122e-03 9.92664776e-01 1.57147632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58463044 meters Centerline goodness [0,1] 0.35188128167683186 Centerline is valid? [False, False] Translation: X:19.74, Y:0.97, Z:1.57 [[ 9.92655011e-01 4.14269193e-03 -1.20908507e-01 1.97404186e+01] [-3.82952889e-03 9.99988685e-01 2.82233254e-03 9.72568057e-01] [ 1.20918831e-01 -2.33857992e-03 9.92659643e-01 1.57152148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.61463044000004 meters Centerline goodness [0,1] 0.3530309216322496 Centerline is valid? [False, False] Translation: X:19.74, Y:0.98, Z:1.57 [[ 9.92639621e-01 3.82435020e-03 -1.21045267e-01 1.97405077e+01] [-3.58933315e-03 9.99991226e-01 2.15954209e-03 9.76703232e-01] [ 1.21052464e-01 -1.70917525e-03 9.92644639e-01 1.57180118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64463044 meters Centerline goodness [0,1] 0.35169829201576597 Centerline is valid? [False, False] Translation: X:19.74, Y:0.98, Z:1.57 [[ 9.92634359e-01 3.63253874e-03 -1.21094322e-01 1.97405467e+01] [-3.43810696e-03 9.99992443e-01 1.81452099e-03 9.78462540e-01] [ 1.21099998e-01 -1.38482065e-03 9.92639347e-01 1.57187444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.67463044 meters Centerline goodness [0,1] 0.34990415335463254 Centerline is valid? [False, False] Translation: X:19.76, Y:0.99, Z:1.58 [[ 9.92584404e-01 -3.57642808e-03 -1.21504774e-01 1.97590787e+01] [ 3.94241418e-03 9.99988387e-01 2.77184406e-03 9.85845844e-01] [ 1.21493449e-01 -3.23031133e-03 9.92586977e-01 1.57598534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70463044 meters Centerline goodness [0,1] 0.35145136794369936 Centerline is valid? [False, False] Translation: X:19.76, Y:0.99, Z:1.58 [[ 9.92577294e-01 -3.71353547e-03 -1.21558731e-01 1.97590832e+01] [ 4.04574263e-03 9.99988725e-01 2.48619471e-03 9.87694056e-01] [ 1.21548128e-01 -2.95953576e-03 9.92581127e-01 1.57610237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.73463044 meters Centerline goodness [0,1] 0.3498886795684193 Centerline is valid? [False, False] Translation: X:19.76, Y:0.99, Z:1.58 [[ 9.92578783e-01 -3.77611877e-03 -1.21544640e-01 1.97585727e+01] [ 4.05470696e-03 9.99989689e-01 2.04481469e-03 9.93770025e-01] [ 1.21535665e-01 -2.52246758e-03 9.92583860e-01 1.57655191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76463044 meters Centerline goodness [0,1] 0.34960512273212385 Centerline is valid? [False, False] Translation: X:19.78, Y:1.00, Z:1.58 [[ 9.92686760e-01 3.85074064e-03 -1.20657237e-01 1.97772369e+01] [-3.82033260e-03 9.99992586e-01 4.83340283e-04 9.95180374e-01] [ 1.20658204e-01 -1.88547243e-05 9.92694111e-01 1.58005850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.79463044 meters Centerline goodness [0,1] 0.3522793154538232 Centerline is valid? [False, False] Translation: X:19.78, Y:1.00, Z:1.58 [[ 9.92692149e-01 3.67458117e-03 -1.20618384e-01 1.97768774e+01] [-3.70417494e-03 9.99993139e-01 -2.11362178e-05 9.98446967e-01] [ 1.20617479e-01 4.67773354e-04 9.92698950e-01 1.58029946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82463044 meters Centerline goodness [0,1] 0.3511594482699445 Centerline is valid? [False, False] Translation: X:19.78, Y:1.00, Z:1.58 [[ 9.92683687e-01 3.47857456e-03 -1.20693819e-01 1.97768650e+01] [-3.56995977e-03 9.99993481e-01 -5.40946887e-04 1.00163607e+00] [ 1.20691150e-01 9.67861227e-04 9.92689634e-01 1.58049431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.85463044 meters Centerline goodness [0,1] 0.3491852487135506 Centerline is valid? [False, False] Translation: X:19.78, Y:1.00, Z:1.58 [[ 9.92680104e-01 3.21759285e-03 -1.20730523e-01 1.97767083e+01] [-3.37439304e-03 9.99993708e-01 -1.09433993e-03 1.00475520e+00] [ 1.20726242e-01 1.49372172e-03 9.92684715e-01 1.58075463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.88463044 meters Centerline goodness [0,1] 0.35013951073908245 Centerline is valid? [False, False] Translation: X:19.78, Y:1.01, Z:1.58 [[ 9.92699643e-01 2.84302194e-03 -1.20579171e-01 1.97757228e+01] [-3.09532908e-03 9.99993395e-01 -1.90521218e-03 1.00979491e+00] [ 1.20572958e-01 2.26453566e-03 9.92701886e-01 1.58138800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.91463044 meters Centerline goodness [0,1] 0.34905091895149143 Centerline is valid? [False, False] Translation: X:19.79, Y:1.02, Z:1.59 [[ 9.92662653e-01 -4.48443035e-03 -1.20833550e-01 1.97935088e+01] [ 4.41443336e-03 9.99989898e-01 -8.46966013e-04 1.01723309e+00] [ 1.20836128e-01 3.07339875e-04 9.92672421e-01 1.58568835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.94463044 meters Centerline goodness [0,1] 0.35181923622148714 Centerline is valid? [False, False] Translation: X:19.79, Y:1.02, Z:1.59 [[ 9.92674746e-01 -4.59755223e-03 -1.20729911e-01 1.97931351e+01] [ 4.51021864e-03 9.99989332e-01 -9.96629904e-04 1.01820330e+00] [ 1.20733205e-01 4.44811041e-04 9.92684892e-01 1.58587867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.97463044 meters Centerline goodness [0,1] 0.34924735774527593 Centerline is valid? [False, False] Translation: X:19.79, Y:1.02, Z:1.59 [[ 9.92671985e-01 -4.73586938e-03 -1.20747262e-01 1.97929255e+01] [ 4.63981278e-03 9.99988656e-01 -1.07665793e-03 1.01844137e+00] [ 1.20750991e-01 5.08523477e-04 9.92682698e-01 1.58625930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.00463044 meters Centerline goodness [0,1] 0.34889630666523097 Centerline is valid? [False, False] Translation: X:19.79, Y:1.02, Z:1.59 [[ 9.92692934e-01 -5.42590272e-03 -1.20545836e-01 1.97923715e+01] [ 5.29732439e-03 9.99985007e-01 -1.38706474e-03 1.01770946e+00] [ 1.20551555e-01 7.38358967e-04 9.92706793e-01 1.58648442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.03463044 meters Centerline goodness [0,1] 0.34833823245435236 Centerline is valid? [False, False] Translation: X:19.79, Y:1.02, Z:1.59 [[ 9.92658492e-01 -5.51793745e-03 -1.20824962e-01 1.97933306e+01] [ 5.40486181e-03 9.99984595e-01 -1.26356736e-03 1.01630952e+00] [ 1.20830073e-01 6.01248647e-04 9.92673024e-01 1.58632372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.06463044000003 meters Centerline goodness [0,1] 0.34748033352624697 Centerline is valid? [False, False] Translation: X:19.79, Y:1.01, Z:1.59 [[ 9.92629164e-01 -5.62387021e-03 -1.21060788e-01 1.97943306e+01] [ 5.52526466e-03 9.99984074e-01 -1.15018086e-03 1.01472162e+00] [ 1.21065329e-01 4.72810170e-04 9.92644429e-01 1.58597134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.09463044 meters Centerline goodness [0,1] 0.34868605126659924 Centerline is valid? [False, False] Translation: X:19.80, Y:1.01, Z:1.59 [[ 9.92603412e-01 -5.73106689e-03 -1.21266737e-01 1.97950606e+01] [ 5.64308762e-03 9.99983506e-01 -1.06891918e-03 1.01336942e+00] [ 1.21270863e-01 3.76694004e-04 9.92619381e-01 1.58581793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.12463044000003 meters Centerline goodness [0,1] 0.3496022360782627 Centerline is valid? [False, False] Translation: X:19.80, Y:1.01, Z:1.59 [[ 9.92521463e-01 -5.66619718e-03 -1.21938675e-01 1.97965049e+01] [ 5.61550886e-03 9.99983945e-01 -7.59341866e-04 1.01115615e+00] [ 1.21941019e-01 6.89153913e-05 9.92537346e-01 1.58622746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.15463044 meters Centerline goodness [0,1] 0.3462880880495064 Centerline is valid? [False, False] Translation: X:19.80, Y:1.01, Z:1.59 [[ 9.92498762e-01 -5.53337511e-03 -1.22129396e-01 1.97969233e+01] [ 5.50077300e-03 9.99984688e-01 -6.04113260e-04 1.01078297e+00] [ 1.22130869e-01 -7.22244229e-05 9.92514003e-01 1.58637124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.18463044000003 meters Centerline goodness [0,1] 0.34616449147309925 Centerline is valid? [False, False] Translation: X:19.82, Y:1.01, Z:1.59 [[ 9.92451908e-01 1.72232294e-03 -1.22622362e-01 1.98156392e+01] [-1.96939804e-03 9.99996268e-01 -1.89375190e-03 1.00711778e+00] [ 1.22618642e-01 2.12094992e-03 9.92451596e-01 1.59029577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.21463044 meters Centerline goodness [0,1] 0.3493152157554127 Centerline is valid? [False, False] Translation: X:19.82, Y:1.01, Z:1.59 [[ 9.92478624e-01 1.70399314e-03 -1.22406200e-01 1.98154375e+01] [-1.94993978e-03 9.99996314e-01 -1.88950144e-03 1.00672307e+00] [ 1.22402529e-01 2.11397451e-03 9.92478288e-01 1.58993309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.24463044000004 meters Centerline goodness [0,1] 0.3480973175296319 Centerline is valid? [False, False] Translation: X:19.82, Y:1.01, Z:1.59 [[ 9.92508501e-01 1.83588217e-03 -1.22161802e-01 1.98150082e+01] [-2.07039637e-03 9.99996250e-01 -1.79279215e-03 1.00664633e+00] [ 1.22158052e-01 2.03228480e-03 9.92508579e-01 1.58975549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.27463044 meters Centerline goodness [0,1] 0.35204678362573094 Centerline is valid? [False, False] Translation: X:19.82, Y:1.01, Z:1.59 [[ 9.92496631e-01 1.95929221e-03 -1.22256282e-01 1.98150480e+01] [-2.19093043e-03 9.99996051e-01 -1.76029069e-03 1.00728949e+00] [ 1.22252351e-01 2.01493759e-03 9.92497004e-01 1.58996458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30463044000004 meters Centerline goodness [0,1] 0.35061707048220114 Centerline is valid? [False, False] Translation: X:19.82, Y:1.01, Z:1.59 [[ 9.92453542e-01 2.04685176e-03 -1.22604150e-01 1.98160452e+01] [-2.28588423e-03 9.99995751e-01 -1.80899941e-03 1.00825461e+00] [ 1.22599926e-01 2.07560676e-03 9.92454004e-01 1.58984071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.33463044 meters Centerline goodness [0,1] 0.3468367412345362 Centerline is valid? [False, False] Translation: X:19.82, Y:1.01, Z:1.59 [[ 9.92370516e-01 2.12553001e-03 -1.23273033e-01 1.98179054e+01] [-2.37844903e-03 9.99995358e-01 -1.90457347e-03 1.00936967e+00] [ 1.23268413e-01 2.18324118e-03 9.92370965e-01 1.58967819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36463044000004 meters Centerline goodness [0,1] 0.34596095482037925 Centerline is valid? [False, False] Translation: X:19.82, Y:1.01, Z:1.59 [[ 9.92321124e-01 2.03828741e-03 -1.23671470e-01 1.98191167e+01] [-2.32615568e-03 9.99994911e-01 -2.18333612e-03 1.01086662e+00] [ 1.23666390e-01 2.45424965e-03 9.92320815e-01 1.58942248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.39463044 meters Centerline goodness [0,1] 0.3457876083521927 Centerline is valid? [False, False] Translation: X:19.84, Y:1.01, Z:1.59 [[ 9.92467533e-01 1.03821355e-02 -1.22067222e-01 1.98394740e+01] [-1.08387733e-02 9.99936523e-01 -3.07743674e-03 1.01284785e+00] [ 1.22027523e-01 4.37731500e-03 9.92517064e-01 1.59224035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42463044 meters Centerline goodness [0,1] 0.3457876083521927 Centerline is valid? [False, False] Translation: X:19.84, Y:1.01, Z:1.59 [[ 9.92467533e-01 1.03821355e-02 -1.22067222e-01 1.98394740e+01] [-1.08387733e-02 9.99936523e-01 -3.07743674e-03 1.01284785e+00] [ 1.22027523e-01 4.37731500e-03 9.92517064e-01 1.59224035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.45463044 meters Centerline goodness [0,1] 0.3460615924958239 Centerline is valid? [False, False] Translation: X:19.84, Y:1.01, Z:1.59 [[ 9.92525394e-01 1.03916992e-02 -1.21595048e-01 1.98381478e+01] [-1.08718511e-02 9.99935501e-01 -3.28598420e-03 1.01469367e+00] [ 1.21553058e-01 4.58338602e-03 9.92574353e-01 1.59242466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48463044 meters Centerline goodness [0,1] 0.34806843860970627 Centerline is valid? [False, False] Translation: X:19.84, Y:1.02, Z:1.59 [[ 9.92576191e-01 1.03487654e-02 -1.21183369e-01 1.98370413e+01] [-1.08538872e-02 9.99934938e-01 -3.50888044e-03 1.01621870e+00] [ 1.21139172e-01 4.79814180e-03 9.92623936e-01 1.59256760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.51463044 meters Centerline goodness [0,1] 0.3463027528822913 Centerline is valid? [False, False] Translation: X:19.85, Y:1.02, Z:1.60 [[ 9.92703916e-01 3.18054688e-03 -1.20535555e-01 1.98546208e+01] [-3.49309722e-03 9.99991063e-01 -2.38181042e-03 1.02283213e+00] [ 1.20526902e-01 2.78547494e-03 9.92706153e-01 1.59610895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54463044 meters Centerline goodness [0,1] 0.3472305581754266 Centerline is valid? [False, False] Translation: X:19.85, Y:1.03, Z:1.60 [[ 9.92732383e-01 3.05199676e-03 -1.20304205e-01 1.98542293e+01] [-3.42440515e-03 9.99989964e-01 -2.88894103e-03 1.02626867e+00] [ 1.20294181e-01 3.27991565e-03 9.92732871e-01 1.59587699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.57463044 meters Centerline goodness [0,1] 0.3470458013626496 Centerline is valid? [False, False] Translation: X:19.85, Y:1.03, Z:1.60 [[ 9.92727282e-01 2.93383009e-03 -1.20349224e-01 1.98545274e+01] [-3.34225771e-03 9.99989320e-01 -3.19197450e-03 1.02811587e+00] [ 1.20338574e-01 3.57099829e-03 9.92726486e-01 1.59563584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60463044 meters Centerline goodness [0,1] 0.34636330370019586 Centerline is valid? [False, False] Translation: X:19.85, Y:1.03, Z:1.60 [[ 9.92724891e-01 2.85032527e-03 -1.20370957e-01 1.98546971e+01] [-3.29226256e-03 9.99988550e-01 -3.47275099e-03 1.02997791e+00] [ 1.20359680e-01 3.84377915e-03 9.92722908e-01 1.59548722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.63463044 meters Centerline goodness [0,1] 0.34855021140514675 Centerline is valid? [False, False] Translation: X:19.85, Y:1.03, Z:1.60 [[ 9.92730957e-01 2.78524227e-03 -1.20322442e-01 1.98547158e+01] [-3.25193742e-03 9.99987932e-01 -3.68252404e-03 1.03156258e+00] [ 1.20310734e-01 4.04703667e-03 9.92728034e-01 1.59536806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66463044 meters Centerline goodness [0,1] 0.3462382242870048 Centerline is valid? [False, False] Translation: X:19.85, Y:1.03, Z:1.60 [[ 9.92736079e-01 2.80649023e-03 -1.20279678e-01 1.98548986e+01] [-3.27628386e-03 9.99987757e-01 -3.70826834e-03 1.03240579e+00] [ 1.20267798e-01 4.07540214e-03 9.92733120e-01 1.59508138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.69463044 meters Centerline goodness [0,1] 0.3472459436379163 Centerline is valid? [False, False] Translation: X:19.87, Y:1.04, Z:1.60 [[ 9.92691812e-01 -4.51199925e-03 -1.20592734e-01 1.98735493e+01] [ 4.25368797e-03 9.99988075e-01 -2.39935036e-03 1.03723237e+00] [ 1.20602122e-01 1.86885159e-03 9.92699167e-01 1.59863873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72463044 meters Centerline goodness [0,1] 0.3458082545141874 Centerline is valid? [False, False] Translation: X:19.87, Y:1.04, Z:1.60 [[ 9.92671777e-01 -4.58190363e-03 -1.20754911e-01 1.98743369e+01] [ 4.32769893e-03 9.99987833e-01 -2.36730163e-03 1.03646655e+00] [ 1.20764288e-01 1.82736262e-03 9.92679529e-01 1.59826465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.75463044 meters Centerline goodness [0,1] 0.34420678125937676 Centerline is valid? [False, False] Translation: X:19.88, Y:1.04, Z:1.60 [[ 9.92640615e-01 -4.59360267e-03 -1.21010368e-01 1.98754315e+01] [ 4.35112032e-03 9.99987962e-01 -2.26797612e-03 1.03551336e+00] [ 1.21019329e-01 1.72475454e-03 9.92648652e-01 1.59782049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78463044 meters Centerline goodness [0,1] 0.3410105606593973 Centerline is valid? [False, False] Translation: X:19.88, Y:1.03, Z:1.60 [[ 9.92561149e-01 -4.69210916e-03 -1.21656685e-01 1.98773477e+01] [ 4.45137887e-03 9.99987560e-01 -2.25047280e-03 1.03455254e+00] [ 1.21665731e-01 1.69219188e-03 9.92569688e-01 1.59755591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.81463044000003 meters Centerline goodness [0,1] 0.341343059429307 Centerline is valid? [False, False] Translation: X:19.88, Y:1.03, Z:1.60 [[ 9.92533455e-01 -4.65245783e-03 -1.21883942e-01 1.98781098e+01] [ 4.41042603e-03 9.99987730e-01 -2.25546823e-03 1.03481060e+00] [ 1.21892940e-01 1.70106757e-03 9.92541796e-01 1.59739451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84463044 meters Centerline goodness [0,1] 0.3407705307292447 Centerline is valid? [False, False] Translation: X:19.88, Y:1.04, Z:1.60 [[ 9.92512576e-01 -4.63195714e-03 -1.22054622e-01 1.98786916e+01] [ 4.37433207e-03 9.99987604e-01 -2.37860819e-03 1.03613177e+00] [ 1.22064126e-01 1.82689110e-03 9.92520535e-01 1.59724284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.87463044000003 meters Centerline goodness [0,1] 0.34113010324294224 Centerline is valid? [False, False] Translation: X:19.88, Y:1.04, Z:1.60 [[ 9.92510765e-01 -4.51782651e-03 -1.22073625e-01 1.98786717e+01] [ 4.24369160e-03 9.99987857e-01 -2.50555392e-03 1.03792400e+00] [ 1.22083462e-01 1.96874642e-03 9.92517885e-01 1.59727406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90463044 meters Centerline goodness [0,1] 0.3400416675615885 Centerline is valid? [False, False] Translation: X:19.88, Y:1.04, Z:1.60 [[ 9.92526692e-01 -7.67454450e-04 -1.22025309e-01 1.98783916e+01] [ 8.18079789e-04 9.99999599e-01 3.64775840e-04 1.04174770e+00] [ 1.22024980e-01 -4.61876197e-04 9.92526922e-01 1.59738986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.93463044000003 meters Centerline goodness [0,1] 0.34431105225452097 Centerline is valid? [False, False] Translation: X:19.88, Y:1.04, Z:1.60 [[ 9.92536876e-01 -6.74286053e-04 -1.21942998e-01 1.98781801e+01] [ 6.86909499e-04 9.99999762e-01 6.14804930e-05 1.04472555e+00] [ 1.21942928e-01 -1.44785460e-04 9.92537103e-01 1.59731169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96463044 meters Centerline goodness [0,1] 0.3395435391756326 Centerline is valid? [False, False] Translation: X:19.90, Y:1.05, Z:1.60 [[ 9.92661535e-01 7.06650732e-03 -1.20719267e-01 1.98979319e+01] [-7.28250593e-03 9.99972573e-01 -1.34816924e-03 1.04689796e+00] [ 1.20706430e-01 2.21741453e-03 9.92685771e-01 1.60090462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.99463044000004 meters Centerline goodness [0,1] 0.3390566199110503 Centerline is valid? [False, False] Translation: X:19.90, Y:1.05, Z:1.60 [[ 9.92684280e-01 6.91624709e-03 -1.20540804e-01 1.98971431e+01] [-7.19041156e-03 9.99972456e-01 -1.83964204e-03 1.04990931e+00] [ 1.20524760e-01 2.69292172e-03 9.92706669e-01 1.60125310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02463044 meters Centerline goodness [0,1] 0.341551554548176 Centerline is valid? [False, False] Translation: X:19.90, Y:1.05, Z:1.60 [[ 9.92711421e-01 6.68314307e-03 -1.20330257e-01 1.98963979e+01] [-7.02230777e-03 9.99972476e-01 -2.39479250e-03 1.05310645e+00] [ 1.20310940e-01 3.22233396e-03 9.92731028e-01 1.60146135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.05463044000004 meters Centerline goodness [0,1] 0.34069787453747524 Centerline is valid? [False, False] Translation: X:19.89, Y:1.06, Z:1.60 [[ 9.92762362e-01 6.61859396e-03 -1.19912827e-01 1.98949356e+01] [-7.02420370e-03 9.99970949e-01 -2.96017854e-03 1.05991156e+00] [ 1.19889752e-01 3.78104597e-03 9.92780011e-01 1.60182820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08463044 meters Centerline goodness [0,1] 0.3391469558534711 Centerline is valid? [False, False] Translation: X:19.91, Y:1.07, Z:1.61 [[ 9.92836452e-01 -2.01912244e-04 -1.19481123e-01 1.99127914e+01] [ 3.39641650e-05 9.99999009e-01 -1.40767996e-03 1.06822198e+00] [ 1.19481289e-01 1.39353790e-03 9.92835475e-01 1.60524585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.11463044000004 meters Centerline goodness [0,1] 0.3436776886313012 Centerline is valid? [False, False] Translation: X:19.91, Y:1.07, Z:1.61 [[ 9.92868996e-01 -2.95930972e-04 -1.19210189e-01 1.99121781e+01] [ 9.50634065e-05 9.99998566e-01 -1.69066957e-03 1.07032495e+00] [ 1.19210519e-01 1.66728087e-03 9.92867601e-01 1.60519941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14463044 meters Centerline goodness [0,1] 0.33937751989248455 Centerline is valid? [False, False] Translation: X:19.95, Y:1.08, Z:1.61 [[ 9.93075903e-01 -4.49864112e-04 -1.17473605e-01 1.99532345e+01] [ 2.36724531e-04 9.99998301e-01 -1.82830790e-03 1.07648432e+00] [ 1.17474228e-01 1.78783964e-03 9.93074322e-01 1.61109439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.17463044 meters Centerline goodness [0,1] 0.34010445652639243 Centerline is valid? [False, False] Translation: X:19.95, Y:1.08, Z:1.61 [[ 9.93079471e-01 -6.26711393e-04 -1.17442632e-01 1.99529078e+01] [ 3.74409774e-04 9.99997575e-01 -2.17034657e-03 1.07840158e+00] [ 1.17443707e-01 2.11135495e-03 9.93077297e-01 1.61137565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20463044 meters Centerline goodness [0,1] 0.34436012194330934 Centerline is valid? [False, False] Translation: X:19.95, Y:1.08, Z:1.61 [[ 9.93049225e-01 -7.56635162e-04 -1.17697343e-01 1.99529974e+01] [ 4.33031538e-04 9.99996056e-01 -2.77500355e-03 1.08397603e+00] [ 1.17698978e-01 2.70474847e-03 9.93045636e-01 1.61190175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.23463044 meters Centerline goodness [0,1] 0.3419364560013777 Centerline is valid? [False, False] Translation: X:19.95, Y:1.09, Z:1.61 [[ 9.93017152e-01 -8.38437087e-04 -1.17967082e-01 1.99536527e+01] [ 4.68897675e-04 9.99994896e-01 -3.16028307e-03 1.08669828e+00] [ 1.17969130e-01 3.08290081e-03 9.93012477e-01 1.61188940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26463044 meters Centerline goodness [0,1] 0.340526857731251 Centerline is valid? [False, False] Translation: X:19.95, Y:1.09, Z:1.61 [[ 9.93006836e-01 -9.71020210e-04 -1.18052876e-01 1.99539899e+01] [ 5.52769028e-04 9.99993455e-01 -3.57560481e-03 1.08933383e+00] [ 1.18055576e-01 3.48534404e-03 9.93000873e-01 1.61171874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.29463044 meters Centerline goodness [0,1] 0.3433182199110385 Centerline is valid? [False, False] Translation: X:19.95, Y:1.09, Z:1.61 [[ 9.93069137e-01 -8.52558158e-04 -1.17528559e-01 1.99521759e+01] [ 3.92039753e-04 9.99992156e-01 -3.94141555e-03 1.09496889e+00] [ 1.17530998e-01 3.86802227e-03 9.93061681e-01 1.61221327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.32463044 meters Centerline goodness [0,1] 0.34046517604728865 Centerline is valid? [False, False] Translation: X:19.95, Y:1.10, Z:1.61 [[ 9.93083426e-01 -9.09362801e-04 -1.17407337e-01 1.99516729e+01] [ 4.19391800e-04 9.99991101e-01 -4.19789492e-03 1.09694960e+00] [ 1.17410109e-01 4.11962019e-03 9.93074969e-01 1.61242209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.35463044 meters Centerline goodness [0,1] 0.34228506153415095 Centerline is valid? [False, False] Translation: X:19.95, Y:1.10, Z:1.61 [[ 9.93074031e-01 -9.13232813e-04 -1.17486746e-01 1.99517192e+01] [ 4.14574313e-04 9.99990803e-01 -4.26874900e-03 1.09768102e+00] [ 1.17489564e-01 4.19047679e-03 9.93065276e-01 1.61262466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.38463044 meters Centerline goodness [0,1] 0.3439684377546207 Centerline is valid? [False, False] Translation: X:19.95, Y:1.10, Z:1.61 [[ 9.93010575e-01 -1.28925682e-03 -1.18018369e-01 1.99530473e+01] [ 7.54928630e-04 9.99989263e-01 -4.57209220e-03 1.09785850e+00] [ 1.18022996e-01 4.45104046e-03 9.93000887e-01 1.61273747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.41463044 meters Centerline goodness [0,1] 0.3392156442309754 Centerline is valid? [False, False] Translation: X:19.95, Y:1.10, Z:1.61 [[ 9.93003319e-01 -1.44754841e-03 -1.18077571e-01 1.99533631e+01] [ 9.15470320e-04 9.99989183e-01 -4.56028761e-03 1.09682357e+00] [ 1.18082895e-01 4.42028422e-03 9.92993903e-01 1.61262555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.44463044 meters Centerline goodness [0,1] 0.342888691623184 Centerline is valid? [False, False] Translation: X:19.95, Y:1.10, Z:1.61 [[ 9.93002238e-01 -1.51107968e-03 -1.18085869e-01 1.99534898e+01] [ 9.98753834e-04 9.99989832e-01 -4.39764328e-03 1.09530571e+00] [ 1.18091313e-01 4.24893090e-03 9.92993650e-01 1.61259238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.47463044 meters Centerline goodness [0,1] 0.3422921328972285 Centerline is valid? [False, False] Translation: X:19.95, Y:1.09, Z:1.61 [[ 9.92989826e-01 -1.57394833e-03 -1.18189372e-01 1.99537989e+01] [ 1.08359209e-03 9.99990538e-01 -4.21304819e-03 1.09364787e+00] [ 1.18194885e-01 4.05544492e-03 9.92982136e-01 1.61270413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.50463044 meters Centerline goodness [0,1] 0.33997506663227584 Centerline is valid? [False, False] Translation: X:19.95, Y:1.09, Z:1.61 [[ 9.92986615e-01 -1.57305140e-03 -1.18216364e-01 1.99539612e+01] [ 1.11089698e-03 9.99991482e-01 -3.97518712e-03 1.09192039e+00] [ 1.18221611e-01 3.81598140e-03 9.92979904e-01 1.61273610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.53463044 meters Centerline goodness [0,1] 0.34668674698795177 Centerline is valid? [False, False] Translation: X:19.95, Y:1.09, Z:1.61 [[ 9.92970553e-01 -1.56448895e-03 -1.18351310e-01 1.99545349e+01] [ 1.12821437e-03 9.99992320e-01 -3.75317593e-03 1.09019227e+00] [ 1.18356273e-01 3.59326753e-03 9.92964693e-01 1.61254415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.56463044000003 meters Centerline goodness [0,1] 0.33738142838912755 Centerline is valid? [False, False] Translation: X:19.98, Y:1.09, Z:1.62 [[ 9.92786835e-01 3.48739087e-03 -1.19842140e-01 1.99784611e+01] [-4.25878858e-03 9.99971827e-01 -6.18126987e-03 1.08623685e+00] [ 1.19817207e-01 6.64706569e-03 9.92773717e-01 1.61519810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.59463044 meters Centerline goodness [0,1] 0.34031559538613265 Centerline is valid? [False, False] Translation: X:19.98, Y:1.09, Z:1.61 [[ 9.92781523e-01 3.50957381e-03 -1.19885490e-01 1.99788835e+01] [-4.27012360e-03 9.99972353e-01 -6.08766776e-03 1.08530380e+00] [ 1.19860810e-01 6.55564993e-03 9.92769062e-01 1.61486382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.62463044000003 meters Centerline goodness [0,1] 0.34547456602469984 Centerline is valid? [False, False] Translation: X:19.98, Y:1.08, Z:1.61 [[ 9.92778938e-01 3.57811150e-03 -1.19904870e-01 1.99792757e+01] [-4.32684367e-03 9.99972731e-01 -5.98462207e-03 1.08469218e+00] [ 1.19880187e-01 6.46021637e-03 9.92767348e-01 1.61448372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.65463044 meters Centerline goodness [0,1] 0.34120313936827695 Centerline is valid? [False, False] Translation: X:20.00, Y:1.09, Z:1.62 [[ 9.92839398e-01 -1.70719581e-03 -1.19444615e-01 2.00008031e+01] [ 1.37077111e-03 9.99994859e-01 -2.89867801e-03 1.08630651e+00] [ 1.19448949e-01 2.71419050e-03 9.92836634e-01 1.61652421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.68463044000003 meters Centerline goodness [0,1] 0.34336675416326 Centerline is valid? [False, False] Translation: X:20.00, Y:1.09, Z:1.62 [[ 9.92883764e-01 -1.48195683e-03 -1.19078270e-01 2.00005271e+01] [ 1.17366500e-03 9.99995776e-01 -2.65907165e-03 1.08548131e+00] [ 1.19081707e-01 2.50039107e-03 9.92881310e-01 1.61582931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.71463044 meters Centerline goodness [0,1] 0.34384003440120403 Centerline is valid? [False, False] Translation: X:20.00, Y:1.09, Z:1.62 [[ 9.92900872e-01 -1.40054527e-03 -1.18936523e-01 2.00003094e+01] [ 1.10017804e-03 9.99996038e-01 -2.59106267e-03 1.08503733e+00] [ 1.18939681e-01 2.44181703e-03 9.92898479e-01 1.61570888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.74463044000004 meters Centerline goodness [0,1] 0.3454420097817422 Centerline is valid? [False, False] Translation: X:20.00, Y:1.08, Z:1.62 [[ 9.92931274e-01 -1.38697817e-03 -1.18682611e-01 1.99996476e+01] [ 1.08565608e-03 9.99996022e-01 -2.60350510e-03 1.08499778e+00] [ 1.18685749e-01 2.45625313e-03 9.92928829e-01 1.61572045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.77463044 meters Centerline goodness [0,1] 0.34395592524576 Centerline is valid? [False, False] Translation: X:20.00, Y:1.08, Z:1.62 [[ 9.92951462e-01 -1.29396400e-03 -1.18514639e-01 1.99993294e+01] [ 1.00142527e-03 9.99996303e-01 -2.52789473e-03 1.08491797e+00] [ 1.18517472e-01 2.39139321e-03 9.92949087e-01 1.61557850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80463044000004 meters Centerline goodness [0,1] 0.33982670020856176 Centerline is valid? [False, False] Translation: X:20.00, Y:1.09, Z:1.61 [[ 9.92946974e-01 -1.04568394e-03 -1.18554688e-01 2.00000792e+01] [ 7.68069126e-04 9.99996855e-01 -2.38732642e-03 1.08505841e+00] [ 1.18556812e-01 2.27943035e-03 9.92944654e-01 1.61483580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.83463044 meters Centerline goodness [0,1] 0.3404487646126836 Centerline is valid? [False, False] Translation: X:20.00, Y:1.09, Z:1.61 [[ 9.92952455e-01 -9.77559239e-04 -1.18509348e-01 2.00001834e+01] [ 7.04203265e-04 9.99996994e-01 -2.34847245e-03 1.08502438e+00] [ 1.18511288e-01 2.24846681e-03 9.92950159e-01 1.61458459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86463044000004 meters Centerline goodness [0,1] 0.34119056276871085 Centerline is valid? [False, False] Translation: X:20.00, Y:1.09, Z:1.61 [[ 9.92961333e-01 -9.24135217e-04 -1.18435375e-01 1.99999965e+01] [ 6.53565323e-04 9.99997087e-01 -2.32335509e-03 1.08507104e+00] [ 1.18437177e-01 2.22959651e-03 9.92959044e-01 1.61461116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.89463044 meters Centerline goodness [0,1] 0.3430358793559344 Centerline is valid? [False, False] Translation: X:20.00, Y:1.08, Z:1.62 [[ 9.92958252e-01 -7.41642416e-04 -1.18462485e-01 1.99994833e+01] [ 4.94016055e-04 9.99997631e-01 -2.11968658e-03 1.08451624e+00] [ 1.18463777e-01 2.04623791e-03 9.92956266e-01 1.61522067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92463044 meters Centerline goodness [0,1] 0.3384135928961749 Centerline is valid? [False, False] Translation: X:20.00, Y:1.08, Z:1.62 [[ 9.92959237e-01 -6.48061125e-04 -1.18454771e-01 1.99996027e+01] [ 4.18733466e-04 9.99997990e-01 -1.96087129e-03 1.08395859e+00] [ 1.18455803e-01 1.89746428e-03 9.92957513e-01 1.61513167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.95463044 meters Centerline goodness [0,1] 0.34581323040634715 Centerline is valid? [False, False] Translation: X:20.00, Y:1.08, Z:1.62 [[ 9.92964991e-01 -6.25530443e-04 -1.18406649e-01 1.99995839e+01] [ 4.14488442e-04 9.99998282e-01 -1.80696657e-03 1.08276074e+00] [ 1.18407576e-01 1.74517635e-03 9.92963544e-01 1.61503531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98463044 meters Centerline goodness [0,1] 0.34526070441988954 Centerline is valid? [False, False] Translation: X:20.00, Y:1.08, Z:1.61 [[ 9.92985176e-01 -6.19293132e-04 -1.18237289e-01 1.99994297e+01] [ 4.28605332e-04 9.99998566e-01 -1.63817612e-03 1.08130297e+00] [ 1.18238134e-01 1.57600747e-03 9.92984018e-01 1.61476200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.01463044 meters Centerline goodness [0,1] 0.34335946679199336 Centerline is valid? [False, False] Translation: X:20.00, Y:1.08, Z:1.61 [[ 9.92974838e-01 -5.55397900e-04 -1.18324394e-01 1.99996703e+01] [ 3.93070729e-04 9.99998949e-01 -1.39521503e-03 1.07967340e+00] [ 1.18325045e-01 1.33890356e-03 9.92974013e-01 1.61482567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04463044 meters Centerline goodness [0,1] 0.3438029286280899 Centerline is valid? [False, False] Translation: X:20.00, Y:1.08, Z:1.61 [[ 9.92930879e-01 -5.43051189e-04 -1.18692775e-01 2.00006348e+01] [ 4.30922436e-04 9.99999436e-01 -9.70359729e-04 1.07606963e+00] [ 1.18693235e-01 9.12352759e-04 9.92930553e-01 1.61491748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.07463044 meters Centerline goodness [0,1] 0.3404509736932012 Centerline is valid? [False, False] Translation: X:20.00, Y:1.07, Z:1.61 [[ 9.92872295e-01 -5.37211707e-04 -1.19181863e-01 2.00021467e+01] [ 4.51150393e-04 9.99999618e-01 -7.49080214e-04 1.07407175e+00] [ 1.19182220e-01 6.89972048e-04 9.92872158e-01 1.61467548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10463044 meters Centerline goodness [0,1] 0.3426458858781176 Centerline is valid? [False, False] Translation: X:20.00, Y:1.07, Z:1.61 [[ 9.92823374e-01 -5.75095950e-04 -1.19588532e-01 2.00034421e+01] [ 5.08141433e-04 9.99999697e-01 -5.90366669e-04 1.07222897e+00] [ 1.19588835e-01 5.25361941e-04 9.92823365e-01 1.61441473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.13463044 meters Centerline goodness [0,1] 0.34378975055516026 Centerline is valid? [False, False] Translation: X:20.00, Y:1.07, Z:1.61 [[ 9.92806207e-01 -5.13458604e-04 -1.19731248e-01 2.00040247e+01] [ 4.78789733e-04 9.99999835e-01 -3.18322080e-04 1.07016830e+00] [ 1.19731391e-01 2.58706044e-04 9.92806289e-01 1.61421808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16463044 meters Centerline goodness [0,1] 0.3451594152978408 Centerline is valid? [False, False] Translation: X:20.00, Y:1.07, Z:1.61 [[ 9.92813372e-01 -3.64955874e-04 -1.19672364e-01 2.00040096e+01] [ 3.71060719e-04 9.99999931e-01 2.87300679e-05 1.06822828e+00] [ 1.19672345e-01 -7.29293091e-05 9.92813439e-01 1.61414459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.19463044 meters Centerline goodness [0,1] 0.3417729619043556 Centerline is valid? [False, False] Translation: X:20.02, Y:1.07, Z:1.62 [[ 9.92941062e-01 -7.68814923e-03 -1.18359368e-01 2.00237105e+01] [ 7.95210997e-03 9.99966836e-01 1.75805476e-03 1.06867168e+00] [ 1.18341927e-01 -2.68685147e-03 9.92969269e-01 1.61704458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22463044 meters Centerline goodness [0,1] 0.345668122458639 Centerline is valid? [False, False] Translation: X:20.02, Y:1.07, Z:1.62 [[ 9.92943309e-01 -7.63119725e-03 -1.18344200e-01 2.00238503e+01] [ 7.92227404e-03 9.99966640e-01 1.98933563e-03 1.06680727e+00] [ 1.18325071e-01 -2.91285268e-03 9.92970640e-01 1.61693360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.25463044 meters Centerline goodness [0,1] 0.34347779561262703 Centerline is valid? [False, False] Translation: X:20.04, Y:1.06, Z:1.62 [[ 9.92904744e-01 -6.00576158e-04 -1.18910929e-01 2.00427482e+01] [ 6.89170397e-04 9.99999515e-01 7.03927646e-04 1.06176138e+00] [ 1.18910448e-01 -7.80882991e-04 9.92904676e-01 1.62097732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28463044 meters Centerline goodness [0,1] 0.34347779561262703 Centerline is valid? [False, False] Translation: X:20.04, Y:1.06, Z:1.62 [[ 9.92904744e-01 -6.00576158e-04 -1.18910929e-01 2.00427482e+01] [ 6.89170397e-04 9.99999515e-01 7.03927646e-04 1.06176138e+00] [ 1.18910448e-01 -7.80882991e-04 9.92904676e-01 1.62097732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.31463044000003 meters Centerline goodness [0,1] 0.3402594077993003 Centerline is valid? [False, False] Translation: X:20.04, Y:1.06, Z:1.62 [[ 9.92885917e-01 -4.53217123e-04 -1.19068683e-01 2.00434090e+01] [ 5.73288384e-04 9.99999361e-01 9.74169923e-04 1.06025926e+00] [ 1.19068165e-01 -1.03550029e-03 9.92885542e-01 1.62071474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34463044 meters Centerline goodness [0,1] 0.3414963073959114 Centerline is valid? [False, False] Translation: X:20.04, Y:1.06, Z:1.62 [[ 9.92869511e-01 -1.72536011e-04 -1.19206139e-01 2.00441972e+01] [ 3.57613804e-04 9.99998764e-01 1.53119669e-03 1.05694361e+00] [ 1.19205727e-01 -1.56290827e-03 9.92868346e-01 1.62031245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.37463044000003 meters Centerline goodness [0,1] 0.3455894971683542 Centerline is valid? [False, False] Translation: X:20.04, Y:1.06, Z:1.62 [[ 9.92869361e-01 -1.38691494e-04 -1.19207434e-01 2.00443689e+01] [ 3.39733522e-04 9.99998554e-01 1.66616884e-03 1.05569108e+00] [ 1.19207030e-01 -1.69478675e-03 9.92867973e-01 1.62015654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40463044 meters Centerline goodness [0,1] 0.3429394197952218 Centerline is valid? [False, False] Translation: X:20.04, Y:1.05, Z:1.62 [[ 9.92853479e-01 -3.53519051e-05 -1.19339717e-01 2.00446111e+01] [ 2.59892591e-04 9.99998225e-01 1.86596237e-03 1.05449700e+00] [ 1.19339439e-01 -1.88364274e-03 9.92851726e-01 1.62033437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.43463044000003 meters Centerline goodness [0,1] 0.3429075601666809 Centerline is valid? [False, False] Translation: X:20.04, Y:1.05, Z:1.62 [[ 9.92854338e-01 1.66197868e-04 -1.19332461e-01 2.00445497e+01] [ 9.38527832e-05 9.99997633e-01 2.17358810e-03 1.05323107e+00] [ 1.19332540e-01 -2.16925605e-03 9.92851972e-01 1.62044434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46463044 meters Centerline goodness [0,1] 0.3462712884913126 Centerline is valid? [False, False] Translation: X:20.04, Y:1.05, Z:1.62 [[ 9.92847732e-01 3.72145962e-04 -1.19386941e-01 2.00445643e+01] [-7.41312786e-05 9.99996871e-01 2.50063971e-03 1.05194555e+00] [ 1.19387498e-01 -2.47390415e-03 9.92844653e-01 1.62062063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.49463044000004 meters Centerline goodness [0,1] 0.3401100418498927 Centerline is valid? [False, False] Translation: X:20.09, Y:1.05, Z:1.63 [[ 9.93093609e-01 -3.29537733e-05 -1.17324687e-01 2.00874539e+01] [ 3.40430463e-04 9.99996560e-01 2.60069440e-03 1.05047244e+00] [ 1.17324198e-01 -2.62267389e-03 9.93090204e-01 1.62583234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52463044 meters Centerline goodness [0,1] 0.34252586060708834 Centerline is valid? [False, False] Translation: X:20.09, Y:1.05, Z:1.63 [[ 9.93104373e-01 -1.83000238e-05 -1.17233542e-01 2.00870365e+01] [ 3.56075087e-04 9.99995846e-01 2.86027166e-03 1.04815864e+00] [ 1.17233003e-01 -2.88229224e-03 9.93100255e-01 1.62615785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.55463044000004 meters Centerline goodness [0,1] 0.3470534403132781 Centerline is valid? [False, False] Translation: X:20.09, Y:1.05, Z:1.63 [[ 9.93127999e-01 1.80249223e-05 -1.17033229e-01 2.00862773e+01] [ 3.51155587e-04 9.99995028e-01 3.13387301e-03 1.04602375e+00] [ 1.17032704e-01 -3.15343391e-03 9.93123055e-01 1.62654922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58463044 meters Centerline goodness [0,1] 0.35022892887083257 Centerline is valid? [False, False] Translation: X:20.09, Y:1.04, Z:1.63 [[ 9.93130848e-01 1.56369384e-04 -1.17008952e-01 2.00859796e+01] [ 2.52707264e-04 9.99993908e-01 3.48127048e-03 1.04408720e+00] [ 1.17008784e-01 -3.48692612e-03 9.93124758e-01 1.62692023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.61463044000004 meters Centerline goodness [0,1] 0.3541621854162186 Centerline is valid? [False, False] Translation: X:20.09, Y:1.04, Z:1.63 [[ 9.93070525e-01 2.81179251e-04 -1.17519587e-01 2.00877606e+01] [ 1.86202852e-04 9.99992118e-01 3.96605886e-03 1.04048706e+00] [ 1.17519776e-01 -3.96045864e-03 9.93062645e-01 1.62651596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64463044 meters Centerline goodness [0,1] 0.3474170409314403 Centerline is valid? [False, False] Translation: X:20.11, Y:1.04, Z:1.63 [[ 9.92922720e-01 5.37565868e-03 -1.18640525e-01 2.01109966e+01] [-5.25232010e-03 9.99985292e-01 1.35225006e-03 1.03705176e+00] [ 1.18646049e-01 -7.19541798e-04 9.92936351e-01 1.62911625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.67463044 meters Centerline goodness [0,1] 0.3528362315413881 Centerline is valid? [False, False] Translation: X:20.11, Y:1.03, Z:1.63 [[ 9.92901686e-01 5.41223835e-03 -1.18814769e-01 2.01116321e+01] [-5.25059132e-03 9.99984815e-01 1.67348893e-03 1.03433560e+00] [ 1.18822022e-01 -1.03776219e-03 9.92915027e-01 1.62896963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70463044 meters Centerline goodness [0,1] 0.35176342105826675 Centerline is valid? [False, False] Translation: X:20.13, Y:1.04, Z:1.63 [[ 9.92928035e-01 -2.56736200e-03 -1.18690045e-01 2.01312082e+01] [ 2.91409201e-03 9.99991979e-01 2.74784837e-03 1.03539933e+00] [ 1.18682039e-01 -3.07428940e-03 9.92927551e-01 1.63236683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.73463044 meters Centerline goodness [0,1] 0.3529802317363089 Centerline is valid? [False, False] Translation: X:20.13, Y:1.03, Z:1.63 [[ 9.92889531e-01 -6.11845255e-03 -1.18882056e-01 2.01319420e+01] [ 6.18673590e-03 9.99980841e-01 2.05329408e-04 1.02975110e+00] [ 1.18878522e-01 -9.39361303e-04 9.92908362e-01 1.63233149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76463044 meters Centerline goodness [0,1] 0.3530560982416969 Centerline is valid? [False, False] Translation: X:20.13, Y:1.03, Z:1.63 [[ 9.92862562e-01 -5.89404049e-03 -1.19118398e-01 2.01327171e+01] [ 6.03144409e-03 9.99981496e-01 7.93022720e-04 1.02597998e+00] [ 1.19111520e-01 -1.50581853e-03 9.92879740e-01 1.63226321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.79463044 meters Centerline goodness [0,1] 0.35246041568861763 Centerline is valid? [False, False] Translation: X:20.13, Y:1.02, Z:1.63 [[ 9.92830985e-01 -5.66688574e-03 -1.19392298e-01 2.01334731e+01] [ 5.86981379e-03 9.99981864e-01 1.34807730e-03 1.02269779e+00] [ 1.19382493e-01 -2.03922347e-03 9.92846243e-01 1.63231965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.82463044 meters Centerline goodness [0,1] 0.3556138239339752 Centerline is valid? [False, False] Translation: X:20.13, Y:1.02, Z:1.63 [[ 9.92837926e-01 -5.51543254e-03 -1.19341660e-01 2.01337248e+01] [ 5.77323971e-03 9.99981688e-01 1.81462032e-03 1.01946174e+00] [ 1.19329466e-01 -2.49061188e-03 9.92851588e-01 1.63199048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.85463044 meters Centerline goodness [0,1] 0.35298926489254134 Centerline is valid? [False, False] Translation: X:20.13, Y:1.02, Z:1.63 [[ 9.92847920e-01 -5.33464607e-03 -1.19266714e-01 2.01337973e+01] [ 5.64850929e-03 9.99981416e-01 2.29371427e-03 1.01603176e+00] [ 1.19252261e-01 -2.95098858e-03 9.92859602e-01 1.63183832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.88463044 meters Centerline goodness [0,1] 0.3525103038845111 Centerline is valid? [False, False] Translation: X:20.15, Y:1.01, Z:1.63 [[ 9.93003933e-01 5.99979398e-04 -1.18079757e-01 2.01538366e+01] [-5.95368890e-04 9.99999820e-01 7.43196064e-05 1.00773366e+00] [ 1.18079780e-01 -3.49864791e-06 9.93004112e-01 1.63471510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.91463044 meters Centerline goodness [0,1] 0.35428620548857803 Centerline is valid? [False, False] Translation: X:20.15, Y:1.01, Z:1.63 [[ 9.92994221e-01 8.33870412e-04 -1.18159980e-01 2.01543044e+01] [-7.75727549e-04 9.99999554e-01 5.38059219e-04 1.00507150e+00] [ 1.18160376e-01 -4.42629744e-04 9.92994426e-01 1.63448516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.94463044 meters Centerline goodness [0,1] 0.35367190354402633 Centerline is valid? [False, False] Translation: X:20.16, Y:1.00, Z:1.63 [[ 9.92966283e-01 9.85617219e-04 -1.18393370e-01 2.01551094e+01] [-8.86743237e-04 9.99999213e-01 8.87805686e-04 1.00259631e+00] [ 1.18394152e-01 -7.76576591e-04 9.92966375e-01 1.63431553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.97463044 meters Centerline goodness [0,1] 0.3544760013812155 Centerline is valid? [False, False] Translation: X:20.16, Y:1.00, Z:1.63 [[ 9.92928659e-01 1.22554853e-03 -1.18706264e-01 2.01560998e+01] [-1.05678479e-03 9.99998340e-01 1.48462762e-03 9.95980865e-01] [ 1.18707886e-01 -1.34868233e-03 9.92928305e-01 1.63415929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.00463044 meters Centerline goodness [0,1] 0.35290838532621516 Centerline is valid? [False, False] Translation: X:20.16, Y:0.99, Z:1.63 [[ 9.92916216e-01 1.63380305e-03 -1.18805382e-01 2.01565196e+01] [-1.38425832e-03 9.99996659e-01 2.18294029e-03 9.92496804e-01] [ 1.18808551e-01 -2.00301947e-03 9.92915161e-01 1.63406628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.03463044 meters Centerline goodness [0,1] 0.3532551833109132 Centerline is valid? [False, False] Translation: X:20.16, Y:0.99, Z:1.63 [[ 9.92920871e-01 2.02616405e-03 -1.18760425e-01 2.01564525e+01] [-1.69159923e-03 9.99994312e-01 2.91787731e-03 9.88619017e-01] [ 1.18765662e-01 -2.69632624e-03 9.92918651e-01 1.63418137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.06463044000003 meters Centerline goodness [0,1] 0.35196154176324146 Centerline is valid? [False, False] Translation: X:20.16, Y:0.98, Z:1.63 [[ 9.92944673e-01 2.32192002e-03 -1.18555832e-01 2.01560060e+01] [-1.90968139e-03 9.99991730e-01 3.59065296e-03 9.84346720e-01] [ 1.18563189e-01 -3.33891586e-03 9.92940895e-01 1.63425634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.09463044 meters Centerline goodness [0,1] 0.35276468066866695 Centerline is valid? [False, False] Translation: X:20.16, Y:0.98, Z:1.63 [[ 9.92969488e-01 2.63779802e-03 -1.18341193e-01 2.01554376e+01] [-2.14520840e-03 9.99988498e-01 4.28964068e-03 9.79879963e-01] [ 1.18351147e-01 -4.00561579e-03 9.92963726e-01 1.63439806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.12463044000003 meters Centerline goodness [0,1] 0.35216346153846156 Centerline is valid? [False, False] Translation: X:20.15, Y:0.97, Z:1.64 [[ 9.93004613e-01 3.17014510e-03 -1.18032997e-01 2.01542850e+01] [-2.53959299e-03 9.99981693e-01 5.49218885e-03 9.70065401e-01] [ 1.18048247e-01 -5.15401309e-03 9.92994485e-01 1.63507092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.15463044 meters Centerline goodness [0,1] 0.35233940123363927 Centerline is valid? [False, False] Translation: X:20.15, Y:0.97, Z:1.63 [[ 9.93007831e-01 3.49328065e-03 -1.17996799e-01 2.01544104e+01] [-2.79200767e-03 9.99977449e-01 6.10793165e-03 9.66744783e-01] [ 1.18015475e-01 -5.73577599e-03 9.92995191e-01 1.63492500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.18463044000003 meters Centerline goodness [0,1] 0.3485601006117707 Centerline is valid? [False, False] Translation: X:20.16, Y:0.96, Z:1.63 [[ 9.93005372e-01 3.69884141e-03 -1.18011225e-01 2.01550466e+01] [-2.94881258e-03 9.99974334e-01 6.52954621e-03 9.63966552e-01] [ 1.18032348e-01 -6.13588148e-03 9.92990793e-01 1.63438382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.21463044 meters Centerline goodness [0,1] 0.3519787321416993 Centerline is valid? [False, False] Translation: X:20.16, Y:0.96, Z:1.63 [[ 9.92989821e-01 3.85629427e-03 -1.18136973e-01 2.01557178e+01] [-3.05875841e-03 9.99971299e-01 6.93151006e-03 9.61055399e-01] [ 1.18160312e-01 -6.52156647e-03 9.92973116e-01 1.63404129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.24463044000004 meters Centerline goodness [0,1] 0.3481057744198597 Centerline is valid? [False, False] Translation: X:20.16, Y:0.96, Z:1.63 [[ 9.92960791e-01 4.16827810e-03 -1.18370149e-01 2.01566797e+01] [-3.29236277e-03 9.99965742e-01 7.59438233e-03 9.56599176e-01] [ 1.18397749e-01 -7.15120642e-03 9.92940498e-01 1.63373038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.27463044 meters Centerline goodness [0,1] 0.34837611258378054 Centerline is valid? [False, False] Translation: X:20.16, Y:0.95, Z:1.63 [[ 9.92958613e-01 4.39749102e-03 -1.18380128e-01 2.01568398e+01] [-3.47273520e-03 9.99961834e-01 8.01689329e-03 9.54527800e-01] [ 1.18410864e-01 -7.54934041e-03 9.92935987e-01 1.63368207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30463044000004 meters Centerline goodness [0,1] 0.3483915273515462 Centerline is valid? [False, False] Translation: X:20.16, Y:0.95, Z:1.63 [[ 9.92963302e-01 4.60492945e-03 -1.18332901e-01 2.01568706e+01] [-3.62651313e-03 9.99957448e-01 8.48233279e-03 9.51978334e-01] [ 1.18366926e-01 -7.99350936e-03 9.92937750e-01 1.63362772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.33463044 meters Centerline goodness [0,1] 0.34589757826848333 Centerline is valid? [False, False] Translation: X:20.16, Y:0.95, Z:1.63 [[ 9.92970784e-01 4.73990778e-03 -1.18264769e-01 2.01568970e+01] [-3.71170836e-03 9.99953392e-01 8.91278881e-03 9.49026508e-01] [ 1.18301502e-01 -8.41117456e-03 9.92942096e-01 1.63355291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36463044000004 meters Centerline goodness [0,1] 0.3484900628065043 Centerline is valid? [False, False] Translation: X:20.16, Y:0.94, Z:1.63 [[ 9.92984865e-01 1.04202921e-03 -1.18236929e-01 2.01573081e+01] [-3.13151468e-04 9.99980836e-01 6.18296315e-03 9.43721691e-01] [ 1.18241106e-01 -6.10256276e-03 9.92966162e-01 1.63316022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.39463044 meters Centerline goodness [0,1] 0.3437433246464733 Centerline is valid? [False, False] Translation: X:20.16, Y:0.94, Z:1.63 [[ 9.92915599e-01 1.02709997e-03 -1.18817331e-01 2.01591533e+01] [-2.46007967e-04 9.99978266e-01 6.58836965e-03 9.39918213e-01] [ 1.18821516e-01 -6.51246499e-03 9.92894272e-01 1.63288498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42463044 meters Centerline goodness [0,1] 0.3458280616730641 Centerline is valid? [False, False] Translation: X:20.16, Y:0.94, Z:1.63 [[ 9.92854257e-01 1.10378119e-03 -1.19328148e-01 2.01607791e+01] [-2.64979496e-04 9.99975149e-01 7.04500783e-03 9.36489525e-01] [ 1.19332959e-01 -6.96304650e-03 9.92829875e-01 1.63263470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.45463044 meters Centerline goodness [0,1] 0.3427807486631016 Centerline is valid? [False, False] Translation: X:20.16, Y:0.93, Z:1.63 [[ 9.92805391e-01 1.09386049e-03 -1.19734119e-01 2.01622748e+01] [-2.13568077e-04 9.99972858e-01 7.36464483e-03 9.33541434e-01] [ 1.19738925e-01 -7.28608770e-03 9.92778678e-01 1.63224938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48463044 meters Centerline goodness [0,1] 0.34531689379191 Centerline is valid? [False, False] Translation: X:20.17, Y:0.93, Z:1.63 [[ 9.92710856e-01 -1.03302570e-03 -1.20515929e-01 2.01663862e+01] [ 1.76807559e-03 9.99980482e-01 5.99242198e-03 9.27634589e-01] [ 1.20507386e-01 -6.16182363e-03 9.92693307e-01 1.63038628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.51463044 meters Centerline goodness [0,1] 0.3432874354561102 Centerline is valid? [False, False] Translation: X:20.17, Y:0.93, Z:1.63 [[ 9.92677590e-01 -8.19802148e-04 -1.20791269e-01 2.01673767e+01] [ 1.60917573e-03 9.99977984e-01 6.43762246e-03 9.25241705e-01] [ 1.20783332e-01 -6.58485793e-03 9.92657054e-01 1.63011673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54463044 meters Centerline goodness [0,1] 0.34071232641865246 Centerline is valid? [False, False] Translation: X:20.17, Y:0.92, Z:1.63 [[ 9.92663936e-01 -6.16248327e-04 -1.20904634e-01 2.01679113e+01] [ 1.45957928e-03 9.99975221e-01 6.88673898e-03 9.22831245e-01] [ 1.20897395e-01 -7.01268733e-03 9.92640238e-01 1.62995027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.57463044 meters Centerline goodness [0,1] 0.3404113849387641 Centerline is valid? [False, False] Translation: X:20.17, Y:0.92, Z:1.63 [[ 9.92657654e-01 -4.76576178e-04 -1.20956832e-01 2.01679024e+01] [ 1.36715167e-03 9.99972567e-01 7.27987373e-03 9.20463542e-01] [ 1.20950045e-01 -7.39178872e-03 9.92631074e-01 1.63018895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60463044 meters Centerline goodness [0,1] 0.34253012307891273 Centerline is valid? [False, False] Translation: X:20.17, Y:0.92, Z:1.63 [[ 9.92657146e-01 -3.65432852e-04 -1.20961387e-01 2.01677381e+01] [ 1.30467084e-03 9.99969614e-01 7.68566816e-03 9.17695526e-01] [ 1.20954903e-01 -7.78704821e-03 9.92627459e-01 1.63051671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.63463044 meters Centerline goodness [0,1] 0.3413465651467191 Centerline is valid? [False, False] Translation: X:20.19, Y:0.91, Z:1.63 [[ 9.92712973e-01 4.70353600e-03 -1.20411085e-01 2.01887770e+01] [-4.21849970e-03 9.99981931e-01 4.28275875e-03 9.14093316e-01] [ 1.20429054e-01 -3.74359604e-03 9.92714878e-01 1.63311327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66463044 meters Centerline goodness [0,1] 0.3413786445259702 Centerline is valid? [False, False] Translation: X:20.19, Y:0.91, Z:1.63 [[ 9.92751966e-01 1.02234162e-03 -1.20176906e-01 2.01887220e+01] [-8.48512851e-04 9.99998519e-01 1.49760308e-03 9.09714406e-01] [ 1.20178259e-01 -1.38477675e-03 9.92751363e-01 1.63261581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.69463044 meters Centerline goodness [0,1] 0.3396733290350311 Centerline is valid? [False, False] Translation: X:20.19, Y:0.91, Z:1.63 [[ 9.92753140e-01 1.16753135e-03 -1.20165888e-01 2.01886718e+01] [-9.31754695e-04 9.99997529e-01 2.01826053e-03 9.06563342e-01] [ 1.20167948e-01 -1.89166935e-03 9.92751775e-01 1.63270893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72463044 meters Centerline goodness [0,1] 0.3442128182464915 Centerline is valid? [False, False] Translation: X:20.19, Y:0.90, Z:1.63 [[ 9.92768446e-01 1.31010712e-03 -1.20037894e-01 2.01882150e+01] [-1.01145488e-03 9.99996240e-01 2.54887604e-03 9.03207223e-01] [ 1.20040781e-01 -2.40903080e-03 9.92766039e-01 1.63298742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.75463044 meters Centerline goodness [0,1] 0.3425639704619612 Centerline is valid? [False, False] Translation: X:20.19, Y:0.90, Z:1.63 [[ 9.92786421e-01 -2.14091597e-03 -1.19877183e-01 2.01875097e+01] [ 2.16823440e-03 9.99997645e-01 9.74558755e-05 8.97693125e-01] [ 1.19876692e-01 -3.56674702e-04 9.92788724e-01 1.63343615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78463044 meters Centerline goodness [0,1] 0.3448787409700722 Centerline is valid? [False, False] Translation: X:20.19, Y:0.89, Z:1.63 [[ 9.92772063e-01 -2.09837342e-03 -1.19996785e-01 2.01879910e+01] [ 2.17014522e-03 9.99997536e-01 4.67439965e-04 8.94752004e-01] [ 1.19995509e-01 -7.24471788e-04 9.92774170e-01 1.63333086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.81463044000003 meters Centerline goodness [0,1] 0.34338747099767986 Centerline is valid? [False, False] Translation: X:20.19, Y:0.89, Z:1.63 [[ 9.92738750e-01 -1.96093284e-03 -1.20274387e-01 2.01888382e+01] [ 2.08866702e-03 9.99997381e-01 9.35968078e-04 8.91631520e-01] [ 1.20272237e-01 -1.18038493e-03 9.92740246e-01 1.63323801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84463044 meters Centerline goodness [0,1] 0.3392914207801615 Centerline is valid? [False, False] Translation: X:20.21, Y:0.89, Z:1.64 [[ 9.92680345e-01 3.90312275e-03 -1.20708321e-01 2.02105362e+01] [-4.12691648e-03 9.99990198e-01 -1.60406821e-03 8.87064057e-01] [ 1.20700877e-01 2.09048014e-03 9.92686722e-01 1.63582147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.87463044000003 meters Centerline goodness [0,1] 0.3413570968434615 Centerline is valid? [False, False] Translation: X:20.21, Y:0.88, Z:1.64 [[ 9.92669162e-01 3.98865875e-03 -1.20797459e-01 2.02106410e+01] [-4.14363204e-03 9.99990883e-01 -1.03175486e-03 8.80720888e-01] [ 1.20792242e-01 1.52473145e-03 9.92676639e-01 1.63597680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90463044 meters Centerline goodness [0,1] 0.34425594212883226 Centerline is valid? [False, False] Translation: X:20.21, Y:0.88, Z:1.64 [[ 9.92652503e-01 4.09155085e-03 -1.20930838e-01 2.02107742e+01] [-4.20215800e-03 9.99990953e-01 -6.59623502e-04 8.78048186e-01] [ 1.20927045e-01 1.16294741e-03 9.92660716e-01 1.63626992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.93463044000003 meters Centerline goodness [0,1] 0.34264475910970205 Centerline is valid? [False, False] Translation: X:20.21, Y:0.88, Z:1.64 [[ 9.92634730e-01 4.17349534e-03 -1.21073836e-01 2.02108697e+01] [-4.24472931e-03 9.99990936e-01 -3.30444860e-04 8.75718778e-01] [ 1.21071360e-01 8.41936706e-04 9.92643449e-01 1.63661474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96463044 meters Centerline goodness [0,1] 0.3409623662788219 Centerline is valid? [False, False] Translation: X:20.21, Y:0.87, Z:1.64 [[ 9.92623705e-01 4.29622601e-03 -1.21159906e-01 2.02109818e+01] [-4.32856717e-03 9.99990632e-01 -3.73570565e-06 8.73653104e-01] [ 1.21158755e-01 5.28156940e-04 9.92633002e-01 1.63676502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.99463044000004 meters Centerline goodness [0,1] 0.33986704572173654 Centerline is valid? [False, False] Translation: X:20.21, Y:0.87, Z:1.64 [[ 9.92617599e-01 4.39488435e-03 -1.21206383e-01 2.02110500e+01] [-4.39556037e-03 9.99990305e-01 2.61794477e-04 8.71949239e-01] [ 1.21206358e-01 2.72908168e-04 9.92627294e-01 1.63688271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02463044 meters Centerline goodness [0,1] 0.34090418877529016 Centerline is valid? [False, False] Translation: X:20.21, Y:0.87, Z:1.64 [[ 9.92620537e-01 4.50052866e-03 -1.21178441e-01 2.02110737e+01] [-4.47001176e-03 9.99989872e-01 5.23670747e-04 8.70373290e-01] [ 1.21179570e-01 2.18627174e-05 9.92630602e-01 1.63680509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.05463044000004 meters Centerline goodness [0,1] 0.3417631917631918 Centerline is valid? [False, False] Translation: X:20.21, Y:0.87, Z:1.64 [[ 9.92602920e-01 4.57867882e-03 -1.21319742e-01 2.02112399e+01] [-4.50607568e-03 9.99989467e-01 8.72790553e-04 8.68008910e-01] [ 1.21322460e-01 -3.19658514e-04 9.92613096e-01 1.63707820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08463044 meters Centerline goodness [0,1] 0.3393982104341512 Centerline is valid? [False, False] Translation: X:20.21, Y:0.87, Z:1.64 [[ 9.92586836e-01 4.65769969e-03 -1.21448252e-01 2.02113124e+01] [-4.55812772e-03 9.99989009e-01 1.09767680e-03 8.66701022e-01] [ 1.21452030e-01 -5.35962897e-04 9.92597158e-01 1.63740776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.11463044000004 meters Centerline goodness [0,1] 0.3434541229127216 Centerline is valid? [False, False] Translation: X:20.21, Y:0.87, Z:1.64 [[ 9.92574351e-01 4.70678416e-03 -1.21548364e-01 2.02114940e+01] [-4.58441267e-03 9.99988664e-01 1.28640462e-03 8.65428727e-01] [ 1.21553041e-01 -7.19624373e-04 9.92584677e-01 1.63748174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14463044 meters Centerline goodness [0,1] 0.3418775895751487 Centerline is valid? [False, False] Translation: X:20.21, Y:0.86, Z:1.64 [[ 9.92532344e-01 4.48104486e-03 -1.21899410e-01 2.02120734e+01] [-4.35031733e-03 9.99989641e-01 1.33854444e-03 8.63451577e-01] [ 1.21904145e-01 -7.98247532e-04 9.92541557e-01 1.63790198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.17463044 meters Centerline goodness [0,1] 0.3423214707081108 Centerline is valid? [False, False] Translation: X:20.21, Y:0.86, Z:1.64 [[ 9.92524977e-01 4.40556495e-03 -1.21962131e-01 2.02121587e+01] [-4.26935878e-03 9.99989937e-01 1.37809491e-03 8.62531131e-01] [ 1.21966975e-01 -8.47093522e-04 9.92533798e-01 1.63801607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20463044 meters Centerline goodness [0,1] 0.33927269608473776 Centerline is valid? [False, False] Translation: X:20.21, Y:0.86, Z:1.64 [[ 9.92527869e-01 4.35838600e-03 -1.21940287e-01 2.02121523e+01] [-4.21689617e-03 9.99990103e-01 1.41836544e-03 8.61929123e-01] [ 1.21945262e-01 -8.93557701e-04 9.92536425e-01 1.63799588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.23463044 meters Centerline goodness [0,1] 0.33927269608473776 Centerline is valid? [False, False] Translation: X:20.21, Y:0.86, Z:1.64 [[ 9.92527869e-01 4.35838600e-03 -1.21940287e-01 2.02121523e+01] [-4.21689617e-03 9.99990103e-01 1.41836544e-03 8.61929123e-01] [ 1.21945262e-01 -8.93557701e-04 9.92536425e-01 1.63799588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26463044 meters Centerline goodness [0,1] 0.34279162469728464 Centerline is valid? [False, False] Translation: X:20.21, Y:0.86, Z:1.64 [[ 9.92539813e-01 4.35750836e-03 -1.21843059e-01 2.02119810e+01] [-4.21698886e-03 9.99990113e-01 1.41112627e-03 8.62117730e-01] [ 1.21848004e-01 -8.86788184e-04 9.92548375e-01 1.63793947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.29463044 meters Centerline goodness [0,1] 0.3375066538911956 Centerline is valid? [False, False] Translation: X:20.21, Y:0.86, Z:1.64 [[ 9.92552931e-01 4.37049671e-03 -1.21735690e-01 2.02116052e+01] [-4.23188273e-03 9.99990069e-01 1.39717207e-03 8.62678382e-01] [ 1.21740588e-01 -8.71596072e-04 9.92561570e-01 1.63812103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.32463044 meters Centerline goodness [0,1] 0.34417076470461916 Centerline is valid? [False, False] Translation: X:20.21, Y:0.86, Z:1.64 [[ 9.92589657e-01 4.34445618e-03 -1.21436812e-01 2.02104230e+01] [-4.23663181e-03 9.99990369e-01 1.14608925e-03 8.64820675e-01] [ 1.21440622e-01 -6.23113271e-04 9.92598502e-01 1.63862902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.35463044 meters Centerline goodness [0,1] 0.343035343035343 Centerline is valid? [False, False] Translation: X:20.21, Y:0.87, Z:1.64 [[ 9.92594978e-01 4.20522087e-03 -1.21398212e-01 2.02103351e+01] [-4.13173120e-03 9.99991097e-01 8.57078478e-04 8.66377053e-01] [ 1.21400736e-01 -3.49147013e-04 9.92603516e-01 1.63864973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.38463044 meters Centerline goodness [0,1] 0.342588065222475 Centerline is valid? [False, False] Translation: X:20.21, Y:0.87, Z:1.64 [[ 9.92596905e-01 4.04543898e-03 -1.21387882e-01 2.02104079e+01] [-4.01208580e-03 9.99991817e-01 5.19178077e-04 8.68364985e-01] [ 1.21388989e-01 -2.83159537e-05 9.92605013e-01 1.63856390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.41463044 meters Centerline goodness [0,1] 0.3444542881220424 Centerline is valid? [False, False] Translation: X:20.17, Y:0.87, Z:1.63 [[ 9.92326547e-01 3.16340653e-03 -1.23604279e-01 2.01666150e+01] [-3.09197896e-03 9.99994924e-01 7.69695557e-04 8.69289080e-01] [ 1.23606087e-01 -3.81607504e-04 9.92331290e-01 1.63310579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.44463044 meters Centerline goodness [0,1] 0.34456348694118155 Centerline is valid? [False, False] Translation: X:20.17, Y:0.87, Z:1.63 [[ 9.92313314e-01 3.00739689e-03 -1.23714356e-01 2.01672155e+01] [-2.97297248e-03 9.99995474e-01 4.62865461e-04 8.71131344e-01] [ 1.23715188e-01 -9.15081829e-05 9.92317764e-01 1.63277663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.47463044 meters Centerline goodness [0,1] 0.34427927247621304 Centerline is valid? [False, False] Translation: X:20.17, Y:0.87, Z:1.63 [[ 9.92313766e-01 2.76535268e-03 -1.23716383e-01 2.01671175e+01] [-2.77735613e-03 9.99996140e-01 7.54409658e-05 8.73305348e-01] [ 1.23716114e-01 2.68743345e-04 9.92317616e-01 1.63284919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.50463044 meters Centerline goodness [0,1] 0.3442176870748299 Centerline is valid? [False, False] Translation: X:20.17, Y:0.87, Z:1.63 [[ 9.92313407e-01 2.59985658e-03 -1.23722848e-01 2.01670728e+01] [-2.63628713e-03 9.99996516e-01 -1.30740067e-04 8.74148378e-01] [ 1.23722077e-01 4.55904073e-04 9.92316804e-01 1.63292050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.53463044 meters Centerline goodness [0,1] 0.3444456462952947 Centerline is valid? [False, False] Translation: X:20.17, Y:0.88, Z:1.63 [[ 9.92287929e-01 2.44089237e-03 -1.23930253e-01 2.01675247e+01] [-2.50492938e-03 9.99996798e-01 -3.60901737e-04 8.75281955e-01] [ 1.23928975e-01 6.68554968e-04 9.92290866e-01 1.63303776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.56463044000003 meters Centerline goodness [0,1] 0.34418774266898344 Centerline is valid? [False, False] Translation: X:20.17, Y:0.88, Z:1.63 [[ 9.92264858e-01 2.03643744e-03 -1.24122138e-01 2.01682442e+01] [-2.17792756e-03 9.99997124e-01 -1.00424791e-03 8.78313661e-01] [ 1.24119736e-01 1.26680893e-03 9.92266439e-01 1.63279864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.59463044 meters Centerline goodness [0,1] 0.344600394883681 Centerline is valid? [False, False] Translation: X:20.17, Y:0.88, Z:1.63 [[ 9.92247603e-01 1.86069353e-03 -1.24262752e-01 2.01685762e+01] [-2.04408633e-03 9.99997002e-01 -1.34836713e-03 8.80165184e-01] [ 1.24259871e-01 1.59191785e-03 9.92248432e-01 1.63282179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.62463044000003 meters Centerline goodness [0,1] 0.34148692355473687 Centerline is valid? [False, False] Translation: X:20.17, Y:0.88, Z:1.63 [[ 9.92234639e-01 1.73544750e-03 -1.24368038e-01 2.01690135e+01] [-1.96145307e-03 9.99996640e-01 -1.69480855e-03 8.82528813e-01] [ 1.24364679e-01 1.92558982e-03 9.92234710e-01 1.63265206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.65463044 meters Centerline goodness [0,1] 0.3421312390026179 Centerline is valid? [False, False] Translation: X:20.17, Y:0.88, Z:1.63 [[ 9.92214416e-01 1.65226708e-03 -1.24530408e-01 2.01695012e+01] [-1.91566282e-03 9.99996174e-01 -1.99539622e-03 8.84829575e-01] [ 1.24526634e-01 2.21841917e-03 9.92213785e-01 1.63255429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.68463044000003 meters Centerline goodness [0,1] 0.33877839388554665 Centerline is valid? [False, False] Translation: X:20.17, Y:0.89, Z:1.63 [[ 9.92217121e-01 1.46987194e-03 -1.24511141e-01 2.01696351e+01] [-1.80114018e-03 9.99995132e-01 -2.54802371e-03 8.88782671e-01] [ 1.24506789e-01 2.75245477e-03 9.92214938e-01 1.63238712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.71463044 meters Centerline goodness [0,1] 0.34105803224971976 Centerline is valid? [False, False] Translation: X:20.17, Y:0.89, Z:1.63 [[ 9.92219396e-01 1.28040456e-03 -1.24495103e-01 2.01693719e+01] [-1.65080173e-03 9.99994513e-01 -2.87208054e-03 8.90209904e-01] [ 1.24490743e-01 3.05525075e-03 9.92216065e-01 1.63262193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.74463044000004 meters Centerline goodness [0,1] 0.3434817393560663 Centerline is valid? [False, False] Translation: X:20.17, Y:0.89, Z:1.63 [[ 9.92215367e-01 1.15615686e-03 -1.24528422e-01 2.01691308e+01] [-1.55692229e-03 9.99993918e-01 -3.12099351e-03 8.91472839e-01] [ 1.24524056e-01 3.29057880e-03 9.92211133e-01 1.63298677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.77463044 meters Centerline goodness [0,1] 0.3430552855013287 Centerline is valid? [False, False] Translation: X:20.17, Y:0.89, Z:1.63 [[ 9.92221329e-01 1.02893731e-03 -1.24482031e-01 2.01689085e+01] [-1.45806167e-03 9.99993305e-01 -3.35622310e-03 8.92782136e-01] [ 1.24477744e-01 3.51161862e-03 9.92216186e-01 1.63308262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80463044000004 meters Centerline goodness [0,1] 0.341194598412053 Centerline is valid? [False, False] Translation: X:20.19, Y:0.90, Z:1.64 [[ 9.92158027e-01 -5.84159362e-03 -1.24853213e-01 2.01877559e+01] [ 5.59863426e-03 9.99981690e-01 -2.29675095e-03 8.98997560e-01] [ 1.24864343e-01 1.57973242e-03 9.92172566e-01 1.63707821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.83463044 meters Centerline goodness [0,1] 0.34067393586255645 Centerline is valid? [False, False] Translation: X:20.19, Y:0.90, Z:1.64 [[ 9.92178592e-01 -5.94465034e-03 -1.24684815e-01 2.01873554e+01] [ 5.66258637e-03 9.99980544e-01 -2.61649911e-03 9.01357140e-01] [ 1.24697943e-01 1.88999587e-03 9.92192950e-01 1.63705999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86463044000004 meters Centerline goodness [0,1] 0.34349036448779646 Centerline is valid? [False, False] Translation: X:20.19, Y:0.90, Z:1.64 [[ 9.92200235e-01 -6.03316625e-03 -1.24508209e-01 2.01870691e+01] [ 5.72351400e-03 9.99979575e-01 -2.84456012e-03 9.02606549e-01] [ 1.24522827e-01 2.10974874e-03 9.92214500e-01 1.63691747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.89463044 meters Centerline goodness [0,1] 0.34570994197126403 Centerline is valid? [False, False] Translation: X:20.21, Y:0.90, Z:1.64 [[ 9.92326440e-01 1.68326578e-03 -1.23634149e-01 2.02061024e+01] [-2.24756021e-03 9.99987684e-01 -4.42489702e-03 9.00735967e-01] [ 1.23625178e-01 4.66881750e-03 9.92318002e-01 1.64039675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92463044 meters Centerline goodness [0,1] 0.34564986679950616 Centerline is valid? [False, False] Translation: X:20.21, Y:0.90, Z:1.64 [[ 9.92325993e-01 1.61747657e-03 -1.23638618e-01 2.02062098e+01] [-2.20867659e-03 9.99986774e-01 -4.64476244e-03 9.02082570e-01] [ 1.23629470e-01 4.88219622e-03 9.92316441e-01 1.64028059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.95463044 meters Centerline goodness [0,1] 0.3441312940367761 Centerline is valid? [False, False] Translation: X:20.23, Y:0.90, Z:1.64 [[ 9.92350999e-01 9.98487268e-03 -1.23043884e-01 2.02265923e+01] [-1.07940798e-02 9.99924267e-01 -5.91170711e-03 9.02399206e-01] [ 1.22975538e-01 7.19463396e-03 9.92383623e-01 1.64349732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98463044 meters Centerline goodness [0,1] 0.3449993530857808 Centerline is valid? [False, False] Translation: X:20.23, Y:0.90, Z:1.64 [[ 9.92378137e-01 9.97745193e-03 -1.22825416e-01 2.02258747e+01] [-1.08088944e-02 9.99922947e-01 -6.10482257e-03 9.03762759e-01] [ 1.22755042e-01 7.38589941e-03 9.92409516e-01 1.64373225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.01463044 meters Centerline goodness [0,1] 0.3453218939215644 Centerline is valid? [False, False] Translation: X:20.24, Y:0.91, Z:1.65 [[ 9.92405289e-01 3.86988476e-03 -1.22950263e-01 2.02427245e+01] [-4.48760615e-03 9.99978660e-01 -4.74762629e-03 9.10306641e-01] [ 1.22929266e-01 5.26332179e-03 9.92401478e-01 1.64821873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04463044 meters Centerline goodness [0,1] 0.34537328900211584 Centerline is valid? [False, False] Translation: X:20.24, Y:0.91, Z:1.65 [[ 9.92421349e-01 3.93506003e-03 -1.22818489e-01 2.02422759e+01] [-4.57313132e-03 9.99977470e-01 -4.91376972e-03 9.11917300e-01] [ 1.22796386e-01 5.43819505e-03 9.92416986e-01 1.64837936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.07463044 meters Centerline goodness [0,1] 0.346462107050001 Centerline is valid? [False, False] Translation: X:20.25, Y:0.92, Z:1.65 [[ 9.92314601e-01 6.54781157e-03 -1.23567227e-01 2.02461380e+01] [-6.96859258e-03 9.99971298e-01 -2.97338170e-03 9.15135426e-01] [ 1.23544212e-01 3.81161974e-03 9.92331749e-01 1.64670787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10463044 meters Centerline goodness [0,1] 0.34311895105045176 Centerline is valid? [False, False] Translation: X:20.25, Y:0.92, Z:1.65 [[ 9.92295456e-01 6.54340104e-03 -1.23721103e-01 2.02469867e+01] [-6.98497118e-03 9.99970689e-01 -3.13564878e-03 9.16400114e-01] [ 1.23696959e-01 3.97567837e-03 9.92312076e-01 1.64622196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.13463044 meters Centerline goodness [0,1] 0.34587852029662647 Centerline is valid? [False, False] Translation: X:20.25, Y:0.92, Z:1.65 [[ 9.92304322e-01 6.48927610e-03 -1.23652827e-01 2.02469898e+01] [-6.95043578e-03 9.99970405e-01 -3.29845608e-03 9.17284560e-01] [ 1.23627763e-01 4.13251326e-03 9.92320059e-01 1.64606011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16463044 meters Centerline goodness [0,1] 0.3436810892975658 Centerline is valid? [False, False] Translation: X:20.25, Y:0.92, Z:1.65 [[ 9.92326478e-01 6.41010962e-03 -1.23479037e-01 2.02464008e+01] [-6.89004340e-03 9.99970277e-01 -3.46012907e-03 9.18016958e-01] [ 1.23453187e-01 4.28435361e-03 9.92341148e-01 1.64627409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.19463044 meters Centerline goodness [0,1] 0.3452706747626785 Centerline is valid? [False, False] Translation: X:20.25, Y:0.92, Z:1.65 [[ 9.92347259e-01 6.35278350e-03 -1.23314880e-01 2.02458716e+01] [-6.85148628e-03 9.99969974e-01 -3.62049474e-03 9.18915353e-01] [ 1.23288178e-01 4.43767824e-03 9.92360989e-01 1.64640064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22463044 meters Centerline goodness [0,1] 0.3460585561324515 Centerline is valid? [False, False] Translation: X:20.25, Y:0.92, Z:1.65 [[ 9.92290163e-01 6.32168087e-03 -1.23775072e-01 2.02476502e+01] [-6.86212399e-03 9.99968691e-01 -3.94049608e-03 9.21369582e-01] [ 1.23746286e-01 4.75947539e-03 9.92302476e-01 1.64571934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.25463044 meters Centerline goodness [0,1] 0.34679345136931783 Centerline is valid? [False, False] Translation: X:20.25, Y:0.92, Z:1.65 [[ 9.92223616e-01 6.25214988e-03 -1.24310926e-01 2.02495696e+01] [-6.83212377e-03 9.99967673e-01 -4.23974628e-03 9.23299115e-01] [ 1.24280400e-01 5.05608402e-03 9.92234256e-01 1.64504516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28463044 meters Centerline goodness [0,1] 0.3417764920175721 Centerline is valid? [False, False] Translation: X:20.25, Y:0.93, Z:1.64 [[ 9.92165473e-01 6.20434408e-03 -1.24776521e-01 2.02511511e+01] [-6.82480195e-03 9.99966379e-01 -4.54570593e-03 9.25508548e-01] [ 1.24744122e-01 5.36166752e-03 9.92174459e-01 1.64462121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.31463044000003 meters Centerline goodness [0,1] 0.3401483818701232 Centerline is valid? [False, False] Translation: X:20.25, Y:0.93, Z:1.64 [[ 9.92151011e-01 6.18797202e-03 -1.24892276e-01 2.02516506e+01] [-6.84679593e-03 9.99964815e-01 -4.84658639e-03 9.28146301e-01] [ 1.24857891e-01 5.66365751e-03 9.92158470e-01 1.64438740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34463044 meters Centerline goodness [0,1] 0.3423134487919607 Centerline is valid? [False, False] Translation: X:20.25, Y:0.93, Z:1.64 [[ 9.92227080e-01 6.52299873e-03 -1.24269351e-01 2.02496174e+01] [-7.20199040e-03 9.99961488e-01 -5.01541525e-03 9.33063215e-01] [ 1.24231849e-01 5.87141750e-03 9.92235846e-01 1.64487916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.37463044000003 meters Centerline goodness [0,1] 0.34217727797494335 Centerline is valid? [False, False] Translation: X:20.25, Y:0.93, Z:1.65 [[ 9.92248337e-01 6.40764505e-03 -1.24105518e-01 2.02490468e+01] [-7.12250443e-03 9.99960498e-01 -5.31725954e-03 9.34891367e-01] [ 1.24066544e-01 6.15998404e-03 9.92254779e-01 1.64507236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40463044 meters Centerline goodness [0,1] 0.34518291762778364 Centerline is valid? [False, False] Translation: X:20.25, Y:0.94, Z:1.65 [[ 9.92248372e-01 6.31145673e-03 -1.24110172e-01 2.02490836e+01] [-7.05277422e-03 9.99959812e-01 -5.53460390e-03 9.36121943e-01] [ 1.24070253e-01 6.36702273e-03 9.92253009e-01 1.64507543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.43463044000003 meters Centerline goodness [0,1] 0.34460464214133313 Centerline is valid? [False, False] Translation: X:20.25, Y:0.94, Z:1.64 [[ 9.92237248e-01 6.20536741e-03 -1.24204416e-01 2.02494301e+01] [-6.96557717e-03 9.99959567e-01 -5.68730678e-03 9.36703606e-01] [ 1.24164102e-01 6.50831307e-03 9.92240353e-01 1.64497666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46463044 meters Centerline goodness [0,1] 0.34524371913248875 Centerline is valid? [False, False] Translation: X:20.25, Y:0.94, Z:1.65 [[ 9.92205336e-01 5.89024921e-03 -1.24474402e-01 2.02501184e+01] [-6.68314813e-03 9.99959946e-01 -5.95336829e-03 9.36993033e-01] [ 1.24434350e-01 6.73884465e-03 9.92204959e-01 1.64503111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.49463044000004 meters Centerline goodness [0,1] 0.3427007143162667 Centerline is valid? [False, False] Translation: X:20.27, Y:0.94, Z:1.65 [[ 9.92147580e-01 -1.19649834e-03 -1.25066970e-01 2.02680881e+01] [ 5.78795604e-04 9.99987456e-01 -4.97519585e-03 9.41828093e-01] [ 1.25071354e-01 4.86374031e-03 9.92135828e-01 1.64927329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52463044 meters Centerline goodness [0,1] 0.34326635314236853 Centerline is valid? [False, False] Translation: X:20.27, Y:0.94, Z:1.65 [[ 9.92155468e-01 -1.23196336e-03 -1.25004039e-01 2.02677587e+01] [ 6.19339543e-04 9.99987608e-01 -4.93957621e-03 9.41272589e-01] [ 1.25008575e-01 4.82340760e-03 9.92143937e-01 1.64955055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.55463044000004 meters Centerline goodness [0,1] 0.3480478292547037 Centerline is valid? [False, False] Translation: X:20.27, Y:0.94, Z:1.65 [[ 9.92156488e-01 -1.26529478e-03 -1.24995609e-01 2.02676165e+01] [ 6.53328389e-04 9.99987601e-01 -4.93677412e-03 9.40987618e-01] [ 1.25000306e-01 4.81638930e-03 9.92145013e-01 1.64975391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58463044 meters Centerline goodness [0,1] 0.34928776156714003 Centerline is valid? [False, False] Translation: X:20.27, Y:0.94, Z:1.65 [[ 9.92149623e-01 -1.31060946e-03 -1.25049620e-01 2.02677837e+01] [ 6.97252364e-04 9.99987513e-01 -4.94855098e-03 9.40868300e-01] [ 1.25054544e-01 4.82251185e-03 9.92138148e-01 1.64972865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.61463044000004 meters Centerline goodness [0,1] 0.34660241785889423 Centerline is valid? [False, False] Translation: X:20.27, Y:0.94, Z:1.65 [[ 9.92138250e-01 -1.26692939e-03 -1.25140276e-01 2.02677665e+01] [ 6.69283787e-04 9.99988171e-01 -4.81773238e-03 9.40349868e-01] [ 1.25144899e-01 4.69610221e-03 9.92127361e-01 1.65011274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64463044 meters Centerline goodness [0,1] 0.35041265474552963 Centerline is valid? [False, False] Translation: X:20.27, Y:0.94, Z:1.65 [[ 9.92148601e-01 -1.24686029e-03 -1.25058385e-01 2.02672638e+01] [ 6.63972677e-04 9.99988723e-01 -4.70249686e-03 9.39519449e-01] [ 1.25062838e-01 4.58254033e-03 9.92138240e-01 1.65050885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.67463044 meters Centerline goodness [0,1] 0.34770336156017445 Centerline is valid? [False, False] Translation: X:20.27, Y:0.94, Z:1.65 [[ 9.92151436e-01 -1.22400684e-03 -1.25036117e-01 2.02668733e+01] [ 6.52732174e-04 9.99989162e-01 -4.60974340e-03 9.38736920e-01] [ 1.25040404e-01 4.49194844e-03 9.92141482e-01 1.65097808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70463044 meters Centerline goodness [0,1] 0.3503019659913479 Centerline is valid? [False, False] Translation: X:20.27, Y:0.94, Z:1.65 [[ 9.92156113e-01 -1.24045007e-03 -1.24998837e-01 2.02666011e+01] [ 6.77164143e-04 9.99989425e-01 -4.54871759e-03 9.37946613e-01] [ 1.25003157e-01 4.42839323e-03 9.92146461e-01 1.65121307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.73463044 meters Centerline goodness [0,1] 0.3490740342886607 Centerline is valid? [False, False] Translation: X:20.27, Y:0.94, Z:1.65 [[ 9.92163668e-01 -1.12134031e-03 -1.24939983e-01 2.02671961e+01] [ 5.88530659e-04 9.99990576e-01 -4.30135326e-03 9.36506483e-01] [ 1.24943629e-01 4.19411541e-03 9.92154977e-01 1.65040186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76463044 meters Centerline goodness [0,1] 0.3481657973254342 Centerline is valid? [False, False] Translation: X:20.27, Y:0.94, Z:1.65 [[ 9.92157011e-01 -9.46626389e-04 -1.24994279e-01 2.02676289e+01] [ 4.41486856e-04 9.99991624e-01 -4.06893968e-03 9.35708189e-01] [ 1.24997084e-01 3.98184370e-03 9.92149119e-01 1.65014095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.79463044 meters Centerline goodness [0,1] 0.34963760346528283 Centerline is valid? [False, False] Translation: X:20.27, Y:0.93, Z:1.65 [[ 9.92171230e-01 -7.93452739e-04 -1.24882432e-01 2.02673955e+01] [ 3.17283785e-04 9.99992605e-01 -3.83278114e-03 9.34717270e-01] [ 1.24884549e-01 3.76315200e-03 9.92164144e-01 1.65010040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.82463044 meters Centerline goodness [0,1] 0.34924477771826457 Centerline is valid? [False, False] Translation: X:20.27, Y:0.93, Z:1.65 [[ 9.92179126e-01 -6.49834426e-04 -1.24820507e-01 2.02669671e+01] [ 2.04058613e-04 9.99993556e-01 -3.58408688e-03 9.33423184e-01] [ 1.24822032e-01 3.53058549e-03 9.92172866e-01 1.65049100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.85463044 meters Centerline goodness [0,1] 0.34730641167933063 Centerline is valid? [False, False] Translation: X:20.27, Y:0.93, Z:1.65 [[ 9.92188734e-01 -3.23338718e-04 -1.24745389e-01 2.02666479e+01] [-5.20250985e-05 9.99995481e-01 -3.00577021e-03 9.30519114e-01] [ 1.24745797e-01 2.98878123e-03 9.92184234e-01 1.65068704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.88463044 meters Centerline goodness [0,1] 0.3479744227963265 Centerline is valid? [False, False] Translation: X:20.27, Y:0.93, Z:1.65 [[ 9.92173120e-01 -2.14418201e-04 -1.24869747e-01 2.02672900e+01] [-1.32765662e-04 9.99996149e-01 -2.77203969e-03 9.29154975e-01] [ 1.24869861e-01 2.76692169e-03 9.92169271e-01 1.65038048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.91463044 meters Centerline goodness [0,1] 0.34762108872696096 Centerline is valid? [False, False] Translation: X:20.27, Y:0.93, Z:1.65 [[ 9.92144525e-01 -1.98337823e-04 -1.25096775e-01 2.02683448e+01] [-1.40754945e-04 9.99996340e-01 -2.70179903e-03 9.28363781e-01] [ 1.25096853e-01 2.69818310e-03 9.92140866e-01 1.64987802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.94463044 meters Centerline goodness [0,1] 0.3454771980323502 Centerline is valid? [False, False] Translation: X:20.27, Y:0.93, Z:1.65 [[ 9.92106486e-01 -1.14567548e-04 -1.25398198e-01 2.02694015e+01] [-2.12067050e-04 9.99996620e-01 -2.59142686e-03 9.27851412e-01] [ 1.25398071e-01 2.59756422e-03 9.92103108e-01 1.64957586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.97463044 meters Centerline goodness [0,1] 0.3442521499754594 Centerline is valid? [False, False] Translation: X:20.27, Y:0.93, Z:1.65 [[ 9.92072156e-01 1.67812283e-05 -1.25669556e-01 2.02704479e+01] [-3.35065563e-04 9.99996790e-01 -2.51157123e-03 9.28016236e-01] [ 1.25669110e-01 2.53376742e-03 9.92068977e-01 1.64922014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.00463044 meters Centerline goodness [0,1] 0.3442334890498435 Centerline is valid? [False, False] Translation: X:20.27, Y:0.93, Z:1.65 [[ 9.92005796e-01 2.20936670e-04 -1.26192124e-01 2.02721725e+01] [-5.59863307e-04 9.99996331e-01 -2.65033805e-03 9.30309027e-01] [ 1.26191075e-01 2.69980105e-03 9.92002280e-01 1.64871441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.03463044 meters Centerline goodness [0,1] 0.342783174290727 Centerline is valid? [False, False] Translation: X:20.27, Y:0.93, Z:1.65 [[ 9.91975441e-01 1.47159401e-04 -1.26430627e-01 2.02730492e+01] [-5.15029335e-04 9.99995729e-01 -2.87697442e-03 9.31769575e-01] [ 1.26429663e-01 2.91900345e-03 9.91971280e-01 1.64840781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.06463044000003 meters Centerline goodness [0,1] 0.34580751041914104 Centerline is valid? [False, False] Translation: X:20.27, Y:0.93, Z:1.65 [[ 9.91944394e-01 9.83476345e-05 -1.26674028e-01 2.02737145e+01] [-4.87276863e-04 9.99995263e-01 -3.03933165e-03 9.32812387e-01] [ 1.26673129e-01 3.07657332e-03 9.91939743e-01 1.64834241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.09463044 meters Centerline goodness [0,1] 0.34580751041914104 Centerline is valid? [False, False] Translation: X:20.27, Y:0.93, Z:1.65 [[ 9.91944394e-01 9.83476345e-05 -1.26674028e-01 2.02737145e+01] [-4.87276863e-04 9.99995263e-01 -3.03933165e-03 9.32812387e-01] [ 1.26673129e-01 3.07657332e-03 9.91939743e-01 1.64834241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.12463044000003 meters Centerline goodness [0,1] 0.34396730641675755 Centerline is valid? [False, False] Translation: X:20.29, Y:0.93, Z:1.65 [[ 9.91937238e-01 7.86335188e-03 -1.26485904e-01 2.02932293e+01] [-8.49994028e-03 9.99953777e-01 -4.49393054e-03 9.31464966e-01] [ 1.26444720e-01 5.53281967e-03 9.91958225e-01 1.65199876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.15463044 meters Centerline goodness [0,1] 0.34323453608247423 Centerline is valid? [False, False] Translation: X:20.29, Y:0.93, Z:1.65 [[ 9.91889002e-01 7.60622523e-03 -1.26879287e-01 2.02938426e+01] [-8.28895600e-03 9.99953866e-01 -4.85382592e-03 9.32805113e-01] [ 1.26836515e-01 5.86615338e-03 9.91906289e-01 1.65245068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.18463044000003 meters Centerline goodness [0,1] 0.3414185882503793 Centerline is valid? [False, False] Translation: X:20.31, Y:0.94, Z:1.66 [[ 9.91784157e-01 7.74519919e-04 -1.27920230e-01 2.03115325e+01] [-1.28928874e-03 9.99991402e-01 -3.94138507e-03 9.38132734e-01] [ 1.27916077e-01 4.07392938e-03 9.91776628e-01 1.65693264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.21463044 meters Centerline goodness [0,1] 0.34503813523009685 Centerline is valid? [False, False] Translation: X:20.31, Y:0.94, Z:1.66 [[ 9.91783237e-01 7.39693850e-04 -1.27927571e-01 2.03113663e+01] [-1.25153022e-03 9.99991531e-01 -3.92064899e-03 9.37771652e-01] [ 1.27923588e-01 4.04853917e-03 9.91775763e-01 1.65719189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.24463044000004 meters Centerline goodness [0,1] 0.3445164325272093 Centerline is valid? [False, False] Translation: X:20.31, Y:0.94, Z:1.66 [[ 9.91800159e-01 6.40816303e-04 -1.27796846e-01 2.03104380e+01] [-1.16333520e-03 9.99991267e-01 -4.01406873e-03 9.38120968e-01] [ 1.27793158e-01 4.12982458e-03 9.91792243e-01 1.65794736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.27463044 meters Centerline goodness [0,1] 0.34602948784273146 Centerline is valid? [False, False] Translation: X:20.31, Y:0.94, Z:1.66 [[ 9.91829675e-01 6.10124865e-04 -1.27567720e-01 2.03094660e+01] [-1.14926752e-03 9.99990717e-01 -4.15276238e-03 9.39118857e-01] [ 1.27564002e-01 4.26544240e-03 9.91821169e-01 1.65840986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30463044000004 meters Centerline goodness [0,1] 0.3462566268695315 Centerline is valid? [False, False] Translation: X:20.31, Y:0.94, Z:1.66 [[ 9.91843756e-01 5.56891401e-04 -1.27458436e-01 2.03088853e+01] [-1.12916308e-03 9.99989605e-01 -4.41765766e-03 9.40930266e-01] [ 1.27454651e-01 4.52554753e-03 9.91834074e-01 1.65882035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.33463044 meters Centerline goodness [0,1] 0.3478036175710595 Centerline is valid? [False, False] Translation: X:20.31, Y:0.94, Z:1.66 [[ 9.91828876e-01 4.49242242e-04 -1.27574602e-01 2.03090667e+01] [-1.07262043e-03 9.99987819e-01 -4.81772335e-03 9.43492842e-01] [ 1.27570884e-01 4.91519626e-03 9.91817277e-01 1.65892709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36463044000004 meters Centerline goodness [0,1] 0.343284222265114 Centerline is valid? [False, False] Translation: X:20.31, Y:0.95, Z:1.66 [[ 9.91812300e-01 4.31050194e-04 -1.27703466e-01 2.03094279e+01] [-1.10019445e-03 9.99986034e-01 -5.16933667e-03 9.46217373e-01] [ 1.27699455e-01 5.26751033e-03 9.91798922e-01 1.65886504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.39463044 meters Centerline goodness [0,1] 0.3443730112344957 Centerline is valid? [False, False] Translation: X:20.31, Y:0.95, Z:1.66 [[ 9.91803347e-01 5.30584056e-04 -1.27772611e-01 2.03094855e+01] [-1.23019681e-03 9.99984682e-01 -5.39659772e-03 9.48748299e-01] [ 1.27767790e-01 5.50954913e-03 9.91788806e-01 1.65898167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42463044 meters Centerline goodness [0,1] 0.34494720638293264 Centerline is valid? [False, False] Translation: X:20.31, Y:0.95, Z:1.66 [[ 9.91843042e-01 9.95288577e-04 -1.27461322e-01 2.03084086e+01] [-1.69586769e-03 9.99984047e-01 -5.38800209e-03 9.52249099e-01] [ 1.27453926e-01 5.56020992e-03 9.91828907e-01 1.65926637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.45463044 meters Centerline goodness [0,1] 0.34550066640870203 Centerline is valid? [False, False] Translation: X:20.31, Y:0.95, Z:1.66 [[ 9.91854154e-01 9.65685411e-04 -1.27375059e-01 2.03080251e+01] [-1.68021525e-03 9.99983451e-01 -5.50232561e-03 9.53098880e-01] [ 1.27367637e-01 5.67152202e-03 9.91839361e-01 1.65950599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48463044 meters Centerline goodness [0,1] 0.3435867672663958 Centerline is valid? [False, False] Translation: X:20.31, Y:0.95, Z:1.66 [[ 9.91847949e-01 8.39475530e-04 -1.27424256e-01 2.03078420e+01] [-1.57959161e-03 9.99982465e-01 -5.70734262e-03 9.53913995e-01] [ 1.27417231e-01 5.86209436e-03 9.91831884e-01 1.65986897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.51463044 meters Centerline goodness [0,1] 0.3448201314424074 Centerline is valid? [False, False] Translation: X:20.31, Y:0.95, Z:1.66 [[ 9.91831099e-01 7.57626518e-04 -1.27555855e-01 2.03080400e+01] [-1.51800721e-03 9.99981654e-01 -5.86405180e-03 9.54669689e-01] [ 1.27549073e-01 6.00977965e-03 9.91814053e-01 1.66006025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54463044 meters Centerline goodness [0,1] 0.34288166505739726 Centerline is valid? [False, False] Translation: X:20.31, Y:0.96, Z:1.66 [[ 9.91790965e-01 6.91638523e-04 -1.27867911e-01 2.03091329e+01] [-1.48732415e-03 9.99980122e-01 -6.12733778e-03 9.56753262e-01] [ 1.27861131e-01 6.26721928e-03 9.91772279e-01 1.65972588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.57463044 meters Centerline goodness [0,1] 0.3425886190026607 Centerline is valid? [False, False] Translation: X:20.31, Y:0.96, Z:1.66 [[ 9.91794998e-01 6.84669119e-04 -1.27836668e-01 2.03091261e+01] [-1.49155934e-03 9.99979566e-01 -6.21626004e-03 9.57671745e-01] [ 1.27829799e-01 6.35593159e-03 9.91775753e-01 1.65967436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60463044 meters Centerline goodness [0,1] 0.34314569964253416 Centerline is valid? [False, False] Translation: X:20.31, Y:0.96, Z:1.66 [[ 9.91802997e-01 6.60806429e-04 -1.27774719e-01 2.03088842e+01] [-1.48125237e-03 9.99978893e-01 -6.32611884e-03 9.58485428e-01] [ 1.27767842e-01 6.46353023e-03 9.91783041e-01 1.65980743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.63463044 meters Centerline goodness [0,1] 0.3421556191008579 Centerline is valid? [False, False] Translation: X:20.31, Y:0.96, Z:1.66 [[ 9.91817058e-01 6.70596263e-04 -1.27665477e-01 2.03084135e+01] [-1.49373147e-03 9.99978710e-01 -6.35196287e-03 9.58964878e-01] [ 1.27658499e-01 6.49068307e-03 9.91796944e-01 1.66008330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66463044 meters Centerline goodness [0,1] 0.3429802559650138 Centerline is valid? [False, False] Translation: X:20.31, Y:0.96, Z:1.66 [[ 9.91829644e-01 6.64615148e-04 -1.27567690e-01 2.03079925e+01] [-1.48498683e-03 9.99978826e-01 -6.33587458e-03 9.58857058e-01] [ 1.27560778e-01 6.47354457e-03 9.91809629e-01 1.66035066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.69463044 meters Centerline goodness [0,1] 0.33952260290015546 Centerline is valid? [False, False] Translation: X:20.31, Y:0.96, Z:1.66 [[ 9.91777523e-01 3.80846079e-04 -1.27973435e-01 2.03087969e+01] [-1.20827341e-03 9.99978866e-01 -6.38804748e-03 9.57338880e-01] [ 1.27968298e-01 6.49014881e-03 9.91757023e-01 1.66071413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72463044 meters Centerline goodness [0,1] 0.33983518238538357 Centerline is valid? [False, False] Translation: X:20.31, Y:0.96, Z:1.66 [[ 9.91709677e-01 2.86262548e-04 -1.28498383e-01 2.03104930e+01] [-1.10618236e-03 9.99979483e-01 -6.30945740e-03 9.55948138e-01] [ 1.28493941e-01 6.39929261e-03 9.91689647e-01 1.66042006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.75463044 meters Centerline goodness [0,1] 0.3383671543180745 Centerline is valid? [False, False] Translation: X:20.31, Y:0.95, Z:1.66 [[ 9.91633204e-01 1.97981185e-04 -1.29087368e-01 2.03126411e+01] [-1.01486541e-03 9.99979876e-01 -6.26240237e-03 9.54824380e-01] [ 1.29083531e-01 6.34101243e-03 9.91613450e-01 1.65973116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78463044 meters Centerline goodness [0,1] 0.33799338573207915 Centerline is valid? [False, False] Translation: X:20.31, Y:0.95, Z:1.66 [[ 9.91577208e-01 1.71084370e-04 -1.29516836e-01 2.03142543e+01] [-9.86082752e-04 9.99980116e-01 -6.22850464e-03 9.54222079e-01] [ 1.29513195e-01 6.30375756e-03 9.91557661e-01 1.65918064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.81463044000003 meters Centerline goodness [0,1] 0.3387287971205035 Centerline is valid? [False, False] Translation: X:20.31, Y:0.95, Z:1.66 [[ 9.91570674e-01 2.30975351e-04 -1.29566762e-01 2.03138978e+01] [-1.03393269e-03 9.99980677e-01 -6.13001693e-03 9.53549506e-01] [ 1.29562842e-01 6.21230832e-03 9.91551752e-01 1.65977427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84463044 meters Centerline goodness [0,1] 0.3376285360754363 Centerline is valid? [False, False] Translation: X:20.33, Y:0.95, Z:1.66 [[ 9.91709537e-01 7.92375297e-03 -1.28255250e-01 2.03325747e+01] [-8.95502084e-03 9.99932030e-01 -7.46608945e-03 9.50848096e-01] [ 1.28187374e-01 8.55272055e-03 9.91713088e-01 1.66354808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.87463044000003 meters Centerline goodness [0,1] 0.336723356978036 Centerline is valid? [False, False] Translation: X:20.33, Y:0.95, Z:1.66 [[ 9.91729087e-01 7.99435431e-03 -1.28099600e-01 2.03319049e+01] [-9.00671497e-03 9.99932605e-01 -7.32559424e-03 9.50097710e-01] [ 1.28032403e-01 8.41876148e-03 9.91734253e-01 1.66389922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90463044 meters Centerline goodness [0,1] 0.33952949257319487 Centerline is valid? [False, False] Translation: X:20.33, Y:0.95, Z:1.66 [[ 9.91728349e-01 7.99943594e-03 -1.28104999e-01 2.03320812e+01] [-8.99951429e-03 9.99933367e-01 -7.22977669e-03 9.49187207e-01] [ 1.28038629e-01 8.32285727e-03 9.91734259e-01 1.66375798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.93463044000003 meters Centerline goodness [0,1] 0.3374124757911763 Centerline is valid? [False, False] Translation: X:20.35, Y:0.95, Z:1.67 [[ 9.91744069e-01 5.01481042e-04 -1.28232017e-01 2.03526708e+01] [-1.37927426e-03 9.99976222e-01 -6.75664290e-03 9.52789976e-01] [ 1.28225580e-01 6.87772764e-03 9.91721179e-01 1.66657555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96463044 meters Centerline goodness [0,1] 0.34178764710935483 Centerline is valid? [False, False] Translation: X:20.35, Y:0.95, Z:1.67 [[ 9.91749222e-01 4.83371454e-04 -1.28192226e-01 2.03525291e+01] [-1.36508986e-03 9.99976014e-01 -6.79032552e-03 9.52775345e-01] [ 1.28185869e-01 6.90929396e-03 9.91726094e-01 1.66661613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.99463044000004 meters Centerline goodness [0,1] 0.33781354336101366 Centerline is valid? [False, False] Translation: X:20.35, Y:0.95, Z:1.67 [[ 9.91774249e-01 5.75785277e-04 -1.27998074e-01 2.03520491e+01] [-1.44944927e-03 9.99976286e-01 -6.73256095e-03 9.52968643e-01] [ 1.27991162e-01 6.86270729e-03 9.91751564e-01 1.66666338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02463044 meters Centerline goodness [0,1] 0.34148860628752176 Centerline is valid? [False, False] Translation: X:20.35, Y:0.95, Z:1.67 [[ 9.91807014e-01 6.73365017e-04 -1.27743465e-01 2.03511378e+01] [-1.53735816e-03 9.99976607e-01 -6.66502464e-03 9.53190505e-01] [ 1.27735989e-01 6.80680564e-03 9.91784848e-01 1.66699270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.05463044000004 meters Centerline goodness [0,1] 0.3423072787872272 Centerline is valid? [False, False] Translation: X:20.35, Y:0.95, Z:1.67 [[ 9.91856943e-01 8.53921214e-04 -1.27354133e-01 2.03499095e+01] [-1.68512001e-03 9.99977978e-01 -6.41907381e-03 9.52567574e-01] [ 1.27345847e-01 6.58140993e-03 9.91836539e-01 1.66735254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08463044 meters Centerline goodness [0,1] 0.34047613945614674 Centerline is valid? [False, False] Translation: X:20.35, Y:0.95, Z:1.67 [[ 9.91837604e-01 9.05346089e-04 -1.27504303e-01 2.03504482e+01] [-1.72561100e-03 9.99978521e-01 -6.32291787e-03 9.52138000e-01] [ 1.27495840e-01 6.49133054e-03 9.91817863e-01 1.66724534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.11463044 meters Centerline goodness [0,1] 0.33921250427058425 Centerline is valid? [False, False] Translation: X:20.35, Y:0.95, Z:1.67 [[ 9.91814750e-01 9.44910316e-04 -1.27681673e-01 2.03512342e+01] [-1.75216477e-03 9.99979181e-01 -6.21022735e-03 9.51448998e-01] [ 1.27673147e-01 6.38311441e-03 9.91795757e-01 1.66696540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14463044 meters Centerline goodness [0,1] 0.34162730785744955 Centerline is valid? [False, False] Translation: X:20.35, Y:0.95, Z:1.67 [[ 9.91803883e-01 1.00775638e-03 -1.27765571e-01 2.03516639e+01] [-1.79677921e-03 9.99980021e-01 -6.06044604e-03 9.50542374e-01] [ 1.27756911e-01 6.24034044e-03 9.91785879e-01 1.66673449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.17463044 meters Centerline goodness [0,1] 0.34165950128976785 Centerline is valid? [False, False] Translation: X:20.35, Y:0.95, Z:1.67 [[ 9.91820093e-01 1.03413849e-03 -1.27639469e-01 2.03515974e+01] [-1.79904354e-03 9.99981109e-01 -5.87755953e-03 9.49166989e-01] [ 1.27630979e-01 6.05911060e-03 9.91803217e-01 1.66651324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20463044 meters Centerline goodness [0,1] 0.33939679951949886 Centerline is valid? [False, False] Translation: X:20.35, Y:0.95, Z:1.67 [[ 9.91812750e-01 8.06389787e-04 -1.27698152e-01 2.03521411e+01] [-1.54878402e-03 9.99982473e-01 -5.71447650e-03 9.45703318e-01] [ 1.27691306e-01 5.86546752e-03 9.91796616e-01 1.66622884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.23463044 meters Centerline goodness [0,1] 0.3365550790501184 Centerline is valid? [False, False] Translation: X:20.35, Y:0.94, Z:1.67 [[ 9.91788024e-01 7.25687183e-04 -1.27890532e-01 2.03528898e+01] [-1.45726181e-03 9.99983107e-01 -5.62684253e-03 9.44152987e-01] [ 1.27884288e-01 5.76700503e-03 9.91772328e-01 1.66600322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26463044 meters Centerline goodness [0,1] 0.34069772425320366 Centerline is valid? [False, False] Translation: X:20.35, Y:0.94, Z:1.67 [[ 9.91778852e-01 7.91677782e-04 -1.27961249e-01 2.03533755e+01] [-1.49965815e-03 9.99984098e-01 -5.43652124e-03 9.42807791e-01] [ 1.27954910e-01 5.58372493e-03 9.91764268e-01 1.66571113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.29463044 meters Centerline goodness [0,1] 0.3380763881459292 Centerline is valid? [False, False] Translation: X:20.35, Y:0.94, Z:1.67 [[ 9.91758454e-01 8.82546684e-04 -1.28118653e-01 2.03539857e+01] [-1.57384858e-03 9.99984745e-01 -5.29465772e-03 9.42096444e-01] [ 1.28112026e-01 5.45266092e-03 9.91744714e-01 1.66553594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32463044 meters Centerline goodness [0,1] 0.3402234997739164 Centerline is valid? [False, False] Translation: X:20.36, Y:0.94, Z:1.67 [[ 9.91722261e-01 9.54018339e-04 -1.28397998e-01 2.03551231e+01] [-1.64118022e-03 9.99984892e-01 -5.24611787e-03 9.42031996e-01] [ 1.28391053e-01 5.41341614e-03 9.91708845e-01 1.66504869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.35463044 meters Centerline goodness [0,1] 0.3358282366023695 Centerline is valid? [False, False] Translation: X:20.36, Y:0.94, Z:1.66 [[ 9.91624640e-01 1.10854542e-03 -1.29148534e-01 2.03580049e+01] [-1.79205387e-03 9.99984997e-01 -5.17633430e-03 9.41907950e-01] [ 1.29140858e-01 5.36442177e-03 9.91611750e-01 1.66400603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.38463044 meters Centerline goodness [0,1] 0.33633775075467254 Centerline is valid? [False, False] Translation: X:20.36, Y:0.94, Z:1.66 [[ 9.91606387e-01 1.13476056e-03 -1.29288378e-01 2.03586852e+01] [-1.80946076e-03 9.99985352e-01 -5.10122356e-03 9.41180660e-01] [ 1.29280695e-01 5.29234811e-03 9.91593915e-01 1.66366199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.41463044 meters Centerline goodness [0,1] 0.3344062486588558 Centerline is valid? [False, False] Translation: X:20.36, Y:0.94, Z:1.66 [[ 9.91598607e-01 1.14170856e-03 -1.29347976e-01 2.03588674e+01] [-1.79925401e-03 9.99986047e-01 -4.96679707e-03 9.39802281e-01] [ 1.29340500e-01 5.15779892e-03 9.91586825e-01 1.66366984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.44463044 meters Centerline goodness [0,1] 0.33729195747879304 Centerline is valid? [False, False] Translation: X:20.36, Y:0.94, Z:1.66 [[ 9.91599736e-01 1.17237769e-03 -1.29339050e-01 2.03588419e+01] [-1.80069879e-03 9.99987140e-01 -4.74110359e-03 9.38006499e-01] [ 1.29331829e-01 4.93417774e-03 9.91589094e-01 1.66370772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.47463044 meters Centerline goodness [0,1] 0.33783086971467857 Centerline is valid? [False, False] Translation: X:20.36, Y:0.93, Z:1.66 [[ 9.91582031e-01 1.06385784e-03 -1.29475653e-01 2.03587695e+01] [-1.63839590e-03 9.99989279e-01 -4.33098798e-03 9.32521764e-01] [ 1.29469658e-01 4.50666224e-03 9.91573143e-01 1.66427929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.50463044 meters Centerline goodness [0,1] 0.3355886621702382 Centerline is valid? [False, False] Translation: X:20.36, Y:0.93, Z:1.66 [[ 9.91571488e-01 1.10591156e-03 -1.29556016e-01 2.03589953e+01] [-1.63858749e-03 9.99990637e-01 -4.00502762e-03 9.30208980e-01] [ 1.29550374e-01 4.18356007e-03 9.91564016e-01 1.66436940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.53463044 meters Centerline goodness [0,1] 0.3399217221135029 Centerline is valid? [False, False] Translation: X:20.31, Y:0.92, Z:1.66 [[ 9.91359187e-01 -3.75604377e-04 -1.31174774e-01 2.03147635e+01] [-1.36350935e-04 9.99992410e-01 -3.89384532e-03 9.24741748e-01] [ 1.31175241e-01 3.87808513e-03 9.91351611e-01 1.65900271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.56463044000003 meters Centerline goodness [0,1] 0.3393107011387855 Centerline is valid? [False, False] Translation: X:20.34, Y:0.92, Z:1.66 [[ 9.91538958e-01 5.27267449e-03 -1.29702330e-01 2.03366102e+01] [-6.18182044e-03 9.99959060e-01 -6.60787796e-03 9.21372248e-01] [ 1.29662178e-01 7.35376494e-03 9.91530958e-01 1.66143791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.59463044 meters Centerline goodness [0,1] 0.33968322379053983 Centerline is valid? [False, False] Translation: X:20.34, Y:0.92, Z:1.66 [[ 9.91548681e-01 5.40723182e-03 -1.29622435e-01 2.03363836e+01] [-6.28220672e-03 9.99960154e-01 -6.34224636e-03 9.19950632e-01] [ 1.29582976e-01 7.10296095e-03 9.91543141e-01 1.66149688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.62463044000003 meters Centerline goodness [0,1] 0.34052804424855243 Centerline is valid? [False, False] Translation: X:20.34, Y:0.92, Z:1.66 [[ 9.91530218e-01 5.48936747e-03 -1.29760138e-01 2.03365331e+01] [-6.34326031e-03 9.99960858e-01 -6.16816293e-03 9.18839187e-01] [ 1.29721199e-01 6.93902226e-03 9.91526228e-01 1.66175443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.65463044 meters Centerline goodness [0,1] 0.34064535611060787 Centerline is valid? [False, False] Translation: X:20.34, Y:0.92, Z:1.66 [[ 9.91512198e-01 5.58258070e-03 -1.29893790e-01 2.03370837e+01] [-6.41112852e-03 9.99961679e-01 -5.96137321e-03 9.17596337e-01] [ 1.29855533e-01 6.74354004e-03 9.91509993e-01 1.66152977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.68463044000003 meters Centerline goodness [0,1] 0.3394532931554025 Centerline is valid? [False, False] Translation: X:20.34, Y:0.92, Z:1.66 [[ 9.91458806e-01 5.62464456e-03 -1.30298887e-01 2.03381168e+01] [-6.43616884e-03 9.99962421e-01 -5.80790133e-03 9.16521806e-01] [ 1.30261323e-01 6.59692056e-03 9.91457749e-01 1.66155290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.71463044 meters Centerline goodness [0,1] 0.33867252255161573 Centerline is valid? [False, False] Translation: X:20.34, Y:0.92, Z:1.66 [[ 9.91419922e-01 5.66857805e-03 -1.30592518e-01 2.03390009e+01] [-6.45967684e-03 9.99963259e-01 -5.63495163e-03 9.15199131e-01] [ 1.30555778e-01 6.43018877e-03 9.91420114e-01 1.66143973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.74463044000004 meters Centerline goodness [0,1] 0.3385728435467895 Centerline is valid? [False, False] Translation: X:20.34, Y:0.91, Z:1.66 [[ 9.91426036e-01 5.81796877e-03 -1.30539520e-01 2.03386247e+01] [-6.55673105e-03 9.99964826e-01 -5.23021490e-03 9.12307825e-01] [ 1.30504500e-01 6.04128375e-03 9.91429311e-01 1.66178042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.77463044 meters Centerline goodness [0,1] 0.33965881187265756 Centerline is valid? [False, False] Translation: X:20.34, Y:0.91, Z:1.66 [[ 9.91470054e-01 5.81476327e-03 -1.30204914e-01 2.03375763e+01] [-6.53483179e-03 9.99965624e-01 -5.10369872e-03 9.10886486e-01] [ 1.30170761e-01 5.91103166e-03 9.91473970e-01 1.66206234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80463044000004 meters Centerline goodness [0,1] 0.3399859121859592 Centerline is valid? [False, False] Translation: X:20.36, Y:0.91, Z:1.67 [[ 9.91670529e-01 -1.01860724e-03 -1.28796443e-01 2.03558729e+01] [ 5.30441930e-04 9.99992546e-01 -3.82445357e-03 9.13938338e-01] [ 1.28799378e-01 3.72427886e-03 9.91663678e-01 1.66582761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.83463044 meters Centerline goodness [0,1] 0.3442272383626741 Centerline is valid? [False, False] Translation: X:20.36, Y:0.91, Z:1.67 [[ 9.91692287e-01 -8.95351365e-04 -1.28629727e-01 2.03551916e+01] [ 4.32665307e-04 9.99993336e-01 -3.62493618e-03 9.13188428e-01] [ 1.28632116e-01 3.53916763e-03 9.91686066e-01 1.66618256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86463044 meters Centerline goodness [0,1] 0.3422016372253339 Centerline is valid? [False, False] Translation: X:20.36, Y:0.91, Z:1.67 [[ 9.91650834e-01 -6.28974508e-04 -1.28950485e-01 2.03563520e+01] [ 1.92197402e-04 9.99994203e-01 -3.39958510e-03 9.13223731e-01] [ 1.28951876e-01 3.34641746e-03 9.91645206e-01 1.66585855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.89463044 meters Centerline goodness [0,1] 0.34123365450791465 Centerline is valid? [False, False] Translation: X:20.36, Y:0.91, Z:1.67 [[ 9.91607404e-01 -6.81436940e-04 -1.29283764e-01 2.03573096e+01] [ 2.21352327e-04 9.99993592e-01 -3.57305475e-03 9.14151699e-01] [ 1.29285370e-01 3.51445028e-03 9.91601201e-01 1.66575123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92463044 meters Centerline goodness [0,1] 0.3426687922788574 Centerline is valid? [False, False] Translation: X:20.36, Y:0.92, Z:1.67 [[ 9.91593033e-01 -8.13524094e-04 -1.29393183e-01 2.03575980e+01] [ 3.14768098e-04 9.99992443e-01 -3.87498075e-03 9.15571168e-01] [ 1.29395357e-01 3.80167507e-03 9.91585795e-01 1.66573888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.95463044 meters Centerline goodness [0,1] 0.34087057258704656 Centerline is valid? [False, False] Translation: X:20.36, Y:0.92, Z:1.67 [[ 9.91580423e-01 -9.36582749e-04 -1.29488948e-01 2.03577295e+01] [ 3.97356758e-04 9.99991143e-01 -4.19003538e-03 9.17178249e-01] [ 1.29491725e-01 4.10330374e-03 9.91572013e-01 1.66585610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98463044 meters Centerline goodness [0,1] 0.34298787067811976 Centerline is valid? [False, False] Translation: X:20.36, Y:0.92, Z:1.67 [[ 9.91600416e-01 -7.84118718e-04 -1.29336770e-01 2.03572061e+01] [ 2.13100590e-04 9.99990170e-01 -4.42875120e-03 9.20521438e-01] [ 1.29338972e-01 4.36398979e-03 9.91590836e-01 1.66597606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.01463044 meters Centerline goodness [0,1] 0.3408821819903989 Centerline is valid? [False, False] Translation: X:20.36, Y:0.92, Z:1.67 [[ 9.91600991e-01 -7.62809178e-04 -1.29332488e-01 2.03572792e+01] [ 1.72656492e-04 9.99989523e-01 -4.57421678e-03 9.22187873e-01] [ 1.29334622e-01 4.51346780e-03 9.91590734e-01 1.66587410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04463044 meters Centerline goodness [0,1] 0.3408821819903989 Centerline is valid? [False, False] Translation: X:20.36, Y:0.92, Z:1.67 [[ 9.91600991e-01 -7.62809178e-04 -1.29332488e-01 2.03572792e+01] [ 1.72656492e-04 9.99989523e-01 -4.57421678e-03 9.22187873e-01] [ 1.29334622e-01 4.51346780e-03 9.91590734e-01 1.66587410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.07463044 meters Centerline goodness [0,1] 0.3414425401715985 Centerline is valid? [False, False] Translation: X:20.36, Y:0.92, Z:1.67 [[ 9.91600204e-01 -8.70586498e-04 -1.29337841e-01 2.03571765e+01] [ 2.45833560e-04 9.99988226e-01 -4.84628193e-03 9.24027556e-01] [ 1.29340537e-01 4.77377857e-03 9.91588744e-01 1.66606359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10463044 meters Centerline goodness [0,1] 0.3384707338940358 Centerline is valid? [False, False] Translation: X:20.36, Y:0.93, Z:1.67 [[ 9.91604527e-01 -1.04680381e-03 -1.29303386e-01 2.03567969e+01] [ 3.78506694e-04 9.99986445e-01 -5.19290867e-03 9.25779775e-01] [ 1.29307069e-01 5.10036955e-03 9.91591482e-01 1.66640054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.13463044 meters Centerline goodness [0,1] 0.3426474678533986 Centerline is valid? [False, False] Translation: X:20.36, Y:0.93, Z:1.67 [[ 9.91617706e-01 -1.23082148e-03 -1.29200661e-01 2.03560876e+01] [ 4.86034108e-04 9.99983085e-01 -5.79595049e-03 9.29856229e-01] [ 1.29205609e-01 5.68457120e-03 9.91601531e-01 1.66685452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16463044 meters Centerline goodness [0,1] 0.34646539027982326 Centerline is valid? [False, False] Translation: X:20.36, Y:0.93, Z:1.67 [[ 9.91595985e-01 -1.37620200e-03 -1.29365797e-01 2.03566450e+01] [ 5.77668144e-04 9.99980551e-01 -6.21000172e-03 9.32573491e-01] [ 1.29371827e-01 6.08308227e-03 9.91577494e-01 1.66665943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.19463044 meters Centerline goodness [0,1] 0.3455293353539727 Centerline is valid? [False, False] Translation: X:20.36, Y:0.94, Z:1.67 [[ 9.91569877e-01 -1.44663461e-03 -1.29564985e-01 2.03575298e+01] [ 5.98658186e-04 9.99978149e-01 -6.58350384e-03 9.35299343e-01] [ 1.29571678e-01 6.45043896e-03 9.91549077e-01 1.66619109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22463044 meters Centerline goodness [0,1] 0.3397279086734475 Centerline is valid? [False, False] Translation: X:20.38, Y:0.94, Z:1.67 [[ 9.91625819e-01 6.40680702e-03 -1.28985221e-01 2.03779293e+01] [-7.53635019e-03 9.99937395e-01 -8.27097484e-03 9.36718990e-01] [ 1.28924155e-01 9.17379000e-03 9.91612023e-01 1.66942280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.25463044 meters Centerline goodness [0,1] 0.3405140076736759 Centerline is valid? [False, False] Translation: X:20.38, Y:0.94, Z:1.67 [[ 9.91630933e-01 6.24872738e-03 -1.28953662e-01 2.03777383e+01] [-7.42627734e-03 9.99934988e-01 -8.65276079e-03 9.39127630e-01] [ 1.28891209e-01 9.53799091e-03 9.91612869e-01 1.66958123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28463044 meters Centerline goodness [0,1] 0.34690448494248416 Centerline is valid? [False, False] Translation: X:20.38, Y:0.94, Z:1.67 [[ 9.91681402e-01 6.16557286e-03 -1.28568979e-01 2.03759136e+01] [-7.39737220e-03 9.99931182e-01 -9.10552361e-03 9.43084473e-01] [ 1.28503991e-01 9.98085102e-03 9.91658765e-01 1.67051144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.31463044000003 meters Centerline goodness [0,1] 0.3441017583883951 Centerline is valid? [False, False] Translation: X:20.38, Y:0.94, Z:1.67 [[ 9.91698105e-01 6.04353704e-03 -1.28445878e-01 2.03754057e+01] [-7.30658582e-03 9.99929459e-01 -9.36438459e-03 9.44866633e-01] [ 1.28380223e-01 1.02251433e-02 9.91672307e-01 1.67078942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34463044 meters Centerline goodness [0,1] 0.34341553215172527 Centerline is valid? [False, False] Translation: X:20.39, Y:0.95, Z:1.68 [[ 9.91564249e-01 -2.94219627e-04 -1.29615794e-01 2.03921443e+01] [-8.14654475e-04 9.99963526e-01 -8.50198203e-03 9.52891268e-01] [ 1.29613567e-01 8.53585351e-03 9.91527842e-01 1.67513161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.37463044000003 meters Centerline goodness [0,1] 0.34180519008193744 Centerline is valid? [False, False] Translation: X:20.39, Y:0.96, Z:1.67 [[ 9.91556440e-01 -5.09173294e-04 -1.29674848e-01 2.03924808e+01] [-6.52589429e-04 9.99960035e-01 -8.91639519e-03 9.55283354e-01] [ 1.29674206e-01 8.92573351e-03 9.91516481e-01 1.67494833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40463044 meters Centerline goodness [0,1] 0.34080554426643284 Centerline is valid? [False, False] Translation: X:20.39, Y:0.96, Z:1.67 [[ 9.91528519e-01 -5.75538815e-04 -1.29887895e-01 2.03938838e+01] [-6.61656831e-04 9.99954828e-01 -9.48174913e-03 9.63303146e-01] [ 1.29887485e-01 9.48736589e-03 9.91483349e-01 1.67411633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.43463044000003 meters Centerline goodness [0,1] 0.34173669467787116 Centerline is valid? [False, False] Translation: X:20.39, Y:0.97, Z:1.67 [[ 9.91544263e-01 -6.71390577e-04 -1.29767188e-01 2.03936407e+01] [-6.07603735e-04 9.99951635e-01 -9.81622644e-03 9.66200027e-01] [ 1.29767502e-01 9.81207004e-03 9.91495899e-01 1.67407901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46463044 meters Centerline goodness [0,1] 0.34335012324509695 Centerline is valid? [False, False] Translation: X:20.39, Y:0.97, Z:1.67 [[ 9.91568496e-01 -8.45678064e-04 -1.29580870e-01 2.03927688e+01] [-4.81297925e-04 9.99947772e-01 -1.02088661e-02 9.68914757e-01] [ 1.29582736e-01 1.01851570e-02 9.91516302e-01 1.67449162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.49463044000004 meters Centerline goodness [0,1] 0.3450140554923714 Centerline is valid? [False, False] Translation: X:20.39, Y:0.97, Z:1.68 [[ 9.91613082e-01 -1.01044477e-03 -1.29238053e-01 2.03914295e+01] [-3.45635674e-04 9.99945128e-01 -1.04700291e-02 9.70413190e-01] [ 1.29241541e-01 1.04268871e-02 9.91558321e-01 1.67507646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52463044 meters Centerline goodness [0,1] 0.3453231256148155 Centerline is valid? [False, False] Translation: X:20.39, Y:0.97, Z:1.68 [[ 9.91631660e-01 -1.20904911e-03 -1.29093725e-01 2.03904160e+01] [-1.70443144e-04 9.99943013e-01 -1.06743920e-02 9.71335936e-01] [ 1.29099274e-01 1.06070682e-02 9.91574943e-01 1.67588473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.55463044000004 meters Centerline goodness [0,1] 0.3456884962550413 Centerline is valid? [False, False] Translation: X:20.39, Y:0.97, Z:1.68 [[ 9.91641740e-01 -1.42324996e-03 -1.29014084e-01 2.03900626e+01] [ 3.32475634e-05 9.99941942e-01 -1.07755496e-02 9.71361124e-01] [ 1.29021930e-01 1.06811954e-02 9.91584214e-01 1.67615302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58463044 meters Centerline goodness [0,1] 0.3475557276874085 Centerline is valid? [False, False] Translation: X:20.39, Y:0.97, Z:1.68 [[ 9.91569821e-01 -2.34923002e-03 -1.29552192e-01 2.03918021e+01] [ 8.95870336e-04 9.99936029e-01 -1.12754692e-02 9.70571740e-01] [ 1.29570393e-01 1.10643530e-02 9.91508494e-01 1.67589875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.61463044 meters Centerline goodness [0,1] 0.34407125228028757 Centerline is valid? [False, False] Translation: X:20.39, Y:0.97, Z:1.68 [[ 9.91511912e-01 -2.68053009e-03 -1.29988242e-01 2.03932274e+01] [ 1.20758732e-03 9.99934188e-01 -1.14088508e-02 9.69730022e-01] [ 1.30010269e-01 1.11550393e-02 9.91449895e-01 1.67562838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64463044 meters Centerline goodness [0,1] 0.3443295899268334 Centerline is valid? [False, False] Translation: X:20.39, Y:0.97, Z:1.68 [[ 9.91491884e-01 -2.85635257e-03 -1.30137177e-01 2.03938107e+01] [ 1.38031340e-03 9.99933712e-01 -1.14309664e-02 9.68917709e-01] [ 1.30161201e-01 1.11540803e-02 9.91430103e-01 1.67548722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.67463044 meters Centerline goodness [0,1] 0.34439878201988805 Centerline is valid? [False, False] Translation: X:20.39, Y:0.97, Z:1.68 [[ 9.91475652e-01 -2.82898775e-03 -1.30261385e-01 2.03940821e+01] [ 1.37358006e-03 9.99935644e-01 -1.12614687e-02 9.67915604e-01] [ 1.30284860e-01 1.09865476e-02 9.91415731e-01 1.67563758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70463044 meters Centerline goodness [0,1] 0.3458578930446897 Centerline is valid? [False, False] Translation: X:20.39, Y:0.97, Z:1.68 [[ 9.91445803e-01 -2.75232282e-03 -1.30490013e-01 2.03949838e+01] [ 1.30647318e-03 9.99936822e-01 -1.11644681e-02 9.67750843e-01] [ 1.30512497e-01 1.08984833e-02 9.91386762e-01 1.67533133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.73463044 meters Centerline goodness [0,1] 0.34594385452044196 Centerline is valid? [False, False] Translation: X:20.40, Y:0.97, Z:1.67 [[ 9.91418744e-01 -2.64734337e-03 -1.30697608e-01 2.03960711e+01] [ 1.22041885e-03 9.99938790e-01 -1.09966450e-02 9.67071915e-01] [ 1.30718720e-01 1.07427742e-02 9.91361291e-01 1.67472304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76463044 meters Centerline goodness [0,1] 0.3429648510291944 Centerline is valid? [False, False] Translation: X:20.40, Y:0.97, Z:1.67 [[ 9.91392156e-01 -2.64240209e-03 -1.30899239e-01 2.03970730e+01] [ 1.22327654e-03 9.99939620e-01 -1.09205813e-02 9.66216972e-01] [ 1.30920191e-01 1.06664527e-02 9.91335529e-01 1.67423340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.79463044 meters Centerline goodness [0,1] 0.34208454779482156 Centerline is valid? [False, False] Translation: X:20.40, Y:0.97, Z:1.67 [[ 9.91392376e-01 -2.70187781e-03 -1.30896356e-01 2.03974488e+01] [ 1.28969140e-03 9.99940065e-01 -1.08721564e-02 9.65109045e-01] [ 1.30917886e-01 1.06097571e-02 9.91336441e-01 1.67390879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.82463044 meters Centerline goodness [0,1] 0.3445260806049669 Centerline is valid? [False, False] Translation: X:20.40, Y:0.96, Z:1.67 [[ 9.91415652e-01 -2.65093290e-03 -1.30720995e-01 2.03970027e+01] [ 1.27802141e-03 9.99943157e-01 -1.05853828e-02 9.62796519e-01] [ 1.30741625e-01 1.03274500e-02 9.91362684e-01 1.67397356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.85463044 meters Centerline goodness [0,1] 0.34483869582026716 Centerline is valid? [False, False] Translation: X:20.40, Y:0.96, Z:1.67 [[ 9.91408929e-01 -2.50323261e-03 -1.30774877e-01 2.03973215e+01] [ 1.15517228e-03 9.99945427e-01 -1.03830944e-02 9.62093888e-01] [ 1.30793732e-01 1.01428250e-02 9.91357717e-01 1.67380933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.88463044 meters Centerline goodness [0,1] 0.3429593607403758 Centerline is valid? [False, False] Translation: X:20.40, Y:0.96, Z:1.67 [[ 9.91371663e-01 -2.39487234e-03 -1.31059107e-01 2.03984263e+01] [ 1.05765139e-03 9.99946684e-01 -1.02718466e-02 9.61783151e-01] [ 1.31076719e-01 1.00446028e-02 9.91321340e-01 1.67346051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.91463044 meters Centerline goodness [0,1] 0.34336146363460673 Centerline is valid? [False, False] Translation: X:20.40, Y:0.96, Z:1.67 [[ 9.91322611e-01 -2.31733716e-03 -1.31431011e-01 2.03996941e+01] [ 9.83277500e-04 9.99947350e-01 -1.02142556e-02 9.61675003e-01] [ 1.31447761e-01 9.99638933e-03 9.91272696e-01 1.67313536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.94463044 meters Centerline goodness [0,1] 0.3423909552257982 Centerline is valid? [False, False] Translation: X:20.40, Y:0.96, Z:1.67 [[ 9.91236162e-01 -2.16275114e-03 -1.32084038e-01 2.04017500e+01] [ 8.16257735e-04 9.99947160e-01 -1.02475113e-02 9.62310644e-01] [ 1.32099222e-01 1.00498892e-02 9.91185550e-01 1.67273270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.97463044 meters Centerline goodness [0,1] 0.34408717706228775 Centerline is valid? [False, False] Translation: X:20.40, Y:0.96, Z:1.67 [[ 9.91251810e-01 -2.08723373e-03 -1.31967774e-01 2.04015924e+01] [ 7.34194110e-04 9.99946678e-01 -1.03006299e-02 9.63161185e-01] [ 1.31982237e-01 1.01136281e-02 9.91200486e-01 1.67259704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.00463044 meters Centerline goodness [0,1] 0.3402412421403824 Centerline is valid? [False, False] Translation: X:20.40, Y:0.96, Z:1.67 [[ 9.91267808e-01 -1.95887593e-03 -1.31849522e-01 2.04012735e+01] [ 6.02855487e-04 9.99946527e-01 -1.03237382e-02 9.64075201e-01] [ 1.31862694e-01 1.01541031e-02 9.91215983e-01 1.67267897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.03463044 meters Centerline goodness [0,1] 0.3421318704958589 Centerline is valid? [False, False] Translation: X:20.40, Y:0.97, Z:1.67 [[ 9.91295005e-01 -1.95668637e-03 -1.31644919e-01 2.04007804e+01] [ 5.84528906e-04 9.99945111e-01 -1.04610068e-02 9.65137403e-01] [ 1.31658162e-01 1.02929935e-02 9.91241738e-01 1.67266435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.06463044000003 meters Centerline goodness [0,1] 0.3404511020022748 Centerline is valid? [False, False] Translation: X:20.40, Y:0.97, Z:1.67 [[ 9.91285229e-01 -1.81660974e-03 -1.31720516e-01 2.04009729e+01] [ 4.32465456e-04 9.99944401e-01 -1.05360362e-02 9.66580706e-01] [ 1.31732332e-01 1.03872524e-02 9.91230900e-01 1.67268256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.09463044 meters Centerline goodness [0,1] 0.34086990257780847 Centerline is valid? [False, False] Translation: X:20.40, Y:0.97, Z:1.67 [[ 9.91260461e-01 -1.73071445e-03 -1.31907931e-01 2.04015427e+01] [ 3.51715382e-04 9.99945055e-01 -1.04768363e-02 9.66736671e-01] [ 1.31918816e-01 1.03388796e-02 9.91206605e-01 1.67257180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.12463044000003 meters Centerline goodness [0,1] 0.33705390553167835 Centerline is valid? [False, False] Translation: X:20.40, Y:0.97, Z:1.67 [[ 9.91243792e-01 -1.69291406e-03 -1.32033631e-01 2.04019419e+01] [ 3.14725275e-04 9.99945261e-01 -1.04583348e-02 9.67005017e-01] [ 1.32044108e-01 1.03252051e-02 9.91190064e-01 1.67258034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.15463044 meters Centerline goodness [0,1] 0.33777882433531703 Centerline is valid? [False, False] Translation: X:20.40, Y:0.97, Z:1.67 [[ 9.91239382e-01 -1.70303060e-03 -1.32066601e-01 2.04018735e+01] [ 3.28279012e-04 9.99945546e-01 -1.04306068e-02 9.66683143e-01] [ 1.32077173e-01 1.02958735e-02 9.91185964e-01 1.67277841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.18463044000003 meters Centerline goodness [0,1] 0.339774798927614 Centerline is valid? [False, False] Translation: X:20.40, Y:0.97, Z:1.67 [[ 9.91226323e-01 -1.89716550e-03 -1.32161936e-01 2.04016736e+01] [ 4.99212095e-04 9.99943589e-01 -1.06099105e-02 9.66723100e-01] [ 1.32174609e-01 1.04508457e-02 9.91171354e-01 1.67332460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.21463044 meters Centerline goodness [0,1] 0.3375174038770483 Centerline is valid? [False, False] Translation: X:20.40, Y:0.97, Z:1.67 [[ 9.91215681e-01 -1.87058953e-03 -1.32242106e-01 2.04016589e+01] [ 4.65906082e-04 9.99943155e-01 -1.06522032e-02 9.67502569e-01] [ 1.32254514e-01 1.04970184e-02 9.91160207e-01 1.67360697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.24463044000004 meters Centerline goodness [0,1] 0.3416752665978672 Centerline is valid? [False, False] Translation: X:20.40, Y:0.97, Z:1.67 [[ 9.91238611e-01 -1.72148610e-03 -1.32072147e-01 2.04010850e+01] [ 3.15648242e-04 9.99943081e-01 -1.06646664e-02 9.68864279e-01] [ 1.32082988e-01 1.05295408e-02 9.91182734e-01 1.67378166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.27463044 meters Centerline goodness [0,1] 0.34038127506272386 Centerline is valid? [False, False] Translation: X:20.40, Y:0.97, Z:1.67 [[ 9.91275438e-01 -1.66150640e-03 -1.31796226e-01 2.04003883e+01] [ 2.35809959e-04 9.99941301e-01 -1.08322999e-02 9.70884899e-01] [ 1.31806488e-01 1.07067140e-02 9.91217643e-01 1.67383838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30463044000004 meters Centerline goodness [0,1] 0.33933720680008606 Centerline is valid? [False, False] Translation: X:20.40, Y:0.97, Z:1.67 [[ 9.91309805e-01 -1.67559127e-03 -1.31537308e-01 2.03995772e+01] [ 2.10486489e-04 9.99937799e-01 -1.11514349e-02 9.73360803e-01] [ 1.31547811e-01 1.10268399e-02 9.91248497e-01 1.67402674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.33463044 meters Centerline goodness [0,1] 0.3373339870813703 Centerline is valid? [False, False] Translation: X:20.42, Y:0.97, Z:1.68 [[ 9.91399015e-01 6.25203373e-03 -1.30724539e-01 2.04196081e+01] [-7.99687849e-03 9.99885755e-01 -1.28268036e-02 9.74951319e-01] [ 1.30629411e-01 1.37618688e-02 9.91335749e-01 1.67752105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36463044 meters Centerline goodness [0,1] 0.3380570695735813 Centerline is valid? [False, False] Translation: X:20.42, Y:0.98, Z:1.68 [[ 9.91292227e-01 8.78931787e-03 -1.31386710e-01 2.04225307e+01] [-1.03765000e-02 9.99881172e-01 -1.14004704e-02 9.82211390e-01] [ 1.31270896e-01 1.26645319e-02 9.91265636e-01 1.67649865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.39463044 meters Centerline goodness [0,1] 0.33560382127404365 Centerline is valid? [False, False] Translation: X:20.42, Y:0.99, Z:1.68 [[ 9.91294712e-01 8.72693877e-03 -1.31372120e-01 2.04227373e+01] [-1.03692556e-02 9.99876348e-01 -1.18223610e-02 9.85442709e-01] [ 1.31252702e-01 1.30816751e-02 9.91262628e-01 1.67623450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42463044 meters Centerline goodness [0,1] 0.33603792116838194 Centerline is valid? [False, False] Translation: X:20.42, Y:0.99, Z:1.68 [[ 9.91351515e-01 8.41067293e-03 -1.30963487e-01 2.04216800e+01] [-1.01481531e-02 9.99869054e-01 -1.26051575e-02 9.91084693e-01] [ 1.30840320e-01 1.38251795e-02 9.91307054e-01 1.67630297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.45463044 meters Centerline goodness [0,1] 0.339563393913324 Centerline is valid? [False, False] Translation: X:20.42, Y:0.99, Z:1.68 [[ 9.91394517e-01 8.22670362e-03 -1.30649271e-01 2.04205430e+01] [-1.00013219e-02 9.99866350e-01 -1.29327288e-02 9.92930950e-01] [ 1.30525417e-01 1.41281019e-02 9.91344296e-01 1.67673600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48463044 meters Centerline goodness [0,1] 0.3376421151425951 Centerline is valid? [False, False] Translation: X:20.44, Y:1.00, Z:1.68 [[ 9.91483816e-01 1.21944481e-03 -1.30224254e-01 2.04382591e+01] [-2.78267786e-03 9.99926235e-01 -1.18228759e-02 1.00053396e+00] [ 1.30200231e-01 1.20845623e-02 9.91414073e-01 1.68100979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.51463044 meters Centerline goodness [0,1] 0.33956386292834895 Centerline is valid? [False, False] Translation: X:20.44, Y:1.00, Z:1.68 [[ 9.91488313e-01 1.07926741e-03 -1.30191244e-01 2.04382071e+01] [-2.67429114e-03 9.99923492e-01 -1.20771838e-02 1.00215796e+00] [ 1.30168249e-01 1.23225559e-02 9.91415343e-01 1.68099236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54463044 meters Centerline goodness [0,1] 0.33716229224154526 Centerline is valid? [False, False] Translation: X:20.44, Y:1.00, Z:1.68 [[ 9.91450953e-01 8.81033567e-04 -1.30476942e-01 2.04389870e+01] [-2.51491147e-03 9.99920473e-01 -1.23581059e-02 1.00364727e+00] [ 1.30455678e-01 1.25805938e-02 9.91374321e-01 1.68099895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.57463044 meters Centerline goodness [0,1] 0.336882015251478 Centerline is valid? [False, False] Translation: X:20.44, Y:1.00, Z:1.68 [[ 9.91426831e-01 6.98831386e-04 -1.30661201e-01 2.04397465e+01] [-2.36070897e-03 9.99918277e-01 -1.25645251e-02 1.00446694e+00] [ 1.30641743e-01 1.27652604e-02 9.91347458e-01 1.68072471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60463044 meters Centerline goodness [0,1] 0.3374755444714381 Centerline is valid? [False, False] Translation: X:20.44, Y:1.01, Z:1.68 [[ 9.91417662e-01 2.49379103e-04 -1.30732389e-01 2.04399435e+01] [-1.95822594e-03 9.99914319e-01 -1.29429445e-02 1.00544875e+00] [ 1.30717960e-01 1.30878673e-02 9.91333205e-01 1.68083041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.63463044 meters Centerline goodness [0,1] 0.33718677344355463 Centerline is valid? [False, False] Translation: X:20.44, Y:1.01, Z:1.68 [[ 9.91399466e-01 6.08268279e-05 -1.30870527e-01 2.04400736e+01] [-1.78798455e-03 9.99912855e-01 -1.30799917e-02 1.00551908e+00] [ 1.30858326e-01 1.32014912e-02 9.91313179e-01 1.68118122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66463044 meters Centerline goodness [0,1] 0.33689060323582987 Centerline is valid? [False, False] Translation: X:20.44, Y:1.01, Z:1.68 [[ 9.91377236e-01 -1.05308874e-04 -1.31038792e-01 2.04406694e+01] [-1.63388607e-03 9.99912006e-01 -1.31647814e-02 1.00535399e+00] [ 1.31028648e-01 1.32653671e-02 9.91289828e-01 1.68103490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.69463044 meters Centerline goodness [0,1] 0.3339151535792588 Centerline is valid? [False, False] Translation: X:20.46, Y:1.01, Z:1.68 [[ 9.91306694e-01 -7.49761595e-03 -1.31357616e-01 2.04601847e+01] [ 5.95854913e-03 9.99908969e-01 -1.21057601e-02 1.00987541e+00] [ 1.31436423e-01 1.12178203e-02 9.91261130e-01 1.68499768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72463044 meters Centerline goodness [0,1] 0.33453561767357975 Centerline is valid? [False, False] Translation: X:20.46, Y:1.01, Z:1.68 [[ 9.91309348e-01 -7.64303836e-03 -1.31329210e-01 2.04603220e+01] [ 6.13831231e-03 9.99910842e-01 -1.18586760e-02 1.00776260e+00] [ 1.31408137e-01 1.09494767e-02 9.91267880e-01 1.68489594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.75463044 meters Centerline goodness [0,1] 0.33412403299568316 Centerline is valid? [False, False] Translation: X:20.46, Y:1.01, Z:1.68 [[ 9.91301925e-01 -7.61736346e-03 -1.31386718e-01 2.04605889e+01] [ 6.14520051e-03 9.99913758e-01 -1.16066330e-02 1.00596420e+00] [ 1.31463799e-01 1.06982799e-02 9.91263243e-01 1.68487358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78463044 meters Centerline goodness [0,1] 0.3353371835884664 Centerline is valid? [False, False] Translation: X:20.46, Y:1.00, Z:1.68 [[ 9.91291969e-01 -7.62194700e-03 -1.31461545e-01 2.04610285e+01] [ 6.17875368e-03 9.99916128e-01 -1.13824831e-02 1.00403394e+00] [ 1.31537276e-01 1.04710956e-02 9.91255921e-01 1.68466921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.81463044000003 meters Centerline goodness [0,1] 0.3351330587507202 Centerline is valid? [False, False] Translation: X:20.48, Y:1.00, Z:1.69 [[ 9.91048311e-01 -1.07276472e-03 -1.33499418e-01 2.04793995e+01] [-5.86926132e-04 9.99923041e-01 -1.23922211e-02 9.97272256e-01] [ 1.33502438e-01 1.23596441e-02 9.90971411e-01 1.68890665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84463044 meters Centerline goodness [0,1] 0.3329921091917253 Centerline is valid? [False, False] Translation: X:20.48, Y:0.99, Z:1.69 [[ 9.91000210e-01 -9.62695685e-04 -1.33856849e-01 2.04807103e+01] [-6.46365681e-04 9.99928067e-01 -1.19767869e-02 9.94115552e-01] [ 1.33858750e-01 1.19555189e-02 9.90928302e-01 1.68856232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.87463044000003 meters Centerline goodness [0,1] 0.3367384244822469 Centerline is valid? [False, False] Translation: X:20.48, Y:0.99, Z:1.69 [[ 9.91000921e-01 -7.87649745e-04 -1.33852731e-01 2.04809747e+01] [-7.83930709e-04 9.99931386e-01 -1.16880077e-02 9.92783973e-01] [ 1.33852753e-01 1.16877577e-02 9.90932307e-01 1.68828877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90463044 meters Centerline goodness [0,1] 0.3367384244822469 Centerline is valid? [False, False] Translation: X:20.48, Y:0.99, Z:1.69 [[ 9.91000921e-01 -7.87649745e-04 -1.33852731e-01 2.04809747e+01] [-7.83930709e-04 9.99931386e-01 -1.16880077e-02 9.92783973e-01] [ 1.33852753e-01 1.16877577e-02 9.90932307e-01 1.68828877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.93463044000003 meters Centerline goodness [0,1] 0.33455151631724045 Centerline is valid? [False, False] Translation: X:20.48, Y:0.99, Z:1.69 [[ 9.90995996e-01 -6.42357415e-04 -1.33889971e-01 2.04812574e+01] [-8.98958931e-04 9.99934031e-01 -1.14510425e-02 9.91713762e-01] [ 1.33888494e-01 1.14682988e-02 9.90930043e-01 1.68811711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96463044 meters Centerline goodness [0,1] 0.33576344086021503 Centerline is valid? [False, False] Translation: X:20.48, Y:0.99, Z:1.69 [[ 9.91004133e-01 -5.36731807e-04 -1.33830190e-01 2.04812004e+01] [-9.83223631e-04 9.99935771e-01 -1.12909951e-02 9.90923326e-01] [ 1.33827654e-01 1.13210078e-02 9.90939955e-01 1.68804175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.99463044000004 meters Centerline goodness [0,1] 0.33326905358788117 Centerline is valid? [False, False] Translation: X:20.48, Y:0.99, Z:1.69 [[ 9.90951777e-01 -3.36638730e-04 -1.34217965e-01 2.04826594e+01] [-1.15371993e-03 9.99938545e-01 -1.10260863e-02 9.89494731e-01] [ 1.34213428e-01 1.10811697e-02 9.90890490e-01 1.68759041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02463044 meters Centerline goodness [0,1] 0.3281396338867604 Centerline is valid? [False, False] Translation: X:20.48, Y:0.99, Z:1.69 [[ 9.90931903e-01 -1.97202846e-04 -1.34364893e-01 2.04834268e+01] [-1.27352900e-03 9.99940220e-01 -1.08597681e-02 9.88788368e-01] [ 1.34359002e-01 1.09324082e-02 9.90872414e-01 1.68720273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.05463044000004 meters Centerline goodness [0,1] 0.33062185593492455 Centerline is valid? [False, False] Translation: X:20.48, Y:0.99, Z:1.69 [[ 9.90923079e-01 -7.94900663e-05 -1.34430073e-01 2.04837423e+01] [-1.37332160e-03 9.99941656e-01 -1.07144292e-02 9.88137625e-01] [ 1.34423082e-01 1.08017909e-02 9.90865156e-01 1.68707902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08463044 meters Centerline goodness [0,1] 0.33390613253141443 Centerline is valid? [False, False] Translation: X:20.48, Y:0.99, Z:1.69 [[ 9.90931183e-01 4.52538198e-05 -1.34370344e-01 2.04835211e+01] [-1.48413829e-03 9.99942630e-01 -1.06082015e-02 9.87763939e-01] [ 1.34362155e-01 1.07114219e-02 9.90874400e-01 1.68719830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.11463044 meters Centerline goodness [0,1] 0.3335562939628015 Centerline is valid? [False, False] Translation: X:20.48, Y:0.99, Z:1.69 [[ 9.90956485e-01 1.35385737e-04 -1.34183556e-01 2.04829087e+01] [-1.56989844e-03 9.99942746e-01 -1.05849263e-02 9.87869377e-01] [ 1.34174440e-01 1.06998559e-02 9.90899961e-01 1.68737800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14463044 meters Centerline goodness [0,1] 0.3287183206758256 Centerline is valid? [False, False] Translation: X:20.50, Y:0.99, Z:1.69 [[ 9.91100639e-01 8.99224919e-03 -1.32810628e-01 2.05028493e+01] [-1.05881131e-02 9.99879927e-01 -1.13147287e-02 9.87238324e-01] [ 1.32692936e-01 1.26202488e-02 9.91076846e-01 1.69086325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.17463044 meters Centerline goodness [0,1] 0.33016855131213996 Centerline is valid? [False, False] Translation: X:20.50, Y:0.99, Z:1.69 [[ 9.91097392e-01 9.14228753e-03 -1.32824612e-01 2.05029814e+01] [-1.07407377e-02 9.99878208e-01 -1.13227740e-02 9.87989951e-01] [ 1.32704919e-01 1.26486061e-02 9.91074880e-01 1.69077230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20463044 meters Centerline goodness [0,1] 0.3324598896024399 Centerline is valid? [False, False] Translation: X:20.50, Y:0.99, Z:1.69 [[ 9.91114039e-01 9.16908490e-03 -1.32698489e-01 2.05026832e+01] [-1.07816587e-02 9.99876448e-01 -1.14387229e-02 9.88688108e-01] [ 1.32577211e-01 1.27677887e-02 9.91090443e-01 1.69072212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.23463044 meters Centerline goodness [0,1] 0.3288475915838941 Centerline is valid? [False, False] Translation: X:20.52, Y:0.99, Z:1.70 [[ 9.91054344e-01 2.93743953e-03 -1.33426601e-01 2.05193043e+01] [-4.34163115e-03 9.99938202e-01 -1.02343491e-02 9.94291722e-01] [ 1.33388292e-01 1.07220852e-02 9.91005853e-01 1.69514023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26463044 meters Centerline goodness [0,1] 0.3310012836970475 Centerline is valid? [False, False] Translation: X:20.52, Y:0.99, Z:1.70 [[ 9.91080822e-01 3.19391691e-03 -1.33223885e-01 2.05183719e+01] [-4.57701729e-03 9.99938752e-01 -1.00768174e-02 9.94503591e-01] [ 1.33183541e-01 1.05967085e-02 9.91034739e-01 1.69559505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.29463044 meters Centerline goodness [0,1] 0.32933239694396566 Centerline is valid? [False, False] Translation: X:20.52, Y:0.99, Z:1.70 [[ 9.91074025e-01 3.26771855e-03 -1.33272648e-01 2.05185360e+01] [-4.64834175e-03 9.99938698e-01 -1.00495680e-02 9.94810691e-01] [ 1.33231639e-01 1.05793626e-02 9.91028459e-01 1.69558122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32463044 meters Centerline goodness [0,1] 0.33632422405797724 Centerline is valid? [False, False] Translation: X:20.52, Y:1.00, Z:1.70 [[ 9.91059999e-01 3.25128237e-03 -1.33377312e-01 2.05188014e+01] [-4.64383733e-03 9.99937897e-01 -1.01309656e-02 9.95335206e-01] [ 1.33336090e-01 1.06597773e-02 9.91013550e-01 1.69563168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.35463044 meters Centerline goodness [0,1] 0.3311006633605976 Centerline is valid? [False, False] Translation: X:20.52, Y:1.00, Z:1.70 [[ 9.90989557e-01 3.22314294e-03 -1.33900374e-01 2.05206199e+01] [-4.68304027e-03 9.99932965e-01 -1.05893441e-02 9.98929054e-01] [ 1.33857267e-01 1.11209902e-02 9.90938220e-01 1.69510999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.38463044 meters Centerline goodness [0,1] 0.33054492279901937 Centerline is valid? [False, False] Translation: X:20.52, Y:1.00, Z:1.69 [[ 9.90962634e-01 3.32340609e-03 -1.34097031e-01 2.05213866e+01] [-4.81735166e-03 9.99929881e-01 -1.08178565e-02 1.00176851e+00] [ 1.34051676e-01 1.13660841e-02 9.90909158e-01 1.69481017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.41463044 meters Centerline goodness [0,1] 0.3333907501507192 Centerline is valid? [False, False] Translation: X:20.52, Y:1.00, Z:1.69 [[ 9.90945919e-01 3.47265155e-03 -1.34216713e-01 2.05217671e+01] [-4.99707450e-03 9.99926762e-01 -1.10227208e-02 1.00492655e+00] [ 1.34168606e-01 1.15936111e-02 9.90890697e-01 1.69475272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.44463044 meters Centerline goodness [0,1] 0.3289164351357128 Centerline is valid? [False, False] Translation: X:20.54, Y:1.01, Z:1.70 [[ 9.90853005e-01 -1.08266530e-03 -1.34941284e-01 2.05410473e+01] [-3.45567473e-05 9.99965747e-01 -8.27670257e-03 1.01237469e+00] [ 1.34945622e-01 8.20565875e-03 9.90819028e-01 1.69846004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.47463044 meters Centerline goodness [0,1] 0.33021333104866346 Centerline is valid? [False, False] Translation: X:20.54, Y:1.02, Z:1.70 [[ 9.90870969e-01 -1.47943891e-03 -1.34805544e-01 2.05401368e+01] [ 2.72200375e-04 9.99959701e-01 -8.97339837e-03 1.01602607e+00] [ 1.34813387e-01 8.85478582e-03 9.90831441e-01 1.69910520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.50463044 meters Centerline goodness [0,1] 0.3323943661971831 Centerline is valid? [False, False] Translation: X:20.54, Y:1.02, Z:1.70 [[ 9.90862446e-01 -1.69686201e-03 -1.34865611e-01 2.05401885e+01] [ 4.53561485e-04 9.99957124e-01 -9.24900131e-03 1.01723619e+00] [ 1.34875522e-01 9.10331822e-03 9.90820732e-01 1.69928778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.53463044 meters Centerline goodness [0,1] 0.3329817915716069 Centerline is valid? [False, False] Translation: X:20.54, Y:1.02, Z:1.70 [[ 9.90828338e-01 -1.96466474e-03 -1.35112344e-01 2.05408939e+01] [ 6.87122098e-04 9.99954625e-01 -9.50139352e-03 1.01786307e+00] [ 1.35124880e-01 9.32141127e-03 9.90784728e-01 1.69925103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.56463044000003 meters Centerline goodness [0,1] 0.33043740703214264 Centerline is valid? [False, False] Translation: X:20.54, Y:1.02, Z:1.70 [[ 9.90787990e-01 -2.21105737e-03 -1.35404098e-01 2.05417267e+01] [ 9.13992701e-04 9.99953110e-01 -9.64062926e-03 1.01789432e+00] [ 1.35419065e-01 9.42806133e-03 9.90743553e-01 1.69927673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.59463044 meters Centerline goodness [0,1] 0.32751987689151063 Centerline is valid? [False, False] Translation: X:20.56, Y:1.02, Z:1.70 [[ 9.90734900e-01 -1.00034632e-02 -1.35441092e-01 2.05614304e+01] [ 8.89587518e-03 9.99921881e-01 -8.78040594e-03 1.02292290e+00] [ 1.35518346e-01 7.49418755e-03 9.90746494e-01 1.70334549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.62463044000003 meters Centerline goodness [0,1] 0.3268430439952438 Centerline is valid? [False, False] Translation: X:20.58, Y:1.02, Z:1.71 [[ 9.90803791e-01 -4.46570011e-03 -1.35232781e-01 2.05803387e+01] [ 2.99131052e-03 9.99933876e-01 -1.11038390e-02 1.02009911e+00] [ 1.35273425e-01 1.05972025e-02 9.90751634e-01 1.70708326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.65463044 meters Centerline goodness [0,1] 0.33317544728400117 Centerline is valid? [False, False] Translation: X:20.58, Y:1.02, Z:1.71 [[ 9.90806533e-01 -8.35945373e-03 -1.35027898e-01 2.05787402e+01] [ 6.50899725e-03 9.99878840e-01 -1.41399216e-02 1.01773797e+00] [ 1.35129741e-01 1.31310305e-02 9.90740899e-01 1.70836263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.68463044000003 meters Centerline goodness [0,1] 0.3313526963833713 Centerline is valid? [False, False] Translation: X:20.58, Y:1.02, Z:1.71 [[ 9.90814073e-01 -8.51265969e-03 -1.34962984e-01 2.05785304e+01] [ 6.67398065e-03 9.99878737e-01 -1.40701799e-02 1.01638190e+00] [ 1.35066393e-01 1.30401919e-02 9.90750737e-01 1.70858516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.71463044 meters Centerline goodness [0,1] 0.33146997484466045 Centerline is valid? [False, False] Translation: X:20.58, Y:1.02, Z:1.71 [[ 9.90790558e-01 -8.51170831e-03 -1.35135566e-01 2.05787953e+01] [ 6.69401803e-03 9.99880989e-01 -1.38995641e-02 1.01511296e+00] [ 1.35237792e-01 1.28669570e-02 9.90729620e-01 1.70886463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.74463044000004 meters Centerline goodness [0,1] 0.3294001756001457 Centerline is valid? [False, False] Translation: X:20.58, Y:1.01, Z:1.71 [[ 9.90761939e-01 -8.43289447e-03 -1.35350160e-01 2.05794474e+01] [ 6.63521135e-03 9.99883760e-01 -1.37273526e-02 1.01433036e+00] [ 1.35450188e-01 1.27024616e-02 9.90702727e-01 1.70884171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.77463044 meters Centerline goodness [0,1] 0.32601225160615566 Centerline is valid? [False, False] Translation: X:20.58, Y:1.01, Z:1.71 [[ 9.90690498e-01 -8.35423879e-03 -1.35876947e-01 2.05810834e+01] [ 6.57992918e-03 9.99887193e-01 -1.35020922e-02 1.01281966e+00] [ 1.35974419e-01 1.24823337e-02 9.90633711e-01 1.70868987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80463044000004 meters Centerline goodness [0,1] 0.32819629789065863 Centerline is valid? [False, False] Translation: X:20.58, Y:1.01, Z:1.71 [[ 9.90663965e-01 -8.30950413e-03 -1.36072997e-01 2.05814488e+01] [ 6.54804760e-03 9.99888944e-01 -1.33874211e-02 1.01200776e+00] [ 1.36169128e-01 1.23714232e-02 9.90608357e-01 1.70889455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.83463044 meters Centerline goodness [0,1] 0.32841983654956997 Centerline is valid? [False, False] Translation: X:20.60, Y:1.01, Z:1.71 [[ 9.90806730e-01 -7.22808060e-04 -1.35283042e-01 2.06001148e+01] [-1.29228687e-03 9.99889535e-01 -1.48069906e-02 1.00866712e+00] [ 1.35278801e-01 1.48456905e-02 9.90696347e-01 1.71290134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86463044 meters Centerline goodness [0,1] 0.33102398009523404 Centerline is valid? [False, False] Translation: X:20.60, Y:1.01, Z:1.71 [[ 9.90905910e-01 -3.72449668e-04 -1.34556078e-01 2.05976725e+01] [-1.61190698e-03 9.99891557e-01 -1.46381900e-02 1.00886350e+00] [ 1.34546938e-01 1.47219608e-02 9.90797853e-01 1.71364564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.89463044 meters Centerline goodness [0,1] 0.3276893698281349 Centerline is valid? [False, False] Translation: X:20.62, Y:1.01, Z:1.72 [[ 9.91057801e-01 7.54508682e-03 -1.33219770e-01 2.06168654e+01] [-9.76543637e-03 9.99823962e-01 -1.60212955e-02 1.00787902e+00] [ 1.33075436e-01 1.71789791e-02 9.90957018e-01 1.71727524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92463044 meters Centerline goodness [0,1] 0.3308071076857204 Centerline is valid? [False, False] Translation: X:20.62, Y:1.01, Z:1.72 [[ 9.91066571e-01 7.71011913e-03 -1.33145056e-01 2.06168241e+01] [-9.94174617e-03 9.99820892e-01 -1.61041962e-02 1.00945061e+00] [ 1.32997043e-01 1.72840248e-02 9.90965715e-01 1.71717663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.95463044 meters Centerline goodness [0,1] 0.33084571795145945 Centerline is valid? [False, False] Translation: X:20.62, Y:1.01, Z:1.72 [[ 9.91054332e-01 7.89976035e-03 -1.33225019e-01 2.06172353e+01] [-1.01590018e-02 9.99815749e-01 -1.62868653e-02 1.01210852e+00] [ 1.33071810e-01 1.74946016e-02 9.90951983e-01 1.71700848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98463044 meters Centerline goodness [0,1] 0.3313477932448473 Centerline is valid? [False, False] Translation: X:20.62, Y:1.01, Z:1.72 [[ 9.91037938e-01 8.09882203e-03 -1.33334968e-01 2.06177887e+01] [-1.03904096e-02 9.99809879e-01 -1.64998568e-02 1.01489128e+00] [ 1.33175989e-01 1.77373890e-02 9.90933671e-01 1.71675552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.01463044 meters Centerline goodness [0,1] 0.3325132720445423 Centerline is valid? [False, False] Translation: X:20.62, Y:1.02, Z:1.72 [[ 9.90989154e-01 8.53908511e-03 -1.33669672e-01 2.06188214e+01] [-1.08850647e-02 9.99799119e-01 -1.68296310e-02 1.02160345e+00] [ 1.33499111e-01 1.81329848e-02 9.90883032e-01 1.71658053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04463044 meters Centerline goodness [0,1] 0.32729093000468623 Centerline is valid? [False, False] Translation: X:20.64, Y:1.03, Z:1.72 [[ 9.90984849e-01 3.75580223e-03 -1.33921329e-01 2.06403038e+01] [-5.71469877e-03 9.99882192e-01 -1.42458273e-02 1.02733226e+00] [ 1.33852047e-01 1.48827191e-02 9.90889567e-01 1.71962974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.07463044 meters Centerline goodness [0,1] 0.33097865762013146 Centerline is valid? [False, False] Translation: X:20.64, Y:1.03, Z:1.72 [[ 9.91000401e-01 3.66798706e-03 -1.33808633e-01 2.06398870e+01] [-5.66094571e-03 9.99878602e-01 -1.45166845e-02 1.02919520e+00] [ 1.33739142e-01 1.51435236e-02 9.90900861e-01 1.71981553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10463044 meters Centerline goodness [0,1] 0.3296172187137518 Centerline is valid? [False, False] Translation: X:20.64, Y:1.03, Z:1.72 [[ 9.91022218e-01 3.60200393e-03 -1.33648751e-01 2.06393638e+01] [-5.60882799e-03 9.99877066e-01 -1.46422022e-02 1.03010777e+00] [ 1.33579580e-01 1.52603605e-02 9.90920591e-01 1.72001976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.13463044 meters Centerline goodness [0,1] 0.3341728012398295 Centerline is valid? [False, False] Translation: X:20.64, Y:1.03, Z:1.72 [[ 9.91116397e-01 3.21437793e-03 -1.32958474e-01 2.06372564e+01] [-5.23924727e-03 9.99875526e-01 -1.48822861e-02 1.03036027e+00] [ 1.32894087e-01 1.54466801e-02 9.91009870e-01 1.72060549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16463044 meters Centerline goodness [0,1] 0.34002427815832825 Centerline is valid? [False, False] Translation: X:20.64, Y:1.03, Z:1.72 [[ 9.91128553e-01 3.12715687e-03 -1.32869910e-01 2.06370331e+01] [-5.15594441e-03 9.99875283e-01 -1.49276601e-02 1.03040152e+00] [ 1.32806658e-01 1.54803000e-02 9.91021065e-01 1.72073074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.19463044 meters Centerline goodness [0,1] 0.3345940602570163 Centerline is valid? [False, False] Translation: X:20.66, Y:1.04, Z:1.72 [[ 9.91153298e-01 -3.97620304e-03 -1.32662468e-01 2.06557299e+01] [ 2.18762373e-03 9.99904779e-01 -1.36252097e-02 1.03625911e+00] [ 1.32704013e-01 1.32144559e-02 9.91067618e-01 1.72470796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22463044 meters Centerline goodness [0,1] 0.33418007940912775 Centerline is valid? [False, False] Translation: X:20.66, Y:1.04, Z:1.72 [[ 9.91145017e-01 -3.97725618e-03 -1.32724291e-01 2.06562148e+01] [ 2.18364280e-03 9.99904359e-01 -1.36566495e-02 1.03688561e+00] [ 1.32765913e-01 1.32458976e-02 9.91058908e-01 1.72449684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.25463044 meters Centerline goodness [0,1] 0.3345604760172085 Centerline is valid? [False, False] Translation: X:20.66, Y:1.04, Z:1.72 [[ 9.91106763e-01 -4.09287248e-03 -1.33006139e-01 2.06573167e+01] [ 2.26313361e-03 9.99900759e-01 -1.39050670e-02 1.03821487e+00] [ 1.33049851e-01 1.34803953e-02 9.91017667e-01 1.72418276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28463044 meters Centerline goodness [0,1] 0.33491420194877985 Centerline is valid? [False, False] Translation: X:20.66, Y:1.04, Z:1.72 [[ 9.91081980e-01 -4.16231648e-03 -1.33188528e-01 2.06579321e+01] [ 2.31052735e-03 9.99898553e-01 -1.40550560e-02 1.03903526e+00] [ 1.33233518e-01 1.36219769e-02 9.90991055e-01 1.72404394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.31463044000003 meters Centerline goodness [0,1] 0.33203292463345624 Centerline is valid? [False, False] Translation: X:20.66, Y:1.04, Z:1.72 [[ 9.91058808e-01 -4.20057054e-03 -1.33359640e-01 2.06587043e+01] [ 2.32833523e-03 9.99896580e-01 -1.41918423e-02 1.03997258e+00] [ 1.33405461e-01 1.37544444e-02 9.90966093e-01 1.72372816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34463044 meters Centerline goodness [0,1] 0.3349456909024163 Centerline is valid? [False, False] Translation: X:20.66, Y:1.04, Z:1.72 [[ 9.91040157e-01 -4.20954879e-03 -1.33497894e-01 2.06593053e+01] [ 2.32220375e-03 9.99895193e-01 -1.42901912e-02 1.04093838e+00] [ 1.33544058e-01 1.38521440e-02 9.90946064e-01 1.72348883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.37463044000003 meters Centerline goodness [0,1] 0.3341422037064874 Centerline is valid? [False, False] Translation: X:20.66, Y:1.04, Z:1.72 [[ 9.91036202e-01 -4.15558574e-03 -1.33528941e-01 2.06595183e+01] [ 2.27113166e-03 9.99895714e-01 -1.42619170e-02 1.04129797e+00] [ 1.33574283e-01 1.38308142e-02 9.90942289e-01 1.72342874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40463044 meters Centerline goodness [0,1] 0.3371444687913566 Centerline is valid? [False, False] Translation: X:20.66, Y:1.04, Z:1.72 [[ 9.91056214e-01 -4.37835888e-03 -1.33373202e-01 2.06592134e+01] [ 2.48775395e-03 9.99894102e-01 -1.43386466e-02 1.04034583e+00] [ 1.33421857e-01 1.38786051e-02 9.90962155e-01 1.72346117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.43463044000003 meters Centerline goodness [0,1] 0.33411562062654754 Centerline is valid? [False, False] Translation: X:20.66, Y:1.04, Z:1.72 [[ 9.91059568e-01 -4.54062756e-03 -1.33342847e-01 2.06591826e+01] [ 2.65124638e-03 9.99893612e-01 -1.43434871e-02 1.03928722e+00] [ 1.33393789e-01 1.38617254e-02 9.90966170e-01 1.72351235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46463044 meters Centerline goodness [0,1] 0.3364033380896787 Centerline is valid? [False, False] Translation: X:20.66, Y:1.04, Z:1.72 [[ 9.91065635e-01 -4.51066713e-03 -1.33298766e-01 2.06592621e+01] [ 2.65375573e-03 9.99897000e-01 -1.41048299e-02 1.03753485e+00] [ 1.33348658e-01 1.36250699e-02 9.90975526e-01 1.72340616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.49463044000004 meters Centerline goodness [0,1] 0.33366232540176366 Centerline is valid? [False, False] Translation: X:20.68, Y:1.04, Z:1.73 [[ 9.91028167e-01 -1.19015475e-02 -1.33122221e-01 2.06789320e+01] [ 1.02838693e-02 9.99864771e-01 -1.28328238e-02 1.04095885e+00] [ 1.33256950e-01 1.13486783e-02 9.91016545e-01 1.72698180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52463044 meters Centerline goodness [0,1] 0.33394829990346453 Centerline is valid? [False, False] Translation: X:20.68, Y:1.04, Z:1.73 [[ 9.90962958e-01 -1.17927904e-02 -1.33616414e-01 2.06808988e+01] [ 1.02330855e-02 9.99871326e-01 -1.23537543e-02 1.03781029e+00] [ 1.33744906e-01 1.08748047e-02 9.90956123e-01 1.72641832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.55463044000004 meters Centerline goodness [0,1] 0.32958529286019667 Centerline is valid? [False, False] Translation: X:20.70, Y:1.03, Z:1.73 [[ 9.90785343e-01 -4.96294403e-03 -1.35350557e-01 2.06999647e+01] [ 3.18561954e-03 9.99905881e-01 -1.33446940e-02 1.03201109e+00] [ 1.35404047e-01 1.27905519e-02 9.90707901e-01 1.73047530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58463044 meters Centerline goodness [0,1] 0.3361230636833047 Centerline is valid? [False, False] Translation: X:20.70, Y:1.03, Z:1.73 [[ 9.90764798e-01 -4.91969544e-03 -1.35502444e-01 2.07004179e+01] [ 3.16237755e-03 9.99908125e-01 -1.31810986e-02 1.03052351e+00] [ 1.35554842e-01 1.26308586e-02 9.90689329e-01 1.73048860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.61463044 meters Centerline goodness [0,1] 0.3324164016160922 Centerline is valid? [False, False] Translation: X:20.70, Y:1.03, Z:1.73 [[ 9.90752916e-01 -4.86701066e-03 -1.35591191e-01 2.07007562e+01] [ 3.12571430e-03 9.99909931e-01 -1.30521882e-02 1.02950470e+00] [ 1.35642504e-01 1.25076742e-02 9.90678893e-01 1.73046953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64463044 meters Centerline goodness [0,1] 0.3329472081000493 Centerline is valid? [False, False] Translation: X:20.70, Y:1.03, Z:1.73 [[ 9.90737721e-01 -4.74211185e-03 -1.35706594e-01 2.07010535e+01] [ 3.01785595e-03 9.99912126e-01 -1.29086683e-02 1.02899535e+00] [ 1.35755883e-01 1.23795617e-02 9.90664972e-01 1.73052528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.67463044 meters Centerline goodness [0,1] 0.33356254163353893 Centerline is valid? [False, False] Translation: X:20.70, Y:1.03, Z:1.73 [[ 9.90726917e-01 -4.56688980e-03 -1.35791457e-01 2.07015077e+01] [ 2.85571152e-03 9.99914080e-01 -1.27936409e-02 1.02926772e+00] [ 1.35838217e-01 1.22872232e-02 9.90654835e-01 1.73032511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70463044 meters Centerline goodness [0,1] 0.33009063832522656 Centerline is valid? [False, False] Translation: X:20.70, Y:1.03, Z:1.73 [[ 9.90688973e-01 -4.26293251e-03 -1.36077865e-01 2.07026203e+01] [ 2.53958433e-03 9.99914396e-01 -1.28355144e-02 1.03119037e+00] [ 1.36120933e-01 1.23704214e-02 9.90614993e-01 1.72996064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.73463044 meters Centerline goodness [0,1] 0.3311808118081181 Centerline is valid? [False, False] Translation: X:20.70, Y:1.03, Z:1.73 [[ 9.90679065e-01 -4.27324048e-03 -1.36149658e-01 2.07029412e+01] [ 2.51978514e-03 9.99911688e-01 -1.30486168e-02 1.03268178e+00] [ 1.36193395e-01 1.25839236e-02 9.90602344e-01 1.72984288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76463044 meters Centerline goodness [0,1] 0.33530049902364933 Centerline is valid? [False, False] Translation: X:20.70, Y:1.03, Z:1.73 [[ 9.90679482e-01 -4.22132730e-03 -1.36148245e-01 2.07029528e+01] [ 2.44669634e-03 9.99909893e-01 -1.31992524e-02 1.03418507e+00] [ 1.36191696e-01 1.27431152e-02 9.90600543e-01 1.72984123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.79463044 meters Centerline goodness [0,1] 0.3333476754942667 Centerline is valid? [False, False] Translation: X:20.72, Y:1.04, Z:1.73 [[ 9.90864631e-01 4.12318029e-03 -1.34797191e-01 2.07233158e+01] [-6.08329877e-03 9.99881625e-01 -1.41325896e-02 1.03552560e+00] [ 1.34722963e-01 1.48234948e-02 9.90772419e-01 1.73357693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.82463044 meters Centerline goodness [0,1] 0.3311005195585899 Centerline is valid? [False, False] Translation: X:20.72, Y:1.04, Z:1.73 [[ 9.90862886e-01 4.10852245e-03 -1.34810462e-01 2.07230907e+01] [-6.07726488e-03 9.99880770e-01 -1.41955128e-02 1.03619586e+00] [ 1.34736066e-01 1.48850856e-02 9.90769714e-01 1.73400509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.85463044 meters Centerline goodness [0,1] 0.3311005195585899 Centerline is valid? [False, False] Translation: X:20.72, Y:1.04, Z:1.73 [[ 9.90862886e-01 4.10852245e-03 -1.34810462e-01 2.07230907e+01] [-6.07726488e-03 9.99880770e-01 -1.41955128e-02 1.03619586e+00] [ 1.34736066e-01 1.48850856e-02 9.90769714e-01 1.73400509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.88463044 meters Centerline goodness [0,1] 0.3302366495741166 Centerline is valid? [False, False] Translation: X:20.72, Y:1.04, Z:1.73 [[ 9.90860403e-01 4.07983453e-03 -1.34829587e-01 2.07228877e+01] [-6.05224745e-03 9.99880541e-01 -1.42222878e-02 1.03640299e+00] [ 1.34755456e-01 1.49083239e-02 9.90766728e-01 1.73437813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.91463044 meters Centerline goodness [0,1] 0.3331543797109541 Centerline is valid? [False, False] Translation: X:20.72, Y:1.04, Z:1.73 [[ 9.90858223e-01 4.04569593e-03 -1.34846631e-01 2.07228977e+01] [-6.01851228e-03 9.99880697e-01 -1.42256362e-02 1.03625229e+00] [ 1.34772991e-01 1.49071647e-02 9.90764360e-01 1.73450512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.94463044 meters Centerline goodness [0,1] 0.3354022542617616 Centerline is valid? [False, False] Translation: X:20.72, Y:1.04, Z:1.73 [[ 9.90845907e-01 4.00976219e-03 -1.34938174e-01 2.07231021e+01] [-5.98292619e-03 9.99880986e-01 -1.42203863e-02 1.03584725e+00] [ 1.34865094e-01 1.48975367e-02 9.90751972e-01 1.73463098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.97463044 meters Centerline goodness [0,1] 0.3345822806491672 Centerline is valid? [False, False] Translation: X:20.74, Y:1.04, Z:1.74 [[ 9.90980172e-01 -3.33431596e-03 -1.33967091e-01 2.07418683e+01] [ 1.61584861e-03 9.99915044e-01 -1.29342119e-02 1.03944584e+00] [ 1.33998837e-01 1.26010770e-02 9.90901370e-01 1.73869562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.00463044 meters Centerline goodness [0,1] 0.3357294418221972 Centerline is valid? [False, False] Translation: X:20.74, Y:1.04, Z:1.74 [[ 9.90998568e-01 -3.28523914e-03 -1.33832153e-01 2.07414258e+01] [ 1.58888584e-03 9.99917069e-01 -1.27800612e-02 1.03854001e+00] [ 1.33863039e-01 1.24523783e-02 9.90921604e-01 1.73890798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.03463044 meters Centerline goodness [0,1] 0.32996632996633 Centerline is valid? [False, False] Translation: X:20.78, Y:1.04, Z:1.75 [[ 9.91214089e-01 -2.77642691e-03 -1.32238123e-01 2.07832691e+01] [ 1.12151360e-03 9.99920146e-01 -1.25874830e-02 1.04026265e+00] [ 1.32262512e-01 1.23285836e-02 9.91138050e-01 1.74528107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.06463044000003 meters Centerline goodness [0,1] 0.3307811092523485 Centerline is valid? [False, False] Translation: X:20.78, Y:1.04, Z:1.75 [[ 9.91211997e-01 -2.70757473e-03 -1.32255231e-01 2.07835133e+01] [ 1.07588605e-03 9.99922447e-01 -1.24073247e-02 1.03913258e+00] [ 1.32278568e-01 1.21559975e-02 9.91138039e-01 1.74513377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.09463044 meters Centerline goodness [0,1] 0.33186883840548653 Centerline is valid? [False, False] Translation: X:20.78, Y:1.04, Z:1.75 [[ 9.91191613e-01 -2.73429658e-03 -1.32407364e-01 2.07839734e+01] [ 1.11524696e-03 9.99923725e-01 -1.23004080e-02 1.03778740e+00] [ 1.32430898e-01 1.20443943e-02 9.91119059e-01 1.74520200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.12463044000003 meters Centerline goodness [0,1] 0.3342059524064974 Centerline is valid? [False, False] Translation: X:20.78, Y:1.04, Z:1.75 [[ 9.91167565e-01 -2.86018488e-03 -1.32584603e-01 2.07843685e+01] [ 1.25842828e-03 9.99925233e-01 -1.21632355e-02 1.03510737e+00] [ 1.32609479e-01 1.18889563e-02 9.91097058e-01 1.74535055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.15463044 meters Centerline goodness [0,1] 0.33246680702960507 Centerline is valid? [False, False] Translation: X:20.78, Y:1.03, Z:1.75 [[ 9.91152372e-01 -2.64958385e-03 -1.32702504e-01 2.07849116e+01] [ 1.09391503e-03 9.99929844e-01 -1.17945136e-02 1.03365639e+00] [ 1.32724445e-01 1.15449949e-02 9.91085735e-01 1.74517368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.18463044000003 meters Centerline goodness [0,1] 0.33170877687999656 Centerline is valid? [False, False] Translation: X:20.79, Y:1.03, Z:1.74 [[ 9.91135937e-01 -2.39550815e-03 -1.32830028e-01 2.07857037e+01] [ 8.96145481e-04 9.99935225e-01 -1.13464629e-02 1.03184148e+00] [ 1.32848604e-01 1.11268521e-02 9.91073883e-01 1.74476706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.21463044 meters Centerline goodness [0,1] 0.33148175949557124 Centerline is valid? [False, False] Translation: X:20.79, Y:1.03, Z:1.74 [[ 9.91122726e-01 -2.50677054e-03 -1.32926512e-01 2.07861904e+01] [ 1.05238745e-03 9.99938830e-01 -1.10103851e-02 1.02793112e+00] [ 1.32945981e-01 1.07727527e-02 9.91064738e-01 1.74471369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.24463044000004 meters Centerline goodness [0,1] 0.3340366439167223 Centerline is valid? [False, False] Translation: X:20.79, Y:1.03, Z:1.74 [[ 9.91121531e-01 -2.58815056e-03 -1.32933865e-01 2.07860410e+01] [ 1.15023975e-03 9.99940015e-01 -1.08923932e-02 1.02609328e+00] [ 1.32954082e-01 1.06427796e-02 9.91065055e-01 1.74496344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.27463044 meters Centerline goodness [0,1] 0.3343175499471971 Centerline is valid? [False, False] Translation: X:20.79, Y:1.02, Z:1.74 [[ 9.91115560e-01 -2.57898197e-03 -1.32978553e-01 2.07862389e+01] [ 1.15781302e-03 9.99941402e-01 -1.07634225e-02 1.02485566e+00] [ 1.32998519e-01 1.05138312e-02 9.91060469e-01 1.74494373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30463044000004 meters Centerline goodness [0,1] 0.3329810181190682 Centerline is valid? [False, False] Translation: X:20.79, Y:1.02, Z:1.74 [[ 9.91092554e-01 -2.41612215e-03 -1.33152966e-01 2.07869234e+01] [ 1.02175352e-03 9.99943938e-01 -1.05392650e-02 1.02399285e+00] [ 1.33170965e-01 1.03093375e-02 9.91039460e-01 1.74476186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.33463044 meters Centerline goodness [0,1] 0.3308853441815651 Centerline is valid? [False, False] Translation: X:20.79, Y:1.02, Z:1.74 [[ 9.91029939e-01 -2.07130004e-03 -1.33623984e-01 2.07888103e+01] [ 7.11243121e-04 9.99947469e-01 -1.02251704e-02 1.02333388e+00] [ 1.33638144e-01 1.00384109e-02 9.90979352e-01 1.74415683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.36463044 meters Centerline goodness [0,1] 0.3366306630013637 Centerline is valid? [False, False] Translation: X:20.79, Y:1.02, Z:1.74 [[ 9.91032531e-01 -2.04776234e-03 -1.33605124e-01 2.07888666e+01] [ 6.86586049e-04 9.99947402e-01 -1.02333315e-02 1.02334761e+00] [ 1.33619052e-01 1.00498331e-02 9.90981811e-01 1.74410026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.39463044 meters Centerline goodness [0,1] 0.33372030527786734 Centerline is valid? [False, False] Translation: X:20.81, Y:1.02, Z:1.75 [[ 9.91122612e-01 5.49853503e-03 -1.32837247e-01 2.08075448e+01] [-7.12811497e-03 9.99905029e-01 -1.17950584e-02 1.02047536e+00] [ 1.32759776e-01 1.26372283e-02 9.91067678e-01 1.74807387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42463044 meters Centerline goodness [0,1] 0.33426627626593175 Centerline is valid? [False, False] Translation: X:20.81, Y:1.02, Z:1.75 [[ 9.91117108e-01 5.50029627e-03 -1.32878233e-01 2.08074880e+01] [-7.12859467e-03 9.99905186e-01 -1.17814433e-02 1.01999953e+00] [ 1.32800833e-01 1.26240251e-02 9.91062346e-01 1.74828628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.45463044 meters Centerline goodness [0,1] 0.3347554406377936 Centerline is valid? [False, False] Translation: X:20.81, Y:1.02, Z:1.75 [[ 9.91099064e-01 5.57480448e-03 -1.33009653e-01 2.08073213e+01] [-7.16416167e-03 9.99908511e-01 -1.14735994e-02 1.01739018e+00] [ 1.32933521e-01 1.23243763e-02 9.91048328e-01 1.74891697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48463044 meters Centerline goodness [0,1] 0.3354211802054956 Centerline is valid? [False, False] Translation: X:20.83, Y:1.02, Z:1.75 [[ 9.91177279e-01 -1.59484641e-03 -1.32533231e-01 2.08255962e+01] [ 2.76454861e-04 9.99950306e-01 -9.96543559e-03 1.01957548e+00] [ 1.32542538e-01 9.84087388e-03 9.91128464e-01 1.75320999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.51463044 meters Centerline goodness [0,1] 0.34187941805918853 Centerline is valid? [False, False] Translation: X:20.82, Y:1.02, Z:1.75 [[ 9.91197392e-01 -1.55178724e-03 -1.32383241e-01 2.08248092e+01] [ 2.87651069e-04 9.99954188e-01 -9.56765486e-03 1.01644941e+00] [ 1.32392023e-01 9.44535437e-03 9.91152429e-01 1.75377864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54463044 meters Centerline goodness [0,1] 0.3408815116581434 Centerline is valid? [False, False] Translation: X:20.82, Y:1.01, Z:1.75 [[ 9.91224351e-01 -1.55879065e-03 -1.32181150e-01 2.08242540e+01] [ 3.51574329e-04 9.99958022e-01 -9.15589085e-03 1.01295966e+00] [ 1.32189874e-01 9.02907047e-03 9.91183289e-01 1.75397917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.57463044 meters Centerline goodness [0,1] 0.339745378818781 Centerline is valid? [False, False] Translation: X:20.84, Y:1.01, Z:1.76 [[ 9.91307542e-01 -9.13002882e-03 -1.31247859e-01 2.08445291e+01] [ 8.14641131e-03 9.99934581e-01 -8.02933154e-03 1.01309006e+00] [ 1.31312581e-01 6.89033787e-03 9.91317068e-01 1.75743513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60463044 meters Centerline goodness [0,1] 0.34267185473411155 Centerline is valid? [False, False] Translation: X:20.84, Y:1.01, Z:1.76 [[ 9.91333791e-01 -9.19933853e-03 -1.31044597e-01 2.08442422e+01] [ 8.27649808e-03 9.99936981e-01 -7.58510156e-03 1.00640754e+00] [ 1.31106116e-01 6.43477714e-03 9.91347457e-01 1.75741967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.63463044 meters Centerline goodness [0,1] 0.34128775663764377 Centerline is valid? [False, False] Translation: X:20.86, Y:1.00, Z:1.76 [[ 9.91269190e-01 -1.54951759e-03 -1.31844572e-01 2.08642012e+01] [ 4.15852837e-04 9.99962712e-01 -8.62559371e-03 1.00093534e+00] [ 1.31853021e-01 8.49545736e-03 9.91232873e-01 1.76130434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66463044 meters Centerline goodness [0,1] 0.3403559362155415 Centerline is valid? [False, False] Translation: X:20.87, Y:1.00, Z:1.76 [[ 9.91229254e-01 -1.37304565e-03 -1.32146434e-01 2.08653761e+01] [ 2.83365529e-04 9.99965809e-01 -8.26445684e-03 9.99001880e-01] [ 1.32153263e-01 8.15452565e-03 9.91195752e-01 1.76089729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.69463044 meters Centerline goodness [0,1] 0.3406250672173109 Centerline is valid? [False, False] Translation: X:20.87, Y:1.00, Z:1.76 [[ 9.91192205e-01 -1.15204148e-03 -1.32426154e-01 2.08662338e+01] [ 1.15772542e-04 9.99969317e-01 -7.83269210e-03 9.96781441e-01] [ 1.32431114e-01 7.74837204e-03 9.91161926e-01 1.76079603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72463044 meters Centerline goodness [0,1] 0.3426101987899741 Centerline is valid? [False, False] Translation: X:20.86, Y:0.99, Z:1.76 [[ 9.91242569e-01 -1.33468381e-03 -1.32046916e-01 2.08648409e+01] [ 3.52843871e-04 9.99972122e-01 -7.45865764e-03 9.90450848e-01] [ 1.32053190e-01 7.34674701e-03 9.91215406e-01 1.76140686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.75463044 meters Centerline goodness [0,1] 0.3412024056674443 Centerline is valid? [False, False] Translation: X:20.88, Y:0.99, Z:1.76 [[ 9.91380332e-01 -8.88518272e-03 -1.30713774e-01 2.08844339e+01] [ 8.11897241e-03 9.99946601e-01 -6.39350144e-03 9.91189747e-01] [ 1.30763601e-01 5.27713006e-03 9.91399532e-01 1.76490247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78463044 meters Centerline goodness [0,1] 0.3430642801824284 Centerline is valid? [False, False] Translation: X:20.88, Y:0.99, Z:1.77 [[ 9.91397958e-01 -8.88970831e-03 -1.30579717e-01 2.08840464e+01] [ 8.17178426e-03 9.99948412e-01 -6.03278597e-03 9.88083431e-01] [ 1.30626610e-01 4.91382241e-03 9.91419459e-01 1.76507120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.81463044000003 meters Centerline goodness [0,1] 0.34508799862300443 Centerline is valid? [False, False] Translation: X:20.89, Y:0.98, Z:1.77 [[ 9.91355081e-01 -8.97764466e-03 -1.30898834e-01 2.08851064e+01] [ 8.32801386e-03 9.99950144e-01 -5.50943197e-03 9.81285542e-01] [ 1.30941770e-01 4.37167607e-03 9.91380422e-01 1.76501356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84463044 meters Centerline goodness [0,1] 0.3461613216715258 Centerline is valid? [False, False] Translation: X:20.89, Y:0.98, Z:1.77 [[ 9.91347002e-01 -8.82304802e-03 -1.30970516e-01 2.08852636e+01] [ 8.23220413e-03 9.99953353e-01 -5.05201931e-03 9.78510189e-01] [ 1.31008981e-01 3.93012817e-03 9.91373391e-01 1.76513467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.87463044000003 meters Centerline goodness [0,1] 0.3439823444965825 Centerline is valid? [False, False] Translation: X:20.90, Y:0.97, Z:1.77 [[ 9.91426161e-01 -1.72801400e-03 -1.30656729e-01 2.09037285e+01] [ 8.64641133e-04 9.99977419e-01 -6.66438806e-03 9.72495870e-01] [ 1.30665295e-01 6.49427749e-03 9.91405268e-01 1.76926372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90463044 meters Centerline goodness [0,1] 0.346906796033143 Centerline is valid? [False, False] Translation: X:20.90, Y:0.97, Z:1.77 [[ 9.91445877e-01 -1.57840601e-03 -1.30508935e-01 2.09032965e+01] [ 7.66500073e-04 9.99980043e-01 -6.27107391e-03 9.70070732e-01] [ 1.30516228e-01 6.11739527e-03 9.91427300e-01 1.76940082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.93463044000003 meters Centerline goodness [0,1] 0.350959875475614 Centerline is valid? [False, False] Translation: X:20.90, Y:0.97, Z:1.77 [[ 9.91462209e-01 -1.34644672e-03 -1.30387401e-01 2.09031034e+01] [ 5.89667171e-04 9.99982758e-01 -5.84251837e-03 9.67972874e-01] [ 1.30393020e-01 5.71575100e-03 9.91445909e-01 1.76934958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96463044 meters Centerline goodness [0,1] 0.34761966142476586 Centerline is valid? [False, False] Translation: X:20.90, Y:0.97, Z:1.77 [[ 9.91457351e-01 -1.19464579e-03 -1.30425821e-01 2.09035527e+01] [ 4.71054141e-04 9.99984328e-01 -5.57862682e-03 9.66545884e-01] [ 1.30430441e-01 5.46953295e-03 9.91442376e-01 1.76907926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.99463044000004 meters Centerline goodness [0,1] 0.34802291402947927 Centerline is valid? [False, False] Translation: X:20.91, Y:0.96, Z:1.77 [[ 9.91396207e-01 -1.04169389e-03 -1.30891082e-01 2.09050154e+01] [ 3.48481735e-04 9.99985794e-01 -5.31889275e-03 9.64659861e-01] [ 1.30894763e-01 5.22751694e-03 9.91382486e-01 1.76887165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02463044 meters Centerline goodness [0,1] 0.3470571803081419 Centerline is valid? [False, False] Translation: X:20.91, Y:0.96, Z:1.77 [[ 9.91350132e-01 -1.00386497e-03 -1.31239887e-01 2.09059128e+01] [ 3.17689309e-04 9.99986172e-01 -5.24924064e-03 9.64058822e-01] [ 1.31243342e-01 5.16214189e-03 9.91336743e-01 1.76889187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.05463044000004 meters Centerline goodness [0,1] 0.3467042544492027 Centerline is valid? [False, False] Translation: X:20.91, Y:0.96, Z:1.77 [[ 9.91312685e-01 -9.32839448e-04 -1.31522966e-01 2.09068615e+01] [ 2.52433033e-04 9.99986501e-01 -5.18986767e-03 9.63908871e-01] [ 1.31526032e-01 5.11158091e-03 9.91299538e-01 1.76862617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08463044 meters Centerline goodness [0,1] 0.3431425080909617 Centerline is valid? [False, False] Translation: X:20.91, Y:0.96, Z:1.77 [[ 9.91285143e-01 -8.12256385e-04 -1.31731189e-01 2.09075775e+01] [ 1.46731879e-04 9.99987178e-01 -5.06176894e-03 9.63519831e-01] [ 1.31733611e-01 4.99832718e-03 9.91272552e-01 1.76852319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.11463044 meters Centerline goodness [0,1] 0.3478466635115949 Centerline is valid? [False, False] Translation: X:20.91, Y:0.96, Z:1.77 [[ 9.91340662e-01 -5.45996345e-04 -1.31314105e-01 2.09064717e+01] [-7.68800555e-05 9.99988771e-01 -4.73829173e-03 9.62484225e-01] [ 1.31315218e-01 4.70735669e-03 9.91329488e-01 1.76864664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14463044 meters Centerline goodness [0,1] 0.3466944635488308 Centerline is valid? [False, False] Translation: X:20.91, Y:0.96, Z:1.77 [[ 9.91370793e-01 -5.18519941e-04 -1.31086544e-01 2.09056833e+01] [-9.45582417e-05 9.99989088e-01 -4.67062862e-03 9.61892025e-01] [ 1.31087535e-01 4.64272011e-03 9.91359926e-01 1.76897532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.17463044 meters Centerline goodness [0,1] 0.3475331542364931 Centerline is valid? [False, False] Translation: X:20.91, Y:0.96, Z:1.77 [[ 9.91375877e-01 -4.72331588e-04 -1.31048265e-01 2.09053472e+01] [-1.25873682e-04 9.99989611e-01 -4.55644959e-03 9.61088903e-01] [ 1.31049056e-01 4.53364973e-03 9.91365518e-01 1.76931208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20463044 meters Centerline goodness [0,1] 0.34803301532854536 Centerline is valid? [False, False] Translation: X:20.90, Y:0.96, Z:1.77 [[ 9.91394511e-01 -3.32105321e-04 -1.30907653e-01 2.09049777e+01] [-2.34619289e-04 9.99990668e-01 -4.31374702e-03 9.59941790e-01] [ 1.30907864e-01 4.30733857e-03 9.91385181e-01 1.76935528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.23463044 meters Centerline goodness [0,1] 0.34968704966339015 Centerline is valid? [False, False] Translation: X:20.91, Y:0.96, Z:1.77 [[ 9.91391047e-01 -2.21090911e-04 -1.30934118e-01 2.09055617e+01] [-2.89711237e-04 9.99992422e-01 -3.88215365e-03 9.56843319e-01] [ 1.30933984e-01 3.88666546e-03 9.91383471e-01 1.76887179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26463044 meters Centerline goodness [0,1] 0.3488602150537634 Centerline is valid? [False, False] Translation: X:20.91, Y:0.95, Z:1.77 [[ 9.91357314e-01 -1.82364574e-04 -1.31189338e-01 2.09064362e+01] [-2.95334737e-04 9.99993398e-01 -3.62183107e-03 9.54586214e-01] [ 1.31189132e-01 3.62927349e-03 9.91350715e-01 1.76868036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.29463044 meters Centerline goodness [0,1] 0.34647165581296036 Centerline is valid? [False, False] Translation: X:20.91, Y:0.95, Z:1.77 [[ 9.91325058e-01 -6.86421126e-05 -1.31432968e-01 2.09071597e+01] [-3.68166022e-04 9.99994490e-01 -3.29912612e-03 9.52406583e-01] [ 1.31432470e-01 3.31889555e-03 9.91319570e-01 1.76864587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.32463044 meters Centerline goodness [0,1] 0.34725483016348246 Centerline is valid? [False, False] Translation: X:20.91, Y:0.95, Z:1.77 [[ 9.91309815e-01 1.09030364e-04 -1.31547859e-01 2.09074729e+01] [-5.01749298e-04 9.99995516e-01 -2.95222690e-03 9.50552832e-01] [ 1.31546947e-01 2.99257554e-03 9.91305425e-01 1.76866288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.35463044 meters Centerline goodness [0,1] 0.3450915640948664 Centerline is valid? [False, False] Translation: X:20.91, Y:0.95, Z:1.77 [[ 9.91288006e-01 2.58022843e-04 -1.31711890e-01 2.09079308e+01] [-6.19033182e-04 9.99996163e-01 -2.69997125e-03 9.49236347e-01] [ 1.31710688e-01 2.75798315e-03 9.91284363e-01 1.76876717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.38463044 meters Centerline goodness [0,1] 0.34513596200338037 Centerline is valid? [False, False] Translation: X:20.91, Y:0.95, Z:1.77 [[ 9.91249533e-01 5.34871839e-04 -1.32000294e-01 2.09088264e+01] [-8.67610962e-04 9.99996590e-01 -2.46324410e-03 9.47861488e-01] [ 1.31998526e-01 2.55621447e-03 9.91246617e-01 1.76869905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.41463044 meters Centerline goodness [0,1] 0.34638237628434754 Centerline is valid? [False, False] Translation: X:20.91, Y:0.95, Z:1.77 [[ 9.91228051e-01 6.55916065e-04 -1.32160964e-01 2.09093094e+01] [-9.81787344e-04 9.99996637e-01 -2.40056737e-03 9.47657584e-01] [ 1.32158944e-01 2.50926367e-03 9.91225361e-01 1.76861621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.44463044 meters Centerline goodness [0,1] 0.3446665102489175 Centerline is valid? [False, False] Translation: X:20.91, Y:0.95, Z:1.77 [[ 9.91220236e-01 9.29538024e-04 -1.32217926e-01 2.09094759e+01] [-1.23128064e-03 9.99996821e-01 -2.20042190e-03 9.47609267e-01] [ 1.32215460e-01 2.34390008e-03 9.91218229e-01 1.76863655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.47463044 meters Centerline goodness [0,1] 0.34590817507609206 Centerline is valid? [False, False] Translation: X:20.91, Y:0.95, Z:1.77 [[ 9.91236705e-01 1.41180212e-03 -1.32090123e-01 2.09093683e+01] [-1.65733953e-03 9.99997097e-01 -1.74894037e-03 9.46641979e-01] [ 1.32087270e-01 1.95253208e-03 9.91236168e-01 1.76845975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.50463044 meters Centerline goodness [0,1] 0.3461497199991418 Centerline is valid? [False, False] Translation: X:20.91, Y:0.95, Z:1.77 [[ 9.91219687e-01 1.48273915e-03 -1.32216995e-01 2.09097984e+01] [-1.71213383e-03 9.99997220e-01 -1.62131747e-03 9.45764381e-01] [ 1.32214223e-01 1.83345499e-03 9.91219470e-01 1.76834778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.53463044 meters Centerline goodness [0,1] 0.34456449928606436 Centerline is valid? [False, False] Translation: X:20.91, Y:0.94, Z:1.77 [[ 9.91197493e-01 1.51946152e-03 -1.32382856e-01 2.09105440e+01] [-1.73180719e-03 9.99997392e-01 -1.48890422e-03 9.44608900e-01] [ 1.32380249e-01 1.70505971e-03 9.91197540e-01 1.76806940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.56463044000003 meters Centerline goodness [0,1] 0.34573783157352567 Centerline is valid? [False, False] Translation: X:20.91, Y:0.94, Z:1.77 [[ 9.91192941e-01 1.59458528e-03 -1.32416050e-01 2.09109012e+01] [-1.77958034e-03 9.99997599e-01 -1.27874241e-03 9.43088201e-01] [ 1.32413693e-01 1.50312545e-03 9.91193399e-01 1.76779553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.59463044 meters Centerline goodness [0,1] 0.34948985048448167 Centerline is valid? [False, False] Translation: X:20.91, Y:0.94, Z:1.77 [[ 9.91191966e-01 1.64324287e-03 -1.32422758e-01 2.09110237e+01] [-1.79515031e-03 9.99997861e-01 -1.02776302e-03 9.40623750e-01] [ 1.32420786e-01 1.25642920e-03 9.91192795e-01 1.76781241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.62463044000003 meters Centerline goodness [0,1] 0.35021359723504286 Centerline is valid? [False, False] Translation: X:20.91, Y:0.94, Z:1.77 [[ 9.91224823e-01 1.70878723e-03 -1.32175755e-01 2.09104852e+01] [-1.84635544e-03 9.99997874e-01 -9.18245151e-04 9.40118293e-01] [ 1.32173905e-01 1.15423081e-03 9.91225871e-01 1.76772360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.65463044 meters Centerline goodness [0,1] 0.3480426741923759 Centerline is valid? [False, False] Translation: X:20.91, Y:0.94, Z:1.77 [[ 9.91239148e-01 1.82280009e-03 -1.32066761e-01 2.09104938e+01] [-1.94694367e-03 9.99997776e-01 -8.10883465e-04 9.40141216e-01] [ 1.32064989e-01 1.06090598e-03 9.91240492e-01 1.76748472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.68463044000003 meters Centerline goodness [0,1] 0.3535237765715892 Centerline is valid? [False, False] Translation: X:20.91, Y:0.94, Z:1.77 [[ 9.91252842e-01 1.92844367e-03 -1.31962438e-01 2.09106250e+01] [-2.04259774e-03 9.99997648e-01 -7.29690050e-04 9.40402453e-01] [ 1.31960721e-01 9.92853514e-04 9.91254449e-01 1.76704406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.71463044 meters Centerline goodness [0,1] 0.3535237765715892 Centerline is valid? [False, False] Translation: X:20.91, Y:0.94, Z:1.77 [[ 9.91252842e-01 1.92844367e-03 -1.31962438e-01 2.09106250e+01] [-2.04259774e-03 9.99997648e-01 -7.29690050e-04 9.40402453e-01] [ 1.31960721e-01 9.92853514e-04 9.91254449e-01 1.76704406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.74463044000004 meters Centerline goodness [0,1] 0.3490866360431578 Centerline is valid? [False, False] Translation: X:20.93, Y:0.94, Z:1.77 [[ 9.91197795e-01 1.04173043e-02 -1.31978827e-01 2.09317552e+01] [-1.07104395e-02 9.99941499e-01 -1.51137190e-03 9.37718591e-01] [ 1.31955362e-01 2.91161974e-03 9.91251383e-01 1.76952623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.77463044 meters Centerline goodness [0,1] 0.35332930826289455 Centerline is valid? [False, False] Translation: X:20.93, Y:0.94, Z:1.77 [[ 9.91195278e-01 1.04276676e-02 -1.31996915e-01 2.09321572e+01] [-1.07103374e-02 9.99941618e-01 -1.43167802e-03 9.36957195e-01] [ 1.31974280e-01 2.83280398e-03 9.91249093e-01 1.76915794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80463044000004 meters Centerline goodness [0,1] 0.3535548686244204 Centerline is valid? [False, False] Translation: X:20.93, Y:0.94, Z:1.77 [[ 9.91171225e-01 1.04032131e-02 -1.32179329e-01 2.09326961e+01] [-1.06758385e-02 9.99942095e-01 -1.35401828e-03 9.36010656e-01] [ 1.32157589e-01 2.75318912e-03 9.91224895e-01 1.76911513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.83463044 meters Centerline goodness [0,1] 0.3505592889194238 Centerline is valid? [False, False] Translation: X:20.93, Y:0.94, Z:1.77 [[ 9.91215031e-01 7.50666666e-03 -1.32047007e-01 2.09326159e+01] [-8.09979363e-03 9.99959374e-01 -3.95522407e-03 9.35823425e-01] [ 1.32011952e-01 4.99003105e-03 9.91235564e-01 1.76883859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86463044 meters Centerline goodness [0,1] 0.35231316725978645 Centerline is valid? [False, False] Translation: X:20.93, Y:0.93, Z:1.77 [[ 9.91149558e-01 7.39616991e-03 -1.32543765e-01 2.09343574e+01] [-7.96573572e-03 9.99961176e-01 -3.76745507e-03 9.32946225e-01] [ 1.32510755e-01 4.78992003e-03 9.91169994e-01 1.76838177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.89463044 meters Centerline goodness [0,1] 0.3515083702715497 Centerline is valid? [False, False] Translation: X:20.93, Y:0.93, Z:1.77 [[ 9.91158857e-01 7.44399287e-03 -1.32471536e-01 2.09344247e+01] [-7.99291473e-03 9.99961531e-01 -3.61241154e-03 9.31794027e-01] [ 1.32439550e-01 4.63930739e-03 9.91180227e-01 1.76811388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.92463044 meters Centerline goodness [0,1] 0.35472274840709483 Centerline is valid? [False, False] Translation: X:20.93, Y:0.93, Z:1.77 [[ 9.91164414e-01 7.53058911e-03 -1.32425055e-01 2.09345168e+01] [-8.05511844e-03 9.99961689e-01 -3.42568208e-03 9.30852428e-01] [ 1.32394184e-01 4.46211367e-03 9.91187101e-01 1.76794233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.95463044 meters Centerline goodness [0,1] 0.3499935812401044 Centerline is valid? [False, False] Translation: X:20.93, Y:0.93, Z:1.77 [[ 9.91161223e-01 7.56612220e-03 -1.32446906e-01 2.09347753e+01] [-8.08129792e-03 9.99961726e-01 -3.35256240e-03 9.30332081e-01] [ 1.32416471e-01 4.39327276e-03 9.91184432e-01 1.76778138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98463044 meters Centerline goodness [0,1] 0.35554642918900226 Centerline is valid? [False, False] Translation: X:20.94, Y:0.93, Z:1.77 [[ 9.91138978e-01 7.53368973e-03 -1.32615115e-01 2.09353275e+01] [-8.05672460e-03 9.99961737e-01 -3.40784924e-03 9.30434010e-01] [ 1.32584368e-01 4.44609568e-03 9.91161752e-01 1.76765533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.01463044 meters Centerline goodness [0,1] 0.35137981430536447 Centerline is valid? [False, False] Translation: X:20.94, Y:0.93, Z:1.77 [[ 9.91058704e-01 7.53152091e-03 -1.33213818e-01 2.09373235e+01] [-8.08602731e-03 9.99960748e-01 -3.62201518e-03 9.32116655e-01] [ 1.33181310e-01 4.66680024e-03 9.91080703e-01 1.76712516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04463044 meters Centerline goodness [0,1] 0.35052967014038416 Centerline is valid? [False, False] Translation: X:20.94, Y:0.93, Z:1.77 [[ 9.91040338e-01 7.51198890e-03 -1.33351483e-01 2.09377046e+01] [-8.08354977e-03 9.99960314e-01 -3.74523854e-03 9.33086206e-01] [ 1.33318057e-01 4.78963582e-03 9.91061731e-01 1.76710169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.07463044 meters Centerline goodness [0,1] 0.3527315144838312 Centerline is valid? [False, False] Translation: X:20.94, Y:0.93, Z:1.77 [[ 9.91066446e-01 7.48421553e-03 -1.33158878e-01 2.09372872e+01] [-8.06684273e-03 9.99960103e-01 -3.83647129e-03 9.33812997e-01] [ 1.33124853e-01 4.87636970e-03 9.91087279e-01 1.76703507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10463044 meters Centerline goodness [0,1] 0.34872376388027126 Centerline is valid? [False, False] Translation: X:20.96, Y:0.94, Z:1.77 [[ 9.91202873e-01 6.84762163e-04 -1.32349519e-01 2.09559916e+01] [-1.07584852e-03 9.99995264e-01 -2.88346513e-03 9.40503595e-01] [ 1.32346918e-01 3.00048696e-03 9.91198916e-01 1.77071822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.13463044 meters Centerline goodness [0,1] 0.3508488799948357 Centerline is valid? [False, False] Translation: X:20.96, Y:0.94, Z:1.77 [[ 9.91184155e-01 5.41710869e-04 -1.32490294e-01 2.09562496e+01] [-9.58785640e-04 9.99994784e-01 -3.08418886e-03 9.41337258e-01] [ 1.32487933e-01 3.18402892e-03 9.91179504e-01 1.77082273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16463044 meters Centerline goodness [0,1] 0.35050837256292855 Centerline is valid? [False, False] Translation: X:20.96, Y:0.94, Z:1.77 [[ 9.91164552e-01 4.02563139e-04 -1.32637359e-01 2.09567624e+01] [-8.45860098e-04 9.99994244e-01 -3.28584441e-03 9.42223224e-01] [ 1.32635272e-01 3.36900515e-03 9.91159187e-01 1.77070432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.19463044 meters Centerline goodness [0,1] 0.3507370608481071 Centerline is valid? [False, False] Translation: X:20.96, Y:0.94, Z:1.77 [[ 9.91157438e-01 3.04632874e-04 -1.32690768e-01 2.09570055e+01] [-7.66210340e-04 9.99993832e-01 -3.42754880e-03 9.42828744e-01] [ 1.32688905e-01 3.49890953e-03 9.91151559e-01 1.77058631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22463044 meters Centerline goodness [0,1] 0.34856945732088573 Centerline is valid? [False, False] Translation: X:20.96, Y:0.94, Z:1.77 [[ 9.91175869e-01 -8.65092326e-05 -1.32553344e-01 2.09563985e+01] [-4.12185198e-04 9.99992941e-01 -3.73477295e-03 9.43308533e-01] [ 1.32552731e-01 3.75645335e-03 9.91168837e-01 1.77102470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.25463044 meters Centerline goodness [0,1] 0.3490624932727703 Centerline is valid? [False, False] Translation: X:20.96, Y:0.94, Z:1.77 [[ 9.91189055e-01 -2.20473861e-04 -1.32454556e-01 2.09559496e+01] [-2.77325756e-04 9.99992968e-01 -3.73980768e-03 9.42687134e-01] [ 1.32454449e-01 3.74358950e-03 9.91182024e-01 1.77132101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28463044 meters Centerline goodness [0,1] 0.35365987169100743 Centerline is valid? [False, False] Translation: X:20.96, Y:0.94, Z:1.77 [[ 9.91181971e-01 -2.68709393e-04 -1.32507465e-01 2.09562144e+01] [-2.13274504e-04 9.99993413e-01 -3.62320317e-03 9.41528359e-01] [ 1.32507566e-01 3.61951413e-03 9.91175385e-01 1.77121573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.31463044000003 meters Centerline goodness [0,1] 0.34601437613989916 Centerline is valid? [False, False] Translation: X:21.00, Y:0.94, Z:1.78 [[ 9.91373803e-01 -4.36712098e-04 -1.31064077e-01 2.09983963e+01] [-1.66809612e-04 9.99989435e-01 -4.59376952e-03 9.43783661e-01] [ 1.31064699e-01 4.57600551e-03 9.91363256e-01 1.77682815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34463044 meters Centerline goodness [0,1] 0.3467526306710368 Centerline is valid? [False, False] Translation: X:21.00, Y:0.94, Z:1.78 [[ 9.91273385e-01 -6.82457349e-04 -1.31820372e-01 2.10005300e+01] [ 9.59054325e-05 9.99990068e-01 -4.45592787e-03 9.41283730e-01] [ 1.31822103e-01 4.40440041e-03 9.91263605e-01 1.77670303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.37463044000003 meters Centerline goodness [0,1] 0.34408992798068083 Centerline is valid? [False, False] Translation: X:21.00, Y:0.94, Z:1.78 [[ 9.91258141e-01 -6.67284521e-04 -1.31935031e-01 2.10008922e+01] [ 1.03208145e-04 9.99990826e-01 -4.28220225e-03 9.39986758e-01] [ 1.31936678e-01 4.23115107e-03 9.91249116e-01 1.77673367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40463044 meters Centerline goodness [0,1] 0.34722851533001053 Centerline is valid? [False, False] Translation: X:21.00, Y:0.94, Z:1.78 [[ 9.91252480e-01 -5.83285316e-04 -1.31977958e-01 2.10009402e+01] [ 4.16853299e-05 9.99991568e-01 -4.10644109e-03 9.39064005e-01] [ 1.31979241e-01 4.06501837e-03 9.91244145e-01 1.77684850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.43463044000003 meters Centerline goodness [0,1] 0.344780190279836 Centerline is valid? [False, False] Translation: X:21.00, Y:0.94, Z:1.78 [[ 9.91240590e-01 -4.57733257e-04 -1.32067720e-01 2.10012662e+01] [-6.40837219e-05 9.99992209e-01 -3.94685451e-03 9.38597459e-01] [ 1.32068498e-01 3.92074579e-03 9.91232838e-01 1.77681068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46463044 meters Centerline goodness [0,1] 0.34633007694302753 Centerline is valid? [False, False] Translation: X:21.00, Y:0.94, Z:1.78 [[ 9.91227712e-01 -3.92047773e-04 -1.32164550e-01 2.10013097e+01] [-1.21845740e-04 9.99992465e-01 -3.88017582e-03 9.38347897e-01] [ 1.32165076e-01 3.86224149e-03 9.91220195e-01 1.77705423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.49463044000004 meters Centerline goodness [0,1] 0.3468159642373574 Centerline is valid? [False, False] Translation: X:21.02, Y:0.94, Z:1.78 [[ 9.91249472e-01 7.58952568e-03 -1.31783474e-01 2.10210077e+01] [-8.39542522e-03 9.99949296e-01 -5.56078799e-03 9.37015408e-01] [ 1.31734588e-01 6.61850646e-03 9.91262929e-01 1.78090988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52463044 meters Centerline goodness [0,1] 0.34601949284112477 Centerline is valid? [False, False] Translation: X:21.02, Y:0.94, Z:1.78 [[ 9.91260645e-01 7.65969227e-03 -1.31695342e-01 2.10207840e+01] [-8.47004961e-03 9.99948480e-01 -5.59419324e-03 9.37683421e-01] [ 1.31645708e-01 6.66076968e-03 9.91274453e-01 1.78093255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.55463044000004 meters Centerline goodness [0,1] 0.3439401431919331 Centerline is valid? [False, False] Translation: X:21.02, Y:0.94, Z:1.78 [[ 9.91274823e-01 7.70559207e-03 -1.31585900e-01 2.10204811e+01] [-8.53325995e-03 9.99947190e-01 -5.72721402e-03 9.39056453e-01] [ 1.31534820e-01 6.80009976e-03 9.91288227e-01 1.78103458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58463044 meters Centerline goodness [0,1] 0.347730029457633 Centerline is valid? [False, False] Translation: X:21.02, Y:0.94, Z:1.78 [[ 9.91294479e-01 7.79062651e-03 -1.31432725e-01 2.10200904e+01] [-8.62852401e-03 9.99945913e-01 -5.80679644e-03 9.40155599e-01] [ 1.31380378e-01 6.89031568e-03 9.91308085e-01 1.78106577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.61463044 meters Centerline goodness [0,1] 0.34279457231192034 Centerline is valid? [False, False] Translation: X:21.02, Y:0.94, Z:1.78 [[ 9.91332779e-01 7.79816830e-03 -1.31143092e-01 2.10193899e+01] [-8.68271108e-03 9.99943242e-01 -6.17440388e-03 9.42626531e-01] [ 1.31087500e-01 7.25956653e-03 9.91344222e-01 1.78114598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64463044 meters Centerline goodness [0,1] 0.34253445061186005 Centerline is valid? [False, False] Translation: X:21.02, Y:0.94, Z:1.78 [[ 9.91331482e-01 7.68907449e-03 -1.31159336e-01 2.10194761e+01] [-8.60829843e-03 9.99942191e-01 -6.44290580e-03 9.44141336e-01] [ 1.31102214e-01 7.51611406e-03 9.91340364e-01 1.78111428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.67463044 meters Centerline goodness [0,1] 0.3431641765227357 Centerline is valid? [False, False] Translation: X:21.02, Y:0.95, Z:1.78 [[ 9.91330020e-01 7.64736903e-03 -1.31172819e-01 2.10196170e+01] [-8.59657239e-03 9.99940793e-01 -6.67153476e-03 9.45856308e-01] [ 1.31114033e-01 7.74132932e-03 9.91337068e-01 1.78101728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70463044 meters Centerline goodness [0,1] 0.34342519515245606 Centerline is valid? [False, False] Translation: X:21.02, Y:0.95, Z:1.78 [[ 9.91326246e-01 7.66550954e-03 -1.31200279e-01 2.10198168e+01] [-8.64292309e-03 9.99938967e-01 -6.88195796e-03 9.47981110e-01] [ 1.31139518e-01 7.95621947e-03 9.91331996e-01 1.78090575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.73463044 meters Centerline goodness [0,1] 0.34298277757420303 Centerline is valid? [False, False] Translation: X:21.02, Y:0.95, Z:1.78 [[ 9.91299837e-01 7.82791067e-03 -1.31390095e-01 2.10205721e+01] [-8.85399834e-03 9.99934686e-01 -7.22708753e-03 9.54114059e-01] [ 1.31324941e-01 8.32753838e-03 9.91304399e-01 1.78066701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76463044 meters Centerline goodness [0,1] 0.34128503516961006 Centerline is valid? [False, False] Translation: X:21.02, Y:0.96, Z:1.78 [[ 9.91288060e-01 7.81636887e-03 -1.31479608e-01 2.10209369e+01] [-8.88778697e-03 9.99931894e-01 -7.56406704e-03 9.57057316e-01] [ 1.31411530e-01 8.66673208e-03 9.91290017e-01 1.78057131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.79463044 meters Centerline goodness [0,1] 0.34078236345238866 Centerline is valid? [False, False] Translation: X:21.02, Y:0.96, Z:1.78 [[ 9.91319870e-01 7.76841461e-03 -1.31242399e-01 2.10205979e+01] [-8.89156610e-03 9.99928675e-01 -7.97399041e-03 9.60476216e-01] [ 1.31171092e-01 9.07172560e-03 9.91318238e-01 1.78031018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.82463044 meters Centerline goodness [0,1] 0.34359483614697117 Centerline is valid? [False, False] Translation: X:21.02, Y:0.97, Z:1.78 [[ 9.91431263e-01 1.02494225e-02 -1.30226727e-01 2.10170973e+01] [-1.11851547e-02 9.99916603e-01 -6.45600418e-03 9.67839452e-01] [ 1.30149697e-01 7.85729047e-03 9.91463221e-01 1.78112351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.85463044 meters Centerline goodness [0,1] 0.3388255355430033 Centerline is valid? [False, False] Translation: X:21.03, Y:0.98, Z:1.79 [[ 9.91477744e-01 3.85475233e-03 -1.30219135e-01 2.10346382e+01] [-4.63038046e-03 9.99973295e-01 -5.65408291e-03 9.77521656e-01] [ 1.30193863e-01 6.20886151e-03 9.91469116e-01 1.78501052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.88463044 meters Centerline goodness [0,1] 0.3401351786289025 Centerline is valid? [False, False] Translation: X:21.03, Y:0.98, Z:1.78 [[ 9.91487825e-01 3.51389446e-03 -1.30152010e-01 2.10346065e+01] [-4.37212982e-03 9.99970540e-01 -6.30895016e-03 9.80759491e-01] [ 1.30126007e-01 6.82428876e-03 9.91473979e-01 1.78480602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.91463044 meters Centerline goodness [0,1] 0.3398552436588561 Centerline is valid? [False, False] Translation: X:21.04, Y:0.98, Z:1.78 [[ 9.91465158e-01 3.22426736e-03 -1.30332053e-01 2.10352123e+01] [-4.15143987e-03 9.99967970e-01 -6.84285925e-03 9.83468637e-01] [ 1.30305815e-01 7.32552221e-03 9.91446787e-01 1.78461226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.94463044 meters Centerline goodness [0,1] 0.33816810344827586 Centerline is valid? [False, False] Translation: X:21.04, Y:0.99, Z:1.78 [[ 9.91411357e-01 3.06357574e-03 -1.30744546e-01 2.10369758e+01] [-4.04010750e-03 9.99965886e-01 -7.20440932e-03 9.86725351e-01] [ 1.30718014e-01 7.67075523e-03 9.91389913e-01 1.78389466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.97463044 meters Centerline goodness [0,1] 0.338024229122286 Centerline is valid? [False, False] Translation: X:21.04, Y:0.99, Z:1.78 [[ 9.91399026e-01 2.89278986e-03 -1.30841900e-01 2.10374356e+01] [-3.88148824e-03 9.99965807e-01 -7.30203949e-03 9.86862839e-01] [ 1.30816303e-01 7.74709613e-03 9.91376355e-01 1.78374925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.00463044 meters Centerline goodness [0,1] 0.33809001097694846 Centerline is valid? [False, False] Translation: X:21.04, Y:0.99, Z:1.78 [[ 9.91374808e-01 2.55657043e-03 -1.31032266e-01 2.10378982e+01] [-3.56516763e-03 9.99965794e-01 -7.46330983e-03 9.86081116e-01] [ 1.31008703e-01 7.86608934e-03 9.91350011e-01 1.78385885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.03463044 meters Centerline goodness [0,1] 0.338514791881665 Centerline is valid? [False, False] Translation: X:21.04, Y:0.98, Z:1.78 [[ 9.91341105e-01 2.14161917e-03 -1.31294425e-01 2.10386694e+01] [-3.17348984e-03 9.99965699e-01 -7.65047883e-03 9.84978217e-01] [ 1.31273537e-01 8.00089567e-03 9.91313898e-01 1.78388434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.06463044000003 meters Centerline goodness [0,1] 0.3369263538372168 Centerline is valid? [False, False] Translation: X:21.04, Y:0.98, Z:1.78 [[ 9.91231148e-01 1.54736294e-03 -1.32130303e-01 2.10413714e+01] [-2.61989570e-03 9.99965016e-01 -7.94377512e-03 9.84045610e-01] [ 1.32113389e-01 8.22028495e-03 9.91200524e-01 1.78331178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.09463044 meters Centerline goodness [0,1] 0.33780876151131767 Centerline is valid? [False, False] Translation: X:21.04, Y:0.98, Z:1.78 [[ 9.91200015e-01 1.60208800e-03 -1.32363001e-01 2.10424943e+01] [-2.66549046e-03 9.99965579e-01 -7.85719060e-03 9.84027855e-01] [ 1.32345857e-01 8.14085976e-03 9.91170167e-01 1.78279499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.12463044000003 meters Centerline goodness [0,1] 0.3352057506887053 Centerline is valid? [False, False] Translation: X:21.04, Y:0.98, Z:1.78 [[ 9.91183672e-01 1.59337904e-03 -1.32485430e-01 2.10432432e+01] [-2.66718743e-03 9.99965016e-01 -7.92803654e-03 9.84697654e-01] [ 1.32468163e-01 8.21150384e-03 9.91153246e-01 1.78236681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.15463044 meters Centerline goodness [0,1] 0.3383809977069182 Centerline is valid? [False, False] Translation: X:21.04, Y:0.99, Z:1.78 [[ 9.91178435e-01 1.51410643e-03 -1.32525534e-01 2.10435464e+01] [-2.61672116e-03 9.99963395e-01 -8.14625337e-03 9.85887972e-01] [ 1.32508349e-01 8.42117304e-03 9.91146115e-01 1.78218852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.18463044000003 meters Centerline goodness [0,1] 0.3321789691955792 Centerline is valid? [False, False] Translation: X:21.06, Y:0.99, Z:1.79 [[ 9.91303346e-01 1.01261631e-02 -1.31206465e-01 2.10640693e+01] [-1.14424415e-02 9.99891451e-01 -9.28206272e-03 9.87691165e-01] [ 1.31098231e-01 1.07026621e-02 9.91311609e-01 1.78524680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.21463044 meters Centerline goodness [0,1] 0.33773320392537476 Centerline is valid? [False, False] Translation: X:21.06, Y:0.99, Z:1.79 [[ 9.91314277e-01 1.01346185e-02 -1.31123202e-01 2.10639396e+01] [-1.14791508e-02 9.99888963e-01 -9.50215458e-03 9.89494553e-01] [ 1.31012342e-01 1.09248045e-02 9.91320541e-01 1.78519122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.24463044000004 meters Centerline goodness [0,1] 0.338140573832708 Centerline is valid? [False, False] Translation: X:21.06, Y:0.99, Z:1.79 [[ 9.91326537e-01 1.00978986e-02 -1.31033318e-01 2.10637448e+01] [-1.14729564e-02 9.99886714e-01 -9.74325864e-03 9.91106331e-01] [ 1.30920087e-01 1.11620904e-02 9.91330086e-01 1.78518398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.27463044 meters Centerline goodness [0,1] 0.33801333046656634 Centerline is valid? [False, False] Translation: X:21.08, Y:1.00, Z:1.79 [[ 9.91322285e-01 3.32518086e-03 -1.31411837e-01 2.10823360e+01] [-4.54285013e-03 9.99949473e-01 -8.96734830e-03 9.97503961e-01] [ 1.31375379e-01 9.48651649e-03 9.91287302e-01 1.78881311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30463044000004 meters Centerline goodness [0,1] 0.33701514988718173 Centerline is valid? [False, False] Translation: X:21.08, Y:1.00, Z:1.79 [[ 9.91325042e-01 3.30447317e-03 -1.31391561e-01 2.10823861e+01] [-4.52683090e-03 9.99949202e-01 -9.00556711e-03 9.97653813e-01] [ 1.31355128e-01 9.52223156e-03 9.91289644e-01 1.78873700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.33463044 meters Centerline goodness [0,1] 0.33698138212598594 Centerline is valid? [False, False] Translation: X:21.10, Y:1.00, Z:1.79 [[ 9.91437700e-01 -3.84231811e-03 -1.30524036e-01 2.11008999e+01] [ 2.86617681e-03 9.99966511e-01 -7.66566622e-03 1.00142911e+00] [ 1.30549118e-01 7.22592552e-03 9.91415510e-01 1.79285899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36463044 meters Centerline goodness [0,1] 0.3396616743885357 Centerline is valid? [False, False] Translation: X:21.10, Y:1.00, Z:1.79 [[ 9.91453860e-01 -3.83574711e-03 -1.30401423e-01 2.11003945e+01] [ 2.87970734e-03 9.99967583e-01 -7.51928770e-03 1.00034996e+00] [ 1.30426038e-01 7.07950888e-03 9.91432766e-01 1.79314170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.39463044 meters Centerline goodness [0,1] 0.33546496706305073 Centerline is valid? [False, False] Translation: X:21.12, Y:1.00, Z:1.80 [[ 9.91607250e-01 2.40178208e-03 -1.29264435e-01 2.11199238e+01] [-3.72857411e-03 9.99942815e-01 -1.00231466e-02 9.97731325e-01] [ 1.29232969e-01 1.04209969e-02 9.91559500e-01 1.79621509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42463044 meters Centerline goodness [0,1] 0.333809665998379 Centerline is valid? [False, False] Translation: X:21.12, Y:1.00, Z:1.80 [[ 9.91572029e-01 2.33500190e-03 -1.29535548e-01 2.11207096e+01] [-3.62984319e-03 9.99945774e-01 -9.76083951e-03 9.95207101e-01] [ 1.29505732e-01 1.01487692e-02 9.91526736e-01 1.79626211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.45463044 meters Centerline goodness [0,1] 0.3340066182474537 Centerline is valid? [False, False] Translation: X:21.12, Y:0.99, Z:1.80 [[ 9.91524724e-01 2.39599613e-03 -1.29896042e-01 2.11220245e+01] [-3.67177827e-03 9.99947341e-01 -9.58296311e-03 9.94069356e-01] [ 1.29866241e-01 9.97869431e-03 9.91481309e-01 1.79583838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48463044 meters Centerline goodness [0,1] 0.3331110728727523 Centerline is valid? [False, False] Translation: X:21.12, Y:0.99, Z:1.80 [[ 9.91454936e-01 2.38738848e-03 -1.30427800e-01 2.11237883e+01] [-3.66497930e-03 9.99947622e-01 -9.55623253e-03 9.93580685e-01] [ 1.30398154e-01 9.95258910e-03 9.91411755e-01 1.79538146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.51463044 meters Centerline goodness [0,1] 0.3329836205973664 Centerline is valid? [False, False] Translation: X:21.12, Y:0.99, Z:1.80 [[ 9.91415367e-01 2.37904198e-03 -1.30728380e-01 2.11247670e+01] [-3.65657788e-03 9.99947872e-01 -9.53327454e-03 9.93206462e-01] [ 1.30698885e-01 9.92945338e-03 9.91372386e-01 1.79518817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54463044 meters Centerline goodness [0,1] 0.33428497831966686 Centerline is valid? [False, False] Translation: X:21.12, Y:0.99, Z:1.80 [[ 9.91416638e-01 2.48116421e-03 -1.30716846e-01 2.11240725e+01] [-3.74569512e-03 9.99948532e-01 -9.42883790e-03 9.92643144e-01] [ 1.30686724e-01 9.83753222e-03 9.91374906e-01 1.79598966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.57463044 meters Centerline goodness [0,1] 0.33260417336850456 Centerline is valid? [False, False] Translation: X:21.12, Y:0.99, Z:1.80 [[ 9.91436149e-01 2.55422323e-03 -1.30567373e-01 2.11233205e+01] [-3.81052049e-03 9.99948813e-01 -9.37290262e-03 9.92475360e-01] [ 1.30536750e-01 9.79016412e-03 9.91395133e-01 1.79644566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60463044 meters Centerline goodness [0,1] 0.3332111436950147 Centerline is valid? [False, False] Translation: X:21.12, Y:0.99, Z:1.80 [[ 9.91449056e-01 2.63365962e-03 -1.30467745e-01 2.11227994e+01] [-3.89018193e-03 9.99948468e-01 -9.37697901e-03 9.92877032e-01] [ 1.30436325e-01 9.80434025e-03 9.91408211e-01 1.79679047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.63463044 meters Centerline goodness [0,1] 0.333876500857633 Centerline is valid? [False, False] Translation: X:21.12, Y:0.99, Z:1.80 [[ 9.91439176e-01 2.69353053e-03 -1.30541586e-01 2.11229783e+01] [-3.96061681e-03 9.99947526e-01 -9.44772860e-03 9.93766190e-01] [ 1.30509288e-01 9.88387346e-03 9.91397819e-01 1.79687179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66463044 meters Centerline goodness [0,1] 0.333876500857633 Centerline is valid? [False, False] Translation: X:21.12, Y:0.99, Z:1.80 [[ 9.91439176e-01 2.69353053e-03 -1.30541586e-01 2.11229783e+01] [-3.96061681e-03 9.99947526e-01 -9.44772860e-03 9.93766190e-01] [ 1.30509288e-01 9.88387346e-03 9.91397819e-01 1.79687179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.69463044 meters Centerline goodness [0,1] 0.33185366272087835 Centerline is valid? [False, False] Translation: X:21.12, Y:0.99, Z:1.80 [[ 9.91470777e-01 3.03446224e-03 -1.30293859e-01 2.11226716e+01] [-4.28896751e-03 9.99947101e-01 -9.34874630e-03 9.94802755e-01] [ 1.30258598e-01 9.82783489e-03 9.91431345e-01 1.79655041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72463044 meters Centerline goodness [0,1] 0.33334758809442355 Centerline is valid? [False, False] Translation: X:21.12, Y:1.00, Z:1.80 [[ 9.91497736e-01 3.02473652e-03 -1.30088776e-01 2.11222482e+01] [-4.28742943e-03 9.99946369e-01 -9.42742574e-03 9.95286515e-01] [ 1.30053284e-01 9.90501773e-03 9.91457530e-01 1.79651776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.75463044 meters Centerline goodness [0,1] 0.334112199618427 Centerline is valid? [False, False] Translation: X:21.12, Y:1.00, Z:1.80 [[ 9.91498589e-01 3.07539790e-03 -1.30081092e-01 2.11223112e+01] [-4.34503598e-03 9.99945646e-01 -9.47767493e-03 9.95770812e-01] [ 1.30044874e-01 9.96230835e-03 9.91458059e-01 1.79644618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78463044 meters Centerline goodness [0,1] 0.3337999353935609 Centerline is valid? [False, False] Translation: X:21.12, Y:1.00, Z:1.80 [[ 9.91497213e-01 3.16581977e-03 -1.30089412e-01 2.11224356e+01] [-4.42944665e-03 9.99945770e-01 -9.42533217e-03 9.95926955e-01] [ 1.30052518e-01 9.92141468e-03 9.91457467e-01 1.79631633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.81463044000003 meters Centerline goodness [0,1] 0.3341923845113073 Centerline is valid? [False, False] Translation: X:21.12, Y:1.00, Z:1.80 [[ 9.91509159e-01 3.23547133e-03 -1.29996613e-01 2.11220454e+01] [-4.48840277e-03 9.99946248e-01 -9.34635920e-03 9.95847734e-01] [ 1.29959386e-01 9.85047791e-03 9.91470386e-01 1.79655527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84463044 meters Centerline goodness [0,1] 0.33465320966665946 Centerline is valid? [False, False] Translation: X:21.12, Y:1.00, Z:1.80 [[ 9.91544752e-01 3.25734803e-03 -1.29724305e-01 2.11209850e+01] [-4.50551491e-03 9.99946330e-01 -9.32937320e-03 9.95814256e-01] [ 1.29686954e-01 9.83496583e-03 9.91506212e-01 1.79705129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.87463044000003 meters Centerline goodness [0,1] 0.33411420834318384 Centerline is valid? [False, False] Translation: X:21.12, Y:1.00, Z:1.80 [[ 9.91565433e-01 3.23900134e-03 -1.29566591e-01 2.11203138e+01] [-4.49084958e-03 9.99946009e-01 -9.37081651e-03 9.96017641e-01] [ 1.29529243e-01 9.87364180e-03 9.91526443e-01 1.79739380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90463044 meters Centerline goodness [0,1] 0.3341215417356349 Centerline is valid? [False, False] Translation: X:21.12, Y:1.00, Z:1.80 [[ 9.91578248e-01 3.31235956e-03 -1.29466620e-01 2.11204244e+01] [-4.59797933e-03 9.99943035e-01 -9.63248612e-03 9.98996829e-01] [ 1.29427338e-01 1.01466486e-02 9.91536994e-01 1.79705482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.93463044000003 meters Centerline goodness [0,1] 0.3347254213936667 Centerline is valid? [False, False] Translation: X:21.12, Y:1.00, Z:1.80 [[ 9.91577665e-01 3.27213973e-03 -1.29472109e-01 2.11209166e+01] [-4.59438367e-03 9.99940288e-01 -9.91521570e-03 1.00124070e+00] [ 1.29431934e-01 1.04265510e-02 9.91533490e-01 1.79650580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96463044 meters Centerline goodness [0,1] 0.3316653836284321 Centerline is valid? [False, False] Translation: X:21.12, Y:1.00, Z:1.80 [[ 9.91566735e-01 3.18675744e-03 -1.29557920e-01 2.11215728e+01] [-4.55100590e-03 9.99937261e-01 -1.02353338e-02 1.00350049e+00] [ 1.29517175e-01 1.07386354e-02 9.91519028e-01 1.79602877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.99463044000004 meters Centerline goodness [0,1] 0.3306030795551753 Centerline is valid? [False, False] Translation: X:21.12, Y:1.01, Z:1.80 [[ 9.91577322e-01 3.10068278e-03 -1.29478959e-01 2.11215845e+01] [-4.49788280e-03 9.99934758e-01 -1.04999152e-02 1.00525711e+00] [ 1.29437955e-01 1.09938589e-02 9.91526576e-01 1.79581030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02463044 meters Centerline goodness [0,1] 0.33001640706569224 Centerline is valid? [False, False] Translation: X:21.12, Y:1.01, Z:1.80 [[ 9.91585630e-01 2.82854678e-03 -1.29421553e-01 2.11213020e+01] [-4.28577922e-03 9.99930506e-01 -1.09824588e-02 1.00778746e+00] [ 1.29381495e-01 1.14447205e-02 9.91528843e-01 1.79602496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.05463044000004 meters Centerline goodness [0,1] 0.3330668337690962 Centerline is valid? [False, False] Translation: X:21.12, Y:1.01, Z:1.80 [[ 9.91555633e-01 2.64536321e-03 -1.29655040e-01 2.11220016e+01] [-4.13555271e-03 9.99928439e-01 -1.12256082e-02 1.00859875e+00] [ 1.29616066e-01 1.16670102e-02 9.91495616e-01 1.79592475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08463044 meters Centerline goodness [0,1] 0.3327728556338787 Centerline is valid? [False, False] Translation: X:21.12, Y:1.01, Z:1.80 [[ 9.91495788e-01 2.44231380e-03 -1.30115858e-01 2.11233617e+01] [-3.96938452e-03 9.99926245e-01 -1.14781887e-02 1.00962139e+00] [ 1.30078228e-01 1.18970556e-02 9.91432355e-01 1.79573798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.11463044 meters Centerline goodness [0,1] 0.3314985105556275 Centerline is valid? [False, False] Translation: X:21.12, Y:1.01, Z:1.80 [[ 9.91455461e-01 2.26079541e-03 -1.30426061e-01 2.11246288e+01] [-3.81991488e-03 9.99924196e-01 -1.17051103e-02 1.01060104e+00] [ 1.30389712e-01 1.21033119e-02 9.91388941e-01 1.79523244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14463044 meters Centerline goodness [0,1] 0.3283100801857386 Centerline is valid? [False, False] Translation: X:21.14, Y:1.02, Z:1.80 [[ 9.91283090e-01 -4.78860902e-03 -1.31662082e-01 2.11439328e+01] [ 3.36614595e-03 9.99933564e-01 -1.10243383e-02 1.01936701e+00] [ 1.31706126e-01 1.04850463e-02 9.91233353e-01 1.79926069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.17463044 meters Centerline goodness [0,1] 0.3307030898213864 Centerline is valid? [False, False] Translation: X:21.14, Y:1.02, Z:1.80 [[ 9.91291827e-01 -4.85064598e-03 -1.31594016e-01 2.11436036e+01] [ 3.41734490e-03 9.99932382e-01 -1.11154896e-02 1.02018030e+00] [ 1.31639035e-01 1.05689919e-02 9.91241374e-01 1.79950882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20463044 meters Centerline goodness [0,1] 0.33135039945021905 Centerline is valid? [False, False] Translation: X:21.14, Y:1.02, Z:1.80 [[ 9.91311481e-01 -4.98665302e-03 -1.31440791e-01 2.11429750e+01] [ 3.53883331e-03 9.99930496e-01 -1.12462830e-02 1.02082914e+00] [ 1.31487737e-01 1.06834224e-02 9.91260228e-01 1.79984632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.23463044 meters Centerline goodness [0,1] 0.3322669300468072 Centerline is valid? [False, False] Translation: X:21.14, Y:1.02, Z:1.80 [[ 9.91321380e-01 -5.09204777e-03 -1.31362069e-01 2.11427411e+01] [ 3.63056477e-03 9.99928851e-01 -1.13627093e-02 1.02154579e+00] [ 1.31410583e-01 1.07871782e-02 9.91269336e-01 1.79998236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26463044 meters Centerline goodness [0,1] 0.33002954146508545 Centerline is valid? [False, False] Translation: X:21.14, Y:1.02, Z:1.80 [[ 9.91276450e-01 -5.59032152e-03 -1.31680474e-01 2.11437876e+01] [ 4.07356922e-03 9.99922257e-01 -1.17849947e-02 1.02294394e+00] [ 1.31736118e-01 1.11457782e-02 9.91222158e-01 1.79987111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.29463044 meters Centerline goodness [0,1] 0.3343053798486181 Centerline is valid? [False, False] Translation: X:21.14, Y:1.02, Z:1.80 [[ 9.91259546e-01 -5.76175842e-03 -1.31800280e-01 2.11440574e+01] [ 4.22963379e-03 9.99920228e-01 -1.19015978e-02 1.02306079e+00] [ 1.31858340e-01 1.12401055e-02 9.91204842e-01 1.79998900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.32463044 meters Centerline goodness [0,1] 0.33597614984121493 Centerline is valid? [False, False] Translation: X:21.14, Y:1.02, Z:1.80 [[ 9.91256438e-01 -5.95987710e-03 -1.31814845e-01 2.11439112e+01] [ 4.40796060e-03 9.99917534e-01 -1.20621186e-02 1.02331701e+00] [ 1.31875864e-01 1.13756180e-02 9.91200964e-01 1.80025645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.35463044 meters Centerline goodness [0,1] 0.33469158959101397 Centerline is valid? [False, False] Translation: X:21.14, Y:1.02, Z:1.80 [[ 9.91242472e-01 -6.06670341e-03 -1.31914963e-01 2.11440049e+01] [ 4.50067097e-03 9.99915857e-01 -1.21664494e-02 1.02377192e+00] [ 1.31977674e-01 1.14661956e-02 9.91186370e-01 1.80049906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.38463044 meters Centerline goodness [0,1] 0.33213621496825496 Centerline is valid? [False, False] Translation: X:21.16, Y:1.03, Z:1.80 [[ 9.91537063e-01 1.32105879e-03 -1.29817208e-01 2.11636935e+01] [-3.14077574e-03 9.99899652e-01 -1.38138030e-02 1.02628469e+00] [ 1.29785932e-01 1.41046243e-02 9.91441714e-01 1.80324821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.41463044 meters Centerline goodness [0,1] 0.33777863677361164 Centerline is valid? [False, False] Translation: X:21.16, Y:1.03, Z:1.80 [[ 9.91559123e-01 1.22186668e-03 -1.29649573e-01 2.11633012e+01] [-3.08213752e-03 9.99895151e-01 -1.41487779e-02 1.02849008e+00] [ 1.29618691e-01 1.44289476e-02 9.91458925e-01 1.80327527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.44463044 meters Centerline goodness [0,1] 0.33610741709922354 Centerline is valid? [False, False] Translation: X:21.16, Y:1.03, Z:1.80 [[ 9.91569524e-01 1.10181599e-03 -1.29571082e-01 2.11632371e+01] [-3.02020770e-03 9.99888705e-01 -1.46101470e-02 1.03140654e+00] [ 1.29540564e-01 1.48783081e-02 9.91462495e-01 1.80315867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.47463044 meters Centerline goodness [0,1] 0.33529729146433584 Centerline is valid? [False, False] Translation: X:21.16, Y:1.04, Z:1.80 [[ 9.91559379e-01 2.99887578e-03 -1.29618692e-01 2.11630357e+01] [-4.83031814e-03 9.99892868e-01 -1.38173956e-02 1.03944714e+00] [ 1.29563369e-01 1.43268678e-02 9.91467636e-01 1.80343493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.50463044 meters Centerline goodness [0,1] 0.3352099359663071 Centerline is valid? [False, False] Translation: X:21.16, Y:1.04, Z:1.80 [[ 9.91550263e-01 3.10451547e-03 -1.29685923e-01 2.11632669e+01] [-4.98180346e-03 9.99887420e-01 -1.41537534e-02 1.04331464e+00] [ 1.29627383e-01 1.46802276e-02 9.91454100e-01 1.80338271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.53463044 meters Centerline goodness [0,1] 0.3394604659218845 Centerline is valid? [False, False] Translation: X:21.16, Y:1.05, Z:1.80 [[ 9.91533383e-01 3.08445162e-03 -1.29815396e-01 2.11637508e+01] [-5.02593120e-03 9.99880333e-01 -1.46307457e-02 1.04727998e+00] [ 1.29754734e-01 1.51593160e-02 9.91430232e-01 1.80316804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.56463044000003 meters Centerline goodness [0,1] 0.33267102508225443 Centerline is valid? [False, False] Translation: X:21.18, Y:1.06, Z:1.81 [[ 9.91307024e-01 -1.32542401e-03 -1.31562258e-01 2.11848095e+01] [-3.01167325e-04 9.99923777e-01 -1.23429948e-02 1.05560804e+00] [ 1.31568590e-01 1.22753197e-02 9.91231064e-01 1.80676141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.59463044 meters Centerline goodness [0,1] 0.3318232327549363 Centerline is valid? [False, False] Translation: X:21.19, Y:1.06, Z:1.81 [[ 9.91264682e-01 -1.60640351e-03 -1.31877786e-01 2.11858276e+01] [-1.42740118e-04 9.99912167e-01 -1.32528434e-02 1.06370847e+00] [ 1.31887492e-01 1.31558999e-02 9.91177387e-01 1.80652837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.62463044000003 meters Centerline goodness [0,1] 0.3310708416042347 Centerline is valid? [False, False] Translation: X:21.19, Y:1.07, Z:1.81 [[ 9.91254506e-01 -1.78469820e-03 -1.31951961e-01 2.11859612e+01] [-2.28658669e-05 9.99906207e-01 -1.36958684e-02 1.06659709e+00] [ 1.31964028e-01 1.35791085e-02 9.91161492e-01 1.80659034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.65463044 meters Centerline goodness [0,1] 0.3341721402371407 Centerline is valid? [False, False] Translation: X:21.19, Y:1.07, Z:1.81 [[ 9.91251476e-01 -1.88259124e-03 -1.31973361e-01 2.11857867e+01] [ 3.03056532e-05 9.99901491e-01 -1.40359027e-02 1.06930601e+00] [ 1.31986785e-01 1.39091097e-02 9.91153886e-01 1.80685383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.68463044000003 meters Centerline goodness [0,1] 0.3349771572520388 Centerline is valid? [False, False] Translation: X:21.19, Y:1.07, Z:1.81 [[ 9.91245788e-01 -1.97966091e-03 -1.32014655e-01 2.11857980e+01] [ 8.48696587e-05 9.99896930e-01 -1.43569679e-02 1.07182762e+00] [ 1.32029471e-01 1.42200799e-02 9.91143788e-01 1.80696756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.71463044 meters Centerline goodness [0,1] 0.333369036653028 Centerline is valid? [False, False] Translation: X:21.19, Y:1.08, Z:1.81 [[ 9.91223602e-01 -2.40555122e-03 -1.32174071e-01 2.11862737e+01] [ 3.94133212e-04 9.99883756e-01 -1.52420020e-02 1.07766807e+00] [ 1.32195372e-01 1.50561379e-02 9.91109326e-01 1.80695032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.74463044000004 meters Centerline goodness [0,1] 0.33204930662557786 Centerline is valid? [False, False] Translation: X:21.19, Y:1.08, Z:1.81 [[ 9.91216373e-01 -2.63619112e-03 -1.32223869e-01 2.11863988e+01] [ 5.57858666e-04 9.99875760e-01 -1.57528665e-02 1.08072567e+00] [ 1.32248969e-01 1.55407369e-02 9.91094696e-01 1.80695724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.77463044 meters Centerline goodness [0,1] 0.33414043583535114 Centerline is valid? [False, False] Translation: X:21.19, Y:1.08, Z:1.81 [[ 9.91215614e-01 -2.73031942e-03 -1.32227654e-01 2.11864663e+01] [ 5.98791703e-04 9.99869284e-01 -1.61572165e-02 1.08394833e+00] [ 1.32254484e-01 1.59361085e-02 9.91087681e-01 1.80689635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80463044000004 meters Centerline goodness [0,1] 0.33370452063301714 Centerline is valid? [False, False] Translation: X:21.19, Y:1.09, Z:1.81 [[ 9.91214726e-01 9.48597268e-04 -1.32259094e-01 2.11862467e+01] [-2.72603306e-03 9.99908385e-01 -1.32586252e-02 1.08770125e+00] [ 1.32234399e-01 1.35026872e-02 9.91126501e-01 1.80725828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.83463044 meters Centerline goodness [0,1] 0.33483203802427897 Centerline is valid? [False, False] Translation: X:21.19, Y:1.09, Z:1.81 [[ 9.91226638e-01 7.95726383e-04 -1.32170791e-01 2.11857665e+01] [-2.61264275e-03 9.99904457e-01 -1.35738821e-02 1.08946148e+00] [ 1.32147362e-01 1.38001086e-02 9.91134013e-01 1.80757497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86463044 meters Centerline goodness [0,1] 0.33409630564528203 Centerline is valid? [False, False] Translation: X:21.19, Y:1.09, Z:1.81 [[ 9.91238633e-01 6.29584214e-04 -1.32081703e-01 2.11853143e+01] [-2.46957541e-03 9.99902176e-01 -1.37673567e-02 1.09011834e+00] [ 1.32060115e-01 1.39729216e-02 9.91143221e-01 1.80788660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.89463044 meters Centerline goodness [0,1] 0.3371851216636296 Centerline is valid? [False, False] Translation: X:21.18, Y:1.09, Z:1.81 [[ 9.91270088e-01 5.96297152e-05 -1.31846916e-01 2.11844586e+01] [-1.93123082e-03 9.99899184e-01 -1.40674329e-02 1.08936569e+00] [ 1.31832785e-01 1.41992523e-02 9.91170267e-01 1.80825238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92463044 meters Centerline goodness [0,1] 0.33630141395069413 Centerline is valid? [False, False] Translation: X:21.18, Y:1.09, Z:1.81 [[ 9.91266026e-01 2.29018688e-06 -1.31877461e-01 2.11847751e+01] [-1.85738200e-03 9.99901056e-01 -1.39437755e-02 1.08810468e+00] [ 1.31864381e-01 1.40669377e-02 9.91167951e-01 1.80803779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.95463044 meters Centerline goodness [0,1] 0.3360786907632236 Centerline is valid? [False, False] Translation: X:21.20, Y:1.09, Z:1.81 [[ 9.91241804e-01 -7.45509283e-03 -1.31848802e-01 2.12048535e+01] [ 5.83689898e-03 9.99902882e-01 -1.26553332e-02 1.09127719e+00] [ 1.31930344e-01 1.17749072e-02 9.91189052e-01 1.81163652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98463044 meters Centerline goodness [0,1] 0.3359154326799624 Centerline is valid? [False, False] Translation: X:21.21, Y:1.09, Z:1.81 [[ 9.91229190e-01 -7.33454986e-03 -1.31950357e-01 2.12053008e+01] [ 5.75913312e-03 9.99907556e-01 -1.23171396e-02 1.08945368e+00] [ 1.32028500e-01 1.14491886e-02 9.91179798e-01 1.81146907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.01463044 meters Centerline goodness [0,1] 0.3403104117266652 Centerline is valid? [False, False] Translation: X:21.21, Y:1.09, Z:1.81 [[ 9.91233836e-01 -7.23273775e-03 -1.31921073e-01 2.12053650e+01] [ 5.69187264e-03 9.99911153e-01 -1.20535587e-02 1.08793560e+00] [ 1.31996532e-01 1.11970173e-02 9.91186936e-01 1.81138387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04463044 meters Centerline goodness [0,1] 0.33996825533010167 Centerline is valid? [False, False] Translation: X:21.22, Y:1.08, Z:1.82 [[ 9.91370404e-01 3.50128899e-04 -1.31090047e-01 2.12243347e+01] [-2.11662586e-03 9.99908827e-01 -1.33363539e-02 1.08311357e+00] [ 1.31073425e-01 1.34987352e-02 9.91280758e-01 1.81515148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.07463044 meters Centerline goodness [0,1] 0.3428713127479731 Centerline is valid? [False, False] Translation: X:21.23, Y:1.08, Z:1.81 [[ 9.91342198e-01 3.97674627e-04 -1.31303044e-01 2.12251224e+01] [-2.16423962e-03 9.99909054e-01 -1.33116762e-02 1.08304582e+00] [ 1.31285808e-01 1.34805976e-02 9.91252899e-01 1.81490426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10463044 meters Centerline goodness [0,1] 0.3418940609951846 Centerline is valid? [False, False] Translation: X:21.23, Y:1.08, Z:1.81 [[ 9.91273224e-01 5.51633261e-04 -1.31822193e-01 2.12268268e+01] [-2.31821591e-03 9.99909552e-01 -1.32481637e-02 1.08336436e+00] [ 1.31802962e-01 1.34381422e-02 9.91184844e-01 1.81447984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.13463044 meters Centerline goodness [0,1] 0.3411512027491409 Centerline is valid? [False, False] Translation: X:21.23, Y:1.08, Z:1.81 [[ 9.91243854e-01 6.74271189e-04 -1.32042295e-01 2.12278712e+01] [-2.44424203e-03 9.99909321e-01 -1.32429525e-02 1.08394460e+00] [ 1.32021393e-01 1.34497386e-02 9.91155617e-01 1.81393311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16463044 meters Centerline goodness [0,1] 0.34135757157044777 Centerline is valid? [False, False] Translation: X:21.23, Y:1.08, Z:1.81 [[ 9.91232245e-01 7.13395859e-04 -1.32129208e-01 2.12283435e+01] [-2.49666649e-03 9.99908018e-01 -1.33312392e-02 1.08469254e+00] [ 1.32107544e-01 1.35442368e-02 9.91142851e-01 1.81364022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.19463044 meters Centerline goodness [0,1] 0.3441042961943076 Centerline is valid? [False, False] Translation: X:21.23, Y:1.09, Z:1.81 [[ 9.91289445e-01 8.62079056e-04 -1.31698495e-01 2.12272051e+01] [-2.65633591e-03 9.99906031e-01 -1.34488986e-02 1.08611767e+00] [ 1.31674525e-01 1.36815866e-02 9.91198584e-01 1.81376093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22463044 meters Centerline goodness [0,1] 0.3412718791458039 Centerline is valid? [False, False] Translation: X:21.23, Y:1.09, Z:1.81 [[ 9.91316286e-01 8.45275628e-04 -1.31496414e-01 2.12264590e+01] [-2.64976933e-03 9.99904705e-01 -1.35483878e-02 1.08682735e+00] [ 1.31472431e-01 1.37791726e-02 9.91224059e-01 1.81406567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.25463044 meters Centerline goodness [0,1] 0.3417650967866407 Centerline is valid? [False, False] Translation: X:21.23, Y:1.09, Z:1.81 [[ 9.91346298e-01 8.34743725e-04 -1.31270033e-01 2.12258079e+01] [-2.64507017e-03 9.99903784e-01 -1.36170996e-02 1.08735864e+00] [ 1.31246036e-01 1.38464797e-02 9.91253123e-01 1.81415165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28463044 meters Centerline goodness [0,1] 0.3424516350675284 Centerline is valid? [False, False] Translation: X:21.23, Y:1.09, Z:1.81 [[ 9.91349426e-01 8.04130770e-04 -1.31246593e-01 2.12258769e+01] [-2.62706443e-03 9.99902469e-01 -1.37168244e-02 1.08796438e+00] [ 1.31222762e-01 1.39429593e-02 9.91254851e-01 1.81404784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.31463044000003 meters Centerline goodness [0,1] 0.33725097052173547 Centerline is valid? [False, False] Translation: X:21.23, Y:1.09, Z:1.81 [[ 9.91255426e-01 7.31690955e-04 -1.31955085e-01 2.12284546e+01] [-2.59659436e-03 9.99899164e-01 -1.39613497e-02 1.08953586e+00] [ 1.31931563e-01 1.41818975e-02 9.91157372e-01 1.81327972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34463044 meters Centerline goodness [0,1] 0.3397027600849257 Centerline is valid? [False, False] Translation: X:21.23, Y:1.09, Z:1.81 [[ 9.91199971e-01 6.79563490e-04 -1.32371279e-01 2.12297211e+01] [-2.57244636e-03 9.99896867e-01 -1.41293139e-02 1.09069819e+00] [ 1.32348025e-01 1.43454935e-02 9.91099494e-01 1.81307660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.37463044000003 meters Centerline goodness [0,1] 0.3402486953160234 Centerline is valid? [False, False] Translation: X:21.23, Y:1.09, Z:1.81 [[ 9.91159583e-01 6.77743464e-04 -1.32673362e-01 2.12306666e+01] [-2.58891442e-03 9.99895353e-01 -1.42331118e-02 1.09174508e+00] [ 1.32649832e-01 1.44507651e-02 9.91057616e-01 1.81290109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40463044 meters Centerline goodness [0,1] 0.3441406756932128 Centerline is valid? [False, False] Translation: X:21.23, Y:1.09, Z:1.81 [[ 9.91176123e-01 6.71580053e-04 -1.32549774e-01 2.12302297e+01] [-2.61837138e-03 9.99891245e-01 -1.45134928e-02 1.09436624e+00] [ 1.32525611e-01 1.47324920e-02 9.91070086e-01 1.81307779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.43463044000003 meters Centerline goodness [0,1] 0.3407676125874727 Centerline is valid? [False, False] Translation: X:21.25, Y:1.10, Z:1.82 [[ 9.91384011e-01 -4.54832716e-03 -1.30908575e-01 2.12495791e+01] [ 3.03180035e-03 9.99925998e-01 -1.17815979e-02 1.09919934e+00] [ 1.30952474e-01 1.12831991e-02 9.91324437e-01 1.81590567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46463044 meters Centerline goodness [0,1] 0.34291484059465493 Centerline is valid? [False, False] Translation: X:21.25, Y:1.10, Z:1.82 [[ 9.91434720e-01 -4.56685814e-03 -1.30523332e-01 2.12483567e+01] [ 3.02580181e-03 9.99923388e-01 -1.20026303e-02 1.10116816e+00] [ 1.30568146e-01 1.15048867e-02 9.91372582e-01 1.81616558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.49463044000004 meters Centerline goodness [0,1] 0.34443491314604335 Centerline is valid? [False, False] Translation: X:21.25, Y:1.10, Z:1.82 [[ 9.91452929e-01 -4.58639738e-03 -1.30384257e-01 2.12480107e+01] [ 3.01763154e-03 9.99920695e-01 -1.22268904e-02 1.10315215e+00] [ 1.30429994e-01 1.17289347e-02 9.91388142e-01 1.81618950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52463044 meters Centerline goodness [0,1] 0.34443491314604335 Centerline is valid? [False, False] Translation: X:21.25, Y:1.10, Z:1.82 [[ 9.91452929e-01 -4.58639738e-03 -1.30384257e-01 2.12480107e+01] [ 3.01763154e-03 9.99920695e-01 -1.22268904e-02 1.10315215e+00] [ 1.30429994e-01 1.17289347e-02 9.91388142e-01 1.81618950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.55463044000004 meters Centerline goodness [0,1] 0.34514820727445317 Centerline is valid? [False, False] Translation: X:21.25, Y:1.11, Z:1.82 [[ 9.91429907e-01 -4.65209856e-03 -1.30556872e-01 2.12485040e+01] [ 3.03946719e-03 9.99916645e-01 -1.25484939e-02 1.10558533e+00] [ 1.30604366e-01 1.20441288e-02 9.91361407e-01 1.81607893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58463044 meters Centerline goodness [0,1] 0.3431037080078335 Centerline is valid? [False, False] Translation: X:21.25, Y:1.11, Z:1.81 [[ 9.91232414e-01 -2.71746343e-03 -1.32101917e-01 2.12545834e+01] [ 1.22609694e-03 9.99934613e-01 -1.13695452e-02 1.11094737e+00] [ 1.32124175e-01 1.11078920e-02 9.91170932e-01 1.81419783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.61463044 meters Centerline goodness [0,1] 0.34482237339380195 Centerline is valid? [False, False] Translation: X:21.26, Y:1.11, Z:1.81 [[ 9.91192588e-01 -2.84477106e-03 -1.32397736e-01 2.12555184e+01] [ 1.30431537e-03 9.99930464e-01 -1.17203327e-02 1.11313063e+00] [ 1.32421872e-01 1.14444185e-02 9.91127375e-01 1.81398150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64463044 meters Centerline goodness [0,1] 0.3413092550790068 Centerline is valid? [False, False] Translation: X:21.26, Y:1.12, Z:1.81 [[ 9.91170944e-01 -2.89516375e-03 -1.32558581e-01 2.12560151e+01] [ 1.32075158e-03 9.99927563e-01 -1.19634914e-02 1.11512774e+00] [ 1.32583615e-01 1.16827881e-02 9.91102970e-01 1.81392759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.67463044 meters Centerline goodness [0,1] 0.34526611249055383 Centerline is valid? [False, False] Translation: X:21.26, Y:1.12, Z:1.81 [[ 9.91180534e-01 -3.00640863e-03 -1.32484381e-01 2.12557699e+01] [ 1.39168063e-03 9.99923642e-01 -1.22789743e-02 1.11735786e+00] [ 1.32511180e-01 1.19863044e-02 9.91109033e-01 1.81401654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70463044 meters Centerline goodness [0,1] 0.3458604369718843 Centerline is valid? [False, False] Translation: X:21.26, Y:1.12, Z:1.81 [[ 9.91194812e-01 -3.11333888e-03 -1.32375044e-01 2.12550657e+01] [ 1.44654799e-03 9.99918487e-01 -1.26857313e-02 1.12116469e+00] [ 1.32403749e-01 1.23825442e-02 9.91118520e-01 1.81457377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.73463044 meters Centerline goodness [0,1] 0.3462456713913923 Centerline is valid? [False, False] Translation: X:21.26, Y:1.12, Z:1.81 [[ 9.91187734e-01 -3.23344802e-03 -1.32425153e-01 2.12551240e+01] [ 1.53090948e-03 9.99914890e-01 -1.29564066e-02 1.12287421e+00] [ 1.32455776e-01 1.26395003e-02 9.91108324e-01 1.81472529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76463044 meters Centerline goodness [0,1] 0.3451764705882353 Centerline is valid? [False, False] Translation: X:21.26, Y:1.12, Z:1.81 [[ 9.91165446e-01 -3.39204493e-03 -1.32587903e-01 2.12555689e+01] [ 1.64957620e-03 9.99910859e-01 -1.32496223e-02 1.12438921e+00] [ 1.32621027e-01 1.29138540e-02 9.91082689e-01 1.81480165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.79463044 meters Centerline goodness [0,1] 0.3495723556969098 Centerline is valid? [False, False] Translation: X:21.26, Y:1.13, Z:1.81 [[ 9.91136748e-01 -3.56101405e-03 -1.32797841e-01 2.12562282e+01] [ 1.77651753e-03 9.99906565e-01 -1.35537560e-02 1.12590770e+00] [ 1.32833698e-01 1.31977079e-02 9.91050468e-01 1.81470163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.82463044 meters Centerline goodness [0,1] 0.34568717347265165 Centerline is valid? [False, False] Translation: X:21.28, Y:1.13, Z:1.82 [[ 9.90973136e-01 -8.94456423e-03 -1.33761870e-01 2.12787853e+01] [ 7.53079565e-03 9.99910350e-01 -1.10715122e-02 1.13175681e+00] [ 1.33848908e-01 9.96423782e-03 9.90951656e-01 1.81756622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.85463044 meters Centerline goodness [0,1] 0.3482544442064682 Centerline is valid? [False, False] Translation: X:21.28, Y:1.13, Z:1.82 [[ 9.90945536e-01 -8.91623442e-03 -1.33968076e-01 2.12791252e+01] [ 7.50997048e-03 9.99911311e-01 -1.09986794e-02 1.13148460e+00] [ 1.34054261e-01 9.89299597e-03 9.90924610e-01 1.81789554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.88463044 meters Centerline goodness [0,1] 0.346369432202302 Centerline is valid? [False, False] Translation: X:21.28, Y:1.13, Z:1.82 [[ 9.90914450e-01 -8.93359690e-03 -1.34196659e-01 2.12797654e+01] [ 7.53226142e-03 9.99911716e-01 -1.09464836e-02 1.13102396e+00] [ 1.34282603e-01 9.83622442e-03 9.90894258e-01 1.81795968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.91463044 meters Centerline goodness [0,1] 0.34681931651889475 Centerline is valid? [False, False] Translation: X:21.28, Y:1.13, Z:1.82 [[ 9.90873017e-01 -8.95907057e-03 -1.34500556e-01 2.12807145e+01] [ 7.57048263e-03 9.99912675e-01 -1.08319348e-02 1.12994602e+00] [ 1.34585855e-01 9.71483779e-03 9.90854313e-01 1.81788972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.94463044 meters Centerline goodness [0,1] 0.3448261184182523 Centerline is valid? [False, False] Translation: X:21.30, Y:1.13, Z:1.82 [[ 9.90839259e-01 -3.79070953e-03 -1.34993310e-01 2.13035362e+01] [ 1.96614833e-03 9.99904946e-01 -1.36466930e-02 1.12885435e+00] [ 1.35032209e-01 1.32562623e-02 9.90752529e-01 1.82091917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.97463044 meters Centerline goodness [0,1] 0.3493094518774277 Centerline is valid? [False, False] Translation: X:21.30, Y:1.13, Z:1.82 [[ 9.90806504e-01 -3.81930286e-03 -1.35232702e-01 2.13041236e+01] [ 2.00741533e-03 9.99906422e-01 -1.35321211e-02 1.12757157e+00] [ 1.35271730e-01 1.31362454e-02 9.90721453e-01 1.82104362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.00463044 meters Centerline goodness [0,1] 0.3485457554977536 Centerline is valid? [False, False] Translation: X:21.30, Y:1.13, Z:1.82 [[ 9.90803738e-01 -3.69862807e-03 -1.35256322e-01 2.13039132e+01] [ 1.91823701e-03 9.99909830e-01 -1.32910473e-02 1.12639109e+00] [ 1.35293285e-01 1.29093656e-02 9.90721492e-01 1.82155592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.03463044 meters Centerline goodness [0,1] 0.3475830459831659 Centerline is valid? [False, False] Translation: X:21.30, Y:1.13, Z:1.82 [[ 9.90806724e-01 -3.59157192e-03 -1.35237334e-01 2.13036208e+01] [ 1.81740393e-03 9.99910694e-01 -1.32400950e-02 1.12670480e+00] [ 1.35272809e-01 1.28725943e-02 9.90724767e-01 1.82192637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.06463044000003 meters Centerline goodness [0,1] 0.3513611926232142 Centerline is valid? [False, False] Translation: X:21.30, Y:1.13, Z:1.82 [[ 9.90809215e-01 -3.51315881e-03 -1.35221141e-01 2.13033975e+01] [ 1.73080349e-03 9.99910102e-01 -1.32963449e-02 1.12761601e+00] [ 1.35255697e-01 1.29400999e-02 9.90726224e-01 1.82216440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.09463044 meters Centerline goodness [0,1] 0.3503247730890008 Centerline is valid? [False, False] Translation: X:21.30, Y:1.13, Z:1.82 [[ 9.90829025e-01 -3.29735003e-03 -1.35081351e-01 2.13024108e+01] [ 1.50663108e-03 9.99909661e-01 -1.33566797e-02 1.12914954e+00] [ 1.35113189e-01 1.30306682e-02 9.90744482e-01 1.82285971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.12463044000003 meters Centerline goodness [0,1] 0.350342333031908 Centerline is valid? [False, False] Translation: X:21.30, Y:1.13, Z:1.82 [[ 9.90822154e-01 -3.16602481e-03 -1.35134881e-01 2.13023778e+01] [ 1.37054367e-03 9.99909577e-01 -1.33775491e-02 1.13016137e+00] [ 1.35165015e-01 1.30695638e-02 9.90736900e-01 1.82307317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.15463044 meters Centerline goodness [0,1] 0.34739619080301987 Centerline is valid? [False, False] Translation: X:21.30, Y:1.13, Z:1.82 [[ 9.90780917e-01 -3.03358987e-03 -1.35439921e-01 2.13029815e+01] [ 1.22999308e-03 9.99909483e-01 -1.33982772e-02 1.13127720e+00] [ 1.35468307e-01 1.31081672e-02 9.90694965e-01 1.82331958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.18463044000003 meters Centerline goodness [0,1] 0.3480652258314999 Centerline is valid? [False, False] Translation: X:21.30, Y:1.13, Z:1.82 [[ 9.90758402e-01 -3.09690979e-03 -1.35603086e-01 2.13033539e+01] [ 1.24565601e-03 9.99904898e-01 -1.37347250e-02 1.13341241e+00] [ 1.35632726e-01 1.34388794e-02 9.90668037e-01 1.82340795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.21463044 meters Centerline goodness [0,1] 0.34887008675163333 Centerline is valid? [False, False] Translation: X:21.32, Y:1.13, Z:1.83 [[ 9.90888605e-01 4.14134009e-03 -1.34620286e-01 2.13224180e+01] [-6.28688202e-03 9.99859846e-01 -1.55165328e-02 1.13232262e+00] [ 1.34537160e-01 1.62214974e-02 9.90775765e-01 1.82721038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.24463044000004 meters Centerline goodness [0,1] 0.35041279558535066 Centerline is valid? [False, False] Translation: X:21.32, Y:1.13, Z:1.83 [[ 9.90881861e-01 4.04493824e-03 -1.34672847e-01 2.13221422e+01] [-6.21043019e-03 9.99858034e-01 -1.56634293e-02 1.13284136e+00] [ 1.34590371e-01 1.63569843e-02 9.90766310e-01 1.82770274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.27463044 meters Centerline goodness [0,1] 0.3485825708714564 Centerline is valid? [False, False] Translation: X:21.34, Y:1.14, Z:1.83 [[ 9.90934315e-01 -2.88364699e-03 -1.34316295e-01 2.13404003e+01] [ 9.86377550e-04 9.99898833e-01 -1.41897892e-02 1.13884405e+00] [ 1.34343625e-01 1.39286624e-02 9.90836910e-01 1.83153587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30463044000004 meters Centerline goodness [0,1] 0.3463966952762141 Centerline is valid? [False, False] Translation: X:21.34, Y:1.14, Z:1.83 [[ 9.90892833e-01 -2.79833193e-03 -1.34623783e-01 2.13410062e+01] [ 9.05207147e-04 9.99899877e-01 -1.41214905e-02 1.13911188e+00] [ 1.34649821e-01 1.38710214e-02 9.90796155e-01 1.83186340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.33463044 meters Centerline goodness [0,1] 0.3466340584373794 Centerline is valid? [False, False] Translation: X:21.34, Y:1.14, Z:1.83 [[ 9.90872660e-01 -2.77717230e-03 -1.34772622e-01 2.13413839e+01] [ 8.86124245e-04 9.99900347e-01 -1.40893546e-02 1.13921216e+00] [ 1.34798320e-01 1.38413310e-02 9.90776378e-01 1.83196382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36463044 meters Centerline goodness [0,1] 0.34744456810204605 Centerline is valid? [False, False] Translation: X:21.34, Y:1.14, Z:1.83 [[ 9.90852004e-01 -2.72770595e-03 -1.34925407e-01 2.13412693e+01] [ 8.46227328e-04 9.99901638e-01 -1.39999697e-02 1.13908680e+00] [ 1.34950323e-01 1.37577204e-02 9.90756850e-01 1.83267980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.39463044 meters Centerline goodness [0,1] 0.3490503272883356 Centerline is valid? [False, False] Translation: X:21.34, Y:1.14, Z:1.83 [[ 9.90862368e-01 -2.68002457e-03 -1.34850229e-01 2.13407450e+01] [ 8.04624624e-04 9.99902233e-01 -1.39598598e-02 1.13932158e+00] [ 1.34874458e-01 1.37237959e-02 9.90767651e-01 1.83311931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42463044 meters Centerline goodness [0,1] 0.34984600142152533 Centerline is valid? [False, False] Translation: X:21.34, Y:1.14, Z:1.83 [[ 9.90871242e-01 -2.66968658e-03 -1.34785217e-01 2.13404842e+01] [ 7.87874426e-04 9.99901503e-01 -1.40129722e-02 1.13994190e+00] [ 1.34809352e-01 1.37788574e-02 9.90775747e-01 1.83326776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.45463044 meters Centerline goodness [0,1] 0.34665809768637534 Centerline is valid? [False, False] Translation: X:21.34, Y:1.14, Z:1.83 [[ 9.90874485e-01 -2.63409186e-03 -1.34762071e-01 2.13405496e+01] [ 7.43256049e-04 9.99900605e-01 -1.40793071e-02 1.14083047e+00] [ 1.34785763e-01 1.38506635e-02 9.90777956e-01 1.83319274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48463044 meters Centerline goodness [0,1] 0.34739827267649204 Centerline is valid? [False, False] Translation: X:21.34, Y:1.14, Z:1.83 [[ 9.90817409e-01 -2.52290119e-03 -1.35183200e-01 2.13417111e+01] [ 5.96114202e-04 9.99897690e-01 -1.42917371e-02 1.14390434e+00] [ 1.35205426e-01 1.40799172e-02 9.90717542e-01 1.83313105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.51463044 meters Centerline goodness [0,1] 0.3441653090971448 Centerline is valid? [False, False] Translation: X:21.34, Y:1.15, Z:1.83 [[ 9.90794742e-01 -2.50109380e-03 -1.35349638e-01 2.13423014e+01] [ 5.50422049e-04 9.99895477e-01 -1.44475976e-02 1.14555013e+00] [ 1.35371625e-01 1.42401043e-02 9.90692557e-01 1.83299668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54463044 meters Centerline goodness [0,1] 0.3456975200239859 Centerline is valid? [False, False] Translation: X:21.34, Y:1.15, Z:1.83 [[ 9.90786434e-01 -2.63522663e-03 -1.35407891e-01 2.13423468e+01] [ 6.45074663e-04 9.99891164e-01 -1.47392340e-02 1.14717987e+00] [ 1.35431995e-01 1.45160849e-02 9.90680301e-01 1.83318742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.57463044 meters Centerline goodness [0,1] 0.34663298942591725 Centerline is valid? [False, False] Translation: X:21.34, Y:1.15, Z:1.83 [[ 9.90785869e-01 -2.75647211e-03 -1.35409617e-01 2.13422581e+01] [ 7.36682477e-04 9.99887762e-01 -1.49639899e-02 1.14837751e+00] [ 1.35435667e-01 1.47263559e-02 9.90676695e-01 1.83331518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60463044 meters Centerline goodness [0,1] 0.34535441844518733 Centerline is valid? [False, False] Translation: X:21.34, Y:1.15, Z:1.83 [[ 9.90760993e-01 -2.97244552e-03 -1.35586945e-01 2.13425686e+01] [ 9.04641862e-04 9.99882389e-01 -1.53098224e-02 1.15040541e+00] [ 1.35616506e-01 1.50457172e-02 9.90647157e-01 1.83357839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.63463044 meters Centerline goodness [0,1] 0.34308464972527475 Centerline is valid? [False, False] Translation: X:21.34, Y:1.15, Z:1.83 [[ 9.90724754e-01 -3.04117666e-03 -1.35849967e-01 2.13433365e+01] [ 9.58522163e-04 9.99881056e-01 -1.53933295e-02 1.15100778e+00] [ 1.35880622e-01 1.51203373e-02 9.90609828e-01 1.83358990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66463044 meters Centerline goodness [0,1] 0.34575702863038427 Centerline is valid? [False, False] Translation: X:21.34, Y:1.15, Z:1.83 [[ 9.90696737e-01 -3.18001279e-03 -1.36050955e-01 2.13439671e+01] [ 1.07214792e-03 9.99878304e-01 -1.55636714e-02 1.15173442e+00] [ 1.36083891e-01 1.52730117e-02 9.90579583e-01 1.83355634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.69463044 meters Centerline goodness [0,1] 0.3446154501138855 Centerline is valid? [False, False] Translation: X:21.36, Y:1.16, Z:1.84 [[ 9.90579998e-01 -1.10460316e-02 -1.36489021e-01 2.13640205e+01] [ 9.07791553e-03 9.99845779e-01 -1.50336379e-02 1.15951052e+00] [ 1.36634034e-01 1.36529852e-02 9.90527504e-01 1.83760720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72463044 meters Centerline goodness [0,1] 0.34298159035317344 Centerline is valid? [False, False] Translation: X:21.36, Y:1.16, Z:1.84 [[ 9.90568626e-01 -1.10402733e-02 -1.36571995e-01 2.13641891e+01] [ 9.06157371e-03 9.99844903e-01 -1.51015614e-02 1.16042560e+00] [ 1.36717539e-01 1.37215757e-02 9.90515034e-01 1.83771555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.75463044 meters Centerline goodness [0,1] 0.34356956503143576 Centerline is valid? [False, False] Translation: X:21.38, Y:1.16, Z:1.84 [[ 9.90579846e-01 -3.69792509e-03 -1.36886426e-01 2.13832353e+01] [ 1.46510619e-03 9.99864296e-01 -1.64086291e-02 1.15937415e+00] [ 1.36928528e-01 1.60535042e-02 9.90450838e-01 1.84174279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78463044 meters Centerline goodness [0,1] 0.34402855860285153 Centerline is valid? [False, False] Translation: X:21.38, Y:1.16, Z:1.84 [[ 9.90559421e-01 -3.72205217e-03 -1.37033499e-01 2.13837134e+01] [ 1.46689306e-03 9.99861892e-01 -1.65542980e-02 1.16062084e+00] [ 1.37076190e-01 1.61970023e-02 9.90428077e-01 1.84170172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.81463044000003 meters Centerline goodness [0,1] 0.3427096884263505 Centerline is valid? [False, False] Translation: X:21.38, Y:1.16, Z:1.84 [[ 9.90525527e-01 -3.83304691e-03 -1.37275228e-01 2.13843166e+01] [ 1.53660393e-03 9.99857171e-01 -1.68308154e-02 1.16230605e+00] [ 1.37320134e-01 1.64604147e-02 9.90389941e-01 1.84178529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84463044 meters Centerline goodness [0,1] 0.34404710920770876 Centerline is valid? [False, False] Translation: X:21.38, Y:1.17, Z:1.84 [[ 9.90493292e-01 -3.98798470e-03 -1.37503217e-01 2.13843740e+01] [ 1.62327952e-03 9.99848934e-01 -1.73053026e-02 1.16537767e+00] [ 1.37551458e-01 1.69175800e-02 9.90350136e-01 1.84240716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.87463044000003 meters Centerline goodness [0,1] 0.3451094575649736 Centerline is valid? [False, False] Translation: X:21.38, Y:1.17, Z:1.84 [[ 9.90483635e-01 -4.00848041e-03 -1.37572168e-01 2.13842696e+01] [ 1.62304578e-03 9.99846467e-01 -1.74473131e-02 1.16663649e+00] [ 1.37620983e-01 1.70579922e-02 9.90338068e-01 1.84276236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90463044 meters Centerline goodness [0,1] 0.3421284080914688 Centerline is valid? [False, False] Translation: X:21.38, Y:1.17, Z:1.84 [[ 9.90481214e-01 -3.98550825e-03 -1.37590265e-01 2.13841426e+01] [ 1.59066991e-03 9.99845403e-01 -1.75111476e-02 1.16759870e+00] [ 1.37638785e-01 1.71256020e-02 9.90334428e-01 1.84308837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.93463044000003 meters Centerline goodness [0,1] 0.34633671925653775 Centerline is valid? [False, False] Translation: X:21.38, Y:1.17, Z:1.84 [[ 9.90496941e-01 -3.98001606e-03 -1.37477160e-01 2.13837744e+01] [ 1.58678055e-03 9.99845369e-01 -1.75134499e-02 1.16791772e+00] [ 1.37525605e-01 1.71288724e-02 9.90350094e-01 1.84327070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96463044 meters Centerline goodness [0,1] 0.344834249398832 Centerline is valid? [False, False] Translation: X:21.40, Y:1.17, Z:1.85 [[ 9.90515942e-01 -1.14319167e-02 -1.36921438e-01 2.14025032e+01] [ 9.29332640e-03 9.99824800e-01 -1.62481925e-02 1.17342503e+00] [ 1.37083197e-01 1.48216380e-02 9.90448644e-01 1.84713519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.99463044000004 meters Centerline goodness [0,1] 0.34029041954193306 Centerline is valid? [False, False] Translation: X:21.44, Y:1.17, Z:1.85 [[ 9.90813990e-01 -1.18442882e-02 -1.34712104e-01 2.14446009e+01] [ 9.77566003e-03 9.99824090e-01 -1.60070540e-02 1.17480249e+00] [ 1.34877999e-01 1.45431133e-02 9.90755481e-01 1.85367745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02463044 meters Centerline goodness [0,1] 0.342208334225114 Centerline is valid? [False, False] Translation: X:21.44, Y:1.17, Z:1.85 [[ 9.90800673e-01 -1.17536137e-02 -1.34817948e-01 2.14448400e+01] [ 9.71342567e-03 9.99828294e-01 -1.57807388e-02 1.17365369e+00] [ 1.34980280e-01 1.43260225e-02 9.90744714e-01 1.85382551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.05463044000004 meters Centerline goodness [0,1] 0.34333361987449496 Centerline is valid? [False, False] Translation: X:21.45, Y:1.17, Z:1.85 [[ 9.90786117e-01 -1.16985390e-02 -1.34929668e-01 2.14451480e+01] [ 9.68422007e-03 9.99831798e-01 -1.55753774e-02 1.17227143e+00] [ 1.35089182e-01 1.41251791e-02 9.90732755e-01 1.85392588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08463044 meters Centerline goodness [0,1] 0.33995806948485363 Centerline is valid? [False, False] Translation: X:21.45, Y:1.17, Z:1.85 [[ 9.90770925e-01 -1.17913961e-02 -1.35033097e-01 2.14458120e+01] [ 9.81398755e-03 9.99834781e-01 -1.53002076e-02 1.16897030e+00] [ 1.35191197e-01 1.38337877e-02 9.90722951e-01 1.85378014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.11463044 meters Centerline goodness [0,1] 0.3415264924017355 Centerline is valid? [False, False] Translation: X:21.45, Y:1.17, Z:1.85 [[ 9.90758464e-01 -1.17450596e-02 -1.35128529e-01 2.14460851e+01] [ 9.79670752e-03 9.99838379e-01 -1.50744665e-02 1.16726201e+00] [ 1.35283740e-01 1.36113406e-02 9.90713400e-01 1.85381986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14463044 meters Centerline goodness [0,1] 0.3408402277855378 Centerline is valid? [False, False] Translation: X:21.45, Y:1.17, Z:1.85 [[ 9.90738995e-01 -1.15747031e-02 -1.35285880e-01 2.14465761e+01] [ 9.67513880e-03 9.99845283e-01 -1.46901883e-02 1.16508669e+00] [ 1.35434983e-01 1.32452327e-02 9.90697698e-01 1.85380919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.17463044 meters Centerline goodness [0,1] 0.3390714103327943 Centerline is valid? [False, False] Translation: X:21.47, Y:1.16, Z:1.86 [[ 9.90679407e-01 -4.20166741e-03 -1.36149395e-01 2.14668530e+01] [ 2.11986917e-03 9.99878674e-01 -1.54319224e-02 1.15975827e+00] [ 1.36197717e-01 1.49994688e-02 9.90568119e-01 1.85761331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20463044 meters Centerline goodness [0,1] 0.33979084519115377 Centerline is valid? [False, False] Translation: X:21.47, Y:1.16, Z:1.86 [[ 9.90648932e-01 -3.98807537e-03 -1.36377373e-01 2.14675075e+01] [ 1.97264299e-03 9.99886889e-01 -1.49103004e-02 1.15626977e+00] [ 1.36421411e-01 1.45018493e-02 9.90544747e-01 1.85762396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.23463044 meters Centerline goodness [0,1] 0.3358091091475648 Centerline is valid? [False, False] Translation: X:21.47, Y:1.16, Z:1.86 [[ 9.90632386e-01 -3.85193152e-03 -1.36501423e-01 2.14678231e+01] [ 1.86559781e-03 9.99890551e-01 -1.46766845e-02 1.15502258e+00] [ 1.36543017e-01 1.42845422e-02 9.90531149e-01 1.85770781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26463044 meters Centerline goodness [0,1] 0.33585218927605953 Centerline is valid? [False, False] Translation: X:21.47, Y:1.15, Z:1.86 [[ 9.90633094e-01 -3.69848205e-03 -1.36500527e-01 2.14680826e+01] [ 1.74448847e-03 9.99894335e-01 -1.44317629e-02 1.15389487e+00] [ 1.36539479e-01 1.40584583e-02 9.90534871e-01 1.85751687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.29463044 meters Centerline goodness [0,1] 0.3342977774920165 Centerline is valid? [False, False] Translation: X:21.47, Y:1.15, Z:1.86 [[ 9.90647351e-01 -3.59579225e-03 -1.36399769e-01 2.14679537e+01] [ 1.66669255e-03 9.99897010e-01 -1.42545503e-02 1.15293403e+00] [ 1.36436978e-01 1.38938960e-02 9.90551317e-01 1.85739863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.32463044 meters Centerline goodness [0,1] 0.3360089522046956 Centerline is valid? [False, False] Translation: X:21.47, Y:1.15, Z:1.86 [[ 9.90698031e-01 -3.40069887e-03 -1.36036194e-01 2.14666049e+01] [ 1.53363921e-03 9.99903224e-01 -1.38271761e-02 1.15025355e+00] [ 1.36070051e-01 1.34899257e-02 9.90607371e-01 1.85803738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.35463044 meters Centerline goodness [0,1] 0.334753838576354 Centerline is valid? [False, False] Translation: X:21.47, Y:1.15, Z:1.86 [[ 9.90687615e-01 -3.25905750e-03 -1.36115498e-01 2.14666567e+01] [ 1.42503856e-03 9.99906918e-01 -1.35692563e-02 1.14902921e+00] [ 1.36147051e-01 1.32489243e-02 9.90600044e-01 1.85830314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.38463044 meters Centerline goodness [0,1] 0.3369352725085394 Centerline is valid? [False, False] Translation: X:21.47, Y:1.15, Z:1.86 [[ 9.90668359e-01 -3.09474754e-03 -1.36259404e-01 2.14669604e+01] [ 1.29610114e-03 9.99910885e-01 -1.32869021e-02 1.14775960e+00] [ 1.36288381e-01 1.29863075e-02 9.90584087e-01 1.85844916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.41463044 meters Centerline goodness [0,1] 0.333204450745371 Centerline is valid? [False, False] Translation: X:21.47, Y:1.15, Z:1.86 [[ 9.90652209e-01 -2.97988884e-03 -1.36379325e-01 2.14672977e+01] [ 1.21406560e-03 9.99914379e-01 -1.30292251e-02 1.14614299e+00] [ 1.36406474e-01 1.27418572e-02 9.90571007e-01 1.85849193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.44463044 meters Centerline goodness [0,1] 0.3319951570764035 Centerline is valid? [False, False] Translation: X:21.51, Y:1.14, Z:1.86 [[ 9.90934509e-01 -3.62190204e-03 -1.34296985e-01 2.15101993e+01] [ 1.82308391e-03 9.99907008e-01 -1.35148862e-02 1.14480647e+00] [ 1.34333446e-01 1.31475325e-02 9.90848963e-01 1.86493148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.47463044 meters Centerline goodness [0,1] 0.3319951570764035 Centerline is valid? [False, False] Translation: X:21.51, Y:1.14, Z:1.86 [[ 9.90934509e-01 -3.62190204e-03 -1.34296985e-01 2.15101993e+01] [ 1.82308391e-03 9.99907008e-01 -1.35148862e-02 1.14480647e+00] [ 1.34333446e-01 1.31475325e-02 9.90848963e-01 1.86493148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.50463044 meters Centerline goodness [0,1] 0.3305862560957431 Centerline is valid? [False, False] Translation: X:21.51, Y:1.14, Z:1.87 [[ 9.90957662e-01 -3.47331018e-03 -1.34129965e-01 2.15096388e+01] [ 1.71288195e-03 9.99910907e-01 -1.32379610e-02 1.14328209e+00] [ 1.34163994e-01 1.28885101e-02 9.90875325e-01 1.86514093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.53463044 meters Centerline goodness [0,1] 0.33584153321757027 Centerline is valid? [False, False] Translation: X:21.51, Y:1.14, Z:1.87 [[ 9.90988937e-01 -3.25435946e-03 -1.33904203e-01 2.15090820e+01] [ 1.54266339e-03 9.99915798e-01 -1.28847568e-02 1.14178480e+00] [ 1.33934860e-01 1.25620823e-02 9.90910514e-01 1.86517432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.56463044000003 meters Centerline goodness [0,1] 0.33437104150117014 Centerline is valid? [False, False] Translation: X:21.51, Y:1.14, Z:1.87 [[ 9.91011134e-01 -3.09514332e-03 -1.33743606e-01 2.15088340e+01] [ 1.41858413e-03 9.99919244e-01 -1.26290949e-02 1.14057162e+00] [ 1.33771894e-01 1.23258471e-02 9.90935494e-01 1.86506678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.59463044 meters Centerline goodness [0,1] 0.33163875598086123 Centerline is valid? [False, False] Translation: X:21.51, Y:1.14, Z:1.87 [[ 9.91015968e-01 -2.78195472e-03 -1.33714666e-01 2.15087348e+01] [ 1.18064942e-03 9.99926659e-01 -1.20533395e-02 1.13721305e+00] [ 1.33738391e-01 1.17871818e-02 9.90946570e-01 1.86523239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.62463044000003 meters Centerline goodness [0,1] 0.33159402934006244 Centerline is valid? [False, False] Translation: X:21.51, Y:1.14, Z:1.87 [[ 9.91007471e-01 -2.57365212e-03 -1.33781792e-01 2.15090058e+01] [ 1.01956062e-03 9.99931222e-01 -1.16838240e-02 1.13530661e+00] [ 1.33802661e-01 1.14423583e-02 9.90941936e-01 1.86518465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.65463044 meters Centerline goodness [0,1] 0.33055703482799015 Centerline is valid? [False, False] Translation: X:21.51, Y:1.13, Z:1.87 [[ 9.90976650e-01 -2.34500191e-03 -1.34014101e-01 2.15097941e+01] [ 8.44611655e-04 9.99936343e-01 -1.12515190e-02 1.13314693e+00] [ 1.34031955e-01 1.10368028e-02 9.90915548e-01 1.86506235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.68463044000003 meters Centerline goodness [0,1] 0.33458418289878966 Centerline is valid? [False, False] Translation: X:21.49, Y:1.13, Z:1.86 [[ 9.90935062e-01 4.77231846e-03 -1.34256944e-01 2.14925415e+01] [-6.50449985e-03 9.99901136e-01 -1.24663222e-02 1.12524390e+00] [ 1.34184177e-01 1.32265900e-02 9.90868136e-01 1.86054013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.71463044 meters Centerline goodness [0,1] 0.33116058943745297 Centerline is valid? [False, False] Translation: X:21.51, Y:1.12, Z:1.86 [[ 9.91006543e-01 -3.00715398e-03 -1.33779625e-01 2.15139084e+01] [ 1.48492983e-03 9.99933035e-01 -1.14769153e-02 1.12428464e+00] [ 1.33805179e-01 1.11750448e-02 9.90944646e-01 1.86316957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.74463044000004 meters Centerline goodness [0,1] 0.3316356010186394 Centerline is valid? [False, False] Translation: X:21.51, Y:1.12, Z:1.86 [[ 9.91034573e-01 -2.76081135e-03 -1.33577144e-01 2.15134090e+01] [ 1.30639685e-03 9.99938924e-01 -1.09746192e-02 1.12156027e+00] [ 1.33599284e-01 1.07017223e-02 9.90977651e-01 1.86326701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.77463044 meters Centerline goodness [0,1] 0.3302258797308302 Centerline is valid? [False, False] Translation: X:21.51, Y:1.12, Z:1.86 [[ 9.91062208e-01 -2.50964053e-03 -1.33376915e-01 2.15127906e+01] [ 1.12472893e-03 9.99944683e-01 -1.04577720e-02 1.11890435e+00] [ 1.33395782e-01 1.02142897e-02 9.91010209e-01 1.86341239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80463044000004 meters Centerline goodness [0,1] 0.3306035402004692 Centerline is valid? [False, False] Translation: X:21.51, Y:1.12, Z:1.86 [[ 9.91046775e-01 -2.32428700e-03 -1.33494893e-01 2.15131585e+01] [ 1.00005618e-03 9.99949640e-01 -9.98590631e-03 1.11604086e+00] [ 1.33511380e-01 9.76299786e-03 9.90999190e-01 1.86343933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.83463044 meters Centerline goodness [0,1] 0.33030671185284655 Centerline is valid? [False, False] Translation: X:21.52, Y:1.11, Z:1.86 [[ 9.90915971e-01 -3.23724726e-03 -1.34443518e-01 2.15162520e+01] [ 1.89306601e-03 9.99946952e-01 -1.01247439e-02 1.10797722e+00] [ 1.34469162e-01 9.77826000e-03 9.90869532e-01 1.86294218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86463044 meters Centerline goodness [0,1] 0.3324341239182511 Centerline is valid? [False, False] Translation: X:21.52, Y:1.10, Z:1.86 [[ 9.90877032e-01 -3.12394127e-03 -1.34732877e-01 2.15172543e+01] [ 1.83798908e-03 9.99951577e-01 -9.66778754e-03 1.10441248e+00] [ 1.34756555e-01 9.33195107e-03 9.90834792e-01 1.86272856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.89463044 meters Centerline goodness [0,1] 0.3281290211889851 Centerline is valid? [False, False] Translation: X:21.52, Y:1.10, Z:1.86 [[ 9.90851107e-01 -2.93817157e-03 -1.34927576e-01 2.15179912e+01] [ 1.71486970e-03 9.99956377e-01 -9.18168760e-03 1.10106443e+00] [ 1.34948668e-01 8.86630211e-03 9.90812922e-01 1.86260088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92463044 meters Centerline goodness [0,1] 0.32895782757213143 Centerline is valid? [False, False] Translation: X:21.52, Y:1.10, Z:1.86 [[ 9.90853042e-01 -2.70268239e-03 -1.34918289e-01 2.15181652e+01] [ 1.54417677e-03 9.99961043e-01 -8.69062943e-03 1.09820854e+00] [ 1.34936521e-01 8.40279893e-03 9.90818615e-01 1.86244290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.95463044 meters Centerline goodness [0,1] 0.32921025553078376 Centerline is valid? [False, False] Translation: X:21.52, Y:1.09, Z:1.86 [[ 9.90859711e-01 -2.18145999e-03 -1.34878743e-01 2.15178102e+01] [ 1.13747455e-03 9.99968802e-01 -7.81675607e-03 1.09332253e+00] [ 1.34891587e-01 7.59188752e-03 9.90831279e-01 1.86284913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98463044 meters Centerline goodness [0,1] 0.32826525791349914 Centerline is valid? [False, False] Translation: X:21.52, Y:1.09, Z:1.86 [[ 9.90864165e-01 -1.94314836e-03 -1.34849661e-01 2.15177511e+01] [ 9.51256693e-04 9.99972022e-01 -7.41957984e-03 1.09135784e+00] [ 1.34860305e-01 7.22351914e-03 9.90838291e-01 1.86290917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.01463044 meters Centerline goodness [0,1] 0.3298722044728435 Centerline is valid? [False, False] Translation: X:21.52, Y:1.09, Z:1.86 [[ 9.90867651e-01 -1.71981571e-03 -1.34827075e-01 2.15178016e+01] [ 7.72121944e-04 9.99974632e-01 -7.08093252e-03 1.08975288e+00] [ 1.34835833e-01 6.91216403e-03 9.90843842e-01 1.86282058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04463044 meters Centerline goodness [0,1] 0.33209631483559165 Centerline is valid? [False, False] Translation: X:21.52, Y:1.09, Z:1.86 [[ 9.90858029e-01 -1.59030454e-03 -1.34899358e-01 2.15182224e+01] [ 6.66585554e-04 9.99976025e-01 -6.89235873e-03 1.08875704e+00] [ 1.34907085e-01 6.73942702e-03 9.90835334e-01 1.86257685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.07463044 meters Centerline goodness [0,1] 0.3278488334725882 Centerline is valid? [False, False] Translation: X:21.54, Y:1.08, Z:1.87 [[ 9.90739199e-01 6.37734831e-03 -1.35628788e-01 2.15398320e+01] [-7.52624811e-03 9.99939996e-01 -7.95983950e-03 1.08468966e+00] [ 1.35569887e-01 8.90690093e-03 9.90727749e-01 1.86562447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10463044 meters Centerline goodness [0,1] 0.3275615126445627 Centerline is valid? [False, False] Translation: X:21.54, Y:1.08, Z:1.87 [[ 9.90735425e-01 6.44132389e-03 -1.35653335e-01 2.15402581e+01] [-7.59214004e-03 9.99939434e-01 -7.96787131e-03 1.08499694e+00] [ 1.35593796e-01 8.92395148e-03 9.90724324e-01 1.86524235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.13463044 meters Centerline goodness [0,1] 0.32616808478877446 Centerline is valid? [False, False] Translation: X:21.54, Y:1.09, Z:1.87 [[ 9.90744292e-01 6.49480138e-03 -1.35586009e-01 2.15403415e+01] [-7.64521300e-03 9.99939047e-01 -7.96576024e-03 1.08524528e+00] [ 1.35526009e-01 8.92861541e-03 9.90733557e-01 1.86500341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16463044 meters Centerline goodness [0,1] 0.3286930117184159 Centerline is valid? [False, False] Translation: X:21.54, Y:1.09, Z:1.86 [[ 9.90762867e-01 6.52989054e-03 -1.35448519e-01 2.15400750e+01] [-7.67603010e-03 9.99939006e-01 -7.94127056e-03 1.08515122e+00] [ 1.35388402e-01 8.90762290e-03 9.90752560e-01 1.86491178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.19463044 meters Centerline goodness [0,1] 0.3302811039252097 Centerline is valid? [False, False] Translation: X:21.54, Y:1.08, Z:1.86 [[ 9.90798443e-01 6.58305434e-03 -1.35185460e-01 2.15396787e+01] [-7.70500536e-03 9.99940067e-01 -7.77781520e-03 1.08387300e+00] [ 1.35126156e-01 8.74785188e-03 9.90789785e-01 1.86470379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22463044 meters Centerline goodness [0,1] 0.3262826956391557 Centerline is valid? [False, False] Translation: X:21.54, Y:1.08, Z:1.86 [[ 9.90796837e-01 6.63840865e-03 -1.35194525e-01 2.15397674e+01] [-7.73376235e-03 9.99941376e-01 -7.57847109e-03 1.08251105e+00] [ 1.35136290e-01 8.55428751e-03 9.90790092e-01 1.86467979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.25463044 meters Centerline goodness [0,1] 0.3305068331001829 Centerline is valid? [False, False] Translation: X:21.54, Y:1.08, Z:1.86 [[ 9.90788004e-01 6.68537359e-03 -1.35256927e-01 2.15399527e+01] [-7.74820356e-03 9.99943095e-01 -7.33296257e-03 1.08065281e+00] [ 1.35200207e-01 8.31340955e-03 9.90783423e-01 1.86470031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28463044 meters Centerline goodness [0,1] 0.3299359784168041 Centerline is valid? [False, False] Translation: X:21.56, Y:1.08, Z:1.87 [[ 9.90739033e-01 -5.33660008e-04 -1.35778806e-01 2.15586538e+01] [-3.09154988e-04 9.99980818e-01 -6.18610303e-03 1.08351345e+00] [ 1.35779503e-01 6.17079042e-03 9.90719863e-01 1.86911308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.31463044000003 meters Centerline goodness [0,1] 0.3367657281890859 Centerline is valid? [False, False] Translation: X:21.56, Y:1.08, Z:1.87 [[ 9.90788809e-01 -6.32399556e-04 -1.35414678e-01 2.15574717e+01] [-1.58050074e-04 9.99983014e-01 -5.82642198e-03 1.07944710e+00] [ 1.35416063e-01 5.79415599e-03 9.90771880e-01 1.86954067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34463044 meters Centerline goodness [0,1] 0.3321390488377053 Centerline is valid? [False, False] Translation: X:21.60, Y:1.08, Z:1.88 [[ 9.91069713e-01 -2.99613733e-04 -1.33344416e-01 2.15980931e+01] [-4.96023674e-04 9.99982273e-01 -5.93352527e-03 1.08015536e+00] [ 1.33343830e-01 5.94667918e-03 9.91051997e-01 1.87617636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.37463044000003 meters Centerline goodness [0,1] 0.33671190517093286 Centerline is valid? [False, False] Translation: X:21.60, Y:1.08, Z:1.88 [[ 9.91091147e-01 -2.10732332e-04 -1.33185184e-01 2.15976257e+01] [-5.50794523e-04 9.99983712e-01 -5.68093578e-03 1.07847884e+00] [ 1.33184211e-01 5.70368283e-03 9.91074888e-01 1.87631030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40463044 meters Centerline goodness [0,1] 0.33426558497011105 Centerline is valid? [False, False] Translation: X:21.60, Y:1.08, Z:1.88 [[ 9.91080019e-01 -1.22568423e-04 -1.33268078e-01 2.15978196e+01] [-6.11681277e-04 9.99984860e-01 -5.46861388e-03 1.07718684e+00] [ 1.33266730e-01 5.50135153e-03 9.91064939e-01 1.87641368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.43463044000003 meters Centerline goodness [0,1] 0.3391187673130194 Centerline is valid? [False, False] Translation: X:21.60, Y:1.08, Z:1.88 [[ 9.91036612e-01 9.12501049e-05 -1.33590511e-01 2.15988879e+01] [-7.74980667e-04 9.99986867e-01 -5.06611812e-03 1.07511777e+00] [ 1.33588294e-01 5.12423860e-03 9.91023668e-01 1.87617605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46463044 meters Centerline goodness [0,1] 0.33084338887824805 Centerline is valid? [False, False] Translation: X:21.64, Y:1.08, Z:1.88 [[ 9.91117409e-01 9.02162302e-04 -1.32986717e-01 2.16407986e+01] [-1.58804825e-03 9.99985980e-01 -5.05157683e-03 1.07697269e+00] [ 1.32980295e-01 5.21789507e-03 9.91104946e-01 1.88304723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.49463044000004 meters Centerline goodness [0,1] 0.33228275551553355 Centerline is valid? [False, False] Translation: X:21.64, Y:1.08, Z:1.88 [[ 9.91135537e-01 9.88156409e-04 -1.32850934e-01 2.16402385e+01] [-1.64774452e-03 9.99986857e-01 -4.85502589e-03 1.07584643e+00] [ 1.32844390e-01 5.03089309e-03 9.91124139e-01 1.88332716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52463044 meters Centerline goodness [0,1] 0.336600885678662 Centerline is valid? [False, False] Translation: X:21.64, Y:1.07, Z:1.88 [[ 9.91165593e-01 1.00966443e-03 -1.32626348e-01 2.16395201e+01] [-1.64652193e-03 9.99987636e-01 -4.69231001e-03 1.07449729e+00] [ 1.32619971e-01 4.86922842e-03 9.91155000e-01 1.88357787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.55463044000004 meters Centerline goodness [0,1] 0.3373894042288824 Centerline is valid? [False, False] Translation: X:21.64, Y:1.07, Z:1.88 [[ 9.91217630e-01 9.90826214e-04 -1.32237015e-01 2.16385557e+01] [-1.58186794e-03 9.99989224e-01 -4.36458623e-03 1.07171310e+00] [ 1.32231265e-01 4.53543631e-03 9.91208516e-01 1.88369580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58463044 meters Centerline goodness [0,1] 0.33845689525082456 Centerline is valid? [False, False] Translation: X:21.64, Y:1.07, Z:1.88 [[ 9.91214257e-01 9.74827733e-04 -1.32262412e-01 2.16387128e+01] [-1.54356156e-03 9.99989999e-01 -4.19758141e-03 1.07013959e+00] [ 1.32256998e-01 4.36485771e-03 9.91205849e-01 1.88364699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.61463044 meters Centerline goodness [0,1] 0.3390830490656712 Centerline is valid? [False, False] Translation: X:21.64, Y:1.07, Z:1.88 [[ 9.91193535e-01 9.08511622e-04 -1.32418094e-01 2.16393362e+01] [-1.45970660e-03 9.99990670e-01 -4.06552144e-03 1.06839301e+00] [ 1.32413165e-01 4.22301013e-03 9.91185613e-01 1.88348888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64463044 meters Centerline goodness [0,1] 0.33911919888015507 Centerline is valid? [False, False] Translation: X:21.64, Y:1.07, Z:1.88 [[ 9.91194815e-01 8.49944438e-04 -1.32408898e-01 2.16396147e+01] [-1.37894983e-03 9.99991430e-01 -3.90359539e-03 1.06651415e+00] [ 1.32404446e-01 4.05180874e-03 9.91187493e-01 1.88320303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.67463044 meters Centerline goodness [0,1] 0.336933693369337 Centerline is valid? [False, False] Translation: X:21.64, Y:1.06, Z:1.88 [[ 9.91168224e-01 8.21451022e-04 -1.32607985e-01 2.16404020e+01] [-1.32920481e-03 9.99992121e-01 -3.74050641e-03 1.06490075e+00] [ 1.32603868e-01 3.88373427e-03 9.91161506e-01 1.88296165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70463044 meters Centerline goodness [0,1] 0.3368185534185276 Centerline is valid? [False, False] Translation: X:21.64, Y:1.06, Z:1.88 [[ 9.91108930e-01 8.04305458e-04 -1.33050522e-01 2.16420058e+01] [-1.26095607e-03 9.99993601e-01 -3.34793510e-03 1.06110145e+00] [ 1.33046978e-01 3.48593924e-03 9.91103602e-01 1.88253891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.73463044 meters Centerline goodness [0,1] 0.33694038680808036 Centerline is valid? [False, False] Translation: X:21.64, Y:1.06, Z:1.88 [[ 9.91077976e-01 8.47149905e-04 -1.33280634e-01 2.16429445e+01] [-1.27458624e-03 9.99994315e-01 -3.12175336e-03 1.05932796e+00] [ 1.33277232e-01 3.26377866e-03 9.91073422e-01 1.88220878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76463044 meters Centerline goodness [0,1] 0.3388774282276087 Centerline is valid? [False, False] Translation: X:21.64, Y:1.06, Z:1.88 [[ 9.91043987e-01 8.62632304e-04 -1.33533035e-01 2.16439462e+01] [-1.26756651e-03 9.99994853e-01 -2.94748263e-03 1.05786853e+00] [ 1.33529805e-01 3.09034694e-03 9.91039979e-01 1.88192139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.79463044 meters Centerline goodness [0,1] 0.336614383840113 Centerline is valid? [False, False] Translation: X:21.64, Y:1.06, Z:1.88 [[ 9.91026073e-01 9.40057192e-04 -1.33665397e-01 2.16446126e+01] [-1.31213928e-03 9.99995506e-01 -2.69562114e-03 1.05625654e+00] [ 1.33662263e-01 2.84681845e-03 9.91022853e-01 1.88162730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.82463044 meters Centerline goodness [0,1] 0.3380275633721055 Centerline is valid? [False, False] Translation: X:21.64, Y:1.05, Z:1.88 [[ 9.91040695e-01 1.21032172e-03 -1.33554767e-01 2.16442852e+01] [-1.48747158e-03 9.99996943e-01 -1.97542066e-03 1.05135576e+00] [ 1.33551968e-01 2.15638118e-03 9.91039465e-01 1.88177968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.85463044 meters Centerline goodness [0,1] 0.3382214621633176 Centerline is valid? [False, False] Translation: X:21.64, Y:1.05, Z:1.88 [[ 9.91039566e-01 1.33495492e-03 -1.33561957e-01 2.16443236e+01] [-1.55770002e-03 9.99997565e-01 -1.56324964e-03 1.04851996e+00] [ 1.33559545e-01 1.75729171e-03 9.91039232e-01 1.88188278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.88463044 meters Centerline goodness [0,1] 0.3390468407243322 Centerline is valid? [False, False] Translation: X:21.64, Y:1.05, Z:1.88 [[ 9.91019619e-01 1.42646440e-03 -1.33708940e-01 2.16447470e+01] [-1.59625648e-03 9.99998050e-01 -1.16267369e-03 1.04549191e+00] [ 1.33707021e-01 1.36566620e-03 9.91019963e-01 1.88190137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.91463044 meters Centerline goodness [0,1] 0.34002798407060597 Centerline is valid? [False, False] Translation: X:21.65, Y:1.04, Z:1.88 [[ 9.90935224e-01 1.43634450e-03 -1.34332866e-01 2.16468664e+01] [-1.54234744e-03 9.99998576e-01 -6.85044175e-04 1.03905565e+00] [ 1.34331691e-01 8.86022354e-04 9.90936028e-01 1.88147820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.94463044 meters Centerline goodness [0,1] 0.3392554446947752 Centerline is valid? [False, False] Translation: X:21.65, Y:1.04, Z:1.88 [[ 9.90916250e-01 1.61258977e-03 -1.34470762e-01 2.16473842e+01] [-1.67147294e-03 9.99998550e-01 -3.24994491e-04 1.03699429e+00] [ 1.34470043e-01 5.46806561e-04 9.90917508e-01 1.88138662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.97463044 meters Centerline goodness [0,1] 0.33946484717558234 Centerline is valid? [False, False] Translation: X:21.65, Y:1.04, Z:1.88 [[ 9.90901607e-01 1.80858646e-03 -1.34576131e-01 2.16477042e+01] [-1.82596827e-03 9.99998333e-01 -5.73245579e-06 1.03518794e+00] [ 1.34575896e-01 2.51412044e-04 9.90903257e-01 1.88142294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.00463044 meters Centerline goodness [0,1] 0.3399528200729144 Centerline is valid? [False, False] Translation: X:21.65, Y:1.03, Z:1.88 [[ 9.90922927e-01 1.96413816e-03 -1.34416873e-01 2.16474455e+01] [-1.95162869e-03 9.99998070e-01 2.24828568e-04 1.03386477e+00] [ 1.34417055e-01 3.95440433e-05 9.90924848e-01 1.88134076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.03463044 meters Centerline goodness [0,1] 0.34122499838872533 Centerline is valid? [False, False] Translation: X:21.65, Y:1.03, Z:1.88 [[ 9.90966464e-01 2.47844432e-03 -1.34087001e-01 2.16463066e+01] [-2.37914762e-03 9.99996764e-01 9.00764408e-04 1.03074177e+00] [ 1.34088800e-01 -5.73614551e-04 9.90969154e-01 1.88178943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.06463044000003 meters Centerline goodness [0,1] 0.34552460498557713 Centerline is valid? [False, False] Translation: X:21.65, Y:1.03, Z:1.88 [[ 9.90956742e-01 2.64945527e-03 -1.34155569e-01 2.16463261e+01] [-2.51142255e-03 9.99996129e-01 1.19811581e-03 1.02917446e+00] [ 1.34158224e-01 -8.50359615e-04 9.90959559e-01 1.88202849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.09463044 meters Centerline goodness [0,1] 0.34128020202452547 Centerline is valid? [False, False] Translation: X:21.65, Y:1.03, Z:1.88 [[ 9.90954237e-01 2.83099066e-03 -1.34170360e-01 2.16464458e+01] [-2.65583063e-03 9.99995371e-01 1.48446302e-03 1.02762145e+00] [ 1.34173942e-01 -1.11470117e-03 9.90957169e-01 1.88201833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.12463044000003 meters Centerline goodness [0,1] 0.3451461130055683 Centerline is valid? [False, False] Translation: X:21.65, Y:1.03, Z:1.88 [[ 9.90965766e-01 2.98099031e-03 -1.34081933e-01 2.16462834e+01] [-2.76490123e-03 9.99994562e-01 1.79779347e-03 1.02558619e+00] [ 1.34086563e-01 -1.41082848e-03 9.90968619e-01 1.88200568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.15463044 meters Centerline goodness [0,1] 0.34597054656305015 Centerline is valid? [False, False] Translation: X:21.65, Y:1.02, Z:1.88 [[ 9.90972912e-01 3.13969798e-03 -1.34025483e-01 2.16460875e+01] [-2.88044418e-03 9.99993587e-01 2.12821983e-03 1.02351247e+00] [ 1.34031305e-01 -1.72295528e-03 9.90975600e-01 1.88216949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.18463044000003 meters Centerline goodness [0,1] 0.34624785591766727 Centerline is valid? [False, False] Translation: X:21.65, Y:1.02, Z:1.88 [[ 9.90986839e-01 3.40542743e-03 -1.33915972e-01 2.16455525e+01] [-3.05896928e-03 9.99991421e-01 2.79279548e-03 1.01789619e+00] [ 1.33924334e-01 -2.35797872e-03 9.90988755e-01 1.88256951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.21463044 meters Centerline goodness [0,1] 0.3479054387735383 Centerline is valid? [False, False] Translation: X:21.65, Y:1.01, Z:1.88 [[ 9.90982404e-01 3.53804714e-03 -1.33945353e-01 2.16456405e+01] [-3.13553043e-03 9.99989913e-01 3.21590829e-03 1.01491842e+00] [ 1.33955380e-01 -2.76691880e-03 9.90983502e-01 1.88267865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.24463044000004 meters Centerline goodness [0,1] 0.350228535868329 Centerline is valid? [False, False] Translation: X:21.65, Y:1.01, Z:1.88 [[ 9.90957450e-01 3.66031345e-03 -1.34126561e-01 2.16461844e+01] [-3.19423148e-03 9.99988090e-01 3.68996547e-03 1.01112963e+00] [ 1.34138470e-01 -3.22816749e-03 9.90957340e-01 1.88269981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.27463044 meters Centerline goodness [0,1] 0.35094145620461414 Centerline is valid? [False, False] Translation: X:21.65, Y:1.01, Z:1.88 [[ 9.90920151e-01 3.77962245e-03 -1.34398541e-01 2.16468668e+01] [-3.24762472e-03 9.99986001e-01 4.17737240e-03 1.00733980e+00] [ 1.34412449e-01 -3.70296646e-03 9.90918554e-01 1.88283641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30463044000004 meters Centerline goodness [0,1] 0.35440835266821347 Centerline is valid? [False, False] Translation: X:21.65, Y:1.00, Z:1.88 [[ 9.90920574e-01 2.81093950e-04 -1.34448272e-01 2.16471411e+01] [-3.76229753e-05 9.99998355e-01 1.81342685e-03 1.00065406e+00] [ 1.34448561e-01 -1.79190363e-03 9.90918954e-01 1.88291520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.33463044 meters Centerline goodness [0,1] 0.3584889387209452 Centerline is valid? [False, False] Translation: X:21.65, Y:1.00, Z:1.88 [[ 9.90881225e-01 3.98606191e-04 -1.34737667e-01 2.16477285e+01] [-8.70313853e-05 9.99997309e-01 2.31833725e-03 9.96614925e-01] [ 1.34738229e-01 -2.28547045e-03 9.90878593e-01 1.88319096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36463044 meters Centerline goodness [0,1] 0.3584889387209452 Centerline is valid? [False, False] Translation: X:21.65, Y:1.00, Z:1.88 [[ 9.90881225e-01 3.98606191e-04 -1.34737667e-01 2.16477285e+01] [-8.70313853e-05 9.99997309e-01 2.31833725e-03 9.96614925e-01] [ 1.34738229e-01 -2.28547045e-03 9.90878593e-01 1.88319096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.39463044 meters Centerline goodness [0,1] 0.35617907630263634 Centerline is valid? [False, False] Translation: X:21.65, Y:0.99, Z:1.88 [[ 9.90858271e-01 5.49051098e-04 -1.34905835e-01 2.16483803e+01] [-1.70880666e-04 9.99996024e-01 2.81478109e-03 9.93080417e-01] [ 1.34906844e-01 -2.76599632e-03 9.90854426e-01 1.88310838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42463044 meters Centerline goodness [0,1] 0.3587648374333391 Centerline is valid? [False, False] Translation: X:21.65, Y:0.99, Z:1.88 [[ 9.90843610e-01 7.59415329e-04 -1.35012460e-01 2.16490108e+01] [-3.21969508e-04 9.99994628e-01 3.26184576e-03 9.90550842e-01] [ 1.35014212e-01 -3.18850913e-03 9.90838532e-01 1.88281292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.45463044 meters Centerline goodness [0,1] 0.3564730792498487 Centerline is valid? [False, False] Translation: X:21.65, Y:0.99, Z:1.88 [[ 9.90778995e-01 1.00557473e-03 -1.35484211e-01 2.16505861e+01] [-5.06895308e-04 9.99992970e-01 3.71516678e-03 9.87711998e-01] [ 1.35486994e-01 -3.61223289e-03 9.90772540e-01 1.88252506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48463044 meters Centerline goodness [0,1] 0.36049109563783865 Centerline is valid? [False, False] Translation: X:21.65, Y:0.99, Z:1.88 [[ 9.90750240e-01 1.00559908e-03 -1.35694329e-01 2.16508678e+01] [-5.04144938e-04 9.99992917e-01 3.72978184e-03 9.87253397e-01] [ 1.35697119e-01 -3.62687264e-03 9.90743730e-01 1.88282612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.51463044 meters Centerline goodness [0,1] 0.35680539449383675 Centerline is valid? [False, False] Translation: X:21.67, Y:0.98, Z:1.89 [[ 9.90759628e-01 8.99204282e-03 -1.35331083e-01 2.16700112e+01] [-8.77072973e-03 9.99959047e-01 2.23148765e-03 9.84281021e-01] [ 1.35345607e-01 -1.02391552e-03 9.90797920e-01 1.88699623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54463044 meters Centerline goodness [0,1] 0.35735284650543975 Centerline is valid? [False, False] Translation: X:21.67, Y:0.98, Z:1.89 [[ 9.90762443e-01 9.24327300e-03 -1.35293549e-01 2.16694522e+01] [-8.98546075e-03 9.99956464e-01 2.51611070e-03 9.83364187e-01] [ 1.35310916e-01 -1.27719311e-03 9.90802364e-01 1.88760400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.57463044 meters Centerline goodness [0,1] 0.3608953173955963 Centerline is valid? [False, False] Translation: X:21.67, Y:0.98, Z:1.89 [[ 9.90765979e-01 9.29412379e-03 -1.35264167e-01 2.16692662e+01] [-9.01413516e-03 9.99955774e-01 2.68226473e-03 9.82111029e-01] [ 1.35283114e-01 -1.43820715e-03 9.90805940e-01 1.88781095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60463044 meters Centerline goodness [0,1] 0.35878449030110326 Centerline is valid? [False, False] Translation: X:21.67, Y:0.98, Z:1.89 [[ 9.90777619e-01 9.29324344e-03 -1.35178942e-01 2.16689499e+01] [-8.99274104e-03 9.99955550e-01 2.83345760e-03 9.80633974e-01] [ 1.35199265e-01 -1.59169716e-03 9.90817150e-01 1.88799691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.63463044 meters Centerline goodness [0,1] 0.36280108196299 Centerline is valid? [False, False] Translation: X:21.67, Y:0.98, Z:1.89 [[ 9.90783958e-01 9.35200611e-03 -1.35128412e-01 2.16687583e+01] [-9.01607403e-03 9.99954556e-01 3.09779117e-03 9.78507703e-01] [ 1.35151241e-01 -1.85091404e-03 9.90823252e-01 1.88813837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66463044 meters Centerline goodness [0,1] 0.36290374572883755 Centerline is valid? [False, False] Translation: X:21.67, Y:0.98, Z:1.89 [[ 9.90823188e-01 6.05333652e-03 -1.35028765e-01 2.16687374e+01] [-6.04835791e-03 9.99981609e-01 4.47104181e-04 9.75944540e-01] [ 1.35028989e-01 3.73701111e-04 9.90841578e-01 1.88793699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.69463044 meters Centerline goodness [0,1] 0.3618516930990141 Centerline is valid? [False, False] Translation: X:21.67, Y:0.97, Z:1.89 [[ 9.90786926e-01 6.15705978e-03 -1.35289903e-01 2.16695571e+01] [-6.11051778e-03 9.99981042e-01 7.59272691e-04 9.74053474e-01] [ 1.35292013e-01 7.44139006e-05 9.90805766e-01 1.88784733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72463044 meters Centerline goodness [0,1] 0.36023705977658393 Centerline is valid? [False, False] Translation: X:21.67, Y:0.97, Z:1.89 [[ 9.90763291e-01 6.29542356e-03 -1.35456522e-01 2.16700793e+01] [-6.20266642e-03 9.99980151e-01 1.10680837e-03 9.72036275e-01] [ 1.35460801e-01 -2.56393481e-04 9.90782673e-01 1.88784316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.75463044 meters Centerline goodness [0,1] 0.3609616460763635 Centerline is valid? [False, False] Translation: X:21.67, Y:0.97, Z:1.89 [[ 9.90762856e-01 6.42441338e-03 -1.35453647e-01 2.16702019e+01] [-6.28921988e-03 9.99979206e-01 1.42598109e-03 9.70093740e-01] [ 1.35459992e-01 -5.60911321e-04 9.90782658e-01 1.88776401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78463044 meters Centerline goodness [0,1] 0.3578206631837083 Centerline is valid? [False, False] Translation: X:21.69, Y:0.97, Z:1.89 [[ 9.90913939e-01 -7.00808618e-04 -1.34495633e-01 2.16903378e+01] [ 1.05574739e-03 9.99996146e-01 2.56773305e-03 9.70325606e-01] [ 1.34493315e-01 -2.68639589e-03 9.90910859e-01 1.89098039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.81463044000003 meters Centerline goodness [0,1] 0.36284733467193475 Centerline is valid? [False, False] Translation: X:21.69, Y:0.97, Z:1.89 [[ 9.90909483e-01 -6.43859478e-04 -1.34528742e-01 2.16905075e+01] [ 1.02215298e-03 9.99995716e-01 2.74294069e-03 9.69016203e-01] [ 1.34526399e-01 -2.85551490e-03 9.90905896e-01 1.89091683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84463044 meters Centerline goodness [0,1] 0.3603342976534877 Centerline is valid? [False, False] Translation: X:21.71, Y:0.97, Z:1.89 [[ 9.90938776e-01 6.30457790e-03 -1.34166297e-01 2.17112490e+01] [-6.30768874e-03 9.99980026e-01 4.01878923e-04 9.66758541e-01] [ 1.34166150e-01 4.48041831e-04 9.90958750e-01 1.89376384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.87463044000003 meters Centerline goodness [0,1] 0.35940521724182384 Centerline is valid? [False, False] Translation: X:21.71, Y:0.97, Z:1.89 [[ 9.90914485e-01 6.30101913e-03 -1.34345750e-01 2.17120412e+01] [-6.30184643e-03 9.99980055e-01 4.19086983e-04 9.66454015e-01] [ 1.34345711e-01 4.31346919e-04 9.90934430e-01 1.89343939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90463044 meters Centerline goodness [0,1] 0.35907327586206894 Centerline is valid? [False, False] Translation: X:21.71, Y:0.97, Z:1.89 [[ 9.90899758e-01 6.25089899e-03 -1.34456671e-01 2.17124663e+01] [-6.27614624e-03 9.99980277e-01 2.36090286e-04 9.67153538e-01] [ 1.34455495e-01 6.09927924e-04 9.90919446e-01 1.89331629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.93463044000003 meters Centerline goodness [0,1] 0.35975779958344967 Centerline is valid? [False, False] Translation: X:21.71, Y:0.97, Z:1.89 [[ 9.90892967e-01 6.21069837e-03 -1.34508568e-01 2.17125593e+01] [-6.25925062e-03 9.99980409e-01 6.19238080e-05 9.68281919e-01] [ 1.34506318e-01 7.80562974e-04 9.90912429e-01 1.89339441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96463044 meters Centerline goodness [0,1] 0.3597680163247772 Centerline is valid? [False, False] Translation: X:21.71, Y:0.97, Z:1.89 [[ 9.90903714e-01 6.25762975e-03 -1.34427196e-01 2.17124455e+01] [-6.32360466e-03 9.99980004e-01 -6.38168873e-05 9.69534084e-01] [ 1.34424109e-01 9.13300835e-04 9.90923471e-01 1.89327386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.99463044000004 meters Centerline goodness [0,1] 0.3574438806226886 Centerline is valid? [False, False] Translation: X:21.71, Y:0.97, Z:1.89 [[ 9.90903271e-01 6.34674479e-03 -1.34426286e-01 2.17126298e+01] [-6.43481990e-03 9.99979272e-01 -2.20722109e-04 9.71419288e-01] [ 1.34422099e-01 1.08372320e-03 9.90923572e-01 1.89312341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02463044 meters Centerline goodness [0,1] 0.3550350384673081 Centerline is valid? [False, False] Translation: X:21.71, Y:0.98, Z:1.89 [[ 9.90886756e-01 6.45829542e-03 -1.34542657e-01 2.17133212e+01] [-6.60860615e-03 9.99977938e-01 -6.70622809e-04 9.76443696e-01] [ 1.34535358e-01 1.55365069e-03 9.90907576e-01 1.89267704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.05463044000004 meters Centerline goodness [0,1] 0.3566552533540065 Centerline is valid? [False, False] Translation: X:21.71, Y:0.98, Z:1.89 [[ 9.90884399e-01 6.26220226e-03 -1.34569288e-01 2.17135827e+01] [-6.47286983e-03 9.99978415e-01 -1.12803338e-03 9.78884897e-01] [ 1.34559319e-01 1.98880016e-03 9.90903544e-01 1.89245668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08463044 meters Centerline goodness [0,1] 0.35412302825631603 Centerline is valid? [False, False] Translation: X:21.71, Y:0.98, Z:1.89 [[ 9.90875549e-01 6.11506645e-03 -1.34641201e-01 2.17138739e+01] [-6.37850883e-03 9.99978494e-01 -1.52533923e-03 9.81276361e-01] [ 1.34628978e-01 2.37023144e-03 9.90893244e-01 1.89229427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.11463044 meters Centerline goodness [0,1] 0.35280589765082637 Centerline is valid? [False, False] Translation: X:21.71, Y:0.98, Z:1.89 [[ 9.90865973e-01 5.96156266e-03 -1.34718533e-01 2.17141570e+01] [-6.27514480e-03 9.99978500e-01 -1.90317525e-03 9.83684569e-01] [ 1.34704291e-01 2.73116989e-03 9.90882079e-01 1.89218518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14463044 meters Centerline goodness [0,1] 0.3525668587152808 Centerline is valid? [False, False] Translation: X:21.71, Y:0.99, Z:1.89 [[ 9.90856028e-01 5.83489845e-03 -1.34797199e-01 2.17145982e+01] [-6.19337278e-03 9.99978312e-01 -2.24017158e-03 9.86008241e-01] [ 1.34781205e-01 3.05453682e-03 9.90870676e-01 1.89191289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.17463044 meters Centerline goodness [0,1] 0.34774520495220984 Centerline is valid? [False, False] Translation: X:21.72, Y:0.99, Z:1.89 [[ 9.90835729e-01 5.56279855e-03 -1.34957822e-01 2.17155660e+01] [-6.00015584e-03 9.99977983e-01 -2.83416489e-03 9.90179982e-01] [ 1.34939085e-01 3.61795980e-03 9.90847291e-01 1.89133388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20463044 meters Centerline goodness [0,1] 0.3475501232979522 Centerline is valid? [False, False] Translation: X:21.72, Y:0.99, Z:1.89 [[ 9.90824965e-01 5.32422625e-03 -1.35046442e-01 2.17158916e+01] [-5.81374665e-03 9.99977881e-01 -3.23071701e-03 9.92141144e-01] [ 1.35026254e-01 3.98620087e-03 9.90834003e-01 1.89125603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.23463044 meters Centerline goodness [0,1] 0.3480138354781189 Centerline is valid? [False, False] Translation: X:21.72, Y:0.99, Z:1.89 [[ 9.90831429e-01 5.05094197e-03 -1.35009506e-01 2.17157813e+01] [-5.59784529e-03 9.99977592e-01 -3.67153598e-03 9.94278947e-01] [ 1.34987936e-01 4.39363557e-03 9.90837501e-01 1.89130500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26463044 meters Centerline goodness [0,1] 0.3501509086627994 Centerline is valid? [False, False] Translation: X:21.71, Y:1.00, Z:1.89 [[ 9.90882686e-01 4.69612665e-03 -1.34645643e-01 2.17144055e+01] [-5.32667628e-03 9.99976468e-01 -4.32316368e-03 9.98341601e-01] [ 1.34622173e-01 5.00096180e-03 9.90884383e-01 1.89185418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.29463044 meters Centerline goodness [0,1] 0.35105993758743137 Centerline is valid? [False, False] Translation: X:21.71, Y:1.00, Z:1.89 [[ 9.90898320e-01 4.61263301e-03 -1.34533425e-01 2.17139098e+01] [-5.27084542e-03 9.99975818e-01 -4.53679380e-03 9.99866541e-01] [ 1.34509245e-01 5.20460624e-03 9.90898670e-01 1.89211995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32463044 meters Centerline goodness [0,1] 0.3506819890452153 Centerline is valid? [False, False] Translation: X:21.71, Y:1.00, Z:1.89 [[ 9.90898559e-01 4.46773730e-03 -1.34536553e-01 2.17139456e+01] [-5.16019262e-03 9.99975172e-01 -4.79870374e-03 1.00151875e+00] [ 1.34511774e-01 5.44926315e-03 9.90897012e-01 1.89211357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.35463044 meters Centerline goodness [0,1] 0.3469060596344983 Centerline is valid? [False, False] Translation: X:21.72, Y:1.00, Z:1.89 [[ 9.90841256e-01 4.10869345e-03 -1.34969343e-01 2.17153851e+01] [-4.86958700e-03 9.99974056e-01 -5.30787832e-03 1.00408759e+00] [ 1.34944033e-01 5.91650978e-03 9.90835558e-01 1.89180849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.38463044 meters Centerline goodness [0,1] 0.3460414934220346 Centerline is valid? [False, False] Translation: X:21.72, Y:1.01, Z:1.89 [[ 9.90822105e-01 3.87175869e-03 -1.35116863e-01 2.17158870e+01] [-4.67129064e-03 9.99973405e-01 -5.60079834e-03 1.00511343e+00] [ 1.35091584e-01 6.18056494e-03 9.90813839e-01 1.89173844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.41463044 meters Centerline goodness [0,1] 0.3468871303266208 Centerline is valid? [False, False] Translation: X:21.72, Y:1.01, Z:1.89 [[ 9.90829100e-01 3.66353281e-03 -1.35071365e-01 2.17155000e+01] [-4.49761172e-03 9.99972654e-01 -5.87046666e-03 1.00601608e+00] [ 1.35046164e-01 6.42412775e-03 9.90818482e-01 1.89203472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.44463044 meters Centerline goodness [0,1] 0.34837908440751997 Centerline is valid? [False, False] Translation: X:21.71, Y:1.01, Z:1.89 [[ 9.90840141e-01 3.48406692e-03 -1.34995098e-01 2.17148075e+01] [-4.34124038e-03 9.99972240e-01 -6.05581267e-03 1.00666054e+00] [ 1.34970252e-01 6.58638845e-03 9.90827760e-01 1.89263057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.47463044 meters Centerline goodness [0,1] 0.3481287890148026 Centerline is valid? [False, False] Translation: X:21.71, Y:1.01, Z:1.89 [[ 9.90854967e-01 3.42632004e-03 -1.34887709e-01 2.17141470e+01] [-4.29147496e-03 9.99972042e-01 -6.12364937e-03 1.00724470e+00] [ 1.34862956e-01 6.64651562e-03 9.90841969e-01 1.89311223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.50463044 meters Centerline goodness [0,1] 0.3503846236721325 Centerline is valid? [False, False] Translation: X:21.71, Y:1.01, Z:1.89 [[ 9.90879240e-01 3.38830971e-03 -1.34710245e-01 2.17135647e+01] [-4.25266199e-03 9.99972174e-01 -6.12914820e-03 1.00768195e+00] [ 1.34685730e-01 6.64612286e-03 9.90866077e-01 1.89333917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.53463044 meters Centerline goodness [0,1] 0.34725534429047156 Centerline is valid? [False, False] Translation: X:21.71, Y:1.01, Z:1.89 [[ 9.90852101e-01 3.20470857e-03 -1.34914211e-01 2.17141048e+01] [-4.08291640e-03 9.99972238e-01 -6.23319576e-03 1.00734004e+00] [ 1.34890490e-01 6.72701856e-03 9.90837677e-01 1.89335503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.56463044000003 meters Centerline goodness [0,1] 0.35132106374725225 Centerline is valid? [False, False] Translation: X:21.71, Y:1.01, Z:1.89 [[ 9.90817555e-01 3.02678222e-03 -1.35171782e-01 2.17147443e+01] [-3.91645055e-03 9.99972382e-01 -6.31632808e-03 1.00668600e+00] [ 1.35148931e-01 6.78772235e-03 9.90802045e-01 1.89338001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.59463044 meters Centerline goodness [0,1] 0.3470049030057557 Centerline is valid? [False, False] Translation: X:21.73, Y:1.01, Z:1.90 [[ 9.90755409e-01 -4.16865328e-03 -1.35596247e-01 2.17345366e+01] [ 3.45906604e-03 9.99979066e-01 -5.46827547e-03 1.01022919e+00] [ 1.35616203e-01 4.94868712e-03 9.90749088e-01 1.89733438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.62463044000003 meters Centerline goodness [0,1] 0.3448869798201033 Centerline is valid? [False, False] Translation: X:21.74, Y:1.01, Z:1.90 [[ 9.90694619e-01 -4.19105726e-03 -1.36038989e-01 2.17358707e+01] [ 3.53324600e-03 9.99980872e-01 -5.07655421e-03 1.00721896e+00] [ 1.36057663e-01 4.54865572e-03 9.90690477e-01 1.89724375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.65463044 meters Centerline goodness [0,1] 0.3491287993428164 Centerline is valid? [False, False] Translation: X:21.72, Y:1.00, Z:1.89 [[ 9.90850664e-01 2.17949215e-03 -1.34945216e-01 2.17183683e+01] [-3.01091323e-03 9.99977722e-01 -5.95739372e-03 9.99519377e-01] [ 1.34929226e-01 6.30919586e-03 9.90835152e-01 1.89258347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.68463044000003 meters Centerline goodness [0,1] 0.35029514412512386 Centerline is valid? [False, False] Translation: X:21.72, Y:1.00, Z:1.89 [[ 9.90827750e-01 2.10464990e-03 -1.35114547e-01 2.17186889e+01] [-2.91651705e-03 9.99978862e-01 -5.81107386e-03 9.97802110e-01] [ 1.35099461e-01 6.15183712e-03 9.90812944e-01 1.89279891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.71463044 meters Centerline goodness [0,1] 0.3487987987987988 Centerline is valid? [False, False] Translation: X:21.72, Y:1.00, Z:1.89 [[ 9.90812114e-01 2.02021806e-03 -1.35230449e-01 2.17189760e+01] [-2.82368902e-03 9.99979482e-01 -5.74995257e-03 9.96624806e-01] [ 1.35216058e-01 6.07897139e-03 9.90797489e-01 1.89286211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.74463044000004 meters Centerline goodness [0,1] 0.3467126848182709 Centerline is valid? [False, False] Translation: X:21.72, Y:1.00, Z:1.89 [[ 9.90812957e-01 2.04335713e-03 -1.35223923e-01 2.17188895e+01] [-2.82852933e-03 9.99980238e-01 -5.61458905e-03 9.95529996e-01] [ 1.35209778e-01 5.94549241e-03 9.90799156e-01 1.89305961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.77463044 meters Centerline goodness [0,1] 0.34818492488232644 Centerline is valid? [False, False] Translation: X:21.72, Y:1.00, Z:1.89 [[ 9.90808273e-01 2.11323202e-03 -1.35257163e-01 2.17190888e+01] [-2.89875895e-03 9.99980057e-01 -5.61097430e-03 9.96017041e-01] [ 1.35242609e-01 5.95147767e-03 9.90794639e-01 1.89291949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80463044000004 meters Centerline goodness [0,1] 0.3499612135838649 Centerline is valid? [False, False] Translation: X:21.72, Y:1.00, Z:1.89 [[ 9.90805357e-01 2.19711317e-03 -1.35277189e-01 2.17193163e+01] [-2.97784818e-03 9.99980057e-01 -5.56929495e-03 9.96348125e-01] [ 1.35262255e-01 5.92092220e-03 9.90792140e-01 1.89274079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.83463044 meters Centerline goodness [0,1] 0.34830519396829485 Centerline is valid? [False, False] Translation: X:21.72, Y:1.00, Z:1.89 [[ 9.90805145e-01 2.18521245e-03 -1.35278929e-01 2.17195290e+01] [-2.97235516e-03 9.99979807e-01 -5.61696093e-03 9.96720387e-01] [ 1.35263923e-01 5.96741081e-03 9.90791634e-01 1.89253464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86463044 meters Centerline goodness [0,1] 0.35401886139470495 Centerline is valid? [False, False] Translation: X:21.72, Y:1.00, Z:1.89 [[ 9.90839264e-01 2.15006714e-03 -1.35029366e-01 2.17186605e+01] [-2.94418567e-03 9.99979525e-01 -5.68166517e-03 9.97125317e-01] [ 1.35014386e-01 6.02716846e-03 9.90825307e-01 1.89281257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.89463044 meters Centerline goodness [0,1] 0.35031079947518984 Centerline is valid? [False, False] Translation: X:21.72, Y:1.00, Z:1.89 [[ 9.90838303e-01 2.08238727e-03 -1.35037480e-01 2.17186630e+01] [-2.88890883e-03 9.99979141e-01 -5.77689753e-03 9.97642507e-01] [ 1.35022633e-01 6.11408231e-03 9.90823651e-01 1.89289247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92463044 meters Centerline goodness [0,1] 0.35252601094068436 Centerline is valid? [False, False] Translation: X:21.72, Y:1.00, Z:1.89 [[ 9.90833172e-01 1.98794072e-03 -1.35076547e-01 2.17188750e+01] [-2.81093711e-03 9.99978630e-01 -5.90236809e-03 9.98158999e-01] [ 1.35061927e-01 6.22795378e-03 9.90817586e-01 1.89278266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.95463044 meters Centerline goodness [0,1] 0.353161370823742 Centerline is valid? [False, False] Translation: X:21.72, Y:1.00, Z:1.89 [[ 9.90798618e-01 1.76260811e-03 -1.35332896e-01 2.17197796e+01] [-2.62483901e-03 9.99977378e-01 -6.19301484e-03 9.99134937e-01] [ 1.35318919e-01 6.49125761e-03 9.90780830e-01 1.89249956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98463044 meters Centerline goodness [0,1] 0.34753133793809154 Centerline is valid? [False, False] Translation: X:21.72, Y:1.00, Z:1.89 [[ 9.90778829e-01 1.65857128e-03 -1.35479009e-01 2.17201998e+01] [-2.53810805e-03 9.99976810e-01 -6.31958343e-03 9.99697701e-01] [ 1.35465386e-01 6.60516983e-03 9.90760062e-01 1.89247157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.01463044 meters Centerline goodness [0,1] 0.35098219438684997 Centerline is valid? [False, False] Translation: X:21.72, Y:1.00, Z:1.89 [[ 9.90790746e-01 1.62709500e-03 -1.35392210e-01 2.17199588e+01] [-2.51149229e-03 9.99976611e-01 -6.36156525e-03 1.00005348e+00] [ 1.35378693e-01 6.64301647e-03 9.90771659e-01 1.89251402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04463044 meters Centerline goodness [0,1] 0.35363330747349364 Centerline is valid? [False, False] Translation: X:21.72, Y:1.00, Z:1.89 [[ 9.90795318e-01 1.59105224e-03 -1.35359177e-01 2.17196700e+01] [-2.48078279e-03 9.99976413e-01 -6.40468775e-03 1.00034572e+00] [ 1.35345794e-01 6.68153135e-03 9.90775895e-01 1.89274630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.07463044 meters Centerline goodness [0,1] 0.35502945810043807 Centerline is valid? [False, False] Translation: X:21.72, Y:1.00, Z:1.89 [[ 9.90803227e-01 1.36797575e-03 -1.35303708e-01 2.17193141e+01] [-2.28215245e-03 9.99975605e-01 -6.60160503e-03 1.00072877e+00] [ 1.35291376e-01 6.84967525e-03 9.90782179e-01 1.89300425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10463044 meters Centerline goodness [0,1] 0.35511705973489416 Centerline is valid? [False, False] Translation: X:21.72, Y:1.00, Z:1.89 [[ 9.90773760e-01 1.23146724e-03 -1.35520628e-01 2.17199088e+01] [-2.15920611e-03 9.99975231e-01 -6.69896557e-03 1.00077652e+00] [ 1.35509022e-01 6.92977627e-03 9.90751878e-01 1.89296622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.13463044 meters Centerline goodness [0,1] 0.35291833829429275 Centerline is valid? [False, False] Translation: X:21.72, Y:1.00, Z:1.89 [[ 9.90763717e-01 1.18959870e-03 -1.35594402e-01 2.17203556e+01] [-2.11910143e-03 9.99975236e-01 -6.71089338e-03 1.00066092e+00] [ 1.35583061e-01 6.93624796e-03 9.90741703e-01 1.89267806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16463044 meters Centerline goodness [0,1] 0.35547387201478897 Centerline is valid? [False, False] Translation: X:21.72, Y:1.00, Z:1.89 [[ 9.90761060e-01 9.85610736e-04 -1.35615450e-01 2.17205091e+01] [-1.93479481e-03 9.99974547e-01 -6.86746024e-03 1.00075017e+00] [ 1.35605229e-01 7.06640026e-03 9.90737749e-01 1.89260221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.19463044 meters Centerline goodness [0,1] 0.3537630721755529 Centerline is valid? [False, False] Translation: X:21.72, Y:1.00, Z:1.89 [[ 9.90765089e-01 8.94960259e-04 -1.35586640e-01 2.17204120e+01] [-1.85203358e-03 9.99974253e-01 -6.93278482e-03 1.00080198e+00] [ 1.35576944e-01 7.11987218e-03 9.90741237e-01 1.89267008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22463044 meters Centerline goodness [0,1] 0.355946380697051 Centerline is valid? [False, False] Translation: X:21.72, Y:1.00, Z:1.89 [[ 9.90768452e-01 8.25740507e-04 -1.35562508e-01 2.17204064e+01] [-1.79133703e-03 9.99973888e-01 -7.00106013e-03 1.00092865e+00] [ 1.35553187e-01 7.17926765e-03 9.90744060e-01 1.89261986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.25463044 meters Centerline goodness [0,1] 0.3587641730674068 Centerline is valid? [False, False] Translation: X:21.72, Y:1.00, Z:1.89 [[ 9.90754501e-01 7.62705683e-04 -1.35664798e-01 2.17207242e+01] [-1.73916623e-03 9.99973430e-01 -7.07922295e-03 1.00124146e+00] [ 1.35655794e-01 7.24971564e-03 9.90729503e-01 1.89255627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28463044 meters Centerline goodness [0,1] 0.3587641730674068 Centerline is valid? [False, False] Translation: X:21.72, Y:1.00, Z:1.89 [[ 9.90754501e-01 7.62705683e-04 -1.35664798e-01 2.17207242e+01] [-1.73916623e-03 9.99973430e-01 -7.07922295e-03 1.00124146e+00] [ 1.35655794e-01 7.24971564e-03 9.90729503e-01 1.89255627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.31463044000003 meters Centerline goodness [0,1] 0.3526376271112942 Centerline is valid? [False, False] Translation: X:21.72, Y:1.00, Z:1.89 [[ 9.90694609e-01 6.77784764e-04 -1.36101915e-01 2.17220679e+01] [-1.66873570e-03 9.99972924e-01 -7.16698990e-03 1.00158441e+00] [ 1.36093373e-01 7.32741638e-03 9.90668917e-01 1.89229068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34463044 meters Centerline goodness [0,1] 0.35098952270081485 Centerline is valid? [False, False] Translation: X:21.72, Y:1.00, Z:1.89 [[ 9.90678549e-01 6.28944935e-04 -1.36219005e-01 2.17225008e+01] [-1.61050608e-03 9.99973528e-01 -7.09567322e-03 1.00090133e+00] [ 1.36210936e-01 7.24891278e-03 9.90653337e-01 1.89216053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.37463044000003 meters Centerline goodness [0,1] 0.3517653893323579 Centerline is valid? [False, False] Translation: X:21.72, Y:1.00, Z:1.89 [[ 9.90659851e-01 5.83110393e-04 -1.36355121e-01 2.17225612e+01] [-1.53940028e-03 9.99974955e-01 -6.90789060e-03 9.99238142e-01] [ 1.36347678e-01 7.05327499e-03 9.90635938e-01 1.89245805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40463044 meters Centerline goodness [0,1] 0.35186989757248965 Centerline is valid? [False, False] Translation: X:21.72, Y:1.00, Z:1.89 [[ 9.90639973e-01 4.39196054e-04 -1.36500002e-01 2.17226768e+01] [-1.36716647e-03 9.99976589e-01 -6.70464443e-03 9.96873095e-01] [ 1.36493862e-01 6.82850701e-03 9.90617382e-01 1.89272311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.43463044000003 meters Centerline goodness [0,1] 0.34947872822638093 Centerline is valid? [False, False] Translation: X:21.74, Y:0.99, Z:1.90 [[ 9.90787233e-01 -8.71831017e-03 -1.35146775e-01 2.17422222e+01] [ 7.91567444e-03 9.99947705e-01 -6.47521988e-03 9.94249055e-01] [ 1.35196161e-01 5.34578731e-03 9.90804431e-01 1.89622308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46463044 meters Centerline goodness [0,1] 0.349878335020134 Centerline is valid? [False, False] Translation: X:21.74, Y:0.99, Z:1.90 [[ 9.90754022e-01 -8.75992827e-03 -1.35387336e-01 2.17428902e+01] [ 7.99946718e-03 9.99949031e-01 -6.15993726e-03 9.91521390e-01] [ 1.35434396e-01 5.01995606e-03 9.90773599e-01 1.89624382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.49463044000004 meters Centerline goodness [0,1] 0.3523064589517475 Centerline is valid? [False, False] Translation: X:21.74, Y:0.99, Z:1.90 [[ 9.90720154e-01 -8.76299381e-03 -1.35634754e-01 2.17436150e+01] [ 8.03419358e-03 9.99950203e-01 -5.91972125e-03 9.89692049e-01] [ 1.35679874e-01 4.77507128e-03 9.90741223e-01 1.89613279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52463044 meters Centerline goodness [0,1] 0.35030914065361163 Centerline is valid? [False, False] Translation: X:21.76, Y:0.98, Z:1.90 [[ 9.90637675e-01 -1.53447740e-03 -1.36508760e-01 2.17623693e+01] [ 5.43090924e-04 9.99973212e-01 -7.29938477e-03 9.84167207e-01] [ 1.36516304e-01 7.15690889e-03 9.90611971e-01 1.90006118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.55463044000004 meters Centerline goodness [0,1] 0.34711381765159965 Centerline is valid? [False, False] Translation: X:21.76, Y:0.98, Z:1.90 [[ 9.90567887e-01 -1.54826940e-03 -1.37014101e-01 2.17632396e+01] [ 5.94645330e-04 9.99975318e-01 -7.00069999e-03 9.81810833e-01] [ 1.37021558e-01 6.85319380e-03 9.90544359e-01 1.90054457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58463044 meters Centerline goodness [0,1] 0.34397913593706575 Centerline is valid? [False, False] Translation: X:21.76, Y:0.98, Z:1.90 [[ 9.90581205e-01 -1.52613507e-03 -1.36918030e-01 2.17627715e+01] [ 5.96125540e-04 9.99976476e-01 -6.83320094e-03 9.80588740e-01] [ 1.36925237e-01 6.68722008e-03 9.90558812e-01 1.90080714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.61463044 meters Centerline goodness [0,1] 0.34985441604658685 Centerline is valid? [False, False] Translation: X:21.76, Y:0.98, Z:1.90 [[ 9.90612560e-01 -1.51960591e-03 -1.36691062e-01 2.17616877e+01] [ 6.13454029e-04 9.99977560e-01 -6.67107655e-03 9.79209030e-01] [ 1.36698133e-01 6.52459854e-03 9.90591263e-01 1.90133081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64463044 meters Centerline goodness [0,1] 0.3496111373694839 Centerline is valid? [False, False] Translation: X:21.76, Y:0.98, Z:1.90 [[ 9.90652084e-01 -1.58183117e-03 -1.36403613e-01 2.17607376e+01] [ 6.99591914e-04 9.99978529e-01 -6.51555332e-03 9.77557755e-01] [ 1.36410991e-01 6.35921961e-03 9.90631920e-01 1.90162263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.67463044 meters Centerline goodness [0,1] 0.3496815831089456 Centerline is valid? [False, False] Translation: X:21.76, Y:0.98, Z:1.90 [[ 9.90689178e-01 -1.81054264e-03 -1.36131095e-01 2.17597823e+01] [ 9.51992255e-04 9.99979248e-01 -6.37162761e-03 9.75004004e-01] [ 1.36139806e-01 6.18270677e-03 9.90670342e-01 1.90196514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70463044 meters Centerline goodness [0,1] 0.3515992575646394 Centerline is valid? [False, False] Translation: X:21.76, Y:0.97, Z:1.90 [[ 9.90664553e-01 -1.80112773e-03 -1.36310304e-01 2.17601841e+01] [ 9.59291354e-04 9.99980063e-01 -6.24131744e-03 9.73978422e-01] [ 1.36318828e-01 6.05229066e-03 9.90646530e-01 1.90197190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.73463044 meters Centerline goodness [0,1] 0.34964489866620474 Centerline is valid? [False, False] Translation: X:21.76, Y:0.97, Z:1.90 [[ 9.90639541e-01 -1.72476320e-03 -1.36492949e-01 2.17606906e+01] [ 9.10883479e-04 9.99981434e-01 -6.02502912e-03 9.72773593e-01] [ 1.36500806e-01 5.84430291e-03 9.90622720e-01 1.90191295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76463044 meters Centerline goodness [0,1] 0.3487019282559517 Centerline is valid? [False, False] Translation: X:21.76, Y:0.97, Z:1.90 [[ 9.90617982e-01 -1.68212855e-03 -1.36649859e-01 2.17610026e+01] [ 8.92824209e-04 9.99982565e-01 -5.83719235e-03 9.71479511e-01] [ 1.36657295e-01 5.66042340e-03 9.90602212e-01 1.90203817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.79463044 meters Centerline goodness [0,1] 0.3485280151946819 Centerline is valid? [False, False] Translation: X:21.76, Y:0.97, Z:1.90 [[ 9.90609145e-01 -1.51655814e-03 -1.36715847e-01 2.17609767e+01] [ 7.69884385e-04 9.99984500e-01 -5.51421170e-03 9.69575150e-01] [ 1.36722090e-01 5.35717314e-03 9.90594958e-01 1.90228141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82463044 meters Centerline goodness [0,1] 0.346730318474077 Centerline is valid? [False, False] Translation: X:21.76, Y:0.97, Z:1.90 [[ 9.90586725e-01 -1.45735118e-03 -1.36878841e-01 2.17615706e+01] [ 7.19561745e-04 9.99984947e-01 -5.43941579e-03 9.69082743e-01] [ 1.36884708e-01 5.28972029e-03 9.90572862e-01 1.90210804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.85463044 meters Centerline goodness [0,1] 0.34460009424666926 Centerline is valid? [False, False] Translation: X:21.76, Y:0.97, Z:1.90 [[ 9.90545668e-01 -1.30874056e-03 -1.37177139e-01 2.17625617e+01] [ 5.89140146e-04 9.99985854e-01 -5.28624403e-03 9.68518438e-01] [ 1.37182116e-01 5.15544957e-03 9.90532427e-01 1.90189221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.88463044 meters Centerline goodness [0,1] 0.34627426424546026 Centerline is valid? [False, False] Translation: X:21.76, Y:0.97, Z:1.90 [[ 9.90507723e-01 -1.15847405e-03 -1.37452208e-01 2.17634621e+01] [ 4.58708949e-04 9.99986775e-01 -5.12253662e-03 9.67904484e-01] [ 1.37456325e-01 5.01086153e-03 9.90495154e-01 1.90169898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.91463044 meters Centerline goodness [0,1] 0.34494803385835204 Centerline is valid? [False, False] Translation: X:21.78, Y:0.96, Z:1.91 [[ 9.90511422e-01 7.16740602e-03 -1.37243403e-01 2.17831983e+01] [-8.08400593e-03 9.99948581e-01 -6.12242708e-03 9.62076936e-01] [ 1.37192464e-01 7.17381044e-03 9.90518432e-01 1.90544124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.94463044 meters Centerline goodness [0,1] 0.34992387365170585 Centerline is valid? [False, False] Translation: X:21.78, Y:0.96, Z:1.91 [[ 9.90506637e-01 7.24348323e-03 -1.37273939e-01 2.17830301e+01] [-8.14494430e-03 9.99948791e-01 -6.00630458e-03 9.61290717e-01] [ 1.37223403e-01 7.06737314e-03 9.90514912e-01 1.90572439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.97463044 meters Centerline goodness [0,1] 0.3518131026597925 Centerline is valid? [False, False] Translation: X:21.78, Y:0.96, Z:1.91 [[ 9.90508319e-01 7.37700191e-03 -1.37254690e-01 2.17826989e+01] [-8.26358198e-03 9.99948505e-01 -5.89068881e-03 9.60852486e-01] [ 1.37204166e-01 6.96899165e-03 9.90518273e-01 1.90607751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.00463044 meters Centerline goodness [0,1] 0.3535836618625994 Centerline is valid? [False, False] Translation: X:21.78, Y:0.96, Z:1.91 [[ 9.90499655e-01 7.67809226e-03 -1.37300693e-01 2.17828681e+01] [-8.54905964e-03 9.99946896e-01 -5.75493169e-03 9.61019399e-01] [ 1.37249214e-01 6.87404967e-03 9.90512696e-01 1.90614056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.03463044 meters Centerline goodness [0,1] 0.349650050298581 Centerline is valid? [False, False] Translation: X:21.78, Y:0.96, Z:1.91 [[ 9.90455581e-01 7.74166842e-03 -1.37614712e-01 2.17838209e+01] [-8.62754945e-03 9.99945716e-01 -5.84208118e-03 9.61872690e-01] [ 1.37562015e-01 6.97359964e-03 9.90468607e-01 1.90602796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.06463044000003 meters Centerline goodness [0,1] 0.35308631287334435 Centerline is valid? [False, False] Translation: X:21.78, Y:0.96, Z:1.91 [[ 9.90418467e-01 7.79736269e-03 -1.37878433e-01 2.17845025e+01] [-8.70245612e-03 9.99944354e-01 -5.96282126e-03 9.62998614e-01] [ 1.37824266e-01 7.10556929e-03 9.90431210e-01 1.90603596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.09463044 meters Centerline goodness [0,1] 0.35603958665588886 Centerline is valid? [False, False] Translation: X:21.78, Y:0.96, Z:1.91 [[ 9.90396148e-01 7.88705936e-03 -1.38033559e-01 2.17849091e+01] [-8.80772514e-03 9.99942847e-01 -6.06032671e-03 9.64211574e-01] [ 1.37977872e-01 7.21788589e-03 9.90409011e-01 1.90601326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.12463044000003 meters Centerline goodness [0,1] 0.3532830123943903 Centerline is valid? [False, False] Translation: X:21.83, Y:0.97, Z:1.91 [[ 9.90555603e-01 1.05662060e-02 -1.36703890e-01 2.18271669e+01] [-1.14700107e-02 9.99917248e-01 -5.82537708e-03 9.68173771e-01] [ 1.36631026e-01 7.33835498e-03 9.90594827e-01 1.91256952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.15463044 meters Centerline goodness [0,1] 0.3511438956596109 Centerline is valid? [False, False] Translation: X:21.83, Y:0.97, Z:1.91 [[ 9.90549120e-01 1.04812438e-02 -1.36757393e-01 2.18272244e+01] [-1.14235432e-02 9.99916098e-01 -6.10728450e-03 9.69918740e-01] [ 1.36681907e-01 7.61181928e-03 9.90585744e-01 1.91273541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.18463044000003 meters Centerline goodness [0,1] 0.35480389405746104 Centerline is valid? [False, False] Translation: X:21.83, Y:0.97, Z:1.91 [[ 9.90542640e-01 1.03932438e-02 -1.36811036e-01 2.18273694e+01] [-1.13745021e-02 9.99914874e-01 -6.39254138e-03 9.71561590e-01] [ 1.36732950e-01 7.88824222e-03 9.90576537e-01 1.91277938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.21463044 meters Centerline goodness [0,1] 0.35609503909699936 Centerline is valid? [False, False] Translation: X:21.83, Y:0.98, Z:1.91 [[ 9.90478772e-01 1.02827694e-02 -1.37280979e-01 2.18286331e+01] [-1.13374651e-02 9.99911901e-01 -6.90303217e-03 9.75359683e-01] [ 1.37197902e-01 8.39372514e-03 9.90508092e-01 1.91278150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.24463044000004 meters Centerline goodness [0,1] 0.353855130089031 Centerline is valid? [False, False] Translation: X:21.83, Y:0.98, Z:1.91 [[ 9.90471542e-01 1.02079402e-02 -1.37338716e-01 2.18289250e+01] [-1.12973756e-02 9.99910581e-01 -7.15531329e-03 9.77168113e-01] [ 1.37253395e-01 8.63870124e-03 9.90498298e-01 1.91267636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.27463044 meters Centerline goodness [0,1] 0.35624690720540464 Centerline is valid? [False, False] Translation: X:21.83, Y:0.98, Z:1.91 [[ 9.90462550e-01 1.00982340e-02 -1.37411656e-01 2.18289715e+01] [-1.12244263e-02 9.99909449e-01 -7.42334580e-03 9.79011753e-01] [ 1.37324251e-01 8.89491301e-03 9.90486209e-01 1.91292542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30463044000004 meters Centerline goodness [0,1] 0.3550679250988099 Centerline is valid? [False, False] Translation: X:21.83, Y:0.98, Z:1.91 [[ 9.90482471e-01 9.98050445e-03 -1.37276600e-01 2.18286346e+01] [-1.11390660e-02 9.99908511e-01 -7.67398252e-03 9.80488542e-01] [ 1.37187451e-01 9.13007827e-03 9.90503026e-01 1.91297173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.33463044 meters Centerline goodness [0,1] 0.357155164986646 Centerline is valid? [False, False] Translation: X:21.85, Y:0.99, Z:1.92 [[ 9.90426936e-01 3.46287218e-03 -1.37994537e-01 2.18463969e+01] [-4.40912133e-03 9.99968815e-01 -6.55205901e-03 9.87586293e-01] [ 1.37967545e-01 7.09777039e-03 9.90411318e-01 1.91783676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36463044 meters Centerline goodness [0,1] 0.35501511934632957 Centerline is valid? [False, False] Translation: X:21.85, Y:0.99, Z:1.92 [[ 9.90404830e-01 3.34968562e-03 -1.38155900e-01 2.18469814e+01] [-4.31278698e-03 9.99968439e-01 -6.67235455e-03 9.88227992e-01] [ 1.38129190e-01 7.20416914e-03 9.90388018e-01 1.91775434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.39463044 meters Centerline goodness [0,1] 0.35420247507734615 Centerline is valid? [False, False] Translation: X:21.85, Y:0.99, Z:1.92 [[ 9.90392590e-01 3.21045157e-03 -1.38246920e-01 2.18472699e+01] [-4.19098100e-03 9.99968083e-01 -6.80208589e-03 9.88473318e-01] [ 1.38220670e-01 7.31612568e-03 9.90374435e-01 1.91771054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42463044 meters Centerline goodness [0,1] 0.35588457797471096 Centerline is valid? [False, False] Translation: X:21.85, Y:0.99, Z:1.92 [[ 9.90398482e-01 2.91012279e-03 -1.38211354e-01 2.18467538e+01] [-3.92516447e-03 9.99967288e-01 -7.07213488e-03 9.88872231e-01] [ 1.38186252e-01 7.54673395e-03 9.90377507e-01 1.91826695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.45463044 meters Centerline goodness [0,1] 0.3571906932532567 Centerline is valid? [False, False] Translation: X:21.85, Y:0.99, Z:1.92 [[ 9.90401963e-01 2.87239145e-03 -1.38187193e-01 2.18465705e+01] [-3.89703787e-03 9.99966881e-01 -7.14492864e-03 9.89522048e-01] [ 1.38162093e-01 7.61487207e-03 9.90380356e-01 1.91848794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48463044 meters Centerline goodness [0,1] 0.3552070612935707 Centerline is valid? [False, False] Translation: X:21.85, Y:0.99, Z:1.92 [[ 9.90380314e-01 2.85030104e-03 -1.38342725e-01 2.18469198e+01] [-3.89034862e-03 9.99966165e-01 -7.24808685e-03 9.90436630e-01] [ 1.38317385e-01 7.71656396e-03 9.90357893e-01 1.91861755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.51463044 meters Centerline goodness [0,1] 0.35616644456862834 Centerline is valid? [False, False] Translation: X:21.85, Y:0.99, Z:1.92 [[ 9.90354725e-01 2.87589730e-03 -1.38525258e-01 2.18475854e+01] [-3.93223268e-03 9.99965238e-01 -7.35250666e-03 9.91576171e-01] [ 1.38499298e-01 7.82630326e-03 9.90331608e-01 1.91846758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54463044 meters Centerline goodness [0,1] 0.3538918699360797 Centerline is valid? [False, False] Translation: X:21.85, Y:0.99, Z:1.92 [[ 9.90256096e-01 2.78360308e-03 -1.39230444e-01 2.18496899e+01] [-3.89462926e-03 9.99962709e-01 -7.70794843e-03 9.93634931e-01] [ 1.39203796e-01 8.17509388e-03 9.90230009e-01 1.91823051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.57463044 meters Centerline goodness [0,1] 0.35428583716829387 Centerline is valid? [False, False] Translation: X:21.85, Y:0.99, Z:1.92 [[ 9.90232217e-01 2.69610943e-03 -1.39401893e-01 2.18501547e+01] [-3.83185560e-03 9.99961614e-01 -7.87952658e-03 9.94389863e-01] [ 1.39375298e-01 8.33672900e-03 9.90204537e-01 1.91824763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60463044 meters Centerline goodness [0,1] 0.35121836925960637 Centerline is valid? [False, False] Translation: X:21.85, Y:1.00, Z:1.92 [[ 9.90220859e-01 2.61676621e-03 -1.39484057e-01 2.18502843e+01] [-3.77192303e-03 9.99960742e-01 -8.01792992e-03 9.95169836e-01] [ 1.39457600e-01 8.46564458e-03 9.90191856e-01 1.91840316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.63463044 meters Centerline goodness [0,1] 0.3515222984562607 Centerline is valid? [False, False] Translation: X:21.85, Y:1.00, Z:1.92 [[ 9.90244296e-01 2.71627736e-03 -1.39315668e-01 2.18495680e+01] [-3.85557185e-03 9.99961294e-01 -7.90855630e-03 9.95081192e-01] [ 1.39288794e-01 8.36854434e-03 9.90216441e-01 1.91872777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66463044 meters Centerline goodness [0,1] 0.35955807781110416 Centerline is valid? [False, False] Translation: X:21.85, Y:0.99, Z:1.92 [[ 9.90239661e-01 2.75032320e-03 -1.39347941e-01 2.18489352e+01] [-3.86577924e-03 9.99962614e-01 -7.73479351e-03 9.93755937e-01] [ 1.39321458e-01 8.19798768e-03 9.90213272e-01 1.91956831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.69463044 meters Centerline goodness [0,1] 0.3605380390121534 Centerline is valid? [False, False] Translation: X:21.85, Y:0.99, Z:1.92 [[ 9.90221376e-01 2.68547729e-03 -1.39479083e-01 2.18489614e+01] [-3.79442329e-03 9.99963268e-01 -7.68531289e-03 9.92709580e-01] [ 1.39453321e-01 8.13940379e-03 9.90195194e-01 1.91993566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72463044 meters Centerline goodness [0,1] 0.3573843454444302 Centerline is valid? [False, False] Translation: X:21.87, Y:1.00, Z:1.92 [[ 9.90272064e-01 -4.34797613e-03 -1.39076721e-01 2.18676831e+01] [ 3.44844989e-03 9.99971554e-01 -6.70815969e-03 9.96336579e-01] [ 1.39101932e-01 6.16330404e-03 9.90258888e-01 1.92407761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.75463044 meters Centerline goodness [0,1] 0.36114344845427504 Centerline is valid? [False, False] Translation: X:21.87, Y:1.00, Z:1.92 [[ 9.90298694e-01 -4.12320292e-03 -1.38893831e-01 2.18665018e+01] [ 3.24745338e-03 9.99973398e-01 -6.53120722e-03 9.96366574e-01] [ 1.38917066e-01 6.01679474e-03 9.90285740e-01 1.92489481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78463044 meters Centerline goodness [0,1] 0.36113267770876467 Centerline is valid? [False, False] Translation: X:21.87, Y:1.00, Z:1.92 [[ 9.90302565e-01 -3.95885856e-03 -1.38871010e-01 2.18664646e+01] [ 3.08984977e-03 9.99974278e-01 -6.47270139e-03 9.97067993e-01] [ 1.38893063e-01 5.98084223e-03 9.90289325e-01 1.92492904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.81463044000003 meters Centerline goodness [0,1] 0.36072139996144537 Centerline is valid? [False, False] Translation: X:21.89, Y:1.00, Z:1.93 [[ 9.90354390e-01 4.45200802e-03 -1.38485965e-01 2.18863002e+01] [-5.56765427e-03 9.99955088e-01 -7.66967811e-03 9.95590897e-01] [ 1.38445600e-01 8.36674135e-03 9.90334698e-01 1.92867328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84463044 meters Centerline goodness [0,1] 0.359879838343671 Centerline is valid? [False, False] Translation: X:21.89, Y:1.00, Z:1.93 [[ 9.90338005e-01 4.44660992e-03 -1.38603263e-01 2.18868351e+01] [-5.59314484e-03 9.99953281e-01 -7.88366527e-03 9.97039065e-01] [ 1.38561732e-01 8.58272145e-03 9.90316608e-01 1.92846373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.87463044000003 meters Centerline goodness [0,1] 0.35849787902930597 Centerline is valid? [False, False] Translation: X:21.89, Y:1.00, Z:1.93 [[ 9.90325550e-01 4.51749417e-03 -1.38689935e-01 2.18868646e+01] [-5.70839336e-03 9.99950166e-01 -8.19020318e-03 9.99527742e-01] [ 1.38646025e-01 8.90266417e-03 9.90301985e-01 1.92873531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90463044 meters Centerline goodness [0,1] 0.3576051086444092 Centerline is valid? [False, False] Translation: X:21.89, Y:1.00, Z:1.93 [[ 9.90326689e-01 4.56679040e-03 -1.38680185e-01 2.18867033e+01] [-5.77311507e-03 9.99948909e-01 -8.29760108e-03 1.00083867e+00] [ 1.38635207e-01 9.01795247e-03 9.90302457e-01 1.92894165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.93463044000003 meters Centerline goodness [0,1] 0.35804033591786766 Centerline is valid? [False, False] Translation: X:21.89, Y:1.00, Z:1.93 [[ 9.90333900e-01 4.58847579e-03 -1.38627963e-01 2.18867690e+01] [-5.80931724e-03 9.99947817e-01 -8.40326462e-03 1.00194304e+00] [ 1.38582171e-01 9.12737164e-03 9.90308878e-01 1.92873110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96463044 meters Centerline goodness [0,1] 0.355640371378948 Centerline is valid? [False, False] Translation: X:21.89, Y:1.00, Z:1.93 [[ 9.90310880e-01 4.44419624e-03 -1.38797014e-01 2.18875611e+01] [-5.69963516e-03 9.99946353e-01 -8.64898213e-03 1.00302015e+00] [ 1.38751130e-01 9.35627344e-03 9.90283083e-01 1.92841298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.99463044000004 meters Centerline goodness [0,1] 0.3555526959207309 Centerline is valid? [False, False] Translation: X:21.89, Y:1.00, Z:1.93 [[ 9.90287176e-01 4.27273073e-03 -1.38971407e-01 2.18883080e+01] [-5.55685462e-03 9.99945367e-01 -8.85350878e-03 1.00350289e+00] [ 1.38925986e-01 9.53976012e-03 9.90256817e-01 1.92811251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02463044 meters Centerline goodness [0,1] 0.3528417358555166 Centerline is valid? [False, False] Translation: X:21.89, Y:1.00, Z:1.93 [[ 9.90241294e-01 4.10421365e-03 -1.39303030e-01 2.18892204e+01] [-5.41249565e-03 9.99944724e-01 -9.01408903e-03 1.00402584e+00] [ 1.39258334e-01 9.68010024e-03 9.90208772e-01 1.92812376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.05463044000004 meters Centerline goodness [0,1] 0.35277074301412203 Centerline is valid? [False, False] Translation: X:21.89, Y:1.00, Z:1.93 [[ 9.90251730e-01 4.15538852e-03 -1.39227309e-01 2.18890629e+01] [-5.45755294e-03 9.99944855e-01 -8.97231925e-03 1.00423656e+00] [ 1.39182348e-01 9.64469507e-03 9.90219801e-01 1.92812065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08463044 meters Centerline goodness [0,1] 0.3501228238812346 Centerline is valid? [False, False] Translation: X:21.89, Y:1.00, Z:1.93 [[ 9.90268369e-01 4.19803637e-03 -1.39107637e-01 2.18888334e+01] [-5.49564850e-03 9.99944888e-01 -8.94531676e-03 1.00455583e+00] [ 1.39062417e-01 9.62275091e-03 9.90236864e-01 1.92807922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.11463044 meters Centerline goodness [0,1] 0.35325805895535256 Centerline is valid? [False, False] Translation: X:21.89, Y:1.01, Z:1.93 [[ 9.90304735e-01 4.02540457e-03 -1.38853619e-01 2.18884168e+01] [-5.36652352e-03 9.99942489e-01 -9.28546621e-03 1.00614891e+00] [ 1.38808256e-01 9.94060237e-03 9.90269384e-01 1.92791858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14463044 meters Centerline goodness [0,1] 0.35158725027477855 Centerline is valid? [False, False] Translation: X:21.89, Y:1.01, Z:1.93 [[ 9.90275580e-01 3.87807035e-03 -1.39065580e-01 2.18891906e+01] [-5.26376169e-03 9.99940085e-01 -9.59789387e-03 1.00783940e+00] [ 1.39020026e-01 1.02365680e-02 9.90236661e-01 1.92769831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.17463044 meters Centerline goodness [0,1] 0.35158725027477855 Centerline is valid? [False, False] Translation: X:21.89, Y:1.01, Z:1.93 [[ 9.90275580e-01 3.87807035e-03 -1.39065580e-01 2.18891906e+01] [-5.26376169e-03 9.99940085e-01 -9.59789387e-03 1.00783940e+00] [ 1.39020026e-01 1.02365680e-02 9.90236661e-01 1.92769831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20463044 meters Centerline goodness [0,1] 0.34897767533188206 Centerline is valid? [False, False] Translation: X:21.89, Y:1.01, Z:1.93 [[ 9.90216962e-01 3.86626474e-03 -1.39482687e-01 2.18906067e+01] [-5.29308390e-03 9.99937381e-01 -9.85985319e-03 1.01026770e+00] [ 1.39435832e-01 1.05016874e-02 9.90175421e-01 1.92737131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.23463044 meters Centerline goodness [0,1] 0.3482821755519655 Centerline is valid? [False, False] Translation: X:21.89, Y:1.01, Z:1.93 [[ 9.90193073e-01 3.87600117e-03 -1.39651909e-01 2.18913732e+01] [-5.34155633e-03 9.99934514e-01 -1.01210556e-02 1.01266219e+00] [ 1.39603535e-01 1.07677576e-02 9.90148932e-01 1.92702565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26463044 meters Centerline goodness [0,1] 0.3470719115201002 Centerline is valid? [False, False] Translation: X:21.89, Y:1.02, Z:1.93 [[ 9.90261211e-01 4.16158940e-03 -1.39159677e-01 2.18900285e+01] [-5.65201122e-03 9.99930808e-01 -1.03166812e-02 1.01738815e+00] [ 1.39107115e-01 1.10027412e-02 9.90216214e-01 1.92720890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.29463044 meters Centerline goodness [0,1] 0.3465970394027017 Centerline is valid? [False, False] Translation: X:21.89, Y:1.02, Z:1.93 [[ 9.90270507e-01 3.96010868e-03 -1.39099391e-01 2.18898025e+01] [-5.50297673e-03 9.99927515e-01 -1.07089895e-02 1.01942527e+00] [ 1.39046900e-01 1.13702572e-02 9.90220519e-01 1.92733592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.32463044 meters Centerline goodness [0,1] 0.3450302432328085 Centerline is valid? [False, False] Translation: X:21.89, Y:1.02, Z:1.93 [[ 9.90253696e-01 3.76140999e-03 -1.39224530e-01 2.18901789e+01] [-5.35615080e-03 9.99924253e-01 -1.10815461e-02 1.02141158e+00] [ 1.39172302e-01 1.17192496e-02 9.90198833e-01 1.92731834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.35463044 meters Centerline goodness [0,1] 0.3440441903451833 Centerline is valid? [False, False] Translation: X:21.89, Y:1.02, Z:1.93 [[ 9.90227266e-01 3.69499205e-03 -1.39414162e-01 2.18908983e+01] [-5.31914951e-03 9.99922242e-01 -1.12790703e-02 1.02288847e+00] [ 1.39361646e-01 1.19104077e-02 9.90169922e-01 1.92707590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.38463044 meters Centerline goodness [0,1] 0.3409623662788219 Centerline is valid? [False, False] Translation: X:21.91, Y:1.03, Z:1.93 [[ 9.90122908e-01 -2.64673977e-03 -1.40177111e-01 2.19091752e+01] [ 1.22207107e-03 9.99946736e-01 -1.02484508e-02 1.03158509e+00] [ 1.40196770e-01 9.97591955e-03 9.90073405e-01 1.93156609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.41463044 meters Centerline goodness [0,1] 0.34056218021451046 Centerline is valid? [False, False] Translation: X:21.91, Y:1.03, Z:1.93 [[ 9.90158579e-01 -2.76435307e-03 -1.39922646e-01 2.19081306e+01] [ 1.32268255e-03 9.99945093e-01 -1.03952853e-02 1.03215949e+00] [ 1.39943699e-01 1.01079076e-02 9.90107869e-01 1.93202851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.44463044 meters Centerline goodness [0,1] 0.3419374170626257 Centerline is valid? [False, False] Translation: X:21.91, Y:1.03, Z:1.93 [[ 9.90181418e-01 -2.92706048e-03 -1.39757619e-01 2.19072697e+01] [ 1.46700418e-03 9.99943282e-01 -1.05489360e-02 1.03249079e+00] [ 1.39780570e-01 1.02403354e-02 9.90129551e-01 1.93257196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.47463044 meters Centerline goodness [0,1] 0.3459698116490495 Centerline is valid? [False, False] Translation: X:21.89, Y:1.03, Z:1.93 [[ 9.90192050e-01 3.57779668e-03 -1.39667115e-01 2.18892129e+01] [-5.26879734e-03 9.99917209e-01 -1.17394906e-02 1.02669802e+00] [ 1.39613550e-01 1.23602280e-02 9.90128922e-01 1.92869396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.50463044 meters Centerline goodness [0,1] 0.34008269747218556 Centerline is valid? [False, False] Translation: X:21.93, Y:1.03, Z:1.93 [[ 9.90313809e-01 3.73358501e-03 -1.38797048e-01 2.19329685e+01] [-5.51350188e-03 9.99907400e-01 -1.24416030e-02 1.02921378e+00] [ 1.38737743e-01 1.30863490e-02 9.90242691e-01 1.93455182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.53463044 meters Centerline goodness [0,1] 0.3403222341568206 Centerline is valid? [False, False] Translation: X:21.93, Y:1.03, Z:1.93 [[ 9.90291011e-01 3.61573960e-03 -1.38962730e-01 2.19336774e+01] [-5.39420086e-03 9.99908274e-01 -1.24236238e-02 1.02823484e+00] [ 1.38905063e-01 1.30525959e-02 9.90219679e-01 1.93426079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.56463044000003 meters Centerline goodness [0,1] 0.3415922014622258 Centerline is valid? [False, False] Translation: X:21.95, Y:1.03, Z:1.94 [[ 9.90194061e-01 -3.51407158e-03 -1.39654478e-01 2.19524657e+01] [ 1.93556053e-03 9.99932720e-01 -1.14371886e-02 1.03125426e+00] [ 1.39685273e-01 1.10547265e-02 9.90134242e-01 1.93877108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.59463044 meters Centerline goodness [0,1] 0.3384773883368033 Centerline is valid? [False, False] Translation: X:21.95, Y:1.03, Z:1.94 [[ 9.90238145e-01 -3.61947313e-03 -1.39338853e-01 2.19512707e+01] [ 2.08253473e-03 9.99935395e-01 -1.11744422e-02 1.02845988e+00] [ 1.39370297e-01 1.07751809e-02 9.90181708e-01 1.93928472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.62463044000003 meters Centerline goodness [0,1] 0.33891909178126 Centerline is valid? [False, False] Translation: X:21.95, Y:1.03, Z:1.94 [[ 9.90230615e-01 -3.44163010e-03 -1.39396856e-01 2.19512330e+01] [ 1.94427729e-03 9.99938960e-01 -1.08764083e-02 1.02726185e+00] [ 1.39425780e-01 1.04991264e-02 9.90176863e-01 1.93954242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.65463044 meters Centerline goodness [0,1] 0.3384664879356568 Centerline is valid? [False, False] Translation: X:21.95, Y:1.03, Z:1.94 [[ 9.90229904e-01 -3.30556376e-03 -1.39405203e-01 2.19510582e+01] [ 1.83233311e-03 9.99941128e-01 -1.06949962e-02 1.02666867e+00] [ 1.39432348e-01 1.03350683e-02 9.90177664e-01 1.93978594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.68463044000003 meters Centerline goodness [0,1] 0.338797230295777 Centerline is valid? [False, False] Translation: X:21.95, Y:1.03, Z:1.94 [[ 9.90207370e-01 -3.30707127e-03 -1.39565135e-01 2.19515340e+01] [ 1.83120597e-03 9.99941057e-01 -1.07018325e-02 1.02649460e+00] [ 1.39592300e-01 1.03414609e-02 9.90155061e-01 1.93977008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.71463044 meters Centerline goodness [0,1] 0.3383995170956754 Centerline is valid? [False, False] Translation: X:21.95, Y:1.03, Z:1.94 [[ 9.90172683e-01 -3.31540118e-03 -1.39810819e-01 2.19526301e+01] [ 1.82830894e-03 9.99940400e-01 -1.07635591e-02 1.02662325e+00] [ 1.39838172e-01 1.04021648e-02 9.90119730e-01 1.93926532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.74463044000004 meters Centerline goodness [0,1] 0.3366665239176052 Centerline is valid? [False, False] Translation: X:21.95, Y:1.03, Z:1.94 [[ 9.90169832e-01 -3.22534556e-03 -1.39833117e-01 2.19528549e+01] [ 1.74649593e-03 9.99941258e-01 -1.06972408e-02 1.02672052e+00] [ 1.39859405e-01 1.03478671e-02 9.90117300e-01 1.93914186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.77463044 meters Centerline goodness [0,1] 0.338758066953012 Centerline is valid? [False, False] Translation: X:21.95, Y:1.03, Z:1.94 [[ 9.90198094e-01 -3.11045722e-03 -1.39635453e-01 2.19523474e+01] [ 1.64469591e-03 9.99942347e-01 -1.06112245e-02 1.02690239e+00] [ 1.39660409e-01 1.02775564e-02 9.90146122e-01 1.93912931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80463044000004 meters Centerline goodness [0,1] 0.33586097267571746 Centerline is valid? [False, False] Translation: X:21.95, Y:1.03, Z:1.94 [[ 9.90198313e-01 -3.16325647e-03 -1.39632716e-01 2.19524775e+01] [ 1.66209140e-03 9.99939581e-01 -1.08661157e-02 1.02866180e+00] [ 1.39658652e-01 1.05275271e-02 9.90143743e-01 1.93903200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.83463044 meters Centerline goodness [0,1] 0.33582281189813823 Centerline is valid? [False, False] Translation: X:21.95, Y:1.03, Z:1.94 [[ 9.90187110e-01 -3.21259873e-03 -1.39711013e-01 2.19527339e+01] [ 1.67900785e-03 9.99937057e-01 -1.10933603e-02 1.03027743e+00] [ 1.39737857e-01 1.07499265e-02 9.90130178e-01 1.93899317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86463044 meters Centerline goodness [0,1] 0.33752359704822377 Centerline is valid? [False, False] Translation: X:21.95, Y:1.03, Z:1.94 [[ 9.90170666e-01 -3.24556094e-03 -1.39826742e-01 2.19529624e+01] [ 1.67171862e-03 9.99933943e-01 -1.13716432e-02 1.03240056e+00] [ 1.39854413e-01 1.10261165e-02 9.90110685e-01 1.93905798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.89463044 meters Centerline goodness [0,1] 0.3350858669654593 Centerline is valid? [False, False] Translation: X:21.95, Y:1.04, Z:1.94 [[ 9.90209256e-01 -7.60700518e-04 -1.39588865e-01 2.19511247e+01] [-5.95340884e-04 9.99953043e-01 -9.67252544e-03 1.03752230e+00] [ 1.39589669e-01 9.66092717e-03 9.90162305e-01 1.94004800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92463044 meters Centerline goodness [0,1] 0.33466143992459785 Centerline is valid? [False, False] Translation: X:21.95, Y:1.04, Z:1.94 [[ 9.90176207e-01 -8.58952584e-04 -1.39822536e-01 2.19516273e+01] [-5.47392310e-04 9.99949656e-01 -1.00193018e-02 1.03990694e+00] [ 1.39824103e-01 9.99741202e-03 9.90125887e-01 1.94016174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.95463044 meters Centerline goodness [0,1] 0.3348323793949305 Centerline is valid? [False, False] Translation: X:21.95, Y:1.04, Z:1.94 [[ 9.90146319e-01 -9.59769680e-04 -1.40033371e-01 2.19520601e+01] [-4.95596741e-04 9.99946234e-01 -1.03577552e-02 1.04212489e+00] [ 1.40035783e-01 1.03250932e-02 9.90092608e-01 1.94026338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.98463044 meters Centerline goodness [0,1] 0.3335410131912516 Centerline is valid? [False, False] Translation: X:21.95, Y:1.04, Z:1.94 [[ 9.90138422e-01 -1.04596270e-03 -1.40088580e-01 2.19520416e+01] [-4.55382787e-04 9.99942814e-01 -1.06846317e-02 1.04452795e+00] [ 1.40091745e-01 1.06430583e-02 9.90081324e-01 1.94042338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.01463044 meters Centerline goodness [0,1] 0.3342778028205293 Centerline is valid? [False, False] Translation: X:21.95, Y:1.05, Z:1.94 [[ 9.90247343e-01 4.77906359e-04 -1.39319671e-01 2.19486431e+01] [-1.86490873e-03 9.99949993e-01 -9.82516283e-03 1.05045596e+00] [ 1.39308008e-01 9.98915986e-03 9.90198715e-01 1.94180766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.04463044 meters Centerline goodness [0,1] 0.3338702749140894 Centerline is valid? [False, False] Translation: X:21.95, Y:1.05, Z:1.94 [[ 9.90285972e-01 4.21124530e-04 -1.39045015e-01 2.19476245e+01] [-1.85596258e-03 9.99946361e-01 -1.01897343e-02 1.05331615e+00] [ 1.39033266e-01 1.03488133e-02 9.90233636e-01 1.94215109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.07463044 meters Centerline goodness [0,1] 0.33310377480308184 Centerline is valid? [False, False] Translation: X:21.95, Y:1.06, Z:1.94 [[ 9.90301129e-01 2.72924484e-04 -1.38937391e-01 2.19471213e+01] [-1.77462522e-03 9.99941342e-01 -1.06847039e-02 1.05663979e+00] [ 1.38926325e-01 1.08276361e-02 9.90243525e-01 1.94235226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10463044 meters Centerline goodness [0,1] 0.3334052747442483 Centerline is valid? [False, False] Translation: X:21.95, Y:1.06, Z:1.94 [[ 9.90304681e-01 1.47746704e-04 -1.38912262e-01 2.19470944e+01] [-1.71773942e-03 9.99936002e-01 -1.11822248e-02 1.06015681e+00] [ 1.38901720e-01 1.13124246e-02 9.90241557e-01 1.94228158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.13463044 meters Centerline goodness [0,1] 0.32904873377314325 Centerline is valid? [False, False] Translation: X:21.97, Y:1.07, Z:1.95 [[ 9.90306517e-01 8.85710178e-03 -1.38616576e-01 2.19696040e+01] [-1.06677891e-02 9.99867137e-01 -1.23250486e-02 1.06683540e+00] [ 1.38488994e-01 1.36843084e-02 9.90269427e-01 1.94559124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16463044 meters Centerline goodness [0,1] 0.3305206347846572 Centerline is valid? [False, False] Translation: X:21.97, Y:1.07, Z:1.95 [[ 9.90301389e-01 8.69672753e-03 -1.38663356e-01 2.19696940e+01] [-1.05689441e-02 9.99862587e-01 -1.27712725e-02 1.06981303e+00] [ 1.38533233e-01 1.41129342e-02 9.90257223e-01 1.94566080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.19463044 meters Centerline goodness [0,1] 0.332659773425912 Centerline is valid? [False, False] Translation: X:21.97, Y:1.07, Z:1.95 [[ 9.90286489e-01 8.47690042e-03 -1.38783325e-01 2.19697485e+01] [-1.04227794e-02 9.99857225e-01 -1.33002110e-02 1.07297308e+00] [ 1.38650766e-01 1.46175272e-02 9.90233454e-01 1.94596244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22463044 meters Centerline goodness [0,1] 0.33238569059464584 Centerline is valid? [False, False] Translation: X:21.97, Y:1.08, Z:1.95 [[ 9.90287967e-01 8.17988902e-03 -1.38790601e-01 2.19694987e+01] [-1.02299967e-02 9.99848760e-01 -1.40642862e-02 1.07881206e+00] [ 1.38654566e-01 1.53475208e-02 9.90221877e-01 1.94628067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.25463044 meters Centerline goodness [0,1] 0.33138823933237505 Centerline is valid? [False, False] Translation: X:21.99, Y:1.09, Z:1.95 [[ 9.90098053e-01 1.88825124e-03 -1.40364808e-01 2.19861628e+01] [-3.79485702e-03 9.99904126e-01 -1.33168019e-02 1.08689152e+00] [ 1.40326205e-01 1.37176040e-02 9.90010295e-01 1.95135973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28463044 meters Centerline goodness [0,1] 0.3301490256018341 Centerline is valid? [False, False] Translation: X:22.00, Y:1.09, Z:1.96 [[ 9.90119054e-01 -5.06924575e-03 -1.40137656e-01 2.20040857e+01] [ 3.37600400e-03 9.99918434e-01 -1.23177912e-02 1.09404065e+00] [ 1.40188667e-01 1.17229745e-02 9.90055407e-01 1.95572391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.31463044000003 meters Centerline goodness [0,1] 0.33329768575950725 Centerline is valid? [False, False] Translation: X:22.00, Y:1.09, Z:1.96 [[ 9.90131804e-01 -5.17957195e-03 -1.40043500e-01 2.20033077e+01] [ 3.46454127e-03 9.99916027e-01 -1.24874379e-02 1.09494501e+00] [ 1.40096420e-01 1.18790229e-02 9.90066605e-01 1.95628137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34463044 meters Centerline goodness [0,1] 0.3320796649286264 Centerline is valid? [False, False] Translation: X:22.00, Y:1.10, Z:1.96 [[ 9.90147883e-01 -5.29224530e-03 -1.39925558e-01 2.20020787e+01] [ 3.57324791e-03 9.99915068e-01 -1.25334641e-02 1.09560474e+00] [ 1.39980004e-01 1.19099943e-02 9.90082699e-01 1.95737751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.37463044000003 meters Centerline goodness [0,1] 0.33391964649606387 Centerline is valid? [False, False] Translation: X:22.00, Y:1.10, Z:1.96 [[ 9.90148234e-01 -5.36006067e-03 -1.39920497e-01 2.20018440e+01] [ 3.63903511e-03 9.99914586e-01 -1.25529762e-02 1.09562993e+00] [ 1.39975830e-01 1.19201316e-02 9.90083167e-01 1.95767001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40463044 meters Centerline goodness [0,1] 0.33151522929500343 Centerline is valid? [False, False] Translation: X:22.00, Y:1.10, Z:1.96 [[ 9.90139194e-01 -5.42896075e-03 -1.39981796e-01 2.20018304e+01] [ 3.70222906e-03 9.99913853e-01 -1.25928586e-02 1.09575929e+00] [ 1.40038103e-01 1.19504382e-02 9.90073996e-01 1.95790554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.43463044000003 meters Centerline goodness [0,1] 0.33632151707790103 Centerline is valid? [False, False] Translation: X:22.00, Y:1.10, Z:1.96 [[ 9.90134712e-01 -5.50994062e-03 -1.40010327e-01 2.20018185e+01] [ 3.77744452e-03 9.99913017e-01 -1.26367993e-02 1.09588676e+00] [ 1.40067777e-01 1.19832524e-02 9.90069401e-01 1.95801383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46463044 meters Centerline goodness [0,1] 0.3346731724093459 Centerline is valid? [False, False] Translation: X:22.00, Y:1.10, Z:1.96 [[ 9.90170290e-01 -5.52469383e-03 -1.39757917e-01 2.20009898e+01] [ 3.78929139e-03 9.99912422e-01 -1.26802566e-02 1.09685750e+00] [ 1.39815732e-01 1.20260299e-02 9.90104507e-01 1.95830554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.49463044000004 meters Centerline goodness [0,1] 0.33374636814219794 Centerline is valid? [False, False] Translation: X:22.02, Y:1.10, Z:1.96 [[ 9.90205047e-01 1.94397792e-03 -1.39607258e-01 2.20193695e+01] [-3.97281284e-03 9.99890497e-01 -1.42552350e-02 1.09525830e+00] [ 1.39564259e-01 1.46702391e-02 9.90104339e-01 1.96256608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52463044 meters Centerline goodness [0,1] 0.332600904514037 Centerline is valid? [False, False] Translation: X:22.02, Y:1.10, Z:1.96 [[ 9.90172475e-01 1.80515329e-03 -1.39839950e-01 2.20200747e+01] [-3.87137291e-03 9.99887303e-01 -1.45049898e-02 1.09659953e+00] [ 1.39798006e-01 1.49038142e-02 9.90067873e-01 1.96246556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.55463044000004 meters Centerline goodness [0,1] 0.3349587882449402 Centerline is valid? [False, False] Translation: X:22.02, Y:1.10, Z:1.96 [[ 9.90098389e-01 1.61904728e-03 -1.40365807e-01 2.20216997e+01] [-3.75217989e-03 9.99881447e-01 -1.49336364e-02 1.09907783e+00] [ 1.40324988e-01 1.53124471e-02 9.89987084e-01 1.96213847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58463044 meters Centerline goodness [0,1] 0.3343447385409942 Centerline is valid? [False, False] Translation: X:22.02, Y:1.10, Z:1.96 [[ 9.90089918e-01 1.57070370e-03 -1.40426090e-01 2.20221002e+01] [-3.72673400e-03 9.99879167e-01 -1.50918384e-02 1.10023596e+00] [ 1.40385417e-01 1.54656077e-02 9.89976136e-01 1.96187954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.61463044 meters Centerline goodness [0,1] 0.33118357901954065 Centerline is valid? [False, False] Translation: X:22.02, Y:1.10, Z:1.96 [[ 9.90085589e-01 1.50361526e-03 -1.40457345e-01 2.20220508e+01] [-3.67880726e-03 9.99877278e-01 -1.52281343e-02 1.10121612e+00] [ 1.40417211e-01 1.55938718e-02 9.89969615e-01 1.96207003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64463044 meters Centerline goodness [0,1] 0.3313061417458203 Centerline is valid? [False, False] Translation: X:22.02, Y:1.10, Z:1.96 [[ 9.90100916e-01 1.46448559e-03 -1.40349677e-01 2.20217608e+01] [-3.64752587e-03 9.99876321e-01 -1.52983198e-02 1.10175236e+00] [ 1.40309915e-01 1.56588095e-02 9.89983803e-01 1.96211311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.67463044 meters Centerline goodness [0,1] 0.33065796815313964 Centerline is valid? [False, False] Translation: X:22.02, Y:1.10, Z:1.96 [[ 9.90086355e-01 1.41480740e-03 -1.40452870e-01 2.20219598e+01] [-3.61024789e-03 9.99875240e-01 -1.53775873e-02 1.10219950e+00] [ 1.40413591e-01 1.57322091e-02 9.89967939e-01 1.96223590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70463044 meters Centerline goodness [0,1] 0.3323437668064967 Centerline is valid? [False, False] Translation: X:22.02, Y:1.10, Z:1.96 [[ 9.90049122e-01 1.28825166e-03 -1.40716301e-01 2.20232161e+01] [-3.50680486e-03 9.99873419e-01 -1.55193142e-02 1.10253542e+00] [ 1.40678496e-01 1.58583480e-02 9.89928317e-01 1.96158116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.73463044 meters Centerline goodness [0,1] 0.3317543708552235 Centerline is valid? [False, False] Translation: X:22.02, Y:1.10, Z:1.96 [[ 9.90031247e-01 1.23881148e-03 -1.40842449e-01 2.20238288e+01] [-3.47101309e-03 9.99872220e-01 -1.56043738e-02 1.10286520e+00] [ 1.40805121e-01 1.59376837e-02 9.89909040e-01 1.96127705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76463044 meters Centerline goodness [0,1] 0.3364106112035976 Centerline is valid? [False, False] Translation: X:22.02, Y:1.10, Z:1.96 [[ 9.90058363e-01 1.33209657e-03 -1.40650858e-01 2.20232243e+01] [-3.57657775e-03 9.99870253e-01 -1.57062461e-02 1.10445160e+00] [ 1.40611686e-01 1.60531490e-02 9.89934670e-01 1.96144462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.79463044 meters Centerline goodness [0,1] 0.32989251888900717 Centerline is valid? [False, False] Translation: X:22.06, Y:1.11, Z:1.97 [[ 9.90361687e-01 2.77744484e-03 -1.38477487e-01 2.20641681e+01] [-4.95191543e-03 9.99869756e-01 -1.53606501e-02 1.10788942e+00] [ 1.38416787e-01 1.58983282e-02 9.90246452e-01 1.96821958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.82463044 meters Centerline goodness [0,1] 0.33434637353163055 Centerline is valid? [False, False] Translation: X:22.06, Y:1.11, Z:1.97 [[ 9.90406743e-01 2.84287825e-03 -1.38153541e-01 2.20632640e+01] [-5.02278345e-03 9.99868292e-01 -1.54327914e-02 1.10897770e+00] [ 1.38091471e-01 1.59786560e-02 9.90290578e-01 1.96831597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.85463044 meters Centerline goodness [0,1] 0.3375525606469003 Centerline is valid? [False, False] Translation: X:22.06, Y:1.11, Z:1.97 [[ 9.90414439e-01 2.79223775e-03 -1.38099390e-01 2.20630873e+01] [-4.99553735e-03 9.99865671e-01 -1.56104212e-02 1.11009852e+00] [ 1.38037252e-01 1.61506672e-02 9.90295346e-01 1.96841073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.88463044 meters Centerline goodness [0,1] 0.33698547735670703 Centerline is valid? [False, False] Translation: X:22.06, Y:1.11, Z:1.97 [[ 9.90349925e-01 2.68050223e-03 -1.38563489e-01 2.20647350e+01] [-4.94895640e-03 9.99859275e-01 -1.60292846e-02 1.11255331e+00] [ 1.38501023e-01 1.65603454e-02 9.90223824e-01 1.96783940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.91463044 meters Centerline goodness [0,1] 0.33401379547456866 Centerline is valid? [False, False] Translation: X:22.07, Y:1.11, Z:1.97 [[ 9.90326111e-01 2.69923449e-03 -1.38733226e-01 2.20652960e+01] [-4.98864747e-03 9.99857019e-01 -1.61571915e-02 1.11388756e+00] [ 1.38669778e-01 1.66929798e-02 9.90197979e-01 1.96769681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.94463044 meters Centerline goodness [0,1] 0.3322922237672479 Centerline is valid? [False, False] Translation: X:22.07, Y:1.12, Z:1.97 [[ 9.90334000e-01 2.76470852e-03 -1.38675613e-01 2.20651505e+01] [-5.06981368e-03 9.99854752e-01 -1.62718006e-02 1.11547126e+00] [ 1.38610483e-01 1.68175769e-02 9.90204172e-01 1.96772791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.97463044 meters Centerline goodness [0,1] 0.33439071232817597 Centerline is valid? [False, False] Translation: X:22.06, Y:1.12, Z:1.97 [[ 9.90412350e-01 2.80093308e-03 -1.38114198e-01 2.20635597e+01] [-5.14475718e-03 9.99848707e-01 -1.66161174e-02 1.11851467e+00] [ 1.38046762e-01 1.71673719e-02 9.90276917e-01 1.96797757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.00463044 meters Centerline goodness [0,1] 0.33555316863587537 Centerline is valid? [False, False] Translation: X:22.06, Y:1.12, Z:1.97 [[ 9.90437626e-01 2.62885997e-03 -1.37936209e-01 2.20631461e+01] [-5.02052719e-03 9.99842989e-01 -1.69938833e-02 1.12047752e+00] [ 1.37869877e-01 1.75238939e-02 9.90295315e-01 1.96792379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.03463044 meters Centerline goodness [0,1] 0.3364252124768109 Centerline is valid? [False, False] Translation: X:22.06, Y:1.12, Z:1.97 [[ 9.90462768e-01 2.53282035e-03 -1.37757356e-01 2.20627841e+01] [-4.96819262e-03 9.99837347e-01 -1.73377415e-02 1.12277199e+00] [ 1.37691036e-01 1.78567925e-02 9.90314250e-01 1.96781658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.06463044000003 meters Centerline goodness [0,1] 0.33409940289531337 Centerline is valid? [False, False] Translation: X:22.06, Y:1.13, Z:1.97 [[ 9.90449151e-01 2.55407197e-03 -1.37854839e-01 2.20630773e+01] [-5.02899380e-03 9.99832323e-01 -1.76077891e-02 1.12539171e+00] [ 1.37786752e-01 1.81328909e-02 9.90295920e-01 1.96780896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.09463044 meters Centerline goodness [0,1] 0.33409940289531337 Centerline is valid? [False, False] Translation: X:22.06, Y:1.13, Z:1.97 [[ 9.90449151e-01 2.55407197e-03 -1.37854839e-01 2.20630773e+01] [-5.02899380e-03 9.99832323e-01 -1.76077891e-02 1.12539171e+00] [ 1.37786752e-01 1.81328909e-02 9.90295920e-01 1.96780896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.12463044000003 meters Centerline goodness [0,1] 0.3363988800344605 Centerline is valid? [False, False] Translation: X:22.07, Y:1.13, Z:1.97 [[ 9.90329822e-01 3.34617652e-03 -1.38692635e-01 2.20652013e+01] [-5.83815749e-03 9.99828683e-01 -1.75647265e-02 1.13262081e+00] [ 1.38610100e-01 1.82045819e-02 9.90179697e-01 1.96774078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.15463044 meters Centerline goodness [0,1] 0.3318453652285348 Centerline is valid? [False, False] Translation: X:22.08, Y:1.14, Z:1.97 [[ 9.90125361e-01 -2.81173024e-03 -1.40156567e-01 2.20829069e+01] [ 4.77164016e-04 9.99860637e-01 -1.66876676e-02 1.14147191e+00] [ 1.40183955e-01 1.64560052e-02 9.89988716e-01 1.97225737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.18463044000003 meters Centerline goodness [0,1] 0.33481000408593364 Centerline is valid? [False, False] Translation: X:22.08, Y:1.14, Z:1.97 [[ 9.90173806e-01 -2.87192166e-03 -1.39812685e-01 2.20817108e+01] [ 5.03261244e-04 9.99855803e-01 -1.69740782e-02 1.14368329e+00] [ 1.39841273e-01 1.67369253e-02 9.90032471e-01 1.97258021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.21463044 meters Centerline goodness [0,1] 0.33928148610543085 Centerline is valid? [False, False] Translation: X:22.08, Y:1.15, Z:1.97 [[ 9.90380689e-01 -1.18930909e-03 -1.38364287e-01 2.20758013e+01] [-1.00754482e-03 9.99874567e-01 -1.58061946e-02 1.14799523e+00] [ 1.38365730e-01 1.57935581e-02 9.90255264e-01 1.97466532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.24463044000004 meters Centerline goodness [0,1] 0.3419040254328307 Centerline is valid? [False, False] Translation: X:22.08, Y:1.15, Z:1.97 [[ 9.90411426e-01 -1.32213786e-03 -1.38142897e-01 2.20753959e+01] [-9.19779568e-04 9.99868933e-01 -1.61638768e-02 1.15038198e+00] [ 1.38146162e-01 1.61359493e-02 9.90280399e-01 1.97450111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.27463044 meters Centerline goodness [0,1] 0.3399978455240763 Centerline is valid? [False, False] Translation: X:22.08, Y:1.15, Z:1.97 [[ 9.90391850e-01 -1.50674496e-03 -1.38281285e-01 2.20760284e+01] [-7.90179977e-04 9.99862659e-01 -1.65541261e-02 1.15260300e+00] [ 1.38287236e-01 1.65043387e-02 9.90254638e-01 1.97419660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30463044000004 meters Centerline goodness [0,1] 0.3394131641554322 Centerline is valid? [False, False] Translation: X:22.08, Y:1.15, Z:1.97 [[ 9.90363933e-01 -1.62799004e-03 -1.38479709e-01 2.20768118e+01] [-7.17950918e-04 9.99857112e-01 -1.68890456e-02 1.15487258e+00] [ 1.38487417e-01 1.68257232e-02 9.90221253e-01 1.97391690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.33463044 meters Centerline goodness [0,1] 0.34005335857825203 Centerline is valid? [False, False] Translation: X:22.08, Y:1.16, Z:1.97 [[ 9.90331652e-01 -1.68509892e-03 -1.38709697e-01 2.20774335e+01] [-7.13589237e-04 9.99851103e-01 -1.72413182e-02 1.15814161e+00] [ 1.38718097e-01 1.71736048e-02 9.90182992e-01 1.97387893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36463044 meters Centerline goodness [0,1] 0.3391707828169436 Centerline is valid? [False, False] Translation: X:22.08, Y:1.16, Z:1.97 [[ 9.90325106e-01 -1.68571027e-03 -1.38756419e-01 2.20776858e+01] [-7.33277184e-04 9.99848681e-01 -1.73803707e-02 1.15974698e+00] [ 1.38764720e-01 1.73139644e-02 9.90174014e-01 1.97375068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.39463044 meters Centerline goodness [0,1] 0.3377173285430166 Centerline is valid? [False, False] Translation: X:22.08, Y:1.16, Z:1.97 [[ 9.90316406e-01 -1.73148282e-03 -1.38817934e-01 2.20778803e+01] [-7.08056478e-04 9.99846221e-01 -1.75223505e-02 1.16097710e+00] [ 1.38826927e-01 1.74509621e-02 9.90162890e-01 1.97377481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42463044 meters Centerline goodness [0,1] 0.3399827474660341 Centerline is valid? [False, False] Translation: X:22.08, Y:1.16, Z:1.97 [[ 9.90308780e-01 -1.79883452e-03 -1.38871464e-01 2.20781194e+01] [-6.59741530e-04 9.99843905e-01 -1.76559063e-02 1.16177926e+00] [ 1.38881547e-01 1.75764183e-02 9.90153011e-01 1.97365049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.45463044 meters Centerline goodness [0,1] 0.33980893761620823 Centerline is valid? [False, False] Translation: X:22.10, Y:1.17, Z:1.98 [[ 9.90212279e-01 -9.38988419e-03 -1.39253270e-01 2.20976396e+01] [ 7.05043611e-03 9.99825766e-01 -1.72837575e-02 1.16964713e+00] [ 1.39391300e-01 1.61327926e-02 9.90105953e-01 1.97736769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48463044 meters Centerline goodness [0,1] 0.3388114955810918 Centerline is valid? [False, False] Translation: X:22.10, Y:1.17, Z:1.98 [[ 9.90209321e-01 -9.47742613e-03 -1.39268372e-01 2.20975818e+01] [ 7.11261375e-03 9.99822121e-01 -1.74681719e-02 1.17083224e+00] [ 1.39409152e-01 1.63065845e-02 9.90100593e-01 1.97749171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.51463044 meters Centerline goodness [0,1] 0.340980859702262 Centerline is valid? [False, False] Translation: X:22.10, Y:1.17, Z:1.98 [[ 9.90214558e-01 -9.55604905e-03 -1.39225759e-01 2.20974215e+01] [ 7.16353398e-03 9.99818115e-01 -1.76754311e-02 1.17224139e+00] [ 1.39369343e-01 1.65051208e-02 9.90102907e-01 1.97754061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54463044 meters Centerline goodness [0,1] 0.3421081069398517 Centerline is valid? [False, False] Translation: X:22.10, Y:1.17, Z:1.98 [[ 9.90242068e-01 -9.62903738e-03 -1.39024921e-01 2.20969000e+01] [ 7.20618760e-03 9.99813449e-01 -1.79203192e-02 1.17447386e+00] [ 1.39171541e-01 1.67436143e-02 9.90126726e-01 1.97754571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.57463044 meters Centerline goodness [0,1] 0.3425278508349905 Centerline is valid? [False, False] Translation: X:22.12, Y:1.17, Z:1.98 [[ 9.90418986e-01 -2.47410025e-03 -1.38072849e-01 2.21158042e+01] [-2.08447253e-04 9.99811574e-01 -1.94106532e-02 1.17298050e+00] [ 1.38094856e-01 1.92534603e-02 9.90231849e-01 1.98111336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60463044 meters Centerline goodness [0,1] 0.3424414629977781 Centerline is valid? [False, False] Translation: X:22.12, Y:1.17, Z:1.98 [[ 9.90410021e-01 -2.52389617e-03 -1.38136236e-01 2.21157164e+01] [-1.53395872e-04 9.99812421e-01 -1.93674566e-02 1.17275372e+00] [ 1.38159206e-01 1.92029126e-02 9.90223854e-01 1.98147207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.63463044 meters Centerline goodness [0,1] 0.34386482098607196 Centerline is valid? [False, False] Translation: X:22.12, Y:1.17, Z:1.98 [[ 9.90417623e-01 -2.59941819e-03 -1.38080318e-01 2.21154330e+01] [-6.06891371e-05 9.99814561e-01 -1.92572249e-02 1.17172417e+00] [ 1.38104770e-01 1.90810749e-02 9.90233803e-01 1.98165474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66463044 meters Centerline goodness [0,1] 0.3415484671501615 Centerline is valid? [False, False] Translation: X:22.12, Y:1.17, Z:1.98 [[ 9.90404892e-01 -6.34904556e-03 -1.38050135e-01 2.21154352e+01] [ 3.33492957e-03 9.99751222e-01 -2.20538393e-02 1.16809892e+00] [ 1.38155812e-01 2.13818428e-02 9.90179675e-01 1.98175290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.69463044 meters Centerline goodness [0,1] 0.34639112990206655 Centerline is valid? [False, False] Translation: X:22.12, Y:1.17, Z:1.98 [[ 9.90398211e-01 -6.63017828e-03 -1.38084848e-01 2.21157322e+01] [ 3.63634822e-03 9.99753069e-01 -2.19220890e-02 1.16542646e+00] [ 1.38196098e-01 2.12094731e-02 9.90177760e-01 1.98161630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72463044 meters Centerline goodness [0,1] 0.34587381231984626 Centerline is valid? [False, False] Translation: X:22.14, Y:1.17, Z:1.99 [[ 9.90377997e-01 -1.47368058e-02 -1.37601781e-01 2.21361027e+01] [ 1.19536147e-02 9.99707362e-01 -2.10309507e-02 1.16625017e+00] [ 1.37871442e-01 1.91837522e-02 9.90264333e-01 1.98516319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.75463044 meters Centerline goodness [0,1] 0.34386862870548096 Centerline is valid? [False, False] Translation: X:22.14, Y:1.16, Z:1.99 [[ 9.90361702e-01 -1.47030057e-02 -1.37722620e-01 2.21365188e+01] [ 1.19703967e-02 9.99715130e-01 -2.06487124e-02 1.16341412e+00] [ 1.37986985e-01 1.88010996e-02 9.90255578e-01 1.98511890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78463044 meters Centerline goodness [0,1] 0.34332680350907074 Centerline is valid? [False, False] Translation: X:22.14, Y:1.16, Z:1.98 [[ 9.90265787e-01 -1.43663017e-02 -1.38445947e-01 2.21390452e+01] [ 1.17208624e-02 9.99733180e-01 -1.99045157e-02 1.15905020e+00] [ 1.38694961e-01 1.80880550e-02 9.90169950e-01 1.98450092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.81463044000003 meters Centerline goodness [0,1] 0.34509837394904186 Centerline is valid? [False, False] Translation: X:22.14, Y:1.16, Z:1.98 [[ 9.90205740e-01 -1.41705890e-02 -1.38894879e-01 2.21406189e+01] [ 1.15494954e-02 9.99740033e-01 -1.96589572e-02 1.15794101e+00] [ 1.39137350e-01 1.78622465e-02 9.90111983e-01 1.98406874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84463044 meters Centerline goodness [0,1] 0.34264029930518436 Centerline is valid? [False, False] Translation: X:22.14, Y:1.16, Z:1.98 [[ 9.90095382e-01 -1.34367319e-02 -1.39751886e-01 2.21433758e+01] [ 1.08714531e-02 9.99758410e-01 -1.91032142e-02 1.15682131e+00] [ 1.39974808e-01 1.73946981e-02 9.90002261e-01 1.98341137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.87463044000003 meters Centerline goodness [0,1] 0.34444349241710226 Centerline is valid? [False, False] Translation: X:22.14, Y:1.16, Z:1.98 [[ 9.90086210e-01 -1.31524617e-02 -1.39843879e-01 2.21438647e+01] [ 1.06094046e-02 9.99764805e-01 -1.89149731e-02 1.15673516e+00] [ 1.40059766e-01 1.72437938e-02 9.89992886e-01 1.98312348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90463044 meters Centerline goodness [0,1] 0.3450372527190203 Centerline is valid? [False, False] Translation: X:22.16, Y:1.15, Z:1.99 [[ 9.90274802e-01 -5.06939593e-03 -1.39032797e-01 2.21624773e+01] [ 2.29934850e-03 9.99795791e-01 -2.00770889e-02 1.15378969e+00] [ 1.39106184e-01 1.95621504e-02 9.90084235e-01 1.98695510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.93463044000003 meters Centerline goodness [0,1] 0.3443742861452923 Centerline is valid? [False, False] Translation: X:22.16, Y:1.15, Z:1.99 [[ 9.90321636e-01 -4.94127809e-03 -1.38703428e-01 2.21613483e+01] [ 2.19315017e-03 9.99798397e-01 -1.99588279e-02 1.15316070e+00] [ 1.38774087e-01 1.94614616e-02 9.90132822e-01 1.98727306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96463044 meters Centerline goodness [0,1] 0.34536060372180777 Centerline is valid? [False, False] Translation: X:22.18, Y:1.15, Z:1.99 [[ 9.90428088e-01 2.61280703e-03 -1.38004981e-01 2.21792720e+01] [-5.62588796e-03 9.99754145e-01 -2.14475794e-02 1.14872365e+00] [ 1.37915014e-01 2.20186856e-02 9.90199286e-01 1.99165692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.99463044000004 meters Centerline goodness [0,1] 0.34476572844146414 Centerline is valid? [False, False] Translation: X:22.20, Y:1.15, Z:2.00 [[ 9.90426263e-01 -4.71268319e-03 -1.37962341e-01 2.21988544e+01] [ 1.98327025e-03 9.99799719e-01 -1.99145388e-02 1.14791009e+00] [ 1.38028561e-01 1.94502656e-02 9.90237246e-01 1.99575034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02463044 meters Centerline goodness [0,1] 0.34466092089223466 Centerline is valid? [False, False] Translation: X:22.20, Y:1.15, Z:2.00 [[ 9.90385562e-01 -4.55360737e-03 -1.38259551e-01 2.21996715e+01] [ 1.88035356e-03 9.99808878e-01 -1.94595023e-02 1.14512295e+00] [ 1.38321738e-01 1.90124333e-02 9.90204840e-01 1.99567652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.05463044000004 meters Centerline goodness [0,1] 0.346124905944319 Centerline is valid? [False, False] Translation: X:22.20, Y:1.14, Z:2.00 [[ 9.90360678e-01 -4.39334213e-03 -1.38442864e-01 2.22001546e+01] [ 1.78599499e-03 9.99818800e-01 -1.89519833e-02 1.14201032e+00] [ 1.38501041e-01 1.85220407e-02 9.90189071e-01 1.99568303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08463044 meters Centerline goodness [0,1] 0.3426648146169462 Centerline is valid? [False, False] Translation: X:22.22, Y:1.14, Z:2.00 [[ 9.90413547e-01 -1.20079157e-02 -1.37611104e-01 2.22200622e+01] [ 9.68427469e-03 9.99799214e-01 -1.75426820e-02 1.14116681e+00] [ 1.37794125e-01 1.60418462e-02 9.90330974e-01 1.99939350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.11463044 meters Centerline goodness [0,1] 0.34557203072512144 Centerline is valid? [False, False] Translation: X:22.22, Y:1.14, Z:2.00 [[ 9.90429667e-01 -1.18860312e-02 -1.37505626e-01 2.22197586e+01] [ 9.59758004e-03 9.99804388e-01 -1.72936790e-02 1.13989981e+00] [ 1.37684282e-01 1.58084514e-02 9.90350005e-01 1.99950452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14463044 meters Centerline goodness [0,1] 0.3467121012789268 Centerline is valid? [False, False] Translation: X:22.22, Y:1.14, Z:2.00 [[ 9.90454062e-01 -1.17485275e-02 -1.37341632e-01 2.22193810e+01] [ 9.48962305e-03 9.99808911e-01 -1.70905701e-02 1.13915347e+00] [ 1.37516177e-01 1.56241043e-02 9.90376286e-01 1.99946718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.17463044 meters Centerline goodness [0,1] 0.34740448639213917 Centerline is valid? [False, False] Translation: X:22.22, Y:1.14, Z:2.00 [[ 9.90448485e-01 -1.16226007e-02 -1.37392555e-01 2.22194209e+01] [ 9.39537272e-03 9.99813917e-01 -1.68481125e-02 1.13781231e+00] [ 1.37562807e-01 1.53963332e-02 9.90373378e-01 1.99956641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20463044 meters Centerline goodness [0,1] 0.3443321485161235 Centerline is valid? [False, False] Translation: X:22.24, Y:1.13, Z:2.00 [[ 9.90465435e-01 -4.06278151e-03 -1.37701546e-01 2.22389155e+01] [ 1.60530541e-03 9.99837548e-01 -1.79527540e-02 1.13378102e+00] [ 1.37752114e-01 1.75605293e-02 9.90311054e-01 2.00328819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.23463044 meters Centerline goodness [0,1] 0.34278196132123906 Centerline is valid? [False, False] Translation: X:22.24, Y:1.13, Z:2.00 [[ 9.90445457e-01 -4.00241732e-03 -1.37846938e-01 2.22392788e+01] [ 1.57198531e-03 9.99841474e-01 -1.77357376e-02 1.13233608e+00] [ 1.37896071e-01 1.73495874e-02 9.90294737e-01 2.00332265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26463044 meters Centerline goodness [0,1] 0.3431891076700865 Centerline is valid? [False, False] Translation: X:22.26, Y:1.14, Z:2.01 [[ 9.90449801e-01 -1.14843310e-02 -1.37394696e-01 2.22584018e+01] [ 9.29310132e-03 9.99819366e-01 -1.65792876e-02 1.13540573e+00] [ 1.37560280e-01 1.51441293e-02 9.90377617e-01 2.00706471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.29463044 meters Centerline goodness [0,1] 0.34461564727474503 Centerline is valid? [False, False] Translation: X:22.26, Y:1.13, Z:2.01 [[ 9.90442548e-01 -1.15005218e-02 -1.37445617e-01 2.22583794e+01] [ 9.33778149e-03 9.99822404e-01 -1.63696980e-02 1.13362285e+00] [ 1.37609467e-01 1.49298082e-02 9.90374038e-01 2.00726914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.32463044 meters Centerline goodness [0,1] 0.34443397438643075 Centerline is valid? [False, False] Translation: X:22.26, Y:1.13, Z:2.01 [[ 9.90410427e-01 -1.20454632e-02 -1.37630279e-01 2.22590616e+01] [ 9.88391931e-03 9.99817016e-01 -1.63780991e-02 1.13039749e+00] [ 1.37802377e-01 1.48607135e-02 9.90348254e-01 2.00714113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.35463044 meters Centerline goodness [0,1] 0.3470878493395677 Centerline is valid? [False, False] Translation: X:22.26, Y:1.13, Z:2.01 [[ 9.90386616e-01 -1.21056233e-02 -1.37796247e-01 2.22595581e+01] [ 9.96526083e-03 9.99818914e-01 -1.62121265e-02 1.12868613e+00] [ 1.37967552e-01 1.46830975e-02 9.90327906e-01 2.00708130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.38463044 meters Centerline goodness [0,1] 0.3434313201496526 Centerline is valid? [False, False] Translation: X:22.28, Y:1.12, Z:2.01 [[ 9.90402573e-01 -4.97879133e-03 -1.38122968e-01 2.22793829e+01] [ 2.60597739e-03 9.99846003e-01 -1.73545206e-02 1.12350562e+00] [ 1.38188102e-01 1.68280166e-02 9.90263029e-01 2.01075756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.41463044 meters Centerline goodness [0,1] 0.343199436222692 Centerline is valid? [False, False] Translation: X:22.28, Y:1.12, Z:2.01 [[ 9.90391550e-01 -4.88661827e-03 -1.38205277e-01 2.22797645e+01] [ 2.56137183e-03 9.99852252e-01 -1.69974354e-02 1.12137263e+00] [ 1.38267918e-01 1.64801213e-02 9.90257738e-01 2.01058770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.44463044 meters Centerline goodness [0,1] 0.3481543987191138 Centerline is valid? [False, False] Translation: X:22.28, Y:1.12, Z:2.01 [[ 9.90357327e-01 -5.17550577e-03 -1.38439804e-01 2.22805791e+01] [ 2.88252487e-03 9.99855413e-01 -1.67583872e-02 1.11767604e+00] [ 1.38506520e-01 1.61977354e-02 9.90229053e-01 2.01040859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.47463044 meters Centerline goodness [0,1] 0.34032753326509724 Centerline is valid? [False, False] Translation: X:22.32, Y:1.12, Z:2.02 [[ 9.90422172e-01 -5.52244974e-03 -1.37961678e-01 2.23241483e+01] [ 3.17540260e-03 9.99846568e-01 -1.72266192e-02 1.11675828e+00] [ 1.38035643e-01 1.66235417e-02 9.90287746e-01 2.01679713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.50463044 meters Centerline goodness [0,1] 0.34376550266376205 Centerline is valid? [False, False] Translation: X:22.32, Y:1.12, Z:2.02 [[ 9.90380736e-01 -5.48853305e-03 -1.38260165e-01 2.23247815e+01] [ 3.16676090e-03 9.99850353e-01 -1.70071598e-02 1.11510714e+00] [ 1.38332819e-01 1.64057265e-02 9.90249910e-01 2.01691272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.53463044 meters Centerline goodness [0,1] 0.3428979513526189 Centerline is valid? [False, False] Translation: X:22.34, Y:1.12, Z:2.02 [[ 9.90327907e-01 -1.26081213e-02 -1.38172616e-01 2.23442050e+01] [ 1.05495343e-02 9.99822331e-01 -1.56209175e-02 1.11772623e+00] [ 1.38345017e-01 1.40121738e-02 9.90284967e-01 2.02112008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.56463044000003 meters Centerline goodness [0,1] 0.34378155412808564 Centerline is valid? [False, False] Translation: X:22.34, Y:1.12, Z:2.02 [[ 9.90341910e-01 -1.25121338e-02 -1.38080949e-01 2.23435175e+01] [ 1.05065181e-02 9.99828598e-01 -1.52442749e-02 1.11547076e+00] [ 1.38248020e-01 1.36462944e-02 9.90303622e-01 2.02165244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.59463044 meters Centerline goodness [0,1] 0.34391126528339866 Centerline is valid? [False, False] Translation: X:22.36, Y:1.11, Z:2.03 [[ 9.90530077e-01 -4.91923980e-03 -1.37207756e-01 2.23611339e+01] [ 2.66171388e-03 9.99858136e-01 -1.66319628e-02 1.11153294e+00] [ 1.37270107e-01 1.61092516e-02 9.90402650e-01 2.02596330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.62463044000003 meters Centerline goodness [0,1] 0.34173376332144456 Centerline is valid? [False, False] Translation: X:22.36, Y:1.11, Z:2.03 [[ 9.90543317e-01 -4.91387725e-03 -1.37112330e-01 2.23603323e+01] [ 2.66628804e-03 9.99859134e-01 -1.65711665e-02 1.11106182e+00] [ 1.37174445e-01 1.60488773e-02 9.90416885e-01 2.02659517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.65463044 meters Centerline goodness [0,1] 0.346531914893617 Centerline is valid? [False, False] Translation: X:22.36, Y:1.11, Z:2.03 [[ 9.90559500e-01 -4.86430598e-03 -1.36997135e-01 2.23595989e+01] [ 2.62816012e-03 9.99860433e-01 -1.64987254e-02 1.11099532e+00] [ 1.37058270e-01 1.59829188e-02 9.90434035e-01 2.02711363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.68463044000003 meters Centerline goodness [0,1] 0.3502551129786048 Centerline is valid? [False, False] Translation: X:22.36, Y:1.11, Z:2.03 [[ 9.90646994e-01 -4.79302261e-03 -1.36365539e-01 2.23573417e+01] [ 2.59460722e-03 9.99863867e-01 -1.62946614e-02 1.11042063e+00] [ 1.36425076e-01 1.57884423e-02 9.90524570e-01 2.02784034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.71463044 meters Centerline goodness [0,1] 0.34954142106271147 Centerline is valid? [False, False] Translation: X:22.36, Y:1.11, Z:2.03 [[ 9.90663060e-01 -5.02441745e-03 -1.36240439e-01 2.23567509e+01] [ 2.82184416e-03 9.99862264e-01 -1.63551193e-02 1.10950493e+00] [ 1.36303849e-01 1.58179632e-02 9.90540788e-01 2.02819113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.74463044000004 meters Centerline goodness [0,1] 0.34977049461627563 Centerline is valid? [False, False] Translation: X:22.36, Y:1.11, Z:2.03 [[ 9.90681939e-01 -5.26569430e-03 -1.36093971e-01 2.23561232e+01] [ 3.05670732e-03 9.99860260e-01 -1.64352156e-02 1.10864203e+00] [ 1.36161496e-01 1.58660718e-02 9.90559597e-01 2.02850334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.77463044 meters Centerline goodness [0,1] 0.35213287386828196 Centerline is valid? [False, False] Translation: X:22.38, Y:1.11, Z:2.03 [[ 9.90644358e-01 -1.39298331e-02 -1.35756090e-01 2.23759085e+01] [ 1.18882771e-02 9.99803901e-01 -1.58375724e-02 1.11001409e+00] [ 1.35950083e-01 1.40754957e-02 9.90615695e-01 2.03276565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80463044000004 meters Centerline goodness [0,1] 0.35295882075673823 Centerline is valid? [False, False] Translation: X:22.38, Y:1.11, Z:2.03 [[ 9.90629148e-01 -1.39247314e-02 -1.35867559e-01 2.23761319e+01] [ 1.19051729e-02 9.99806412e-01 -1.56654351e-02 1.10909775e+00] [ 1.36059393e-01 1.39011099e-02 9.90603150e-01 2.03283840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.83463044 meters Centerline goodness [0,1] 0.35141860564039307 Centerline is valid? [False, False] Translation: X:22.39, Y:1.10, Z:2.04 [[ 9.90743848e-01 -6.55242022e-03 -1.35586476e-01 2.23948390e+01] [ 4.33615885e-03 9.99852233e-01 -1.66346183e-02 1.10474773e+00] [ 1.35675438e-01 1.58927212e-02 9.90625861e-01 2.03628277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86463044 meters Centerline goodness [0,1] 0.35477499141188595 Centerline is valid? [False, False] Translation: X:22.39, Y:1.10, Z:2.04 [[ 9.90748813e-01 -6.59978546e-03 -1.35547900e-01 2.23949838e+01] [ 4.39715879e-03 9.99853490e-01 -1.65427770e-02 1.10392299e+00] [ 1.35637219e-01 1.57937110e-02 9.90632678e-01 2.03604710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.89463044 meters Centerline goodness [0,1] 0.3526745435016112 Centerline is valid? [False, False] Translation: X:22.40, Y:1.10, Z:2.04 [[ 9.90738064e-01 -6.89590878e-03 -1.35611708e-01 2.23956288e+01] [ 4.68260476e-03 9.99850695e-01 -1.66331097e-02 1.10316394e+00] [ 1.35706161e-01 1.58440389e-02 9.90622433e-01 2.03552831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92463044 meters Centerline goodness [0,1] 0.350573372618013 Centerline is valid? [False, False] Translation: X:22.44, Y:1.10, Z:2.04 [[ 9.90896542e-01 -6.41334148e-03 -1.34472721e-01 2.24381606e+01] [ 4.22941981e-03 9.99854590e-01 -1.65200157e-02 1.10338490e+00] [ 1.34559116e-01 1.58008848e-02 9.90779580e-01 2.04184144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.95463044 meters Centerline goodness [0,1] 0.3510982535090539 Centerline is valid? [False, False] Translation: X:22.44, Y:1.10, Z:2.04 [[ 9.90875084e-01 -6.42664460e-03 -1.34630109e-01 2.24386297e+01] [ 4.22873263e-03 9.99853182e-01 -1.66051656e-02 1.10436517e+00] [ 1.34717058e-01 1.58843302e-02 9.90756783e-01 2.04179868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98463044 meters Centerline goodness [0,1] 0.3510982535090539 Centerline is valid? [False, False] Translation: X:22.44, Y:1.10, Z:2.04 [[ 9.90875084e-01 -6.42664460e-03 -1.34630109e-01 2.24386297e+01] [ 4.22873263e-03 9.99853182e-01 -1.66051656e-02 1.10436517e+00] [ 1.34717058e-01 1.58843302e-02 9.90756783e-01 2.04179868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.01463044 meters Centerline goodness [0,1] 0.35015942778352294 Centerline is valid? [False, False] Translation: X:22.44, Y:1.11, Z:2.04 [[ 9.90854403e-01 -6.51653813e-03 -1.34777915e-01 2.24394922e+01] [ 4.27853307e-03 9.99848231e-01 -1.68881214e-02 1.10680721e+00] [ 1.34867512e-01 1.61570177e-02 9.90731904e-01 2.04130761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04463044 meters Centerline goodness [0,1] 0.3450304910666524 Centerline is valid? [False, False] Translation: X:22.44, Y:1.11, Z:2.04 [[ 9.90836973e-01 -6.61985521e-03 -1.34900963e-01 2.24401250e+01] [ 4.35883483e-03 9.99845153e-01 -1.70490660e-02 1.10787146e+00] [ 1.34992937e-01 1.63048340e-02 9.90712400e-01 2.04100881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.07463044 meters Centerline goodness [0,1] 0.347508277077869 Centerline is valid? [False, False] Translation: X:22.44, Y:1.11, Z:2.04 [[ 9.90828168e-01 -6.68328877e-03 -1.34962498e-01 2.24404856e+01] [ 4.40294291e-03 9.99842588e-01 -1.71875664e-02 1.10888075e+00] [ 1.35056123e-01 1.64356927e-02 9.90701626e-01 2.04077735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10463044 meters Centerline goodness [0,1] 0.3486301369863014 Centerline is valid? [False, False] Translation: X:22.44, Y:1.11, Z:2.04 [[ 9.90806814e-01 -6.73723542e-03 -1.35116494e-01 2.24409939e+01] [ 4.44525550e-03 9.99841196e-01 -1.72575236e-02 1.10943020e+00] [ 1.35211305e-01 1.64982446e-02 9.90679419e-01 2.04068349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.13463044 meters Centerline goodness [0,1] 0.3472832170843021 Centerline is valid? [False, False] Translation: X:22.44, Y:1.11, Z:2.04 [[ 9.90735078e-01 -7.09157363e-03 -1.35623432e-01 2.24426142e+01] [ 4.75791613e-03 9.99835135e-01 -1.75232999e-02 1.10989416e+00] [ 1.35725340e-01 1.67156630e-02 9.90605481e-01 2.04028890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16463044 meters Centerline goodness [0,1] 0.34091247791190304 Centerline is valid? [False, False] Translation: X:22.46, Y:1.11, Z:2.04 [[ 9.90585340e-01 -1.48247550e-02 -1.36091551e-01 2.24629447e+01] [ 1.26649638e-02 9.99779957e-01 -1.67223122e-02 1.11336502e+00] [ 1.36309509e-01 1.48412828e-02 9.90555124e-01 2.04402326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.19463044 meters Centerline goodness [0,1] 0.3453450211589947 Centerline is valid? [False, False] Translation: X:22.44, Y:1.11, Z:2.04 [[ 9.90716485e-01 -7.55396642e-03 -1.35734241e-01 2.24445034e+01] [ 5.18291619e-03 9.99827898e-01 -1.78132346e-02 1.10878164e+00] [ 1.35845441e-01 1.69443659e-02 9.90585132e-01 2.03947427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22463044 meters Centerline goodness [0,1] 0.33912120568881343 Centerline is valid? [False, False] Translation: X:22.49, Y:1.11, Z:2.05 [[ 9.90875325e-01 -7.95253580e-03 -1.34546825e-01 2.24871157e+01] [ 5.56865306e-03 9.99820947e-01 -1.80849378e-02 1.10740449e+00] [ 1.34666555e-01 1.71706740e-02 9.90742190e-01 2.04565448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.25463044 meters Centerline goodness [0,1] 0.3425130935004722 Centerline is valid? [False, False] Translation: X:22.49, Y:1.11, Z:2.05 [[ 9.90864626e-01 -7.98613327e-03 -1.34623606e-01 2.24873086e+01] [ 5.61209430e-03 9.99822148e-01 -1.80049195e-02 1.10670903e+00] [ 1.34743453e-01 1.70849174e-02 9.90733217e-01 2.04562726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28463044 meters Centerline goodness [0,1] 0.34221434065464496 Centerline is valid? [False, False] Translation: X:22.49, Y:1.11, Z:2.05 [[ 9.90798179e-01 -7.93621964e-03 -1.35114710e-01 2.24886921e+01] [ 5.57562551e-03 9.99825299e-01 -1.78404970e-02 1.10635839e+00] [ 1.35232691e-01 1.69229829e-02 9.90669335e-01 2.04547577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.31463044000003 meters Centerline goodness [0,1] 0.3425519618126164 Centerline is valid? [False, False] Translation: X:22.49, Y:1.11, Z:2.05 [[ 9.90781265e-01 -7.91962682e-03 -1.35239656e-01 2.24890077e+01] [ 5.54955640e-03 9.99824506e-01 -1.78929801e-02 1.10726427e+00] [ 1.35357628e-01 1.69775093e-02 9.90651340e-01 2.04553823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34463044 meters Centerline goodness [0,1] 0.3445194984569566 Centerline is valid? [False, False] Translation: X:22.49, Y:1.11, Z:2.05 [[ 9.90791702e-01 -7.99050243e-03 -1.35159000e-01 2.24888591e+01] [ 5.59607412e-03 9.99820769e-01 -1.80863019e-02 1.10861034e+00] [ 1.35279294e-01 1.71633980e-02 9.90658837e-01 2.04555300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.37463044000003 meters Centerline goodness [0,1] 0.34360723248182223 Centerline is valid? [False, False] Translation: X:22.51, Y:1.11, Z:2.05 [[ 9.90941041e-01 -3.40065030e-04 -1.34297196e-01 2.25072629e+01] [-2.30510717e-03 9.99806410e-01 -1.95404266e-02 1.10601822e+00] [ 1.34277842e-01 1.96729801e-02 9.90748422e-01 2.04929623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40463044 meters Centerline goodness [0,1] 0.3419548228241087 Centerline is valid? [False, False] Translation: X:22.51, Y:1.11, Z:2.05 [[ 9.90953538e-01 -4.29257609e-04 -1.34204696e-01 2.25069912e+01] [-2.24680395e-03 9.99801673e-01 -1.97880617e-02 1.10766866e+00] [ 1.34186574e-01 1.99105814e-02 9.90756041e-01 2.04943297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.43463044000003 meters Centerline goodness [0,1] 0.34498012565713554 Centerline is valid? [False, False] Translation: X:22.51, Y:1.11, Z:2.05 [[ 9.90995174e-01 -1.98229635e-04 -1.33897445e-01 2.25061385e+01] [-2.48968250e-03 9.99798743e-01 -1.99066763e-02 1.11104857e+00] [ 1.33874443e-01 2.00607822e-02 9.90795235e-01 2.04965951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46463044 meters Centerline goodness [0,1] 0.3483779364942776 Centerline is valid? [False, False] Translation: X:22.51, Y:1.11, Z:2.05 [[ 9.91021734e-01 -1.79946908e-04 -1.33700749e-01 2.25057590e+01] [-2.52120820e-03 9.99796132e-01 -2.00334132e-02 1.11250894e+00] [ 1.33677097e-01 2.01906353e-02 9.90819243e-01 2.04960737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.49463044000004 meters Centerline goodness [0,1] 0.3469471324813035 Centerline is valid? [False, False] Translation: X:22.51, Y:1.11, Z:2.05 [[ 9.91005529e-01 -3.78453153e-04 -1.33820398e-01 2.25059628e+01] [-2.37984193e-03 9.99788017e-01 -2.04513623e-02 1.11498692e+00] [ 1.33799770e-01 2.05858845e-02 9.90794551e-01 2.04977365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52463044 meters Centerline goodness [0,1] 0.3432433588569962 Centerline is valid? [False, False] Translation: X:22.53, Y:1.12, Z:2.05 [[ 9.90885871e-01 -7.68654894e-03 -1.34484597e-01 2.25255645e+01] [ 5.09870975e-03 9.99795361e-01 -1.95764911e-02 1.12019442e+00] [ 1.34607552e-01 1.87123706e-02 9.90722289e-01 2.05380121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.55463044000004 meters Centerline goodness [0,1] 0.3448726462586491 Centerline is valid? [False, False] Translation: X:22.53, Y:1.12, Z:2.05 [[ 9.90878545e-01 -7.68911484e-03 -1.34538424e-01 2.25260159e+01] [ 5.08812522e-03 9.99793661e-01 -1.96658627e-02 1.12130897e+00] [ 1.34661876e-01 1.88019331e-02 9.90713211e-01 2.05349871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58463044 meters Centerline goodness [0,1] 0.3459804174181912 Centerline is valid? [False, False] Translation: X:22.53, Y:1.12, Z:2.05 [[ 9.90861783e-01 -7.74560566e-03 -1.34658577e-01 2.25264005e+01] [ 5.12029653e-03 9.99790226e-01 -1.98314488e-02 1.12268396e+00] [ 1.34783936e-01 1.89607329e-02 9.90693586e-01 2.05346349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.61463044 meters Centerline goodness [0,1] 0.34372329516322 Centerline is valid? [False, False] Translation: X:22.53, Y:1.13, Z:2.05 [[ 9.90817285e-01 -7.89946480e-03 -1.34976688e-01 2.25273044e+01] [ 5.21688595e-03 9.99782014e-01 -2.02165433e-02 1.12553449e+00] [ 1.35106965e-01 1.93267425e-02 9.90642511e-01 2.05342346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64463044 meters Centerline goodness [0,1] 0.34519922316836327 Centerline is valid? [False, False] Translation: X:22.53, Y:1.13, Z:2.05 [[ 9.90777056e-01 -8.04337232e-03 -1.35263182e-01 2.25280203e+01] [ 5.32025063e-03 9.99776077e-01 -2.04814711e-02 1.12712688e+00] [ 1.35397634e-01 1.95729377e-02 9.90597992e-01 2.05347649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.67463044 meters Centerline goodness [0,1] 0.3471260908817334 Centerline is valid? [False, False] Translation: X:22.53, Y:1.13, Z:2.05 [[ 9.90753842e-01 -8.12427048e-03 -1.35428284e-01 2.25284807e+01] [ 5.37354447e-03 9.99772026e-01 -2.06645055e-02 1.12861613e+00] [ 1.35565294e-01 1.97457083e-02 9.90571632e-01 2.05344857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70463044 meters Centerline goodness [0,1] 0.34667411001846526 Centerline is valid? [False, False] Translation: X:22.53, Y:1.13, Z:2.05 [[ 9.90730042e-01 -8.21025117e-03 -1.35597110e-01 2.25288973e+01] [ 5.43176007e-03 9.99767900e-01 -2.08480674e-02 1.13004981e+00] [ 1.35736805e-01 1.99182758e-02 9.90544690e-01 2.05351160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.73463044 meters Centerline goodness [0,1] 0.3436672079309461 Centerline is valid? [False, False] Translation: X:22.53, Y:1.13, Z:2.05 [[ 9.90711845e-01 -8.54557949e-03 -1.35709299e-01 2.25293885e+01] [ 5.72239737e-03 9.99759309e-01 -2.11796525e-02 1.13160901e+00] [ 1.35857627e-01 2.02063501e-02 9.90522291e-01 2.05336984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76463044 meters Centerline goodness [0,1] 0.3467971644571991 Centerline is valid? [False, False] Translation: X:22.53, Y:1.13, Z:2.05 [[ 9.90706156e-01 -8.62805629e-03 -1.35745603e-01 2.25297150e+01] [ 5.80033616e-03 9.99758158e-01 -2.12127748e-02 1.13176018e+00] [ 1.35895799e-01 2.02282565e-02 9.90516607e-01 2.05309035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.79463044 meters Centerline goodness [0,1] 0.3437092463923036 Centerline is valid? [False, False] Translation: X:22.53, Y:1.13, Z:2.05 [[ 9.90688945e-01 -8.75782796e-03 -1.35862851e-01 2.25300439e+01] [ 5.91349335e-03 9.99755111e-01 -2.13248196e-02 1.13197824e+00] [ 1.36016339e-01 2.03228389e-02 9.90498126e-01 2.05310183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.82463044 meters Centerline goodness [0,1] 0.34501654704087337 Centerline is valid? [False, False] Translation: X:22.53, Y:1.13, Z:2.05 [[ 9.90677643e-01 -8.83954261e-03 -1.35939954e-01 2.25303853e+01] [ 5.98590708e-03 9.99753366e-01 -2.13863408e-02 1.13211718e+00] [ 1.36095472e-01 2.03732457e-02 9.90486221e-01 2.05296282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.85463044 meters Centerline goodness [0,1] 0.34225261808078644 Centerline is valid? [False, False] Translation: X:22.53, Y:1.13, Z:2.05 [[ 9.90658434e-01 -8.91928093e-03 -1.36074660e-01 2.25307477e+01] [ 6.05713696e-03 9.99751934e-01 -2.14331937e-02 1.13205792e+00] [ 1.36232073e-01 2.04087512e-02 9.90466711e-01 2.05292768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.88463044 meters Centerline goodness [0,1] 0.3495103373231774 Centerline is valid? [False, False] Translation: X:22.51, Y:1.13, Z:2.05 [[ 9.90685882e-01 -9.38771591e-04 -1.36163876e-01 2.25102413e+01] [-2.12047298e-03 9.99748616e-01 -2.23205914e-02 1.13047733e+00] [ 1.36150600e-01 2.24014266e-02 9.90434849e-01 2.04939764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.91463044 meters Centerline goodness [0,1] 0.34455703779716096 Centerline is valid? [False, False] Translation: X:22.55, Y:1.13, Z:2.06 [[ 9.90879188e-01 -5.00984357e-04 -1.34752306e-01 2.25516860e+01] [-2.50186022e-03 9.99752327e-01 -2.21139184e-02 1.12929622e+00] [ 1.34730010e-01 2.22493530e-02 9.90632521e-01 2.05610529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.94463044 meters Centerline goodness [0,1] 0.34543333117261943 Centerline is valid? [False, False] Translation: X:22.55, Y:1.13, Z:2.06 [[ 9.90867100e-01 -5.13447913e-04 -1.34841119e-01 2.25518913e+01] [-2.51081416e-03 9.99749122e-01 -2.22573222e-02 1.13058707e+00] [ 1.34818719e-01 2.23926093e-02 9.90617224e-01 2.05620152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.97463044 meters Centerline goodness [0,1] 0.3462252277236171 Centerline is valid? [False, False] Translation: X:22.57, Y:1.14, Z:2.06 [[ 9.90757637e-01 -7.44141649e-03 -1.35439766e-01 2.25715588e+01] [ 4.62872356e-03 9.99767284e-01 -2.10701894e-02 1.13527934e+00] [ 1.35565040e-01 2.02485379e-02 9.90561516e-01 2.06034920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.00463044 meters Centerline goodness [0,1] 0.3425423764861014 Centerline is valid? [False, False] Translation: X:22.57, Y:1.14, Z:2.06 [[ 9.90712491e-01 -7.43552648e-03 -1.35769928e-01 2.25723733e+01] [ 4.57026506e-03 9.99760477e-01 -2.14033170e-02 1.13827127e+00] [ 1.35896553e-01 2.05840290e-02 9.90509174e-01 2.06053098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.03463044 meters Centerline goodness [0,1] 0.34853735712594447 Centerline is valid? [False, False] Translation: X:22.57, Y:1.14, Z:2.06 [[ 9.90696770e-01 -7.46274093e-03 -1.35883103e-01 2.25725960e+01] [ 4.56633108e-03 9.99755947e-01 -2.16146829e-02 1.14012146e+00] [ 1.36011245e-01 2.07931093e-02 9.90489065e-01 2.06065380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.06463044000003 meters Centerline goodness [0,1] 0.3475060096153846 Centerline is valid? [False, False] Translation: X:22.57, Y:1.14, Z:2.06 [[ 9.90680788e-01 -7.50927565e-03 -1.35997012e-01 2.25726741e+01] [ 4.57995427e-03 9.99750995e-01 -2.18396939e-02 1.14188567e+00] [ 1.36127148e-01 2.10133051e-02 9.90468496e-01 2.06096394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.09463044 meters Centerline goodness [0,1] 0.35055548406468495 Centerline is valid? [False, False] Translation: X:22.57, Y:1.15, Z:2.06 [[ 9.90682673e-01 -7.63077014e-03 -1.35976518e-01 2.25723179e+01] [ 4.64478645e-03 9.99741352e-01 -2.22633073e-02 1.14539667e+00] [ 1.36111234e-01 2.14242909e-02 9.90461878e-01 2.06140350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.12463044000003 meters Centerline goodness [0,1] 0.3480939545629572 Centerline is valid? [False, False] Translation: X:22.57, Y:1.15, Z:2.06 [[ 9.90676275e-01 -7.76123974e-03 -1.36015738e-01 2.25724095e+01] [ 4.73895799e-03 9.99734940e-01 -2.25298142e-02 1.14709158e+00] [ 1.36154544e-01 2.16751795e-02 9.90450467e-01 2.06150996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.15463044 meters Centerline goodness [0,1] 0.34926990108337264 Centerline is valid? [False, False] Translation: X:22.57, Y:1.15, Z:2.06 [[ 9.90667555e-01 -7.84717702e-03 -1.36074310e-01 2.25724550e+01] [ 4.79927391e-03 9.99730520e-01 -2.27124240e-02 1.14842815e+00] [ 1.36215869e-01 2.18474037e-02 9.90438251e-01 2.06170426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.18463044000003 meters Centerline goodness [0,1] 0.3516839239393744 Centerline is valid? [False, False] Translation: X:22.57, Y:1.15, Z:2.06 [[ 9.90653494e-01 -7.91650147e-03 -1.36172626e-01 2.25726510e+01] [ 4.84289193e-03 9.99726308e-01 -2.28879113e-02 1.14984019e+00] [ 1.36316548e-01 2.20145199e-02 9.90420698e-01 2.06182862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.21463044 meters Centerline goodness [0,1] 0.3494185298030297 Centerline is valid? [False, False] Translation: X:22.57, Y:1.15, Z:2.06 [[ 9.90648149e-01 -8.12555169e-03 -1.36199190e-01 2.25727006e+01] [ 4.99168078e-03 9.99715235e-01 -2.33352231e-02 1.15302588e+00] [ 1.36350017e-01 2.24371327e-02 9.90406607e-01 2.06197650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.24463044000004 meters Centerline goodness [0,1] 0.34773337882212463 Centerline is valid? [False, False] Translation: X:22.57, Y:1.15, Z:2.06 [[ 9.90643993e-01 -8.21279400e-03 -1.36224189e-01 2.25726591e+01] [ 5.05012312e-03 9.99709998e-01 -2.35460248e-02 1.15456341e+00] [ 1.36378063e-01 2.26377791e-02 9.90398180e-01 2.06217500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.27463044 meters Centerline goodness [0,1] 0.3523868674105326 Centerline is valid? [False, False] Translation: X:22.57, Y:1.16, Z:2.06 [[ 9.90646461e-01 -8.32014798e-03 -1.36199726e-01 2.25724734e+01] [ 5.12497135e-03 9.99703762e-01 -2.37933555e-02 1.15641525e+00] [ 1.36357343e-01 2.28727838e-02 9.90395634e-01 2.06238637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30463044000004 meters Centerline goodness [0,1] 0.3543359703390744 Centerline is valid? [False, False] Translation: X:22.57, Y:1.16, Z:2.06 [[ 9.90646553e-01 -8.46701851e-03 -1.36190003e-01 2.25724213e+01] [ 5.22720469e-03 9.99695188e-01 -2.41289764e-02 1.15864044e+00] [ 1.36352791e-01 2.31913943e-02 9.90388851e-01 2.06253985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.33463044 meters Centerline goodness [0,1] 0.35124257330863096 Centerline is valid? [False, False] Translation: X:22.59, Y:1.16, Z:2.07 [[ 9.90681186e-01 -1.37581320e-02 -1.35504619e-01 2.25941595e+01] [ 1.09485873e-02 9.99709812e-01 -2.14574243e-02 1.16487218e+00] [ 1.35760511e-01 1.97738824e-02 9.90544334e-01 2.06553202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36463044 meters Centerline goodness [0,1] 0.3517823840860861 Centerline is valid? [False, False] Translation: X:22.59, Y:1.17, Z:2.07 [[ 9.90770315e-01 -1.05023535e-02 -1.35143937e-01 2.25933612e+01] [ 8.05035628e-03 9.99793153e-01 -1.86773243e-02 1.16659875e+00] [ 1.35312138e-01 1.74169816e-02 9.90649925e-01 2.06535028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.39463044 meters Centerline goodness [0,1] 0.35114340671083566 Centerline is valid? [False, False] Translation: X:22.59, Y:1.17, Z:2.07 [[ 9.90753917e-01 -1.06293980e-02 -1.35254177e-01 2.25936619e+01] [ 8.12734081e-03 9.99785734e-01 -1.90376799e-02 1.16909001e+00] [ 1.35427556e-01 1.77623992e-02 9.90628020e-01 2.06543109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42463044 meters Centerline goodness [0,1] 0.3480052084445109 Centerline is valid? [False, False] Translation: X:22.59, Y:1.17, Z:2.07 [[ 9.90736906e-01 -1.07655717e-02 -1.35367964e-01 2.25941665e+01] [ 8.21682819e-03 9.99778562e-01 -1.93729208e-02 1.17134087e+00] [ 1.35546549e-01 1.80811723e-02 9.90605978e-01 2.06529800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.45463044 meters Centerline goodness [0,1] 0.3493898385055869 Centerline is valid? [False, False] Translation: X:22.59, Y:1.18, Z:2.06 [[ 9.90715260e-01 -1.10622052e-02 -1.35502401e-01 2.25949266e+01] [ 8.43334676e-03 9.99765221e-01 -1.99595184e-02 1.17504382e+00] [ 1.35691384e-01 1.86314607e-02 9.90575952e-01 2.06496679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48463044 meters Centerline goodness [0,1] 0.3461019634712974 Centerline is valid? [False, False] Translation: X:22.60, Y:1.18, Z:2.06 [[ 9.90695446e-01 -1.11680789e-02 -1.35638513e-01 2.25954701e+01] [ 8.50840528e-03 9.99760311e-01 -2.01724686e-02 1.17635484e+00] [ 1.35831290e-01 1.88307054e-02 9.90553010e-01 2.06484651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.51463044 meters Centerline goodness [0,1] 0.35104804901644626 Centerline is valid? [False, False] Translation: X:22.60, Y:1.18, Z:2.06 [[ 9.90674756e-01 -1.12110126e-02 -1.35786014e-01 2.25960162e+01] [ 8.53306138e-03 9.99757765e-01 -2.02878659e-02 1.17750041e+00] [ 1.35980570e-01 1.89400062e-02 9.90530444e-01 2.06466927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54463044 meters Centerline goodness [0,1] 0.348892082627255 Centerline is valid? [False, False] Translation: X:22.60, Y:1.18, Z:2.06 [[ 9.90642022e-01 -1.12483252e-02 -1.36021543e-01 2.25967722e+01] [ 8.54901612e-03 9.99755090e-01 -2.04126179e-02 1.17862423e+00] [ 1.36217838e-01 1.90587467e-02 9.90495565e-01 2.06459525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.57463044 meters Centerline goodness [0,1] 0.3499538913551652 Centerline is valid? [False, False] Translation: X:22.60, Y:1.18, Z:2.06 [[ 9.90616675e-01 -1.13004597e-02 -1.36201697e-01 2.25972219e+01] [ 8.57565867e-03 9.99751516e-01 -2.05758175e-02 1.17994744e+00] [ 1.36400369e-01 1.92147286e-02 9.90467432e-01 2.06467743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60463044 meters Centerline goodness [0,1] 0.3500898434157611 Centerline is valid? [False, False] Translation: X:22.60, Y:1.18, Z:2.06 [[ 9.90583041e-01 -1.14434125e-02 -1.36434186e-01 2.25976962e+01] [ 8.66420059e-03 9.99743048e-01 -2.09468171e-02 1.18265556e+00] [ 1.36638832e-01 1.95674686e-02 9.90427657e-01 2.06493817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.63463044 meters Centerline goodness [0,1] 0.3505621857263095 Centerline is valid? [False, False] Translation: X:22.60, Y:1.18, Z:2.07 [[ 9.90575807e-01 -1.15755161e-02 -1.36475556e-01 2.25977598e+01] [ 8.75425363e-03 9.99735772e-01 -2.12543972e-02 1.18457259e+00] [ 1.36685526e-01 1.98593500e-02 9.90415404e-01 2.06508221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66463044 meters Centerline goodness [0,1] 0.34750224733530244 Centerline is valid? [False, False] Translation: X:22.62, Y:1.18, Z:2.07 [[ 9.90658750e-01 -4.12147898e-03 -1.36302071e-01 2.26165025e+01] [ 1.08767093e-03 9.99750175e-01 -2.23249624e-02 1.18182634e+00] [ 1.36360031e-01 2.19681675e-02 9.90415742e-01 2.06887168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.69463044 meters Centerline goodness [0,1] 0.3464414289670451 Centerline is valid? [False, False] Translation: X:22.62, Y:1.18, Z:2.07 [[ 9.90674652e-01 -4.24973221e-03 -1.36182502e-01 2.26161030e+01] [ 1.17545686e-03 9.99742830e-01 -2.26471385e-02 1.18380085e+00] [ 1.36243724e-01 2.22758694e-02 9.90424875e-01 2.06909160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72463044 meters Centerline goodness [0,1] 0.348921936253622 Centerline is valid? [False, False] Translation: X:22.61, Y:1.19, Z:2.07 [[ 9.90718312e-01 -4.60686120e-03 -1.35852870e-01 2.26146945e+01] [ 1.44903220e-03 9.99726670e-01 -2.33342090e-02 1.18791395e+00] [ 1.35923235e-01 2.29207730e-02 9.90454195e-01 2.06987247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.75463044 meters Centerline goodness [0,1] 0.35281217750258 Centerline is valid? [False, False] Translation: X:22.61, Y:1.19, Z:2.07 [[ 9.90716444e-01 -4.79432888e-03 -1.35860009e-01 2.26147427e+01] [ 1.59913427e-03 9.99719785e-01 -2.36176697e-02 1.18929514e+00] [ 1.35935170e-01 2.31811553e-02 9.90446497e-01 2.06993560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78463044 meters Centerline goodness [0,1] 0.35029862931293776 Centerline is valid? [False, False] Translation: X:22.62, Y:1.19, Z:2.07 [[ 9.90692195e-01 -4.87869975e-03 -1.36033723e-01 2.26153677e+01] [ 1.66246033e-03 9.99716629e-01 -2.37465441e-02 1.19014783e+00] [ 1.36111027e-01 2.32993652e-02 9.90419572e-01 2.06976538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.81463044000003 meters Centerline goodness [0,1] 0.34862424671341874 Centerline is valid? [False, False] Translation: X:22.62, Y:1.19, Z:2.07 [[ 9.90627794e-01 -5.34603418e-03 -1.36484409e-01 2.26167374e+01] [ 2.07815875e-03 9.99708008e-01 -2.40744813e-02 1.19071879e+00] [ 1.36573260e-01 2.35652141e-02 9.90349648e-01 2.06955079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84463044 meters Centerline goodness [0,1] 0.3504503148980075 Centerline is valid? [False, False] Translation: X:22.62, Y:1.19, Z:2.07 [[ 9.90615892e-01 -5.43117728e-03 -1.36567406e-01 2.26170796e+01] [ 2.16196288e-03 9.99707808e-01 -2.40754046e-02 1.19039359e+00] [ 1.36658259e-01 2.35542248e-02 9.90338184e-01 2.06942080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.87463044000003 meters Centerline goodness [0,1] 0.3530448993634956 Centerline is valid? [False, False] Translation: X:22.62, Y:1.19, Z:2.07 [[ 9.90598125e-01 -5.47817828e-03 -1.36694347e-01 2.26175188e+01] [ 2.21480387e-03 9.99709164e-01 -2.40141933e-02 1.18974305e+00] [ 1.36786145e-01 2.34856637e-02 9.90322157e-01 2.06929184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90463044 meters Centerline goodness [0,1] 0.3530448993634956 Centerline is valid? [False, False] Translation: X:22.62, Y:1.19, Z:2.07 [[ 9.90598125e-01 -5.47817828e-03 -1.36694347e-01 2.26175188e+01] [ 2.21480387e-03 9.99709164e-01 -2.40141933e-02 1.18974305e+00] [ 1.36786145e-01 2.34856637e-02 9.90322157e-01 2.06929184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.93463044000003 meters Centerline goodness [0,1] 0.34697611095747627 Centerline is valid? [False, False] Translation: X:22.64, Y:1.19, Z:2.07 [[ 9.90502501e-01 -1.34797581e-02 -1.36832351e-01 2.26382385e+01] [ 1.04258834e-02 9.99680856e-01 -2.30105857e-02 1.19157948e+00] [ 1.37098859e-01 2.13654446e-02 9.90326926e-01 2.07285327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96463044 meters Centerline goodness [0,1] 0.3465499154338564 Centerline is valid? [False, False] Translation: X:22.64, Y:1.19, Z:2.07 [[ 9.90458298e-01 -1.33786205e-02 -1.37161851e-01 2.26394979e+01] [ 1.03438563e-02 9.99686205e-01 -2.28143912e-02 1.19093845e+00] [ 1.37424035e-01 2.11779206e-02 9.90285883e-01 2.07243033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.99463044000004 meters Centerline goodness [0,1] 0.350091348737238 Centerline is valid? [False, False] Translation: X:22.64, Y:1.19, Z:2.07 [[ 9.90441204e-01 -1.32924568e-02 -1.37293596e-01 2.26398094e+01] [ 1.02656023e-02 9.99688907e-01 -2.27311848e-02 1.19095305e+00] [ 1.37553038e-01 2.11045006e-02 9.90269540e-01 2.07250139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02463044 meters Centerline goodness [0,1] 0.34847027131037134 Centerline is valid? [False, False] Translation: X:22.64, Y:1.19, Z:2.07 [[ 9.90427974e-01 -1.32198744e-02 -1.37396011e-01 2.26399693e+01] [ 1.01994674e-02 9.99691108e-01 -2.26640722e-02 1.19079955e+00] [ 1.37653187e-01 2.10457650e-02 9.90256874e-01 2.07273112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.05463044000004 meters Centerline goodness [0,1] 0.3486240496841203 Centerline is valid? [False, False] Translation: X:22.64, Y:1.19, Z:2.07 [[ 9.90420127e-01 -1.31721965e-02 -1.37457137e-01 2.26399738e+01] [ 1.01557924e-02 9.99692491e-01 -2.26226500e-02 1.19077149e+00] [ 1.37712858e-01 2.10099417e-02 9.90249338e-01 2.07293833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08463044 meters Centerline goodness [0,1] 0.3474596163284468 Centerline is valid? [False, False] Translation: X:22.64, Y:1.19, Z:2.07 [[ 9.90393029e-01 -1.30886970e-02 -1.37660216e-01 2.26404684e+01] [ 1.00762502e-02 9.99694770e-01 -2.25573814e-02 1.19063771e+00] [ 1.37913445e-01 2.09535745e-02 9.90222616e-01 2.07305653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.11463044 meters Centerline goodness [0,1] 0.34916482621094835 Centerline is valid? [False, False] Translation: X:22.64, Y:1.19, Z:2.07 [[ 9.90326642e-01 -1.28334344e-02 -1.38160937e-01 2.26415385e+01] [ 9.84175838e-03 9.99702546e-01 -2.23150016e-02 1.19000084e+00] [ 1.38406219e-01 2.07393940e-02 9.90158369e-01 2.07332991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14463044 meters Centerline goodness [0,1] 0.3496473605471254 Centerline is valid? [False, False] Translation: X:22.64, Y:1.19, Z:2.07 [[ 9.90301800e-01 -1.27274099e-02 -1.38348682e-01 2.26417850e+01] [ 9.73802220e-03 9.99704719e-01 -2.22631019e-02 1.19007346e+00] [ 1.38591182e-01 2.06999474e-02 9.90133323e-01 2.07369276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.17463044 meters Centerline goodness [0,1] 0.3509487421653644 Centerline is valid? [False, False] Translation: X:22.64, Y:1.19, Z:2.07 [[ 9.90295451e-01 -1.26803725e-02 -1.38398436e-01 2.26415524e+01] [ 9.68649414e-03 9.99704743e-01 -2.22844818e-02 1.19046934e+00] [ 1.38640148e-01 2.07276254e-02 9.90125888e-01 2.07416152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20463044 meters Centerline goodness [0,1] 0.35407097229046935 Centerline is valid? [False, False] Translation: X:22.64, Y:1.19, Z:2.07 [[ 9.90297964e-01 -1.25561922e-02 -1.38391778e-01 2.26411235e+01] [ 9.56079464e-03 9.99705877e-01 -2.22879112e-02 1.19117288e+00] [ 1.38630925e-01 2.07485377e-02 9.90126742e-01 2.07470849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.23463044 meters Centerline goodness [0,1] 0.3518648539392779 Centerline is valid? [False, False] Translation: X:22.66, Y:1.19, Z:2.08 [[ 9.90513062e-01 -4.19010501e-03 -1.37354709e-01 2.26599699e+01] [ 1.06712625e-03 9.99739423e-01 -2.28023538e-02 1.18827686e+00] [ 1.37414462e-01 2.24394544e-02 9.90259429e-01 2.07846884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26463044 meters Centerline goodness [0,1] 0.3525224454895255 Centerline is valid? [False, False] Translation: X:22.66, Y:1.19, Z:2.08 [[ 9.90507849e-01 -4.17002501e-03 -1.37392914e-01 2.26599860e+01] [ 1.03753814e-03 9.99738064e-01 -2.28632102e-02 1.18900305e+00] [ 1.37452266e-01 2.25036387e-02 9.90252726e-01 2.07861021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.29463044 meters Centerline goodness [0,1] 0.3514056224899599 Centerline is valid? [False, False] Translation: X:22.66, Y:1.19, Z:2.08 [[ 9.90490009e-01 -4.17194180e-03 -1.37521405e-01 2.26602777e+01] [ 1.02981872e-03 9.99736967e-01 -2.29114827e-02 1.18937862e+00] [ 1.37580818e-01 2.25519726e-02 9.90233774e-01 2.07869193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32463044 meters Centerline goodness [0,1] 0.3535113112469176 Centerline is valid? [False, False] Translation: X:22.66, Y:1.19, Z:2.08 [[ 9.90481892e-01 -4.19648058e-03 -1.37579106e-01 2.26599668e+01] [ 1.05749084e-03 9.99737635e-01 -2.28810474e-02 1.18906054e+00] [ 1.37639030e-01 2.25177745e-02 9.90226463e-01 2.07917767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.35463044 meters Centerline goodness [0,1] 0.3549390607687718 Centerline is valid? [False, False] Translation: X:22.68, Y:1.19, Z:2.08 [[ 9.90527636e-01 -1.20919399e-02 -1.36780067e-01 2.26791403e+01] [ 9.21763085e-03 9.99723594e-01 -2.16280016e-02 1.19073024e+00] [ 1.37003785e-01 2.01623452e-02 9.90365308e-01 2.08319040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.38463044 meters Centerline goodness [0,1] 0.35667115470923894 Centerline is valid? [False, False] Translation: X:22.68, Y:1.19, Z:2.08 [[ 9.90551960e-01 -1.21433147e-02 -1.36599250e-01 2.26786090e+01] [ 9.28393851e-03 9.99724660e-01 -2.15502475e-02 1.18978397e+00] [ 1.36823331e-01 2.00784609e-02 9.90391959e-01 2.08325747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.41463044 meters Centerline goodness [0,1] 0.35667554608417684 Centerline is valid? [False, False] Translation: X:22.68, Y:1.19, Z:2.08 [[ 9.90550930e-01 -1.21678799e-02 -1.36604530e-01 2.26785731e+01] [ 9.32570653e-03 9.99726929e-01 -2.14265947e-02 1.18866012e+00] [ 1.36827943e-01 1.99501996e-02 9.90393913e-01 2.08326985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.44463044 meters Centerline goodness [0,1] 0.3577186834920567 Centerline is valid? [False, False] Translation: X:22.68, Y:1.19, Z:2.08 [[ 9.90528467e-01 -1.21570970e-02 -1.36768277e-01 2.26788922e+01] [ 9.33823568e-03 9.99730937e-01 -2.12332698e-02 1.18740600e+00] [ 1.36989613e-01 1.97549838e-02 9.90375478e-01 2.08336290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.47463044 meters Centerline goodness [0,1] 0.3549680170575693 Centerline is valid? [False, False] Translation: X:22.68, Y:1.19, Z:2.08 [[ 9.90527646e-01 -1.20723309e-02 -1.36781729e-01 2.26789213e+01] [ 9.26902393e-03 9.99734124e-01 -2.11131761e-02 1.18717319e+00] [ 1.37000248e-01 1.96453515e-02 9.90376187e-01 2.08343499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.50463044 meters Centerline goodness [0,1] 0.3571259749468211 Centerline is valid? [False, False] Translation: X:22.68, Y:1.19, Z:2.08 [[ 9.90529177e-01 -1.20557668e-02 -1.36772100e-01 2.26787733e+01] [ 9.24623143e-03 9.99733377e-01 -2.11584855e-02 1.18777864e+00] [ 1.36990715e-01 1.96934708e-02 9.90376550e-01 2.08362312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.53463044 meters Centerline goodness [0,1] 0.35669159360495095 Centerline is valid? [False, False] Translation: X:22.68, Y:1.19, Z:2.08 [[ 9.90524738e-01 -1.20678218e-02 -1.36803184e-01 2.26785493e+01] [ 9.24705629e-03 9.99731727e-01 -2.12359551e-02 1.18854671e+00] [ 1.37022756e-01 1.97697121e-02 9.90370599e-01 2.08402213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.56463044000003 meters Centerline goodness [0,1] 0.3544104991394148 Centerline is valid? [False, False] Translation: X:22.68, Y:1.19, Z:2.08 [[ 9.90558465e-01 -8.54279859e-03 -1.36824519e-01 2.26781156e+01] [ 6.09888134e-03 9.99814471e-01 -1.82709585e-02 1.18988613e+00] [ 1.36955219e-01 1.72639761e-02 9.90426788e-01 2.08452668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.59463044 meters Centerline goodness [0,1] 0.35502388245121763 Centerline is valid? [False, False] Translation: X:22.68, Y:1.19, Z:2.08 [[ 9.90539141e-01 -8.53823262e-03 -1.36964629e-01 2.26785059e+01] [ 6.06611035e-03 9.99811260e-01 -1.84566002e-02 1.19166362e+00] [ 1.37096365e-01 1.74511423e-02 9.90403980e-01 2.08457984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.62463044000003 meters Centerline goodness [0,1] 0.35496853191762645 Centerline is valid? [False, False] Translation: X:22.68, Y:1.19, Z:2.08 [[ 9.90579232e-01 -5.14541558e-03 -1.36844107e-01 2.26783839e+01] [ 3.04145367e-03 9.99874006e-01 -1.55795269e-02 1.19277430e+00] [ 1.36907029e-01 1.50165508e-02 9.90470075e-01 2.08444300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.65463044 meters Centerline goodness [0,1] 0.3564781216648879 Centerline is valid? [False, False] Translation: X:22.68, Y:1.20, Z:2.08 [[ 9.90566410e-01 -5.12317252e-03 -1.36937725e-01 2.26785849e+01] [ 2.97783855e-03 9.99869681e-01 -1.58667600e-02 1.19540185e+00] [ 1.37001168e-01 1.53093011e-02 9.90452576e-01 2.08461405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.68463044000003 meters Centerline goodness [0,1] 0.3569444444444444 Centerline is valid? [False, False] Translation: X:22.68, Y:1.20, Z:2.08 [[ 9.90579981e-01 -1.39452933e-03 -1.36928291e-01 2.26784713e+01] [-4.16392241e-04 9.99912845e-01 -1.31957946e-02 1.20065673e+00] [ 1.36934759e-01 1.31285059e-02 9.90493066e-01 2.08495481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.71463044 meters Centerline goodness [0,1] 0.3557856532877882 Centerline is valid? [False, False] Translation: X:22.68, Y:1.20, Z:2.09 [[ 9.90533323e-01 -1.45207094e-03 -1.37264808e-01 2.26791927e+01] [-4.32654959e-04 9.99906060e-01 -1.36997510e-02 1.20494791e+00] [ 1.37271806e-01 1.36294481e-02 9.90439644e-01 2.08528419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.74463044000004 meters Centerline goodness [0,1] 0.35288816410608537 Centerline is valid? [False, False] Translation: X:22.68, Y:1.21, Z:2.09 [[ 9.90558498e-01 8.73360633e-04 -1.37087928e-01 2.26779653e+01] [-2.55587565e-03 9.99923553e-01 -1.20977135e-02 1.20972328e+00] [ 1.37066883e-01 1.23338726e-02 9.90485005e-01 2.08607273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.77463044 meters Centerline goodness [0,1] 0.3498908530582545 Centerline is valid? [False, False] Translation: X:22.68, Y:1.21, Z:2.09 [[ 9.90508506e-01 7.94728309e-04 -1.37449146e-01 2.26787467e+01] [-2.55088391e-03 9.99917349e-01 -1.26010938e-02 1.21399512e+00] [ 1.37427771e-01 1.28321074e-02 9.90428667e-01 2.08636037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80463044000004 meters Centerline goodness [0,1] 0.3524278313952238 Centerline is valid? [False, False] Translation: X:22.68, Y:1.22, Z:2.09 [[ 9.90472022e-01 6.59476623e-04 -1.37712519e-01 2.26793823e+01] [-2.48655932e-03 9.99911155e-01 -1.30957550e-02 1.21779525e+00] [ 1.37691647e-01 1.33134093e-02 9.90385664e-01 2.08654941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.83463044 meters Centerline goodness [0,1] 0.35266457680250785 Centerline is valid? [False, False] Translation: X:22.68, Y:1.22, Z:2.09 [[ 9.90455461e-01 2.78242263e-04 -1.37832875e-01 2.26799481e+01] [-2.21629500e-03 9.99900828e-01 -1.39076168e-02 1.22374750e+00] [ 1.37815336e-01 1.40803533e-02 9.90357853e-01 2.08646595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86463044 meters Centerline goodness [0,1] 0.35292219664866953 Centerline is valid? [False, False] Translation: X:22.68, Y:1.23, Z:2.09 [[ 9.90455744e-01 8.15907179e-05 -1.37831098e-01 2.26797630e+01] [-2.06787177e-03 9.99896071e-01 -1.42678486e-02 1.22577274e+00] [ 1.37815609e-01 1.44166896e-02 9.90352976e-01 2.08673472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.89463044 meters Centerline goodness [0,1] 0.3523840345199568 Centerline is valid? [False, False] Translation: X:22.68, Y:1.23, Z:2.09 [[ 9.90473855e-01 -9.76636382e-05 -1.37700883e-01 2.26793162e+01] [-1.92738400e-03 9.99891955e-01 -1.45727210e-02 1.22742199e+00] [ 1.37687428e-01 1.46993016e-02 9.90366651e-01 2.08696050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92463044 meters Centerline goodness [0,1] 0.35296891747052517 Centerline is valid? [False, False] Translation: X:22.70, Y:1.23, Z:2.09 [[ 9.90585343e-01 -7.84874321e-03 -1.36671416e-01 2.26977170e+01] [ 6.09485784e-03 9.99893684e-01 -1.32466025e-02 1.23338004e+00] [ 1.36760855e-01 1.22888974e-02 9.90527865e-01 2.09125997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.95463044 meters Centerline goodness [0,1] 0.35286287812104167 Centerline is valid? [False, False] Translation: X:22.70, Y:1.23, Z:2.09 [[ 9.90593241e-01 -7.85429811e-03 -1.36613837e-01 2.26975257e+01] [ 6.09314300e-03 9.99892921e-01 -1.33048807e-02 1.23424997e+00] [ 1.36703709e-01 1.23473173e-02 9.90535027e-01 2.09136015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98463044 meters Centerline goodness [0,1] 0.3554351565187478 Centerline is valid? [False, False] Translation: X:22.70, Y:1.23, Z:2.09 [[ 9.90593709e-01 -7.87538188e-03 -1.36609233e-01 2.26974577e+01] [ 6.11509743e-03 9.99892846e-01 -1.33004257e-02 1.23437543e+00] [ 1.36699341e-01 1.23399393e-02 9.90535722e-01 2.09144416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.01463044 meters Centerline goodness [0,1] 0.35309101806661525 Centerline is valid? [False, False] Translation: X:22.70, Y:1.23, Z:2.09 [[ 9.90594547e-01 -8.01286631e-03 -1.36595161e-01 2.26973642e+01] [ 6.23874625e-03 9.99890601e-01 -1.34113221e-02 1.23452412e+00] [ 1.36687680e-01 1.24330000e-02 9.90536167e-01 2.09155363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04463044 meters Centerline goodness [0,1] 0.3528710679776955 Centerline is valid? [False, False] Translation: X:22.70, Y:1.23, Z:2.09 [[ 9.90612508e-01 -8.18821155e-03 -1.36454430e-01 2.26967351e+01] [ 6.41332631e-03 9.99889089e-01 -1.34417191e-02 1.23410568e+00] [ 1.36549359e-01 1.24404083e-02 9.90555152e-01 2.09194124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.07463044 meters Centerline goodness [0,1] 0.35565864295181493 Centerline is valid? [False, False] Translation: X:22.70, Y:1.23, Z:2.09 [[ 9.90608873e-01 -8.21386066e-03 -1.36479274e-01 2.26967898e+01] [ 6.44484776e-03 9.99889465e-01 -1.33985865e-02 1.23377976e+00] [ 1.36574243e-01 1.23931705e-02 9.90552313e-01 2.09197321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10463044 meters Centerline goodness [0,1] 0.3559438753550831 Centerline is valid? [False, False] Translation: X:22.70, Y:1.23, Z:2.09 [[ 9.90575691e-01 -8.24160250e-03 -1.36718240e-01 2.26974803e+01] [ 6.47410379e-03 9.99889690e-01 -1.33676643e-02 1.23355242e+00] [ 1.36813330e-01 1.23565552e-02 9.90519777e-01 2.09187291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.13463044 meters Centerline goodness [0,1] 0.3545358853730317 Centerline is valid? [False, False] Translation: X:22.70, Y:1.23, Z:2.09 [[ 9.90525846e-01 -8.22121383e-03 -1.37080123e-01 2.26986280e+01] [ 6.45917308e-03 9.99890769e-01 -1.32939619e-02 1.23321539e+00] [ 1.37174442e-01 1.22825887e-02 9.90470752e-01 2.09166974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16463044 meters Centerline goodness [0,1] 0.3535815136556659 Centerline is valid? [False, False] Translation: X:22.70, Y:1.23, Z:2.09 [[ 9.90438037e-01 -8.15587486e-03 -1.37717014e-01 2.27002948e+01] [ 6.39758043e-03 9.99892340e-01 -1.32052659e-02 1.23326547e+00] [ 1.37809888e-01 1.21979420e-02 9.90383585e-01 2.09161573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.19463044 meters Centerline goodness [0,1] 0.35081567638066324 Centerline is valid? [False, False] Translation: X:22.70, Y:1.23, Z:2.09 [[ 9.90402903e-01 -8.06088737e-03 -1.37975039e-01 2.27008284e+01] [ 6.30984317e-03 9.99893971e-01 -1.31237194e-02 1.23331952e+00] [ 1.38066198e-01 1.21271689e-02 9.90348755e-01 2.09181483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22463044 meters Centerline goodness [0,1] 0.3537962027221708 Centerline is valid? [False, False] Translation: X:22.70, Y:1.23, Z:2.09 [[ 9.90389338e-01 -8.07148341e-03 -1.38071760e-01 2.27007743e+01] [ 6.30435582e-03 9.99892590e-01 -1.32311608e-02 1.23417973e+00] [ 1.38163725e-01 1.22335471e-02 9.90333845e-01 2.09221442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.25463044 meters Centerline goodness [0,1] 0.3554346423502086 Centerline is valid? [False, False] Translation: X:22.70, Y:1.24, Z:2.09 [[ 9.90393268e-01 -8.04305992e-03 -1.38045226e-01 2.27002731e+01] [ 6.25634874e-03 9.99891018e-01 -1.33719777e-02 1.23539948e+00] [ 1.38137734e-01 1.23798577e-02 9.90335653e-01 2.09282968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28463044 meters Centerline goodness [0,1] 0.35703093137570563 Centerline is valid? [False, False] Translation: X:22.70, Y:1.24, Z:2.09 [[ 9.90398597e-01 -7.95646622e-03 -1.38012005e-01 2.26995344e+01] [ 6.15024238e-03 9.99889835e-01 -1.35089573e-02 1.23690864e+00] [ 1.38104285e-01 1.25304451e-02 9.90338424e-01 2.09371008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.31463044000003 meters Centerline goodness [0,1] 0.3595883803194341 Centerline is valid? [False, False] Translation: X:22.72, Y:1.24, Z:2.10 [[ 9.90726052e-01 1.26175159e-03 -1.35868677e-01 2.27171512e+01] [-3.12643628e-03 9.99903826e-01 -1.35116620e-02 1.23585279e+00] [ 1.35838562e-01 1.38111403e-02 9.90634715e-01 2.09756320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34463044 meters Centerline goodness [0,1] 0.3614075693283614 Centerline is valid? [False, False] Translation: X:22.72, Y:1.24, Z:2.10 [[ 9.90747444e-01 1.51454979e-03 -1.35710016e-01 2.27164274e+01] [-3.38604879e-03 9.99902317e-01 -1.35606596e-02 1.23753353e+00] [ 1.35676221e-01 1.38947096e-02 9.90655793e-01 2.09808281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.37463044000003 meters Centerline goodness [0,1] 0.3626448679913773 Centerline is valid? [False, False] Translation: X:22.72, Y:1.24, Z:2.10 [[ 9.90752652e-01 1.67851428e-03 -1.35670061e-01 2.27160630e+01] [-3.56856236e-03 9.99899930e-01 -1.36892126e-02 1.23925801e+00] [ 1.35633507e-01 1.40467708e-02 9.90659498e-01 2.09847765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40463044 meters Centerline goodness [0,1] 0.36384414918614094 Centerline is valid? [False, False] Translation: X:22.72, Y:1.24, Z:2.10 [[ 9.90740215e-01 1.80658720e-03 -1.35759206e-01 2.27159838e+01] [-3.71509244e-03 9.99897791e-01 -1.38059804e-02 1.24077624e+00] [ 1.35720388e-01 1.41824980e-02 9.90645665e-01 2.09891136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.43463044000003 meters Centerline goodness [0,1] 0.36213168811828533 Centerline is valid? [False, False] Translation: X:22.72, Y:1.24, Z:2.10 [[ 9.90675161e-01 2.41492377e-03 -1.36223687e-01 2.27168127e+01] [-4.32230742e-03 9.99896701e-01 -1.37078090e-02 1.24364715e+00] [ 1.36176512e-01 1.41687865e-02 9.90583264e-01 2.09945310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46463044 meters Centerline goodness [0,1] 0.36363636363636365 Centerline is valid? [False, False] Translation: X:22.72, Y:1.25, Z:2.10 [[ 9.90645876e-01 2.49763368e-03 -1.36435003e-01 2.27173142e+01] [-4.42728412e-03 9.99894397e-01 -1.38417620e-02 1.24528897e+00] [ 1.36386023e-01 1.43163210e-02 9.90552318e-01 2.09955227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.49463044000004 meters Centerline goodness [0,1] 0.3626015563034577 Centerline is valid? [False, False] Translation: X:22.72, Y:1.25, Z:2.10 [[ 9.90612561e-01 2.59857573e-03 -1.36674799e-01 2.27177140e+01] [-4.55303946e-03 9.99891777e-01 -1.39894376e-02 1.24707244e+00] [ 1.36623655e-01 1.44803984e-02 9.90517186e-01 2.09984995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52463044 meters Centerline goodness [0,1] 0.36365992182607376 Centerline is valid? [False, False] Translation: X:22.72, Y:1.25, Z:2.10 [[ 9.90614064e-01 2.66474701e-03 -1.36662633e-01 2.27175763e+01] [-4.64845003e-03 9.99888395e-01 -1.41982510e-02 1.24905728e+00] [ 1.36609546e-01 1.47002565e-02 9.90515893e-01 2.10006401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.55463044000004 meters Centerline goodness [0,1] 0.3646333104866347 Centerline is valid? [False, False] Translation: X:22.74, Y:1.25, Z:2.10 [[ 9.90704824e-01 -2.05184386e-03 -1.36013757e-01 2.27386207e+01] [ 5.63920632e-04 9.99939590e-01 -1.09771324e-02 1.25190663e+00] [ 1.36028064e-01 1.07983971e-02 9.90646133e-01 2.10319514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58463044 meters Centerline goodness [0,1] 0.36271048633844705 Centerline is valid? [False, False] Translation: X:22.74, Y:1.26, Z:2.10 [[ 9.90715450e-01 1.68083061e-03 -1.35941432e-01 2.27387245e+01] [-2.81402403e-03 9.99962876e-01 -8.14416071e-03 1.25534439e+00] [ 1.35922696e-01 8.45108830e-03 9.90683400e-01 2.10303491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.61463044 meters Centerline goodness [0,1] 0.363225352413043 Centerline is valid? [False, False] Translation: X:22.74, Y:1.26, Z:2.10 [[ 9.90697591e-01 1.87722710e-03 -1.36068954e-01 2.27391572e+01] [-3.02965415e-03 9.99961273e-01 -8.26284497e-03 1.25773194e+00] [ 1.36048173e-01 8.59822248e-03 9.90664911e-01 2.10300126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64463044 meters Centerline goodness [0,1] 0.3629423118164272 Centerline is valid? [False, False] Translation: X:22.74, Y:1.26, Z:2.10 [[ 9.90718177e-01 2.13491011e-03 -1.35915177e-01 2.27389513e+01] [-3.31433472e-03 9.99958789e-01 -8.45195915e-03 1.26108735e+00] [ 1.35891531e-01 8.82397796e-03 9.90684425e-01 2.10291219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.67463044 meters Centerline goodness [0,1] 0.36354677692324167 Centerline is valid? [False, False] Translation: X:22.74, Y:1.26, Z:2.10 [[ 9.90695562e-01 2.11837552e-03 -1.36080181e-01 2.27394513e+01] [-3.31863855e-03 9.99957564e-01 -8.59401318e-03 1.26223239e+00] [ 1.36056201e-01 8.96565165e-03 9.90660551e-01 2.10283801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70463044 meters Centerline goodness [0,1] 0.3619810478901967 Centerline is valid? [False, False] Translation: X:22.76, Y:1.26, Z:2.11 [[ 9.90592354e-01 -3.55057363e-03 -1.36799788e-01 2.27611358e+01] [ 2.77949647e-03 9.99979159e-01 -5.82714119e-03 1.26454902e+00] [ 1.36817627e-01 5.39208698e-03 9.90581578e-01 2.10587009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.73463044 meters Centerline goodness [0,1] 0.36114490619197026 Centerline is valid? [False, False] Translation: X:22.76, Y:1.26, Z:2.11 [[ 9.90546354e-01 -3.42650269e-03 -1.37135624e-01 2.27622462e+01] [ 2.66243580e-03 9.99979898e-01 -5.75465153e-03 1.26487924e+00] [ 1.37152586e-01 5.33513430e-03 9.90535564e-01 2.10559302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76463044 meters Centerline goodness [0,1] 0.3616492796820666 Centerline is valid? [False, False] Translation: X:22.76, Y:1.27, Z:2.11 [[ 9.90460020e-01 -3.19787893e-03 -1.37763282e-01 2.27640336e+01] [ 2.44292950e-03 9.99981062e-01 -5.64877924e-03 1.26553588e+00] [ 1.37778737e-01 5.25834402e-03 9.90449075e-01 2.10536351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.79463044 meters Centerline goodness [0,1] 0.3616492796820666 Centerline is valid? [False, False] Translation: X:22.76, Y:1.27, Z:2.11 [[ 9.90460020e-01 -3.19787893e-03 -1.37763282e-01 2.27640336e+01] [ 2.44292950e-03 9.99981062e-01 -5.64877924e-03 1.26553588e+00] [ 1.37778737e-01 5.25834402e-03 9.90449075e-01 2.10536351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.82463044 meters Centerline goodness [0,1] 0.3591661981576785 Centerline is valid? [False, False] Translation: X:22.76, Y:1.27, Z:2.11 [[ 9.90457042e-01 -3.16930050e-03 -1.37785353e-01 2.27640869e+01] [ 2.40533052e-03 9.99980800e-01 -5.71078918e-03 1.26614497e+00] [ 1.37800807e-01 5.32487205e-03 9.90445649e-01 2.10536298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.85463044 meters Centerline goodness [0,1] 0.3561846726757225 Centerline is valid? [False, False] Translation: X:22.81, Y:1.27, Z:2.11 [[ 9.90691743e-01 -2.97276992e-03 -1.36091999e-01 2.28069440e+01] [ 2.31699359e-03 9.99984932e-01 -4.97677087e-03 1.26512704e+00] [ 1.36104743e-01 4.61512151e-03 9.90683703e-01 2.11143434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.88463044 meters Centerline goodness [0,1] 0.35933542265916796 Centerline is valid? [False, False] Translation: X:22.81, Y:1.27, Z:2.11 [[ 9.90706746e-01 -2.89096093e-03 -1.35984507e-01 2.28065981e+01] [ 2.23724587e-03 9.99985197e-01 -4.95985592e-03 1.26544860e+00] [ 1.35996832e-01 4.60953194e-03 9.90698548e-01 2.11153341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.91463044 meters Centerline goodness [0,1] 0.3589963358974908 Centerline is valid? [False, False] Translation: X:22.81, Y:1.27, Z:2.11 [[ 9.90738286e-01 -2.55840138e-03 -1.35761198e-01 2.28060422e+01] [ 1.93126258e-03 9.99986849e-01 -4.75093004e-03 1.26587541e+00] [ 1.35771567e-01 4.44473776e-03 9.90730198e-01 2.11156779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.94463044 meters Centerline goodness [0,1] 0.35691693731558727 Centerline is valid? [False, False] Translation: X:22.82, Y:1.26, Z:2.12 [[ 9.90821072e-01 4.43649826e-03 -1.35107071e-01 2.28245768e+01] [-5.29343275e-03 9.99968085e-01 -5.98405427e-03 1.26156832e+00] [ 1.35076211e-01 6.64430726e-03 9.90812934e-01 2.11529820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.97463044 meters Centerline goodness [0,1] 0.3607776364851176 Centerline is valid? [False, False] Translation: X:22.81, Y:1.27, Z:2.11 [[ 9.91184768e-01 -1.58347038e-03 -1.32477349e-01 2.28082959e+01] [ 9.08589239e-04 9.99986302e-01 -5.15460854e-03 1.26501130e+00] [ 1.32483696e-01 4.98880198e-03 9.91172630e-01 2.11042999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.00463044 meters Centerline goodness [0,1] 0.3595652827595094 Centerline is valid? [False, False] Translation: X:22.81, Y:1.26, Z:2.11 [[ 9.91181840e-01 -1.59705200e-03 -1.32499089e-01 2.28085905e+01] [ 9.37313696e-04 9.99986853e-01 -5.04141347e-03 1.26357443e+00] [ 1.32505398e-01 4.87276427e-03 9.91170306e-01 2.11022967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.03463044 meters Centerline goodness [0,1] 0.35759738584573053 Centerline is valid? [False, False] Translation: X:22.81, Y:1.26, Z:2.11 [[ 9.91162327e-01 -1.56599211e-03 -1.32645351e-01 2.28092372e+01] [ 9.56848954e-04 9.99988704e-01 -4.65588716e-03 1.26023262e+00] [ 1.32651144e-01 4.48781839e-03 9.91152629e-01 2.10993093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.06463044000003 meters Centerline goodness [0,1] 0.35826941308282345 Centerline is valid? [False, False] Translation: X:22.81, Y:1.26, Z:2.11 [[ 9.91164107e-01 -1.38848452e-03 -1.32634028e-01 2.28091140e+01] [ 8.21139997e-04 9.99990279e-01 -4.33212003e-03 1.25867410e+00] [ 1.32638754e-01 4.18493077e-03 9.91155612e-01 2.11007174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.09463044 meters Centerline goodness [0,1] 0.35655456417295817 Centerline is valid? [False, False] Translation: X:22.81, Y:1.26, Z:2.11 [[ 9.91168341e-01 -1.21600021e-03 -1.32604080e-01 2.28090753e+01] [ 6.89370902e-04 9.99991693e-01 -4.01727836e-03 1.25701242e+00] [ 1.32607863e-01 3.89038573e-03 9.91160945e-01 2.11008513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.12463044000003 meters Centerline goodness [0,1] 0.35623223361185286 Centerline is valid? [False, False] Translation: X:22.81, Y:1.26, Z:2.11 [[ 9.91179413e-01 -1.11746637e-03 -1.32522159e-01 2.28088531e+01] [ 6.15148803e-04 9.99992471e-01 -3.83132248e-03 1.25584422e+00] [ 1.32525442e-01 3.71600712e-03 9.91172638e-01 2.11012510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.15463044 meters Centerline goodness [0,1] 0.3573375689540449 Centerline is valid? [False, False] Translation: X:22.81, Y:1.26, Z:2.11 [[ 9.91166861e-01 -1.05683612e-03 -1.32616506e-01 2.28090174e+01] [ 5.58969785e-04 9.99992657e-01 -3.79135332e-03 1.25552795e+00] [ 1.32619539e-01 3.68373515e-03 9.91160173e-01 2.11026065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.18463044000003 meters Centerline goodness [0,1] 0.35532377783465574 Centerline is valid? [False, False] Translation: X:22.83, Y:1.25, Z:2.11 [[ 9.91119074e-01 7.01282020e-03 -1.32792327e-01 2.28294226e+01] [-7.67157896e-03 9.99960672e-01 -4.44983416e-03 1.25194891e+00] [ 1.32755898e-01 5.42904233e-03 9.91133895e-01 2.11382055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.21463044 meters Centerline goodness [0,1] 0.35633669337468765 Centerline is valid? [False, False] Translation: X:22.83, Y:1.25, Z:2.11 [[ 9.91090850e-01 7.21146595e-03 -1.32992191e-01 2.28300848e+01] [-7.86257506e-03 9.99959535e-01 -4.37132481e-03 1.25247924e+00] [ 1.32955285e-01 5.37804110e-03 9.91107446e-01 2.11365794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.24463044000004 meters Centerline goodness [0,1] 0.3562431367482721 Centerline is valid? [False, False] Translation: X:22.83, Y:1.25, Z:2.11 [[ 9.91066601e-01 7.39714319e-03 -1.33162586e-01 2.28305061e+01] [-8.03959255e-03 9.99958490e-01 -4.28750708e-03 1.25281637e+00] [ 1.33125343e-01 5.31977801e-03 9.91084932e-01 2.11366294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.27463044 meters Centerline goodness [0,1] 0.355429971206326 Centerline is valid? [False, False] Translation: X:22.83, Y:1.25, Z:2.11 [[ 9.91070305e-01 7.56992533e-03 -1.33125306e-01 2.28303254e+01] [-8.21252431e-03 9.99957123e-01 -4.27858703e-03 1.25313902e+00] [ 1.33087209e-01 5.33367537e-03 9.91089979e-01 2.11377922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30463044000004 meters Centerline goodness [0,1] 0.3499251657045115 Centerline is valid? [False, False] Translation: X:22.85, Y:1.26, Z:2.12 [[ 9.91033758e-01 5.60010109e-04 -1.33610540e-01 2.28486338e+01] [-9.40295215e-04 9.99995685e-01 -2.78313828e-03 1.25724872e+00] [ 1.33608405e-01 2.88381734e-03 9.91030008e-01 2.11761314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.33463044 meters Centerline goodness [0,1] 0.3516217490038134 Centerline is valid? [False, False] Translation: X:22.85, Y:1.26, Z:2.12 [[ 9.91002294e-01 6.81874867e-04 -1.33843151e-01 2.28494917e+01] [-1.05591890e-03 9.99995733e-01 -2.72368136e-03 1.25752455e+00] [ 1.33840723e-01 2.84050198e-03 9.90998785e-01 2.11732191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36463044 meters Centerline goodness [0,1] 0.35306753737755625 Centerline is valid? [False, False] Translation: X:22.85, Y:1.26, Z:2.12 [[ 9.90977210e-01 7.85669692e-04 -1.34028173e-01 2.28503509e+01] [-1.15695802e-03 9.99995706e-01 -2.69236463e-03 1.25783985e+00] [ 1.34025482e-01 2.82313696e-03 9.90973864e-01 2.11687336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.39463044 meters Centerline goodness [0,1] 0.3487131332963421 Centerline is valid? [False, False] Translation: X:22.85, Y:1.26, Z:2.12 [[ 9.90917904e-01 1.01418393e-03 -1.34464413e-01 2.28517032e+01] [-1.37862043e-03 9.99995625e-01 -2.61719936e-03 1.25841039e+00] [ 1.34461170e-01 2.77880509e-03 9.90914967e-01 2.11659882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42463044 meters Centerline goodness [0,1] 0.35075863553212094 Centerline is valid? [False, False] Translation: X:22.85, Y:1.26, Z:2.12 [[ 9.90905779e-01 1.07091992e-03 -1.34553297e-01 2.28517617e+01] [-1.43475104e-03 9.99995572e-01 -2.60705554e-03 1.25861613e+00] [ 1.34549909e-01 2.77639689e-03 9.90902928e-01 2.11674182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.45463044 meters Centerline goodness [0,1] 0.35537279986075754 Centerline is valid? [False, False] Translation: X:22.85, Y:1.26, Z:2.12 [[ 9.90907512e-01 1.18773793e-03 -1.34539552e-01 2.28515324e+01] [-1.53666461e-03 9.99995720e-01 -2.48967425e-03 1.25835034e+00] [ 1.34536019e-01 2.67377909e-03 9.90905097e-01 2.11697164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48463044 meters Centerline goodness [0,1] 0.35198165176944674 Centerline is valid? [False, False] Translation: X:22.89, Y:1.26, Z:2.12 [[ 9.91103596e-01 1.03487924e-03 -1.33088656e-01 2.28928259e+01] [-1.31866076e-03 9.99997041e-01 -2.04415054e-03 1.25830505e+00] [ 1.33086147e-01 2.20146374e-03 9.91102029e-01 2.12349160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.51463044 meters Centerline goodness [0,1] 0.35525463262926005 Centerline is valid? [False, False] Translation: X:22.89, Y:1.26, Z:2.12 [[ 9.91121048e-01 9.31259365e-04 -1.32959400e-01 2.28926579e+01] [-1.19561507e-03 9.99997464e-01 -1.90841908e-03 1.25605427e+00] [ 1.32957285e-01 2.05044258e-03 9.91119648e-01 2.12338632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54463044 meters Centerline goodness [0,1] 0.353007775783987 Centerline is valid? [False, False] Translation: X:22.91, Y:1.26, Z:2.13 [[ 9.91080169e-01 -7.15689003e-03 -1.33074705e-01 2.29131228e+01] [ 7.08689873e-03 9.99974388e-01 -9.99603493e-04 1.25812452e+00] [ 1.33078451e-01 4.76002416e-05 9.91105506e-01 2.12678744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.57463044 meters Centerline goodness [0,1] 0.3525660296328108 Centerline is valid? [False, False] Translation: X:22.91, Y:1.26, Z:2.13 [[ 9.91061812e-01 -7.06150254e-03 -1.33216442e-01 2.29134723e+01] [ 7.03104714e-03 9.99975038e-01 -6.99042459e-04 1.25619779e+00] [ 1.33218053e-01 -2.43856800e-04 9.91086722e-01 2.12679961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60463044 meters Centerline goodness [0,1] 0.355914370987482 Centerline is valid? [False, False] Translation: X:22.91, Y:1.25, Z:2.13 [[ 9.91062189e-01 -6.90664934e-03 -1.33221754e-01 2.29133543e+01] [ 6.92127100e-03 9.99975985e-01 -3.53346835e-04 1.25439196e+00] [ 1.33220995e-01 -5.71875176e-04 9.91086192e-01 2.12704071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.63463044 meters Centerline goodness [0,1] 0.3531600111820743 Centerline is valid? [False, False] Translation: X:22.91, Y:1.25, Z:2.13 [[ 9.91128956e-01 -6.77462182e-03 -1.32730919e-01 2.29116378e+01] [ 6.86683794e-03 9.99976395e-01 2.37021005e-04 1.25008628e+00] [ 1.32726180e-01 -1.14636009e-03 9.91152081e-01 2.12775986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66463044 meters Centerline goodness [0,1] 0.3570907999657035 Centerline is valid? [False, False] Translation: X:22.93, Y:1.24, Z:2.13 [[ 9.91170460e-01 -1.51093730e-04 -1.32593727e-01 2.29287956e+01] [-2.14703045e-05 9.99999155e-01 -1.30001878e-03 1.24389367e+00] [ 1.32593811e-01 1.29138704e-03 9.91169619e-01 2.13253207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.69463044 meters Centerline goodness [0,1] 0.3554151277726778 Centerline is valid? [False, False] Translation: X:22.93, Y:1.24, Z:2.13 [[ 9.91181120e-01 -7.32741313e-05 -1.32514083e-01 2.29284968e+01] [-6.53395041e-05 9.99999455e-01 -1.04168079e-03 1.24179836e+00] [ 1.32514087e-01 1.04115273e-03 9.91180575e-01 2.13266890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72463044 meters Centerline goodness [0,1] 0.35854473774425777 Centerline is valid? [False, False] Translation: X:22.93, Y:1.24, Z:2.13 [[ 9.91205472e-01 5.00027390e-05 -1.32331816e-01 2.29282006e+01] [-1.54227632e-04 9.99999686e-01 -7.77353115e-04 1.24015340e+00] [ 1.32331736e-01 7.90925884e-04 9.91205169e-01 2.13247605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.75463044 meters Centerline goodness [0,1] 0.35694396847155585 Centerline is valid? [False, False] Translation: X:22.93, Y:1.24, Z:2.13 [[ 9.91203080e-01 5.11206814e-04 -1.32348752e-01 2.29283117e+01] [-5.20663731e-04 9.99999864e-01 -3.68477175e-05 1.23645009e+00] [ 1.32348715e-01 1.05432766e-04 9.91203212e-01 2.13249642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78463044 meters Centerline goodness [0,1] 0.35939975168043836 Centerline is valid? [False, False] Translation: X:22.93, Y:1.23, Z:2.13 [[ 9.91196494e-01 6.52888753e-04 -1.32397449e-01 2.29283804e+01] [-6.17922217e-04 9.99999763e-01 3.05189139e-04 1.23406068e+00] [ 1.32397617e-01 -2.20691080e-04 9.91196662e-01 2.13257820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.81463044000003 meters Centerline goodness [0,1] 0.3601034037052995 Centerline is valid? [False, False] Translation: X:22.93, Y:1.23, Z:2.13 [[ 9.91204912e-01 7.46993567e-04 -1.32333912e-01 2.29280402e+01] [-6.63447238e-04 9.99999552e-01 6.75420753e-04 1.23105163e+00] [ 1.32334358e-01 -5.81683799e-04 9.91204963e-01 2.13274974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84463044 meters Centerline goodness [0,1] 0.36233066403314795 Centerline is valid? [False, False] Translation: X:22.93, Y:1.23, Z:2.13 [[ 9.91205314e-01 9.50333271e-04 -1.32329601e-01 2.29278845e+01] [-7.96164913e-04 9.99998941e-01 1.21793893e-03 1.22729033e+00] [ 1.32330618e-01 -1.10187135e-03 9.91205021e-01 2.13299156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.87463044000003 meters Centerline goodness [0,1] 0.3618623166457531 Centerline is valid? [False, False] Translation: X:22.93, Y:1.22, Z:2.13 [[ 9.91229045e-01 1.20884109e-03 -1.32149609e-01 2.29273642e+01] [-9.71695362e-04 9.99997800e-01 1.85899730e-03 1.22308355e+00] [ 1.32151566e-01 -1.71428296e-03 9.91228039e-01 2.13312557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90463044 meters Centerline goodness [0,1] 0.3617176128093159 Centerline is valid? [False, False] Translation: X:22.97, Y:1.21, Z:2.14 [[ 9.91476290e-01 5.44030160e-04 -1.30286106e-01 2.29696891e+01] [-2.30463244e-04 9.99997041e-01 2.42182161e-03 1.21258242e+00] [ 1.30287038e-01 -2.37115255e-03 9.91473482e-01 2.13862450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.93463044000003 meters Centerline goodness [0,1] 0.3600819532183712 Centerline is valid? [False, False] Translation: X:22.97, Y:1.21, Z:2.14 [[ 9.91471359e-01 8.58958501e-04 -1.30321937e-01 2.29700811e+01] [-4.60602594e-04 9.99995130e-01 3.08681751e-03 1.20835204e+00] [ 1.30323954e-01 -3.00046453e-03 9.91466925e-01 2.13834977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96463044 meters Centerline goodness [0,1] 0.35909505332570024 Centerline is valid? [False, False] Translation: X:22.97, Y:1.20, Z:2.14 [[ 9.91456595e-01 1.20960784e-03 -1.30431426e-01 2.29707211e+01] [-7.28491610e-04 9.99992755e-01 3.73630250e-03 1.20461630e+00] [ 1.30435001e-01 -3.60936356e-03 9.91450293e-01 2.13803918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.99463044000004 meters Centerline goodness [0,1] 0.35676281153738454 Centerline is valid? [False, False] Translation: X:22.95, Y:1.19, Z:2.13 [[ 9.91473281e-01 8.80467754e-03 -1.30012348e-01 2.29541417e+01] [-8.46562045e-03 9.99959172e-01 3.16032737e-03 1.19227365e+00] [ 1.30034866e-01 -2.03274495e-03 9.91507338e-01 2.13277727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02463044 meters Centerline goodness [0,1] 0.35535127756686435 Centerline is valid? [False, False] Translation: X:22.97, Y:1.19, Z:2.14 [[ 9.91467467e-01 1.76905721e-03 -1.30342365e-01 2.29742261e+01] [-1.17673337e-03 9.99988630e-01 4.62124684e-03 1.19319541e+00] [ 1.30349058e-01 -4.42843769e-03 9.91458275e-01 2.13605722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.05463044000004 meters Centerline goodness [0,1] 0.35612486544671695 Centerline is valid? [False, False] Translation: X:22.98, Y:1.19, Z:2.14 [[ 9.91447798e-01 1.96015313e-03 -1.30489161e-01 2.29750264e+01] [-1.32751598e-03 9.99986942e-01 4.93500558e-03 1.19141060e+00] [ 1.30497131e-01 -4.71957397e-03 9.91437454e-01 2.13556804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08463044 meters Centerline goodness [0,1] 0.35339352097716414 Centerline is valid? [False, False] Translation: X:23.00, Y:1.18, Z:2.14 [[ 9.91151169e-01 9.88044360e-03 -1.32369702e-01 2.29975868e+01] [-9.33036972e-03 9.99945069e-01 4.77521669e-03 1.18314911e+00] [ 1.32409612e-01 -3.49790335e-03 9.91188912e-01 2.13866762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.11463044 meters Centerline goodness [0,1] 0.3549640821852006 Centerline is valid? [False, False] Translation: X:22.95, Y:1.18, Z:2.13 [[ 9.90877339e-01 9.84200860e-03 -1.34406968e-01 2.29541259e+01] [-9.29903782e-03 9.99945872e-01 4.66694570e-03 1.18031209e+00] [ 1.34445625e-01 -3.37451526e-03 9.90915227e-01 2.13255594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14463044 meters Centerline goodness [0,1] 0.3506974950178927 Centerline is valid? [False, False] Translation: X:23.00, Y:1.18, Z:2.14 [[ 9.91036815e-01 1.01023952e-02 -1.33206507e-01 2.29960242e+01] [-9.56708524e-03 9.99943385e-01 4.65810271e-03 1.18011632e+00] [ 1.33246023e-01 -3.34195327e-03 9.91077358e-01 2.13896961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.17463044 meters Centerline goodness [0,1] 0.35475335068734803 Centerline is valid? [False, False] Translation: X:23.00, Y:1.18, Z:2.14 [[ 9.91051731e-01 1.02078902e-02 -1.33087436e-01 2.29957735e+01] [-9.65269248e-03 9.99941813e-01 4.81622208e-03 1.17918449e+00] [ 1.33128856e-01 -3.48847313e-03 9.91092598e-01 2.13893052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20463044 meters Centerline goodness [0,1] 0.3538265801220538 Centerline is valid? [False, False] Translation: X:23.00, Y:1.18, Z:2.14 [[ 9.91031115e-01 1.04130774e-02 -1.33224988e-01 2.29962787e+01] [-9.81361287e-03 9.99938555e-01 5.15550326e-03 1.17708498e+00] [ 1.33270486e-01 -3.80184569e-03 9.91072411e-01 2.13876582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.23463044 meters Centerline goodness [0,1] 0.34832926881444404 Centerline is valid? [False, False] Translation: X:23.02, Y:1.18, Z:2.14 [[ 9.90991978e-01 2.94624044e-03 -1.33888833e-01 2.30162060e+01] [-2.14035610e-03 9.99978720e-01 6.16259032e-03 1.17965929e+00] [ 1.33904140e-01 -5.82050779e-03 9.90977196e-01 2.14227395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26463044 meters Centerline goodness [0,1] 0.3512240046261592 Centerline is valid? [False, False] Translation: X:23.02, Y:1.18, Z:2.14 [[ 9.90955812e-01 3.05691332e-03 -1.34153772e-01 2.30170674e+01] [-2.20985126e-03 9.99976676e-01 6.46256200e-03 1.17775462e+00] [ 1.34170398e-01 -6.10765349e-03 9.90939454e-01 2.14207381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.29463044 meters Centerline goodness [0,1] 0.34923990093090784 Centerline is valid? [False, False] Translation: X:23.02, Y:1.18, Z:2.14 [[ 9.90936262e-01 3.11027086e-03 -1.34296874e-01 2.30176184e+01] [-2.22068569e-03 9.99974595e-01 6.77330627e-03 1.17539526e+00] [ 1.34314530e-01 -6.41368365e-03 9.90917994e-01 2.14195953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32463044 meters Centerline goodness [0,1] 0.3501109972677595 Centerline is valid? [False, False] Translation: X:23.02, Y:1.17, Z:2.14 [[ 9.91025196e-01 -4.97926602e-04 -1.33674282e-01 2.30162932e+01] [ 1.04673044e-03 9.99991310e-01 4.03528603e-03 1.17116404e+00] [ 1.33671112e-01 -4.13899107e-03 9.91017105e-01 2.14183885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.35463044 meters Centerline goodness [0,1] 0.34989652450342434 Centerline is valid? [False, False] Translation: X:23.02, Y:1.17, Z:2.14 [[ 9.91033585e-01 -4.08929972e-04 -1.33612372e-01 2.30161295e+01] [ 1.00441388e-03 9.99989862e-01 4.38942931e-03 1.16854843e+00] [ 1.33609223e-01 -4.48427399e-03 9.91023949e-01 2.14193493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.38463044 meters Centerline goodness [0,1] 0.35621240316787117 Centerline is valid? [False, False] Translation: X:23.02, Y:1.17, Z:2.14 [[ 9.91024083e-01 -2.43153703e-04 -1.33683236e-01 2.30164045e+01] [ 8.90052952e-04 9.99988183e-01 4.77930592e-03 1.16623661e+00] [ 1.33680494e-01 -4.85539243e-03 9.91012589e-01 2.14186727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.41463044 meters Centerline goodness [0,1] 0.3522992818094115 Centerline is valid? [False, False] Translation: X:23.04, Y:1.16, Z:2.15 [[ 9.90908021e-01 7.06875982e-03 -1.34355222e-01 2.30361830e+01] [-6.60160260e-03 9.99970517e-01 3.92221783e-03 1.16051493e+00] [ 1.34378986e-01 -2.99959732e-03 9.90925472e-01 2.14567951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.44463044 meters Centerline goodness [0,1] 0.3507459496430556 Centerline is valid? [False, False] Translation: X:23.04, Y:1.16, Z:2.15 [[ 9.90868793e-01 7.22753870e-03 -1.34635800e-01 2.30371439e+01] [-6.72486662e-03 9.99968618e-01 4.18797542e-03 1.15915864e+00] [ 1.34661844e-01 -3.24432635e-03 9.90886301e-01 2.14545994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.47463044 meters Centerline goodness [0,1] 0.3520521590423258 Centerline is valid? [False, False] Translation: X:23.04, Y:1.16, Z:2.15 [[ 9.90855404e-01 7.39079763e-03 -1.34725438e-01 2.30375397e+01] [-6.85813053e-03 9.99966726e-01 4.41739892e-03 1.15757353e+00] [ 1.34753603e-01 -3.45303896e-03 9.90873122e-01 2.14534006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.50463044 meters Centerline goodness [0,1] 0.3512274191140401 Centerline is valid? [False, False] Translation: X:23.04, Y:1.16, Z:2.15 [[ 9.90881831e-01 7.52986171e-03 -1.34523227e-01 2.30370046e+01] [-6.97311164e-03 9.99965064e-01 4.60938259e-03 1.15666952e+00] [ 1.34553236e-01 -3.62930797e-03 9.90899720e-01 2.14539033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.53463044 meters Centerline goodness [0,1] 0.35304670980970076 Centerline is valid? [False, False] Translation: X:23.04, Y:1.16, Z:2.15 [[ 9.90893403e-01 7.64488180e-03 -1.34431471e-01 2.30366062e+01] [-7.06673128e-03 9.99963618e-01 4.77735053e-03 1.15584932e+00] [ 1.34463102e-01 -3.78385404e-03 9.90911377e-01 2.14561825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.56463044000003 meters Centerline goodness [0,1] 0.3579515055535344 Centerline is valid? [False, False] Translation: X:23.04, Y:1.15, Z:2.15 [[ 9.90915207e-01 7.71061462e-03 -1.34266898e-01 2.30362042e+01] [-7.11460175e-03 9.99962596e-01 4.91825727e-03 1.15484394e+00] [ 1.34299799e-01 -3.91832041e-03 9.90933000e-01 2.14561431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.59463044 meters Centerline goodness [0,1] 0.3563489173966119 Centerline is valid? [False, False] Translation: X:23.04, Y:1.15, Z:2.15 [[ 9.90910631e-01 7.80111339e-03 -1.34295434e-01 2.30366521e+01] [-7.15566816e-03 9.99960415e-01 5.28816885e-03 1.15148511e+00] [ 1.34331372e-01 -4.27912917e-03 9.90927228e-01 2.14527538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.62463044000003 meters Centerline goodness [0,1] 0.35856769830058643 Centerline is valid? [False, False] Translation: X:23.04, Y:1.15, Z:2.15 [[ 9.90893633e-01 7.89704841e-03 -1.34415196e-01 2.30372027e+01] [-7.21523474e-03 9.99958519e-01 5.55882587e-03 1.14965500e+00] [ 1.34453518e-01 -4.53836797e-03 9.90909509e-01 2.14504480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.65463044 meters Centerline goodness [0,1] 0.35755389504423263 Centerline is valid? [False, False] Translation: X:23.04, Y:1.15, Z:2.14 [[ 9.90862991e-01 8.02086064e-03 -1.34633576e-01 2.30380064e+01] [-7.29725262e-03 9.99956162e-01 5.86726946e-03 1.14761770e+00] [ 1.34674734e-01 -4.83120495e-03 9.90878083e-01 2.14482573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.68463044000003 meters Centerline goodness [0,1] 0.35540819841543236 Centerline is valid? [False, False] Translation: X:23.04, Y:1.15, Z:2.14 [[ 9.90840575e-01 8.11654910e-03 -1.34792718e-01 2.30385360e+01] [-7.35632069e-03 9.99954109e-01 6.13709418e-03 1.14578373e+00] [ 1.34836345e-01 -5.08930346e-03 9.90854812e-01 2.14471823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.71463044 meters Centerline goodness [0,1] 0.35540819841543236 Centerline is valid? [False, False] Translation: X:23.04, Y:1.15, Z:2.14 [[ 9.90840575e-01 8.11654910e-03 -1.34792718e-01 2.30385360e+01] [-7.35632069e-03 9.99954109e-01 6.13709418e-03 1.14578373e+00] [ 1.34836345e-01 -5.08930346e-03 9.90854812e-01 2.14471823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.74463044000004 meters Centerline goodness [0,1] 0.3568183286320278 Centerline is valid? [False, False] Translation: X:23.04, Y:1.14, Z:2.15 [[ 9.90802816e-01 8.23281014e-03 -1.35062953e-01 2.30389696e+01] [-7.41493410e-03 9.99951008e-01 6.55745490e-03 1.14239662e+00] [ 1.35110322e-01 -5.49566189e-03 9.90815320e-01 2.14504026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.77463044 meters Centerline goodness [0,1] 0.35620120862814253 Centerline is valid? [False, False] Translation: X:23.04, Y:1.14, Z:2.14 [[ 9.90792137e-01 8.32018545e-03 -1.35135915e-01 2.30392798e+01] [-7.47483985e-03 9.99949202e-01 6.76171281e-03 1.14118470e+00] [ 1.35185309e-01 -5.68933257e-03 9.90803999e-01 2.14493712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80463044000004 meters Centerline goodness [0,1] 0.3550617283950618 Centerline is valid? [False, False] Translation: X:23.04, Y:1.14, Z:2.14 [[ 9.90769877e-01 8.44210783e-03 -1.35291466e-01 2.30397880e+01] [-7.56760870e-03 9.99947026e-01 6.97680276e-03 1.14002638e+00] [ 1.35343198e-01 -5.88857314e-03 9.90781279e-01 2.14487471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.83463044 meters Centerline goodness [0,1] 0.3606186508886037 Centerline is valid? [False, False] Translation: X:23.04, Y:1.14, Z:2.15 [[ 9.90770109e-01 8.55210644e-03 -1.35282862e-01 2.30396204e+01] [-7.64505487e-03 9.99944690e-01 7.22295167e-03 1.13833326e+00] [ 1.35337151e-01 -6.12203971e-03 9.90780690e-01 2.14511230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86463044 meters Centerline goodness [0,1] 0.3558829230471021 Centerline is valid? [False, False] Translation: X:23.06, Y:1.14, Z:2.15 [[ 9.90824443e-01 1.57793666e-03 -1.35145971e-01 2.30585431e+01] [-4.43214102e-04 9.99964403e-01 8.42594950e-03 1.14215435e+00] [ 1.35154456e-01 -8.28873811e-03 9.90789872e-01 2.14904247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.89463044 meters Centerline goodness [0,1] 0.35747653537907687 Centerline is valid? [False, False] Translation: X:23.08, Y:1.14, Z:2.15 [[ 9.90883722e-01 9.24766306e-03 -1.34402120e-01 2.30776764e+01] [-8.37597147e-03 9.99940071e-01 7.04970324e-03 1.13961891e+00] [ 1.34459259e-01 -5.85968786e-03 9.90901797e-01 2.15288731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92463044 meters Centerline goodness [0,1] 0.3577576931353561 Centerline is valid? [False, False] Translation: X:23.08, Y:1.14, Z:2.15 [[ 9.90901561e-01 9.27190560e-03 -1.34268865e-01 2.30772549e+01] [-8.40228114e-03 9.99939904e-01 7.04195207e-03 1.13971849e+00] [ 1.34326088e-01 -5.84971655e-03 9.90919917e-01 2.15299401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.95463044 meters Centerline goodness [0,1] 0.36026697570606914 Centerline is valid? [False, False] Translation: X:23.08, Y:1.14, Z:2.15 [[ 9.90932041e-01 9.40689886e-03 -1.34034328e-01 2.30765765e+01] [-8.53730648e-03 9.99938626e-01 7.06110890e-03 1.14019981e+00] [ 1.34092525e-01 -5.85278692e-03 9.90951532e-01 2.15315262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98463044 meters Centerline goodness [0,1] 0.3582880841421181 Centerline is valid? [False, False] Translation: X:23.08, Y:1.14, Z:2.15 [[ 9.90929974e-01 9.37803498e-03 -1.34051631e-01 2.30764703e+01] [-8.51420072e-03 9.99939141e-01 7.01586051e-03 1.14037001e+00] [ 1.34109268e-01 -5.81088398e-03 9.90949513e-01 2.15335486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.01463044 meters Centerline goodness [0,1] 0.3576785828757024 Centerline is valid? [False, False] Translation: X:23.08, Y:1.14, Z:2.15 [[ 9.90919365e-01 9.42134892e-03 -1.34126994e-01 2.30764680e+01] [-8.54612578e-03 9.99938278e-01 7.09958422e-03 1.13985040e+00] [ 1.34185603e-01 -5.88884933e-03 9.90938719e-01 2.15359825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04463044 meters Centerline goodness [0,1] 0.35949350816300296 Centerline is valid? [False, False] Translation: X:23.08, Y:1.14, Z:2.15 [[ 9.90916680e-01 9.38965681e-03 -1.34149051e-01 2.30760782e+01] [-8.50764223e-03 9.99938271e-01 7.14662229e-03 1.13915798e+00] [ 1.34207875e-01 -5.94041509e-03 9.90935395e-01 2.15409745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.07463044 meters Centerline goodness [0,1] 0.36212617426527627 Centerline is valid? [False, False] Translation: X:23.08, Y:1.14, Z:2.15 [[ 9.90913942e-01 9.40782688e-03 -1.34167998e-01 2.30759620e+01] [-8.51211676e-03 9.99937502e-01 7.24810498e-03 1.13835723e+00] [ 1.34227802e-01 -6.04019462e-03 9.90932093e-01 2.15430819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10463044 meters Centerline goodness [0,1] 0.3624793777987273 Centerline is valid? [False, False] Translation: X:23.09, Y:1.14, Z:2.16 [[ 9.90931286e-01 2.39540659e-03 -1.34348234e-01 2.30936386e+01] [-1.25671996e-03 9.99962575e-01 8.55979852e-03 1.14280544e+00] [ 1.34363710e-01 -8.31333405e-03 9.90897211e-01 2.15846502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.13463044 meters Centerline goodness [0,1] 0.3625419210594204 Centerline is valid? [False, False] Translation: X:23.09, Y:1.14, Z:2.16 [[ 9.90929928e-01 2.40848972e-03 -1.34358020e-01 2.30936484e+01] [-1.26220252e-03 9.99962084e-01 8.61611495e-03 1.14247416e+00] [ 1.34373678e-01 -8.36837914e-03 9.90895396e-01 2.15850279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16463044 meters Centerline goodness [0,1] 0.3600128644939966 Centerline is valid? [False, False] Translation: X:23.09, Y:1.14, Z:2.16 [[ 9.90897898e-01 2.37205796e-03 -1.34594683e-01 2.30945173e+01] [-1.22735750e-03 9.99962377e-01 8.58713526e-03 1.14238205e+00] [ 1.34609988e-01 -8.34377849e-03 9.90863529e-01 2.15827971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.19463044 meters Centerline goodness [0,1] 0.36039791160862 Centerline is valid? [False, False] Translation: X:23.10, Y:1.14, Z:2.16 [[ 9.90869316e-01 2.36761210e-03 -1.34805020e-01 2.30951613e+01] [-1.22028277e-03 9.99962335e-01 8.59301949e-03 1.14224117e+00] [ 1.34820287e-01 -8.35005910e-03 9.90834884e-01 2.15818207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22463044 meters Centerline goodness [0,1] 0.35915553640672127 Centerline is valid? [False, False] Translation: X:23.10, Y:1.14, Z:2.16 [[ 9.90838202e-01 2.32267273e-03 -1.35034298e-01 2.30958871e+01] [-1.17659026e-03 9.99962614e-01 8.56652962e-03 1.14212164e+00] [ 1.35049147e-01 -8.32916477e-03 9.90803892e-01 2.15806146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.25463044 meters Centerline goodness [0,1] 0.35472165300546443 Centerline is valid? [False, False] Translation: X:23.12, Y:1.14, Z:2.16 [[ 9.90759401e-01 7.68519993e-03 -1.35413249e-01 2.31188766e+01] [-6.97177175e-03 9.99959211e-01 5.74196445e-03 1.14042450e+00] [ 1.35451854e-01 -4.74483500e-03 9.90772568e-01 2.16100456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28463044 meters Centerline goodness [0,1] 0.35758723871439946 Centerline is valid? [False, False] Translation: X:23.12, Y:1.14, Z:2.16 [[ 9.90768493e-01 7.65213375e-03 -1.35348579e-01 2.31187039e+01] [-6.92699094e-03 9.99959026e-01 5.82773635e-03 1.13945476e+00] [ 1.35387628e-01 -4.83637919e-03 9.90780904e-01 2.16104441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.31463044000003 meters Centerline goodness [0,1] 0.35604362767070075 Centerline is valid? [False, False] Translation: X:23.14, Y:1.14, Z:2.16 [[ 9.90897846e-01 4.13525319e-04 -1.34615333e-01 2.31376109e+01] [ 5.53411309e-04 9.99974318e-01 7.14546219e-03 1.14256673e+00] [ 1.34614831e-01 -7.15492074e-03 9.90872169e-01 2.16492371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34463044 meters Centerline goodness [0,1] 0.35849500042731386 Centerline is valid? [False, False] Translation: X:23.14, Y:1.14, Z:2.17 [[ 9.90913221e-01 4.77964342e-04 -1.34501897e-01 2.31370306e+01] [ 5.14520255e-04 9.99972899e-01 7.34410694e-03 1.14140148e+00] [ 1.34501762e-01 -7.34657661e-03 9.90886121e-01 2.16535545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.37463044000003 meters Centerline goodness [0,1] 0.3549918727008299 Centerline is valid? [False, False] Translation: X:23.14, Y:1.14, Z:2.17 [[ 9.90921021e-01 4.04152814e-04 -1.34444662e-01 2.31367580e+01] [ 6.10094491e-04 9.99971668e-01 7.50269145e-03 1.13926292e+00] [ 1.34443886e-01 -7.51659862e-03 9.90892700e-01 2.16559577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40463044 meters Centerline goodness [0,1] 0.3568071086690563 Centerline is valid? [False, False] Translation: X:23.14, Y:1.14, Z:2.17 [[ 9.90896132e-01 4.08859026e-04 -1.34627962e-01 2.31373159e+01] [ 6.20241499e-04 9.99970912e-01 7.60200200e-03 1.13832029e+00] [ 1.34627154e-01 -7.61629623e-03 9.90867055e-01 2.16555556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.43463044000003 meters Centerline goodness [0,1] 0.3568675580819499 Centerline is valid? [False, False] Translation: X:23.14, Y:1.14, Z:2.17 [[ 9.90869315e-01 4.98975507e-04 -1.34824892e-01 2.31378416e+01] [ 5.51414398e-04 9.99969791e-01 7.75331634e-03 1.13755247e+00] [ 1.34824688e-01 -7.75686763e-03 9.90839106e-01 2.16558397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46463044 meters Centerline goodness [0,1] 0.3571336179019532 Centerline is valid? [False, False] Translation: X:23.14, Y:1.14, Z:2.17 [[ 9.90866471e-01 5.77273430e-04 -1.34845480e-01 2.31379131e+01] [ 4.88187165e-04 9.99968927e-01 7.86814498e-03 1.13710544e+00] [ 1.34845832e-01 -7.86211088e-03 9.90835399e-01 2.16560753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.49463044000004 meters Centerline goodness [0,1] 0.3555560348546286 Centerline is valid? [False, False] Translation: X:23.14, Y:1.14, Z:2.17 [[ 9.90868493e-01 6.34473983e-04 -1.34830364e-01 2.31379997e+01] [ 4.34458055e-04 9.99968713e-01 7.89840582e-03 1.13706144e+00] [ 1.34831157e-01 -7.88485961e-03 9.90837216e-01 2.16550943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52463044 meters Centerline goodness [0,1] 0.3538048728131373 Centerline is valid? [False, False] Translation: X:23.16, Y:1.13, Z:2.17 [[ 9.90953054e-01 8.49489741e-03 -1.33939839e-01 2.31570579e+01] [-7.69971614e-03 9.99949531e-01 6.45372917e-03 1.13497921e+00] [ 1.33987903e-01 -5.36404389e-03 9.90968450e-01 2.16927966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.55463044000004 meters Centerline goodness [0,1] 0.3536436335570182 Centerline is valid? [False, False] Translation: X:23.16, Y:1.14, Z:2.17 [[ 9.90950641e-01 8.52944694e-03 -1.33955496e-01 2.31571705e+01] [-7.74244286e-03 9.99949578e-01 6.39494598e-03 1.13552068e+00] [ 1.34003287e-01 -5.29993305e-03 9.90966715e-01 2.16920799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58463044 meters Centerline goodness [0,1] 0.35147989298908655 Centerline is valid? [False, False] Translation: X:23.17, Y:1.14, Z:2.17 [[ 9.90795998e-01 2.37256498e-03 -1.35342752e-01 2.31748341e+01] [-1.35876750e-03 9.99970329e-01 7.58247611e-03 1.14167548e+00] [ 1.35356726e-01 -7.32878766e-03 9.90769825e-01 2.17361471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.61463044 meters Centerline goodness [0,1] 0.3527863379558295 Centerline is valid? [False, False] Translation: X:23.18, Y:1.14, Z:2.17 [[ 9.90783524e-01 2.38371327e-03 -1.35433843e-01 2.31751614e+01] [-1.37964837e-03 9.99970870e-01 7.50706715e-03 1.14227996e+00] [ 1.35447792e-01 -7.25102737e-03 9.90757951e-01 2.17350181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64463044 meters Centerline goodness [0,1] 0.35588462197839876 Centerline is valid? [False, False] Translation: X:23.18, Y:1.14, Z:2.17 [[ 9.90775329e-01 2.39219365e-03 -1.35493634e-01 2.31751941e+01] [-1.39074743e-03 9.99971018e-01 7.48526733e-03 1.14235430e+00] [ 1.35507614e-01 -7.22778077e-03 9.90749941e-01 2.17363712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.67463044 meters Centerline goodness [0,1] 0.3524102781906987 Centerline is valid? [False, False] Translation: X:23.20, Y:1.14, Z:2.18 [[ 9.90986000e-01 8.40323696e-03 -1.33701661e-01 2.31957980e+01] [-7.82508534e-03 9.99957626e-01 4.84908614e-03 1.14095541e+00] [ 1.33736744e-01 -3.75914957e-03 9.91009764e-01 2.17656281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70463044 meters Centerline goodness [0,1] 0.3513993029886999 Centerline is valid? [False, False] Translation: X:23.20, Y:1.14, Z:2.18 [[ 9.91006255e-01 8.33913182e-03 -1.33555465e-01 2.31955046e+01] [-7.76386271e-03 9.99958208e-01 4.82755837e-03 1.14058489e+00] [ 1.33590141e-01 -3.74723425e-03 9.91029582e-01 2.17654442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.73463044 meters Centerline goodness [0,1] 0.3543094585332419 Centerline is valid? [False, False] Translation: X:23.18, Y:1.14, Z:2.17 [[ 9.91074934e-01 6.73058212e-04 -1.33304247e-01 2.31761314e+01] [ 1.37400467e-04 9.99981565e-01 6.07047397e-03 1.14275243e+00] [ 1.33305876e-01 -6.03461066e-03 9.91056571e-01 2.17278300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76463044 meters Centerline goodness [0,1] 0.35444045340158736 Centerline is valid? [False, False] Translation: X:23.18, Y:1.14, Z:2.17 [[ 9.91057040e-01 7.11952453e-04 -1.33437012e-01 2.31766150e+01] [ 1.04121081e-04 9.99981336e-01 6.10871816e-03 1.14263863e+00] [ 1.33438870e-01 -6.06798174e-03 9.91038469e-01 2.17267661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.79463044 meters Centerline goodness [0,1] 0.3542605709379695 Centerline is valid? [False, False] Translation: X:23.18, Y:1.14, Z:2.17 [[ 9.91027596e-01 7.31768820e-04 -1.33655409e-01 2.31776709e+01] [ 8.61610523e-05 9.99981307e-01 6.11380510e-03 1.14261869e+00] [ 1.33657384e-01 -6.07046546e-03 9.91009008e-01 2.17213016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.82463044 meters Centerline goodness [0,1] 0.3528075300227199 Centerline is valid? [False, False] Translation: X:23.18, Y:1.14, Z:2.17 [[ 9.90996358e-01 7.22610355e-04 -1.33886875e-01 2.31786299e+01] [ 9.14050764e-05 9.99981551e-01 6.07362835e-03 1.14270080e+00] [ 1.33888794e-01 -6.03118152e-03 9.90978010e-01 2.17172566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.85463044 meters Centerline goodness [0,1] 0.3539838274932614 Centerline is valid? [False, False] Translation: X:23.18, Y:1.14, Z:2.17 [[ 9.90965352e-01 7.21092852e-04 -1.34116183e-01 2.31793497e+01] [ 8.73144129e-05 9.99981866e-01 6.02168443e-03 1.14262641e+00] [ 1.34118093e-01 -5.97899091e-03 9.90947319e-01 2.17157202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.88463044 meters Centerline goodness [0,1] 0.35239726027397256 Centerline is valid? [False, False] Translation: X:23.20, Y:1.14, Z:2.18 [[ 9.91097639e-01 8.09045775e-03 -1.32890989e-01 2.31977043e+01] [-7.57319391e-03 9.99961654e-01 4.39738552e-03 1.14005082e+00] [ 1.32921470e-01 -3.35182918e-03 9.91120905e-01 2.17545156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.91463044 meters Centerline goodness [0,1] 0.3546425742362286 Centerline is valid? [False, False] Translation: X:23.20, Y:1.14, Z:2.18 [[ 9.91117513e-01 8.09374968e-03 -1.32742482e-01 2.31971665e+01] [-7.56915487e-03 9.99961425e-01 4.45611302e-03 1.13950156e+00] [ 1.32773428e-01 -3.41178325e-03 9.91140543e-01 2.17570587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.94463044 meters Centerline goodness [0,1] 0.35545684734560745 Centerline is valid? [False, False] Translation: X:23.20, Y:1.14, Z:2.18 [[ 9.91122132e-01 8.09971500e-03 -1.32707626e-01 2.31973539e+01] [-7.56759135e-03 9.99961179e-01 4.51363122e-03 1.13887523e+00] [ 1.32739033e-01 -3.46928271e-03 9.91144951e-01 2.17544791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.97463044 meters Centerline goodness [0,1] 0.353675242947044 Centerline is valid? [False, False] Translation: X:23.20, Y:1.14, Z:2.18 [[ 9.91104576e-01 8.11792045e-03 -1.32837565e-01 2.31980384e+01] [-7.57348316e-03 9.99960725e-01 4.60327474e-03 1.13815462e+00] [ 1.32869717e-01 -3.55628360e-03 9.91127132e-01 2.17510982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.00463044 meters Centerline goodness [0,1] 0.35619540601747013 Centerline is valid? [False, False] Translation: X:23.20, Y:1.14, Z:2.17 [[ 9.91106186e-01 8.11518048e-03 -1.32825719e-01 2.31985502e+01] [-7.55845960e-03 9.99960412e-01 4.69504821e-03 1.13685578e+00] [ 1.32858562e-01 -3.64933350e-03 9.91128289e-01 2.17452760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.03463044 meters Centerline goodness [0,1] 0.3539313780220724 Centerline is valid? [False, False] Translation: X:23.20, Y:1.14, Z:2.17 [[ 9.91115433e-01 8.19097132e-03 -1.32752048e-01 2.31983724e+01] [-7.61765838e-03 9.99959340e-01 4.82598573e-03 1.13620810e+00] [ 1.32786180e-01 -3.77184918e-03 9.91137530e-01 2.17459405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.06463044000003 meters Centerline goodness [0,1] 0.3537656993441639 Centerline is valid? [False, False] Translation: X:23.20, Y:1.14, Z:2.17 [[ 9.91115908e-01 8.22322564e-03 -1.32746510e-01 2.31984425e+01] [-7.63878413e-03 9.99958763e-01 4.91136125e-03 1.13564586e+00] [ 1.32781423e-01 -3.85370633e-03 9.91137852e-01 2.17455039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.09463044 meters Centerline goodness [0,1] 0.35334823347373845 Centerline is valid? [False, False] Translation: X:23.20, Y:1.14, Z:2.17 [[ 9.91092946e-01 8.22545674e-03 -1.32917696e-01 2.31990166e+01] [-7.63416525e-03 9.99958570e-01 4.95756882e-03 1.13512388e+00] [ 1.32952968e-01 -3.89869583e-03 9.91114680e-01 2.17440161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.12463044000003 meters Centerline goodness [0,1] 0.35233426803947177 Centerline is valid? [False, False] Translation: X:23.20, Y:1.13, Z:2.17 [[ 9.91027225e-01 8.03473158e-03 -1.33418447e-01 2.32010059e+01] [-7.45253644e-03 9.99960407e-01 4.86249819e-03 1.13429298e+00] [ 1.33452234e-01 -3.82456225e-03 9.91047867e-01 2.17368455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.15463044 meters Centerline goodness [0,1] 0.35309118182792243 Centerline is valid? [False, False] Translation: X:23.20, Y:1.13, Z:2.17 [[ 9.91017178e-01 8.05698416e-03 -1.33491713e-01 2.32013299e+01] [-7.46393530e-03 9.99959930e-01 4.94242828e-03 1.13378679e+00] [ 1.33526185e-01 -3.90165782e-03 9.91037605e-01 2.17353460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.18463044000003 meters Centerline goodness [0,1] 0.3517443728181955 Centerline is valid? [False, False] Translation: X:23.20, Y:1.13, Z:2.17 [[ 9.91013419e-01 8.14879813e-03 -1.33514046e-01 2.32013734e+01] [-7.54107261e-03 9.99958779e-01 5.05683189e-03 1.13355633e+00] [ 1.33549749e-01 -4.00454914e-03 9.91034020e-01 2.17364727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.21463044 meters Centerline goodness [0,1] 0.357244778829939 Centerline is valid? [False, False] Translation: X:23.20, Y:1.13, Z:2.17 [[ 9.91013618e-01 8.19392147e-03 -1.33509808e-01 2.32012068e+01] [-7.58186402e-03 9.99958292e-01 5.09212939e-03 1.13354262e+00] [ 1.33545964e-01 -4.03411636e-03 9.91034410e-01 2.17383344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.24463044000004 meters Centerline goodness [0,1] 0.35636684379235417 Centerline is valid? [False, False] Translation: X:23.20, Y:1.13, Z:2.17 [[ 9.91011065e-01 8.12841241e-03 -1.33532764e-01 2.32013580e+01] [-7.52546113e-03 9.99959085e-01 5.01947667e-03 1.13360153e+00] [ 1.33568100e-01 -3.96946130e-03 9.91031688e-01 2.17379600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.27463044 meters Centerline goodness [0,1] 0.35306753737755625 Centerline is valid? [False, False] Translation: X:23.20, Y:1.13, Z:2.17 [[ 9.90958830e-01 7.83072409e-03 -1.33937584e-01 2.32027577e+01] [-7.27246528e-03 9.99962712e-01 4.65678407e-03 1.13419969e+00] [ 1.33969055e-01 -3.64062486e-03 9.90978828e-01 2.17340502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30463044000004 meters Centerline goodness [0,1] 0.34969638862256314 Centerline is valid? [False, False] Translation: X:23.20, Y:1.13, Z:2.17 [[ 9.90919740e-01 7.80243751e-03 -1.34228126e-01 2.32038253e+01] [-7.24972482e-03 9.99963112e-01 4.60599638e-03 1.13449761e+00] [ 1.34259113e-01 -3.59105576e-03 9.90939753e-01 2.17304797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.33463044 meters Centerline goodness [0,1] 0.3517290231180372 Centerline is valid? [False, False] Translation: X:23.20, Y:1.13, Z:2.17 [[ 9.90899835e-01 7.83187625e-03 -1.34373278e-01 2.32043911e+01] [-7.27650958e-03 9.99962837e-01 4.62363537e-03 1.13464191e+00] [ 1.34404496e-01 -3.60379109e-03 9.90919999e-01 2.17284755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36463044 meters Centerline goodness [0,1] 0.35305478658340306 Centerline is valid? [False, False] Translation: X:23.20, Y:1.13, Z:2.17 [[ 9.90910143e-01 7.89042999e-03 -1.34293820e-01 2.32044133e+01] [-7.32798462e-03 9.99962189e-01 4.68195301e-03 1.13465788e+00] [ 1.34325685e-01 -3.65529168e-03 9.90930497e-01 2.17266837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.39463044 meters Centerline goodness [0,1] 0.3541172194068467 Centerline is valid? [False, False] Translation: X:23.20, Y:1.13, Z:2.17 [[ 9.90941041e-01 7.71419636e-03 -1.34075892e-01 2.32034787e+01] [-7.17805592e-03 9.99964194e-01 4.48171502e-03 1.13491261e+00] [ 1.34105664e-01 -3.47871110e-03 9.90960932e-01 2.17314550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42463044 meters Centerline goodness [0,1] 0.354082353696923 Centerline is valid? [False, False] Translation: X:23.20, Y:1.14, Z:2.17 [[ 9.90937361e-01 7.58945244e-03 -1.34110200e-01 2.32035608e+01] [-7.07752134e-03 9.99965736e-01 4.29357403e-03 1.13546816e+00] [ 1.34138191e-01 -3.30549511e-03 9.90957123e-01 2.17318471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.45463044 meters Centerline goodness [0,1] 0.35345804382683055 Centerline is valid? [False, False] Translation: X:23.20, Y:1.14, Z:2.17 [[ 9.90920031e-01 7.48247451e-03 -1.34244200e-01 2.32042122e+01] [-7.00090151e-03 9.99967255e-01 4.05899075e-03 1.13671153e+00] [ 1.34270175e-01 -3.08230481e-03 9.90939968e-01 2.17284304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48463044 meters Centerline goodness [0,1] 0.35261182022953985 Centerline is valid? [False, False] Translation: X:23.20, Y:1.14, Z:2.17 [[ 9.90905261e-01 7.48588399e-03 -1.34352986e-01 2.32047877e+01] [-7.02220075e-03 9.99967642e-01 3.92478133e-03 1.13794227e+00] [ 1.34378019e-01 -2.94563283e-03 9.90925765e-01 2.17249537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.51463044 meters Centerline goodness [0,1] 0.35207094284922513 Centerline is valid? [False, False] Translation: X:23.21, Y:1.14, Z:2.17 [[ 9.90898919e-01 7.53728945e-03 -1.34396879e-01 2.32051211e+01] [-7.10515224e-03 9.99967932e-01 3.69472918e-03 1.14025463e+00] [ 1.34420417e-01 -2.70619286e-03 9.90920697e-01 2.17221938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54463044 meters Centerline goodness [0,1] 0.3493409668667621 Centerline is valid? [False, False] Translation: X:23.20, Y:1.14, Z:2.17 [[ 9.90904064e-01 7.46283365e-03 -1.34363097e-01 2.32049819e+01] [-7.06029530e-03 9.99969048e-01 3.47213906e-03 1.14163748e+00] [ 1.34384850e-01 -2.49191357e-03 9.90926083e-01 2.17225601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.57463044 meters Centerline goodness [0,1] 0.3517476812092064 Centerline is valid? [False, False] Translation: X:23.20, Y:1.14, Z:2.17 [[ 9.90912954e-01 7.41928890e-03 -1.34299934e-01 2.32047418e+01] [-7.04098870e-03 9.99969795e-01 3.29157188e-03 1.14287429e+00] [ 1.34320298e-01 -2.31605690e-03 9.90935262e-01 2.17231962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60463044 meters Centerline goodness [0,1] 0.3517476812092064 Centerline is valid? [False, False] Translation: X:23.20, Y:1.14, Z:2.17 [[ 9.90912954e-01 7.41928890e-03 -1.34299934e-01 2.32047418e+01] [-7.04098870e-03 9.99969795e-01 3.29157188e-03 1.14287429e+00] [ 1.34320298e-01 -2.31605690e-03 9.90935262e-01 2.17231962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.63463044 meters Centerline goodness [0,1] 0.3508963333761177 Centerline is valid? [False, False] Translation: X:23.20, Y:1.14, Z:2.17 [[ 9.90926592e-01 7.35020083e-03 -1.34203072e-01 2.32045238e+01] [-6.99806308e-03 9.99970722e-01 3.09544955e-03 1.14406703e+00] [ 1.34221895e-01 -2.12820171e-03 9.90949017e-01 2.17230840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66463044 meters Centerline goodness [0,1] 0.35164042273248164 Centerline is valid? [False, False] Translation: X:23.20, Y:1.15, Z:2.17 [[ 9.90930446e-01 7.16213664e-03 -1.34184779e-01 2.32042612e+01] [-6.84963379e-03 9.99972648e-01 2.79040644e-03 1.14537802e+00] [ 1.34201094e-01 -1.84598210e-03 9.90952400e-01 2.17254834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.69463044 meters Centerline goodness [0,1] 0.3508418662439484 Centerline is valid? [False, False] Translation: X:23.20, Y:1.15, Z:2.17 [[ 9.90931990e-01 7.04319432e-03 -1.34179672e-01 2.32042589e+01] [-6.74617317e-03 9.99973685e-01 2.66814017e-03 1.14548966e+00] [ 1.34194933e-01 -1.73874615e-03 9.90953428e-01 2.17251436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72463044 meters Centerline goodness [0,1] 0.350673181556319 Centerline is valid? [False, False] Translation: X:23.20, Y:1.15, Z:2.17 [[ 9.90924163e-01 6.97138608e-03 -1.34241212e-01 2.32045989e+01] [-6.68208209e-03 9.99974280e-01 2.60553497e-03 1.14569417e+00] [ 1.34255924e-01 -1.68487676e-03 9.90945260e-01 2.17235789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.75463044 meters Centerline goodness [0,1] 0.3482558387771658 Centerline is valid? [False, False] Translation: X:23.21, Y:1.15, Z:2.17 [[ 9.90883335e-01 6.84961478e-03 -1.34548502e-01 2.32054388e+01] [-6.57402289e-03 9.99975285e-01 2.49245259e-03 1.14591658e+00] [ 1.34562249e-01 -1.58520480e-03 9.90903874e-01 2.17232462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78463044 meters Centerline goodness [0,1] 0.35029316380661923 Centerline is valid? [False, False] Translation: X:23.21, Y:1.15, Z:2.17 [[ 9.90849609e-01 6.76812875e-03 -1.34800760e-01 2.32062878e+01] [-6.50586093e-03 9.99975990e-01 2.38601395e-03 1.14634550e+00] [ 1.34813672e-01 -1.48718599e-03 9.90869851e-01 2.17210642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.81463044000003 meters Centerline goodness [0,1] 0.3516889136872827 Centerline is valid? [False, False] Translation: X:23.21, Y:1.15, Z:2.17 [[ 9.90793058e-01 6.56813802e-03 -1.35225648e-01 2.32073664e+01] [-6.32999017e-03 9.99977565e-01 2.19100700e-03 1.14695613e+00] [ 1.35237005e-01 -1.31485750e-03 9.90812406e-01 2.17213888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84463044 meters Centerline goodness [0,1] 0.35269780702694586 Centerline is valid? [False, False] Translation: X:23.21, Y:1.15, Z:2.17 [[ 9.90797061e-01 6.42702212e-03 -1.35203096e-01 2.32070149e+01] [-6.20198572e-03 9.99978593e-01 2.08556844e-03 1.14703187e+00] [ 1.35213606e-01 -1.22784742e-03 9.90815711e-01 2.17253442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.87463044000003 meters Centerline goodness [0,1] 0.35276375459912723 Centerline is valid? [False, False] Translation: X:23.21, Y:1.15, Z:2.17 [[ 9.90790316e-01 6.32431889e-03 -1.35257360e-01 2.32067584e+01] [-6.10709418e-03 9.99979310e-01 2.02087540e-03 1.14703272e+00] [ 1.35267342e-01 -1.17623434e-03 9.90808439e-01 2.17302476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90463044 meters Centerline goodness [0,1] 0.35547276464542654 Centerline is valid? [False, False] Translation: X:23.21, Y:1.15, Z:2.17 [[ 9.90806766e-01 6.26628497e-03 -1.35139503e-01 2.32062991e+01] [-6.04990270e-03 9.99979675e-01 2.01179573e-03 1.14699642e+00] [ 1.35149363e-01 -1.17571998e-03 9.90824539e-01 2.17323166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.93463044000003 meters Centerline goodness [0,1] 0.3548456260720412 Centerline is valid? [False, False] Translation: X:23.21, Y:1.15, Z:2.17 [[ 9.90825910e-01 6.10152318e-03 -1.35006617e-01 2.32062037e+01] [-5.90392065e-03 9.99980834e-01 1.86397298e-03 1.14751392e+00] [ 1.35015403e-01 -1.04980437e-03 9.90842944e-01 2.17305098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96463044 meters Centerline goodness [0,1] 0.35749881857627697 Centerline is valid? [False, False] Translation: X:23.21, Y:1.15, Z:2.17 [[ 9.90827949e-01 5.95495393e-03 -1.34998197e-01 2.32062463e+01] [-5.77807259e-03 9.99981858e-01 1.70202329e-03 1.14776068e+00] [ 1.35005884e-01 -9.06382861e-04 9.90844382e-01 2.17306112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.99463044000004 meters Centerline goodness [0,1] 0.3546147913274488 Centerline is valid? [False, False] Translation: X:23.21, Y:1.15, Z:2.17 [[ 9.90825970e-01 5.84841538e-03 -1.35017381e-01 2.32062518e+01] [-5.68489011e-03 9.99982566e-01 1.59665855e-03 1.14800625e+00] [ 1.35024365e-01 -8.14451784e-04 9.90841944e-01 2.17318687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02463044 meters Centerline goodness [0,1] 0.35445179806806737 Centerline is valid? [False, False] Translation: X:23.21, Y:1.15, Z:2.17 [[ 9.90812178e-01 5.74739730e-03 -1.35122889e-01 2.32065086e+01] [-5.60026974e-03 9.99983239e-01 1.46892592e-03 1.14860035e+00] [ 1.35129067e-01 -6.98705065e-04 9.90827759e-01 2.17324428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.05463044000004 meters Centerline goodness [0,1] 0.35389652073436895 Centerline is valid? [False, False] Translation: X:23.21, Y:1.15, Z:2.17 [[ 9.90792570e-01 5.72560540e-03 -1.35267515e-01 2.32069278e+01] [-5.57867816e-03 9.99983366e-01 1.46522463e-03 1.14907135e+00] [ 1.35273655e-01 -6.97119748e-04 9.90808030e-01 2.17326724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08463044 meters Centerline goodness [0,1] 0.35501632626928736 Centerline is valid? [False, False] Translation: X:23.21, Y:1.15, Z:2.17 [[ 9.90788697e-01 5.57120121e-03 -1.35302326e-01 2.32070613e+01] [-5.43841880e-03 9.99984299e-01 1.35097351e-03 1.14888625e+00] [ 1.35307729e-01 -6.02698571e-04 9.90803439e-01 2.17334369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.11463044 meters Centerline goodness [0,1] 0.35495232368353236 Centerline is valid? [False, False] Translation: X:23.21, Y:1.15, Z:2.17 [[ 9.90800779e-01 5.42131869e-03 -1.35219915e-01 2.32068974e+01] [-5.29994300e-03 9.99985164e-01 1.25758554e-03 1.14855917e+00] [ 1.35224727e-01 -5.29358887e-04 9.90814813e-01 2.17338422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14463044 meters Centerline goodness [0,1] 0.35524800614151064 Centerline is valid? [False, False] Translation: X:23.22, Y:1.15, Z:2.18 [[ 9.90771152e-01 -1.50494776e-03 -1.35536929e-01 2.32247735e+01] [ 1.86191976e-03 9.99995124e-01 2.50703604e-03 1.15324379e+00] [ 1.35532495e-01 -2.73625788e-03 9.90769123e-01 2.17760028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.17463044 meters Centerline goodness [0,1] 0.35948537911546863 Centerline is valid? [False, False] Translation: X:23.22, Y:1.15, Z:2.18 [[ 9.90778952e-01 -1.45280970e-03 -1.35480469e-01 2.32246889e+01] [ 1.82268810e-03 9.99994943e-01 2.60612210e-03 1.15289142e+00] [ 1.35475998e-01 -2.82902956e-03 9.90776590e-01 2.17758086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20463044 meters Centerline goodness [0,1] 0.3587252317373927 Centerline is valid? [False, False] Translation: X:23.25, Y:1.15, Z:2.18 [[ 9.90808316e-01 4.13083335e-03 -1.35210271e-01 2.32473350e+01] [-4.17944095e-03 9.99991263e-01 -7.56420349e-05 1.15031866e+00] [ 1.35208777e-01 6.40050101e-04 9.90816924e-01 2.18056367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.23463044 meters Centerline goodness [0,1] 0.36079466220420076 Centerline is valid? [False, False] Translation: X:23.25, Y:1.15, Z:2.18 [[ 9.90783860e-01 4.04621273e-03 -1.35391915e-01 2.32478419e+01] [-4.08554799e-03 9.99991654e-01 -1.26746421e-05 1.14885975e+00] [ 1.35390734e-01 5.65707997e-04 9.90792122e-01 2.18053137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26463044 meters Centerline goodness [0,1] 0.3601801647952867 Centerline is valid? [False, False] Translation: X:23.25, Y:1.15, Z:2.18 [[ 9.90747179e-01 3.97010060e-03 -1.35662325e-01 2.32486674e+01] [-3.99281408e-03 9.99992023e-01 1.04669075e-04 1.14718730e+00] [ 1.35661659e-01 4.37973851e-04 9.90755127e-01 2.18046769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.29463044 meters Centerline goodness [0,1] 0.36221231731881887 Centerline is valid? [False, False] Translation: X:23.25, Y:1.15, Z:2.18 [[ 9.90711801e-01 4.05265444e-03 -1.35918000e-01 2.32495434e+01] [-4.03437882e-03 9.99991778e-01 4.09911904e-04 1.14503883e+00] [ 1.35918544e-01 1.42240141e-04 9.90720005e-01 2.18027924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32463044 meters Centerline goodness [0,1] 0.3601024109238319 Centerline is valid? [False, False] Translation: X:23.25, Y:1.14, Z:2.18 [[ 9.90678879e-01 4.21806882e-03 -1.36152729e-01 2.32505460e+01] [-4.14153684e-03 9.99991066e-01 8.45359927e-04 1.14250561e+00] [ 1.36155079e-01 -2.73598682e-04 9.90687499e-01 2.18000606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.35463044 meters Centerline goodness [0,1] 0.36317618291793574 Centerline is valid? [False, False] Translation: X:23.25, Y:1.14, Z:2.18 [[ 9.90641139e-01 3.62199717e-03 -1.36444182e-01 2.32514167e+01] [-3.53929371e-03 9.99993377e-01 8.48722358e-04 1.13544615e+00] [ 1.36446352e-01 -3.57863249e-04 9.90647397e-01 2.17999487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.38463044 meters Centerline goodness [0,1] 0.36803585735010713 Centerline is valid? [False, False] Translation: X:23.25, Y:1.13, Z:2.18 [[ 9.90637411e-01 3.64828103e-03 -1.36470550e-01 2.32514771e+01] [-3.52705303e-03 9.99993141e-01 1.13009971e-03 1.13276753e+00] [ 1.36473736e-01 -6.38180184e-04 9.90643484e-01 2.18008047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.41463044 meters Centerline goodness [0,1] 0.36028582973565004 Centerline is valid? [False, False] Translation: X:23.29, Y:1.13, Z:2.19 [[ 9.90835506e-01 3.37045875e-03 -1.35031996e-01 2.32929229e+01] [-3.33191574e-03 9.99994318e-01 5.11428229e-04 1.13205897e+00] [ 1.35032953e-01 -5.68260130e-05 9.90841107e-01 2.18670508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.44463044 meters Centerline goodness [0,1] 0.364994090469539 Centerline is valid? [False, False] Translation: X:23.29, Y:1.13, Z:2.19 [[ 9.90807263e-01 3.64994131e-03 -1.35231823e-01 2.32936578e+01] [-3.52887435e-03 9.99993129e-01 1.13495402e-03 1.12733656e+00] [ 1.35235036e-01 -6.47304572e-04 9.90813336e-01 2.18653225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.47463044 meters Centerline goodness [0,1] 0.3626546536190025 Centerline is valid? [False, False] Translation: X:23.29, Y:1.13, Z:2.19 [[ 9.90777117e-01 3.82341005e-03 -1.35447725e-01 2.32942332e+01] [-3.65707534e-03 9.99992222e-01 1.47683362e-03 1.12532870e+00] [ 1.35452318e-01 -9.67870423e-04 9.90783393e-01 2.18653775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.50463044 meters Centerline goodness [0,1] 0.36214413952295466 Centerline is valid? [False, False] Translation: X:23.29, Y:1.12, Z:2.19 [[ 9.90761028e-01 3.95542084e-03 -1.35561574e-01 2.32947104e+01] [-3.75733153e-03 9.99991467e-01 1.71707540e-03 1.12376911e+00] [ 1.35567209e-01 -1.19186162e-03 9.90767435e-01 2.18641075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.53463044 meters Centerline goodness [0,1] 0.36278758867542105 Centerline is valid? [False, False] Translation: X:23.29, Y:1.12, Z:2.19 [[ 9.90756099e-01 4.12536414e-03 -1.35592529e-01 2.32945259e+01] [-3.88508484e-03 9.99990379e-01 2.03663843e-03 1.12185242e+00] [ 1.35599627e-01 -1.49102347e-03 9.90762594e-01 2.18677270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.56463044000003 meters Centerline goodness [0,1] 0.3657750773023115 Centerline is valid? [False, False] Translation: X:23.29, Y:1.12, Z:2.19 [[ 9.90761539e-01 4.34632313e-03 -1.35545866e-01 2.32941279e+01] [-4.05724888e-03 9.99988868e-01 2.40884218e-03 1.11982033e+00] [ 1.35554826e-01 -1.83664488e-03 9.90768144e-01 2.18710746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.59463044 meters Centerline goodness [0,1] 0.36833665597642373 Centerline is valid? [False, False] Translation: X:23.29, Y:1.12, Z:2.19 [[ 9.90762546e-01 4.51800811e-03 -1.35532893e-01 2.32939034e+01] [-4.18086909e-03 9.99987418e-01 2.77204115e-03 1.11763010e+00] [ 1.35543712e-01 -2.17978927e-03 9.90768969e-01 2.18735543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.62463044000003 meters Centerline goodness [0,1] 0.3638325605247975 Centerline is valid? [False, False] Translation: X:23.34, Y:1.11, Z:2.19 [[ 9.90911395e-01 5.41917128e-03 -1.34406997e-01 2.33369248e+01] [-5.06080550e-03 9.99982671e-01 3.00778638e-03 1.11385315e+00] [ 1.34420967e-01 -2.30024213e-03 9.90921648e-01 2.19388193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.65463044 meters Centerline goodness [0,1] 0.36363832775197147 Centerline is valid? [False, False] Translation: X:23.34, Y:1.11, Z:2.19 [[ 9.90904308e-01 5.58561090e-03 -1.34452423e-01 2.33371140e+01] [-5.17972879e-03 9.99980912e-01 3.36839381e-03 1.11163192e+00] [ 1.34468672e-01 -2.64132884e-03 9.90914325e-01 2.19382183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.68463044000003 meters Centerline goodness [0,1] 0.36705171110871204 Centerline is valid? [False, False] Translation: X:23.34, Y:1.11, Z:2.19 [[ 9.90903121e-01 5.74513686e-03 -1.34454443e-01 2.33370704e+01] [-5.29593714e-03 9.99979137e-01 3.69832602e-03 1.10960324e+00] [ 1.34472885e-01 -2.95262052e-03 9.90912875e-01 2.19392017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.71463044 meters Centerline goodness [0,1] 0.3656561328334226 Centerline is valid? [False, False] Translation: X:23.34, Y:1.11, Z:2.19 [[ 9.90890487e-01 6.12267655e-03 -1.34530869e-01 2.33370266e+01] [-5.60784389e-03 9.99975433e-01 4.20548070e-03 1.10737705e+00] [ 1.34553313e-01 -3.41274271e-03 9.90900479e-01 2.19430398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.74463044000004 meters Centerline goodness [0,1] 0.36556214792126285 Centerline is valid? [False, False] Translation: X:23.34, Y:1.11, Z:2.19 [[ 9.90880808e-01 6.22850677e-03 -1.34597292e-01 2.33371470e+01] [-5.70095112e-03 9.99974485e-01 4.30457992e-03 1.10704650e+00] [ 1.34620668e-01 -3.49799304e-03 9.90891033e-01 2.19439792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.77463044 meters Centerline goodness [0,1] 0.3665736367539717 Centerline is valid? [False, False] Translation: X:23.34, Y:1.11, Z:2.19 [[ 9.90865890e-01 6.30937217e-03 -1.34703302e-01 2.33373102e+01] [-5.77772505e-03 9.99973902e-01 4.33736092e-03 1.10706694e+00] [ 1.34727152e-01 -3.51946435e-03 9.90876485e-01 2.19454808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80463044000004 meters Centerline goodness [0,1] 0.3670492122155222 Centerline is valid? [False, False] Translation: X:23.34, Y:1.11, Z:2.19 [[ 9.90845505e-01 6.31740037e-03 -1.34852790e-01 2.33375213e+01] [-5.78852009e-03 9.99973942e-01 4.31364183e-03 1.10713291e+00] [ 1.34876527e-01 -3.49355453e-03 9.90856255e-01 2.19471424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.83463044 meters Centerline goodness [0,1] 0.36581938944948267 Centerline is valid? [False, False] Translation: X:23.38, Y:1.11, Z:2.20 [[ 9.91022323e-01 7.47193113e-03 -1.33487546e-01 2.33788602e+01] [-6.98546907e-03 9.99967146e-01 4.11221780e-03 1.10995285e+00] [ 1.33513886e-01 -3.14282652e-03 9.91041959e-01 2.20107725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86463044 meters Centerline goodness [0,1] 0.36536116874505353 Centerline is valid? [False, False] Translation: X:23.38, Y:1.11, Z:2.20 [[ 9.91042931e-01 7.44629477e-03 -1.33335901e-01 2.33782573e+01] [-6.95979698e-03 9.99967316e-01 4.11437429e-03 1.10941265e+00] [ 1.33362180e-01 -3.14953075e-03 9.91062364e-01 2.20135525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.89463044 meters Centerline goodness [0,1] 0.365928303905832 Centerline is valid? [False, False] Translation: X:23.38, Y:1.11, Z:2.20 [[ 9.91041029e-01 7.42001829e-03 -1.33351497e-01 2.33781905e+01] [-6.93426327e-03 9.99967525e-01 4.10672495e-03 1.10917036e+00] [ 1.33377638e-01 -3.14523854e-03 9.91060297e-01 2.20154621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92463044 meters Centerline goodness [0,1] 0.3654110176763343 Centerline is valid? [False, False] Translation: X:23.38, Y:1.11, Z:2.20 [[ 9.91023388e-01 7.42388530e-03 -1.33482324e-01 2.33784555e+01] [-6.92950239e-03 9.99967305e-01 4.16791987e-03 1.10858313e+00] [ 1.33508902e-01 -3.20553998e-03 9.91042430e-01 2.20167155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.95463044 meters Centerline goodness [0,1] 0.3650719432105588 Centerline is valid? [False, False] Translation: X:23.40, Y:1.11, Z:2.21 [[ 9.90986299e-01 4.67009969e-04 -1.33962446e-01 2.33973836e+01] [ 2.14108467e-04 9.99987125e-01 5.06994709e-03 1.11337906e+00] [ 1.33963089e-01 -5.05293059e-03 9.90973440e-01 2.20535137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98463044 meters Centerline goodness [0,1] 0.36582023722862156 Centerline is valid? [False, False] Translation: X:23.40, Y:1.11, Z:2.21 [[ 9.90971363e-01 4.34465060e-04 -1.34073001e-01 2.33977652e+01] [ 2.56796496e-04 9.99986765e-01 5.13852364e-03 1.11248922e+00] [ 1.34073459e-01 -5.12655925e-03 9.90958135e-01 2.20530360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.01463044 meters Centerline goodness [0,1] 0.3651207522974995 Centerline is valid? [False, False] Translation: X:23.40, Y:1.11, Z:2.21 [[ 9.90911853e-01 1.13873421e-04 -1.34512778e-01 2.33989924e+01] [ 5.82706116e-04 9.99986625e-01 5.13915710e-03 1.11001509e+00] [ 1.34511564e-01 -5.17083310e-03 9.90898533e-01 2.20533234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04463044 meters Centerline goodness [0,1] 0.36541359858760714 Centerline is valid? [False, False] Translation: X:23.40, Y:1.11, Z:2.21 [[ 9.90881763e-01 1.24288712e-04 -1.34734247e-01 2.33995312e+01] [ 6.01783716e-04 9.99985517e-01 5.34818310e-03 1.10837515e+00] [ 1.34732960e-01 -5.38049797e-03 9.90867337e-01 2.20542873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.07463044 meters Centerline goodness [0,1] 0.366955139905942 Centerline is valid? [False, False] Translation: X:23.40, Y:1.11, Z:2.21 [[ 9.90869462e-01 2.09242190e-04 -1.34824576e-01 2.33997625e+01] [ 5.57226728e-04 9.99983899e-01 5.64717347e-03 1.10660253e+00] [ 1.34823587e-01 -5.67073959e-03 9.90853391e-01 2.20554081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10463044 meters Centerline goodness [0,1] 0.3649327778016408 Centerline is valid? [False, False] Translation: X:23.40, Y:1.10, Z:2.21 [[ 9.90861421e-01 3.07954064e-04 -1.34883463e-01 2.33999884e+01] [ 4.99150727e-04 9.99982175e-01 5.94986039e-03 1.10477915e+00] [ 1.34882891e-01 -5.96281431e-03 9.90843606e-01 2.20557960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.13463044 meters Centerline goodness [0,1] 0.3643157602545214 Centerline is valid? [False, False] Translation: X:23.42, Y:1.10, Z:2.21 [[ 9.90910387e-01 5.22568444e-03 -1.34422085e-01 2.34216218e+01] [-4.93156523e-03 9.99984662e-01 2.52090328e-03 1.10121137e+00] [ 1.34433196e-01 -1.83507797e-03 9.90920960e-01 2.20880260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16463044 meters Centerline goodness [0,1] 0.3668485210127014 Centerline is valid? [False, False] Translation: X:23.42, Y:1.10, Z:2.21 [[ 9.90883957e-01 5.14552823e-03 -1.34619864e-01 2.34221315e+01] [-4.85249225e-03 9.99985090e-01 2.50479224e-03 1.10052504e+00] [ 1.34630745e-01 -1.82871661e-03 9.90894151e-01 2.20888879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.19463044 meters Centerline goodness [0,1] 0.363374081039494 Centerline is valid? [False, False] Translation: X:23.42, Y:1.10, Z:2.21 [[ 9.90881341e-01 5.14399825e-03 -1.34639175e-01 2.34224203e+01] [-4.84751947e-03 9.99985051e-01 2.52975971e-03 1.10017387e+00] [ 1.34650175e-01 -1.85402567e-03 9.90891464e-01 2.20867218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22463044 meters Centerline goodness [0,1] 0.36432796159780556 Centerline is valid? [False, False] Translation: X:23.42, Y:1.10, Z:2.21 [[ 9.90868863e-01 5.21944595e-03 -1.34728074e-01 2.34228998e+01] [-4.91826632e-03 9.99984607e-01 2.56820007e-03 1.10032159e+00] [ 1.34739405e-01 -1.88212094e-03 9.90879281e-01 2.20841560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.25463044 meters Centerline goodness [0,1] 0.36114450072980164 Centerline is valid? [False, False] Translation: X:23.42, Y:1.10, Z:2.21 [[ 9.90853920e-01 5.35845289e-03 -1.34832474e-01 2.34235221e+01] [-5.07185090e-03 9.99984090e-01 2.46902165e-03 1.10200603e+00] [ 1.34843559e-01 -1.76258958e-03 9.90865333e-01 2.20807909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28463044 meters Centerline goodness [0,1] 0.36055284482943917 Centerline is valid? [False, False] Translation: X:23.42, Y:1.10, Z:2.21 [[ 9.90840073e-01 5.26514327e-03 -1.34937870e-01 2.34238753e+01] [-5.00563198e-03 9.99984912e-01 2.26239737e-03 1.10302990e+00] [ 1.34947746e-01 -1.56622465e-03 9.90851479e-01 2.20797922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.31463044000003 meters Centerline goodness [0,1] 0.3631906345846473 Centerline is valid? [False, False] Translation: X:23.42, Y:1.10, Z:2.21 [[ 9.90837987e-01 5.19510911e-03 -1.34955895e-01 2.34238461e+01] [-4.95578070e-03 9.99985496e-01 2.10926678e-03 1.10382463e+00] [ 1.34964895e-01 -1.42112983e-03 9.90849362e-01 2.20809988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34463044 meters Centerline goodness [0,1] 0.3599239657418679 Centerline is valid? [False, False] Translation: X:23.44, Y:1.11, Z:2.21 [[ 9.90856437e-01 -1.51599564e-03 -1.34911908e-01 2.34424501e+01] [ 1.97997672e-03 9.99992578e-01 3.30503283e-03 1.10964354e+00] [ 1.34905896e-01 -3.54193549e-03 9.90852085e-01 2.21209182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.37463044000003 meters Centerline goodness [0,1] 0.36365592786278433 Centerline is valid? [False, False] Translation: X:23.44, Y:1.11, Z:2.21 [[ 9.90907820e-01 -1.60779150e-03 -1.34532926e-01 2.34414419e+01] [ 2.07606344e-03 9.99992265e-01 3.34050884e-03 1.10910130e+00] [ 1.34526515e-01 -3.58943521e-03 9.90903493e-01 2.21224581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40463044 meters Centerline goodness [0,1] 0.3619955036933947 Centerline is valid? [False, False] Translation: X:23.44, Y:1.11, Z:2.21 [[ 9.90897582e-01 -1.70078655e-03 -1.34607166e-01 2.34415721e+01] [ 2.17823158e-03 9.99991848e-01 3.39975743e-03 1.10803215e+00] [ 1.34600286e-01 -3.66201700e-03 9.90893209e-01 2.21244650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.43463044000003 meters Centerline goodness [0,1] 0.36349567983493103 Centerline is valid? [False, False] Translation: X:23.44, Y:1.11, Z:2.21 [[ 9.90887661e-01 -1.79689805e-03 -1.34678933e-01 2.34418427e+01] [ 2.28524811e-03 9.99991363e-01 3.47152751e-03 1.10665090e+00] [ 1.34671532e-01 -3.74766855e-03 9.90883209e-01 2.21242621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46463044 meters Centerline goodness [0,1] 0.3592419899901612 Centerline is valid? [False, False] Translation: X:23.44, Y:1.11, Z:2.21 [[ 9.90874705e-01 -1.80081436e-03 -1.34774163e-01 2.34423556e+01] [ 2.30875219e-03 9.99990809e-01 3.61260887e-03 1.10539450e+00] [ 1.34766419e-01 -3.89080289e-03 9.90869756e-01 2.21224498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.49463044000004 meters Centerline goodness [0,1] 0.35997356584024387 Centerline is valid? [False, False] Translation: X:23.44, Y:1.10, Z:2.21 [[ 9.90872934e-01 -1.74555615e-03 -1.34787912e-01 2.34426993e+01] [ 2.27485292e-03 9.99990295e-01 3.77297168e-03 1.10434932e+00] [ 1.34780018e-01 -4.04515820e-03 9.90867289e-01 2.21205291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52463044 meters Centerline goodness [0,1] 0.35997356584024387 Centerline is valid? [False, False] Translation: X:23.44, Y:1.10, Z:2.21 [[ 9.90872934e-01 -1.74555615e-03 -1.34787912e-01 2.34426993e+01] [ 2.27485292e-03 9.99990295e-01 3.77297168e-03 1.10434932e+00] [ 1.34780018e-01 -4.04515820e-03 9.90867289e-01 2.21205291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.55463044000004 meters Centerline goodness [0,1] 0.36393329151435183 Centerline is valid? [False, False] Translation: X:23.43, Y:1.10, Z:2.21 [[ 9.91054708e-01 4.95283332e-03 -1.33364293e-01 2.34252899e+01] [-4.61559063e-03 9.99985322e-01 2.83777456e-03 1.09771868e+00] [ 1.33376391e-01 -2.19683485e-03 9.91063021e-01 2.20716466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58463044 meters Centerline goodness [0,1] 0.36255346449957226 Centerline is valid? [False, False] Translation: X:23.43, Y:1.10, Z:2.21 [[ 9.91033950e-01 4.96479223e-03 -1.33518015e-01 2.34258878e+01] [-4.63674295e-03 9.99985420e-01 2.76779252e-03 1.09827158e+00] [ 1.33529809e-01 -2.12388765e-03 9.91042521e-01 2.20701570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.61463044 meters Centerline goodness [0,1] 0.36257045738135196 Centerline is valid? [False, False] Translation: X:23.43, Y:1.10, Z:2.21 [[ 9.91005209e-01 4.96476464e-03 -1.33731171e-01 2.34267182e+01] [-4.64909495e-03 9.99985621e-01 2.67264490e-03 1.09903315e+00] [ 1.33742517e-01 -2.02687610e-03 9.91014042e-01 2.20669924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64463044 meters Centerline goodness [0,1] 0.3611146618944139 Centerline is valid? [False, False] Translation: X:23.43, Y:1.10, Z:2.21 [[ 9.90966552e-01 4.96809594e-03 -1.34017204e-01 2.34276540e+01] [-4.67401437e-03 9.99985929e-01 2.50888785e-03 1.10034246e+00] [ 1.34027782e-01 -1.85982561e-03 9.90975829e-01 2.20649767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.67463044 meters Centerline goodness [0,1] 0.36359716263124986 Centerline is valid? [False, False] Translation: X:23.43, Y:1.10, Z:2.21 [[ 9.90951599e-01 4.90050762e-03 -1.34130213e-01 2.34280597e+01] [-4.63993892e-03 9.99986692e-01 2.25517804e-03 1.10193822e+00] [ 1.34139479e-01 -1.61241629e-03 9.90961150e-01 2.20634577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70463044 meters Centerline goodness [0,1] 0.3600076965835721 Centerline is valid? [False, False] Translation: X:23.43, Y:1.11, Z:2.21 [[ 9.90943977e-01 4.96332719e-03 -1.34184203e-01 2.34285916e+01] [-4.74829096e-03 9.99986879e-01 1.92251939e-03 1.10543493e+00] [ 1.34191985e-01 -1.26796337e-03 9.90954542e-01 2.20594895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.73463044 meters Centerline goodness [0,1] 0.35874583226468326 Centerline is valid? [False, False] Translation: X:23.43, Y:1.11, Z:2.21 [[ 9.90962253e-01 4.90474326e-03 -1.34051319e-01 2.34283023e+01] [-4.72121257e-03 9.99987432e-01 1.68695220e-03 1.10709561e+00] [ 1.34057908e-01 -1.03882118e-03 9.90972955e-01 2.20589706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76463044 meters Centerline goodness [0,1] 0.3596148448800708 Centerline is valid? [False, False] Translation: X:23.43, Y:1.11, Z:2.21 [[ 9.90984004e-01 4.76579646e-03 -1.33895445e-01 2.34277970e+01] [-4.61599989e-03 9.99988325e-01 1.42916556e-03 1.10842261e+00] [ 1.33900693e-01 -7.98218851e-04 9.90994434e-01 2.20604454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.79463044 meters Centerline goodness [0,1] 0.3588302186366855 Centerline is valid? [False, False] Translation: X:23.43, Y:1.11, Z:2.21 [[ 9.90987185e-01 4.58899833e-03 -1.33878078e-01 2.34274837e+01] [-4.47379638e-03 9.99989318e-01 1.16131357e-03 1.10964176e+00] [ 1.33881977e-01 -5.51903610e-04 9.90997130e-01 2.20644116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82463044 meters Centerline goodness [0,1] 0.3591349133417392 Centerline is valid? [False, False] Translation: X:23.43, Y:1.11, Z:2.21 [[ 9.90958830e-01 4.39065124e-03 -1.34094439e-01 2.34279186e+01] [-4.29826832e-03 9.99990284e-01 9.78427064e-04 1.10994030e+00] [ 1.34097432e-01 -3.93207057e-04 9.90968074e-01 2.20663933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.85463044 meters Centerline goodness [0,1] 0.35870627735985383 Centerline is valid? [False, False] Translation: X:23.43, Y:1.11, Z:2.21 [[ 9.90928604e-01 4.26100553e-03 -1.34321801e-01 2.34283913e+01] [-4.17649133e-03 9.99990863e-01 9.10960639e-04 1.10976474e+00] [ 1.34324455e-01 -3.41703118e-04 9.90937346e-01 2.20684474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.88463044 meters Centerline goodness [0,1] 0.35968371022400303 Centerline is valid? [False, False] Translation: X:23.43, Y:1.11, Z:2.21 [[ 9.90898561e-01 4.17959530e-03 -1.34545804e-01 2.34289232e+01] [-4.09108375e-03 9.99991195e-01 9.34324975e-04 1.10914384e+00] [ 1.34548525e-01 -3.75383119e-04 9.90906935e-01 2.20695895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.91463044 meters Centerline goodness [0,1] 0.36490666435941255 Centerline is valid? [False, False] Translation: X:23.41, Y:1.11, Z:2.20 [[ 9.90895718e-01 -3.98874743e-03 -1.34572531e-01 2.34098445e+01] [ 4.34374566e-03 9.99987818e-01 2.34446167e-03 1.11043625e+00] [ 1.34561540e-01 -2.90766588e-03 9.90900973e-01 2.20299810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.94463044 meters Centerline goodness [0,1] 0.361498127340824 Centerline is valid? [False, False] Translation: X:23.43, Y:1.11, Z:2.21 [[ 9.91068431e-01 2.02791552e-03 -1.33338862e-01 2.34302411e+01] [-2.07074435e-03 9.99997839e-01 -1.82529087e-04 1.10891557e+00] [ 1.33338203e-01 4.57009511e-04 9.91070489e-01 2.20604729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.97463044 meters Centerline goodness [0,1] 0.36160360167220496 Centerline is valid? [False, False] Translation: X:23.43, Y:1.11, Z:2.21 [[ 9.91090406e-01 2.05442360e-03 -1.33175022e-01 2.34297324e+01] [-2.07720806e-03 9.99997842e-01 -3.21517912e-05 1.10790228e+00] [ 1.33174669e-01 3.08497562e-04 9.91092535e-01 2.20623504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.00463044 meters Centerline goodness [0,1] 0.362643974557332 Centerline is valid? [False, False] Translation: X:23.43, Y:1.11, Z:2.21 [[ 9.91094088e-01 2.07790803e-03 -1.33147251e-01 2.34294162e+01] [-2.08429931e-03 9.99997824e-01 9.13783686e-05 1.10699337e+00] [ 1.33147151e-01 1.86954162e-04 9.91096262e-01 2.20651715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.03463044 meters Centerline goodness [0,1] 0.36426993759783843 Centerline is valid? [False, False] Translation: X:23.43, Y:1.11, Z:2.21 [[ 9.91061675e-01 2.17083565e-03 -1.33386820e-01 2.34302036e+01] [-2.14742977e-03 9.99997643e-01 3.19335769e-04 1.10550053e+00] [ 1.33387199e-01 -3.00426127e-05 9.91064001e-01 2.20645922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.06463044000003 meters Centerline goodness [0,1] 0.3594319626960577 Centerline is valid? [False, False] Translation: X:23.45, Y:1.10, Z:2.21 [[ 9.90979822e-01 9.67890697e-03 -1.33661178e-01 2.34500687e+01] [-9.90684106e-03 9.99950385e-01 -1.04033827e-03 1.10208546e+00] [ 1.33644477e-01 2.35511428e-03 9.91026542e-01 2.21036342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.09463044 meters Centerline goodness [0,1] 0.36423227030640193 Centerline is valid? [False, False] Translation: X:23.43, Y:1.10, Z:2.21 [[ 9.91012386e-01 1.61044519e-03 -1.33760450e-01 2.34309138e+01] [-1.61030686e-03 9.99998697e-01 1.09217944e-04 1.10452263e+00] [ 1.33760451e-01 1.07159035e-04 9.91013688e-01 2.20649349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.12463044000003 meters Centerline goodness [0,1] 0.3629832950914589 Centerline is valid? [False, False] Translation: X:23.43, Y:1.10, Z:2.21 [[ 9.91015830e-01 1.63438076e-03 -1.33734640e-01 2.34307522e+01] [-1.61522295e-03 9.99998664e-01 2.51745302e-04 1.10339285e+00] [ 1.33734873e-01 -3.34723192e-05 9.91017145e-01 2.20670316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.15463044 meters Centerline goodness [0,1] 0.3636970662990565 Centerline is valid? [False, False] Translation: X:23.43, Y:1.10, Z:2.21 [[ 9.91033415e-01 1.66016442e-03 -1.33603947e-01 2.34303345e+01] [-1.62255078e-03 9.99998607e-01 3.90408189e-04 1.10226729e+00] [ 1.33604409e-01 -1.70128373e-04 9.91034728e-01 2.20686646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.18463044000003 meters Centerline goodness [0,1] 0.3629582131024901 Centerline is valid? [False, False] Translation: X:23.43, Y:1.10, Z:2.21 [[ 9.91014667e-01 1.63487213e-03 -1.33743254e-01 2.34309053e+01] [-1.55149648e-03 9.99998532e-01 7.27617700e-04 1.09887638e+00] [ 1.33744247e-01 -5.13577624e-04 9.91015748e-01 2.20685569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.21463044 meters Centerline goodness [0,1] 0.3649293172345637 Centerline is valid? [False, False] Translation: X:23.43, Y:1.10, Z:2.21 [[ 9.90984552e-01 1.65629428e-03 -1.33965946e-01 2.34315516e+01] [-1.54388556e-03 9.99998364e-01 9.42962193e-04 1.09709456e+00] [ 1.33967289e-01 -7.27632876e-04 9.90985487e-01 2.20682222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.24463044000004 meters Centerline goodness [0,1] 0.36394229738709194 Centerline is valid? [False, False] Translation: X:23.43, Y:1.10, Z:2.21 [[ 9.90943729e-01 1.71279651e-03 -1.34266869e-01 2.34323556e+01] [-1.56688315e-03 9.99998062e-01 1.19240254e-03 1.09524878e+00] [ 1.34268651e-01 -9.71223324e-04 9.90944492e-01 2.20682861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.27463044 meters Centerline goodness [0,1] 0.3617877477631748 Centerline is valid? [False, False] Translation: X:23.43, Y:1.09, Z:2.21 [[ 9.90925579e-01 1.72804100e-03 -1.34400559e-01 2.34327170e+01] [-1.55502112e-03 9.99997822e-01 1.39230842e-03 1.09345347e+00] [ 1.34402672e-01 -1.17067832e-03 9.90926108e-01 2.20686804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30463044000004 meters Centerline goodness [0,1] 0.36447041004003033 Centerline is valid? [False, False] Translation: X:23.43, Y:1.09, Z:2.21 [[ 9.90919955e-01 1.86194442e-03 -1.34440228e-01 2.34328362e+01] [-1.63602832e-03 9.99997058e-01 1.79087643e-03 1.09052993e+00] [ 1.34443167e-01 -1.55466717e-03 9.90920086e-01 2.20698123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.33463044 meters Centerline goodness [0,1] 0.3653468126930638 Centerline is valid? [False, False] Translation: X:23.43, Y:1.09, Z:2.21 [[ 9.90901400e-01 1.93551010e-03 -1.34575888e-01 2.34335054e+01] [-1.68500440e-03 9.99996629e-01 1.97531935e-03 1.08938478e+00] [ 1.34579258e-01 -1.73058575e-03 9.90901321e-01 2.20672703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.36463044 meters Centerline goodness [0,1] 0.3597071479031533 Centerline is valid? [False, False] Translation: X:23.43, Y:1.09, Z:2.21 [[ 9.90856930e-01 2.04956987e-03 -1.34901233e-01 2.34345095e+01] [-1.77462296e-03 9.99996096e-01 2.15835252e-03 1.08836980e+00] [ 1.34905130e-01 -1.89921973e-03 9.90856699e-01 2.20660621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.39463044 meters Centerline goodness [0,1] 0.36253789426157257 Centerline is valid? [False, False] Translation: X:23.44, Y:1.09, Z:2.21 [[ 9.90820184e-01 2.16805631e-03 -1.35169018e-01 2.34350156e+01] [-1.85745534e-03 9.99995337e-01 2.42394277e-03 1.08639312e+00] [ 1.35173643e-01 -2.15062101e-03 9.90819591e-01 2.20688600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.42463044 meters Centerline goodness [0,1] 0.3607267734946479 Centerline is valid? [False, False] Translation: X:23.44, Y:1.09, Z:2.21 [[ 9.90814504e-01 2.30235339e-03 -1.35208422e-01 2.34350775e+01] [-1.96271780e-03 9.99994575e-01 2.64518758e-03 1.08531388e+00] [ 1.35213778e-01 -2.35551424e-03 9.90813648e-01 2.20702868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.45463044 meters Centerline goodness [0,1] 0.363218982643582 Centerline is valid? [False, False] Translation: X:23.44, Y:1.08, Z:2.21 [[ 9.90809571e-01 2.36795601e-03 -1.35243438e-01 2.34352522e+01] [-2.01207719e-03 9.99994145e-01 2.76802196e-03 1.08450247e+00] [ 1.35249201e-01 -2.47046241e-03 9.90808534e-01 2.20702912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.48463044 meters Centerline goodness [0,1] 0.361224795903062 Centerline is valid? [False, False] Translation: X:23.44, Y:1.08, Z:2.21 [[ 9.90802219e-01 2.40214232e-03 -1.35296683e-01 2.34354785e+01] [-2.03400351e-03 9.99993844e-01 2.85914135e-03 1.08371991e+00] [ 1.35302718e-01 -2.55764967e-03 9.90801006e-01 2.20697134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.51463044 meters Centerline goodness [0,1] 0.36306978143603186 Centerline is valid? [False, False] Translation: X:23.44, Y:1.08, Z:2.21 [[ 9.90787303e-01 2.36598279e-03 -1.35406508e-01 2.34358219e+01] [-1.99634381e-03 9.99993902e-01 2.86556578e-03 1.08311027e+00] [ 1.35412462e-01 -2.56884825e-03 9.90785984e-01 2.20695394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54463044 meters Centerline goodness [0,1] 0.3650595404724477 Centerline is valid? [False, False] Translation: X:23.44, Y:1.08, Z:2.21 [[ 9.90769567e-01 2.35027011e-03 -1.35536492e-01 2.34361737e+01] [-1.97987987e-03 9.99993929e-01 2.86750172e-03 1.08285677e+00] [ 1.35542409e-01 -2.57268747e-03 9.90768205e-01 2.20699302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.57463044 meters Centerline goodness [0,1] 0.3681776735704051 Centerline is valid? [False, False] Translation: X:23.44, Y:1.08, Z:2.21 [[ 9.90761203e-01 2.66820142e-03 -1.35591738e-01 2.34360807e+01] [-2.27251952e-03 9.99992696e-01 3.07288454e-03 1.08339707e+00] [ 1.35598946e-01 -2.73635991e-03 9.90760031e-01 2.20728429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60463044 meters Centerline goodness [0,1] 0.3654662615029849 Centerline is valid? [False, False] Translation: X:23.44, Y:1.08, Z:2.21 [[ 9.90763911e-01 2.82065476e-03 -1.35568864e-01 2.34361018e+01] [-2.42182850e-03 9.99992242e-01 3.10670598e-03 1.08429643e+00] [ 1.35576575e-01 -2.74968763e-03 9.90763055e-01 2.20725234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.63463044 meters Centerline goodness [0,1] 0.36139481218751335 Centerline is valid? [False, False] Translation: X:23.44, Y:1.09, Z:2.21 [[ 9.90750532e-01 2.83149509e-03 -1.35666381e-01 2.34362780e+01] [-2.44639231e-03 9.99992492e-01 3.00523496e-03 1.08533039e+00] [ 1.35673872e-01 -2.64554494e-03 9.90750020e-01 2.20743800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66463044 meters Centerline goodness [0,1] 0.3621625085440875 Centerline is valid? [False, False] Translation: X:23.44, Y:1.09, Z:2.21 [[ 9.90739683e-01 2.74501130e-03 -1.35747357e-01 2.34364583e+01] [-2.37908797e-03 9.99993087e-01 2.85777549e-03 1.08602386e+00] [ 1.35754263e-01 -2.50835668e-03 9.90739364e-01 2.20751862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.69463044 meters Centerline goodness [0,1] 0.36446198981793076 Centerline is valid? [False, False] Translation: X:23.44, Y:1.09, Z:2.21 [[ 9.90694196e-01 2.58626446e-03 -1.36082040e-01 2.34372715e+01] [-2.24157631e-03 9.99993880e-01 2.68611490e-03 1.08652900e+00] [ 1.36088155e-01 -2.35608016e-03 9.90693930e-01 2.20762357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72463044 meters Centerline goodness [0,1] 0.3619358160288313 Centerline is valid? [False, False] Translation: X:23.44, Y:1.09, Z:2.21 [[ 9.90662834e-01 2.53970243e-03 -1.36311038e-01 2.34378213e+01] [-2.18746798e-03 9.99993871e-01 2.73377444e-03 1.08606867e+00] [ 1.36317145e-01 -2.41007270e-03 9.90662318e-01 2.20773753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.75463044 meters Centerline goodness [0,1] 0.3617871413003996 Centerline is valid? [False, False] Translation: X:23.44, Y:1.09, Z:2.21 [[ 9.90636964e-01 2.48909273e-03 -1.36499855e-01 2.34382945e+01] [-2.12584009e-03 9.99993801e-01 2.80690062e-03 1.08533136e+00] [ 1.36505996e-01 -2.49044264e-03 9.90636114e-01 2.20784909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78463044 meters Centerline goodness [0,1] 0.3657876653495963 Centerline is valid? [False, False] Translation: X:23.44, Y:1.08, Z:2.21 [[ 9.90619345e-01 2.40873427e-03 -1.36629098e-01 2.34384769e+01] [-2.02790475e-03 9.99993662e-01 2.92644338e-03 1.08401522e+00] [ 1.36635281e-01 -2.62192063e-03 9.90617951e-01 2.20808145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.81463044000003 meters Centerline goodness [0,1] 0.3651658869479377 Centerline is valid? [False, False] Translation: X:23.44, Y:1.08, Z:2.21 [[ 9.90651552e-01 -1.30003047e-03 -1.36410456e-01 2.34377489e+01] [ 1.32716555e-03 9.99999113e-01 1.07977793e-04 1.08096026e+00] [ 1.36410195e-01 -2.88007626e-04 9.90652399e-01 2.20854117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84463044 meters Centerline goodness [0,1] 0.36720519724751033 Centerline is valid? [False, False] Translation: X:23.44, Y:1.08, Z:2.21 [[ 9.90626260e-01 -1.46392193e-03 -1.36592348e-01 2.34381534e+01] [ 1.51429503e-03 9.99998818e-01 2.64877328e-04 1.07877956e+00] [ 1.36591799e-01 -4.69235550e-04 9.90627306e-01 2.20876906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.87463044000003 meters Centerline goodness [0,1] 0.36656966792194456 Centerline is valid? [False, False] Translation: X:23.44, Y:1.08, Z:2.21 [[ 9.90576985e-01 -1.51158439e-03 -1.36948720e-01 2.34390572e+01] [ 1.59829654e-03 9.99998586e-01 5.23214196e-04 1.07636846e+00] [ 1.36947736e-01 -7.37168607e-04 9.90578000e-01 2.20886632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90463044 meters Centerline goodness [0,1] 0.36517901141987874 Centerline is valid? [False, False] Translation: X:23.44, Y:1.07, Z:2.21 [[ 9.90527062e-01 -1.54005180e-03 -1.37309022e-01 2.34400596e+01] [ 1.66467781e-03 9.99998300e-01 7.92804660e-04 1.07404003e+00] [ 1.37307568e-01 -1.01386975e-03 9.90527942e-01 2.20891121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.93463044000003 meters Centerline goodness [0,1] 0.365688148259497 Centerline is valid? [False, False] Translation: X:23.44, Y:1.07, Z:2.21 [[ 9.90478932e-01 -1.52628093e-03 -1.37655935e-01 2.34411182e+01] [ 1.68611372e-03 9.99998033e-01 1.04450406e-03 1.07197584e+00] [ 1.37654070e-01 -1.26666282e-03 9.90479557e-01 2.20880218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96463044 meters Centerline goodness [0,1] 0.36438062580368624 Centerline is valid? [False, False] Translation: X:23.44, Y:1.07, Z:2.21 [[ 9.90351335e-01 -1.50399837e-03 -1.38571178e-01 2.34437550e+01] [ 1.71998239e-03 9.99997486e-01 1.43891590e-03 1.06838522e+00] [ 1.38568665e-01 -1.66337227e-03 9.90351432e-01 2.20866993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.99463044000004 meters Centerline goodness [0,1] 0.3649008456344388 Centerline is valid? [False, False] Translation: X:23.44, Y:1.07, Z:2.21 [[ 9.90309303e-01 -1.36100399e-03 -1.38872720e-01 2.34444752e+01] [ 1.61103109e-03 9.99997278e-01 1.68801177e-03 1.06718716e+00] [ 1.38870044e-01 -1.89538202e-03 9.90308800e-01 2.20879509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02463044 meters Centerline goodness [0,1] 0.36516092967255054 Centerline is valid? [False, False] Translation: X:23.44, Y:1.07, Z:2.21 [[ 9.90301705e-01 -1.27984306e-03 -1.38927659e-01 2.34446160e+01] [ 1.55162843e-03 9.99997089e-01 1.84801895e-03 1.06623124e+00] [ 1.38924890e-01 -2.04566043e-03 9.90300808e-01 2.20886441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.05463044000004 meters Centerline goodness [0,1] 0.3683292039211462 Centerline is valid? [False, False] Translation: X:23.44, Y:1.07, Z:2.21 [[ 9.90302562e-01 -1.18005282e-03 -1.38922436e-01 2.34440307e+01] [ 1.47209647e-03 9.99996918e-01 1.99947347e-03 1.06544198e+00] [ 1.38919648e-01 -2.18459092e-03 9.90301247e-01 2.20960079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08463044 meters Centerline goodness [0,1] 0.3674119343246326 Centerline is valid? [False, False] Translation: X:23.44, Y:1.07, Z:2.21 [[ 9.90305683e-01 -1.18001587e-03 -1.38900187e-01 2.34438950e+01] [ 1.47254543e-03 9.99996909e-01 2.00329379e-03 1.06520033e+00] [ 1.38897394e-01 -2.18841006e-03 9.90304360e-01 2.20977438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.11463044 meters Centerline goodness [0,1] 0.3656930862926746 Centerline is valid? [False, False] Translation: X:23.44, Y:1.07, Z:2.21 [[ 9.90286305e-01 -1.15626264e-03 -1.39038472e-01 2.34439607e+01] [ 1.44646152e-03 9.99996981e-01 1.98615453e-03 1.06529642e+00] [ 1.39035755e-01 -2.16797543e-03 9.90284989e-01 2.21013424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14463044 meters Centerline goodness [0,1] 0.3668860498128791 Centerline is valid? [False, False] Translation: X:23.44, Y:1.07, Z:2.21 [[ 9.90275800e-01 -1.16277352e-03 -1.39113222e-01 2.34440667e+01] [ 1.44172686e-03 9.99997147e-01 1.90447041e-03 1.06587420e+00] [ 1.39110611e-01 -2.08651423e-03 9.90274651e-01 2.21024909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.17463044 meters Centerline goodness [0,1] 0.3651029551132937 Centerline is valid? [False, False] Translation: X:23.44, Y:1.07, Z:2.21 [[ 9.90275269e-01 -1.10344439e-03 -1.39117483e-01 2.34441193e+01] [ 1.36296822e-03 9.99997504e-01 1.77024541e-03 1.06740997e+00] [ 1.39115182e-01 -1.94264296e-03 9.90274302e-01 2.21028744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20463044 meters Centerline goodness [0,1] 0.3664822270544922 Centerline is valid? [False, False] Translation: X:23.44, Y:1.07, Z:2.21 [[ 9.90265885e-01 -1.07476234e-03 -1.39184492e-01 2.34442823e+01] [ 1.32740129e-03 9.99997636e-01 1.72232128e-03 1.06795096e+00] [ 1.39182312e-01 -1.89030968e-03 9.90264970e-01 2.21036130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.23463044 meters Centerline goodness [0,1] 0.36549329192010693 Centerline is valid? [False, False] Translation: X:23.44, Y:1.07, Z:2.21 [[ 9.90257355e-01 -1.10532891e-03 -1.39244923e-01 2.34443326e+01] [ 1.34353695e-03 9.99997791e-01 1.61672596e-03 1.06871365e+00] [ 1.39242828e-01 -1.78805547e-03 9.90256652e-01 2.21048462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26463044 meters Centerline goodness [0,1] 0.3623809014024194 Centerline is valid? [False, False] Translation: X:23.46, Y:1.07, Z:2.21 [[ 9.90322472e-01 6.70006223e-03 -1.38623627e-01 2.34634651e+01] [-6.74647598e-03 9.99977233e-01 1.35062995e-04 1.06724218e+00] [ 1.38621375e-01 8.01465047e-04 9.90345128e-01 2.21420021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.29463044 meters Centerline goodness [0,1] 0.3640711114923548 Centerline is valid? [False, False] Translation: X:23.46, Y:1.07, Z:2.22 [[ 9.90368309e-01 6.91497506e-03 -1.38285198e-01 2.34619589e+01] [-6.95196349e-03 9.99975812e-01 2.15521772e-04 1.06814596e+00] [ 1.38283344e-01 7.47907718e-04 9.90392426e-01 2.21504334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.32463044 meters Centerline goodness [0,1] 0.36410510873317226 Centerline is valid? [False, False] Translation: X:23.46, Y:1.07, Z:2.22 [[ 9.90385722e-01 6.88145798e-03 -1.38162105e-01 2.34615636e+01] [-6.93581425e-03 9.99975943e-01 8.80200423e-05 1.06895062e+00] [ 1.38159387e-01 8.71092902e-04 9.90409625e-01 2.21516938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.35463044 meters Centerline goodness [0,1] 0.3642777491851089 Centerline is valid? [False, False] Translation: X:23.46, Y:1.07, Z:2.22 [[ 9.90381860e-01 6.79753170e-03 -1.38193943e-01 2.34616402e+01] [-6.87686467e-03 9.99976349e-01 -9.66111840e-05 1.06986380e+00] [ 1.38190018e-01 1.04602301e-03 9.90405182e-01 2.21521649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.38463044 meters Centerline goodness [0,1] 0.3626134765375272 Centerline is valid? [False, False] Translation: X:23.46, Y:1.07, Z:2.22 [[ 9.90364529e-01 6.71750876e-03 -1.38321993e-01 2.34621077e+01] [-6.82442690e-03 9.99976669e-01 -2.98711048e-04 1.07101726e+00] [ 1.38316759e-01 1.23980116e-03 9.90387266e-01 2.21516475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.41463044 meters Centerline goodness [0,1] 0.3626134765375272 Centerline is valid? [False, False] Translation: X:23.46, Y:1.07, Z:2.22 [[ 9.90364529e-01 6.71750876e-03 -1.38321993e-01 2.34621077e+01] [-6.82442690e-03 9.99976669e-01 -2.98711048e-04 1.07101726e+00] [ 1.38316759e-01 1.23980116e-03 9.90387266e-01 2.21516475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.44463044 meters Centerline goodness [0,1] 0.3619264870448481 Centerline is valid? [False, False] Translation: X:23.46, Y:1.07, Z:2.22 [[ 9.90350846e-01 6.66160644e-03 -1.38422633e-01 2.34625261e+01] [-6.79486085e-03 9.99976795e-01 -4.90124571e-04 1.07233897e+00] [ 1.38416156e-01 1.42595781e-03 9.90373129e-01 2.21501024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.47463044 meters Centerline goodness [0,1] 0.36246853011425995 Centerline is valid? [False, False] Translation: X:23.46, Y:1.07, Z:2.21 [[ 9.90334720e-01 6.64832623e-03 -1.38538593e-01 2.34629450e+01] [-6.80267867e-03 9.99976656e-01 -6.40672360e-04 1.07388680e+00] [ 1.38531099e-01 1.57691361e-03 9.90356829e-01 2.21488876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.50463044 meters Centerline goodness [0,1] 0.3583680839172865 Centerline is valid? [False, False] Translation: X:23.46, Y:1.08, Z:2.21 [[ 9.90308534e-01 6.61471811e-03 -1.38727259e-01 2.34639326e+01] [-6.79172380e-03 9.99976614e-01 -8.02572083e-04 1.07572181e+00] [ 1.38718706e-01 1.73699121e-03 9.90330300e-01 2.21444383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.53463044 meters Centerline goodness [0,1] 0.35807392161907214 Centerline is valid? [False, False] Translation: X:23.46, Y:1.08, Z:2.21 [[ 9.90275641e-01 6.43144102e-03 -1.38970473e-01 2.34646012e+01] [-6.63227203e-03 9.99977524e-01 -9.82086071e-04 1.07614128e+00] [ 1.38961033e-01 1.89422589e-03 9.90296038e-01 2.21443790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.56463044000003 meters Centerline goodness [0,1] 0.3564153918268207 Centerline is valid? [False, False] Translation: X:23.48, Y:1.08, Z:2.22 [[ 9.90163962e-01 -6.16877795e-04 -1.39910498e-01 2.34837060e+01] [ 5.73808319e-04 9.99999775e-01 -3.48175003e-04 1.08133735e+00] [ 1.39910681e-01 2.64468533e-04 9.90164093e-01 2.21849576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.59463044 meters Centerline goodness [0,1] 0.35748133722817266 Centerline is valid? [False, False] Translation: X:23.48, Y:1.08, Z:2.22 [[ 9.90090730e-01 -1.16171160e-03 -1.40424345e-01 2.34849746e+01] [ 1.08636603e-03 9.99999222e-01 -6.13211053e-04 1.08056295e+00] [ 1.40424948e-01 4.54582342e-04 9.90091222e-01 2.21862435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.62463044000003 meters Centerline goodness [0,1] 0.3546736873648837 Centerline is valid? [False, False] Translation: X:23.50, Y:1.09, Z:2.22 [[ 9.89923943e-01 -8.12152482e-03 -1.41366999e-01 2.35040455e+01] [ 8.26321365e-03 9.99965773e-01 4.15275078e-04 1.08503576e+00] [ 1.41358788e-01 -1.57923646e-03 9.89957170e-01 2.22291192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.65463044 meters Centerline goodness [0,1] 0.3542665183156454 Centerline is valid? [False, False] Translation: X:23.50, Y:1.08, Z:2.22 [[ 9.89904911e-01 -8.16530404e-03 -1.41497689e-01 2.35044499e+01] [ 8.32342721e-03 9.99965222e-01 5.25672176e-04 1.08406317e+00] [ 1.41488475e-01 -1.69811118e-03 9.89938446e-01 2.22293065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.68463044000003 meters Centerline goodness [0,1] 0.35144525920873126 Centerline is valid? [False, False] Translation: X:23.52, Y:1.08, Z:2.23 [[ 9.89978799e-01 -1.13112947e-03 -1.41211537e-01 2.35229459e+01] [ 9.68899410e-04 9.99998789e-01 -1.21759335e-03 1.08035039e+00] [ 1.41212743e-01 1.06857183e-03 9.89978696e-01 2.22666876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.71463044 meters Centerline goodness [0,1] 0.3543376634567742 Centerline is valid? [False, False] Translation: X:23.52, Y:1.08, Z:2.23 [[ 9.89938215e-01 -1.29293869e-03 -1.41494374e-01 2.35235193e+01] [ 1.13899705e-03 9.99998668e-01 -1.16895296e-03 1.07912532e+00] [ 1.41495697e-01 9.96029532e-04 9.89938370e-01 2.22688260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.74463044000004 meters Centerline goodness [0,1] 0.35050883770755226 Centerline is valid? [False, False] Translation: X:23.52, Y:1.08, Z:2.23 [[ 9.89903371e-01 -1.22416102e-03 -1.41738552e-01 2.35241964e+01] [ 1.09277225e-03 9.99998898e-01 -1.00481299e-03 1.07835670e+00] [ 1.41739626e-01 8.39779813e-04 9.89903618e-01 2.22689825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.77463044 meters Centerline goodness [0,1] 0.3527016546018614 Centerline is valid? [False, False] Translation: X:23.52, Y:1.08, Z:2.23 [[ 9.89875442e-01 -1.21293222e-03 -1.41933566e-01 2.35246344e+01] [ 1.09640581e-03 9.99998995e-01 -8.99194041e-04 1.07754488e+00] [ 1.41934514e-01 7.34473313e-04 9.89875777e-01 2.22702559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80463044000004 meters Centerline goodness [0,1] 0.35491426361253164 Centerline is valid? [False, False] Translation: X:23.52, Y:1.08, Z:2.23 [[ 9.89856469e-01 -1.26065119e-03 -1.42065414e-01 2.35248957e+01] [ 1.15046520e-03 9.99998970e-01 -8.57735008e-04 1.07663307e+00] [ 1.42066349e-01 6.85593233e-04 9.89856900e-01 2.22716515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.83463044 meters Centerline goodness [0,1] 0.3523520289480486 Centerline is valid? [False, False] Translation: X:23.52, Y:1.08, Z:2.23 [[ 9.89857161e-01 -1.30295482e-03 -1.42060213e-01 2.35246206e+01] [ 1.20226334e-03 9.99998962e-01 -7.94624277e-04 1.07555496e+00] [ 1.42061101e-01 6.15770744e-04 9.89857699e-01 2.22747663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86463044 meters Centerline goodness [0,1] 0.3525606584857407 Centerline is valid? [False, False] Translation: X:23.52, Y:1.07, Z:2.23 [[ 9.89861515e-01 -1.25037415e-03 -1.42030338e-01 2.35242212e+01] [ 1.17148001e-03 9.99999110e-01 -6.39089172e-04 1.07450905e+00] [ 1.42031011e-01 4.66224073e-04 9.89862099e-01 2.22789164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.89463044 meters Centerline goodness [0,1] 0.35123559895498735 Centerline is valid? [False, False] Translation: X:23.52, Y:1.07, Z:2.23 [[ 9.89902711e-01 -8.66836312e-04 -1.41745800e-01 2.35234019e+01] [ 8.62814670e-04 9.99999624e-01 -8.98326797e-05 1.07244421e+00] [ 1.41745825e-01 -3.33747429e-05 9.89903086e-01 2.22816280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92463044 meters Centerline goodness [0,1] 0.35066970035202194 Centerline is valid? [False, False] Translation: X:23.52, Y:1.07, Z:2.23 [[ 9.89903189e-01 -7.95756557e-04 -1.41742878e-01 2.35233504e+01] [ 8.12461825e-04 9.99999668e-01 5.99836775e-05 1.07144387e+00] [ 1.41742783e-01 -1.74538711e-04 9.89903507e-01 2.22824009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.95463044 meters Centerline goodness [0,1] 0.34875147358268144 Centerline is valid? [False, False] Translation: X:23.52, Y:1.07, Z:2.23 [[ 9.89871120e-01 -7.85015068e-04 -1.41966717e-01 2.35238412e+01] [ 8.11188527e-04 9.99999663e-01 1.26489457e-04 1.07061353e+00] [ 1.41966570e-01 -2.40370033e-04 9.89871424e-01 2.22837579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98463044 meters Centerline goodness [0,1] 0.3526433711060365 Centerline is valid? [False, False] Translation: X:23.52, Y:1.07, Z:2.23 [[ 9.89874062e-01 -4.42975126e-04 -1.41947684e-01 2.35236824e+01] [ 5.16932314e-04 9.99999749e-01 4.84142270e-04 1.06953357e+00] [ 1.41947434e-01 -5.52617220e-04 9.89874043e-01 2.22854686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.01463044 meters Centerline goodness [0,1] 0.35202465542333705 Centerline is valid? [False, False] Translation: X:23.54, Y:1.07, Z:2.23 [[ 9.89925943e-01 7.77920136e-03 -1.41372242e-01 2.35431251e+01] [-7.95631862e-03 9.99968112e-01 -6.87637956e-04 1.06670386e+00] [ 1.41362385e-01 1.80551326e-03 9.89956270e-01 2.23224922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.04463044 meters Centerline goodness [0,1] 0.3521790851086839 Centerline is valid? [False, False] Translation: X:23.54, Y:1.07, Z:2.23 [[ 9.89934284e-01 7.85214367e-03 -1.41309789e-01 2.35432396e+01] [-8.02656744e-03 9.99967566e-01 -6.64393458e-04 1.06673368e+00] [ 1.41299989e-01 1.79193842e-03 9.89965202e-01 2.23201469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.07463044 meters Centerline goodness [0,1] 0.3523994811932555 Centerline is valid? [False, False] Translation: X:23.54, Y:1.07, Z:2.23 [[ 9.89938946e-01 7.82691002e-03 -1.41278526e-01 2.35432060e+01] [-8.00898513e-03 9.99967668e-01 -7.20203872e-04 1.06663339e+00] [ 1.41268321e-01 1.84445547e-03 9.89969626e-01 2.23202800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.10463044 meters Centerline goodness [0,1] 0.35113160999678217 Centerline is valid? [False, False] Translation: X:23.54, Y:1.07, Z:2.23 [[ 9.89974382e-01 7.97848686e-03 -1.41021512e-01 2.35422667e+01] [-8.15299939e-03 9.99966546e-01 -6.59761640e-04 1.06657416e+00] [ 1.41011530e-01 1.80289542e-03 9.90006312e-01 2.23244256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.13463044 meters Centerline goodness [0,1] 0.34967334215807677 Centerline is valid? [False, False] Translation: X:23.54, Y:1.07, Z:2.23 [[ 9.89971289e-01 8.07195150e-03 -1.41037902e-01 2.35423106e+01] [-8.23917830e-03 9.99965876e-01 -6.01780879e-04 1.06665914e+00] [ 1.41028231e-01 1.75778221e-03 9.90004014e-01 2.23253194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.16463044 meters Centerline goodness [0,1] 0.35042789901583227 Centerline is valid? [False, False] Translation: X:23.54, Y:1.07, Z:2.23 [[ 9.89967850e-01 8.12070947e-03 -1.41059240e-01 2.35424942e+01] [-8.27963784e-03 9.99965578e-01 -5.39811080e-04 1.06630647e+00] [ 1.41050001e-01 1.70231504e-03 9.90001010e-01 2.23239516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.19463044 meters Centerline goodness [0,1] 0.35010513667768095 Centerline is valid? [False, False] Translation: X:23.54, Y:1.06, Z:2.23 [[ 9.89939635e-01 8.05029501e-03 -1.41261146e-01 2.35433865e+01] [-8.18879538e-03 9.99966392e-01 -3.99180222e-04 1.06404739e+00] [ 1.41253185e-01 1.55192294e-03 9.89972287e-01 2.23199750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.22463044 meters Centerline goodness [0,1] 0.3505726212137429 Centerline is valid? [False, False] Translation: X:23.54, Y:1.06, Z:2.23 [[ 9.89940047e-01 8.06745218e-03 -1.41257280e-01 2.35433126e+01] [-8.17543872e-03 9.99966564e-01 -1.84144532e-04 1.06235108e+00] [ 1.41251071e-01 1.33713228e-03 9.89972902e-01 2.23210927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.25463044 meters Centerline goodness [0,1] 0.34831772904108416 Centerline is valid? [False, False] Translation: X:23.54, Y:1.06, Z:2.23 [[ 9.89935696e-01 8.16824409e-03 -1.41281977e-01 2.35431897e+01] [-8.22755215e-03 9.99966140e-01 1.64351810e-04 1.06013300e+00] [ 1.41278536e-01 9.99707112e-04 9.89969381e-01 2.23237283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.28463044 meters Centerline goodness [0,1] 0.35379915669907924 Centerline is valid? [False, False] Translation: X:23.54, Y:1.06, Z:2.23 [[ 9.89937095e-01 8.27776659e-03 -1.41265801e-01 2.35431065e+01] [-8.28088092e-03 9.99965553e-01 5.65814520e-04 1.05751080e+00] [ 1.41265618e-01 6.09684493e-04 9.89971542e-01 2.23245300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.31463044000003 meters Centerline goodness [0,1] 0.3516464694043592 Centerline is valid? [False, False] Translation: X:23.56, Y:1.06, Z:2.24 [[ 9.89866592e-01 1.00955004e-03 -1.41996866e-01 2.35631749e+01] [-8.07677892e-04 9.99998580e-01 1.47929491e-03 1.05849841e+00] [ 1.41998158e-01 -1.34961688e-03 9.89866002e-01 2.23628882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.34463044 meters Centerline goodness [0,1] 0.34951079694840737 Centerline is valid? [False, False] Translation: X:23.57, Y:1.05, Z:2.23 [[ 9.89765129e-01 -1.53601935e-03 -1.42697685e-01 2.35673751e+01] [ 1.54278384e-03 9.99998808e-01 -6.32377049e-05 1.05155888e+00] [ 1.42697612e-01 -1.57561208e-04 9.89766319e-01 2.23422732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.37463044000003 meters Centerline goodness [0,1] 0.3488832039899392 Centerline is valid? [False, False] Translation: X:23.57, Y:1.05, Z:2.23 [[ 9.89715090e-01 -1.40548673e-03 -1.43045673e-01 2.35684650e+01] [ 1.47727225e-03 9.99998831e-01 3.95632756e-04 1.04848522e+00] [ 1.43044950e-01 -6.02881111e-04 9.89716009e-01 2.23404734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.40463044 meters Centerline goodness [0,1] 0.3480265545285718 Centerline is valid? [False, False] Translation: X:23.57, Y:1.05, Z:2.23 [[ 9.89705595e-01 -1.14325355e-03 -1.43113690e-01 2.35686468e+01] [ 1.28230012e-03 9.99998791e-01 8.79352835e-04 1.04619068e+00] [ 1.43112512e-01 -1.05381512e-03 9.89705865e-01 2.23409587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.43463044000003 meters Centerline goodness [0,1] 0.34897879873915105 Centerline is valid? [False, False] Translation: X:23.57, Y:1.04, Z:2.23 [[ 9.89721654e-01 -9.12202192e-04 -1.43004249e-01 2.35682445e+01] [ 1.11107971e-03 9.99998524e-01 1.31086179e-03 1.04401771e+00] [ 1.43002842e-01 -1.45627742e-03 9.89721206e-01 2.23427484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.46463044 meters Centerline goodness [0,1] 0.34758114423507824 Centerline is valid? [False, False] Translation: X:23.59, Y:1.04, Z:2.24 [[ 9.89861718e-01 5.57106478e-03 -1.41925132e-01 2.35887000e+01] [-5.79578661e-03 9.99982520e-01 -1.17005276e-03 1.04143446e+00] [ 1.41916133e-01 1.98075822e-03 9.89876703e-01 2.23706614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.49463044000004 meters Centerline goodness [0,1] 0.35047512576858575 Centerline is valid? [False, False] Translation: X:23.59, Y:1.04, Z:2.24 [[ 9.89857291e-01 5.70932172e-03 -1.41950509e-01 2.35889377e+01] [-5.87508764e-03 9.99982461e-01 -7.48688802e-04 1.03841278e+00] [ 1.41943744e-01 1.57506675e-03 9.89873473e-01 2.23685370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.52463044 meters Centerline goodness [0,1] 0.34965019911742545 Centerline is valid? [False, False] Translation: X:23.59, Y:1.04, Z:2.24 [[ 9.89849709e-01 5.80295440e-03 -1.41999573e-01 2.35892055e+01] [-5.93974819e-03 9.99982214e-01 -5.39486369e-04 1.03727336e+00] [ 1.41993916e-01 1.37745213e-03 9.89866572e-01 2.23673049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.55463044000004 meters Centerline goodness [0,1] 0.35181475498115244 Centerline is valid? [False, False] Translation: X:23.59, Y:1.04, Z:2.24 [[ 9.89857051e-01 5.88600578e-03 -1.41944966e-01 2.35889765e+01] [-5.99504989e-03 9.99981972e-01 -3.40573818e-04 1.03613297e+00] [ 1.41940403e-01 1.18808655e-03 9.89874492e-01 2.23685299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.58463044 meters Centerline goodness [0,1] 0.35148685286396697 Centerline is valid? [False, False] Translation: X:23.59, Y:1.03, Z:2.24 [[ 9.89902018e-01 5.76767646e-03 -1.41635905e-01 2.35875113e+01] [-5.86518829e-03 9.99982763e-01 -2.71009566e-04 1.03434914e+00] [ 1.41631900e-01 1.09899417e-03 9.89918783e-01 2.23763734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.61463044 meters Centerline goodness [0,1] 0.35039522295729875 Centerline is valid? [False, False] Translation: X:23.59, Y:1.03, Z:2.24 [[ 9.89894684e-01 5.70701274e-03 -1.41689608e-01 2.35876369e+01] [-5.80018446e-03 9.99983149e-01 -2.44585286e-04 1.03358545e+00] [ 1.41685824e-01 1.06393953e-03 9.89911105e-01 2.23765445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.64463044 meters Centerline goodness [0,1] 0.3508420984706717 Centerline is valid? [False, False] Translation: X:23.59, Y:1.03, Z:2.24 [[ 9.89883401e-01 5.72589192e-03 -1.41767650e-01 2.35880292e+01] [-5.80451413e-03 9.99983144e-01 -1.41053225e-04 1.03287062e+00] [ 1.41764453e-01 9.62518572e-04 9.89899951e-01 2.23743990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.67463044 meters Centerline goodness [0,1] 0.3511129236515057 Centerline is valid? [False, False] Translation: X:23.59, Y:1.03, Z:2.24 [[ 9.89872561e-01 5.73554029e-03 -1.41842926e-01 2.35884667e+01] [-5.80273177e-03 9.99983162e-01 -6.00752118e-05 1.03224219e+00] [ 1.41840193e-01 8.82543258e-04 9.89889176e-01 2.23721821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.70463044 meters Centerline goodness [0,1] 0.3494589161213054 Centerline is valid? [False, False] Translation: X:23.59, Y:1.03, Z:2.24 [[ 9.89881137e-01 5.69484528e-03 -1.41784708e-01 2.35882412e+01] [-5.75230271e-03 9.99983455e-01 4.62050690e-06 1.03118599e+00] [ 1.41782389e-01 8.11014808e-04 9.89897518e-01 2.23735536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.73463044 meters Centerline goodness [0,1] 0.34923651895355046 Centerline is valid? [False, False] Translation: X:23.59, Y:1.03, Z:2.24 [[ 9.89890184e-01 5.66095017e-03 -1.41722887e-01 2.35879760e+01] [-5.71592339e-03 9.99983664e-01 1.92011153e-05 1.03075394e+00] [ 1.41720681e-01 7.91070170e-04 9.89906371e-01 2.23749593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.76463044 meters Centerline goodness [0,1] 0.3543323878782709 Centerline is valid? [False, False] Translation: X:23.59, Y:1.03, Z:2.24 [[ 9.89894808e-01 5.62687029e-03 -1.41691945e-01 2.35878391e+01] [-5.68443747e-03 9.99983843e-01 -1.52271221e-06 1.03072863e+00] [ 1.41689647e-01 8.06946326e-04 9.89910800e-01 2.23761054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.79463044 meters Centerline goodness [0,1] 0.350958769703304 Centerline is valid? [False, False] Translation: X:23.59, Y:1.03, Z:2.24 [[ 9.89905912e-01 5.74831625e-03 -1.41609471e-01 2.35876166e+01] [-5.78987737e-03 9.99983231e-01 1.18537383e-04 1.03063512e+00] [ 1.41607778e-01 7.02560618e-04 9.89922595e-01 2.23764283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.82463044 meters Centerline goodness [0,1] 0.35634340428284916 Centerline is valid? [False, False] Translation: X:23.59, Y:1.03, Z:2.24 [[ 9.89952609e-01 5.97580193e-03 -1.41273220e-01 2.35868698e+01] [-5.99003134e-03 9.99982007e-01 3.24529024e-04 1.03061360e+00] [ 1.41272617e-01 5.24962660e-04 9.89970591e-01 2.23756253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.85463044 meters Centerline goodness [0,1] 0.3586657719864066 Centerline is valid? [False, False] Translation: X:23.59, Y:1.03, Z:2.24 [[ 9.89970889e-01 5.94092218e-03 -1.41146536e-01 2.35865938e+01] [-5.95783327e-03 9.99982206e-01 3.02770241e-04 1.03052026e+00] [ 1.41145824e-01 5.41193806e-04 9.89988668e-01 2.23753200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.88463044 meters Centerline goodness [0,1] 0.35703959434674726 Centerline is valid? [False, False] Translation: X:23.59, Y:1.03, Z:2.24 [[ 9.89996322e-01 5.91406031e-03 -1.40969169e-01 2.35862999e+01] [-5.92967490e-03 9.99982371e-01 3.09285465e-04 1.03014867e+00] [ 1.40968513e-01 5.29709869e-04 9.90013938e-01 2.23741365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.91463044 meters Centerline goodness [0,1] 0.3542738340192044 Centerline is valid? [False, False] Translation: X:23.59, Y:1.03, Z:2.24 [[ 9.90020464e-01 5.89703879e-03 -1.40800232e-01 2.35860999e+01] [-5.90946272e-03 9.99982485e-01 3.29874983e-04 1.02992710e+00] [ 1.40799711e-01 5.05470739e-04 9.90037972e-01 2.23723821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.94463044 meters Centerline goodness [0,1] 0.3541354349595237 Centerline is valid? [False, False] Translation: X:23.59, Y:1.03, Z:2.24 [[ 9.89980966e-01 5.87377155e-03 -1.41078652e-01 2.35874730e+01] [-5.87741708e-03 9.99982651e-01 3.90835981e-04 1.02943393e+00] [ 1.41078500e-01 4.42257896e-04 9.89998314e-01 2.23647917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.97463044 meters Centerline goodness [0,1] 0.35114716205804297 Centerline is valid? [False, False] Translation: X:23.59, Y:1.03, Z:2.24 [[ 9.89948536e-01 5.73586626e-03 -1.41311695e-01 2.35884719e+01] [-5.75378109e-03 9.99983407e-01 2.81816150e-04 1.02946434e+00] [ 1.41310967e-01 5.34093075e-04 9.89965113e-01 2.23606725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.00463044 meters Centerline goodness [0,1] 0.3503895602154923 Centerline is valid? [False, False] Translation: X:23.59, Y:1.03, Z:2.24 [[ 9.89931265e-01 5.65469192e-03 -1.41435902e-01 2.35890983e+01] [-5.68027754e-03 9.99983842e-01 2.22830404e-04 1.02946958e+00] [ 1.41434877e-01 5.82808392e-04 9.89947391e-01 2.23571858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.03463044 meters Centerline goodness [0,1] 0.35389316919898417 Centerline is valid? [False, False] Translation: X:23.59, Y:1.03, Z:2.24 [[ 9.89933329e-01 5.66038782e-03 -1.41421228e-01 2.35893344e+01] [-5.68342256e-03 9.99983820e-01 2.41030455e-04 1.02957368e+00] [ 1.41420304e-01 5.65152515e-04 9.89949483e-01 2.23544535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.06463044000003 meters Centerline goodness [0,1] 0.35698855044286026 Centerline is valid? [False, False] Translation: X:23.59, Y:1.03, Z:2.24 [[ 9.89964006e-01 5.64200185e-03 -1.41207063e-01 2.35889754e+01] [-5.65332289e-03 9.99983968e-01 3.20984132e-04 1.02906815e+00] [ 1.41206610e-01 4.80526383e-04 9.89980031e-01 2.23527744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.09463044 meters Centerline goodness [0,1] 0.3558087049973133 Centerline is valid? [False, False] Translation: X:23.59, Y:1.03, Z:2.24 [[ 9.89964039e-01 5.50691937e-03 -1.41212163e-01 2.35892580e+01] [-5.53059955e-03 9.99984681e-01 2.24770549e-04 1.02888983e+00] [ 1.41211237e-01 5.58473164e-04 9.89979330e-01 2.23502248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.12463044000003 meters Centerline goodness [0,1] 0.3562967247177774 Centerline is valid? [False, False] Translation: X:23.59, Y:1.03, Z:2.23 [[ 9.89939450e-01 5.41309129e-03 -1.41388063e-01 2.35897975e+01] [-5.44263952e-03 9.99985173e-01 1.77719744e-04 1.02863085e+00] [ 1.41386928e-01 5.93592472e-04 9.89954233e-01 2.23497422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.15463044 meters Centerline goodness [0,1] 0.3548019929559316 Centerline is valid? [False, False] Translation: X:23.59, Y:1.03, Z:2.23 [[ 9.89917689e-01 5.37545168e-03 -1.41541771e-01 2.35904067e+01] [-5.41009115e-03 9.99985356e-01 1.40086091e-04 1.02870006e+00] [ 1.41540451e-01 6.27080182e-04 9.89932274e-01 2.23474873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.18463044000003 meters Centerline goodness [0,1] 0.3578508648800397 Centerline is valid? [False, False] Translation: X:23.59, Y:1.03, Z:2.23 [[ 9.89953304e-01 5.38160330e-03 -1.41292230e-01 2.35898330e+01] [-5.43521868e-03 9.99985229e-01 6.44846960e-06 1.03001968e+00] [ 1.41290177e-01 7.61570482e-04 9.89967932e-01 2.23469018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.21463044 meters Centerline goodness [0,1] 0.3577910627499893 Centerline is valid? [False, False] Translation: X:23.59, Y:1.03, Z:2.23 [[ 9.89977590e-01 5.30140202e-03 -1.41125004e-01 2.35893560e+01] [-5.38167951e-03 9.99985501e-01 -1.87188355e-04 1.03127268e+00] [ 1.41121965e-01 9.44801819e-04 9.89991767e-01 2.23482463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.24463044000004 meters Centerline goodness [0,1] 0.3579170593779454 Centerline is valid? [False, False] Translation: X:23.59, Y:1.03, Z:2.23 [[ 9.90008871e-01 5.23514336e-03 -1.40907871e-01 2.35889088e+01] [-5.34770513e-03 9.99985613e-01 -4.20185736e-04 1.03281079e+00] [ 1.40903644e-01 1.16952135e-03 9.90022624e-01 2.23470536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.27463044 meters Centerline goodness [0,1] 0.35721941181514194 Centerline is valid? [False, False] Translation: X:23.59, Y:1.03, Z:2.23 [[ 9.90017394e-01 5.11508549e-03 -1.40852387e-01 2.35891284e+01] [-5.26904301e-03 9.99985859e-01 -7.20123208e-04 1.03457956e+00] [ 1.40846712e-01 1.45509179e-03 9.90030346e-01 2.23435294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.30463044000004 meters Centerline goodness [0,1] 0.3569003309408174 Centerline is valid? [False, False] Translation: X:23.59, Y:1.04, Z:2.23 [[ 9.90015159e-01 5.01386132e-03 -1.40871735e-01 2.35897384e+01] [-5.20378614e-03 9.99985980e-01 -9.79871022e-04 1.03617905e+00] [ 1.40864847e-01 1.70315354e-03 9.90027370e-01 2.23373654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.33463044 meters Centerline goodness [0,1] 0.3569003309408174 Centerline is valid? [False, False] Translation: X:23.59, Y:1.04, Z:2.23 [[ 9.90015159e-01 5.01386132e-03 -1.40871735e-01 2.35897384e+01] [-5.20378614e-03 9.99985980e-01 -9.79871022e-04 1.03617905e+00] [ 1.40864847e-01 1.70315354e-03 9.90027370e-01 2.23373654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.36463044 meters Centerline goodness [0,1] 0.3578170585206796 Centerline is valid? [False, False] Translation: X:23.59, Y:1.04, Z:2.23 [[ 9.90007272e-01 4.91673526e-03 -1.40930574e-01 2.35902431e+01] [-5.14061310e-03 9.99986037e-01 -1.22455863e-03 1.03783017e+00] [ 1.40922585e-01 1.93679150e-03 9.90018724e-01 2.23334410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.39463044 meters Centerline goodness [0,1] 0.35616731600804896 Centerline is valid? [False, False] Translation: X:23.59, Y:1.04, Z:2.23 [[ 9.90040667e-01 4.88910175e-03 -1.40696748e-01 2.35898007e+01] [-5.13595248e-03 9.99985843e-01 -1.39142720e-03 1.03948358e+00] [ 1.40687953e-01 2.10018132e-03 9.90051761e-01 2.23322495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.42463044 meters Centerline goodness [0,1] 0.3600805415131523 Centerline is valid? [False, False] Translation: X:23.59, Y:1.04, Z:2.23 [[ 9.90063680e-01 4.80375426e-03 -1.40537660e-01 2.35894018e+01] [-5.05744514e-03 9.99986163e-01 -1.44804569e-03 1.03953262e+00] [ 1.40528760e-01 2.14441895e-03 9.90074275e-01 2.23324080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.45463044 meters Centerline goodness [0,1] 0.3590649574491005 Centerline is valid? [False, False] Translation: X:23.59, Y:1.04, Z:2.23 [[ 9.90069574e-01 4.72951785e-03 -1.40498645e-01 2.35894517e+01] [-4.98154548e-03 9.99986552e-01 -1.44216596e-03 1.03898035e+00] [ 1.40489935e-01 2.12774503e-03 9.90079820e-01 2.23307635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.48463044 meters Centerline goodness [0,1] 0.35639806384203676 Centerline is valid? [False, False] Translation: X:23.61, Y:1.04, Z:2.24 [[ 9.90060741e-01 -2.26099684e-03 -1.40622250e-01 2.36088634e+01] [ 2.19916950e-03 9.99997405e-01 -5.95066532e-04 1.04339306e+00] [ 1.40623230e-01 2.79899849e-04 9.90063144e-01 2.23686679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.51463044 meters Centerline goodness [0,1] 0.36052842794854556 Centerline is valid? [False, False] Translation: X:23.59, Y:1.04, Z:2.23 [[ 9.90212569e-01 4.35554716e-03 -1.39499455e-01 2.35909209e+01] [-4.62708004e-03 9.99987979e-01 -1.62221431e-03 1.03811663e+00] [ 1.39490713e-01 2.25181214e-03 9.90220819e-01 2.23195820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.54463044 meters Centerline goodness [0,1] 0.36055067647756944 Centerline is valid? [False, False] Translation: X:23.59, Y:1.04, Z:2.23 [[ 9.90197879e-01 4.41159944e-03 -1.39601929e-01 2.35917913e+01] [-4.69949286e-03 9.99987456e-01 -1.73266771e-03 1.03985198e+00] [ 1.39592534e-01 2.37174216e-03 9.90206190e-01 2.23135185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.57463044 meters Centerline goodness [0,1] 0.3548256371973979 Centerline is valid? [False, False] Translation: X:23.59, Y:1.04, Z:2.23 [[ 9.90183995e-01 4.45195211e-03 -1.39699088e-01 2.35924105e+01] [-4.75241936e-03 9.99987056e-01 -1.81729968e-03 1.04097854e+00] [ 1.39689190e-01 2.46336971e-03 9.90192336e-01 2.23097020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.60463044 meters Centerline goodness [0,1] 0.35837504565081957 Centerline is valid? [False, False] Translation: X:23.59, Y:1.04, Z:2.23 [[ 9.90188319e-01 4.37131373e-03 -1.39670989e-01 2.35927292e+01] [-4.69753715e-03 9.99986954e-01 -2.00606948e-03 1.04201502e+00] [ 1.39660398e-01 2.64249622e-03 9.90195935e-01 2.23054754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.63463044 meters Centerline goodness [0,1] 0.3561195689360246 Centerline is valid? [False, False] Translation: X:23.59, Y:1.04, Z:2.23 [[ 9.90168872e-01 4.28246277e-03 -1.39811537e-01 2.35932621e+01] [-4.63184393e-03 9.99986911e-01 -2.17364727e-03 1.04283806e+00] [ 1.39800399e-01 2.79986308e-03 9.90175747e-01 2.23037959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.66463044 meters Centerline goodness [0,1] 0.35556461300840914 Centerline is valid? [False, False] Translation: X:23.59, Y:1.04, Z:2.23 [[ 9.90166767e-01 4.25060482e-03 -1.39827418e-01 2.35936538e+01] [-4.60626198e-03 9.99986927e-01 -2.22001014e-03 1.04340308e+00] [ 1.39816154e-01 2.84226198e-03 9.90173401e-01 2.22999420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.69463044 meters Centerline goodness [0,1] 0.3572012213477831 Centerline is valid? [False, False] Translation: X:23.59, Y:1.04, Z:2.23 [[ 9.90161075e-01 4.20574937e-03 -1.39869073e-01 2.35938826e+01] [-4.55829068e-03 9.99987190e-01 -2.20024699e-03 1.04299946e+00] [ 1.39858027e-01 2.81616282e-03 9.90167562e-01 2.22985831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.72463044 meters Centerline goodness [0,1] 0.3576027736503219 Centerline is valid? [False, False] Translation: X:23.59, Y:1.04, Z:2.23 [[ 9.90138141e-01 4.08266902e-03 -1.40034975e-01 2.35943062e+01] [-4.43583898e-03 9.99987720e-01 -2.20997985e-03 1.04226639e+00] [ 1.40024233e-01 2.80935794e-03 9.90144091e-01 2.22986729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.75463044 meters Centerline goodness [0,1] 0.3540236257409698 Centerline is valid? [False, False] Translation: X:23.61, Y:1.05, Z:2.23 [[ 9.90099338e-01 -3.04251834e-03 -1.40335466e-01 2.36139036e+01] [ 2.85433539e-03 9.99994737e-01 -1.54220995e-03 1.04615495e+00] [ 1.40339420e-01 1.12637656e-03 9.90102812e-01 2.23380705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.78463044 meters Centerline goodness [0,1] 0.3536695278969957 Centerline is valid? [False, False] Translation: X:23.61, Y:1.05, Z:2.23 [[ 9.90103023e-01 -3.05038860e-03 -1.40309298e-01 2.36139767e+01] [ 2.87294724e-03 9.99994797e-01 -1.46717991e-03 1.04547897e+00] [ 1.40313043e-01 1.04955805e-03 9.90106635e-01 2.23366254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.81463044000003 meters Centerline goodness [0,1] 0.35530584620673356 Centerline is valid? [False, False] Translation: X:23.61, Y:1.05, Z:2.23 [[ 9.90104398e-01 -3.01340615e-03 -1.40300392e-01 2.36141646e+01] [ 2.84347477e-03 9.99994961e-01 -1.41164319e-03 1.04537066e+00] [ 1.40303938e-01 9.98733509e-04 9.90107978e-01 2.23347816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.84463044 meters Centerline goodness [0,1] 0.3528759410522724 Centerline is valid? [False, False] Translation: X:23.63, Y:1.04, Z:2.24 [[ 9.90182944e-01 5.20352350e-03 -1.39680566e-01 2.36346968e+01] [-5.60796427e-03 9.99981145e-01 -2.50203156e-03 1.04363758e+00] [ 1.39664913e-01 3.26079260e-03 9.90193456e-01 2.23629980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.87463044000003 meters Centerline goodness [0,1] 0.3534877745899885 Centerline is valid? [False, False] Translation: X:23.63, Y:1.04, Z:2.24 [[ 9.90197832e-01 5.21045201e-03 -1.39574729e-01 2.36346700e+01] [-5.62349189e-03 9.99980898e-01 -2.56505597e-03 1.04419987e+00] [ 1.39558697e-01 3.32481021e-03 9.90208218e-01 2.23605680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.90463044 meters Centerline goodness [0,1] 0.357942842430484 Centerline is valid? [False, False] Translation: X:23.63, Y:1.04, Z:2.24 [[ 9.90216298e-01 5.16469842e-03 -1.39445359e-01 2.36343999e+01] [-5.59418402e-03 9.99980739e-01 -2.68817299e-03 1.04494724e+00] [ 1.39428789e-01 3.44195571e-03 9.90226118e-01 2.23602566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.93463044000003 meters Centerline goodness [0,1] 0.3550579084576264 Centerline is valid? [False, False] Translation: X:23.63, Y:1.05, Z:2.24 [[ 9.90212188e-01 5.13493604e-03 -1.39475647e-01 2.36343610e+01] [-5.57907268e-03 9.99980535e-01 -2.79353194e-03 1.04566861e+00] [ 1.39458587e-01 3.54433414e-03 9.90221561e-01 2.23621334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.96463044 meters Centerline goodness [0,1] 0.35540777487918573 Centerline is valid? [False, False] Translation: X:23.64, Y:1.05, Z:2.24 [[ 9.90163388e-01 5.06010605e-03 -1.39824388e-01 2.36355315e+01] [-5.54305542e-03 9.99979941e-01 -3.06474426e-03 1.04716808e+00] [ 1.39806075e-01 3.80965190e-03 9.90171575e-01 2.23588034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.99463044000004 meters Centerline goodness [0,1] 0.3554883541371767 Centerline is valid? [False, False] Translation: X:23.64, Y:1.05, Z:2.24 [[ 9.90114132e-01 5.01544990e-03 -1.40174357e-01 2.36368612e+01] [-5.52177024e-03 9.99979560e-01 -3.22338105e-03 1.04812549e+00] [ 1.40155325e-01 3.96552572e-03 9.90121588e-01 2.23541062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.02463044 meters Centerline goodness [0,1] 0.3531940503825982 Centerline is valid? [False, False] Translation: X:23.64, Y:1.05, Z:2.23 [[ 9.90084315e-01 4.98326519e-03 -1.40385954e-01 2.36378884e+01] [-5.51736815e-03 9.99978946e-01 -3.41557953e-03 1.04956666e+00] [ 1.40365978e-01 4.15627272e-03 9.90090964e-01 2.23491721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.05463044000004 meters Centerline goodness [0,1] 0.3556202176958724 Centerline is valid? [False, False] Translation: X:23.64, Y:1.05, Z:2.23 [[ 9.90081072e-01 4.99982612e-03 -1.40408232e-01 2.36382910e+01] [-5.55648083e-03 9.99978180e-01 -3.57279247e-03 1.05107748e+00] [ 1.40387305e-01 4.31752984e-03 9.90087250e-01 2.23454458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.08463044 meters Centerline goodness [0,1] 0.356036748257064 Centerline is valid? [False, False] Translation: X:23.64, Y:1.05, Z:2.23 [[ 9.90121183e-01 5.25361213e-03 -1.40115816e-01 2.36378741e+01] [-5.81503148e-03 9.99976621e-01 -3.59771337e-03 1.05312865e+00] [ 1.40093639e-01 4.37695010e-03 9.90128585e-01 2.23420262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.11463044 meters Centerline goodness [0,1] 0.35488115266813336 Centerline is valid? [False, False] Translation: X:23.64, Y:1.05, Z:2.23 [[ 9.90119007e-01 5.25889559e-03 -1.40130998e-01 2.36379706e+01] [-5.82531473e-03 9.99976436e-01 -3.63219538e-03 1.05368479e+00] [ 1.40108594e-01 4.41261285e-03 9.90126310e-01 2.23419120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.14463044 meters Centerline goodness [0,1] 0.35529807754547216 Centerline is valid? [False, False] Translation: X:23.64, Y:1.05, Z:2.23 [[ 9.90098475e-01 5.18397137e-03 -1.40278782e-01 2.36383790e+01] [-5.76631156e-03 9.99976361e-01 -3.74516692e-03 1.05420649e+00] [ 1.40256051e-01 4.51697521e-03 9.90104963e-01 2.23419613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.17463044 meters Centerline goodness [0,1] 0.3534399484812708 Centerline is valid? [False, False] Translation: X:23.64, Y:1.05, Z:2.23 [[ 9.90059879e-01 5.07106169e-03 -1.40555047e-01 2.36392558e+01] [-5.66643858e-03 9.99976588e-01 -3.83600976e-03 1.05417296e+00] [ 1.40532303e-01 4.59432589e-03 9.90065434e-01 2.23407823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.20463044 meters Centerline goodness [0,1] 0.3530982335476429 Centerline is valid? [False, False] Translation: X:23.64, Y:1.05, Z:2.23 [[ 9.90025972e-01 4.91851529e-03 -1.40799089e-01 2.36399734e+01] [-5.52605995e-03 9.99977031e-01 -3.92431912e-03 1.05384518e+00] [ 1.40776554e-01 4.66324206e-03 9.90030412e-01 2.23400276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.23463044 meters Centerline goodness [0,1] 0.3551329655942135 Centerline is valid? [False, False] Translation: X:23.64, Y:1.05, Z:2.23 [[ 9.90013502e-01 4.85583753e-03 -1.40888919e-01 2.36399105e+01] [-5.43475967e-03 9.99978295e-01 -3.72458899e-03 1.05197947e+00] [ 1.40867775e-01 4.45309080e-03 9.90018404e-01 2.23436408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.26463044 meters Centerline goodness [0,1] 0.3556432416203813 Centerline is valid? [False, False] Translation: X:23.64, Y:1.05, Z:2.23 [[ 9.90045267e-01 4.92494096e-03 -1.40663122e-01 2.36391988e+01] [-5.47244132e-03 9.99978881e-01 -3.50573534e-03 1.05081833e+00] [ 1.40642886e-01 4.24060736e-03 9.90051310e-01 2.23458382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.29463044 meters Centerline goodness [0,1] 0.35495192716753166 Centerline is valid? [False, False] Translation: X:23.66, Y:1.05, Z:2.24 [[ 9.90149200e-01 -2.12266866e-03 -1.40000201e-01 2.36584651e+01] [ 1.79627041e-03 9.99995366e-01 -2.45773299e-03 1.05414262e+00] [ 1.40004770e-01 2.18204413e-03 9.90148425e-01 2.23838307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.32463044 meters Centerline goodness [0,1] 0.35703859528613746 Centerline is valid? [False, False] Translation: X:23.66, Y:1.05, Z:2.24 [[ 9.90124261e-01 -2.18787868e-03 -1.40175462e-01 2.36588687e+01] [ 1.86750004e-03 9.99995335e-01 -2.41705190e-03 1.05317438e+00] [ 1.40180097e-01 2.13140405e-03 9.90123728e-01 2.23849676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.35463044 meters Centerline goodness [0,1] 0.35691935866727087 Centerline is valid? [False, False] Translation: X:23.66, Y:1.05, Z:2.24 [[ 9.90031803e-01 -2.23143167e-03 -1.40826308e-01 2.36605959e+01] [ 1.92657991e-03 9.99995497e-01 -2.30103482e-03 1.05166588e+00] [ 1.40830808e-01 2.00678452e-03 9.90031644e-01 2.23844288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.38463044 meters Centerline goodness [0,1] 0.3567121274342404 Centerline is valid? [False, False] Translation: X:23.66, Y:1.05, Z:2.24 [[ 9.90030312e-01 -2.08162155e-03 -1.40839083e-01 2.36606541e+01] [ 1.79682523e-03 9.99996076e-01 -2.14927516e-03 1.05139727e+00] [ 1.40843004e-01 1.87478434e-03 9.90030168e-01 2.23846750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.41463044 meters Centerline goodness [0,1] 0.3558603169135377 Centerline is valid? [False, False] Translation: X:23.68, Y:1.05, Z:2.24 [[ 9.90160588e-01 5.87249377e-03 -1.39812461e-01 2.36790421e+01] [-6.45205606e-03 9.99972368e-01 -3.69237552e-03 1.04895147e+00] [ 1.39786915e-01 4.55812256e-03 9.90171118e-01 2.24225048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.44463044 meters Centerline goodness [0,1] 0.3573976193545615 Centerline is valid? [False, False] Translation: X:23.68, Y:1.05, Z:2.24 [[ 9.90187962e-01 5.79989544e-03 -1.39621490e-01 2.36785101e+01] [-6.39485617e-03 9.99972283e-01 -3.81298692e-03 1.04938084e+00] [ 1.39595505e-01 4.66843309e-03 9.90197607e-01 2.24237792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.47463044 meters Centerline goodness [0,1] 0.35731347780240585 Centerline is valid? [False, False] Translation: X:23.68, Y:1.05, Z:2.24 [[ 9.90207242e-01 5.82101377e-03 -1.39483815e-01 2.36781604e+01] [-6.41874034e-03 9.99972043e-01 -3.83580081e-03 1.04958413e+00] [ 1.39457587e-01 4.69354813e-03 9.90216922e-01 2.24242399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.50463044 meters Centerline goodness [0,1] 0.3632331409869951 Centerline is valid? [False, False] Translation: X:23.68, Y:1.05, Z:2.24 [[ 9.90209855e-01 5.85602922e-03 -1.39463795e-01 2.36781653e+01] [-6.46103230e-03 9.99971578e-01 -3.88570441e-03 1.05026337e+00] [ 1.39437076e-01 4.74874288e-03 9.90219547e-01 2.24239650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.53463044 meters Centerline goodness [0,1] 0.3577502195377926 Centerline is valid? [False, False] Translation: X:23.68, Y:1.05, Z:2.24 [[ 9.90147191e-01 6.05385297e-03 -1.39899577e-01 2.36795780e+01] [-6.66919206e-03 9.99970038e-01 -3.93003475e-03 1.05207480e+00] [ 1.39871593e-01 4.82433001e-03 9.90157898e-01 2.24214827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.56463044000003 meters Centerline goodness [0,1] 0.3567350255543913 Centerline is valid? [False, False] Translation: X:23.68, Y:1.05, Z:2.24 [[ 9.90101229e-01 5.97771655e-03 -1.40227756e-01 2.36805678e+01] [-6.61900736e-03 9.99969659e-01 -4.10726205e-03 1.05304038e+00] [ 1.40198950e-01 4.99477375e-03 9.90110755e-01 2.24200765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.59463044 meters Centerline goodness [0,1] 0.35973590261946753 Centerline is valid? [False, False] Translation: X:23.68, Y:1.05, Z:2.24 [[ 9.90087504e-01 5.95200087e-03 -1.40325724e-01 2.36809613e+01] [-6.60616411e-03 9.99969374e-01 -4.19639347e-03 1.05359221e+00] [ 1.40296449e-01 5.08181149e-03 9.90096501e-01 2.24184537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.62463044000003 meters Centerline goodness [0,1] 0.3603092783505155 Centerline is valid? [False, False] Translation: X:23.68, Y:1.05, Z:2.24 [[ 9.90075715e-01 5.89750972e-03 -1.40411178e-01 2.36808906e+01] [-6.57115476e-03 9.99969015e-01 -4.33451073e-03 1.05447740e+00] [ 1.40381264e-01 5.21415738e-03 9.90083791e-01 2.24220927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.65463044 meters Centerline goodness [0,1] 0.36085804742521166 Centerline is valid? [False, False] Translation: X:23.68, Y:1.05, Z:2.24 [[ 9.90092409e-01 5.87520350e-03 -1.40294347e-01 2.36805889e+01] [-6.55534720e-03 9.99968893e-01 -4.38634039e-03 1.05471418e+00] [ 1.40264213e-01 5.26256048e-03 9.90100124e-01 2.24222797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.68463044000003 meters Centerline goodness [0,1] 0.35855396930716377 Centerline is valid? [False, False] Translation: X:23.70, Y:1.06, Z:2.25 [[ 9.90000473e-01 -4.99249312e-04 -1.41063154e-01 2.36983206e+01] [ 3.52561180e-05 9.99994582e-01 -3.29173862e-03 1.06006018e+00] [ 1.41064033e-01 3.25384946e-03 9.89995127e-01 2.24675946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.71463044 meters Centerline goodness [0,1] 0.3624073359900587 Centerline is valid? [False, False] Translation: X:23.70, Y:1.06, Z:2.25 [[ 9.89997556e-01 -3.65935075e-04 -1.41084033e-01 2.36983514e+01] [-8.43312616e-05 9.99994923e-01 -3.18548422e-03 1.06011421e+00] [ 1.41084482e-01 3.16551939e-03 9.89992499e-01 2.24682657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.74463044000004 meters Centerline goodness [0,1] 0.36395661046074534 Centerline is valid? [False, False] Translation: X:23.70, Y:1.06, Z:2.25 [[ 9.89989862e-01 -3.82149466e-04 -1.41137974e-01 2.36985624e+01] [-7.46683601e-05 9.99994776e-01 -3.23136556e-03 1.06035346e+00] [ 1.41138472e-01 3.20955769e-03 9.89984662e-01 2.24678126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.77463044 meters Centerline goodness [0,1] 0.3609576427255985 Centerline is valid? [False, False] Translation: X:23.70, Y:1.06, Z:2.25 [[ 9.89980969e-01 -4.01503217e-04 -1.41200281e-01 2.36988164e+01] [-6.20705966e-05 9.99994623e-01 -3.27867454e-03 1.06060224e+00] [ 1.41200838e-01 3.25458978e-03 9.89975621e-01 2.24671976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.80463044000004 meters Centerline goodness [0,1] 0.36334529514150027 Centerline is valid? [False, False] Translation: X:23.70, Y:1.06, Z:2.25 [[ 9.89980476e-01 -3.76218901e-04 -1.41203811e-01 2.36988865e+01] [-9.06114238e-05 9.99994552e-01 -3.29963043e-03 1.06093690e+00] [ 1.41204283e-01 3.27936438e-03 9.89975048e-01 2.24668330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.83463044 meters Centerline goodness [0,1] 0.36319669840723945 Centerline is valid? [False, False] Translation: X:23.70, Y:1.06, Z:2.25 [[ 9.89972940e-01 -3.67929182e-04 -1.41256658e-01 2.36990461e+01] [-1.04378111e-04 9.99994429e-01 -3.33618710e-03 1.06134697e+00] [ 1.41257098e-01 3.31747905e-03 9.89967387e-01 2.24670148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.86463044 meters Centerline goodness [0,1] 0.3617558345990117 Centerline is valid? [False, False] Translation: X:23.70, Y:1.06, Z:2.25 [[ 9.89965759e-01 -3.25923225e-04 -1.41307075e-01 2.36991359e+01] [-1.45692720e-04 9.99994454e-01 -3.32716690e-03 1.06155958e+00] [ 1.41307375e-01 3.31436872e-03 9.89960222e-01 2.24680644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.89463044 meters Centerline goodness [0,1] 0.3650961289766359 Centerline is valid? [False, False] Translation: X:23.70, Y:1.06, Z:2.25 [[ 9.89940704e-01 -3.11703644e-04 -1.41482527e-01 2.36994781e+01] [-1.59373299e-04 9.99994482e-01 -3.31823335e-03 1.06160263e+00] [ 1.41482781e-01 3.30740279e-03 9.89935192e-01 2.24697486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.92463044 meters Centerline goodness [0,1] 0.3616865655587824 Centerline is valid? [False, False] Translation: X:23.70, Y:1.06, Z:2.25 [[ 9.89910408e-01 -3.07290639e-04 -1.41694351e-01 2.37000066e+01] [-1.68184480e-04 9.99994396e-01 -3.34365118e-03 1.06181768e+00] [ 1.41694585e-01 3.33374590e-03 9.89904809e-01 2.24702978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.95463044 meters Centerline goodness [0,1] 0.3632537364713967 Centerline is valid? [False, False] Translation: X:23.70, Y:1.06, Z:2.25 [[ 9.89898969e-01 -3.43143091e-04 -1.41774163e-01 2.37001874e+01] [-1.38640080e-04 9.99994250e-01 -3.38835215e-03 1.06188842e+00] [ 1.41774510e-01 3.37378188e-03 9.89893229e-01 2.24710270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.98463044 meters Centerline goodness [0,1] 0.36531532503398134 Centerline is valid? [False, False] Translation: X:23.70, Y:1.06, Z:2.25 [[ 9.89894218e-01 -3.98516222e-04 -1.41807189e-01 2.37002785e+01] [-9.38747875e-05 9.99993991e-01 -3.46555023e-03 1.06203460e+00] [ 1.41807718e-01 3.44384025e-03 9.89888232e-01 2.24714073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.01463044 meters Centerline goodness [0,1] 0.3607402201920824 Centerline is valid? [False, False] Translation: X:23.72, Y:1.06, Z:2.25 [[ 9.90070500e-01 5.80517528e-03 -1.40451788e-01 2.37219889e+01] [-6.75249576e-03 9.99957550e-01 -6.26918332e-03 1.06226098e+00] [ 1.40409432e-01 7.15533357e-03 9.90067671e-01 2.24983939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.04463044 meters Centerline goodness [0,1] 0.363107254843005 Centerline is valid? [False, False] Translation: X:23.72, Y:1.06, Z:2.25 [[ 9.90084559e-01 5.77676292e-03 -1.40353820e-01 2.37216938e+01] [-6.72435569e-03 9.99957683e-01 -6.27814957e-03 1.06209473e+00] [ 1.40311613e-01 7.15968796e-03 9.90081507e-01 2.24992637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.07463044 meters Centerline goodness [0,1] 0.36689129545503474 Centerline is valid? [False, False] Translation: X:23.72, Y:1.06, Z:2.25 [[ 9.90092684e-01 5.79644585e-03 -1.40295681e-01 2.37212956e+01] [-6.73510507e-03 9.99957995e-01 -6.21669807e-03 1.06176171e+00] [ 1.40253753e-01 7.10001343e-03 9.90090135e-01 2.25026778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.10463044 meters Centerline goodness [0,1] 0.3664471002209968 Centerline is valid? [False, False] Translation: X:23.74, Y:1.07, Z:2.25 [[ 9.90151310e-01 -9.00281306e-04 -1.39998471e-01 2.37388715e+01] [ 2.40224539e-04 9.99988777e-01 -4.73156994e-03 1.06544843e+00] [ 1.40001160e-01 4.65133911e-03 9.90140414e-01 2.25498512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.13463044 meters Centerline goodness [0,1] 0.368520304296582 Centerline is valid? [False, False] Translation: X:23.74, Y:1.06, Z:2.26 [[ 9.90147795e-01 -1.00045131e-03 -1.40022653e-01 2.37385541e+01] [ 3.67391312e-04 9.99989595e-01 -4.54690142e-03 1.06329667e+00] [ 1.40025745e-01 4.45066131e-03 9.90137860e-01 2.25554081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.16463044 meters Centerline goodness [0,1] 0.36660929432013767 Centerline is valid? [False, False] Translation: X:23.74, Y:1.06, Z:2.26 [[ 9.90133011e-01 -9.63430704e-04 -1.40127415e-01 2.37387485e+01] [ 3.60451507e-04 9.99990567e-01 -4.32839413e-03 1.06175596e+00] [ 1.40130263e-01 4.23517678e-03 9.90124019e-01 2.25566095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.19463044 meters Centerline goodness [0,1] 0.36647396350144523 Centerline is valid? [False, False] Translation: X:23.74, Y:1.06, Z:2.26 [[ 9.90111116e-01 -9.16848461e-04 -1.40282349e-01 2.37390793e+01] [ 3.49580285e-04 9.99991663e-01 -4.06834854e-03 1.05990095e+00] [ 1.40284910e-01 3.97907717e-03 9.90103182e-01 2.25576468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.22463044 meters Centerline goodness [0,1] 0.36647396350144523 Centerline is valid? [False, False] Translation: X:23.74, Y:1.06, Z:2.26 [[ 9.90111116e-01 -9.16848461e-04 -1.40282349e-01 2.37390793e+01] [ 3.49580285e-04 9.99991663e-01 -4.06834854e-03 1.05990095e+00] [ 1.40284910e-01 3.97907717e-03 9.90103182e-01 2.25576468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.25463044 meters Centerline goodness [0,1] 0.36898523106241066 Centerline is valid? [False, False] Translation: X:23.74, Y:1.06, Z:2.26 [[ 9.90090216e-01 -8.75796307e-04 -1.40430046e-01 2.37394118e+01] [ 3.46805508e-04 9.99992753e-01 -3.79136256e-03 1.05789532e+00] [ 1.40432349e-01 3.70508906e-03 9.90083344e-01 2.25587993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.28463044 meters Centerline goodness [0,1] 0.36698693727734 Centerline is valid? [False, False] Translation: X:23.74, Y:1.05, Z:2.26 [[ 9.90048012e-01 -1.00140271e-03 -1.40726441e-01 2.37400370e+01] [ 5.13132065e-04 9.99993723e-01 -3.50588730e-03 1.05423450e+00] [ 1.40729068e-01 3.39878550e-03 9.90042311e-01 2.25614422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.31463044000003 meters Centerline goodness [0,1] 0.36678711167176237 Centerline is valid? [False, False] Translation: X:23.76, Y:1.05, Z:2.26 [[ 9.90163519e-01 5.17972283e-03 -1.39819085e-01 2.37605861e+01] [-6.11314582e-03 9.99961800e-01 -6.24728034e-03 1.05206662e+00] [ 1.39781385e-01 7.04056354e-03 9.90157359e-01 2.25923598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.34463044 meters Centerline goodness [0,1] 0.3699820251647693 Centerline is valid? [False, False] Translation: X:23.76, Y:1.05, Z:2.26 [[ 9.90158262e-01 5.28291109e-03 -1.39852450e-01 2.37606588e+01] [-6.18448119e-03 9.99962799e-01 -6.01276983e-03 1.05070436e+00] [ 1.39815482e-01 6.81850857e-03 9.90154099e-01 2.25927344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.37463044000003 meters Centerline goodness [0,1] 0.36516817801787893 Centerline is valid? [False, False] Translation: X:23.76, Y:1.05, Z:2.26 [[ 9.90160372e-01 5.38215099e-03 -1.39833721e-01 2.37607504e+01] [-6.25286767e-03 9.99963699e-01 -5.78820448e-03 1.04944366e+00] [ 1.39797491e-01 6.60561245e-03 9.90158082e-01 2.25912669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.40463044 meters Centerline goodness [0,1] 0.3669465991409706 Centerline is valid? [False, False] Translation: X:23.76, Y:1.05, Z:2.26 [[ 9.90107966e-01 5.38799190e-03 -1.40204086e-01 2.37619633e+01] [-6.20738900e-03 9.99966112e-01 -5.40765974e-03 1.04573995e+00] [ 1.40170198e-01 6.22446829e-03 9.90107859e-01 2.25898257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.43463044000003 meters Centerline goodness [0,1] 0.36600306278713635 Centerline is valid? [False, False] Translation: X:23.76, Y:1.04, Z:2.26 [[ 9.90080718e-01 5.35216887e-03 -1.40397741e-01 2.37625708e+01] [-6.14892115e-03 9.99967357e-01 -5.24178026e-03 1.04377509e+00] [ 1.40365103e-01 6.05308020e-03 9.90081309e-01 2.25890952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.46463044 meters Centerline goodness [0,1] 0.36484675755577767 Centerline is valid? [False, False] Translation: X:23.76, Y:1.04, Z:2.26 [[ 9.90045098e-01 5.36692837e-03 -1.40648144e-01 2.37630750e+01] [-6.13784094e-03 9.99968422e-01 -5.04791898e-03 1.04190343e+00] [ 1.40616611e-01 5.86094337e-03 9.90046776e-01 2.25906987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.49463044000004 meters Centerline goodness [0,1] 0.37091981741452074 Centerline is valid? [False, False] Translation: X:23.76, Y:1.04, Z:2.26 [[ 9.90032973e-01 5.49179949e-03 -1.40728648e-01 2.37631671e+01] [-6.22503964e-03 9.99969245e-01 -4.77062719e-03 1.04025292e+00] [ 1.40698121e-01 5.59911963e-03 9.90036711e-01 2.25921076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.52463044 meters Centerline goodness [0,1] 0.36852696251578787 Centerline is valid? [False, False] Translation: X:23.78, Y:1.04, Z:2.26 [[ 9.90058226e-01 -1.01835369e-03 -1.40654445e-01 2.37816896e+01] [ 5.61396500e-04 9.99994436e-01 -3.28843356e-03 1.04314149e+00] [ 1.40657011e-01 3.17677778e-03 9.90053288e-01 2.26347262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.55463044000004 meters Centerline goodness [0,1] 0.36812396711952444 Centerline is valid? [False, False] Translation: X:23.78, Y:1.04, Z:2.26 [[ 9.90066230e-01 -8.23797913e-04 -1.40599367e-01 2.37815242e+01] [ 4.06244932e-04 9.99995422e-01 -2.99848258e-03 1.04197566e+00] [ 1.40601194e-01 2.91157857e-03 9.90062032e-01 2.26356017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.58463044 meters Centerline goodness [0,1] 0.3689270715640922 Centerline is valid? [False, False] Translation: X:23.80, Y:1.04, Z:2.27 [[ 9.90224977e-01 7.46201957e-03 -1.39279622e-01 2.38010194e+01] [-8.13054504e-03 9.99957993e-01 -4.23150673e-03 1.03870229e+00] [ 1.39242195e-01 5.32256289e-03 9.90244051e-01 2.26678698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.61463044 meters Centerline goodness [0,1] 0.3719466506818523 Centerline is valid? [False, False] Translation: X:23.80, Y:1.04, Z:2.27 [[ 9.90223872e-01 7.46454423e-03 -1.39287341e-01 2.38014434e+01] [-8.14086546e-03 9.99957675e-01 -4.28647010e-03 1.03897178e+00] [ 1.39249450e-01 5.37848453e-03 9.90242729e-01 2.26637225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.64463044 meters Centerline goodness [0,1] 0.3704078338534381 Centerline is valid? [False, False] Translation: X:23.80, Y:1.04, Z:2.27 [[ 9.90201369e-01 7.47538792e-03 -1.39446645e-01 2.38021314e+01] [-8.15832330e-03 9.99957361e-01 -4.32648429e-03 1.03924295e+00] [ 1.39408357e-01 5.42174148e-03 9.90220134e-01 2.26610518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.67463044 meters Centerline goodness [0,1] 0.37055728551487166 Centerline is valid? [False, False] Translation: X:23.80, Y:1.04, Z:2.27 [[ 9.90179549e-01 7.47276532e-03 -1.39601639e-01 2.38027075e+01] [-8.16246032e-03 9.99957144e-01 -4.36854624e-03 1.03961408e+00] [ 1.39563011e-01 5.46513798e-03 9.90198111e-01 2.26593945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.70463044 meters Centerline goodness [0,1] 0.37173936456650514 Centerline is valid? [False, False] Translation: X:23.80, Y:1.04, Z:2.27 [[ 9.90179537e-01 7.50024329e-03 -1.39600251e-01 2.38026920e+01] [-8.18808215e-03 9.99957000e-01 -4.35350657e-03 1.03965083e+00] [ 1.39561596e-01 5.45381144e-03 9.90198372e-01 2.26601527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.73463044 meters Centerline goodness [0,1] 0.37079852133592595 Centerline is valid? [False, False] Translation: X:23.82, Y:1.04, Z:2.27 [[ 9.90374890e-01 8.51706649e-04 -1.38408277e-01 2.38212055e+01] [-1.29778766e-03 9.99994251e-01 -3.13272129e-03 1.04374300e+00] [ 1.38404813e-01 3.28219305e-03 9.90370302e-01 2.26985314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.76463044 meters Centerline goodness [0,1] 0.3699311235471373 Centerline is valid? [False, False] Translation: X:23.82, Y:1.04, Z:2.27 [[ 9.90392587e-01 8.73319478e-04 -1.38281457e-01 2.38209246e+01] [-1.31544747e-03 9.99994311e-01 -3.10594723e-03 1.04363397e+00] [ 1.38277958e-01 3.25800911e-03 9.90388102e-01 2.26982120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.79463044 meters Centerline goodness [0,1] 0.36956800410203816 Centerline is valid? [False, False] Translation: X:23.82, Y:1.04, Z:2.27 [[ 9.90401879e-01 9.15207040e-04 -1.38214617e-01 2.38209679e+01] [-1.35309582e-03 9.99994359e-01 -3.07425344e-03 1.04372771e+00] [ 1.38211024e-01 3.23176401e-03 9.90397531e-01 2.26966438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.82463044 meters Centerline goodness [0,1] 0.36700991283541273 Centerline is valid? [False, False] Translation: X:23.82, Y:1.04, Z:2.27 [[ 9.90392214e-01 9.39031004e-04 -1.38283694e-01 2.38214971e+01] [-1.37721520e-03 9.99994330e-01 -3.07308493e-03 1.04394506e+00] [ 1.38280024e-01 3.23400580e-03 9.90387892e-01 2.26934521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.85463044 meters Centerline goodness [0,1] 0.3662104969170945 Centerline is valid? [False, False] Translation: X:23.82, Y:1.04, Z:2.27 [[ 9.90386884e-01 9.13897463e-04 -1.38322036e-01 2.38220202e+01] [-1.35355744e-03 9.99994327e-01 -3.08449228e-03 1.04381960e+00] [ 1.38318432e-01 3.24206752e-03 9.90382502e-01 2.26893411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.88463044 meters Centerline goodness [0,1] 0.3655222665123655 Centerline is valid? [False, False] Translation: X:23.82, Y:1.04, Z:2.27 [[ 9.90354698e-01 7.82540071e-04 -1.38553097e-01 2.38228573e+01] [-1.22669876e-03 9.99994379e-01 -3.12032874e-03 1.04290302e+00] [ 1.38549876e-01 3.26019514e-03 9.90350091e-01 2.26873288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.91463044 meters Centerline goodness [0,1] 0.36683008284986407 Centerline is valid? [False, False] Translation: X:23.82, Y:1.04, Z:2.27 [[ 9.90353220e-01 8.27032778e-04 -1.38563399e-01 2.38230652e+01] [-1.25379099e-03 9.99994736e-01 -2.99261940e-03 1.04226495e+00] [ 1.38560194e-01 3.13747980e-03 9.90349044e-01 2.26858011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.94463044 meters Centerline goodness [0,1] 0.36580188679245285 Centerline is valid? [False, False] Translation: X:23.82, Y:1.04, Z:2.27 [[ 9.90358673e-01 9.14238253e-04 -1.38523874e-01 2.38230617e+01] [-1.32268580e-03 9.99995045e-01 -2.85654462e-03 1.04187190e+00] [ 1.38520577e-01 3.01222729e-03 9.90354975e-01 2.26852655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.97463044 meters Centerline goodness [0,1] 0.36298544467480287 Centerline is valid? [False, False] Translation: X:23.82, Y:1.04, Z:2.27 [[ 9.90346634e-01 9.17201200e-04 -1.38609897e-01 2.38238504e+01] [-1.32468903e-03 9.99995068e-01 -2.84759355e-03 1.04187193e+00] [ 1.38606601e-01 3.00371970e-03 9.90342965e-01 2.26804194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.00463044 meters Centerline goodness [0,1] 0.36491048156219286 Centerline is valid? [False, False] Translation: X:23.82, Y:1.04, Z:2.27 [[ 9.90328006e-01 9.25994306e-04 -1.38742869e-01 2.38243869e+01] [-1.33609139e-03 9.99995010e-01 -2.86269873e-03 1.04212364e+00] [ 1.38739526e-01 3.02038387e-03 9.90324301e-01 2.26789354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.03463044 meters Centerline goodness [0,1] 0.3638873432350298 Centerline is valid? [False, False] Translation: X:23.82, Y:1.04, Z:2.27 [[ 9.90331580e-01 9.96390238e-04 -1.38716869e-01 2.38243688e+01] [-1.39957742e-03 9.99995075e-01 -2.80903388e-03 1.04220214e+00] [ 1.38713387e-01 2.97601996e-03 9.90328097e-01 2.26786702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.06463044000003 meters Centerline goodness [0,1] 0.36440605307154794 Centerline is valid? [False, False] Translation: X:23.82, Y:1.04, Z:2.27 [[ 9.90347215e-01 1.02459892e-03 -1.38604994e-01 2.38240993e+01] [-1.42595015e-03 9.99995073e-01 -2.79637756e-03 1.04237195e+00] [ 1.38601446e-01 2.96702854e-03 9.90343797e-01 2.26786069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.09463044 meters Centerline goodness [0,1] 0.363831246784428 Centerline is valid? [False, False] Translation: X:23.82, Y:1.04, Z:2.27 [[ 9.90372499e-01 9.60908825e-04 -1.38424671e-01 2.38236909e+01] [-1.36828184e-03 9.99995009e-01 -2.84779206e-03 1.04235880e+00] [ 1.38421243e-01 3.00977890e-03 9.90368871e-01 2.26787550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.12463044000003 meters Centerline goodness [0,1] 0.3644014895494758 Centerline is valid? [False, False] Translation: X:23.82, Y:1.04, Z:2.27 [[ 9.90377323e-01 9.03014491e-04 -1.38390547e-01 2.38238113e+01] [-1.30490043e-03 9.99995191e-01 -2.81329650e-03 1.04155742e+00] [ 1.38387341e-01 2.96681094e-03 9.90373739e-01 2.26766514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.15463044 meters Centerline goodness [0,1] 0.36198173476825446 Centerline is valid? [False, False] Translation: X:23.82, Y:1.04, Z:2.27 [[ 9.90325239e-01 8.28101609e-04 -1.38763236e-01 2.38249485e+01] [-1.23042669e-03 9.99995285e-01 -2.81360478e-03 1.04116792e+00] [ 1.38760251e-01 2.95712181e-03 9.90321588e-01 2.26750790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.18463044000003 meters Centerline goodness [0,1] 0.35773457311918855 Centerline is valid? [False, False] Translation: X:23.87, Y:1.04, Z:2.27 [[ 9.90200826e-01 1.86720672e-03 -1.39638241e-01 2.38666338e+01] [-2.39379307e-03 9.99990643e-01 -3.60321509e-03 1.04275319e+00] [ 1.39630207e-01 3.90217161e-03 9.90196030e-01 2.27463339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.21463044 meters Centerline goodness [0,1] 0.3607759539543808 Centerline is valid? [False, False] Translation: X:23.87, Y:1.04, Z:2.27 [[ 9.90168968e-01 1.92364114e-03 -1.39863198e-01 2.38675092e+01] [-2.42689125e-03 9.99991181e-01 -3.42769387e-03 1.04173842e+00] [ 1.39855371e-01 3.73342887e-03 9.90164904e-01 2.27433296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.24463044000004 meters Centerline goodness [0,1] 0.3603011957986608 Centerline is valid? [False, False] Translation: X:23.87, Y:1.04, Z:2.27 [[ 9.90156905e-01 1.92870940e-03 -1.39948502e-01 2.38679685e+01] [-2.41235994e-03 9.99991690e-01 -3.28636234e-03 1.04059976e+00] [ 1.39941001e-01 3.59162052e-03 9.90153330e-01 2.27413813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.27463044 meters Centerline goodness [0,1] 0.35869844258086603 Centerline is valid? [False, False] Translation: X:23.87, Y:1.04, Z:2.27 [[ 9.90123603e-01 1.84435429e-03 -1.40185055e-01 2.38686156e+01] [-2.28964395e-03 9.99992833e-01 -3.01522478e-03 1.03742986e+00] [ 1.40178489e-01 3.30641908e-03 9.90120729e-01 2.27415678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.30463044000004 meters Centerline goodness [0,1] 0.3618594594594594 Centerline is valid? [False, False] Translation: X:23.87, Y:1.04, Z:2.27 [[ 9.90105629e-01 1.90990437e-03 -1.40311068e-01 2.38688081e+01] [-2.32281927e-03 9.99993440e-01 -2.77914349e-03 1.03564159e+00] [ 1.40304840e-01 3.07756286e-03 9.90103571e-01 2.27434107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.33463044 meters Centerline goodness [0,1] 0.3611027417896957 Centerline is valid? [False, False] Translation: X:23.87, Y:1.03, Z:2.27 [[ 9.90087751e-01 1.95305567e-03 -1.40436570e-01 2.38691788e+01] [-2.34328567e-03 9.99993840e-01 -2.61338481e-03 1.03440148e+00] [ 1.40430600e-01 2.91656329e-03 9.90086229e-01 2.27433807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.36463044 meters Centerline goodness [0,1] 0.3589533580481076 Centerline is valid? [False, False] Translation: X:23.87, Y:1.03, Z:2.27 [[ 9.90113244e-01 2.23128321e-03 -1.40252576e-01 2.38687107e+01] [-2.57202112e-03 9.99994165e-01 -2.24824381e-03 1.03296556e+00] [ 1.40246741e-01 2.58674856e-03 9.90113206e-01 2.27443331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.39463044 meters Centerline goodness [0,1] 0.36104497780065636 Centerline is valid? [False, False] Translation: X:23.87, Y:1.03, Z:2.27 [[ 9.90125181e-01 2.32670425e-03 -1.40166733e-01 2.38685385e+01] [-2.65476869e-03 9.99994157e-01 -2.15359713e-03 1.03283414e+00] [ 1.40160903e-01 2.50444100e-03 9.90125572e-01 2.27446179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.42463044 meters Centerline goodness [0,1] 0.359722461644544 Centerline is valid? [False, False] Translation: X:23.87, Y:1.03, Z:2.27 [[ 9.90148130e-01 2.41314457e-03 -1.40003065e-01 2.38682682e+01] [-2.74171722e-03 9.99993921e-01 -2.15406910e-03 1.03325617e+00] [ 1.39997016e-01 2.51669630e-03 9.90148727e-01 2.27433034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.45463044 meters Centerline goodness [0,1] 0.3609332212087888 Centerline is valid? [False, False] Translation: X:23.87, Y:1.03, Z:2.27 [[ 9.90179107e-01 2.51286357e-03 -1.39782051e-01 2.38678350e+01] [-2.84289395e-03 9.99993623e-01 -2.16141235e-03 1.03397179e+00] [ 1.39775728e-01 2.53757090e-03 9.90179936e-01 2.27424528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.48463044 meters Centerline goodness [0,1] 0.3588579826665802 Centerline is valid? [False, False] Translation: X:23.87, Y:1.04, Z:2.27 [[ 9.90247160e-01 2.78332459e-03 -1.39293986e-01 2.38671767e+01] [-3.10807117e-03 9.99992936e-01 -2.11390120e-03 1.03511918e+00] [ 1.39287119e-01 2.52622028e-03 9.90248816e-01 2.27363108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.51463044 meters Centerline goodness [0,1] 0.3597443267127107 Centerline is valid? [False, False] Translation: X:23.87, Y:1.04, Z:2.27 [[ 9.90257113e-01 2.72146930e-03 -1.39224438e-01 2.38671692e+01] [-3.06534805e-03 9.99992758e-01 -2.25558906e-03 1.03588337e+00] [ 1.39217292e-01 2.66038447e-03 9.90258284e-01 2.27346631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.54463044 meters Centerline goodness [0,1] 0.3587584577381592 Centerline is valid? [False, False] Translation: X:23.87, Y:1.04, Z:2.27 [[ 9.90259296e-01 2.61968333e-03 -1.39210862e-01 2.38671592e+01] [-2.97990549e-03 9.99992730e-01 -2.37923119e-03 1.03618079e+00] [ 1.39203617e-01 2.77089102e-03 9.90259903e-01 2.27342438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.57463044 meters Centerline goodness [0,1] 0.35678951538642745 Centerline is valid? [False, False] Translation: X:23.87, Y:1.04, Z:2.27 [[ 9.90222404e-01 2.35830188e-03 -1.39477699e-01 2.38682868e+01] [-2.74342313e-03 9.99992937e-01 -2.56896857e-03 1.03634937e+00] [ 1.39470655e-01 2.92649658e-03 9.90221880e-01 2.27296690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.60463044 meters Centerline goodness [0,1] 0.356534060413491 Centerline is valid? [False, False] Translation: X:23.87, Y:1.04, Z:2.27 [[ 9.90199267e-01 2.27689921e-03 -1.39643213e-01 2.38687447e+01] [-2.66165538e-03 9.99993159e-01 -2.56858582e-03 1.03601025e+00] [ 1.39636409e-01 2.91509390e-03 9.90198554e-01 2.27291805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.63463044 meters Centerline goodness [0,1] 0.35569908162389496 Centerline is valid? [False, False] Translation: X:23.87, Y:1.04, Z:2.27 [[ 9.90191383e-01 2.17503192e-03 -1.39700730e-01 2.38689450e+01] [-2.56260400e-03 9.99993351e-01 -2.59448132e-03 1.03568871e+00] [ 1.39694158e-01 2.92703070e-03 9.90190373e-01 2.27290600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.66463044 meters Centerline goodness [0,1] 0.3567488678556865 Centerline is valid? [False, False] Translation: X:23.87, Y:1.04, Z:2.27 [[ 9.90194652e-01 2.14348787e-03 -1.39678045e-01 2.38690309e+01] [-2.52036916e-03 9.99993645e-01 -2.52138272e-03 1.03506201e+00] [ 1.39671753e-01 2.84869992e-03 9.90193762e-01 2.27273768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.69463044 meters Centerline goodness [0,1] 0.3542805100182149 Centerline is valid? [False, False] Translation: X:23.89, Y:1.04, Z:2.28 [[ 9.90172604e-01 -4.61219227e-03 -1.39774609e-01 2.38879539e+01] [ 4.44976612e-03 9.99989013e-01 -1.47455314e-03 1.03938211e+00] [ 1.39779875e-01 8.38097801e-04 9.90182248e-01 2.27696700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.72463044 meters Centerline goodness [0,1] 0.35844842913206565 Centerline is valid? [False, False] Translation: X:23.84, Y:1.04, Z:2.27 [[ 9.89838798e-01 -6.24556620e-03 -1.42056845e-01 2.38445562e+01] [ 6.16000473e-03 9.99980484e-01 -1.04206619e-03 1.03559965e+00] [ 1.42060580e-01 1.56406708e-04 9.89857953e-01 2.27066799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.75463044 meters Centerline goodness [0,1] 0.3532127659574468 Centerline is valid? [False, False] Translation: X:23.87, Y:1.03, Z:2.27 [[ 9.89751822e-01 -6.28715577e-04 -1.42796834e-01 2.38683827e+01] [ 7.23346131e-05 9.99992387e-01 -3.90146938e-03 1.03369467e+00] [ 1.42798200e-01 3.85115727e-03 9.89744332e-01 2.27283774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.78463044 meters Centerline goodness [0,1] 0.3536316472114137 Centerline is valid? [False, False] Translation: X:23.85, Y:1.03, Z:2.27 [[ 9.89953197e-01 5.28820652e-03 -1.41296507e-01 2.38518916e+01] [-6.05402774e-03 9.99969221e-01 -4.99064259e-03 1.02788432e+00] [ 1.41265766e-01 5.79591555e-03 9.89954742e-01 2.26764136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.81463044000003 meters Centerline goodness [0,1] 0.3549718979680069 Centerline is valid? [False, False] Translation: X:23.85, Y:1.03, Z:2.27 [[ 9.89973039e-01 5.29660583e-03 -1.41157105e-01 2.38518651e+01] [-6.05418320e-03 9.99969481e-01 -4.93800118e-03 1.02759372e+00] [ 1.41126643e-01 5.74307901e-03 9.89974892e-01 2.26733468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.84463044 meters Centerline goodness [0,1] 0.3560378813849846 Centerline is valid? [False, False] Translation: X:23.87, Y:1.03, Z:2.27 [[ 9.90018823e-01 -1.17561062e-03 -1.40930292e-01 2.38701592e+01] [ 6.64428814e-04 9.99993029e-01 -3.67419513e-03 1.03184706e+00] [ 1.40933629e-01 3.54388420e-03 9.90012703e-01 2.27141594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.87463044000003 meters Centerline goodness [0,1] 0.3525935092922525 Centerline is valid? [False, False] Translation: X:23.89, Y:1.03, Z:2.27 [[ 9.90110141e-01 7.35636175e-03 -1.40099225e-01 2.38905216e+01] [-8.12287353e-03 9.99955003e-01 -4.90016069e-03 1.03118529e+00] [ 1.40056874e-01 5.98970708e-03 9.90125343e-01 2.27437222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.90463044 meters Centerline goodness [0,1] 0.3547369558172194 Centerline is valid? [False, False] Translation: X:23.89, Y:1.03, Z:2.27 [[ 9.90099029e-01 7.37819033e-03 -1.40176582e-01 2.38912135e+01] [-8.16966311e-03 9.99953766e-01 -5.07164816e-03 1.03285361e+00] [ 1.40132682e-01 6.16662938e-03 9.90113531e-01 2.27383502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.93463044000003 meters Centerline goodness [0,1] 0.35611797958875435 Centerline is valid? [False, False] Translation: X:23.89, Y:1.04, Z:2.27 [[ 9.90073510e-01 7.27651090e-03 -1.40362023e-01 2.38922636e+01] [-8.12299443e-03 9.99952108e-01 -5.45873576e-03 1.03545367e+00] [ 1.40315580e-01 6.54470960e-03 9.90085201e-01 2.27322577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.96463044 meters Centerline goodness [0,1] 0.35462550324011277 Centerline is valid? [False, False] Translation: X:23.89, Y:1.04, Z:2.27 [[ 9.90062531e-01 7.19140405e-03 -1.40443827e-01 2.38929832e+01] [-8.09312608e-03 9.99950136e-01 -5.85042040e-03 1.03822189e+00] [ 1.40394752e-01 6.92891163e-03 9.90071363e-01 2.27270198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.99463044000004 meters Centerline goodness [0,1] 0.3546551873323527 Centerline is valid? [False, False] Translation: X:23.89, Y:1.04, Z:2.27 [[ 9.90104802e-01 7.14025228e-03 -1.40148131e-01 2.38925158e+01] [-8.09239808e-03 9.99947879e-01 -6.22514243e-03 1.04106949e+00] [ 1.40096377e-01 7.29767787e-03 9.90110978e-01 2.27241953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.02463044 meters Centerline goodness [0,1] 0.35342606903657914 Centerline is valid? [False, False] Translation: X:23.89, Y:1.04, Z:2.27 [[ 9.90126522e-01 7.10324877e-03 -1.39996479e-01 2.38923119e+01] [-8.11173843e-03 9.99945091e-01 -6.63437130e-03 1.04473782e+00] [ 1.39941666e-01 7.70448180e-03 9.90129775e-01 2.27228787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.05463044000004 meters Centerline goodness [0,1] 0.354128598146914 Centerline is valid? [False, False] Translation: X:23.89, Y:1.05, Z:2.27 [[ 9.90255255e-01 8.13659720e-03 -1.39026348e-01 2.38904005e+01] [-9.12988282e-03 9.99937141e-01 -6.50832531e-03 1.05352240e+00] [ 1.38964653e-01 7.71419761e-03 9.90267295e-01 2.27183509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.08463044 meters Centerline goodness [0,1] 0.3554598809064816 Centerline is valid? [False, False] Translation: X:23.89, Y:1.06, Z:2.27 [[ 9.90277860e-01 7.85188797e-03 -1.38881635e-01 2.38902981e+01] [-8.92648716e-03 9.99934836e-01 -7.11632094e-03 1.05735270e+00] [ 1.38816708e-01 8.28686020e-03 9.90283419e-01 2.27159541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.11463044 meters Centerline goodness [0,1] 0.3554598809064816 Centerline is valid? [False, False] Translation: X:23.89, Y:1.06, Z:2.27 [[ 9.90277860e-01 7.85188797e-03 -1.38881635e-01 2.38902981e+01] [-8.92648716e-03 9.99934836e-01 -7.11632094e-03 1.05735270e+00] [ 1.38816708e-01 8.28686020e-03 9.90283419e-01 2.27159541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.14463044 meters Centerline goodness [0,1] 0.35428227298146 Centerline is valid? [False, False] Translation: X:23.89, Y:1.06, Z:2.27 [[ 9.90310526e-01 7.51650887e-03 -1.38667096e-01 2.38899533e+01] [-8.67155680e-03 9.99932544e-01 -7.72737131e-03 1.06056853e+00] [ 1.38599659e-01 8.85495675e-03 9.90308903e-01 2.27140720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.17463044 meters Centerline goodness [0,1] 0.3524546253241049 Centerline is valid? [False, False] Translation: X:23.89, Y:1.06, Z:2.27 [[ 9.90316163e-01 7.13902322e-03 -1.38646788e-01 2.38900483e+01] [-8.38004551e-03 9.99929863e-01 -8.36926720e-03 1.06377039e+00] [ 1.38577315e-01 9.45008697e-03 9.90306530e-01 2.27126774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.20463044 meters Centerline goodness [0,1] 0.35175954647555885 Centerline is valid? [False, False] Translation: X:23.89, Y:1.07, Z:2.27 [[ 9.90339182e-01 6.68169428e-03 -1.38505090e-01 2.38901209e+01] [-8.03665539e-03 9.99925146e-01 -9.22580249e-03 1.07076640e+00] [ 1.38433078e-01 1.02497914e-02 9.90318749e-01 2.27095891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.23463044 meters Centerline goodness [0,1] 0.3559797866367209 Centerline is valid? [False, False] Translation: X:23.89, Y:1.07, Z:2.27 [[ 9.90353550e-01 6.45592670e-03 -1.38413029e-01 2.38899689e+01] [-7.88080145e-03 9.99921424e-01 -9.74879521e-03 1.07417664e+00] [ 1.38339215e-01 1.07455595e-02 9.90326610e-01 2.27086179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.26463044 meters Centerline goodness [0,1] 0.3509929532351057 Centerline is valid? [False, False] Translation: X:23.91, Y:1.08, Z:2.27 [[ 9.90276575e-01 -1.57802713e-04 -1.39112471e-01 2.39084313e+01] [-1.14132602e-03 9.99956484e-01 -9.25886990e-03 1.08426697e+00] [ 1.39107878e-01 9.32761466e-03 9.90233303e-01 2.27480115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.29463044 meters Centerline goodness [0,1] 0.35115551172662174 Centerline is valid? [False, False] Translation: X:23.91, Y:1.09, Z:2.27 [[ 9.90273964e-01 -4.69463829e-04 -1.39130358e-01 2.39088010e+01] [-9.21712537e-04 9.99950227e-01 -9.93448451e-03 1.08847591e+00] [ 1.39128097e-01 9.96609954e-03 9.90224242e-01 2.27448094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.32463044 meters Centerline goodness [0,1] 0.3518935253648814 Centerline is valid? [False, False] Translation: X:23.91, Y:1.09, Z:2.27 [[ 9.90264426e-01 -7.52552008e-04 -1.39196983e-01 2.39094710e+01] [-7.31363335e-04 9.99943455e-01 -1.06090845e-02 1.09327161e+00] [ 1.39197096e-01 1.06076025e-02 9.90207881e-01 2.27397418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.35463044 meters Centerline goodness [0,1] 0.3479109890345701 Centerline is valid? [False, False] Translation: X:23.91, Y:1.10, Z:2.27 [[ 9.90167982e-01 1.61562793e-03 -1.39874078e-01 2.39128482e+01] [-2.94956679e-03 9.99952125e-01 -9.32993462e-03 1.10251103e+00] [ 1.39852308e-01 9.65077047e-03 9.90125343e-01 2.27254943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.38463044 meters Centerline goodness [0,1] 0.3489267906439256 Centerline is valid? [False, False] Translation: X:23.91, Y:1.11, Z:2.27 [[ 9.90162523e-01 1.35904607e-03 -1.39915441e-01 2.39133675e+01] [-2.77975990e-03 9.99946543e-01 -9.95916282e-03 1.10713371e+00] [ 1.39894426e-01 1.02501211e-02 9.90113370e-01 2.27216391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.41463044 meters Centerline goodness [0,1] 0.34468257695427573 Centerline is valid? [False, False] Translation: X:23.91, Y:1.11, Z:2.27 [[ 9.90164403e-01 1.06819068e-03 -1.39904658e-01 2.39136146e+01] [-2.57139125e-03 9.99940892e-01 -1.05641410e-02 1.11092290e+00] [ 1.39885104e-01 1.08199860e-02 9.90108623e-01 2.27191143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.44463044 meters Centerline goodness [0,1] 0.34357055293889927 Centerline is valid? [False, False] Translation: X:23.91, Y:1.12, Z:2.27 [[ 9.90155149e-01 5.08423282e-04 -1.39973289e-01 2.39143142e+01] [-2.16118035e-03 9.99929732e-01 -1.16559117e-02 1.11936993e+00] [ 1.39957527e-01 1.18436685e-02 9.90086672e-01 2.27145827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.47463044 meters Centerline goodness [0,1] 0.3413813788080038 Centerline is valid? [False, False] Translation: X:23.92, Y:1.12, Z:2.27 [[ 9.90132297e-01 2.12689640e-04 -1.40135608e-01 2.39152778e+01] [-1.95217070e-03 9.99922748e-01 -1.22754957e-02 1.12332488e+00] [ 1.40122172e-01 1.24279334e-02 9.90056222e-01 2.27093773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.50463044 meters Centerline goodness [0,1] 0.3444167240192705 Centerline is valid? [False, False] Translation: X:23.92, Y:1.13, Z:2.27 [[ 9.90131653e-01 1.38323706e-05 -1.40140321e-01 2.39157917e+01] [-1.82606574e-03 9.99916371e-01 -1.28029839e-02 1.12721897e+00] [ 1.40128424e-01 1.29325450e-02 9.90048875e-01 2.27043181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.53463044 meters Centerline goodness [0,1] 0.343719925575825 Centerline is valid? [False, False] Translation: X:23.92, Y:1.13, Z:2.27 [[ 9.90157423e-01 -2.28351548e-04 -1.39957942e-01 2.39156061e+01] [-1.65846857e-03 9.99909315e-01 -1.33645564e-02 1.13127016e+00] [ 1.39948302e-01 1.34651306e-02 9.90067252e-01 2.27020018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.56463044000003 meters Centerline goodness [0,1] 0.34317874250853864 Centerline is valid? [False, False] Translation: X:23.92, Y:1.14, Z:2.27 [[ 9.90191182e-01 -4.95460358e-04 -1.39718210e-01 2.39150758e+01] [-1.47277714e-03 9.99901142e-01 -1.39834480e-02 1.13533866e+00] [ 1.39711326e-01 1.40520607e-02 9.90092564e-01 2.27018082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.59463044 meters Centerline goodness [0,1] 0.3431509348904107 Centerline is valid? [False, False] Translation: X:23.92, Y:1.14, Z:2.27 [[ 9.90196152e-01 -7.81896996e-04 -1.39681674e-01 2.39150704e+01] [-1.27047637e-03 9.99892557e-01 -1.46034461e-02 1.13943873e+00] [ 1.39678084e-01 1.46377384e-02 9.90088768e-01 2.27015084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.62463044000003 meters Centerline goodness [0,1] 0.340438255520909 Centerline is valid? [False, False] Translation: X:23.92, Y:1.15, Z:2.27 [[ 9.90017664e-01 5.20705918e-04 -1.40942376e-01 2.39197938e+01] [-2.53768048e-03 9.99896928e-01 -1.41312806e-02 1.14760486e+00] [ 1.40920490e-01 1.43478841e-02 9.89916943e-01 2.26897263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.65463044 meters Centerline goodness [0,1] 0.3428054766210281 Centerline is valid? [False, False] Translation: X:23.92, Y:1.15, Z:2.27 [[ 9.89997398e-01 2.27216431e-04 -1.41085439e-01 2.39204629e+01] [-2.33107447e-03 9.99888542e-01 -1.47468554e-02 1.15125069e+00] [ 1.41066363e-01 1.49282291e-02 9.89887584e-01 2.26870525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.68463044000003 meters Centerline goodness [0,1] 0.34447589619481833 Centerline is valid? [False, False] Translation: X:23.92, Y:1.16, Z:2.27 [[ 9.90003669e-01 -3.10517203e-05 -1.41041602e-01 2.39204087e+01] [-2.15432247e-03 9.99879986e-01 -1.53418220e-02 1.15505738e+00] [ 1.41025151e-01 1.54923091e-02 9.89884789e-01 2.26868126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.71463044 meters Centerline goodness [0,1] 0.3411536805854498 Centerline is valid? [False, False] Translation: X:23.92, Y:1.16, Z:2.27 [[ 9.90026935e-01 -2.43790723e-04 -1.40877991e-01 2.39198067e+01] [-2.02155544e-03 9.99870956e-01 -1.59368655e-02 1.15955108e+00] [ 1.40863697e-01 1.60627188e-02 9.89898686e-01 2.26896105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.74463044000004 meters Centerline goodness [0,1] 0.34168057874234836 Centerline is valid? [False, False] Translation: X:23.92, Y:1.17, Z:2.27 [[ 9.90066087e-01 3.26570824e-03 -1.40564853e-01 2.39185632e+01] [-5.23031182e-03 9.99893709e-01 -1.36093283e-02 1.16738487e+00] [ 1.40505468e-01 1.42093324e-02 9.89977933e-01 2.26955814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.77463044 meters Centerline goodness [0,1] 0.34094665664913604 Centerline is valid? [False, False] Translation: X:23.92, Y:1.17, Z:2.27 [[ 9.90084812e-01 3.01561382e-03 -1.40438497e-01 2.39186925e+01] [-5.07596643e-03 9.99884652e-01 -1.43149588e-02 1.17318563e+00] [ 1.40379129e-01 1.48858844e-02 9.89985914e-01 2.26915730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.80463044000004 meters Centerline goodness [0,1] 0.3393255088396969 Centerline is valid? [False, False] Translation: X:23.94, Y:1.18, Z:2.27 [[ 9.89947981e-01 -1.29788638e-03 -1.41425987e-01 2.39399495e+01] [-3.71735735e-04 9.99930561e-01 -1.17785658e-02 1.18223908e+00] [ 1.41431454e-01 1.17127406e-02 9.89878758e-01 2.27271997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.83463044 meters Centerline goodness [0,1] 0.3412815733658976 Centerline is valid? [False, False] Translation: X:23.94, Y:1.19, Z:2.27 [[ 9.89957305e-01 -1.31094337e-03 -1.41360587e-01 2.39400732e+01] [-4.26554790e-04 9.99924749e-01 -1.22602473e-02 1.18925398e+00] [ 1.41366022e-01 1.21974194e-02 9.89882251e-01 2.27250748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.86463044 meters Centerline goodness [0,1] 0.34051175925327126 Centerline is valid? [False, False] Translation: X:23.94, Y:1.20, Z:2.27 [[ 9.89949675e-01 -1.36266948e-03 -1.41413520e-01 2.39404736e+01] [-4.48241841e-04 9.99918320e-01 -1.27731425e-02 1.19581557e+00] [ 1.41419375e-01 1.27081557e-02 9.89868205e-01 2.27226985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.89463044 meters Centerline goodness [0,1] 0.34170488149830713 Centerline is valid? [False, False] Translation: X:23.94, Y:1.20, Z:2.27 [[ 9.89952693e-01 1.62592820e-03 -1.41389613e-01 2.39410367e+01] [-3.20937835e-03 9.99934657e-01 -1.09718864e-02 1.20467587e+00] [ 1.41362535e-01 1.13154213e-02 9.89893224e-01 2.27183852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.92463044 meters Centerline goodness [0,1] 0.34617369983223645 Centerline is valid? [False, False] Translation: X:23.94, Y:1.21, Z:2.27 [[ 9.89961165e-01 1.35108669e-03 -1.41333172e-01 2.39409212e+01] [-3.02751411e-03 9.99927586e-01 -1.16471775e-02 1.20912269e+00] [ 1.41307202e-01 1.19581416e-02 9.89893569e-01 2.27183649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.95463044 meters Centerline goodness [0,1] 0.3407082500161259 Centerline is valid? [False, False] Translation: X:23.94, Y:1.21, Z:2.27 [[ 9.89963222e-01 1.00451627e-03 -1.41321654e-01 2.39411756e+01] [-2.78053587e-03 9.99919619e-01 -1.23703104e-02 1.21390213e+00] [ 1.41297868e-01 1.26391023e-02 9.89886441e-01 2.27158800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.98463044 meters Centerline goodness [0,1] 0.34059211089244457 Centerline is valid? [False, False] Translation: X:23.94, Y:1.22, Z:2.27 [[ 9.89941980e-01 6.43124786e-04 -1.41472478e-01 2.39419703e+01] [-2.52706320e-03 9.99910508e-01 -1.31373872e-02 1.21880533e+00] [ 1.41451368e-01 1.33627609e-02 9.89855013e-01 2.27122489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.01463044 meters Centerline goodness [0,1] 0.3424291985882758 Centerline is valid? [False, False] Translation: X:23.95, Y:1.23, Z:2.27 [[ 9.89762559e-01 2.44407323e-03 -1.42702848e-01 2.39471388e+01] [-4.27054916e-03 9.99912824e-01 -1.24942812e-02 1.22938144e+00] [ 1.42659871e-01 1.29757912e-02 9.89686713e-01 2.26947074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.04463044 meters Centerline goodness [0,1] 0.34200783503379395 Centerline is valid? [False, False] Translation: X:23.95, Y:1.24, Z:2.27 [[ 9.89735784e-01 2.23963568e-03 -1.42891782e-01 2.39481102e+01] [-4.15663595e-03 9.99905307e-01 -1.31186532e-02 1.23517905e+00] [ 1.42848871e-01 1.35779496e-02 9.89651373e-01 2.26906437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.07463044 meters Centerline goodness [0,1] 0.3399392851034718 Centerline is valid? [False, False] Translation: X:23.97, Y:1.24, Z:2.27 [[ 9.89642114e-01 -2.38870804e-03 -1.43536687e-01 2.39691630e+01] [ 9.22072874e-04 9.99946698e-01 -1.02834934e-02 1.24322939e+00] [ 1.43553600e-01 1.00446269e-02 9.89591567e-01 2.27240265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.10463044 meters Centerline goodness [0,1] 0.3404072883172562 Centerline is valid? [False, False] Translation: X:23.97, Y:1.25, Z:2.27 [[ 9.89651257e-01 -2.72421212e-03 -1.43467658e-01 2.39690630e+01] [ 1.15376069e-03 9.99938519e-01 -1.10284362e-02 1.24849081e+00] [ 1.43488881e-01 1.07487784e-02 9.89593555e-01 2.27234229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.13463044 meters Centerline goodness [0,1] 0.33871002109479875 Centerline is valid? [False, False] Translation: X:23.99, Y:1.26, Z:2.27 [[ 9.89892979e-01 4.34807706e-03 -1.41749725e-01 2.39911139e+01] [-6.30778046e-03 9.99890605e-01 -1.33786940e-02 1.25965133e+00] [ 1.41676047e-01 1.41376014e-02 9.89812116e-01 2.27494550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.16463044 meters Centerline goodness [0,1] 0.341905746532265 Centerline is valid? [False, False] Translation: X:23.99, Y:1.27, Z:2.27 [[ 9.89898679e-01 4.08683567e-03 -1.41717688e-01 2.39915259e+01] [-6.14466827e-03 9.99881906e-01 -1.40860749e-02 1.26583711e+00] [ 1.41643384e-01 1.48145951e-02 9.89806890e-01 2.27452346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.19463044 meters Centerline goodness [0,1] 0.3367054172953903 Centerline is valid? [False, False] Translation: X:24.01, Y:1.28, Z:2.28 [[ 9.89836845e-01 -4.82521887e-04 -1.42206846e-01 2.40127391e+01] [-1.13182057e-03 9.99935840e-01 -1.12709668e-02 1.27533957e+00] [ 1.42203160e-01 1.13173708e-02 9.89772791e-01 2.27782000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.22463044 meters Centerline goodness [0,1] 0.3388551641586868 Centerline is valid? [False, False] Translation: X:24.01, Y:1.28, Z:2.28 [[ 9.89855440e-01 1.33286113e-04 -1.42078110e-01 2.40129211e+01] [-1.75761918e-03 9.99934526e-01 -1.13072417e-02 1.28340494e+00] [ 1.42067300e-01 1.14422539e-02 9.89790865e-01 2.27736949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.25463044 meters Centerline goodness [0,1] 0.33832838134607934 Centerline is valid? [False, False] Translation: X:24.01, Y:1.29, Z:2.28 [[ 9.89887971e-01 5.95353334e-05 -1.41851333e-01 2.40128269e+01] [-1.76514962e-03 9.99927656e-01 -1.18981564e-02 1.29098192e+00] [ 1.41840363e-01 1.20282308e-02 9.89816464e-01 2.27693400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.28463044 meters Centerline goodness [0,1] 0.33705772811918067 Centerline is valid? [False, False] Translation: X:24.01, Y:1.30, Z:2.28 [[ 9.89904941e-01 -2.23595983e-04 -1.41732697e-01 2.40127997e+01] [-1.58833201e-03 9.99918460e-01 -1.26708621e-02 1.29806440e+00] [ 1.41723973e-01 1.27680676e-02 9.89823869e-01 2.27670947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.31463044000003 meters Centerline goodness [0,1] 0.3342831625058478 Centerline is valid? [False, False] Translation: X:24.04, Y:1.31, Z:2.28 [[ 9.90034752e-01 8.17327038e-03 -1.40585870e-01 2.40362536e+01] [-1.02498542e-02 9.99848713e-01 -1.40531763e-02 1.31172178e+00] [ 1.40449741e-01 1.53541176e-02 9.89968748e-01 2.27922772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.34463044 meters Centerline goodness [0,1] 0.3330120172225436 Centerline is valid? [False, False] Translation: X:24.04, Y:1.32, Z:2.28 [[ 9.90003996e-01 8.26593157e-03 -1.40796884e-01 2.40372476e+01] [-1.04245381e-02 9.99839061e-01 -1.46007006e-02 1.32024690e+00] [ 1.40653536e-01 1.59224944e-02 9.89930834e-01 2.27890332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.37463044000003 meters Centerline goodness [0,1] 0.3332834064405692 Centerline is valid? [False, False] Translation: X:24.04, Y:1.33, Z:2.28 [[ 9.89947916e-01 8.52786589e-03 -1.41175064e-01 2.40388868e+01] [-1.07595758e-02 9.99828815e-01 -1.50523295e-02 1.32907689e+00] [ 1.41022533e-01 1.64200060e-02 9.89870208e-01 2.27841308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.40463044 meters Centerline goodness [0,1] 0.33048712803654523 Centerline is valid? [False, False] Translation: X:24.04, Y:1.34, Z:2.28 [[ 9.89815079e-01 1.00579110e-02 -1.42003339e-01 2.40431425e+01] [-1.23100794e-02 9.99811858e-01 -1.49903769e-02 1.34467599e+00] [ 1.41825850e-01 1.65857735e-02 9.89752666e-01 2.27682015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.43463044000003 meters Centerline goodness [0,1] 0.3277491591808932 Centerline is valid? [False, False] Translation: X:24.06, Y:1.36, Z:2.28 [[ 9.89539589e-01 4.06591548e-03 -1.44204265e-01 2.40629763e+01] [-6.13510714e-03 9.99884468e-01 -1.39072563e-02 1.35746789e+00] [ 1.44131059e-01 1.46464893e-02 9.89450210e-01 2.28095829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.46463044 meters Centerline goodness [0,1] 0.3263582179151837 Centerline is valid? [False, False] Translation: X:24.06, Y:1.37, Z:2.28 [[ 9.89507601e-01 3.97619251e-03 -1.44426097e-01 2.40642733e+01] [-6.14447800e-03 9.99874970e-01 -1.45701668e-02 1.36577329e+00] [ 1.44350105e-01 1.53047138e-02 9.89408315e-01 2.28031085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.49463044000004 meters Centerline goodness [0,1] 0.32500053278775864 Centerline is valid? [False, False] Translation: X:24.09, Y:1.38, Z:2.28 [[ 9.89313642e-01 -9.95236065e-04 -1.45799612e-01 2.40857393e+01] [-7.77978603e-04 9.99926436e-01 -1.21044746e-02 1.37668091e+00] [ 1.45800933e-01 1.20885508e-02 9.89240090e-01 2.28386886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.52463044 meters Centerline goodness [0,1] 0.3264719139711091 Centerline is valid? [False, False] Translation: X:24.09, Y:1.38, Z:2.28 [[ 9.89311522e-01 -1.39500345e-03 -1.45810719e-01 2.40862474e+01] [-5.07128913e-04 9.99915274e-01 -1.30072312e-02 1.38452286e+00] [ 1.45816510e-01 1.29421486e-02 9.89226994e-01 2.28342560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.55463044000004 meters Centerline goodness [0,1] 0.32463095468316894 Centerline is valid? [False, False] Translation: X:24.09, Y:1.39, Z:2.28 [[ 9.89306754e-01 -1.84233210e-03 -1.45838101e-01 2.40866575e+01] [-1.91012651e-04 9.99902993e-01 -1.39272486e-02 1.39171446e+00] [ 1.45849612e-01 1.38061781e-02 9.89210433e-01 2.28315684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.58463044 meters Centerline goodness [0,1] 0.32418701365516944 Centerline is valid? [False, False] Translation: X:24.09, Y:1.41, Z:2.28 [[ 9.89153337e-01 -4.04558009e-04 -1.46886054e-01 2.40912480e+01] [-1.63312470e-03 9.99904108e-01 -1.37516797e-02 1.40628799e+00] [ 1.46877532e-01 1.38424031e-02 9.89057824e-01 2.28171410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.61463044 meters Centerline goodness [0,1] 0.3242706286306606 Centerline is valid? [False, False] Translation: X:24.09, Y:1.41, Z:2.28 [[ 9.89116407e-01 -5.31468568e-04 -1.47134128e-01 2.40926171e+01] [-1.60212360e-03 9.99895289e-01 -1.43821130e-02 1.41401953e+00] [ 1.47126365e-01 1.44613110e-02 9.89011983e-01 2.28113548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.64463044 meters Centerline goodness [0,1] 0.3207417286925096 Centerline is valid? [False, False] Translation: X:24.09, Y:1.42, Z:2.28 [[ 9.89086765e-01 -7.37280903e-04 -1.47332373e-01 2.40938861e+01] [-1.50082129e-03 9.99885178e-01 -1.50790941e-02 1.42160772e+00] [ 1.47326574e-01 1.51356519e-02 9.88972089e-01 2.28049920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.67463044 meters Centerline goodness [0,1] 0.3204150465101291 Centerline is valid? [False, False] Translation: X:24.09, Y:1.43, Z:2.28 [[ 9.89047542e-01 -1.07545623e-03 -1.47593369e-01 2.40949831e+01] [-1.28950236e-03 9.99872328e-01 -1.59268542e-02 1.42913464e+00] [ 1.47591654e-01 1.59427380e-02 9.88919882e-01 2.28020049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.70463044 meters Centerline goodness [0,1] 0.31716353979268397 Centerline is valid? [False, False] Translation: X:24.10, Y:1.44, Z:2.28 [[ 9.88928758e-01 4.88527059e-04 -1.48390269e-01 2.40987922e+01] [-2.85221828e-03 9.99872420e-01 -1.57165019e-02 1.44321728e+00] [ 1.48363660e-01 1.59657421e-02 9.88803984e-01 2.27890338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.73463044 meters Centerline goodness [0,1] 0.3172510217251022 Centerline is valid? [False, False] Translation: X:24.10, Y:1.45, Z:2.28 [[ 9.88902072e-01 6.42716898e-04 -1.48567423e-01 2.40996594e+01] [-3.07303055e-03 9.99865191e-01 -1.61293504e-02 1.45128821e+00] [ 1.48537028e-01 1.64069003e-02 9.88770734e-01 2.27863012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.76463044 meters Centerline goodness [0,1] 0.31504439963965514 Centerline is valid? [False, False] Translation: X:24.10, Y:1.46, Z:2.28 [[ 9.88776564e-01 1.89426980e-03 -1.49389823e-01 2.41029355e+01] [-4.28873280e-03 9.99867428e-01 -1.57077622e-02 1.45907901e+00] [ 1.49340263e-01 1.61721602e-02 9.88653603e-01 2.27781057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.79463044 meters Centerline goodness [0,1] 0.3143539845869032 Centerline is valid? [False, False] Translation: X:24.10, Y:1.47, Z:2.28 [[ 9.88729699e-01 1.72489024e-03 -1.49701728e-01 2.41041533e+01] [-4.23322122e-03 9.99855918e-01 -1.64384864e-02 1.46689054e+00] [ 1.49651804e-01 1.68869403e-02 9.88594542e-01 2.27751482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.82463044 meters Centerline goodness [0,1] 0.313195991091314 Centerline is valid? [False, False] Translation: X:24.11, Y:1.47, Z:2.28 [[ 9.88654749e-01 1.57353068e-03 -1.50197573e-01 2.41060275e+01] [-4.20023924e-03 9.99843716e-01 -1.71727257e-02 1.47484289e+00] [ 1.50147077e-01 1.76087625e-02 9.88506847e-01 2.27706921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.85463044 meters Centerline goodness [0,1] 0.31067919509160336 Centerline is valid? [False, False] Translation: X:24.11, Y:1.49, Z:2.28 [[ 9.88593135e-01 3.67020914e-03 -1.50566078e-01 2.41089071e+01] [-6.25094241e-03 9.99841498e-01 -1.66704970e-02 1.49073488e+00] [ 1.50481029e-01 1.74215187e-02 9.88459382e-01 2.27572395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.88463044 meters Centerline goodness [0,1] 0.3130519270214833 Centerline is valid? [False, False] Translation: X:24.11, Y:1.50, Z:2.28 [[ 9.88574124e-01 4.47811248e-03 -1.50668998e-01 2.41094505e+01] [-7.08186755e-03 9.99834643e-01 -1.67491591e-02 1.50029079e+00] [ 1.50569079e-01 1.76248032e-02 9.88442370e-01 2.27560947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.91463044 meters Centerline goodness [0,1] 0.3098952721630823 Centerline is valid? [False, False] Translation: X:24.13, Y:1.51, Z:2.28 [[ 9.88575289e-01 -1.11501492e-03 -1.50723770e-01 2.41288308e+01] [-1.03000776e-03 9.99899316e-01 -1.41526641e-02 1.51200883e+00] [ 1.50724374e-01 1.41462206e-02 9.88474606e-01 2.27954434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.94463044 meters Centerline goodness [0,1] 0.3128109317633768 Centerline is valid? [False, False] Translation: X:24.13, Y:1.53, Z:2.28 [[ 9.88633902e-01 1.50859621e-03 -1.50335398e-01 2.41281026e+01] [-3.51598636e-03 9.99908169e-01 -1.30878401e-02 1.52616568e+00] [ 1.50301848e-01 1.34676596e-02 9.88548419e-01 2.27948064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.97463044 meters Centerline goodness [0,1] 0.30667608770126753 Centerline is valid? [False, False] Translation: X:24.15, Y:1.54, Z:2.28 [[ 9.88373422e-01 -3.80255382e-03 -1.51998421e-01 2.41495522e+01] [ 2.20013197e-03 9.99940235e-01 -1.07091546e-02 1.53785939e+00] [ 1.52030059e-01 1.02502272e-02 9.88322718e-01 2.28284163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.00463044 meters Centerline goodness [0,1] 0.311239881068646 Centerline is valid? [False, False] Translation: X:24.15, Y:1.55, Z:2.28 [[ 9.88193095e-01 -2.47969913e-03 -1.53193531e-01 2.41540701e+01] [ 9.11470706e-04 9.99946473e-01 -1.03062925e-02 1.54600378e+00] [ 1.53210887e-01 1.00449757e-02 9.88142461e-01 2.28164780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.03463044 meters Centerline goodness [0,1] 0.311239881068646 Centerline is valid? [False, False] Translation: X:24.15, Y:1.55, Z:2.28 [[ 9.88193095e-01 -2.47969913e-03 -1.53193531e-01 2.41540701e+01] [ 9.11470706e-04 9.99946473e-01 -1.03062925e-02 1.54600378e+00] [ 1.53210887e-01 1.00449757e-02 9.88142461e-01 2.28164780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.06463044000003 meters Centerline goodness [0,1] 0.30485758540573105 Centerline is valid? [False, False] Translation: X:24.16, Y:1.55, Z:2.28 [[ 9.88022788e-01 -8.82880451e-04 -1.54305509e-01 2.41592035e+01] [-6.16419277e-04 9.99953071e-01 -9.66832176e-03 1.55384882e+00] [ 1.54306804e-01 9.64763912e-03 9.87975877e-01 2.27980994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.09463044 meters Centerline goodness [0,1] 0.305557365300671 Centerline is valid? [False, False] Translation: X:24.16, Y:1.57, Z:2.28 [[ 9.87848266e-01 9.97872004e-04 -1.55418172e-01 2.41641276e+01] [-2.51429114e-03 9.99951134e-01 -9.56075396e-03 1.57013159e+00] [ 1.55401037e-01 9.83534075e-03 9.87802502e-01 2.27811038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.12463044000003 meters Centerline goodness [0,1] 0.304226019869405 Centerline is valid? [False, False] Translation: X:24.17, Y:1.58, Z:2.28 [[ 9.87714912e-01 2.74204626e-03 -1.56242549e-01 2.41671971e+01] [-4.19089552e-03 9.99951216e-01 -8.94441056e-03 1.57918573e+00] [ 1.56210401e-01 9.48932389e-03 9.87678218e-01 2.27751646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.15463044 meters Centerline goodness [0,1] 0.30466830466830463 Centerline is valid? [False, False] Translation: X:24.17, Y:1.59, Z:2.28 [[ 9.87663909e-01 5.02328855e-03 -1.56508046e-01 2.41688496e+01] [-6.34005920e-03 9.99948574e-01 -7.91535933e-03 1.58848580e+00] [ 1.56460237e-01 8.80998502e-03 9.87644966e-01 2.27678611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.18463044000003 meters Centerline goodness [0,1] 0.29844270218021696 Centerline is valid? [False, False] Translation: X:24.21, Y:1.60, Z:2.28 [[ 9.87852619e-01 5.28587152e-03 -1.55303778e-01 2.42107517e+01] [-6.49525711e-03 9.99952400e-01 -7.28080698e-03 1.60350015e+00] [ 1.55257900e-01 8.20110221e-03 9.87839930e-01 2.28363976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.21463044 meters Centerline goodness [0,1] 0.29557193179607977 Centerline is valid? [False, False] Translation: X:24.22, Y:1.63, Z:2.28 [[ 9.87633473e-01 9.60871966e-03 -1.56485769e-01 2.42151795e+01] [-1.06209050e-02 9.99927728e-01 -5.63333029e-03 1.62524306e+00] [ 1.56420331e-01 7.22568604e-03 9.87664148e-01 2.28270061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.24463044000004 meters Centerline goodness [0,1] 0.29968419906348687 Centerline is valid? [False, False] Translation: X:24.22, Y:1.64, Z:2.28 [[ 9.87433063e-01 1.08602349e-02 -1.57664202e-01 2.42190886e+01] [-1.19099497e-02 9.99912744e-01 -5.71461918e-03 1.63705624e+00] [ 1.57588383e-01 7.52057665e-03 9.87476249e-01 2.28200764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.27463044 meters Centerline goodness [0,1] 0.29115011924456957 Centerline is valid? [False, False] Translation: X:24.24, Y:1.65, Z:2.29 [[ 9.87066784e-01 5.69908535e-03 -1.60208253e-01 2.42394729e+01] [-6.44929747e-03 9.99970537e-01 -4.16314306e-03 1.65341395e+00] [ 1.60179807e-01 5.14253091e-03 9.87074457e-01 2.28557038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.30463044000004 meters Centerline goodness [0,1] 0.28913015380638485 Centerline is valid? [False, False] Translation: X:24.24, Y:1.66, Z:2.29 [[ 9.86855207e-01 7.14168084e-03 -1.61449052e-01 2.42434704e+01] [-7.88417809e-03 9.99961083e-01 -3.95876770e-03 1.66450304e+00] [ 1.61414497e-01 5.17962360e-03 9.86873108e-01 2.28503861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.33463044 meters Centerline goodness [0,1] 0.29037414672081574 Centerline is valid? [False, False] Translation: X:24.25, Y:1.67, Z:2.28 [[ 9.86620798e-01 8.58939824e-03 -1.62805477e-01 2.42478687e+01] [-9.30905989e-03 9.99949979e-01 -3.65800656e-03 1.67483089e+00] [ 1.62765914e-01 5.12463129e-03 9.86651405e-01 2.28452895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.36463044 meters Centerline goodness [0,1] 0.286105245011421 Centerline is valid? [False, False] Translation: X:24.25, Y:1.69, Z:2.28 [[ 9.86425907e-01 9.74478382e-03 -1.63917569e-01 2.42513558e+01] [-1.05953390e-02 9.99934556e-01 -4.31540548e-03 1.69416653e+00] [ 1.63864789e-01 5.99358997e-03 9.86464600e-01 2.28441849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.39463044 meters Centerline goodness [0,1] 0.28812897346323263 Centerline is valid? [False, False] Translation: X:24.25, Y:1.70, Z:2.29 [[ 9.86409623e-01 9.07738208e-03 -1.64053823e-01 2.42509347e+01] [-1.01456669e-02 9.99932427e-01 -5.67505698e-03 1.70344520e+00] [ 1.63991223e-01 7.26236627e-03 9.86435065e-01 2.28522658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.42463044 meters Centerline goodness [0,1] 0.28518454639530877 Centerline is valid? [False, False] Translation: X:24.27, Y:1.72, Z:2.29 [[ 9.86420752e-01 2.63503971e-03 -1.64216795e-01 2.42701193e+01] [-3.27275112e-03 9.99988118e-01 -3.61291443e-03 1.71752209e+00] [ 1.64205324e-01 4.10129447e-03 9.86417655e-01 2.28904523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.45463044 meters Centerline goodness [0,1] 0.28412250264014316 Centerline is valid? [False, False] Translation: X:24.27, Y:1.73, Z:2.29 [[ 9.86232506e-01 4.01865283e-03 -1.65315741e-01 2.42732345e+01] [-4.63660276e-03 9.99983632e-01 -3.35225978e-03 1.72801999e+00] [ 1.65299564e-01 4.07261098e-03 9.86234996e-01 2.28901957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.48463044 meters Centerline goodness [0,1] 0.286574195236849 Centerline is valid? [False, False] Translation: X:24.28, Y:1.74, Z:2.29 [[ 9.86036267e-01 5.66890798e-03 -1.66434199e-01 2.42769116e+01] [-6.24454792e-03 9.99976194e-01 -2.93556075e-03 1.73871942e+00] [ 1.66413596e-01 3.93387570e-03 9.86048193e-01 2.28851990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.51463044 meters Centerline goodness [0,1] 0.28026750043425397 Centerline is valid? [False, False] Translation: X:24.28, Y:1.76, Z:2.29 [[ 9.85796754e-01 9.41422360e-03 -1.67678658e-01 2.42805286e+01] [-9.85880790e-03 9.99949746e-01 -1.81913621e-03 1.75937840e+00] [ 1.67653106e-01 3.44641025e-03 9.85840027e-01 2.28862891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.54463044 meters Centerline goodness [0,1] 0.27918605156745946 Centerline is valid? [False, False] Translation: X:24.28, Y:1.77, Z:2.29 [[ 9.85636941e-01 1.03269290e-02 -1.68562083e-01 2.42822611e+01] [-1.08541715e-02 9.99938657e-01 -2.20676503e-03 1.77101167e+00] [ 1.68528954e-01 4.00467089e-03 9.85688569e-01 2.28924035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.57463044 meters Centerline goodness [0,1] 0.2721719116350104 Centerline is valid? [False, False] Translation: X:24.30, Y:1.79, Z:2.29 [[ 9.85535723e-01 4.57880169e-03 -1.69405945e-01 2.43018299e+01] [-4.64042404e-03 9.99989233e-01 3.21637329e-05 1.78670190e+00] [ 1.69404268e-01 7.54416911e-04 9.85546359e-01 2.29291309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.60463044 meters Centerline goodness [0,1] 0.27467876367424904 Centerline is valid? [False, False] Translation: X:24.30, Y:1.81, Z:2.29 [[ 9.85351569e-01 8.92131007e-03 -1.70301781e-01 2.43036287e+01] [-8.71303568e-03 9.99960100e-01 1.97033012e-03 1.80588321e+00] [ 1.70312564e-01 -4.57622383e-04 9.85389984e-01 2.29361405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.63463044 meters Centerline goodness [0,1] 0.2738244853737811 Centerline is valid? [False, False] Translation: X:24.32, Y:1.82, Z:2.30 [[ 9.85330181e-01 1.84108673e-03 -1.70648895e-01 2.43225396e+01] [-1.22123230e-03 9.99992271e-01 3.73723754e-03 1.81996239e+00] [ 1.70654457e-01 -3.47401100e-03 9.85324813e-01 2.29713694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.66463044 meters Centerline goodness [0,1] 0.2673511381660737 Centerline is valid? [False, False] Translation: X:24.34, Y:1.83, Z:2.30 [[ 9.85540667e-01 7.56545998e-03 -1.69270072e-01 2.43418112e+01] [-7.37324528e-03 9.99971261e-01 1.76410088e-03 1.82714669e+00] [ 1.69278554e-01 -4.90523403e-04 9.85568126e-01 2.30123109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.69463044 meters Centerline goodness [0,1] 0.2717691776088459 Centerline is valid? [False, False] Translation: X:24.34, Y:1.83, Z:2.30 [[ 9.85496816e-01 6.83607179e-03 -1.69556166e-01 2.43423263e+01] [-6.86197227e-03 9.99976363e-01 4.33239228e-04 1.83424626e+00] [ 1.69555120e-01 7.36533827e-04 9.85520431e-01 2.30148718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.72463044 meters Centerline goodness [0,1] 0.2719533856084564 Centerline is valid? [False, False] Translation: X:24.34, Y:1.84, Z:2.30 [[ 9.85396167e-01 6.27689015e-03 -1.70161674e-01 2.43433332e+01] [-6.49451257e-03 9.99978650e-01 -7.22322793e-04 1.84154817e+00] [ 1.70153507e-01 1.81689124e-03 9.85415893e-01 2.30205129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.75463044 meters Centerline goodness [0,1] 0.27364740122933906 Centerline is valid? [False, False] Translation: X:24.34, Y:1.85, Z:2.30 [[ 9.85214446e-01 9.49541991e-03 -1.71062362e-01 2.43439037e+01] [-9.46973146e-03 9.99954694e-01 9.66159176e-04 1.85488219e+00] [ 1.71063786e-01 6.68040655e-04 9.85259730e-01 2.30401432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.78463044 meters Centerline goodness [0,1] 0.27288009780805167 Centerline is valid? [False, False] Translation: X:24.36, Y:1.87, Z:2.31 [[ 9.85266122e-01 2.24412042e-03 -1.71013543e-01 2.43616865e+01] [-1.72530662e-03 9.99993448e-01 3.18231845e-03 1.86688416e+00] [ 1.71019564e-01 -2.84037976e-03 9.85263539e-01 2.30849569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.81463044000003 meters Centerline goodness [0,1] 0.2720248301608317 Centerline is valid? [False, False] Translation: X:24.38, Y:1.88, Z:2.31 [[ 9.85484504e-01 -5.04106068e-03 -1.69690542e-01 2.43804902e+01] [ 6.02353421e-03 9.99967943e-01 5.27548877e-03 1.87705375e+00] [ 1.69658508e-01 -6.22104922e-03 9.85483277e-01 2.31159209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.84463044 meters Centerline goodness [0,1] 0.2693567856526987 Centerline is valid? [False, False] Translation: X:24.40, Y:1.88, Z:2.32 [[ 9.85782337e-01 2.70970711e-04 -1.68027113e-01 2.43976503e+01] [ 2.91505082e-04 9.99994437e-01 3.32285520e-03 1.88134270e+00] [ 1.68027078e-01 -3.32459272e-03 9.85776774e-01 2.31629062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.87463044000003 meters Centerline goodness [0,1] 0.2725776054415874 Centerline is valid? [False, False] Translation: X:24.40, Y:1.89, Z:2.32 [[ 9.85737677e-01 -3.27413071e-04 -1.68288816e-01 2.43962186e+01] [ 6.91934647e-04 9.99997540e-01 2.10741150e-03 1.89191609e+00] [ 1.68287712e-01 -2.19379977e-03 9.85735478e-01 2.31829277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.90463044 meters Centerline goodness [0,1] 0.2734603628796254 Centerline is valid? [False, False] Translation: X:24.40, Y:1.90, Z:2.32 [[ 9.85696868e-01 -5.40640645e-04 -1.68527128e-01 2.43959906e+01] [ 8.15385531e-04 9.99998449e-01 1.56107305e-03 1.89584316e+00] [ 1.68526022e-01 -1.67615940e-03 9.85695780e-01 2.31928302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.93463044000003 meters Centerline goodness [0,1] 0.27414140975853163 Centerline is valid? [False, False] Translation: X:24.40, Y:1.90, Z:2.32 [[ 9.85665898e-01 -9.17775723e-04 -1.68706539e-01 2.43953928e+01] [ 1.08172390e-03 9.99999028e-01 8.79891955e-04 1.89928039e+00] [ 1.68705567e-01 -1.04977339e-03 9.85665932e-01 2.32047724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.96463044 meters Centerline goodness [0,1] 0.26983341225087165 Centerline is valid? [False, False] Translation: X:24.41, Y:1.91, Z:2.32 [[ 9.85737705e-01 -9.30729110e-03 -1.68031397e-01 2.44143824e+01] [ 9.84653426e-03 9.99948698e-01 2.37626104e-03 1.90701441e+00] [ 1.68000660e-01 -3.99689702e-03 9.85778780e-01 2.32368816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.99463044000004 meters Centerline goodness [0,1] 0.2722857759551047 Centerline is valid? [False, False] Translation: X:24.41, Y:1.91, Z:2.32 [[ 9.85708446e-01 -9.65392249e-03 -1.68183416e-01 2.44141484e+01] [ 1.00962910e-02 9.99947455e-01 1.77534820e-03 1.90968458e+00] [ 1.68157440e-01 -3.44800443e-03 9.85754121e-01 2.32438107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.02463044 meters Centerline goodness [0,1] 0.2739216068220678 Centerline is valid? [False, False] Translation: X:24.41, Y:1.91, Z:2.33 [[ 9.85629650e-01 -9.80887277e-03 -1.68635641e-01 2.44145258e+01] [ 1.01772055e-02 9.99947340e-01 1.32000119e-03 1.91258824e+00] [ 1.68613813e-01 -3.01727188e-03 9.85677573e-01 2.32522840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.05463044000004 meters Centerline goodness [0,1] 0.2718240194376953 Centerline is valid? [False, False] Translation: X:24.41, Y:1.92, Z:2.33 [[ 9.85590978e-01 -5.73054600e-03 -1.69049063e-01 2.44147865e+01] [ 6.54286793e-03 9.99969570e-01 4.24858896e-03 1.91839760e+00] [ 1.69019572e-01 -5.29343664e-03 9.85598480e-01 2.32612929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.08463044 meters Centerline goodness [0,1] 0.2695929526123937 Centerline is valid? [False, False] Translation: X:24.42, Y:1.92, Z:2.33 [[ 9.85507884e-01 -5.73161450e-03 -1.69532766e-01 2.44156767e+01] [ 6.46286204e-03 9.99972040e-01 3.76179347e-03 1.92214395e+00] [ 1.69506465e-01 -4.80294400e-03 9.85517372e-01 2.32649775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.11463044 meters Centerline goodness [0,1] 0.27124746339653927 Centerline is valid? [False, False] Translation: X:24.42, Y:1.93, Z:2.33 [[ 9.85488188e-01 -6.03611359e-03 -1.69636662e-01 2.44154929e+01] [ 6.64426717e-03 9.99973374e-01 3.01759030e-03 1.92594970e+00] [ 1.69613930e-01 -4.10091090e-03 9.85502053e-01 2.32691328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.14463044 meters Centerline goodness [0,1] 0.2662256237298396 Centerline is valid? [False, False] Translation: X:24.43, Y:1.93, Z:2.33 [[ 9.85657531e-01 1.58563828e-05 -1.68757906e-01 2.44339421e+01] [ 2.62546527e-04 9.99998641e-01 1.62740418e-03 1.92907753e+00] [ 1.68757703e-01 -1.64836999e-03 9.85656188e-01 2.33177189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.17463044 meters Centerline goodness [0,1] 0.2685994318797841 Centerline is valid? [False, False] Translation: X:24.43, Y:1.94, Z:2.33 [[ 9.85684134e-01 3.45236927e-03 -1.68567108e-01 2.44314020e+01] [-2.84240012e-03 9.99988512e-01 3.85971450e-03 1.93598010e+00] [ 1.68578496e-01 -3.32532418e-03 9.85682623e-01 2.33376643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.20463044 meters Centerline goodness [0,1] 0.2699596554356123 Centerline is valid? [False, False] Translation: X:24.43, Y:1.94, Z:2.33 [[ 9.85670849e-01 3.25463748e-03 -1.68648705e-01 2.44307256e+01] [-2.75062270e-03 9.99991026e-01 3.22208028e-03 1.94021844e+00] [ 1.68657678e-01 -2.71202165e-03 9.85670956e-01 2.33465155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.23463044 meters Centerline goodness [0,1] 0.26392356964498964 Centerline is valid? [False, False] Translation: X:24.45, Y:1.95, Z:2.34 [[ 9.85682399e-01 -4.11794268e-03 -1.68562304e-01 2.44487499e+01] [ 5.13981048e-03 9.99970963e-01 5.62639214e-03 1.94891877e+00] [ 1.68534241e-01 -6.41221400e-03 9.85674943e-01 2.33780078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.26463044 meters Centerline goodness [0,1] 0.2641693599115025 Centerline is valid? [False, False] Translation: X:24.45, Y:1.95, Z:2.34 [[ 9.85632245e-01 -4.32079851e-03 -1.68850254e-01 2.44494858e+01] [ 5.25248085e-03 9.99973345e-01 5.07154195e-03 1.95196920e+00] [ 1.68823841e-01 -5.88555800e-03 9.85628668e-01 2.33785800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.29463044 meters Centerline goodness [0,1] 0.2590144877618238 Centerline is valid? [False, False] Translation: X:24.47, Y:1.96, Z:2.34 [[ 9.85666989e-01 2.08628781e-03 -1.68689755e-01 2.44690389e+01] [-1.41415428e-03 9.99990577e-01 4.10447543e-03 1.95879438e+00] [ 1.68696728e-01 -3.80709260e-03 9.85660651e-01 2.34296440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.32463044 meters Centerline goodness [0,1] 0.2644678443999652 Centerline is valid? [False, False] Translation: X:24.47, Y:1.96, Z:2.34 [[ 9.85609908e-01 2.07138530e-03 -1.69023128e-01 2.44688681e+01] [-1.46336883e-03 9.99992004e-01 3.72172688e-03 1.96209068e+00] [ 1.69029486e-01 -3.42082771e-03 9.85605058e-01 2.34396824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.35463044 meters Centerline goodness [0,1] 0.261701526899937 Centerline is valid? [False, False] Translation: X:24.47, Y:1.97, Z:2.34 [[ 9.85538530e-01 2.02519303e-03 -1.69439384e-01 2.44696469e+01] [-1.48588627e-03 9.99993419e-01 3.30962920e-03 1.96530816e+00] [ 1.69444972e-01 -3.00999944e-03 9.85535053e-01 2.34433046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.38463044 meters Centerline goodness [0,1] 0.2652685959458868 Centerline is valid? [False, False] Translation: X:24.47, Y:1.97, Z:2.34 [[ 9.85488067e-01 1.86076291e-03 -1.69734517e-01 2.44702541e+01] [-1.40630537e-03 9.99995098e-01 2.79764326e-03 1.96820133e+00] [ 1.69738891e-01 -2.51834549e-03 9.85485853e-01 2.34445323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.41463044 meters Centerline goodness [0,1] 0.26069043282158033 Centerline is valid? [False, False] Translation: X:24.49, Y:1.98, Z:2.35 [[ 9.85481806e-01 -5.28592653e-03 -1.69698758e-01 2.44897145e+01] [ 6.28816884e-03 9.99965815e-01 5.36910324e-03 1.97605128e+00] [ 1.69664576e-01 -6.35824800e-03 9.85481357e-01 2.34656666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.44463044 meters Centerline goodness [0,1] 0.25584362228901336 Centerline is valid? [False, False] Translation: X:24.49, Y:1.98, Z:2.35 [[ 9.85366087e-01 -3.40756438e-03 -1.70417320e-01 2.44927448e+01] [ 4.52922283e-03 9.99970563e-01 6.19349316e-03 1.98400822e+00] [ 1.70391198e-01 -6.87471613e-03 9.85352514e-01 2.34573844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.47463044 meters Centerline goodness [0,1] 0.2566895776596204 Centerline is valid? [False, False] Translation: X:24.49, Y:1.99, Z:2.35 [[ 9.85318719e-01 -3.38365621e-03 -1.70691453e-01 2.44930048e+01] [ 4.43902896e-03 9.99973318e-01 5.80165193e-03 1.98777282e+00] [ 1.70667268e-01 -6.47418055e-03 9.85307449e-01 2.34616893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.50463044 meters Centerline goodness [0,1] 0.2538851169307037 Centerline is valid? [False, False] Translation: X:24.49, Y:1.99, Z:2.35 [[ 9.85256038e-01 -3.41307305e-03 -1.71052301e-01 2.44935348e+01] [ 4.39149538e-03 9.99976089e-01 5.34196796e-03 1.99144983e+00] [ 1.71029978e-01 -6.01438158e-03 9.85247468e-01 2.34661599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.53463044 meters Centerline goodness [0,1] 0.2535387536682203 Centerline is valid? [False, False] Translation: X:24.49, Y:2.00, Z:2.35 [[ 9.85202808e-01 -3.54074110e-03 -1.71356032e-01 2.44941004e+01] [ 4.42888708e-03 9.99978667e-01 4.80103568e-03 1.99503768e+00] [ 1.71335378e-01 -5.48891035e-03 9.85197473e-01 2.34683829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.56463044000003 meters Centerline goodness [0,1] 0.25055986218776916 Centerline is valid? [False, False] Translation: X:24.50, Y:2.00, Z:2.35 [[ 9.85052478e-01 -2.38048443e-03 -1.72238061e-01 2.44973811e+01] [ 3.25993112e-03 9.99983054e-01 4.82331914e-03 2.00451137e+00] [ 1.72223660e-01 -5.31270669e-03 9.85043545e-01 2.34608571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.59463044 meters Centerline goodness [0,1] 0.25209631178461345 Centerline is valid? [False, False] Translation: X:24.50, Y:2.01, Z:2.35 [[ 9.84962593e-01 -2.33913336e-03 -1.72751898e-01 2.44985298e+01] [ 3.14363341e-03 9.99985451e-01 4.38352341e-03 2.00863457e+00] [ 1.72739131e-01 -4.86067522e-03 9.84955616e-01 2.34629902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.62463044000003 meters Centerline goodness [0,1] 0.25312547561585463 Centerline is valid? [False, False] Translation: X:24.50, Y:2.01, Z:2.35 [[ 9.84871818e-01 -2.37945715e-03 -1.73268119e-01 2.45000182e+01] [ 3.09161546e-03 9.99987847e-01 3.84038742e-03 2.01292364e+00] [ 1.73256875e-01 -4.31796773e-03 9.84867204e-01 2.34610560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.65463044 meters Centerline goodness [0,1] 0.25094544664203433 Centerline is valid? [False, False] Translation: X:24.50, Y:2.02, Z:2.35 [[ 9.84697615e-01 -1.61458752e-03 -1.74264165e-01 2.45028318e+01] [ 2.26093614e-03 9.99991282e-01 3.51056099e-03 2.02255831e+00] [ 1.74256977e-01 -3.85084118e-03 9.84692681e-01 2.34595803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.68463044000003 meters Centerline goodness [0,1] 0.24823214901690238 Centerline is valid? [False, False] Translation: X:24.52, Y:2.03, Z:2.35 [[ 9.84822208e-01 -8.34073513e-03 -1.73365657e-01 2.45210429e+01] [ 9.64067897e-03 9.99931365e-01 6.65755903e-03 2.03035828e+00] [ 1.73298229e-01 -8.22787462e-03 9.84835025e-01 2.34836959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.71463044 meters Centerline goodness [0,1] 0.2550826959534549 Centerline is valid? [False, False] Translation: X:24.52, Y:2.03, Z:2.35 [[ 9.84814647e-01 -8.50974733e-03 -1.73400388e-01 2.45203415e+01] [ 9.71581912e-03 9.99934147e-01 6.10779511e-03 2.03408118e+00] [ 1.73336993e-01 -7.69977290e-03 9.84832473e-01 2.34909144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.74463044000004 meters Centerline goodness [0,1] 0.25566335986046007 Centerline is valid? [False, False] Translation: X:24.52, Y:2.04, Z:2.35 [[ 9.84805267e-01 -8.63808264e-03 -1.73447312e-01 2.45202491e+01] [ 9.75304096e-03 9.99936886e-01 5.57695957e-03 2.03778149e+00] [ 1.73388191e-01 -7.18385790e-03 9.84827359e-01 2.34930741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.77463044 meters Centerline goodness [0,1] 0.257144732811064 Centerline is valid? [False, False] Translation: X:24.52, Y:2.04, Z:2.35 [[ 9.84782609e-01 -8.88022665e-03 -1.73563690e-01 2.45204708e+01] [ 9.89209316e-03 9.99938742e-01 4.96577738e-03 2.04118981e+00] [ 1.73508961e-01 -6.60711939e-03 9.84810127e-01 2.34934950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.80463044000004 meters Centerline goodness [0,1] 0.2500701050497206 Centerline is valid? [False, False] Translation: X:24.54, Y:2.04, Z:2.35 [[ 9.84789273e-01 -3.23831178e-03 -1.73722768e-01 2.45396291e+01] [ 3.98401968e-03 9.99984286e-01 3.94397902e-03 2.04433411e+00] [ 1.73707267e-01 -4.57610317e-03 9.84786700e-01 2.35345890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.83463044 meters Centerline goodness [0,1] 0.2517834298228496 Centerline is valid? [False, False] Translation: X:24.54, Y:2.05, Z:2.35 [[ 9.84770164e-01 -3.56745130e-03 -1.73824618e-01 2.45392703e+01] [ 4.19262705e-03 9.99985996e-01 3.22953497e-03 2.05074836e+00] [ 1.73810663e-01 -3.90913147e-03 9.84771330e-01 2.35405718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.86463044 meters Centerline goodness [0,1] 0.25897256988356376 Centerline is valid? [False, False] Translation: X:24.54, Y:2.05, Z:2.35 [[ 9.84753298e-01 -3.74746623e-03 -1.73916357e-01 2.45392739e+01] [ 4.31724074e-03 9.99986482e-01 2.89795333e-03 2.05273709e+00] [ 1.73903146e-01 -3.60460788e-03 9.84756164e-01 2.35444511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.89463044 meters Centerline goodness [0,1] 0.2550549379104089 Centerline is valid? [False, False] Translation: X:24.54, Y:2.05, Z:2.35 [[ 9.84706971e-01 -4.07809048e-03 -1.74171037e-01 2.45397878e+01] [ 4.58186784e-03 9.99986402e-01 2.49043804e-03 2.05417034e+00] [ 1.74158512e-01 -3.25038037e-03 9.84712266e-01 2.35480024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.92463044 meters Centerline goodness [0,1] 0.2550549379104089 Centerline is valid? [False, False] Translation: X:24.54, Y:2.05, Z:2.35 [[ 9.84706971e-01 -4.07809048e-03 -1.74171037e-01 2.45397878e+01] [ 4.58186784e-03 9.99986402e-01 2.49043804e-03 2.05417034e+00] [ 1.74158512e-01 -3.25038037e-03 9.84712266e-01 2.35480024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.95463044 meters Centerline goodness [0,1] 0.2568514701095801 Centerline is valid? [False, False] Translation: X:24.54, Y:2.06, Z:2.36 [[ 9.84665985e-01 -4.77904305e-03 -1.74384799e-01 2.45398302e+01] [ 5.16806818e-03 9.99985067e-01 1.77681345e-03 2.05622784e+00] [ 1.74373704e-01 -2.65080030e-03 9.84675980e-01 2.35550177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.98463044 meters Centerline goodness [0,1] 0.25865990771430425 Centerline is valid? [False, False] Translation: X:24.54, Y:2.06, Z:2.36 [[ 9.84628173e-01 -4.74994391e-03 -1.74598963e-01 2.45402283e+01] [ 5.13353595e-03 9.99985300e-01 1.74542871e-03 2.05710016e+00] [ 1.74588106e-01 -2.61490834e-03 9.84638083e-01 2.35578587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.01463044 meters Centerline goodness [0,1] 0.25733439675799186 Centerline is valid? [False, False] Translation: X:24.54, Y:2.06, Z:2.36 [[ 9.84590421e-01 -4.71125362e-03 -1.74812776e-01 2.45404697e+01] [ 5.08406978e-03 9.99985657e-01 1.68489033e-03 2.05811092e+00] [ 1.74802331e-01 -2.54768723e-03 9.84600251e-01 2.35627725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.04463044 meters Centerline goodness [0,1] 0.2633809244409675 Centerline is valid? [False, False] Translation: X:24.54, Y:2.06, Z:2.36 [[ 9.84607640e-01 -4.82864546e-03 -1.74712562e-01 2.45398328e+01] [ 5.16254520e-03 9.99985613e-01 1.45670955e-03 2.05948852e+00] [ 1.74703014e-01 -2.33624885e-03 9.84618403e-01 2.35669130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.07463044 meters Centerline goodness [0,1] 0.2649722210070432 Centerline is valid? [False, False] Translation: X:24.54, Y:2.06, Z:2.36 [[ 9.84654669e-01 -5.01257692e-03 -1.74442131e-01 2.45384662e+01] [ 5.29431540e-03 9.99985324e-01 1.14977400e-03 2.06093392e+00] [ 1.74433808e-01 -2.05568200e-03 9.84666756e-01 2.35741836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.10463044 meters Centerline goodness [0,1] 0.2616497516735047 Centerline is valid? [False, False] Translation: X:24.56, Y:2.07, Z:2.36 [[ 9.85198553e-01 -1.03420979e-02 -1.71104801e-01 2.45573964e+01] [ 1.14052981e-02 9.99921270e-01 5.23187848e-03 2.06685460e+00] [ 1.71037221e-01 -7.10594037e-03 9.85238943e-01 2.35864916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.13463044 meters Centerline goodness [0,1] 0.25978892957139776 Centerline is valid? [False, False] Translation: X:24.56, Y:2.07, Z:2.36 [[ 9.85134953e-01 -1.02006957e-02 -1.71479067e-01 2.45582745e+01] [ 1.12253056e-02 9.99924461e-01 5.00653345e-03 2.06957650e+00] [ 1.71415043e-01 -6.85701602e-03 9.85175042e-01 2.35878086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.16463044 meters Centerline goodness [0,1] 0.26434778820813276 Centerline is valid? [False, False] Translation: X:24.56, Y:2.07, Z:2.36 [[ 9.85057803e-01 -1.02057208e-02 -1.71921402e-01 2.45595362e+01] [ 1.11620000e-02 9.99927138e-01 4.59650777e-03 2.07266895e+00] [ 1.71861965e-01 -6.44681254e-03 9.85099946e-01 2.35861207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.19463044 meters Centerline goodness [0,1] 0.25799288563113076 Centerline is valid? [False, False] Translation: X:24.56, Y:2.08, Z:2.36 [[ 9.84943973e-01 -1.00762098e-02 -1.72579954e-01 2.45616177e+01] [ 1.09749620e-02 9.99930723e-01 4.25432364e-03 2.07604270e+00] [ 1.72525131e-01 -6.08432887e-03 9.84986325e-01 2.35827249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.22463044 meters Centerline goodness [0,1] 0.2583946964952817 Centerline is valid? [False, False] Translation: X:24.56, Y:2.08, Z:2.36 [[ 9.84879084e-01 -1.00854124e-02 -1.72949338e-01 2.45624941e+01] [ 1.09076410e-02 9.99933273e-01 3.80439785e-03 2.07952784e+00] [ 1.72899428e-01 -5.63334116e-03 9.84923374e-01 2.35834886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.25463044 meters Centerline goodness [0,1] 0.25968833077571485 Centerline is valid? [False, False] Translation: X:24.56, Y:2.09, Z:2.36 [[ 9.84870461e-01 -8.52856791e-03 -1.73082174e-01 2.45626003e+01] [ 9.41098328e-03 9.99946564e-01 4.27824103e-03 2.08837378e+00] [ 1.73036438e-01 -5.84238666e-03 9.84898095e-01 2.35872364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.28463044 meters Centerline goodness [0,1] 0.25844514431166143 Centerline is valid? [False, False] Translation: X:24.56, Y:2.09, Z:2.36 [[ 9.84858500e-01 -8.66779735e-03 -1.73143308e-01 2.45623068e+01] [ 9.46975560e-03 9.99947917e-01 3.80623081e-03 2.09144407e+00] [ 1.73101298e-01 -5.38822358e-03 9.84889287e-01 2.35921220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.31463044000003 meters Centerline goodness [0,1] 0.25828170710721043 Centerline is valid? [False, False] Translation: X:24.56, Y:2.09, Z:2.36 [[ 9.84823501e-01 -8.83338876e-03 -1.73333909e-01 2.45626019e+01] [ 9.56263641e-03 9.99948590e-01 3.37253362e-03 2.09401950e+00] [ 1.73295207e-01 -4.97887951e-03 9.84857341e-01 2.35952949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.34463044 meters Centerline goodness [0,1] 0.2571656050955414 Centerline is valid? [False, False] Translation: X:24.56, Y:2.10, Z:2.36 [[ 9.84772976e-01 -8.96674278e-03 -1.73613892e-01 2.45632786e+01] [ 9.64093833e-03 9.99948903e-01 3.04037262e-03 2.09604846e+00] [ 1.73577759e-01 -4.66787762e-03 9.84809105e-01 2.35968831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.37463044000003 meters Centerline goodness [0,1] 0.2603762122757154 Centerline is valid? [False, False] Translation: X:24.56, Y:2.10, Z:2.36 [[ 9.84652403e-01 -9.23062433e-03 -1.74282644e-01 2.45641524e+01] [ 9.81908938e-03 9.99948630e-01 2.51453497e-03 2.09952461e+00] [ 1.74250481e-01 -4.18723976e-03 9.84692458e-01 2.36064866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.40463044 meters Centerline goodness [0,1] 0.2630855796911803 Centerline is valid? [False, False] Translation: X:24.56, Y:2.10, Z:2.36 [[ 9.84599602e-01 -9.35572746e-03 -1.74574034e-01 2.45646349e+01] [ 9.90353273e-03 9.99948389e-01 2.26705989e-03 2.10097704e+00] [ 1.74543814e-01 -3.96104593e-03 9.84641441e-01 2.36103715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.43463044000003 meters Centerline goodness [0,1] 0.26371427328490016 Centerline is valid? [False, False] Translation: X:24.57, Y:2.10, Z:2.36 [[ 9.84556973e-01 -9.41274471e-03 -1.74811233e-01 2.45653206e+01] [ 9.93459161e-03 9.99948424e-01 2.11034607e-03 2.10195472e+00] [ 1.74782353e-01 -3.81443414e-03 9.84599705e-01 2.36111386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.46463044 meters Centerline goodness [0,1] 0.2606435750334297 Centerline is valid? [False, False] Translation: X:24.57, Y:2.10, Z:2.36 [[ 9.84538249e-01 -9.49855087e-03 -1.74912017e-01 2.45652215e+01] [ 9.99015968e-03 9.99948234e-01 1.93031418e-03 2.10307260e+00] [ 1.74884627e-01 -3.64786712e-03 9.84582175e-01 2.36158404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.49463044000004 meters Centerline goodness [0,1] 0.2612776264002422 Centerline is valid? [False, False] Translation: X:24.56, Y:2.11, Z:2.36 [[ 9.84580171e-01 -9.73439004e-03 -1.74662897e-01 2.45635549e+01] [ 1.01504195e-02 9.99947375e-01 1.48871928e-03 2.10554949e+00] [ 1.74639214e-01 -3.23866516e-03 9.84627166e-01 2.36270407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.52463044 meters Centerline goodness [0,1] 0.26194974699763285 Centerline is valid? [False, False] Translation: X:24.56, Y:2.11, Z:2.36 [[ 9.84581583e-01 -9.87205565e-03 -1.74647214e-01 2.45629235e+01] [ 1.02409760e-02 9.99946826e-01 1.21127396e-03 2.10701101e+00] [ 1.74625970e-01 -2.98115595e-03 9.84630328e-01 2.36330199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.55463044000004 meters Centerline goodness [0,1] 0.2629547721261003 Centerline is valid? [False, False] Translation: X:24.56, Y:2.11, Z:2.36 [[ 9.84590392e-01 -9.89773135e-03 -1.74596094e-01 2.45624846e+01] [ 1.02307330e-02 9.99947157e-01 1.00731401e-03 2.10834692e+00] [ 1.74576897e-01 -2.77803772e-03 9.84639624e-01 2.36365428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.58463044 meters Centerline goodness [0,1] 0.2596203623813632 Centerline is valid? [False, False] Translation: X:24.56, Y:2.11, Z:2.36 [[ 9.84604701e-01 -9.89125544e-03 -1.74515747e-01 2.45618156e+01] [ 1.01958571e-02 9.99947661e-01 8.48926846e-04 2.10968077e+00] [ 1.74498216e-01 -2.61519499e-03 9.84654017e-01 2.36419021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.61463044 meters Centerline goodness [0,1] 0.2616652605620092 Centerline is valid? [False, False] Translation: X:24.56, Y:2.11, Z:2.36 [[ 9.84684376e-01 -9.89675354e-03 -1.74065313e-01 2.45599692e+01] [ 1.01304857e-02 9.99948582e-01 4.54348266e-04 2.11312046e+00] [ 1.74051866e-01 -2.21075579e-03 9.84734005e-01 2.36486914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.64463044 meters Centerline goodness [0,1] 0.2599757900652804 Centerline is valid? [False, False] Translation: X:24.56, Y:2.11, Z:2.36 [[ 9.84699654e-01 -9.95263323e-03 -1.73975679e-01 2.45596358e+01] [ 1.01412149e-02 9.99948558e-01 1.95024622e-04 2.11469535e+00] [ 1.73964788e-01 -1.95636542e-03 9.84749930e-01 2.36496942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.67463044 meters Centerline goodness [0,1] 0.2601880877742947 Centerline is valid? [False, False] Translation: X:24.56, Y:2.12, Z:2.37 [[ 9.84695504e-01 -1.00226094e-02 -1.73995150e-01 2.45596307e+01] [ 1.01642841e-02 9.99948339e-01 -7.68224691e-05 2.11636152e+00] [ 1.73986931e-01 -1.69288940e-03 9.84746506e-01 2.36502988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.70463044 meters Centerline goodness [0,1] 0.2595024187975121 Centerline is valid? [False, False] Translation: X:24.56, Y:2.12, Z:2.37 [[ 9.84645093e-01 -9.90530446e-03 -1.74286905e-01 2.45601112e+01] [ 1.00197318e-02 9.99949776e-01 -2.23351398e-04 2.11825937e+00] [ 1.74280364e-01 -1.52638618e-03 9.84694889e-01 2.36531967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.73463044 meters Centerline goodness [0,1] 0.25899031062363165 Centerline is valid? [False, False] Translation: X:24.56, Y:2.12, Z:2.37 [[ 9.84600513e-01 -9.81302277e-03 -1.74543788e-01 2.45604713e+01] [ 9.89145782e-03 9.99950990e-01 -4.20567178e-04 2.12046209e+00] [ 1.74539360e-01 -1.31240185e-03 9.84649323e-01 2.36558317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.76463044 meters Centerline goodness [0,1] 0.2594924427003601 Centerline is valid? [False, False] Translation: X:24.56, Y:2.12, Z:2.37 [[ 9.84590149e-01 -9.73221008e-03 -1.74606767e-01 2.45603590e+01] [ 9.74871674e-03 9.99952189e-01 -7.63168055e-04 2.12389594e+00] [ 1.74605847e-01 -9.50784167e-04 9.84637951e-01 2.36586753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.79463044 meters Centerline goodness [0,1] 0.2592528349341948 Centerline is valid? [False, False] Translation: X:24.56, Y:2.13, Z:2.37 [[ 9.84601492e-01 -9.92069750e-03 -1.74532181e-01 2.45599303e+01] [ 9.87917446e-03 9.99950587e-01 -1.10671503e-03 2.12541727e+00] [ 1.74534536e-01 -6.34560596e-04 9.84650848e-01 2.36605022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.82463044 meters Centerline goodness [0,1] 0.2619269939849298 Centerline is valid? [False, False] Translation: X:24.56, Y:2.13, Z:2.37 [[ 9.84597444e-01 -9.88605163e-03 -1.74556978e-01 2.45601953e+01] [ 9.83188126e-03 9.99950975e-01 -1.17509948e-03 2.12633702e+00] [ 1.74560038e-01 -5.59223534e-04 9.84646373e-01 2.36586604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.85463044 meters Centerline goodness [0,1] 0.2591409453917548 Centerline is valid? [False, False] Translation: X:24.56, Y:2.13, Z:2.36 [[ 9.84465399e-01 -8.72150612e-03 -1.75361948e-01 2.45643210e+01] [ 8.77179885e-03 9.99961408e-01 -4.88344734e-04 2.12958733e+00] [ 1.75359439e-01 -1.05748124e-03 9.84503910e-01 2.36426859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.88463044 meters Centerline goodness [0,1] 0.26034174621856065 Centerline is valid? [False, False] Translation: X:24.57, Y:2.13, Z:2.36 [[ 9.84423231e-01 -8.71109409e-03 -1.75599028e-01 2.45650823e+01] [ 8.71175139e-03 9.99961758e-01 -7.67148377e-04 2.13172778e+00] [ 1.75598996e-01 -7.74576394e-04 9.84461473e-01 2.36408471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.91463044 meters Centerline goodness [0,1] 0.2605356439543127 Centerline is valid? [False, False] Translation: X:24.57, Y:2.13, Z:2.36 [[ 9.84401244e-01 -8.72831959e-03 -1.75721393e-01 2.45652648e+01] [ 8.67364897e-03 9.99961801e-01 -1.07918184e-03 2.13397855e+00] [ 1.75724100e-01 -4.61797737e-04 9.84439347e-01 2.36415041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.94463044 meters Centerline goodness [0,1] 0.2584379692294301 Centerline is valid? [False, False] Translation: X:24.56, Y:2.14, Z:2.36 [[ 9.84444078e-01 -8.49543829e-03 -1.75492694e-01 2.45642570e+01] [ 8.37485269e-03 9.99963911e-01 -1.42773788e-03 2.13943299e+00] [ 1.75498490e-01 -6.41973585e-05 9.84479698e-01 2.36445908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.97463044 meters Centerline goodness [0,1] 0.25686746987951803 Centerline is valid? [False, False] Translation: X:24.56, Y:2.14, Z:2.36 [[ 9.84455691e-01 -8.52744708e-03 -1.75425984e-01 2.45637969e+01] [ 8.35001535e-03 9.99963607e-01 -1.74955049e-03 2.14172353e+00] [ 1.75434519e-01 2.57545283e-04 9.84491068e-01 2.36469687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.00463044 meters Centerline goodness [0,1] 0.25647882424558655 Centerline is valid? [False, False] Translation: X:24.56, Y:2.14, Z:2.36 [[ 9.84418874e-01 -8.40344389e-03 -1.75638442e-01 2.45643731e+01] [ 8.18536354e-03 9.99964567e-01 -1.96608303e-03 2.14404416e+00] [ 1.75648740e-01 4.97784749e-04 9.84452778e-01 2.36467689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.03463044 meters Centerline goodness [0,1] 0.2553755843026416 Centerline is valid? [False, False] Translation: X:24.57, Y:2.15, Z:2.36 [[ 9.84393117e-01 -8.35607697e-03 -1.75785001e-01 2.45651598e+01] [ 8.09287384e-03 9.99964801e-01 -2.21414527e-03 2.14633179e+00] [ 1.75797315e-01 7.56983531e-04 9.84426092e-01 2.36425252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.06463044000003 meters Centerline goodness [0,1] 0.25692684205926053 Centerline is valid? [False, False] Translation: X:24.57, Y:2.15, Z:2.36 [[ 9.84360121e-01 -8.38458514e-03 -1.75968324e-01 2.45660384e+01] [ 8.06000085e-03 9.99964243e-01 -2.55922150e-03 2.14878238e+00] [ 1.75983490e-01 1.10089075e-03 9.84392503e-01 2.36380779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.09463044 meters Centerline goodness [0,1] 0.25284846388342375 Centerline is valid? [False, False] Translation: X:24.57, Y:2.15, Z:2.36 [[ 9.84285862e-01 -8.22352080e-03 -1.76390802e-01 2.45674074e+01] [ 7.86592828e-03 9.99965346e-01 -2.72641101e-03 2.15106188e+00] [ 1.76407110e-01 1.29609041e-03 9.84316439e-01 2.36358060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.12463044000003 meters Centerline goodness [0,1] 0.2544181175546537 Centerline is valid? [False, False] Translation: X:24.57, Y:2.16, Z:2.36 [[ 9.84231584e-01 -8.15461602e-03 -1.76696609e-01 2.45687239e+01] [ 7.70684010e-03 9.99965117e-01 -3.22030016e-03 2.15711272e+00] [ 1.76716706e-01 1.80774861e-03 9.84260097e-01 2.36300484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.15463044 meters Centerline goodness [0,1] 0.250639607996184 Centerline is valid? [False, False] Translation: X:24.57, Y:2.16, Z:2.36 [[ 9.84171056e-01 -8.12335251e-03 -1.77034864e-01 2.45698942e+01] [ 7.62514868e-03 9.99964823e-01 -3.49431803e-03 2.15950768e+00] [ 1.77057022e-01 2.08908951e-03 9.84198378e-01 2.36278811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.18463044000003 meters Centerline goodness [0,1] 0.25459995186732887 Centerline is valid? [False, False] Translation: X:24.57, Y:2.16, Z:2.36 [[ 9.84121221e-01 -8.24181074e-03 -1.77306217e-01 2.45705371e+01] [ 7.67312789e-03 9.99962984e-01 -3.89280018e-03 2.16184474e+00] [ 1.77331737e-01 2.47049398e-03 9.84148033e-01 2.36282910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.21463044 meters Centerline goodness [0,1] 0.2525649090080906 Centerline is valid? [False, False] Translation: X:24.57, Y:2.16, Z:2.36 [[ 9.84037683e-01 -8.13991366e-03 -1.77773960e-01 2.45716751e+01] [ 7.53351423e-03 9.99963275e-01 -4.08582248e-03 2.16411820e+00] [ 1.77800690e-01 2.68134062e-03 9.84062866e-01 2.36295103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.24463044000004 meters Centerline goodness [0,1] 0.25197192585993355 Centerline is valid? [False, False] Translation: X:24.57, Y:2.17, Z:2.36 [[ 9.83974977e-01 -7.28191703e-03 -1.78157846e-01 2.45726846e+01] [ 6.69690028e-03 9.99970029e-01 -3.88484988e-03 2.17094521e+00] [ 1.78180796e-01 2.62948975e-03 9.83994253e-01 2.36300832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.27463044 meters Centerline goodness [0,1] 0.2515270978642291 Centerline is valid? [False, False] Translation: X:24.57, Y:2.17, Z:2.36 [[ 9.83993627e-01 -7.34985784e-03 -1.78052022e-01 2.45723831e+01] [ 6.70903340e-03 9.99968670e-01 -4.20091530e-03 2.17316041e+00] [ 1.78077320e-01 2.93911692e-03 9.84012109e-01 2.36315430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.30463044000004 meters Centerline goodness [0,1] 0.2521581792814789 Centerline is valid? [False, False] Translation: X:24.57, Y:2.18, Z:2.36 [[ 9.84038229e-01 -7.58889652e-03 -1.77795310e-01 2.45715831e+01] [ 6.87603490e-03 9.99965663e-01 -4.62528922e-03 2.17529132e+00] [ 1.77824306e-01 3.32893466e-03 9.84056621e-01 2.36325354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.33463044 meters Centerline goodness [0,1] 0.25439288374742564 Centerline is valid? [False, False] Translation: X:24.57, Y:2.18, Z:2.36 [[ 9.84018127e-01 -7.99009266e-03 -1.77888963e-01 2.45716205e+01] [ 7.14752492e-03 9.99960000e-01 -5.37683146e-03 2.17903720e+00] [ 1.77924809e-01 4.01943383e-03 9.84035877e-01 2.36342725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.36463044 meters Centerline goodness [0,1] 0.25163505916836193 Centerline is valid? [False, False] Translation: X:24.57, Y:2.18, Z:2.36 [[ 9.83967300e-01 -7.91458746e-03 -1.78173261e-01 2.45724353e+01] [ 7.04896917e-03 9.99960081e-01 -5.49081461e-03 2.18065251e+00] [ 1.78209606e-01 4.14684421e-03 9.83983811e-01 2.36339873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.39463044 meters Centerline goodness [0,1] 0.24944408109875738 Centerline is valid? [False, False] Translation: X:24.57, Y:2.18, Z:2.36 [[ 9.83898740e-01 -7.77240553e-03 -1.78557721e-01 2.45737734e+01] [ 6.89833545e-03 9.99960995e-01 -5.51552070e-03 2.18187314e+00] [ 1.78593626e-01 4.19496281e-03 9.83913980e-01 2.36311938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.42463044 meters Centerline goodness [0,1] 0.25168407054566067 Centerline is valid? [False, False] Translation: X:24.57, Y:2.18, Z:2.36 [[ 9.83895585e-01 -7.83796344e-03 -1.78572236e-01 2.45742861e+01] [ 6.92965640e-03 9.99959689e-01 -5.70967338e-03 2.18307222e+00] [ 1.78609790e-01 4.38027820e-03 9.83910238e-01 2.36269330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.45463044 meters Centerline goodness [0,1] 0.25071807816171987 Centerline is valid? [False, False] Translation: X:24.57, Y:2.19, Z:2.36 [[ 9.83904061e-01 -7.88139979e-03 -1.78523618e-01 2.45739719e+01] [ 6.89666289e-03 9.99957392e-01 -6.13593526e-03 2.18619009e+00] [ 1.78564372e-01 4.80595440e-03 9.83916494e-01 2.36285953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.48463044 meters Centerline goodness [0,1] 0.2502453171678406 Centerline is valid? [False, False] Translation: X:24.57, Y:2.19, Z:2.36 [[ 9.83882660e-01 -7.80820294e-03 -1.78644741e-01 2.45737834e+01] [ 6.77926370e-03 9.99956735e-01 -6.36942970e-03 2.18835863e+00] [ 1.78686746e-01 5.05569163e-03 9.83893026e-01 2.36332636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.51463044 meters Centerline goodness [0,1] 0.249141864001738 Centerline is valid? [False, False] Translation: X:24.57, Y:2.19, Z:2.36 [[ 9.83893054e-01 -7.84226214e-03 -1.78585996e-01 2.45733919e+01] [ 6.76558077e-03 9.99955087e-01 -6.63714970e-03 2.19012035e+00] [ 1.78630025e-01 5.32200751e-03 9.83901921e-01 2.36361586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.54463044 meters Centerline goodness [0,1] 0.25033175974068356 Centerline is valid? [False, False] Translation: X:24.57, Y:2.19, Z:2.36 [[ 9.83961104e-01 -8.22951596e-03 -1.78193215e-01 2.45718480e+01] [ 7.10742640e-03 9.99950697e-01 -6.93449016e-03 2.19009510e+00] [ 1.78241497e-01 5.55677343e-03 9.83971082e-01 2.36418316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.57463044 meters Centerline goodness [0,1] 0.25119060563227136 Centerline is valid? [False, False] Translation: X:24.57, Y:2.19, Z:2.36 [[ 9.84008626e-01 -8.52592445e-03 -1.77916645e-01 2.45708445e+01] [ 7.38154838e-03 9.99947599e-01 -7.09304295e-03 2.18965503e+00] [ 1.77967796e-01 5.66631513e-03 9.84019998e-01 2.36462318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.60463044 meters Centerline goodness [0,1] 0.2513507625272331 Centerline is valid? [False, False] Translation: X:24.57, Y:2.19, Z:2.36 [[ 9.83998245e-01 -8.47051692e-03 -1.77976697e-01 2.45708428e+01] [ 7.37875255e-03 9.99949687e-01 -6.79533454e-03 2.18820968e+00] [ 1.78025302e-01 5.37335125e-03 9.84011239e-01 2.36492816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.63463044 meters Centerline goodness [0,1] 0.2510425716768028 Centerline is valid? [False, False] Translation: X:24.59, Y:2.19, Z:2.37 [[ 9.83830001e-01 -1.58482884e-02 -1.78402246e-01 2.45891480e+01] [ 1.56491928e-02 9.99874360e-01 -2.52324119e-03 2.18923006e+00] [ 1.78419820e-01 -3.09410759e-04 9.83954405e-01 2.36717396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.66463044 meters Centerline goodness [0,1] 0.25141236823307866 Centerline is valid? [False, False] Translation: X:24.59, Y:2.19, Z:2.37 [[ 9.83809579e-01 -1.55717514e-02 -1.78539164e-01 2.45904233e+01] [ 1.54099529e-02 9.99878630e-01 -2.29306643e-03 2.18908078e+00] [ 1.78553202e-01 -4.95339390e-04 9.83930134e-01 2.36634369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.69463044 meters Centerline goodness [0,1] 0.25279012991542416 Centerline is valid? [False, False] Translation: X:24.59, Y:2.19, Z:2.37 [[ 9.83865085e-01 -1.56167328e-02 -1.78229099e-01 2.45898502e+01] [ 1.54372975e-02 9.99877973e-01 -2.39359993e-03 2.18929971e+00] [ 1.78244730e-01 -3.96396223e-04 9.83986107e-01 2.36607288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.72463044 meters Centerline goodness [0,1] 0.2509676858174227 Centerline is valid? [False, False] Translation: X:24.59, Y:2.19, Z:2.37 [[ 9.83922918e-01 -1.55741165e-02 -1.77913291e-01 2.45886753e+01] [ 1.53785094e-02 9.99878672e-01 -2.47850590e-03 2.18966104e+00] [ 1.77930305e-01 -2.97382453e-04 9.84043047e-01 2.36640402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.75463044 meters Centerline goodness [0,1] 0.25115382115230445 Centerline is valid? [False, False] Translation: X:24.59, Y:2.19, Z:2.37 [[ 9.84130956e-01 -1.17378092e-02 -1.77055036e-01 2.45868732e+01] [ 1.20667622e-02 9.99926889e-01 7.81243837e-04 2.18950195e+00] [ 1.77032922e-01 -2.90532727e-03 9.84200642e-01 2.36598326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.78463044 meters Centerline goodness [0,1] 0.25096911886406204 Centerline is valid? [False, False] Translation: X:24.59, Y:2.19, Z:2.37 [[ 9.84091418e-01 -1.16493732e-02 -1.77280490e-01 2.45876666e+01] [ 1.19844239e-02 9.99927849e-01 8.19244157e-04 2.18971683e+00] [ 1.77258155e-01 -2.93081569e-03 9.84160026e-01 2.36581705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.81463044000003 meters Centerline goodness [0,1] 0.24856300187294134 Centerline is valid? [False, False] Translation: X:24.59, Y:2.19, Z:2.36 [[ 9.84055795e-01 -1.17311342e-02 -1.77472741e-01 2.45892024e+01] [ 1.20608651e-02 9.99926962e-01 7.79200284e-04 2.18934474e+00] [ 1.77450638e-01 -2.90725134e-03 9.84125408e-01 2.36493509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.84463044 meters Centerline goodness [0,1] 0.24856300187294134 Centerline is valid? [False, False] Translation: X:24.59, Y:2.19, Z:2.36 [[ 9.84055795e-01 -1.17311342e-02 -1.77472741e-01 2.45892024e+01] [ 1.20608651e-02 9.99926962e-01 7.79200284e-04 2.18934474e+00] [ 1.77450638e-01 -2.90725134e-03 9.84125408e-01 2.36493509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.87463044000003 meters Centerline goodness [0,1] 0.25265148222202904 Centerline is valid? [False, False] Translation: X:24.59, Y:2.19, Z:2.36 [[ 9.83989943e-01 -1.62466139e-02 -1.77481942e-01 2.45895334e+01] [ 1.59737005e-02 9.99868012e-01 -2.96654878e-03 2.18841633e+00] [ 1.77506713e-01 8.40107727e-05 9.84119586e-01 2.36481834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.90463044 meters Centerline goodness [0,1] 0.25140851174482104 Centerline is valid? [False, False] Translation: X:24.59, Y:2.19, Z:2.36 [[ 9.83976142e-01 -1.61116268e-02 -1.77570739e-01 2.45898272e+01] [ 1.58681151e-02 9.99870197e-01 -2.79149997e-03 2.18812325e+00] [ 1.77592666e-01 -7.09435701e-05 9.84104080e-01 2.36489351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.93463044000003 meters Centerline goodness [0,1] 0.2525373004857737 Centerline is valid? [False, False] Translation: X:24.59, Y:2.19, Z:2.36 [[ 9.83950189e-01 -1.58217864e-02 -1.77740531e-01 2.45902774e+01] [ 1.56071474e-02 9.99874806e-01 -2.60576427e-03 2.18883603e+00] [ 1.77759507e-01 -2.10080424e-04 9.84073937e-01 2.36497220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.96463044 meters Centerline goodness [0,1] 0.2527858474613016 Centerline is valid? [False, False] Translation: X:24.59, Y:2.19, Z:2.36 [[ 9.83976734e-01 -1.58517305e-02 -1.77590851e-01 2.45902507e+01] [ 1.56320924e-02 9.99874337e-01 -2.63596536e-03 2.18886629e+00] [ 1.77610319e-01 -1.82388003e-04 9.84100880e-01 2.36476604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.99463044000004 meters Centerline goodness [0,1] 0.25202811157867333 Centerline is valid? [False, False] Translation: X:24.59, Y:2.19, Z:2.36 [[ 9.84010079e-01 -1.58411539e-02 -1.77406942e-01 2.45903525e+01] [ 1.56582386e-02 9.99874447e-01 -2.43113600e-03 2.18742537e+00] [ 1.77423180e-01 -3.85617900e-04 9.84134577e-01 2.36437680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.02463044 meters Centerline goodness [0,1] 0.2517122917701964 Centerline is valid? [False, False] Translation: X:24.59, Y:2.19, Z:2.36 [[ 9.83971101e-01 -1.55587933e-02 -1.77647956e-01 2.45915602e+01] [ 1.54153917e-02 9.99878783e-01 -2.18751389e-03 2.18720825e+00] [ 1.77660457e-01 -5.86062377e-04 9.84091672e-01 2.36387450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.05463044000004 meters Centerline goodness [0,1] 0.25369458128078815 Centerline is valid? [False, False] Translation: X:24.59, Y:2.19, Z:2.36 [[ 9.83919852e-01 -1.52320551e-02 -1.77959852e-01 2.45929859e+01] [ 1.51108589e-02 9.99883751e-01 -2.03647249e-03 2.18797647e+00] [ 1.77970184e-01 -6.85400501e-04 9.84035642e-01 2.36328030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.08463044 meters Centerline goodness [0,1] 0.16519256968622276 Centerline is valid? [False, False] Translation: X:24.59, Y:2.19, Z:2.36 [[ 9.83881260e-01 -1.49206217e-02 -1.78199443e-01 2.45940515e+01] [ 1.48229948e-02 9.99888367e-01 -1.87929458e-03 2.18849040e+00] [ 1.78207590e-01 -7.92446689e-04 9.83992595e-01 2.36292636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.11463044 meters Centerline goodness [0,1] 0.2519889874048863 Centerline is valid? [False, False] Translation: X:24.59, Y:2.19, Z:2.36 [[ 9.83966496e-01 -1.51916619e-02 -1.77705226e-01 2.45930824e+01] [ 1.50750612e-02 9.99884352e-01 -2.00641162e-03 2.18784873e+00] [ 1.77715155e-01 -7.04675352e-04 9.84081718e-01 2.36274493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.14463044 meters Centerline goodness [0,1] 0.2544706646460273 Centerline is valid? [False, False] Translation: X:24.59, Y:2.19, Z:2.36 [[ 9.84020330e-01 -1.53238334e-02 -1.77395519e-01 2.45925609e+01] [ 1.52189377e-02 9.99882280e-01 -1.95205282e-03 2.18679011e+00] [ 1.77404549e-01 -7.78911684e-04 9.84137703e-01 2.36263990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.17463044 meters Centerline goodness [0,1] 0.253913873108114 Centerline is valid? [False, False] Translation: X:24.59, Y:2.19, Z:2.36 [[ 9.84043750e-01 -1.53069274e-02 -1.77267021e-01 2.45925311e+01] [ 1.52294777e-02 9.99882409e-01 -1.79759911e-03 2.18588598e+00] [ 1.77273692e-01 -9.30767984e-04 9.84161151e-01 2.36252977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.20463044 meters Centerline goodness [0,1] 0.25430119176598054 Centerline is valid? [False, False] Translation: X:24.59, Y:2.19, Z:2.36 [[ 9.84069684e-01 -1.51292915e-02 -1.77138254e-01 2.45927326e+01] [ 1.50935339e-02 9.99884886e-01 -1.54941551e-03 2.18524159e+00] [ 1.77141305e-01 -1.14890942e-03 9.84184758e-01 2.36219244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.23463044 meters Centerline goodness [0,1] 0.2518920091076656 Centerline is valid? [False, False] Translation: X:24.59, Y:2.19, Z:2.36 [[ 9.84097164e-01 -1.51493525e-02 -1.76983812e-01 2.45935725e+01] [ 1.51185439e-02 9.99884549e-01 -1.52266661e-03 2.18524699e+00] [ 1.76986446e-01 -1.17728564e-03 9.84212585e-01 2.36108006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.26463044 meters Centerline goodness [0,1] 0.25312012480499224 Centerline is valid? [False, False] Translation: X:24.59, Y:2.19, Z:2.36 [[ 9.84074772e-01 -1.50272385e-02 -1.77118678e-01 2.45948473e+01] [ 1.50097732e-02 9.99886312e-01 -1.43853251e-03 2.18525229e+00] [ 1.77120158e-01 -1.24288762e-03 9.84188450e-01 2.36032737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.29463044 meters Centerline goodness [0,1] 0.17074067664618842 Centerline is valid? [False, False] Translation: X:24.60, Y:2.19, Z:2.36 [[ 9.84060576e-01 -1.48920703e-02 -1.77208940e-01 2.45957433e+01] [ 1.48923399e-02 9.99888220e-01 -1.32860715e-03 2.18525489e+00] [ 1.77208917e-01 -1.33162585e-03 9.84172356e-01 2.35980346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.32463044 meters Centerline goodness [0,1] 0.2566737357616039 Centerline is valid? [False, False] Translation: X:24.60, Y:2.19, Z:2.36 [[ 9.84078336e-01 -1.49699941e-02 -1.77103723e-01 2.45955459e+01] [ 1.49714469e-02 9.99887039e-01 -1.32818523e-03 2.18513787e+00] [ 1.77103601e-01 -1.34446069e-03 9.84191296e-01 2.35981417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.35463044 meters Centerline goodness [0,1] 0.2554742941470084 Centerline is valid? [False, False] Translation: X:24.60, Y:2.19, Z:2.36 [[ 9.84070508e-01 -1.48560112e-02 -1.77156805e-01 2.45957554e+01] [ 1.48807221e-02 9.99888569e-01 -1.18920647e-03 2.18509858e+00] [ 1.77154731e-01 -1.46595818e-03 9.84181920e-01 2.35993600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.38463044 meters Centerline goodness [0,1] 0.259202019982151 Centerline is valid? [False, False] Translation: X:24.59, Y:2.18, Z:2.36 [[ 9.84189692e-01 -1.56183756e-02 -1.76427653e-01 2.45947967e+01] [ 1.56113120e-02 9.99877116e-01 -1.42814382e-03 2.18329380e+00] [ 1.76428278e-01 -1.34870270e-03 9.84312574e-01 2.35924460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.41463044 meters Centerline goodness [0,1] 0.256655924908623 Centerline is valid? [False, False] Translation: X:24.60, Y:2.18, Z:2.36 [[ 9.84160004e-01 -1.55643964e-02 -1.76597949e-01 2.45965518e+01] [ 1.55989328e-02 9.99877618e-01 -1.19279882e-03 2.18195993e+00] [ 1.76594902e-01 -1.58083465e-03 9.84282348e-01 2.35822415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.44463044 meters Centerline goodness [0,1] 0.163803574527156 Centerline is valid? [False, False] Translation: X:24.60, Y:2.18, Z:2.36 [[ 9.84162850e-01 -1.56092496e-02 -1.76578133e-01 2.45981465e+01] [ 1.56718772e-02 9.99876648e-01 -1.04002042e-03 2.18138414e+00] [ 1.76572585e-01 -1.74376135e-03 9.84286077e-01 2.35678345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.47463044 meters Centerline goodness [0,1] 0.26030793319415446 Centerline is valid? [False, False] Translation: X:24.60, Y:2.18, Z:2.36 [[ 9.84261163e-01 -1.58301748e-02 -1.76009569e-01 2.45969469e+01] [ 1.59214785e-02 9.99872846e-01 -8.93525334e-04 2.17957188e+00] [ 1.76001334e-01 -1.92287029e-03 9.84388050e-01 2.35670638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.50463044 meters Centerline goodness [0,1] 0.16488259668508287 Centerline is valid? [False, False] Translation: X:24.60, Y:2.18, Z:2.36 [[ 9.84240141e-01 -1.57246074e-02 -1.76136541e-01 2.45977283e+01] [ 1.58461254e-02 9.99874185e-01 -7.16695420e-04 2.17911871e+00] [ 1.76125650e-01 -2.08568132e-03 9.84365484e-01 2.35641988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.53463044 meters Centerline goodness [0,1] 0.25723840345199567 Centerline is valid? [False, False] Translation: X:24.60, Y:2.18, Z:2.36 [[ 9.84186529e-01 -1.54916182e-02 -1.76456469e-01 2.45992315e+01] [ 1.56360379e-02 9.99877586e-01 -5.72061426e-04 2.17968827e+00] [ 1.76443731e-01 -2.19606490e-03 9.84308279e-01 2.35586662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.56463044000003 meters Centerline goodness [0,1] 0.26039069444745566 Centerline is valid? [False, False] Translation: X:24.60, Y:2.18, Z:2.35 [[ 9.84247653e-01 -1.59123435e-02 -1.76077695e-01 2.45994416e+01] [ 1.60263669e-02 9.99871270e-01 -7.74550531e-04 2.17912433e+00] [ 1.76067354e-01 -2.05953621e-03 9.84375967e-01 2.35479034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.59463044 meters Centerline goodness [0,1] 0.26166637645829705 Centerline is valid? [False, False] Translation: X:24.60, Y:2.18, Z:2.35 [[ 9.84242749e-01 -1.59121404e-02 -1.76105125e-01 2.46005107e+01] [ 1.60632727e-02 9.99870816e-01 -5.67417677e-04 2.17776361e+00] [ 1.76091404e-01 -2.27034791e-03 9.84371202e-01 2.35399509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.62463044000003 meters Centerline goodness [0,1] 0.2616049329106779 Centerline is valid? [False, False] Translation: X:24.60, Y:2.18, Z:2.35 [[ 9.84188750e-01 -1.56489540e-02 -1.76430196e-01 2.46020373e+01] [ 1.58433367e-02 9.99874439e-01 -3.06950937e-04 2.17774051e+00] [ 1.76412847e-01 -2.49314534e-03 9.84313107e-01 2.35346158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.65463044 meters Centerline goodness [0,1] 0.16555191162509708 Centerline is valid? [False, False] Translation: X:24.60, Y:2.18, Z:2.35 [[ 9.84152803e-01 -1.55508706e-02 -1.76639266e-01 2.46034446e+01] [ 1.57676002e-02 9.99875668e-01 -1.76683214e-04 2.17754443e+00] [ 1.76620052e-01 -2.61129404e-03 9.84275641e-01 2.35280167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.68463044000003 meters Centerline goodness [0,1] 0.2609298196227886 Centerline is valid? [False, False] Translation: X:24.60, Y:2.18, Z:2.35 [[ 9.84272127e-01 -1.60762325e-02 -1.75925937e-01 2.46019650e+01] [ 1.62736164e-02 9.99867524e-01 -3.20792653e-04 2.17596623e+00] [ 1.75907788e-01 -2.54720395e-03 9.84403353e-01 2.35256552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.71463044 meters Centerline goodness [0,1] 0.1635372369425363 Centerline is valid? [False, False] Translation: X:24.60, Y:2.18, Z:2.35 [[ 9.84287351e-01 -1.62889530e-02 -1.75821161e-01 2.46028860e+01] [ 1.65087591e-02 9.99863699e-01 -2.12545943e-04 2.17500411e+00] [ 1.75800658e-01 -2.69338291e-03 9.84422102e-01 2.35154134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.74463044000004 meters Centerline goodness [0,1] 0.16065390165629245 Centerline is valid? [False, False] Translation: X:24.61, Y:2.17, Z:2.35 [[ 9.84226768e-01 -1.61115896e-02 -1.76176291e-01 2.46050138e+01] [ 1.63886491e-02 9.99865690e-01 1.17618251e-04 2.17382305e+00] [ 1.76150734e-01 -3.00305445e-03 9.84358624e-01 2.35054343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.77463044 meters Centerline goodness [0,1] 0.1623335858859184 Centerline is valid? [False, False] Translation: X:24.61, Y:2.17, Z:2.35 [[ 9.84241399e-01 -1.61844227e-02 -1.76087854e-01 2.46058735e+01] [ 1.64939337e-02 9.99863923e-01 2.94125743e-04 2.17226525e+00] [ 1.76059132e-01 -3.19387211e-03 9.84374411e-01 2.34961717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.80463044000004 meters Centerline goodness [0,1] 0.16422096132524622 Centerline is valid? [False, False] Translation: X:24.61, Y:2.17, Z:2.35 [[ 9.84202907e-01 -1.60609500e-02 -1.76314164e-01 2.46076258e+01] [ 1.64081346e-02 9.99865247e-01 5.11292156e-04 2.17134277e+00] [ 1.76282194e-01 -3.39620177e-03 9.84333812e-01 2.34861707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.83463044 meters Centerline goodness [0,1] 0.16338975694444446 Centerline is valid? [False, False] Translation: X:24.61, Y:2.17, Z:2.35 [[ 9.84101497e-01 -1.56579544e-02 -1.76915436e-01 2.46106774e+01] [ 1.60849015e-02 9.99870150e-01 9.79306402e-04 2.17041154e+00] [ 1.76877130e-01 -3.80940427e-03 9.84225568e-01 2.34732609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.86463044 meters Centerline goodness [0,1] 0.16296071984772453 Centerline is valid? [False, False] Translation: X:24.61, Y:2.17, Z:2.35 [[ 9.84060448e-01 -1.55967983e-02 -1.77149016e-01 2.46120487e+01] [ 1.60617658e-02 9.99870292e-01 1.19093612e-03 2.16914860e+00] [ 1.77107463e-01 -4.01727913e-03 9.84183320e-01 2.34673678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.89463044 meters Centerline goodness [0,1] 0.2689870651983919 Centerline is valid? [False, False] Translation: X:24.61, Y:2.17, Z:2.35 [[ 9.84030155e-01 -1.56553197e-02 -1.77312055e-01 2.46135022e+01] [ 1.61371469e-02 9.99868974e-01 1.27555173e-03 2.16807047e+00] [ 1.77268854e-01 -4.11649204e-03 9.84153854e-01 2.34586035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.92463044 meters Centerline goodness [0,1] 0.1639814754419151 Centerline is valid? [False, False] Translation: X:24.62, Y:2.17, Z:2.34 [[ 9.83961425e-01 -1.55055701e-02 -1.77706193e-01 2.46157431e+01] [ 1.60200092e-02 9.99870605e-01 1.46031676e-03 2.16708417e+00] [ 1.77660556e-01 -4.28375021e-03 9.84082505e-01 2.34475942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.95463044 meters Centerline goodness [0,1] 0.16231149245969834 Centerline is valid? [False, False] Translation: X:24.62, Y:2.17, Z:2.34 [[ 9.83921205e-01 -1.52174934e-02 -1.77953618e-01 2.46168242e+01] [ 1.57646028e-02 9.99874352e-01 1.66080124e-03 2.16711506e+00] [ 1.77905985e-01 -4.43946566e-03 9.84037475e-01 2.34439360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.98463044 meters Centerline goodness [0,1] 0.1658663769690386 Centerline is valid? [False, False] Translation: X:24.62, Y:2.17, Z:2.34 [[ 9.83957979e-01 -1.50278936e-02 -1.77766302e-01 2.46171578e+01] [ 1.56133599e-02 9.99876308e-01 1.89493340e-03 2.16648625e+00] [ 1.77715837e-01 -4.64006408e-03 9.84070908e-01 2.34361199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.01463044 meters Centerline goodness [0,1] 0.16238520187142613 Centerline is valid? [False, False] Translation: X:24.62, Y:2.16, Z:2.34 [[ 9.83977403e-01 -1.51287907e-02 -1.77650192e-01 2.46179732e+01] [ 1.57522830e-02 9.99873720e-01 2.09968954e-03 2.16398253e+00] [ 1.77595992e-01 -4.86444315e-03 9.84091460e-01 2.34267195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.04463044 meters Centerline goodness [0,1] 0.1629619944211994 Centerline is valid? [False, False] Translation: X:24.62, Y:2.16, Z:2.34 [[ 9.83949213e-01 -1.49521121e-02 -1.77821203e-01 2.46197908e+01] [ 1.56343488e-02 9.99874809e-01 2.43595786e-03 2.16224830e+00] [ 1.77762518e-01 -5.17697752e-03 9.84059798e-01 2.34142697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.07463044 meters Centerline goodness [0,1] 0.16386261604846797 Centerline is valid? [False, False] Translation: X:24.62, Y:2.16, Z:2.34 [[ 9.84087279e-01 -1.06871195e-02 -1.77364067e-01 2.46211394e+01] [ 1.19959984e-02 9.99908143e-01 6.30889695e-03 2.15963158e+00] [ 1.77280351e-01 -8.33616430e-03 9.84125086e-01 2.33909240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.10463044 meters Centerline goodness [0,1] 0.16456273764258555 Centerline is valid? [False, False] Translation: X:24.62, Y:2.16, Z:2.34 [[ 9.84308862e-01 -6.39886665e-03 -1.76338080e-01 2.46188903e+01] [ 8.28193594e-03 9.99916251e-01 9.94482978e-03 2.16032136e+00] [ 1.76259677e-01 -1.12492048e-02 9.84279423e-01 2.33867371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.13463044 meters Centerline goodness [0,1] 0.25779738746766934 Centerline is valid? [False, False] Translation: X:24.61, Y:2.16, Z:2.34 [[ 9.84597285e-01 -3.09679048e-03 -1.74810171e-01 2.46138741e+01] [ 5.39732332e-03 9.99904959e-01 1.26862969e-02 2.16153810e+00] [ 1.74754270e-01 -1.34344005e-02 9.84520422e-01 2.33955598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.16463044 meters Centerline goodness [0,1] 0.2580659075224293 Centerline is valid? [False, False] Translation: X:24.63, Y:2.16, Z:2.34 [[ 9.85252658e-01 -1.12480341e-02 -1.70735705e-01 2.46313987e+01] [ 1.40450289e-02 9.99786085e-01 1.51829640e-02 2.16076936e+00] [ 1.70528404e-01 -1.73570436e-02 9.85199876e-01 2.34103902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.19463044 meters Centerline goodness [0,1] 0.25935254141607134 Centerline is valid? [False, False] Translation: X:24.63, Y:2.16, Z:2.34 [[ 9.85160241e-01 -1.12102118e-02 -1.71270634e-01 2.46341611e+01] [ 1.40469535e-02 9.99783353e-01 1.53600004e-02 2.15922036e+00] [ 1.71061340e-01 -1.75378923e-02 9.85104279e-01 2.33977704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.22463044 meters Centerline goodness [0,1] 0.2565098267641792 Centerline is valid? [False, False] Translation: X:24.64, Y:2.16, Z:2.34 [[ 9.85044180e-01 -1.08487451e-02 -1.71960078e-01 2.46376051e+01] [ 1.37782826e-02 9.99779416e-01 1.58517314e-02 2.15746084e+00] [ 1.71750175e-01 -1.79839703e-02 9.84976372e-01 2.33835947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.25463044 meters Centerline goodness [0,1] 0.16228089252316125 Centerline is valid? [False, False] Translation: X:24.64, Y:2.16, Z:2.34 [[ 9.85036961e-01 -1.09070615e-02 -1.71997735e-01 2.46390706e+01] [ 1.38729139e-02 9.99774929e-01 1.60509453e-02 2.15548076e+00] [ 1.71783954e-01 -1.81968841e-02 9.84966571e-01 2.33711063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.28463044 meters Centerline goodness [0,1] 0.16476670488221679 Centerline is valid? [False, False] Translation: X:24.64, Y:2.15, Z:2.34 [[ 9.84972225e-01 -1.50246323e-02 -1.72058062e-01 2.46398672e+01] [ 1.75473377e-02 9.99759551e-01 1.31503320e-02 2.15034651e+00] [ 1.71819112e-01 -1.59718726e-02 9.84999032e-01 2.33680584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.31463044000003 meters Centerline goodness [0,1] 0.26166486486486484 Centerline is valid? [False, False] Translation: X:24.64, Y:2.15, Z:2.34 [[ 9.85084893e-01 -1.50155129e-02 -1.71412626e-01 2.46383519e+01] [ 1.75990996e-02 9.99753133e-01 1.35626007e-02 2.14770935e+00] [ 1.71166661e-01 -1.63770209e-02 9.85105968e-01 2.33677014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.34463044 meters Centerline goodness [0,1] 0.26781057567988076 Centerline is valid? [False, False] Translation: X:24.64, Y:2.15, Z:2.34 [[ 9.85170564e-01 -1.49521024e-02 -1.70925114e-01 2.46373290e+01] [ 1.75924885e-02 9.99748012e-01 1.39433411e-02 2.14561152e+00] [ 1.70673561e-01 -1.67435673e-02 9.85185358e-01 2.33665042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.37463044000003 meters Centerline goodness [0,1] 0.16056179288222294 Centerline is valid? [False, False] Translation: X:24.64, Y:2.14, Z:2.34 [[ 9.85203990e-01 -1.47412359e-02 -1.70750677e-01 2.46372057e+01] [ 1.74573692e-02 9.99743671e-01 1.44164143e-02 2.14343880e+00] [ 1.70494393e-01 -1.71839665e-02 9.85208797e-01 2.33649251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.40463044 meters Centerline goodness [0,1] 0.16313715300333465 Centerline is valid? [False, False] Translation: X:24.63, Y:2.14, Z:2.34 [[ 9.85366162e-01 -1.44645407e-02 -1.69836111e-01 2.46347039e+01] [ 1.72357050e-02 9.99741116e-01 1.48536398e-02 2.14222312e+00] [ 1.69577292e-01 -1.75635191e-02 9.85360373e-01 2.33671043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.43463044000003 meters Centerline goodness [0,1] 0.1629570230380789 Centerline is valid? [False, False] Translation: X:24.63, Y:2.14, Z:2.34 [[ 9.85402822e-01 -1.43402916e-02 -1.69633827e-01 2.46347944e+01] [ 1.71340986e-02 9.99740420e-01 1.50171698e-02 2.14175196e+00] [ 1.69374443e-01 -1.77044842e-02 9.85392739e-01 2.33616043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.46463044 meters Centerline goodness [0,1] 0.16196358907672304 Centerline is valid? [False, False] Translation: X:24.64, Y:2.14, Z:2.34 [[ 9.85402138e-01 -1.42124381e-02 -1.69648556e-01 2.46358380e+01] [ 1.70151140e-02 9.99741536e-01 1.50780243e-02 2.14183847e+00] [ 1.69390412e-01 -1.77445069e-02 9.85389274e-01 2.33523220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.49463044000004 meters Centerline goodness [0,1] 0.27195473610625653 Centerline is valid? [False, False] Translation: X:24.64, Y:2.14, Z:2.33 [[ 9.85340222e-01 -1.39422389e-02 -1.70030177e-01 2.46388826e+01] [ 1.67754239e-02 9.99743168e-01 1.52375411e-02 2.14210472e+00] [ 1.69774063e-01 -1.78664904e-02 9.85321042e-01 2.33316490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.52463044 meters Centerline goodness [0,1] 0.16229334142272112 Centerline is valid? [False, False] Translation: X:24.64, Y:2.14, Z:2.33 [[ 9.85247105e-01 -1.34953417e-02 -1.70604857e-01 2.46420762e+01] [ 1.64060744e-02 9.99742724e-01 1.56629045e-02 2.14134950e+00] [ 1.70349588e-01 -1.82307873e-02 9.85215030e-01 2.33160907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.55463044000004 meters Centerline goodness [0,1] 0.26416395491670797 Centerline is valid? [False, False] Translation: X:24.64, Y:2.14, Z:2.33 [[ 9.85179977e-01 -1.33060078e-02 -1.71006912e-01 2.46440335e+01] [ 1.62586380e-02 9.99741752e-01 1.58772125e-02 2.14085496e+00] [ 1.70751488e-01 -1.84222513e-02 9.85141893e-01 2.33079099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.58463044 meters Centerline goodness [0,1] 0.1638065522620905 Centerline is valid? [False, False] Translation: X:24.65, Y:2.14, Z:2.33 [[ 9.85144992e-01 -1.31981066e-02 -1.71216688e-01 2.46456604e+01] [ 1.61819025e-02 9.99740349e-01 1.60430654e-02 2.14009180e+00] [ 1.70960493e-01 -1.85753573e-02 9.85102769e-01 2.32973540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.61463044 meters Centerline goodness [0,1] 0.1636824214605841 Centerline is valid? [False, False] Translation: X:24.65, Y:2.14, Z:2.33 [[ 9.85120327e-01 -1.30458444e-02 -1.71370207e-01 2.46472194e+01] [ 1.60807140e-02 9.99737284e-01 1.63331841e-02 2.13867864e+00] [ 1.71112105e-01 -1.88459069e-02 9.85071307e-01 2.32866960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.64463044 meters Centerline goodness [0,1] 0.16321260389314463 Centerline is valid? [False, False] Translation: X:24.65, Y:2.14, Z:2.33 [[ 9.85085483e-01 -1.28510969e-02 -1.71585085e-01 2.46487395e+01] [ 1.59410992e-02 9.99734413e-01 1.66428313e-02 2.13745216e+00] [ 1.71325636e-01 -1.91298664e-02 9.85028718e-01 2.32774916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.67463044 meters Centerline goodness [0,1] 0.16365811222270554 Centerline is valid? [False, False] Translation: X:24.65, Y:2.14, Z:2.33 [[ 9.84994977e-01 -1.21424022e-02 -1.72155330e-01 2.46522347e+01] [ 1.53801381e-02 9.99728815e-01 1.74856594e-02 2.13551326e+00] [ 1.71896326e-01 -1.98710595e-02 9.84914613e-01 2.32591627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.70463044 meters Centerline goodness [0,1] 0.26046049934183557 Centerline is valid? [False, False] Translation: X:24.65, Y:2.13, Z:2.33 [[ 9.84947436e-01 -1.18670724e-02 -1.72446282e-01 2.46539641e+01] [ 1.51861377e-02 9.99723724e-01 1.79403902e-02 2.13370501e+00] [ 1.72185739e-01 -2.02891344e-02 9.84855534e-01 2.32508134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.73463044 meters Centerline goodness [0,1] 0.26046049934183557 Centerline is valid? [False, False] Translation: X:24.65, Y:2.13, Z:2.33 [[ 9.84947436e-01 -1.18670724e-02 -1.72446282e-01 2.46539641e+01] [ 1.51861377e-02 9.99723724e-01 1.79403902e-02 2.13370501e+00] [ 1.72185739e-01 -2.02891344e-02 9.84855534e-01 2.32508134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.76463044 meters Centerline goodness [0,1] 0.2605655083099504 Centerline is valid? [False, False] Translation: X:24.66, Y:2.13, Z:2.32 [[ 9.84946473e-01 -1.16965095e-02 -1.72463438e-01 2.46550193e+01] [ 1.50782939e-02 9.99718624e-01 1.83116725e-02 2.13180640e+00] [ 1.72200729e-01 -2.06364717e-02 9.84845696e-01 2.32419359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.79463044 meters Centerline goodness [0,1] 0.11536789006783787 Centerline is valid? [False, False] Translation: X:24.66, Y:2.13, Z:2.32 [[ 9.84888355e-01 -1.16598793e-02 -1.72797497e-01 2.46571211e+01] [ 1.51240493e-02 9.99709911e-01 1.87445029e-02 2.12897761e+00] [ 1.72528812e-01 -2.10746405e-02 9.84778995e-01 2.32309064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.82463044 meters Centerline goodness [0,1] 0.2706120935912253 Centerline is valid? [False, False] Translation: X:24.66, Y:2.13, Z:2.32 [[ 9.84795604e-01 -1.12789700e-02 -1.73350521e-01 2.46597222e+01] [ 1.48418529e-02 9.99704139e-01 1.92705425e-02 2.12719172e+00] [ 1.73081881e-01 -2.15503884e-02 9.84671642e-01 2.32208288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.85463044 meters Centerline goodness [0,1] 0.11473312078426268 Centerline is valid? [False, False] Translation: X:24.66, Y:2.13, Z:2.32 [[ 9.84685412e-01 -1.07466881e-02 -1.74009044e-01 2.46628446e+01] [ 1.44281034e-02 9.99697759e-01 1.99053042e-02 2.12556519e+00] [ 1.73742535e-01 -2.21110832e-02 9.84542854e-01 2.32085601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.88463044 meters Centerline goodness [0,1] 0.11534691210107828 Centerline is valid? [False, False] Translation: X:24.66, Y:2.12, Z:2.32 [[ 9.84622030e-01 -1.04514371e-02 -1.74385276e-01 2.46649467e+01] [ 1.42038066e-02 9.99693368e-01 2.02835274e-02 2.12439103e+00] [ 1.74119812e-01 -2.24485427e-02 9.84468564e-01 2.31985572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.91463044 meters Centerline goodness [0,1] 0.11526193909206095 Centerline is valid? [False, False] Translation: X:24.67, Y:2.12, Z:2.32 [[ 9.84555938e-01 -1.04613220e-02 -1.74757451e-01 2.46671624e+01] [ 1.42739644e-02 9.99686431e-01 2.05740860e-02 2.12207736e+00] [ 1.74487420e-01 -2.27508201e-02 9.84396536e-01 2.31872103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.94463044 meters Centerline goodness [0,1] 0.11477225830274329 Centerline is valid? [False, False] Translation: X:24.67, Y:2.12, Z:2.32 [[ 9.84518664e-01 -1.04651519e-02 -1.74967086e-01 2.46685898e+01] [ 1.43161131e-02 9.99681945e-01 2.07619462e-02 2.12042369e+00] [ 1.74694160e-01 -2.29453721e-02 9.84355353e-01 2.31797930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.97463044 meters Centerline goodness [0,1] 0.11495077264132492 Centerline is valid? [False, False] Translation: X:24.67, Y:2.12, Z:2.32 [[ 9.84518387e-01 -1.04650624e-02 -1.74968648e-01 2.46690695e+01] [ 1.43513913e-02 9.99677284e-01 2.09610321e-02 2.11875200e+00] [ 1.74692825e-01 -2.31475650e-02 9.84350856e-01 2.31764251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.00463044 meters Centerline goodness [0,1] 0.1146159193604449 Centerline is valid? [False, False] Translation: X:24.67, Y:2.12, Z:2.32 [[ 9.84515689e-01 -1.05442714e-02 -1.74979076e-01 2.46689922e+01] [ 1.44455456e-02 9.99674333e-01 2.10369655e-02 2.11773294e+00] [ 1.74700271e-01 -2.32388908e-02 9.84347382e-01 2.31782539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.03463044 meters Centerline goodness [0,1] 0.26945210536602315 Centerline is valid? [False, False] Translation: X:24.67, Y:2.12, Z:2.32 [[ 9.84404850e-01 -1.02195580e-02 -1.75620764e-01 2.46710066e+01] [ 1.42323856e-02 9.99665275e-01 2.16050313e-02 2.11546042e+00] [ 1.75341186e-01 -2.37676000e-02 9.84220793e-01 2.31773587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.06463044000003 meters Centerline goodness [0,1] 0.11465547091412742 Centerline is valid? [False, False] Translation: X:24.67, Y:2.11, Z:2.32 [[ 9.84346804e-01 -9.96724974e-03 -1.75960291e-01 2.46722135e+01] [ 1.40365496e-02 9.99661697e-01 2.18967300e-02 2.11480958e+00] [ 1.75682513e-01 -2.40238515e-02 9.84153702e-01 2.31756993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.09463044 meters Centerline goodness [0,1] 0.26102415123791356 Centerline is valid? [False, False] Translation: X:24.67, Y:2.11, Z:2.32 [[ 9.84353521e-01 -9.87384072e-03 -1.75927977e-01 2.46722879e+01] [ 1.39549235e-02 9.99661114e-01 2.19753760e-02 2.11477425e+00] [ 1.75651376e-01 -2.40866002e-02 9.84157726e-01 2.31747992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.12463044000003 meters Centerline goodness [0,1] 0.2533744864911861 Centerline is valid? [False, False] Translation: X:24.67, Y:2.12, Z:2.32 [[ 9.84388569e-01 -9.92309542e-03 -1.75728991e-01 2.46711968e+01] [ 1.39672387e-02 9.99664965e-01 2.17916193e-02 2.11595712e+00] [ 1.75453875e-01 -2.39058697e-02 9.84197362e-01 2.31808561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.15463044 meters Centerline goodness [0,1] 0.2686993910557217 Centerline is valid? [False, False] Translation: X:24.67, Y:2.12, Z:2.32 [[ 9.84337954e-01 -9.88069536e-03 -1.76014669e-01 2.46719023e+01] [ 1.39096996e-02 9.99668387e-01 2.16710711e-02 2.11709909e+00] [ 1.75742175e-01 -2.37799689e-02 9.84148973e-01 2.31818924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.18463044000003 meters Centerline goodness [0,1] 0.2616976150283513 Centerline is valid? [False, False] Translation: X:24.67, Y:2.12, Z:2.32 [[ 9.84239974e-01 -9.67058473e-03 -1.76573366e-01 2.46738065e+01] [ 1.37232044e-02 9.99669366e-01 2.17447235e-02 2.11779758e+00] [ 1.76304701e-01 -2.38251784e-02 9.84047262e-01 2.31791588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.21463044 meters Centerline goodness [0,1] 0.2565011306314141 Centerline is valid? [False, False] Translation: X:24.68, Y:2.12, Z:2.32 [[ 9.84149265e-01 -9.57697656e-03 -1.77083332e-01 2.46752101e+01] [ 1.36336599e-02 9.99671438e-01 2.17057497e-02 2.11875967e+00] [ 1.76817273e-01 -2.37759915e-02 9.83956480e-01 2.31790872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.24463044000004 meters Centerline goodness [0,1] 0.1159350728684877 Centerline is valid? [False, False] Translation: X:24.68, Y:2.12, Z:2.32 [[ 9.84093773e-01 -9.41257471e-03 -1.77400251e-01 2.46761921e+01] [ 1.35001892e-02 9.99670133e-01 2.18487987e-02 2.11874191e+00] [ 1.77136079e-01 -2.38962037e-02 9.83896225e-01 2.31785935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.27463044 meters Centerline goodness [0,1] 0.11674404344779254 Centerline is valid? [False, False] Translation: X:24.68, Y:2.12, Z:2.32 [[ 9.84123380e-01 -9.60331329e-03 -1.77225701e-01 2.46752507e+01] [ 1.36493730e-02 9.99672975e-01 2.16249351e-02 2.11938803e+00] [ 1.76960073e-01 -2.37006240e-02 9.83932626e-01 2.31838537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.30463044000004 meters Centerline goodness [0,1] 0.11650210335883515 Centerline is valid? [False, False] Translation: X:24.67, Y:2.12, Z:2.32 [[ 9.84128949e-01 -9.58001247e-03 -1.77196035e-01 2.46749895e+01] [ 1.36197172e-02 9.99674012e-01 2.15956775e-02 2.11961226e+00] [ 1.76931385e-01 -2.36662913e-02 9.83938612e-01 2.31873084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.33463044 meters Centerline goodness [0,1] 0.11627754602834861 Centerline is valid? [False, False] Translation: X:24.68, Y:2.12, Z:2.32 [[ 9.84102933e-01 -9.39995038e-03 -1.77350101e-01 2.46751410e+01] [ 1.34611005e-02 9.99673690e-01 2.17097448e-02 2.11986459e+00] [ 1.77088159e-01 -2.37519511e-02 9.83908344e-01 2.31906106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.36463044 meters Centerline goodness [0,1] 0.11604029026318641 Centerline is valid? [False, False] Translation: X:24.68, Y:2.12, Z:2.32 [[ 9.84028794e-01 -9.12618239e-03 -1.77775269e-01 2.46761003e+01] [ 1.32277502e-02 9.99672653e-01 2.19000771e-02 2.12016716e+00] [ 1.77517211e-01 -2.39018733e-02 9.83827394e-01 2.31930674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.39463044 meters Centerline goodness [0,1] 0.2635358043857947 Centerline is valid? [False, False] Translation: X:24.68, Y:2.12, Z:2.32 [[ 9.83940064e-01 -8.81442301e-03 -1.78281399e-01 2.46770518e+01] [ 1.29546259e-02 9.99672447e-01 2.20720706e-02 2.12092489e+00] [ 1.78028449e-01 -2.40271634e-02 9.83731959e-01 2.31982267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.42463044 meters Centerline goodness [0,1] 0.11623568205484203 Centerline is valid? [False, False] Translation: X:24.68, Y:2.12, Z:2.32 [[ 9.83948282e-01 -8.78902173e-03 -1.78237287e-01 2.46769203e+01] [ 1.29240387e-02 9.99673292e-01 2.20517010e-02 2.12136796e+00] [ 1.77985243e-01 -2.40012790e-02 9.83740409e-01 2.31987605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.45463044 meters Centerline goodness [0,1] 0.11662017260918833 Centerline is valid? [False, False] Translation: X:24.68, Y:2.12, Z:2.32 [[ 9.83996438e-01 -8.77201924e-03 -1.77972081e-01 2.46760663e+01] [ 1.29009962e-02 9.99673492e-01 2.20561519e-02 2.12142628e+00] [ 1.77720494e-01 -2.39991921e-02 9.83788323e-01 2.32004985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.48463044 meters Centerline goodness [0,1] 0.25626898047722346 Centerline is valid? [False, False] Translation: X:24.68, Y:2.12, Z:2.32 [[ 9.84019751e-01 -8.72882430e-03 -1.77845263e-01 2.46756810e+01] [ 1.28634528e-02 9.99672815e-01 2.21086758e-02 2.12129631e+00] [ 1.77594092e-01 -2.40430778e-02 9.83810078e-01 2.32021786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.51463044 meters Centerline goodness [0,1] 0.265347351957249 Centerline is valid? [False, False] Translation: X:24.68, Y:2.12, Z:2.32 [[ 9.83982137e-01 -8.57558729e-03 -1.78060699e-01 2.46765004e+01] [ 1.27641420e-02 9.99667806e-01 2.23909554e-02 2.12019727e+00] [ 1.77809532e-01 -2.43050922e-02 9.83764724e-01 2.32011343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.54463044 meters Centerline goodness [0,1] 0.25823961092535497 Centerline is valid? [False, False] Translation: X:24.68, Y:2.12, Z:2.32 [[ 9.83946145e-01 -8.41022529e-03 -1.78267362e-01 2.46776774e+01] [ 1.26525364e-02 9.99662846e-01 2.26739469e-02 2.11886959e+00] [ 1.78016565e-01 -2.45654769e-02 9.83720814e-01 2.31968854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.57463044 meters Centerline goodness [0,1] 0.2632806031289493 Centerline is valid? [False, False] Translation: X:24.68, Y:2.12, Z:2.32 [[ 9.83916196e-01 -8.33790400e-03 -1.78435979e-01 2.46788961e+01] [ 1.26116643e-02 9.99659803e-01 2.28303356e-02 2.11786025e+00] [ 1.78184919e-01 -2.47135116e-02 9.83686625e-01 2.31910306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.60463044 meters Centerline goodness [0,1] 0.2589700203913402 Centerline is valid? [False, False] Translation: X:24.68, Y:2.12, Z:2.32 [[ 9.83883044e-01 -8.27810967e-03 -1.78621468e-01 2.46798103e+01] [ 1.25733464e-02 9.99658052e-01 2.29279458e-02 2.11737014e+00] [ 1.78370588e-01 -2.48042867e-02 9.83650690e-01 2.31886166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.63463044 meters Centerline goodness [0,1] 0.2627606666084984 Centerline is valid? [False, False] Translation: X:24.68, Y:2.12, Z:2.32 [[ 9.83829007e-01 -8.30837526e-03 -1.78917456e-01 2.46800624e+01] [ 1.25837241e-02 9.99661440e-01 2.27740239e-02 2.11838458e+00] [ 1.78667666e-01 -2.46571932e-02 9.83600472e-01 2.31951456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.66463044 meters Centerline goodness [0,1] 0.2595391665037896 Centerline is valid? [False, False] Translation: X:24.68, Y:2.12, Z:2.32 [[ 9.83761036e-01 -8.11128905e-03 -1.79299833e-01 2.46809820e+01] [ 1.24203137e-02 9.99660078e-01 2.29229932e-02 2.11832438e+00] [ 1.79052950e-01 -2.47777078e-02 9.83527379e-01 2.31975825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.69463044 meters Centerline goodness [0,1] 0.11594266140117382 Centerline is valid? [False, False] Translation: X:24.68, Y:2.12, Z:2.32 [[ 9.83630194e-01 -7.87000795e-03 -1.80026955e-01 2.46840867e+01] [ 1.22500127e-02 9.99655072e-01 2.32309045e-02 2.11733109e+00] [ 1.79782031e-01 -2.50559516e-02 9.83387320e-01 2.31884355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.72463044 meters Centerline goodness [0,1] 0.11500847568131434 Centerline is valid? [False, False] Translation: X:24.68, Y:2.12, Z:2.32 [[ 9.83613973e-01 -7.79798722e-03 -1.80118690e-01 2.46848086e+01] [ 1.22155738e-02 9.99650851e-01 2.34297981e-02 2.11615018e+00] [ 1.79873097e-01 -2.52461300e-02 9.83365803e-01 2.31853648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.75463044 meters Centerline goodness [0,1] 0.2633792131787146 Centerline is valid? [False, False] Translation: X:24.68, Y:2.12, Z:2.32 [[ 9.83666679e-01 -7.82771515e-03 -1.79829338e-01 2.46843388e+01] [ 1.22622102e-02 9.99647195e-01 2.35610835e-02 2.11505464e+00] [ 1.79581464e-01 -2.53813579e-02 9.83415621e-01 2.31843719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.78463044 meters Centerline goodness [0,1] 0.11607492920932261 Centerline is valid? [False, False] Translation: X:24.68, Y:2.11, Z:2.32 [[ 9.83713611e-01 -7.99455727e-03 -1.79565082e-01 2.46835642e+01] [ 1.24351320e-02 9.99643724e-01 2.36176186e-02 2.11385000e+00] [ 1.79312295e-01 -2.54658884e-02 9.83462551e-01 2.31865945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.81463044000003 meters Centerline goodness [0,1] 0.26409199392492944 Centerline is valid? [False, False] Translation: X:24.69, Y:2.11, Z:2.32 [[ 9.83528968e-01 -7.59940956e-03 -1.80590749e-01 2.46882866e+01] [ 1.21851566e-02 9.99630515e-01 2.42972179e-02 2.11115952e+00] [ 1.80339379e-01 -2.60975442e-02 9.83258169e-01 2.31708859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.84463044 meters Centerline goodness [0,1] 0.2559689182149679 Centerline is valid? [False, False] Translation: X:24.69, Y:2.11, Z:2.32 [[ 9.83331078e-01 -7.01448606e-03 -1.81688711e-01 2.46930562e+01] [ 1.17443884e-02 9.99619206e-01 2.49702203e-02 2.10940624e+00] [ 1.81444372e-01 -2.66878164e-02 9.83039013e-01 2.31561787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.87463044000003 meters Centerline goodness [0,1] 0.2577898747958628 Centerline is valid? [False, False] Translation: X:24.70, Y:2.11, Z:2.31 [[ 9.83144527e-01 -6.39704470e-03 -1.82718136e-01 2.46975966e+01] [ 1.12822162e-02 9.99605798e-01 2.57091400e-02 2.10739706e+00] [ 1.82481646e-01 -2.73372658e-02 9.82829142e-01 2.31420913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.90463044 meters Centerline goodness [0,1] 0.11552835755655122 Centerline is valid? [False, False] Translation: X:24.70, Y:2.11, Z:2.31 [[ 9.82975645e-01 -6.06025500e-03 -1.83635931e-01 2.47010873e+01] [ 1.10475022e-02 9.99597050e-01 2.61474569e-02 2.10614191e+00] [ 1.83403475e-01 -2.77310316e-02 9.82646506e-01 2.31346055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.93463044000003 meters Centerline goodness [0,1] 0.24116840432710096 Centerline is valid? [False, False] Translation: X:24.70, Y:2.10, Z:2.31 [[ 9.82828628e-01 -5.74020022e-03 -1.84431389e-01 2.47040867e+01] [ 1.08217303e-02 9.99588706e-01 2.65576649e-02 2.10484378e+00] [ 1.84203087e-01 -2.80975002e-02 9.82486516e-01 2.31296774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.96463044 meters Centerline goodness [0,1] 0.11436625826737501 Centerline is valid? [False, False] Translation: X:24.71, Y:2.10, Z:2.31 [[ 9.82693211e-01 -5.50503059e-03 -1.85158708e-01 2.47066700e+01] [ 1.06658782e-02 9.99581548e-01 2.68880636e-02 2.10360809e+00] [ 1.84933208e-01 -2.83975978e-02 9.82340717e-01 2.31269703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.99463044000004 meters Centerline goodness [0,1] 0.11368292576609562 Centerline is valid? [False, False] Translation: X:24.71, Y:2.10, Z:2.31 [[ 9.82553618e-01 -5.55306305e-03 -1.85896617e-01 2.47086578e+01] [ 1.07312396e-02 9.99581589e-01 2.68605142e-02 2.10354729e+00] [ 1.85669678e-01 -2.83867965e-02 9.82202098e-01 2.31298795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.02463044 meters Centerline goodness [0,1] 0.11445835887555833 Centerline is valid? [False, False] Translation: X:24.71, Y:2.10, Z:2.31 [[ 9.82472422e-01 -5.56105254e-03 -1.86325022e-01 2.47098772e+01] [ 1.07340560e-02 9.99584094e-01 2.67659934e-02 2.10420933e+00] [ 1.86098682e-01 -2.82968736e-02 9.82123499e-01 2.31308912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.05463044000004 meters Centerline goodness [0,1] 0.11339844947658884 Centerline is valid? [False, False] Translation: X:24.71, Y:2.10, Z:2.31 [[ 9.82368879e-01 -5.39458589e-03 -1.86875051e-01 2.47111651e+01] [ 1.05811422e-02 9.99585676e-01 2.67678000e-02 2.10496530e+00] [ 1.86653223e-01 -2.82732052e-02 9.82018941e-01 2.31354966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.08463044 meters Centerline goodness [0,1] 0.11259252846197132 Centerline is valid? [False, False] Translation: X:24.73, Y:2.10, Z:2.32 [[ 9.82339582e-01 -6.68367874e-05 -1.87106764e-01 2.47296573e+01] [ 5.06971372e-03 9.99642299e-01 2.62597005e-02 2.10321623e+00] [ 1.87038080e-01 -2.67445210e-02 9.81988537e-01 2.31783739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.11463044 meters Centerline goodness [0,1] 0.11233946054381716 Centerline is valid? [False, False] Translation: X:24.73, Y:2.11, Z:2.32 [[ 9.82231310e-01 -1.47362034e-04 -1.87674273e-01 2.47287031e+01] [ 5.04631621e-03 9.99658864e-01 2.56259845e-02 2.10801344e+00] [ 1.87606474e-01 -2.61177081e-02 9.81896978e-01 2.32048437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.14463044 meters Centerline goodness [0,1] 0.1133035869000173 Centerline is valid? [False, False] Translation: X:24.75, Y:2.11, Z:2.32 [[ 9.82546019e-01 -6.81571104e-03 -1.85894772e-01 2.47472688e+01] [ 1.25412126e-02 9.99481925e-01 2.96411701e-02 2.11039565e+00] [ 1.85596439e-01 -3.14551595e-02 9.82122464e-01 2.32214011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.17463044 meters Centerline goodness [0,1] 0.2617737003058104 Centerline is valid? [False, False] Translation: X:24.75, Y:2.11, Z:2.32 [[ 9.82482278e-01 -6.94135289e-03 -1.86226721e-01 2.47468711e+01] [ 1.25984770e-02 9.99493859e-01 2.92113869e-02 2.11289167e+00] [ 1.85929697e-01 -3.10458430e-02 9.82072453e-01 2.32355279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.20463044 meters Centerline goodness [0,1] 0.2621507678193058 Centerline is valid? [False, False] Translation: X:24.76, Y:2.12, Z:2.33 [[ 9.82920284e-01 1.74831957e-04 -1.84031750e-01 2.47631025e+01] [ 5.23548098e-03 9.99568235e-01 2.89124943e-02 2.11655205e+00] [ 1.83957346e-01 -2.93821718e-02 9.82494978e-01 2.32882463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.23463044 meters Centerline goodness [0,1] 0.259264094697217 Centerline is valid? [False, False] Translation: X:24.78, Y:2.12, Z:2.33 [[ 9.82890736e-01 5.77744363e-03 -1.84098946e-01 2.47802107e+01] [-6.41768279e-04 9.99609294e-01 2.79436594e-02 2.11820363e+00] [ 1.84188460e-01 -2.73474151e-02 9.82510422e-01 2.33423655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.26463044 meters Centerline goodness [0,1] 0.25698080279232116 Centerline is valid? [False, False] Translation: X:24.78, Y:2.12, Z:2.34 [[ 9.82806090e-01 5.83461638e-03 -1.84548496e-01 2.47800155e+01] [-7.94811376e-04 9.99625027e-01 2.73710336e-02 2.12288006e+00] [ 1.84638995e-01 -2.67537372e-02 9.82442201e-01 2.33570443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.29463044 meters Centerline goodness [0,1] 0.2572310233174696 Centerline is valid? [False, False] Translation: X:24.80, Y:2.13, Z:2.34 [[ 9.83438352e-01 -1.29991384e-03 -1.81238291e-01 2.47969164e+01] [ 6.94732313e-03 9.99509743e-01 3.05287996e-02 2.12696812e+00] [ 1.81109753e-01 -3.12823133e-02 9.82965246e-01 2.33699110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.32463044 meters Centerline goodness [0,1] 0.2582613449972663 Centerline is valid? [False, False] Translation: X:24.79, Y:2.13, Z:2.34 [[ 9.83580677e-01 -2.39527208e-03 -1.80453081e-01 2.47913776e+01] [ 7.81445256e-03 9.99539353e-01 2.93260487e-02 2.12920528e+00] [ 1.80299712e-01 -3.02546769e-02 9.83146311e-01 2.34035109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.35463044 meters Centerline goodness [0,1] 0.25803936854414344 Centerline is valid? [False, False] Translation: X:24.81, Y:2.13, Z:2.35 [[ 9.84647626e-01 1.01271163e-03 -1.74550929e-01 2.48056498e+01] [ 3.93653244e-03 9.99600015e-01 2.80056022e-02 2.13146682e+00] [ 1.74509473e-01 -2.82627751e-02 9.84249795e-01 2.34608356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.38463044 meters Centerline goodness [0,1] 0.15635179153094458 Centerline is valid? [False, False] Translation: X:24.80, Y:2.13, Z:2.35 [[ 9.84690372e-01 7.46233987e-04 -1.74310970e-01 2.48036037e+01] [ 4.12287723e-03 9.99611381e-01 2.75697020e-02 2.13315223e+00] [ 1.74263803e-01 -2.78662829e-02 9.84304626e-01 2.34766334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.41463044 meters Centerline goodness [0,1] 0.15661419377283003 Centerline is valid? [False, False] Translation: X:24.80, Y:2.13, Z:2.35 [[ 9.84735328e-01 5.19193757e-04 -1.74057649e-01 2.48018719e+01] [ 4.31457193e-03 9.99615470e-01 2.73915311e-02 2.13288459e+00] [ 1.74004940e-01 -2.77243926e-02 9.84354427e-01 2.34900254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.44463044 meters Centerline goodness [0,1] 0.15701595477661134 Centerline is valid? [False, False] Translation: X:24.80, Y:2.13, Z:2.35 [[ 9.84736781e-01 4.08209073e-04 -1.74049719e-01 2.48014401e+01] [ 4.37762059e-03 9.99622813e-01 2.71121328e-02 2.13424393e+00] [ 1.73995137e-01 -2.74602380e-02 9.84363565e-01 2.34953625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.47463044 meters Centerline goodness [0,1] 0.15648731096254953 Centerline is valid? [False, False] Translation: X:24.82, Y:2.13, Z:2.35 [[ 9.84813859e-01 5.83486558e-03 -1.73515470e-01 2.48191201e+01] [-1.26467935e-03 9.99649663e-01 2.64376868e-02 2.13293636e+00] [ 1.73608942e-01 -2.58167589e-02 9.84476221e-01 2.35374375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.50463044 meters Centerline goodness [0,1] 0.1570919304310252 Centerline is valid? [False, False] Translation: X:24.82, Y:2.13, Z:2.36 [[ 9.84823253e-01 5.70856841e-03 -1.73466342e-01 2.48178254e+01] [-1.19586356e-03 9.99658406e-01 2.61082589e-02 2.13455477e+00] [ 1.73556127e-01 -2.55045784e-02 9.84493670e-01 2.35504188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.53463044 meters Centerline goodness [0,1] 0.15862381950597537 Centerline is valid? [False, False] Translation: X:24.82, Y:2.14, Z:2.36 [[ 9.84837479e-01 5.79503779e-03 -1.73382690e-01 2.48152805e+01] [-1.34259252e-03 9.99666581e-01 2.57861392e-02 2.13739239e+00] [ 1.73474313e-01 -2.51623741e-02 9.84516896e-01 2.35770290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.56463044000003 meters Centerline goodness [0,1] 0.2562945776402853 Centerline is valid? [False, False] Translation: X:24.83, Y:2.14, Z:2.36 [[ 9.85016931e-01 -2.27240910e-03 -1.72442691e-01 2.48324546e+01] [ 7.35791271e-03 9.99556454e-01 2.88575141e-02 2.14084097e+00] [ 1.72300629e-01 -2.96939583e-02 9.84596751e-01 2.35969845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.59463044 meters Centerline goodness [0,1] 0.25673578479975856 Centerline is valid? [False, False] Translation: X:24.83, Y:2.14, Z:2.36 [[ 9.84903953e-01 -2.32839122e-03 -1.73086054e-01 2.48345831e+01] [ 7.39524842e-03 9.99562592e-01 2.86345233e-02 2.14122141e+00] [ 1.72943672e-01 -2.94822696e-02 9.84490367e-01 2.35955462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.62463044000003 meters Centerline goodness [0,1] 0.25832899531494014 Centerline is valid? [False, False] Translation: X:24.84, Y:2.14, Z:2.36 [[ 9.84813881e-01 -2.15044343e-03 -1.73600104e-01 2.48362325e+01] [ 7.22168601e-03 9.99565253e-01 2.85858589e-02 2.14229912e+00] [ 1.73463160e-01 -2.94054361e-02 9.84401266e-01 2.35937453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.65463044 meters Centerline goodness [0,1] 0.25832899531494014 Centerline is valid? [False, False] Translation: X:24.84, Y:2.14, Z:2.36 [[ 9.84813881e-01 -2.15044343e-03 -1.73600104e-01 2.48362325e+01] [ 7.22168601e-03 9.99565253e-01 2.85858589e-02 2.14229912e+00] [ 1.73463160e-01 -2.94054361e-02 9.84401266e-01 2.35937453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.68463044000003 meters Centerline goodness [0,1] 0.2564894398134151 Centerline is valid? [False, False] Translation: X:24.84, Y:2.14, Z:2.36 [[ 9.84782638e-01 -2.05487724e-03 -1.73778402e-01 2.48368965e+01] [ 7.14399407e-03 9.99563555e-01 2.86646722e-02 2.14191597e+00] [ 1.73643655e-01 -2.94699433e-02 9.84367514e-01 2.35946832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.71463044 meters Centerline goodness [0,1] 0.2567254124124775 Centerline is valid? [False, False] Translation: X:24.84, Y:2.14, Z:2.36 [[ 9.84769798e-01 -2.05903714e-03 -1.73851100e-01 2.48367553e+01] [ 7.14634130e-03 9.99564201e-01 2.86415287e-02 2.14203618e+00] [ 1.73716362e-01 -2.94477117e-02 9.84355351e-01 2.35995243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.74463044000004 meters Centerline goodness [0,1] 0.2557947917344262 Centerline is valid? [False, False] Translation: X:24.84, Y:2.14, Z:2.36 [[ 9.84564315e-01 -1.20663933e-03 -1.75019010e-01 2.48411188e+01] [ 6.40149121e-03 9.99555421e-01 2.91201334e-02 2.14257985e+00] [ 1.74906063e-01 -2.97910269e-02 9.84134322e-01 2.35906982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.77463044 meters Centerline goodness [0,1] 0.2551264227995482 Centerline is valid? [False, False] Translation: X:24.84, Y:2.14, Z:2.36 [[ 9.84422453e-01 -8.74307306e-04 -1.75817149e-01 2.48437949e+01] [ 6.10641508e-03 9.99554353e-01 2.92199849e-02 2.14325326e+00] [ 1.75713249e-01 -2.98384217e-02 9.83989087e-01 2.35864238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.80463044000004 meters Centerline goodness [0,1] 0.25235649743223043 Centerline is valid? [False, False] Translation: X:24.85, Y:2.14, Z:2.36 [[ 9.84302586e-01 -5.23734283e-04 -1.76488371e-01 2.48458917e+01] [ 5.78973534e-03 9.99553190e-01 2.93240351e-02 2.14377871e+00] [ 1.76394156e-01 -2.98855445e-02 9.83865822e-01 2.35852633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.83463044 meters Centerline goodness [0,1] 0.2527074245285066 Centerline is valid? [False, False] Translation: X:24.85, Y:2.14, Z:2.36 [[ 9.84235648e-01 -4.26005654e-04 -1.76861551e-01 2.48466323e+01] [ 5.68569155e-03 9.99556446e-01 2.92332821e-02 2.14448325e+00] [ 1.76770650e-01 -2.97780185e-02 9.83801508e-01 2.35888733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.86463044 meters Centerline goodness [0,1] 0.24949079089924164 Centerline is valid? [False, False] Translation: X:24.85, Y:2.14, Z:2.36 [[ 9.84164406e-01 -3.47624812e-04 -1.77257723e-01 2.48474781e+01] [ 5.61944246e-03 9.99556629e-01 2.92398236e-02 2.14436776e+00] [ 1.77168968e-01 -2.97728832e-02 9.83730010e-01 2.35928023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.89463044 meters Centerline goodness [0,1] 0.24978351229650153 Centerline is valid? [False, False] Translation: X:24.85, Y:2.14, Z:2.36 [[ 9.84049480e-01 -1.52800080e-05 -1.77894973e-01 2.48497744e+01] [ 5.33050817e-03 9.99553497e-01 2.94005531e-02 2.14470704e+00] [ 1.77815093e-01 -2.98798696e-02 9.83610180e-01 2.35881714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.92463044 meters Centerline goodness [0,1] 0.24740255514825504 Centerline is valid? [False, False] Translation: X:24.85, Y:2.14, Z:2.36 [[ 9.83920693e-01 2.26634465e-04 -1.78605764e-01 2.48523170e+01] [ 5.12916359e-03 9.99550901e-01 2.95243711e-02 2.14433536e+00] [ 1.78532244e-01 -2.99657379e-02 9.83477652e-01 2.35833609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.95463044 meters Centerline goodness [0,1] 0.2484864266649307 Centerline is valid? [False, False] Translation: X:24.85, Y:2.15, Z:2.36 [[ 9.83828625e-01 4.27452638e-04 -1.79111846e-01 2.48533345e+01] [ 4.93595031e-03 9.99552660e-01 2.94977175e-02 2.14536226e+00] [ 1.79044331e-01 -2.99047861e-02 9.83386410e-01 2.35877319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.98463044 meters Centerline goodness [0,1] 0.24923893189527702 Centerline is valid? [False, False] Translation: X:24.85, Y:2.15, Z:2.36 [[ 9.83742072e-01 6.63385992e-04 -1.79585901e-01 2.48542304e+01] [ 4.68486196e-03 9.99558063e-01 2.93552478e-02 2.14734230e+00] [ 1.79526009e-01 -2.97193274e-02 9.83304212e-01 2.35917312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.01463044 meters Centerline goodness [0,1] 0.24641468682505396 Centerline is valid? [False, False] Translation: X:24.85, Y:2.15, Z:2.36 [[ 9.83737558e-01 9.31300694e-04 -1.79609435e-01 2.48536962e+01] [ 4.42706188e-03 9.99557032e-01 2.94302758e-02 2.14772284e+00] [ 1.79557282e-01 -2.97468097e-02 9.83297671e-01 2.36005238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.04463044 meters Centerline goodness [0,1] 0.24395765507427614 Centerline is valid? [False, False] Translation: X:24.85, Y:2.15, Z:2.36 [[ 9.83723423e-01 1.32493367e-03 -1.79684368e-01 2.48522832e+01] [ 4.00831158e-03 9.99562190e-01 2.93148684e-02 2.14984484e+00] [ 1.79644540e-01 -2.95579536e-02 9.83287428e-01 2.36181991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.07463044 meters Centerline goodness [0,1] 0.2471594591091718 Centerline is valid? [False, False] Translation: X:24.85, Y:2.15, Z:2.36 [[ 9.83668251e-01 1.51217895e-03 -1.79984680e-01 2.48520544e+01] [ 3.81525336e-03 9.99564860e-01 2.92495147e-02 2.15130184e+00] [ 1.79950592e-01 -2.94585062e-02 9.83234449e-01 2.36287068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.10463044 meters Centerline goodness [0,1] 0.24874591057797169 Centerline is valid? [False, False] Translation: X:24.85, Y:2.15, Z:2.36 [[ 9.83710226e-01 1.34892000e-03 -1.79756422e-01 2.48504493e+01] [ 3.93370507e-03 9.99570859e-01 2.90279868e-02 2.15169982e+00] [ 1.79718437e-01 -2.92622362e-02 9.83282770e-01 2.36395466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.13463044 meters Centerline goodness [0,1] 0.24825258573761566 Centerline is valid? [False, False] Translation: X:24.85, Y:2.15, Z:2.37 [[ 9.83693599e-01 1.21591923e-03 -1.79848338e-01 2.48495983e+01] [ 4.01601561e-03 9.99579318e-01 2.87238493e-02 2.15253738e+00] [ 1.79807605e-01 -2.89777405e-02 9.83274893e-01 2.36521886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.16463044 meters Centerline goodness [0,1] 0.2485114859159504 Centerline is valid? [False, False] Translation: X:24.85, Y:2.15, Z:2.37 [[ 9.83633942e-01 1.38994308e-03 -1.80173075e-01 2.48501636e+01] [ 3.81643738e-03 9.99585175e-01 2.85466841e-02 2.15444555e+00] [ 1.80138013e-01 -2.87671066e-02 9.83220601e-01 2.36566412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.19463044 meters Centerline goodness [0,1] 0.2476211119540479 Centerline is valid? [False, False] Translation: X:24.85, Y:2.15, Z:2.37 [[ 9.83716912e-01 8.98921136e-04 -1.79722643e-01 2.48470944e+01] [ 4.22277311e-03 9.99595828e-01 2.81131584e-02 2.15469737e+00] [ 1.79675276e-01 -2.84143173e-02 9.83315525e-01 2.36753147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.22463044 meters Centerline goodness [0,1] 0.2518292950094203 Centerline is valid? [False, False] Translation: X:24.84, Y:2.16, Z:2.37 [[ 9.83792107e-01 3.07824786e-04 -1.79312561e-01 2.48437965e+01] [ 4.70548446e-03 9.99609834e-01 2.75325003e-02 2.15560096e+00] [ 1.79251075e-01 -2.79300090e-02 9.83406817e-01 2.36976201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.25463044 meters Centerline goodness [0,1] 0.2494462540716612 Centerline is valid? [False, False] Translation: X:24.84, Y:2.16, Z:2.37 [[ 9.83778554e-01 4.47162016e-04 -1.79386613e-01 2.48431893e+01] [ 4.56654481e-03 9.99610402e-01 2.75352579e-02 2.15639164e+00] [ 1.79329037e-01 -2.79077732e-02 9.83393234e-01 2.37076509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.28463044 meters Centerline goodness [0,1] 0.24785660295864376 Centerline is valid? [False, False] Translation: X:24.84, Y:2.16, Z:2.37 [[ 9.83746049e-01 4.52900934e-04 -1.79564769e-01 2.48429136e+01] [ 4.56040430e-03 9.99611252e-01 2.75054211e-02 2.15676293e+00] [ 1.79507420e-01 -2.78772373e-02 9.83361554e-01 2.37179326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.31463044000003 meters Centerline goodness [0,1] 0.24632646455928364 Centerline is valid? [False, False] Translation: X:24.84, Y:2.16, Z:2.37 [[ 9.83723859e-01 3.08942754e-04 -1.79686601e-01 2.48428326e+01] [ 4.69775174e-03 9.99612488e-01 2.74372906e-02 2.15629082e+00] [ 1.79625447e-01 -2.78348404e-02 9.83341202e-01 2.37234979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.34463044 meters Centerline goodness [0,1] 0.24853756988365316 Centerline is valid? [False, False] Translation: X:24.84, Y:2.16, Z:2.37 [[ 9.83683617e-01 3.27259637e-04 -1.79906740e-01 2.48435226e+01] [ 4.69762967e-03 9.99610662e-01 2.75037699e-02 2.15579354e+00] [ 1.79845696e-01 -2.79001430e-02 9.83299094e-01 2.37241327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.37463044000003 meters Centerline goodness [0,1] 0.24784011432778297 Centerline is valid? [False, False] Translation: X:24.84, Y:2.16, Z:2.37 [[ 9.83607432e-01 4.42358153e-04 -1.80322557e-01 2.48447093e+01] [ 4.58995633e-03 9.99611566e-01 2.74890816e-02 2.15641562e+00] [ 1.80264673e-01 -2.78661377e-02 9.83223335e-01 2.37245904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.40463044 meters Centerline goodness [0,1] 0.2468582076616398 Centerline is valid? [False, False] Translation: X:24.84, Y:2.16, Z:2.37 [[ 9.83605963e-01 5.40228016e-04 -1.80330300e-01 2.48438663e+01] [ 4.43584561e-03 9.99620447e-01 2.71898131e-02 2.15838069e+00] [ 1.80276544e-01 -2.75439797e-02 9.83230236e-01 2.37342244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.43463044000003 meters Centerline goodness [0,1] 0.2520301943264597 Centerline is valid? [False, False] Translation: X:24.84, Y:2.16, Z:2.37 [[ 9.83656971e-01 3.84969202e-04 -1.80052256e-01 2.48423964e+01] [ 4.51205711e-03 9.99630968e-01 2.67874653e-02 2.16016284e+00] [ 1.79996123e-01 -2.71620831e-02 9.83292234e-01 2.37412073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.46463044 meters Centerline goodness [0,1] 0.24640416531077125 Centerline is valid? [False, False] Translation: X:24.86, Y:2.16, Z:2.38 [[ 9.84146247e-01 5.06176127e-03 -1.77286614e-01 2.48575736e+01] [-5.18504302e-04 9.99670502e-01 2.56635810e-02 2.15763812e+00] [ 1.77358101e-01 -2.51647930e-02 9.83824597e-01 2.37886332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.49463044000004 meters Centerline goodness [0,1] 0.25118751906567305 Centerline is valid? [False, False] Translation: X:24.86, Y:2.16, Z:2.38 [[ 9.84177505e-01 4.92750030e-03 -1.77116792e-01 2.48563725e+01] [-4.13028257e-04 9.99674316e-01 2.55165099e-02 2.15785328e+00] [ 1.77184840e-01 -2.50396208e-02 9.83859009e-01 2.37969683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.52463044 meters Centerline goodness [0,1] 0.244932211517503 Centerline is valid? [False, False] Translation: X:24.86, Y:2.16, Z:2.38 [[ 9.84061639e-01 5.22115556e-03 -1.77751035e-01 2.48586626e+01] [-6.90069925e-04 9.99673474e-01 2.55434765e-02 2.15916760e+00] [ 1.77826361e-01 -2.50136947e-02 9.83743920e-01 2.37915159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.55463044000004 meters Centerline goodness [0,1] 0.2500109644313846 Centerline is valid? [False, False] Translation: X:24.86, Y:2.16, Z:2.38 [[ 9.84096410e-01 4.96089624e-03 -1.77565889e-01 2.48583319e+01] [-4.56018781e-04 9.99677213e-01 2.54019988e-02 2.15827671e+00] [ 1.77634589e-01 -2.49170424e-02 9.83781019e-01 2.37914833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.58463044 meters Centerline goodness [0,1] 0.24535637149028078 Centerline is valid? [False, False] Translation: X:24.88, Y:2.16, Z:2.38 [[ 9.84227738e-01 -3.80240211e-03 -1.76865209e-01 2.48769912e+01] [ 8.80322838e-03 9.99583075e-01 2.74987081e-02 2.16119032e+00] [ 1.76686908e-01 -2.86219761e-02 9.83850862e-01 2.38045574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.61463044 meters Centerline goodness [0,1] 0.25078089163626827 Centerline is valid? [False, False] Translation: X:24.88, Y:2.16, Z:2.38 [[ 9.84201137e-01 -3.70374043e-03 -1.77015267e-01 2.48773073e+01] [ 8.70203286e-03 9.99584791e-01 2.74685236e-02 2.16178377e+00] [ 1.76840032e-01 -2.85749448e-02 9.83824718e-01 2.38052492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.64463044 meters Centerline goodness [0,1] 0.2534685048832179 Centerline is valid? [False, False] Translation: X:24.88, Y:2.16, Z:2.38 [[ 9.84291665e-01 -3.99062898e-03 -1.76504939e-01 2.48755532e+01] [ 8.97645396e-03 9.99582652e-01 2.74580720e-02 2.16017796e+00] [ 1.76321700e-01 -2.86111398e-02 9.83916694e-01 2.38121711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.67463044 meters Centerline goodness [0,1] 0.24984243583335142 Centerline is valid? [False, False] Translation: X:24.88, Y:2.16, Z:2.38 [[ 9.84199244e-01 -3.67232794e-03 -1.77026446e-01 2.48777363e+01] [ 8.71290603e-03 9.99578180e-01 2.77046552e-02 2.15990026e+00] [ 1.76850032e-01 -2.88093155e-02 9.83816085e-01 2.38055288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.70463044 meters Centerline goodness [0,1] 0.2488472213116545 Centerline is valid? [False, False] Translation: X:24.88, Y:2.16, Z:2.38 [[ 9.84117369e-01 -3.53983117e-03 -1.77483728e-01 2.48792462e+01] [ 8.61835938e-03 9.99574924e-01 2.78512895e-02 2.15935661e+00] [ 1.77309695e-01 -2.89385563e-02 9.83729552e-01 2.38032154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.73463044 meters Centerline goodness [0,1] 0.2502417582417582 Centerline is valid? [False, False] Translation: X:24.88, Y:2.16, Z:2.38 [[ 9.83994538e-01 -3.01355980e-03 -1.78173141e-01 2.48815682e+01] [ 8.14606672e-03 9.99572437e-01 2.80817514e-02 2.15980243e+00] [ 1.78012335e-01 -2.90837002e-02 9.83598367e-01 2.37983378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.76463044 meters Centerline goodness [0,1] 0.2456106083295353 Centerline is valid? [False, False] Translation: X:24.90, Y:2.16, Z:2.38 [[ 9.83925356e-01 1.98161779e-03 -1.78569221e-01 2.48983955e+01] [ 2.92651911e-03 9.99625229e-01 2.72183049e-02 2.15860493e+00] [ 1.78556234e-01 -2.73033666e-02 9.83550811e-01 2.38448828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.79463044 meters Centerline goodness [0,1] 0.24706370344496353 Centerline is valid? [False, False] Translation: X:24.90, Y:2.16, Z:2.39 [[ 9.83984473e-01 1.78594938e-03 -1.78245242e-01 2.48969867e+01] [ 3.06394552e-03 9.99632623e-01 2.69301330e-02 2.15925791e+00] [ 1.78227855e-01 -2.70449665e-02 9.83617508e-01 2.38501287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.82463044 meters Centerline goodness [0,1] 0.2462423698776992 Centerline is valid? [False, False] Translation: X:24.90, Y:2.16, Z:2.38 [[ 9.83933190e-01 1.86531647e-03 -1.78527306e-01 2.48977587e+01] [ 2.95212674e-03 9.99638734e-01 2.67148941e-02 2.16095851e+00] [ 1.78512642e-01 -2.68127062e-02 9.83572222e-01 2.38496262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.85463044 meters Centerline goodness [0,1] 0.24789971121029142 Centerline is valid? [False, False] Translation: X:24.89, Y:2.16, Z:2.39 [[ 9.84078088e-01 1.15407855e-03 -1.77732901e-01 2.48941629e+01] [ 3.54414948e-03 9.99652677e-01 2.61144534e-02 2.16103676e+00] [ 1.77701308e-01 -2.63285734e-02 9.83732205e-01 2.38655935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.88463044 meters Centerline goodness [0,1] 0.24634332425068117 Centerline is valid? [False, False] Translation: X:24.89, Y:2.16, Z:2.39 [[ 9.84066759e-01 1.15857705e-03 -1.77795586e-01 2.48934121e+01] [ 3.54277370e-03 9.99652466e-01 2.61226971e-02 2.16105551e+00] [ 1.77764062e-01 -2.63363674e-02 9.83720659e-01 2.38760050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.91463044 meters Centerline goodness [0,1] 0.24648736327568443 Centerline is valid? [False, False] Translation: X:24.89, Y:2.16, Z:2.39 [[ 9.84021411e-01 1.32848128e-03 -1.78045214e-01 2.48937952e+01] [ 3.37084618e-03 9.99653943e-01 2.60889144e-02 2.16221357e+00] [ 1.78018259e-01 -2.62722134e-02 9.83676405e-01 2.38785625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.94463044 meters Centerline goodness [0,1] 0.245033980900767 Centerline is valid? [False, False] Translation: X:24.89, Y:2.16, Z:2.39 [[ 9.84018815e-01 1.27244810e-03 -1.78059972e-01 2.48937213e+01] [ 3.40712257e-03 9.99656848e-01 2.59726211e-02 2.16234939e+00] [ 1.78031919e-01 -2.61642200e-02 9.83676811e-01 2.38803269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.97463044 meters Centerline goodness [0,1] 0.24584449818094678 Centerline is valid? [False, False] Translation: X:24.89, Y:2.16, Z:2.39 [[ 9.84003337e-01 1.19220323e-03 -1.78146037e-01 2.48940367e+01] [ 3.49249144e-03 9.99656335e-01 2.59810256e-02 2.16142790e+00] [ 1.78115789e-01 -2.61875894e-02 9.83661007e-01 2.38810195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.00463044 meters Centerline goodness [0,1] 0.24502829960138306 Centerline is valid? [False, False] Translation: X:24.90, Y:2.16, Z:2.39 [[ 9.83837532e-01 1.59104444e-03 -1.79056359e-01 2.48964329e+01] [ 3.19096313e-03 9.99645956e-01 2.64155401e-02 2.16050475e+00] [ 1.79034994e-01 -2.65599620e-02 9.83484133e-01 2.38812076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.03463044 meters Centerline goodness [0,1] 0.24213973799126642 Centerline is valid? [False, False] Translation: X:24.90, Y:2.16, Z:2.39 [[ 9.83695992e-01 2.06363431e-03 -1.79827517e-01 2.48984612e+01] [ 2.77089022e-03 9.99641548e-01 2.66288957e-02 2.16170640e+00] [ 1.79818010e-01 -2.66930203e-02 9.83337666e-01 2.38812959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.06463044000003 meters Centerline goodness [0,1] 0.2415914147362911 Centerline is valid? [False, False] Translation: X:24.90, Y:2.16, Z:2.39 [[ 9.83719870e-01 1.93796378e-03 -1.79698249e-01 2.48972221e+01] [ 2.87484290e-03 9.99644191e-01 2.65184237e-02 2.16172437e+00] [ 1.79685703e-01 -2.66033046e-02 9.83364283e-01 2.38913392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.09463044 meters Centerline goodness [0,1] 0.24588461453476806 Centerline is valid? [False, False] Translation: X:24.90, Y:2.16, Z:2.39 [[ 9.83791170e-01 1.54603848e-03 -1.79311303e-01 2.48952570e+01] [ 3.20306389e-03 9.99651781e-01 2.61926940e-02 2.16184626e+00] [ 1.79289359e-01 -2.63424866e-02 9.83443643e-01 2.39021819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.12463044000003 meters Centerline goodness [0,1] 0.24222871343244534 Centerline is valid? [False, False] Translation: X:24.91, Y:2.16, Z:2.39 [[ 9.84277571e-01 -6.08046559e-03 -1.76523913e-01 2.49120943e+01] [ 1.14169354e-02 9.99507481e-01 2.92309552e-02 2.16367485e+00] [ 1.76259233e-01 -3.07867357e-02 9.83862216e-01 2.39226954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.15463044 meters Centerline goodness [0,1] 0.24270152505446618 Centerline is valid? [False, False] Translation: X:24.91, Y:2.16, Z:2.39 [[ 9.84233203e-01 -6.07517513e-03 -1.76771307e-01 2.49121585e+01] [ 1.14237768e-02 9.99506693e-01 2.92552128e-02 2.16363022e+00] [ 1.76506374e-01 -3.08133478e-02 9.83817075e-01 2.39294055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.18463044000003 meters Centerline goodness [0,1] 0.24461240139262264 Centerline is valid? [False, False] Translation: X:24.91, Y:2.16, Z:2.39 [[ 9.84177364e-01 -5.91923091e-03 -1.77087208e-01 2.49128493e+01] [ 1.12786577e-02 9.99507819e-01 2.92730461e-02 2.16440488e+00] [ 1.76826775e-01 -3.08071754e-02 9.83759732e-01 2.39302410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.21463044 meters Centerline goodness [0,1] 0.24390190783169263 Centerline is valid? [False, False] Translation: X:24.93, Y:2.16, Z:2.40 [[ 9.84313102e-01 -1.36740495e-03 -1.76425189e-01 2.49292447e+01] [ 6.44701391e-03 9.99580893e-01 2.82218679e-02 2.16157267e+00] [ 1.76312657e-01 -2.89165700e-02 9.83909385e-01 2.39738665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.24463044000004 meters Centerline goodness [0,1] 0.24203530180867294 Centerline is valid? [False, False] Translation: X:24.93, Y:2.16, Z:2.40 [[ 9.84351702e-01 -1.53979553e-03 -1.76208276e-01 2.49280714e+01] [ 6.60374441e-03 9.99581738e-01 2.81556331e-02 2.16106864e+00] [ 1.76091221e-01 -2.88786797e-02 9.83950153e-01 2.39807663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.27463044 meters Centerline goodness [0,1] 0.24321673749591366 Centerline is valid? [False, False] Translation: X:24.93, Y:2.16, Z:2.40 [[ 9.84355811e-01 -1.54848706e-03 -1.76185242e-01 2.49275811e+01] [ 6.58684946e-03 9.99585780e-01 2.80157284e-02 2.16200891e+00] [ 1.76068881e-01 -2.87379508e-02 9.83958271e-01 2.39846706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.30463044000004 meters Centerline goodness [0,1] 0.2464260656025259 Centerline is valid? [False, False] Translation: X:24.93, Y:2.16, Z:2.40 [[ 9.84373530e-01 -1.59195937e-03 -1.76085827e-01 2.49267070e+01] [ 6.59305362e-03 9.99591204e-01 2.78200635e-02 2.16303584e+00] [ 1.75969555e-01 -2.85462774e-02 9.83981619e-01 2.39906650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.33463044 meters Centerline goodness [0,1] 0.24287151228898807 Centerline is valid? [False, False] Translation: X:24.93, Y:2.16, Z:2.40 [[ 9.84397143e-01 -1.70887189e-03 -1.75952678e-01 2.49257548e+01] [ 6.62297273e-03 9.99604113e-01 2.73450801e-02 2.16478606e+00] [ 1.75836291e-01 -2.80837485e-02 9.84018751e-01 2.39959683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.36463044 meters Centerline goodness [0,1] 0.24134713451815204 Centerline is valid? [False, False] Translation: X:24.93, Y:2.16, Z:2.40 [[ 9.84429082e-01 -1.57992567e-03 -1.75775099e-01 2.49253448e+01] [ 6.51802462e-03 9.99600017e-01 2.75194797e-02 2.16375214e+00] [ 1.75661313e-01 -2.82366826e-02 9.84045625e-01 2.39979334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.39463044 meters Centerline goodness [0,1] 0.24041902531069037 Centerline is valid? [False, False] Translation: X:24.93, Y:2.17, Z:2.40 [[ 9.84371657e-01 -1.32630868e-03 -1.76098503e-01 2.49256077e+01] [ 6.25700195e-03 9.99603669e-01 2.74473223e-02 2.16528820e+00] [ 1.75992306e-01 -2.81202148e-02 9.83989818e-01 2.40028395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.42463044 meters Centerline goodness [0,1] 0.24118803232146757 Centerline is valid? [False, False] Translation: X:24.93, Y:2.17, Z:2.40 [[ 9.84366903e-01 -1.22633647e-03 -1.76125798e-01 2.49255292e+01] [ 6.11357385e-03 9.99611082e-01 2.72086218e-02 2.16709723e+00] [ 1.76023933e-01 -2.78600248e-02 9.83991562e-01 2.40032085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.45463044 meters Centerline goodness [0,1] 0.24264496795502766 Centerline is valid? [False, False] Translation: X:24.92, Y:2.17, Z:2.40 [[ 9.84493588e-01 -1.50906888e-03 -1.75414077e-01 2.49231698e+01] [ 6.31604202e-03 9.99619560e-01 2.68485186e-02 2.16757167e+00] [ 1.75306826e-01 -2.75401170e-02 9.84128578e-01 2.40082482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.48463044 meters Centerline goodness [0,1] 0.2417505623375773 Centerline is valid? [False, False] Translation: X:24.92, Y:2.17, Z:2.40 [[ 9.84639892e-01 -1.53913593e-03 -1.74590703e-01 2.49201913e+01] [ 6.31024136e-03 9.99621554e-01 2.67755490e-02 2.16739606e+00] [ 1.74483419e-01 -2.74659832e-02 9.84276971e-01 2.40164665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.51463044 meters Centerline goodness [0,1] 0.24247539294561238 Centerline is valid? [False, False] Translation: X:24.92, Y:2.17, Z:2.40 [[ 9.84568662e-01 -1.12335532e-03 -1.74995109e-01 2.49209910e+01] [ 5.91406904e-03 9.99621786e-01 2.68571883e-02 2.16880966e+00] [ 1.74898753e-01 -2.74776791e-02 9.84202928e-01 2.40176056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.54463044 meters Centerline goodness [0,1] 0.24247539294561238 Centerline is valid? [False, False] Translation: X:24.92, Y:2.17, Z:2.40 [[ 9.84568662e-01 -1.12335532e-03 -1.74995109e-01 2.49209910e+01] [ 5.91406904e-03 9.99621786e-01 2.68571883e-02 2.16880966e+00] [ 1.74898753e-01 -2.74776791e-02 9.84202928e-01 2.40176056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.57463044 meters Centerline goodness [0,1] 0.23881731876344203 Centerline is valid? [False, False] Translation: X:24.92, Y:2.17, Z:2.40 [[ 9.84537052e-01 -7.87510016e-04 -1.75174691e-01 2.49218298e+01] [ 5.61014883e-03 9.99618692e-01 2.70369518e-02 2.16901904e+00] [ 1.75086603e-01 -2.76016369e-02 9.84166059e-01 2.40139197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.60463044 meters Centerline goodness [0,1] 0.24369563788532744 Centerline is valid? [False, False] Translation: X:24.92, Y:2.17, Z:2.40 [[ 9.84568014e-01 -9.13343299e-04 -1.74999977e-01 2.49218475e+01] [ 5.73646133e-03 9.99617438e-01 2.70568176e-02 2.16782334e+00] [ 1.74908316e-01 -2.76431577e-02 9.84196595e-01 2.40096376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.63463044 meters Centerline goodness [0,1] 0.2420382165605095 Centerline is valid? [False, False] Translation: X:24.92, Y:2.17, Z:2.40 [[ 9.84541383e-01 -3.89334426e-04 -1.75151690e-01 2.49231668e+01] [ 5.20960114e-03 9.99620193e-01 2.70615794e-02 2.16951599e+00] [ 1.75074630e-01 -2.75557153e-02 9.84169476e-01 2.39985666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.66463044 meters Centerline goodness [0,1] 0.24309683079285005 Centerline is valid? [False, False] Translation: X:24.92, Y:2.17, Z:2.40 [[ 9.84625379e-01 -4.75953035e-04 -1.74678669e-01 2.49215416e+01] [ 5.25747915e-03 9.99623993e-01 2.69115477e-02 2.16988628e+00] [ 1.74600180e-01 -2.74161623e-02 9.84257655e-01 2.40023088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.69463044 meters Centerline goodness [0,1] 0.2450383524912635 Centerline is valid? [False, False] Translation: X:24.92, Y:2.17, Z:2.40 [[ 9.84799792e-01 -1.17778539e-03 -1.73689326e-01 2.49177527e+01] [ 5.86642639e-03 9.99632037e-01 2.64835127e-02 2.16898185e+00] [ 1.73594223e-01 -2.70998934e-02 9.84444331e-01 2.40147948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.72463044 meters Centerline goodness [0,1] 0.242779743959453 Centerline is valid? [False, False] Translation: X:24.92, Y:2.17, Z:2.40 [[ 9.84780773e-01 -1.01982237e-03 -1.73798125e-01 2.49182190e+01] [ 5.73152453e-03 9.99629447e-01 2.66104751e-02 2.16863572e+00] [ 1.73706586e-01 -2.72016125e-02 9.84421706e-01 2.40136815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.75463044 meters Centerline goodness [0,1] 0.238830751753217 Centerline is valid? [False, False] Translation: X:24.93, Y:2.17, Z:2.40 [[ 9.84479620e-01 3.67241669e-04 -1.75498558e-01 2.49252676e+01] [ 4.50378970e-03 9.99615601e-01 2.73562914e-02 2.17066347e+00] [ 1.75441142e-01 -2.77221199e-02 9.84099532e-01 2.39878804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.78463044 meters Centerline goodness [0,1] 0.2416842197647885 Centerline is valid? [False, False] Translation: X:24.93, Y:2.17, Z:2.40 [[ 9.84502363e-01 5.42844676e-05 -1.75371305e-01 2.49251178e+01] [ 4.79567997e-03 9.99617651e-01 2.72314903e-02 2.16957762e+00] [ 1.75305730e-01 -2.76504912e-02 9.84125679e-01 2.39873679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.81463044000003 meters Centerline goodness [0,1] 0.24269338466923351 Centerline is valid? [False, False] Translation: X:24.92, Y:2.17, Z:2.40 [[ 9.84571300e-01 -1.99842674e-04 -1.74983757e-01 2.49238117e+01] [ 5.01495214e-03 9.99620806e-01 2.70757190e-02 2.16923435e+00] [ 1.74911994e-01 -2.75355110e-02 9.84198959e-01 2.39914501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.84463044 meters Centerline goodness [0,1] 0.24276702197085054 Centerline is valid? [False, False] Translation: X:24.94, Y:2.17, Z:2.40 [[ 9.85102405e-01 -8.28873968e-03 -1.71768880e-01 2.49380224e+01] [ 1.36839261e-02 9.99448711e-01 3.02493581e-02 2.17000767e+00] [ 1.71423456e-01 -3.21491881e-02 9.84672752e-01 2.40202306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.87463044000003 meters Centerline goodness [0,1] 0.24429477538743216 Centerline is valid? [False, False] Translation: X:24.94, Y:2.17, Z:2.40 [[ 9.84984543e-01 -8.13640721e-03 -1.72450713e-01 2.49398373e+01] [ 1.35809144e-02 9.99445088e-01 3.04150588e-02 2.17000105e+00] [ 1.72107549e-01 -3.23004012e-02 9.84548463e-01 2.40207640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.90463044 meters Centerline goodness [0,1] 0.24687747383235115 Centerline is valid? [False, False] Translation: X:24.94, Y:2.17, Z:2.40 [[ 9.84827755e-01 -7.96608437e-03 -1.73351762e-01 2.49429606e+01] [ 1.34709845e-02 9.99440858e-01 3.06023379e-02 2.16975139e+00] [ 1.73011053e-01 -3.24732507e-02 9.84384408e-01 2.40138510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.93463044000003 meters Centerline goodness [0,1] 0.24463134898962313 Centerline is valid? [False, False] Translation: X:24.95, Y:2.17, Z:2.40 [[ 9.84705155e-01 -7.95264275e-03 -1.74047443e-01 2.49459286e+01] [ 1.35206750e-02 9.99433215e-01 3.08291979e-02 2.16791393e+00] [ 1.73703622e-01 -3.27109090e-02 9.84254565e-01 2.40047766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.96463044 meters Centerline goodness [0,1] 0.2439072327044025 Centerline is valid? [False, False] Translation: X:24.95, Y:2.17, Z:2.40 [[ 9.84674064e-01 -8.26896708e-03 -1.74208529e-01 2.49458897e+01] [ 1.38585778e-02 9.99426593e-01 3.08937601e-02 2.16590442e+00] [ 1.73853177e-01 -3.28345668e-02 9.84224042e-01 2.40115462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.99463044000004 meters Centerline goodness [0,1] 0.24416270239601978 Centerline is valid? [False, False] Translation: X:24.95, Y:2.17, Z:2.40 [[ 9.84619272e-01 -8.03305086e-03 -1.74528961e-01 2.49463133e+01] [ 1.36285000e-02 9.99430013e-01 3.08854849e-02 2.16735473e+00] [ 1.74181377e-01 -3.27890116e-02 9.84167531e-01 2.40142104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.02463044 meters Centerline goodness [0,1] 0.24704408597424288 Centerline is valid? [False, False] Translation: X:24.95, Y:2.17, Z:2.40 [[ 9.84614501e-01 -8.10062656e-03 -1.74552755e-01 2.49458853e+01] [ 1.36910404e-02 9.99430355e-01 3.08467479e-02 2.16734789e+00] [ 1.74203444e-01 -3.27619641e-02 9.84164526e-01 2.40196709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.05463044000004 meters Centerline goodness [0,1] 0.24462406588378827 Centerline is valid? [False, False] Translation: X:24.95, Y:2.17, Z:2.40 [[ 9.84655643e-01 -8.17286325e-03 -1.74317151e-01 2.49452179e+01] [ 1.37867744e-02 9.99423720e-01 3.10185877e-02 2.16582557e+00] [ 1.73963185e-01 -3.29458987e-02 9.84200883e-01 2.40231749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.08463044 meters Centerline goodness [0,1] 0.24529163585750946 Centerline is valid? [False, False] Translation: X:24.95, Y:2.17, Z:2.40 [[ 9.84602628e-01 -8.18263964e-03 -1.74615891e-01 2.49457915e+01] [ 1.37565370e-02 9.99432915e-01 3.07344485e-02 2.16756506e+00] [ 1.74265380e-01 -3.26633288e-02 9.84156839e-01 2.40242290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.11463044 meters Centerline goodness [0,1] 0.24634960822402163 Centerline is valid? [False, False] Translation: X:24.95, Y:2.17, Z:2.40 [[ 9.84593858e-01 -8.40452540e-03 -1.74654797e-01 2.49459136e+01] [ 1.39368823e-02 9.99438403e-01 3.04736167e-02 2.16799539e+00] [ 1.74300595e-01 -3.24382792e-02 9.84158047e-01 2.40235070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.14463044 meters Centerline goodness [0,1] 0.2486929891720442 Centerline is valid? [False, False] Translation: X:24.94, Y:2.17, Z:2.40 [[ 9.84658075e-01 -8.93985038e-03 -1.74265756e-01 2.49445788e+01] [ 1.44532297e-02 9.99433482e-01 3.03944028e-02 2.16589633e+00] [ 1.73895310e-01 -3.24467971e-02 9.84229458e-01 2.40290615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.17463044 meters Centerline goodness [0,1] 0.24909920730242618 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.40 [[ 9.84620384e-01 -9.02108992e-03 -1.74474411e-01 2.49449481e+01] [ 1.45636983e-02 9.99428257e-01 3.05132541e-02 2.16477914e+00] [ 1.74099394e-01 -3.25849647e-02 9.84188814e-01 2.40325564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.20463044 meters Centerline goodness [0,1] 0.24515890934352202 Centerline is valid? [False, False] Translation: X:24.95, Y:2.17, Z:2.40 [[ 9.84572192e-01 -8.84023172e-03 -1.74755396e-01 2.49456709e+01] [ 1.44032280e-02 9.99428223e-01 3.05904182e-02 2.16534012e+00] [ 1.74385049e-01 -3.26355170e-02 9.84136565e-01 2.40334130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.23463044 meters Centerline goodness [0,1] 0.2516541781692301 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84705360e-01 -1.00624275e-02 -1.73937059e-01 2.49413951e+01] [ 1.54716177e-02 9.99437010e-01 2.97706681e-02 2.16437386e+00] [ 1.73539569e-01 -3.20064241e-02 9.84306663e-01 2.40542086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.26463044 meters Centerline goodness [0,1] 0.2494204103057609 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84709736e-01 -1.01130566e-02 -1.73909351e-01 2.49411537e+01] [ 1.54996880e-02 9.99440352e-01 2.96435864e-02 2.16477329e+00] [ 1.73512236e-01 -3.18858688e-02 9.84315394e-01 2.40557950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.29463044 meters Centerline goodness [0,1] 0.24765408983039772 Centerline is valid? [False, False] Translation: X:24.94, Y:2.17, Z:2.41 [[ 9.84626494e-01 -9.78910552e-03 -1.74398513e-01 2.49427333e+01] [ 1.51640110e-02 9.99449341e-01 2.95138523e-02 2.16687692e+00] [ 1.74013564e-01 -3.17047018e-02 9.84232742e-01 2.40513431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.32463044 meters Centerline goodness [0,1] 0.24626345374526126 Centerline is valid? [False, False] Translation: X:24.94, Y:2.17, Z:2.41 [[ 9.84746043e-01 -1.01264042e-02 -1.73702871e-01 2.49404011e+01] [ 1.54133831e-02 9.99457225e-01 2.91150061e-02 2.16755861e+00] [ 1.73313759e-01 -3.13482359e-02 9.84367629e-01 2.40557498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.35463044 meters Centerline goodness [0,1] 0.24690473087449494 Centerline is valid? [False, False] Translation: X:24.94, Y:2.17, Z:2.41 [[ 9.84822926e-01 -9.95342026e-03 -1.73276468e-01 2.49381098e+01] [ 1.51738010e-02 9.99469184e-01 2.88289018e-02 2.16988499e+00] [ 1.72897544e-01 -3.10206261e-02 9.84451197e-01 2.40667186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.38463044 meters Centerline goodness [0,1] 0.24919023499489146 Centerline is valid? [False, False] Translation: X:24.93, Y:2.17, Z:2.41 [[ 9.84980724e-01 -1.05752005e-02 -1.72340180e-01 2.49343671e+01] [ 1.57156351e-02 9.99470525e-01 2.84901433e-02 2.16905662e+00] [ 1.71947642e-01 -3.07706774e-02 9.84625398e-01 2.40800188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.41463044 meters Centerline goodness [0,1] 0.2503415819037498 Centerline is valid? [False, False] Translation: X:24.93, Y:2.17, Z:2.41 [[ 9.85071364e-01 -1.07137578e-02 -1.71812759e-01 2.49327384e+01] [ 1.58853544e-02 9.99460298e-01 2.87535819e-02 2.16662222e+00] [ 1.71411972e-01 -3.10536367e-02 9.84709910e-01 2.40862904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.44463044 meters Centerline goodness [0,1] 0.25003804265124674 Centerline is valid? [False, False] Translation: X:24.93, Y:2.17, Z:2.41 [[ 9.85025212e-01 -1.04092053e-02 -1.72095846e-01 2.49338822e+01] [ 1.56269848e-02 9.99457481e-01 2.89920760e-02 2.16675057e+00] [ 1.71700697e-01 -3.12472650e-02 9.84653482e-01 2.40823395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.47463044 meters Centerline goodness [0,1] 0.2469592462847321 Centerline is valid? [False, False] Translation: X:24.94, Y:2.17, Z:2.41 [[ 9.84960225e-01 -9.73349359e-03 -1.72506855e-01 2.49360798e+01] [ 1.49906644e-02 9.99461216e-01 2.91986011e-02 2.16863708e+00] [ 1.72129706e-01 -3.13454530e-02 9.84575455e-01 2.40689351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.50463044 meters Centerline goodness [0,1] 0.24801444828861763 Centerline is valid? [False, False] Translation: X:24.93, Y:2.17, Z:2.41 [[ 9.85015282e-01 -9.84205222e-03 -1.72186029e-01 2.49348568e+01] [ 1.50655345e-02 9.99464252e-01 2.90557975e-02 2.16853028e+00] [ 1.71807812e-01 -3.12144791e-02 9.84635837e-01 2.40727656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.53463044 meters Centerline goodness [0,1] 0.24629875934849443 Centerline is valid? [False, False] Translation: X:24.94, Y:2.17, Z:2.41 [[ 9.84971571e-01 -9.55981794e-03 -1.72451774e-01 2.49351190e+01] [ 1.47718002e-02 9.99471276e-01 2.89648503e-02 2.17031347e+00] [ 1.72083696e-01 -3.10769772e-02 9.84592008e-01 2.40743926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.56463044000003 meters Centerline goodness [0,1] 0.24575626507857162 Centerline is valid? [False, False] Translation: X:24.93, Y:2.17, Z:2.41 [[ 9.85036765e-01 -8.67531493e-03 -1.72125859e-01 2.49325123e+01] [ 1.39544435e-02 9.99467845e-01 2.94838998e-02 2.17188785e+00] [ 1.71778479e-01 -3.14446459e-02 9.84633632e-01 2.40905184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.59463044 meters Centerline goodness [0,1] 0.24613309548154105 Centerline is valid? [False, False] Translation: X:24.93, Y:2.17, Z:2.41 [[ 9.85102497e-01 -8.99360313e-03 -1.71732892e-01 2.49310274e+01] [ 1.42307842e-02 9.99469668e-01 2.92893656e-02 2.17135927e+00] [ 1.71378400e-01 -3.12969209e-02 9.84708052e-01 2.40959835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.62463044000003 meters Centerline goodness [0,1] 0.24719442575267536 Centerline is valid? [False, False] Translation: X:24.93, Y:2.17, Z:2.41 [[ 9.85121362e-01 -9.30922730e-03 -1.71607812e-01 2.49310351e+01] [ 1.45184277e-02 9.99470328e-01 2.91252290e-02 2.17058592e+00] [ 1.71245783e-01 -3.11833609e-02 9.84734726e-01 2.40936456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.65463044 meters Centerline goodness [0,1] 0.24773893382033219 Centerline is valid? [False, False] Translation: X:24.93, Y:2.17, Z:2.41 [[ 9.85046951e-01 -9.26557192e-03 -1.72036778e-01 2.49328419e+01] [ 1.44795835e-02 9.99472283e-01 2.90774292e-02 2.17094076e+00] [ 1.71676572e-01 -3.11336538e-02 9.84661287e-01 2.40863759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.68463044000003 meters Centerline goodness [0,1] 0.2450482147511076 Centerline is valid? [False, False] Translation: X:24.93, Y:2.17, Z:2.41 [[ 9.85031071e-01 -9.57491032e-03 -1.72110751e-01 2.49335976e+01] [ 1.47588252e-02 9.99474348e-01 2.88652750e-02 2.17047581e+00] [ 1.71743899e-01 -3.09733452e-02 9.84654602e-01 2.40815629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.71463044 meters Centerline goodness [0,1] 0.2477677599198571 Centerline is valid? [False, False] Translation: X:24.93, Y:2.17, Z:2.41 [[ 9.85021576e-01 -9.54373055e-03 -1.72166817e-01 2.49334194e+01] [ 1.47270572e-02 9.99475135e-01 2.88542694e-02 2.17099315e+00] [ 1.71801076e-01 -3.09575884e-02 9.84645123e-01 2.40850259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.74463044000004 meters Centerline goodness [0,1] 0.24627660730980805 Centerline is valid? [False, False] Translation: X:24.93, Y:2.17, Z:2.41 [[ 9.85020933e-01 -9.58895969e-03 -1.72167982e-01 2.49331671e+01] [ 1.47658921e-02 9.99475735e-01 2.88136051e-02 2.17122649e+00] [ 1.71801428e-01 -3.09242180e-02 9.84646110e-01 2.40881169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.77463044 meters Centerline goodness [0,1] 0.24660084870529142 Centerline is valid? [False, False] Translation: X:24.93, Y:2.17, Z:2.41 [[ 9.85072540e-01 -1.02069314e-02 -1.71836869e-01 2.49321871e+01] [ 1.53395947e-02 9.99474143e-01 2.85680807e-02 2.16955825e+00] [ 1.71454915e-01 -3.07775397e-02 9.84711102e-01 2.40917586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.80463044000004 meters Centerline goodness [0,1] 0.24661435123796271 Centerline is valid? [False, False] Translation: X:24.94, Y:2.17, Z:2.41 [[ 9.84826044e-01 -1.04534143e-02 -1.73229296e-01 2.49367112e+01] [ 1.56950483e-02 9.99458612e-01 2.89162252e-02 2.16643765e+00] [ 1.72833238e-01 -3.11962938e-02 9.84456938e-01 2.40851436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.83463044 meters Centerline goodness [0,1] 0.2469047152773245 Centerline is valid? [False, False] Translation: X:24.94, Y:2.17, Z:2.41 [[ 9.84702548e-01 -1.01619370e-02 -1.73947198e-01 2.49393163e+01] [ 1.54745771e-02 9.99453428e-01 2.92127310e-02 2.16618745e+00] [ 1.73555265e-01 -3.14576100e-02 9.84321588e-01 2.40783929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.86463044 meters Centerline goodness [0,1] 0.24586956521739134 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84689030e-01 -1.02989563e-02 -1.74015650e-01 2.49397749e+01] [ 1.56261440e-02 9.99449365e-01 2.92709719e-02 2.16496332e+00] [ 1.73618370e-01 -3.15419985e-02 9.84307759e-01 2.40777292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.89463044 meters Centerline goodness [0,1] 0.24744953331886255 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84686961e-01 -1.04202195e-02 -1.74020139e-01 2.49396920e+01] [ 1.57394752e-02 9.99449228e-01 2.92148697e-02 2.16455647e+00] [ 1.73619868e-01 -3.15064869e-02 9.84308632e-01 2.40794824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.92463044 meters Centerline goodness [0,1] 0.24717805954892447 Centerline is valid? [False, False] Translation: X:24.94, Y:2.17, Z:2.41 [[ 9.84628425e-01 -1.02541683e-02 -1.74360883e-01 2.49400546e+01] [ 1.55800056e-02 9.99452056e-01 2.92036073e-02 2.16564524e+00] [ 1.73965884e-01 -3.14712454e-02 9.84248664e-01 2.40836888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.95463044 meters Centerline goodness [0,1] 0.2484697199913175 Centerline is valid? [False, False] Translation: X:24.94, Y:2.17, Z:2.41 [[ 9.84682683e-01 -1.03559203e-02 -1.74048180e-01 2.49379573e+01] [ 1.56579955e-02 9.99453341e-01 2.91177876e-02 2.16609491e+00] [ 1.73651493e-01 -3.13970269e-02 9.84306551e-01 2.40978311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.98463044 meters Centerline goodness [0,1] 0.24822340541127896 Centerline is valid? [False, False] Translation: X:24.94, Y:2.17, Z:2.41 [[ 9.84727185e-01 -1.06651937e-02 -1.73777512e-01 2.49366312e+01] [ 1.59017656e-02 9.99459582e-01 2.87693774e-02 2.16688216e+00] [ 1.73376769e-01 -3.10933573e-02 9.84364617e-01 2.41040675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.01463044 meters Centerline goodness [0,1] 0.24811359732098204 Centerline is valid? [False, False] Translation: X:24.93, Y:2.17, Z:2.41 [[ 9.84811013e-01 -1.11454242e-02 -1.73271603e-01 2.49346765e+01] [ 1.63088770e-02 9.99463455e-01 2.84046401e-02 2.16688211e+00] [ 1.72862053e-01 -3.07990676e-02 9.84464386e-01 2.41112230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.04463044 meters Centerline goodness [0,1] 0.24811769796624839 Centerline is valid? [False, False] Translation: X:24.93, Y:2.17, Z:2.41 [[ 9.84903694e-01 -1.13713609e-02 -1.72729282e-01 2.49326765e+01] [ 1.65283353e-02 9.99458647e-01 2.84469054e-02 2.16550502e+00] [ 1.72312294e-01 -3.08723897e-02 9.84558464e-01 2.41200726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.07463044 meters Centerline goodness [0,1] 0.2486424258221469 Centerline is valid? [False, False] Translation: X:24.93, Y:2.17, Z:2.41 [[ 9.84775614e-01 -1.09289741e-02 -1.73486449e-01 2.49348270e+01] [ 1.61566306e-02 9.99456071e-01 2.87493711e-02 2.16638635e+00] [ 1.73077883e-01 -3.11146361e-02 9.84416541e-01 2.41181965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.10463044 meters Centerline goodness [0,1] 0.250347947112039 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84754670e-01 -1.10630628e-02 -1.73596800e-01 2.49356059e+01] [ 1.63335578e-02 9.99447074e-01 2.89613723e-02 2.16399344e+00] [ 1.73180412e-01 -3.13553000e-02 9.84390873e-01 2.41160183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.13463044 meters Centerline goodness [0,1] 0.2460597150455106 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84685363e-01 -1.09539338e-02 -1.73996399e-01 2.49373737e+01] [ 1.62714317e-02 9.99442198e-01 2.91639192e-02 2.16268944e+00] [ 1.73579884e-01 -3.15484548e-02 9.84314340e-01 2.41105192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.16463044 meters Centerline goodness [0,1] 0.24792053269293746 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84650137e-01 -1.05510070e-02 -1.74220505e-01 2.49376290e+01] [ 1.58694862e-02 9.99448703e-01 2.91624769e-02 2.16452441e+00] [ 1.73816764e-01 -3.14796268e-02 9.84274741e-01 2.41111145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.19463044 meters Centerline goodness [0,1] 0.24814177038603225 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84751654e-01 -1.08172859e-02 -1.73629393e-01 2.49353125e+01] [ 1.61242344e-02 9.99444015e-01 2.91833929e-02 2.16297384e+00] [ 1.73217173e-01 -3.15380354e-02 9.84378567e-01 2.41206401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.22463044 meters Centerline goodness [0,1] 0.249161329673681 Centerline is valid? [False, False] Translation: X:24.93, Y:2.16, Z:2.41 [[ 9.84752871e-01 -1.07911815e-02 -1.73624116e-01 2.49346911e+01] [ 1.60740333e-02 9.99448720e-01 2.90496390e-02 2.16389243e+00] [ 1.73214920e-01 -3.13975552e-02 9.84383454e-01 2.41259734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.25463044 meters Centerline goodness [0,1] 0.24751702302988243 Centerline is valid? [False, False] Translation: X:24.94, Y:2.17, Z:2.41 [[ 9.84693596e-01 -1.04057168e-02 -1.73983455e-01 2.49356809e+01] [ 1.56910852e-02 9.99455356e-01 2.90307015e-02 2.16553343e+00] [ 1.73586610e-01 -3.13163351e-02 9.84320566e-01 2.41241905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.28463044 meters Centerline goodness [0,1] 0.24651598292831634 Centerline is valid? [False, False] Translation: X:24.93, Y:2.17, Z:2.41 [[ 9.84764136e-01 -1.02542288e-02 -1.73592762e-01 2.49342597e+01] [ 1.54632870e-02 9.99468987e-01 2.86815342e-02 2.16788640e+00] [ 1.73206475e-01 -3.09288610e-02 9.84399778e-01 2.41259296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.31463044000003 meters Centerline goodness [0,1] 0.2472264873164508 Centerline is valid? [False, False] Translation: X:24.93, Y:2.17, Z:2.41 [[ 9.84839401e-01 -1.01653543e-02 -1.73170495e-01 2.49328910e+01] [ 1.53615156e-02 9.99470248e-01 2.86922816e-02 2.16801135e+00] [ 1.72787090e-01 -3.09174507e-02 9.84473835e-01 2.41291968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.34463044 meters Centerline goodness [0,1] 0.24628063326827154 Centerline is valid? [False, False] Translation: X:24.93, Y:2.17, Z:2.41 [[ 9.84881842e-01 -1.02617155e-02 -1.72923263e-01 2.49319474e+01] [ 1.54214110e-02 9.99474228e-01 2.85210177e-02 2.16865385e+00] [ 1.72539670e-01 -3.07565531e-02 9.84522268e-01 2.41313522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.37463044000003 meters Centerline goodness [0,1] 0.2488154748967616 Centerline is valid? [False, False] Translation: X:24.93, Y:2.17, Z:2.41 [[ 9.84928584e-01 -1.03195835e-02 -1.72653383e-01 2.49309837e+01] [ 1.54785562e-02 9.99472205e-01 2.85608974e-02 2.16814202e+00] [ 1.72267521e-01 -3.08028694e-02 9.84568476e-01 2.41348442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.40463044 meters Centerline goodness [0,1] 0.2517783111499018 Centerline is valid? [False, False] Translation: X:24.93, Y:2.17, Z:2.41 [[ 9.84956348e-01 -1.05428384e-02 -1.72481420e-01 2.49307583e+01] [ 1.57069103e-02 9.99467454e-01 2.86024848e-02 2.16673472e+00] [ 1.72088014e-01 -3.08813492e-02 9.84597409e-01 2.41343858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.43463044000003 meters Centerline goodness [0,1] 0.24642275540115077 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84668649e-01 -9.69653143e-03 -1.74165524e-01 2.49376751e+01] [ 1.50680671e-02 9.99449849e-01 2.95457807e-02 2.16460112e+00] [ 1.73783215e-01 -3.17171418e-02 9.84273040e-01 2.41118441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.46463044 meters Centerline goodness [0,1] 0.24642275540115077 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84668649e-01 -9.69653143e-03 -1.74165524e-01 2.49376751e+01] [ 1.50680671e-02 9.99449849e-01 2.95457807e-02 2.16460112e+00] [ 1.73783215e-01 -3.17171418e-02 9.84273040e-01 2.41118441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.49463044000004 meters Centerline goodness [0,1] 0.24972274773305503 Centerline is valid? [False, False] Translation: X:24.94, Y:2.17, Z:2.41 [[ 9.84531481e-01 -9.21094004e-03 -1.74965488e-01 2.49408793e+01] [ 1.46375333e-02 9.99450187e-01 2.97500761e-02 2.16567895e+00] [ 1.74595263e-01 -3.18509496e-02 9.84124998e-01 2.41006002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.52463044 meters Centerline goodness [0,1] 0.2473220661747203 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84610284e-01 -9.42058429e-03 -1.74510291e-01 2.49398617e+01] [ 1.48280920e-02 9.99448604e-01 2.97088615e-02 2.16469749e+00] [ 1.74134192e-01 -3.18393052e-02 9.84207062e-01 2.41016779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.55463044000004 meters Centerline goodness [0,1] 0.24659518353582088 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84779773e-01 -1.03311303e-02 -1.73499470e-01 2.49360174e+01] [ 1.56189440e-02 9.99453311e-01 2.91397880e-02 2.16384264e+00] [ 1.73103573e-01 -3.14061523e-02 9.84402766e-01 2.41143688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.58463044 meters Centerline goodness [0,1] 0.24728643542691253 Centerline is valid? [False, False] Translation: X:24.94, Y:2.17, Z:2.41 [[ 9.84726976e-01 -1.02280839e-02 -1.73804975e-01 2.49363842e+01] [ 1.55107452e-02 9.99457228e-01 2.90631313e-02 2.16581559e+00] [ 1.73413379e-01 -3.13150941e-02 9.84351139e-01 2.41173263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.61463044 meters Centerline goodness [0,1] 0.24926667101231992 Centerline is valid? [False, False] Translation: X:24.93, Y:2.16, Z:2.41 [[ 9.84737808e-01 -1.25238371e-02 -1.73593209e-01 2.49349494e+01] [ 1.75726495e-02 9.99465191e-01 2.75777676e-02 2.16174434e+00] [ 1.73154990e-01 -3.02073630e-02 9.84431239e-01 2.41288309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.64463044 meters Centerline goodness [0,1] 0.2514915098669114 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84744481e-01 -1.28894064e-02 -1.73528586e-01 2.49352118e+01] [ 1.79365550e-02 9.99459529e-01 2.75486804e-02 2.16011456e+00] [ 1.73079713e-01 -3.02409160e-02 9.84443447e-01 2.41270136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.67463044 meters Centerline goodness [0,1] 0.25028675308935877 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84762860e-01 -1.29642315e-02 -1.73418677e-01 2.49357305e+01] [ 1.80084211e-02 9.99458339e-01 2.75449854e-02 2.15995010e+00] [ 1.72967643e-01 -3.02482752e-02 9.84462918e-01 2.41214109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.70463044 meters Centerline goodness [0,1] 0.2505296381166501 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84761297e-01 -1.29609311e-02 -1.73427803e-01 2.49355395e+01] [ 1.80238585e-02 9.99455153e-01 2.76502892e-02 2.15904604e+00] [ 1.72974938e-01 -3.03547728e-02 9.84458358e-01 2.41252344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.73463044 meters Centerline goodness [0,1] 0.2509562722767974 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84700806e-01 -1.27696496e-02 -1.73785094e-01 2.49363412e+01] [ 1.78620763e-02 9.99454722e-01 2.77705886e-02 2.15928939e+00] [ 1.73335712e-01 -3.04498836e-02 9.84391962e-01 2.41265058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.76463044 meters Centerline goodness [0,1] 0.25255369303300157 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84620609e-01 -1.25546358e-02 -1.74254521e-01 2.49379780e+01] [ 1.76875435e-02 9.99453252e-01 2.79347030e-02 2.15904960e+00] [ 1.73808537e-01 -3.05872187e-02 9.84304330e-01 2.41225077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.79463044 meters Centerline goodness [0,1] 0.24828778221886139 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84658075e-01 -1.26501498e-02 -1.74035771e-01 2.49377077e+01] [ 1.78069015e-02 9.99446474e-01 2.81008993e-02 2.15725029e+00] [ 1.73583957e-01 -3.07688153e-02 9.84338300e-01 2.41225608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.82463044 meters Centerline goodness [0,1] 0.25229880024520535 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84510762e-01 -1.19663467e-02 -1.74915312e-01 2.49402266e+01] [ 1.72216609e-02 9.99443775e-01 2.85579327e-02 2.15760665e+00] [ 1.74476286e-01 -3.11279243e-02 9.84169232e-01 2.41190967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.85463044 meters Centerline goodness [0,1] 0.2473613634397439 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84477697e-01 -1.15496635e-02 -1.75129296e-01 2.49411840e+01] [ 1.68825331e-02 9.99437069e-01 2.89918107e-02 2.15676045e+00] [ 1.74695865e-01 -3.14984171e-02 9.84118491e-01 2.41161299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.88463044 meters Centerline goodness [0,1] 0.24746129695788677 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84476846e-01 -1.13208718e-02 -1.75149015e-01 2.49412121e+01] [ 1.66574427e-02 9.99439777e-01 2.90286364e-02 2.15775025e+00] [ 1.74722263e-01 -3.14955550e-02 9.84113896e-01 2.41153862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.91463044 meters Centerline goodness [0,1] 0.24979393518719362 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84495154e-01 -1.09541406e-02 -1.75069409e-01 2.49407064e+01] [ 1.63152706e-02 9.99440050e-01 2.92129731e-02 2.15834582e+00] [ 1.74651376e-01 -3.16163353e-02 9.84122606e-01 2.41168480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.94463044 meters Centerline goodness [0,1] 0.24773924923557344 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84526998e-01 -1.09817257e-02 -1.74888515e-01 2.49400107e+01] [ 1.63567329e-02 9.99436175e-01 2.93221725e-02 2.15718507e+00] [ 1.74467900e-01 -3.17290752e-02 9.84151522e-01 2.41205513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.97463044 meters Centerline goodness [0,1] 0.24909589996078607 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84520463e-01 -1.09911646e-02 -1.74924705e-01 2.49397498e+01] [ 1.63652537e-02 9.99436407e-01 2.93095088e-02 2.15708932e+00] [ 1.74503973e-01 -3.17184984e-02 9.84145467e-01 2.41238907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.00463044 meters Centerline goodness [0,1] 0.2502069446259748 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84498240e-01 -1.09057455e-02 -1.75055077e-01 2.49398423e+01] [ 1.62650859e-02 9.99440965e-01 2.92096619e-02 2.15814990e+00] [ 1.74638662e-01 -3.16041466e-02 9.84125254e-01 2.41253816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.03463044 meters Centerline goodness [0,1] 0.2474117621630968 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84514315e-01 -1.08747105e-02 -1.74966578e-01 2.49395245e+01] [ 1.62429659e-02 9.99439300e-01 2.92788454e-02 2.15752700e+00] [ 1.74550076e-01 -3.16674186e-02 9.84138936e-01 2.41279860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.06463044000003 meters Centerline goodness [0,1] 0.24909177406798721 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84516268e-01 -1.12264436e-02 -1.74933375e-01 2.49391869e+01] [ 1.65733584e-02 9.99438093e-01 2.91345526e-02 2.15634131e+00] [ 1.74508002e-01 -3.15826745e-02 9.84149121e-01 2.41321351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.09463044 meters Centerline goodness [0,1] 0.24688774299337635 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84502923e-01 -1.11294427e-02 -1.75014657e-01 2.49394862e+01] [ 1.64986927e-02 9.99435844e-01 2.92538200e-02 2.15586000e+00] [ 1.74590343e-01 -3.16879843e-02 9.84131131e-01 2.41324575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.12463044000003 meters Centerline goodness [0,1] 0.25125190507293704 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84508941e-01 -1.12349687e-02 -1.74974057e-01 2.49392090e+01] [ 1.65934802e-02 9.99436090e-01 2.91917361e-02 2.15571577e+00] [ 1.74547419e-01 -3.16429537e-02 9.84140194e-01 2.41347487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.15463044 meters Centerline goodness [0,1] 0.24820878023361848 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.41 [[ 9.84531881e-01 -1.10981476e-02 -1.74853673e-01 2.49385943e+01] [ 1.64785217e-02 9.99433388e-01 2.93489445e-02 2.15536067e+00] [ 1.74428880e-01 -3.17763015e-02 9.84156915e-01 2.41391130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.18463044000003 meters Centerline goodness [0,1] 0.2501837996799723 Centerline is valid? [False, False] Translation: X:24.94, Y:2.15, Z:2.42 [[ 9.84670612e-01 -1.11987163e-02 -1.74064282e-01 2.49355508e+01] [ 1.65647531e-02 9.99430293e-01 2.94057414e-02 2.15447217e+00] [ 1.73635810e-01 -3.18383013e-02 9.84295143e-01 2.41514045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.21463044 meters Centerline goodness [0,1] 0.24838320255238422 Centerline is valid? [False, False] Translation: X:24.94, Y:2.15, Z:2.42 [[ 9.84666579e-01 -1.10472236e-02 -1.74096777e-01 2.49355670e+01] [ 1.64249954e-02 9.99430440e-01 2.94790784e-02 2.15456144e+00] [ 1.73671956e-01 -3.18866020e-02 9.84287202e-01 2.41530967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.24463044000004 meters Centerline goodness [0,1] 0.2514202381211501 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.42 [[ 9.84650265e-01 -1.10333771e-02 -1.74189900e-01 2.49356004e+01] [ 1.63679706e-02 9.99439032e-01 2.92183351e-02 2.15616238e+00] [ 1.73769808e-01 -3.16209765e-02 9.84278501e-01 2.41534300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.27463044 meters Centerline goodness [0,1] 0.25084789981737543 Centerline is valid? [False, False] Translation: X:24.93, Y:2.16, Z:2.42 [[ 9.84664657e-01 -1.11472385e-02 -1.74101268e-01 2.49349126e+01] [ 1.64557450e-02 9.99441707e-01 2.90771887e-02 2.15626141e+00] [ 1.73679939e-01 -3.14962461e-02 9.84298362e-01 2.41581081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.30463044000004 meters Centerline goodness [0,1] 0.2509070368680615 Centerline is valid? [False, False] Translation: X:24.93, Y:2.16, Z:2.42 [[ 9.84656142e-01 -1.08663223e-02 -1.74167175e-01 2.49346902e+01] [ 1.62219717e-02 9.99437378e-01 2.93560217e-02 2.15587488e+00] [ 1.73750192e-01 -3.17309221e-02 9.84278426e-01 2.41637591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.33463044 meters Centerline goodness [0,1] 0.2496862694188411 Centerline is valid? [False, False] Translation: X:24.94, Y:2.16, Z:2.42 [[ 9.84592886e-01 -1.05670413e-02 -1.74542793e-01 2.49362826e+01] [ 1.59200656e-02 9.99443958e-01 2.92972154e-02 2.15750304e+00] [ 1.74136155e-01 -3.16245626e-02 9.84213639e-01 2.41572582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.36463044 meters Centerline goodness [0,1] 0.25051080293874717 Centerline is valid? [False, False] Translation: X:24.93, Y:2.16, Z:2.42 [[ 9.84677507e-01 -1.09814096e-02 -1.74039121e-01 2.49347047e+01] [ 1.62598768e-02 9.99449114e-01 2.89324311e-02 2.15742834e+00] [ 1.73625526e-01 -3.13189688e-02 9.84313618e-01 2.41605616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.39463044 meters Centerline goodness [0,1] 0.25094078463601366 Centerline is valid? [False, False] Translation: X:24.93, Y:2.16, Z:2.42 [[ 9.84713972e-01 -1.09896639e-02 -1.73832161e-01 2.49345307e+01] [ 1.62180780e-02 9.99456909e-01 2.86855580e-02 2.15872153e+00] [ 1.73422510e-01 -3.10662933e-02 9.84357414e-01 2.41573266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.42463044 meters Centerline goodness [0,1] 0.252942453854506 Centerline is valid? [False, False] Translation: X:24.93, Y:2.16, Z:2.42 [[ 9.84827654e-01 -1.14891409e-02 -1.73154529e-01 2.49321499e+01] [ 1.66526506e-02 9.99458002e-01 2.83970458e-02 2.15823375e+00] [ 1.72734422e-01 -3.08496779e-02 9.84485204e-01 2.41644958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.45463044 meters Centerline goodness [0,1] 0.2505665752951588 Centerline is valid? [False, False] Translation: X:24.93, Y:2.16, Z:2.42 [[ 9.84853305e-01 -1.15643498e-02 -1.73003563e-01 2.49317449e+01] [ 1.67704680e-02 9.99448493e-01 2.86611374e-02 2.15628340e+00] [ 1.72576703e-01 -3.11283666e-02 9.84504092e-01 2.41683653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.48463044 meters Centerline goodness [0,1] 0.25184847893492923 Centerline is valid? [False, False] Translation: X:24.94, Y:2.15, Z:2.42 [[ 9.84667490e-01 -1.12274609e-02 -1.74080090e-01 2.49362409e+01] [ 1.65769677e-02 9.99433001e-01 2.93066615e-02 2.15422129e+00] [ 1.73652347e-01 -3.17430368e-02 9.84295302e-01 2.41552368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.51463044 meters Centerline goodness [0,1] 0.2528810611002392 Centerline is valid? [False, False] Translation: X:24.94, Y:2.15, Z:2.41 [[ 9.84579020e-01 -1.12187019e-02 -1.74580338e-01 2.49386506e+01] [ 1.66303541e-02 9.99424474e-01 2.95660584e-02 2.15250310e+00] [ 1.74148170e-01 -3.20134536e-02 9.84198940e-01 2.41466142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.54463044 meters Centerline goodness [0,1] 0.252601908065915 Centerline is valid? [False, False] Translation: X:24.94, Y:2.15, Z:2.41 [[ 9.84593496e-01 -1.13541220e-02 -1.74489916e-01 2.49392895e+01] [ 1.68084562e-02 9.99414166e-01 2.98127614e-02 2.14998564e+00] [ 1.74049196e-01 -3.22863571e-02 9.84207533e-01 2.41416540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.57463044 meters Centerline goodness [0,1] 0.2538489935071986 Centerline is valid? [False, False] Translation: X:24.94, Y:2.15, Z:2.41 [[ 9.84540535e-01 -1.12975743e-02 -1.74792161e-01 2.49405041e+01] [ 1.67902916e-02 9.99409546e-01 2.99774264e-02 2.14902717e+00] [ 1.74350282e-01 -3.24488028e-02 9.84148898e-01 2.41387957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.60463044 meters Centerline goodness [0,1] 0.2585963985382821 Centerline is valid? [False, False] Translation: X:24.94, Y:2.15, Z:2.41 [[ 9.84479375e-01 -1.10990773e-02 -1.75148995e-01 2.49415284e+01] [ 1.66482832e-02 9.99403851e-01 3.02452827e-02 2.14826763e+00] [ 1.74708885e-01 -3.26917871e-02 9.84077259e-01 2.41388289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.63463044 meters Centerline goodness [0,1] 0.25388048329160773 Centerline is valid? [False, False] Translation: X:24.96, Y:2.14, Z:2.42 [[ 9.83942562e-01 -6.94589033e-03 -1.78350189e-01 2.49598130e+01] [ 1.24534112e-02 9.99478913e-01 2.97794491e-02 2.14365776e+00] [ 1.78050409e-01 -3.15223357e-02 9.83516342e-01 2.41765470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.66463044 meters Centerline goodness [0,1] 0.25076254137192555 Centerline is valid? [False, False] Translation: X:24.96, Y:2.14, Z:2.42 [[ 9.83925408e-01 -6.76113471e-03 -1.78451894e-01 2.49609820e+01] [ 1.23196101e-02 9.99472215e-01 3.00585831e-02 2.14207374e+00] [ 1.78154479e-01 -3.17738614e-02 9.83489402e-01 2.41690562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.69463044 meters Centerline goodness [0,1] 0.2502161134163209 Centerline is valid? [False, False] Translation: X:24.96, Y:2.14, Z:2.42 [[ 9.83927166e-01 -6.62109392e-03 -1.78447452e-01 2.49613628e+01] [ 1.22230856e-02 9.99465752e-01 3.03118332e-02 2.14068488e+00] [ 1.78151420e-01 -3.20058146e-02 9.83482435e-01 2.41663747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.72463044 meters Centerline goodness [0,1] 0.25098839987835075 Centerline is valid? [False, False] Translation: X:24.96, Y:2.14, Z:2.42 [[ 9.83965009e-01 -6.54281494e-03 -1.78241556e-01 2.49609672e+01] [ 1.21726175e-02 9.99460339e-01 3.05099761e-02 2.13942831e+00] [ 1.77945745e-01 -3.21904152e-02 9.83513645e-01 2.41650952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.75463044 meters Centerline goodness [0,1] 0.24977259929830642 Centerline is valid? [False, False] Translation: X:24.96, Y:2.14, Z:2.42 [[ 9.84006424e-01 -6.41565335e-03 -1.78017407e-01 2.49608607e+01] [ 1.20944458e-02 9.99451363e-01 3.08333831e-02 2.13682570e+00] [ 1.77721923e-01 -3.24932689e-02 9.83544155e-01 2.41621185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.78463044 meters Centerline goodness [0,1] 0.2524328913852786 Centerline is valid? [False, False] Translation: X:24.96, Y:2.14, Z:2.42 [[ 9.83986769e-01 -6.32933612e-03 -1.78129105e-01 2.49615595e+01] [ 1.20464981e-02 9.99445784e-01 3.10323596e-02 2.13540083e+00] [ 1.77833969e-01 -3.26812632e-02 9.83517674e-01 2.41587893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.81463044000003 meters Centerline goodness [0,1] 0.2513127630950831 Centerline is valid? [False, False] Translation: X:24.96, Y:2.13, Z:2.42 [[ 9.83925297e-01 -6.15969990e-03 -1.78474277e-01 2.49627943e+01] [ 1.19398142e-02 9.99437769e-01 3.13302767e-02 2.13367597e+00] [ 1.78180948e-01 -3.29576015e-02 9.83445650e-01 2.41572091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.84463044 meters Centerline goodness [0,1] 0.24919899549705582 Centerline is valid? [False, False] Translation: X:24.96, Y:2.13, Z:2.42 [[ 9.83883141e-01 -6.00361522e-03 -1.78711839e-01 2.49638347e+01] [ 1.18472279e-02 9.99428820e-01 3.16492838e-02 2.13166807e+00] [ 1.78419753e-01 -3.32564366e-02 9.83392293e-01 2.41548941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.87463044000003 meters Centerline goodness [0,1] 0.2503594927883568 Centerline is valid? [False, False] Translation: X:24.97, Y:2.13, Z:2.42 [[ 9.83829454e-01 -5.73441683e-03 -1.79015985e-01 2.49650862e+01] [ 1.16881702e-02 9.99412416e-01 3.22212498e-02 2.12809897e+00] [ 1.78726028e-01 -3.37925839e-02 9.83318396e-01 2.41525837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.90463044 meters Centerline goodness [0,1] 0.25117538728198463 Centerline is valid? [False, False] Translation: X:24.97, Y:2.13, Z:2.41 [[ 9.83837799e-01 -5.45026429e-03 -1.78978991e-01 2.49655040e+01] [ 1.14651877e-02 9.99403052e-01 3.25897148e-02 2.12650652e+00] [ 1.78694527e-01 -3.41150210e-02 9.83312988e-01 2.41495720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.93463044000003 meters Centerline goodness [0,1] 0.24803081074024114 Centerline is valid? [False, False] Translation: X:24.97, Y:2.13, Z:2.42 [[ 9.83861115e-01 -5.40080040e-03 -1.78852281e-01 2.49650838e+01] [ 1.14326209e-02 9.99399441e-01 3.27116560e-02 2.12539427e+00] [ 1.78568200e-01 -3.42284767e-02 9.83331993e-01 2.41511051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.96463044 meters Centerline goodness [0,1] 0.24797796907864778 Centerline is valid? [False, False] Translation: X:24.97, Y:2.12, Z:2.41 [[ 9.83871678e-01 -5.19281464e-03 -1.78800323e-01 2.49652929e+01] [ 1.12939884e-02 9.99387506e-01 3.31218710e-02 2.12238648e+00] [ 1.78518814e-01 -3.46070396e-02 9.83327710e-01 2.41497225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.99463044000004 meters Centerline goodness [0,1] 0.2503155603917302 Centerline is valid? [False, False] Translation: X:24.97, Y:2.12, Z:2.42 [[ 9.83867520e-01 -5.17223227e-03 -1.78823800e-01 2.49652440e+01] [ 1.12952458e-02 9.99383593e-01 3.32393196e-02 2.12135220e+00] [ 1.78541650e-01 -3.47229458e-02 9.83319478e-01 2.41513908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.02463044 meters Centerline goodness [0,1] 0.24781876295784377 Centerline is valid? [False, False] Translation: X:24.97, Y:2.12, Z:2.41 [[ 9.83809914e-01 -4.82689147e-03 -1.79150086e-01 2.49663255e+01] [ 1.10062221e-02 9.99377624e-01 3.35145979e-02 2.12100058e+00] [ 1.78876816e-01 -3.49437593e-02 9.83250740e-01 2.41499036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.05463044000004 meters Centerline goodness [0,1] 0.24628932450560392 Centerline is valid? [False, False] Translation: X:24.97, Y:2.12, Z:2.42 [[ 9.83732102e-01 -4.48363300e-03 -1.79585771e-01 2.49671654e+01] [ 1.06561433e-02 9.99384556e-01 3.34208921e-02 2.12337901e+00] [ 1.79325399e-01 -3.47908961e-02 9.83174448e-01 2.41514067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.08463044 meters Centerline goodness [0,1] 0.23995533317585416 Centerline is valid? [False, False] Translation: X:24.98, Y:2.13, Z:2.42 [[ 9.84102623e-01 5.42931069e-03 -1.77517747e-01 2.49839868e+01] [ 8.52623562e-04 9.99376672e-01 3.52922209e-02 2.12946549e+00] [ 1.77598707e-01 -3.48825230e-02 9.83484575e-01 2.41840434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.11463044 meters Centerline goodness [0,1] 0.2406847718146885 Centerline is valid? [False, False] Translation: X:24.98, Y:2.13, Z:2.42 [[ 9.84268695e-01 4.63974564e-03 -1.76617125e-01 2.49799850e+01] [ 1.49814477e-03 9.99400003e-01 3.46033194e-02 2.12991931e+00] [ 1.76671706e-01 -3.43235621e-02 9.83671186e-01 2.41991849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.14463044 meters Centerline goodness [0,1] 0.2440307392574954 Centerline is valid? [False, False] Translation: X:24.98, Y:2.13, Z:2.42 [[ 9.84325111e-01 4.41525569e-03 -1.76308202e-01 2.49783037e+01] [ 1.66181816e-03 9.99409996e-01 3.43059481e-02 2.13111531e+00] [ 1.76355649e-01 -3.40611983e-02 9.83737018e-01 2.42075601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.17463044 meters Centerline goodness [0,1] 0.24235334892990212 Centerline is valid? [False, False] Translation: X:24.98, Y:2.13, Z:2.42 [[ 9.84303481e-01 4.40248564e-03 -1.76429236e-01 2.49782791e+01] [ 1.62007725e-03 9.99421292e-01 3.39772801e-02 2.13361969e+00] [ 1.76476720e-01 -3.37297840e-02 9.83726725e-01 2.42098454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.20463044 meters Centerline goodness [0,1] 0.24944879827108213 Centerline is valid? [False, False] Translation: X:24.98, Y:2.13, Z:2.42 [[ 9.84349890e-01 -2.53123588e-04 -1.76224939e-01 2.49764291e+01] [ 5.70673195e-03 9.99520282e-01 3.04407472e-02 2.13108448e+00] [ 1.76132695e-01 -3.09700147e-02 9.83879125e-01 2.42246124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.23463044 meters Centerline goodness [0,1] 0.248016303169579 Centerline is valid? [False, False] Translation: X:24.98, Y:2.13, Z:2.42 [[ 9.84286026e-01 -2.17065573e-04 -1.76581348e-01 2.49777411e+01] [ 5.71139674e-03 9.99515167e-01 3.06073530e-02 2.13021219e+00] [ 1.76489092e-01 -3.11349160e-02 9.83810051e-01 2.42228206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.26463044 meters Centerline goodness [0,1] 0.2524295219751357 Centerline is valid? [False, False] Translation: X:24.98, Y:2.13, Z:2.42 [[ 9.84248985e-01 -1.22321210e-04 -1.76787782e-01 2.49788759e+01] [ 5.63405764e-03 9.99513517e-01 3.06755011e-02 2.13040658e+00] [ 1.76698026e-01 -3.11883634e-02 9.83770854e-01 2.42173645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.29463044 meters Centerline goodness [0,1] 0.2466823977658953 Centerline is valid? [False, False] Translation: X:24.98, Y:2.13, Z:2.42 [[ 9.84114486e-01 5.61729763e-04 -1.77534118e-01 2.49826673e+01] [ 5.02316474e-03 9.99506541e-01 3.10071203e-02 2.13204938e+00] [ 1.77463930e-01 -3.14063394e-02 9.83626044e-01 2.42014981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.32463044 meters Centerline goodness [0,1] 0.25005447335163633 Centerline is valid? [False, False] Translation: X:24.98, Y:2.13, Z:2.42 [[ 9.84156905e-01 3.23592891e-04 -1.77299410e-01 2.49819865e+01] [ 5.21760725e-03 9.99512374e-01 3.07862237e-02 2.13215374e+00] [ 1.77222917e-01 -3.12235533e-02 9.83675316e-01 2.42028283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.35463044 meters Centerline goodness [0,1] 0.25005447335163633 Centerline is valid? [False, False] Translation: X:24.98, Y:2.13, Z:2.42 [[ 9.84156905e-01 3.23592891e-04 -1.77299410e-01 2.49819865e+01] [ 5.21760725e-03 9.99512374e-01 3.07862237e-02 2.13215374e+00] [ 1.77222917e-01 -3.12235533e-02 9.83675316e-01 2.42028283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.38463044 meters Centerline goodness [0,1] 0.24887634350233412 Centerline is valid? [False, False] Translation: X:24.98, Y:2.13, Z:2.42 [[ 9.84170518e-01 1.48768146e-05 -1.77224126e-01 2.49817908e+01] [ 5.48252375e-03 9.99518822e-01 3.05297480e-02 2.13222722e+00] [ 1.77139304e-01 -3.10181134e-02 9.83696876e-01 2.42039049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.41463044 meters Centerline goodness [0,1] 0.24678106944234057 Centerline is valid? [False, False] Translation: X:24.98, Y:2.13, Z:2.42 [[ 9.84151915e-01 -1.11859219e-04 -1.77327371e-01 2.49820159e+01] [ 5.59038321e-03 9.99522312e-01 3.03956492e-02 2.13258120e+00] [ 1.77239264e-01 -3.09052643e-02 9.83682422e-01 2.42049248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.44463044 meters Centerline goodness [0,1] 0.1740232724436066 Centerline is valid? [False, False] Translation: X:24.98, Y:2.13, Z:2.42 [[ 9.84160862e-01 -4.25508810e-04 -1.77277232e-01 2.49819366e+01] [ 5.88058357e-03 9.99525151e-01 3.02471635e-02 2.13199934e+00] [ 1.77180182e-01 -3.08105681e-02 9.83696036e-01 2.42059383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.47463044 meters Centerline goodness [0,1] 0.2514962183492272 Centerline is valid? [False, False] Translation: X:24.98, Y:2.13, Z:2.42 [[ 9.84111844e-01 -7.28825039e-04 -1.77548154e-01 2.49828333e+01] [ 6.19479705e-03 9.99523668e-01 3.02334615e-02 2.13074299e+00] [ 1.77441547e-01 -3.08529823e-02 9.83647595e-01 2.42062611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.50463044 meters Centerline goodness [0,1] 0.1799869052815365 Centerline is valid? [False, False] Translation: X:24.98, Y:2.13, Z:2.42 [[ 9.84060464e-01 -6.77257864e-04 -1.77832911e-01 2.49841565e+01] [ 6.12652144e-03 9.99528259e-01 3.00952683e-02 2.13183100e+00] [ 1.77728637e-01 -3.07050608e-02 9.83600392e-01 2.42005751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.53463044 meters Centerline goodness [0,1] 0.24714053174172546 Centerline is valid? [False, False] Translation: X:24.98, Y:2.13, Z:2.42 [[ 9.84106571e-01 -8.53581251e-04 -1.77576826e-01 2.49835100e+01] [ 6.25196421e-03 9.99535048e-01 2.98429407e-02 2.13213708e+00] [ 1.77468788e-01 -3.04788380e-02 9.83654345e-01 2.42013359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.56463044000003 meters Centerline goodness [0,1] 0.24896509651836685 Centerline is valid? [False, False] Translation: X:24.98, Y:2.13, Z:2.42 [[ 9.84033787e-01 -7.53208414e-04 -1.77980166e-01 2.49844018e+01] [ 6.10456117e-03 9.99545507e-01 2.95214263e-02 2.13456357e+00] [ 1.77877039e-01 -3.01365718e-02 9.83591148e-01 2.42011487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.59463044 meters Centerline goodness [0,1] 0.2480132664268947 Centerline is valid? [False, False] Translation: X:25.00, Y:2.14, Z:2.42 [[ 9.84379002e-01 9.29767283e-04 -1.76059976e-01 2.50024633e+01] [ 3.67682822e-03 9.99659410e-01 2.58368950e-02 2.13608989e+00] [ 1.76024034e-01 -2.60806392e-02 9.84040314e-01 2.42450553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.62463044000003 meters Centerline goodness [0,1] 0.2475105759843801 Centerline is valid? [False, False] Translation: X:25.00, Y:2.14, Z:2.42 [[ 9.84334857e-01 8.55412331e-04 -1.76306997e-01 2.50027400e+01] [ 3.74756357e-03 9.99660794e-01 2.57731100e-02 2.13618919e+00] [ 1.76269239e-01 -2.60300922e-02 9.83997759e-01 2.42488940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.65463044 meters Centerline goodness [0,1] 0.25087555197842115 Centerline is valid? [False, False] Translation: X:25.00, Y:2.14, Z:2.42 [[ 9.84245194e-01 1.09699388e-03 -1.76805526e-01 2.50043254e+01] [ 3.52062827e-03 9.99660896e-01 2.58011355e-02 2.13739553e+00] [ 1.76773874e-01 -2.60171102e-02 9.83907571e-01 2.42459860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.68463044000003 meters Centerline goodness [0,1] 0.24638058084091896 Centerline is valid? [False, False] Translation: X:25.00, Y:2.14, Z:2.42 [[ 9.84209171e-01 9.85187666e-04 -1.77006600e-01 2.50046826e+01] [ 3.60198902e-03 9.99665979e-01 2.55920921e-02 2.13797973e+00] [ 1.76972689e-01 -2.58255476e-02 9.83876877e-01 2.42476823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.71463044 meters Centerline goodness [0,1] 0.26666088163832 Centerline is valid? [False, False] Translation: X:25.01, Y:2.14, Z:2.42 [[ 9.84139335e-01 1.01957032e-03 -1.77394276e-01 2.50056222e+01] [ 3.55774323e-03 9.99668923e-01 2.54830535e-02 2.13873872e+00] [ 1.77361527e-01 -2.57099986e-02 9.83809882e-01 2.42488537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.74463044000004 meters Centerline goodness [0,1] 0.2676908955811006 Centerline is valid? [False, False] Translation: X:25.00, Y:2.14, Z:2.43 [[ 9.84139837e-01 1.07336170e-03 -1.77391174e-01 2.50047864e+01] [ 3.49113690e-03 9.99670836e-01 2.54171342e-02 2.13962296e+00] [ 1.77360065e-01 -2.56333112e-02 9.83812147e-01 2.42571220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.77463044 meters Centerline goodness [0,1] 0.2651061985262245 Centerline is valid? [False, False] Translation: X:25.01, Y:2.14, Z:2.43 [[ 9.84058118e-01 1.56387489e-03 -1.77840305e-01 2.50054242e+01] [ 3.04902525e-03 9.99666022e-01 2.56621841e-02 2.14085009e+00] [ 1.77821043e-01 -2.57953202e-02 9.83724696e-01 2.42629999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.80463044000004 meters Centerline goodness [0,1] 0.265142354622403 Centerline is valid? [False, False] Translation: X:25.01, Y:2.14, Z:2.43 [[ 9.84042305e-01 1.62402465e-03 -1.77927245e-01 2.50054998e+01] [ 2.95499307e-03 9.99671288e-01 2.54673139e-02 2.14258187e+00] [ 1.77910118e-01 -2.55866880e-02 9.83714039e-01 2.42634578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.83463044 meters Centerline goodness [0,1] 0.2660127449487809 Centerline is valid? [False, False] Translation: X:25.02, Y:2.15, Z:2.43 [[ 9.85082639e-01 3.97318214e-03 -1.72036066e-01 2.50179372e+01] [-2.19175518e-04 9.99761574e-01 2.18345428e-02 2.14552526e+00] [ 1.72081800e-01 -2.14711229e-02 9.84848641e-01 2.43057018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.86463044 meters Centerline goodness [0,1] 0.2639147976226628 Centerline is valid? [False, False] Translation: X:25.02, Y:2.15, Z:2.43 [[ 9.85114207e-01 4.23478486e-03 -1.71848964e-01 2.50163441e+01] [-5.23938086e-04 9.99765836e-01 2.16332662e-02 2.14825096e+00] [ 1.71900335e-01 -2.12211996e-02 9.84885747e-01 2.43156714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.89463044 meters Centerline goodness [0,1] 0.26536458333333335 Centerline is valid? [False, False] Translation: X:25.01, Y:2.15, Z:2.43 [[ 9.85244030e-01 3.95543987e-03 -1.71109779e-01 2.50132653e+01] [-2.94988444e-04 9.99770681e-01 2.14125530e-02 2.14830999e+00] [ 1.71155236e-01 -2.10461146e-02 9.85019262e-01 2.43283276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.92463044 meters Centerline goodness [0,1] 0.2521446814083954 Centerline is valid? [False, False] Translation: X:25.01, Y:2.15, Z:2.43 [[ 9.85369956e-01 3.42331883e-03 -1.70394630e-01 2.50107645e+01] [ 2.32859906e-04 9.99770270e-01 2.14325155e-02 2.14575154e+00] [ 1.70428856e-01 -2.11586349e-02 9.85142790e-01 2.43374622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.95463044 meters Centerline goodness [0,1] 0.24889092856050177 Centerline is valid? [False, False] Translation: X:25.02, Y:2.15, Z:2.43 [[ 9.85096653e-01 4.47209690e-03 -1.71943549e-01 2.50169889e+01] [-6.65138486e-04 9.99753506e-01 2.21919862e-02 2.14654167e+00] [ 1.72000410e-01 -2.17468851e-02 9.84856808e-01 2.43170655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.98463044 meters Centerline goodness [0,1] 0.24690444584684357 Centerline is valid? [False, False] Translation: X:25.02, Y:2.15, Z:2.43 [[ 9.85041563e-01 4.50078516e-03 -1.72258126e-01 2.50181854e+01] [-7.16637557e-04 9.99757190e-01 2.20237770e-02 2.14764210e+00] [ 1.72315424e-01 -2.15708890e-02 9.84805611e-01 2.43132837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.01463044 meters Centerline goodness [0,1] 0.25613533476292594 Centerline is valid? [False, False] Translation: X:25.02, Y:2.15, Z:2.43 [[ 9.85089883e-01 4.35242765e-03 -1.71985401e-01 2.50173998e+01] [-6.34089917e-04 9.99764996e-01 2.16691023e-02 2.14899044e+00] [ 1.72039297e-01 -2.12369592e-02 9.84861143e-01 2.43137619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.04463044 meters Centerline goodness [0,1] 0.24882333803275136 Centerline is valid? [False, False] Translation: X:25.03, Y:2.15, Z:2.44 [[ 9.86203399e-01 5.21744658e-03 -1.65455839e-01 2.50318226e+01] [-2.18972539e-03 9.99826899e-01 1.84764033e-02 2.15284214e+00] [ 1.65523598e-01 -1.78591889e-02 9.86044110e-01 2.43558196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.07463044 meters Centerline goodness [0,1] 0.2510825336727811 Centerline is valid? [False, False] Translation: X:25.03, Y:2.15, Z:2.44 [[ 9.86324063e-01 4.08590025e-03 -1.64766948e-01 2.50280763e+01] [-1.16759599e-03 9.99840802e-01 1.78046738e-02 2.15093853e+00] [ 1.64813466e-01 -1.73687969e-02 9.86171814e-01 2.43750288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.10463044 meters Centerline goodness [0,1] 0.2503629862390292 Centerline is valid? [False, False] Translation: X:25.03, Y:2.15, Z:2.44 [[ 9.86234705e-01 4.17811976e-03 -1.65298667e-01 2.50298255e+01] [-1.22153612e-03 9.99837530e-01 1.79839298e-02 2.15062632e+00] [ 1.65346950e-01 -1.75344574e-02 9.86079575e-01 2.43724589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.13463044 meters Centerline goodness [0,1] 0.24999457759462096 Centerline is valid? [False, False] Translation: X:25.03, Y:2.15, Z:2.44 [[ 9.86159538e-01 4.24528746e-03 -1.65744814e-01 2.50322869e+01] [-1.30724617e-03 9.99840154e-01 1.78313609e-02 2.15221591e+00] [ 1.65794019e-01 -1.73678973e-02 9.86007454e-01 2.43596495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.16463044 meters Centerline goodness [0,1] 0.2504135829342621 Centerline is valid? [False, False] Translation: X:25.03, Y:2.15, Z:2.44 [[ 9.86180410e-01 4.24523795e-03 -1.65620584e-01 2.50323837e+01] [-1.34581012e-03 9.99843943e-01 1.76147421e-02 2.15360650e+00] [ 1.65669517e-01 -1.71484197e-02 9.86032222e-01 2.43556023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.19463044 meters Centerline goodness [0,1] 0.25026538703178147 Centerline is valid? [False, False] Translation: X:25.03, Y:2.15, Z:2.44 [[ 9.86348679e-01 3.84029767e-03 -1.64625439e-01 2.50298973e+01] [-1.01209532e-03 9.99850522e-01 1.72600588e-02 2.15350601e+00] [ 1.64667115e-01 -1.68578196e-02 9.86205128e-01 2.43575629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.22463044 meters Centerline goodness [0,1] 0.17617634958099648 Centerline is valid? [False, False] Translation: X:25.03, Y:2.15, Z:2.44 [[ 9.86511144e-01 3.01914626e-03 -1.63666266e-01 2.50264719e+01] [-2.82520710e-04 9.99859812e-01 1.67414657e-02 2.15243239e+00] [ 1.63693867e-01 -1.64694034e-02 9.86373700e-01 2.43681556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.25463044 meters Centerline goodness [0,1] 0.2495336023254805 Centerline is valid? [False, False] Translation: X:25.03, Y:2.15, Z:2.43 [[ 9.86172304e-01 4.53064080e-03 -1.65661283e-01 2.50341578e+01] [-1.57633775e-03 9.99837454e-01 1.79605258e-02 2.15353885e+00] [ 1.65715728e-01 -1.74510349e-02 9.86019147e-01 2.43447113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.28463044 meters Centerline goodness [0,1] 0.1794437201216862 Centerline is valid? [False, False] Translation: X:25.04, Y:2.15, Z:2.43 [[ 9.85912823e-01 2.00717597e-03 -1.67247950e-01 2.50398353e+01] [ 6.33011816e-04 9.99876056e-01 1.57312640e-02 2.15423962e+00] [ 1.67258796e-01 -1.56155249e-02 9.85789354e-01 2.43307568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.31463044000003 meters Centerline goodness [0,1] 0.25042031485403615 Centerline is valid? [False, False] Translation: X:25.04, Y:2.15, Z:2.43 [[ 9.85768093e-01 -1.82308105e-03 -1.68100992e-01 2.50420951e+01] [ 3.96402427e-03 9.99915243e-01 1.24013671e-02 2.15393579e+00] [ 1.68064135e-01 -1.28912284e-02 9.85691769e-01 2.43299890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.34463044 meters Centerline goodness [0,1] 0.17263885887183916 Centerline is valid? [False, False] Translation: X:25.04, Y:2.15, Z:2.43 [[ 9.85682308e-01 -1.53139917e-03 -1.68606178e-01 2.50440162e+01] [ 3.70110167e-03 9.99914334e-01 1.25549520e-02 2.15437746e+00] [ 1.68572507e-01 -1.29992226e-02 9.85603536e-01 2.43242320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.37463044000003 meters Centerline goodness [0,1] 0.17208830136512876 Centerline is valid? [False, False] Translation: X:25.04, Y:2.15, Z:2.43 [[ 9.85933727e-01 -1.90665277e-03 -1.67125851e-01 2.50388539e+01] [ 4.00962660e-03 9.99916968e-01 1.22466490e-02 2.15460541e+00] [ 1.67088624e-01 -1.27444965e-02 9.85859508e-01 2.43412747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.40463044 meters Centerline goodness [0,1] 0.24498455111188477 Centerline is valid? [False, False] Translation: X:25.04, Y:2.15, Z:2.43 [[ 9.85991140e-01 -2.13651669e-03 -1.66784013e-01 2.50375536e+01] [ 4.20468353e-03 9.99918578e-01 1.20481451e-02 2.15455046e+00] [ 1.66744692e-01 -1.25806383e-02 9.85919842e-01 2.43462469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.43463044000003 meters Centerline goodness [0,1] 0.24482564922438754 Centerline is valid? [False, False] Translation: X:25.04, Y:2.15, Z:2.43 [[ 9.85943201e-01 -1.81866677e-03 -1.67070936e-01 2.50390150e+01] [ 3.91572818e-03 9.99917625e-01 1.22233625e-02 2.15485307e+00] [ 1.67034944e-01 -1.27057456e-02 9.85869105e-01 2.43397215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.46463044 meters Centerline goodness [0,1] 0.24664589284168614 Centerline is valid? [False, False] Translation: X:25.04, Y:2.15, Z:2.43 [[ 9.85753695e-01 -1.27907261e-03 -1.68190417e-01 2.50443057e+01] [ 3.46257253e-03 9.99913488e-01 1.26896749e-02 2.15370430e+00] [ 1.68159636e-01 -1.30912654e-02 9.85672844e-01 2.43162347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.49463044000004 meters Centerline goodness [0,1] 0.2477750941097112 Centerline is valid? [False, False] Translation: X:25.05, Y:2.15, Z:2.43 [[ 9.85664281e-01 -1.03365272e-03 -1.68715311e-01 2.50464917e+01] [ 3.25540348e-03 9.99911588e-01 1.28925679e-02 2.15344863e+00] [ 1.68687068e-01 -1.32569800e-02 9.85580502e-01 2.43076928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.52463044 meters Centerline goodness [0,1] 0.24763004772593544 Centerline is valid? [False, False] Translation: X:25.05, Y:2.15, Z:2.43 [[ 9.85638940e-01 -8.71158261e-04 -1.68864210e-01 2.50465563e+01] [ 3.08365143e-03 9.99912804e-01 1.28404037e-02 2.15451651e+00] [ 1.68838300e-01 -1.31767203e-02 9.85555682e-01 2.43106534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.55463044000004 meters Centerline goodness [0,1] 0.26069492733280064 Centerline is valid? [False, False] Translation: X:25.05, Y:2.16, Z:2.43 [[ 9.85566396e-01 -4.01482640e-04 -1.69288860e-01 2.50479031e+01] [ 2.62457572e-03 9.99913239e-01 1.29083853e-02 2.15622133e+00] [ 1.69268989e-01 -1.31663822e-02 9.85481941e-01 2.43082972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.58463044 meters Centerline goodness [0,1] 0.24979800406175612 Centerline is valid? [False, False] Translation: X:25.05, Y:2.16, Z:2.43 [[ 9.85700113e-01 -6.50651501e-04 -1.68507756e-01 2.50450416e+01] [ 2.73824529e-03 9.99922356e-01 1.21566376e-02 2.15949912e+00] [ 1.68486762e-01 -1.24442146e-02 9.85625361e-01 2.43163604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.61463044 meters Centerline goodness [0,1] 0.2475522653756811 Centerline is valid? [False, False] Translation: X:25.04, Y:2.16, Z:2.43 [[ 9.85797966e-01 -8.83071067e-04 -1.67933290e-01 2.50431316e+01] [ 2.94396211e-03 9.99923381e-01 1.20235151e-02 2.15893771e+00] [ 1.67909806e-01 -1.23471460e-02 9.85725035e-01 2.43229464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.64463044 meters Centerline goodness [0,1] 0.2512149205376297 Centerline is valid? [False, False] Translation: X:25.04, Y:2.16, Z:2.43 [[ 9.85779001e-01 -8.20320803e-04 -1.68044897e-01 2.50432360e+01] [ 2.88961672e-03 9.99922982e-01 1.20697855e-02 2.15921574e+00] [ 1.68022054e-01 -1.23837264e-02 9.85705449e-01 2.43248843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.67463044 meters Centerline goodness [0,1] 0.2492859167520659 Centerline is valid? [False, False] Translation: X:25.04, Y:2.16, Z:2.43 [[ 9.85761067e-01 -7.85616934e-04 -1.68150235e-01 2.50438965e+01] [ 2.86991063e-03 9.99922034e-01 1.21527662e-02 2.15887098e+00] [ 1.68127577e-01 -1.24622999e-02 9.85686466e-01 2.43225344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.70463044 meters Centerline goodness [0,1] 0.24987523596675854 Centerline is valid? [False, False] Translation: X:25.06, Y:2.16, Z:2.43 [[ 9.86004863e-01 -1.03561302e-02 -1.66394592e-01 2.50605647e+01] [ 1.28975023e-02 9.99815993e-01 1.41998327e-02 2.15979207e+00] [ 1.66216919e-01 -1.61471787e-02 9.85956999e-01 2.43439233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.73463044 meters Centerline goodness [0,1] 0.25118066996155963 Centerline is valid? [False, False] Translation: X:25.06, Y:2.16, Z:2.43 [[ 9.85850194e-01 -9.67210495e-03 -1.67349471e-01 2.50633125e+01] [ 1.22654174e-02 9.99820077e-01 1.44697167e-02 2.16193069e+00] [ 1.67179408e-01 -1.63175841e-02 9.85791450e-01 2.43393566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.76463044 meters Centerline goodness [0,1] 0.24699451171704856 Centerline is valid? [False, False] Translation: X:25.06, Y:2.16, Z:2.43 [[ 9.85815030e-01 -9.38488954e-03 -1.67572822e-01 2.50642024e+01] [ 1.19978343e-02 9.99821616e-01 1.45872696e-02 2.16264233e+00] [ 1.67406029e-01 -1.63908606e-02 9.85751775e-01 2.43374601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.79463044 meters Centerline goodness [0,1] 0.24995107100141345 Centerline is valid? [False, False] Translation: X:25.06, Y:2.16, Z:2.43 [[ 9.86010212e-01 -1.00764533e-02 -1.66380069e-01 2.50608890e+01] [ 1.26423558e-02 9.99816820e-01 1.43700174e-02 2.16006548e+00] [ 1.66204793e-01 -1.62724200e-02 9.85956984e-01 2.43437225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.82463044 meters Centerline goodness [0,1] 0.24868229833199573 Centerline is valid? [False, False] Translation: X:25.06, Y:2.16, Z:2.43 [[ 9.86041466e-01 -1.00890839e-02 -1.66193978e-01 2.50600602e+01] [ 1.26673046e-02 9.99815198e-01 1.44606215e-02 2.15925691e+00] [ 1.66017370e-01 -1.63640021e-02 9.85987045e-01 2.43492504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.85463044 meters Centerline goodness [0,1] 0.2538747810858144 Centerline is valid? [False, False] Translation: X:25.06, Y:2.16, Z:2.44 [[ 9.86141901e-01 -1.02483256e-02 -1.65587209e-01 2.50581841e+01] [ 1.27676490e-02 9.99818264e-01 1.41571959e-02 2.16054943e+00] [ 1.65412028e-01 -1.60751635e-02 9.86093530e-01 2.43526545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.88463044 meters Centerline goodness [0,1] 0.25041685614673337 Centerline is valid? [False, False] Translation: X:25.06, Y:2.16, Z:2.44 [[ 9.86181550e-01 -1.03094944e-02 -1.65347105e-01 2.50576919e+01] [ 1.28070419e-02 9.99819331e-01 1.40458260e-02 2.16080580e+00] [ 1.65172426e-01 -1.59693418e-02 9.86135411e-01 2.43527340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.91463044 meters Centerline goodness [0,1] 0.24917001193446897 Centerline is valid? [False, False] Translation: X:25.06, Y:2.16, Z:2.43 [[ 9.86129889e-01 -9.98198064e-03 -1.65674988e-01 2.50590642e+01] [ 1.24862521e-02 9.99822895e-01 1.40809039e-02 2.16235516e+00] [ 1.65505091e-01 -1.59542598e-02 9.86079878e-01 2.43467332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.94463044 meters Centerline goodness [0,1] 0.2519072421170928 Centerline is valid? [False, False] Translation: X:25.06, Y:2.16, Z:2.44 [[ 9.86287758e-01 -1.04214348e-02 -1.64705349e-01 2.50566374e+01] [ 1.29275626e-02 9.99816294e-01 1.41511886e-02 2.15927017e+00] [ 1.64527616e-01 -1.60863828e-02 9.86241295e-01 2.43501847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.97463044 meters Centerline goodness [0,1] 0.2518475047817771 Centerline is valid? [False, False] Translation: X:25.06, Y:2.16, Z:2.43 [[ 9.86163948e-01 -9.97696969e-03 -1.65472438e-01 2.50593755e+01] [ 1.25544421e-02 9.99815502e-01 1.45378244e-02 2.15896488e+00] [ 1.65296866e-01 -1.64140925e-02 9.86107258e-01 2.43428973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.00463044 meters Centerline goodness [0,1] 0.24828033744321865 Centerline is valid? [False, False] Translation: X:25.07, Y:2.16, Z:2.43 [[ 9.85961532e-01 -8.83627444e-03 -1.66738653e-01 2.50654296e+01] [ 1.15638477e-02 9.99814625e-01 1.53945865e-02 2.15924023e+00] [ 1.66571713e-01 -1.71066105e-02 9.85880940e-01 2.43174927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.03463044 meters Centerline goodness [0,1] 0.2507621951219512 Centerline is valid? [False, False] Translation: X:25.07, Y:2.16, Z:2.43 [[ 9.85966563e-01 -8.98349684e-03 -1.66701032e-01 2.50665429e+01] [ 1.16995369e-02 9.99814223e-01 1.53179871e-02 2.15837805e+00] [ 1.66532454e-01 -1.70533479e-02 9.85888495e-01 2.43061505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.06463044000003 meters Centerline goodness [0,1] 0.24942443855610097 Centerline is valid? [False, False] Translation: X:25.07, Y:2.16, Z:2.43 [[ 9.85997734e-01 -8.53623960e-03 -1.66540086e-01 2.50664422e+01] [ 1.12468385e-02 9.99819086e-01 1.53396219e-02 2.16003129e+00] [ 1.66379014e-01 -1.69978819e-02 9.85915359e-01 2.43019918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.09463044 meters Centerline goodness [0,1] 0.2503151488806781 Centerline is valid? [False, False] Translation: X:25.07, Y:2.16, Z:2.43 [[ 9.86028140e-01 -8.24893657e-03 -1.66374463e-01 2.50656396e+01] [ 1.09314705e-02 9.99824501e-01 1.52141656e-02 2.16233329e+00] [ 1.66219764e-01 -1.68203129e-02 9.85945266e-01 2.43049692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.12463044000003 meters Centerline goodness [0,1] 0.1806729977017475 Centerline is valid? [False, False] Translation: X:25.06, Y:2.16, Z:2.43 [[ 9.86145385e-01 -8.55130315e-03 -1.65662774e-01 2.50635005e+01] [ 1.11708795e-02 9.99826773e-01 1.48874089e-02 2.16262607e+00] [ 1.65506770e-01 -1.65317485e-02 9.86070084e-01 2.43100321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.15463044 meters Centerline goodness [0,1] 0.24910278030008215 Centerline is valid? [False, False] Translation: X:25.06, Y:2.16, Z:2.43 [[ 9.86190380e-01 -8.68471034e-03 -1.65387756e-01 2.50626852e+01] [ 1.12835784e-02 9.99827091e-01 1.47807058e-02 2.16237529e+00] [ 1.65230793e-01 -1.64427556e-02 9.86117853e-01 2.43124606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.18463044000003 meters Centerline goodness [0,1] 0.26120211475125676 Centerline is valid? [False, False] Translation: X:25.06, Y:2.16, Z:2.43 [[ 9.86097834e-01 -8.52326722e-03 -1.65947026e-01 2.50642030e+01] [ 1.11817559e-02 9.99823578e-01 1.50924171e-02 2.16137826e+00] [ 1.65789113e-01 -1.67381789e-02 9.86019170e-01 2.43126831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.21463044 meters Centerline goodness [0,1] 0.24981051993330305 Centerline is valid? [False, False] Translation: X:25.07, Y:2.16, Z:2.43 [[ 9.86064007e-01 -8.34544965e-03 -1.66156938e-01 2.50658519e+01] [ 1.10290577e-02 9.99823113e-01 1.52348940e-02 2.16125639e+00] [ 1.66000405e-01 -1.68551351e-02 9.85981628e-01 2.43022630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.24463044000004 meters Centerline goodness [0,1] 0.24814894998917514 Centerline is valid? [False, False] Translation: X:25.07, Y:2.16, Z:2.43 [[ 9.86101457e-01 -8.35444277e-03 -1.65934084e-01 2.50658245e+01] [ 1.10363950e-02 9.99822844e-01 1.52472738e-02 2.16091911e+00] [ 1.65777305e-01 -1.68666730e-02 9.86018966e-01 2.42974008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.27463044 meters Centerline goodness [0,1] 0.24814894998917514 Centerline is valid? [False, False] Translation: X:25.07, Y:2.16, Z:2.43 [[ 9.86101457e-01 -8.35444277e-03 -1.65934084e-01 2.50658245e+01] [ 1.10363950e-02 9.99822844e-01 1.52472738e-02 2.16091911e+00] [ 1.65777305e-01 -1.68666730e-02 9.86018966e-01 2.42974008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.30463044000004 meters Centerline goodness [0,1] 0.2501682113168233 Centerline is valid? [False, False] Translation: X:25.07, Y:2.16, Z:2.43 [[ 9.86109554e-01 -8.04210851e-03 -1.65901393e-01 2.50663802e+01] [ 1.07168287e-02 9.99826530e-01 1.52334689e-02 2.16212649e+00] [ 1.65750105e-01 -1.67998061e-02 9.86024680e-01 2.42896409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.33463044 meters Centerline goodness [0,1] 0.2508517979990885 Centerline is valid? [False, False] Translation: X:25.07, Y:2.16, Z:2.43 [[ 9.86160247e-01 -8.13699438e-03 -1.65595156e-01 2.50653847e+01] [ 1.07958679e-02 9.99826756e-01 1.51627086e-02 2.16174669e+00] [ 1.65443089e-01 -1.67406039e-02 9.86077247e-01 2.42922515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.36463044 meters Centerline goodness [0,1] 0.25287406280560687 Centerline is valid? [False, False] Translation: X:25.07, Y:2.16, Z:2.43 [[ 9.86061388e-01 -7.85941772e-03 -1.66196174e-01 2.50668252e+01] [ 1.05251119e-02 9.99829611e-01 1.51647772e-02 2.16301970e+00] [ 1.66048669e-01 -1.67026346e-02 9.85976096e-01 2.42917885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.39463044 meters Centerline goodness [0,1] 0.2511182524862119 Centerline is valid? [False, False] Translation: X:25.07, Y:2.16, Z:2.43 [[ 9.86053017e-01 -7.72959878e-03 -1.66251917e-01 2.50669827e+01] [ 1.04162484e-02 9.99828779e-01 1.52942465e-02 2.16270442e+00] [ 1.66105233e-01 -1.68126592e-02 9.85964698e-01 2.42928140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.42463044 meters Centerline goodness [0,1] 0.24936815501263687 Centerline is valid? [False, False] Translation: X:25.07, Y:2.16, Z:2.43 [[ 9.86151856e-01 -8.13878925e-03 -1.65645031e-01 2.50654493e+01] [ 1.08534548e-02 9.99821117e-01 1.54898776e-02 2.15950930e+00] [ 1.65489331e-01 -1.70731924e-02 9.86063785e-01 2.42965735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.45463044 meters Centerline goodness [0,1] 0.25094776976235356 Centerline is valid? [False, False] Translation: X:25.07, Y:2.16, Z:2.43 [[ 9.86139096e-01 -8.04617389e-03 -1.65725503e-01 2.50659995e+01] [ 1.07864826e-02 9.99819476e-01 1.56418343e-02 2.15915253e+00] [ 1.65569728e-01 -1.72126196e-02 9.86047864e-01 2.42942219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.48463044 meters Centerline goodness [0,1] 0.2522082397330484 Centerline is valid? [False, False] Translation: X:25.07, Y:2.16, Z:2.43 [[ 9.86120833e-01 -7.96695617e-03 -1.65837962e-01 2.50667434e+01] [ 1.07153897e-02 9.99819566e-01 1.56848908e-02 2.15939678e+00] [ 1.65683078e-01 -1.72442159e-02 9.86028273e-01 2.42896949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.51463044 meters Centerline goodness [0,1] 0.2527697810346332 Centerline is valid? [False, False] Translation: X:25.07, Y:2.16, Z:2.43 [[ 9.86073410e-01 -7.77816729e-03 -1.66128653e-01 2.50688650e+01] [ 1.05005869e-02 9.99824490e-01 1.55153693e-02 2.16105497e+00] [ 1.65978815e-01 -1.70437415e-02 9.85982020e-01 2.42747301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.54463044 meters Centerline goodness [0,1] 0.2508540220631432 Centerline is valid? [False, False] Translation: X:25.07, Y:2.16, Z:2.43 [[ 9.86149120e-01 -7.93401511e-03 -1.65671252e-01 2.50681164e+01] [ 1.06504109e-02 9.99822921e-01 1.55143584e-02 2.15995304e+00] [ 1.65518824e-01 -1.70639377e-02 9.86058995e-01 2.42724867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.57463044 meters Centerline goodness [0,1] 0.25121068016229653 Centerline is valid? [False, False] Translation: X:25.07, Y:2.16, Z:2.43 [[ 9.86143690e-01 -7.98148426e-03 -1.65701293e-01 2.50680968e+01] [ 1.07268868e-02 9.99819518e-01 1.56800709e-02 2.15885959e+00] [ 1.65546237e-01 -1.72402620e-02 9.86051326e-01 2.42744045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.60463044 meters Centerline goodness [0,1] 0.2512692014380652 Centerline is valid? [False, False] Translation: X:25.07, Y:2.16, Z:2.43 [[ 9.86034500e-01 -7.68826175e-03 -1.66363626e-01 2.50702241e+01] [ 1.05223495e-02 9.99814037e-01 1.61607897e-02 2.15742813e+00] [ 1.66208440e-01 -1.76856324e-02 9.85932033e-01 2.42719898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.63463044 meters Centerline goodness [0,1] 0.18020452727390657 Centerline is valid? [False, False] Translation: X:25.08, Y:2.16, Z:2.42 [[ 9.85768620e-01 -6.73375295e-03 -1.67972868e-01 2.50775644e+01] [ 9.73233280e-03 9.99807531e-01 1.70347235e-02 2.15689971e+00] [ 1.67825831e-01 -1.84270637e-02 9.85644426e-01 2.42427585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.66463044 meters Centerline goodness [0,1] 0.24922677625175738 Centerline is valid? [False, False] Translation: X:25.08, Y:2.16, Z:2.42 [[ 9.85847780e-01 -7.17715090e-03 -1.67489233e-01 2.50767245e+01] [ 1.01349703e-02 9.99807307e-01 1.68116484e-02 2.15563633e+00] [ 1.67336300e-01 -1.82712247e-02 9.85730554e-01 2.42405116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.69463044 meters Centerline goodness [0,1] 0.2501681529215214 Centerline is valid? [False, False] Translation: X:25.08, Y:2.15, Z:2.42 [[ 9.85911965e-01 -7.34823221e-03 -1.67103562e-01 2.50755106e+01] [ 1.03148682e-02 9.99804108e-01 1.68922747e-02 2.15416144e+00] [ 1.66946699e-01 -1.83779469e-02 9.85794629e-01 2.42436485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.72463044 meters Centerline goodness [0,1] 0.24828830395374613 Centerline is valid? [False, False] Translation: X:25.08, Y:2.16, Z:2.42 [[ 9.85785216e-01 -5.11979085e-03 -1.67932416e-01 2.50789854e+01] [ 8.31856663e-03 9.99797018e-01 1.83500509e-02 2.15818011e+00] [ 1.67804380e-01 -1.94861658e-02 9.85627708e-01 2.42309262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.75463044 meters Centerline goodness [0,1] 0.2488477268301127 Centerline is valid? [False, False] Translation: X:25.08, Y:2.16, Z:2.42 [[ 9.85855180e-01 -5.49282685e-03 -1.67509384e-01 2.50787929e+01] [ 8.61437132e-03 9.99802419e-01 1.79141069e-02 2.15839010e+00] [ 1.67377889e-01 -1.91037031e-02 9.85707711e-01 2.42234274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.78463044 meters Centerline goodness [0,1] 0.24774424729093814 Centerline is valid? [False, False] Translation: X:25.07, Y:2.16, Z:2.42 [[ 9.86018512e-01 -7.13326252e-03 -1.66483066e-01 2.50748131e+01] [ 1.00543912e-02 9.99809827e-01 1.67098671e-02 2.15551606e+00] [ 1.66332210e-01 -1.81501242e-02 9.85902718e-01 2.42369081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.81463044000003 meters Centerline goodness [0,1] 0.249156282450675 Centerline is valid? [False, False] Translation: X:25.07, Y:2.16, Z:2.42 [[ 9.86022878e-01 -7.22652050e-03 -1.66453183e-01 2.50742765e+01] [ 1.01196513e-02 9.99812002e-01 1.65394601e-02 2.15604114e+00] [ 1.66302367e-01 -1.79927342e-02 9.85910637e-01 2.42412377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.84463044 meters Centerline goodness [0,1] 0.24954236401673635 Centerline is valid? [False, False] Translation: X:25.07, Y:2.16, Z:2.43 [[ 9.85975181e-01 -6.81263279e-03 -1.66752902e-01 2.50739053e+01] [ 9.75926642e-03 9.99810271e-01 1.68576031e-02 2.15688499e+00] [ 1.66606420e-01 -1.82485643e-02 9.85854599e-01 2.42519173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.87463044000003 meters Centerline goodness [0,1] 0.25244118225309653 Centerline is valid? [False, False] Translation: X:25.07, Y:2.16, Z:2.43 [[ 9.86002145e-01 -6.96635133e-03 -1.66587034e-01 2.50734107e+01] [ 9.91118740e-03 9.99808860e-01 1.68526456e-02 2.15591194e+00] [ 1.66437791e-01 -1.82678200e-02 9.85882725e-01 2.42540122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.90463044 meters Centerline goodness [0,1] 0.2479040622299049 Centerline is valid? [False, False] Translation: X:25.09, Y:2.15, Z:2.43 [[ 9.85780717e-01 -1.92663798e-03 -1.68025789e-01 2.50911099e+01] [ 4.69073596e-03 9.99860106e-01 1.60550867e-02 2.15464352e+00] [ 1.67971351e-01 -1.66149594e-02 9.85651850e-01 2.42956467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.93463044000003 meters Centerline goodness [0,1] 0.2480581579004305 Centerline is valid? [False, False] Translation: X:25.09, Y:2.16, Z:2.43 [[ 9.85807581e-01 -1.91096043e-03 -1.67868284e-01 2.50906749e+01] [ 4.63392366e-03 9.99863950e-01 1.58306058e-02 2.15576460e+00] [ 1.67815193e-01 -1.63838201e-02 9.85682318e-01 2.42946325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.96463044 meters Centerline goodness [0,1] 0.2494427251282273 Centerline is valid? [False, False] Translation: X:25.09, Y:2.16, Z:2.43 [[ 9.85882330e-01 -1.32952594e-03 -1.67434355e-01 2.50886490e+01] [ 4.10895125e-03 9.99859440e-01 1.62547487e-02 2.15584911e+00] [ 1.67389209e-01 -1.67132491e-02 9.85749218e-01 2.43032045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.99463044000004 meters Centerline goodness [0,1] 0.24577054536855913 Centerline is valid? [False, False] Translation: X:25.09, Y:2.16, Z:2.43 [[ 9.85861525e-01 -8.16572873e-04 -1.67560098e-01 2.50888313e+01] [ 3.59438129e-03 9.99861087e-01 1.62753711e-02 2.15806773e+00] [ 1.67523532e-01 -1.66475370e-02 9.85727511e-01 2.43039782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.02463044 meters Centerline goodness [0,1] 0.24698990510365104 Centerline is valid? [False, False] Translation: X:25.09, Y:2.16, Z:2.43 [[ 9.85845808e-01 -6.52393095e-04 -1.67653267e-01 2.50892495e+01] [ 3.37481417e-03 9.99867031e-01 1.59539990e-02 2.16054633e+00] [ 1.67620566e-01 -1.62939817e-02 9.85716923e-01 2.43002392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.05463044000004 meters Centerline goodness [0,1] 0.24462742224042422 Centerline is valid? [False, False] Translation: X:25.09, Y:2.16, Z:2.43 [[ 9.85888458e-01 -8.74489256e-04 -1.67401263e-01 2.50885969e+01] [ 3.52649942e-03 9.99872941e-01 1.55456231e-02 2.16154573e+00] [ 1.67366398e-01 -1.59165908e-02 9.85766276e-01 2.42991641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.08463044 meters Centerline goodness [0,1] 0.24683571644563485 Centerline is valid? [False, False] Translation: X:25.09, Y:2.16, Z:2.43 [[ 9.85893919e-01 -9.25759078e-04 -1.67368824e-01 2.50886756e+01] [ 3.53217601e-03 9.99877078e-01 1.52758771e-02 2.16273619e+00] [ 1.67334109e-01 -1.56515704e-02 9.85776001e-01 2.42961339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.11463044 meters Centerline goodness [0,1] 0.24323166552433173 Centerline is valid? [False, False] Translation: X:25.11, Y:2.16, Z:2.43 [[ 9.86336330e-01 -9.39519550e-03 -1.64476060e-01 2.51058932e+01] [ 1.24764499e-02 9.99765307e-01 1.77106947e-02 2.16450579e+00] [ 1.64271063e-01 -1.95207790e-02 9.86222063e-01 2.43097543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.14463044 meters Centerline goodness [0,1] 0.24725999265007892 Centerline is valid? [False, False] Translation: X:25.11, Y:2.16, Z:2.43 [[ 9.86224815e-01 -9.44948307e-03 -1.65140307e-01 2.51080373e+01] [ 1.25531456e-02 9.99763463e-01 1.77605083e-02 2.16394843e+00] [ 1.64933418e-01 -1.95888843e-02 9.86110158e-01 2.43065272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.17463044 meters Centerline goodness [0,1] 0.24702072538860098 Centerline is valid? [False, False] Translation: X:25.11, Y:2.16, Z:2.43 [[ 9.86029196e-01 -9.29645393e-03 -1.66312957e-01 2.51127531e+01] [ 1.24913078e-02 9.99756804e-01 1.81741771e-02 2.16198706e+00] [ 1.66103555e-01 -1.99977356e-02 9.85905523e-01 2.42922346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.20463044 meters Centerline goodness [0,1] 0.246958981612447 Centerline is valid? [False, False] Translation: X:25.12, Y:2.16, Z:2.43 [[ 9.85691111e-01 -1.26036615e-02 -1.68089802e-01 2.51200384e+01] [ 1.54409121e-02 9.99759345e-01 1.55829884e-02 2.16011270e+00] [ 1.67852948e-01 -1.79554730e-02 9.85648512e-01 2.42691157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.23463044 meters Centerline goodness [0,1] 0.24626639539413875 Centerline is valid? [False, False] Translation: X:25.12, Y:2.16, Z:2.43 [[ 9.85666436e-01 -1.23580650e-02 -1.68252652e-01 2.51207075e+01] [ 1.52765732e-02 9.99754279e-01 1.60626123e-02 2.15819793e+00] [ 1.68012806e-01 -1.84027017e-02 9.85613026e-01 2.42692175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.26463044 meters Centerline goodness [0,1] 0.24677556169389048 Centerline is valid? [False, False] Translation: X:25.12, Y:2.16, Z:2.43 [[ 9.85653513e-01 -1.19894030e-02 -1.68355004e-01 2.51201577e+01] [ 1.49488172e-02 9.99755033e-01 1.63219867e-02 2.15869934e+00] [ 1.68118072e-01 -1.86045317e-02 9.85591287e-01 2.42770480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.29463044 meters Centerline goodness [0,1] 0.243876693737748 Centerline is valid? [False, False] Translation: X:25.14, Y:2.16, Z:2.43 [[ 9.85737141e-01 -6.05413771e-03 -1.68183341e-01 2.51371098e+01] [ 8.87212689e-03 9.99832483e-01 1.60090853e-02 2.15958697e+00] [ 1.68058246e-01 -1.72728939e-02 9.85625727e-01 2.43246159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.32463044 meters Centerline goodness [0,1] 0.24359223091681215 Centerline is valid? [False, False] Translation: X:25.14, Y:2.16, Z:2.43 [[ 9.85685608e-01 -6.01571576e-03 -1.68486480e-01 2.51371812e+01] [ 8.75783423e-03 9.99840944e-01 1.55366307e-02 2.16212339e+00] [ 1.68366218e-01 -1.67898100e-02 9.85581513e-01 2.43297025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.35463044 meters Centerline goodness [0,1] 0.24242620264355175 Centerline is valid? [False, False] Translation: X:25.14, Y:2.16, Z:2.43 [[ 9.85622747e-01 -6.09529828e-03 -1.68850965e-01 2.51388847e+01] [ 8.78368970e-03 9.99846206e-01 1.51793241e-02 2.16355983e+00] [ 1.68732474e-01 -1.64442216e-02 9.85524703e-01 2.43214229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.38463044 meters Centerline goodness [0,1] 0.24299733541301094 Centerline is valid? [False, False] Translation: X:25.14, Y:2.16, Z:2.43 [[ 9.85599373e-01 -6.36912589e-03 -1.68977248e-01 2.51397203e+01] [ 9.00694889e-03 9.99849185e-01 1.48486135e-02 2.16403349e+00] [ 1.68857191e-01 -1.61567536e-02 9.85508097e-01 2.43166723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.41463044 meters Centerline goodness [0,1] 0.2427592116538132 Centerline is valid? [False, False] Translation: X:25.15, Y:2.16, Z:2.44 [[ 9.85983225e-01 -1.78327985e-02 -1.65888732e-01 2.51537010e+01] [ 2.06734985e-02 9.99667467e-01 1.54130676e-02 2.16415122e+00] [ 1.65558710e-01 -1.86265265e-02 9.86024019e-01 2.43513044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.44463044 meters Centerline goodness [0,1] 0.24579668908432484 Centerline is valid? [False, False] Translation: X:25.15, Y:2.16, Z:2.44 [[ 9.85940900e-01 -1.78683045e-02 -1.66136288e-01 2.51539295e+01] [ 2.07264391e-02 9.99665249e-01 1.54856050e-02 2.16389687e+00] [ 1.65803972e-01 -1.87113049e-02 9.85981202e-01 2.43569548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.47463044 meters Centerline goodness [0,1] 0.24752282462896458 Centerline is valid? [False, False] Translation: X:25.15, Y:2.16, Z:2.44 [[ 9.85909150e-01 -1.79746404e-02 -1.66313136e-01 2.51543150e+01] [ 2.08649620e-02 9.99659842e-01 1.56477763e-02 2.16244323e+00] [ 1.65975300e-01 -1.88974032e-02 9.85948826e-01 2.43602744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.50463044 meters Centerline goodness [0,1] 0.24783324666319984 Centerline is valid? [False, False] Translation: X:25.16, Y:2.16, Z:2.44 [[ 9.85862914e-01 -1.80758962e-02 -1.66576037e-01 2.51553622e+01] [ 2.09913162e-02 9.99655467e-01 1.57579195e-02 2.16113454e+00] [ 1.66233807e-01 -1.90317987e-02 9.85902689e-01 2.43587499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.53463044 meters Centerline goodness [0,1] 0.24463519313304716 Centerline is valid? [False, False] Translation: X:25.16, Y:2.17, Z:2.43 [[ 9.85650156e-01 -1.63135295e-02 -1.68010827e-01 2.51611366e+01] [ 1.93914818e-02 9.99672561e-01 1.66955270e-02 2.16598669e+00] [ 1.67683451e-01 -1.97139277e-02 9.85643760e-01 2.43395504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.56463044000003 meters Centerline goodness [0,1] 0.24548720834595905 Centerline is valid? [False, False] Translation: X:25.16, Y:2.17, Z:2.43 [[ 9.85731579e-01 -1.65027048e-02 -1.67513923e-01 2.51588960e+01] [ 1.95358095e-02 9.99673414e-01 1.64747446e-02 2.16660651e+00] [ 1.67187338e-01 -1.95121961e-02 9.85732047e-01 2.43494835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.59463044 meters Centerline goodness [0,1] 0.2468498065575896 Centerline is valid? [False, False] Translation: X:25.15, Y:2.17, Z:2.44 [[ 9.85893413e-01 -1.72447687e-02 -1.66483620e-01 2.51547756e+01] [ 2.01873088e-02 9.99668205e-01 1.59984977e-02 2.16621522e+00] [ 1.66152491e-01 -1.91336697e-02 9.85914424e-01 2.43662503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.62463044000003 meters Centerline goodness [0,1] 0.24872942096346817 Centerline is valid? [False, False] Translation: X:25.15, Y:2.17, Z:2.44 [[ 9.85848454e-01 -1.72581443e-02 -1.66748259e-01 2.51549364e+01] [ 2.02030817e-02 9.99668171e-01 1.59807326e-02 2.16649625e+00] [ 1.66417129e-01 -1.91234092e-02 9.85869989e-01 2.43721917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.65463044 meters Centerline goodness [0,1] 0.2485426373388233 Centerline is valid? [False, False] Translation: X:25.16, Y:2.16, Z:2.44 [[ 9.85681442e-01 -1.76218674e-02 -1.67694857e-01 2.51578048e+01] [ 2.06013199e-02 9.99659031e-01 1.60439013e-02 2.16480666e+00] [ 1.67354955e-01 -1.92689111e-02 9.85708389e-01 2.43710523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.68463044000003 meters Centerline goodness [0,1] 0.24646167808293173 Centerline is valid? [False, False] Translation: X:25.16, Y:2.16, Z:2.44 [[ 9.85555288e-01 -1.73622055e-02 -1.68461654e-01 2.51608668e+01] [ 2.04200558e-02 9.99656379e-01 1.64361116e-02 2.16364148e+00] [ 1.68118400e-01 -1.96386931e-02 9.85571167e-01 2.43625375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.71463044 meters Centerline goodness [0,1] 0.2511458378803091 Centerline is valid? [False, False] Translation: X:25.16, Y:2.16, Z:2.44 [[ 9.85465656e-01 -1.72256773e-02 -1.68999162e-01 2.51624401e+01] [ 2.03503361e-02 9.99652180e-01 1.67744702e-02 2.16237199e+00] [ 1.68651429e-01 -1.99698540e-02 9.85473440e-01 2.43627714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.74463044000004 meters Centerline goodness [0,1] 0.24821100421576048 Centerline is valid? [False, False] Translation: X:25.16, Y:2.16, Z:2.44 [[ 9.85442293e-01 -1.71481997e-02 -1.69143213e-01 2.51633967e+01] [ 2.03353025e-02 9.99646487e-01 1.71282636e-02 2.16068136e+00] [ 1.68789699e-01 -2.03184937e-02 9.85442640e-01 2.43595663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.77463044 meters Centerline goodness [0,1] 0.2495611658901289 Centerline is valid? [False, False] Translation: X:25.16, Y:2.16, Z:2.44 [[ 9.85477382e-01 -1.75746022e-02 -1.68894825e-01 2.51628368e+01] [ 2.07670013e-02 9.99637174e-01 1.71537783e-02 2.15887113e+00] [ 1.68532075e-01 -2.04120996e-02 9.85484797e-01 2.43620988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.80463044000004 meters Centerline goodness [0,1] 0.25131321901454307 Centerline is valid? [False, False] Translation: X:25.16, Y:2.16, Z:2.44 [[ 9.85477273e-01 -1.76429567e-02 -1.68888338e-01 2.51625614e+01] [ 2.08493370e-02 9.99634139e-01 1.72305911e-02 2.15839736e+00] [ 1.68522550e-01 -2.05015658e-02 9.85484569e-01 2.43665741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.83463044 meters Centerline goodness [0,1] 0.25174219798294595 Centerline is valid? [False, False] Translation: X:25.16, Y:2.16, Z:2.44 [[ 9.85441181e-01 -1.75627367e-02 -1.69107151e-01 2.51630684e+01] [ 2.07776072e-02 9.99635126e-01 1.72599516e-02 2.15880455e+00] [ 1.68742316e-01 -2.05223090e-02 9.85446531e-01 2.43683406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.86463044 meters Centerline goodness [0,1] 0.25270695454052294 Centerline is valid? [False, False] Translation: X:25.16, Y:2.16, Z:2.44 [[ 9.85477593e-01 -1.81934918e-02 -1.68828051e-01 2.51627465e+01] [ 2.13398825e-02 9.99630429e-01 1.68408507e-02 2.15855327e+00] [ 1.68459263e-01 -2.01990518e-02 9.85501636e-01 2.43667883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.89463044 meters Centerline goodness [0,1] 0.25328525815069836 Centerline is valid? [False, False] Translation: X:25.16, Y:2.16, Z:2.44 [[ 9.85495267e-01 -1.83794973e-02 -1.68704692e-01 2.51628591e+01] [ 2.15361429e-02 9.99625217e-01 1.69002880e-02 2.15725167e+00] [ 1.68330846e-01 -2.02884022e-02 9.85521744e-01 2.43647213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.92463044 meters Centerline goodness [0,1] 0.2543476379996539 Centerline is valid? [False, False] Translation: X:25.16, Y:2.16, Z:2.44 [[ 9.85497815e-01 -1.84519892e-02 -1.68681891e-01 2.51629211e+01] [ 2.16479133e-02 9.99618944e-01 1.71269914e-02 2.15556794e+00] [ 1.68301587e-01 -2.05302235e-02 9.85521733e-01 2.43661512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.95463044 meters Centerline goodness [0,1] 0.2579198327853861 Centerline is valid? [False, False] Translation: X:25.16, Y:2.16, Z:2.44 [[ 9.85413613e-01 -1.83209516e-02 -1.69187336e-01 2.51641221e+01] [ 2.15586254e-02 9.99617559e-01 1.73193695e-02 2.15525412e+00] [ 1.68805324e-01 -2.07141889e-02 9.85431725e-01 2.43686413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.98463044 meters Centerline goodness [0,1] 0.2552188115170788 Centerline is valid? [False, False] Translation: X:25.17, Y:2.16, Z:2.44 [[ 9.85278038e-01 -1.81868471e-02 -1.69989489e-01 2.51664135e+01] [ 2.14685696e-02 9.99616576e-01 1.74871772e-02 2.15513820e+00] [ 1.69606275e-01 -2.08791628e-02 9.85290704e-01 2.43684903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.01463044 meters Centerline goodness [0,1] 0.2572759778957634 Centerline is valid? [False, False] Translation: X:25.17, Y:2.15, Z:2.44 [[ 9.85240114e-01 -1.82677978e-02 -1.70200486e-01 2.51674610e+01] [ 2.15601903e-02 9.99614101e-01 1.75159081e-02 2.15444022e+00] [ 1.69814829e-01 -2.09269301e-02 9.85253768e-01 2.43653067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.04463044 meters Centerline goodness [0,1] 0.2580085829468117 Centerline is valid? [False, False] Translation: X:25.17, Y:2.15, Z:2.44 [[ 9.85228809e-01 -1.83156831e-02 -1.70260772e-01 2.51678755e+01] [ 2.16139727e-02 9.99612543e-01 1.75385205e-02 2.15410208e+00] [ 1.69873574e-01 -2.09594674e-02 9.85242950e-01 2.43643427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.07463044 meters Centerline goodness [0,1] 0.25879037502709734 Centerline is valid? [False, False] Translation: X:25.17, Y:2.15, Z:2.44 [[ 9.85219726e-01 -1.83681049e-02 -1.70307676e-01 2.51680825e+01] [ 2.17042733e-02 9.99606892e-01 1.77478432e-02 2.15259546e+00] [ 1.69914733e-01 -2.11819296e-02 9.85231094e-01 2.43652832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.10463044 meters Centerline goodness [0,1] 0.2588798550755893 Centerline is valid? [False, False] Translation: X:25.17, Y:2.15, Z:2.44 [[ 9.85054335e-01 -1.80788500e-02 -1.71292479e-01 2.51715494e+01] [ 2.15632326e-02 9.99596254e-01 1.85028848e-02 2.14983794e+00] [ 1.70888809e-01 -2.19199665e-02 9.85046461e-01 2.43604335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.13463044 meters Centerline goodness [0,1] 0.2612764122466581 Centerline is valid? [False, False] Translation: X:25.17, Y:2.15, Z:2.44 [[ 9.84994155e-01 -1.79868048e-02 -1.71647867e-01 2.51732753e+01] [ 2.15155102e-02 9.99593249e-01 1.87195053e-02 2.14867443e+00] [ 1.71241345e-01 -2.21316947e-02 9.84980502e-01 2.43545874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.16463044 meters Centerline goodness [0,1] 0.2612764122466581 Centerline is valid? [False, False] Translation: X:25.17, Y:2.15, Z:2.44 [[ 9.84994155e-01 -1.79868048e-02 -1.71647867e-01 2.51732753e+01] [ 2.15155102e-02 9.99593249e-01 1.87195053e-02 2.14867443e+00] [ 1.71241345e-01 -2.21316947e-02 9.84980502e-01 2.43545874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.19463044 meters Centerline goodness [0,1] 0.25660819220677844 Centerline is valid? [False, False] Translation: X:25.17, Y:2.15, Z:2.44 [[ 9.84910093e-01 -1.82194234e-02 -1.72105087e-01 2.51749587e+01] [ 2.17073399e-02 9.99594927e-01 1.84058180e-02 2.14927014e+00] [ 1.71700028e-01 -2.18640196e-02 9.84906628e-01 2.43514311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.22463044 meters Centerline goodness [0,1] 0.26281814427611994 Centerline is valid? [False, False] Translation: X:25.17, Y:2.15, Z:2.44 [[ 9.84986130e-01 -1.85219692e-02 -1.71637003e-01 2.51728334e+01] [ 2.19669230e-02 9.99593142e-01 1.81935188e-02 2.14916744e+00] [ 1.71230191e-01 -2.16907005e-02 9.84992251e-01 2.43616150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.25463044 meters Centerline goodness [0,1] 0.2603396862440036 Centerline is valid? [False, False] Translation: X:25.17, Y:2.15, Z:2.44 [[ 9.84983566e-01 -1.84670035e-02 -1.71657636e-01 2.51722178e+01] [ 2.19375108e-02 9.99591065e-01 1.83425332e-02 2.14855826e+00] [ 1.71248707e-01 -2.18328350e-02 9.84985892e-01 2.43695669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.28463044 meters Centerline goodness [0,1] 0.2631350694971486 Centerline is valid? [False, False] Translation: X:25.17, Y:2.15, Z:2.44 [[ 9.84951472e-01 -1.83995691e-02 -1.71848924e-01 2.51729638e+01] [ 2.19150947e-02 9.99587130e-01 1.85822072e-02 2.14739712e+00] [ 1.71436068e-01 -2.20686578e-02 9.84948044e-01 2.43689031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.31463044000003 meters Centerline goodness [0,1] 0.26206746935676317 Centerline is valid? [False, False] Translation: X:25.18, Y:2.14, Z:2.44 [[ 9.84724629e-01 -1.78006633e-02 -1.73206641e-01 2.51786824e+01] [ 2.14890863e-02 9.99580008e-01 1.94429343e-02 2.14443263e+00] [ 1.72787798e-01 -2.28679888e-02 9.84693573e-01 2.43509624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.34463044 meters Centerline goodness [0,1] 0.25951001453898404 Centerline is valid? [False, False] Translation: X:25.18, Y:2.14, Z:2.43 [[ 9.84589018e-01 -1.73785002e-02 -1.74018543e-01 2.51818162e+01] [ 2.11425213e-02 9.99580398e-01 1.97995339e-02 2.14392690e+00] [ 1.73601438e-01 -2.31735944e-02 9.84543308e-01 2.43419460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.37463044000003 meters Centerline goodness [0,1] 0.25652456178316385 Centerline is valid? [False, False] Translation: X:25.18, Y:2.14, Z:2.43 [[ 9.84551617e-01 -1.72226442e-02 -1.74245497e-01 2.51825737e+01] [ 2.10110106e-02 9.99580774e-01 1.99201732e-02 2.14381153e+00] [ 1.73829371e-01 -2.32735127e-02 9.84500733e-01 2.43407387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.40463044 meters Centerline goodness [0,1] 0.256838543135426 Centerline is valid? [False, False] Translation: X:25.18, Y:2.14, Z:2.43 [[ 9.84591159e-01 -1.71818669e-02 -1.74025957e-01 2.51813463e+01] [ 2.09535559e-02 9.99583198e-01 1.98589941e-02 2.14448316e+00] [ 1.73612208e-01 -2.31994526e-02 9.84540800e-01 2.43477767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.43463044000003 meters Centerline goodness [0,1] 0.25626120967219135 Centerline is valid? [False, False] Translation: X:25.20, Y:2.14, Z:2.44 [[ 9.85278198e-01 -1.19224082e-02 -1.70542452e-01 2.51952285e+01] [ 1.53588538e-02 9.99704444e-01 1.88449227e-02 2.14394169e+00] [ 1.70267370e-01 -2.11868280e-02 9.85170108e-01 2.43980758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.46463044 meters Centerline goodness [0,1] 0.25751221410350644 Centerline is valid? [False, False] Translation: X:25.20, Y:2.14, Z:2.44 [[ 9.85272779e-01 -1.19179554e-02 -1.70574070e-01 2.51956682e+01] [ 1.53739611e-02 9.99702140e-01 1.89544626e-02 2.14295145e+00] [ 1.70297364e-01 -2.12977151e-02 9.85162532e-01 2.43958542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.49463044000004 meters Centerline goodness [0,1] 0.2560627056989434 Centerline is valid? [False, False] Translation: X:25.20, Y:2.14, Z:2.44 [[ 9.85224578e-01 -1.18089191e-02 -1.70859827e-01 2.51968322e+01] [ 1.52828866e-02 9.99702078e-01 1.90312406e-02 2.14284105e+00] [ 1.70584186e-01 -2.13612774e-02 9.85111532e-01 2.43928003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.52463044 meters Centerline goodness [0,1] 0.2583761072488251 Centerline is valid? [False, False] Translation: X:25.20, Y:2.14, Z:2.44 [[ 9.85262116e-01 -1.18248439e-02 -1.70642126e-01 2.51961763e+01] [ 1.53225057e-02 9.99698349e-01 1.91946008e-02 2.14165095e+00] [ 1.70363678e-01 -2.15263780e-02 9.85146097e-01 2.43957182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.55463044000004 meters Centerline goodness [0,1] 0.26009007636909554 Centerline is valid? [False, False] Translation: X:25.19, Y:2.14, Z:2.44 [[ 9.85281203e-01 -1.18593568e-02 -1.70529491e-01 2.51949702e+01] [ 1.53594305e-02 9.99697292e-01 1.92200850e-02 2.14163900e+00] [ 1.70249932e-01 -2.15564244e-02 9.85165104e-01 2.44058632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.58463044 meters Centerline goodness [0,1] 0.2588125959065465 Centerline is valid? [False, False] Translation: X:25.19, Y:2.14, Z:2.44 [[ 9.85268622e-01 -1.16872276e-02 -1.70614040e-01 2.51945447e+01] [ 1.52155129e-02 9.99696271e-01 1.93869713e-02 2.14170908e+00] [ 1.70335639e-01 -2.16973546e-02 9.85147194e-01 2.44134274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.61463044 meters Centerline goodness [0,1] 0.2622287045301174 Centerline is valid? [False, False] Translation: X:25.19, Y:2.14, Z:2.44 [[ 9.85241387e-01 -1.16226773e-02 -1.70775652e-01 2.51948753e+01] [ 1.51555305e-02 9.99696968e-01 1.93979679e-02 2.14213139e+00] [ 1.70498445e-01 -2.16998764e-02 9.85118975e-01 2.44147649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.64463044 meters Centerline goodness [0,1] 0.25907441016333943 Centerline is valid? [False, False] Translation: X:25.20, Y:2.14, Z:2.44 [[ 9.85218014e-01 -1.16447649e-02 -1.70908937e-01 2.51956134e+01] [ 1.51690114e-02 9.99698096e-01 1.93292055e-02 2.14242597e+00] [ 1.70632255e-01 -2.16360010e-02 9.85097212e-01 2.44119711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.67463044 meters Centerline goodness [0,1] 0.25829623416564507 Centerline is valid? [False, False] Translation: X:25.20, Y:2.14, Z:2.44 [[ 9.85163757e-01 -1.19207235e-02 -1.71202419e-01 2.51970767e+01] [ 1.54134656e-02 9.99699020e-01 1.90864830e-02 2.14222209e+00] [ 1.70923365e-01 -2.14421339e-02 9.85050982e-01 2.44065933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.70463044 meters Centerline goodness [0,1] 0.2604478583517771 Centerline is valid? [False, False] Translation: X:25.20, Y:2.14, Z:2.44 [[ 9.85112379e-01 -1.19392375e-02 -1.71496516e-01 2.51976340e+01] [ 1.54343296e-02 9.99699184e-01 1.90610475e-02 2.14244588e+00] [ 1.71217352e-01 -2.14242076e-02 9.85000316e-01 2.44092253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.73463044 meters Centerline goodness [0,1] 0.26068643756614895 Centerline is valid? [False, False] Translation: X:25.20, Y:2.14, Z:2.44 [[ 9.84941984e-01 -1.20102284e-02 -1.72467511e-01 2.52001180e+01] [ 1.55968708e-02 9.99689053e-01 1.94559487e-02 2.13940366e+00] [ 1.72180212e-01 -2.18529342e-02 9.84823042e-01 2.44125762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.76463044 meters Centerline goodness [0,1] 0.2640075143624806 Centerline is valid? [False, False] Translation: X:25.20, Y:2.14, Z:2.44 [[ 9.84901959e-01 -1.18752351e-02 -1.72705271e-01 2.52007665e+01] [ 1.55009959e-02 9.99686545e-01 1.96603642e-02 2.13883876e+00] [ 1.72417665e-01 -2.20406349e-02 9.84777315e-01 2.44130947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.79463044 meters Centerline goodness [0,1] 0.2624774176697212 Centerline is valid? [False, False] Translation: X:25.20, Y:2.14, Z:2.44 [[ 9.84862969e-01 -1.17708333e-02 -1.72934612e-01 2.52017309e+01] [ 1.54374624e-02 9.99683330e-01 1.98727091e-02 2.13773856e+00] [ 1.72645930e-01 -2.22415668e-02 9.84732804e-01 2.44111970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.82463044 meters Centerline goodness [0,1] 0.26118316713376355 Centerline is valid? [False, False] Translation: X:25.20, Y:2.14, Z:2.44 [[ 9.84890491e-01 -1.18522392e-02 -1.72772235e-01 2.52019287e+01] [ 1.55198914e-02 9.99681654e-01 1.98928224e-02 2.13689221e+00] [ 1.72481460e-01 -2.22736580e-02 9.84760900e-01 2.44065619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.85463044 meters Centerline goodness [0,1] 0.25985612754099074 Centerline is valid? [False, False] Translation: X:25.20, Y:2.13, Z:2.44 [[ 9.84849351e-01 -1.18145648e-02 -1.73009165e-01 2.52031057e+01] [ 1.55785609e-02 9.99670227e-01 2.04143345e-02 2.13263385e+00] [ 1.72710925e-01 -2.28002779e-02 9.84708629e-01 2.44035272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.88463044 meters Centerline goodness [0,1] 0.2621984145840983 Centerline is valid? [False, False] Translation: X:25.20, Y:2.13, Z:2.44 [[ 9.84843463e-01 -1.15921953e-02 -1.73057719e-01 2.52023903e+01] [ 1.54116392e-02 9.99666050e-01 2.07429525e-02 2.13167170e+00] [ 1.72759470e-01 -2.30956643e-02 9.84693229e-01 2.44135838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.91463044 meters Centerline goodness [0,1] 0.2645398507624094 Centerline is valid? [False, False] Translation: X:25.20, Y:2.13, Z:2.44 [[ 9.84847736e-01 -1.12361249e-02 -1.73056889e-01 2.52012607e+01] [ 1.51202894e-02 9.99662129e-01 2.11424938e-02 2.13109178e+00] [ 1.72760858e-01 -2.34388074e-02 9.84684878e-01 2.44259821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.94463044 meters Centerline goodness [0,1] 0.26655222615762364 Centerline is valid? [False, False] Translation: X:25.20, Y:2.13, Z:2.44 [[ 9.84857932e-01 -1.14047754e-02 -1.72987817e-01 2.52006247e+01] [ 1.52837675e-02 9.99660370e-01 2.11080625e-02 2.13024746e+00] [ 1.72688333e-01 -2.34323484e-02 9.84697753e-01 2.44316235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.97463044 meters Centerline goodness [0,1] 0.26912181303116145 Centerline is valid? [False, False] Translation: X:25.20, Y:2.13, Z:2.44 [[ 9.84903562e-01 -1.16881739e-02 -1.72708889e-01 2.51999118e+01] [ 1.55278634e-02 9.99661026e-01 2.08978018e-02 2.12947519e+00] [ 1.72406088e-01 -2.32641195e-02 9.84751198e-01 2.44323191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.00463044 meters Centerline goodness [0,1] 0.26497850182572436 Centerline is valid? [False, False] Translation: X:25.22, Y:2.13, Z:2.45 [[ 9.85014461e-01 -6.24056582e-03 -1.72358833e-01 2.52156508e+01] [ 9.92285107e-03 9.99740390e-01 2.05107335e-02 2.12804677e+00] [ 1.72186088e-01 -2.19136601e-02 9.84820665e-01 2.44791575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.03463044 meters Centerline goodness [0,1] 0.2552796372273807 Centerline is valid? [False, False] Translation: X:25.21, Y:2.13, Z:2.45 [[ 9.85046090e-01 -6.14531567e-03 -1.72181406e-01 2.52139765e+01] [ 9.81048212e-03 9.99742870e-01 2.04437959e-02 2.12950013e+00] [ 1.72011499e-01 -2.18272638e-02 9.84853093e-01 2.44913636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.06463044000003 meters Centerline goodness [0,1] 0.2667389654050537 Centerline is valid? [False, False] Translation: X:25.21, Y:2.13, Z:2.45 [[ 9.85004086e-01 -6.29350697e-03 -1.72416192e-01 2.52147650e+01] [ 9.90427734e-03 9.99749119e-01 2.00899090e-02 2.13082211e+00] [ 1.72246500e-01 -2.14963002e-02 9.84819299e-01 2.44891954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.09463044 meters Centerline goodness [0,1] 0.26675059145269464 Centerline is valid? [False, False] Translation: X:25.21, Y:2.13, Z:2.45 [[ 9.84980330e-01 -6.29931371e-03 -1.72551641e-01 2.52146956e+01] [ 9.89426643e-03 9.99751383e-01 1.99819033e-02 2.13146250e+00] [ 1.72382870e-01 -2.13890537e-02 9.84797773e-01 2.44932620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.12463044000003 meters Centerline goodness [0,1] 0.26414686358034034 Centerline is valid? [False, False] Translation: X:25.21, Y:2.13, Z:2.45 [[ 9.84984363e-01 -6.12677743e-03 -1.72534830e-01 2.52140658e+01] [ 9.71169036e-03 9.99753981e-01 1.99414403e-02 2.13305223e+00] [ 1.72370207e-01 -2.13176117e-02 9.84801539e-01 2.44989895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.15463044 meters Centerline goodness [0,1] 0.2653529170001514 Centerline is valid? [False, False] Translation: X:25.21, Y:2.14, Z:2.45 [[ 9.84960461e-01 -6.04771387e-03 -1.72674016e-01 2.52135776e+01] [ 9.60482061e-03 9.99758378e-01 1.97720306e-02 2.13510505e+00] [ 1.72512719e-01 -2.11331713e-02 9.84780560e-01 2.45075867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.18463044000003 meters Centerline goodness [0,1] 0.2641427705102659 Centerline is valid? [False, False] Translation: X:25.22, Y:2.14, Z:2.45 [[ 9.84840006e-01 -6.08931716e-03 -1.73358251e-01 2.52151456e+01] [ 9.58842593e-03 9.99766716e-01 1.93539611e-02 2.13782768e+00] [ 1.73199957e-01 -2.07227879e-02 9.84668645e-01 2.45091767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.21463044 meters Centerline goodness [0,1] 0.26326142406294584 Centerline is valid? [False, False] Translation: X:25.22, Y:2.14, Z:2.45 [[ 9.84800948e-01 -6.05937533e-03 -1.73581036e-01 2.52161300e+01] [ 9.55468403e-03 9.99767929e-01 1.93079431e-02 2.13813768e+00] [ 1.73423758e-01 -2.06729927e-02 9.84630300e-01 2.45056944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.24463044000004 meters Centerline goodness [0,1] 0.2625893808002434 Centerline is valid? [False, False] Translation: X:25.22, Y:2.14, Z:2.45 [[ 9.84774608e-01 -6.12498060e-03 -1.73728112e-01 2.52167086e+01] [ 9.61153155e-03 9.99768793e-01 1.92348130e-02 2.13812568e+00] [ 1.73570132e-01 -2.06117486e-02 9.84605792e-01 2.45041154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.27463044 meters Centerline goodness [0,1] 0.2629623998088494 Centerline is valid? [False, False] Translation: X:25.22, Y:2.14, Z:2.45 [[ 9.84759939e-01 -6.05350584e-03 -1.73813745e-01 2.52171445e+01] [ 9.56496460e-03 9.99766593e-01 1.93718916e-02 2.13749774e+00] [ 1.73655908e-01 -2.07391851e-02 9.84587991e-01 2.45026364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.30463044000004 meters Centerline goodness [0,1] 0.26368970013037807 Centerline is valid? [False, False] Translation: X:25.22, Y:2.14, Z:2.45 [[ 9.84796475e-01 -6.03641662e-03 -1.73607212e-01 2.52164386e+01] [ 9.56437516e-03 9.99764263e-01 1.94921011e-02 2.13672593e+00] [ 1.73448624e-01 -2.08561969e-02 9.84622056e-01 2.45059021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.33463044 meters Centerline goodness [0,1] 0.2676726187902633 Centerline is valid? [False, False] Translation: X:25.22, Y:2.13, Z:2.45 [[ 9.84451908e-01 -1.42437479e-02 -1.75075860e-01 2.52210991e+01] [ 1.67859126e-02 9.99773965e-01 1.30480313e-02 2.13176525e+00] [ 1.74850434e-01 -1.57839674e-02 9.84468482e-01 2.45001024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.36463044 meters Centerline goodness [0,1] 0.2703849651409518 Centerline is valid? [False, False] Translation: X:25.23, Y:2.12, Z:2.45 [[ 9.83820674e-01 -2.17019044e-02 -1.77836749e-01 2.52290962e+01] [ 2.35012691e-02 9.99691657e-01 8.01758709e-03 2.12193378e+00] [ 1.77607918e-01 -1.20672572e-02 9.84027342e-01 2.44873934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.39463044 meters Centerline goodness [0,1] 0.28495648031871135 Centerline is valid? [False, False] Translation: X:25.23, Y:2.09, Z:2.45 [[ 9.82967401e-01 -4.11218587e-02 -1.79120298e-01 2.52292556e+01] [ 4.37904856e-02 9.98980523e-01 1.09685162e-02 2.09412799e+00] [ 1.78486644e-01 -1.86254587e-02 9.83766034e-01 2.44601400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.42463044 meters Centerline goodness [0,1] 0.28735184704559213 Centerline is valid? [False, False] Translation: X:25.23, Y:2.08, Z:2.45 [[ 9.82715981e-01 -4.64611157e-02 -1.79194489e-01 2.52299794e+01] [ 4.87488927e-02 9.98775891e-01 8.38236536e-03 2.07825301e+00] [ 1.78585681e-01 -1.69730173e-02 9.83777958e-01 2.44615402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.45463044 meters Centerline goodness [0,1] 0.2623720598100102 Centerline is valid? [False, False] Translation: X:25.23, Y:2.06, Z:2.45 [[ 9.82570908e-01 -5.24971016e-02 -1.78321240e-01 2.52276227e+01] [ 5.42729609e-02 9.98513154e-01 5.09185561e-03 2.06305844e+00] [ 1.77788796e-01 -1.46811309e-02 9.83959150e-01 2.44712042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.48463044 meters Centerline goodness [0,1] 0.29836603423341757 Centerline is valid? [False, False] Translation: X:25.22, Y:2.05, Z:2.45 [[ 9.82467662e-01 -5.91195180e-02 -1.76811128e-01 2.52228759e+01] [ 6.03116231e-02 9.98178656e-01 1.37083213e-03 2.04700431e+00] [ 1.76408051e-01 -1.20105644e-02 9.84243845e-01 2.44900030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.51463044 meters Centerline goodness [0,1] 0.30610219230105296 Centerline is valid? [False, False] Translation: X:25.22, Y:2.03, Z:2.45 [[ 9.82273929e-01 -6.55955196e-02 -1.75599420e-01 2.52192920e+01] [ 6.62311892e-02 9.97801780e-01 -2.24463010e-03 2.03055840e+00] [ 1.75360651e-01 -9.42531675e-03 9.84459144e-01 2.45043225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.54463044 meters Centerline goodness [0,1] 0.31027557014512785 Centerline is valid? [False, False] Translation: X:25.21, Y:2.00, Z:2.45 [[ 9.82695976e-01 -6.74246102e-02 -1.72518234e-01 2.52111980e+01] [ 6.86103742e-02 9.97643114e-01 9.12601715e-04 2.00288629e+00] [ 1.72050097e-01 -1.27333506e-02 9.85005901e-01 2.44991810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.57463044 meters Centerline goodness [0,1] 0.3092638329217037 Centerline is valid? [False, False] Translation: X:25.19, Y:1.99, Z:2.45 [[ 9.83835511e-01 -5.61141946e-02 -1.70055534e-01 2.51931165e+01] [ 5.72294007e-02 9.98359676e-01 1.65926659e-03 1.99341830e+00] [ 1.69683479e-01 -1.13646217e-02 9.85433084e-01 2.44584423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.60463044 meters Centerline goodness [0,1] 0.30307546110319206 Centerline is valid? [False, False] Translation: X:25.19, Y:1.98, Z:2.45 [[ 9.84676148e-01 -4.22001112e-02 -1.69210032e-01 2.51921992e+01] [ 4.25953518e-02 9.99091567e-01 -1.29512589e-03 1.98464003e+00] [ 1.69110970e-01 -5.93228126e-03 9.85579164e-01 2.44586766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.63463044 meters Centerline goodness [0,1] 0.30219709068934264 Centerline is valid? [False, False] Translation: X:25.19, Y:1.98, Z:2.45 [[ 9.85208949e-01 -2.94756749e-02 -1.68803173e-01 2.51937336e+01] [ 2.88343721e-02 9.99564666e-01 -6.24965527e-03 1.97846708e+00] [ 1.68913900e-01 1.28988279e-03 9.85629966e-01 2.44620010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.66463044 meters Centerline goodness [0,1] 0.29459908869069473 Centerline is valid? [False, False] Translation: X:25.20, Y:1.98, Z:2.45 [[ 9.85224306e-01 -5.11907727e-03 -1.71192468e-01 2.52040756e+01] [ 4.29291090e-03 9.99977287e-01 -5.19579426e-03 1.97753997e+00] [ 1.71215177e-01 4.38410879e-03 9.85223905e-01 2.45201725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.69463044 meters Centerline goodness [0,1] 0.3005149954559224 Centerline is valid? [False, False] Translation: X:25.20, Y:1.98, Z:2.45 [[ 9.85311542e-01 3.51948918e-03 -1.70730133e-01 2.52039762e+01] [-3.38225818e-03 9.99993681e-01 1.09464518e-03 1.98409119e+00] [ 1.70732907e-01 -5.01113139e-04 9.85317220e-01 2.45144521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.72463044 meters Centerline goodness [0,1] 0.2896173674707968 Centerline is valid? [False, False] Translation: X:25.20, Y:1.99, Z:2.45 [[ 9.85389868e-01 1.01418388e-02 -1.70011619e-01 2.52035066e+01] [-9.42761574e-03 9.99943019e-01 5.00779827e-03 1.99471633e+00] [ 1.70052720e-01 -3.33182946e-03 9.85429333e-01 2.45103272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.75463044 meters Centerline goodness [0,1] 0.2788947982877157 Centerline is valid? [False, False] Translation: X:25.20, Y:2.01, Z:2.45 [[ 9.85588662e-01 1.56426726e-02 -1.68434841e-01 2.52021659e+01] [-1.46114280e-02 9.99866158e-01 7.36024197e-03 2.00637523e+00] [ 1.68527431e-01 -4.79309749e-03 9.85685310e-01 2.44965654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.78463044 meters Centerline goodness [0,1] 0.2714176746213359 Centerline is valid? [False, False] Translation: X:25.21, Y:2.03, Z:2.45 [[ 9.85057981e-01 4.31006422e-02 -1.66742640e-01 2.52121795e+01] [-4.22817917e-02 9.99069912e-01 8.45937410e-03 2.02532789e+00] [ 1.66952159e-01 -1.28279641e-03 9.85964163e-01 2.45458120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.81463044000003 meters Centerline goodness [0,1] 0.1643938742149187 Centerline is valid? [False, False] Translation: X:25.21, Y:2.04, Z:2.45 [[ 9.84864060e-01 4.96832753e-02 -1.66055281e-01 2.52120485e+01] [-4.82706569e-02 9.98755641e-01 1.25344785e-02 2.03630532e+00] [ 1.66471402e-01 -4.32915986e-03 9.86036780e-01 2.45428195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.84463044 meters Centerline goodness [0,1] 0.25793744753212644 Centerline is valid? [False, False] Translation: X:25.21, Y:2.05, Z:2.45 [[ 9.84571838e-01 5.52623910e-02 -1.66025192e-01 2.52133975e+01] [-5.33364951e-02 9.98447768e-01 1.60397343e-02 2.04692585e+00] [ 1.66653876e-01 -6.93706884e-03 9.85991056e-01 2.45373921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.87463044000003 meters Centerline goodness [0,1] 0.24847560975609762 Centerline is valid? [False, False] Translation: X:25.23, Y:2.06, Z:2.46 [[ 9.84612155e-01 5.06569961e-02 -1.67250630e-01 2.52304280e+01] [-4.81003543e-02 9.98655940e-01 1.93046600e-02 2.06152197e+00] [ 1.68003751e-01 -1.09627883e-02 9.85725396e-01 2.45598336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.90463044 meters Centerline goodness [0,1] 0.24506343195772629 Centerline is valid? [False, False] Translation: X:25.24, Y:2.08, Z:2.45 [[ 9.84256656e-01 5.43441071e-02 -1.68183091e-01 2.52357139e+01] [-5.16717538e-02 9.98459230e-01 2.02285948e-02 2.08020791e+00] [ 1.69023265e-01 -1.12198138e-02 9.85548199e-01 2.45434896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.93463044000003 meters Centerline goodness [0,1] 0.24772062993499977 Centerline is valid? [False, False] Translation: X:25.25, Y:2.09, Z:2.46 [[ 9.84337301e-01 4.81952900e-02 -1.69579752e-01 2.52533518e+01] [-4.48210223e-02 9.98714524e-01 2.36722368e-02 2.09362779e+00] [ 1.70502652e-01 -1.57007278e-02 9.85232121e-01 2.45743448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.96463044 meters Centerline goodness [0,1] 0.23891100828580647 Centerline is valid? [False, False] Translation: X:25.28, Y:2.12, Z:2.46 [[ 9.83633534e-01 4.55411296e-02 -1.74330366e-01 2.52792853e+01] [-4.13782687e-02 9.98766638e-01 2.74416234e-02 2.11702796e+00] [ 1.75365076e-01 -1.97790123e-02 9.84304770e-01 2.46116594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.99463044000004 meters Centerline goodness [0,1] 0.23518570112085035 Centerline is valid? [False, False] Translation: X:25.30, Y:2.13, Z:2.46 [[ 9.83742385e-01 3.59878622e-02 -1.75942587e-01 2.52982346e+01] [-3.15248709e-02 9.99107981e-01 2.80967149e-02 2.13045181e+00] [ 1.76796783e-01 -2.20933620e-02 9.83999380e-01 2.46388975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.02463044 meters Centerline goodness [0,1] 0.23924551131084848 Centerline is valid? [False, False] Translation: X:25.32, Y:2.14, Z:2.47 [[ 9.83867724e-01 2.53276656e-02 -1.77095485e-01 2.53158663e+01] [-2.06646932e-02 9.99390776e-01 2.81255652e-02 2.14293515e+00] [ 1.77699949e-01 -2.40122120e-02 9.83791717e-01 2.46680024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.05463044000004 meters Centerline goodness [0,1] 0.24414672216441202 Centerline is valid? [False, False] Translation: X:25.33, Y:2.15, Z:2.47 [[ 9.84080896e-01 1.35084711e-02 -1.77206971e-01 2.53317503e+01] [-8.73741573e-03 9.99578748e-01 2.76764324e-02 2.15312609e+00] [ 1.77506188e-01 -2.56875174e-02 9.83784379e-01 2.47031164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.08463044 meters Centerline goodness [0,1] 0.24414672216441202 Centerline is valid? [False, False] Translation: X:25.33, Y:2.15, Z:2.47 [[ 9.84080896e-01 1.35084711e-02 -1.77206971e-01 2.53317503e+01] [-8.73741573e-03 9.99578748e-01 2.76764324e-02 2.15312609e+00] [ 1.77506188e-01 -2.56875174e-02 9.83784379e-01 2.47031164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.11463044 meters Centerline goodness [0,1] 0.24744831761958308 Centerline is valid? [False, False] Translation: X:25.33, Y:2.16, Z:2.47 [[ 9.85032681e-01 -2.39487611e-03 -1.72351043e-01 2.53317116e+01] [ 7.25375155e-03 9.99593627e-01 2.75674539e-02 2.15512734e+00] [ 1.72214984e-01 -2.84050347e-02 9.84649762e-01 2.47153613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.14463044 meters Centerline goodness [0,1] 0.25554525662305183 Centerline is valid? [False, False] Translation: X:25.33, Y:2.15, Z:2.47 [[ 9.84737061e-01 -2.12171586e-02 -1.72750549e-01 2.53285010e+01] [ 2.67423091e-02 9.99200500e-01 2.97188487e-02 2.15398487e+00] [ 1.71981885e-01 -3.38850003e-02 9.84517160e-01 2.47165330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.17463044 meters Centerline goodness [0,1] 0.25949754901960786 Centerline is valid? [False, False] Translation: X:25.32, Y:2.15, Z:2.47 [[ 9.84466648e-01 -1.50787071e-02 -1.74922986e-01 2.53162087e+01] [ 1.98065377e-02 9.99483324e-01 2.53137660e-02 2.14857182e+00] [ 1.74450909e-01 -2.83851771e-02 9.84256655e-01 2.46923839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.20463044 meters Centerline goodness [0,1] 0.2574843804234641 Centerline is valid? [False, False] Translation: X:25.32, Y:2.15, Z:2.47 [[ 9.84239387e-01 -1.94743169e-02 -1.75765696e-01 2.53192404e+01] [ 2.36708146e-02 9.99481865e-01 2.18104074e-02 2.14691552e+00] [ 1.75249883e-01 -2.56271792e-02 9.84190391e-01 2.46884457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.23463044 meters Centerline goodness [0,1] 0.2625821515046697 Centerline is valid? [False, False] Translation: X:25.32, Y:2.14, Z:2.47 [[ 9.84195064e-01 -1.96467483e-02 -1.75994548e-01 2.53199065e+01] [ 2.39315966e-02 9.99465810e-01 2.22569739e-02 2.14334559e+00] [ 1.75463256e-01 -2.61170343e-02 9.84139495e-01 2.46912271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.26463044 meters Centerline goodness [0,1] 0.26422505540804464 Centerline is valid? [False, False] Translation: X:25.30, Y:2.14, Z:2.47 [[ 9.84435003e-01 -8.48277475e-03 -1.75544205e-01 2.53027941e+01] [ 1.24736961e-02 9.99687931e-01 2.16436394e-02 2.13924735e+00] [ 1.75305825e-01 -2.34964413e-02 9.84233603e-01 2.46716008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.29463044 meters Centerline goodness [0,1] 0.2634646215173968 Centerline is valid? [False, False] Translation: X:25.32, Y:2.14, Z:2.47 [[ 9.84490286e-01 -3.07819862e-03 -1.75412091e-01 2.53194197e+01] [ 6.91485530e-03 9.99749956e-01 2.12652328e-02 2.13748248e+00] [ 1.75302771e-01 -2.21483643e-02 9.84265405e-01 2.47182144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.32463044 meters Centerline goodness [0,1] 0.2589495177687028 Centerline is valid? [False, False] Translation: X:25.32, Y:2.14, Z:2.47 [[ 9.84571784e-01 -3.17621122e-03 -1.74952320e-01 2.53188544e+01] [ 6.93545538e-03 9.99757932e-01 2.08800392e-02 2.13794083e+00] [ 1.74843651e-01 -2.17712715e-02 9.84355479e-01 2.47110081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.35463044 meters Centerline goodness [0,1] 0.25948003916023066 Centerline is valid? [False, False] Translation: X:25.32, Y:2.14, Z:2.47 [[ 9.84612325e-01 -3.16174267e-03 -1.74724278e-01 2.53183993e+01] [ 6.94212617e-03 9.99754757e-01 2.10293370e-02 2.13647334e+00] [ 1.74614938e-01 -2.19187023e-02 9.84392805e-01 2.47096953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.38463044 meters Centerline goodness [0,1] 0.2572624002774887 Centerline is valid? [False, False] Translation: X:25.32, Y:2.14, Z:2.47 [[ 9.84548754e-01 -2.75685048e-03 -1.75088979e-01 2.53193748e+01] [ 6.59154770e-03 9.99750896e-01 2.13236513e-02 2.13618717e+00] [ 1.74986578e-01 -2.21482817e-02 9.84321671e-01 2.47090641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.41463044 meters Centerline goodness [0,1] 0.2582360345501107 Centerline is valid? [False, False] Translation: X:25.32, Y:2.14, Z:2.47 [[ 9.84454241e-01 -2.20160929e-03 -1.75627449e-01 2.53209907e+01] [ 6.08061446e-03 9.99749249e-01 2.15514686e-02 2.13695689e+00] [ 1.75535962e-01 -2.22843575e-02 9.84220775e-01 2.47059803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.44463044 meters Centerline goodness [0,1] 0.25291854170742845 Centerline is valid? [False, False] Translation: X:25.32, Y:2.14, Z:2.47 [[ 9.84374667e-01 -1.49417265e-03 -1.76080330e-01 2.53225864e+01] [ 5.40199440e-03 9.99749582e-01 2.17161562e-02 2.13857928e+00] [ 1.76003788e-01 -2.23280190e-02 9.84136233e-01 2.47002147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.47463044 meters Centerline goodness [0,1] 0.24885612056814488 Centerline is valid? [False, False] Translation: X:25.32, Y:2.14, Z:2.47 [[ 9.84514993e-01 3.30643852e-03 -1.75269211e-01 2.53214600e+01] [ 9.49525704e-04 9.99706855e-01 2.41930200e-02 2.14430687e+00] [ 1.75297825e-01 -2.39848136e-02 9.84223248e-01 2.46986357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.50463044 meters Centerline goodness [0,1] 0.2466383274052225 Centerline is valid? [False, False] Translation: X:25.32, Y:2.15, Z:2.47 [[ 9.84608383e-01 7.61218013e-03 -1.74609241e-01 2.53194259e+01] [-2.90903652e-03 9.99626448e-01 2.71753935e-02 2.14844924e+00] [ 1.74750880e-01 -2.62491756e-02 9.84262725e-01 2.47001617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.53463044 meters Centerline goodness [0,1] 0.24361446305162593 Centerline is valid? [False, False] Translation: X:25.32, Y:2.15, Z:2.47 [[ 9.84755452e-01 1.21996464e-02 -1.73516189e-01 2.53159687e+01] [-7.09662185e-03 9.99524719e-01 2.99995702e-02 2.15432451e+00] [ 1.73799704e-01 -2.83108615e-02 9.84373993e-01 2.47069632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.56463044000003 meters Centerline goodness [0,1] 0.2439934079278342 Centerline is valid? [False, False] Translation: X:25.32, Y:2.15, Z:2.47 [[ 9.84731366e-01 8.11138136e-03 -1.73891752e-01 2.53162939e+01] [-3.58266652e-03 9.99646585e-01 2.63413907e-02 2.15455290e+00] [ 1.74043961e-01 -2.53161975e-02 9.84412408e-01 2.47107420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.59463044 meters Centerline goodness [0,1] 0.2433077356935225 Centerline is valid? [False, False] Translation: X:25.32, Y:2.15, Z:2.47 [[ 9.84693051e-01 8.12783001e-03 -1.74107822e-01 2.53173696e+01] [-3.61870645e-03 9.99650164e-01 2.62002675e-02 2.15498698e+00] [ 1.74259864e-01 -2.51691762e-02 9.84377982e-01 2.47049077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.62463044000003 meters Centerline goodness [0,1] 0.24230108882272405 Centerline is valid? [False, False] Translation: X:25.32, Y:2.16, Z:2.47 [[ 9.84560281e-01 8.56434978e-03 -1.74836225e-01 2.53196758e+01] [-4.04731840e-03 9.99649156e-01 2.61760176e-02 2.15712604e+00] [ 1.74999065e-01 -2.50642493e-02 9.84249516e-01 2.46985201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.65463044 meters Centerline goodness [0,1] 0.24536844637896715 Centerline is valid? [False, False] Translation: X:25.32, Y:2.16, Z:2.47 [[ 9.84726377e-01 8.48580865e-03 -1.73902138e-01 2.53152844e+01] [-4.09502008e-03 9.99664087e-01 2.55918870e-02 2.16049015e+00] [ 1.74060890e-01 -2.44888734e-02 9.84430344e-01 2.47155085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.68463044000003 meters Centerline goodness [0,1] 0.2450641067502558 Centerline is valid? [False, False] Translation: X:25.33, Y:2.17, Z:2.47 [[ 9.85144238e-01 -9.02077016e-04 -1.71726575e-01 2.53287712e+01] [ 5.67757412e-03 9.99610626e-01 2.73196136e-02 2.16509675e+00] [ 1.71635064e-01 -2.78887503e-02 9.84765770e-01 2.47436246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.71463044 meters Centerline goodness [0,1] 0.24345561102669855 Centerline is valid? [False, False] Translation: X:25.33, Y:2.17, Z:2.47 [[ 9.85110971e-01 -7.06997240e-04 -1.71918224e-01 2.53290785e+01] [ 5.46503278e-03 9.99614952e-01 2.72044383e-02 2.16677336e+00] [ 1.71832794e-01 -2.77389294e-02 9.84735519e-01 2.47440956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.74463044000004 meters Centerline goodness [0,1] 0.2426996586288621 Centerline is valid? [False, False] Translation: X:25.33, Y:2.17, Z:2.47 [[ 9.85023809e-01 -4.34730038e-04 -1.72417827e-01 2.53303121e+01] [ 5.17551050e-03 9.99620757e-01 2.70472954e-02 2.16921736e+00] [ 1.72340680e-01 -2.75345802e-02 9.84652495e-01 2.47428033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.77463044 meters Centerline goodness [0,1] 0.2471007253615949 Centerline is valid? [False, False] Translation: X:25.34, Y:2.17, Z:2.48 [[ 9.85649402e-01 -4.64738577e-04 -1.68804738e-01 2.53442205e+01] [ 4.27770559e-03 9.99743841e-01 2.22250778e-02 2.16761284e+00] [ 1.68751168e-01 -2.26282316e-02 9.85398907e-01 2.47906790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.80463044 meters Centerline goodness [0,1] 0.24465578731222304 Centerline is valid? [False, False] Translation: X:25.34, Y:2.17, Z:2.48 [[ 9.85607229e-01 -5.28443269e-04 -1.69050616e-01 2.53446389e+01] [ 4.36900243e-03 9.99740723e-01 2.23472367e-02 2.16677824e+00] [ 1.68994975e-01 -2.27641806e-02 9.85353992e-01 2.47941478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.83463044 meters Centerline goodness [0,1] 0.2481116011002925 Centerline is valid? [False, False] Translation: X:25.35, Y:2.17, Z:2.48 [[ 9.85469388e-01 -2.76477473e-04 -1.69852906e-01 2.53466093e+01] [ 4.20060992e-03 9.99732492e-01 2.27442030e-02 2.16594599e+00] [ 1.69801180e-01 -2.31272016e-02 9.85206928e-01 2.47962995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.86463044 meters Centerline goodness [0,1] 0.24486657425056313 Centerline is valid? [False, False] Translation: X:25.36, Y:2.17, Z:2.48 [[ 9.85007380e-01 -1.78444872e-03 -1.72502976e-01 2.53556007e+01] [ 5.60204101e-03 9.99749996e-01 2.16462882e-02 2.16509988e+00] [ 1.72421223e-01 -2.22881224e-02 9.84771121e-01 2.47764850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.89463044 meters Centerline goodness [0,1] 0.24479064815418383 Centerline is valid? [False, False] Translation: X:25.36, Y:2.17, Z:2.48 [[ 9.84943952e-01 -1.71475832e-03 -1.72865470e-01 2.53573065e+01] [ 5.52649277e-03 9.99752035e-01 2.15714134e-02 2.16581150e+00] [ 1.72785616e-01 -2.22019729e-02 9.84709197e-01 2.47681997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.92463044 meters Centerline goodness [0,1] 0.24558615434853592 Centerline is valid? [False, False] Translation: X:25.36, Y:2.17, Z:2.48 [[ 9.84954651e-01 -1.69399401e-03 -1.72804706e-01 2.53569689e+01] [ 5.46125706e-03 9.99757625e-01 2.13275854e-02 2.16754161e+00] [ 1.72726693e-01 -2.19504353e-02 9.84725174e-01 2.47683311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.95463044 meters Centerline goodness [0,1] 0.2462245567957978 Centerline is valid? [False, False] Translation: X:25.36, Y:2.17, Z:2.48 [[ 9.85004323e-01 -1.62448030e-03 -1.72522015e-01 2.53554629e+01] [ 5.32566608e-03 9.99765444e-01 2.09927112e-02 2.17005350e+00] [ 1.72447447e-01 -2.15967059e-02 9.84781935e-01 2.47741304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.98463044 meters Centerline goodness [0,1] 0.24495438810389503 Centerline is valid? [False, False] Translation: X:25.35, Y:2.17, Z:2.48 [[ 9.85177121e-01 -1.84429666e-03 -1.71530288e-01 2.53525163e+01] [ 5.45323649e-03 9.99773525e-01 2.05708560e-02 2.17133824e+00] [ 1.71453502e-01 -2.12013319e-02 9.84964060e-01 2.47796868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.01463044 meters Centerline goodness [0,1] 0.24434213086051493 Centerline is valid? [False, False] Translation: X:25.37, Y:2.17, Z:2.48 [[ 9.86041399e-01 -5.11674644e-04 -1.66499541e-01 2.53673336e+01] [ 3.40527282e-03 9.99848088e-01 1.70939995e-02 2.17204861e+00] [ 1.66465501e-01 -1.74223675e-02 9.85893350e-01 2.48202032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.04463044 meters Centerline goodness [0,1] 0.24591019839888617 Centerline is valid? [False, False] Translation: X:25.37, Y:2.17, Z:2.48 [[ 9.85935396e-01 -5.70937534e-04 -1.67125905e-01 2.53687166e+01] [ 3.47162482e-03 9.99848361e-01 1.70646605e-02 2.17205362e+00] [ 1.67090820e-01 -1.74048513e-02 9.85787872e-01 2.48220858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.07463044 meters Centerline goodness [0,1] 0.24583098713561746 Centerline is valid? [False, False] Translation: X:25.37, Y:2.17, Z:2.48 [[ 9.85841951e-01 -4.79414452e-04 -1.67676527e-01 2.53705135e+01] [ 3.44151613e-03 9.99843113e-01 1.73754299e-02 2.17042560e+00] [ 1.67641891e-01 -1.77064892e-02 9.85688935e-01 2.48202877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.10463044 meters Centerline goodness [0,1] 0.24649198787353832 Centerline is valid? [False, False] Translation: X:25.37, Y:2.17, Z:2.48 [[ 9.85744501e-01 -2.74635848e-04 -1.68248933e-01 2.53725231e+01] [ 3.26075831e-03 9.99842032e-01 1.74722184e-02 2.17088482e+00] [ 1.68217557e-01 -1.77717623e-02 9.85589680e-01 2.48145578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.13463044 meters Centerline goodness [0,1] 0.2429623213512343 Centerline is valid? [False, False] Translation: X:25.37, Y:2.17, Z:2.48 [[ 9.85737842e-01 2.52398345e-05 -1.68288163e-01 2.53726655e+01] [ 2.91550922e-03 9.99847347e-01 1.72273777e-02 2.17335738e+00] [ 1.68262909e-01 -1.74723238e-02 9.85587293e-01 2.48129701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.16463044 meters Centerline goodness [0,1] 0.244784211667751 Centerline is valid? [False, False] Translation: X:25.37, Y:2.17, Z:2.48 [[ 9.85835166e-01 -1.54540428e-04 -1.67717027e-01 2.53703730e+01] [ 3.06469801e-03 9.99849209e-01 1.70928975e-02 2.17296181e+00] [ 1.67689095e-01 -1.73647815e-02 9.85686985e-01 2.48214818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.19463044 meters Centerline goodness [0,1] 0.2443953951354626 Centerline is valid? [False, False] Translation: X:25.37, Y:2.17, Z:2.48 [[ 9.85841461e-01 1.77634698e-04 -1.67679998e-01 2.53697687e+01] [ 2.74324888e-03 9.99848519e-01 1.71875973e-02 2.17354925e+00] [ 1.67657651e-01 -1.74042340e-02 9.85691638e-01 2.48262052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.22463044 meters Centerline goodness [0,1] 0.24317450656464656 Centerline is valid? [False, False] Translation: X:25.37, Y:2.18, Z:2.48 [[ 9.85734935e-01 5.83140985e-04 -1.68304182e-01 2.53714313e+01] [ 2.32740301e-03 9.99851151e-01 1.70955743e-02 2.17572876e+00] [ 1.68289099e-01 -1.72434165e-02 9.85586852e-01 2.48233099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.25463044 meters Centerline goodness [0,1] 0.24172884084136337 Centerline is valid? [False, False] Translation: X:25.37, Y:2.18, Z:2.48 [[ 9.85674324e-01 9.74606990e-04 -1.68656981e-01 2.53721367e+01] [ 1.92276790e-03 9.99853387e-01 1.70149319e-02 2.17721153e+00] [ 1.68648837e-01 -1.70954697e-02 9.85527937e-01 2.48233940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.28463044 meters Centerline goodness [0,1] 0.24162104853192545 Centerline is valid? [False, False] Translation: X:25.37, Y:2.18, Z:2.48 [[ 9.85650557e-01 1.19173708e-03 -1.68794429e-01 2.53724726e+01] [ 1.70337752e-03 9.99853939e-01 1.70058813e-02 2.17803301e+00] [ 1.68790041e-01 -1.70493770e-02 9.85504562e-01 2.48234859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.31463044000003 meters Centerline goodness [0,1] 0.24159378036929058 Centerline is valid? [False, False] Translation: X:25.37, Y:2.18, Z:2.48 [[ 9.85691945e-01 1.14069926e-03 -1.68552924e-01 2.53715007e+01] [ 1.75585069e-03 9.99853356e-01 1.70347674e-02 2.17713415e+00] [ 1.68547639e-01 -1.70869868e-02 9.85545396e-01 2.48284805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.34463044 meters Centerline goodness [0,1] 0.2421310126856302 Centerline is valid? [False, False] Translation: X:25.37, Y:2.18, Z:2.48 [[ 9.85670787e-01 1.14735767e-03 -1.68676567e-01 2.53718064e+01] [ 1.73378128e-03 9.99855130e-01 1.69325773e-02 2.17768212e+00] [ 1.68671558e-01 -1.69823951e-02 9.85526004e-01 2.48280481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.37463044000003 meters Centerline goodness [0,1] 0.24032149743278663 Centerline is valid? [False, False] Translation: X:25.37, Y:2.18, Z:2.48 [[ 9.85657282e-01 1.06465423e-03 -1.68756003e-01 2.53717110e+01] [ 1.77390336e-03 9.99859492e-01 1.66688317e-02 2.17870578e+00] [ 1.68750038e-01 -1.67291122e-02 9.85516901e-01 2.48301587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.40463044 meters Centerline goodness [0,1] 0.24003817704605102 Centerline is valid? [False, False] Translation: X:25.37, Y:2.18, Z:2.48 [[ 9.85587387e-01 1.32779820e-03 -1.69161874e-01 2.53723465e+01] [ 1.50076068e-03 9.99861216e-01 1.65920645e-02 2.18061429e+00] [ 1.69160428e-01 -1.66068010e-02 9.85448610e-01 2.48330001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.43463044000003 meters Centerline goodness [0,1] 0.23989060363352221 Centerline is valid? [False, False] Translation: X:25.37, Y:2.18, Z:2.48 [[ 9.85574080e-01 1.40060360e-03 -1.69238799e-01 2.53721703e+01] [ 1.39727725e-03 9.99864339e-01 1.64119212e-02 2.18211284e+00] [ 1.69238826e-01 -1.64116377e-02 9.85438419e-01 2.48355190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.46463044 meters Centerline goodness [0,1] 0.2409967497291441 Centerline is valid? [False, False] Translation: X:25.37, Y:2.18, Z:2.48 [[ 9.85607378e-01 1.35517676e-03 -1.69045139e-01 2.53713442e+01] [ 1.41319133e-03 9.99866878e-01 1.62551149e-02 2.18264188e+00] [ 1.69044664e-01 -1.62600543e-02 9.85474258e-01 2.48394554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.49463044000004 meters Centerline goodness [0,1] 0.240234375 Centerline is valid? [False, False] Translation: X:25.37, Y:2.18, Z:2.48 [[ 9.85646813e-01 1.27598328e-03 -1.68815675e-01 2.53702922e+01] [ 1.47838658e-03 9.99867854e-01 1.61891465e-02 2.18247270e+00] [ 1.68814024e-01 -1.62063554e-02 9.85514677e-01 2.48445306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.52463044 meters Centerline goodness [0,1] 0.23945097358948786 Centerline is valid? [False, False] Translation: X:25.37, Y:2.18, Z:2.49 [[ 9.85653308e-01 1.41188865e-03 -1.68776668e-01 2.53695011e+01] [ 1.33316124e-03 9.99868692e-01 1.61499695e-02 2.18318197e+00] [ 1.68777309e-01 -1.61432773e-02 9.85522001e-01 2.48519037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.55463044 meters Centerline goodness [0,1] 0.23917548025037771 Centerline is valid? [False, False] Translation: X:25.37, Y:2.19, Z:2.49 [[ 9.85616053e-01 1.74736382e-03 -1.68990952e-01 2.53699626e+01] [ 9.88009906e-04 9.99869881e-01 1.61010684e-02 2.18515681e+00] [ 1.68997098e-01 -1.60364362e-02 9.85486080e-01 2.48519217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.58463044 meters Centerline goodness [0,1] 0.2395553436768657 Centerline is valid? [False, False] Translation: X:25.37, Y:2.19, Z:2.49 [[ 9.85645669e-01 1.75722065e-03 -1.68818028e-01 2.53688216e+01] [ 8.97788769e-04 9.99877137e-01 1.56494327e-02 2.18801363e+00] [ 1.68824786e-01 -1.55763585e-02 9.85522993e-01 2.48573076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.61463044 meters Centerline goodness [0,1] 0.2346206388099833 Centerline is valid? [False, False] Translation: X:25.36, Y:2.19, Z:2.49 [[ 9.85864216e-01 8.94097656e-04 -1.67543871e-01 2.53637917e+01] [ 1.52893556e-03 9.99896115e-01 1.43325304e-02 2.19161682e+00] [ 1.67539280e-01 -1.43860926e-02 9.85760432e-01 2.48730717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.64463044 meters Centerline goodness [0,1] 0.23586791223115355 Centerline is valid? [False, False] Translation: X:25.36, Y:2.19, Z:2.49 [[ 9.85931567e-01 -3.19620204e-03 -1.67118906e-01 2.53610740e+01] [ 5.13221031e-03 9.99924621e-01 1.11540166e-02 2.18930074e+00] [ 1.67070658e-01 -1.18547864e-02 9.85873653e-01 2.48909469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.67463044 meters Centerline goodness [0,1] 0.23949516160457207 Centerline is valid? [False, False] Translation: X:25.36, Y:2.19, Z:2.49 [[ 9.85853170e-01 -3.12575783e-03 -1.67582087e-01 2.53624983e+01] [ 5.14155701e-03 9.99919543e-01 1.15961913e-02 2.18699371e+00] [ 1.67532357e-01 -1.22937748e-02 9.85789923e-01 2.48907707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.70463044 meters Centerline goodness [0,1] 0.24173710036531848 Centerline is valid? [False, False] Translation: X:25.37, Y:2.19, Z:2.49 [[ 9.85680241e-01 -2.74401396e-03 -1.68602883e-01 2.53659411e+01] [ 4.85272072e-03 9.99915063e-01 1.20961753e-02 2.18592163e+00] [ 1.68555370e-01 -1.27411437e-02 9.85609837e-01 2.48842634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.73463044 meters Centerline goodness [0,1] 0.24073390511345127 Centerline is valid? [False, False] Translation: X:25.37, Y:2.18, Z:2.49 [[ 9.85578992e-01 -2.65321261e-03 -1.69195186e-01 2.53681448e+01] [ 4.80876809e-03 9.99912400e-01 1.23315602e-02 2.18474030e+00] [ 1.69147646e-01 -1.29673471e-02 9.85505414e-01 2.48786776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.76463044 meters Centerline goodness [0,1] 0.23923527757953245 Centerline is valid? [False, False] Translation: X:25.37, Y:2.19, Z:2.49 [[ 9.85434954e-01 -2.33154175e-03 -1.70036806e-01 2.53712776e+01] [ 4.50989802e-03 9.99912624e-01 1.24259751e-02 2.18521277e+00] [ 1.69992978e-01 -1.30118388e-02 9.85359366e-01 2.48686656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.79463044 meters Centerline goodness [0,1] 0.24098278382683458 Centerline is valid? [False, False] Translation: X:25.37, Y:2.19, Z:2.49 [[ 9.85455857e-01 -2.37520462e-03 -1.69915015e-01 2.53704709e+01] [ 4.52524656e-03 9.99914512e-01 1.22674807e-02 2.18587015e+00] [ 1.69871351e-01 -1.28579680e-02 9.85382361e-01 2.48723900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.82463044 meters Centerline goodness [0,1] 0.23802314264085644 Centerline is valid? [False, False] Translation: X:25.37, Y:2.19, Z:2.49 [[ 9.85381897e-01 -1.94451469e-03 -1.70348867e-01 2.53714839e+01] [ 4.10907681e-03 9.99915231e-01 1.23549988e-02 2.18726528e+00] [ 1.70310403e-01 -1.28743687e-02 9.85306357e-01 2.48730166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.85463044 meters Centerline goodness [0,1] 0.23702519337971562 Centerline is valid? [False, False] Translation: X:25.37, Y:2.19, Z:2.49 [[ 9.85303193e-01 -1.70043462e-03 -1.70806109e-01 2.53725613e+01] [ 3.83623889e-03 9.99918523e-01 1.21749881e-02 2.18957413e+00] [ 1.70771490e-01 -1.26513077e-02 9.85229437e-01 2.48721322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.88463044 meters Centerline goodness [0,1] 0.23083396267126988 Centerline is valid? [False, False] Translation: X:25.37, Y:2.19, Z:2.49 [[ 9.85273200e-01 -1.77643451e-03 -1.70978260e-01 2.53732629e+01] [ 3.87091539e-03 9.99921493e-01 1.19173873e-02 2.19048670e+00] [ 1.70943666e-01 -1.24037247e-02 9.85202726e-01 2.48690536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.91463044 meters Centerline goodness [0,1] 0.23394196990068095 Centerline is valid? [False, False] Translation: X:25.37, Y:2.19, Z:2.49 [[ 9.85343918e-01 -3.81361261e-03 -1.70536858e-01 2.53702079e+01] [ 5.71634160e-03 9.99926760e-01 1.06676595e-02 2.18574059e+00] [ 1.70483685e-01 -1.14861603e-02 9.85293551e-01 2.48883672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.94463044 meters Centerline goodness [0,1] 0.24025704356188937 Centerline is valid? [False, False] Translation: X:25.37, Y:2.19, Z:2.49 [[ 9.85318751e-01 -3.73880742e-03 -1.70683863e-01 2.53701458e+01] [ 5.63852447e-03 9.99927426e-01 1.06466292e-02 2.18648129e+00] [ 1.70631670e-01 -1.14527285e-02 9.85268323e-01 2.48928054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.97463044 meters Centerline goodness [0,1] 0.24025704356188937 Centerline is valid? [False, False] Translation: X:25.37, Y:2.19, Z:2.49 [[ 9.85318751e-01 -3.73880742e-03 -1.70683863e-01 2.53701458e+01] [ 5.63852447e-03 9.99927426e-01 1.06466292e-02 2.18648129e+00] [ 1.70631670e-01 -1.14527285e-02 9.85268323e-01 2.48928054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.00463044 meters Centerline goodness [0,1] 0.2557913599170967 Centerline is valid? [False, False] Translation: X:25.37, Y:2.19, Z:2.49 [[ 9.85306331e-01 -3.46259338e-03 -1.70761366e-01 2.53706433e+01] [ 5.37991693e-03 9.99927566e-01 1.07666254e-02 2.18712799e+00] [ 1.70711716e-01 -1.15271061e-02 9.85253590e-01 2.48902719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.03463044 meters Centerline goodness [0,1] 0.2331384015594542 Centerline is valid? [False, False] Translation: X:25.37, Y:2.19, Z:2.49 [[ 9.85322400e-01 -3.53086082e-03 -1.70667223e-01 2.53705941e+01] [ 5.41327420e-03 9.99929529e-01 1.05656393e-02 2.18793558e+00] [ 1.70617890e-01 -1.13344296e-02 9.85272077e-01 2.48877228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.06463044000003 meters Centerline goodness [0,1] 0.23183872833608266 Centerline is valid? [False, False] Translation: X:25.39, Y:2.19, Z:2.49 [[ 9.85271449e-01 1.32426616e-03 -1.70992448e-01 2.53870087e+01] [ 3.07851380e-04 9.99954654e-01 9.51810037e-03 2.18577290e+00] [ 1.70997299e-01 -9.43055281e-03 9.85226364e-01 2.49366589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.09463044 meters Centerline goodness [0,1] 0.23124364328839453 Centerline is valid? [False, False] Translation: X:25.39, Y:2.19, Z:2.49 [[ 9.85204016e-01 1.49176491e-03 -1.71379177e-01 2.53873148e+01] [ 1.68867640e-04 9.99953183e-01 9.67482853e-03 2.18580607e+00] [ 1.71385586e-01 -9.56062032e-03 9.85157640e-01 2.49428467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.12463044000003 meters Centerline goodness [0,1] 0.23051920280557692 Centerline is valid? [False, False] Translation: X:25.41, Y:2.19, Z:2.50 [[ 9.85258416e-01 -5.36890253e-03 -1.70988385e-01 2.54050762e+01] [ 7.81076146e-03 9.99876854e-01 1.36113169e-02 2.19024787e+00] [ 1.70894250e-01 -1.47462141e-02 9.85179021e-01 2.49566752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.15463044 meters Centerline goodness [0,1] 0.23857328707718994 Centerline is valid? [False, False] Translation: X:25.40, Y:2.19, Z:2.50 [[ 9.85285135e-01 -5.63017778e-03 -1.70825945e-01 2.54045529e+01] [ 8.06017823e-03 9.99875914e-01 1.35347980e-02 2.18943741e+00] [ 1.70728544e-01 -1.47125228e-02 9.85208255e-01 2.49597581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.18463044000003 meters Centerline goodness [0,1] 0.23113207547169812 Centerline is valid? [False, False] Translation: X:25.40, Y:2.19, Z:2.50 [[ 9.85286905e-01 -5.63367120e-03 -1.70815619e-01 2.54049387e+01] [ 8.04208053e-03 9.99877730e-01 1.34108009e-02 2.19011751e+00] [ 1.70719182e-01 -1.45871995e-02 9.85211741e-01 2.49557874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.21463044 meters Centerline goodness [0,1] 0.23122200341909938 Centerline is valid? [False, False] Translation: X:25.40, Y:2.19, Z:2.50 [[ 9.85285356e-01 -5.66880768e-03 -1.70823393e-01 2.54047431e+01] [ 8.04789540e-03 9.99879987e-01 1.32379184e-02 2.19112382e+00] [ 1.70727849e-01 -1.44178959e-02 9.85212731e-01 2.49579324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.24463044000004 meters Centerline goodness [0,1] 0.23925980626384602 Centerline is valid? [False, False] Translation: X:25.40, Y:2.19, Z:2.50 [[ 9.85309959e-01 -5.77272674e-03 -1.70677944e-01 2.54040109e+01] [ 8.13298316e-03 9.99880686e-01 1.31327533e-02 2.19119515e+00] [ 1.70581768e-01 -1.43279534e-02 9.85239347e-01 2.49619167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.27463044 meters Centerline goodness [0,1] 0.23856364579730194 Centerline is valid? [False, False] Translation: X:25.40, Y:2.19, Z:2.50 [[ 9.85354209e-01 -5.95132771e-03 -1.70416150e-01 2.54027018e+01] [ 8.33129045e-03 9.99877455e-01 1.32538712e-02 2.18951609e+00] [ 1.70316388e-01 -1.44795443e-02 9.85283041e-01 2.49708523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.30463044 meters Centerline goodness [0,1] 0.2416693908684755 Centerline is valid? [False, False] Translation: X:25.40, Y:2.19, Z:2.50 [[ 9.85346415e-01 -6.03082860e-03 -1.70458414e-01 2.54029994e+01] [ 8.43000972e-03 9.99875287e-01 1.33545968e-02 2.18853996e+00] [ 1.70356616e-01 -1.45958702e-02 9.85274370e-01 2.49708448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.33463044 meters Centerline goodness [0,1] 0.24134859774509587 Centerline is valid? [False, False] Translation: X:25.41, Y:2.19, Z:2.50 [[ 9.85122216e-01 -8.73520456e-03 -1.71633086e-01 2.54076867e+01] [ 1.07657557e-02 9.99882599e-01 1.09035275e-02 2.19068803e+00] [ 1.71517691e-01 -1.25890670e-02 9.85100602e-01 2.49578081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.36463044 meters Centerline goodness [0,1] 0.24097977216615407 Centerline is valid? [False, False] Translation: X:25.41, Y:2.19, Z:2.50 [[ 9.85207266e-01 -9.66130620e-03 -1.71094424e-01 2.54066922e+01] [ 1.16523037e-02 9.99875538e-01 1.06364108e-02 2.18650152e+00] [ 1.70970368e-01 -1.24727134e-02 9.85197221e-01 2.49593958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.39463044 meters Centerline goodness [0,1] 0.2403031943692474 Centerline is valid? [False, False] Translation: X:25.41, Y:2.18, Z:2.50 [[ 9.85211024e-01 -9.89603850e-03 -1.71059367e-01 2.54067588e+01] [ 1.19256659e-02 9.99870111e-01 1.08415247e-02 2.18455715e+00] [ 1.70929860e-01 -1.27211865e-02 9.85201073e-01 2.49604770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.42463044 meters Centerline goodness [0,1] 0.24222710558952154 Centerline is valid? [False, False] Translation: X:25.41, Y:2.18, Z:2.50 [[ 9.85106540e-01 -9.62438666e-03 -1.71675499e-01 2.54082897e+01] [ 1.17124520e-02 9.99869194e-01 1.11540979e-02 2.18451188e+00] [ 1.71545691e-01 -1.29987158e-02 9.85090407e-01 2.49623973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.45463044 meters Centerline goodness [0,1] 0.24096437692074624 Centerline is valid? [False, False] Translation: X:25.41, Y:2.19, Z:2.50 [[ 9.84984484e-01 -9.33479682e-03 -1.72390334e-01 2.54106109e+01] [ 1.14385986e-02 9.99871690e-01 1.12143359e-02 2.18607511e+00] [ 1.72263531e-01 -1.30178507e-02 9.84964878e-01 2.49586590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.48463044 meters Centerline goodness [0,1] 0.2412222680054651 Centerline is valid? [False, False] Translation: X:25.41, Y:2.19, Z:2.50 [[ 9.85026553e-01 -9.56019874e-03 -1.72137425e-01 2.54097875e+01] [ 1.16098409e-02 9.99873147e-01 1.09041689e-02 2.18665927e+00] [ 1.72011343e-01 -1.27393841e-02 9.85012592e-01 2.49607726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.51463044 meters Centerline goodness [0,1] 0.2412487560036346 Centerline is valid? [False, False] Translation: X:25.41, Y:2.19, Z:2.50 [[ 9.85057780e-01 -9.68995961e-03 -1.71951371e-01 2.54088287e+01] [ 1.16855582e-02 9.99875566e-01 1.05971597e-02 2.18795269e+00] [ 1.71827288e-01 -1.24481624e-02 9.85048439e-01 2.49654335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.54463044 meters Centerline goodness [0,1] 0.24177823995840375 Centerline is valid? [False, False] Translation: X:25.41, Y:2.19, Z:2.50 [[ 9.85067323e-01 -9.67799176e-03 -1.71897370e-01 2.54084391e+01] [ 1.16288617e-02 9.99878861e-01 1.03456633e-02 2.18993338e+00] [ 1.71776421e-01 -1.21901456e-02 9.85060537e-01 2.49673116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.57463044 meters Centerline goodness [0,1] 0.24219376367851952 Centerline is valid? [False, False] Translation: X:25.40, Y:2.19, Z:2.50 [[ 9.85242837e-01 -1.01952688e-02 -1.70858446e-01 2.54048578e+01] [ 1.20394295e-02 9.99879882e-01 9.76081432e-03 2.19155351e+00] [ 1.70738409e-01 -1.16738106e-02 9.85247237e-01 2.49778141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.60463044 meters Centerline goodness [0,1] 0.24384273800498213 Centerline is valid? [False, False] Translation: X:25.40, Y:2.19, Z:2.50 [[ 9.85257365e-01 -1.02791120e-02 -1.70769622e-01 2.54044497e+01] [ 1.21490195e-02 9.99877104e-01 9.90844938e-03 2.19002860e+00] [ 1.70646786e-01 -1.18370562e-02 9.85261163e-01 2.49821123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.63463044 meters Centerline goodness [0,1] 0.2435365880131113 Centerline is valid? [False, False] Translation: X:25.41, Y:2.19, Z:2.50 [[ 9.85222002e-01 -1.03885695e-02 -1.70966910e-01 2.54050979e+01] [ 1.23391125e-02 9.99870301e-01 1.03502075e-02 2.18692845e+00] [ 1.70837212e-01 -1.23068321e-02 9.85222406e-01 2.49837134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.66463044 meters Centerline goodness [0,1] 0.24327910214024706 Centerline is valid? [False, False] Translation: X:25.41, Y:2.18, Z:2.50 [[ 9.85087479e-01 -1.01190344e-02 -1.71756410e-01 2.54079973e+01] [ 1.22076179e-02 9.99863781e-01 1.11082640e-02 2.18354838e+00] [ 1.71620609e-01 -1.30393484e-02 9.85076820e-01 2.49782138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.69463044 meters Centerline goodness [0,1] 0.24349608565758774 Centerline is valid? [False, False] Translation: X:25.41, Y:2.18, Z:2.50 [[ 9.84894535e-01 -9.59774796e-03 -1.72889091e-01 2.54124628e+01] [ 1.18068469e-02 9.99861215e-01 1.17536803e-02 2.18186509e+00] [ 1.72752288e-01 -1.36174105e-02 9.84871166e-01 2.49648858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.72463044 meters Centerline goodness [0,1] 0.24387761730506896 Centerline is valid? [False, False] Translation: X:25.42, Y:2.18, Z:2.49 [[ 9.84839552e-01 -9.52337019e-03 -1.73206129e-01 2.54154016e+01] [ 1.17704722e-02 9.99859304e-01 1.19510567e-02 2.17978870e+00] [ 1.73067945e-01 -1.38085913e-02 9.84813083e-01 2.49468834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.75463044 meters Centerline goodness [0,1] 0.242885032537961 Centerline is valid? [False, False] Translation: X:25.41, Y:2.18, Z:2.50 [[ 9.84917787e-01 -9.47833367e-03 -1.72763171e-01 2.54137967e+01] [ 1.17254024e-02 9.99859359e-01 1.19907312e-02 2.17953410e+00] [ 1.72625222e-01 -1.38356022e-02 9.84890405e-01 2.49524422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.78463044 meters Centerline goodness [0,1] 0.24539031912334042 Centerline is valid? [False, False] Translation: X:25.41, Y:2.18, Z:2.50 [[ 9.84922173e-01 -8.98896345e-03 -1.72764326e-01 2.54125614e+01] [ 1.12478092e-02 9.99863527e-01 1.21001829e-02 2.18152644e+00] [ 1.72631980e-01 -1.38609586e-02 9.84888863e-01 2.49630436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.81463044000003 meters Centerline goodness [0,1] 0.24047124047124047 Centerline is valid? [False, False] Translation: X:25.41, Y:2.19, Z:2.50 [[ 9.84890525e-01 -6.58716168e-03 -1.73052778e-01 2.54144170e+01] [ 9.09508017e-03 9.99864741e-01 1.37032621e-02 2.18533498e+00] [ 1.72939105e-01 -1.50701419e-02 9.84817220e-01 2.49538339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.84463044 meters Centerline goodness [0,1] 0.24159220852627228 Centerline is valid? [False, False] Translation: X:25.41, Y:2.19, Z:2.50 [[ 9.84882608e-01 -6.79499676e-03 -1.73089795e-01 2.54146609e+01] [ 9.13779411e-03 9.99877065e-01 1.27419013e-02 2.18937937e+00] [ 1.72981935e-01 -1.41309359e-02 9.84823622e-01 2.49503040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.87463044000003 meters Centerline goodness [0,1] 0.24264100229765462 Centerline is valid? [False, False] Translation: X:25.41, Y:2.19, Z:2.50 [[ 9.85066909e-01 -8.37962400e-03 -1.71967924e-01 2.54099504e+01] [ 1.05483090e-02 9.99875902e-01 1.17010545e-02 2.18645646e+00] [ 1.71848532e-01 -1.33402924e-02 9.85033055e-01 2.49680627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.90463044 meters Centerline goodness [0,1] 0.24484211440733183 Centerline is valid? [False, False] Translation: X:25.41, Y:2.18, Z:2.50 [[ 9.85091668e-01 -8.44986650e-03 -1.71822597e-01 2.54091343e+01] [ 1.06729757e-02 9.99870811e-01 1.20187021e-02 2.18436422e+00] [ 1.71698843e-01 -1.36733818e-02 9.85054590e-01 2.49745382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.93463044000003 meters Centerline goodness [0,1] 0.2413800576468803 Centerline is valid? [False, False] Translation: X:25.41, Y:2.19, Z:2.50 [[ 9.85030883e-01 -3.65970007e-03 -1.72339105e-01 2.54115062e+01] [ 6.53060651e-03 9.99849149e-01 1.60944383e-02 2.18557211e+00] [ 1.72254207e-01 -1.69789977e-02 9.84906189e-01 2.49651026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.96463044 meters Centerline goodness [0,1] 0.24151090680428466 Centerline is valid? [False, False] Translation: X:25.41, Y:2.19, Z:2.50 [[ 9.85085880e-01 -4.01053829e-03 -1.72016643e-01 2.54110176e+01] [ 6.79559142e-03 9.99855145e-01 1.56047912e-02 2.18663892e+00] [ 1.71929142e-01 -1.65410143e-02 9.84970439e-01 2.49618346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.99463044000004 meters Centerline goodness [0,1] 0.2463610452340027 Centerline is valid? [False, False] Translation: X:25.41, Y:2.19, Z:2.50 [[ 9.85226046e-01 -5.50545247e-03 -1.71170466e-01 2.54068697e+01] [ 8.08395391e-03 9.99864059e-01 1.43705743e-02 2.18560506e+00] [ 1.71068081e-01 -1.55419982e-02 9.85136619e-01 2.49794148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.02463044 meters Centerline goodness [0,1] 0.24310143801010498 Centerline is valid? [False, False] Translation: X:25.42, Y:2.18, Z:2.50 [[ 9.85156580e-01 -7.77838061e-04 -1.71656366e-01 2.54216915e+01] [ 3.12685698e-03 9.99905133e-01 1.34144717e-02 2.18347447e+00] [ 1.71629647e-01 -1.37521000e-02 9.85065553e-01 2.50397891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.05463044 meters Centerline goodness [0,1] 0.24368585934968134 Centerline is valid? [False, False] Translation: X:25.42, Y:2.18, Z:2.50 [[ 9.85013680e-01 4.00133306e-03 -1.72429809e-01 2.54235363e+01] [-1.00316324e-03 9.99846860e-01 1.74714035e-02 2.18452372e+00] [ 1.72473312e-01 -1.70365963e-02 9.84866849e-01 2.50421012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.08463044 meters Centerline goodness [0,1] 0.24115450208319844 Centerline is valid? [False, False] Translation: X:25.43, Y:2.19, Z:2.50 [[ 9.84966680e-01 3.84953987e-03 -1.72701537e-01 2.54250453e+01] [-9.07834279e-04 9.99853214e-01 1.71092183e-02 2.18586825e+00] [ 1.72742049e-01 -1.66952256e-02 9.84825596e-01 2.50342879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.11463044 meters Centerline goodness [0,1] 0.2416516977947064 Centerline is valid? [False, False] Translation: X:25.42, Y:2.19, Z:2.50 [[ 9.85040437e-01 -7.63781857e-04 -1.72321657e-01 2.54235721e+01] [ 3.05895948e-03 9.99910114e-01 1.30539923e-02 2.18613806e+00] [ 1.72296197e-01 -1.33858352e-02 9.84954232e-01 2.50380818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.14463044 meters Centerline goodness [0,1] 0.24223508574884445 Centerline is valid? [False, False] Translation: X:25.42, Y:2.18, Z:2.50 [[ 9.85048120e-01 -1.11219524e-03 -1.72275836e-01 2.54235052e+01] [ 3.37926744e-03 9.99911509e-01 1.28668319e-02 2.18495743e+00] [ 1.72246281e-01 -1.32566147e-02 9.84964711e-01 2.50387030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.17463044 meters Centerline goodness [0,1] 0.244177686760637 Centerline is valid? [False, False] Translation: X:25.42, Y:2.19, Z:2.50 [[ 9.84985694e-01 -9.34815782e-04 -1.72633450e-01 2.54241637e+01] [ 3.22002546e-03 9.99910860e-01 1.29577817e-02 2.18555424e+00] [ 1.72605948e-01 -1.33191137e-02 9.84900903e-01 2.50408572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.20463044 meters Centerline goodness [0,1] 0.24244977316915095 Centerline is valid? [False, False] Translation: X:25.44, Y:2.19, Z:2.51 [[ 9.85114344e-01 -8.34313741e-03 -1.71697762e-01 2.54405175e+01] [ 1.13720048e-02 9.99796462e-01 1.66646657e-02 2.18738137e+00] [ 1.71523780e-01 -1.83691490e-02 9.85008714e-01 2.50642222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.23463044 meters Centerline goodness [0,1] 0.24427199618494355 Centerline is valid? [False, False] Translation: X:25.44, Y:2.19, Z:2.51 [[ 9.85028045e-01 -8.26049426e-03 -1.72196155e-01 2.54415128e+01] [ 1.13657947e-02 9.99789945e-01 1.70553602e-02 2.18521662e+00] [ 1.72019098e-01 -1.87571543e-02 9.84915021e-01 2.50697208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.26463044 meters Centerline goodness [0,1] 0.24322220780905435 Centerline is valid? [False, False] Translation: X:25.44, Y:2.19, Z:2.51 [[ 9.84924918e-01 -7.85236019e-03 -1.72804069e-01 2.54440755e+01] [ 1.09958986e-02 9.99790887e-01 1.72415867e-02 2.18558157e+00] [ 1.72632546e-01 -1.88818044e-02 9.84805301e-01 2.50600459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.29463044 meters Centerline goodness [0,1] 0.24439657048352703 Centerline is valid? [False, False] Translation: X:25.45, Y:2.19, Z:2.51 [[ 9.84894571e-01 -7.75608079e-03 -1.72981293e-01 2.54450085e+01] [ 1.08820087e-02 9.99794053e-01 1.71298747e-02 2.18644108e+00] [ 1.72812807e-01 -1.87535045e-02 9.84776137e-01 2.50543351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.32463044 meters Centerline goodness [0,1] 0.2418187709255859 Centerline is valid? [False, False] Translation: X:25.44, Y:2.19, Z:2.51 [[ 9.85035830e-01 -7.83609619e-03 -1.72171452e-01 2.54426556e+01] [ 1.09151693e-02 9.99796854e-01 1.69443220e-02 2.18640379e+00] [ 1.72003699e-01 -1.85700449e-02 9.84921256e-01 2.50583149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.35463044 meters Centerline goodness [0,1] 0.24135396852844548 Centerline is valid? [False, False] Translation: X:25.44, Y:2.18, Z:2.51 [[ 9.85140094e-01 -8.21729404e-03 -1.71556028e-01 2.54400052e+01] [ 1.12910716e-02 9.99792601e-01 1.69489674e-02 2.18447732e+00] [ 1.71381172e-01 -1.86341588e-02 9.85028559e-01 2.50703181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.38463044 meters Centerline goodness [0,1] 0.24304545158418212 Centerline is valid? [False, False] Translation: X:25.44, Y:2.18, Z:2.51 [[ 9.85051336e-01 -8.01737079e-03 -1.72074368e-01 2.54408539e+01] [ 1.11322094e-02 9.99791051e-01 1.71443444e-02 2.18429587e+00] [ 1.71900960e-01 -1.88036272e-02 9.84934761e-01 2.50749887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.41463044 meters Centerline goodness [0,1] 0.2437051532941944 Centerline is valid? [False, False] Translation: X:25.44, Y:2.19, Z:2.51 [[ 9.84921519e-01 -7.64735749e-03 -1.72832634e-01 2.54431215e+01] [ 1.07946040e-02 9.99792466e-01 1.72772196e-02 2.18521070e+00] [ 1.72664640e-01 -1.88823652e-02 9.84799664e-01 2.50708726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.44463044 meters Centerline goodness [0,1] 0.24323326237129084 Centerline is valid? [False, False] Translation: X:25.44, Y:2.19, Z:2.51 [[ 9.84897369e-01 -7.48671705e-03 -1.72977228e-01 2.54438957e+01] [ 1.06182779e-02 9.99795932e-01 1.71856420e-02 2.18623801e+00] [ 1.72813265e-01 -1.87628138e-02 9.84775879e-01 2.50663002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.47463044 meters Centerline goodness [0,1] 0.2421116373623997 Centerline is valid? [False, False] Translation: X:25.44, Y:2.19, Z:2.51 [[ 9.85138720e-01 -7.24658597e-03 -1.71607662e-01 2.54394544e+01] [ 1.03070870e-02 9.99803211e-01 1.69500038e-02 2.18828008e+00] [ 1.71451062e-01 -1.84668801e-02 9.85019547e-01 2.50760040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.50463044 meters Centerline goodness [0,1] 0.24178419011719854 Centerline is valid? [False, False] Translation: X:25.44, Y:2.19, Z:2.51 [[ 9.85232630e-01 -7.19377903e-03 -1.71069911e-01 2.54365346e+01] [ 1.02106507e-02 9.99807371e-01 1.67619946e-02 2.19004056e+00] [ 1.70916376e-01 -1.82611992e-02 9.85116298e-01 2.50897100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.53463044 meters Centerline goodness [0,1] 0.2428453911763433 Centerline is valid? [False, False] Translation: X:25.43, Y:2.19, Z:2.51 [[ 9.85340642e-01 -7.28766399e-03 -1.70442685e-01 2.54332973e+01] [ 1.02963328e-02 9.99806277e-01 1.67748060e-02 2.18973991e+00] [ 1.70287417e-01 -1.82838327e-02 9.85224795e-01 2.51062565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.56463044000003 meters Centerline goodness [0,1] 0.24216807558428644 Centerline is valid? [False, False] Translation: X:25.43, Y:2.19, Z:2.51 [[ 9.85319115e-01 -7.34061352e-03 -1.70564817e-01 2.54330872e+01] [ 1.03577282e-02 9.99805122e-01 1.68058377e-02 2.18928177e+00] [ 1.70408212e-01 -1.83257771e-02 9.85203130e-01 2.51123006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.59463044 meters Centerline goodness [0,1] 0.24222649581883793 Centerline is valid? [False, False] Translation: X:25.44, Y:2.19, Z:2.51 [[ 9.85219652e-01 -7.48182461e-03 -1.71132289e-01 2.54351390e+01] [ 1.05199376e-02 9.99802633e-01 1.68530517e-02 2.18832369e+00] [ 1.70972422e-01 -1.84042588e-02 9.85103910e-01 2.51084221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.62463044000003 meters Centerline goodness [0,1] 0.2454963295358007 Centerline is valid? [False, False] Translation: X:25.44, Y:2.19, Z:2.51 [[ 9.85189568e-01 -7.51085890e-03 -1.71304119e-01 2.54355229e+01] [ 1.05656809e-02 9.99800885e-01 1.69279947e-02 2.18776524e+00] [ 1.71142866e-01 -1.84872284e-02 9.85072760e-01 2.51099322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.65463044 meters Centerline goodness [0,1] 0.244766050054407 Centerline is valid? [False, False] Translation: X:25.44, Y:2.19, Z:2.51 [[ 9.85175720e-01 -7.46727795e-03 -1.71385650e-01 2.54354143e+01] [ 1.05350236e-02 9.99800035e-01 1.69971328e-02 2.18758567e+00] [ 1.71224457e-01 -1.85507144e-02 9.85057387e-01 2.51138202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.68463044000003 meters Centerline goodness [0,1] 0.24196621914248595 Centerline is valid? [False, False] Translation: X:25.43, Y:2.19, Z:2.51 [[ 9.85199648e-01 -7.38145969e-03 -1.71251769e-01 2.54347250e+01] [ 1.04741990e-02 9.99797839e-01 1.71630909e-02 2.18676512e+00] [ 1.71090460e-01 -1.87027962e-02 9.85077794e-01 2.51193119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.71463044 meters Centerline goodness [0,1] 0.24135704137426273 Centerline is valid? [False, False] Translation: X:25.43, Y:2.19, Z:2.51 [[ 9.85230474e-01 -7.35530472e-03 -1.71075458e-01 2.54342457e+01] [ 1.04441866e-02 9.99798161e-01 1.71626652e-02 2.18655151e+00] [ 1.70914692e-01 -1.86959248e-02 9.85108436e-01 2.51207266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.74463044000004 meters Centerline goodness [0,1] 0.24529200398285644 Centerline is valid? [False, False] Translation: X:25.43, Y:2.19, Z:2.51 [[ 9.85242282e-01 -7.57576260e-03 -1.70997819e-01 2.54337631e+01] [ 1.06119916e-02 9.99801731e-01 1.68488833e-02 2.18708859e+00] [ 1.70836272e-01 -1.84148596e-02 9.85127332e-01 2.51231602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.77463044 meters Centerline goodness [0,1] 0.24187873686028194 Centerline is valid? [False, False] Translation: X:25.43, Y:2.19, Z:2.51 [[ 9.85295737e-01 -7.69715895e-03 -1.70684107e-01 2.54329125e+01] [ 1.06990474e-02 9.99803726e-01 1.66745320e-02 2.18709668e+00] [ 1.70522260e-01 -1.82555027e-02 9.85184701e-01 2.51236292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.80463044 meters Centerline goodness [0,1] 0.2431748366720028 Centerline is valid? [False, False] Translation: X:25.43, Y:2.19, Z:2.51 [[ 9.85299757e-01 -7.72178122e-03 -1.70659784e-01 2.54325514e+01] [ 1.07491063e-02 9.99800718e-01 1.68220619e-02 2.18605393e+00] [ 1.70495879e-01 -1.84092137e-02 9.85186407e-01 2.51280883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.83463044 meters Centerline goodness [0,1] 0.24088679530672663 Centerline is valid? [False, False] Translation: X:25.43, Y:2.19, Z:2.51 [[ 9.85207473e-01 -7.46702832e-03 -1.71203034e-01 2.54338469e+01] [ 1.05189282e-02 9.99801412e-01 1.69259921e-02 2.18688263e+00] [ 1.71042649e-01 -1.84764863e-02 9.85090367e-01 2.51288710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.86463044 meters Centerline goodness [0,1] 0.24088679530672663 Centerline is valid? [False, False] Translation: X:25.43, Y:2.19, Z:2.51 [[ 9.85207473e-01 -7.46702832e-03 -1.71203034e-01 2.54338469e+01] [ 1.05189282e-02 9.99801412e-01 1.69259921e-02 2.18688263e+00] [ 1.71042649e-01 -1.84764863e-02 9.85090367e-01 2.51288710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.89463044 meters Centerline goodness [0,1] 0.24465470364328434 Centerline is valid? [False, False] Translation: X:25.43, Y:2.19, Z:2.51 [[ 9.85164415e-01 -7.51738725e-03 -1.71448429e-01 2.54348375e+01] [ 1.05595641e-02 9.99802454e-01 1.68389097e-02 2.18701113e+00] [ 1.71287976e-01 -1.83995153e-02 9.85049180e-01 2.51256100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.92463044 meters Centerline goodness [0,1] 0.24526053515328783 Centerline is valid? [False, False] Translation: X:25.44, Y:2.18, Z:2.51 [[ 9.85069210e-01 -7.76164869e-03 -1.71983742e-01 2.54369028e+01] [ 1.08382874e-02 9.99797470e-01 1.69573383e-02 2.18426899e+00] [ 1.71817293e-01 -1.85681610e-02 9.84953827e-01 2.51221694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.95463044 meters Centerline goodness [0,1] 0.2413122826720805 Centerline is valid? [False, False] Translation: X:25.44, Y:2.19, Z:2.51 [[ 9.84994446e-01 -7.29628413e-03 -1.72431744e-01 2.54379385e+01] [ 1.04210545e-02 9.99797356e-01 1.72234828e-02 2.18516295e+00] [ 1.72271134e-01 -1.87619555e-02 9.84870877e-01 2.51230113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.98463044 meters Centerline goodness [0,1] 0.24247353808780148 Centerline is valid? [False, False] Translation: X:25.44, Y:2.19, Z:2.51 [[ 9.84972218e-01 -6.91651929e-03 -1.72574306e-01 2.54378787e+01] [ 1.00462657e-02 9.99800410e-01 1.72688153e-02 2.18718945e+00] [ 1.72420422e-01 -1.87430307e-02 9.84845113e-01 2.51254228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.01463044 meters Centerline goodness [0,1] 0.240735544860035 Centerline is valid? [False, False] Translation: X:25.44, Y:2.19, Z:2.51 [[ 9.84998755e-01 -6.70361837e-03 -1.72431188e-01 2.54371167e+01] [ 9.79240516e-03 9.99806364e-01 1.70687601e-02 2.18957955e+00] [ 1.72283377e-01 -1.85012235e-02 9.84873668e-01 2.51285194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.04463044 meters Centerline goodness [0,1] 0.24757037716482122 Centerline is valid? [False, False] Translation: X:25.43, Y:2.19, Z:2.51 [[ 9.85298131e-01 -8.44820431e-03 -1.70634762e-01 2.54303175e+01] [ 1.12387044e-02 9.99818337e-01 1.53943127e-02 2.18989773e+00] [ 1.70473709e-01 -1.70857012e-02 9.85214085e-01 2.51495733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.07463044 meters Centerline goodness [0,1] 0.18261507902236807 Centerline is valid? [False, False] Translation: X:25.43, Y:2.19, Z:2.51 [[ 9.85241009e-01 -8.07536250e-03 -1.70982288e-01 2.54311510e+01] [ 1.09118129e-02 9.99817897e-01 1.56558531e-02 2.19023325e+00] [ 1.70824725e-01 -1.72905152e-02 9.85149710e-01 2.51498868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.10463044 meters Centerline goodness [0,1] 0.24036598493003225 Centerline is valid? [False, False] Translation: X:25.43, Y:2.19, Z:2.51 [[ 9.85209675e-01 -7.97197165e-03 -1.71167593e-01 2.54320057e+01] [ 1.08474494e-02 9.99815213e-01 1.58704903e-02 2.18933027e+00] [ 1.71009444e-01 -1.74924924e-02 9.85114096e-01 2.51479380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.13463044 meters Centerline goodness [0,1] 0.24137931034482762 Centerline is valid? [False, False] Translation: X:25.43, Y:2.19, Z:2.52 [[ 9.85237422e-01 -9.74264139e-03 -1.70916071e-01 2.54300312e+01] [ 1.24551306e-02 9.99812821e-01 1.48051791e-02 2.18546171e+00] [ 1.70739837e-01 -1.67153985e-02 9.85174352e-01 2.51617016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.16463044 meters Centerline goodness [0,1] 0.24376773630211745 Centerline is valid? [False, False] Translation: X:25.43, Y:2.18, Z:2.52 [[ 9.85151371e-01 -9.75695571e-03 -1.71410555e-01 2.54319965e+01] [ 1.25276419e-02 9.99807660e-01 1.50897622e-02 2.18339800e+00] [ 1.71230356e-01 -1.70130700e-02 9.85084119e-01 2.51571174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.19463044 meters Centerline goodness [0,1] 0.23992305863537144 Centerline is valid? [False, False] Translation: X:25.44, Y:2.18, Z:2.51 [[ 9.84980560e-01 -8.63013103e-03 -1.72449461e-01 2.54369894e+01] [ 1.16239489e-02 9.99798626e-01 1.63582453e-02 2.18101467e+00] [ 1.72273560e-01 -1.81170973e-02 9.84882527e-01 2.51387997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.22463044 meters Centerline goodness [0,1] 0.24021440767717817 Centerline is valid? [False, False] Translation: X:25.44, Y:2.18, Z:2.51 [[ 9.85023458e-01 -8.60597313e-03 -1.72205474e-01 2.54367359e+01] [ 1.16399504e-02 9.99794183e-01 1.66163264e-02 2.17927545e+00] [ 1.72027031e-01 -1.83719344e-02 9.84920897e-01 2.51371595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.25463044 meters Centerline goodness [0,1] 0.24141357411327602 Centerline is valid? [False, False] Translation: X:25.43, Y:2.18, Z:2.51 [[ 9.85136497e-01 -8.87839260e-03 -1.71543744e-01 2.54347858e+01] [ 1.19264604e-02 9.99788643e-01 1.67460219e-02 2.17682896e+00] [ 1.71358809e-01 -1.85430270e-02 9.85034169e-01 2.51425891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.28463044 meters Centerline goodness [0,1] 0.24369802494802495 Centerline is valid? [False, False] Translation: X:25.43, Y:2.17, Z:2.52 [[ 9.85321998e-01 -1.01666475e-02 -1.70403048e-01 2.54298892e+01] [ 1.30926999e-02 9.99785364e-01 1.60564020e-02 2.17360724e+00] [ 1.70203234e-01 -1.80517621e-02 9.85243621e-01 2.51611908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.31463044000003 meters Centerline goodness [0,1] 0.2438929059996091 Centerline is valid? [False, False] Translation: X:25.43, Y:2.17, Z:2.52 [[ 9.85343241e-01 -1.02087093e-02 -1.70277657e-01 2.54298074e+01] [ 1.31179921e-02 9.99786429e-01 1.59691872e-02 2.17376947e+00] [ 1.70078266e-01 -1.79688317e-02 9.85266717e-01 2.51586254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.34463044 meters Centerline goodness [0,1] 0.24273478457854203 Centerline is valid? [False, False] Translation: X:25.43, Y:2.17, Z:2.52 [[ 9.85325850e-01 -1.00384504e-02 -1.70388376e-01 2.54306375e+01] [ 1.29468112e-02 9.99788704e-01 1.59664554e-02 2.17452770e+00] [ 1.70192095e-01 -1.79381474e-02 9.85247620e-01 2.51531269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.37463044000003 meters Centerline goodness [0,1] 0.24027474782383307 Centerline is valid? [False, False] Translation: X:25.43, Y:2.18, Z:2.51 [[ 9.85338319e-01 -1.00384324e-02 -1.70316253e-01 2.54308324e+01] [ 1.29032492e-02 9.99793141e-01 1.57219877e-02 2.17603050e+00] [ 1.70123198e-01 -1.76891101e-02 9.85264022e-01 2.51481599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.40463044 meters Centerline goodness [0,1] 0.245321204735376 Centerline is valid? [False, False] Translation: X:25.43, Y:2.18, Z:2.51 [[ 9.85399044e-01 -1.01239138e-02 -1.69959495e-01 2.54297242e+01] [ 1.28865213e-02 9.99802048e-01 1.51592353e-02 2.17876496e+00] [ 1.69772381e-01 -1.71280827e-02 9.85334444e-01 2.51477570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.43463044000003 meters Centerline goodness [0,1] 0.2446704478779581 Centerline is valid? [False, False] Translation: X:25.43, Y:2.18, Z:2.52 [[ 9.85440289e-01 -9.95346370e-03 -1.69730272e-01 2.54288061e+01] [ 1.26921274e-02 9.99806064e-01 1.50580112e-02 2.18033205e+00] [ 1.69547475e-01 -1.69930092e-02 9.85375508e-01 2.51501446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.46463044 meters Centerline goodness [0,1] 0.24101819127946056 Centerline is valid? [False, False] Translation: X:25.43, Y:2.18, Z:2.52 [[ 9.85447140e-01 -9.68799797e-03 -1.69705855e-01 2.54284358e+01] [ 1.24217380e-02 9.99809515e-01 1.50543635e-02 2.18195867e+00] [ 1.69527682e-01 -1.69433212e-02 9.85379769e-01 2.51518775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.49463044000004 meters Centerline goodness [0,1] 0.24130910351101387 Centerline is valid? [False, False] Translation: X:25.43, Y:2.18, Z:2.52 [[ 9.85482394e-01 -9.60131255e-03 -1.69505944e-01 2.54279655e+01] [ 1.23239625e-02 9.99811280e-01 1.50174529e-02 2.18287121e+00] [ 1.69329768e-01 -1.68884203e-02 9.85414741e-01 2.51510180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.52463044 meters Centerline goodness [0,1] 0.24383722446850142 Centerline is valid? [False, False] Translation: X:25.43, Y:2.18, Z:2.52 [[ 9.85594693e-01 -1.00465350e-02 -1.68825852e-01 2.54261901e+01] [ 1.27479450e-02 9.99807350e-01 1.49248909e-02 2.18147844e+00] [ 1.68643384e-01 -1.68620759e-02 9.85532891e-01 2.51538903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.55463044 meters Centerline goodness [0,1] 0.2435836399047825 Centerline is valid? [False, False] Translation: X:25.43, Y:2.18, Z:2.52 [[ 9.85683471e-01 -1.04441029e-02 -1.68282548e-01 2.54253921e+01] [ 1.31702474e-02 9.99799371e-01 1.50918062e-02 2.17817707e+00] [ 1.68091165e-01 -1.70920667e-02 9.85623266e-01 2.51525132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.58463044 meters Centerline goodness [0,1] 0.24348051723392294 Centerline is valid? [False, False] Translation: X:25.43, Y:2.17, Z:2.51 [[ 9.85477340e-01 -1.01666376e-02 -1.69502365e-01 2.54308852e+01] [ 1.30460929e-02 9.99788749e-01 1.58826047e-02 2.17402036e+00] [ 1.69305085e-01 -1.78632906e-02 9.85401792e-01 2.51339267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.61463044 meters Centerline goodness [0,1] 0.24401499230885892 Centerline is valid? [False, False] Translation: X:25.43, Y:2.17, Z:2.51 [[ 9.85392085e-01 -1.00431154e-02 -1.70004634e-01 2.54335436e+01] [ 1.29611859e-02 9.99786963e-01 1.60635278e-02 2.17291033e+00] [ 1.69807089e-01 -1.80323348e-02 9.85312330e-01 2.51220128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.64463044 meters Centerline goodness [0,1] 0.2416810717372515 Centerline is valid? [False, False] Translation: X:25.43, Y:2.17, Z:2.51 [[ 9.85375224e-01 -9.99421855e-03 -1.70105213e-01 2.54347229e+01] [ 1.29316626e-02 9.99785642e-01 1.61691912e-02 2.17193187e+00] [ 1.69907151e-01 -1.81324637e-02 9.85293243e-01 2.51144046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.67463044 meters Centerline goodness [0,1] 0.24433249370277077 Centerline is valid? [False, False] Translation: X:25.43, Y:2.17, Z:2.51 [[ 9.85413214e-01 -1.00473389e-02 -1.69881867e-01 2.54341779e+01] [ 1.29727813e-02 9.99785916e-01 1.61192143e-02 2.17163170e+00] [ 1.69683543e-01 -1.80879271e-02 9.85332595e-01 2.51139704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.70463044 meters Centerline goodness [0,1] 0.24328076530944276 Centerline is valid? [False, False] Translation: X:25.43, Y:2.17, Z:2.51 [[ 9.85514116e-01 -9.21657331e-03 -1.69342797e-01 2.54326315e+01] [ 1.21927324e-02 9.99788807e-01 1.65432665e-02 2.17296353e+00] [ 1.69154561e-01 -1.83683740e-02 9.85418357e-01 2.51146022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.73463044 meters Centerline goodness [0,1] 0.24020464995790425 Centerline is valid? [False, False] Translation: X:25.43, Y:2.17, Z:2.51 [[ 9.85486082e-01 -8.73669462e-03 -1.69531274e-01 2.54334014e+01] [ 1.17412178e-02 9.99791135e-01 1.67281045e-02 2.17408639e+00] [ 1.69349717e-01 -1.84758178e-02 9.85382828e-01 2.51111881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.76463044 meters Centerline goodness [0,1] 0.24217087260565517 Centerline is valid? [False, False] Translation: X:25.43, Y:2.18, Z:2.51 [[ 9.85473562e-01 -8.63593174e-03 -1.69609194e-01 2.54339602e+01] [ 1.16112947e-02 9.99795478e-01 1.65584093e-02 2.17552842e+00] [ 1.69431508e-01 -1.82872569e-02 9.85372285e-01 2.51062317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.79463044 meters Centerline goodness [0,1] 0.2428661328472539 Centerline is valid? [False, False] Translation: X:25.43, Y:2.18, Z:2.51 [[ 9.85490771e-01 -8.69053514e-03 -1.69506388e-01 2.54343124e+01] [ 1.16118494e-02 9.99800523e-01 1.62505311e-02 2.17686882e+00] [ 1.69331349e-01 -1.79830311e-02 9.85395101e-01 2.50993338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.82463044 meters Centerline goodness [0,1] 0.24256178604004686 Centerline is valid? [False, False] Translation: X:25.43, Y:2.18, Z:2.51 [[ 9.85500332e-01 -8.78490778e-03 -1.69445923e-01 2.54342968e+01] [ 1.17070694e-02 9.99799356e-01 1.62540097e-02 2.17617075e+00] [ 1.69269134e-01 -1.80020472e-02 9.85405443e-01 2.50990488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.85463044 meters Centerline goodness [0,1] 0.24279504455553136 Centerline is valid? [False, False] Translation: X:25.44, Y:2.18, Z:2.51 [[ 9.85448943e-01 -8.76404052e-03 -1.69745613e-01 2.54352068e+01] [ 1.17090052e-02 9.99797670e-01 1.63560015e-02 2.17559450e+00] [ 1.69567924e-01 -1.81055567e-02 9.85352175e-01 2.50986543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.88463044 meters Centerline goodness [0,1] 0.23746962822800866 Centerline is valid? [False, False] Translation: X:25.44, Y:2.18, Z:2.51 [[ 9.85358991e-01 -8.47766438e-03 -1.70281498e-01 2.54372701e+01] [ 1.14790810e-02 9.99795493e-01 1.66494017e-02 2.17502891e+00] [ 1.70105526e-01 -1.83603128e-02 9.85254794e-01 2.50935679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.91463044 meters Centerline goodness [0,1] 0.24023543158851401 Centerline is valid? [False, False] Translation: X:25.44, Y:2.17, Z:2.51 [[ 9.85317088e-01 -8.48740740e-03 -1.70523312e-01 2.54383396e+01] [ 1.15252627e-02 9.99791890e-01 1.68328728e-02 2.17364539e+00] [ 1.70344956e-01 -1.85510432e-02 9.85209853e-01 2.50908088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.94463044 meters Centerline goodness [0,1] 0.2426137962381767 Centerline is valid? [False, False] Translation: X:25.44, Y:2.17, Z:2.51 [[ 9.85281783e-01 -8.49678397e-03 -1.70726718e-01 2.54393503e+01] [ 1.15775219e-02 9.99787482e-01 1.70573373e-02 2.17193039e+00] [ 1.70545502e-01 -1.87828761e-02 9.85170764e-01 2.50887179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.97463044 meters Centerline goodness [0,1] 0.2445422496660754 Centerline is valid? [False, False] Translation: X:25.44, Y:2.17, Z:2.51 [[ 9.85369046e-01 -8.67317574e-03 -1.70213454e-01 2.54383522e+01] [ 1.17765639e-02 9.99782176e-01 1.72311586e-02 2.17022736e+00] [ 1.70026928e-01 -1.89835799e-02 9.85256549e-01 2.50877718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.00463044 meters Centerline goodness [0,1] 0.24169379702895577 Centerline is valid? [False, False] Translation: X:25.46, Y:2.17, Z:2.51 [[ 9.85346590e-01 -3.28635393e-03 -1.70532394e-01 2.54558070e+01] [ 6.24429062e-03 9.99839172e-01 1.68118502e-02 2.16943825e+00] [ 1.70449718e-01 -1.76303531e-02 9.85208640e-01 2.51300298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.03463044 meters Centerline goodness [0,1] 0.24343871805976613 Centerline is valid? [False, False] Translation: X:25.46, Y:2.17, Z:2.51 [[ 9.85385273e-01 -3.43705382e-03 -1.70305753e-01 2.54553272e+01] [ 6.38700346e-03 9.99838862e-01 1.67766451e-02 2.16870836e+00] [ 1.70220648e-01 -1.76192025e-02 9.85248443e-01 2.51298506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.06463044000003 meters Centerline goodness [0,1] 0.24251535865709095 Centerline is valid? [False, False] Translation: X:25.46, Y:2.17, Z:2.51 [[ 9.85369220e-01 -3.51196232e-03 -1.70397087e-01 2.54557856e+01] [ 6.47726716e-03 9.99837056e-01 1.68495229e-02 2.16747023e+00] [ 1.70310147e-01 -1.77067087e-02 9.85231407e-01 2.51286843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.09463044 meters Centerline goodness [0,1] 0.23967441760044905 Centerline is valid? [False, False] Translation: X:25.46, Y:2.17, Z:2.51 [[ 9.85275903e-01 -3.45488479e-03 -1.70937004e-01 2.54573081e+01] [ 6.44825354e-03 9.99835385e-01 1.69594219e-02 2.16711283e+00] [ 1.70850272e-01 -1.78119548e-02 9.85135990e-01 2.51282769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.12463044000003 meters Centerline goodness [0,1] 0.24104354614850798 Centerline is valid? [False, False] Translation: X:25.46, Y:2.17, Z:2.51 [[ 9.85280299e-01 -3.42949748e-03 -1.70912175e-01 2.54572248e+01] [ 6.41863945e-03 9.99835908e-01 1.69398363e-02 2.16753271e+00] [ 1.70826035e-01 -1.77875106e-02 9.85140635e-01 2.51288138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.15463044 meters Centerline goodness [0,1] 0.24236487516053895 Centerline is valid? [False, False] Translation: X:25.46, Y:2.17, Z:2.51 [[ 9.85326121e-01 -3.55182711e-03 -1.70645306e-01 2.54562178e+01] [ 6.50555825e-03 9.99838492e-01 1.67531301e-02 2.16823377e+00] [ 1.70558241e-01 -1.76174397e-02 9.85190089e-01 2.51319285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.18463044000003 meters Centerline goodness [0,1] 0.2421619500283434 Centerline is valid? [False, False] Translation: X:25.45, Y:2.17, Z:2.51 [[ 9.85395831e-01 -3.74570875e-03 -1.70238147e-01 2.54549687e+01] [ 6.64629565e-03 9.99842242e-01 1.64717147e-02 2.16907505e+00] [ 1.70149592e-01 -1.73626120e-02 9.85265272e-01 2.51342385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.21463044 meters Centerline goodness [0,1] 0.241367373431415 Centerline is valid? [False, False] Translation: X:25.45, Y:2.17, Z:2.51 [[ 9.85471032e-01 -4.07878175e-03 -1.69794607e-01 2.54539944e+01] [ 6.96834933e-03 9.99840809e-01 1.64255744e-02 2.16809705e+00] [ 1.69700581e-01 -1.73701159e-02 9.85342576e-01 2.51355637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.24463044000004 meters Centerline goodness [0,1] 0.24224046438086166 Centerline is valid? [False, False] Translation: X:25.45, Y:2.16, Z:2.51 [[ 9.85457710e-01 -5.83686942e-03 -1.69820589e-01 2.54530935e+01] [ 8.61441165e-03 9.99840836e-01 1.56235354e-02 2.16277943e+00] [ 1.69702367e-01 -1.68592379e-02 9.85351142e-01 2.51477094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.27463044 meters Centerline goodness [0,1] 0.24394093356106628 Centerline is valid? [False, False] Translation: X:25.45, Y:2.16, Z:2.52 [[ 9.85464002e-01 -7.45182559e-03 -1.69720861e-01 2.54524095e+01] [ 1.01125488e-02 9.99839068e-01 1.48180159e-02 2.15816059e+00] [ 1.69583127e-01 -1.63189318e-02 9.85380767e-01 2.51555360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.30463044 meters Centerline goodness [0,1] 0.24775865453831558 Centerline is valid? [False, False] Translation: X:25.45, Y:2.16, Z:2.52 [[ 9.85499182e-01 -7.96389123e-03 -1.69493181e-01 2.54518650e+01] [ 1.06200730e-02 9.99834509e-01 1.47705055e-02 2.15639608e+00] [ 1.69347500e-01 -1.63563511e-02 9.85420669e-01 2.51585496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.33463044 meters Centerline goodness [0,1] 0.2463523401307529 Centerline is valid? [False, False] Translation: X:25.45, Y:2.15, Z:2.52 [[ 9.85513184e-01 -8.15055514e-03 -1.69402869e-01 2.54520374e+01] [ 1.08271870e-02 9.99830625e-01 1.48826338e-02 2.15492679e+00] [ 1.69252875e-01 -1.65011883e-02 9.85434511e-01 2.51582263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.36463044 meters Centerline goodness [0,1] 0.2454800431499461 Centerline is valid? [False, False] Translation: X:25.45, Y:2.15, Z:2.52 [[ 9.85507829e-01 -8.52044767e-03 -1.69415820e-01 2.54527403e+01] [ 1.12213217e-02 9.99824658e-01 1.49912014e-02 2.15267154e+00] [ 1.69258382e-01 -1.66750158e-02 9.85430639e-01 2.51560796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.39463044 meters Centerline goodness [0,1] 0.2470375317792045 Centerline is valid? [False, False] Translation: X:25.45, Y:2.15, Z:2.52 [[ 9.85479853e-01 -8.49335043e-03 -1.69579843e-01 2.54539009e+01] [ 1.12129900e-02 9.99823321e-01 1.50862617e-02 2.15217290e+00] [ 1.69421749e-01 -1.67687041e-02 9.85400975e-01 2.51507847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.42463044 meters Centerline goodness [0,1] 0.2486362455623864 Centerline is valid? [False, False] Translation: X:25.46, Y:2.15, Z:2.51 [[ 9.85426211e-01 -8.59713021e-03 -1.69886058e-01 2.54551039e+01] [ 1.12953316e-02 9.99824855e-01 1.49223037e-02 2.15266411e+00] [ 1.69728014e-01 -1.66237486e-02 9.85350725e-01 2.51470696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.45463044 meters Centerline goodness [0,1] 0.24296245204121225 Centerline is valid? [False, False] Translation: X:25.46, Y:2.15, Z:2.51 [[ 9.85314354e-01 -8.31699654e-03 -1.70547505e-01 2.54579263e+01] [ 1.09981762e-02 9.99830248e-01 1.47822516e-02 2.15492422e+00] [ 1.70395610e-01 -1.64408762e-02 9.85238567e-01 2.51361514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.48463044 meters Centerline goodness [0,1] 0.24680001735583812 Centerline is valid? [False, False] Translation: X:25.46, Y:2.16, Z:2.51 [[ 9.85320123e-01 -8.28928957e-03 -1.70515522e-01 2.54579786e+01] [ 1.09180290e-02 9.99835485e-01 1.44844748e-02 2.15711891e+00] [ 1.70367403e-01 -1.61335379e-02 9.85248525e-01 2.51336311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.51463044 meters Centerline goodness [0,1] 0.24169777528429326 Centerline is valid? [False, False] Translation: X:25.46, Y:2.16, Z:2.51 [[ 9.85335685e-01 -8.13319781e-03 -1.70433090e-01 2.54580968e+01] [ 1.07265229e-02 9.99840202e-01 1.43007891e-02 2.15920697e+00] [ 1.70289544e-01 -1.59192323e-02 9.85265472e-01 2.51302870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.54463044 meters Centerline goodness [0,1] 0.24311718598173215 Centerline is valid? [False, False] Translation: X:25.46, Y:2.16, Z:2.51 [[ 9.85451711e-01 -8.53541643e-03 -1.69741189e-01 2.54557958e+01] [ 1.10769741e-02 9.99840192e-01 1.40317779e-02 2.15892723e+00] [ 1.69594296e-01 -1.57078583e-02 9.85388775e-01 2.51365053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.57463044 meters Centerline goodness [0,1] 0.2440907522429262 Centerline is valid? [False, False] Translation: X:25.45, Y:2.15, Z:2.52 [[ 9.85558853e-01 -9.53090619e-03 -1.69064808e-01 2.54524357e+01] [ 1.20323313e-02 9.99832690e-01 1.37773146e-02 2.15484917e+00] [ 1.68905211e-01 -1.56125981e-02 9.85508638e-01 2.51544991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.60463044 meters Centerline goodness [0,1] 0.24092700682762924 Centerline is valid? [False, False] Translation: X:25.45, Y:2.16, Z:2.51 [[ 9.85456677e-01 -9.07126973e-03 -1.69684559e-01 2.54546877e+01] [ 1.16398700e-02 9.99832148e-01 1.41488447e-02 2.15508951e+00] [ 1.69527729e-01 -1.59181797e-02 9.85396854e-01 2.51492833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.63463044 meters Centerline goodness [0,1] 0.24201604359013162 Centerline is valid? [False, False] Translation: X:25.46, Y:2.16, Z:2.51 [[ 9.85408093e-01 -8.81497305e-03 -1.69979962e-01 2.54564059e+01] [ 1.13838802e-02 9.99835159e-01 1.41443010e-02 2.15645943e+00] [ 1.69827260e-01 -1.58729402e-02 9.85346006e-01 2.51393815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.66463044 meters Centerline goodness [0,1] 0.2418789637751263 Centerline is valid? [False, False] Translation: X:25.46, Y:2.16, Z:2.51 [[ 9.85454641e-01 -8.79645264e-03 -1.69710852e-01 2.54569025e+01] [ 1.13416162e-02 9.99837202e-01 1.40334437e-02 2.15690270e+00] [ 1.69559778e-01 -1.57541176e-02 9.85393977e-01 2.51283036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.69463044 meters Centerline goodness [0,1] 0.24383157712154724 Centerline is valid? [False, False] Translation: X:25.45, Y:2.15, Z:2.51 [[ 9.85707845e-01 -1.00778983e-02 -1.68162068e-01 2.54513825e+01] [ 1.25182425e-02 9.99831073e-01 1.34580525e-02 2.15232921e+00] [ 1.67998032e-01 -1.53708015e-02 9.85667489e-01 2.51430834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.72463044 meters Centerline goodness [0,1] 0.2452026513093556 Centerline is valid? [False, False] Translation: X:25.45, Y:2.15, Z:2.51 [[ 9.85700817e-01 -9.65142469e-03 -1.68228267e-01 2.54512645e+01] [ 1.21692315e-02 9.99828750e-01 1.39420658e-02 2.15147773e+00] [ 1.68064897e-01 -1.57899144e-02 9.85649466e-01 2.51466811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.75463044 meters Centerline goodness [0,1] 0.24453507692971665 Centerline is valid? [False, False] Translation: X:25.45, Y:2.15, Z:2.51 [[ 9.85653529e-01 -9.07425776e-03 -1.68537175e-01 2.54524566e+01] [ 1.17135083e-02 9.99823745e-01 1.46721480e-02 2.14969829e+00] [ 1.68374330e-01 -1.64358161e-02 9.85586094e-01 2.51445642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.78463044 meters Centerline goodness [0,1] 0.24453507692971665 Centerline is valid? [False, False] Translation: X:25.45, Y:2.15, Z:2.51 [[ 9.85653529e-01 -9.07425776e-03 -1.68537175e-01 2.54524566e+01] [ 1.17135083e-02 9.99823745e-01 1.46721480e-02 2.14969829e+00] [ 1.68374330e-01 -1.64358161e-02 9.85586094e-01 2.51445642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.81463044000003 meters Centerline goodness [0,1] 0.2486674239776302 Centerline is valid? [False, False] Translation: X:25.45, Y:2.15, Z:2.51 [[ 9.85620972e-01 -8.86609079e-03 -1.68738532e-01 2.54537461e+01] [ 1.15552666e-02 9.99821296e-01 1.49616492e-02 2.14849127e+00] [ 1.68575726e-01 -1.66963340e-02 9.85547288e-01 2.51382483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.84463044 meters Centerline goodness [0,1] 0.2426712210307852 Centerline is valid? [False, False] Translation: X:25.45, Y:2.15, Z:2.51 [[ 9.85611850e-01 -8.74294970e-03 -1.68798227e-01 2.54548755e+01] [ 1.14554657e-02 9.99820328e-01 1.51024329e-02 2.14747191e+00] [ 1.68635859e-01 -1.68187992e-02 9.85534918e-01 2.51301442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.87463044000003 meters Centerline goodness [0,1] 0.24191913746630733 Centerline is valid? [False, False] Translation: X:25.45, Y:2.15, Z:2.51 [[ 9.85765506e-01 -8.14010835e-03 -1.67928871e-01 2.54532931e+01] [ 1.08769547e-02 9.99822492e-01 1.53842716e-02 2.14738305e+00] [ 1.67773833e-01 -1.69918390e-02 9.85679065e-01 2.51245601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.90463044 meters Centerline goodness [0,1] 0.24047059837531515 Centerline is valid? [False, False] Translation: X:25.45, Y:2.15, Z:2.51 [[ 9.85842931e-01 -7.62667362e-03 -1.67497908e-01 2.54520058e+01] [ 1.03808543e-02 9.99824834e-01 1.55736523e-02 2.14868311e+00] [ 1.67349793e-01 -1.70919464e-02 9.85749417e-01 2.51251457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.93463044000003 meters Centerline goodness [0,1] 0.24278570346156347 Centerline is valid? [False, False] Translation: X:25.45, Y:2.15, Z:2.51 [[ 9.85916414e-01 -7.49232722e-03 -1.67070912e-01 2.54508775e+01] [ 1.02207768e-02 9.99827981e-01 1.54772196e-02 2.14982436e+00] [ 1.66926212e-01 -1.69668393e-02 9.85823395e-01 2.51246144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.96463044 meters Centerline goodness [0,1] 0.24343416832798825 Centerline is valid? [False, False] Translation: X:25.45, Y:2.15, Z:2.51 [[ 9.85813494e-01 -7.70175294e-03 -1.67667641e-01 2.54540087e+01] [ 1.03937460e-02 9.99830696e-01 1.51838843e-02 2.14877468e+00] [ 1.67522311e-01 -1.67111729e-02 9.85726642e-01 2.51095734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.99463044000004 meters Centerline goodness [0,1] 0.2424143909839619 Centerline is valid? [False, False] Translation: X:25.46, Y:2.15, Z:2.51 [[ 9.85703778e-01 -7.76012935e-03 -1.68308771e-01 2.54568844e+01] [ 1.04742334e-02 9.99828942e-01 1.52439444e-02 2.14748681e+00] [ 1.68161686e-01 -1.67889189e-02 9.85616447e-01 2.50991100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.02463044 meters Centerline goodness [0,1] 0.23971980801660397 Centerline is valid? [False, False] Translation: X:25.46, Y:2.15, Z:2.51 [[ 9.85615838e-01 -7.35888546e-03 -1.68840950e-01 2.54592813e+01] [ 1.01408834e-02 9.99826564e-01 1.56206543e-02 2.14704687e+00] [ 1.68696717e-01 -1.71081607e-02 9.85519522e-01 2.50897650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.05463044 meters Centerline goodness [0,1] 0.2405638926784902 Centerline is valid? [False, False] Translation: X:25.46, Y:2.15, Z:2.51 [[ 9.85577610e-01 -7.11016072e-03 -1.69074601e-01 2.54604324e+01] [ 9.91686042e-03 9.99826597e-01 1.57617275e-02 2.14759208e+00] [ 1.68933215e-01 -1.72110949e-02 9.85477218e-01 2.50841531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.08463044 meters Centerline goodness [0,1] 0.24165705204954613 Centerline is valid? [False, False] Translation: X:25.46, Y:2.15, Z:2.51 [[ 9.85599004e-01 -7.09438625e-03 -1.68950502e-01 2.54601248e+01] [ 9.88661211e-03 9.99828003e-01 1.56913948e-02 2.14817814e+00] [ 1.68810122e-01 -1.71357711e-02 9.85499624e-01 2.50837829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.11463044 meters Centerline goodness [0,1] 0.23894339622641514 Centerline is valid? [False, False] Translation: X:25.47, Y:2.15, Z:2.51 [[ 9.86147471e-01 -3.12026631e-03 -1.65841581e-01 2.54745544e+01] [ 5.45450820e-03 9.99892345e-01 1.36215481e-02 2.14618283e+00] [ 1.65781224e-01 -1.43374394e-02 9.86058327e-01 2.51268316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.14463044 meters Centerline goodness [0,1] 0.2397982280281964 Centerline is valid? [False, False] Translation: X:25.47, Y:2.14, Z:2.51 [[ 9.86196190e-01 -3.38559989e-03 -1.65546405e-01 2.54737939e+01] [ 5.75601695e-03 9.99887640e-01 1.38410889e-02 2.14330389e+00] [ 1.65480943e-01 -1.46029171e-02 9.86104869e-01 2.51296103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.17463044 meters Centerline goodness [0,1] 0.24298498407401792 Centerline is valid? [False, False] Translation: X:25.48, Y:2.14, Z:2.51 [[ 9.86149807e-01 -3.40240929e-03 -1.65822139e-01 2.54750950e+01] [ 5.87940403e-03 9.99878321e-01 1.44490831e-02 2.13954194e+00] [ 1.65752800e-01 -1.52238959e-02 9.86049817e-01 2.51275597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.20463044 meters Centerline goodness [0,1] 0.2429122594069707 Centerline is valid? [False, False] Translation: X:25.48, Y:2.13, Z:2.51 [[ 9.85969244e-01 -3.52130861e-03 -1.66889936e-01 2.54803728e+01] [ 6.12524558e-03 9.99867369e-01 1.50905576e-02 2.13372292e+00] [ 1.66814663e-01 -1.59010675e-02 9.85860043e-01 2.51095151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.23463044 meters Centerline goodness [0,1] 0.24350020668798822 Centerline is valid? [False, False] Translation: X:25.48, Y:2.13, Z:2.51 [[ 9.85951202e-01 -3.62709915e-03 -1.66994226e-01 2.54815431e+01] [ 6.24679298e-03 9.99865495e-01 1.51647265e-02 2.13204591e+00] [ 1.66916760e-01 -1.59948587e-02 9.85841245e-01 2.51022922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.26463044 meters Centerline goodness [0,1] 0.24065869945756702 Centerline is valid? [False, False] Translation: X:25.48, Y:2.13, Z:2.51 [[ 9.85938193e-01 -3.42811784e-03 -1.67075216e-01 2.54821299e+01] [ 6.09621014e-03 9.99861916e-01 1.54591567e-02 2.13063812e+00] [ 1.66999149e-01 -1.62602987e-02 9.85822949e-01 2.51007737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.29463044 meters Centerline goodness [0,1] 0.24102775011905275 Centerline is valid? [False, False] Translation: X:25.48, Y:2.13, Z:2.51 [[ 9.85942202e-01 -3.23090166e-03 -1.67055484e-01 2.54816546e+01] [ 5.92063717e-03 9.99860700e-01 1.56053211e-02 2.13084905e+00] [ 1.66981794e-01 -1.63750195e-02 9.85823990e-01 2.51045525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.32463044 meters Centerline goodness [0,1] 0.2400224967012049 Centerline is valid? [False, False] Translation: X:25.48, Y:2.13, Z:2.51 [[ 9.85929454e-01 -2.80921541e-03 -1.67138327e-01 2.54814614e+01] [ 5.52410336e-03 9.99860218e-01 1.57806622e-02 2.13198937e+00] [ 1.67070633e-01 -1.64819091e-02 9.85807157e-01 2.51081445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.35463044 meters Centerline goodness [0,1] 0.23983045349365284 Centerline is valid? [False, False] Translation: X:25.48, Y:2.13, Z:2.51 [[ 9.85909075e-01 -2.51329978e-03 -1.67263204e-01 2.54816417e+01] [ 5.22768912e-03 9.99861665e-01 1.57899285e-02 2.13342296e+00] [ 1.67200381e-01 -1.64418339e-02 9.85785828e-01 2.51085448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.38463044 meters Centerline goodness [0,1] 0.2404228366749661 Centerline is valid? [False, False] Translation: X:25.48, Y:2.14, Z:2.51 [[ 9.85924463e-01 -2.27160490e-03 -1.67175935e-01 2.54824783e+01] [ 4.94868096e-03 9.99866087e-01 1.55986861e-02 2.13512027e+00] [ 1.67118114e-01 -1.62064265e-02 9.85803676e-01 2.50960620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.41463044 meters Centerline goodness [0,1] 0.24051236481068072 Centerline is valid? [False, False] Translation: X:25.48, Y:2.13, Z:2.51 [[ 9.85914772e-01 -2.03226666e-03 -1.67236158e-01 2.54833355e+01] [ 4.75353290e-03 9.99862712e-01 1.58733057e-02 2.13422981e+00] [ 1.67180939e-01 -1.64446891e-02 9.85789078e-01 2.50904016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.44463044 meters Centerline goodness [0,1] 0.2421168974709057 Centerline is valid? [False, False] Translation: X:25.48, Y:2.13, Z:2.51 [[ 9.85909041e-01 -1.79919632e-03 -1.67272608e-01 2.54837550e+01] [ 4.59354283e-03 9.99856269e-01 1.63199326e-02 2.13220038e+00] [ 1.67219203e-01 -1.68583430e-02 9.85775600e-01 2.50893858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.47463044 meters Centerline goodness [0,1] 0.2405961213067812 Centerline is valid? [False, False] Translation: X:25.48, Y:2.12, Z:2.51 [[ 9.85924297e-01 -3.08157151e-03 -1.67163944e-01 2.54833690e+01] [ 5.84718470e-03 9.99854019e-01 1.60546571e-02 2.12450674e+00] [ 1.67090068e-01 -1.68061150e-02 9.85798389e-01 2.50932912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.50463044 meters Centerline goodness [0,1] 0.23926459798886535 Centerline is valid? [False, False] Translation: X:25.48, Y:2.12, Z:2.51 [[ 9.85925005e-01 -3.23177196e-03 -1.67156934e-01 2.54843960e+01] [ 6.04619385e-03 9.99848362e-01 1.63308319e-02 2.12065939e+00] [ 1.67078809e-01 -1.71116388e-02 9.85795041e-01 2.50871481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.53463044 meters Centerline goodness [0,1] 0.24109362054681027 Centerline is valid? [False, False] Translation: X:25.48, Y:2.12, Z:2.51 [[ 9.85949838e-01 -3.45537135e-03 -1.67005920e-01 2.54847953e+01] [ 6.29900524e-03 9.99844017e-01 1.65004380e-02 2.11726019e+00] [ 1.66922854e-01 -1.73205754e-02 9.85817812e-01 2.50824467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.56463044000003 meters Centerline goodness [0,1] 0.2251118749594656 Centerline is valid? [False, False] Translation: X:25.49, Y:2.11, Z:2.51 [[ 9.85969262e-01 -3.31682403e-03 -1.66894019e-01 2.54850999e+01] [ 6.22925925e-03 9.99837267e-01 1.69303484e-02 2.11470078e+00] [ 1.66810704e-01 -1.77324292e-02 9.85829473e-01 2.50795758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.59463044 meters Centerline goodness [0,1] 0.24053529030865528 Centerline is valid? [False, False] Translation: X:25.48, Y:2.11, Z:2.51 [[ 9.86038816e-01 -3.11814889e-03 -1.66486428e-01 2.54843560e+01] [ 6.09233176e-03 9.99830800e-01 1.73566958e-02 2.11257979e+00] [ 1.66404138e-01 -1.81286663e-02 9.85890975e-01 2.50787724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.62463044000003 meters Centerline goodness [0,1] 0.24173946890407405 Centerline is valid? [False, False] Translation: X:25.48, Y:2.11, Z:2.51 [[ 9.86185287e-01 -3.00543885e-03 -1.65618681e-01 2.54821635e+01] [ 6.04003004e-03 9.99822929e-01 1.78221566e-02 2.10975738e+00] [ 1.65535791e-01 -1.85762905e-02 9.86028815e-01 2.50804720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.65463044 meters Centerline goodness [0,1] 0.241000346140533 Centerline is valid? [False, False] Translation: X:25.48, Y:2.11, Z:2.51 [[ 9.86195533e-01 -3.08635536e-03 -1.65556168e-01 2.54828909e+01] [ 6.14215605e-03 9.99820038e-01 1.79489956e-02 2.10775671e+00] [ 1.65470977e-01 -1.87180911e-02 9.86037012e-01 2.50738968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.68463044000003 meters Centerline goodness [0,1] 0.2332540025962787 Centerline is valid? [False, False] Translation: X:25.48, Y:2.11, Z:2.51 [[ 9.86163582e-01 -3.15585743e-03 -1.65745077e-01 2.54845783e+01] [ 6.25273843e-03 9.99815430e-01 1.81661382e-02 2.10509242e+00] [ 1.65657156e-01 -1.89511445e-02 9.86001299e-01 2.50646984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.71463044 meters Centerline goodness [0,1] 0.24448073154800787 Centerline is valid? [False, False] Translation: X:25.49, Y:2.10, Z:2.51 [[ 9.86125233e-01 -4.72903061e-03 -1.65935713e-01 2.54860313e+01] [ 7.71267960e-03 9.99819886e-01 1.73409874e-02 2.09949549e+00] [ 1.65823820e-01 -1.83801943e-02 9.85984092e-01 2.50581837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.74463044000004 meters Centerline goodness [0,1] 0.24194038269622942 Centerline is valid? [False, False] Translation: X:25.49, Y:2.10, Z:2.51 [[ 9.86145388e-01 -4.52033847e-03 -1.65821714e-01 2.54860020e+01] [ 7.57340678e-03 9.99813168e-01 1.77840777e-02 2.09739178e+00] [ 1.65710343e-01 -1.87935215e-02 9.85995378e-01 2.50580369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.77463044 meters Centerline goodness [0,1] 0.2414697034808767 Centerline is valid? [False, False] Translation: X:25.49, Y:2.10, Z:2.51 [[ 9.86163001e-01 -4.21719257e-03 -1.65724927e-01 2.54859058e+01] [ 7.34062443e-03 9.99806706e-01 1.82391077e-02 2.09561235e+00] [ 1.65615976e-01 -1.92032577e-02 9.86003338e-01 2.50591649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.80463044 meters Centerline goodness [0,1] 0.24403857012552665 Centerline is valid? [False, False] Translation: X:25.49, Y:2.09, Z:2.51 [[ 9.86151431e-01 -4.00697490e-03 -1.65798975e-01 2.54864646e+01] [ 7.19781154e-03 9.99800186e-01 1.86488360e-02 2.09356427e+00] [ 1.65691121e-01 -1.95839661e-02 9.85983225e-01 2.50574767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.83463044 meters Centerline goodness [0,1] 0.24023407976851152 Centerline is valid? [False, False] Translation: X:25.49, Y:2.09, Z:2.50 [[ 9.86094544e-01 -3.48033388e-03 -1.66148841e-01 2.54897810e+01] [ 6.79552477e-03 9.99788925e-01 1.93888240e-02 2.08947786e+00] [ 1.66046292e-01 -2.02482821e-02 9.85910055e-01 2.50387130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.86463044 meters Centerline goodness [0,1] 0.24084427686039955 Centerline is valid? [False, False] Translation: X:25.49, Y:2.09, Z:2.50 [[ 9.86083247e-01 -3.40499955e-03 -1.66217435e-01 2.54909667e+01] [ 6.73700229e-03 9.99787425e-01 1.94863394e-02 2.08842879e+00] [ 1.66115751e-01 -2.03349600e-02 9.85896570e-01 2.50291692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.89463044 meters Centerline goodness [0,1] 0.23026774812489104 Centerline is valid? [False, False] Translation: X:25.49, Y:2.09, Z:2.50 [[ 9.86059398e-01 -3.29872627e-03 -1.66360997e-01 2.54919700e+01] [ 6.62364746e-03 9.99789176e-01 1.94353187e-02 2.08858949e+00] [ 1.66261813e-01 -2.02662953e-02 9.85873363e-01 2.50224340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.92463044 meters Centerline goodness [0,1] 0.24002339789418947 Centerline is valid? [False, False] Translation: X:25.49, Y:2.09, Z:2.50 [[ 9.85984489e-01 -2.79589123e-03 -1.66813578e-01 2.54937109e+01] [ 6.13461425e-03 9.99790982e-01 1.95027750e-02 2.08983492e+00] [ 1.66724183e-01 -2.02527706e-02 9.85795553e-01 2.50161669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.95463044 meters Centerline goodness [0,1] 0.23442219729006641 Centerline is valid? [False, False] Translation: X:25.50, Y:2.09, Z:2.50 [[ 9.85906971e-01 -2.22781037e-03 -1.67279651e-01 2.54956492e+01] [ 5.57216573e-03 9.99793824e-01 1.95259016e-02 2.09185267e+00] [ 1.67201661e-01 -2.01828324e-02 9.85716114e-01 2.50076550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.98463044 meters Centerline goodness [0,1] 0.227671878346541 Centerline is valid? [False, False] Translation: X:25.52, Y:2.10, Z:2.50 [[ 9.85631941e-01 5.40377799e-03 -1.68820840e-01 2.55183139e+01] [-2.18138315e-03 9.99811989e-01 1.92672961e-02 2.09852340e+00] [ 1.68893216e-01 -1.86221995e-02 9.85458419e-01 2.50428282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.01463044 meters Centerline goodness [0,1] 0.22632129216719654 Centerline is valid? [False, False] Translation: X:25.52, Y:2.10, Z:2.50 [[ 9.85538076e-01 6.05440647e-03 -1.69345932e-01 2.55200075e+01] [-2.83109472e-03 9.99810330e-01 1.92688803e-02 2.10156475e+00] [ 1.69430474e-01 -1.85107808e-02 9.85368289e-01 2.50393282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.04463044 meters Centerline goodness [0,1] 0.24871624089551603 Centerline is valid? [False, False] Translation: X:25.52, Y:2.10, Z:2.50 [[ 9.85495923e-01 6.30475693e-03 -1.69581943e-01 2.55203104e+01] [-3.13110651e-03 9.99815047e-01 1.89754763e-02 2.10460466e+00] [ 1.69670214e-01 -1.81692754e-02 9.85333393e-01 2.50411286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.07463044 meters Centerline goodness [0,1] 0.23059256851912036 Centerline is valid? [False, False] Translation: X:25.52, Y:2.11, Z:2.50 [[ 9.85486989e-01 6.47127004e-03 -1.69627586e-01 2.55195749e+01] [-3.34123251e-03 9.99818970e-01 1.87313718e-02 2.10721980e+00] [ 1.69718094e-01 -1.78927580e-02 9.85330208e-01 2.50485487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.10463044 meters Centerline goodness [0,1] 0.22890222984562603 Centerline is valid? [False, False] Translation: X:25.54, Y:2.11, Z:2.51 [[ 9.86188773e-01 1.21424977e-02 -1.65179491e-01 2.55368850e+01] [-9.27086108e-03 9.99792386e-01 1.81448533e-02 2.11271095e+00] [ 1.65365522e-01 -1.63628945e-02 9.86096598e-01 2.50845680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.13463044 meters Centerline goodness [0,1] 0.25108160205611485 Centerline is valid? [False, False] Translation: X:25.55, Y:2.12, Z:2.51 [[ 9.86391494e-01 3.82764876e-03 -1.64369004e-01 2.55531924e+01] [-4.54882805e-04 9.99788677e-01 2.05522165e-02 2.11891157e+00] [ 1.64412936e-01 -2.01977629e-02 9.86184788e-01 2.51073237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.16463044 meters Centerline goodness [0,1] 0.22797119104101216 Centerline is valid? [False, False] Translation: X:25.55, Y:2.12, Z:2.51 [[ 9.86346498e-01 3.93129415e-03 -1.64636360e-01 2.55541154e+01] [-5.61645386e-04 9.99789515e-01 2.05087729e-02 2.11981895e+00] [ 1.64682333e-01 -2.01362890e-02 9.86141095e-01 2.51067791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.19463044 meters Centerline goodness [0,1] 0.23014177510196154 Centerline is valid? [False, False] Translation: X:25.56, Y:2.12, Z:2.51 [[ 9.86221005e-01 4.04424815e-03 -1.65383714e-01 2.55562477e+01] [-6.93572855e-04 9.99793434e-01 2.03127415e-02 2.12195589e+00] [ 1.65431701e-01 -1.99181467e-02 9.86020091e-01 2.51062268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.22463044 meters Centerline goodness [0,1] 0.23138972613136155 Centerline is valid? [False, False] Translation: X:25.56, Y:2.12, Z:2.51 [[ 9.86179765e-01 4.00418458e-03 -1.65630426e-01 2.55565991e+01] [-6.87195162e-04 9.99798162e-01 2.00789100e-02 2.12330210e+00] [ 1.65677395e-01 -1.96875943e-02 9.85983468e-01 2.51104710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.25463044 meters Centerline goodness [0,1] 0.22952869647708163 Centerline is valid? [False, False] Translation: X:25.56, Y:2.12, Z:2.51 [[ 9.86152894e-01 4.21520485e-03 -1.65785109e-01 2.55569767e+01] [-8.93255517e-04 9.99797432e-01 2.01071404e-02 2.12424705e+00] [ 1.65836282e-01 -1.96806263e-02 9.85956896e-01 2.51128727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.28463044 meters Centerline goodness [0,1] 0.23042243752302927 Centerline is valid? [False, False] Translation: X:25.56, Y:2.13, Z:2.51 [[ 9.86129836e-01 4.16782160e-03 -1.65923401e-01 2.55568643e+01] [-8.81819993e-04 9.99802122e-01 1.98730730e-02 2.12580348e+00] [ 1.65973396e-01 -1.94511157e-02 9.85938378e-01 2.51180013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.31463044000003 meters Centerline goodness [0,1] 0.22943601476333342 Centerline is valid? [False, False] Translation: X:25.56, Y:2.13, Z:2.51 [[ 9.86077109e-01 4.23311798e-03 -1.66234824e-01 2.55576666e+01] [-9.65285338e-04 9.99804803e-01 1.97338069e-02 2.12723567e+00] [ 1.66285911e-01 -1.92985912e-02 9.85888716e-01 2.51195105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.34463044 meters Centerline goodness [0,1] 0.22923458922595275 Centerline is valid? [False, False] Translation: X:25.56, Y:2.13, Z:2.51 [[ 9.86038064e-01 4.17299082e-03 -1.66467783e-01 2.55582706e+01] [-9.36372860e-04 9.99809093e-01 1.95166586e-02 2.12853942e+00] [ 1.66517446e-01 -1.90882924e-02 9.85853730e-01 2.51206643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.37463044000003 meters Centerline goodness [0,1] 0.22952877767917057 Centerline is valid? [False, False] Translation: X:25.56, Y:2.13, Z:2.51 [[ 9.85966017e-01 4.04302969e-03 -1.66897173e-01 2.55591220e+01] [-8.67789442e-04 9.99817323e-01 1.90936740e-02 2.13102998e+00] [ 1.66943881e-01 -1.86808821e-02 9.85789412e-01 2.51241715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.40463044 meters Centerline goodness [0,1] 0.24453088064640904 Centerline is valid? [False, False] Translation: X:25.56, Y:2.13, Z:2.51 [[ 9.85916560e-01 4.09649121e-03 -1.67187784e-01 2.55601207e+01] [-9.30643811e-04 9.99818864e-01 1.90098341e-02 2.13192839e+00] [ 1.67235374e-01 -1.85865180e-02 9.85741787e-01 2.51241089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.43463044000003 meters Centerline goodness [0,1] 0.22598809344709747 Centerline is valid? [False, False] Translation: X:25.56, Y:2.13, Z:2.51 [[ 9.85828919e-01 6.53518351e-04 -1.67752540e-01 2.55606278e+01] [ 2.03275970e-03 9.99872455e-01 1.58411210e-02 2.13301617e+00] [ 1.67741497e-01 -1.59576358e-02 9.85701854e-01 2.51341070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.46463044 meters Centerline goodness [0,1] 0.2507361950003224 Centerline is valid? [False, False] Translation: X:25.56, Y:2.13, Z:2.51 [[ 9.85772775e-01 2.46645673e-04 -1.68083237e-01 2.55611806e+01] [ 2.42255480e-03 9.99874205e-01 1.56749910e-02 2.13194971e+00] [ 1.68065959e-01 -1.58591702e-02 9.85648173e-01 2.51420878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.49463044000004 meters Centerline goodness [0,1] 0.2283236369141597 Centerline is valid? [False, False] Translation: X:25.56, Y:2.13, Z:2.51 [[ 9.85705772e-01 4.39780204e-04 -1.68475335e-01 2.55620232e+01] [ 2.24972312e-03 9.99873074e-01 1.57725726e-02 2.13264608e+00] [ 1.68460887e-01 -1.59261387e-02 9.85579671e-01 2.51448531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.52463044 meters Centerline goodness [0,1] 0.22967325639304503 Centerline is valid? [False, False] Translation: X:25.56, Y:2.13, Z:2.51 [[ 9.85692696e-01 4.26969561e-04 -1.68551850e-01 2.55621590e+01] [ 2.23003298e-03 9.99876229e-01 1.55741033e-02 2.13400143e+00] [ 1.68537638e-01 -1.57271561e-02 9.85569744e-01 2.51470009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.55463044 meters Centerline goodness [0,1] 0.22582315625943983 Centerline is valid? [False, False] Translation: X:25.56, Y:2.13, Z:2.51 [[ 9.85741211e-01 2.71429134e-04 -1.68268213e-01 2.55615659e+01] [ 2.34836389e-03 9.99879117e-01 1.53699582e-02 2.13406058e+00] [ 1.68252044e-01 -1.55459562e-02 9.85621415e-01 2.51490023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.58463044 meters Centerline goodness [0,1] 0.2325224680262703 Centerline is valid? [False, False] Translation: X:25.58, Y:2.14, Z:2.52 [[ 9.86514477e-01 9.00959002e-04 -1.63671546e-01 2.55787430e+01] [ 9.92860959e-04 9.99933510e-01 1.14886848e-02 2.13595288e+00] [ 1.63671015e-01 -1.14962570e-02 9.86447989e-01 2.51945062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.61463044 meters Centerline goodness [0,1] 0.24447484290172272 Centerline is valid? [False, False] Translation: X:25.60, Y:2.14, Z:2.52 [[ 9.86505493e-01 -5.03822319e-03 -1.63650629e-01 2.55984321e+01] [ 7.72592238e-03 9.99845464e-01 1.57910805e-02 2.14044903e+00] [ 1.63545780e-01 -1.68423397e-02 9.86391967e-01 2.52037105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.64463044 meters Centerline goodness [0,1] 0.24703823083655307 Centerline is valid? [False, False] Translation: X:25.60, Y:2.14, Z:2.52 [[ 9.86392281e-01 -4.72490162e-03 -1.64340938e-01 2.56012854e+01] [ 7.43817576e-03 9.99845943e-01 1.58985671e-02 2.14109766e+00] [ 1.64240501e-01 -1.69046206e-02 9.86275464e-01 2.51951153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.67463044 meters Centerline goodness [0,1] 0.24703823083655307 Centerline is valid? [False, False] Translation: X:25.60, Y:2.14, Z:2.52 [[ 9.86392281e-01 -4.72490162e-03 -1.64340938e-01 2.56012854e+01] [ 7.43817576e-03 9.99845943e-01 1.58985671e-02 2.14109766e+00] [ 1.64240501e-01 -1.69046206e-02 9.86275464e-01 2.51951153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.70463044 meters Centerline goodness [0,1] 0.22596174511068123 Centerline is valid? [False, False] Translation: X:25.60, Y:2.14, Z:2.52 [[ 9.86356981e-01 -4.81543728e-03 -1.64550043e-01 2.56028349e+01] [ 7.52109315e-03 9.99846511e-01 1.58236638e-02 2.14053315e+00] [ 1.64448589e-01 -1.68453775e-02 9.86241803e-01 2.51872445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.73463044 meters Centerline goodness [0,1] 0.24406052151518398 Centerline is valid? [False, False] Translation: X:25.61, Y:2.14, Z:2.52 [[ 9.86240953e-01 -4.58075305e-03 -1.65250719e-01 2.56050638e+01] [ 7.33030738e-03 9.99844598e-01 1.60326573e-02 2.14010373e+00] [ 1.65151597e-01 -1.70234018e-02 9.86121267e-01 2.51868861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.76463044 meters Centerline goodness [0,1] 0.22774424947917782 Centerline is valid? [False, False] Translation: X:25.60, Y:2.14, Z:2.52 [[ 9.86262769e-01 -4.56381468e-03 -1.65120932e-01 2.56038515e+01] [ 7.34097679e-03 9.99841618e-01 1.62126037e-02 2.13920052e+00] [ 1.65020789e-01 -1.72020364e-02 9.86140066e-01 2.51989644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.79463044 meters Centerline goodness [0,1] 0.22750797895281638 Centerline is valid? [False, False] Translation: X:25.60, Y:2.14, Z:2.52 [[ 9.86214550e-01 -4.45700836e-03 -1.65411598e-01 2.56041692e+01] [ 7.24666376e-03 9.99841451e-01 1.62652653e-02 2.13967468e+00] [ 1.65312878e-01 -1.72397236e-02 9.86090485e-01 2.52051329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.82463044 meters Centerline goodness [0,1] 0.24389825786958663 Centerline is valid? [False, False] Translation: X:25.61, Y:2.14, Z:2.52 [[ 9.86085579e-01 -4.10373226e-03 -1.66187813e-01 2.56090972e+01] [ 6.86547823e-03 9.99847665e-01 1.60471572e-02 2.14226569e+00] [ 1.66096644e-01 -1.69648291e-02 9.85963539e-01 2.51817761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.85463044 meters Centerline goodness [0,1] 0.24766848306015632 Centerline is valid? [False, False] Translation: X:25.61, Y:2.14, Z:2.52 [[ 9.86182020e-01 -4.83536748e-03 -1.65594813e-01 2.56074531e+01] [ 7.51614949e-03 9.99850593e-01 1.55659855e-02 2.14097860e+00] [ 1.65494804e-01 -1.65955304e-02 9.86071021e-01 2.51861232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.88463044 meters Centerline goodness [0,1] 0.23023476609701365 Centerline is valid? [False, False] Translation: X:25.60, Y:2.14, Z:2.52 [[ 9.86285974e-01 -5.75496288e-03 -1.64945017e-01 2.56037493e+01] [ 8.35710099e-03 9.99851272e-01 1.50861455e-02 2.13837245e+00] [ 1.64833665e-01 -1.62577159e-02 9.86187381e-01 2.52086251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.91463044 meters Centerline goodness [0,1] 0.2290276761503034 Centerline is valid? [False, False] Translation: X:25.60, Y:2.14, Z:2.52 [[ 9.86197700e-01 -4.99938291e-03 -1.65496531e-01 2.56046069e+01] [ 7.72810402e-03 9.99844542e-01 1.58482638e-02 2.13796969e+00] [ 1.65391572e-01 -1.69084958e-02 9.86083024e-01 2.52168770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.94463044 meters Centerline goodness [0,1] 0.23447694767316252 Centerline is valid? [False, False] Translation: X:25.61, Y:2.14, Z:2.52 [[ 9.85960472e-01 -4.17193683e-03 -1.66926760e-01 2.56104569e+01] [ 6.99408172e-03 9.99842322e-01 1.63221828e-02 2.13947269e+00] [ 1.66832344e-01 -1.72605265e-02 9.85834186e-01 2.52000654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.97463044 meters Centerline goodness [0,1] 0.23440600465878703 Centerline is valid? [False, False] Translation: X:25.61, Y:2.14, Z:2.52 [[ 9.85942295e-01 -8.51089450e-03 -1.66869279e-01 2.56103876e+01] [ 1.07854098e-02 9.99860814e-01 1.27290161e-02 2.13749337e+00] [ 1.66737718e-01 -1.43498289e-02 9.85896859e-01 2.52039636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.00463044 meters Centerline goodness [0,1] 0.26058709259658963 Centerline is valid? [False, False] Translation: X:25.61, Y:2.14, Z:2.52 [[ 9.85964496e-01 -8.73215005e-03 -1.66726608e-01 2.56101932e+01] [ 1.10128067e-02 9.99857948e-01 1.27593718e-02 2.13547299e+00] [ 1.66591507e-01 -1.44164155e-02 9.85920604e-01 2.52055481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.03463044 meters Centerline goodness [0,1] 0.23349794061199403 Centerline is valid? [False, False] Translation: X:25.61, Y:2.14, Z:2.52 [[ 9.85880332e-01 -7.99661146e-03 -1.67260354e-01 2.56116132e+01] [ 1.03815966e-02 9.99856460e-01 1.33895941e-02 2.13545021e+00] [ 1.67129274e-01 -1.49369670e-02 9.85821836e-01 2.52074945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.06463044000003 meters Centerline goodness [0,1] 0.23241993343994471 Centerline is valid? [False, False] Translation: X:25.61, Y:2.14, Z:2.52 [[ 9.85752946e-01 -7.05975779e-03 -1.68051449e-01 2.56137715e+01] [ 9.51083352e-03 9.99859751e-01 1.37848528e-02 2.13840194e+00] [ 1.67930562e-01 -1.51867686e-02 9.85681839e-01 2.52084472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.09463044 meters Centerline goodness [0,1] 0.2344439897477869 Centerline is valid? [False, False] Translation: X:25.61, Y:2.14, Z:2.52 [[ 9.85849967e-01 -7.61281542e-03 -1.67457124e-01 2.56128287e+01] [ 9.98359676e-03 9.99861440e-01 1.33202333e-02 2.13740454e+00] [ 1.67332516e-01 -1.48035759e-02 9.85789371e-01 2.52080728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.12463044000003 meters Centerline goodness [0,1] 0.23604862432946871 Centerline is valid? [False, False] Translation: X:25.61, Y:2.14, Z:2.52 [[ 9.85901752e-01 -7.96982260e-03 -1.67135326e-01 2.56119988e+01] [ 1.02810850e-02 9.99863056e-01 1.29679860e-02 2.13702139e+00] [ 1.67009085e-01 -1.45034926e-02 9.85848677e-01 2.52109910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.15463044 meters Centerline goodness [0,1] 0.23604364967001368 Centerline is valid? [False, False] Translation: X:25.61, Y:2.14, Z:2.52 [[ 9.85857785e-01 -7.75998802e-03 -1.67404334e-01 2.56122058e+01] [ 1.00758960e-02 9.99864868e-01 1.29892758e-02 2.13810633e+00] [ 1.67280916e-01 -1.44923273e-02 9.85802753e-01 2.52159163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.18463044000003 meters Centerline goodness [0,1] 0.23298609616460764 Centerline is valid? [False, False] Translation: X:25.62, Y:2.14, Z:2.52 [[ 9.85738062e-01 -5.47844628e-03 -1.68197682e-01 2.56159953e+01] [ 8.04533590e-03 9.99861288e-01 1.45834796e-02 2.14139731e+00] [ 1.68094456e-01 -1.57286978e-02 9.85645404e-01 2.52033861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.21463044 meters Centerline goodness [0,1] 0.23297382583698967 Centerline is valid? [False, False] Translation: X:25.62, Y:2.14, Z:2.52 [[ 9.85690090e-01 -5.69789942e-03 -1.68471303e-01 2.56172711e+01] [ 8.18201399e-03 9.99867754e-01 1.40545255e-02 2.14320658e+00] [ 1.68368942e-01 -1.52318411e-02 9.85606357e-01 2.52003074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.24463044000004 meters Centerline goodness [0,1] 0.23279474661943234 Centerline is valid? [False, False] Translation: X:25.62, Y:2.14, Z:2.52 [[ 9.85728252e-01 -6.25780163e-03 -1.68227979e-01 2.56169298e+01] [ 8.71230763e-03 9.99866041e-01 1.38562232e-02 2.14078301e+00] [ 1.68118734e-01 -1.51241246e-02 9.85650725e-01 2.52019753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.27463044 meters Centerline goodness [0,1] 0.2347303831226556 Centerline is valid? [False, False] Translation: X:25.62, Y:2.14, Z:2.52 [[ 9.85644999e-01 -6.14404171e-03 -1.68719254e-01 2.56182268e+01] [ 8.64374098e-03 9.99863436e-01 1.40852769e-02 2.13953938e+00] [ 1.68609673e-01 -1.53414483e-02 9.85563503e-01 2.52041855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.30463044 meters Centerline goodness [0,1] 0.23274012095463115 Centerline is valid? [False, False] Translation: X:25.62, Y:2.14, Z:2.52 [[ 9.85489351e-01 -5.54568569e-03 -1.69646646e-01 2.56214607e+01] [ 8.13319905e-03 9.99860901e-01 1.45612473e-02 2.13947522e+00] [ 1.69542296e-01 -1.57297241e-02 9.85397374e-01 2.51980373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.33463044 meters Centerline goodness [0,1] 0.23070152842177571 Centerline is valid? [False, False] Translation: X:25.63, Y:2.14, Z:2.52 [[ 9.85317350e-01 -4.13297956e-03 -1.70682858e-01 2.56272273e+01] [ 6.90099988e-03 9.99854072e-01 1.56272195e-02 2.13987488e+00] [ 1.70593363e-01 -1.65756529e-02 9.85202087e-01 2.51760333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.36463044 meters Centerline goodness [0,1] 0.2310877010447826 Centerline is valid? [False, False] Translation: X:25.63, Y:2.14, Z:2.52 [[ 9.85321014e-01 -4.38348176e-03 -1.70655453e-01 2.56270312e+01] [ 7.11006954e-03 9.99856606e-01 1.53692583e-02 2.13969559e+00] [ 1.70563611e-01 -1.63570253e-02 9.85210892e-01 2.51793231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.39463044 meters Centerline goodness [0,1] 0.23086555692294408 Centerline is valid? [False, False] Translation: X:25.63, Y:2.14, Z:2.52 [[ 9.85319403e-01 -4.36178616e-03 -1.70665311e-01 2.56267715e+01] [ 7.08944375e-03 9.99856644e-01 1.53763269e-02 2.13926894e+00] [ 1.70573777e-01 -1.63605154e-02 9.85209074e-01 2.51859819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.42463044 meters Centerline goodness [0,1] 0.2312297384914631 Centerline is valid? [False, False] Translation: X:25.63, Y:2.14, Z:2.52 [[ 9.85316878e-01 -3.84865727e-03 -1.70692234e-01 2.56250813e+01] [ 6.60732404e-03 9.99856536e-01 1.55965078e-02 2.14116213e+00] [ 1.70607720e-01 -1.64953213e-02 9.85200949e-01 2.52052531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.45463044 meters Centerline goodness [0,1] 0.22910189982728846 Centerline is valid? [False, False] Translation: X:25.63, Y:2.14, Z:2.52 [[ 9.85301917e-01 -3.72171986e-03 -1.70781386e-01 2.56250480e+01] [ 6.45582334e-03 9.99859695e-01 1.54568217e-02 2.14273266e+00] [ 1.70699898e-01 -1.63321705e-02 9.85187700e-01 2.52096135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.48463044 meters Centerline goodness [0,1] 0.23379376666520957 Centerline is valid? [False, False] Translation: X:25.63, Y:2.14, Z:2.52 [[ 9.85284183e-01 -3.87693830e-03 -1.70880214e-01 2.56254009e+01] [ 6.53805066e-03 9.99865923e-01 1.50129694e-02 2.14459342e+00] [ 1.70799098e-01 -1.59092647e-02 9.85177427e-01 2.52085982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.51463044 meters Centerline goodness [0,1] 0.23143925476041238 Centerline is valid? [False, False] Translation: X:25.65, Y:2.15, Z:2.53 [[ 9.85124936e-01 -1.21229381e-03 -1.71835360e-01 2.56452088e+01] [ 3.24440180e-03 9.99928084e-01 1.15455544e-02 2.14779848e+00] [ 1.71809005e-01 -1.19313165e-02 9.85058023e-01 2.52520806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.54463044 meters Centerline goodness [0,1] 0.23291095220500335 Centerline is valid? [False, False] Translation: X:25.64, Y:2.15, Z:2.53 [[ 9.85127449e-01 -1.37200106e-03 -1.71819751e-01 2.56444913e+01] [ 3.39573999e-03 9.99928280e-01 1.14849079e-02 2.14711605e+00] [ 1.71791671e-01 -1.18975532e-02 9.85061455e-01 2.52611281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.57463044 meters Centerline goodness [0,1] 0.23224156243903493 Centerline is valid? [False, False] Translation: X:25.65, Y:2.15, Z:2.53 [[ 9.85038933e-01 -9.38510836e-04 -1.72329391e-01 2.56452480e+01] [ 3.03214444e-03 9.99924759e-01 1.18861913e-02 2.14707352e+00] [ 1.72305269e-01 -1.22308888e-02 9.84967664e-01 2.52680307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.60463044 meters Centerline goodness [0,1] 0.23204983504080567 Centerline is valid? [False, False] Translation: X:25.65, Y:2.15, Z:2.53 [[ 9.84950290e-01 -6.71362777e-04 -1.72836559e-01 2.56460934e+01] [ 2.79112800e-03 9.99923840e-01 1.20218240e-02 2.14792844e+00] [ 1.72815324e-01 -1.23233080e-02 9.84877150e-01 2.52740625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.63463044 meters Centerline goodness [0,1] 0.23044050676623573 Centerline is valid? [False, False] Translation: X:25.65, Y:2.15, Z:2.53 [[ 9.84956250e-01 -1.17914719e-03 -1.72799873e-01 2.56460389e+01] [ 3.23838057e-03 9.99927062e-01 1.16354368e-02 2.14778699e+00] [ 1.72773549e-01 -1.20199879e-02 9.84888227e-01 2.52796445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.66463044 meters Centerline goodness [0,1] 0.23176363950276246 Centerline is valid? [False, False] Translation: X:25.64, Y:2.15, Z:2.53 [[ 9.85030386e-01 -1.51773170e-03 -1.72374114e-01 2.56447980e+01] [ 3.52255641e-03 9.99929661e-01 1.13253673e-02 2.14781624e+00] [ 1.72344801e-01 -1.17630285e-02 9.84966447e-01 2.52839494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.69463044 meters Centerline goodness [0,1] 0.23167884474036926 Centerline is valid? [False, False] Translation: X:25.64, Y:2.15, Z:2.53 [[ 9.85088988e-01 -1.72964995e-03 -1.72036897e-01 2.56431960e+01] [ 3.70818260e-03 9.99930627e-01 1.11799266e-02 2.14783176e+00] [ 1.72005625e-01 -1.16511668e-02 9.85027063e-01 2.52939066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.72463044 meters Centerline goodness [0,1] 0.23137931034482762 Centerline is valid? [False, False] Translation: X:25.64, Y:2.15, Z:2.53 [[ 9.85082617e-01 -1.49296876e-03 -1.72075592e-01 2.56434674e+01] [ 3.52464621e-03 9.99927638e-01 1.15019624e-02 2.14695936e+00] [ 1.72045968e-01 -1.19368888e-02 9.85016597e-01 2.52956954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.75463044 meters Centerline goodness [0,1] 0.23309523809523813 Centerline is valid? [False, False] Translation: X:25.65, Y:2.14, Z:2.53 [[ 9.84976917e-01 -1.82254756e-03 -1.72676437e-01 2.56453594e+01] [ 3.88446678e-03 9.99925129e-01 1.16037779e-02 2.14456052e+00] [ 1.72642360e-01 -1.21002092e-02 9.84910250e-01 2.52966986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.78463044 meters Centerline goodness [0,1] 0.23315299718675608 Centerline is valid? [False, False] Translation: X:25.65, Y:2.14, Z:2.53 [[ 9.84920710e-01 -2.08162993e-03 -1.72993821e-01 2.56470133e+01] [ 4.15341846e-03 9.99923918e-01 1.16149600e-02 2.14249782e+00] [ 1.72956481e-01 -1.21583303e-02 9.84854421e-01 2.52923157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.81463044000003 meters Centerline goodness [0,1] 0.235795085164478 Centerline is valid? [False, False] Translation: X:25.65, Y:2.14, Z:2.53 [[ 9.84840245e-01 -2.22137381e-03 -1.73449582e-01 2.56485840e+01] [ 4.32975002e-03 9.99921261e-01 1.17781383e-02 2.14027915e+00] [ 1.73409761e-01 -1.23505780e-02 9.84772318e-01 2.52918022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.84463044 meters Centerline goodness [0,1] 0.23587175651947712 Centerline is valid? [False, False] Translation: X:25.65, Y:2.14, Z:2.53 [[ 9.84799935e-01 -2.21364835e-03 -1.73678401e-01 2.56494453e+01] [ 4.37138942e-03 9.99917934e-01 1.20422421e-02 2.13817230e+00] [ 1.73637490e-01 -1.26184151e-02 9.84728794e-01 2.52929820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.87463044000003 meters Centerline goodness [0,1] 0.23347067325323034 Centerline is valid? [False, False] Translation: X:25.65, Y:2.13, Z:2.53 [[ 9.84843775e-01 -2.31950424e-03 -1.73428252e-01 2.56494380e+01] [ 4.53553757e-03 9.99913046e-01 1.23826041e-02 2.13452719e+00] [ 1.73384451e-01 -1.29815209e-02 9.84768659e-01 2.52934801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.90463044 meters Centerline goodness [0,1] 0.23426023650031236 Centerline is valid? [False, False] Translation: X:25.65, Y:2.13, Z:2.53 [[ 9.84876105e-01 -2.46774288e-03 -1.73242513e-01 2.56496586e+01] [ 4.69472091e-03 9.99911523e-01 1.24461015e-02 2.13246953e+00] [ 1.73196472e-01 -1.30711932e-02 9.84800551e-01 2.52902776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.93463044000003 meters Centerline goodness [0,1] 0.23448647483565044 Centerline is valid? [False, False] Translation: X:25.65, Y:2.13, Z:2.53 [[ 9.84854016e-01 -2.55292488e-03 -1.73366810e-01 2.56507893e+01] [ 4.79123212e-03 9.99910474e-01 1.24935556e-02 2.13082108e+00] [ 1.73319394e-01 -1.31349690e-02 9.84778077e-01 2.52850273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.96463044 meters Centerline goodness [0,1] 0.23633485830749545 Centerline is valid? [False, False] Translation: X:25.65, Y:2.13, Z:2.53 [[ 9.84797649e-01 -2.49546174e-03 -1.73687542e-01 2.56520223e+01] [ 4.75588804e-03 9.99909315e-01 1.25993603e-02 2.12953126e+00] [ 1.73640350e-01 -1.32338589e-02 9.84720211e-01 2.52827467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.99463044000004 meters Centerline goodness [0,1] 0.2330935873344997 Centerline is valid? [False, False] Translation: X:25.66, Y:2.13, Z:2.53 [[ 9.84659845e-01 -1.60542553e-03 -1.74477542e-01 2.56550977e+01] [ 3.94294078e-03 9.99907053e-01 1.30514169e-02 2.12978848e+00] [ 1.74440372e-01 -1.35391608e-02 9.84574653e-01 2.52760716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.02463044 meters Centerline goodness [0,1] 0.2332562012067213 Centerline is valid? [False, False] Translation: X:25.66, Y:2.13, Z:2.53 [[ 9.84607478e-01 -1.33715446e-03 -1.74775073e-01 2.56559406e+01] [ 3.64806725e-03 9.99910116e-01 1.29016111e-02 2.13144212e+00] [ 1.74742112e-01 -1.33406140e-02 9.84523856e-01 2.52752199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.05463044 meters Centerline goodness [0,1] 0.23224273836518738 Centerline is valid? [False, False] Translation: X:25.66, Y:2.13, Z:2.53 [[ 9.84588381e-01 -1.00744211e-03 -1.74884836e-01 2.56563542e+01] [ 3.27121317e-03 9.99914552e-01 1.26565716e-02 2.13366381e+00] [ 1.74857142e-01 -1.30335989e-02 9.84507545e-01 2.52752091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.08463044 meters Centerline goodness [0,1] 0.2319329913641971 Centerline is valid? [False, False] Translation: X:25.66, Y:2.14, Z:2.53 [[ 9.84620956e-01 1.49659266e-03 -1.74697833e-01 2.56562487e+01] [ 9.01405639e-04 9.99906477e-01 1.36463947e-02 2.13960588e+00] [ 1.74701917e-01 -1.35939998e-02 9.84527523e-01 2.52753684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.11463044 meters Centerline goodness [0,1] 0.2237978071311405 Centerline is valid? [False, False] Translation: X:25.66, Y:2.14, Z:2.53 [[ 9.84562251e-01 2.10196339e-03 -1.75022157e-01 2.56567273e+01] [ 2.80416260e-04 9.99907666e-01 1.35860317e-02 2.14227216e+00] [ 1.75034554e-01 -1.34253730e-02 9.84470753e-01 2.52794711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.14463044 meters Centerline goodness [0,1] 0.22215784730269084 Centerline is valid? [False, False] Translation: X:25.66, Y:2.15, Z:2.53 [[ 9.84513295e-01 2.59813706e-03 -1.75290676e-01 2.56567578e+01] [-2.53578674e-04 9.99910233e-01 1.33963329e-02 2.14565453e+00] [ 1.75309747e-01 -1.31444179e-02 9.84425577e-01 2.52868318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.17463044 meters Centerline goodness [0,1] 0.22091871878767 Centerline is valid? [False, False] Translation: X:25.66, Y:2.15, Z:2.53 [[ 9.84503932e-01 2.78789613e-03 -1.75340342e-01 2.56559114e+01] [-5.10867210e-04 9.99914974e-01 1.30301349e-02 2.14872646e+00] [ 1.75361760e-01 -1.27386434e-02 9.84421647e-01 2.52953440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.20463044 meters Centerline goodness [0,1] 0.22029234737747205 Centerline is valid? [False, False] Translation: X:25.65, Y:2.15, Z:2.53 [[ 9.84626335e-01 6.54452840e-03 -1.74551280e-01 2.56534258e+01] [-3.86054994e-03 9.99869113e-01 1.57115587e-02 2.15256214e+00] [ 1.74631258e-01 -1.47961505e-02 9.84522726e-01 2.53028998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.23463044 meters Centerline goodness [0,1] 0.21990745676695733 Centerline is valid? [False, False] Translation: X:25.67, Y:2.16, Z:2.53 [[ 9.84844494e-01 -1.33424041e-03 -1.73434548e-01 2.56702272e+01] [ 4.58387981e-03 9.99821341e-01 1.83377925e-02 2.15892906e+00] [ 1.73379095e-01 -1.88548771e-02 9.84674658e-01 2.53220645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.26463044 meters Centerline goodness [0,1] 0.21958526824883906 Centerline is valid? [False, False] Translation: X:25.67, Y:2.16, Z:2.53 [[ 9.84806921e-01 -1.47403814e-03 -1.73646641e-01 2.56706068e+01] [ 4.68474947e-03 9.99825541e-01 1.80815056e-02 2.15991047e+00] [ 1.73589694e-01 -1.86202829e-02 9.84642018e-01 2.53252510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.29463044 meters Centerline goodness [0,1] 0.22796648697798272 Centerline is valid? [False, False] Translation: X:25.67, Y:2.16, Z:2.53 [[ 9.84632568e-01 -1.67885242e-03 -1.74630719e-01 2.56729251e+01] [ 4.86233808e-03 9.99829681e-01 1.78035684e-02 2.16091079e+00] [ 1.74571087e-01 -1.83790869e-02 9.84473029e-01 2.53303486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.32463044 meters Centerline goodness [0,1] 0.22774112878885866 Centerline is valid? [False, False] Translation: X:25.67, Y:2.16, Z:2.53 [[ 9.84544044e-01 -1.54768842e-03 -1.75130324e-01 2.56739599e+01] [ 4.75939981e-03 9.99828088e-01 1.79204623e-02 2.16091104e+00] [ 1.75072482e-01 -1.84769997e-02 9.84382155e-01 2.53356780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.35463044 meters Centerline goodness [0,1] 0.2265012215507265 Centerline is valid? [False, False] Translation: X:25.67, Y:2.16, Z:2.53 [[ 9.84493772e-01 -1.39246504e-03 -1.75414009e-01 2.56743078e+01] [ 4.63748827e-03 9.99825596e-01 1.80906653e-02 2.16063432e+00] [ 1.75358226e-01 -1.86236277e-02 9.84328529e-01 2.53432096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.38463044 meters Centerline goodness [0,1] 0.22874463357280006 Centerline is valid? [False, False] Translation: X:25.67, Y:2.16, Z:2.54 [[ 9.84515284e-01 -1.61376274e-03 -1.75291333e-01 2.56735115e+01] [ 4.83938905e-03 9.99826714e-01 1.79756142e-02 2.16049629e+00] [ 1.75231950e-01 -1.85455699e-02 9.84352491e-01 2.53503699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.41463044 meters Centerline goodness [0,1] 0.23097033468012018 Centerline is valid? [False, False] Translation: X:25.67, Y:2.16, Z:2.54 [[ 9.84562504e-01 -5.83690835e-03 -1.74936004e-01 2.56712989e+01] [ 8.49949189e-03 9.99859107e-01 1.44749794e-02 2.16009785e+00] [ 1.74826868e-01 -1.57383891e-02 9.84473397e-01 2.53685783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.44463044 meters Centerline goodness [0,1] 0.23051520580173102 Centerline is valid? [False, False] Translation: X:25.67, Y:2.16, Z:2.54 [[ 9.84522633e-01 -5.96685743e-03 -1.75155880e-01 2.56721660e+01] [ 8.63320289e-03 9.99858110e-01 1.44646748e-02 2.15929997e+00] [ 1.75044719e-01 -1.57529560e-02 9.84434452e-01 2.53680572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.47463044 meters Centerline goodness [0,1] 0.2305151345049441 Centerline is valid? [False, False] Translation: X:25.67, Y:2.16, Z:2.54 [[ 9.84457340e-01 -6.03097227e-03 -1.75520295e-01 2.56739250e+01] [ 8.70605350e-03 9.99857332e-01 1.44748299e-02 2.15873724e+00] [ 1.75407957e-01 -1.57779417e-02 9.84369395e-01 2.53623868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.50463044 meters Centerline goodness [0,1] 0.231020390511817 Centerline is valid? [False, False] Translation: X:25.68, Y:2.16, Z:2.54 [[ 9.84388394e-01 -6.15059763e-03 -1.75902416e-01 2.56751815e+01] [ 8.85631512e-03 9.99854177e-01 1.46010109e-02 2.15708763e+00] [ 1.75786960e-01 -1.59309129e-02 9.84299320e-01 2.53624557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.53463044 meters Centerline goodness [0,1] 0.23156044528351016 Centerline is valid? [False, False] Translation: X:25.68, Y:2.15, Z:2.54 [[ 9.84290714e-01 -6.53962898e-03 -1.76434189e-01 2.56765846e+01] [ 9.29130022e-03 9.99847683e-01 1.47743907e-02 2.15372034e+00] [ 1.76310696e-01 -1.61815986e-02 9.84201552e-01 2.53679638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.56463044000003 meters Centerline goodness [0,1] 0.23036388081710546 Centerline is valid? [False, False] Translation: X:25.68, Y:2.15, Z:2.54 [[ 9.84207520e-01 -6.45033395e-03 -1.76900966e-01 2.56779063e+01] [ 9.25343791e-03 9.99844296e-01 1.50252066e-02 2.15226448e+00] [ 1.76776504e-01 -1.64248634e-02 9.84113963e-01 2.53700557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.59463044 meters Centerline goodness [0,1] 0.23036388081710546 Centerline is valid? [False, False] Translation: X:25.68, Y:2.15, Z:2.54 [[ 9.84207520e-01 -6.45033395e-03 -1.76900966e-01 2.56779063e+01] [ 9.25343791e-03 9.99844296e-01 1.50252066e-02 2.15226448e+00] [ 1.76776504e-01 -1.64248634e-02 9.84113963e-01 2.53700557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.62463044000003 meters Centerline goodness [0,1] 0.23126231673776987 Centerline is valid? [False, False] Translation: X:25.68, Y:2.15, Z:2.54 [[ 9.84124821e-01 -6.35023858e-03 -1.77364061e-01 2.56796420e+01] [ 9.18201572e-03 9.99843077e-01 1.51496729e-02 2.15174757e+00] [ 1.77240025e-01 -1.65377287e-02 9.84028697e-01 2.53665136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.65463044 meters Centerline goodness [0,1] 0.22972301979663656 Centerline is valid? [False, False] Translation: X:25.68, Y:2.15, Z:2.54 [[ 9.84127489e-01 -6.48743128e-03 -1.77344293e-01 2.56803803e+01] [ 9.32385013e-03 9.99841529e-01 1.51651568e-02 2.15034758e+00] [ 1.77217806e-01 -1.65779793e-02 9.84032022e-01 2.53620923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.68463044000003 meters Centerline goodness [0,1] 0.23032309723214095 Centerline is valid? [False, False] Translation: X:25.68, Y:2.15, Z:2.54 [[ 9.84345665e-01 -7.23465305e-03 -1.76100174e-01 2.56771561e+01] [ 9.99976435e-03 9.99840180e-01 1.48195645e-02 2.14842923e+00] [ 1.75964815e-01 -1.63485343e-02 9.84260692e-01 2.53674115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.71463044 meters Centerline goodness [0,1] 0.23068463611859835 Centerline is valid? [False, False] Translation: X:25.68, Y:2.15, Z:2.54 [[ 9.84354466e-01 -6.95213220e-03 -1.76062355e-01 2.56772488e+01] [ 9.74527803e-03 9.99839929e-01 1.50048464e-02 2.14849503e+00] [ 1.75929857e-01 -1.64858641e-02 9.84264650e-01 2.53670589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.74463044000004 meters Centerline goodness [0,1] 0.23037056232184505 Centerline is valid? [False, False] Translation: X:25.68, Y:2.15, Z:2.54 [[ 9.84316340e-01 -6.76541497e-03 -1.76282647e-01 2.56781088e+01] [ 9.56571789e-03 9.99841130e-01 1.50403476e-02 2.14888704e+00] [ 1.76152886e-01 -1.64907300e-02 9.84224678e-01 2.53654618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.77463044 meters Centerline goodness [0,1] 0.22958799078202063 Centerline is valid? [False, False] Translation: X:25.68, Y:2.15, Z:2.54 [[ 9.84238710e-01 -6.59657146e-03 -1.76721951e-01 2.56802910e+01] [ 9.39780920e-03 9.99843046e-01 1.50187993e-02 2.14913215e+00] [ 1.76595141e-01 -1.64428828e-02 9.84146223e-01 2.53569317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.80463044 meters Centerline goodness [0,1] 0.23007580858874388 Centerline is valid? [False, False] Translation: X:25.68, Y:2.15, Z:2.53 [[ 9.84167379e-01 -6.76669651e-03 -1.77112340e-01 2.56825972e+01] [ 9.50376247e-03 9.99848101e-01 1.46100738e-02 2.14937288e+00] [ 1.76986575e-01 -1.60619916e-02 9.84082194e-01 2.53465783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.83463044 meters Centerline goodness [0,1] 0.22912080797617507 Centerline is valid? [False, False] Translation: X:25.68, Y:2.15, Z:2.53 [[ 9.84138411e-01 -6.48610737e-03 -1.77283721e-01 2.56833053e+01] [ 9.25371929e-03 9.99847818e-01 1.47888384e-02 2.14926682e+00] [ 1.77160820e-01 -1.61947977e-02 9.84048664e-01 2.53468813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.86463044 meters Centerline goodness [0,1] 0.231412258968006 Centerline is valid? [False, False] Translation: X:25.68, Y:2.15, Z:2.53 [[ 9.84128491e-01 -6.24352392e-03 -1.77347488e-01 2.56835424e+01] [ 9.05094938e-03 9.99846146e-01 1.50254952e-02 2.14875784e+00] [ 1.77226390e-01 -1.63921811e-02 9.84033588e-01 2.53492797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.89463044 meters Centerline goodness [0,1] 0.23353851489011224 Centerline is valid? [False, False] Translation: X:25.68, Y:2.15, Z:2.54 [[ 9.84186861e-01 -6.57303978e-03 -1.77011350e-01 2.56819689e+01] [ 9.38998282e-03 9.99842184e-01 1.50809271e-02 2.14687606e+00] [ 1.76884287e-01 -1.65045838e-02 9.84093262e-01 2.53599281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.92463044 meters Centerline goodness [0,1] 0.23297188494253618 Centerline is valid? [False, False] Translation: X:25.68, Y:2.15, Z:2.54 [[ 9.84122973e-01 -6.41961461e-03 -1.77371822e-01 2.56831336e+01] [ 9.25420733e-03 9.99842279e-01 1.51584163e-02 2.14667205e+00] [ 1.77246536e-01 -1.65591814e-02 9.84027164e-01 2.53598082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.95463044 meters Centerline goodness [0,1] 0.23454143933489213 Centerline is valid? [False, False] Translation: X:25.68, Y:2.15, Z:2.54 [[ 9.84093727e-01 -6.29264248e-03 -1.77538556e-01 2.56839197e+01] [ 9.11851497e-03 9.99844326e-01 1.51055104e-02 2.14721940e+00] [ 1.77415864e-01 -1.64841261e-02 9.83997909e-01 2.53578709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.98463044 meters Centerline goodness [0,1] 0.23316241535232907 Centerline is valid? [False, False] Translation: X:25.68, Y:2.15, Z:2.54 [[ 9.84079150e-01 -5.97069767e-03 -1.77630449e-01 2.56846139e+01] [ 8.80095752e-03 9.99846502e-01 1.51497540e-02 2.14791161e+00] [ 1.77512729e-01 -1.64718751e-02 9.83980644e-01 2.53554415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.01463044 meters Centerline goodness [0,1] 0.23296078558046385 Centerline is valid? [False, False] Translation: X:25.68, Y:2.15, Z:2.54 [[ 9.84128975e-01 -5.43744793e-03 -1.77371350e-01 2.56838963e+01] [ 8.22252006e-03 9.99854124e-01 1.49706562e-02 2.15185621e+00] [ 1.77264073e-01 -1.61914960e-02 9.84030123e-01 2.53574152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.04463044 meters Centerline goodness [0,1] 0.231893101519129 Centerline is valid? [False, False] Translation: X:25.68, Y:2.15, Z:2.54 [[ 9.84150299e-01 -5.42970094e-03 -1.77253227e-01 2.56834289e+01] [ 8.14596591e-03 9.99860231e-01 1.46000882e-02 2.15421028e+00] [ 1.77149178e-01 -1.58125800e-02 9.84056975e-01 2.53595261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.07463044 meters Centerline goodness [0,1] 0.23288378395818543 Centerline is valid? [False, False] Translation: X:25.68, Y:2.16, Z:2.54 [[ 9.84167214e-01 -5.73671103e-03 -1.77149612e-01 2.56830732e+01] [ 8.36148126e-03 9.99865999e-01 1.40737165e-02 2.15580498e+00] [ 1.77045136e-01 -1.53321235e-02 9.84083302e-01 2.53621722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.10463044 meters Centerline goodness [0,1] 0.23524461037139344 Centerline is valid? [False, False] Translation: X:25.68, Y:2.15, Z:2.54 [[ 9.84284404e-01 -8.03965764e-03 -1.76407413e-01 2.56791502e+01] [ 1.04400977e-02 9.99865058e-01 1.26834384e-02 2.15126479e+00] [ 1.76281638e-01 -1.43258212e-02 9.84235518e-01 2.53843233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.13463044 meters Centerline goodness [0,1] 0.23826173826173824 Centerline is valid? [False, False] Translation: X:25.68, Y:2.15, Z:2.54 [[ 9.84235899e-01 -9.96482289e-03 -1.76579721e-01 2.56787081e+01] [ 1.22668043e-02 9.99853355e-01 1.19496599e-02 2.14565718e+00] [ 1.76434750e-01 -1.39273531e-02 9.84213802e-01 2.53982322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.16463044 meters Centerline goodness [0,1] 0.23578440849820625 Centerline is valid? [False, False] Translation: X:25.68, Y:2.15, Z:2.54 [[ 9.84116932e-01 -9.14373434e-03 -1.77285803e-01 2.56826819e+01] [ 1.15711832e-02 9.99852865e-01 1.26632154e-02 2.14547622e+00] [ 1.77143929e-01 -1.45134912e-02 9.84077938e-01 2.53816161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.19463044 meters Centerline goodness [0,1] 0.23829465731246624 Centerline is valid? [False, False] Translation: X:25.68, Y:2.15, Z:2.54 [[ 9.84107667e-01 -9.22077852e-03 -1.77333235e-01 2.56837938e+01] [ 1.16181370e-02 9.99854557e-01 1.24853092e-02 2.14603063e+00] [ 1.77192319e-01 -1.43471703e-02 9.84071664e-01 2.53735620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.22463044 meters Centerline goodness [0,1] 0.23558772687986174 Centerline is valid? [False, False] Translation: X:25.68, Y:2.15, Z:2.54 [[ 9.84210506e-01 -9.65756295e-03 -1.76738259e-01 2.56824026e+01] [ 1.19227345e-02 9.99859777e-01 1.17590376e-02 2.14774464e+00] [ 1.76599913e-01 -1.36805716e-02 9.84187641e-01 2.53738682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.25463044 meters Centerline goodness [0,1] 0.2347820479752386 Centerline is valid? [False, False] Translation: X:25.68, Y:2.15, Z:2.54 [[ 9.84167830e-01 -9.29951065e-03 -1.76994922e-01 2.56828123e+01] [ 1.15724646e-02 9.99863245e-01 1.18139462e-02 2.14899132e+00] [ 1.76860853e-01 -1.36751732e-02 9.84140858e-01 2.53775663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.28463044 meters Centerline goodness [0,1] 0.23764349144466101 Centerline is valid? [False, False] Translation: X:25.68, Y:2.15, Z:2.54 [[ 9.84158930e-01 -9.34368186e-03 -1.77042077e-01 2.56826298e+01] [ 1.15954196e-02 9.99864456e-01 1.16882971e-02 2.14947983e+00] [ 1.76908868e-01 -1.35560191e-02 9.84133876e-01 2.53819276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.31463044000003 meters Centerline goodness [0,1] 0.2370082144401211 Centerline is valid? [False, False] Translation: X:25.69, Y:2.15, Z:2.54 [[ 9.84034184e-01 -9.64340416e-03 -1.77718118e-01 2.56856231e+01] [ 1.19242329e-02 9.99859626e-01 1.17703382e-02 2.14655239e+00] [ 1.77579665e-01 -1.37015674e-02 9.84011041e-01 2.53751648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.34463044 meters Centerline goodness [0,1] 0.23394012336392356 Centerline is valid? [False, False] Translation: X:25.69, Y:2.15, Z:2.53 [[ 9.83798454e-01 -8.33546403e-03 -1.79084120e-01 2.56924379e+01] [ 1.07957431e-02 9.99860206e-01 1.27679473e-02 2.14703419e+00] [ 1.78952659e-01 -1.44944330e-02 9.83750912e-01 2.53485254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.37463044000003 meters Centerline goodness [0,1] 0.2349505355949738 Centerline is valid? [False, False] Translation: X:25.69, Y:2.15, Z:2.53 [[ 9.83687603e-01 -8.05074075e-03 -1.79704997e-01 2.56947840e+01] [ 1.05440964e-02 9.99860889e-01 1.29238262e-02 2.14727334e+00] [ 1.79575951e-01 -1.46078344e-02 9.83635648e-01 2.53424311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.40463044 meters Centerline goodness [0,1] 0.2336711711711712 Centerline is valid? [False, False] Translation: X:25.70, Y:2.15, Z:2.53 [[ 9.83644895e-01 -7.87309887e-03 -1.79946475e-01 2.56955606e+01] [ 1.03670216e-02 9.99862751e-01 1.29230069e-02 2.14809233e+00] [ 1.79820033e-01 -1.45771588e-02 9.83591512e-01 2.53417854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.43463044000003 meters Centerline goodness [0,1] 0.23284213251634345 Centerline is valid? [False, False] Translation: X:25.69, Y:2.15, Z:2.54 [[ 9.83685417e-01 -7.37212166e-03 -1.79746075e-01 2.56942927e+01] [ 9.83881486e-03 9.99869215e-01 1.28355582e-02 2.15080034e+00] [ 1.79627941e-01 -1.43946398e-02 9.83629299e-01 2.53507465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.46463044 meters Centerline goodness [0,1] 0.2338023313438624 Centerline is valid? [False, False] Translation: X:25.69, Y:2.15, Z:2.54 [[ 9.83714742e-01 -7.59729056e-03 -1.79576131e-01 2.56931047e+01] [ 1.00354635e-02 9.99869336e-01 1.26728173e-02 2.15024716e+00] [ 1.79456388e-01 -1.42685669e-02 9.83662449e-01 2.53595770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.49463044000004 meters Centerline goodness [0,1] 0.2340624050687844 Centerline is valid? [False, False] Translation: X:25.69, Y:2.15, Z:2.54 [[ 9.83634599e-01 -7.58487747e-03 -1.80015125e-01 2.56942804e+01] [ 1.00074739e-02 9.99871123e-01 1.25533762e-02 2.15089555e+00] [ 1.79896709e-01 -1.41494318e-02 9.83583737e-01 2.53595823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.52463044 meters Centerline goodness [0,1] 0.23436316005975444 Centerline is valid? [False, False] Translation: X:25.70, Y:2.15, Z:2.54 [[ 9.83519138e-01 -7.52662115e-03 -1.80647320e-01 2.56966595e+01] [ 9.94316497e-03 9.99872742e-01 1.24753011e-02 2.15170214e+00] [ 1.80530434e-01 -1.40659035e-02 9.83468816e-01 2.53548015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.55463044 meters Centerline goodness [0,1] 0.2361908061407877 Centerline is valid? [False, False] Translation: X:25.69, Y:2.15, Z:2.54 [[ 9.83672060e-01 -9.65452606e-03 -1.79711071e-01 2.56920976e+01] [ 1.18856465e-02 9.99865032e-01 1.13424030e-02 2.14663714e+00] [ 1.79577310e-01 -1.32931872e-02 9.83654045e-01 2.53787104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.58463044 meters Centerline goodness [0,1] 0.23662783143488242 Centerline is valid? [False, False] Translation: X:25.69, Y:2.14, Z:2.54 [[ 9.83710443e-01 -9.85329251e-03 -1.79490046e-01 2.56908424e+01] [ 1.21375860e-02 9.99858669e-01 1.16327909e-02 2.14427045e+00] [ 1.79350057e-01 -1.36218738e-02 9.83691009e-01 2.53893393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.61463044 meters Centerline goodness [0,1] 0.23542121297236562 Centerline is valid? [False, False] Translation: X:25.69, Y:2.14, Z:2.54 [[ 9.83634358e-01 -9.62288875e-03 -1.79919010e-01 2.56921379e+01] [ 1.19634300e-02 9.99857286e-01 1.19282855e-02 2.14364822e+00] [ 1.79778548e-01 -1.38855200e-02 9.83609102e-01 2.53901537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.64463044 meters Centerline goodness [0,1] 0.23708955707831647 Centerline is valid? [False, False] Translation: X:25.69, Y:2.14, Z:2.54 [[ 9.83603956e-01 -9.68733751e-03 -1.80081688e-01 2.56931933e+01] [ 1.20343186e-02 9.99856237e-01 1.19449046e-02 2.14280823e+00] [ 1.79940084e-01 -1.39162159e-02 9.83579130e-01 2.53865367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.67463044 meters Centerline goodness [0,1] 0.23668651821163478 Centerline is valid? [False, False] Translation: X:25.69, Y:2.14, Z:2.54 [[ 9.83729406e-01 -9.73245553e-03 -1.79392683e-01 2.56915953e+01] [ 1.20362811e-02 9.99858424e-01 1.17583727e-02 2.14307334e+00] [ 1.79252848e-01 -1.37262778e-02 9.83707277e-01 2.53870744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.70463044 meters Centerline goodness [0,1] 0.23789232333282861 Centerline is valid? [False, False] Translation: X:25.69, Y:2.14, Z:2.54 [[ 9.83801005e-01 -9.18830473e-03 -1.79028371e-01 2.56898333e+01] [ 1.15350159e-02 9.99860602e-01 1.20714738e-02 2.14386875e+00] [ 1.78892498e-01 -1.39410232e-02 9.83769852e-01 2.53954184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.73463044 meters Centerline goodness [0,1] 0.2364426569797613 Centerline is valid? [False, False] Translation: X:25.69, Y:2.14, Z:2.54 [[ 9.83836119e-01 -8.62186812e-03 -1.78863507e-01 2.56887587e+01] [ 1.10251046e-02 9.99861757e-01 1.24464735e-02 2.14461096e+00] [ 1.78731469e-01 -1.42172791e-02 9.83795167e-01 2.54024172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.76463044 meters Centerline goodness [0,1] 0.23670310242976955 Centerline is valid? [False, False] Translation: X:25.69, Y:2.15, Z:2.54 [[ 9.83818644e-01 -8.32575774e-03 -1.78973625e-01 2.56889753e+01] [ 1.07312987e-02 9.99864575e-01 1.24768188e-02 2.14566529e+00] [ 1.78845508e-01 -1.41955464e-02 9.83774756e-01 2.54037436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.79463044 meters Centerline goodness [0,1] 0.23637229231135448 Centerline is valid? [False, False] Translation: X:25.69, Y:2.15, Z:2.54 [[ 9.83667863e-01 -8.19072829e-03 -1.79806696e-01 2.56917264e+01] [ 1.05137036e-02 9.99873081e-01 1.19700974e-02 2.14851690e+00] [ 1.79685832e-01 -1.36650344e-02 9.83629132e-01 2.53966531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.82463044 meters Centerline goodness [0,1] 0.23629138500745095 Centerline is valid? [False, False] Translation: X:25.69, Y:2.15, Z:2.54 [[ 9.83579702e-01 -7.90765284e-03 -1.80300967e-01 2.56934495e+01] [ 1.02348601e-02 9.99875848e-01 1.19806877e-02 2.14929957e+00] [ 1.80183843e-01 -1.36293165e-02 9.83538522e-01 2.53932505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.85463044 meters Centerline goodness [0,1] 0.23798582359699127 Centerline is valid? [False, False] Translation: X:25.69, Y:2.15, Z:2.54 [[ 9.83589137e-01 -8.03395964e-03 -1.80243904e-01 2.56929855e+01] [ 1.03382474e-02 9.99876359e-01 1.18485089e-02 2.14924816e+00] [ 1.80126428e-01 -1.35174707e-02 9.83550582e-01 2.53973882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.88463044 meters Centerline goodness [0,1] 0.23372520363644178 Centerline is valid? [False, False] Translation: X:25.69, Y:2.15, Z:2.54 [[ 9.83673154e-01 -8.12525033e-03 -1.79780719e-01 2.56913086e+01] [ 1.04725925e-02 9.99871811e-01 1.21114172e-02 2.14706883e+00] [ 1.79659265e-01 -1.37964461e-02 9.83632150e-01 2.54061677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.91463044 meters Centerline goodness [0,1] 0.24082190591911123 Centerline is valid? [False, False] Translation: X:25.69, Y:2.14, Z:2.54 [[ 9.83726722e-01 -8.23860773e-03 -1.79482205e-01 2.56907604e+01] [ 1.06582998e-02 9.99864799e-01 1.25213554e-02 2.14349149e+00] [ 1.79354781e-01 -1.42305670e-02 9.83681531e-01 2.54072435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.94463044 meters Centerline goodness [0,1] 0.23968604047742603 Centerline is valid? [False, False] Translation: X:25.69, Y:2.14, Z:2.54 [[ 9.83664943e-01 -7.91257402e-03 -1.79835122e-01 2.56929138e+01] [ 1.03820251e-02 9.99864246e-01 1.27946879e-02 2.14280422e+00] [ 1.79709469e-01 -1.44527387e-02 9.83613555e-01 2.53969331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.97463044 meters Centerline goodness [0,1] 0.24037854889589905 Centerline is valid? [False, False] Translation: X:25.69, Y:2.14, Z:2.54 [[ 9.83611670e-01 -7.87122147e-03 -1.80128082e-01 2.56941097e+01] [ 1.03441275e-02 9.99864655e-01 1.27933875e-02 2.14248111e+00] [ 1.80003003e-01 -1.44469931e-02 9.83559964e-01 2.53931089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.00463044 meters Centerline goodness [0,1] 0.2383697083522225 Centerline is valid? [False, False] Translation: X:25.69, Y:2.14, Z:2.54 [[ 9.83598926e-01 -7.58731443e-03 -1.80209837e-01 2.56947301e+01] [ 1.00965967e-02 9.99864377e-01 1.30110335e-02 2.14195865e+00] [ 1.80086678e-01 -1.46171446e-02 9.83542133e-01 2.53907647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.03463044 meters Centerline goodness [0,1] 0.23451836106110235 Centerline is valid? [False, False] Translation: X:25.69, Y:2.14, Z:2.54 [[ 9.83672356e-01 -7.35055367e-03 -1.79818422e-01 2.56923730e+01] [ 9.86777495e-03 9.99865392e-01 1.31081854e-02 2.14202876e+00] [ 1.79697865e-01 -1.46685673e-02 9.83612480e-01 2.54048811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.06463044000003 meters Centerline goodness [0,1] 0.2333110886272146 Centerline is valid? [False, False] Translation: X:25.69, Y:2.14, Z:2.54 [[ 9.83680804e-01 -7.14892857e-03 -1.79780337e-01 2.56925244e+01] [ 9.66771541e-03 9.99866954e-01 1.31380810e-02 2.14228785e+00] [ 1.79662494e-01 -1.46617432e-02 9.83619043e-01 2.54041119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.09463044 meters Centerline goodness [0,1] 0.23393472092872147 Centerline is valid? [False, False] Translation: X:25.69, Y:2.14, Z:2.54 [[ 9.83688220e-01 -7.26935363e-03 -1.79734924e-01 2.56926848e+01] [ 9.74178655e-03 9.99869630e-01 1.28771565e-02 2.14292594e+00] [ 1.79617884e-01 -1.44180464e-02 9.83630792e-01 2.54008199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.12463044000003 meters Centerline goodness [0,1] 0.23242343685837175 Centerline is valid? [False, False] Translation: X:25.69, Y:2.14, Z:2.54 [[ 9.83677643e-01 -7.09416164e-03 -1.79799796e-01 2.56933183e+01] [ 9.56030223e-03 9.99871690e-01 1.28532080e-02 2.14344680e+00] [ 1.79685543e-01 -1.43623538e-02 9.83619250e-01 2.53967757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.15463044 meters Centerline goodness [0,1] 0.2288184561388491 Centerline is valid? [False, False] Translation: X:25.71, Y:2.14, Z:2.54 [[ 9.83567533e-01 -5.83130191e-04 -1.80539658e-01 2.57126930e+01] [ 2.97872275e-03 9.99911083e-01 1.29982336e-02 2.14442121e+00] [ 1.80516025e-01 -1.33224181e-02 9.83481814e-01 2.54375154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.18463044000003 meters Centerline goodness [0,1] 0.22300862179899628 Centerline is valid? [False, False] Translation: X:25.71, Y:2.15, Z:2.54 [[ 9.83578794e-01 -4.33332507e-04 -1.80478718e-01 2.57122464e+01] [ 2.82868638e-03 9.99911299e-01 1.30150630e-02 2.14502933e+00] [ 1.80457069e-01 -1.33118576e-02 9.83492776e-01 2.54404917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.21463044 meters Centerline goodness [0,1] 0.22896386470122587 Centerline is valid? [False, False] Translation: X:25.71, Y:2.15, Z:2.54 [[ 9.83594022e-01 -2.67942485e-04 -1.80396033e-01 2.57121259e+01] [ 2.66523098e-03 9.99911335e-01 1.30467754e-02 2.14538693e+00] [ 1.80376543e-01 -1.33135274e-02 9.83507526e-01 2.54406298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.24463044000004 meters Centerline goodness [0,1] 0.22273662551440332 Centerline is valid? [False, False] Translation: X:25.71, Y:2.14, Z:2.54 [[ 9.83600737e-01 -1.81162158e-04 -1.80359520e-01 2.57114974e+01] [ 2.59060950e-03 9.99910525e-01 1.31236736e-02 2.14499057e+00] [ 1.80341005e-01 -1.33756961e-02 9.83513199e-01 2.54466857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.27463044 meters Centerline goodness [0,1] 0.2288717981860876 Centerline is valid? [False, False] Translation: X:25.71, Y:2.14, Z:2.54 [[ 9.83573591e-01 -3.64772824e-05 -1.80507591e-01 2.57119050e+01] [ 2.47474806e-03 9.99908719e-01 1.32826707e-02 2.14475224e+00] [ 1.80490629e-01 -1.35111949e-02 9.83483899e-01 2.54474215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.30463044 meters Centerline goodness [0,1] 0.23056590692434353 Centerline is valid? [False, False] Translation: X:25.71, Y:2.14, Z:2.55 [[ 9.83528849e-01 4.08416499e-05 -1.80751212e-01 2.57123693e+01] [ 2.41936271e-03 9.99907416e-01 1.33905099e-02 2.14448354e+00] [ 1.80735025e-01 -1.36072555e-02 9.83437692e-01 2.54504375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.33463044 meters Centerline goodness [0,1] 0.22856350408568193 Centerline is valid? [False, False] Translation: X:25.73, Y:2.15, Z:2.55 [[ 9.83645416e-01 -7.92566837e-03 -1.79941323e-01 2.57303094e+01] [ 1.09959312e-02 9.99810380e-01 1.60715271e-02 2.14832253e+00] [ 1.79779825e-01 -1.77873064e-02 9.83546047e-01 2.54653228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.36463044 meters Centerline goodness [0,1] 0.227930131754002 Centerline is valid? [False, False] Translation: X:25.73, Y:2.15, Z:2.55 [[ 9.83667928e-01 -8.05587978e-03 -1.79812431e-01 2.57298795e+01] [ 1.11239536e-02 9.99809136e-01 1.60608147e-02 2.14755782e+00] [ 1.79648727e-01 -1.77987335e-02 9.83569794e-01 2.54679165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.39463044 meters Centerline goodness [0,1] 0.22460707163839866 Centerline is valid? [False, False] Translation: X:25.73, Y:2.15, Z:2.55 [[ 9.83688992e-01 -8.14102482e-03 -1.79693326e-01 2.57293884e+01] [ 1.12191231e-02 9.99807118e-01 1.61200941e-02 2.14669804e+00] [ 1.79527433e-01 -1.78731606e-02 9.83590591e-01 2.54724928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.42463044 meters Centerline goodness [0,1] 0.22682122726789322 Centerline is valid? [False, False] Translation: X:25.73, Y:2.14, Z:2.55 [[ 9.83671059e-01 -8.03280743e-03 -1.79796336e-01 2.57291087e+01] [ 1.11891314e-02 9.99800468e-01 1.65477238e-02 2.14487265e+00] [ 1.79627536e-01 -1.82892818e-02 9.83564665e-01 2.54822461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.45463044 meters Centerline goodness [0,1] 0.2289434857912631 Centerline is valid? [False, False] Translation: X:25.73, Y:2.14, Z:2.55 [[ 9.83640172e-01 -8.04292513e-03 -1.79964785e-01 2.57298923e+01] [ 1.12088613e-02 9.99799680e-01 1.65819793e-02 2.14457328e+00] [ 1.79795366e-01 -1.83279012e-02 9.83533281e-01 2.54808488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.48463044 meters Centerline goodness [0,1] 0.2289434857912631 Centerline is valid? [False, False] Translation: X:25.73, Y:2.14, Z:2.55 [[ 9.83640172e-01 -8.04292513e-03 -1.79964785e-01 2.57298923e+01] [ 1.12088613e-02 9.99799680e-01 1.65819793e-02 2.14457328e+00] [ 1.79795366e-01 -1.83279012e-02 9.83533281e-01 2.54808488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.51463044 meters Centerline goodness [0,1] 0.22783243347062465 Centerline is valid? [False, False] Translation: X:25.73, Y:2.14, Z:2.55 [[ 9.83598665e-01 -7.98897117e-03 -1.80193901e-01 2.57311626e+01] [ 1.11653817e-02 9.99799529e-01 1.66203456e-02 2.14442954e+00] [ 1.80024998e-01 -1.83596834e-02 9.83490682e-01 2.54763710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.54463044 meters Centerline goodness [0,1] 0.22835792133267674 Centerline is valid? [False, False] Translation: X:25.73, Y:2.15, Z:2.55 [[ 9.83634884e-01 -8.10690560e-03 -1.79990815e-01 2.57303456e+01] [ 1.12229451e-02 9.99804148e-01 1.63006233e-02 2.14633969e+00] [ 1.79823416e-01 -1.80538888e-02 9.83533221e-01 2.54797873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.57463044 meters Centerline goodness [0,1] 0.23028064035258278 Centerline is valid? [False, False] Translation: X:25.73, Y:2.15, Z:2.55 [[ 9.83644751e-01 -8.16329481e-03 -1.79934333e-01 2.57296450e+01] [ 1.12332697e-02 9.99808099e-01 1.60492914e-02 2.14816393e+00] [ 1.79768788e-01 -1.78080522e-02 9.83547689e-01 2.54849332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.60463044 meters Centerline goodness [0,1] 0.23035791289348861 Centerline is valid? [False, False] Translation: X:25.73, Y:2.15, Z:2.55 [[ 9.83618527e-01 -8.05341286e-03 -1.80082581e-01 2.57298619e+01] [ 1.10981673e-02 9.99811891e-01 1.59063973e-02 2.14986383e+00] [ 1.79920605e-01 -1.76444137e-02 9.83522877e-01 2.54872849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.63463044 meters Centerline goodness [0,1] 0.22783837435164034 Centerline is valid? [False, False] Translation: X:25.73, Y:2.15, Z:2.55 [[ 9.83574331e-01 -7.96527082e-03 -1.80327727e-01 2.57309391e+01] [ 1.09856243e-02 9.99815504e-01 1.57567385e-02 2.15140513e+00] [ 1.80168950e-01 -1.74789362e-02 9.83480369e-01 2.54839861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.66463044 meters Centerline goodness [0,1] 0.22989491743512758 Centerline is valid? [False, False] Translation: X:25.73, Y:2.15, Z:2.55 [[ 9.83474263e-01 -1.23555834e-02 -1.80625895e-01 2.57313317e+01] [ 1.48561472e-02 9.99811535e-01 1.24975635e-02 2.14881232e+00] [ 1.80437439e-01 -1.49744369e-02 9.83472469e-01 2.54923651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.69463044 meters Centerline goodness [0,1] 0.23165088478512363 Centerline is valid? [False, False] Translation: X:25.73, Y:2.15, Z:2.55 [[ 9.83396396e-01 -1.25401997e-02 -1.81036661e-01 2.57331957e+01] [ 1.51277068e-02 9.99802106e-01 1.29190090e-02 2.14557385e+00] [ 1.80838828e-01 -1.54431764e-02 9.83391492e-01 2.54890995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.72463044 meters Centerline goodness [0,1] 0.2379551305627069 Centerline is valid? [False, False] Translation: X:25.74, Y:2.14, Z:2.55 [[ 9.83294637e-01 -1.25106342e-02 -1.81590587e-01 2.57354052e+01] [ 1.51607797e-02 9.99797759e-01 1.32132916e-02 2.14413243e+00] [ 1.81388555e-01 -1.57456137e-02 9.83285446e-01 2.54845218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.75463044 meters Centerline goodness [0,1] 0.23392710450084309 Centerline is valid? [False, False] Translation: X:25.74, Y:2.14, Z:2.55 [[ 9.83215491e-01 -1.23968726e-02 -1.82026416e-01 2.57375231e+01] [ 1.50931529e-02 9.99795831e-01 1.34347546e-02 2.14340185e+00] [ 1.81822703e-01 -1.59566113e-02 9.83201857e-01 2.54778579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.78463044 meters Centerline goodness [0,1] 0.23508180423177505 Centerline is valid? [False, False] Translation: X:25.74, Y:2.14, Z:2.55 [[ 9.83225601e-01 -1.25691774e-02 -1.81959978e-01 2.57382649e+01] [ 1.52537076e-02 9.99794377e-01 1.33614157e-02 2.14244469e+00] [ 1.81754621e-01 -1.59128503e-02 9.83215154e-01 2.54731861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.81463044000003 meters Centerline goodness [0,1] 0.23607231785211646 Centerline is valid? [False, False] Translation: X:25.74, Y:2.14, Z:2.55 [[ 9.83260331e-01 -1.26134673e-02 -1.81769146e-01 2.57376853e+01] [ 1.52769939e-02 9.99795363e-01 1.32606440e-02 2.14281282e+00] [ 1.81564686e-01 -1.58155513e-02 9.83251816e-01 2.54743882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.84463044 meters Centerline goodness [0,1] 0.23364726578422323 Centerline is valid? [False, False] Translation: X:25.75, Y:2.14, Z:2.55 [[ 9.82949556e-01 -7.46695563e-03 -1.83723748e-01 2.57542647e+01] [ 9.99287101e-03 9.99867804e-01 1.28264290e-02 2.14267491e+00] [ 1.83603686e-01 -1.44436604e-02 9.82894230e-01 2.55224255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.87463044000003 meters Centerline goodness [0,1] 0.23193223246836803 Centerline is valid? [False, False] Translation: X:25.75, Y:2.14, Z:2.55 [[ 9.82918713e-01 -7.25845436e-03 -1.83897030e-01 2.57547843e+01] [ 9.78376033e-03 9.99869845e-01 1.28285459e-02 2.14382211e+00] [ 1.83779979e-01 -1.44086223e-02 9.82861796e-01 2.55223444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.90463044 meters Centerline goodness [0,1] 0.23215164416679146 Centerline is valid? [False, False] Translation: X:25.76, Y:2.14, Z:2.55 [[ 9.82905599e-01 -7.19818957e-03 -1.83969480e-01 2.57553699e+01] [ 9.76345177e-03 9.99867283e-01 1.30419305e-02 2.14260799e+00] [ 1.83851185e-01 -1.46151636e-02 9.82845430e-01 2.55209562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.93463044000003 meters Centerline goodness [0,1] 0.23403567735263697 Centerline is valid? [False, False] Translation: X:25.76, Y:2.14, Z:2.55 [[ 9.82852989e-01 -7.03551957e-03 -1.84256622e-01 2.57565652e+01] [ 9.64736977e-03 9.99865244e-01 1.32824248e-02 2.14183262e+00] [ 1.84138344e-01 -1.48322627e-02 9.82788418e-01 2.55180150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.96463044 meters Centerline goodness [0,1] 0.23366801689218308 Centerline is valid? [False, False] Translation: X:25.76, Y:2.14, Z:2.55 [[ 9.82749346e-01 -6.64745823e-03 -1.84822982e-01 2.57590386e+01] [ 9.34236878e-03 9.99862314e-01 1.37140079e-02 2.14083539e+00] [ 1.84706371e-01 -1.52041168e-02 9.82676138e-01 2.55105386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.99463044000004 meters Centerline goodness [0,1] 0.23051101133205043 Centerline is valid? [False, False] Translation: X:25.76, Y:2.14, Z:2.55 [[ 9.82633975e-01 -5.87508804e-03 -1.85461462e-01 2.57618164e+01] [ 8.72274393e-03 9.99856208e-01 1.45422195e-02 2.13866328e+00] [ 1.85349357e-01 -1.59074118e-02 9.82543928e-01 2.55038731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.02463044 meters Centerline goodness [0,1] 0.23221094118151053 Centerline is valid? [False, False] Translation: X:25.76, Y:2.14, Z:2.55 [[ 9.82662174e-01 -5.75285854e-03 -1.85315827e-01 2.57612096e+01] [ 8.64204820e-03 9.99853324e-01 1.47866439e-02 2.13726174e+00] [ 1.85203580e-01 -1.61317840e-02 9.82567758e-01 2.55079140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.05463044 meters Centerline goodness [0,1] 0.23126686945717834 Centerline is valid? [False, False] Translation: X:25.76, Y:2.14, Z:2.55 [[ 9.82714158e-01 -5.52853395e-03 -1.85046801e-01 2.57604151e+01] [ 8.47791663e-03 9.99849273e-01 1.51511296e-02 2.13554530e+00] [ 1.84935146e-01 -1.64580409e-02 9.82612907e-01 2.55108050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.08463044 meters Centerline goodness [0,1] 0.2315307802510317 Centerline is valid? [False, False] Translation: X:25.76, Y:2.13, Z:2.55 [[ 9.82730892e-01 -5.31592517e-03 -1.84964147e-01 2.57598618e+01] [ 8.32983813e-03 9.99844839e-01 1.55213264e-02 2.13369532e+00] [ 1.84852938e-01 -1.67940084e-02 9.82622691e-01 2.55160939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.11463044 meters Centerline goodness [0,1] 0.2330547421071757 Centerline is valid? [False, False] Translation: X:25.76, Y:2.13, Z:2.55 [[ 9.82790461e-01 -6.18895177e-03 -1.84620170e-01 2.57587374e+01] [ 9.17672817e-03 9.99840326e-01 1.53333048e-02 2.12780227e+00] [ 1.84495794e-01 -1.67636348e-02 9.82690329e-01 2.55209993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.14463044 meters Centerline goodness [0,1] 0.2314351384443537 Centerline is valid? [False, False] Translation: X:25.76, Y:2.12, Z:2.55 [[ 9.82778763e-01 -6.22661337e-03 -1.84681166e-01 2.57592881e+01] [ 9.27291592e-03 9.99834754e-01 1.56358142e-02 2.12496832e+00] [ 1.84553290e-01 -1.70790790e-02 9.82674101e-01 2.55200257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.17463044 meters Centerline goodness [0,1] 0.23395796621824905 Centerline is valid? [False, False] Translation: X:25.76, Y:2.12, Z:2.55 [[ 9.82777306e-01 -6.19264623e-03 -1.84690060e-01 2.57597391e+01] [ 9.30399425e-03 9.99828952e-01 1.59844413e-02 2.12222199e+00] [ 1.84559483e-01 -1.74275014e-02 9.82666820e-01 2.55184996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.20463044 meters Centerline goodness [0,1] 0.2348819268846698 Centerline is valid? [False, False] Translation: X:25.76, Y:2.12, Z:2.55 [[ 9.82870897e-01 -6.52680167e-03 -1.84179806e-01 2.57588630e+01] [ 9.69580962e-03 9.99819960e-01 1.63107052e-02 2.11609858e+00] [ 1.84040189e-01 -1.78170898e-02 9.82757223e-01 2.55191125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.23463044 meters Centerline goodness [0,1] 0.23672689815013515 Centerline is valid? [False, False] Translation: X:25.76, Y:2.11, Z:2.55 [[ 9.82914882e-01 -6.52100247e-03 -1.83945129e-01 2.57585146e+01] [ 9.73866531e-03 9.99814873e-01 1.65945346e-02 2.11370624e+00] [ 1.83802863e-01 -1.81023950e-02 9.82796424e-01 2.55193918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.26463044 meters Centerline goodness [0,1] 0.23590105101256087 Centerline is valid? [False, False] Translation: X:25.76, Y:2.11, Z:2.55 [[ 9.82927209e-01 -6.41385774e-03 -1.83883016e-01 2.57589224e+01] [ 9.69649048e-03 9.99809182e-01 1.69581212e-02 2.11123658e+00] [ 1.83739161e-01 -1.84516187e-02 9.82801841e-01 2.55172510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.29463044 meters Centerline goodness [0,1] 0.23989381218569916 Centerline is valid? [False, False] Translation: X:25.76, Y:2.11, Z:2.55 [[ 9.82897951e-01 -6.43576408e-03 -1.84038582e-01 2.57596989e+01] [ 9.76165244e-03 9.99804908e-01 1.71713976e-02 2.10932936e+00] [ 1.83892167e-01 -1.86742522e-02 9.82769018e-01 2.55161196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.32463044 meters Centerline goodness [0,1] 0.24043527817802535 Centerline is valid? [False, False] Translation: X:25.76, Y:2.10, Z:2.55 [[ 9.82827986e-01 -7.01436178e-03 -1.84390752e-01 2.57620782e+01] [ 1.03545277e-02 9.99799174e-01 1.71579456e-02 2.10345352e+00] [ 1.84233369e-01 -1.87725883e-02 9.82703239e-01 2.55090800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.35463044 meters Centerline goodness [0,1] 0.23778125066900735 Centerline is valid? [False, False] Translation: X:25.76, Y:2.10, Z:2.55 [[ 9.82873582e-01 -6.94237272e-03 -1.84150279e-01 2.57626380e+01] [ 1.03465588e-02 9.99792777e-01 1.75314708e-02 2.10055030e+00] [ 1.83990409e-01 -1.91365412e-02 9.82741737e-01 2.55015651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.38463044 meters Centerline goodness [0,1] 0.24117987275882014 Centerline is valid? [False, False] Translation: X:25.76, Y:2.10, Z:2.55 [[ 9.82905524e-01 -6.99517225e-03 -1.83977712e-01 2.57628409e+01] [ 1.04420576e-02 9.99787516e-01 1.77731868e-02 2.09808349e+00] [ 1.83814293e-01 -1.93904693e-02 9.82769716e-01 2.54982861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.41463044 meters Centerline goodness [0,1] 0.23962966130687646 Centerline is valid? [False, False] Translation: X:25.76, Y:2.10, Z:2.55 [[ 9.82884875e-01 -6.95493759e-03 -1.84089519e-01 2.57637357e+01] [ 1.04555280e-02 9.99782383e-01 1.80518494e-02 2.09578864e+00] [ 1.83923909e-01 -1.96676428e-02 9.82743700e-01 2.54960176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.44463044 meters Centerline goodness [0,1] 0.24083197669437062 Centerline is valid? [False, False] Translation: X:25.77, Y:2.09, Z:2.55 [[ 9.82822309e-01 -6.75128044e-03 -1.84430827e-01 2.57652548e+01] [ 1.03283588e-02 9.99776594e-01 1.84414361e-02 2.09368067e+00] [ 1.84265120e-01 -2.00295226e-02 9.82672470e-01 2.54923884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.47463044 meters Centerline goodness [0,1] 0.2405857740585774 Centerline is valid? [False, False] Translation: X:25.77, Y:2.09, Z:2.55 [[ 9.82682854e-01 -6.41418771e-03 -1.85184414e-01 2.57686412e+01] [ 1.01559364e-02 9.99762849e-01 1.92640292e-02 2.08904736e+00] [ 1.85016935e-01 -2.08111523e-02 9.82514951e-01 2.54841883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.50463044 meters Centerline goodness [0,1] 0.24396155991248014 Centerline is valid? [False, False] Translation: X:25.77, Y:2.09, Z:2.55 [[ 9.82669937e-01 -6.25463173e-03 -1.85258398e-01 2.57694724e+01] [ 1.00920433e-02 9.99753458e-01 1.97780931e-02 2.08600402e+00] [ 1.85089019e-01 -2.13049732e-02 9.82490790e-01 2.54812867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.53463044 meters Centerline goodness [0,1] 0.24417183177129131 Centerline is valid? [False, False] Translation: X:25.77, Y:2.08, Z:2.55 [[ 9.82723915e-01 -6.15448357e-03 -1.84975212e-01 2.57694126e+01] [ 1.00698357e-02 9.99744541e-01 2.02349115e-02 2.08300474e+00] [ 1.84803423e-01 -2.17480015e-02 9.82534844e-01 2.54783480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.56463044000003 meters Centerline goodness [0,1] 0.2457957122683897 Centerline is valid? [False, False] Translation: X:25.77, Y:2.08, Z:2.55 [[ 9.82777018e-01 -6.08236205e-03 -1.84695255e-01 2.57688364e+01] [ 1.00561898e-02 9.99737500e-01 2.05864888e-02 2.08059395e+00] [ 1.84521558e-01 -2.20892586e-02 9.82580205e-01 2.54798534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.59463044 meters Centerline goodness [0,1] 0.24468426113901054 Centerline is valid? [False, False] Translation: X:25.77, Y:2.08, Z:2.55 [[ 9.82855410e-01 -6.03845498e-03 -1.84279080e-01 2.57678067e+01] [ 1.00393846e-02 9.99733542e-01 2.07859595e-02 2.07834234e+00] [ 1.84104463e-01 -2.22796413e-02 9.82654143e-01 2.54817989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.62463044000003 meters Centerline goodness [0,1] 0.24598264157428895 Centerline is valid? [False, False] Translation: X:25.77, Y:2.08, Z:2.55 [[ 9.82856387e-01 -5.98821965e-03 -1.84275513e-01 2.57680496e+01] [ 9.97830066e-03 9.99735251e-01 2.07330980e-02 2.07844232e+00] [ 1.84102572e-01 -2.22164142e-02 9.82655929e-01 2.54796834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.65463044 meters Centerline goodness [0,1] 0.24331327494271582 Centerline is valid? [False, False] Translation: X:25.77, Y:2.08, Z:2.55 [[ 9.82838674e-01 -5.83150413e-03 -1.84374982e-01 2.57688060e+01] [ 9.82321968e-03 9.99736561e-01 2.07439875e-02 2.07881290e+00] [ 1.84205442e-01 -2.21991491e-02 9.82637040e-01 2.54760080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.68463044000003 meters Centerline goodness [0,1] 0.24418052256532063 Centerline is valid? [False, False] Translation: X:25.77, Y:2.08, Z:2.55 [[ 9.82864808e-01 -5.81412417e-03 -1.84236167e-01 2.57686223e+01] [ 9.77086705e-03 9.99740548e-01 2.05759041e-02 2.07978920e+00] [ 1.84068735e-01 -2.20234791e-02 9.82666610e-01 2.54738286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.71463044 meters Centerline goodness [0,1] 0.24524172263588184 Centerline is valid? [False, False] Translation: X:25.77, Y:2.08, Z:2.55 [[ 9.82839708e-01 -5.65421065e-03 -1.84374993e-01 2.57693336e+01] [ 9.63529396e-03 9.99739228e-01 2.07035306e-02 2.07966607e+00] [ 1.84209851e-01 -2.21247592e-02 9.82637892e-01 2.54718871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.74463044000004 meters Centerline goodness [0,1] 0.24358066799665357 Centerline is valid? [False, False] Translation: X:25.77, Y:2.08, Z:2.55 [[ 9.82801142e-01 -5.45308002e-03 -1.84586508e-01 2.57703764e+01] [ 9.47795945e-03 9.99736027e-01 2.09295299e-02 2.07908122e+00] [ 1.84423651e-01 -2.23190693e-02 9.82593393e-01 2.54694220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.77463044 meters Centerline goodness [0,1] 0.24604607185834626 Centerline is valid? [False, False] Translation: X:25.77, Y:2.08, Z:2.55 [[ 9.82758970e-01 -5.33573577e-03 -1.84814330e-01 2.57712557e+01] [ 9.40159644e-03 9.99732523e-01 2.11303672e-02 2.07830442e+00] [ 1.84652151e-01 -2.25036076e-02 9.82546269e-01 2.54685496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.80463044 meters Centerline goodness [0,1] 0.24569049211451743 Centerline is valid? [False, False] Translation: X:25.77, Y:2.08, Z:2.55 [[ 9.82691108e-01 -5.29530884e-03 -1.85175986e-01 2.57731308e+01] [ 9.40095770e-03 9.99728916e-01 2.13006246e-02 2.07726506e+00] [ 1.85012995e-01 -2.26727660e-02 9.82474497e-01 2.54623913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.83463044 meters Centerline goodness [0,1] 0.24350164326262325 Centerline is valid? [False, False] Translation: X:25.77, Y:2.08, Z:2.55 [[ 9.82660548e-01 -5.17288605e-03 -1.85341548e-01 2.57743717e+01] [ 9.29740626e-03 9.99727946e-01 2.13914021e-02 2.07711156e+00] [ 1.85180470e-01 -2.27436826e-02 9.82441305e-01 2.54565400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.86463044 meters Centerline goodness [0,1] 0.24186948093904803 Centerline is valid? [False, False] Translation: X:25.77, Y:2.08, Z:2.55 [[ 9.82656597e-01 -5.14120428e-03 -1.85363375e-01 2.57745969e+01] [ 9.25269666e-03 9.99729833e-01 2.13224868e-02 2.07777638e+00] [ 1.85203673e-01 -2.26677934e-02 9.82438685e-01 2.54545591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.89463044 meters Centerline goodness [0,1] 0.24361793876670979 Centerline is valid? [False, False] Translation: X:25.77, Y:2.08, Z:2.55 [[ 9.82775921e-01 -1.03515433e-03 -1.84798317e-01 2.57728488e+01] [ 5.66317707e-03 9.99683358e-01 2.45175799e-02 2.07999169e+00] [ 1.84714423e-01 -2.51418327e-02 9.82470595e-01 2.54575905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.92463044 meters Centerline goodness [0,1] 0.2402830655395668 Centerline is valid? [False, False] Translation: X:25.77, Y:2.08, Z:2.55 [[ 9.82730141e-01 -7.15062045e-04 -1.85043124e-01 2.57730530e+01] [ 5.33348171e-03 9.99686532e-01 2.44620564e-02 2.08198962e+00] [ 1.84967627e-01 -2.50265242e-02 9.82425900e-01 2.54618648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.95463044 meters Centerline goodness [0,1] 0.23821313469788485 Centerline is valid? [False, False] Translation: X:25.79, Y:2.08, Z:2.55 [[ 9.82374501e-01 4.24705910e-03 -1.86875096e-01 2.57900704e+01] [ 1.70120394e-04 9.99721120e-01 2.36146855e-02 2.08285623e+00] [ 1.86923273e-01 -2.32302561e-02 9.82099814e-01 2.55116348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.98463044 meters Centerline goodness [0,1] 0.23924905807457453 Centerline is valid? [False, False] Translation: X:25.79, Y:2.08, Z:2.55 [[ 9.82338404e-01 4.21935024e-03 -1.87065384e-01 2.57909968e+01] [ 1.48840151e-04 9.99727785e-01 2.33309497e-02 2.08451145e+00] [ 1.87112904e-01 -2.29467307e-02 9.82070369e-01 2.55069895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.01463044 meters Centerline goodness [0,1] 0.23814129430223308 Centerline is valid? [False, False] Translation: X:25.79, Y:2.09, Z:2.55 [[ 9.82359607e-01 4.23197073e-03 -1.86953718e-01 2.57911062e+01] [ 9.20137075e-05 9.99732834e-01 2.31139059e-02 2.08610507e+00] [ 1.87001587e-01 -2.27233698e-02 9.82096764e-01 2.55048845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.04463044 meters Centerline goodness [0,1] 0.23822246922024626 Centerline is valid? [False, False] Translation: X:25.81, Y:2.09, Z:2.55 [[ 9.82701025e-01 -3.84499980e-03 -1.85159154e-01 2.58074454e+01] [ 8.79235280e-03 9.99625722e-01 2.59057859e-02 2.08984570e+00] [ 1.84990245e-01 -2.70856269e-02 9.82367028e-01 2.55291057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.07463044 meters Centerline goodness [0,1] 0.24029371864165894 Centerline is valid? [False, False] Translation: X:25.81, Y:2.09, Z:2.55 [[ 9.82703405e-01 -3.96153549e-03 -1.85144062e-01 2.58066332e+01] [ 8.89142133e-03 9.99627463e-01 2.58046102e-02 2.09036110e+00] [ 1.84972863e-01 -2.70044722e-02 9.82372535e-01 2.55380425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.10463044 meters Centerline goodness [0,1] 0.24278178490687907 Centerline is valid? [False, False] Translation: X:25.81, Y:2.09, Z:2.55 [[ 9.82661504e-01 -4.09624212e-03 -1.85363401e-01 2.58066006e+01] [ 9.00459825e-03 9.99630544e-01 2.56455336e-02 2.09091640e+00] [ 1.85189867e-01 -2.68700015e-02 9.82335338e-01 2.55454132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.13463044 meters Centerline goodness [0,1] 0.24196241277451946 Centerline is valid? [False, False] Translation: X:25.82, Y:2.09, Z:2.56 [[ 9.82396517e-01 2.62017511e-04 -1.86807428e-01 2.58231404e+01] [ 4.38288297e-03 9.99691417e-01 2.44511991e-02 2.09082584e+00] [ 1.86756189e-01 -2.48395279e-02 9.82092217e-01 2.55980893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.16463044 meters Centerline goodness [0,1] 0.2410362827314736 Centerline is valid? [False, False] Translation: X:25.82, Y:2.09, Z:2.56 [[ 9.82394518e-01 2.34989262e-04 -1.86817972e-01 2.58232336e+01] [ 4.37465576e-03 9.99696066e-01 2.42618824e-02 2.09171013e+00] [ 1.86766893e-01 -2.46520046e-02 9.82094907e-01 2.55986447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.19463044 meters Centerline goodness [0,1] 0.2540000430691044 Centerline is valid? [False, False] Translation: X:25.82, Y:2.09, Z:2.56 [[ 9.82395193e-01 1.82963796e-04 -1.86814481e-01 2.58229645e+01] [ 4.37997885e-03 9.99702077e-01 2.40119472e-02 2.09302812e+00] [ 1.86763218e-01 -2.44074650e-02 9.82101714e-01 2.56011852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.22463044 meters Centerline goodness [0,1] 0.2397704805295281 Centerline is valid? [False, False] Translation: X:25.83, Y:2.10, Z:2.56 [[ 9.82231157e-01 1.32629416e-03 -1.87670443e-01 2.58263362e+01] [ 3.31428854e-03 9.99696505e-01 2.44113512e-02 2.09711774e+00] [ 1.87645863e-01 -2.45995838e-02 9.81928659e-01 2.55922578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.25463044 meters Centerline goodness [0,1] 0.23579466295145213 Centerline is valid? [False, False] Translation: X:25.83, Y:2.10, Z:2.56 [[ 9.82062730e-01 1.91128206e-03 -1.88544799e-01 2.58291934e+01] [ 2.74083153e-03 9.99698275e-01 2.44099753e-02 2.09980506e+00] [ 1.88534564e-01 -2.44888965e-02 9.81761179e-01 2.55878675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.28463044 meters Centerline goodness [0,1] 0.2391573729863693 Centerline is valid? [False, False] Translation: X:25.83, Y:2.10, Z:2.56 [[ 9.81913400e-01 2.20111887e-03 -1.89317799e-01 2.58311922e+01] [ 2.39541845e-03 9.99707954e-01 2.40472345e-02 2.10344198e+00] [ 1.89315441e-01 -2.40657971e-02 9.81621364e-01 2.55864311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.31463044000003 meters Centerline goodness [0,1] 0.2377801958650707 Centerline is valid? [False, False] Translation: X:25.83, Y:2.11, Z:2.56 [[ 9.81854446e-01 6.66757944e-03 -1.89518841e-01 2.58322740e+01] [-1.67494631e-03 9.99647630e-01 2.64917011e-02 2.11217040e+00] [ 1.89628696e-01 -2.56935606e-02 9.81519637e-01 2.55797969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.34463044 meters Centerline goodness [0,1] 0.23199320868069917 Centerline is valid? [False, False] Translation: X:25.83, Y:2.12, Z:2.56 [[ 9.81818119e-01 8.21159778e-03 -1.89646383e-01 2.58321795e+01] [-3.16019974e-03 9.99632517e-01 2.69229431e-02 2.11909770e+00] [ 1.89797772e-01 -2.58341129e-02 9.81483267e-01 2.55825608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.37463044000003 meters Centerline goodness [0,1] 0.23217207820170527 Centerline is valid? [False, False] Translation: X:25.85, Y:2.13, Z:2.56 [[ 9.82040445e-01 1.49807417e-02 -1.88074830e-01 2.58508576e+01] [-1.01535279e-02 9.99594492e-01 2.66037292e-02 2.12546729e+00] [ 1.88397107e-01 -2.42163150e-02 9.81794327e-01 2.56210353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.40463044 meters Centerline goodness [0,1] 0.23217207820170527 Centerline is valid? [False, False] Translation: X:25.86, Y:2.13, Z:2.57 [[ 9.82161254e-01 5.25857992e-03 -1.87967069e-01 2.58636465e+01] [ 1.12398316e-05 9.99607256e-01 2.80238129e-02 2.13099936e+00] [ 1.88040611e-01 -2.75260159e-02 9.81775456e-01 2.56543108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.43463044000003 meters Centerline goodness [0,1] 0.2446702270852329 Centerline is valid? [False, False] Translation: X:25.86, Y:2.14, Z:2.57 [[ 9.82099910e-01 5.68293003e-03 -1.88274986e-01 2.58636510e+01] [-4.83228144e-04 9.99617494e-01 2.76519896e-02 2.13669387e+00] [ 1.88360114e-01 -2.70660367e-02 9.81726997e-01 2.56593890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.46463044 meters Centerline goodness [0,1] 0.24112556915042838 Centerline is valid? [False, False] Translation: X:25.88, Y:2.15, Z:2.57 [[ 9.82250899e-01 1.16917316e-02 -1.87207036e-01 2.58825533e+01] [-6.87636623e-03 9.99629103e-01 2.63509235e-02 2.14718661e+00] [ 1.87445689e-01 -2.45959142e-02 9.81966982e-01 2.57009449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.49463044000004 meters Centerline goodness [0,1] 0.24270799698633083 Centerline is valid? [False, False] Translation: X:25.90, Y:2.15, Z:2.57 [[ 9.82627672e-01 6.27993742e-04 -1.85586808e-01 2.58970707e+01] [ 4.42424039e-03 9.99630820e-01 2.68076324e-02 2.15229070e+00] [ 1.85535128e-01 -2.71630021e-02 9.82262128e-01 2.57384168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.52463044 meters Centerline goodness [0,1] 0.2499297221321224 Centerline is valid? [False, False] Translation: X:25.89, Y:2.15, Z:2.58 [[ 9.82729704e-01 -1.59858071e-04 -1.85046762e-01 2.58946442e+01] [ 5.14437273e-03 9.99636723e-01 2.64567067e-02 2.15137963e+00] [ 1.84975309e-01 -2.69517410e-02 9.82373523e-01 2.57507617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.55463044 meters Centerline goodness [0,1] 0.23348813209494323 Centerline is valid? [False, False] Translation: X:25.91, Y:2.15, Z:2.58 [[ 9.82763877e-01 -9.36388191e-03 -1.84627949e-01 2.59119750e+01] [ 1.49316454e-02 9.99473970e-01 2.87893871e-02 2.15454264e+00] [ 1.84261249e-01 -3.10499688e-02 9.82386732e-01 2.57804213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.58463044 meters Centerline goodness [0,1] 0.23390332339247788 Centerline is valid? [False, False] Translation: X:25.92, Y:2.15, Z:2.58 [[ 9.82403582e-01 -9.06692541e-03 -1.86550243e-01 2.59190553e+01] [ 1.47735026e-02 9.99463749e-01 2.92225759e-02 2.15410914e+00] [ 1.86185247e-01 -3.14643638e-02 9.82010717e-01 2.57645956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.61463044 meters Centerline goodness [0,1] 0.24814894532931553 Centerline is valid? [False, False] Translation: X:25.92, Y:2.15, Z:2.58 [[ 9.82428383e-01 -9.37315125e-03 -1.86404441e-01 2.59191634e+01] [ 1.50472790e-02 9.99464743e-01 2.90483410e-02 2.15315972e+00] [ 1.86032392e-01 -3.13427944e-02 9.82043573e-01 2.57631211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.64463044 meters Centerline goodness [0,1] 0.23635425179577618 Centerline is valid? [False, False] Translation: X:25.92, Y:2.15, Z:2.58 [[ 9.82510042e-01 -9.51392926e-03 -1.85966404e-01 2.59180783e+01] [ 1.51557703e-02 9.99466251e-01 2.89398792e-02 2.15262212e+00] [ 1.85591813e-01 -3.12521860e-02 9.82129818e-01 2.57656468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.67463044 meters Centerline goodness [0,1] 0.25638091125026996 Centerline is valid? [False, False] Translation: X:25.92, Y:2.15, Z:2.58 [[ 9.82610570e-01 -9.43380893e-03 -1.85438589e-01 2.59160713e+01] [ 1.50446559e-02 9.99469854e-01 2.88733335e-02 2.15350285e+00] [ 1.85067894e-01 -3.11611025e-02 9.82231572e-01 2.57727377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.70463044 meters Centerline goodness [0,1] 0.2340485054552497 Centerline is valid? [False, False] Translation: X:25.93, Y:2.16, Z:2.58 [[ 9.82984583e-01 -3.60374973e-03 -1.83652725e-01 2.59317329e+01] [ 8.87652343e-03 9.99571403e-01 2.78965668e-02 2.15731911e+00] [ 1.83473480e-01 -2.90520927e-02 9.82595267e-01 2.58160596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.73463044 meters Centerline goodness [0,1] 0.2346384313051696 Centerline is valid? [False, False] Translation: X:25.93, Y:2.16, Z:2.58 [[ 9.83020213e-01 -3.83603744e-03 -1.83457203e-01 2.59316480e+01] [ 9.05654972e-03 9.99577277e-01 2.76269097e-02 2.15715778e+00] [ 1.83273674e-01 -2.88192999e-02 9.82639409e-01 2.58133394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.76463044 meters Centerline goodness [0,1] 0.26075228209499557 Centerline is valid? [False, False] Translation: X:25.93, Y:2.16, Z:2.58 [[ 9.82850331e-01 -3.57277751e-03 -1.84370449e-01 2.59345564e+01] [ 8.81267660e-03 9.99579954e-01 2.76089003e-02 2.15806755e+00] [ 1.84194364e-01 -2.87602139e-02 9.82468975e-01 2.58071546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.79463044 meters Centerline goodness [0,1] 0.23313293253173017 Centerline is valid? [False, False] Translation: X:25.94, Y:2.16, Z:2.58 [[ 9.82595206e-01 -2.57213377e-03 -1.85741879e-01 2.59399462e+01] [ 7.94376157e-03 9.99571260e-01 2.81814261e-02 2.15902790e+00] [ 1.85589758e-01 -2.91664233e-02 9.82194360e-01 2.57913944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.82463044 meters Centerline goodness [0,1] 0.23076758697324562 Centerline is valid? [False, False] Translation: X:25.94, Y:2.15, Z:2.58 [[ 9.82632422e-01 -2.81596697e-03 -1.85541352e-01 2.59399993e+01] [ 8.25675723e-03 9.99558044e-01 2.85577034e-02 2.15349633e+00] [ 1.85378934e-01 -2.95936952e-02 9.82221393e-01 2.57917724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.85463044 meters Centerline goodness [0,1] 0.23307364524598628 Centerline is valid? [False, False] Translation: X:25.94, Y:2.15, Z:2.58 [[ 9.82530357e-01 -2.45435197e-03 -1.86086199e-01 2.59415979e+01] [ 7.95410011e-03 9.99553143e-01 2.88140100e-02 2.15360074e+00] [ 1.85932325e-01 -2.97907878e-02 9.82110829e-01 2.57904222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.88463044 meters Centerline goodness [0,1] 0.2313461703773747 Centerline is valid? [False, False] Translation: X:25.95, Y:2.15, Z:2.58 [[ 9.82324861e-01 -1.40538991e-03 -1.87178771e-01 2.59458135e+01] [ 7.04194150e-03 9.99541400e-01 2.94516776e-02 2.15444139e+00] [ 1.87051539e-01 -3.02492171e-02 9.81884263e-01 2.57787399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.91463044 meters Centerline goodness [0,1] 0.22954946426266187 Centerline is valid? [False, False] Translation: X:25.95, Y:2.16, Z:2.58 [[ 9.82206168e-01 -1.06235503e-03 -1.87802863e-01 2.59475936e+01] [ 6.69855853e-03 9.99545894e-01 2.93791735e-02 2.15616890e+00] [ 1.87686370e-01 -3.01144139e-02 9.81767258e-01 2.57761979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.94463044 meters Centerline goodness [0,1] 0.226984332513272 Centerline is valid? [False, False] Translation: X:25.95, Y:2.16, Z:2.58 [[ 9.82302959e-01 -8.31515466e-04 -1.87297104e-01 2.59453382e+01] [ 6.33363505e-03 9.99565707e-01 2.87799116e-02 2.15964029e+00] [ 1.87191832e-01 -2.94568638e-02 9.81881618e-01 2.57842904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.97463044 meters Centerline goodness [0,1] 0.22966757493188006 Centerline is valid? [False, False] Translation: X:25.94, Y:2.16, Z:2.58 [[ 9.82315670e-01 -7.10398607e-04 -1.87230926e-01 2.59440846e+01] [ 6.15612878e-03 9.99574671e-01 2.85057893e-02 2.16161419e+00] [ 1.87131041e-01 -2.91543012e-02 9.81902236e-01 2.57934166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.00463044 meters Centerline goodness [0,1] 0.2280181739506707 Centerline is valid? [False, False] Translation: X:25.96, Y:2.16, Z:2.58 [[ 9.82088690e-01 4.94565920e-03 -1.88354307e-01 2.59610760e+01] [ 2.99694915e-04 9.99613191e-01 2.78096808e-02 2.16405001e+00] [ 1.88418988e-01 -2.73680218e-02 9.81707327e-01 2.58455291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.03463044 meters Centerline goodness [0,1] 0.2265670546066979 Centerline is valid? [False, False] Translation: X:25.96, Y:2.17, Z:2.58 [[ 9.82047065e-01 4.92085867e-03 -1.88571862e-01 2.59621601e+01] [ 2.55198539e-04 9.99624116e-01 2.74146202e-02 2.16594680e+00] [ 1.88635884e-01 -2.69705706e-02 9.81676674e-01 2.58401854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.06463044000003 meters Centerline goodness [0,1] 0.22851672975677673 Centerline is valid? [False, False] Translation: X:25.96, Y:2.16, Z:2.58 [[ 9.81978560e-01 5.22794829e-04 -1.88991626e-01 2.59622053e+01] [ 4.02498589e-03 9.99711515e-01 2.36787945e-02 2.16490289e+00] [ 1.88949484e-01 -2.40127571e-02 9.81693170e-01 2.58495688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.09463044 meters Centerline goodness [0,1] 0.22672627056117356 Centerline is valid? [False, False] Translation: X:25.96, Y:2.17, Z:2.59 [[ 9.81872143e-01 1.07557571e-03 -1.89541391e-01 2.59631829e+01] [ 3.55599356e-03 9.99703376e-01 2.40938808e-02 2.16515807e+00] [ 1.89511083e-01 -2.43311184e-02 9.81577071e-01 2.58549016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.12463044000003 meters Centerline goodness [0,1] 0.22570681872178666 Centerline is valid? [False, False] Translation: X:25.96, Y:2.17, Z:2.59 [[ 9.81826953e-01 1.79720965e-03 -1.89769871e-01 2.59631932e+01] [ 2.92681918e-03 9.99692837e-01 2.46102690e-02 2.16599509e+00] [ 1.89755811e-01 -2.47184475e-02 9.81520112e-01 2.58616954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.15463044 meters Centerline goodness [0,1] 0.2512390226936788 Centerline is valid? [False, False] Translation: X:25.96, Y:2.17, Z:2.59 [[ 9.82132650e-01 1.03662805e-03 -1.88187094e-01 2.59564554e+01] [ 3.51993968e-03 9.99708703e-01 2.38771622e-02 2.16623213e+00] [ 1.88157028e-01 -2.41129478e-02 9.81842909e-01 2.58905783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.18463044000003 meters Centerline goodness [0,1] 0.24983341572985407 Centerline is valid? [False, False] Translation: X:25.97, Y:2.16, Z:2.59 [[ 9.82488001e-01 5.22762050e-03 -1.86252519e-01 2.59705468e+01] [-1.09801778e-03 9.99751427e-01 2.22683258e-02 2.16353743e+00] [ 1.86322632e-01 -2.16738543e-02 9.82249521e-01 2.59457146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.21463044 meters Centerline goodness [0,1] 0.25111207082703524 Centerline is valid? [False, False] Translation: X:25.97, Y:2.16, Z:2.59 [[ 9.82434125e-01 5.25278231e-03 -1.86535784e-01 2.59710494e+01] [-1.09314474e-03 9.99748597e-01 2.23952689e-02 2.16263901e+00] [ 1.86606526e-01 -2.17979658e-02 9.82192880e-01 2.59487922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.24463044000004 meters Centerline goodness [0,1] 0.24814854798661345 Centerline is valid? [False, False] Translation: X:25.99, Y:2.17, Z:2.60 [[ 9.82063678e-01 -6.75684393e-04 -1.88548339e-01 2.59929087e+01] [ 5.83924695e-03 9.99622909e-01 2.68317544e-02 2.16849800e+00] [ 1.88459110e-01 -2.74514717e-02 9.81697296e-01 2.59617830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.27463044 meters Centerline goodness [0,1] 0.22598980366634125 Centerline is valid? [False, False] Translation: X:25.99, Y:2.17, Z:2.60 [[ 9.82012209e-01 -8.22784918e-04 -1.88815635e-01 2.59939786e+01] [ 5.94723866e-03 9.99629130e-01 2.65750303e-02 2.16916740e+00] [ 1.88723743e-01 -2.72199358e-02 9.81652904e-01 2.59590727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.30463044 meters Centerline goodness [0,1] 0.2259462270078212 Centerline is valid? [False, False] Translation: X:25.99, Y:2.17, Z:2.60 [[ 9.82060278e-01 -1.14181237e-03 -1.88563798e-01 2.59937216e+01] [ 6.19096041e-03 9.99637811e-01 2.61900616e-02 2.16938817e+00] [ 1.88465598e-01 -2.68876102e-02 9.81711656e-01 2.59570082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.33463044 meters Centerline goodness [0,1] 0.2254315354483234 Centerline is valid? [False, False] Translation: X:26.01, Y:2.17, Z:2.60 [[ 9.81992847e-01 3.44259373e-03 -1.88886732e-01 2.60089870e+01] [ 1.28083130e-03 9.99689652e-01 2.48788914e-02 2.16872128e+00] [ 1.88913760e-01 -2.46728254e-02 9.81683678e-01 2.60133640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.36463044 meters Centerline goodness [0,1] 0.2297504923070265 Centerline is valid? [False, False] Translation: X:26.01, Y:2.17, Z:2.60 [[ 9.81910685e-01 3.83386863e-03 -1.89305861e-01 2.60087662e+01] [ 9.25370338e-04 9.99685879e-01 2.50456870e-02 2.16984132e+00] [ 1.89342418e-01 -2.47678057e-02 9.81598698e-01 2.60254031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.39463044 meters Centerline goodness [0,1] 0.22321831667204128 Centerline is valid? [False, False] Translation: X:26.01, Y:2.17, Z:2.60 [[ 9.81810891e-01 4.11791977e-03 -1.89816797e-01 2.60107004e+01] [ 6.57827851e-04 9.99684982e-01 2.50899034e-02 2.17078147e+00] [ 1.89860320e-01 -2.47584072e-02 9.81498895e-01 2.60206012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.42463044 meters Centerline goodness [0,1] 0.23288386254893434 Centerline is valid? [False, False] Translation: X:26.01, Y:2.17, Z:2.60 [[ 9.81761514e-01 4.11647697e-03 -1.90072052e-01 2.60118721e+01] [ 6.27654972e-04 9.99689932e-01 2.48927079e-02 2.17180049e+00] [ 1.90115587e-01 -2.45580022e-02 9.81454517e-01 2.60158580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.45463044 meters Centerline goodness [0,1] 0.23103620311923823 Centerline is valid? [False, False] Translation: X:26.01, Y:2.17, Z:2.60 [[ 9.81820569e-01 4.40721252e-03 -1.89760233e-01 2.60110166e+01] [ 3.11270295e-04 9.99691676e-01 2.48285174e-02 2.17332649e+00] [ 1.89811150e-01 -2.44362158e-02 9.81516479e-01 2.60182914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.48463044 meters Centerline goodness [0,1] 0.22867411448861175 Centerline is valid? [False, False] Translation: X:26.03, Y:2.18, Z:2.60 [[ 9.82111013e-01 -3.31572269e-03 -1.88273640e-01 2.60255259e+01] [ 8.74818742e-03 9.99568788e-01 2.80304682e-02 2.17846661e+00] [ 1.88099513e-01 -2.91760846e-02 9.81716522e-01 2.60464465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.51463044 meters Centerline goodness [0,1] 0.23120558127404311 Centerline is valid? [False, False] Translation: X:26.02, Y:2.18, Z:2.61 [[ 9.82121844e-01 -3.33802082e-03 -1.88216742e-01 2.60246067e+01] [ 8.74704961e-03 9.99572028e-01 2.79150314e-02 2.17902151e+00] [ 1.88043009e-01 -2.90623033e-02 9.81730721e-01 2.60543045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.54463044 meters Centerline goodness [0,1] 0.2330426461953331 Centerline is valid? [False, False] Translation: X:26.03, Y:2.18, Z:2.61 [[ 9.82084023e-01 -3.41257416e-03 -1.88412646e-01 2.60252217e+01] [ 8.80258453e-03 9.99575355e-01 2.77781387e-02 2.17916962e+00] [ 1.88237842e-01 -2.89389844e-02 9.81697025e-01 2.60541376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.57463044 meters Centerline goodness [0,1] 0.2281648037431765 Centerline is valid? [False, False] Translation: X:26.03, Y:2.18, Z:2.61 [[ 9.81924459e-01 -3.25974109e-03 -1.89245160e-01 2.60277356e+01] [ 8.66209392e-03 9.99578008e-01 2.77267667e-02 2.17981143e+00] [ 1.89074918e-01 -2.88648497e-02 9.81538331e-01 2.60515633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.60463044 meters Centerline goodness [0,1] 0.2321891751685976 Centerline is valid? [False, False] Translation: X:26.03, Y:2.18, Z:2.61 [[ 9.81898453e-01 -2.97950080e-03 -1.89384664e-01 2.60281106e+01] [ 8.40997264e-03 9.99575979e-01 2.78771342e-02 2.18043964e+00] [ 1.89221301e-01 -2.89652348e-02 9.81507165e-01 2.60525482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.63463044 meters Centerline goodness [0,1] 0.2307091906424127 Centerline is valid? [False, False] Translation: X:26.03, Y:2.18, Z:2.61 [[ 9.81929467e-01 -3.10221891e-03 -1.89221821e-01 2.60268598e+01] [ 8.51867116e-03 9.99576698e-01 2.78182954e-02 2.18032163e+00] [ 1.89055424e-01 -2.89275224e-02 9.81540241e-01 2.60619055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.66463044 meters Centerline goodness [0,1] 0.22884632091043355 Centerline is valid? [False, False] Translation: X:26.03, Y:2.18, Z:2.61 [[ 9.82000598e-01 -3.44439271e-03 -1.88846396e-01 2.60256371e+01] [ 8.83054093e-03 9.99577627e-01 2.76873622e-02 2.17950393e+00] [ 1.88671267e-01 -2.88566221e-02 9.81616243e-01 2.60667020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.69463044 meters Centerline goodness [0,1] 0.23298056155507563 Centerline is valid? [False, False] Translation: X:26.03, Y:2.18, Z:2.61 [[ 9.81845068e-01 -3.33195132e-03 -1.89655373e-01 2.60282989e+01] [ 8.76797591e-03 9.99574194e-01 2.78308032e-02 2.17900035e+00] [ 1.89481885e-01 -2.89884306e-02 9.81456207e-01 2.60640255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.72463044 meters Centerline goodness [0,1] 0.22781676497180003 Centerline is valid? [False, False] Translation: X:26.03, Y:2.18, Z:2.61 [[ 9.81718736e-01 -3.23348960e-03 -1.90309928e-01 2.60304522e+01] [ 8.68226555e-03 9.99575681e-01 2.78042519e-02 2.17958586e+00] [ 1.90139271e-01 -2.89482763e-02 9.81330248e-01 2.60604087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.75463044 meters Centerline goodness [0,1] 0.22761355755894586 Centerline is valid? [False, False] Translation: X:26.03, Y:2.18, Z:2.61 [[ 9.81619582e-01 -3.18055856e-03 -1.90821591e-01 2.60319166e+01] [ 8.62615629e-03 9.99578679e-01 2.77137686e-02 2.18044846e+00] [ 1.90653048e-01 -2.88504348e-02 9.81233442e-01 2.60591703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.78463044 meters Centerline goodness [0,1] 0.2277120443808781 Centerline is valid? [False, False] Translation: X:26.03, Y:2.18, Z:2.61 [[ 9.81566978e-01 -3.19603526e-03 -1.91091738e-01 2.60326426e+01] [ 8.61667801e-03 9.99583495e-01 2.75424912e-02 2.18143811e+00] [ 1.90924120e-01 -2.86813759e-02 9.81185690e-01 2.60592842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.81463044000003 meters Centerline goodness [0,1] 0.22994211884064253 Centerline is valid? [False, False] Translation: X:26.03, Y:2.18, Z:2.61 [[ 9.81500579e-01 -3.42875875e-03 -1.91428465e-01 2.60336311e+01] [ 8.77792631e-03 9.99594121e-01 2.71024095e-02 2.18316877e+00] [ 1.91257841e-01 -2.82813756e-02 9.81132306e-01 2.60590732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.84463044 meters Centerline goodness [0,1] 0.23350418477908264 Centerline is valid? [False, False] Translation: X:26.03, Y:2.18, Z:2.61 [[ 9.81613654e-01 -4.77578306e-03 -1.90818829e-01 2.60303787e+01] [ 9.97780858e-03 9.99604033e-01 2.63100930e-02 2.18031852e+00] [ 1.90617620e-01 -2.77303003e-02 9.81272619e-01 2.60761986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.87463044000003 meters Centerline goodness [0,1] 0.2341050449205252 Centerline is valid? [False, False] Translation: X:26.03, Y:2.18, Z:2.61 [[ 9.81639642e-01 -5.16757518e-03 -1.90674877e-01 2.60296734e+01] [ 1.04019068e-02 9.99595728e-01 2.64609480e-02 2.17738410e+00] [ 1.90461053e-01 -2.79584978e-02 9.81296545e-01 2.60837797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.90463044 meters Centerline goodness [0,1] 0.2323595215558042 Centerline is valid? [False, False] Translation: X:26.03, Y:2.18, Z:2.61 [[ 9.81413862e-01 -4.41230999e-03 -1.91852453e-01 2.60336672e+01] [ 9.86330819e-03 9.99574057e-01 2.74667157e-02 2.17511893e+00] [ 1.91649543e-01 -2.88485154e-02 9.81039355e-01 2.60803273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.93463044000003 meters Centerline goodness [0,1] 0.22638338217548704 Centerline is valid? [False, False] Translation: X:26.03, Y:2.17, Z:2.61 [[ 9.81415031e-01 -4.49020686e-03 -1.91844665e-01 2.60341187e+01] [ 9.92922352e-03 9.99575257e-01 2.73991958e-02 2.17477843e+00] [ 1.91640152e-01 -2.87948512e-02 9.81042766e-01 2.60770007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.96463044 meters Centerline goodness [0,1] 0.2504785049140842 Centerline is valid? [False, False] Translation: X:26.03, Y:2.17, Z:2.61 [[ 9.81489637e-01 -4.62315769e-03 -1.91459442e-01 2.60334453e+01] [ 1.00215064e-02 9.99578767e-01 2.72370708e-02 2.17434153e+00] [ 1.91252872e-01 -2.86516148e-02 9.81122533e-01 2.60755418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.99463044000004 meters Centerline goodness [0,1] 0.23404942311003962 Centerline is valid? [False, False] Translation: X:26.03, Y:2.17, Z:2.61 [[ 9.81549675e-01 -4.65903165e-03 -1.91150541e-01 2.60323362e+01] [ 1.00298096e-02 9.99581345e-01 2.71392130e-02 2.17400689e+00] [ 1.90944072e-01 -2.85556892e-02 9.81185474e-01 2.60797882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.02463044 meters Centerline goodness [0,1] 0.2513485053617862 Centerline is valid? [False, False] Translation: X:26.03, Y:2.17, Z:2.61 [[ 9.81578248e-01 -4.46874793e-03 -1.91008307e-01 2.60315328e+01] [ 9.83116927e-03 9.99583410e-01 2.71358649e-02 2.17436442e+00] [ 1.90807472e-01 -2.85138098e-02 9.81213265e-01 2.60843185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.05463044 meters Centerline goodness [0,1] 0.22973234025199085 Centerline is valid? [False, False] Translation: X:26.03, Y:2.18, Z:2.61 [[ 9.81564248e-01 -3.17883924e-03 -1.91106048e-01 2.60319269e+01] [ 8.63539637e-03 9.99578247e-01 2.77264787e-02 2.17668740e+00] [ 1.90937311e-01 -2.88655967e-02 9.81177721e-01 2.60820556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.08463044 meters Centerline goodness [0,1] 0.2299357685071044 Centerline is valid? [False, False] Translation: X:26.03, Y:2.18, Z:2.61 [[ 9.81549557e-01 -2.94486684e-03 -1.91185237e-01 2.60319063e+01] [ 8.37731463e-03 9.99583598e-01 2.76125341e-02 2.17839358e+00] [ 1.91024312e-01 -2.87046895e-02 9.81165508e-01 2.60827990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.11463044 meters Centerline goodness [0,1] 0.22731300382529018 Centerline is valid? [False, False] Translation: X:26.03, Y:2.18, Z:2.61 [[ 9.81739840e-01 -2.37503420e-03 -1.90213684e-01 2.60289019e+01] [ 7.76925734e-03 9.99588356e-01 2.76180600e-02 2.18082419e+00] [ 1.90069789e-01 -2.85915689e-02 9.81354165e-01 2.60871177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.14463044 meters Centerline goodness [0,1] 0.2277388019427955 Centerline is valid? [False, False] Translation: X:26.03, Y:2.18, Z:2.61 [[ 9.81778270e-01 -2.40093573e-03 -1.90014906e-01 2.60278614e+01] [ 7.74642675e-03 9.99594693e-01 2.73942238e-02 2.18194911e+00] [ 1.89872119e-01 -2.83669902e-02 9.81398946e-01 2.60915094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.17463044 meters Centerline goodness [0,1] 0.22789998926923494 Centerline is valid? [False, False] Translation: X:26.03, Y:2.18, Z:2.61 [[ 9.81756166e-01 -2.20373825e-03 -1.90131465e-01 2.60284847e+01] [ 7.54856993e-03 9.99596278e-01 2.73916078e-02 2.18249521e+00] [ 1.89994341e-01 -2.83271005e-02 9.81376444e-01 2.60896264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.20463044 meters Centerline goodness [0,1] 0.2250745244375818 Centerline is valid? [False, False] Translation: X:26.03, Y:2.18, Z:2.61 [[ 9.81693434e-01 -2.22007790e-03 -1.90454912e-01 2.60298977e+01] [ 7.55203233e-03 9.99599450e-01 2.72746544e-02 2.18269748e+00] [ 1.90318073e-01 -2.82136708e-02 9.81316982e-01 2.60848666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.23463044 meters Centerline goodness [0,1] 0.22956600752888234 Centerline is valid? [False, False] Translation: X:26.03, Y:2.18, Z:2.61 [[ 9.81588477e-01 -2.17872691e-03 -1.90995587e-01 2.60313289e+01] [ 7.52604404e-03 9.99599605e-01 2.72761462e-02 2.18304756e+00] [ 1.90859686e-01 -2.82113920e-02 9.81211852e-01 2.60847913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.26463044 meters Centerline goodness [0,1] 0.22618995964767652 Centerline is valid? [False, False] Translation: X:26.03, Y:2.18, Z:2.61 [[ 9.81602762e-01 -2.14985926e-03 -1.90922487e-01 2.60306893e+01] [ 7.49880538e-03 9.99599206e-01 2.72982536e-02 2.18331207e+00] [ 1.90787279e-01 -2.82277317e-02 9.81225463e-01 2.60899190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.29463044 meters Centerline goodness [0,1] 0.22618995964767652 Centerline is valid? [False, False] Translation: X:26.03, Y:2.18, Z:2.61 [[ 9.81602762e-01 -2.14985926e-03 -1.90922487e-01 2.60306893e+01] [ 7.49880538e-03 9.99599206e-01 2.72982536e-02 2.18331207e+00] [ 1.90787279e-01 -2.82277317e-02 9.81225463e-01 2.60899190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.32463044 meters Centerline goodness [0,1] 0.22592847317744158 Centerline is valid? [False, False] Translation: X:26.05, Y:2.18, Z:2.61 [[ 9.81656269e-01 3.12742804e-03 -1.90633649e-01 2.60474692e+01] [ 2.00874014e-03 9.99640313e-01 2.67434187e-02 2.18346751e+00] [ 1.90648719e-01 -2.66357781e-02 9.81296898e-01 2.61363166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.35463044 meters Centerline goodness [0,1] 0.2250485478329528 Centerline is valid? [False, False] Translation: X:26.05, Y:2.18, Z:2.61 [[ 9.81667540e-01 3.08604746e-03 -1.90576274e-01 2.60476388e+01] [ 2.04047816e-03 9.99641461e-01 2.66980357e-02 2.18326794e+00] [ 1.90590337e-01 -2.65974617e-02 9.81309278e-01 2.61351274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.38463044 meters Centerline goodness [0,1] 0.22249775535508143 Centerline is valid? [False, False] Translation: X:26.05, Y:2.18, Z:2.61 [[ 9.81550527e-01 2.76112895e-03 -1.91183001e-01 2.60499410e+01] [ 2.33187554e-03 9.99648493e-01 2.64093148e-02 2.18328883e+00] [ 1.91188718e-01 -2.63678918e-02 9.81199067e-01 2.61297029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.41463044 meters Centerline goodness [0,1] 0.2261558670887439 Centerline is valid? [False, False] Translation: X:26.05, Y:2.18, Z:2.61 [[ 9.81485300e-01 2.73561707e-03 -1.91517944e-01 2.60509621e+01] [ 2.35994879e-03 9.99649385e-01 2.63730534e-02 2.18343141e+00] [ 1.91522942e-01 -2.63367368e-02 9.81134720e-01 2.61291410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.44463044 meters Centerline goodness [0,1] 0.2247559798348171 Centerline is valid? [False, False] Translation: X:26.07, Y:2.19, Z:2.62 [[ 9.81672784e-01 -7.54784251e-03 -1.90424723e-01 2.60664514e+01] [ 1.30280610e-02 9.99535706e-01 2.75434550e-02 2.18796649e+00] [ 1.90128416e-01 -2.95195251e-02 9.81315333e-01 2.61595770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.47463044 meters Centerline goodness [0,1] 0.22775078285282369 Centerline is valid? [False, False] Translation: X:26.06, Y:2.18, Z:2.62 [[ 9.81840971e-01 -9.28091485e-03 -1.89478684e-01 2.60622659e+01] [ 1.45854762e-02 9.99539206e-01 2.66203023e-02 2.18403029e+00] [ 1.89144312e-01 -2.89005403e-02 9.81523911e-01 2.61779249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.50463044 meters Centerline goodness [0,1] 0.2253663357827339 Centerline is valid? [False, False] Translation: X:26.06, Y:2.18, Z:2.62 [[ 9.81791032e-01 -9.16231336e-03 -1.89743043e-01 2.60637239e+01] [ 1.45015601e-02 9.99536426e-01 2.67700760e-02 2.18380609e+00] [ 1.89409807e-01 -2.90341907e-02 9.81468767e-01 2.61728225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.53463044 meters Centerline goodness [0,1] 0.22944328477049214 Centerline is valid? [False, False] Translation: X:26.07, Y:2.18, Z:2.62 [[ 9.81727910e-01 -9.08967525e-03 -1.90072852e-01 2.60652538e+01] [ 1.44370889e-02 9.99537422e-01 2.67677496e-02 2.18436448e+00] [ 1.89741618e-01 -2.90227456e-02 9.81405012e-01 2.61672119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.56463044000003 meters Centerline goodness [0,1] 0.22622782864826796 Centerline is valid? [False, False] Translation: X:26.07, Y:2.19, Z:2.62 [[ 9.81630856e-01 -8.87256075e-03 -1.90583681e-01 2.60672137e+01] [ 1.42413764e-02 9.99538850e-01 2.68192185e-02 2.18532152e+00] [ 1.90257839e-01 -2.90407464e-02 9.81304535e-01 2.61617559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.59463044 meters Centerline goodness [0,1] 0.22455448937628508 Centerline is valid? [False, False] Translation: X:26.07, Y:2.19, Z:2.62 [[ 9.81668381e-01 -9.08218594e-03 -1.90380418e-01 2.60663169e+01] [ 1.43720630e-02 9.99547518e-01 2.64235335e-02 2.18701529e+00] [ 1.90054291e-01 -2.86753067e-02 9.81354723e-01 2.61649119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.62463044000003 meters Centerline goodness [0,1] 0.22532760472610092 Centerline is valid? [False, False] Translation: X:26.06, Y:2.19, Z:2.62 [[ 9.81771547e-01 -1.02177676e-02 -1.89789956e-01 2.60629227e+01] [ 1.53804013e-02 9.99550119e-01 2.57488310e-02 2.18502505e+00] [ 1.89441478e-01 -2.81985153e-02 9.81487020e-01 2.61822012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.65463044 meters Centerline goodness [0,1] 0.22564629344290366 Centerline is valid? [False, False] Translation: X:26.06, Y:2.18, Z:2.62 [[ 9.81763934e-01 -1.01690635e-02 -1.89831945e-01 2.60635735e+01] [ 1.53938510e-02 9.99541614e-01 2.60689823e-02 2.18304122e+00] [ 1.89479831e-01 -2.85158313e-02 9.81470448e-01 2.61803999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.68463044000003 meters Centerline goodness [0,1] 0.22484535861818022 Centerline is valid? [False, False] Translation: X:26.07, Y:2.18, Z:2.62 [[ 9.81673539e-01 -9.97962720e-03 -1.90308882e-01 2.60653072e+01] [ 1.52517577e-02 9.99538832e-01 2.62584805e-02 2.18284105e+00] [ 1.89959067e-01 -2.86798004e-02 9.81373029e-01 2.61773313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.71463044 meters Centerline goodness [0,1] 0.22869524378789174 Centerline is valid? [False, False] Translation: X:26.07, Y:2.18, Z:2.62 [[ 9.81560310e-01 -9.36141653e-03 -1.90923340e-01 2.60689781e+01] [ 1.47013027e-02 9.99538808e-01 2.65714821e-02 2.18383025e+00] [ 1.90586541e-01 -2.88883340e-02 9.81245247e-01 2.61605790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.74463044000004 meters Centerline goodness [0,1] 0.22937002795097827 Centerline is valid? [False, False] Translation: X:26.07, Y:2.18, Z:2.62 [[ 9.81606502e-01 -9.61619056e-03 -1.90673027e-01 2.60681704e+01] [ 1.48883057e-02 9.99544882e-01 2.62367663e-02 2.18463229e+00] [ 1.90333951e-01 -2.85929788e-02 9.81302924e-01 2.61615953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.77463044 meters Centerline goodness [0,1] 0.2286463776152189 Centerline is valid? [False, False] Translation: X:26.08, Y:2.18, Z:2.62 [[ 9.81521110e-01 -4.76857714e-03 -1.91294463e-01 2.60837694e+01] [ 9.74950937e-03 9.99637270e-01 2.51052840e-02 2.18497892e+00] [ 1.91105358e-01 -2.65063934e-02 9.81211574e-01 2.62182798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.80463044 meters Centerline goodness [0,1] 0.23090494427471064 Centerline is valid? [False, False] Translation: X:26.08, Y:2.19, Z:2.62 [[ 9.81482383e-01 -4.65627010e-03 -1.91495827e-01 2.60834028e+01] [ 9.58654895e-03 9.99645778e-01 2.48277377e-02 2.18712990e+00] [ 1.91312390e-01 -2.62037712e-02 9.81179358e-01 2.62246068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.83463044 meters Centerline goodness [0,1] 0.22463255015556272 Centerline is valid? [False, False] Translation: X:26.09, Y:2.19, Z:2.62 [[ 9.81367360e-01 -4.28843619e-03 -1.92092982e-01 2.60854687e+01] [ 9.23835548e-03 9.99647754e-01 2.48801121e-02 2.18840952e+00] [ 1.91918621e-01 -2.61911532e-02 9.81061296e-01 2.62198596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.86463044 meters Centerline goodness [0,1] 0.22792181378321097 Centerline is valid? [False, False] Translation: X:26.09, Y:2.19, Z:2.62 [[ 9.81307203e-01 -4.09579761e-03 -1.92404259e-01 2.60864937e+01] [ 9.03656928e-03 9.99651376e-01 2.48086026e-02 2.18953063e+00] [ 1.92235571e-01 -2.60835349e-02 9.81002107e-01 2.62177596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.89463044 meters Centerline goodness [0,1] 0.2274662579299187 Centerline is valid? [False, False] Translation: X:26.09, Y:2.19, Z:2.62 [[ 9.81336315e-01 -4.05808181e-03 -1.92256517e-01 2.60860519e+01] [ 8.97691964e-03 9.99654093e-01 2.47206140e-02 2.19013780e+00] [ 1.92089696e-01 -2.59851076e-02 9.81033293e-01 2.62193064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.92463044 meters Centerline goodness [0,1] 0.22836425677116656 Centerline is valid? [False, False] Translation: X:26.08, Y:2.19, Z:2.62 [[ 9.81546560e-01 -4.99742714e-03 -1.91157987e-01 2.60805526e+01] [ 9.86528600e-03 9.99650615e-01 2.45218967e-02 2.18597076e+00] [ 1.90968653e-01 -2.59552116e-02 9.81252924e-01 2.62460302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.95463044 meters Centerline goodness [0,1] 0.23048928427011728 Centerline is valid? [False, False] Translation: X:26.08, Y:2.18, Z:2.62 [[ 9.81519017e-01 -4.77412691e-03 -1.91305064e-01 2.60810575e+01] [ 9.70670340e-03 9.99643941e-01 2.48549978e-02 2.18473882e+00] [ 1.91118287e-01 -2.62525945e-02 9.81215879e-01 2.62473795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.98463044 meters Centerline goodness [0,1] 0.22508785006921517 Centerline is valid? [False, False] Translation: X:26.08, Y:2.18, Z:2.62 [[ 9.81468083e-01 -4.80669617e-03 -1.91565386e-01 2.60824445e+01] [ 9.77515393e-03 9.99639671e-01 2.49994925e-02 2.18327980e+00] [ 1.91376194e-01 -2.64087851e-02 9.81161418e-01 2.62430722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.01463044 meters Centerline goodness [0,1] 0.224396914595842 Centerline is valid? [False, False] Translation: X:26.09, Y:2.18, Z:2.62 [[ 9.81285969e-01 -8.09367823e-03 -1.92385913e-01 2.60857212e+01] [ 1.26286947e-02 9.99670265e-01 2.23579337e-02 2.18085834e+00] [ 1.92141519e-01 -2.43691096e-02 9.81064617e-01 2.62351462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.04463044 meters Centerline goodness [0,1] 0.22569414596406778 Centerline is valid? [False, False] Translation: X:26.09, Y:2.18, Z:2.62 [[ 9.81272427e-01 -7.88701822e-03 -1.92463552e-01 2.60858882e+01] [ 1.24827169e-02 9.99664903e-01 2.26773877e-02 2.17968607e+00] [ 1.92220201e-01 -2.46551633e-02 9.81042057e-01 2.62365311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.07463044 meters Centerline goodness [0,1] 0.23041652382584843 Centerline is valid? [False, False] Translation: X:26.09, Y:2.18, Z:2.62 [[ 9.81269354e-01 -7.44988263e-03 -1.92496634e-01 2.60857242e+01] [ 1.21363064e-02 9.99657691e-01 2.31778236e-02 2.17861009e+00] [ 1.92258069e-01 -2.50798862e-02 9.81023870e-01 2.62401511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.10463044 meters Centerline goodness [0,1] 0.22947912660769987 Centerline is valid? [False, False] Translation: X:26.09, Y:2.18, Z:2.62 [[ 9.81313201e-01 -7.22159903e-03 -1.92281695e-01 2.60854530e+01] [ 1.19571561e-02 9.99652816e-01 2.34792154e-02 2.17734065e+00] [ 1.92045380e-01 -2.53396062e-02 9.81058855e-01 2.62396749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.13463044 meters Centerline goodness [0,1] 0.23035051018229946 Centerline is valid? [False, False] Translation: X:26.09, Y:2.18, Z:2.62 [[ 9.81367370e-01 -7.26557769e-03 -1.92003377e-01 2.60851654e+01] [ 1.20079456e-02 9.99650605e-01 2.35473297e-02 2.17598852e+00] [ 1.91765207e-01 -2.54141471e-02 9.81111730e-01 2.62369279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.16463044 meters Centerline goodness [0,1] 0.23120878176623483 Centerline is valid? [False, False] Translation: X:26.09, Y:2.17, Z:2.62 [[ 9.81365582e-01 -7.32741206e-03 -1.92010163e-01 2.60858873e+01] [ 1.20905486e-02 9.99647262e-01 2.36467735e-02 2.17410108e+00] [ 1.91769164e-01 -2.55276378e-02 9.81108010e-01 2.62311609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.19463044 meters Centerline goodness [0,1] 0.22335101698919646 Centerline is valid? [False, False] Translation: X:26.09, Y:2.17, Z:2.62 [[ 9.81337002e-01 -7.11710743e-03 -1.92164084e-01 2.60866196e+01] [ 1.19271770e-02 9.99643540e-01 2.38858871e-02 2.17328289e+00] [ 1.91925587e-01 -2.57320799e-02 9.81072081e-01 2.62288490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.22463044 meters Centerline goodness [0,1] 0.23203812316715544 Centerline is valid? [False, False] Translation: X:26.09, Y:2.17, Z:2.62 [[ 9.81341188e-01 -6.95422964e-03 -1.92148669e-01 2.60868568e+01] [ 1.18033554e-02 9.99639794e-01 2.41031811e-02 2.17236141e+00] [ 1.91911837e-01 -2.59214434e-02 9.81069786e-01 2.62271447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.25463044 meters Centerline goodness [0,1] 0.22781294406407437 Centerline is valid? [False, False] Translation: X:26.09, Y:2.17, Z:2.62 [[ 9.81393487e-01 -6.89651897e-03 -1.91883461e-01 2.60865513e+01] [ 1.17709632e-02 9.99636022e-01 2.42748271e-02 2.17085712e+00] [ 1.91646208e-01 -2.60818104e-02 9.81117460e-01 2.62252522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.28463044 meters Centerline goodness [0,1] 0.22855551031778343 Centerline is valid? [False, False] Translation: X:26.09, Y:2.17, Z:2.62 [[ 9.81423690e-01 -6.91350203e-03 -1.91728308e-01 2.60865110e+01] [ 1.18093086e-02 9.99632420e-01 2.44041922e-02 2.16925207e+00] [ 1.91489114e-01 -2.62150311e-02 9.81144582e-01 2.62242367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.31463044000003 meters Centerline goodness [0,1] 0.22925360292536034 Centerline is valid? [False, False] Translation: X:26.09, Y:2.17, Z:2.62 [[ 9.81431991e-01 -7.21912379e-03 -1.91674545e-01 2.60868871e+01] [ 1.21270853e-02 9.99627620e-01 2.44449464e-02 2.16669526e+00] [ 1.91426698e-01 -2.63155060e-02 9.81154072e-01 2.62223002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.34463044 meters Centerline goodness [0,1] 0.23108467880453454 Centerline is valid? [False, False] Translation: X:26.09, Y:2.17, Z:2.62 [[ 9.81373068e-01 -7.08211694e-03 -1.91981106e-01 2.60882213e+01] [ 1.20384556e-02 9.99623343e-01 2.46626704e-02 2.16567027e+00] [ 1.91734131e-01 -2.65144366e-02 9.81088685e-01 2.62187466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.37463044000003 meters Centerline goodness [0,1] 0.23249903071554734 Centerline is valid? [False, False] Translation: X:26.09, Y:2.16, Z:2.62 [[ 9.81394430e-01 -7.16150833e-03 -1.91868929e-01 2.60880130e+01] [ 1.21712053e-02 9.99614752e-01 2.49441311e-02 2.16361508e+00] [ 1.91616374e-01 -2.68153075e-02 9.81103514e-01 2.62203116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.40463044 meters Centerline goodness [0,1] 0.23395025396202562 Centerline is valid? [False, False] Translation: X:26.09, Y:2.16, Z:2.62 [[ 9.81457454e-01 -7.30521732e-03 -1.91540858e-01 2.60866593e+01] [ 1.23153699e-02 9.99612099e-01 2.49796728e-02 2.16275484e+00] [ 1.91284077e-01 -2.68753826e-02 9.81166711e-01 2.62269435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.43463044000003 meters Centerline goodness [0,1] 0.23312580506655212 Centerline is valid? [False, False] Translation: X:26.10, Y:2.16, Z:2.63 [[ 9.81636943e-01 -2.22873667e-03 -1.90745761e-01 2.61029489e+01] [ 6.97235450e-03 9.99682792e-01 2.42012774e-02 2.16165887e+00] [ 1.90631316e-01 -2.50868150e-02 9.81341099e-01 2.62728650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.46463044 meters Centerline goodness [0,1] 0.2344461631004554 Centerline is valid? [False, False] Translation: X:26.10, Y:2.16, Z:2.63 [[ 9.81656723e-01 -2.30261046e-03 -1.90643060e-01 2.61026806e+01] [ 7.04330820e-03 9.99682494e-01 2.41930206e-02 2.16099109e+00] [ 1.90526823e-01 -2.50919992e-02 9.81361259e-01 2.62742482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.49463044000004 meters Centerline goodness [0,1] 0.23114977823268512 Centerline is valid? [False, False] Translation: X:26.10, Y:2.16, Z:2.63 [[ 9.81637154e-01 -2.12652927e-03 -1.90745842e-01 2.61035491e+01] [ 6.89376779e-03 9.99680151e-01 2.43325330e-02 2.16080118e+00] [ 1.90633088e-01 -2.52006760e-02 9.81337838e-01 2.62699907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.52463044 meters Centerline goodness [0,1] 0.2291827293754819 Centerline is valid? [False, False] Translation: X:26.11, Y:2.16, Z:2.63 [[ 9.81577967e-01 -1.93490614e-03 -1.91052221e-01 2.61050148e+01] [ 6.71323265e-03 9.99680552e-01 2.43664962e-02 2.16190752e+00] [ 1.90944043e-01 -2.52001938e-02 9.81277393e-01 2.62634108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.55463044 meters Centerline goodness [0,1] 0.22870854217766878 Centerline is valid? [False, False] Translation: X:26.11, Y:2.16, Z:2.63 [[ 9.81577755e-01 -1.82155586e-03 -1.91054422e-01 2.61056644e+01] [ 6.59515424e-03 9.99681676e-01 2.43526459e-02 2.16243644e+00] [ 1.90949245e-01 -2.51640489e-02 9.81277309e-01 2.62583756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.58463044 meters Centerline goodness [0,1] 0.22897425506046964 Centerline is valid? [False, False] Translation: X:26.11, Y:2.16, Z:2.63 [[ 9.81607916e-01 -1.95101909e-03 -1.90898121e-01 2.61056027e+01] [ 6.68202790e-03 9.99686200e-01 2.41423258e-02 2.16302756e+00] [ 1.90791115e-01 -2.49738847e-02 9.81312924e-01 2.62557472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.61463044 meters Centerline goodness [0,1] 0.2294677775888454 Centerline is valid? [False, False] Translation: X:26.11, Y:2.17, Z:2.63 [[ 9.81628481e-01 -1.91052558e-03 -1.90792756e-01 2.61057896e+01] [ 6.57611900e-03 9.99694550e-01 2.38235653e-02 2.16543408e+00] [ 1.90688963e-01 -2.46405661e-02 9.81341206e-01 2.62516189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.64463044 meters Centerline goodness [0,1] 0.22989217465570622 Centerline is valid? [False, False] Translation: X:26.11, Y:2.17, Z:2.62 [[ 9.81588996e-01 -1.95277048e-03 -1.90995366e-01 2.61065027e+01] [ 6.56762699e-03 9.99701509e-01 2.35321039e-02 2.16731400e+00] [ 1.90892403e-01 -2.43532405e-02 9.81308825e-01 2.62488473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.67463044 meters Centerline goodness [0,1] 0.22981578834893357 Centerline is valid? [False, False] Translation: X:26.11, Y:2.17, Z:2.62 [[ 9.81528283e-01 -1.96382574e-03 -1.91307011e-01 2.61076883e+01] [ 6.54072669e-03 9.99707219e-01 2.32958398e-02 2.16890937e+00] [ 1.91205251e-01 -2.41168125e-02 9.81253755e-01 2.62446888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.70463044 meters Centerline goodness [0,1] 0.22982414905664406 Centerline is valid? [False, False] Translation: X:26.11, Y:2.17, Z:2.62 [[ 9.81458752e-01 -1.97744779e-03 -1.91663268e-01 2.61088459e+01] [ 6.50883814e-03 9.99713914e-01 2.30157511e-02 2.17064837e+00] [ 1.91562924e-01 -2.38365156e-02 9.81190841e-01 2.62420334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.73463044 meters Centerline goodness [0,1] 0.22835555745810232 Centerline is valid? [False, False] Translation: X:26.11, Y:2.17, Z:2.62 [[ 9.81406501e-01 -1.96888775e-03 -1.91930726e-01 2.61093811e+01] [ 6.41275205e-03 9.99725486e-01 2.25350541e-02 2.17411309e+00] [ 1.91833669e-01 -2.33468527e-02 9.81149717e-01 2.62416048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.76463044 meters Centerline goodness [0,1] 0.227154270090144 Centerline is valid? [False, False] Translation: X:26.11, Y:2.18, Z:2.62 [[ 9.81413282e-01 -1.95289046e-03 -1.91896211e-01 2.61091393e+01] [ 6.35824023e-03 9.99730126e-01 2.23438387e-02 2.17557884e+00] [ 1.91800788e-01 -2.31486623e-02 9.81160842e-01 2.62429000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.79463044 meters Centerline goodness [0,1] 0.22940623263369386 Centerline is valid? [False, False] Translation: X:26.11, Y:2.18, Z:2.62 [[ 9.81406128e-01 -1.94772460e-03 -1.91932850e-01 2.61089409e+01] [ 6.31980742e-03 9.99734247e-01 2.21696846e-02 2.17683397e+00] [ 1.91838663e-01 -2.29704430e-02 9.81157626e-01 2.62454192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.82463044 meters Centerline goodness [0,1] 0.22838712442672837 Centerline is valid? [False, False] Translation: X:26.11, Y:2.18, Z:2.62 [[ 9.81392073e-01 -1.93329391e-03 -1.92004847e-01 2.61091541e+01] [ 6.28138770e-03 9.99737365e-01 2.20396411e-02 2.17784565e+00] [ 1.91911811e-01 -2.28355860e-02 9.81146469e-01 2.62452894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.85463044 meters Centerline goodness [0,1] 0.22862270843126364 Centerline is valid? [False, False] Translation: X:26.11, Y:2.18, Z:2.62 [[ 9.81384272e-01 -1.99715992e-03 -1.92044061e-01 2.61092009e+01] [ 6.29760904e-03 9.99742838e-01 2.17852514e-02 2.17942549e+00] [ 1.91951166e-01 -2.25891215e-02 9.81144475e-01 2.62455809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.88463044 meters Centerline goodness [0,1] 0.22780862879111485 Centerline is valid? [False, False] Translation: X:26.11, Y:2.18, Z:2.62 [[ 9.81402417e-01 -2.09554946e-03 -1.91950264e-01 2.61085786e+01] [ 6.37552791e-03 9.99744580e-01 2.16824098e-02 2.17960626e+00] [ 1.91855800e-01 -2.25029536e-02 9.81165108e-01 2.62499900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.91463044 meters Centerline goodness [0,1] 0.23077912886830088 Centerline is valid? [False, False] Translation: X:26.11, Y:2.18, Z:2.63 [[ 9.81488828e-01 -2.24917952e-03 -1.91506193e-01 2.61068816e+01] [ 6.53862317e-03 9.99741635e-01 2.17694640e-02 2.17854895e+00] [ 1.91407751e-01 -2.26186726e-02 9.81249952e-01 2.62566900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.94463044 meters Centerline goodness [0,1] 0.23008375639954592 Centerline is valid? [False, False] Translation: X:26.11, Y:2.18, Z:2.63 [[ 9.81575884e-01 -2.51568254e-03 -1.91056155e-01 2.61051612e+01] [ 6.82066594e-03 9.99737375e-01 2.18782762e-02 2.17687368e+00] [ 1.90950940e-01 -2.27783186e-02 9.81335257e-01 2.62648669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.97463044 meters Centerline goodness [0,1] 0.2349862675980191 Centerline is valid? [False, False] Translation: X:26.10, Y:2.17, Z:2.63 [[ 9.81615132e-01 -2.90826963e-03 -1.90848827e-01 2.61045139e+01] [ 7.26822297e-03 9.99728260e-01 2.21490401e-02 2.17357466e+00] [ 1.90732550e-01 -2.31289647e-02 9.81369525e-01 2.62698490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.00463044 meters Centerline goodness [0,1] 0.2643468439115513 Centerline is valid? [False, False] Translation: X:26.11, Y:2.17, Z:2.63 [[ 9.81555502e-01 -2.97488617e-03 -1.91154249e-01 2.61056868e+01] [ 7.37639077e-03 9.99723699e-01 2.23184824e-02 2.17201094e+00] [ 1.91035038e-01 -2.33168576e-02 9.81306241e-01 2.62683111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.03463044 meters Centerline goodness [0,1] 0.2637242032322624 Centerline is valid? [False, False] Translation: X:26.11, Y:2.17, Z:2.63 [[ 9.81486191e-01 -2.83288461e-03 -1.91511960e-01 2.61071166e+01] [ 7.29794788e-03 9.99717646e-01 2.26134719e-02 2.17050750e+00] [ 1.91393825e-01 -2.35924547e-02 9.81229739e-01 2.62659129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.06463044000003 meters Centerline goodness [0,1] 0.24450330555376099 Centerline is valid? [False, False] Translation: X:26.11, Y:2.17, Z:2.63 [[ 9.81488116e-01 -2.83882371e-03 -1.91502008e-01 2.61072772e+01] [ 7.33110824e-03 9.99714221e-01 2.27537206e-02 2.16933387e+00] [ 1.91382687e-01 -2.37364283e-02 9.81228439e-01 2.62657282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.09463044 meters Centerline goodness [0,1] 0.2444731738849386 Centerline is valid? [False, False] Translation: X:26.11, Y:2.17, Z:2.63 [[ 9.81544191e-01 -2.76489260e-03 -1.91215470e-01 2.61060222e+01] [ 7.31147309e-03 9.99706982e-01 2.30758082e-02 2.16773549e+00] [ 1.91095638e-01 -2.40479923e-02 9.81276796e-01 2.62713382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.12463044000003 meters Centerline goodness [0,1] 0.2657762291908633 Centerline is valid? [False, False] Translation: X:26.11, Y:2.17, Z:2.63 [[ 9.81556867e-01 -2.88900271e-03 -1.91148557e-01 2.61056615e+01] [ 7.41623983e-03 9.99708573e-01 2.29732331e-02 2.16761539e+00] [ 1.91026481e-01 -2.39671383e-02 9.81292240e-01 2.62734141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.15463044 meters Centerline goodness [0,1] 0.2645638879948503 Centerline is valid? [False, False] Translation: X:26.11, Y:2.17, Z:2.63 [[ 9.81576825e-01 -2.97225880e-03 -1.91044763e-01 2.61056553e+01] [ 7.47893103e-03 9.99710406e-01 2.28728978e-02 2.16757331e+00] [ 1.90921453e-01 -2.38803170e-02 9.81314796e-01 2.62713568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.18463044000003 meters Centerline goodness [0,1] 0.23801226202000647 Centerline is valid? [False, False] Translation: X:26.11, Y:2.17, Z:2.63 [[ 9.81561881e-01 -2.98753353e-03 -1.91121291e-01 2.61060495e+01] [ 7.48544287e-03 9.99711642e-01 2.28166800e-02 2.16761437e+00] [ 1.90998014e-01 -2.38266108e-02 9.81301203e-01 2.62694951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.21463044 meters Centerline goodness [0,1] 0.23801226202000647 Centerline is valid? [False, False] Translation: X:26.11, Y:2.17, Z:2.63 [[ 9.81561881e-01 -2.98753353e-03 -1.91121291e-01 2.61060495e+01] [ 7.48544287e-03 9.99711642e-01 2.28166800e-02 2.16761437e+00] [ 1.90998014e-01 -2.38266108e-02 9.81301203e-01 2.62694951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.24463044000004 meters Centerline goodness [0,1] 0.24068594630785511 Centerline is valid? [False, False] Translation: X:26.11, Y:2.17, Z:2.63 [[ 9.81454596e-01 -2.74994270e-03 -1.91675022e-01 2.61075044e+01] [ 7.24425331e-03 9.99714922e-01 2.27507314e-02 2.16929856e+00] [ 1.91557817e-01 -2.37173523e-02 9.81194726e-01 2.62680619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.27463044 meters Centerline goodness [0,1] 0.2437779747875538 Centerline is valid? [False, False] Translation: X:26.11, Y:2.17, Z:2.63 [[ 9.81414498e-01 -2.70504247e-03 -1.91880863e-01 2.61078634e+01] [ 7.16758148e-03 9.99719650e-01 2.25665248e-02 2.17077622e+00] [ 1.91766026e-01 -2.35224364e-02 9.81158747e-01 2.62687767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.30463044 meters Centerline goodness [0,1] 0.24322980829497076 Centerline is valid? [False, False] Translation: X:26.11, Y:2.17, Z:2.63 [[ 9.81383174e-01 -2.69233390e-03 -1.92041184e-01 2.61082866e+01] [ 7.11217810e-03 9.99725368e-01 2.23294678e-02 2.17243512e+00] [ 1.91928325e-01 -2.32795951e-02 9.81132804e-01 2.62678133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.33463044 meters Centerline goodness [0,1] 0.23413057530704584 Centerline is valid? [False, False] Translation: X:26.11, Y:2.17, Z:2.63 [[ 9.81365646e-01 -2.68662863e-03 -1.92130817e-01 2.61085711e+01] [ 7.05319535e-03 9.99732061e-01 2.20467227e-02 2.17416471e+00] [ 1.92020106e-01 -2.29910324e-02 9.81121650e-01 2.62667397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.36463044 meters Centerline goodness [0,1] 0.23245064581623398 Centerline is valid? [False, False] Translation: X:26.11, Y:2.18, Z:2.63 [[ 9.81342256e-01 -2.62356289e-03 -1.92251122e-01 2.61078698e+01] [ 6.88255402e-03 9.99745399e-01 2.14888013e-02 2.17859505e+00] [ 1.92145798e-01 -2.24110475e-02 9.81110461e-01 2.62732795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.39463044 meters Centerline goodness [0,1] 0.23856223268674126 Centerline is valid? [False, False] Translation: X:26.11, Y:2.18, Z:2.63 [[ 9.81360243e-01 -2.82288450e-03 -1.92156457e-01 2.61070602e+01] [ 7.03378633e-03 9.99749763e-01 2.12353007e-02 2.17931706e+00] [ 1.92048427e-01 -2.21910674e-02 9.81134526e-01 2.62788037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.42463044 meters Centerline goodness [0,1] 0.24671407024348202 Centerline is valid? [False, False] Translation: X:26.12, Y:2.18, Z:2.63 [[ 9.82077339e-01 -2.11376259e-03 -1.88466527e-01 2.61247247e+01] [ 5.62868240e-03 9.99820033e-01 1.81168471e-02 2.18162312e+00] [ 1.88394314e-01 -1.88529632e-02 9.81912495e-01 2.63211250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.45463044 meters Centerline goodness [0,1] 0.24654402725959157 Centerline is valid? [False, False] Translation: X:26.13, Y:2.18, Z:2.63 [[ 9.81941650e-01 -2.18827382e-03 -1.89171373e-01 2.61271335e+01] [ 5.75981740e-03 9.99815360e-01 1.83322390e-02 2.18017021e+00] [ 1.89096328e-01 -1.90907816e-02 9.81772948e-01 2.63179685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.48463044 meters Centerline goodness [0,1] 0.24550522949260956 Centerline is valid? [False, False] Translation: X:26.13, Y:2.18, Z:2.63 [[ 9.81820900e-01 -2.00765664e-03 -1.89799076e-01 2.61297423e+01] [ 5.60485569e-03 9.99814668e-01 1.84177920e-02 2.18068936e+00] [ 1.89726924e-01 -1.91467695e-02 9.81650190e-01 2.63091118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.51463044 meters Centerline goodness [0,1] 0.24490014800832283 Centerline is valid? [False, False] Translation: X:26.13, Y:2.18, Z:2.63 [[ 9.81777977e-01 -2.20746526e-03 -1.90018763e-01 2.61310503e+01] [ 5.78680700e-03 9.99816087e-01 1.82839859e-02 2.18024671e+00] [ 1.89943455e-01 -1.90504166e-02 9.81610190e-01 2.63039054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.54463044 meters Centerline goodness [0,1] 0.2452744984194568 Centerline is valid? [False, False] Translation: X:26.13, Y:2.18, Z:2.63 [[ 9.81829762e-01 -2.51309888e-03 -1.89747205e-01 2.61303138e+01] [ 6.08366656e-03 9.99815177e-01 1.82373727e-02 2.17883166e+00] [ 1.89666303e-01 -1.90603540e-02 9.81663586e-01 2.63054463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.57463044 meters Centerline goodness [0,1] 0.24500247455511803 Centerline is valid? [False, False] Translation: X:26.13, Y:2.18, Z:2.63 [[ 9.81821306e-01 -2.50503626e-03 -1.89791066e-01 2.61299449e+01] [ 6.10001813e-03 9.99812833e-01 1.83599810e-02 2.17811663e+00] [ 1.89709551e-01 -1.91839495e-02 9.81652822e-01 2.63109241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.60463044 meters Centerline goodness [0,1] 0.24352799518362434 Centerline is valid? [False, False] Translation: X:26.13, Y:2.18, Z:2.63 [[ 9.81763689e-01 -2.28707774e-03 -1.90091629e-01 2.61304419e+01] [ 5.94705706e-03 9.99807723e-01 1.86855503e-02 2.17717585e+00] [ 1.90012343e-01 -1.94752806e-02 9.81588520e-01 2.63150033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.63463044 meters Centerline goodness [0,1] 0.2440032728995306 Centerline is valid? [False, False] Translation: X:26.13, Y:2.17, Z:2.63 [[ 9.81842187e-01 -3.90328122e-03 -1.89659392e-01 2.61286308e+01] [ 7.40243173e-03 9.99815147e-01 1.77447583e-02 2.17300214e+00] [ 1.89555070e-01 -1.88264930e-02 9.81689584e-01 2.63219389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.66463044 meters Centerline goodness [0,1] 0.2441080708109623 Centerline is valid? [False, False] Translation: X:26.13, Y:2.17, Z:2.63 [[ 9.81800326e-01 -3.98189018e-03 -1.89874339e-01 2.61299002e+01] [ 7.51104237e-03 9.99812092e-01 1.78707766e-02 2.17132043e+00] [ 1.89767501e-01 -1.89716885e-02 9.81645746e-01 2.63169420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.69463044 meters Centerline goodness [0,1] 0.2427936480538535 Centerline is valid? [False, False] Translation: X:26.13, Y:2.17, Z:2.63 [[ 9.81730750e-01 -3.82363065e-03 -1.90236997e-01 2.61313784e+01] [ 7.39161285e-03 9.99809773e-01 1.80494351e-02 2.17069796e+00] [ 1.90131794e-01 -1.91258437e-02 9.81572261e-01 2.63124191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.72463044 meters Centerline goodness [0,1] 0.24081887458561158 Centerline is valid? [False, False] Translation: X:26.13, Y:2.17, Z:2.63 [[ 9.81749514e-01 -3.36020356e-03 -1.90148892e-01 2.61307330e+01] [ 6.98169154e-03 9.99806718e-01 1.83788511e-02 2.17084823e+00] [ 1.90050383e-01 -1.93709891e-02 9.81583220e-01 2.63163324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.75463044 meters Centerline goodness [0,1] 0.2426356589147287 Centerline is valid? [False, False] Translation: X:26.13, Y:2.17, Z:2.63 [[ 9.81809595e-01 -3.30376743e-03 -1.89839419e-01 2.61292993e+01] [ 6.91794137e-03 9.99807167e-01 1.83785374e-02 2.17085381e+00] [ 1.89742093e-01 -1.93575223e-02 9.81643125e-01 2.63223744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.78463044 meters Centerline goodness [0,1] 0.2422439255761809 Centerline is valid? [False, False] Translation: X:26.13, Y:2.17, Z:2.63 [[ 9.81863905e-01 -3.34672834e-03 -1.89557565e-01 2.61283940e+01] [ 6.93667376e-03 9.99808876e-01 1.82782517e-02 2.17085636e+00] [ 1.89460164e-01 -1.92616546e-02 9.81699463e-01 2.63232939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.81463044000003 meters Centerline goodness [0,1] 0.23878798312817417 Centerline is valid? [False, False] Translation: X:26.13, Y:2.17, Z:2.63 [[ 9.81832702e-01 -3.20288938e-03 -1.89721603e-01 2.61287618e+01] [ 6.79840833e-03 9.99809359e-01 1.83037713e-02 2.17086350e+00] [ 1.89626810e-01 -1.92610462e-02 9.81667299e-01 2.63243854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.84463044 meters Centerline goodness [0,1] 0.23486859001797789 Centerline is valid? [False, False] Translation: X:26.13, Y:2.17, Z:2.63 [[ 9.81669869e-01 -1.72821512e-03 -1.90581429e-01 2.61330833e+01] [ 5.48493998e-03 9.99800883e-01 1.91861784e-02 2.17232862e+00] [ 1.90510324e-01 -1.98798210e-02 9.81483881e-01 2.63071017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.87463044000003 meters Centerline goodness [0,1] 0.23109925293489864 Centerline is valid? [False, False] Translation: X:26.13, Y:2.17, Z:2.63 [[ 9.81660718e-01 -1.51274247e-03 -1.90630392e-01 2.61336646e+01] [ 5.26181964e-03 9.99802544e-01 1.91620960e-02 2.17330978e+00] [ 1.90563764e-01 -1.98137396e-02 9.81474843e-01 2.63027034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.90463044 meters Centerline goodness [0,1] 0.2309646295387111 Centerline is valid? [False, False] Translation: X:26.13, Y:2.17, Z:2.63 [[ 9.81683368e-01 -1.61097786e-03 -1.90512910e-01 2.61334521e+01] [ 5.31107854e-03 9.99807031e-01 1.89127891e-02 2.17419166e+00] [ 1.90445679e-01 -1.95781996e-02 9.81502490e-01 2.63010439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.93463044000003 meters Centerline goodness [0,1] 0.23432216086640123 Centerline is valid? [False, False] Translation: X:26.13, Y:2.17, Z:2.63 [[ 9.81707806e-01 -1.82551238e-03 -1.90385006e-01 2.61330884e+01] [ 5.46458172e-03 9.99812238e-01 1.85910277e-02 2.17471409e+00] [ 1.90315321e-01 -1.92913314e-02 9.81533455e-01 2.63005402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.96463044 meters Centerline goodness [0,1] 0.23599523241954712 Centerline is valid? [False, False] Translation: X:26.13, Y:2.17, Z:2.63 [[ 9.81687564e-01 -1.99876387e-03 -1.90487614e-01 2.61331829e+01] [ 5.64369549e-03 9.99811185e-01 1.85941707e-02 2.17349813e+00] [ 1.90414482e-01 -1.93287202e-02 9.81513487e-01 2.63033221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.99463044000004 meters Centerline goodness [0,1] 0.23532064773849926 Centerline is valid? [False, False] Translation: X:26.13, Y:2.17, Z:2.63 [[ 9.81595864e-01 -1.61958038e-03 -1.90963181e-01 2.61346833e+01] [ 5.33625378e-03 9.99806190e-01 1.89501355e-02 2.17330737e+00] [ 1.90895479e-01 -1.96204027e-02 9.81414263e-01 2.63020427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.02463044 meters Centerline goodness [0,1] 0.234159364436885 Centerline is valid? [False, False] Translation: X:26.14, Y:2.17, Z:2.63 [[ 9.81513293e-01 -1.40528852e-03 -1.91388822e-01 2.61358473e+01] [ 5.16858230e-03 9.99802969e-01 1.91652813e-02 2.17301801e+00] [ 1.91324179e-01 -1.98001872e-02 9.81327168e-01 2.63024275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.05463044 meters Centerline goodness [0,1] 0.23458830600154545 Centerline is valid? [False, False] Translation: X:26.14, Y:2.17, Z:2.63 [[ 9.81479081e-01 -1.48755320e-03 -1.91563566e-01 2.61365793e+01] [ 5.26571883e-03 9.99801504e-01 1.92152142e-02 2.17193726e+00] [ 1.91496958e-01 -1.98680507e-02 9.81292095e-01 2.63018246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.08463044 meters Centerline goodness [0,1] 0.2389409105586051 Centerline is valid? [False, False] Translation: X:26.13, Y:2.17, Z:2.63 [[ 9.81587522e-01 -2.91503372e-03 -1.90990678e-01 2.61336020e+01] [ 6.54289903e-03 9.99809902e-01 1.83671188e-02 2.16873049e+00] [ 1.90900830e-01 -1.92785673e-02 9.81419997e-01 2.63154036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.11463044 meters Centerline goodness [0,1] 0.2441898173170468 Centerline is valid? [False, False] Translation: X:26.13, Y:2.17, Z:2.63 [[ 9.81624109e-01 -2.94598073e-03 -1.90802069e-01 2.61320130e+01] [ 6.68335687e-03 9.99798148e-01 1.89471644e-02 2.16516731e+00] [ 1.90707737e-01 -1.98741916e-02 9.81445656e-01 2.63288018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.14463044 meters Centerline goodness [0,1] 0.24404324324324322 Centerline is valid? [False, False] Translation: X:26.13, Y:2.16, Z:2.63 [[ 9.81582062e-01 -2.86447410e-03 -1.91019501e-01 2.61324427e+01] [ 6.64856538e-03 9.99794094e-01 1.91720123e-02 2.16400819e+00] [ 1.90925252e-01 -2.00889090e-02 9.81398993e-01 2.63316019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.17463044 meters Centerline goodness [0,1] 0.2457455825780791 Centerline is valid? [False, False] Translation: X:26.13, Y:2.16, Z:2.63 [[ 9.81598541e-01 -3.04317465e-03 -1.90932037e-01 2.61327696e+01] [ 6.83365041e-03 9.99792363e-01 1.91971896e-02 2.16250534e+00] [ 1.90833972e-01 -2.01486961e-02 9.81415521e-01 2.63279809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.20463044 meters Centerline goodness [0,1] 0.23678515566411695 Centerline is valid? [False, False] Translation: X:26.15, Y:2.16, Z:2.64 [[ 9.81558364e-01 8.30307641e-04 -1.91160898e-01 2.61479519e+01] [ 2.63482754e-03 9.99836813e-01 1.78719037e-02 2.15697098e+00] [ 1.91144542e-01 -1.80459925e-02 9.81395999e-01 2.63778787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.23463044 meters Centerline goodness [0,1] 0.23402349830479563 Centerline is valid? [False, False] Translation: X:26.16, Y:2.16, Z:2.64 [[ 9.81767990e-01 -6.76861280e-03 -1.89962625e-01 2.61626347e+01] [ 1.10113538e-02 9.99712744e-01 2.12880095e-02 2.15984874e+00] [ 1.89763967e-01 -2.29916320e-02 9.81560503e-01 2.64042118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.26463044 meters Centerline goodness [0,1] 0.23627787307032588 Centerline is valid? [False, False] Translation: X:26.16, Y:2.16, Z:2.64 [[ 9.81746940e-01 -6.61294231e-03 -1.90076867e-01 2.61628581e+01] [ 1.08958688e-02 9.99709551e-01 2.14963786e-02 2.15916107e+00] [ 1.89879505e-01 -2.31750565e-02 9.81533846e-01 2.64058255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.29463044 meters Centerline goodness [0,1] 0.23485139226472218 Centerline is valid? [False, False] Translation: X:26.16, Y:2.16, Z:2.64 [[ 9.81678213e-01 -6.45587552e-03 -1.90436888e-01 2.61643862e+01] [ 1.07788757e-02 9.99706998e-01 2.16733402e-02 2.15849171e+00] [ 1.90241169e-01 -2.33289414e-02 9.81460166e-01 2.64014655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.32463044 meters Centerline goodness [0,1] 0.23551677680118044 Centerline is valid? [False, False] Translation: X:26.17, Y:2.16, Z:2.64 [[ 9.81633286e-01 -6.57142535e-03 -1.90664385e-01 2.61659411e+01] [ 1.08909192e-02 9.99707027e-01 2.16159337e-02 2.15764636e+00] [ 1.90466478e-01 -2.32954305e-02 9.81417263e-01 2.63937881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.35463044 meters Centerline goodness [0,1] 0.23427178862310016 Centerline is valid? [False, False] Translation: X:26.17, Y:2.16, Z:2.64 [[ 9.81595271e-01 -6.53132492e-03 -1.90861377e-01 2.61677194e+01] [ 1.08775877e-02 9.99704633e-01 2.17330133e-02 2.15606185e+00] [ 1.90663057e-01 -2.34091344e-02 9.81376386e-01 2.63829991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.38463044 meters Centerline goodness [0,1] 0.2328696878405231 Centerline is valid? [False, False] Translation: X:26.17, Y:2.16, Z:2.64 [[ 9.81571425e-01 -6.22104758e-03 -1.90994333e-01 2.61682769e+01] [ 1.06203332e-02 9.99701150e-01 2.20185968e-02 2.15561436e+00] [ 1.90800276e-01 -2.36412489e-02 9.81344153e-01 2.63818180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.41463044 meters Centerline goodness [0,1] 0.2323032392627591 Centerline is valid? [False, False] Translation: X:26.17, Y:2.16, Z:2.64 [[ 9.81540253e-01 -5.89852594e-03 -1.91164689e-01 2.61689795e+01] [ 1.03400708e-02 9.99699078e-01 2.22449284e-02 2.15573881e+00] [ 1.90975951e-01 -2.38109491e-02 9.81305877e-01 2.63797729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.44463044 meters Centerline goodness [0,1] 0.22963042313872528 Centerline is valid? [False, False] Translation: X:26.17, Y:2.16, Z:2.64 [[ 9.81541524e-01 -5.94693987e-03 -1.91156664e-01 2.61693739e+01] [ 1.03667198e-02 9.99701364e-01 2.21295036e-02 2.15591126e+00] [ 1.90967975e-01 -2.37026943e-02 9.81310050e-01 2.63755329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.47463044 meters Centerline goodness [0,1] 0.23356082067130224 Centerline is valid? [False, False] Translation: X:26.17, Y:2.16, Z:2.64 [[ 9.81541806e-01 -5.97677473e-03 -1.91154286e-01 2.61692921e+01] [ 1.03892555e-02 9.99702015e-01 2.20894593e-02 2.15593037e+00] [ 1.90965302e-01 -2.36676785e-02 9.81311416e-01 2.63762368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.50463044 meters Centerline goodness [0,1] 0.23456445693928796 Centerline is valid? [False, False] Translation: X:26.17, Y:2.16, Z:2.64 [[ 9.81516961e-01 -5.89477066e-03 -1.91284364e-01 2.61694319e+01] [ 1.03087343e-02 9.99702871e-01 2.20884674e-02 2.15645114e+00] [ 1.91097321e-01 -2.36521051e-02 9.81286091e-01 2.63781210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.53463044 meters Centerline goodness [0,1] 0.23332262554877392 Centerline is valid? [False, False] Translation: X:26.17, Y:2.16, Z:2.64 [[ 9.81503401e-01 -5.71941568e-03 -1.91359250e-01 2.61699258e+01] [ 1.01374027e-02 9.99704006e-01 2.21163727e-02 2.15736131e+00] [ 1.91176116e-01 -2.36471808e-02 9.81270861e-01 2.63760091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.56463044000003 meters Centerline goodness [0,1] 0.23222718434154577 Centerline is valid? [False, False] Translation: X:26.17, Y:2.16, Z:2.64 [[ 9.81503727e-01 -5.68829774e-03 -1.91358506e-01 2.61704602e+01] [ 1.00850304e-02 9.99706876e-01 2.20103338e-02 2.15819207e+00] [ 1.91177213e-01 -2.35330810e-02 9.81273391e-01 2.63712624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.59463044 meters Centerline goodness [0,1] 0.23022817313192512 Centerline is valid? [False, False] Translation: X:26.17, Y:2.16, Z:2.64 [[ 9.81499845e-01 -5.70478906e-03 -1.91377924e-01 2.61712602e+01] [ 1.00768646e-02 9.99709824e-01 2.18797828e-02 2.15893728e+00] [ 1.91197571e-01 -2.34034929e-02 9.81272524e-01 2.63650679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.62463044000003 meters Centerline goodness [0,1] 0.23250761464567937 Centerline is valid? [False, False] Translation: X:26.17, Y:2.16, Z:2.64 [[ 9.81467878e-01 -5.91144411e-03 -1.91535529e-01 2.61713819e+01] [ 1.02331364e-02 9.99714707e-01 2.15820900e-02 2.16032857e+00] [ 1.91353304e-01 -2.31421373e-02 9.81248365e-01 2.63676696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.65463044 meters Centerline goodness [0,1] 0.23505738560143097 Centerline is valid? [False, False] Translation: X:26.17, Y:2.16, Z:2.64 [[ 9.81429323e-01 -5.79386726e-03 -1.91736576e-01 2.61717073e+01] [ 1.01335645e-02 9.99714019e-01 2.16607967e-02 2.16075839e+00] [ 1.91556243e-01 -2.32015160e-02 9.81207366e-01 2.63711722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.68463044000003 meters Centerline goodness [0,1] 0.23148659557292772 Centerline is valid? [False, False] Translation: X:26.17, Y:2.16, Z:2.64 [[ 9.81398795e-01 -5.76826579e-03 -1.91893542e-01 2.61723750e+01] [ 1.00992451e-02 9.99715698e-01 2.15992737e-02 2.16158564e+00] [ 1.91714396e-01 -2.31354811e-02 9.81178037e-01 2.63696262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.71463044 meters Centerline goodness [0,1] 0.23119407458149588 Centerline is valid? [False, False] Translation: X:26.17, Y:2.16, Z:2.64 [[ 9.81352969e-01 -5.89424048e-03 -1.92123939e-01 2.61731418e+01] [ 1.01915859e-02 9.99719324e-01 2.13870120e-02 2.16260535e+00] [ 1.91943955e-01 -2.29462553e-02 9.81137599e-01 2.63683123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.74463044000004 meters Centerline goodness [0,1] 0.23126966123820325 Centerline is valid? [False, False] Translation: X:26.17, Y:2.16, Z:2.64 [[ 9.81285867e-01 -5.95758225e-03 -1.92464422e-01 2.61738083e+01] [ 1.02144720e-02 9.99724490e-01 2.11331323e-02 2.16454231e+00] [ 1.92285494e-01 -2.27035665e-02 9.81076367e-01 2.63701288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.77463044 meters Centerline goodness [0,1] 0.23255715225743456 Centerline is valid? [False, False] Translation: X:26.17, Y:2.16, Z:2.64 [[ 9.81318762e-01 -6.13471261e-03 -1.92291061e-01 2.61729571e+01] [ 1.04193624e-02 9.99719285e-01 2.12788120e-02 2.16289476e+00] [ 1.92106542e-01 -2.28848477e-02 9.81107211e-01 2.63770597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.80463044 meters Centerline goodness [0,1] 0.23980140136697758 Centerline is valid? [False, False] Translation: X:26.17, Y:2.16, Z:2.64 [[ 9.81372446e-01 -7.85688865e-03 -1.91954138e-01 2.61705272e+01] [ 1.19757114e-02 9.99722074e-01 2.03065599e-02 2.15907206e+00] [ 1.91741243e-01 -2.22270857e-02 9.81193789e-01 2.63919839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.83463044 meters Centerline goodness [0,1] 0.24302548525388312 Centerline is valid? [False, False] Translation: X:26.17, Y:2.16, Z:2.64 [[ 9.81260329e-01 -8.16427804e-03 -1.92513664e-01 2.61725018e+01] [ 1.23668990e-02 9.99710510e-01 2.06387053e-02 2.15560568e+00] [ 1.92289433e-01 -2.26327398e-02 9.81077231e-01 2.63911484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.86463044 meters Centerline goodness [0,1] 0.24248185274801248 Centerline is valid? [False, False] Translation: X:26.17, Y:2.15, Z:2.64 [[ 9.81199070e-01 -8.18151592e-03 -1.92824915e-01 2.61737731e+01] [ 1.24251635e-02 9.99706262e-01 2.08087535e-02 2.15431586e+00] [ 1.92598028e-01 -2.28134106e-02 9.81012512e-01 2.63889474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.89463044 meters Centerline goodness [0,1] 0.24389716066481992 Centerline is valid? [False, False] Translation: X:26.17, Y:2.15, Z:2.64 [[ 9.81189585e-01 -8.21173661e-03 -1.92871891e-01 2.61743754e+01] [ 1.24687920e-02 9.99704475e-01 2.08684580e-02 2.15359384e+00] [ 1.92643526e-01 -2.28807931e-02 9.81002009e-01 2.63860334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.92463044 meters Centerline goodness [0,1] 0.24463528597386863 Centerline is valid? [False, False] Translation: X:26.17, Y:2.15, Z:2.64 [[ 9.81224648e-01 -8.27965467e-03 -1.92690522e-01 2.61737552e+01] [ 1.25317458e-02 9.99703893e-01 2.08586018e-02 2.15309755e+00] [ 1.92460763e-01 -2.28817228e-02 9.81037859e-01 2.63881153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.95463044 meters Centerline goodness [0,1] 0.24290417679843346 Centerline is valid? [False, False] Translation: X:26.17, Y:2.15, Z:2.64 [[ 9.81269738e-01 -8.10967911e-03 -1.92468010e-01 2.61731547e+01] [ 1.23841512e-02 9.99702434e-01 2.10160995e-02 2.15253372e+00] [ 1.92240304e-01 -2.30060154e-02 9.81078177e-01 2.63895026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.98463044 meters Centerline goodness [0,1] 0.24019279400004323 Centerline is valid? [False, False] Translation: X:26.17, Y:2.15, Z:2.64 [[ 9.81369181e-01 -7.95434367e-03 -1.91966820e-01 2.61712470e+01] [ 1.22114906e-02 9.99704822e-01 2.10035506e-02 2.15285413e+00] [ 1.91743086e-01 -2.29564383e-02 9.81176636e-01 2.63939170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.01463044 meters Centerline goodness [0,1] 0.2388539151431528 Centerline is valid? [False, False] Translation: X:26.17, Y:2.15, Z:2.64 [[ 9.81385027e-01 -7.77362404e-03 -1.91893197e-01 2.61711792e+01] [ 1.20179903e-02 9.99707989e-01 2.09643788e-02 2.15348944e+00] [ 1.91674193e-01 -2.28802980e-02 9.81191875e-01 2.63924606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.04463044 meters Centerline goodness [0,1] 0.23607353004337928 Centerline is valid? [False, False] Translation: X:26.17, Y:2.15, Z:2.64 [[ 9.81355063e-01 -7.42562939e-03 -1.92060147e-01 2.61720673e+01] [ 1.16814908e-02 9.99710469e-01 2.10361741e-02 2.15422595e+00] [ 1.91848332e-01 -2.28875048e-02 9.81157673e-01 2.63876520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.07463044 meters Centerline goodness [0,1] 0.23593940822316972 Centerline is valid? [False, False] Translation: X:26.17, Y:2.16, Z:2.64 [[ 9.81303225e-01 -6.99633447e-03 -1.92340925e-01 2.61731639e+01] [ 1.12726225e-02 9.99712814e-01 2.11475308e-02 2.15503002e+00] [ 1.92137732e-01 -2.29203269e-02 9.81100275e-01 2.63841841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.10463044 meters Centerline goodness [0,1] 0.23593940822316972 Centerline is valid? [False, False] Translation: X:26.17, Y:2.16, Z:2.64 [[ 9.81303225e-01 -6.99633447e-03 -1.92340925e-01 2.61731639e+01] [ 1.12726225e-02 9.99712814e-01 2.11475308e-02 2.15503002e+00] [ 1.92137732e-01 -2.29203269e-02 9.81100275e-01 2.63841841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.13463044 meters Centerline goodness [0,1] 0.22707848529722874 Centerline is valid? [False, False] Translation: X:26.19, Y:2.16, Z:2.64 [[ 9.81049640e-01 -8.86272870e-04 -1.93754530e-01 2.61927905e+01] [ 5.04173189e-03 9.99767708e-01 2.09549797e-02 2.15697097e+00] [ 1.93690951e-01 -2.15347337e-02 9.80826218e-01 2.64244271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.16463044 meters Centerline goodness [0,1] 0.23256709901117245 Centerline is valid? [False, False] Translation: X:26.19, Y:2.16, Z:2.64 [[ 9.81035381e-01 -9.61195730e-04 -1.93826359e-01 2.61929914e+01] [ 5.07205899e-03 9.99772579e-01 2.07138606e-02 2.15794303e+00] [ 1.93762369e-01 -2.13041288e-02 9.80817148e-01 2.64236749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.19463044 meters Centerline goodness [0,1] 0.23319431076890174 Centerline is valid? [False, False] Translation: X:26.19, Y:2.16, Z:2.64 [[ 9.81022870e-01 -9.92625421e-04 -1.93889512e-01 2.61931966e+01] [ 5.08813207e-03 9.99774313e-01 2.06260385e-02 2.15822742e+00] [ 1.93825280e-01 -2.12211509e-02 9.80806517e-01 2.64233766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.22463044 meters Centerline goodness [0,1] 0.23170991520729478 Centerline is valid? [False, False] Translation: X:26.19, Y:2.16, Z:2.64 [[ 9.80963512e-01 -8.42445903e-04 -1.94190313e-01 2.61939698e+01] [ 4.96376211e-03 9.99772633e-01 2.07374668e-02 2.15827951e+00] [ 1.94128690e-01 -2.13066128e-02 9.80744656e-01 2.64248393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.25463044 meters Centerline goodness [0,1] 0.23555365174555576 Centerline is valid? [False, False] Translation: X:26.19, Y:2.16, Z:2.64 [[ 9.80846644e-01 -4.55322728e-03 -1.94728346e-01 2.61937147e+01] [ 8.22694021e-03 9.99803035e-01 1.80612444e-02 2.15591384e+00] [ 1.94607754e-01 -1.93173294e-02 9.80690911e-01 2.64421050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.28463044 meters Centerline goodness [0,1] 0.24444492291792264 Centerline is valid? [False, False] Translation: X:26.19, Y:2.15, Z:2.65 [[ 9.80674010e-01 -8.21993568e-03 -1.95476135e-01 2.61947739e+01] [ 1.14280528e-02 9.99817797e-01 1.52896231e-02 2.15401189e+00] [ 1.95314839e-01 -1.72280476e-02 9.80589266e-01 2.64524255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.31463044000003 meters Centerline goodness [0,1] 0.25490364025695933 Centerline is valid? [False, False] Translation: X:26.20, Y:2.15, Z:2.64 [[ 9.80540099e-01 -8.26401148e-03 -1.96144898e-01 2.61972445e+01] [ 1.15604260e-02 9.99810432e-01 1.56670724e-02 2.15163377e+00] [ 1.95978243e-01 -1.76297112e-02 9.80449755e-01 2.64494593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.34463044 meters Centerline goodness [0,1] 0.26113294396074427 Centerline is valid? [False, False] Translation: X:26.20, Y:2.15, Z:2.64 [[ 9.80420366e-01 -8.30100500e-03 -1.96740947e-01 2.61995280e+01] [ 1.16592394e-02 9.99805333e-01 1.59172084e-02 2.15007137e+00] [ 1.96570519e-01 -1.78994050e-02 9.80326294e-01 2.64458493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.37463044000003 meters Centerline goodness [0,1] 0.2627933737163204 Centerline is valid? [False, False] Translation: X:26.20, Y:2.15, Z:2.64 [[ 9.80380619e-01 -8.90854754e-03 -1.96912364e-01 2.62006756e+01] [ 1.22766431e-02 9.99798368e-01 1.58904783e-02 2.14731034e+00] [ 1.96731099e-01 -1.79961397e-02 9.80292310e-01 2.64443010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.40463044 meters Centerline goodness [0,1] 0.26288348845225784 Centerline is valid? [False, False] Translation: X:26.20, Y:2.15, Z:2.64 [[ 9.80389322e-01 -9.00065990e-03 -1.96864840e-01 2.62006688e+01] [ 1.23963205e-02 9.99794773e-01 1.60232143e-02 2.14594022e+00] [ 1.96680219e-01 -1.81493879e-02 9.80299695e-01 2.64459656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.43463044000003 meters Centerline goodness [0,1] 0.26438522107813445 Centerline is valid? [False, False] Translation: X:26.20, Y:2.14, Z:2.64 [[ 9.80379252e-01 -9.05535137e-03 -1.96912477e-01 2.62007260e+01] [ 1.24767605e-02 9.99791867e-01 1.61416408e-02 2.14477340e+00] [ 1.96725325e-01 -1.82817596e-02 9.80288184e-01 2.64491719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.46463044 meters Centerline goodness [0,1] 0.2467052672514367 Centerline is valid? [False, False] Translation: X:26.20, Y:2.14, Z:2.65 [[ 9.80336109e-01 -8.98980390e-03 -1.97130154e-01 2.62011350e+01] [ 1.24474926e-02 9.99789531e-01 1.63080815e-02 2.14412215e+00] [ 1.96942058e-01 -1.84411773e-02 9.80241679e-01 2.64525286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.49463044000004 meters Centerline goodness [0,1] 0.26385609410552524 Centerline is valid? [False, False] Translation: X:26.20, Y:2.14, Z:2.65 [[ 9.80303764e-01 -8.81155055e-03 -1.97298980e-01 2.62019663e+01] [ 1.23060781e-02 9.99788252e-01 1.64927866e-02 2.14390726e+00] [ 1.97111875e-01 -1.85959175e-02 9.80204622e-01 2.64506402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.52463044 meters Centerline goodness [0,1] 0.26553208053110744 Centerline is valid? [False, False] Translation: X:26.20, Y:2.15, Z:2.65 [[ 9.80261357e-01 -8.98612673e-03 -1.97501699e-01 2.62022549e+01] [ 1.24314067e-02 9.99791304e-01 1.62113861e-02 2.14517578e+00] [ 1.97314804e-01 -1.83466193e-02 9.80168490e-01 2.64535138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.55463044 meters Centerline goodness [0,1] 0.26530217358587926 Centerline is valid? [False, False] Translation: X:26.20, Y:2.15, Z:2.65 [[ 9.80243223e-01 -8.96213068e-03 -1.97592773e-01 2.62026591e+01] [ 1.23887875e-02 9.99793429e-01 1.61126624e-02 2.14594669e+00] [ 1.97407553e-01 -1.82422630e-02 9.80151763e-01 2.64526091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.58463044 meters Centerline goodness [0,1] 0.2670346731067794 Centerline is valid? [False, False] Translation: X:26.20, Y:2.15, Z:2.65 [[ 9.80267868e-01 -9.14506331e-03 -1.97462083e-01 2.62023696e+01] [ 1.25346936e-02 9.99794650e-01 1.59229150e-02 2.14614095e+00] [ 1.97275918e-01 -1.80838486e-02 9.80181201e-01 2.64525462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.61463044 meters Centerline goodness [0,1] 0.2644049542272483 Centerline is valid? [False, False] Translation: X:26.20, Y:2.14, Z:2.65 [[ 9.80325314e-01 -9.37484523e-03 -1.97165897e-01 2.62014573e+01] [ 1.27743182e-02 9.99790756e-01 1.59769206e-02 2.14450565e+00] [ 1.96974860e-01 -1.81812396e-02 9.80239944e-01 2.64564984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.64463044 meters Centerline goodness [0,1] 0.2645269471376056 Centerline is valid? [False, False] Translation: X:26.20, Y:2.14, Z:2.65 [[ 9.80182288e-01 -9.13104850e-03 -1.97887103e-01 2.62036159e+01] [ 1.26190410e-02 9.99786331e-01 1.63722796e-02 2.14329922e+00] [ 1.97695325e-01 -1.85449639e-02 9.80088079e-01 2.64561551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.67463044 meters Centerline goodness [0,1] 0.2647942970024908 Centerline is valid? [False, False] Translation: X:26.21, Y:2.14, Z:2.65 [[ 9.80055849e-01 -8.85054668e-03 -1.98525064e-01 2.62059192e+01] [ 1.23972741e-02 9.99784860e-01 1.66295295e-02 2.14313161e+00] [ 1.98335173e-01 -1.87590373e-02 9.79954722e-01 2.64517235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.70463044 meters Centerline goodness [0,1] 0.2650252035672741 Centerline is valid? [False, False] Translation: X:26.21, Y:2.14, Z:2.64 [[ 9.80015676e-01 -8.90442610e-03 -1.98720873e-01 2.62068384e+01] [ 1.24449604e-02 9.99785178e-01 1.65747213e-02 2.14302960e+00] [ 1.98530595e-01 -1.87165601e-02 9.79915962e-01 2.64488639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.73463044 meters Centerline goodness [0,1] 0.24687682050618165 Centerline is valid? [False, False] Translation: X:26.20, Y:2.14, Z:2.65 [[ 9.80190734e-01 -9.60246543e-03 -1.97822945e-01 2.62033889e+01] [ 1.30406534e-02 9.99785589e-01 1.60846918e-02 2.14283462e+00] [ 1.97626077e-01 -1.83458064e-02 9.80105793e-01 2.64597264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.76463044 meters Centerline goodness [0,1] 0.24752667313288068 Centerline is valid? [False, False] Translation: X:26.20, Y:2.14, Z:2.65 [[ 9.80242539e-01 -9.53160097e-03 -1.97569516e-01 2.62023383e+01] [ 1.29808286e-02 9.99784982e-01 1.61705557e-02 2.14272762e+00] [ 1.97372903e-01 -1.84156826e-02 9.80155498e-01 2.64650042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.79463044 meters Centerline goodness [0,1] 0.24761596548004317 Centerline is valid? [False, False] Translation: X:26.20, Y:2.14, Z:2.65 [[ 9.80284029e-01 -9.66887821e-03 -1.97356874e-01 2.62014999e+01] [ 1.30934472e-02 9.99785382e-01 1.60546427e-02 2.14302310e+00] [ 1.97159287e-01 -1.83221916e-02 9.80200241e-01 2.64679767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.82463044 meters Centerline goodness [0,1] 0.24916993661334141 Centerline is valid? [False, False] Translation: X:26.20, Y:2.14, Z:2.65 [[ 9.80262519e-01 -9.76274143e-03 -1.97459064e-01 2.62018608e+01] [ 1.31665648e-02 9.99786374e-01 1.59325889e-02 2.14347469e+00] [ 1.97261336e-01 -1.82179773e-02 9.80181652e-01 2.64682073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.85463044 meters Centerline goodness [0,1] 0.24783040455938865 Centerline is valid? [False, False] Translation: X:26.20, Y:2.14, Z:2.65 [[ 9.80232286e-01 -9.80492939e-03 -1.97607008e-01 2.62024453e+01] [ 1.31959971e-02 9.99787281e-01 1.58511519e-02 2.14387954e+00] [ 1.97409553e-01 -1.81454323e-02 9.80153157e-01 2.64667370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.88463044 meters Centerline goodness [0,1] 0.24762522990371094 Centerline is valid? [False, False] Translation: X:26.20, Y:2.14, Z:2.65 [[ 9.80154422e-01 -9.97467645e-03 -1.97984382e-01 2.62033958e+01] [ 1.33581137e-02 9.99786550e-01 1.57611768e-02 2.14406042e+00] [ 1.97784910e-01 -1.80930850e-02 9.80078451e-01 2.64685542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.91463044 meters Centerline goodness [0,1] 0.2505847699904704 Centerline is valid? [False, False] Translation: X:26.20, Y:2.14, Z:2.65 [[ 9.80186039e-01 -1.00772210e-02 -1.97822594e-01 2.62030946e+01] [ 1.35035959e-02 9.99781137e-01 1.59790682e-02 2.14246399e+00] [ 1.97618273e-01 -1.83337760e-02 9.80107591e-01 2.64702630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.94463044 meters Centerline goodness [0,1] 0.25151271985946344 Centerline is valid? [False, False] Translation: X:26.20, Y:2.14, Z:2.65 [[ 9.80241124e-01 -1.03865425e-02 -1.97533436e-01 2.62022844e+01] [ 1.38135890e-02 9.99776900e-01 1.59791818e-02 2.14121387e+00] [ 1.97323398e-01 -1.83920968e-02 9.80165908e-01 2.64730285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.97463044 meters Centerline goodness [0,1] 0.2511521729766981 Centerline is valid? [False, False] Translation: X:26.20, Y:2.14, Z:2.65 [[ 9.80265923e-01 -1.05130914e-02 -1.97403637e-01 2.62023692e+01] [ 1.39827840e-02 9.99771141e-01 1.61909948e-02 2.13939047e+00] [ 1.97188242e-01 -1.86317329e-02 9.80188582e-01 2.64724463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.00463044 meters Centerline goodness [0,1] 0.1731030760928225 Centerline is valid? [False, False] Translation: X:26.21, Y:2.14, Z:2.65 [[ 9.80146375e-01 -1.07549642e-02 -1.97983366e-01 2.62057338e+01] [ 1.42669546e-02 9.99765013e-01 1.63209009e-02 2.13738586e+00] [ 1.97761312e-01 -1.88214916e-02 9.80069495e-01 2.64583417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.03463044 meters Centerline goodness [0,1] 0.17407551408329014 Centerline is valid? [False, False] Translation: X:26.21, Y:2.14, Z:2.65 [[ 9.80053320e-01 -1.06481131e-02 -1.98449256e-01 2.62079183e+01] [ 1.41911271e-02 9.99764145e-01 1.64397670e-02 2.13707660e+00] [ 1.98227399e-01 -1.89280669e-02 9.79973279e-01 2.64504100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.06463044000003 meters Centerline goodness [0,1] 0.17411637931034485 Centerline is valid? [False, False] Translation: X:26.21, Y:2.14, Z:2.64 [[ 9.80020772e-01 -1.05035179e-02 -1.98617629e-01 2.62089524e+01] [ 1.40805012e-02 9.99762969e-01 1.66055524e-02 2.13666450e+00] [ 1.98396134e-01 -1.90704221e-02 9.79936372e-01 2.64463549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.09463044 meters Centerline goodness [0,1] 0.17558640705204565 Centerline is valid? [False, False] Translation: X:26.21, Y:2.14, Z:2.64 [[ 9.80058654e-01 -1.05180852e-02 -1.98429850e-01 2.62083941e+01] [ 1.41023888e-02 9.99761776e-01 1.66587264e-02 2.13638921e+00] [ 1.98207361e-01 -1.91248638e-02 9.79973511e-01 2.64477098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.12463044000003 meters Centerline goodness [0,1] 0.26302094533568454 Centerline is valid? [False, False] Translation: X:26.21, Y:2.14, Z:2.65 [[ 9.80066518e-01 -1.04279052e-02 -1.98395762e-01 2.62079657e+01] [ 1.40458473e-02 9.99759579e-01 1.68373888e-02 2.13571036e+00] [ 1.98172485e-01 -1.92883976e-02 9.79977359e-01 2.64524048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.15463044 meters Centerline goodness [0,1] 0.25430127356750776 Centerline is valid? [False, False] Translation: X:26.21, Y:2.14, Z:2.65 [[ 9.80089253e-01 -1.05260494e-02 -1.98278234e-01 2.62076177e+01] [ 1.41453814e-02 9.99758028e-01 1.68461955e-02 2.13507055e+00] [ 1.98052932e-01 -1.93154964e-02 9.80000994e-01 2.64535618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.18463044000003 meters Centerline goodness [0,1] 0.251957860407235 Centerline is valid? [False, False] Translation: X:26.21, Y:2.13, Z:2.64 [[ 9.80018101e-01 -1.05618968e-02 -1.98627711e-01 2.62099541e+01] [ 1.42065857e-02 9.99755691e-01 1.69331598e-02 2.13400050e+00] [ 1.98400338e-01 -1.94166247e-02 9.79928722e-01 2.64432697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.21463044 meters Centerline goodness [0,1] 0.26959173081913335 Centerline is valid? [False, False] Translation: X:26.21, Y:2.13, Z:2.64 [[ 9.79998335e-01 -1.06249543e-02 -1.98721848e-01 2.62105656e+01] [ 1.42688826e-02 9.99755132e-01 1.69137346e-02 2.13372990e+00] [ 1.98493480e-01 -1.94109705e-02 9.79909972e-01 2.64405393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.24463044000004 meters Centerline goodness [0,1] 0.25746886159742177 Centerline is valid? [False, False] Translation: X:26.21, Y:2.13, Z:2.64 [[ 9.80016250e-01 -1.06840094e-02 -1.98630316e-01 2.62103670e+01] [ 1.43203645e-02 9.99754973e-01 1.68795905e-02 2.13367987e+00] [ 1.98401304e-01 -1.93867315e-02 9.79929118e-01 2.64410772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.27463044 meters Centerline goodness [0,1] 0.2699563959763416 Centerline is valid? [False, False] Translation: X:26.21, Y:2.13, Z:2.64 [[ 9.80007637e-01 -1.05114544e-02 -1.98682011e-01 2.62104615e+01] [ 1.41776787e-02 9.99754301e-01 1.70390949e-02 2.13338448e+00] [ 1.98454090e-01 -1.95152928e-02 9.79915878e-01 2.64424587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.30463044 meters Centerline goodness [0,1] 0.2553844823112188 Centerline is valid? [False, False] Translation: X:26.21, Y:2.13, Z:2.64 [[ 9.79996658e-01 -1.03618104e-02 -1.98744012e-01 2.62102644e+01] [ 1.40549141e-02 9.99753615e-01 1.71804490e-02 2.13305962e+00] [ 1.98517024e-01 -1.96301126e-02 9.79900837e-01 2.64459603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.33463044 meters Centerline goodness [0,1] 0.2647388140045648 Centerline is valid? [False, False] Translation: X:26.21, Y:2.13, Z:2.64 [[ 9.79923033e-01 -1.01366945e-02 -1.99118299e-01 2.62115993e+01] [ 1.38674060e-02 9.99753298e-01 1.73504740e-02 2.13278516e+00] [ 1.98893299e-01 -1.97633834e-02 9.79821853e-01 2.64438687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.36463044 meters Centerline goodness [0,1] 0.25354364736387214 Centerline is valid? [False, False] Translation: X:26.21, Y:2.13, Z:2.64 [[ 9.79892401e-01 -1.00399247e-02 -1.99273888e-01 2.62123779e+01] [ 1.37848377e-02 9.99753330e-01 1.74142712e-02 2.13266854e+00] [ 1.99049895e-01 -1.98110702e-02 9.79789090e-01 2.64403879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.39463044 meters Centerline goodness [0,1] 0.26560613898948093 Centerline is valid? [False, False] Translation: X:26.21, Y:2.13, Z:2.64 [[ 9.79843399e-01 -9.88751248e-03 -1.99522305e-01 2.62132354e+01] [ 1.36546033e-02 9.99753387e-01 1.75133244e-02 2.13250521e+00] [ 1.99299937e-01 -1.98847132e-02 9.79736767e-01 2.64394261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.42463044 meters Centerline goodness [0,1] 0.2642608939632659 Centerline is valid? [False, False] Translation: X:26.21, Y:2.13, Z:2.64 [[ 9.79883964e-01 -9.62211148e-03 -1.99335978e-01 2.62121097e+01] [ 1.33829490e-02 9.99756803e-01 1.75280237e-02 2.13359915e+00] [ 1.99118843e-01 -1.98431325e-02 9.79774431e-01 2.64449707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.45463044 meters Centerline goodness [0,1] 0.25415217391304346 Centerline is valid? [False, False] Translation: X:26.21, Y:2.13, Z:2.65 [[ 9.79922994e-01 -9.62698081e-03 -1.99143784e-01 2.62108626e+01] [ 1.33440648e-02 9.99760747e-01 1.73315900e-02 2.13472028e+00] [ 1.98929287e-01 -1.96410112e-02 9.79817008e-01 2.64514680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.48463044 meters Centerline goodness [0,1] 0.25122737201808076 Centerline is valid? [False, False] Translation: X:26.21, Y:2.14, Z:2.65 [[ 9.79917045e-01 -9.41161752e-03 -1.99183349e-01 2.62105763e+01] [ 1.31080484e-02 9.99765326e-01 1.72473814e-02 2.13597170e+00] [ 1.98974280e-01 -1.95119080e-02 9.79810452e-01 2.64547844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.51463044 meters Centerline goodness [0,1] 0.25265818371971416 Centerline is valid? [False, False] Translation: X:26.21, Y:2.14, Z:2.65 [[ 9.79912446e-01 -9.29374780e-03 -1.99211505e-01 2.62102356e+01] [ 1.29495290e-02 9.99770672e-01 1.70561846e-02 2.13742247e+00] [ 1.99007305e-01 -1.92932627e-02 9.79808074e-01 2.64574291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.54463044 meters Centerline goodness [0,1] 0.2489935500627678 Centerline is valid? [False, False] Translation: X:26.21, Y:2.14, Z:2.65 [[ 9.79869467e-01 -8.85463269e-03 -1.99442782e-01 2.62108400e+01] [ 1.25122370e-02 9.99775728e-01 1.70861644e-02 2.13907541e+00] [ 1.99246761e-01 -1.92376861e-02 9.79760501e-01 2.64565933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.57463044 meters Centerline goodness [0,1] 0.2480926754414403 Centerline is valid? [False, False] Translation: X:26.21, Y:2.14, Z:2.65 [[ 9.79842172e-01 -8.42026939e-03 -1.99595635e-01 2.62109874e+01] [ 1.20717297e-02 9.99781175e-01 1.70843567e-02 2.14102894e+00] [ 1.99408103e-01 -1.91494377e-02 9.79729405e-01 2.64573561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.60463044 meters Centerline goodness [0,1] 0.250125313283208 Centerline is valid? [False, False] Translation: X:26.21, Y:2.14, Z:2.65 [[ 9.80013036e-01 -4.42199938e-03 -1.98884127e-01 2.62096082e+01] [ 8.53790306e-03 9.99766669e-01 1.98421501e-02 2.14453827e+00] [ 1.98749979e-01 -2.11436192e-02 9.79822123e-01 2.64507633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.63463044 meters Centerline goodness [0,1] 0.24452342487883683 Centerline is valid? [False, False] Translation: X:26.23, Y:2.15, Z:2.65 [[ 9.80102735e-01 1.43927410e-03 -1.98485659e-01 2.62268150e+01] [ 2.40970267e-03 9.99813741e-01 1.91488001e-02 2.14641571e+00] [ 1.98476249e-01 -1.92460828e-02 9.79916714e-01 2.64954603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.66463044 meters Centerline goodness [0,1] 0.24595678613015914 Centerline is valid? [False, False] Translation: X:26.23, Y:2.15, Z:2.65 [[ 9.80180390e-01 1.32143576e-03 -1.98102641e-01 2.62250485e+01] [ 2.38133818e-03 9.99826915e-01 1.84517885e-02 2.15005368e+00] [ 1.98092735e-01 -1.85578306e-02 9.80007589e-01 2.65002015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.69463044 meters Centerline goodness [0,1] 0.25091075674614427 Centerline is valid? [False, False] Translation: X:26.22, Y:2.15, Z:2.65 [[ 9.80320073e-01 1.69903704e-04 -1.97414604e-01 2.62214892e+01] [ 3.42788326e-03 9.99834216e-01 1.78826603e-02 2.14685192e+00] [ 1.97384914e-01 -1.82074451e-02 9.80156969e-01 2.65163498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.72463044 meters Centerline goodness [0,1] 0.2476430867473518 Centerline is valid? [False, False] Translation: X:26.24, Y:2.15, Z:2.65 [[ 9.80353384e-01 -7.66051766e-03 -1.97100377e-01 2.62387505e+01] [ 1.20683840e-02 9.99703003e-01 2.11721491e-02 2.14826646e+00] [ 1.96879650e-01 -2.31348710e-02 9.80154672e-01 2.65401147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.75463044 meters Centerline goodness [0,1] 0.2516241173275394 Centerline is valid? [False, False] Translation: X:26.24, Y:2.15, Z:2.65 [[ 9.80244003e-01 -7.40571794e-03 -1.97653356e-01 2.62411004e+01] [ 1.18833029e-02 9.99698712e-01 2.14772461e-02 2.14754524e+00] [ 1.97434751e-01 -2.34017164e-02 9.80036672e-01 2.65325735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.78463044 meters Centerline goodness [0,1] 0.24531750639743677 Centerline is valid? [False, False] Translation: X:26.25, Y:2.15, Z:2.65 [[ 9.80114407e-01 -6.73154359e-03 -1.98319026e-01 2.62451535e+01] [ 1.13361530e-02 9.99691671e-01 2.20919742e-02 2.14663435e+00] [ 1.98109165e-01 -2.39008370e-02 9.79888518e-01 2.65146033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.81463044000003 meters Centerline goodness [0,1] 0.2415787097745007 Centerline is valid? [False, False] Translation: X:26.25, Y:2.15, Z:2.65 [[ 9.80080235e-01 -6.77271769e-03 -1.98486431e-01 2.62466863e+01] [ 1.13731242e-02 9.99692254e-01 2.20465490e-02 2.14627755e+00] [ 1.98276033e-01 -2.38647978e-02 9.79855646e-01 2.65049254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.84463044 meters Centerline goodness [0,1] 0.25770290042172306 Centerline is valid? [False, False] Translation: X:26.25, Y:2.15, Z:2.65 [[ 9.80110054e-01 -6.64015364e-03 -1.98343617e-01 2.62460631e+01] [ 1.12492160e-02 9.99692033e-01 2.21200010e-02 2.14615838e+00] [ 1.98135653e-01 -2.39112455e-02 9.79882909e-01 2.65064727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.87463044000003 meters Centerline goodness [0,1] 0.2489810960804717 Centerline is valid? [False, False] Translation: X:26.25, Y:2.15, Z:2.65 [[ 9.80113572e-01 -6.47794588e-03 -1.98331596e-01 2.62457040e+01] [ 1.10850190e-02 9.99693697e-01 2.21276688e-02 2.14697634e+00] [ 1.98127505e-01 -2.38861380e-02 9.79885169e-01 2.65086395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.90463044 meters Centerline goodness [0,1] 0.2442924844733938 Centerline is valid? [False, False] Translation: X:26.25, Y:2.15, Z:2.65 [[ 9.80061985e-01 -6.37948957e-03 -1.98589545e-01 2.62463198e+01] [ 1.09675575e-02 9.99697550e-01 2.20118640e-02 2.14803664e+00] [ 1.98389057e-01 -2.37510334e-02 9.79835532e-01 2.65085264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.93463044000003 meters Centerline goodness [0,1] 0.24362013966721274 Centerline is valid? [False, False] Translation: X:26.25, Y:2.15, Z:2.65 [[ 9.79974148e-01 -6.17640096e-03 -1.99028945e-01 2.62481014e+01] [ 1.07495033e-02 9.99702271e-01 2.19047196e-02 2.14920336e+00] [ 1.98834396e-01 -2.36055212e-02 9.79748775e-01 2.65024161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.96463044 meters Centerline goodness [0,1] 0.26495358304434924 Centerline is valid? [False, False] Translation: X:26.25, Y:2.15, Z:2.65 [[ 9.79926194e-01 -6.05157266e-03 -1.99268746e-01 2.62492968e+01] [ 1.06034373e-02 9.99706478e-01 2.17835943e-02 2.15012670e+00] [ 1.99078431e-01 -2.34592483e-02 9.79702731e-01 2.64963666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.99463044000004 meters Centerline goodness [0,1] 0.24633844685052186 Centerline is valid? [False, False] Translation: X:26.25, Y:2.15, Z:2.65 [[ 9.79897245e-01 -5.72801901e-03 -1.99420606e-01 2.62492451e+01] [ 1.02557892e-02 9.99712378e-01 2.16790438e-02 2.15205472e+00] [ 1.99239070e-01 -2.32884510e-02 9.79674150e-01 2.64989717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.02463044 meters Centerline goodness [0,1] 0.24633844685052186 Centerline is valid? [False, False] Translation: X:26.25, Y:2.15, Z:2.65 [[ 9.79897245e-01 -5.72801901e-03 -1.99420606e-01 2.62492451e+01] [ 1.02557892e-02 9.99712378e-01 2.16790438e-02 2.15205472e+00] [ 1.99239070e-01 -2.32884510e-02 9.79674150e-01 2.64989717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.05463044 meters Centerline goodness [0,1] 0.24696930054072908 Centerline is valid? [False, False] Translation: X:26.25, Y:2.15, Z:2.65 [[ 9.79936581e-01 -5.66050931e-03 -1.99229155e-01 2.62482155e+01] [ 1.01656961e-02 9.99715064e-01 2.15974468e-02 2.15309600e+00] [ 1.99050134e-01 -2.31894312e-02 9.79714905e-01 2.65033512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.08463044 meters Centerline goodness [0,1] 0.24721613232325423 Centerline is valid? [False, False] Translation: X:26.25, Y:2.15, Z:2.65 [[ 9.79970241e-01 -5.50524423e-03 -1.99067875e-01 2.62474574e+01] [ 9.99913014e-03 9.99717199e-01 2.15763725e-02 2.15397419e+00] [ 1.98892795e-01 -2.31347086e-02 9.79748152e-01 2.65067543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.11463044 meters Centerline goodness [0,1] 0.26107397023937895 Centerline is valid? [False, False] Translation: X:26.25, Y:2.15, Z:2.65 [[ 9.80008379e-01 -5.41828242e-03 -1.98882428e-01 2.62468810e+01] [ 9.88751825e-03 9.99720266e-01 2.14854777e-02 2.15487310e+00] [ 1.98710380e-01 -2.30224018e-02 9.79787811e-01 2.65079518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.14463044 meters Centerline goodness [0,1] 0.24349302555505403 Centerline is valid? [False, False] Translation: X:26.25, Y:2.16, Z:2.65 [[ 9.79981600e-01 -5.24110690e-03 -1.99019083e-01 2.62464627e+01] [ 9.67885132e-03 9.99725600e-01 2.13317607e-02 2.15672147e+00] [ 1.98852670e-01 -2.28310091e-02 9.79763421e-01 2.65154296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.17463044 meters Centerline goodness [0,1] 0.24165695289902 Centerline is valid? [False, False] Translation: X:26.25, Y:2.16, Z:2.65 [[ 9.79966293e-01 -5.33640693e-03 -1.99091905e-01 2.62462628e+01] [ 9.73563176e-03 9.99729459e-01 2.11240520e-02 2.15769587e+00] [ 1.98925316e-01 -2.26391444e-02 9.79753126e-01 2.65186966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.20463044 meters Centerline goodness [0,1] 0.24566555111734856 Centerline is valid? [False, False] Translation: X:26.25, Y:2.16, Z:2.65 [[ 9.79976290e-01 -5.46515127e-03 -1.99039202e-01 2.62461532e+01] [ 9.85653169e-03 9.99729231e-01 2.10787414e-02 2.15714752e+00] [ 1.98870110e-01 -2.26185030e-02 9.79764810e-01 2.65197660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.23463044 meters Centerline goodness [0,1] 0.2424150943396226 Centerline is valid? [False, False] Translation: X:26.25, Y:2.16, Z:2.65 [[ 9.79949022e-01 -5.62273641e-03 -1.99169021e-01 2.62469126e+01] [ 1.00207214e-02 9.99727561e-01 2.10805453e-02 2.15600568e+00] [ 1.98996229e-01 -2.26536770e-02 9.79738389e-01 2.65177585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.26463044 meters Centerline goodness [0,1] 0.26420479114416673 Centerline is valid? [False, False] Translation: X:26.25, Y:2.15, Z:2.65 [[ 9.79796077e-01 -5.47645626e-03 -1.99924125e-01 2.62493221e+01] [ 9.93636642e-03 9.99723507e-01 2.13114389e-02 2.15498633e+00] [ 1.99752136e-01 -2.28673836e-02 9.79579587e-01 2.65149371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.29463044 meters Centerline goodness [0,1] 0.2439966342315908 Centerline is valid? [False, False] Translation: X:26.25, Y:2.15, Z:2.65 [[ 9.79738875e-01 -5.29214468e-03 -2.00209217e-01 2.62501197e+01] [ 9.78577081e-03 9.99721779e-01 2.14616882e-02 2.15473484e+00] [ 2.00039936e-01 -2.29860518e-02 9.79518078e-01 2.65153999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.32463044 meters Centerline goodness [0,1] 0.24430030599491448 Centerline is valid? [False, False] Translation: X:26.25, Y:2.15, Z:2.65 [[ 9.79747543e-01 -5.21970812e-03 -2.00168698e-01 2.62498373e+01] [ 9.72337069e-03 9.99721073e-01 2.15228275e-02 2.15449003e+00] [ 2.00000522e-01 -2.30332518e-02 9.79525018e-01 2.65174076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.35463044 meters Centerline goodness [0,1] 0.24506707053223709 Centerline is valid? [False, False] Translation: X:26.25, Y:2.15, Z:2.65 [[ 9.79799289e-01 -5.21698382e-03 -1.99915321e-01 2.62485895e+01] [ 9.70354879e-03 9.99722422e-01 2.14690624e-02 2.15461172e+00] [ 1.99747826e-01 -2.29752602e-02 9.79577942e-01 2.65228304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.38463044 meters Centerline goodness [0,1] 0.24572621969599107 Centerline is valid? [False, False] Translation: X:26.25, Y:2.15, Z:2.65 [[ 9.79806023e-01 -4.96776709e-03 -1.99888664e-01 2.62483112e+01] [ 9.47418165e-03 9.99721922e-01 2.15943941e-02 2.15480802e+00] [ 1.99725804e-01 -2.30520989e-02 9.79580627e-01 2.65252703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.41463044 meters Centerline goodness [0,1] 0.24608933692534973 Centerline is valid? [False, False] Translation: X:26.25, Y:2.16, Z:2.65 [[ 9.79832273e-01 -4.83118569e-03 -1.99763303e-01 2.62479900e+01] [ 9.33773325e-03 9.99722579e-01 2.16234258e-02 2.15501734e+00] [ 1.99603418e-01 -2.30526669e-02 9.79605558e-01 2.65245367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.44463044 meters Centerline goodness [0,1] 0.2439340858959388 Centerline is valid? [False, False] Translation: X:26.25, Y:2.16, Z:2.65 [[ 9.79754922e-01 -4.31735160e-03 -2.00154075e-01 2.62499272e+01] [ 8.85373160e-03 9.99723695e-01 2.17748672e-02 2.15533466e+00] [ 2.00004762e-01 -2.31061438e-02 9.79522435e-01 2.65164113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.47463044 meters Centerline goodness [0,1] 0.2450581772568018 Centerline is valid? [False, False] Translation: X:26.25, Y:2.15, Z:2.65 [[ 9.79751698e-01 -4.15881251e-03 -2.00173212e-01 2.62506616e+01] [ 8.71337548e-03 9.99722688e-01 2.18774788e-02 2.15482041e+00] [ 2.00026717e-01 -2.31786813e-02 9.79516238e-01 2.65102740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.50463044 meters Centerline goodness [0,1] 0.24311621418607143 Centerline is valid? [False, False] Translation: X:26.25, Y:2.15, Z:2.65 [[ 9.79728157e-01 -3.83417840e-03 -2.00294876e-01 2.62514455e+01] [ 8.44374513e-03 9.99718675e-01 2.21646963e-02 2.15416061e+00] [ 2.00153545e-01 -2.34066160e-02 9.79484910e-01 2.65065351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.53463044 meters Centerline goodness [0,1] 0.2430134443988865 Centerline is valid? [False, False] Translation: X:26.25, Y:2.15, Z:2.65 [[ 9.79737859e-01 -3.63764273e-03 -2.00251081e-01 2.62516392e+01] [ 8.28136147e-03 9.99715758e-01 2.23567063e-02 2.15339116e+00] [ 2.00112835e-01 -2.35620631e-02 9.79489501e-01 2.65036196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.56463044000003 meters Centerline goodness [0,1] 0.263544320054798 Centerline is valid? [False, False] Translation: X:26.25, Y:2.15, Z:2.65 [[ 9.79813296e-01 -3.29084908e-03 -1.99887657e-01 2.62508854e+01] [ 8.00069763e-03 9.99708960e-01 2.27592772e-02 2.15157034e+00] [ 1.99754585e-01 -2.38990831e-02 9.79554460e-01 2.65031999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.59463044 meters Centerline goodness [0,1] 0.2415342607125196 Centerline is valid? [False, False] Translation: X:26.25, Y:2.15, Z:2.65 [[ 9.79848099e-01 -3.24452310e-03 -1.99717740e-01 2.62504611e+01] [ 7.98523057e-03 9.99705042e-01 2.29361042e-02 2.15009705e+00] [ 1.99584415e-01 -2.40686903e-02 9.79584994e-01 2.65036216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.62463044000003 meters Centerline goodness [0,1] 0.24475720412957735 Centerline is valid? [False, False] Translation: X:26.25, Y:2.15, Z:2.65 [[ 9.79845050e-01 -3.04635836e-03 -1.99735819e-01 2.62509054e+01] [ 7.84857759e-03 9.99698746e-01 2.32554646e-02 2.14814299e+00] [ 1.99604803e-01 -2.43543940e-02 9.79573778e-01 2.65015628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.65463044 meters Centerline goodness [0,1] 0.239970011781086 Centerline is valid? [False, False] Translation: X:26.25, Y:2.15, Z:2.65 [[ 9.79841328e-01 -2.82438848e-03 -1.99757341e-01 2.62518053e+01] [ 7.69910679e-03 9.99691111e-01 2.36306057e-02 2.14621107e+00] [ 1.99628896e-01 -2.46921972e-02 9.79560411e-01 2.64956041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.68463044000003 meters Centerline goodness [0,1] 0.24129610479145125 Centerline is valid? [False, False] Translation: X:26.25, Y:2.14, Z:2.65 [[ 9.79809145e-01 -2.75762013e-03 -1.99916068e-01 2.62533428e+01] [ 7.71739660e-03 9.99681347e-01 2.40342580e-02 2.14244627e+00] [ 1.99786087e-01 -2.50918174e-02 9.79518208e-01 2.64881334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.71463044 meters Centerline goodness [0,1] 0.24359637774902976 Centerline is valid? [False, False] Translation: X:26.25, Y:2.14, Z:2.65 [[ 9.79787745e-01 -2.57321017e-03 -2.00023380e-01 2.62538905e+01] [ 7.60581850e-03 9.99673446e-01 2.43957375e-02 2.14039013e+00] [ 1.99895287e-01 -2.54239862e-02 9.79487364e-01 2.64872502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.74463044000004 meters Centerline goodness [0,1] 0.23717465716561537 Centerline is valid? [False, False] Translation: X:26.25, Y:2.14, Z:2.65 [[ 9.79752740e-01 -2.39745238e-03 -2.00196954e-01 2.62540166e+01] [ 7.50127542e-03 9.99665792e-01 2.47393575e-02 2.13871738e+00] [ 2.00070735e-01 -2.57401858e-02 9.79443283e-01 2.64918125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.77463044 meters Centerline goodness [0,1] 0.23588510583487188 Centerline is valid? [False, False] Translation: X:26.26, Y:2.14, Z:2.65 [[ 9.79692911e-01 -1.95091079e-03 -2.00494372e-01 2.62550163e+01] [ 7.18318748e-03 9.99652253e-01 2.53727096e-02 2.13643562e+00] [ 2.00375151e-01 -2.62976524e-02 9.79366240e-01 2.64926521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.80463044 meters Centerline goodness [0,1] 0.2333760683760684 Centerline is valid? [False, False] Translation: X:26.26, Y:2.13, Z:2.65 [[ 9.79659338e-01 -1.73041728e-03 -2.00660376e-01 2.62561409e+01] [ 7.05013311e-03 9.99642278e-01 2.57994656e-02 2.13405050e+00] [ 2.00543951e-01 -2.66893698e-02 9.79321092e-01 2.64890912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.83463044 meters Centerline goodness [0,1] 0.2345329905741217 Centerline is valid? [False, False] Translation: X:26.26, Y:2.13, Z:2.65 [[ 9.79675788e-01 -1.92295472e-03 -2.00578297e-01 2.62562026e+01] [ 7.26278792e-03 9.99638422e-01 2.58897306e-02 2.13171375e+00] [ 2.00455987e-01 -2.68202998e-02 9.79335524e-01 2.64887063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.86463044 meters Centerline goodness [0,1] 0.23439365512536248 Centerline is valid? [False, False] Translation: X:26.27, Y:2.13, Z:2.65 [[ 9.79604721e-01 2.09757803e-03 -2.00923346e-01 2.62701984e+01] [ 2.93568453e-03 9.99689376e-01 2.47494231e-02 2.12507779e+00] [ 2.00912848e-01 -2.48344993e-02 9.79294274e-01 2.65491630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.89463044 meters Centerline goodness [0,1] 0.23885391237312092 Centerline is valid? [False, False] Translation: X:26.27, Y:2.12, Z:2.66 [[ 9.79640167e-01 2.18083500e-03 -2.00749563e-01 2.62696622e+01] [ 2.91273338e-03 9.99681357e-01 2.50738813e-02 2.12283369e+00] [ 2.00740277e-01 -2.51481113e-02 9.79321660e-01 2.65516438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.92463044 meters Centerline goodness [0,1] 0.2364099599631747 Centerline is valid? [False, False] Translation: X:26.27, Y:2.12, Z:2.66 [[ 9.79623902e-01 2.30558541e-03 -2.00827525e-01 2.62699247e+01] [ 2.85983359e-03 9.99672597e-01 2.54267531e-02 2.12051728e+00] [ 2.00820397e-01 -2.54829884e-02 9.79296577e-01 2.65531518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.95463044 meters Centerline goodness [0,1] 0.2353442036698029 Centerline is valid? [False, False] Translation: X:26.27, Y:2.12, Z:2.66 [[ 9.79568765e-01 -1.38260621e-03 -2.01104754e-01 2.62705822e+01] [ 6.05076060e-03 9.99726283e-01 2.25997060e-02 2.11708121e+00] [ 2.01018462e-01 -2.33548028e-02 9.79309007e-01 2.65560412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.98463044 meters Centerline goodness [0,1] 0.23668449197860963 Centerline is valid? [False, False] Translation: X:26.27, Y:2.11, Z:2.66 [[ 9.79552787e-01 -1.40898085e-03 -2.01182388e-01 2.62711780e+01] [ 6.12918501e-03 9.99720314e-01 2.28413308e-02 2.11452275e+00] [ 2.01093937e-01 -2.36073733e-02 9.79287456e-01 2.65544267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.01463044 meters Centerline goodness [0,1] 0.23841923957464106 Centerline is valid? [False, False] Translation: X:26.27, Y:2.11, Z:2.66 [[ 9.79539990e-01 -1.21061767e-03 -2.01245976e-01 2.62718765e+01] [ 6.02408865e-03 9.99710190e-01 2.33076407e-02 2.11182193e+00] [ 2.01159437e-01 -2.40430897e-02 9.79263402e-01 2.65516753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.04463044 meters Centerline goodness [0,1] 0.23753070597030868 Centerline is valid? [False, False] Translation: X:26.27, Y:2.11, Z:2.66 [[ 9.79509732e-01 -8.52556189e-04 -2.01395031e-01 2.62727085e+01] [ 5.78665446e-03 9.99697316e-01 2.39121402e-02 2.10900631e+00] [ 2.01313686e-01 -2.45875775e-02 9.79218184e-01 2.65503382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.07463044 meters Centerline goodness [0,1] 0.23572247462952745 Centerline is valid? [False, False] Translation: X:26.27, Y:2.11, Z:2.65 [[ 9.79507418e-01 -5.33762518e-04 -2.01407382e-01 2.62732003e+01] [ 5.57599040e-03 9.99685052e-01 2.44684654e-02 2.10611251e+00] [ 2.01330889e-01 -2.50900889e-02 9.79201900e-01 2.65491894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.10463044 meters Centerline goodness [0,1] 0.24055563879197794 Centerline is valid? [False, False] Translation: X:26.27, Y:2.10, Z:2.66 [[ 9.79619247e-01 -2.39005278e-03 -2.00849242e-01 2.62709731e+01] [ 7.27779985e-03 9.99694978e-01 2.36005325e-02 2.09858944e+00] [ 2.00731572e-01 -2.45812765e-02 9.79337836e-01 2.65576949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.13463044 meters Centerline goodness [0,1] 0.24237712706227865 Centerline is valid? [False, False] Translation: X:26.27, Y:2.10, Z:2.66 [[ 9.79647541e-01 -2.32205966e-03 -2.00711993e-01 2.62711123e+01] [ 7.29753755e-03 9.99684054e-01 2.40528164e-02 2.09504257e+00] [ 2.00592727e-01 -2.50279857e-02 9.79354970e-01 2.65556309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.16463044 meters Centerline goodness [0,1] 0.24175563463819694 Centerline is valid? [False, False] Translation: X:26.27, Y:2.09, Z:2.66 [[ 9.79653103e-01 -2.11793143e-03 -2.00687098e-01 2.62715501e+01] [ 7.20556789e-03 9.99670815e-01 2.46240179e-02 2.09130210e+00] [ 2.00568883e-01 -2.55690601e-02 9.79345877e-01 2.65537851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.19463044 meters Centerline goodness [0,1] 0.2417851993716511 Centerline is valid? [False, False] Translation: X:26.27, Y:2.09, Z:2.65 [[ 9.79657189e-01 -1.73501752e-03 -2.00670829e-01 2.62723247e+01] [ 6.96189851e-03 9.99654540e-01 2.53442706e-02 2.08738714e+00] [ 2.00557532e-01 -2.62257469e-02 9.79330836e-01 2.65497966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.22463044 meters Centerline goodness [0,1] 0.24995730509777137 Centerline is valid? [False, False] Translation: X:26.27, Y:2.08, Z:2.65 [[ 9.79693766e-01 -1.52094723e-03 -2.00493917e-01 2.62736287e+01] [ 6.91283207e-03 9.99632933e-01 2.61956554e-02 2.07855195e+00] [ 2.00380480e-01 -2.70497011e-02 9.79344667e-01 2.65409352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.25463044 meters Centerline goodness [0,1] 0.24385148813369517 Centerline is valid? [False, False] Translation: X:26.27, Y:2.07, Z:2.65 [[ 9.79709643e-01 -1.36958254e-03 -2.00417415e-01 2.62741596e+01] [ 6.86100172e-03 9.99619735e-01 2.67078976e-02 2.07445720e+00] [ 2.00304625e-01 -2.75410491e-02 9.79346490e-01 2.65367551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.28463044 meters Centerline goodness [0,1] 0.2420611144397843 Centerline is valid? [False, False] Translation: X:26.28, Y:2.07, Z:2.65 [[ 9.79705246e-01 -1.04447031e-03 -2.00440862e-01 2.62750229e+01] [ 6.65472634e-03 9.99604647e-01 2.73178477e-02 2.07095861e+00] [ 2.00333084e-01 -2.80973178e-02 9.79324867e-01 2.65322220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.31463044000003 meters Centerline goodness [0,1] 0.24137264586509755 Centerline is valid? [False, False] Translation: X:26.28, Y:2.07, Z:2.65 [[ 9.79703310e-01 -7.74169242e-04 -2.00451551e-01 2.62753102e+01] [ 6.49323767e-03 9.99590326e-01 2.78750367e-02 2.06768774e+00] [ 2.00347851e-01 -2.86108453e-02 9.79306978e-01 2.65319114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.34463044 meters Centerline goodness [0,1] 0.2470524490680538 Centerline is valid? [False, False] Translation: X:26.28, Y:2.06, Z:2.65 [[ 9.79788586e-01 -3.93525199e-04 -2.00035425e-01 2.62750642e+01] [ 6.25898325e-03 9.99568746e-01 2.86905424e-02 2.06126391e+00] [ 1.99937869e-01 -2.93626844e-02 9.79368512e-01 2.65285838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.37463044000003 meters Centerline goodness [0,1] 0.24122656115602958 Centerline is valid? [False, False] Translation: X:26.29, Y:2.06, Z:2.66 [[ 9.79364977e-01 4.03734038e-03 -2.02059254e-01 2.62900924e+01] [ 1.64174203e-03 9.99608518e-01 2.79305419e-02 2.05651438e+00] [ 2.02092917e-01 -2.76859237e-02 9.78974945e-01 2.65835253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.40463044 meters Centerline goodness [0,1] 0.2414853358561968 Centerline is valid? [False, False] Translation: X:26.29, Y:2.05, Z:2.66 [[ 9.79408064e-01 4.10490317e-03 -2.01848936e-01 2.62898555e+01] [ 1.62327968e-03 9.99600846e-01 2.82048447e-02 2.05414993e+00] [ 2.01884146e-01 -2.79517096e-02 9.79010467e-01 2.65820992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.43463044000003 meters Centerline goodness [0,1] 0.23933340455079588 Centerline is valid? [False, False] Translation: X:26.29, Y:2.05, Z:2.66 [[ 9.79380870e-01 4.38558302e-03 -2.01974946e-01 2.62906495e+01] [ 1.42854562e-03 9.99589010e-01 2.86316246e-02 2.05174504e+00] [ 2.02017503e-01 -2.83297958e-02 9.78972089e-01 2.65796282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.46463044 meters Centerline goodness [0,1] 0.24222145715884147 Centerline is valid? [False, False] Translation: X:26.29, Y:2.05, Z:2.66 [[ 9.79360962e-01 4.57601590e-03 -2.02067232e-01 2.62915400e+01] [ 1.31210264e-03 9.99578671e-01 2.89958444e-02 2.04964791e+00] [ 2.02114780e-01 -2.86625310e-02 9.78942325e-01 2.65747940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.49463044000004 meters Centerline goodness [0,1] 0.23961921061076052 Centerline is valid? [False, False] Translation: X:26.29, Y:2.05, Z:2.66 [[ 9.79306114e-01 4.68879314e-03 -2.02330301e-01 2.62930551e+01] [ 1.26424311e-03 9.99570358e-01 2.92831059e-02 2.04752248e+00] [ 2.02380674e-01 -2.89329194e-02 9.78879435e-01 2.65694012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.52463044 meters Centerline goodness [0,1] 0.2446577955008452 Centerline is valid? [False, False] Translation: X:26.29, Y:2.04, Z:2.66 [[ 9.79294456e-01 7.61953134e-04 -2.02439592e-01 2.62929980e+01] [ 4.67894881e-03 9.99640595e-01 2.63967530e-02 2.04361754e+00] [ 2.02386948e-01 -2.67973983e-02 9.78938927e-01 2.65737797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.55463044 meters Centerline goodness [0,1] 0.24730532454908738 Centerline is valid? [False, False] Translation: X:26.29, Y:2.04, Z:2.66 [[ 9.79346796e-01 8.62988127e-04 -2.02185829e-01 2.62922216e+01] [ 4.67307273e-03 9.99627150e-01 2.69021088e-02 2.04040018e+00] [ 2.02133660e-01 -2.72913231e-02 9.78977613e-01 2.65779478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.58463044 meters Centerline goodness [0,1] 0.24463160601774459 Centerline is valid? [False, False] Translation: X:26.29, Y:2.04, Z:2.66 [[ 9.79382189e-01 1.05078101e-03 -2.02013426e-01 2.62917862e+01] [ 4.59136299e-03 9.99612388e-01 2.74589316e-02 2.03725540e+00] [ 2.01963977e-01 -2.78203055e-02 9.78997744e-01 2.65818473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.61463044 meters Centerline goodness [0,1] 0.24431417017907953 Centerline is valid? [False, False] Translation: X:26.29, Y:2.03, Z:2.66 [[ 9.79295292e-01 -2.60054295e-03 -2.02420276e-01 2.62927215e+01] [ 7.80456087e-03 9.99659106e-01 2.49150598e-02 2.03228075e+00] [ 2.02286479e-01 -2.59790021e-02 9.78981753e-01 2.65871174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.64463044 meters Centerline goodness [0,1] 0.2477060277210702 Centerline is valid? [False, False] Translation: X:26.29, Y:2.03, Z:2.66 [[ 9.79246346e-01 -2.67692527e-03 -2.02655936e-01 2.62940806e+01] [ 7.93453729e-03 9.99652563e-01 2.51355649e-02 2.02948301e+00] [ 2.02518240e-01 -2.62218911e-02 9.78927359e-01 2.65831947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.67463044 meters Centerline goodness [0,1] 0.24959614017705212 Centerline is valid? [False, False] Translation: X:26.30, Y:2.03, Z:2.66 [[ 9.79195750e-01 -2.48009287e-03 -2.02902764e-01 2.62953356e+01] [ 7.83461913e-03 9.99641804e-01 2.55906876e-02 2.02663496e+00] [ 2.02766618e-01 -2.66479584e-02 9.78864437e-01 2.65801401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.70463044 meters Centerline goodness [0,1] 0.24901058246580055 Centerline is valid? [False, False] Translation: X:26.30, Y:2.02, Z:2.66 [[ 9.79140876e-01 -2.20544305e-03 -2.03170570e-01 2.62961941e+01] [ 7.65847917e-03 9.99631111e-01 2.60574182e-02 2.02426406e+00] [ 2.03038155e-01 -2.70698608e-02 9.78796572e-01 2.65808070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.73463044 meters Centerline goodness [0,1] 0.24968756733462616 Centerline is valid? [False, False] Translation: X:26.30, Y:2.02, Z:2.66 [[ 9.79145189e-01 -2.13668561e-03 -2.03150521e-01 2.62963354e+01] [ 7.63686927e-03 9.99625071e-01 2.62943914e-02 2.02242706e+00] [ 2.03018171e-01 -2.72974608e-02 9.78794397e-01 2.65806018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.76463044 meters Centerline goodness [0,1] 0.24724968965369631 Centerline is valid? [False, False] Translation: X:26.31, Y:2.02, Z:2.66 [[ 9.78839556e-01 2.69442015e-03 -2.04611493e-01 2.63127582e+01] [ 2.54841709e-03 9.99675248e-01 2.53555483e-02 2.01866168e+00] [ 2.04613363e-01 -2.53404491e-02 9.78514810e-01 2.66373849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.79463044 meters Centerline goodness [0,1] 0.25002693791349695 Centerline is valid? [False, False] Translation: X:26.31, Y:2.02, Z:2.66 [[ 9.78909682e-01 -4.88693822e-04 -2.04292919e-01 2.63117875e+01] [ 5.23906955e-03 9.99728309e-01 2.27125584e-02 2.01612804e+00] [ 2.04226315e-01 -2.33038482e-02 9.78646281e-01 2.66388016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.82463044 meters Centerline goodness [0,1] 0.24709277469003843 Centerline is valid? [False, False] Translation: X:26.31, Y:2.01, Z:2.66 [[ 9.78896108e-01 -1.79414139e-04 -2.04358453e-01 2.63120988e+01] [ 4.99687504e-03 9.99721646e-01 2.30578048e-02 2.01497659e+00] [ 2.04297432e-01 -2.35923491e-02 9.78624525e-01 2.66386393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.85463044 meters Centerline goodness [0,1] 0.2487928953267805 Centerline is valid? [False, False] Translation: X:26.31, Y:2.01, Z:2.66 [[ 9.78896036e-01 -2.84623329e-05 -2.04358875e-01 2.63118497e+01] [ 4.88935766e-03 9.99717000e-01 2.32811937e-02 2.01398491e+00] [ 2.04300379e-01 -2.37890519e-02 9.78619148e-01 2.66415599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.88463044 meters Centerline goodness [0,1] 0.24732177429763802 Centerline is valid? [False, False] Translation: X:26.31, Y:2.01, Z:2.66 [[ 9.78932079e-01 2.11923719e-04 -2.04186043e-01 2.63112004e+01] [ 4.72740446e-03 9.99707885e-01 2.37022552e-02 2.01108264e+00] [ 2.04131420e-01 -2.41681679e-02 9.78645116e-01 2.66456719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.91463044 meters Centerline goodness [0,1] 0.24732177429763802 Centerline is valid? [False, False] Translation: X:26.31, Y:2.01, Z:2.66 [[ 9.78932079e-01 2.11923719e-04 -2.04186043e-01 2.63112004e+01] [ 4.72740446e-03 9.99707885e-01 2.37022552e-02 2.01108264e+00] [ 2.04131420e-01 -2.41681679e-02 9.78645116e-01 2.66456719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.94463044 meters Centerline goodness [0,1] 0.247590219188081 Centerline is valid? [False, False] Translation: X:26.31, Y:2.01, Z:2.66 [[ 9.78938153e-01 2.82976662e-04 -2.04156833e-01 2.63114360e+01] [ 4.70927268e-03 9.99701664e-01 2.39667654e-02 2.00896882e+00] [ 2.04102708e-01 -2.44234113e-02 9.78644768e-01 2.66449555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.97463044 meters Centerline goodness [0,1] 0.24833526657215277 Centerline is valid? [False, False] Translation: X:26.31, Y:2.01, Z:2.66 [[ 9.78938756e-01 3.85395787e-04 -2.04153775e-01 2.63114492e+01] [ 4.67793485e-03 9.99693320e-01 2.43183812e-02 2.00660730e+00] [ 2.04100537e-01 -2.47612239e-02 9.78636732e-01 2.66465939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.00463044 meters Centerline goodness [0,1] 0.24797351050334349 Centerline is valid? [False, False] Translation: X:26.31, Y:2.00, Z:2.66 [[ 9.78967645e-01 6.01928314e-04 -2.04014673e-01 2.63110377e+01] [ 4.55148913e-03 9.99682323e-01 2.47898722e-02 2.00413536e+00] [ 2.03964784e-01 -2.51970534e-02 9.78653910e-01 2.66493309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.03463044 meters Centerline goodness [0,1] 0.24694632810661643 Centerline is valid? [False, False] Translation: X:26.31, Y:2.00, Z:2.67 [[ 9.78968946e-01 8.62129013e-04 -2.04007499e-01 2.63110959e+01] [ 4.37941846e-03 9.99671826e-01 2.52400563e-02 2.00219661e+00] [ 2.03962309e-01 -2.56026656e-02 9.78643898e-01 2.66512570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.06463044000003 meters Centerline goodness [0,1] 0.24737359070720877 Centerline is valid? [False, False] Translation: X:26.31, Y:2.00, Z:2.67 [[ 9.78977976e-01 8.86087842e-04 -2.03964057e-01 2.63111771e+01] [ 4.40753550e-03 9.99665157e-01 2.54979793e-02 1.99994673e+00] [ 2.03918355e-01 -2.58609390e-02 9.78646267e-01 2.66516692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.09463044 meters Centerline goodness [0,1] 0.249046169674626 Centerline is valid? [False, False] Translation: X:26.31, Y:2.00, Z:2.67 [[ 9.78998537e-01 -2.99529841e-03 -2.03845269e-01 2.63109626e+01] [ 7.75493085e-03 9.99715538e-01 2.25544582e-02 1.99659473e+00] [ 2.03719725e-01 -2.36615875e-02 9.78743277e-01 2.66525538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.12463044000003 meters Centerline goodness [0,1] 0.2503171156450885 Centerline is valid? [False, False] Translation: X:26.31, Y:1.99, Z:2.67 [[ 9.78951405e-01 -2.86638026e-03 -2.04073344e-01 2.63115176e+01] [ 7.70065832e-03 9.99708131e-01 2.28987605e-02 1.99447304e+00] [ 2.03948145e-01 -2.39882729e-02 9.78687752e-01 2.66547904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.15463044 meters Centerline goodness [0,1] 0.24876176590407173 Centerline is valid? [False, False] Translation: X:26.31, Y:1.99, Z:2.67 [[ 9.78899279e-01 -2.53104905e-03 -2.04327666e-01 2.63124923e+01] [ 7.47563029e-03 9.99697505e-01 2.34310202e-02 1.99227092e+00] [ 2.04206553e-01 -2.44640869e-02 9.78622088e-01 2.66546571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.18463044000003 meters Centerline goodness [0,1] 0.24838170360526424 Centerline is valid? [False, False] Translation: X:26.31, Y:1.99, Z:2.67 [[ 9.78833411e-01 -2.34987978e-03 -2.04645136e-01 2.63137702e+01] [ 7.37275348e-03 9.99689903e-01 2.37853020e-02 1.99027172e+00] [ 2.04525783e-01 -2.47906464e-02 9.78547203e-01 2.66530937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.21463044 meters Centerline goodness [0,1] 0.24576904197878657 Centerline is valid? [False, False] Translation: X:26.32, Y:1.99, Z:2.66 [[ 9.78774832e-01 -2.55599566e-03 -2.04922654e-01 2.63155753e+01] [ 7.60755070e-03 9.99686197e-01 2.38669834e-02 1.98682200e+00] [ 2.04797345e-01 -2.49193622e-02 9.78487135e-01 2.66474350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.24463044000004 meters Centerline goodness [0,1] 0.24674628529771225 Centerline is valid? [False, False] Translation: X:26.32, Y:1.99, Z:2.66 [[ 9.78775740e-01 -2.51708196e-03 -2.04918800e-01 2.63154414e+01] [ 7.59277867e-03 9.99683442e-01 2.39867811e-02 1.98575884e+00] [ 2.04793555e-01 -2.50335826e-02 9.78485013e-01 2.66497022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.27463044 meters Centerline goodness [0,1] 0.24704040490692292 Centerline is valid? [False, False] Translation: X:26.31, Y:1.98, Z:2.67 [[ 9.78801129e-01 -2.32333427e-03 -2.04799787e-01 2.63149364e+01] [ 7.43793700e-03 9.99679288e-01 2.42074079e-02 1.98484671e+00] [ 2.04677864e-01 -2.52175260e-02 9.78504496e-01 2.66527513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.30463044 meters Centerline goodness [0,1] 0.24598264157428895 Centerline is valid? [False, False] Translation: X:26.31, Y:1.98, Z:2.67 [[ 9.78805369e-01 -2.20867954e-03 -2.04780788e-01 2.63143781e+01] [ 7.34935981e-03 9.99676573e-01 2.43461688e-02 1.98435790e+00] [ 2.04660784e-01 -2.53351685e-02 9.78505030e-01 2.66578557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.33463044 meters Centerline goodness [0,1] 0.24770149510225126 Centerline is valid? [False, False] Translation: X:26.32, Y:1.98, Z:2.67 [[ 9.78772010e-01 -2.13323226e-03 -2.04940972e-01 2.63150959e+01] [ 7.28814395e-03 9.99675669e-01 2.44016160e-02 1.98336746e+00] [ 2.04822449e-01 -2.53772581e-02 9.78470111e-01 2.66561959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.36463044 meters Centerline goodness [0,1] 0.24738242361826301 Centerline is valid? [False, False] Translation: X:26.32, Y:1.98, Z:2.67 [[ 9.78719596e-01 -2.26111596e-03 -2.05189764e-01 2.63160762e+01] [ 7.39158302e-03 9.99678830e-01 2.42404752e-02 1.98297492e+00] [ 2.05069053e-01 -2.52413053e-02 9.78421974e-01 2.66539496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.39463044 meters Centerline goodness [0,1] 0.24646386359232708 Centerline is valid? [False, False] Translation: X:26.32, Y:1.98, Z:2.67 [[ 9.78687533e-01 -2.28914125e-03 -2.05342329e-01 2.63166617e+01] [ 7.41061002e-03 9.99680262e-01 2.41755431e-02 1.98283004e+00] [ 2.05221332e-01 -2.51820145e-02 9.78391574e-01 2.66520368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.42463044 meters Centerline goodness [0,1] 0.24561102287848224 Centerline is valid? [False, False] Translation: X:26.32, Y:1.98, Z:2.67 [[ 9.78642589e-01 -1.99280329e-03 -2.05559511e-01 2.63171302e+01] [ 7.16387256e-03 9.99676244e-01 2.44148892e-02 1.98264431e+00] [ 2.05444306e-01 -2.53660525e-02 9.78340023e-01 2.66535465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.45463044 meters Centerline goodness [0,1] 0.2508268545165586 Centerline is valid? [False, False] Translation: X:26.32, Y:1.98, Z:2.67 [[ 9.78655813e-01 -1.81109485e-03 -2.05498221e-01 2.63167137e+01] [ 7.00983086e-03 9.99673462e-01 2.45730023e-02 1.98235815e+00] [ 2.05386614e-01 -2.54890193e-02 9.78348940e-01 2.66565123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.48463044 meters Centerline goodness [0,1] 0.2519772800342943 Centerline is valid? [False, False] Translation: X:26.32, Y:1.98, Z:2.67 [[ 9.78728242e-01 -1.86064365e-03 -2.05152543e-01 2.63155941e+01] [ 7.07947322e-03 9.99669650e-01 2.47077190e-02 1.98011035e+00] [ 2.05038799e-01 -2.56345143e-02 9.78418092e-01 2.66608312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.51463044 meters Centerline goodness [0,1] 0.2510400137238924 Centerline is valid? [False, False] Translation: X:26.32, Y:1.98, Z:2.67 [[ 9.78748301e-01 -1.92619970e-03 -2.05056217e-01 2.63154348e+01] [ 7.17547009e-03 9.99665224e-01 2.48586675e-02 1.97821324e+00] [ 2.04939686e-01 -2.58017533e-02 9.78434461e-01 2.66619914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.54463044 meters Centerline goodness [0,1] 0.25308245568969945 Centerline is valid? [False, False] Translation: X:26.32, Y:1.98, Z:2.67 [[ 9.78720016e-01 -1.72017598e-03 -2.05193011e-01 2.63157617e+01] [ 7.04606006e-03 9.99656901e-01 2.52276342e-02 1.97646550e+00] [ 2.05079214e-01 -2.61365928e-02 9.78396338e-01 2.66648628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.57463044 meters Centerline goodness [0,1] 0.25326730541500697 Centerline is valid? [False, False] Translation: X:26.32, Y:1.97, Z:2.67 [[ 9.78718369e-01 -1.54490677e-03 -2.05202262e-01 2.63157356e+01] [ 6.94487288e-03 9.99648201e-01 2.55977265e-02 1.97452919e+00] [ 2.05090526e-01 -2.64780688e-02 9.78384785e-01 2.66675205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.60463044 meters Centerline goodness [0,1] 0.2560949437719976 Centerline is valid? [False, False] Translation: X:26.31, Y:1.97, Z:2.67 [[ 9.78847796e-01 -3.27029336e-03 -2.04563677e-01 2.63133869e+01] [ 8.50377449e-03 9.99658498e-01 2.47097845e-02 1.96879057e+00] [ 2.04413010e-01 -2.59266814e-02 9.78541327e-01 2.66771185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.63463044 meters Centerline goodness [0,1] 0.25515999742803863 Centerline is valid? [False, False] Translation: X:26.31, Y:1.97, Z:2.67 [[ 9.78868381e-01 -3.30877073e-03 -2.04464533e-01 2.63132000e+01] [ 8.61189339e-03 9.99649048e-01 2.50522697e-02 1.96574059e+00] [ 2.04309883e-01 -2.62837015e-02 9.78553340e-01 2.66799348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.66463044 meters Centerline goodness [0,1] 0.25326710299102484 Centerline is valid? [False, False] Translation: X:26.31, Y:1.96, Z:2.67 [[ 9.78830138e-01 -3.03699777e-03 -2.04651745e-01 2.63141416e+01] [ 8.46135628e-03 9.99635548e-01 2.56354502e-02 1.96277388e+00] [ 2.04499304e-01 -2.68243826e-02 9.78499099e-01 2.66795223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.69463044 meters Centerline goodness [0,1] 0.25028731962712303 Centerline is valid? [False, False] Translation: X:26.32, Y:1.96, Z:2.67 [[ 9.78761802e-01 -2.74173803e-03 -2.04982482e-01 2.63155474e+01] [ 8.29876200e-03 9.99620831e-01 2.62549889e-02 1.95955978e+00] [ 2.04832775e-01 -2.73984811e-02 9.78413439e-01 2.66789628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.72463044 meters Centerline goodness [0,1] 0.2539052496798976 Centerline is valid? [False, False] Translation: X:26.32, Y:1.96, Z:2.67 [[ 9.78746544e-01 -2.72225273e-03 -2.05055583e-01 2.63164502e+01] [ 8.36375818e-03 9.99609826e-01 2.66503782e-02 1.95637886e+00] [ 2.04903027e-01 -2.77990008e-02 9.78387431e-01 2.66764171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.75463044 meters Centerline goodness [0,1] 0.2579203986511158 Centerline is valid? [False, False] Translation: X:26.32, Y:1.95, Z:2.67 [[ 9.78729069e-01 -7.00240216e-03 -2.05037497e-01 2.63157958e+01] [ 1.21155453e-02 9.99645870e-01 2.36928077e-02 1.95070406e+00] [ 2.04798981e-01 -2.56729807e-02 9.78467309e-01 2.66868812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.78463044 meters Centerline goodness [0,1] 0.2597868591809548 Centerline is valid? [False, False] Translation: X:26.32, Y:1.95, Z:2.67 [[ 9.78724642e-01 -6.80020757e-03 -2.05065435e-01 2.63159098e+01] [ 1.20350425e-02 9.99632480e-01 2.42911941e-02 1.94701423e+00] [ 2.04824884e-01 -2.62423615e-02 9.78446782e-01 2.66909944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.81463044000003 meters Centerline goodness [0,1] 0.2565165370481155 Centerline is valid? [False, False] Translation: X:26.32, Y:1.94, Z:2.67 [[ 9.78682216e-01 -6.46135184e-03 -2.05278765e-01 2.63168835e+01] [ 1.18389603e-02 9.99617867e-01 2.49791896e-02 1.94352543e+00] [ 2.05038922e-01 -2.68769758e-02 9.78384724e-01 2.66914500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.84463044 meters Centerline goodness [0,1] 0.2572643363815058 Centerline is valid? [False, False] Translation: X:26.32, Y:1.94, Z:2.67 [[ 9.78646180e-01 -6.24360884e-03 -2.05457224e-01 2.63182934e+01] [ 1.17403611e-02 9.99604716e-01 2.55455545e-02 1.93996704e+00] [ 2.05216514e-01 -2.74122013e-02 9.78332640e-01 2.66868986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.87463044000003 meters Centerline goodness [0,1] 0.2629949696891526 Centerline is valid? [False, False] Translation: X:26.32, Y:1.94, Z:2.67 [[ 9.78622290e-01 -6.28198142e-03 -2.05569820e-01 2.63197212e+01] [ 1.18446958e-02 9.99595903e-01 2.58405654e-02 1.93658036e+00] [ 2.05324420e-01 -2.77230653e-02 9.78301239e-01 2.66806740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.90463044 meters Centerline goodness [0,1] 0.25556408288564847 Centerline is valid? [False, False] Translation: X:26.32, Y:1.93, Z:2.67 [[ 9.78588195e-01 -6.17152129e-03 -2.05735403e-01 2.63211840e+01] [ 1.18185247e-02 9.99586061e-01 2.62303039e-02 1.93346764e+00] [ 2.05488361e-01 -2.81001547e-02 9.78256058e-01 2.66747680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.93463044000003 meters Centerline goodness [0,1] 0.2617224468725803 Centerline is valid? [False, False] Translation: X:26.32, Y:1.93, Z:2.67 [[ 9.78591134e-01 -6.18064861e-03 -2.05721152e-01 2.63218904e+01] [ 1.19129181e-02 9.99574177e-01 2.66373159e-02 1.92840756e+00] [ 2.05468915e-01 -2.85177804e-02 9.78248057e-01 2.66728131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.96463044 meters Centerline goodness [0,1] 0.26384155359783934 Centerline is valid? [False, False] Translation: X:26.32, Y:1.93, Z:2.67 [[ 9.78584751e-01 -6.02160339e-03 -2.05756229e-01 2.63224183e+01] [ 1.18207664e-02 9.99566431e-01 2.69670041e-02 1.92622688e+00] [ 2.05504635e-01 -2.88216953e-02 9.78231647e-01 2.66709305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.99463044000004 meters Centerline goodness [0,1] 0.26514226989530476 Centerline is valid? [False, False] Translation: X:26.32, Y:1.92, Z:2.67 [[ 9.78559828e-01 -5.92549877e-03 -2.05877515e-01 2.63233276e+01] [ 1.17878500e-02 9.99558871e-01 2.72600513e-02 1.92379574e+00] [ 2.05625167e-01 -2.91024444e-02 9.78198006e-01 2.66684692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.02463044 meters Centerline goodness [0,1] 0.2697654400688616 Centerline is valid? [False, False] Translation: X:26.32, Y:1.92, Z:2.67 [[ 9.78520643e-01 -5.85814009e-03 -2.06065603e-01 2.63241349e+01] [ 1.17862897e-02 9.99550871e-01 2.75524815e-02 1.92144039e+00] [ 2.05811647e-01 -2.93894209e-02 9.78150207e-01 2.66683066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.05463044 meters Centerline goodness [0,1] 0.2650517100802472 Centerline is valid? [False, False] Translation: X:26.33, Y:1.92, Z:2.67 [[ 9.78468189e-01 -5.58008516e-03 -2.06322236e-01 2.63254996e+01] [ 1.16707538e-02 9.99530920e-01 2.83149009e-02 1.91699193e+00] [ 2.06067455e-01 -3.01131659e-02 9.78074333e-01 2.66673396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.08463044 meters Centerline goodness [0,1] 0.2698310053457492 Centerline is valid? [False, False] Translation: X:26.32, Y:1.92, Z:2.67 [[ 9.78514679e-01 -5.75856440e-03 -2.06096728e-01 2.63249166e+01] [ 1.18582607e-02 9.99527057e-01 2.83732849e-02 1.91526498e+00] [ 2.05835867e-01 -3.02076245e-02 9.78120184e-01 2.66692449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.11463044 meters Centerline goodness [0,1] 0.2679459691252144 Centerline is valid? [False, False] Translation: X:26.34, Y:1.91, Z:2.67 [[ 9.78446658e-01 -1.33216928e-03 -2.06495430e-01 2.63393849e+01] [ 7.05030063e-03 9.99611706e-01 2.69579385e-02 1.91116312e+00] [ 2.06379336e-01 -2.78327597e-02 9.78076125e-01 2.67333630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.14463044 meters Centerline goodness [0,1] 0.26984364639702263 Centerline is valid? [False, False] Translation: X:26.34, Y:1.91, Z:2.67 [[ 9.78551451e-01 -1.43891991e-03 -2.05997544e-01 2.63376892e+01] [ 7.18621089e-03 9.99605423e-01 2.71543284e-02 1.90909233e+00] [ 2.05877189e-01 -2.80522492e-02 9.78175677e-01 2.67395300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.17463044 meters Centerline goodness [0,1] 0.2761794426208406 Centerline is valid? [False, False] Translation: X:26.34, Y:1.91, Z:2.67 [[ 9.78580324e-01 -1.37161548e-03 -2.05860798e-01 2.63369467e+01] [ 7.19002887e-03 9.99595439e-01 2.75184021e-02 1.90699091e+00] [ 2.05739770e-01 -2.84091119e-02 9.78194290e-01 2.67459148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.20463044 meters Centerline goodness [0,1] 0.273614589353368 Centerline is valid? [False, False] Translation: X:26.34, Y:1.91, Z:2.67 [[ 9.78538941e-01 -1.31566715e-03 -2.06057785e-01 2.63376084e+01] [ 7.20317680e-03 9.99586869e-01 2.78245512e-02 1.90500871e+00] [ 2.05936049e-01 -2.87116775e-02 9.78144153e-01 2.67477502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.23463044 meters Centerline goodness [0,1] 0.27404277116148035 Centerline is valid? [False, False] Translation: X:26.34, Y:1.90, Z:2.67 [[ 9.78379109e-01 -4.95808944e-03 -2.06760094e-01 2.63404174e+01] [ 1.03788842e-02 9.99630027e-01 2.51413525e-02 1.90169358e+00] [ 2.06558945e-01 -2.67437131e-02 9.78068595e-01 2.67450012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.26463044 meters Centerline goodness [0,1] 0.2806019492507835 Centerline is valid? [False, False] Translation: X:26.34, Y:1.90, Z:2.67 [[ 9.78398236e-01 -5.14046975e-03 -2.06665109e-01 2.63404118e+01] [ 1.05865454e-02 9.99624986e-01 2.52549419e-02 1.89999287e+00] [ 2.06457784e-01 -2.68972601e-02 9.78085743e-01 2.67455125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.29463044 meters Centerline goodness [0,1] 0.28185485601476334 Centerline is valid? [False, False] Translation: X:26.34, Y:1.90, Z:2.67 [[ 9.78472256e-01 -5.35674716e-03 -2.06308870e-01 2.63394353e+01] [ 1.08299067e-02 9.99618480e-01 2.54087948e-02 1.89801501e+00] [ 2.06094051e-01 -2.70961065e-02 9.78156962e-01 2.67486921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.32463044 meters Centerline goodness [0,1] 0.28264314162134385 Centerline is valid? [False, False] Translation: X:26.34, Y:1.90, Z:2.68 [[ 9.78524754e-01 -5.43729036e-03 -2.06057615e-01 2.63386596e+01] [ 1.09569803e-02 9.99610795e-01 2.56554573e-02 1.89584349e+00] [ 2.05837920e-01 -2.73622693e-02 9.78203484e-01 2.67528968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.35463044 meters Centerline goodness [0,1] 0.2867431143500161 Centerline is valid? [False, False] Translation: X:26.34, Y:1.89, Z:2.68 [[ 9.78371701e-01 -7.10435469e-03 -2.06732539e-01 2.63404591e+01] [ 1.24897355e-02 9.99615486e-01 2.47565327e-02 1.89098155e+00] [ 2.06477168e-01 -2.68031257e-02 9.78084235e-01 2.67575846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.38463044 meters Centerline goodness [0,1] 0.28598167032399635 Centerline is valid? [False, False] Translation: X:26.34, Y:1.89, Z:2.68 [[ 9.78245022e-01 -7.10510362e-03 -2.07331120e-01 2.63427953e+01] [ 1.25447115e-02 9.99610402e-01 2.49333825e-02 1.88930908e+00] [ 2.07073190e-01 -2.69918664e-02 9.77953032e-01 2.67534442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.41463044 meters Centerline goodness [0,1] 0.2837057010785824 Centerline is valid? [False, False] Translation: X:26.35, Y:1.89, Z:2.67 [[ 9.78121220e-01 -7.27815983e-03 -2.07908411e-01 2.63453580e+01] [ 1.27646400e-02 9.99604464e-01 2.50595161e-02 1.88709937e+00] [ 2.07643789e-01 -2.71651205e-02 9.77827241e-01 2.67480037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.44463044 meters Centerline goodness [0,1] 0.2861538461538462 Centerline is valid? [False, False] Translation: X:26.34, Y:1.89, Z:2.68 [[ 9.78135856e-01 -7.28607033e-03 -2.07839268e-01 2.63448408e+01] [ 1.27830784e-02 9.99602772e-01 2.51175405e-02 1.88647803e+00] [ 2.07573700e-01 -2.72251927e-02 9.77840451e-01 2.67525040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.47463044 meters Centerline goodness [0,1] 0.28911637931034484 Centerline is valid? [False, False] Translation: X:26.34, Y:1.89, Z:2.68 [[ 9.78169126e-01 -7.20064411e-03 -2.07685608e-01 2.63436551e+01] [ 1.27137327e-02 9.99601006e-01 2.52227864e-02 1.88629020e+00] [ 2.07421122e-01 -2.73126102e-02 9.77870390e-01 2.67603292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.50463044 meters Centerline goodness [0,1] 0.2893896227229561 Centerline is valid? [False, False] Translation: X:26.34, Y:1.89, Z:2.68 [[ 9.78208931e-01 -7.06859896e-03 -2.07502584e-01 2.63426643e+01] [ 1.25891686e-02 9.99600724e-01 2.52963621e-02 1.88655990e+00] [ 2.07240924e-01 -2.73574123e-02 9.77907343e-01 2.67652653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.53463044 meters Centerline goodness [0,1] 0.2863041982105987 Centerline is valid? [False, False] Translation: X:26.34, Y:1.89, Z:2.68 [[ 9.78214112e-01 -6.93004075e-03 -2.07482834e-01 2.63426144e+01] [ 1.24503671e-02 9.99602062e-01 2.53121748e-02 1.88718254e+00] [ 2.07224855e-01 -2.73439641e-02 9.77911124e-01 2.67659637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.56463044000003 meters Centerline goodness [0,1] 0.2862353042135073 Centerline is valid? [False, False] Translation: X:26.34, Y:1.89, Z:2.68 [[ 9.78199143e-01 -6.94794246e-03 -2.07552796e-01 2.63429686e+01] [ 1.24383623e-02 9.99606058e-01 2.51598150e-02 1.88794378e+00] [ 2.07296223e-01 -2.71929263e-02 9.77900210e-01 2.67648081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.59463044 meters Centerline goodness [0,1] 0.2853930177768259 Centerline is valid? [False, False] Translation: X:26.34, Y:1.89, Z:2.68 [[ 9.78230738e-01 -7.16955303e-03 -2.07396289e-01 2.63423933e+01] [ 1.25609581e-02 9.99616228e-01 2.46904793e-02 1.88994714e+00] [ 2.07139676e-01 -2.67580819e-02 9.77945377e-01 2.67653119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.62463044000003 meters Centerline goodness [0,1] 0.2854868551267157 Centerline is valid? [False, False] Translation: X:26.34, Y:1.89, Z:2.68 [[ 9.78247260e-01 -6.99188074e-03 -2.07324410e-01 2.63419084e+01] [ 1.23819753e-02 9.99617926e-01 2.47121122e-02 1.89117406e+00] [ 2.07072413e-01 -2.67416418e-02 9.77960071e-01 2.67673912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.65463044 meters Centerline goodness [0,1] 0.2864110144802434 Centerline is valid? [False, False] Translation: X:26.34, Y:1.89, Z:2.68 [[ 9.78250211e-01 -6.82013423e-03 -2.07316210e-01 2.63413921e+01] [ 1.21951685e-02 9.99621515e-01 2.46597854e-02 1.89303692e+00] [ 2.07069561e-01 -2.66516964e-02 9.77963130e-01 2.67710001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.68463044000003 meters Centerline goodness [0,1] 0.2837589289533342 Centerline is valid? [False, False] Translation: X:26.36, Y:1.89, Z:2.68 [[ 9.78276630e-01 -8.44314997e-04 -2.07302009e-01 2.63595119e+01] [ 5.91498543e-03 9.99698248e-01 2.38416974e-02 1.89383391e+00] [ 2.07219326e-01 -2.45499638e-02 9.77986426e-01 2.68221285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.71463044 meters Centerline goodness [0,1] 0.28140746434366726 Centerline is valid? [False, False] Translation: X:26.36, Y:1.90, Z:2.68 [[ 9.78294751e-01 -9.47028988e-04 -2.07216030e-01 2.63593140e+01] [ 5.94962261e-03 9.99705661e-01 2.35200642e-02 1.89574917e+00] [ 2.07132764e-01 -2.42424125e-02 9.78012435e-01 2.68214257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.74463044000004 meters Centerline goodness [0,1] 0.28256349801736147 Centerline is valid? [False, False] Translation: X:26.36, Y:1.90, Z:2.68 [[ 9.78270524e-01 -1.25950065e-03 -2.07328711e-01 2.63594846e+01] [ 6.12962451e-03 9.99720133e-01 2.28491403e-02 1.89932326e+00] [ 2.07241908e-01 -2.36234877e-02 9.78004459e-01 2.68207357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.77463044 meters Centerline goodness [0,1] 0.2843987232574189 Centerline is valid? [False, False] Translation: X:26.36, Y:1.90, Z:2.68 [[ 9.78221676e-01 -1.30051773e-03 -2.07558812e-01 2.63601309e+01] [ 6.13276464e-03 9.99724882e-01 2.26395754e-02 1.90101333e+00] [ 2.07472266e-01 -2.34194328e-02 9.77960525e-01 2.68198042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.80463044 meters Centerline goodness [0,1] 0.2794455292577731 Centerline is valid? [False, False] Translation: X:26.36, Y:1.90, Z:2.68 [[ 9.78163130e-01 -1.27835821e-03 -2.07834687e-01 2.63611720e+01] [ 6.08195309e-03 9.99728900e-01 2.24752214e-02 1.90269559e+00] [ 2.07749612e-01 -2.32484737e-02 9.77905725e-01 2.68172547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.83463044 meters Centerline goodness [0,1] 0.2821370750134916 Centerline is valid? [False, False] Translation: X:26.36, Y:1.91, Z:2.68 [[ 9.78120307e-01 -1.68420155e-03 -2.08033241e-01 2.63621962e+01] [ 6.35296228e-03 9.99742683e-01 2.17762951e-02 1.90616798e+00] [ 2.07943035e-01 -2.26214637e-02 9.77879320e-01 2.68120566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.86463044 meters Centerline goodness [0,1] 0.2821370750134916 Centerline is valid? [False, False] Translation: X:26.36, Y:1.91, Z:2.68 [[ 9.78120307e-01 -1.68420155e-03 -2.08033241e-01 2.63621962e+01] [ 6.35296228e-03 9.99742683e-01 2.17762951e-02 1.90616798e+00] [ 2.07943035e-01 -2.26214637e-02 9.77879320e-01 2.68120566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.89463044 meters Centerline goodness [0,1] 0.27928274917618867 Centerline is valid? [False, False] Translation: X:26.36, Y:1.91, Z:2.68 [[ 9.78084172e-01 -1.72112079e-03 -2.08202763e-01 2.63629102e+01] [ 6.35138989e-03 9.99747106e-01 2.15727607e-02 1.90781808e+00] [ 2.08112981e-01 -2.24223527e-02 9.77847752e-01 2.68102992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.92463044 meters Centerline goodness [0,1] 0.28193566481845056 Centerline is valid? [False, False] Translation: X:26.36, Y:1.91, Z:2.68 [[ 9.78055010e-01 -1.80884663e-03 -2.08338970e-01 2.63633826e+01] [ 6.39807895e-03 9.99751463e-01 2.13559475e-02 1.90941316e+00] [ 2.08248560e-01 -2.22202607e-02 9.77823500e-01 2.68092711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.95463044 meters Centerline goodness [0,1] 0.28094408227371503 Centerline is valid? [False, False] Translation: X:26.36, Y:1.91, Z:2.68 [[ 9.77981808e-01 -1.84152418e-03 -2.08682038e-01 2.63642988e+01] [ 6.40470072e-03 9.99754887e-01 2.11930458e-02 1.91087415e+00] [ 2.08591859e-01 -2.20629593e-02 9.77753886e-01 2.68096703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.98463044 meters Centerline goodness [0,1] 0.2787061299884016 Centerline is valid? [False, False] Translation: X:26.36, Y:1.91, Z:2.68 [[ 9.77947974e-01 -1.98089843e-03 -2.08839260e-01 2.63649963e+01] [ 6.49863866e-03 9.99759431e-01 2.09486886e-02 1.91208327e+00] [ 2.08747523e-01 -2.18438984e-02 9.77725583e-01 2.68081943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.01463044 meters Centerline goodness [0,1] 0.2809797960195787 Centerline is valid? [False, False] Translation: X:26.37, Y:1.91, Z:2.68 [[ 9.77942125e-01 -2.44484675e-03 -2.08861733e-01 2.63655388e+01] [ 6.84496845e-03 9.99769547e-01 2.03469520e-02 1.91439347e+00] [ 2.08763855e-01 -2.13277934e-02 9.77733490e-01 2.68036916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.04463044 meters Centerline goodness [0,1] 0.2842965178010358 Centerline is valid? [False, False] Translation: X:26.37, Y:1.92, Z:2.68 [[ 9.77940027e-01 -2.66364101e-03 -2.08868881e-01 2.63655525e+01] [ 7.00391655e-03 9.99774585e-01 2.00430516e-02 1.91573019e+00] [ 2.08768411e-01 -2.10638026e-02 9.77738240e-01 2.68037296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.07463044 meters Centerline goodness [0,1] 0.2817432121094675 Centerline is valid? [False, False] Translation: X:26.37, Y:1.92, Z:2.68 [[ 9.77917262e-01 -2.66516931e-03 -2.08975418e-01 2.63659198e+01] [ 6.98930870e-03 9.99776421e-01 1.99563768e-02 1.91675396e+00] [ 2.08875509e-01 -2.09762790e-02 9.77717248e-01 2.68039920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.10463044 meters Centerline goodness [0,1] 0.2829490094186424 Centerline is valid? [False, False] Translation: X:26.37, Y:1.92, Z:2.68 [[ 9.77887162e-01 -2.67534140e-03 -2.09116094e-01 2.63664623e+01] [ 6.98176166e-03 9.99778433e-01 1.98579955e-02 1.91780775e+00] [ 2.09016634e-01 -2.08788776e-02 9.77689173e-01 2.68025879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.13463044 meters Centerline goodness [0,1] 0.2790593169562612 Centerline is valid? [False, False] Translation: X:26.37, Y:1.92, Z:2.68 [[ 9.77799520e-01 -2.47359636e-03 -2.09527995e-01 2.63683663e+01] [ 6.78350235e-03 9.99779888e-01 1.98534494e-02 1.91993171e+00] [ 2.09432766e-01 -2.08340269e-02 9.77601074e-01 2.67966798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.16463044 meters Centerline goodness [0,1] 0.2807296820548122 Centerline is valid? [False, False] Translation: X:26.37, Y:1.92, Z:2.68 [[ 9.77797247e-01 -2.64769155e-03 -2.09536473e-01 2.63688310e+01] [ 6.89622855e-03 9.99785138e-01 1.95478647e-02 1.92129583e+00] [ 2.09439695e-01 -2.05588597e-02 9.77605415e-01 2.67922991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.19463044 meters Centerline goodness [0,1] 0.282306548581033 Centerline is valid? [False, False] Translation: X:26.37, Y:1.92, Z:2.68 [[ 9.77806489e-01 -2.77808799e-03 -2.09491654e-01 2.63690506e+01] [ 6.96346835e-03 9.99790571e-01 1.92438137e-02 1.92283875e+00] [ 2.09394319e-01 -2.02755144e-02 9.77621053e-01 2.67885479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.22463044 meters Centerline goodness [0,1] 0.2803185193156139 Centerline is valid? [False, False] Translation: X:26.37, Y:1.92, Z:2.68 [[ 9.77801323e-01 -2.80644022e-03 -2.09515385e-01 2.63690082e+01] [ 6.93970669e-03 9.99795490e-01 1.89952070e-02 1.92456580e+00] [ 2.09419228e-01 -2.00275138e-02 9.77620829e-01 2.67892606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.25463044 meters Centerline goodness [0,1] 0.27842187600454327 Centerline is valid? [False, False] Translation: X:26.37, Y:1.93, Z:2.68 [[ 9.77785961e-01 -2.62553333e-03 -2.09589410e-01 2.63687570e+01] [ 6.73250765e-03 9.99799008e-01 1.88842835e-02 1.92669574e+00] [ 2.09497703e-01 -1.98758496e-02 9.77607111e-01 2.67925742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.28463044 meters Centerline goodness [0,1] 0.277562779497764 Centerline is valid? [False, False] Translation: X:26.37, Y:1.93, Z:2.68 [[ 9.77780185e-01 -2.48839445e-03 -2.09618029e-01 2.63683962e+01] [ 6.55426868e-03 9.99803579e-01 1.87041563e-02 1.92923742e+00] [ 2.09530312e-01 -1.96624463e-02 9.77604438e-01 2.67958386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.31463044000003 meters Centerline goodness [0,1] 0.2765732985984025 Centerline is valid? [False, False] Translation: X:26.37, Y:1.93, Z:2.68 [[ 9.77763429e-01 -2.52400967e-03 -2.09695745e-01 2.63693250e+01] [ 6.45614863e-03 9.99815894e-01 1.80692319e-02 1.93380070e+00] [ 2.09611532e-01 -1.90212610e-02 9.77599712e-01 2.67873647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.34463044 meters Centerline goodness [0,1] 0.27566728472252167 Centerline is valid? [False, False] Translation: X:26.37, Y:1.94, Z:2.68 [[ 9.77722783e-01 -2.62568625e-03 -2.09883932e-01 2.63706830e+01] [ 6.47421195e-03 9.99823239e-01 1.76514817e-02 1.93594571e+00] [ 2.09800485e-01 -1.86170889e-02 9.77566960e-01 2.67783673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.37463044000003 meters Centerline goodness [0,1] 0.2729051540628292 Centerline is valid? [False, False] Translation: X:26.37, Y:1.94, Z:2.68 [[ 9.77577544e-01 -2.40207908e-03 -2.10562045e-01 2.63731031e+01] [ 6.22302129e-03 9.99827748e-01 1.74856800e-02 1.93822851e+00] [ 2.10483774e-01 -1.84039402e-02 9.77424102e-01 2.67723705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.40463044 meters Centerline goodness [0,1] 0.2693143902701539 Centerline is valid? [False, False] Translation: X:26.38, Y:1.95, Z:2.68 [[ 9.77357130e-01 -6.40990169e-04 -2.11595437e-01 2.63768734e+01] [ 4.60708021e-03 9.99822817e-01 1.82512730e-02 1.94512661e+00] [ 2.11546247e-01 -1.88128490e-02 9.77186913e-01 2.67635794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.43463044000003 meters Centerline goodness [0,1] 0.2675681476711741 Centerline is valid? [False, False] Translation: X:26.38, Y:1.95, Z:2.68 [[ 9.77378349e-01 -5.90965031e-04 -2.11497550e-01 2.63764516e+01] [ 4.48337901e-03 9.99829282e-01 1.79249993e-02 1.94794446e+00] [ 2.11450851e-01 -1.84677298e-02 9.77214143e-01 2.67646502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.46463044 meters Centerline goodness [0,1] 0.267304529825086 Centerline is valid? [False, False] Translation: X:26.39, Y:1.95, Z:2.68 [[ 9.77699148e-01 4.97901101e-03 -2.09951388e-01 2.63926803e+01] [-1.55763645e-03 9.99863341e-01 1.64582420e-02 1.94995845e+00] [ 2.10004642e-01 -1.57641812e-02 9.77573292e-01 2.68185343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.49463044000004 meters Centerline goodness [0,1] 0.2690552062699164 Centerline is valid? [False, False] Translation: X:26.39, Y:1.95, Z:2.68 [[ 9.77746179e-01 4.76704308e-03 -2.09737182e-01 2.63913958e+01] [-1.46188325e-03 9.99872347e-01 1.59107878e-02 1.95304438e+00] [ 2.09786256e-01 -1.52501007e-02 9.77628335e-01 2.68233946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.52463044 meters Centerline goodness [0,1] 0.2656139372224249 Centerline is valid? [False, False] Translation: X:26.39, Y:1.96, Z:2.68 [[ 9.77689337e-01 4.85343077e-03 -2.10000009e-01 2.63919598e+01] [-1.60954234e-03 9.99876779e-01 1.56152390e-02 1.95607138e+00] [ 2.10049920e-01 -1.49288488e-02 9.77576678e-01 2.68239386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.55463044 meters Centerline goodness [0,1] 0.26761202740969714 Centerline is valid? [False, False] Translation: X:26.39, Y:1.96, Z:2.68 [[ 9.77613069e-01 4.81812806e-03 -2.10355587e-01 2.63931910e+01] [-1.65926406e-03 9.99883238e-01 1.51906936e-02 1.95908691e+00] [ 2.10404216e-01 -1.45015851e-02 9.77506915e-01 2.68198987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.58463044 meters Centerline goodness [0,1] 0.26397643338315246 Centerline is valid? [False, False] Translation: X:26.40, Y:1.97, Z:2.68 [[ 9.77373612e-01 5.97591743e-03 -2.11435834e-01 2.63980407e+01] [-2.78646467e-03 9.99877846e-01 1.53794669e-02 1.96579216e+00] [ 2.11501913e-01 -1.44423266e-02 9.77270873e-01 2.68030146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.61463044 meters Centerline goodness [0,1] 0.2601594567296327 Centerline is valid? [False, False] Translation: X:26.42, Y:1.97, Z:2.68 [[ 9.77337666e-01 -2.33420258e-04 -2.11686166e-01 2.64158370e+01] [ 4.30372168e-03 9.99814613e-01 1.87674632e-02 1.97262018e+00] [ 2.11642541e-01 -1.92531870e-02 9.77157485e-01 2.68377303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.64463044 meters Centerline goodness [0,1] 0.26238802094603364 Centerline is valid? [False, False] Translation: X:26.42, Y:1.98, Z:2.68 [[ 9.77275122e-01 -1.74650014e-05 -2.11974848e-01 2.64157434e+01] [ 4.05412146e-03 9.99818628e-01 1.86084823e-02 1.97555376e+00] [ 2.11936077e-01 -1.90449786e-02 9.77097942e-01 2.68439499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.67463044 meters Centerline goodness [0,1] 0.2575196420543341 Centerline is valid? [False, False] Translation: X:26.43, Y:1.98, Z:2.69 [[ 9.77249080e-01 6.32301959e-03 -2.12000601e-01 2.64344248e+01] [-2.54719106e-03 9.99833320e-01 1.80788428e-02 1.97800524e+00] [ 2.12079578e-01 -1.71275265e-02 9.77102298e-01 2.68989005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.70463044 meters Centerline goodness [0,1] 0.26329585580901627 Centerline is valid? [False, False] Translation: X:26.43, Y:1.98, Z:2.69 [[ 9.77268876e-01 6.13058847e-03 -2.11914983e-01 2.64334817e+01] [-2.48078885e-03 9.99844056e-01 1.74845339e-02 1.98122805e+00] [ 2.11989126e-01 -1.65613745e-02 9.77131686e-01 2.69036069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.73463044 meters Centerline goodness [0,1] 0.2573286407141937 Centerline is valid? [False, False] Translation: X:26.45, Y:1.99, Z:2.69 [[ 9.77692591e-01 1.22760466e-02 -2.09681894e-01 2.64512908e+01] [-9.08340569e-03 9.99827796e-01 1.61823901e-02 1.98587928e+00] [ 2.09844442e-01 -1.39167772e-02 9.77635737e-01 2.69470441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.76463044 meters Centerline goodness [0,1] 0.25675993416411946 Centerline is valid? [False, False] Translation: X:26.47, Y:1.99, Z:2.70 [[ 9.77809277e-01 5.91286601e-03 -2.09413599e-01 2.64681467e+01] [-1.84798412e-03 9.99806171e-01 1.96011335e-02 1.99275158e+00] [ 2.09488908e-01 -1.87791772e-02 9.77630677e-01 2.69814024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.79463044 meters Centerline goodness [0,1] 0.257036620692637 Centerline is valid? [False, False] Translation: X:26.47, Y:2.00, Z:2.70 [[ 9.77736209e-01 6.16037520e-03 -2.09747362e-01 2.64684696e+01] [-2.12076255e-03 9.99808019e-01 1.94788919e-02 1.99530075e+00] [ 2.09827092e-01 -1.86003935e-02 9.77561567e-01 2.69852887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.82463044 meters Centerline goodness [0,1] 0.25698880491977216 Centerline is valid? [False, False] Translation: X:26.47, Y:2.00, Z:2.70 [[ 9.77578267e-01 6.11379978e-03 -2.10483618e-01 2.64695408e+01] [-2.20643429e-03 9.99820950e-01 1.87935904e-02 1.99960022e+00] [ 2.10560831e-01 -1.79077872e-02 9.77416722e-01 2.69910100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.85463044 meters Centerline goodness [0,1] 0.2538736846617089 Centerline is valid? [False, False] Translation: X:26.49, Y:2.00, Z:2.70 [[ 9.77747733e-01 -6.25342520e-04 -2.09783174e-01 2.64877922e+01] [ 5.27588588e-03 9.99752568e-01 2.16094436e-02 2.00497806e+00] [ 2.09717754e-01 -2.22353766e-02 9.77509106e-01 2.70184735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.88463044 meters Centerline goodness [0,1] 0.2552824493316085 Centerline is valid? [False, False] Translation: X:26.49, Y:2.01, Z:2.70 [[ 9.77745736e-01 -6.70134310e-04 -2.09792342e-01 2.64870919e+01] [ 5.26837840e-03 9.99757968e-01 2.13599904e-02 2.00645426e+00] [ 2.09727252e-01 -2.19899049e-02 9.77512621e-01 2.70240223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.91463044 meters Centerline goodness [0,1] 0.25451022604951556 Centerline is valid? [False, False] Translation: X:26.49, Y:2.01, Z:2.70 [[ 9.77765063e-01 -4.53865151e-04 -2.09702825e-01 2.64866081e+01] [ 5.04127548e-03 9.99759529e-01 2.13417583e-02 2.00761941e+00] [ 2.09642712e-01 -2.19243954e-02 9.77532227e-01 2.70264639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.94463044 meters Centerline goodness [0,1] 0.2541731199449321 Centerline is valid? [False, False] Translation: X:26.49, Y:2.01, Z:2.70 [[ 9.77760636e-01 -3.14531991e-04 -2.09723720e-01 2.64864577e+01] [ 4.89336068e-03 9.99760853e-01 2.13141302e-02 2.00853614e+00] [ 2.09666861e-01 -2.18663713e-02 9.77528347e-01 2.70290999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.97463044 meters Centerline goodness [0,1] 0.2540387809244441 Centerline is valid? [False, False] Translation: X:26.49, Y:2.01, Z:2.70 [[ 9.77763709e-01 -4.51843586e-04 -2.09709144e-01 2.64862408e+01] [ 4.97380391e-03 9.99766344e-01 2.10361211e-02 2.00953165e+00] [ 2.09650639e-01 -2.16114079e-02 9.77537496e-01 2.70302560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.00463044 meters Centerline goodness [0,1] 0.25279041813342495 Centerline is valid? [False, False] Translation: X:26.49, Y:2.01, Z:2.70 [[ 9.77750498e-01 -3.63047505e-04 -2.09770902e-01 2.64863984e+01] [ 4.90815503e-03 9.99764333e-01 2.11468275e-02 2.00895684e+00] [ 2.09713788e-01 -2.17059093e-02 9.77521857e-01 2.70322897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.03463044 meters Centerline goodness [0,1] 0.2535414114056018 Centerline is valid? [False, False] Translation: X:26.49, Y:2.01, Z:2.70 [[ 9.77742652e-01 -3.85324118e-04 -2.09807433e-01 2.64862132e+01] [ 4.95875257e-03 9.99761415e-01 2.12726101e-02 2.00770320e+00] [ 2.09749179e-01 -2.18395213e-02 9.77511288e-01 2.70367261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.06463044000003 meters Centerline goodness [0,1] 0.25797282456555914 Centerline is valid? [False, False] Translation: X:26.49, Y:2.01, Z:2.70 [[ 9.77728728e-01 -4.79621756e-04 -2.09872115e-01 2.64860242e+01] [ 5.09141171e-03 9.99757289e-01 2.14345491e-02 2.00595203e+00] [ 2.09810896e-01 -2.20257198e-02 9.77493865e-01 2.70425546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.09463044 meters Centerline goodness [0,1] 0.25965200831024926 Centerline is valid? [False, False] Translation: X:26.48, Y:2.00, Z:2.71 [[ 9.77723164e-01 -2.32788769e-03 -2.09885671e-01 2.64839006e+01] [ 6.77809914e-03 9.99767159e-01 2.04861954e-02 2.00085544e+00] [ 2.09789112e-01 -2.14524537e-02 9.77511289e-01 2.70626186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.12463044000003 meters Centerline goodness [0,1] 0.2580853259934629 Centerline is valid? [False, False] Translation: X:26.48, Y:2.00, Z:2.71 [[ 9.77683903e-01 -2.23569359e-03 -2.10069482e-01 2.64846427e+01] [ 6.76197455e-03 9.99760148e-01 2.08308046e-02 1.99871635e+00] [ 2.09972525e-01 -2.17864268e-02 9.77464521e-01 2.70633203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.15463044 meters Centerline goodness [0,1] 0.257136720008592 Centerline is valid? [False, False] Translation: X:26.49, Y:2.00, Z:2.71 [[ 9.77644527e-01 -2.14512202e-03 -2.10253603e-01 2.64856133e+01] [ 6.73953385e-03 9.99753858e-01 2.11376846e-02 1.99660096e+00] [ 2.10156508e-01 -2.20821530e-02 9.77418345e-01 2.70615396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.18463044000003 meters Centerline goodness [0,1] 0.2618637127710013 Centerline is valid? [False, False] Translation: X:26.49, Y:1.99, Z:2.71 [[ 9.77628755e-01 -2.10988032e-03 -2.10327281e-01 2.64862508e+01] [ 6.77086508e-03 9.99747145e-01 2.14429890e-02 1.99437481e+00] [ 2.10228857e-01 -2.23873803e-02 9.77395843e-01 2.70601448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.21463044 meters Centerline goodness [0,1] 0.2557676241886768 Centerline is valid? [False, False] Translation: X:26.49, Y:1.99, Z:2.71 [[ 9.77601510e-01 -2.08708744e-03 -2.10454107e-01 2.64870742e+01] [ 6.81502930e-03 9.99740372e-01 2.17426850e-02 1.99177073e+00] [ 2.10354088e-01 -2.26899326e-02 9.77361921e-01 2.70586233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.24463044000004 meters Centerline goodness [0,1] 0.2659969755886801 Centerline is valid? [False, False] Translation: X:26.49, Y:1.98, Z:2.71 [[ 9.77610026e-01 -4.15254188e-03 -2.10383920e-01 2.64854343e+01] [ 8.71355861e-03 9.99746575e-01 2.07571603e-02 1.98480965e+00] [ 2.10244408e-01 -2.21256006e-02 9.77398458e-01 2.70732689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.27463044 meters Centerline goodness [0,1] 0.26644003204642397 Centerline is valid? [False, False] Translation: X:26.49, Y:1.98, Z:2.71 [[ 9.77608732e-01 -4.14518247e-03 -2.10390075e-01 2.64854002e+01] [ 8.78995260e-03 9.99737744e-01 2.11466204e-02 1.98181997e+00] [ 2.10247242e-01 -2.25224395e-02 9.77388785e-01 2.70771662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.30463044 meters Centerline goodness [0,1] 0.2628023674729799 Centerline is valid? [False, False] Translation: X:26.49, Y:1.98, Z:2.71 [[ 9.77589384e-01 -3.94446857e-03 -2.10483816e-01 2.64857286e+01] [ 8.72315955e-03 9.99724737e-01 2.17797523e-02 1.97821251e+00] [ 2.10339968e-01 -2.31277385e-02 9.77354698e-01 2.70804609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.33463044 meters Centerline goodness [0,1] 0.2658026179813986 Centerline is valid? [False, False] Translation: X:26.49, Y:1.97, Z:2.71 [[ 9.77642774e-01 -4.01001242e-03 -2.10234453e-01 2.64854753e+01] [ 8.87358487e-03 9.99714261e-01 2.21958364e-02 1.97474036e+00] [ 2.10085376e-01 -2.35651323e-02 9.77399007e-01 2.70802008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.36463044 meters Centerline goodness [0,1] 0.2663039986292861 Centerline is valid? [False, False] Translation: X:26.49, Y:1.97, Z:2.71 [[ 9.77709359e-01 -4.32957870e-03 -2.09918232e-01 2.64850867e+01] [ 9.23190839e-03 9.99706927e-01 2.23792540e-02 1.97108362e+00] [ 2.09759818e-01 -2.38183519e-02 9.77462790e-01 2.70798226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.39463044 meters Centerline goodness [0,1] 0.26970302991204864 Centerline is valid? [False, False] Translation: X:26.48, Y:1.97, Z:2.71 [[ 9.77806579e-01 -6.58888536e-03 -2.09406019e-01 2.64835869e+01] [ 1.12164656e-02 9.99718259e-01 2.09187151e-02 1.96615867e+00] [ 2.09209190e-01 -2.28032527e-02 9.77604995e-01 2.70836398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.42463044 meters Centerline goodness [0,1] 0.2744298800763736 Centerline is valid? [False, False] Translation: X:26.48, Y:1.96, Z:2.71 [[ 9.77775349e-01 -1.03809186e-02 -2.09398195e-01 2.64839841e+01] [ 1.45516541e-02 9.99725048e-01 1.83869031e-02 1.96056687e+00] [ 2.09149748e-01 -2.10253507e-02 9.77657567e-01 2.70840261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.45463044 meters Centerline goodness [0,1] 0.2728170768371774 Centerline is valid? [False, False] Translation: X:26.49, Y:1.96, Z:2.71 [[ 9.77736550e-01 -1.01926544e-02 -2.09588521e-01 2.64854477e+01] [ 1.44739117e-02 9.99716546e-01 1.89032641e-02 1.95730924e+00] [ 2.09336438e-01 -2.15159780e-02 9.77606934e-01 2.70782667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.48463044 meters Centerline goodness [0,1] 0.2743623353460687 Centerline is valid? [False, False] Translation: X:26.49, Y:1.95, Z:2.71 [[ 9.77690300e-01 -1.00782472e-02 -2.09809688e-01 2.64868791e+01] [ 1.44373281e-02 9.99710360e-01 1.92551050e-02 1.95474096e+00] [ 2.09554861e-01 -2.18546207e-02 9.77552625e-01 2.70734810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.51463044 meters Centerline goodness [0,1] 0.2696742176303236 Centerline is valid? [False, False] Translation: X:26.49, Y:1.95, Z:2.71 [[ 9.77663173e-01 -9.97040631e-03 -2.09941207e-01 2.64877964e+01] [ 1.43970129e-02 9.99704881e-01 1.95672187e-02 1.95253412e+00] [ 2.09684156e-01 -2.21526754e-02 9.77518191e-01 2.70710896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.54463044 meters Centerline goodness [0,1] 0.2771149091690852 Centerline is valid? [False, False] Translation: X:26.49, Y:1.95, Z:2.71 [[ 9.77740899e-01 -1.00914247e-02 -2.09573134e-01 2.64870048e+01] [ 1.45814699e-02 9.99695825e-01 1.98906431e-02 1.94882732e+00] [ 2.09308662e-01 -2.25037796e-02 9.77590642e-01 2.70719440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.57463044 meters Centerline goodness [0,1] 0.27567880333454775 Centerline is valid? [False, False] Translation: X:26.49, Y:1.95, Z:2.71 [[ 9.77779295e-01 -9.85981983e-03 -2.09404951e-01 2.64871773e+01] [ 1.44182723e-02 9.99690913e-01 2.02531786e-02 1.94712009e+00] [ 2.09140534e-01 -2.28223963e-02 9.77619238e-01 2.70680741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.60463044 meters Centerline goodness [0,1] 0.2781377128220581 Centerline is valid? [False, False] Translation: X:26.49, Y:1.95, Z:2.71 [[ 9.77824136e-01 -9.87601647e-03 -2.09194703e-01 2.64870371e+01] [ 1.44566530e-02 9.99687807e-01 2.03787713e-02 1.94584840e+00] [ 2.08928133e-01 -2.29511097e-02 9.77661640e-01 2.70651446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.63463044 meters Centerline goodness [0,1] 0.27800400749789933 Centerline is valid? [False, False] Translation: X:26.49, Y:1.94, Z:2.71 [[ 9.77868920e-01 -9.88671851e-03 -2.08984757e-01 2.64872665e+01] [ 1.44828343e-02 9.99685487e-01 2.04737636e-02 1.94465047e+00] [ 2.08716610e-01 -2.30473487e-02 9.77704555e-01 2.70591668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.66463044 meters Centerline goodness [0,1] 0.2773611587247172 Centerline is valid? [False, False] Translation: X:26.49, Y:1.94, Z:2.71 [[ 9.77855944e-01 -9.86970038e-03 -2.09046266e-01 2.64879054e+01] [ 1.44805383e-02 9.99684212e-01 2.05375439e-02 1.94397351e+00] [ 2.08777552e-01 -2.31098618e-02 9.77690067e-01 2.70557030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.69463044 meters Centerline goodness [0,1] 0.2754938258394505 Centerline is valid? [False, False] Translation: X:26.49, Y:1.94, Z:2.71 [[ 9.77840579e-01 -9.75811252e-03 -2.09123362e-01 2.64884799e+01] [ 1.43914672e-02 9.99683266e-01 2.06458943e-02 1.94370919e+00] [ 2.08855660e-01 -2.31979852e-02 9.77671298e-01 2.70529266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.72463044 meters Centerline goodness [0,1] 0.2754938258394505 Centerline is valid? [False, False] Translation: X:26.49, Y:1.94, Z:2.71 [[ 9.77840579e-01 -9.75811252e-03 -2.09123362e-01 2.64884799e+01] [ 1.43914672e-02 9.99683266e-01 2.06458943e-02 1.94370919e+00] [ 2.08855660e-01 -2.31979852e-02 9.77671298e-01 2.70529266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.75463044 meters Centerline goodness [0,1] 0.27658522959238485 Centerline is valid? [False, False] Translation: X:26.49, Y:1.94, Z:2.70 [[ 9.77820770e-01 -9.44714481e-03 -2.09230239e-01 2.64893915e+01] [ 1.41076511e-02 9.99684256e-01 2.07933249e-02 1.94446573e+00] [ 2.08967738e-01 -2.32838922e-02 9.77645306e-01 2.70469705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.78463044 meters Centerline goodness [0,1] 0.2785182955669261 Centerline is valid? [False, False] Translation: X:26.49, Y:1.94, Z:2.70 [[ 9.77849430e-01 -9.46612987e-03 -2.09095398e-01 2.64897987e+01] [ 1.41155950e-02 9.99684940e-01 2.07550194e-02 1.94437317e+00] [ 2.08833050e-01 -2.32467898e-02 9.77674968e-01 2.70408889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.81463044000003 meters Centerline goodness [0,1] 0.2799396356580791 Centerline is valid? [False, False] Translation: X:26.49, Y:1.94, Z:2.70 [[ 9.77886714e-01 -9.56114162e-03 -2.08916631e-01 2.64897647e+01] [ 1.42066728e-02 9.99683816e-01 2.07470227e-02 1.94362469e+00] [ 2.08652209e-01 -2.32562481e-02 9.77713354e-01 2.70378342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.84463044 meters Centerline goodness [0,1] 0.27745007614594286 Centerline is valid? [False, False] Translation: X:26.49, Y:1.94, Z:2.70 [[ 9.77891688e-01 -9.54628577e-03 -2.08894030e-01 2.64900829e+01] [ 1.42271143e-02 9.99679992e-01 2.09165667e-02 1.94246317e+00] [ 2.08627507e-01 -2.34260960e-02 9.77714571e-01 2.70363970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.87463044000003 meters Centerline goodness [0,1] 0.27705219886096 Centerline is valid? [False, False] Translation: X:26.49, Y:1.94, Z:2.70 [[ 9.77858816e-01 -9.30607299e-03 -2.09058682e-01 2.64908445e+01] [ 1.40850263e-02 9.99672152e-01 2.13822507e-02 1.94042776e+00] [ 2.08791158e-01 -2.38534194e-02 9.77669303e-01 2.70363855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.90463044 meters Centerline goodness [0,1] 0.2808512460392224 Centerline is valid? [False, False] Translation: X:26.49, Y:1.94, Z:2.70 [[ 9.77835442e-01 -9.61589428e-03 -2.09153968e-01 2.64913779e+01] [ 1.44602126e-02 9.99661147e-01 2.16446886e-02 1.93705314e+00] [ 2.08874963e-01 -2.41893545e-02 9.77643148e-01 2.70375067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.93463044000003 meters Centerline goodness [0,1] 0.27934598840071057 Centerline is valid? [False, False] Translation: X:26.49, Y:1.94, Z:2.70 [[ 9.77817359e-01 -9.80571330e-03 -2.09229684e-01 2.64924122e+01] [ 1.46591689e-02 9.99657948e-01 2.16586407e-02 1.93550138e+00] [ 2.08945738e-01 -2.42453281e-02 9.77626638e-01 2.70325204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.96463044 meters Centerline goodness [0,1] 0.27801254962223076 Centerline is valid? [False, False] Translation: X:26.49, Y:1.93, Z:2.70 [[ 9.77783856e-01 -9.91284266e-03 -2.09381152e-01 2.64940231e+01] [ 1.47888571e-02 9.99654381e-01 2.17349514e-02 1.93390698e+00] [ 2.09093330e-01 -2.43485925e-02 9.77592515e-01 2.70240689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.99463044000004 meters Centerline goodness [0,1] 0.28107507584497715 Centerline is valid? [False, False] Translation: X:26.50, Y:1.93, Z:2.70 [[ 9.77747020e-01 -9.89559826e-03 -2.09553914e-01 2.64951665e+01] [ 1.48072911e-02 9.99650881e-01 2.18828706e-02 1.93253631e+00] [ 2.09264211e-01 -2.44988373e-02 9.77552197e-01 2.70197947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.02463044 meters Centerline goodness [0,1] 0.28369922807319325 Centerline is valid? [False, False] Translation: X:26.50, Y:1.93, Z:2.70 [[ 9.77671219e-01 -9.40447578e-03 -2.09929853e-01 2.64954654e+01] [ 1.44488017e-02 9.99642251e-01 2.25078339e-02 1.93102609e+00] [ 2.09643076e-01 -2.50384963e-02 9.77457341e-01 2.70275839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.05463044 meters Centerline goodness [0,1] 0.2777400169923534 Centerline is valid? [False, False] Translation: X:26.51, Y:1.93, Z:2.71 [[ 9.77295782e-01 -3.87654642e-03 -2.11844108e-01 2.65135645e+01] [ 8.80870302e-03 9.99711552e-01 2.23432226e-02 1.92772390e+00] [ 2.11696388e-01 -2.37020091e-02 9.77048031e-01 2.70844427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.08463044 meters Centerline goodness [0,1] 0.2786326243553131 Centerline is valid? [False, False] Translation: X:26.51, Y:1.93, Z:2.71 [[ 9.77256770e-01 -3.96543634e-03 -2.12022359e-01 2.65141376e+01] [ 8.88464765e-03 9.99712876e-01 2.22537109e-02 1.92732945e+00] [ 2.11873237e-01 -2.36313336e-02 9.77011408e-01 2.70847655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.11463044 meters Centerline goodness [0,1] 0.28310423948705854 Centerline is valid? [False, False] Translation: X:26.51, Y:1.93, Z:2.71 [[ 9.77242362e-01 -4.12581210e-03 -2.12085700e-01 2.65146068e+01] [ 9.01648078e-03 9.99715152e-01 2.20979071e-02 1.92696566e+00] [ 2.11934116e-01 -2.35072775e-02 9.77001197e-01 2.70822283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.14463044 meters Centerline goodness [0,1] 0.27919532103605627 Centerline is valid? [False, False] Translation: X:26.51, Y:1.93, Z:2.71 [[ 9.77235989e-01 -4.11775307e-03 -2.12115220e-01 2.65148229e+01] [ 9.00449866e-03 9.99715715e-01 2.20773300e-02 1.92677667e+00] [ 2.11964009e-01 -2.34847526e-02 9.76995253e-01 2.70813155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.17463044 meters Centerline goodness [0,1] 0.27821214768103286 Centerline is valid? [False, False] Translation: X:26.53, Y:1.92, Z:2.71 [[ 9.77044832e-01 1.49887795e-03 -2.13028517e-01 2.65323586e+01] [ 3.15059784e-03 9.99764218e-01 2.14844471e-02 1.92443089e+00] [ 2.13010491e-01 -2.16624352e-02 9.76809741e-01 2.71365494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.20463044 meters Centerline goodness [0,1] 0.2786039843365502 Centerline is valid? [False, False] Translation: X:26.53, Y:1.93, Z:2.71 [[ 9.77019997e-01 2.11729771e-03 -2.13137143e-01 2.65317865e+01] [ 2.57975173e-03 9.99759957e-01 2.17571580e-02 1.92567940e+00] [ 2.13132048e-01 -2.18070193e-02 9.76780008e-01 2.71434327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.23463044 meters Centerline goodness [0,1] 0.28012707680419013 Centerline is valid? [False, False] Translation: X:26.53, Y:1.93, Z:2.71 [[ 9.76966438e-01 2.27050383e-03 -2.13380935e-01 2.65320190e+01] [ 2.40365377e-03 9.99762868e-01 2.16432386e-02 1.92686467e+00] [ 2.13379477e-01 -2.16576116e-02 9.76729311e-01 2.71462055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.26463044 meters Centerline goodness [0,1] 0.2764699582306951 Centerline is valid? [False, False] Translation: X:26.53, Y:1.93, Z:2.71 [[ 9.76916538e-01 2.54220059e-03 -2.13606216e-01 2.65321879e+01] [ 2.11167868e-03 9.99765408e-01 2.15561987e-02 1.92835033e+00] [ 2.13610905e-01 -2.15096747e-02 9.76681993e-01 2.71499159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.29463044 meters Centerline goodness [0,1] 0.2785447317821419 Centerline is valid? [False, False] Translation: X:26.53, Y:1.93, Z:2.72 [[ 9.77037249e-01 6.15120735e-03 -2.12979758e-01 2.65293684e+01] [-1.07047293e-03 9.99712283e-01 2.39625853e-02 1.93226226e+00] [ 2.13065879e-01 -2.31843493e-02 9.76762723e-01 2.71570267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.32463044 meters Centerline goodness [0,1] 0.27523823864736374 Centerline is valid? [False, False] Translation: X:26.53, Y:1.93, Z:2.72 [[ 9.76975808e-01 6.33396862e-03 -2.13256068e-01 2.65298777e+01] [-1.32007462e-03 9.99719538e-01 2.36453352e-02 1.93483584e+00] [ 2.13346027e-01 -2.28194065e-02 9.76710165e-01 2.71577360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.35463044 meters Centerline goodness [0,1] 0.26999634965965946 Centerline is valid? [False, False] Translation: X:26.53, Y:1.94, Z:2.72 [[ 9.76904338e-01 6.38675429e-03 -2.13581654e-01 2.65306984e+01] [-1.45462257e-03 9.99728818e-01 2.32416742e-02 1.93739147e+00] [ 2.13672173e-01 -2.23942116e-02 9.76648709e-01 2.71563813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.38463044 meters Centerline goodness [0,1] 0.2681653091487396 Centerline is valid? [False, False] Translation: X:26.53, Y:1.94, Z:2.72 [[ 9.76862050e-01 6.54342825e-03 -2.13770247e-01 2.65308239e+01] [-1.66210130e-03 9.99733940e-01 2.30062120e-02 1.93955177e+00] [ 2.13863911e-01 -2.21185876e-02 9.76613022e-01 2.71576679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.41463044 meters Centerline goodness [0,1] 0.27098782781657405 Centerline is valid? [False, False] Translation: X:26.53, Y:1.94, Z:2.72 [[ 9.76874677e-01 6.84168853e-03 -2.13703198e-01 2.65299112e+01] [-1.98545807e-03 9.99735089e-01 2.29305524e-02 1.94178738e+00] [ 2.13803469e-01 -2.19759772e-02 9.76629476e-01 2.71625254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.44463044 meters Centerline goodness [0,1] 0.26635211995863495 Centerline is valid? [False, False] Translation: X:26.53, Y:1.94, Z:2.72 [[ 9.76895070e-01 7.27499792e-03 -2.13595640e-01 2.65288704e+01] [-2.41376129e-03 9.99732297e-01 2.30110450e-02 1.94370802e+00] [ 2.13705865e-01 -2.19638076e-02 9.76651112e-01 2.71684648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.47463044 meters Centerline goodness [0,1] 0.26860605018906836 Centerline is valid? [False, False] Translation: X:26.53, Y:1.95, Z:2.72 [[ 9.76895677e-01 7.31077703e-03 -2.13591638e-01 2.65277495e+01] [-2.52287123e-03 9.99739589e-01 2.26801539e-02 1.94606311e+00] [ 2.13701826e-01 -2.16172801e-02 9.76659727e-01 2.71774366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.50463044 meters Centerline goodness [0,1] 0.2651030409381754 Centerline is valid? [False, False] Translation: X:26.55, Y:1.95, Z:2.72 [[ 9.76962518e-01 -1.89128745e-03 -2.13402579e-01 2.65453491e+01] [ 7.12632130e-03 9.99692180e-01 2.37646777e-02 1.95136572e+00] [ 2.13291944e-01 -2.47379748e-02 9.76675268e-01 2.72135787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.53463044 meters Centerline goodness [0,1] 0.2673290699171639 Centerline is valid? [False, False] Translation: X:26.55, Y:1.95, Z:2.72 [[ 9.76932459e-01 -1.98451315e-03 -2.13539298e-01 2.65453029e+01] [ 7.20372845e-03 9.99693963e-01 2.36661372e-02 1.95147703e+00] [ 2.13426982e-01 -2.46584968e-02 9.76647778e-01 2.72176544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.56463044000003 meters Centerline goodness [0,1] 0.2667555421764466 Centerline is valid? [False, False] Translation: X:26.54, Y:1.95, Z:2.72 [[ 9.76949040e-01 -1.94961935e-03 -2.13463749e-01 2.65446467e+01] [ 7.17652405e-03 9.99693025e-01 2.37139909e-02 1.95152592e+00] [ 2.13351988e-01 -2.46992884e-02 9.76663132e-01 2.72223375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.59463044 meters Centerline goodness [0,1] 0.26480070027114155 Centerline is valid? [False, False] Translation: X:26.56, Y:1.95, Z:2.73 [[ 9.76835566e-01 3.61618977e-03 -2.13960743e-01 2.65618471e+01] [ 1.36161716e-03 9.99731929e-01 2.31131018e-02 1.94969469e+00] [ 2.13986968e-01 -2.28690325e-02 9.76568781e-01 2.72777062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.62463044000003 meters Centerline goodness [0,1] 0.2721782859107711 Centerline is valid? [False, False] Translation: X:26.56, Y:1.95, Z:2.73 [[ 9.76855070e-01 3.40845636e-03 -2.13875092e-01 2.65618077e+01] [ 1.56512839e-03 9.99732373e-01 2.30809850e-02 1.94885301e+00] [ 2.13896523e-01 -2.28815192e-02 9.76588303e-01 2.72775369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.65463044 meters Centerline goodness [0,1] 0.27063195428964215 Centerline is valid? [False, False] Translation: X:26.56, Y:1.95, Z:2.73 [[ 9.76801172e-01 3.31481413e-03 -2.14122588e-01 2.65627131e+01] [ 1.66634121e-03 9.99732269e-01 2.30784186e-02 1.94805016e+00] [ 2.14141761e-01 -2.28998276e-02 9.76534128e-01 2.72767469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.68463044000003 meters Centerline goodness [0,1] 0.26590618336886995 Centerline is valid? [False, False] Translation: X:26.58, Y:1.95, Z:2.73 [[ 9.76858081e-01 -4.75322067e-03 -2.13835675e-01 2.65813599e+01] [ 1.04037123e-02 9.99625593e-01 2.53068596e-02 1.95117979e+00] [ 2.13635324e-01 -2.69458952e-02 9.76541790e-01 2.73070086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.71463044 meters Centerline goodness [0,1] 0.2666524109911258 Centerline is valid? [False, False] Translation: X:26.58, Y:1.95, Z:2.73 [[ 9.76847637e-01 -4.75378284e-03 -2.13883369e-01 2.65816722e+01] [ 1.04330932e-02 9.99622102e-01 2.54323471e-02 1.94996822e+00] [ 2.13681643e-01 -2.70749933e-02 9.76528085e-01 2.73065740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.74463044000004 meters Centerline goodness [0,1] 0.2691061272668741 Centerline is valid? [False, False] Translation: X:26.58, Y:1.95, Z:2.73 [[ 9.76873480e-01 -4.77883953e-03 -2.13764746e-01 2.65814789e+01] [ 1.04774480e-02 9.99619064e-01 2.55333119e-02 1.94878790e+00] [ 2.13561296e-01 -2.71825243e-02 9.76551424e-01 2.73063885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.77463044 meters Centerline goodness [0,1] 0.2722344133212856 Centerline is valid? [False, False] Translation: X:26.58, Y:1.95, Z:2.73 [[ 9.76997931e-01 -4.66365003e-03 -2.13197781e-01 2.65806514e+01] [ 1.04035678e-02 9.99612756e-01 2.58089934e-02 1.94689096e+00] [ 2.12994857e-01 -2.74333507e-02 9.76668113e-01 2.73014090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.80463044 meters Centerline goodness [0,1] 0.2734890316481533 Centerline is valid? [False, False] Translation: X:26.58, Y:1.95, Z:2.73 [[ 9.77016815e-01 -4.39743961e-03 -2.13116883e-01 2.65811157e+01] [ 1.01932547e-02 9.99607254e-01 2.61043076e-02 1.94600221e+00] [ 2.12918390e-01 -2.76767022e-02 9.76677920e-01 2.72962001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.83463044 meters Centerline goodness [0,1] 0.26821808226210087 Centerline is valid? [False, False] Translation: X:26.58, Y:1.95, Z:2.73 [[ 9.77029413e-01 -4.18506206e-03 -2.13063397e-01 2.65815020e+01] [ 1.00242331e-02 9.99602969e-01 2.63328669e-02 1.94525924e+00] [ 2.12868599e-01 -2.78637827e-02 9.76683454e-01 2.72923545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.86463044 meters Centerline goodness [0,1] 0.26970448616516274 Centerline is valid? [False, False] Translation: X:26.58, Y:1.94, Z:2.73 [[ 9.77044151e-01 -3.89659310e-03 -2.13001277e-01 2.65818815e+01] [ 9.81645933e-03 9.99594166e-01 2.67421047e-02 1.94280179e+00] [ 2.12810630e-01 -2.82191354e-02 9.76685884e-01 2.72888948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.89463044 meters Centerline goodness [0,1] 0.2714633148957235 Centerline is valid? [False, False] Translation: X:26.58, Y:1.94, Z:2.73 [[ 9.77086318e-01 -3.83205752e-03 -2.12808934e-01 2.65818210e+01] [ 9.78838263e-03 9.99589059e-01 2.69425342e-02 1.94109835e+00] [ 2.12618237e-01 -2.84082368e-02 9.76722303e-01 2.72855662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.92463044 meters Centerline goodness [0,1] 0.2678920358162805 Centerline is valid? [False, False] Translation: X:26.58, Y:1.94, Z:2.73 [[ 9.77107175e-01 -3.53248355e-03 -2.12718337e-01 2.65819587e+01] [ 9.56802944e-03 9.99580109e-01 2.73506742e-02 1.93916613e+00] [ 2.12532402e-01 -2.87598353e-02 9.76730695e-01 2.72835027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.95463044 meters Centerline goodness [0,1] 0.266239863422962 Centerline is valid? [False, False] Translation: X:26.60, Y:1.94, Z:2.73 [[ 9.76803686e-01 1.83812163e-03 -2.14128889e-01 2.65993166e+01] [ 3.97285658e-03 9.99635483e-01 2.67042554e-02 1.93546032e+00] [ 2.14099921e-01 -2.69355185e-02 9.76440322e-01 2.73391796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.98463044 meters Centerline goodness [0,1] 0.26963938674152454 Centerline is valid? [False, False] Translation: X:26.60, Y:1.93, Z:2.73 [[ 9.76827111e-01 1.92931633e-03 -2.14021196e-01 2.65998987e+01] [ 3.91598906e-03 9.99630877e-01 2.68844795e-02 1.93406378e+00] [ 2.13994065e-01 -2.70995931e-02 9.76458986e-01 2.73314379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.01463044 meters Centerline goodness [0,1] 0.26639915885243437 Centerline is valid? [False, False] Translation: X:26.60, Y:1.93, Z:2.73 [[ 9.76763651e-01 2.00003969e-03 -2.14309987e-01 2.66016287e+01] [ 3.88775923e-03 9.99626568e-01 2.70482715e-02 1.93234106e+00] [ 2.14284054e-01 -2.72529541e-02 9.76391121e-01 2.73241095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.04463044 meters Centerline goodness [0,1] 0.2668921812109275 Centerline is valid? [False, False] Translation: X:26.61, Y:1.93, Z:2.73 [[ 9.76522860e-01 6.62916017e-05 -2.15413785e-01 2.66073707e+01] [ 5.57253587e-03 9.99657520e-01 2.55692902e-02 1.92881102e+00] [ 2.15341705e-01 -2.61693974e-02 9.76188052e-01 2.73035562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.07463044 meters Centerline goodness [0,1] 0.266287487073423 Centerline is valid? [False, False] Translation: X:26.61, Y:1.93, Z:2.73 [[ 9.76487021e-01 3.36251840e-04 -2.15575938e-01 2.66081742e+01] [ 5.38394753e-03 9.99648829e-01 2.59467206e-02 1.92708236e+00] [ 2.15508959e-01 -2.64972855e-02 9.76142296e-01 2.73011566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.10463044 meters Centerline goodness [0,1] 0.2647918816649467 Centerline is valid? [False, False] Translation: X:26.61, Y:1.93, Z:2.73 [[ 9.76521258e-01 5.67055493e-04 -2.15420311e-01 2.66080168e+01] [ 5.22657816e-03 9.99639801e-01 2.63239613e-02 1.92502462e+00] [ 2.15357644e-01 -2.68318189e-02 9.76166553e-01 2.72997335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.13463044 meters Centerline goodness [0,1] 0.2657074237680662 Centerline is valid? [False, False] Translation: X:26.61, Y:1.92, Z:2.73 [[ 9.76542412e-01 6.85688952e-04 -2.15324053e-01 2.66076965e+01] [ 5.16811860e-03 9.99632216e-01 2.66218460e-02 1.92278735e+00] [ 2.15263115e-01 -2.71101819e-02 9.76179712e-01 2.73019834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.16463044 meters Centerline goodness [0,1] 0.269705174488568 Centerline is valid? [False, False] Translation: X:26.61, Y:1.92, Z:2.73 [[ 9.76579996e-01 8.00622659e-04 -2.15153133e-01 2.66074272e+01] [ 5.13309031e-03 9.99621745e-01 2.70188636e-02 1.91800179e+00] [ 2.15093382e-01 -2.74904821e-02 9.76206490e-01 2.73022730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.19463044 meters Centerline goodness [0,1] 0.26611293541948366 Centerline is valid? [False, False] Translation: X:26.61, Y:1.92, Z:2.73 [[ 9.76554171e-01 1.05844352e-03 -2.15269204e-01 2.66082922e+01] [ 4.94716940e-03 9.99613473e-01 2.73574353e-02 1.91617261e+00] [ 2.15214953e-01 -2.77809908e-02 9.76171471e-01 2.72975775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.22463044 meters Centerline goodness [0,1] 0.2635985050720768 Centerline is valid? [False, False] Translation: X:26.61, Y:1.91, Z:2.73 [[ 9.76496692e-01 1.42653292e-03 -2.15527669e-01 2.66096490e+01] [ 4.66231569e-03 9.99604304e-01 2.77398458e-02 1.91475222e+00] [ 2.15481957e-01 -2.80927257e-02 9.76103645e-01 2.72923026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.25463044 meters Centerline goodness [0,1] 0.2659864676189453 Centerline is valid? [False, False] Translation: X:26.61, Y:1.91, Z:2.73 [[ 9.76515139e-01 1.62627712e-03 -2.15442655e-01 2.66099667e+01] [ 4.51492877e-03 9.99597451e-01 2.80098607e-02 1.91312538e+00] [ 2.15401481e-01 -2.83247613e-02 9.76114701e-01 2.72874210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.28463044 meters Centerline goodness [0,1] 0.26356788221195004 Centerline is valid? [False, False] Translation: X:26.63, Y:1.91, Z:2.74 [[ 9.75931813e-01 6.42577434e-03 -2.17981205e-01 2.66256824e+01] [-5.18872881e-04 9.99631382e-01 2.71446391e-02 1.90936612e+00] [ 2.18075279e-01 -2.63782123e-02 9.75575401e-01 2.73519248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.31463044000003 meters Centerline goodness [0,1] 0.2641529633436108 Centerline is valid? [False, False] Translation: X:26.62, Y:1.91, Z:2.74 [[ 9.76005535e-01 6.76779610e-03 -2.17640514e-01 2.66238982e+01] [-7.57078915e-04 9.99616295e-01 2.76891739e-02 1.90603932e+00] [ 2.17744399e-01 -2.68600159e-02 9.75636160e-01 2.73600671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.34463044 meters Centerline goodness [0,1] 0.26581002230993656 Centerline is valid? [False, False] Translation: X:26.62, Y:1.90, Z:2.74 [[ 9.76039130e-01 6.96475347e-03 -2.17483582e-01 2.66230393e+01] [-8.82875882e-04 9.99606148e-01 2.80494229e-02 1.90398049e+00] [ 2.17593283e-01 -2.71853233e-02 9.75660864e-01 2.73646955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.37463044000003 meters Centerline goodness [0,1] 0.2684888156753945 Centerline is valid? [False, False] Translation: X:26.62, Y:1.90, Z:2.74 [[ 9.76120858e-01 7.00879971e-03 -2.17115058e-01 2.66216113e+01] [-8.74056578e-04 9.99597991e-01 2.83388786e-02 1.90174061e+00] [ 2.17226397e-01 -2.74723996e-02 9.75734574e-01 2.73694370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.40463044 meters Centerline goodness [0,1] 0.26459857907874806 Centerline is valid? [False, False] Translation: X:26.66, Y:1.90, Z:2.75 [[ 9.76359732e-01 3.48913062e-03 -2.16123806e-01 2.66570125e+01] [ 2.84136913e-03 9.99576143e-01 2.89734400e-02 1.90309329e+00] [ 2.16133293e-01 -2.89025876e-02 9.75935982e-01 2.74627136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.43463044000003 meters Centerline goodness [0,1] 0.26711711711711716 Centerline is valid? [False, False] Translation: X:26.66, Y:1.90, Z:2.75 [[ 9.76355463e-01 2.96074070e-05 -2.16171251e-01 2.66562387e+01] [ 5.87059164e-03 9.99627536e-01 2.66519279e-02 1.89761202e+00] [ 2.16091524e-01 -2.72908085e-02 9.75991632e-01 2.74718881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.46463044 meters Centerline goodness [0,1] 0.2642893595304925 Centerline is valid? [False, False] Translation: X:26.66, Y:1.89, Z:2.75 [[ 9.76277801e-01 3.24561796e-04 -2.16521478e-01 2.66579211e+01] [ 5.71050194e-03 9.99612432e-01 2.72465916e-02 1.89430402e+00] [ 2.16446404e-01 -2.78366888e-02 9.75897573e-01 2.74684365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.49463044000004 meters Centerline goodness [0,1] 0.2661128432921881 Centerline is valid? [False, False] Translation: X:26.66, Y:1.89, Z:2.75 [[ 9.76240319e-01 4.22372456e-04 -2.16690243e-01 2.66589427e+01] [ 5.69610509e-03 9.99602522e-01 2.76107126e-02 1.89161670e+00] [ 2.16615776e-01 -2.81889812e-02 9.75849879e-01 2.74658757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.52463044 meters Centerline goodness [0,1] 0.26936228415113694 Centerline is valid? [False, False] Translation: X:26.66, Y:1.89, Z:2.75 [[ 9.76266637e-01 4.30642653e-04 -2.16571625e-01 2.66591485e+01] [ 5.75068517e-03 9.99593878e-01 2.79107193e-02 1.88885343e+00] [ 2.16495690e-01 -2.84937393e-02 9.75867677e-01 2.74632927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.55463044 meters Centerline goodness [0,1] 0.2669348281911934 Centerline is valid? [False, False] Translation: X:26.66, Y:1.89, Z:2.75 [[ 9.76324229e-01 3.16409692e-04 -2.16312041e-01 2.66587460e+01] [ 5.91505062e-03 9.99585936e-01 2.81597172e-02 1.88572582e+00] [ 2.16231384e-01 -2.87725109e-02 9.75918096e-01 2.74628980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.58463044 meters Centerline goodness [0,1] 0.2675565380037409 Centerline is valid? [False, False] Translation: X:26.67, Y:1.88, Z:2.75 [[ 9.75965951e-01 5.08551470e-03 -2.17863717e-01 2.66748885e+01] [ 9.03183058e-04 9.99624693e-01 2.73798780e-02 1.87958462e+00] [ 2.17921192e-01 -2.69185995e-02 9.75595071e-01 2.75255569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.61463044 meters Centerline goodness [0,1] 0.2682034159496597 Centerline is valid? [False, False] Translation: X:26.67, Y:1.87, Z:2.75 [[ 9.76130943e-01 4.30736757e-03 -2.17140115e-01 2.66718918e+01] [ 1.71623834e-03 9.99619107e-01 2.75444280e-02 1.87172873e+00] [ 2.17176052e-01 -2.72596327e-02 9.75751749e-01 2.75362676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.64463044 meters Centerline goodness [0,1] 0.2715323787134003 Centerline is valid? [False, False] Translation: X:26.67, Y:1.87, Z:2.75 [[ 9.76145681e-01 4.51589691e-03 -2.17069612e-01 2.66721151e+01] [ 1.61980723e-03 9.99604371e-01 2.80798315e-02 1.86838599e+00] [ 2.17110538e-01 -2.77616172e-02 9.75752175e-01 2.75351315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.67463044 meters Centerline goodness [0,1] 0.2715323787134003 Centerline is valid? [False, False] Translation: X:26.67, Y:1.87, Z:2.75 [[ 9.76145681e-01 4.51589691e-03 -2.17069612e-01 2.66721151e+01] [ 1.61980723e-03 9.99604371e-01 2.80798315e-02 1.86838599e+00] [ 2.17110538e-01 -2.77616172e-02 9.75752175e-01 2.75351315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.70463044 meters Centerline goodness [0,1] 0.27460218876491127 Centerline is valid? [False, False] Translation: X:26.67, Y:1.87, Z:2.75 [[ 9.76170498e-01 1.30791939e-03 -2.17001035e-01 2.66721140e+01] [ 4.35601070e-03 9.99662249e-01 2.56205542e-02 1.86570801e+00] [ 2.16961252e-01 -2.59552880e-02 9.75835098e-01 2.75343277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.73463044 meters Centerline goodness [0,1] 0.27230900920179757 Centerline is valid? [False, False] Translation: X:26.67, Y:1.86, Z:2.75 [[ 9.76229518e-01 -1.51925783e-03 -2.16733983e-01 2.66711914e+01] [ 6.78745629e-03 9.99699268e-01 2.35648983e-02 1.86187368e+00] [ 2.16633003e-01 -2.44758217e-02 9.75946247e-01 2.75369033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.76463044 meters Centerline goodness [0,1] 0.2751692228600805 Centerline is valid? [False, False] Translation: X:26.67, Y:1.85, Z:2.75 [[ 9.76355672e-01 -3.42148845e-03 -2.16143226e-01 2.66693913e+01] [ 8.56741583e-03 9.99701612e-01 2.28754683e-02 1.85258630e+00] [ 2.16000463e-01 -2.41863822e-02 9.76093653e-01 2.75424467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.79463044 meters Centerline goodness [0,1] 0.272103609668526 Centerline is valid? [False, False] Translation: X:26.67, Y:1.85, Z:2.75 [[ 9.76334370e-01 -3.03293890e-03 -2.16245228e-01 2.66703073e+01] [ 8.32727041e-03 9.99687364e-01 2.35760560e-02 1.84874079e+00] [ 2.16106117e-01 -2.48188463e-02 9.76054389e-01 2.75399548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.82463044 meters Centerline goodness [0,1] 0.2792616206436048 Centerline is valid? [False, False] Translation: X:26.67, Y:1.85, Z:2.75 [[ 9.76339740e-01 -2.85661655e-03 -2.16223383e-01 2.66715064e+01] [ 8.23858623e-03 9.99678166e-01 2.39935288e-02 1.84576131e+00] [ 2.16085254e-01 -2.52072106e-02 9.76049056e-01 2.75308028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.85463044 meters Centerline goodness [0,1] 0.27664263249106746 Centerline is valid? [False, False] Translation: X:26.69, Y:1.84, Z:2.76 [[ 9.75855294e-01 8.98686317e-05 -2.18418033e-01 2.66924512e+01] [ 4.65175701e-03 9.99764547e-01 2.11946290e-02 1.84267680e+00] [ 2.18368510e-01 -2.16989185e-02 9.75625108e-01 2.75820327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.88463044 meters Centerline goodness [0,1] 0.2704373128305333 Centerline is valid? [False, False] Translation: X:26.71, Y:1.84, Z:2.76 [[ 9.75350480e-01 3.02785760e-03 -2.20640597e-01 2.67137525e+01] [ 1.07439608e-03 9.99828836e-01 1.84700917e-02 1.83857178e+00] [ 2.20658756e-01 -1.82518682e-02 9.75180282e-01 2.76271069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.91463044 meters Centerline goodness [0,1] 0.27667992642970185 Centerline is valid? [False, False] Translation: X:26.71, Y:1.84, Z:2.76 [[ 9.75377959e-01 3.16509088e-03 -2.20517163e-01 2.67136465e+01] [ 9.57278441e-04 9.99826831e-01 1.85847261e-02 1.83819735e+00] [ 2.20537799e-01 -1.83382285e-02 9.75206024e-01 2.76244901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.94463044 meters Centerline goodness [0,1] 0.2759331643829732 Centerline is valid? [False, False] Translation: X:26.71, Y:1.84, Z:2.76 [[ 9.75403884e-01 3.29718523e-03 -2.20400524e-01 2.67132344e+01] [ 8.26308342e-04 9.99826398e-01 1.86142806e-02 1.83843507e+00] [ 2.20423636e-01 -1.83385604e-02 9.75231828e-01 2.76242347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.97463044 meters Centerline goodness [0,1] 0.27459033928036625 Centerline is valid? [False, False] Translation: X:26.71, Y:1.84, Z:2.76 [[ 9.75394645e-01 3.47074616e-03 -2.20438745e-01 2.67135401e+01] [ 6.55747037e-04 9.99825979e-01 1.86435208e-02 1.83887187e+00] [ 2.20465091e-01 -1.83293425e-02 9.75222630e-01 2.76219435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.00463044 meters Centerline goodness [0,1] 0.2742415483760464 Centerline is valid? [False, False] Translation: X:26.71, Y:1.84, Z:2.76 [[ 9.75451776e-01 3.35628506e-03 -2.20187573e-01 2.67139454e+01] [ 7.32086757e-04 9.99828898e-01 1.84834505e-02 1.83850397e+00] [ 2.20211935e-01 -1.81909110e-02 9.75282418e-01 2.76115920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.03463044 meters Centerline goodness [0,1] 0.26924064171122997 Centerline is valid? [False, False] Translation: X:26.71, Y:1.84, Z:2.76 [[ 9.75478113e-01 3.44387876e-03 -2.20069515e-01 2.67140003e+01] [ 6.81412510e-04 9.99825529e-01 1.86667421e-02 1.83743296e+00] [ 2.20095406e-01 -1.83589565e-02 9.75305573e-01 2.76091992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.06463044000003 meters Centerline goodness [0,1] 0.26894149822657154 Centerline is valid? [False, False] Translation: X:26.73, Y:1.84, Z:2.77 [[ 9.75601381e-01 -5.05337642e-03 -2.19491249e-01 2.67308094e+01] [ 9.77674603e-03 9.99743303e-01 2.04387542e-02 1.84133418e+00] [ 2.19331622e-01 -2.20859870e-02 9.75400353e-01 2.76521210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.09463044 meters Centerline goodness [0,1] 0.27273502451502873 Centerline is valid? [False, False] Translation: X:26.73, Y:1.84, Z:2.77 [[ 9.75577232e-01 -4.93265433e-03 -2.19601305e-01 2.67312768e+01] [ 9.73075254e-03 9.99736866e-01 2.07728468e-02 1.83945398e+00] [ 2.19441055e-01 -2.24024023e-02 9.75368523e-01 2.76532203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.12463044000003 meters Centerline goodness [0,1] 0.2759954688268109 Centerline is valid? [False, False] Translation: X:26.73, Y:1.84, Z:2.77 [[ 9.75556442e-01 -5.05313171e-03 -2.19690905e-01 2.67317552e+01] [ 9.89572455e-03 9.99731594e-01 2.09478969e-02 1.83720619e+00] [ 2.19526086e-01 -2.26098565e-02 9.75344602e-01 2.76536260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.15463044 meters Centerline goodness [0,1] 0.28009680666509607 Centerline is valid? [False, False] Translation: X:26.73, Y:1.83, Z:2.77 [[ 9.75424954e-01 -9.11286830e-03 -2.20143397e-01 2.67332870e+01] [ 1.34041171e-02 9.99748006e-01 1.80070740e-02 1.83318301e+00] [ 2.19923826e-01 -2.05153772e-02 9.75301302e-01 2.76553587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.18463044000003 meters Centerline goodness [0,1] 0.2779571156765077 Centerline is valid? [False, False] Translation: X:26.73, Y:1.83, Z:2.77 [[ 9.75360422e-01 -8.98934974e-03 -2.20434207e-01 2.67347349e+01] [ 1.33650256e-02 9.99741984e-01 1.83668712e-02 1.83081523e+00] [ 2.20212225e-01 -2.08604281e-02 9.75228906e-01 2.76523691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.21463044 meters Centerline goodness [0,1] 0.27892997975061284 Centerline is valid? [False, False] Translation: X:26.74, Y:1.83, Z:2.76 [[ 9.75279322e-01 -8.71158731e-03 -2.20803879e-01 2.67364147e+01] [ 1.32105108e-02 9.99733975e-01 1.89066796e-02 1.82790776e+00] [ 2.20580433e-01 -2.13562257e-02 9.75134957e-01 2.76495328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.24463044000004 meters Centerline goodness [0,1] 0.281077038145101 Centerline is valid? [False, False] Translation: X:26.74, Y:1.82, Z:2.76 [[ 9.75228936e-01 -8.53667562e-03 -2.21033136e-01 2.67376706e+01] [ 1.31345346e-02 9.99726682e-01 1.93402485e-02 1.82495915e+00] [ 2.20807622e-01 -2.17643374e-02 9.75074514e-01 2.76466316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.27463044 meters Centerline goodness [0,1] 0.2804237342654343 Centerline is valid? [False, False] Translation: X:26.74, Y:1.82, Z:2.76 [[ 9.75135284e-01 -8.36652039e-03 -2.21452430e-01 2.67390499e+01] [ 1.30664018e-02 9.99719238e-01 1.97664937e-02 1.82204194e+00] [ 2.21224878e-01 -2.21685919e-02 9.74970824e-01 2.76470318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.30463044 meters Centerline goodness [0,1] 0.28326143226919753 Centerline is valid? [False, False] Translation: X:26.74, Y:1.82, Z:2.76 [[ 9.75090655e-01 -8.22420133e-03 -2.21654182e-01 2.67397862e+01] [ 1.30098635e-02 9.99712535e-01 2.01392958e-02 1.81956248e+00] [ 2.21424835e-01 -2.25213297e-02 9.74917346e-01 2.76477255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.33463044 meters Centerline goodness [0,1] 0.2855174789047701 Centerline is valid? [False, False] Translation: X:26.74, Y:1.82, Z:2.77 [[ 9.75091499e-01 -7.73726648e-03 -2.21668003e-01 2.67394839e+01] [ 1.27140738e-02 9.99697926e-01 2.10335093e-02 1.81520032e+00] [ 2.21438301e-01 -2.33278995e-02 9.74895322e-01 2.76546217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.36463044 meters Centerline goodness [0,1] 0.28002985392899027 Centerline is valid? [False, False] Translation: X:26.76, Y:1.81, Z:2.77 [[ 9.74810382e-01 -2.13086507e-03 -2.23025062e-01 2.67574569e+01] [ 6.85265651e-03 9.99768418e-01 2.03998109e-02 1.81093285e+00] [ 2.22929944e-01 -2.14142616e-02 9.74599235e-01 2.77155518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.39463044 meters Centerline goodness [0,1] 0.28460388639760836 Centerline is valid? [False, False] Translation: X:26.76, Y:1.81, Z:2.77 [[ 9.74824766e-01 -2.15837706e-03 -2.22961920e-01 2.67577582e+01] [ 6.90948364e-03 9.99765338e-01 2.05311526e-02 1.80907767e+00] [ 2.22865285e-01 -2.15548277e-02 9.74610924e-01 2.77129800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.42463044 meters Centerline goodness [0,1] 0.2843898879780248 Centerline is valid? [False, False] Translation: X:26.76, Y:1.81, Z:2.77 [[ 9.74820606e-01 -2.22820486e-03 -2.22979419e-01 2.67581319e+01] [ 6.99469626e-03 9.99763558e-01 2.05888779e-02 1.80767786e+00] [ 2.22880821e-01 -2.16301357e-02 9.74605703e-01 2.77110830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.45463044 meters Centerline goodness [0,1] 0.2857877262504016 Centerline is valid? [False, False] Translation: X:26.76, Y:1.80, Z:2.77 [[ 9.74878620e-01 -2.02827093e-03 -2.22727553e-01 2.67565511e+01] [ 6.91457309e-03 9.99752173e-01 2.11608359e-02 1.80461014e+00] [ 2.22629435e-01 -2.21693124e-02 9.74651043e-01 2.77223236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.48463044 meters Centerline goodness [0,1] 0.27984750608916653 Centerline is valid? [False, False] Translation: X:26.79, Y:1.81, Z:2.78 [[ 9.74886758e-01 -4.98108422e-03 -2.22645454e-01 2.67881684e+01] [ 1.02458236e-02 9.99694397e-01 2.24974537e-02 1.80662876e+00] [ 2.22465351e-01 -2.42136558e-02 9.74639865e-01 2.78323510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.51463044 meters Centerline goodness [0,1] 0.28803314751927556 Centerline is valid? [False, False] Translation: X:26.79, Y:1.80, Z:2.78 [[ 9.74912565e-01 -4.97056357e-03 -2.22532660e-01 2.67873498e+01] [ 1.02902985e-02 9.99688173e-01 2.27522903e-02 1.80465498e+00] [ 2.22350176e-01 -2.44714212e-02 9.74659709e-01 2.78391560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.54463044 meters Centerline goodness [0,1] 0.2888893642508771 Centerline is valid? [False, False] Translation: X:26.79, Y:1.80, Z:2.78 [[ 9.74928562e-01 -5.16650392e-03 -2.22458101e-01 2.67872919e+01] [ 1.05084942e-02 9.99683983e-01 2.28364800e-02 1.80269268e+00] [ 2.22269816e-01 -2.46016362e-02 9.74674760e-01 2.78403065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.57463044 meters Centerline goodness [0,1] 0.29156266666666664 Centerline is valid? [False, False] Translation: X:26.79, Y:1.80, Z:2.78 [[ 9.74858889e-01 -9.37918300e-03 -2.22625645e-01 2.67878852e+01] [ 1.41047834e-02 9.99707499e-01 1.96461367e-02 1.80013060e+00] [ 2.22376262e-01 -2.22922975e-02 9.74706033e-01 2.78425801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.60463044 meters Centerline goodness [0,1] 0.28961771909274836 Centerline is valid? [False, False] Translation: X:26.79, Y:1.80, Z:2.78 [[ 9.74828247e-01 -9.26067179e-03 -2.22764738e-01 2.67883599e+01] [ 1.40552750e-02 9.99702232e-01 1.99473439e-02 1.79857948e+00] [ 2.22513680e-01 -2.25762539e-02 9.74668136e-01 2.78439381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.63463044 meters Centerline goodness [0,1] 0.29459835276500157 Centerline is valid? [False, False] Translation: X:26.79, Y:1.80, Z:2.78 [[ 9.74778294e-01 -9.16404384e-03 -2.22987214e-01 2.67889674e+01] [ 1.40245310e-02 9.99697119e-01 2.02233129e-02 1.79713686e+00] [ 2.22734348e-01 -2.28405376e-02 9.74611574e-01 2.78463866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.66463044 meters Centerline goodness [0,1] 0.29169149570103003 Centerline is valid? [False, False] Translation: X:26.79, Y:1.80, Z:2.78 [[ 9.74708437e-01 -9.18983363e-03 -2.23291311e-01 2.67899723e+01] [ 1.40914958e-02 9.99693232e-01 2.03683940e-02 1.79582466e+00] [ 2.23035630e-01 -2.29997540e-02 9.74538926e-01 2.78472927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.69463044 meters Centerline goodness [0,1] 0.30304730662983426 Centerline is valid? [False, False] Translation: X:26.79, Y:1.79, Z:2.79 [[ 9.74554041e-01 -1.34865969e-02 -2.23746580e-01 2.67911497e+01] [ 1.77450203e-02 9.99697458e-01 1.70325041e-02 1.79425126e+00] [ 2.23449177e-01 -2.05694833e-02 9.74498518e-01 2.78517832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.72463044 meters Centerline goodness [0,1] 0.3014416495550992 Centerline is valid? [False, False] Translation: X:26.79, Y:1.79, Z:2.79 [[ 9.74567029e-01 -1.35739300e-02 -2.23684720e-01 2.67914287e+01] [ 1.78783802e-02 9.99691710e-01 1.72293154e-02 1.79267777e+00] [ 2.23381890e-01 -2.07902432e-02 9.74509260e-01 2.78507138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.75463044 meters Centerline goodness [0,1] 0.3036667240488896 Centerline is valid? [False, False] Translation: X:26.79, Y:1.79, Z:2.79 [[ 9.74598836e-01 -1.36040481e-02 -2.23544265e-01 2.67912531e+01] [ 1.79518941e-02 9.99686934e-01 1.74287898e-02 1.79129417e+00] [ 2.23237178e-01 -2.09991213e-02 9.74537941e-01 2.78511176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.78463044 meters Centerline goodness [0,1] 0.3015449048056582 Centerline is valid? [False, False] Translation: X:26.79, Y:1.79, Z:2.78 [[ 9.74580068e-01 -1.35657774e-02 -2.23628397e-01 2.67919118e+01] [ 1.79653874e-02 9.99682796e-01 1.76508627e-02 1.79003446e+00] [ 2.23318013e-01 -2.12197498e-02 9.74514642e-01 2.78498094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.81463044000003 meters Centerline goodness [0,1] 0.30466225902389965 Centerline is valid? [False, False] Translation: X:26.79, Y:1.79, Z:2.78 [[ 9.74548372e-01 -1.36451905e-02 -2.23761657e-01 2.67929076e+01] [ 1.80814321e-02 9.99678260e-01 1.77887042e-02 1.78860902e+00] [ 2.23446933e-01 -2.13818839e-02 9.74481546e-01 2.78467045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.84463044 meters Centerline goodness [0,1] 0.3044091861608861 Centerline is valid? [False, False] Translation: X:26.79, Y:1.79, Z:2.78 [[ 9.74472196e-01 -1.37843997e-02 -2.24084648e-01 2.67943120e+01] [ 1.82553953e-02 9.99673243e-01 1.78927011e-02 1.78677526e+00] [ 2.23764787e-01 -2.15266936e-02 9.74405420e-01 2.78446738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.87463044000003 meters Centerline goodness [0,1] 0.305884612921816 Centerline is valid? [False, False] Translation: X:26.79, Y:1.78, Z:2.78 [[ 9.74479913e-01 -1.41526867e-02 -2.24028123e-01 2.67944889e+01] [ 1.86739298e-02 9.99662220e-01 1.80756917e-02 1.78314867e+00] [ 2.23696632e-01 -2.17978839e-02 9.74415040e-01 2.78458155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.90463044 meters Centerline goodness [0,1] 0.30545338577654935 Centerline is valid? [False, False] Translation: X:26.79, Y:1.78, Z:2.78 [[ 9.74487391e-01 -1.40717930e-02 -2.24000691e-01 2.67947935e+01] [ 1.86650207e-02 9.99656448e-01 1.84011427e-02 1.78094969e+00] [ 2.23664798e-01 -2.21126590e-02 9.74415255e-01 2.78452485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.93463044000003 meters Centerline goodness [0,1] 0.30771035012154035 Centerline is valid? [False, False] Translation: X:26.80, Y:1.78, Z:2.78 [[ 9.74489901e-01 -1.39141444e-02 -2.23999619e-01 2.67953169e+01] [ 1.85878720e-02 9.99651034e-01 1.87696958e-02 1.77866275e+00] [ 2.23660286e-01 -2.24545552e-02 9.74408472e-01 2.78426079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.96463044 meters Centerline goodness [0,1] 0.3086504448493944 Centerline is valid? [False, False] Translation: X:26.80, Y:1.78, Z:2.78 [[ 9.74490641e-01 -1.37677936e-02 -2.24005443e-01 2.67959995e+01] [ 1.85263835e-02 9.99644861e-01 1.91552632e-02 1.77619712e+00] [ 2.23662164e-01 -2.28166354e-02 9.74399629e-01 2.78389967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.99463044000004 meters Centerline goodness [0,1] 0.3104692365510576 Centerline is valid? [False, False] Translation: X:26.80, Y:1.78, Z:2.78 [[ 9.74471773e-01 -1.36483539e-02 -2.24094815e-01 2.67967011e+01] [ 1.84257176e-02 9.99645073e-01 1.92411055e-02 1.77615708e+00] [ 2.23752668e-01 -2.28790220e-02 9.74377388e-01 2.78356962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.02463044 meters Centerline goodness [0,1] 0.31150785115078516 Centerline is valid? [False, False] Translation: X:26.80, Y:1.78, Z:2.78 [[ 9.74417144e-01 -1.34460511e-02 -2.24344452e-01 2.67980362e+01] [ 1.82565664e-02 9.99645457e-01 1.93819252e-02 1.77607621e+00] [ 2.24004301e-01 -2.29818396e-02 9.74317150e-01 2.78303908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.05463044 meters Centerline goodness [0,1] 0.3065473003362532 Centerline is valid? [False, False] Translation: X:26.82, Y:1.77, Z:2.79 [[ 9.74079463e-01 -7.86073368e-03 -2.26069477e-01 2.68165218e+01] [ 1.23654341e-02 9.99752077e-01 1.85170091e-02 1.77356529e+00] [ 2.25867872e-01 -2.08324855e-02 9.73935168e-01 2.78878677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.08463044 meters Centerline goodness [0,1] 0.3101980261884797 Centerline is valid? [False, False] Translation: X:26.82, Y:1.77, Z:2.79 [[ 9.74101904e-01 -7.84205974e-03 -2.25973413e-01 2.68167025e+01] [ 1.23330117e-02 9.99753368e-01 1.84689185e-02 1.77386599e+00] [ 2.25772846e-01 -2.07775414e-02 9.73958375e-01 2.78840660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.11463044 meters Centerline goodness [0,1] 0.30877275748933164 Centerline is valid? [False, False] Translation: X:26.82, Y:1.77, Z:2.79 [[ 9.74164935e-01 -7.91874058e-03 -2.25698854e-01 2.68159184e+01] [ 1.23756650e-02 9.99755228e-01 1.83392007e-02 1.77433395e+00] [ 2.25498386e-01 -2.06585796e-02 9.74024487e-01 2.78844169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.14463044 meters Centerline goodness [0,1] 0.3115260123041307 Centerline is valid? [False, False] Translation: X:26.83, Y:1.77, Z:2.80 [[ 9.74495291e-01 -2.01741552e-03 -2.24398881e-01 2.68316782e+01] [ 6.03111582e-03 9.99833837e-01 1.72024640e-02 1.77271017e+00] [ 2.24326889e-01 -1.81170958e-02 9.74345533e-01 2.79504893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.17463044 meters Centerline goodness [0,1] 0.31097023745567853 Centerline is valid? [False, False] Translation: X:26.83, Y:1.77, Z:2.80 [[ 9.74423599e-01 -1.86182927e-03 -2.24711333e-01 2.68322269e+01] [ 5.90455807e-03 9.99832561e-01 1.73201020e-02 1.77288155e+00] [ 2.24641460e-01 -1.82039372e-02 9.74271436e-01 2.79543695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.20463044 meters Centerline goodness [0,1] 0.3128431478092367 Centerline is valid? [False, False] Translation: X:26.83, Y:1.77, Z:2.80 [[ 9.74342655e-01 -1.75880806e-03 -2.25062875e-01 2.68336050e+01] [ 5.81328518e-03 9.99832518e-01 1.73534538e-02 1.77344626e+00] [ 2.24994660e-01 -1.82165650e-02 9.74189694e-01 2.79517618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.23463044 meters Centerline goodness [0,1] 0.3078635808944743 Centerline is valid? [False, False] Translation: X:26.84, Y:1.77, Z:2.79 [[ 9.74231786e-01 -1.80814231e-03 -2.25541922e-01 2.68354337e+01] [ 5.83640891e-03 9.99835122e-01 1.71949004e-02 1.77464304e+00] [ 2.25473645e-01 -1.80681734e-02 9.74081709e-01 2.79479529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.26463044 meters Centerline goodness [0,1] 0.3063251660863435 Centerline is valid? [False, False] Translation: X:26.84, Y:1.78, Z:2.79 [[ 9.74133758e-01 -1.78188993e-03 -2.25965142e-01 2.68370959e+01] [ 5.79286098e-03 9.99837198e-01 1.70885720e-02 1.77594523e+00] [ 2.25897905e-01 -1.79555395e-02 9.73985490e-01 2.79444215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.29463044 meters Centerline goodness [0,1] 0.3084278455502434 Centerline is valid? [False, False] Translation: X:26.84, Y:1.78, Z:2.79 [[ 9.74070224e-01 -1.80395824e-03 -2.26238691e-01 2.68379465e+01] [ 5.78733183e-03 9.99839675e-01 1.69449291e-02 1.77721278e+00] [ 2.26171852e-01 -1.78148693e-02 9.73924496e-01 2.79442017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.32463044 meters Centerline goodness [0,1] 0.3111736403471088 Centerline is valid? [False, False] Translation: X:26.84, Y:1.78, Z:2.79 [[ 9.73906859e-01 -1.99689684e-03 -2.26939292e-01 2.68399034e+01] [ 5.90971967e-03 9.99845349e-01 1.65635860e-02 1.77968481e+00] [ 2.26871120e-01 -1.74725377e-02 9.73768045e-01 2.79451234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.35463044 meters Centerline goodness [0,1] 0.3065729622523552 Centerline is valid? [False, False] Translation: X:26.84, Y:1.78, Z:2.79 [[ 9.73825690e-01 -2.20625411e-03 -2.27285412e-01 2.68411572e+01] [ 6.06679922e-03 9.99848932e-01 1.62882610e-02 1.78086529e+00] [ 2.27215140e-01 -1.72408220e-02 9.73691961e-01 2.79427312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.38463044 meters Centerline goodness [0,1] 0.3081175255958014 Centerline is valid? [False, False] Translation: X:26.84, Y:1.78, Z:2.79 [[ 9.73694322e-01 -2.21166735e-03 -2.27847485e-01 2.68429685e+01] [ 6.07406279e-03 9.99849480e-01 1.62518625e-02 1.78142158e+00] [ 2.27777246e-01 -1.72083062e-02 9.73561195e-01 2.79417762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.41463044 meters Centerline goodness [0,1] 0.30923755568049127 Centerline is valid? [False, False] Translation: X:26.84, Y:1.78, Z:2.79 [[ 9.73566171e-01 -2.27998077e-03 -2.28393764e-01 2.68443061e+01] [ 6.14476112e-03 9.99849697e-01 1.62118851e-02 1.78176314e+00] [ 2.28322473e-01 -1.71867681e-02 9.73433851e-01 2.79447802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.44463044 meters Centerline goodness [0,1] 0.3062917822058855 Centerline is valid? [False, False] Translation: X:26.86, Y:1.79, Z:2.80 [[ 9.73534100e-01 -1.05232571e-02 -2.28299401e-01 2.68640433e+01] [ 1.50494077e-02 9.99723029e-01 1.80936484e-02 1.78567746e+00] [ 2.28045764e-01 -2.10505545e-02 9.73422829e-01 2.79860481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.47463044 meters Centerline goodness [0,1] 0.3072047100281484 Centerline is valid? [False, False] Translation: X:26.86, Y:1.79, Z:2.80 [[ 9.73532015e-01 -1.08048287e-02 -2.28295142e-01 2.68639926e+01] [ 1.53058861e-02 9.99721642e-01 1.79546046e-02 1.78533202e+00] [ 2.28037598e-01 -2.09736419e-02 9.73426402e-01 2.79884932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.50463044 meters Centerline goodness [0,1] 0.31579290133507 Centerline is valid? [False, False] Translation: X:26.86, Y:1.79, Z:2.80 [[ 9.73699249e-01 -1.21653929e-02 -2.27512142e-01 2.68604640e+01] [ 1.64435189e-02 9.99721658e-01 1.69179331e-02 1.78600283e+00] [ 2.27243003e-01 -2.02140789e-02 9.73628270e-01 2.80007114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.53463044 meters Centerline goodness [0,1] 0.31579290133507 Centerline is valid? [False, False] Translation: X:26.86, Y:1.79, Z:2.80 [[ 9.73699249e-01 -1.21653929e-02 -2.27512142e-01 2.68604640e+01] [ 1.64435189e-02 9.99721658e-01 1.69179331e-02 1.78600283e+00] [ 2.27243003e-01 -2.02140789e-02 9.73628270e-01 2.80007114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.56463044000003 meters Centerline goodness [0,1] 0.31341876312518746 Centerline is valid? [False, False] Translation: X:26.88, Y:1.78, Z:2.81 [[ 9.73593396e-01 -6.22137517e-03 -2.28204280e-01 2.68784899e+01] [ 1.02365676e-02 9.99812858e-01 1.64153088e-02 1.78343033e+00] [ 2.28059448e-01 -1.83178648e-02 9.73474881e-01 2.80610225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.59463044 meters Centerline goodness [0,1] 0.3147046825686498 Centerline is valid? [False, False] Translation: X:26.88, Y:1.78, Z:2.81 [[ 9.73542850e-01 -6.02290114e-03 -2.28425138e-01 2.68791064e+01] [ 1.00767287e-02 9.99811686e-01 1.65846904e-02 1.78353482e+00] [ 2.28282234e-01 -1.84476849e-02 9.73420210e-01 2.80620257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.62463044000003 meters Centerline goodness [0,1] 0.3146765901611134 Centerline is valid? [False, False] Translation: X:26.88, Y:1.78, Z:2.81 [[ 9.73507203e-01 -5.97946772e-03 -2.28578152e-01 2.68798986e+01] [ 1.00461872e-02 9.99811209e-01 1.66319340e-02 1.78339551e+00] [ 2.28435548e-01 -1.84876464e-02 9.73383484e-01 2.80599368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.65463044 meters Centerline goodness [0,1] 0.3125986266899816 Centerline is valid? [False, False] Translation: X:26.90, Y:1.78, Z:2.81 [[ 9.74162070e-01 -2.64015429e-03 -2.25834655e-01 2.68977697e+01] [ 5.86240525e-03 9.99890347e-01 1.35987457e-02 1.78164972e+00] [ 2.25773989e-01 -1.45713165e-02 9.74070728e-01 2.81095227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.68463044000003 meters Centerline goodness [0,1] 0.31701876675603213 Centerline is valid? [False, False] Translation: X:26.89, Y:1.78, Z:2.81 [[ 9.74324804e-01 -2.68906892e-03 -2.25130952e-01 2.68948185e+01] [ 5.89010667e-03 9.99890872e-01 1.35481218e-02 1.78170317e+00] [ 2.25069952e-01 -1.45263164e-02 9.74234316e-01 2.81185255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.71463044 meters Centerline goodness [0,1] 0.32156896626204157 Centerline is valid? [False, False] Translation: X:26.89, Y:1.78, Z:2.81 [[ 9.74454976e-01 -2.33242346e-03 -2.24570833e-01 2.68923493e+01] [ 5.56716515e-03 9.99889663e-01 1.37719829e-02 1.78237172e+00] [ 2.24513932e-01 -1.46704002e-02 9.74360443e-01 2.81271207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.74463044000004 meters Centerline goodness [0,1] 0.31565996961721976 Centerline is valid? [False, False] Translation: X:26.91, Y:1.78, Z:2.82 [[ 9.74733424e-01 4.30404251e-03 -2.23329861e-01 2.69104127e+01] [-1.39442055e-03 9.99912109e-01 1.31844255e-02 1.78133429e+00] [ 2.23366979e-01 -1.25398844e-02 9.74653756e-01 2.81813452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.77463044 meters Centerline goodness [0,1] 0.3132744120353528 Centerline is valid? [False, False] Translation: X:26.91, Y:1.78, Z:2.82 [[ 9.74652330e-01 4.50559051e-03 -2.23679539e-01 2.69116123e+01] [-1.61637993e-03 9.99912909e-01 1.30981567e-02 1.78282150e+00] [ 2.23719073e-01 -1.24045978e-02 9.74574729e-01 2.81791524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.80463044 meters Centerline goodness [0,1] 0.3084916105953496 Centerline is valid? [False, False] Translation: X:26.93, Y:1.78, Z:2.82 [[ 9.74481284e-01 1.14411502e-02 -2.24176999e-01 2.69323534e+01] [-8.89763292e-03 9.99884112e-01 1.23529512e-02 1.78390086e+00] [ 2.24292352e-01 -1.00430751e-02 9.74470152e-01 2.82285058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.83463044 meters Centerline goodness [0,1] 0.30995969816498026 Centerline is valid? [False, False] Translation: X:26.93, Y:1.79, Z:2.82 [[ 9.74515400e-01 1.15352671e-02 -2.24023821e-01 2.69314789e+01] [-9.06168844e-03 9.99886135e-01 1.20665683e-02 1.78649318e+00] [ 2.24137504e-01 -9.72902255e-03 9.74508966e-01 2.82313366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.86463044 meters Centerline goodness [0,1] 0.3069482784447155 Centerline is valid? [False, False] Translation: X:26.95, Y:1.79, Z:2.83 [[ 9.74760952e-01 5.55062718e-03 -2.23182161e-01 2.69486972e+01] [-2.20680032e-03 9.99881595e-01 1.52291167e-02 1.79304149e+00] [ 2.23240266e-01 -1.43522298e-02 9.74657785e-01 2.82714744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.89463044 meters Centerline goodness [0,1] 0.3038042545891233 Centerline is valid? [False, False] Translation: X:26.95, Y:1.80, Z:2.83 [[ 9.74694496e-01 6.01262809e-03 -2.23460260e-01 2.69494393e+01] [-2.68250015e-03 9.99880828e-01 1.52031212e-02 1.79607282e+00] [ 2.23525040e-01 -1.42189664e-02 9.74594468e-01 2.82708346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.92463044 meters Centerline goodness [0,1] 0.29781168956426685 Centerline is valid? [False, False] Translation: X:26.95, Y:1.80, Z:2.83 [[ 9.74570006e-01 8.62396221e-03 -2.23917239e-01 2.69526236e+01] [-5.06468325e-03 9.99851616e-01 1.64649857e-02 1.80328578e+00] [ 2.24026007e-01 -1.49122114e-02 9.74469073e-01 2.82551356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.95463044 meters Centerline goodness [0,1] 0.29731869636857755 Centerline is valid? [False, False] Translation: X:26.95, Y:1.81, Z:2.83 [[ 9.74476198e-01 8.74694991e-03 -2.24320373e-01 2.69537039e+01] [-5.25906996e-03 9.99855888e-01 1.61414267e-02 1.80622766e+00] [ 2.24429234e-01 -1.45497196e-02 9.74381765e-01 2.82544862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.98463044 meters Centerline goodness [0,1] 0.29471296831204397 Centerline is valid? [False, False] Translation: X:26.95, Y:1.81, Z:2.83 [[ 9.74413799e-01 8.84692226e-03 -2.24587355e-01 2.69542708e+01] [-5.43846831e-03 9.99860530e-01 1.57906032e-02 1.80958973e+00] [ 2.24695730e-01 -1.41651704e-02 9.74326012e-01 2.82546643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.01463044 meters Centerline goodness [0,1] 0.2939023607217003 Centerline is valid? [False, False] Translation: X:26.95, Y:1.81, Z:2.83 [[ 9.74350109e-01 8.94133663e-03 -2.24859771e-01 2.69545410e+01] [-5.61369719e-03 9.99865134e-01 1.54337268e-02 1.81312600e+00] [ 2.24967443e-01 -1.37755587e-02 9.74268897e-01 2.82576702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.04463044 meters Centerline goodness [0,1] 0.2936025924415735 Centerline is valid? [False, False] Translation: X:26.96, Y:1.82, Z:2.83 [[ 9.74280635e-01 9.15560243e-03 -2.25151990e-01 2.69551709e+01] [-5.87838616e-03 9.99866864e-01 1.52216540e-02 1.81617266e+00] [ 2.25261378e-01 -1.35066324e-02 9.74204744e-01 2.82579782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.07463044 meters Centerline goodness [0,1] 0.290474156343443 Centerline is valid? [False, False] Translation: X:26.97, Y:1.82, Z:2.83 [[ 9.74397538e-01 2.79421187e-03 -2.24814660e-01 2.69744268e+01] [ 1.30301627e-03 9.99835794e-01 1.80744837e-02 1.82268253e+00] [ 2.24828248e-01 -1.79046695e-02 9.74233895e-01 2.82917426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.10463044 meters Centerline goodness [0,1] 0.29199216648374116 Centerline is valid? [False, False] Translation: X:26.98, Y:1.83, Z:2.83 [[ 9.74341532e-01 2.90162477e-03 -2.25055904e-01 2.69752060e+01] [ 1.08014010e-03 9.99845102e-01 1.75671938e-02 1.82755051e+00] [ 2.25072016e-01 -1.73595384e-02 9.74187474e-01 2.82879458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.13463044 meters Centerline goodness [0,1] 0.2885999485905235 Centerline is valid? [False, False] Translation: X:26.98, Y:1.83, Z:2.83 [[ 9.74270171e-01 2.88751123e-03 -2.25364806e-01 2.69761291e+01] [ 1.04402407e-03 9.99849382e-01 1.73240796e-02 1.82926205e+00] [ 2.25380885e-01 -1.71136203e-02 9.74120414e-01 2.82874333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.16463044 meters Centerline goodness [0,1] 0.28641637641829953 Centerline is valid? [False, False] Translation: X:26.98, Y:1.83, Z:2.83 [[ 9.74199643e-01 2.87384178e-03 -2.25669662e-01 2.69771017e+01] [ 1.02737691e-03 9.99852092e-01 1.71679565e-02 1.83033111e+00] [ 2.25685622e-01 -1.69568649e-02 9.74052599e-01 2.82862863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.19463044 meters Centerline goodness [0,1] 0.2876992235390273 Centerline is valid? [False, False] Translation: X:26.98, Y:1.83, Z:2.83 [[ 9.74165211e-01 2.84249439e-03 -2.25818649e-01 2.69773466e+01] [ 1.03785719e-03 9.99853879e-01 1.70629105e-02 1.83106509e+00] [ 2.25834154e-01 -1.68564613e-02 9.74019915e-01 2.82878333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.22463044 meters Centerline goodness [0,1] 0.2846791775317402 Centerline is valid? [False, False] Translation: X:27.00, Y:1.84, Z:2.83 [[ 9.74344377e-01 -3.83857417e-03 -2.25029553e-01 2.69969745e+01] [ 8.53049560e-03 9.99765947e-01 1.98816761e-02 1.83531920e+00] [ 2.24900567e-01 -2.12912129e-02 9.74149074e-01 2.83250117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.25463044 meters Centerline goodness [0,1] 0.28538710160748304 Centerline is valid? [False, False] Translation: X:27.00, Y:1.84, Z:2.83 [[ 9.74300969e-01 -3.64363320e-03 -2.25220659e-01 2.69974903e+01] [ 8.36780537e-03 9.99764467e-01 2.00247433e-02 1.83528467e+00] [ 2.25094649e-01 -2.13947295e-02 9.74101979e-01 2.83258771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.28463044 meters Centerline goodness [0,1] 0.2875096840836705 Centerline is valid? [False, False] Translation: X:27.00, Y:1.84, Z:2.83 [[ 9.74225678e-01 -3.50749271e-03 -2.25548279e-01 2.69985534e+01] [ 8.25619998e-03 9.99763598e-01 2.01142678e-02 1.83512092e+00] [ 2.25424408e-01 -2.14580079e-02 9.74024327e-01 2.83247784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.31463044000003 meters Centerline goodness [0,1] 0.2835836863953438 Centerline is valid? [False, False] Translation: X:27.00, Y:1.83, Z:2.83 [[ 9.74123185e-01 -3.27404977e-03 -2.25994028e-01 2.70003619e+01] [ 8.07790073e-03 9.99760588e-01 2.03350704e-02 1.83443222e+00] [ 2.25873344e-01 -2.16344209e-02 9.73916415e-01 2.83208583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.34463044 meters Centerline goodness [0,1] 0.28820537138423075 Centerline is valid? [False, False] Translation: X:27.00, Y:1.83, Z:2.83 [[ 9.74075041e-01 -3.20325239e-03 -2.26202460e-01 2.70013299e+01] [ 8.04914654e-03 9.99757374e-01 2.05037450e-02 1.83304127e+00] [ 2.26081899e-01 -2.17929230e-02 9.73864489e-01 2.83185833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.37463044000003 meters Centerline goodness [0,1] 0.28514383855732073 Centerline is valid? [False, False] Translation: X:27.02, Y:1.83, Z:2.84 [[ 9.73599036e-01 1.17605550e-03 -2.28261987e-01 2.70159357e+01] [ 3.41635651e-03 9.99799648e-01 1.97228690e-02 1.82550782e+00] [ 2.28239449e-01 -1.99819906e-02 9.73399956e-01 2.83843608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.40463044 meters Centerline goodness [0,1] 0.2880705461288028 Centerline is valid? [False, False] Translation: X:27.02, Y:1.82, Z:2.84 [[ 9.73580011e-01 1.34435250e-03 -2.28342187e-01 2.70156876e+01] [ 3.33054469e-03 9.99792696e-01 2.00866322e-02 1.82340223e+00] [ 2.28321855e-01 -2.03164475e-02 9.73373707e-01 2.83902669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.43463044000003 meters Centerline goodness [0,1] 0.2843288705801579 Centerline is valid? [False, False] Translation: X:27.02, Y:1.82, Z:2.84 [[ 9.73578842e-01 1.55109996e-03 -2.28345862e-01 2.70152417e+01] [ 3.19819562e-03 9.99786228e-01 2.04271885e-02 1.82168186e+00] [ 2.28328732e-01 -2.06177733e-02 9.73365757e-01 2.83958166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.46463044 meters Centerline goodness [0,1] 0.28837340020754065 Centerline is valid? [False, False] Translation: X:27.01, Y:1.82, Z:2.84 [[ 9.73582077e-01 1.58235327e-03 -2.28331853e-01 2.70147750e+01] [ 3.19564600e-03 9.99783628e-01 2.05544452e-02 1.82053581e+00] [ 2.28314972e-01 -2.07411073e-02 9.73366365e-01 2.84003688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.49463044000004 meters Centerline goodness [0,1] 0.28736597338845116 Centerline is valid? [False, False] Translation: X:27.03, Y:1.82, Z:2.85 [[ 9.73518067e-01 7.42220840e-03 -2.28489571e-01 2.70324559e+01] [-3.02422183e-03 9.99803480e-01 1.95922079e-02 1.81718460e+00] [ 2.28590086e-01 -1.83823652e-02 9.73349198e-01 2.84600320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.52463044 meters Centerline goodness [0,1] 0.28786837357161266 Centerline is valid? [False, False] Translation: X:27.05, Y:1.82, Z:2.85 [[ 9.73793280e-01 1.39932336e-02 -2.27004048e-01 2.70505462e+01] [-9.98410742e-03 9.99773419e-01 1.87996926e-02 1.81551086e+00] [ 2.27215682e-01 -1.60405815e-02 9.73712347e-01 2.85143431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.55463044 meters Centerline goodness [0,1] 0.28439933915506255 Centerline is valid? [False, False] Translation: X:27.07, Y:1.82, Z:2.86 [[ 9.74046816e-01 6.01090410e-03 -2.26266812e-01 2.70673039e+01] [-1.38831799e-03 9.99787176e-01 2.05833904e-02 1.82081210e+00] [ 2.26342381e-01 -1.97350556e-02 9.73847860e-01 2.85560717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.58463044 meters Centerline goodness [0,1] 0.28154760636598 Centerline is valid? [False, False] Translation: X:27.07, Y:1.82, Z:2.86 [[ 9.74042301e-01 6.19584531e-03 -2.26281256e-01 2.70674554e+01] [-1.56436835e-03 9.99785720e-01 2.06413770e-02 1.82113803e+00] [ 2.26360659e-01 -1.97515871e-02 9.73843276e-01 2.85547462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.61463044 meters Centerline goodness [0,1] 0.27870390108718823 Centerline is valid? [False, False] Translation: X:27.07, Y:1.82, Z:2.86 [[ 9.74010602e-01 6.25762286e-03 -2.26415967e-01 2.70678924e+01] [-1.62714712e-03 9.99785813e-01 2.06320432e-02 1.82121657e+00] [ 2.26496579e-01 -1.97274168e-02 9.73812163e-01 2.85537417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.64463044 meters Centerline goodness [0,1] 0.28394002445354893 Centerline is valid? [False, False] Translation: X:27.07, Y:1.82, Z:2.86 [[ 9.73968264e-01 6.30969874e-03 -2.26596577e-01 2.70688755e+01] [-1.64312989e-03 9.99782787e-01 2.07768885e-02 1.81979440e+00] [ 2.26678453e-01 -1.98637024e-02 9.73767073e-01 2.85502469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.67463044 meters Centerline goodness [0,1] 0.2844587352625938 Centerline is valid? [False, False] Translation: X:27.09, Y:1.82, Z:2.86 [[ 9.74063194e-01 -2.73296954e-03 -2.26259641e-01 2.70863633e+01] [ 7.91587031e-03 9.99726571e-01 2.20027559e-02 1.82344536e+00] [ 2.26137643e-01 -2.32231166e-02 9.73818491e-01 2.85954270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.70463044 meters Centerline goodness [0,1] 0.2853866598079561 Centerline is valid? [False, False] Translation: X:27.09, Y:1.82, Z:2.86 [[ 9.74079267e-01 -2.74479821e-03 -2.26190291e-01 2.70864093e+01] [ 7.97315616e-03 9.99721655e-01 2.22045424e-02 1.82157353e+00] [ 2.26066385e-01 -2.34324349e-02 9.73830021e-01 2.85954389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.73463044 meters Centerline goodness [0,1] 0.28863675434072544 Centerline is valid? [False, False] Translation: X:27.09, Y:1.82, Z:2.86 [[ 9.74119478e-01 -2.78752143e-03 -2.26016532e-01 2.70859621e+01] [ 8.06429887e-03 9.99715959e-01 2.24269478e-02 1.81962571e+00] [ 2.25889818e-01 -2.36691915e-02 9.73865268e-01 2.85979009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.76463044 meters Centerline goodness [0,1] 0.2891571440845433 Centerline is valid? [False, False] Translation: X:27.09, Y:1.82, Z:2.86 [[ 9.74125472e-01 -2.56431964e-03 -2.25993337e-01 2.70858793e+01] [ 7.94592401e-03 9.99706030e-01 2.29066982e-02 1.81728242e+00] [ 2.25868162e-01 -2.41097240e-02 9.73859484e-01 2.86012235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.79463044 meters Centerline goodness [0,1] 0.28659202329215816 Centerline is valid? [False, False] Translation: X:27.09, Y:1.82, Z:2.86 [[ 9.74115643e-01 -2.29343372e-03 -2.26038612e-01 2.70862074e+01] [ 7.77869148e-03 9.99696406e-01 2.33792252e-02 1.81529797e+00] [ 2.25916369e-01 -2.45323536e-02 9.73837747e-01 2.86024684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.82463044 meters Centerline goodness [0,1] 0.28557667608528126 Centerline is valid? [False, False] Translation: X:27.09, Y:1.81, Z:2.86 [[ 9.74086117e-01 -2.09198458e-03 -2.26167771e-01 2.70870300e+01] [ 7.65657990e-03 9.99689097e-01 2.37294376e-02 1.81333951e+00] [ 2.26047813e-01 -2.48461874e-02 9.73799288e-01 2.86010379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.85463044 meters Centerline goodness [0,1] 0.287998801164583 Centerline is valid? [False, False] Translation: X:27.09, Y:1.81, Z:2.86 [[ 9.74103162e-01 -2.36757600e-03 -2.26091628e-01 2.70877611e+01] [ 7.94372331e-03 9.99686211e-01 2.37566201e-02 1.80965307e+00] [ 2.25964438e-01 -2.49374081e-02 9.73816306e-01 2.85963249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.88463044 meters Centerline goodness [0,1] 0.2882341580652775 Centerline is valid? [False, False] Translation: X:27.09, Y:1.81, Z:2.86 [[ 9.74046435e-01 -2.24626848e-03 -2.26337130e-01 2.70888504e+01] [ 7.87314951e-03 9.99681892e-01 2.39609793e-02 1.80815562e+00] [ 2.26211307e-01 -2.51210925e-02 9.73754268e-01 2.85943695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.91463044 meters Centerline goodness [0,1] 0.29014334205348846 Centerline is valid? [False, False] Translation: X:27.09, Y:1.81, Z:2.86 [[ 9.73972609e-01 -1.99258169e-03 -2.26656980e-01 2.70901446e+01] [ 7.69088025e-03 9.99676091e-01 2.42603180e-02 1.80679384e+00] [ 2.26535224e-01 -2.53720769e-02 9.73672455e-01 2.85917440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.94463044 meters Centerline goodness [0,1] 0.2882582201072328 Centerline is valid? [False, False] Translation: X:27.09, Y:1.81, Z:2.86 [[ 9.73931285e-01 -1.53060502e-03 -2.26838070e-01 2.70914369e+01] [ 7.32329366e-03 9.99668151e-01 2.46972992e-02 1.80575808e+00] [ 2.26724993e-01 -2.57146742e-02 9.73619296e-01 2.85861575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.97463044 meters Centerline goodness [0,1] 0.2868227078753395 Centerline is valid? [False, False] Translation: X:27.09, Y:1.80, Z:2.86 [[ 9.73944755e-01 -1.26230115e-03 -2.26781880e-01 2.70916252e+01] [ 7.11123730e-03 9.99662761e-01 2.49758792e-02 1.80481990e+00] [ 2.26673873e-01 -2.59378263e-02 9.73625279e-01 2.85839779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.00463044 meters Centerline goodness [0,1] 0.2846557447264161 Centerline is valid? [False, False] Translation: X:27.11, Y:1.80, Z:2.86 [[ 9.73818879e-01 4.73518659e-03 -2.27275974e-01 2.71097957e+01] [ 7.82151192e-04 9.99707321e-01 2.41797415e-02 1.80175430e+00] [ 2.27323951e-01 -2.37244529e-02 9.73530160e-01 2.86449717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.03463044 meters Centerline goodness [0,1] 0.2839222917917489 Centerline is valid? [False, False] Translation: X:27.11, Y:1.80, Z:2.86 [[ 9.73860291e-01 5.05363449e-03 -2.27091598e-01 2.71090090e+01] [ 5.01248830e-04 9.99702232e-01 2.43966578e-02 1.80100860e+00] [ 2.27147269e-01 -2.38727657e-02 9.73567773e-01 2.86474173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.06463044000003 meters Centerline goodness [0,1] 0.2847737508042033 Centerline is valid? [False, False] Translation: X:27.11, Y:1.80, Z:2.86 [[ 9.73880363e-01 5.16117859e-03 -2.27003086e-01 2.71088337e+01] [ 4.00585494e-04 9.99701024e-01 2.44479402e-02 1.80063647e+00] [ 2.27061398e-01 -2.39003030e-02 9.73587129e-01 2.86470473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.09463044 meters Centerline goodness [0,1] 0.2845201770596072 Centerline is valid? [False, False] Translation: X:27.11, Y:1.80, Z:2.86 [[ 9.73909386e-01 5.18399681e-03 -2.26878016e-01 2.71088396e+01] [ 3.73290409e-04 9.99701110e-01 2.44448471e-02 1.80004167e+00] [ 2.26936926e-01 -2.38917574e-02 9.73616359e-01 2.86438106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.12463044000003 meters Centerline goodness [0,1] 0.2788856492221252 Centerline is valid? [False, False] Translation: X:27.13, Y:1.80, Z:2.87 [[ 9.73443871e-01 1.08717918e-02 -2.28667520e-01 2.71276984e+01] [-5.58872844e-03 9.99702578e-01 2.37385915e-02 1.79632916e+00] [ 2.28857591e-01 -2.18302257e-02 9.73215107e-01 2.87026788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.15463044 meters Centerline goodness [0,1] 0.2795809499325149 Centerline is valid? [False, False] Translation: X:27.13, Y:1.79, Z:2.87 [[ 9.73395792e-01 1.12290271e-02 -2.28854846e-01 2.71295842e+01] [-5.82251046e-03 9.99688101e-01 2.42857764e-02 1.79341492e+00] [ 2.29056172e-01 -2.23071628e-02 9.73157572e-01 2.86924884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.18463044000003 meters Centerline goodness [0,1] 0.2846449219087065 Centerline is valid? [False, False] Translation: X:27.13, Y:1.79, Z:2.87 [[ 9.73343638e-01 7.93096054e-03 -2.29214445e-01 2.71302739e+01] [-3.06658099e-03 9.99762629e-01 2.15703721e-02 1.79244691e+00] [ 2.29331110e-01 -2.02924798e-02 9.73136916e-01 2.86948464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.21463044 meters Centerline goodness [0,1] 0.28675010789814415 Centerline is valid? [False, False] Translation: X:27.15, Y:1.80, Z:2.87 [[ 9.73420567e-01 -1.41892114e-03 -2.29020493e-01 2.71477920e+01] [ 6.74468186e-03 9.99724689e-01 2.24734542e-02 1.79511781e+00] [ 2.28925553e-01 -2.34207929e-02 9.73162144e-01 2.87413702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.24463044000004 meters Centerline goodness [0,1] 0.2831932412728364 Centerline is valid? [False, False] Translation: X:27.16, Y:1.79, Z:2.88 [[ 9.73016304e-01 3.51134207e-03 -2.30709649e-01 2.71643988e+01] [ 1.48748200e-03 9.99767964e-01 2.14896584e-02 1.78952668e+00] [ 2.30731574e-01 -2.12529644e-02 9.72785306e-01 2.88080360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.27463044 meters Centerline goodness [0,1] 0.2846763966210262 Centerline is valid? [False, False] Translation: X:27.16, Y:1.78, Z:2.88 [[ 9.73113719e-01 2.16357203e-03 -2.30315019e-01 2.71620037e+01] [ 2.73231585e-03 9.99777078e-01 2.09362975e-02 1.78313798e+00] [ 2.30308974e-01 -2.10026917e-02 9.72890880e-01 2.88201202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.30463044 meters Centerline goodness [0,1] 0.2859014281112423 Centerline is valid? [False, False] Translation: X:27.16, Y:1.78, Z:2.88 [[ 9.73087379e-01 2.37675691e-03 -2.30424181e-01 2.71626686e+01] [ 2.62021565e-03 9.99768041e-01 2.13775497e-02 1.78053767e+00] [ 2.30421541e-01 -2.14059848e-02 9.72855435e-01 2.88192522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.33463044 meters Centerline goodness [0,1] 0.28559505211119907 Centerline is valid? [False, False] Translation: X:27.16, Y:1.78, Z:2.88 [[ 9.73067352e-01 2.55761310e-03 -2.30506807e-01 2.71637387e+01] [ 2.52779801e-03 9.99759944e-01 2.17638556e-02 1.77792610e+00] [ 2.30507135e-01 -2.17603720e-02 9.72827295e-01 2.88143213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.36463044 meters Centerline goodness [0,1] 0.2839289910491124 Centerline is valid? [False, False] Translation: X:27.16, Y:1.78, Z:2.88 [[ 9.73073608e-01 2.72310382e-03 -2.30478497e-01 2.71644671e+01] [ 2.44075375e-03 9.99752413e-01 2.21168688e-02 1.77526580e+00] [ 2.30481660e-01 -2.20838826e-02 9.72826041e-01 2.88094566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.39463044 meters Centerline goodness [0,1] 0.2866257038258152 Centerline is valid? [False, False] Translation: X:27.17, Y:1.77, Z:2.88 [[ 9.73065630e-01 2.92627723e-03 -2.30509690e-01 2.71650862e+01] [ 2.33265197e-03 9.99743254e-01 2.25385292e-02 1.77238952e+00] [ 2.30516461e-01 -2.24691670e-02 9.72808973e-01 2.88068087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.42463044 meters Centerline goodness [0,1] 0.28634304760276896 Centerline is valid? [False, False] Translation: X:27.18, Y:1.77, Z:2.89 [[ 9.73336905e-01 -5.39520816e-03 -2.29316728e-01 2.71841509e+01] [ 1.13305153e-02 9.99633808e-01 2.45737685e-02 1.76932002e+00] [ 2.29100174e-01 -2.65168324e-02 9.73041607e-01 2.88535760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.45463044 meters Centerline goodness [0,1] 0.28674570116415676 Centerline is valid? [False, False] Translation: X:27.18, Y:1.77, Z:2.89 [[ 9.73323174e-01 -5.21016460e-03 -2.29379278e-01 2.71839033e+01] [ 1.12814396e-02 9.99619656e-01 2.51648873e-02 1.76524995e+00] [ 2.29160922e-01 -2.70812964e-02 9.73011755e-01 2.88611963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.48463044 meters Centerline goodness [0,1] 0.28674570116415676 Centerline is valid? [False, False] Translation: X:27.18, Y:1.77, Z:2.89 [[ 9.73323174e-01 -5.21016460e-03 -2.29379278e-01 2.71839033e+01] [ 1.12814396e-02 9.99619656e-01 2.51648873e-02 1.76524995e+00] [ 2.29160922e-01 -2.70812964e-02 9.73011755e-01 2.88611963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.51463044 meters Centerline goodness [0,1] 0.2863173154820279 Centerline is valid? [False, False] Translation: X:27.18, Y:1.76, Z:2.89 [[ 9.73353218e-01 -5.08015454e-03 -2.29254672e-01 2.71835489e+01] [ 1.12845222e-02 9.99604454e-01 2.57603513e-02 1.76077965e+00] [ 2.29033125e-01 -2.76609503e-02 9.73025539e-01 2.88652856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.54463044 meters Centerline goodness [0,1] 0.28958190541466755 Centerline is valid? [False, False] Translation: X:27.18, Y:1.75, Z:2.89 [[ 9.73427969e-01 -6.14620352e-03 -2.28910930e-01 2.71826695e+01] [ 1.22958635e-02 9.99600519e-01 2.54482790e-02 1.75411339e+00] [ 2.28663074e-01 -2.75867241e-02 9.73114675e-01 2.88688218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.57463044 meters Centerline goodness [0,1] 0.29108292515988277 Centerline is valid? [False, False] Translation: X:27.18, Y:1.75, Z:2.89 [[ 9.73387643e-01 -9.75046812e-03 -2.28957254e-01 2.71837668e+01] [ 1.54890800e-02 9.99608979e-01 2.32804311e-02 1.74574492e+00] [ 2.28640731e-01 -2.62072212e-02 9.73158054e-01 2.88672327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.60463044 meters Centerline goodness [0,1] 0.29296991998630784 Centerline is valid? [False, False] Translation: X:27.18, Y:1.74, Z:2.89 [[ 9.73441313e-01 -9.56720946e-03 -2.28736701e-01 2.71836073e+01] [ 1.54397298e-02 9.99595170e-01 2.38979337e-02 1.74151543e+00] [ 2.28415465e-01 -2.67948689e-02 9.73194950e-01 2.88669398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.63463044 meters Centerline goodness [0,1] 0.2941075966939325 Centerline is valid? [False, False] Translation: X:27.18, Y:1.74, Z:2.89 [[ 9.73439512e-01 -9.18236286e-03 -2.28760138e-01 2.71838572e+01] [ 1.52241606e-02 9.99579959e-01 2.46602996e-02 1.73742616e+00] [ 2.28437610e-01 -2.74879911e-02 9.73170421e-01 2.88689016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.66463044 meters Centerline goodness [0,1] 0.29931767795260333 Centerline is valid? [False, False] Translation: X:27.18, Y:1.73, Z:2.89 [[ 9.73417523e-01 -8.86309568e-03 -2.28866273e-01 2.71840708e+01] [ 1.50437826e-02 9.99567333e-01 2.52751119e-02 1.73400843e+00] [ 2.28543234e-01 -2.80462513e-02 9.73129692e-01 2.88728132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.69463044 meters Centerline goodness [0,1] 0.2970133926661247 Centerline is valid? [False, False] Translation: X:27.20, Y:1.73, Z:2.89 [[ 9.72952338e-01 -3.52096320e-03 -2.30979112e-01 2.72013146e+01] [ 9.47465839e-03 9.99650707e-01 2.46717447e-02 1.72768151e+00] [ 2.30811565e-01 -2.61928799e-02 9.72645853e-01 2.89402412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.72463044 meters Centerline goodness [0,1] 0.29761064407794824 Centerline is valid? [False, False] Translation: X:27.20, Y:1.73, Z:2.89 [[ 9.72928727e-01 -3.37389696e-03 -2.31080740e-01 2.72019434e+01] [ 9.40194050e-03 9.99643486e-01 2.49900701e-02 1.72541459e+00] [ 2.30914042e-01 -2.64861645e-02 9.72613586e-01 2.89391998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.75463044 meters Centerline goodness [0,1] 0.29441971927422117 Centerline is valid? [False, False] Translation: X:27.20, Y:1.72, Z:2.89 [[ 9.72917273e-01 -3.57309108e-03 -2.31125968e-01 2.72031319e+01] [ 9.62955628e-03 9.99639033e-01 2.50813890e-02 1.72107030e+00] [ 2.30952921e-01 -2.66277571e-02 9.72600489e-01 2.89330209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.78463044 meters Centerline goodness [0,1] 0.2998259075375589 Centerline is valid? [False, False] Translation: X:27.20, Y:1.72, Z:2.89 [[ 9.72914855e-01 -3.53589529e-03 -2.31136716e-01 2.72038549e+01] [ 9.63498753e-03 9.99634384e-01 2.52639221e-02 1.71931430e+00] [ 2.30962878e-01 -2.68066445e-02 9.72593210e-01 2.89285358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.81463044000003 meters Centerline goodness [0,1] 0.29783079794880596 Centerline is valid? [False, False] Translation: X:27.20, Y:1.72, Z:2.89 [[ 9.72896498e-01 -3.48752014e-03 -2.31214708e-01 2.72046530e+01] [ 9.63830348e-03 9.99628923e-01 2.54778156e-02 1.71761559e+00] [ 2.31040055e-01 -2.70157951e-02 9.72569092e-01 2.89251950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.84463044 meters Centerline goodness [0,1] 0.29682485343831577 Centerline is valid? [False, False] Translation: X:27.22, Y:1.71, Z:2.90 [[ 9.72377448e-01 1.24169088e-03 -2.33410705e-01 2.72205951e+01] [ 4.62418880e-03 9.99687116e-01 2.45822456e-02 1.71240069e+00] [ 2.33368198e-01 -2.49825564e-02 9.72067465e-01 2.89861148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.87463044000003 meters Centerline goodness [0,1] 0.29616546793207643 Centerline is valid? [False, False] Translation: X:27.22, Y:1.71, Z:2.90 [[ 9.72330506e-01 1.37069289e-03 -2.33605454e-01 2.72212680e+01] [ 4.57355632e-03 9.99679433e-01 2.49020805e-02 1.71047312e+00] [ 2.33564701e-01 -2.52814603e-02 9.72012540e-01 2.89873598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.90463044 meters Centerline goodness [0,1] 0.30553507135730706 Centerline is valid? [False, False] Translation: X:27.22, Y:1.71, Z:2.90 [[ 9.72283725e-01 1.37092567e-03 -2.33800085e-01 2.72216003e+01] [ 4.63726774e-03 9.99673025e-01 2.51463440e-02 1.70850741e+00] [ 2.33758112e-01 -2.55335746e-02 9.71959455e-01 2.89911158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.93463044000003 meters Centerline goodness [0,1] 0.3011824071500353 Centerline is valid? [False, False] Translation: X:27.26, Y:1.71, Z:2.91 [[ 9.72315829e-01 -3.73178631e-03 -2.33640755e-01 2.72599071e+01] [ 9.72498585e-03 9.99652415e-01 2.45045795e-02 1.70609503e+00] [ 2.33468100e-01 -2.60983436e-02 9.72014158e-01 2.90966733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.96463044 meters Centerline goodness [0,1] 0.3011478586792171 Centerline is valid? [False, False] Translation: X:27.26, Y:1.70, Z:2.91 [[ 9.72298172e-01 -3.80095806e-03 -2.33713109e-01 2.72602286e+01] [ 9.85640548e-03 9.99645150e-01 2.47472458e-02 1.70365655e+00] [ 2.33536112e-01 -2.63652730e-02 9.71990616e-01 2.90983569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.99463044000004 meters Centerline goodness [0,1] 0.3047547654744056 Centerline is valid? [False, False] Translation: X:27.26, Y:1.70, Z:2.91 [[ 9.72314042e-01 -3.83462896e-03 -2.33646528e-01 2.72601527e+01] [ 9.94837760e-03 9.99638105e-01 2.49937633e-02 1.70149220e+00] [ 2.33466131e-01 -2.66261909e-02 9.72000315e-01 2.90999756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.02463044 meters Centerline goodness [0,1] 0.30616182839500883 Centerline is valid? [False, False] Translation: X:27.26, Y:1.70, Z:2.91 [[ 9.72284602e-01 -3.67439639e-03 -2.33771582e-01 2.72602347e+01] [ 9.86851786e-03 9.99630375e-01 2.53322909e-02 1.69970952e+00] [ 2.33592093e-01 -2.69371754e-02 9.71961482e-01 2.91043910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.05463044 meters Centerline goodness [0,1] 0.3047063598880557 Centerline is valid? [False, False] Translation: X:27.28, Y:1.69, Z:2.92 [[ 9.71839491e-01 1.24910810e-03 -2.35640494e-01 2.72772543e+01] [ 4.61290803e-03 9.99693484e-01 2.43240511e-02 1.69418719e+00] [ 2.35598650e-01 -2.47260614e-02 9.71535845e-01 2.91727616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.08463044 meters Centerline goodness [0,1] 0.30575239237010554 Centerline is valid? [False, False] Translation: X:27.28, Y:1.69, Z:2.92 [[ 9.71745175e-01 1.18362401e-03 -2.36029478e-01 2.72783537e+01] [ 4.67902304e-03 9.99694321e-01 2.42769687e-02 1.69392489e+00] [ 2.35986063e-01 -2.46954146e-02 9.71442594e-01 2.91736165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.11463044 meters Centerline goodness [0,1] 0.30700264453570125 Centerline is valid? [False, False] Translation: X:27.28, Y:1.69, Z:2.92 [[ 9.71663222e-01 1.10111962e-03 -2.36367025e-01 2.72796647e+01] [ 4.74993860e-03 9.99696258e-01 2.41832625e-02 1.69389201e+00] [ 2.36321859e-01 -2.46207156e-02 9.71362857e-01 2.91708681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.14463044 meters Centerline goodness [0,1] 0.3079874132505711 Centerline is valid? [False, False] Translation: X:27.28, Y:1.69, Z:2.92 [[ 9.71562206e-01 1.06778633e-03 -2.36782050e-01 2.72808918e+01] [ 4.77109411e-03 9.99698531e-01 2.40849302e-02 1.69443458e+00] [ 2.36736385e-01 -2.45297173e-02 9.71264216e-01 2.91707230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.17463044 meters Centerline goodness [0,1] 0.3022171858630348 Centerline is valid? [False, False] Translation: X:27.30, Y:1.69, Z:2.92 [[ 9.71157350e-01 7.30544212e-03 -2.38327574e-01 2.73003025e+01] [-1.72455973e-03 9.99719593e-01 2.36169684e-02 1.69232492e+00] [ 2.38433277e-01 -2.25247823e-02 9.70897629e-01 2.92324240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.20463044 meters Centerline goodness [0,1] 0.300742916746493 Centerline is valid? [False, False] Translation: X:27.32, Y:1.70, Z:2.93 [[ 9.71317746e-01 8.45793759e-04 -2.37783768e-01 2.73196191e+01] [ 5.60711230e-03 9.99634146e-01 2.64600568e-02 1.69659028e+00] [ 2.37719153e-01 -2.70344030e-02 9.70957643e-01 2.92773841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.23463044 meters Centerline goodness [0,1] 0.3063144524101703 Centerline is valid? [False, False] Translation: X:27.32, Y:1.70, Z:2.93 [[ 9.71409778e-01 3.76605124e-04 -2.37408721e-01 2.73169608e+01] [ 5.94999476e-03 9.99646016e-01 2.59314606e-02 1.69889262e+00] [ 2.37334448e-01 -2.66026550e-02 9.71063674e-01 2.92914081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.26463044 meters Centerline goodness [0,1] 0.30597558363675303 Centerline is valid? [False, False] Translation: X:27.33, Y:1.70, Z:2.94 [[ 9.71627100e-01 5.99270308e-03 -2.36442100e-01 2.73336219e+01] [-2.11913183e-04 9.99700618e-01 2.44669134e-02 1.69723837e+00] [ 2.36517936e-01 -2.37226109e-02 9.71337482e-01 2.93570041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.29463044 meters Centerline goodness [0,1] 0.3084104126875121 Centerline is valid? [False, False] Translation: X:27.35, Y:1.70, Z:2.94 [[ 9.71734655e-01 -2.30316167e-03 -2.36064516e-01 2.73496723e+01] [ 8.68666236e-03 9.99624073e-01 2.60049037e-02 1.70320623e+00] [ 2.35915879e-01 -2.73204789e-02 9.71389360e-01 2.94142894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.32463044 meters Centerline goodness [0,1] 0.3056447813610861 Centerline is valid? [False, False] Translation: X:27.37, Y:1.70, Z:2.95 [[ 9.71490771e-01 3.33939243e-03 -2.37053856e-01 2.73662756e+01] [ 2.66232867e-03 9.99684073e-01 2.49933296e-02 1.70132803e+00] [ 2.37062427e-01 -2.49119043e-02 9.71174960e-01 2.94833279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.35463044 meters Centerline goodness [0,1] 0.31012671844409545 Centerline is valid? [False, False] Translation: X:27.37, Y:1.70, Z:2.95 [[ 9.71468132e-01 3.24462711e-03 -2.37147929e-01 2.73662087e+01] [ 2.73050142e-03 9.99687139e-01 2.48629922e-02 1.70203471e+00] [ 2.37154406e-01 -2.48011373e-02 9.71155338e-01 2.94869349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.38463044 meters Centerline goodness [0,1] 0.31011313139986696 Centerline is valid? [False, False] Translation: X:27.37, Y:1.70, Z:2.95 [[ 9.71494386e-01 3.11951411e-03 -2.37042034e-01 2.73657442e+01] [ 2.82080748e-03 9.99690511e-01 2.47169129e-02 1.70276544e+00] [ 2.37045777e-01 -2.46809920e-02 9.71184920e-01 2.94889792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.41463044 meters Centerline goodness [0,1] 0.31085075394105555 Centerline is valid? [False, False] Translation: X:27.38, Y:1.71, Z:2.95 [[ 9.71685203e-01 -5.65935387e-03 -2.36211426e-01 2.73835853e+01] [ 1.20930137e-02 9.99594055e-01 2.57969992e-02 1.70802959e+00] [ 2.35969543e-01 -2.79230704e-02 9.71359191e-01 2.95419608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.44463044 meters Centerline goodness [0,1] 0.3124381959671525 Centerline is valid? [False, False] Translation: X:27.38, Y:1.71, Z:2.95 [[ 9.71620784e-01 -5.61556235e-03 -2.36477308e-01 2.73839583e+01] [ 1.20712471e-02 9.99592679e-01 2.58604074e-02 1.70771048e+00] [ 2.36235765e-01 -2.79810853e-02 9.71292810e-01 2.95464630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.47463044 meters Centerline goodness [0,1] 0.3094007275512157 Centerline is valid? [False, False] Translation: X:27.40, Y:1.70, Z:2.96 [[ 9.71217308e-01 2.03752734e-05 -2.38195172e-01 2.74020956e+01] [ 6.12682566e-03 9.99666997e-01 2.50670387e-02 1.70465580e+00] [ 2.38116363e-01 -2.58049222e-02 9.70893765e-01 2.96124981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.50463044 meters Centerline goodness [0,1] 0.3119554746869314 Centerline is valid? [False, False] Translation: X:27.40, Y:1.71, Z:2.96 [[ 9.71172111e-01 -5.70070309e-05 -2.38379379e-01 2.74020175e+01] [ 6.18692571e-03 9.99669135e-01 2.49668472e-02 1.70513722e+00] [ 2.38299084e-01 -2.57219412e-02 9.70851136e-01 2.96179870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.53463044 meters Centerline goodness [0,1] 0.3128037503763279 Centerline is valid? [False, False] Translation: X:27.40, Y:1.71, Z:2.96 [[ 9.71207884e-01 -2.11370941e-04 -2.38233502e-01 2.74014287e+01] [ 6.28625923e-03 9.99674148e-01 2.47402754e-02 1.70595752e+00] [ 2.38150644e-01 -2.55255481e-02 9.70892742e-01 2.96198422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.56463044000003 meters Centerline goodness [0,1] 0.3105060858424087 Centerline is valid? [False, False] Translation: X:27.42, Y:1.71, Z:2.97 [[ 9.71698627e-01 6.19004501e-03 -2.36142882e-01 2.74195513e+01] [-5.91763907e-04 9.99717262e-01 2.37706876e-02 1.70697564e+00] [ 2.36223257e-01 -2.29582037e-02 9.71427555e-01 2.96738714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.59463044 meters Centerline goodness [0,1] 0.31017576912372347 Centerline is valid? [False, False] Translation: X:27.42, Y:1.71, Z:2.97 [[ 9.71677988e-01 6.18635348e-03 -2.36227892e-01 2.74197637e+01] [-6.26103435e-04 9.99721157e-01 2.36054155e-02 1.70854129e+00] [ 2.36308053e-01 -2.27889595e-02 9.71410916e-01 2.96735347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.62463044000003 meters Centerline goodness [0,1] 0.3116365683599671 Centerline is valid? [False, False] Translation: X:27.42, Y:1.71, Z:2.97 [[ 9.71616089e-01 6.11840887e-03 -2.36484125e-01 2.74205169e+01] [-6.13936458e-04 9.99727328e-01 2.33429200e-02 1.71034090e+00] [ 2.36562464e-01 -2.25351704e-02 9.71354913e-01 2.96726110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.65463044 meters Centerline goodness [0,1] 0.30910692418415797 Centerline is valid? [False, False] Translation: X:27.44, Y:1.71, Z:2.97 [[ 9.71200128e-01 1.20923612e-02 -2.37958159e-01 2.74400249e+01] [-6.96268556e-03 9.99725161e-01 2.23857701e-02 1.70914676e+00] [ 2.38163455e-01 -2.00842350e-02 9.71017400e-01 2.97334279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.68463044000003 meters Centerline goodness [0,1] 0.30424533356192274 Centerline is valid? [False, False] Translation: X:27.46, Y:1.72, Z:2.98 [[ 9.70825150e-01 5.21081714e-03 -2.39731883e-01 2.74618353e+01] [ 5.77804341e-04 9.99710118e-01 2.40696128e-02 1.71802025e+00] [ 2.39787812e-01 -2.35059035e-02 9.70540714e-01 2.97798411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.71463044 meters Centerline goodness [0,1] 0.30572211752612644 Centerline is valid? [False, False] Translation: X:27.46, Y:1.72, Z:2.98 [[ 9.70752246e-01 5.16518836e-03 -2.40027909e-01 2.74626869e+01] [ 5.59104965e-04 9.99717197e-01 2.37742355e-02 1.72042617e+00] [ 2.40082827e-01 -2.32130933e-02 9.70474826e-01 2.97791915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.74463044000004 meters Centerline goodness [0,1] 0.30441113490364025 Centerline is valid? [False, False] Translation: X:27.46, Y:1.72, Z:2.98 [[ 9.70687290e-01 5.02615831e-03 -2.40293411e-01 2.74633890e+01] [ 6.06507358e-04 9.99726909e-01 2.33610845e-02 1.72308853e+00] [ 2.40345206e-01 -2.28220476e-02 9.70419155e-01 2.97789307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.77463044 meters Centerline goodness [0,1] 0.3045555841261678 Centerline is valid? [False, False] Translation: X:27.46, Y:1.73, Z:2.98 [[ 9.70609859e-01 4.86404986e-03 -2.40609316e-01 2.74643027e+01] [ 6.71541782e-04 9.99737095e-01 2.29192129e-02 1.72583714e+00] [ 2.40657539e-01 -2.24071932e-02 9.70351414e-01 2.97779309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.80463044 meters Centerline goodness [0,1] 0.3047040906068341 Centerline is valid? [False, False] Translation: X:27.46, Y:1.73, Z:2.98 [[ 9.70579879e-01 4.78965517e-03 -2.40731713e-01 2.74646557e+01] [ 6.66500265e-04 9.99744854e-01 2.25783499e-02 1.72858592e+00] [ 2.40778434e-01 -2.20745399e-02 9.70329047e-01 2.97775383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.83463044 meters Centerline goodness [0,1] 0.3043916239792528 Centerline is valid? [False, False] Translation: X:27.48, Y:1.74, Z:2.98 [[ 9.71335178e-01 -1.48766865e-03 -2.37709399e-01 2.74815847e+01] [ 7.72013040e-03 9.99650345e-01 2.52900633e-02 1.73642876e+00] [ 2.37588660e-01 -2.64002757e-02 9.71007031e-01 2.98177467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.86463044 meters Centerline goodness [0,1] 0.3057578613657784 Centerline is valid? [False, False] Translation: X:27.50, Y:1.74, Z:2.99 [[ 9.71805902e-01 4.09635879e-03 -2.35746706e-01 2.74983304e+01] [ 1.56261112e-03 9.99715218e-01 2.38126208e-02 1.73601211e+00] [ 2.35777115e-01 -2.35096259e-02 9.71522748e-01 2.98729977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.89463044 meters Centerline goodness [0,1] 0.30883680928832513 Centerline is valid? [False, False] Translation: X:27.50, Y:1.74, Z:2.99 [[ 9.71835417e-01 3.73277758e-03 -2.35631043e-01 2.74981252e+01] [ 1.83104990e-03 9.99724758e-01 2.33892327e-02 1.73742295e+00] [ 2.35653495e-01 -2.31619369e-02 9.71561092e-01 2.98719848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.92463044 meters Centerline goodness [0,1] 0.30489531491333444 Centerline is valid? [False, False] Translation: X:27.50, Y:1.74, Z:2.99 [[ 9.71741354e-01 3.52311156e-03 -2.36021882e-01 2.74995384e+01] [ 2.00064311e-03 9.99729769e-01 2.31600016e-02 1.73830798e+00] [ 2.36039697e-01 -2.29777268e-02 9.71471711e-01 2.98698759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.95463044 meters Centerline goodness [0,1] 0.3084655287457758 Centerline is valid? [False, False] Translation: X:27.50, Y:1.74, Z:2.99 [[ 9.71527048e-01 3.39422899e-03 -2.36904355e-01 2.75024883e+01] [ 2.13205675e-03 9.99731648e-01 2.30669839e-02 1.73912375e+00] [ 2.36919076e-01 -2.29152923e-02 9.71259101e-01 2.98670572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.98463044 meters Centerline goodness [0,1] 0.30679723996057084 Centerline is valid? [False, False] Translation: X:27.52, Y:1.74, Z:2.99 [[ 9.71716970e-01 -3.86077354e-03 -2.36116971e-01 2.75212871e+01] [ 1.01874921e-02 9.99620848e-01 2.55807501e-02 1.74252255e+00] [ 2.35928686e-01 -2.72626888e-02 9.71387874e-01 2.99092450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.01463044 meters Centerline goodness [0,1] 0.30861865407319955 Centerline is valid? [False, False] Translation: X:27.52, Y:1.74, Z:2.99 [[ 9.71765981e-01 -4.04209211e-03 -2.35912145e-01 2.75206924e+01] [ 1.03240842e-02 9.99624072e-01 2.53993758e-02 1.74316680e+00] [ 2.35720793e-01 -2.71178262e-02 9.71442397e-01 2.99104162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.04463044 meters Centerline goodness [0,1] 0.31279192406207623 Centerline is valid? [False, False] Translation: X:27.52, Y:1.74, Z:2.99 [[ 9.71827384e-01 -4.25948748e-03 -2.35655240e-01 2.75200007e+01] [ 1.04602612e-02 9.99630995e-01 2.50690481e-02 1.74456745e+00] [ 2.35461500e-01 -2.68278028e-02 9.71513330e-01 2.99103133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.07463044 meters Centerline goodness [0,1] 0.31217827728208647 Centerline is valid? [False, False] Translation: X:27.54, Y:1.74, Z:3.00 [[ 9.71223469e-01 6.49680883e-04 -2.38169166e-01 2.75356918e+01] [ 5.25671026e-03 9.99694207e-01 2.41631722e-02 1.74365916e+00] [ 2.38112034e-01 -2.47198263e-02 9.70923060e-01 2.99739328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.10463044 meters Centerline goodness [0,1] 0.3095498979482222 Centerline is valid? [False, False] Translation: X:27.54, Y:1.75, Z:3.00 [[ 9.71064538e-01 8.71514865e-04 -2.38815626e-01 2.75375674e+01] [ 5.02861738e-03 9.99697016e-01 2.40954201e-02 1.74585130e+00] [ 2.38764268e-01 -2.45991204e-02 9.70765939e-01 2.99730348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.13463044 meters Centerline goodness [0,1] 0.3107649031699664 Centerline is valid? [False, False] Translation: X:27.54, Y:1.75, Z:3.00 [[ 9.70663629e-01 2.57730039e-03 -2.40427694e-01 2.75438858e+01] [ 3.51835023e-03 9.99683241e-01 2.49206675e-02 1.75222930e+00] [ 2.40415764e-01 -2.50354944e-02 9.70347095e-01 2.99589604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.16463044 meters Centerline goodness [0,1] 0.30688957741630085 Centerline is valid? [False, False] Translation: X:27.56, Y:1.75, Z:3.00 [[ 9.70357115e-01 8.38009222e-03 -2.41530211e-01 2.75630971e+01] [-2.68005517e-03 9.99710318e-01 2.39185568e-02 1.75159881e+00] [ 2.41660683e-01 -2.25622275e-02 9.70098480e-01 3.00193445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.19463044 meters Centerline goodness [0,1] 0.3010146320623732 Centerline is valid? [False, False] Translation: X:27.58, Y:1.76, Z:3.01 [[ 9.70524654e-01 5.40148171e-04 -2.41001253e-01 2.75827674e+01] [ 5.79858663e-03 9.99655661e-01 2.55917071e-02 1.75753194e+00] [ 2.40932090e-01 -2.62348493e-02 9.70187333e-01 3.00626811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.22463044 meters Centerline goodness [0,1] 0.3106286454957874 Centerline is valid? [False, False] Translation: X:27.58, Y:1.76, Z:3.01 [[ 9.70528931e-01 1.95422420e-04 -2.40984555e-01 2.75821241e+01] [ 6.03622611e-03 9.99666203e-01 2.51206525e-02 1.75975602e+00] [ 2.40909024e-01 -2.58349573e-02 9.70203791e-01 3.00675055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.25463044 meters Centerline goodness [0,1] 0.30742626366780523 Centerline is valid? [False, False] Translation: X:27.60, Y:1.76, Z:3.01 [[ 9.70624681e-01 6.15221132e-03 -2.40520019e-01 2.76004568e+01] [-3.42930879e-04 9.99707383e-01 2.41874000e-02 1.76006905e+00] [ 2.40598445e-01 -2.33944056e-02 9.70342769e-01 3.01267166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.28463044 meters Centerline goodness [0,1] 0.3119631304498345 Centerline is valid? [False, False] Translation: X:27.60, Y:1.76, Z:3.01 [[ 9.70569639e-01 5.88978901e-03 -2.40748594e-01 2.76005595e+01] [-1.81625517e-04 9.99718497e-01 2.37253756e-02 1.76282802e+00] [ 2.40820560e-01 -2.29834031e-02 9.70297491e-01 3.01311082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.31463044000003 meters Centerline goodness [0,1] 0.3069817400644468 Centerline is valid? [False, False] Translation: X:27.62, Y:1.77, Z:3.02 [[ 9.70432414e-01 -1.80504852e-03 -2.41366262e-01 2.76216939e+01] [ 8.11288057e-03 9.99650954e-01 2.51426350e-02 1.77286708e+00] [ 2.41236630e-01 -2.63574036e-02 9.70108332e-01 3.01768819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.34463044 meters Centerline goodness [0,1] 0.3069817400644468 Centerline is valid? [False, False] Translation: X:27.62, Y:1.77, Z:3.02 [[ 9.70432414e-01 -1.80504852e-03 -2.41366262e-01 2.76216939e+01] [ 8.11288057e-03 9.99650954e-01 2.51426350e-02 1.77286708e+00] [ 2.41236630e-01 -2.63574036e-02 9.70108332e-01 3.01768819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.37463044000003 meters Centerline goodness [0,1] 0.30825347492014155 Centerline is valid? [False, False] Translation: X:27.62, Y:1.78, Z:3.02 [[ 9.70418286e-01 -2.05628428e-03 -2.41421048e-01 2.76212766e+01] [ 8.24194608e-03 9.99663033e-01 2.46148538e-02 1.77611252e+00] [ 2.41289082e-01 -2.58764835e-02 9.70108234e-01 3.01813640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.40463044 meters Centerline goodness [0,1] 0.30982264371044044 Centerline is valid? [False, False] Translation: X:27.62, Y:1.78, Z:3.02 [[ 9.70391080e-01 -2.23060521e-03 -2.41528832e-01 2.76207563e+01] [ 8.30071500e-03 9.99674670e-01 2.41174530e-02 1.77983697e+00] [ 2.41396459e-01 -2.54082233e-02 9.70093898e-01 3.01878160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.43463044000003 meters Centerline goodness [0,1] 0.30720165495841056 Centerline is valid? [False, False] Translation: X:27.62, Y:1.78, Z:3.02 [[ 9.70355872e-01 -2.34298964e-03 -2.41669180e-01 2.76204350e+01] [ 8.30247715e-03 9.99685958e-01 2.36443208e-02 1.78357553e+00] [ 2.41537887e-01 -2.49498583e-02 9.70070592e-01 3.01929701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.46463044 meters Centerline goodness [0,1] 0.30846272625890025 Centerline is valid? [False, False] Translation: X:27.64, Y:1.79, Z:3.03 [[ 9.70467954e-01 3.51698743e-03 -2.41204437e-01 2.76382927e+01] [ 1.93011114e-03 9.99748502e-01 2.23429303e-02 1.78550444e+00] [ 2.41222355e-01 -2.21486492e-02 9.70217096e-01 3.02552388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.49463044000004 meters Centerline goodness [0,1] 0.3103589082312487 Centerline is valid? [False, False] Translation: X:27.64, Y:1.79, Z:3.03 [[ 9.70403239e-01 2.97088645e-03 -2.41472001e-01 2.76377296e+01] [ 2.23263988e-03 9.99771217e-01 2.12727261e-02 1.79280637e+00] [ 2.41479955e-01 -2.11822423e-02 9.70174594e-01 3.02647350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.52463044 meters Centerline goodness [0,1] 0.3111832143629678 Centerline is valid? [False, False] Translation: X:27.64, Y:1.80, Z:3.03 [[ 9.70381094e-01 2.60493328e-03 -2.41565204e-01 2.76374056e+01] [ 2.47263459e-03 9.99782386e-01 2.07139282e-02 1.79557413e+00] [ 2.41566594e-01 -2.06977067e-02 9.70163484e-01 3.02693540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.55463044 meters Centerline goodness [0,1] 0.30705064974053264 Centerline is valid? [False, False] Translation: X:27.66, Y:1.80, Z:3.03 [[ 9.70392748e-01 -4.70036611e-03 -2.41486689e-01 2.76565167e+01] [ 1.05632820e-02 9.99679898e-01 2.29895518e-02 1.80150969e+00] [ 2.41301330e-01 -2.48597863e-02 9.70131774e-01 3.03135684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.58463044 meters Centerline goodness [0,1] 0.3090244164784339 Centerline is valid? [False, False] Translation: X:27.66, Y:1.80, Z:3.03 [[ 9.70298819e-01 -4.86395301e-03 -2.41860587e-01 2.76574856e+01] [ 1.06666683e-02 9.99685680e-01 2.26884073e-02 1.80333880e+00] [ 2.41674210e-01 -2.45943814e-02 9.70045717e-01 3.03145747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.61463044 meters Centerline goodness [0,1] 0.3079206642860216 Centerline is valid? [False, False] Translation: X:27.66, Y:1.81, Z:3.03 [[ 9.70147239e-01 -5.04369730e-03 -2.42464215e-01 2.76588737e+01] [ 1.07596756e-02 9.99694400e-01 2.22561241e-02 1.80756255e+00] [ 2.42277865e-01 -2.42005536e-02 9.69905031e-01 3.03181893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.64463044 meters Centerline goodness [0,1] 0.30703542386336813 Centerline is valid? [False, False] Translation: X:27.66, Y:1.81, Z:3.03 [[ 9.70129863e-01 -5.08138235e-03 -2.42532941e-01 2.76585767e+01] [ 1.07479224e-02 9.99699170e-01 2.20466000e-02 1.80970621e+00] [ 2.42347953e-01 -2.39947903e-02 9.69892633e-01 3.03231308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.67463044 meters Centerline goodness [0,1] 0.30950689825875466 Centerline is valid? [False, False] Translation: X:27.66, Y:1.81, Z:3.03 [[ 9.70134671e-01 -5.23633871e-03 -2.42510413e-01 2.76577664e+01] [ 1.08265245e-02 9.99705375e-01 2.17243902e-02 1.81203126e+00] [ 2.42325207e-01 -2.37011290e-02 9.69905537e-01 3.03301073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.70463044 meters Centerline goodness [0,1] 0.3117201091041859 Centerline is valid? [False, False] Translation: X:27.66, Y:1.81, Z:3.03 [[ 9.70158125e-01 -5.47233038e-03 -2.42411357e-01 2.76567822e+01] [ 1.09640952e-02 9.99712763e-01 2.13114914e-02 1.81457684e+00] [ 2.42225104e-01 -2.33333377e-02 9.69939459e-01 3.03366544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.73463044 meters Centerline goodness [0,1] 0.30794134042279486 Centerline is valid? [False, False] Translation: X:27.66, Y:1.82, Z:3.03 [[ 9.70175419e-01 -5.73821797e-03 -2.42335984e-01 2.76562986e+01] [ 1.11205091e-02 9.99720808e-01 2.08480332e-02 1.81723301e+00] [ 2.42148695e-01 -2.29211489e-02 9.69968366e-01 3.03390669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.76463044 meters Centerline goodness [0,1] 0.308368057047124 Centerline is valid? [False, False] Translation: X:27.66, Y:1.82, Z:3.03 [[ 9.70143938e-01 -5.94420396e-03 -2.42457018e-01 2.76567819e+01] [ 1.12295638e-02 9.99728362e-01 2.04230176e-02 1.81981869e+00] [ 2.42269759e-01 -2.25359533e-02 9.69947161e-01 3.03380701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.79463044 meters Centerline goodness [0,1] 0.31010467940588526 Centerline is valid? [False, False] Translation: X:27.66, Y:1.83, Z:3.03 [[ 9.69865507e-01 -5.37513852e-03 -2.43581621e-01 2.76618003e+01] [ 1.06758234e-02 9.99733947e-01 2.04465527e-02 1.82531627e+00] [ 2.43406913e-01 -2.24308406e-02 9.69664856e-01 3.03250261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.82463044 meters Centerline goodness [0,1] 0.3043894143904772 Centerline is valid? [False, False] Translation: X:27.68, Y:1.82, Z:3.04 [[ 9.69265436e-01 1.45331187e-04 -2.46017262e-01 2.76811385e+01] [ 4.97675728e-03 9.99783609e-01 2.01981703e-02 1.82485515e+00] [ 2.45966962e-01 -2.08017565e-02 9.69054973e-01 3.03800985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.85463044 meters Centerline goodness [0,1] 0.30338821030270846 Centerline is valid? [False, False] Translation: X:27.68, Y:1.83, Z:3.04 [[ 9.69133349e-01 1.89645988e-04 -2.46537048e-01 2.76823120e+01] [ 4.89589434e-03 9.99787697e-01 2.00147614e-02 1.82763157e+00] [ 2.46488504e-01 -2.06039921e-02 9.68926671e-01 3.03836642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.88463044 meters Centerline goodness [0,1] 0.30503003484469526 Centerline is valid? [False, False] Translation: X:27.68, Y:1.83, Z:3.04 [[ 9.69083249e-01 2.98860694e-05 -2.46733977e-01 2.76820355e+01] [ 4.96668105e-03 9.99795007e-01 1.96284574e-02 1.83077703e+00] [ 2.46683985e-01 -2.02470582e-02 9.68884445e-01 3.03910603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.91463044 meters Centerline goodness [0,1] 0.30510175753304714 Centerline is valid? [False, False] Translation: X:27.70, Y:1.84, Z:3.04 [[ 9.69530594e-01 -7.44771733e-03 -2.44857019e-01 2.76997155e+01] [ 1.31518248e-02 9.99678693e-01 2.16688587e-02 1.84082781e+00] [ 2.44616961e-01 -2.42289380e-02 9.69317028e-01 3.04363672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.94463044 meters Centerline goodness [0,1] 0.30756490503538314 Centerline is valid? [False, False] Translation: X:27.70, Y:1.84, Z:3.04 [[ 9.69585686e-01 -7.86685161e-03 -2.44625652e-01 2.76990290e+01] [ 1.34270650e-02 9.99687833e-01 2.10701298e-02 1.84369270e+00] [ 2.44383532e-01 -2.37139008e-02 9.69388642e-01 3.04362777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.97463044 meters Centerline goodness [0,1] 0.252476208972616 Centerline is valid? [False, False] Translation: X:27.70, Y:1.85, Z:3.04 [[ 9.69609336e-01 -8.14044257e-03 -2.44522939e-01 2.76987566e+01] [ 1.35910695e-02 9.99695171e-01 2.06118362e-02 1.84629493e+00] [ 2.44280612e-01 -2.33087571e-02 9.69424409e-01 3.04356740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.00463044 meters Centerline goodness [0,1] 0.3093001662671936 Centerline is valid? [False, False] Translation: X:27.70, Y:1.85, Z:3.04 [[ 9.69576719e-01 -8.25589522e-03 -2.44648374e-01 2.76990027e+01] [ 1.36422608e-02 9.99700237e-01 2.03303950e-02 1.84853639e+00] [ 2.44407192e-01 -2.30494346e-02 9.69398704e-01 3.04366566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.03463044 meters Centerline goodness [0,1] 0.307217381951167 Centerline is valid? [False, False] Translation: X:27.70, Y:1.85, Z:3.04 [[ 9.69541411e-01 -8.36488488e-03 -2.44784561e-01 2.76993840e+01] [ 1.36818533e-02 9.99705787e-01 2.00286305e-02 1.85099443e+00] [ 2.44545005e-01 -2.27676931e-02 9.69370607e-01 3.04365242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.06463044000003 meters Centerline goodness [0,1] 0.31102565204314014 Centerline is valid? [False, False] Translation: X:27.70, Y:1.85, Z:3.04 [[ 9.69460897e-01 -8.46680751e-03 -2.45099739e-01 2.77001494e+01] [ 1.37206853e-02 9.99711073e-01 1.97360743e-02 1.85324160e+00] [ 2.44861822e-01 -2.24962887e-02 9.69296964e-01 3.04376726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.09463044 meters Centerline goodness [0,1] 0.3083898761443188 Centerline is valid? [False, False] Translation: X:27.70, Y:1.86, Z:3.04 [[ 9.69245663e-01 -8.80531408e-03 -2.45937618e-01 2.77023810e+01] [ 1.39014818e-02 9.99722970e-01 1.89929309e-02 1.85835241e+00] [ 2.45702248e-01 -2.18277133e-02 9.69099560e-01 3.04387843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.12463044000003 meters Centerline goodness [0,1] 0.3066166806713636 Centerline is valid? [False, False] Translation: X:27.70, Y:1.86, Z:3.04 [[ 9.69146481e-01 -8.88693400e-03 -2.46325235e-01 2.77035147e+01] [ 1.39183265e-02 9.99728403e-01 1.86922660e-02 1.86059775e+00] [ 2.46092217e-01 -2.15439789e-02 9.69006954e-01 3.04380820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.15463044 meters Centerline goodness [0,1] 0.30502120731759563 Centerline is valid? [False, False] Translation: X:27.70, Y:1.86, Z:3.04 [[ 9.69080790e-01 -8.96416095e-03 -2.46580751e-01 2.77042521e+01] [ 1.39259995e-02 9.99733975e-01 1.83860351e-02 1.86285607e+00] [ 2.46350339e-01 -2.12514368e-02 9.68947825e-01 3.04380581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.18463044000003 meters Centerline goodness [0,1] 0.30436180473689856 Centerline is valid? [False, False] Translation: X:27.70, Y:1.86, Z:3.04 [[ 9.69052662e-01 -8.96235677e-03 -2.46691335e-01 2.77043213e+01] [ 1.38837452e-02 9.99737650e-01 1.82173999e-02 1.86472703e+00] [ 2.46463345e-01 -2.10786195e-02 9.68922861e-01 3.04398969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.21463044 meters Centerline goodness [0,1] 0.3096368205150233 Centerline is valid? [False, False] Translation: X:27.70, Y:1.87, Z:3.04 [[ 9.69088068e-01 -9.08061679e-03 -2.46547884e-01 2.77035618e+01] [ 1.39230010e-02 9.99742755e-01 1.79045676e-02 1.86755780e+00] [ 2.46321876e-01 -2.07837893e-02 9.68965204e-01 3.04430157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.24463044000004 meters Centerline goodness [0,1] 0.30910579263695315 Centerline is valid? [False, False] Translation: X:27.70, Y:1.87, Z:3.04 [[ 9.69132182e-01 -9.23915034e-03 -2.46368527e-01 2.77029073e+01] [ 1.40350357e-02 9.99744523e-01 1.77174208e-02 1.86835578e+00] [ 2.46141891e-01 -2.06283138e-02 9.69014263e-01 3.04446629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.27463044 meters Centerline goodness [0,1] 0.3107925981388384 Centerline is valid? [False, False] Translation: X:27.70, Y:1.87, Z:3.04 [[ 9.69157290e-01 -9.28837671e-03 -2.46267889e-01 2.77028291e+01] [ 1.40642893e-02 9.99745457e-01 1.76413421e-02 1.86872318e+00] [ 2.46041344e-01 -2.05608182e-02 9.69041232e-01 3.04442031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.30463044 meters Centerline goodness [0,1] 0.31118324877461523 Centerline is valid? [False, False] Translation: X:27.70, Y:1.87, Z:3.04 [[ 9.69135402e-01 -9.28589013e-03 -2.46354103e-01 2.77032868e+01] [ 1.40717461e-02 9.99744786e-01 1.76733695e-02 1.86867823e+00] [ 2.46127117e-01 -2.05945205e-02 9.69018735e-01 3.04430531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.33463044 meters Centerline goodness [0,1] 0.3124838792881094 Centerline is valid? [False, False] Translation: X:27.71, Y:1.87, Z:3.04 [[ 9.69018832e-01 -9.00853294e-03 -2.46822506e-01 2.77056503e+01] [ 1.38805946e-02 9.99741518e-01 1.80062721e-02 1.86760960e+00] [ 2.46596496e-01 -2.08744600e-02 9.68893402e-01 3.04369105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.36463044 meters Centerline goodness [0,1] 0.31056458511548335 Centerline is valid? [False, False] Translation: X:27.71, Y:1.87, Z:3.04 [[ 9.69004432e-01 -9.03370644e-03 -2.46878114e-01 2.77062491e+01] [ 1.39129354e-02 9.99740705e-01 1.80264339e-02 1.86711267e+00] [ 2.46651254e-01 -2.09024936e-02 9.68878860e-01 3.04342266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.39463044 meters Centerline goodness [0,1] 0.3174854957519393 Centerline is valid? [False, False] Translation: X:27.71, Y:1.87, Z:3.04 [[ 9.69033457e-01 -9.08436898e-03 -2.46762303e-01 2.77059418e+01] [ 1.39666140e-02 9.99739674e-01 1.80421080e-02 1.86654063e+00] [ 2.46534164e-01 -2.09298402e-02 9.68908070e-01 3.04347007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.42463044 meters Centerline goodness [0,1] 0.3114743506913038 Centerline is valid? [False, False] Translation: X:27.71, Y:1.87, Z:3.04 [[ 9.69083518e-01 -8.93658330e-03 -2.46571028e-01 2.77051667e+01] [ 1.38705716e-02 9.99736675e-01 1.82807861e-02 1.86558503e+00] [ 2.46342732e-01 -2.11356896e-02 9.68952290e-01 3.04379822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.45463044 meters Centerline goodness [0,1] 0.31490280777537794 Centerline is valid? [False, False] Translation: X:27.70, Y:1.87, Z:3.04 [[ 9.69144638e-01 -8.75820725e-03 -2.46337094e-01 2.77039484e+01] [ 1.37352059e-02 9.99734641e-01 1.84930247e-02 1.86523827e+00] [ 2.46109760e-01 -2.13059064e-02 9.69007763e-01 3.04435751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.48463044 meters Centerline goodness [0,1] 0.309514571477841 Centerline is valid? [False, False] Translation: X:27.70, Y:1.86, Z:3.04 [[ 9.69209648e-01 -8.55543730e-03 -2.46088323e-01 2.77034022e+01] [ 1.35757662e-02 9.99732759e-01 1.87112198e-02 1.86481128e+00] [ 2.45862475e-01 -2.14759323e-02 9.69066782e-01 3.04432089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.51463044 meters Centerline goodness [0,1] 0.31678369878947144 Centerline is valid? [False, False] Translation: X:27.70, Y:1.86, Z:3.04 [[ 9.69255738e-01 -8.76577393e-03 -2.45899322e-01 2.77039909e+01] [ 1.37453064e-02 9.99733609e-01 1.85412397e-02 1.86431542e+00] [ 2.45671288e-01 -2.13511644e-02 9.69118025e-01 3.04348561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.54463044 meters Centerline goodness [0,1] 0.1630599970033605 Centerline is valid? [False, False] Translation: X:27.71, Y:1.86, Z:3.04 [[ 9.69192331e-01 -8.57648715e-03 -2.46155783e-01 2.77052131e+01] [ 1.35924423e-02 9.99733017e-01 1.86852953e-02 1.86416488e+00] [ 2.45929810e-01 -2.14555032e-02 9.69050148e-01 3.04311940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.57463044 meters Centerline goodness [0,1] 0.311058023415978 Centerline is valid? [False, False] Translation: X:27.71, Y:1.86, Z:3.04 [[ 9.69102705e-01 -8.24859338e-03 -2.46519590e-01 2.77065699e+01] [ 1.33188342e-02 9.99732532e-01 1.89069398e-02 1.86453701e+00] [ 2.46297699e-01 -2.16061200e-02 9.68953363e-01 3.04290507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.60463044 meters Centerline goodness [0,1] 0.1657456196718502 Centerline is valid? [False, False] Translation: X:27.71, Y:1.86, Z:3.04 [[ 9.69014354e-01 -7.87015960e-03 -2.46879003e-01 2.77079838e+01] [ 1.29967938e-02 9.99732277e-01 1.91430906e-02 1.86499406e+00] [ 2.46662248e-01 -2.17585651e-02 9.68857213e-01 3.04265664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.63463044 meters Centerline goodness [0,1] 0.24784771793207871 Centerline is valid? [False, False] Translation: X:27.71, Y:1.87, Z:3.04 [[ 9.68964964e-01 -7.95561704e-03 -2.47070044e-01 2.77091272e+01] [ 1.30242709e-02 9.99736780e-01 1.88875151e-02 1.86652136e+00] [ 2.46854749e-01 -2.15192476e-02 9.68813530e-01 3.04209688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.66463044 meters Centerline goodness [0,1] 0.25173625996741833 Centerline is valid? [False, False] Translation: X:27.71, Y:1.87, Z:3.04 [[ 9.68918675e-01 -7.94909810e-03 -2.47251719e-01 2.77101626e+01] [ 1.30066271e-02 9.99738126e-01 1.88283723e-02 1.86686319e+00] [ 2.47037302e-01 -2.14590725e-02 9.68768331e-01 3.04173218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.69463044 meters Centerline goodness [0,1] 0.2619605650762251 Centerline is valid? [False, False] Translation: X:27.71, Y:1.87, Z:3.04 [[ 9.68876430e-01 -7.88256429e-03 -2.47419338e-01 2.77109232e+01] [ 1.29514941e-02 9.99738126e-01 1.88663399e-02 1.86701793e+00] [ 2.47205830e-01 -2.14836022e-02 9.68724797e-01 3.04154212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.72463044 meters Centerline goodness [0,1] 0.30278662931200406 Centerline is valid? [False, False] Translation: X:27.71, Y:1.87, Z:3.04 [[ 9.68819153e-01 -7.70711148e-03 -2.47649046e-01 2.77117086e+01] [ 1.28212028e-02 9.99736428e-01 1.90444776e-02 1.86667811e+00] [ 2.47436995e-01 -2.16258133e-02 9.68662613e-01 3.04154870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.75463044 meters Centerline goodness [0,1] 0.31150159744408945 Centerline is valid? [False, False] Translation: X:27.71, Y:1.87, Z:3.04 [[ 9.68816707e-01 -7.72600432e-03 -2.47658024e-01 2.77114539e+01] [ 1.28523366e-02 9.99735174e-01 1.90892266e-02 1.86628549e+00] [ 2.47444954e-01 -2.16769459e-02 9.68659437e-01 3.04186132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.78463044 meters Centerline goodness [0,1] 0.2931270888679407 Centerline is valid? [False, False] Translation: X:27.71, Y:1.87, Z:3.04 [[ 9.68874681e-01 -7.78379268e-03 -2.47429314e-01 2.77108269e+01] [ 1.29191545e-02 9.99733379e-01 1.91380896e-02 1.86566843e+00] [ 2.47214377e-01 -2.17389880e-02 9.68716918e-01 3.04196845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.81463044000003 meters Centerline goodness [0,1] 0.31193053000812765 Centerline is valid? [False, False] Translation: X:27.71, Y:1.86, Z:3.04 [[ 9.69016164e-01 -8.19155295e-03 -2.46861444e-01 2.77098032e+01] [ 1.33042755e-02 9.99730010e-01 1.90500252e-02 1.86447078e+00] [ 2.46638745e-01 -2.17440950e-02 9.68863522e-01 3.04163464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.84463044 meters Centerline goodness [0,1] 0.3177786933235033 Centerline is valid? [False, False] Translation: X:27.71, Y:1.86, Z:3.04 [[ 9.69006305e-01 -8.24399334e-03 -2.46898395e-01 2.77103729e+01] [ 1.33846524e-02 9.99727030e-01 1.91498596e-02 1.86324043e+00] [ 2.46673127e-01 -2.18609839e-02 9.68852138e-01 3.04137056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.87463044000003 meters Centerline goodness [0,1] 0.29664577005105663 Centerline is valid? [False, False] Translation: X:27.71, Y:1.86, Z:3.04 [[ 9.68976451e-01 -8.18904391e-03 -2.47017362e-01 2.77113292e+01] [ 1.33814362e-02 9.99723240e-01 1.93489196e-02 1.86176221e+00] [ 2.46790548e-01 -2.20540946e-02 9.68817858e-01 3.04106079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.90463044 meters Centerline goodness [0,1] 0.3140221006329793 Centerline is valid? [False, False] Translation: X:27.71, Y:1.86, Z:3.04 [[ 9.68953108e-01 -8.15479949e-03 -2.47110043e-01 2.77114000e+01] [ 1.33827484e-02 9.99720596e-01 1.94841723e-02 1.86083288e+00] [ 2.46882110e-01 -2.21862609e-02 9.68791512e-01 3.04134455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.93463044000003 meters Centerline goodness [0,1] 0.31170022180515267 Centerline is valid? [False, False] Translation: X:27.71, Y:1.86, Z:3.04 [[ 9.68926073e-01 -7.83257796e-03 -2.47226448e-01 2.77105500e+01] [ 1.31218684e-02 9.99718756e-01 1.97541377e-02 1.86064683e+00] [ 2.47002191e-01 -2.23843719e-02 9.68756346e-01 3.04248184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.96463044 meters Centerline goodness [0,1] 0.3109130257772825 Centerline is valid? [False, False] Translation: X:27.71, Y:1.86, Z:3.04 [[ 9.68962623e-01 -7.83605983e-03 -2.47083044e-01 2.77100008e+01] [ 1.30966262e-02 9.99721053e-01 1.96543931e-02 1.86140697e+00] [ 2.46860108e-01 -2.22803266e-02 9.68794960e-01 3.04260153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.99463044000004 meters Centerline goodness [0,1] 0.3145061067066638 Centerline is valid? [False, False] Translation: X:27.71, Y:1.86, Z:3.04 [[ 9.69010676e-01 -7.82494100e-03 -2.46894875e-01 2.77096927e+01] [ 1.30377167e-02 9.99725127e-01 1.94856073e-02 1.86247420e+00] [ 2.46674536e-01 -2.21007070e-02 9.68846341e-01 3.04243422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.02463044 meters Centerline goodness [0,1] 0.31170817891924507 Centerline is valid? [False, False] Translation: X:27.71, Y:1.86, Z:3.04 [[ 9.69053608e-01 -7.76848357e-03 -2.46728102e-01 2.77092321e+01] [ 1.29332390e-02 9.99729711e-01 1.93193156e-02 1.86385464e+00] [ 2.46511332e-01 -2.19124460e-02 9.68892155e-01 3.04238429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.05463044 meters Centerline goodness [0,1] 0.31213148744087604 Centerline is valid? [False, False] Translation: X:27.71, Y:1.87, Z:3.04 [[ 9.69043158e-01 -7.54115263e-03 -2.46776191e-01 2.77084532e+01] [ 1.26722437e-02 9.99735142e-01 1.92109123e-02 1.86600504e+00] [ 2.46565958e-01 -2.17434112e-02 9.68882063e-01 3.04307600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.08463044 meters Centerline goodness [0,1] 0.31114497917829387 Centerline is valid? [False, False] Translation: X:27.72, Y:1.87, Z:3.05 [[ 9.69453765e-01 2.86391663e-03 -2.45257408e-01 2.77242179e+01] [ 2.41885008e-03 9.99771570e-01 2.12357530e-02 1.86826947e+00] [ 2.45262202e-01 -2.11803216e-02 9.69225385e-01 3.04918004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.11463044 meters Centerline goodness [0,1] 0.30275683825113076 Centerline is valid? [False, False] Translation: X:27.72, Y:1.87, Z:3.05 [[ 9.69441271e-01 3.14702968e-03 -2.45303318e-01 2.77244257e+01] [ 2.07618815e-03 9.99776660e-01 2.10313882e-02 1.87111485e+00] [ 2.45314718e-01 -2.08979915e-02 9.69218223e-01 3.04904114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.14463044 meters Centerline goodness [0,1] 0.3029322286232119 Centerline is valid? [False, False] Translation: X:27.72, Y:1.87, Z:3.05 [[ 9.69428888e-01 3.20356626e-03 -2.45351520e-01 2.77247892e+01] [ 1.91810571e-03 9.99785276e-01 2.06330307e-02 1.87410619e+00] [ 2.45364937e-01 -2.04728662e-02 9.69214584e-01 3.04869651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.17463044 meters Centerline goodness [0,1] 0.3015033046783878 Centerline is valid? [False, False] Translation: X:27.73, Y:1.88, Z:3.05 [[ 9.69358458e-01 3.41820838e-03 -2.45626743e-01 2.77257213e+01] [ 1.64646473e-03 9.99790317e-01 2.04110762e-02 1.87657574e+00] [ 2.45645008e-01 -2.01900651e-02 9.69149571e-01 3.04842311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.20463044 meters Centerline goodness [0,1] 0.2983565651350887 Centerline is valid? [False, False] Translation: X:27.73, Y:1.88, Z:3.05 [[ 9.69253317e-01 3.86461690e-03 -2.46034697e-01 2.77267819e+01] [ 1.19762922e-03 9.99790724e-01 2.04223806e-02 1.87879335e+00] [ 2.46062132e-01 -2.00891185e-02 9.69045847e-01 3.04839678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.23463044 meters Centerline goodness [0,1] 0.29371288932713124 Centerline is valid? [False, False] Translation: X:27.73, Y:1.88, Z:3.05 [[ 9.69098851e-01 4.46535892e-03 -2.46632271e-01 2.77281725e+01] [ 6.29460632e-04 9.99788117e-01 2.05748516e-02 1.88100666e+00] [ 2.46671888e-01 -2.00943103e-02 9.68890705e-01 3.04863204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.26463044 meters Centerline goodness [0,1] 0.28874081667520934 Centerline is valid? [False, False] Translation: X:27.73, Y:1.89, Z:3.05 [[ 9.68944079e-01 6.76165605e-03 -2.47187484e-01 2.77309989e+01] [-1.39075312e-03 9.99759282e-01 2.18961992e-02 1.88607911e+00] [ 2.47276036e-01 -2.08724158e-02 9.68720240e-01 3.04782944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.29463044 meters Centerline goodness [0,1] 0.28874081667520934 Centerline is valid? [False, False] Translation: X:27.73, Y:1.89, Z:3.05 [[ 9.68944079e-01 6.76165605e-03 -2.47187484e-01 2.77309989e+01] [-1.39075312e-03 9.99759282e-01 2.18961992e-02 1.88607911e+00] [ 2.47276036e-01 -2.08724158e-02 9.68720240e-01 3.04782944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.32463044 meters Centerline goodness [0,1] 0.29061647220610676 Centerline is valid? [False, False] Translation: X:27.73, Y:1.89, Z:3.05 [[ 9.68923281e-01 6.70477120e-03 -2.47270545e-01 2.77314608e+01] [-1.39368291e-03 9.99764691e-01 2.16476317e-02 1.88761081e+00] [ 2.47357502e-01 -2.06302776e-02 9.68704629e-01 3.04753959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.35463044 meters Centerline goodness [0,1] 0.28960613394444323 Centerline is valid? [False, False] Translation: X:27.73, Y:1.89, Z:3.05 [[ 9.68925847e-01 6.71020255e-03 -2.47260340e-01 2.77321040e+01] [-1.42852757e-03 9.99767096e-01 2.15339930e-02 1.88828469e+00] [ 2.47347249e-01 -2.05116242e-02 9.68709766e-01 3.04693506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.38463044 meters Centerline goodness [0,1] 0.28921894786546753 Centerline is valid? [False, False] Translation: X:27.73, Y:1.89, Z:3.05 [[ 9.68930080e-01 6.79455445e-03 -2.47241449e-01 2.77326153e+01] [-1.52328468e-03 9.99767572e-01 2.15053701e-02 1.88900758e+00] [ 2.47330103e-01 -2.04605808e-02 9.68715224e-01 3.04641533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.41463044 meters Centerline goodness [0,1] 0.29097796143250687 Centerline is valid? [False, False] Translation: X:27.73, Y:1.89, Z:3.05 [[ 9.68924258e-01 6.84354622e-03 -2.47262914e-01 2.77324347e+01] [-1.55569576e-03 9.99766031e-01 2.15745807e-02 1.88886031e+00] [ 2.47352709e-01 -2.05194687e-02 9.68708206e-01 3.04665858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.44463044 meters Centerline goodness [0,1] 0.2870787837346952 Centerline is valid? [False, False] Translation: X:27.75, Y:1.89, Z:3.05 [[ 9.69059130e-01 -1.35541128e-03 -2.46824970e-01 2.77477877e+01] [ 7.47610162e-03 9.99687302e-01 2.38622417e-02 1.89247329e+00] [ 2.46715445e-01 -2.49692117e-02 9.68766240e-01 3.05174615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.47463044 meters Centerline goodness [0,1] 0.28849222390060214 Centerline is valid? [False, False] Translation: X:27.75, Y:1.89, Z:3.05 [[ 9.69058401e-01 -1.43774641e-03 -2.46827365e-01 2.77479031e+01] [ 7.56435829e-03 9.99686333e-01 2.38750250e-02 1.89184072e+00] [ 2.46715617e-01 -2.50033841e-02 9.68765315e-01 3.05184212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.50463044 meters Centerline goodness [0,1] 0.29491180167295106 Centerline is valid? [False, False] Translation: X:27.73, Y:1.89, Z:3.05 [[ 9.69365606e-01 -7.30069840e-03 -2.45513792e-01 2.77301167e+01] [ 1.36594354e-02 9.99613650e-01 2.42068239e-02 1.89381652e+00] [ 2.45242211e-01 -2.68188423e-02 9.69090815e-01 3.04558510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.53463044 meters Centerline goodness [0,1] 0.23991602938971357 Centerline is valid? [False, False] Translation: X:27.73, Y:1.89, Z:3.05 [[ 9.69287538e-01 -7.27855830e-03 -2.45822481e-01 2.77317532e+01] [ 1.36816075e-02 9.99609878e-01 2.43496560e-02 1.89274102e+00] [ 2.45549349e-01 -2.69650648e-02 9.69008979e-01 3.04512836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.56463044000003 meters Centerline goodness [0,1] 0.2932182701985053 Centerline is valid? [False, False] Translation: X:27.73, Y:1.89, Z:3.04 [[ 9.69230755e-01 -7.59356480e-03 -2.46036747e-01 2.77337399e+01] [ 1.40393104e-02 9.99602351e-01 2.44548277e-02 1.88976747e+00] [ 2.45753211e-01 -2.71565574e-02 9.68951950e-01 3.04434416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.59463044 meters Centerline goodness [0,1] 0.29457113939315627 Centerline is valid? [False, False] Translation: X:27.73, Y:1.89, Z:3.04 [[ 9.69247650e-01 -7.68840358e-03 -2.45967236e-01 2.77336218e+01] [ 1.41776942e-02 9.99596274e-01 2.46227804e-02 1.88782711e+00] [ 2.45678623e-01 -2.73528203e-02 9.68965344e-01 3.04447089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.62463044000003 meters Centerline goodness [0,1] 0.29446064139941686 Centerline is valid? [False, False] Translation: X:27.73, Y:1.89, Z:3.04 [[ 9.69249719e-01 -7.65973904e-03 -2.45959979e-01 2.77334430e+01] [ 1.42192281e-02 9.99588717e-01 2.49040277e-02 1.88574827e+00] [ 2.45668061e-01 -2.76355829e-02 9.68959998e-01 3.04484052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.65463044 meters Centerline goodness [0,1] 0.2983304896222544 Centerline is valid? [False, False] Translation: X:27.73, Y:1.88, Z:3.05 [[ 9.69271853e-01 -7.63682398e-03 -2.45873452e-01 2.77329953e+01] [ 1.42492728e-02 9.99582738e-01 2.51258589e-02 1.88417091e+00] [ 2.45578977e-01 -2.78573057e-02 9.68976231e-01 3.04521346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.68463044000003 meters Centerline goodness [0,1] 0.29972687584679236 Centerline is valid? [False, False] Translation: X:27.73, Y:1.88, Z:3.04 [[ 9.69336710e-01 -7.92599189e-03 -2.45608472e-01 2.77330631e+01] [ 1.45664922e-02 9.99575490e-01 2.52320629e-02 1.88127704e+00] [ 2.45304220e-01 -2.80360188e-02 9.69040671e-01 3.04487872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.71463044 meters Centerline goodness [0,1] 0.299290169929017 Centerline is valid? [False, False] Translation: X:27.73, Y:1.88, Z:3.04 [[ 9.69362282e-01 -8.06926503e-03 -2.45502857e-01 2.77336029e+01] [ 1.47129659e-02 9.99573157e-01 2.52395169e-02 1.87980818e+00] [ 2.45194401e-01 -2.80783108e-02 9.69067239e-01 3.04430886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.74463044000004 meters Centerline goodness [0,1] 0.29831493069645265 Centerline is valid? [False, False] Translation: X:27.73, Y:1.88, Z:3.04 [[ 9.69359978e-01 -8.05562853e-03 -2.45512403e-01 2.77342004e+01] [ 1.47254775e-02 9.99570344e-01 2.53434086e-02 1.87843114e+00] [ 2.45202760e-01 -2.81821734e-02 9.69062109e-01 3.04400365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.77463044 meters Centerline goodness [0,1] 0.29811046200594893 Centerline is valid? [False, False] Translation: X:27.73, Y:1.88, Z:3.04 [[ 9.69307158e-01 -7.83198554e-03 -2.45728090e-01 2.77347346e+01] [ 1.45588496e-02 9.99567000e-01 2.55705517e-02 1.87773626e+00] [ 2.45421421e-01 -2.83632371e-02 9.69001472e-01 3.04411070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.80463044 meters Centerline goodness [0,1] 0.29693388146625554 Centerline is valid? [False, False] Translation: X:27.74, Y:1.88, Z:3.04 [[ 9.69216987e-01 -7.33330717e-03 -2.46098871e-01 2.77354866e+01] [ 1.41696343e-02 9.99561008e-01 2.60194706e-02 1.87711887e+00] [ 2.45800027e-01 -2.87056439e-02 9.68895419e-01 3.04441608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.83463044 meters Centerline goodness [0,1] 0.29793133326112853 Centerline is valid? [False, False] Translation: X:27.74, Y:1.88, Z:3.05 [[ 9.69094978e-01 -6.62660706e-03 -2.46598889e-01 2.77362467e+01] [ 1.35957925e-02 9.99554514e-01 2.65692976e-02 1.87664603e+00] [ 2.46312968e-01 -2.91008802e-02 9.68753354e-01 3.04500176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.86463044 meters Centerline goodness [0,1] 0.29460705478717697 Centerline is valid? [False, False] Translation: X:27.75, Y:1.87, Z:3.05 [[ 9.68639064e-01 -2.14025856e-03 -2.48462841e-01 2.77513401e+01] [ 8.78400450e-03 9.99632806e-01 2.56338421e-02 1.87250367e+00] [ 2.48316744e-01 -2.70124395e-02 9.68302186e-01 3.05145443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.89463044 meters Centerline goodness [0,1] 0.2940343043599597 Centerline is valid? [False, False] Translation: X:27.75, Y:1.87, Z:3.05 [[ 9.68673349e-01 -2.21366329e-03 -2.48328498e-01 2.77510309e+01] [ 8.84068392e-03 9.99633826e-01 2.55745202e-02 1.87193672e+00] [ 2.48180954e-01 -2.69687499e-02 9.68338216e-01 3.05137256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.92463044 meters Centerline goodness [0,1] 0.29215908362361886 Centerline is valid? [False, False] Translation: X:27.75, Y:1.87, Z:3.05 [[ 9.68676456e-01 -1.98524904e-03 -2.48318308e-01 2.77509359e+01] [ 8.65842917e-03 9.99630034e-01 2.57842523e-02 1.87117200e+00] [ 2.48175251e-01 -2.71266446e-02 9.68335267e-01 3.05149724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.95463044 meters Centerline goodness [0,1] 0.29278350515463913 Centerline is valid? [False, False] Translation: X:27.75, Y:1.87, Z:3.05 [[ 9.68701059e-01 -1.70221234e-03 -2.48224416e-01 2.77507803e+01] [ 8.43048442e-03 9.99625218e-01 2.60451607e-02 1.87054018e+00] [ 2.48087052e-01 -2.73226268e-02 9.68352358e-01 3.05139104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.98463044 meters Centerline goodness [0,1] 0.29569569139567853 Centerline is valid? [False, False] Translation: X:27.75, Y:1.87, Z:3.05 [[ 9.68763096e-01 -1.40171126e-03 -2.47984072e-01 2.77510944e+01] [ 8.19907991e-03 9.99618366e-01 2.63798786e-02 1.86860818e+00] [ 2.47852455e-01 -2.75890941e-02 9.68404875e-01 3.05054762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.01463044 meters Centerline goodness [0,1] 0.29359799790378815 Centerline is valid? [False, False] Translation: X:27.75, Y:1.87, Z:3.05 [[ 9.68811699e-01 -1.29465324e-03 -2.47794704e-01 2.77513989e+01] [ 8.13180797e-03 9.99613866e-01 2.65705330e-02 1.86686894e+00] [ 2.47664622e-01 -2.77568622e-02 9.68448136e-01 3.04994770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.04463044 meters Centerline goodness [0,1] 0.28843366302864937 Centerline is valid? [False, False] Translation: X:27.77, Y:1.86, Z:3.06 [[ 9.68391003e-01 3.85432617e-03 -2.49407315e-01 2.77678129e+01] [ 2.73791460e-03 9.99656127e-01 2.60793178e-02 1.86139258e+00] [ 2.49422069e-01 -2.59378326e-02 9.68047447e-01 3.05635768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.07463044 meters Centerline goodness [0,1] 0.291665776486423 Centerline is valid? [False, False] Translation: X:27.77, Y:1.86, Z:3.06 [[ 9.68367380e-01 4.15677807e-03 -2.49494165e-01 2.77678058e+01] [ 2.52268295e-03 9.99647053e-01 2.64462891e-02 1.85975691e+00] [ 2.49516038e-01 -2.62391184e-02 9.68015111e-01 3.05663608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.10463044 meters Centerline goodness [0,1] 0.2907114960095093 Centerline is valid? [False, False] Translation: X:27.79, Y:1.86, Z:3.06 [[ 9.68625793e-01 -2.29285561e-03 -2.48513210e-01 2.77864139e+01] [ 1.00241794e-02 9.99504143e-01 2.98493592e-02 1.86091683e+00] [ 2.48321543e-01 -3.14040003e-02 9.68168477e-01 3.06036180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.13463044 meters Centerline goodness [0,1] 0.28584145824501905 Centerline is valid? [False, False] Translation: X:27.79, Y:1.86, Z:3.06 [[ 9.68650342e-01 -2.11412966e-03 -2.48419094e-01 2.77879300e+01] [ 9.90730502e-03 9.99497036e-01 3.01250920e-02 1.85765939e+00] [ 2.48230460e-01 -3.16418444e-02 9.68184090e-01 3.05912608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.16463044 meters Centerline goodness [0,1] 0.29122211965738576 Centerline is valid? [False, False] Translation: X:27.79, Y:1.86, Z:3.06 [[ 9.68678550e-01 -2.06666461e-03 -2.48309475e-01 2.77886367e+01] [ 9.89158277e-03 9.99492835e-01 3.02692742e-02 1.85604226e+00] [ 2.48120985e-01 -3.17773704e-02 9.68207713e-01 3.05832183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.19463044 meters Centerline goodness [0,1] 0.29252502733177566 Centerline is valid? [False, False] Translation: X:27.79, Y:1.85, Z:3.06 [[ 9.68635763e-01 -1.62895737e-03 -2.48479587e-01 2.77896175e+01] [ 9.57286096e-03 9.99480799e-01 3.07651182e-02 1.85414047e+00] [ 2.48300461e-01 -3.21788543e-02 9.68148440e-01 3.05806146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.22463044 meters Centerline goodness [0,1] 0.28848658226767143 Centerline is valid? [False, False] Translation: X:27.79, Y:1.85, Z:3.06 [[ 9.68574089e-01 -1.14077393e-03 -2.48722602e-01 2.77907108e+01] [ 9.21526285e-03 9.99467492e-01 3.13019335e-02 1.85229056e+00] [ 2.48554447e-01 -3.26102859e-02 9.68068828e-01 3.05796486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.25463044 meters Centerline goodness [0,1] 0.2919770528298655 Centerline is valid? [False, False] Translation: X:27.79, Y:1.85, Z:3.06 [[ 9.68591467e-01 -8.41490960e-04 -2.48656111e-01 2.77908738e+01] [ 9.05976395e-03 9.99449741e-01 3.19082531e-02 1.84738111e+00] [ 2.48492435e-01 -3.31588274e-02 9.68066114e-01 3.05800010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.28463044 meters Centerline goodness [0,1] 0.29360645561762877 Centerline is valid? [False, False] Translation: X:27.79, Y:1.84, Z:3.06 [[ 9.68677741e-01 -8.65256894e-04 -2.48319725e-01 2.77901901e+01] [ 9.11412173e-03 9.99444036e-01 3.20710367e-02 1.84483777e+00] [ 2.48153918e-01 -3.33297156e-02 9.68147077e-01 3.05801033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.31463044000003 meters Centerline goodness [0,1] 0.2927012146789777 Centerline is valid? [False, False] Translation: X:27.79, Y:1.84, Z:3.06 [[ 9.68763897e-01 -7.66826156e-04 -2.47983717e-01 2.77894895e+01] [ 9.07118197e-03 9.99435545e-01 3.23466411e-02 1.84245682e+00] [ 2.47818937e-01 -3.35857635e-02 9.68224029e-01 3.05798855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.34463044 meters Centerline goodness [0,1] 0.2923785755423306 Centerline is valid? [False, False] Translation: X:27.79, Y:1.84, Z:3.06 [[ 9.68757515e-01 -3.85921175e-04 -2.48009533e-01 2.77896674e+01] [ 8.80053377e-03 9.99422504e-01 3.28208550e-02 1.84046554e+00] [ 2.47853643e-01 -3.39780661e-02 9.68201458e-01 3.05808279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.37463044000003 meters Centerline goodness [0,1] 0.2901609636499307 Centerline is valid? [False, False] Translation: X:27.79, Y:1.84, Z:3.06 [[ 9.68715580e-01 7.82077192e-05 -2.48173566e-01 2.77905357e+01] [ 8.45717652e-03 9.99408735e-01 3.33265153e-02 1.83870839e+00] [ 2.48029436e-01 -3.43827623e-02 9.68142151e-01 3.05790438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.40463044 meters Centerline goodness [0,1] 0.2913089899636985 Centerline is valid? [False, False] Translation: X:27.79, Y:1.84, Z:3.06 [[ 9.68653939e-01 4.64965695e-04 -2.48413629e-01 2.77919874e+01] [ 8.17994002e-03 9.99396252e-01 3.37671332e-02 1.83679251e+00] [ 2.48279350e-01 -3.47406752e-02 9.68065313e-01 3.05743057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.43463044000003 meters Centerline goodness [0,1] 0.29289991814226013 Centerline is valid? [False, False] Translation: X:27.79, Y:1.83, Z:3.06 [[ 9.68683425e-01 4.65156606e-04 -2.48298623e-01 2.77926096e+01] [ 8.19768088e-03 9.99393178e-01 3.38537194e-02 1.83376256e+00] [ 2.48163697e-01 -3.48290097e-02 9.68091793e-01 3.05679835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.46463044 meters Centerline goodness [0,1] 0.29248621865682845 Centerline is valid? [False, False] Translation: X:27.81, Y:1.83, Z:3.06 [[ 9.68686919e-01 5.83683848e-03 -2.48216808e-01 2.78092228e+01] [ 2.35611983e-03 9.99462520e-01 3.26973979e-02 1.82968531e+00] [ 2.48274246e-01 -3.22583702e-02 9.68152517e-01 3.06313063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.49463044000004 meters Centerline goodness [0,1] 0.29171867602117674 Centerline is valid? [False, False] Translation: X:27.81, Y:1.83, Z:3.06 [[ 9.68784631e-01 5.78552103e-03 -2.47836371e-01 2.78082228e+01] [ 2.37513776e-03 9.99465136e-01 3.26159695e-02 1.82927748e+00] [ 2.47892513e-01 -3.21864954e-02 9.68252721e-01 3.06306225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.52463044 meters Centerline goodness [0,1] 0.28936297435240355 Centerline is valid? [False, False] Translation: X:27.83, Y:1.83, Z:3.07 [[ 9.68871378e-01 1.21864912e-02 -2.47264518e-01 2.78260367e+01] [-4.33078192e-03 9.99469175e-01 3.22895161e-02 1.82504050e+00] [ 2.47526760e-01 -3.02135393e-02 9.68409854e-01 3.06898068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.55463044 meters Centerline goodness [0,1] 0.2913340324893522 Centerline is valid? [False, False] Translation: X:27.84, Y:1.83, Z:3.07 [[ 9.69054009e-01 3.46177564e-03 -2.46824519e-01 2.78424802e+01] [ 5.07410287e-03 9.99411048e-01 3.39383485e-02 1.82818328e+00] [ 2.46796639e-01 -3.41405057e-02 9.68465717e-01 3.07388914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.58463044 meters Centerline goodness [0,1] 0.2910473334761191 Centerline is valid? [False, False] Translation: X:27.84, Y:1.83, Z:3.07 [[ 9.69034747e-01 3.70165307e-03 -2.46896651e-01 2.78429576e+01] [ 4.92593127e-03 9.99398848e-01 3.43172998e-02 1.82612637e+00] [ 2.46875259e-01 -3.44708519e-02 9.68433976e-01 3.07383391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.61463044 meters Centerline goodness [0,1] 0.2918118280719003 Centerline is valid? [False, False] Translation: X:27.84, Y:1.82, Z:3.07 [[ 9.69052650e-01 3.91594523e-03 -2.46823070e-01 2.78433596e+01] [ 4.80501699e-03 9.99385506e-01 3.47206335e-02 1.82351016e+00] [ 2.46807363e-01 -3.48321109e-02 9.68438356e-01 3.07353197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.64463044 meters Centerline goodness [0,1] 0.29389681433015125 Centerline is valid? [False, False] Translation: X:27.84, Y:1.82, Z:3.07 [[ 9.69003441e-01 3.18653256e-04 -2.47047021e-01 2.78436435e+01] [ 7.79830455e-03 9.99461383e-01 3.18767882e-02 1.82157778e+00] [ 2.46924115e-01 -3.28152653e-02 9.68479034e-01 3.07390030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.67463044 meters Centerline goodness [0,1] 0.2912280701754386 Centerline is valid? [False, False] Translation: X:27.86, Y:1.81, Z:3.08 [[ 9.68444877e-01 3.90700940e-03 -2.49197222e-01 2.78580885e+01] [ 3.90183048e-03 9.99516893e-01 3.08343310e-02 1.81152711e+00] [ 2.49197303e-01 -3.08336752e-02 9.67961770e-01 3.08039374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.70463044 meters Centerline goodness [0,1] 0.29526913281823286 Centerline is valid? [False, False] Translation: X:27.86, Y:1.81, Z:3.08 [[ 9.68403211e-01 4.29472587e-03 -2.49352715e-01 2.78585799e+01] [ 3.66136327e-03 9.99499111e-01 3.14343906e-02 1.80874117e+00] [ 2.49362819e-01 -3.13541356e-02 9.67902424e-01 3.08054339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.73463044 meters Centerline goodness [0,1] 0.28988139758521214 Centerline is valid? [False, False] Translation: X:27.88, Y:1.81, Z:3.08 [[ 9.68588705e-01 -2.51486930e-03 -2.48655579e-01 2.78786665e+01] [ 1.14580409e-02 9.99338137e-01 3.45253633e-02 1.80859262e+00] [ 2.48404176e-01 -3.62899827e-02 9.67976447e-01 3.08439316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.76463044 meters Centerline goodness [0,1] 0.29281980978493705 Centerline is valid? [False, False] Translation: X:27.88, Y:1.81, Z:3.08 [[ 9.68540800e-01 -2.27260562e-03 -2.48844438e-01 2.78798346e+01] [ 1.13253441e-02 9.99324766e-01 3.49535108e-02 1.80564368e+00] [ 2.48596975e-01 -3.66721502e-02 9.67912546e-01 3.08409047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.79463044 meters Centerline goodness [0,1] 0.2924727022611985 Centerline is valid? [False, False] Translation: X:27.88, Y:1.80, Z:3.08 [[ 9.68559004e-01 -2.03607703e-03 -2.48775624e-01 2.78807378e+01] [ 1.12172782e-02 9.99306950e-01 3.54935495e-02 1.80016807e+00] [ 2.48530942e-01 -3.71681823e-02 9.67910583e-01 3.08353713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.82463044 meters Centerline goodness [0,1] 0.297457151491603 Centerline is valid? [False, False] Translation: X:27.88, Y:1.80, Z:3.08 [[ 9.68590457e-01 -1.74917721e-03 -2.48655319e-01 2.78802771e+01] [ 1.10154700e-02 9.99295426e-01 3.58791212e-02 1.79831384e+00] [ 2.48417364e-01 -3.74912296e-02 9.67927281e-01 3.08376215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.85463044 meters Centerline goodness [0,1] 0.2946156160027502 Centerline is valid? [False, False] Translation: X:27.90, Y:1.79, Z:3.09 [[ 9.68283357e-01 4.09555484e-03 -2.49821069e-01 2.78976796e+01] [ 4.91484977e-03 9.99359970e-01 3.54329634e-02 1.79347450e+00] [ 2.49806294e-01 -3.55369818e-02 9.67643498e-01 3.09053135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.88463044 meters Centerline goodness [0,1] 0.29335393463379045 Centerline is valid? [False, False] Translation: X:27.91, Y:1.79, Z:3.10 [[ 9.67852789e-01 9.46141634e-03 -2.51339335e-01 2.79149047e+01] [-7.70583275e-04 9.99399072e-01 3.46540248e-02 1.78817251e+00] [ 2.51516174e-01 -3.33463166e-02 9.67278469e-01 3.09738225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.91463044 meters Centerline goodness [0,1] 0.29295944001889507 Centerline is valid? [False, False] Translation: X:27.92, Y:1.79, Z:3.10 [[ 9.67843592e-01 9.54610835e-03 -2.51371544e-01 2.79155783e+01] [-8.12964588e-04 9.99393167e-01 3.48229269e-02 1.78631749e+00] [ 2.51551427e-01 -3.34987905e-02 9.67264034e-01 3.09698559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.94463044 meters Centerline goodness [0,1] 0.2917757651199725 Centerline is valid? [False, False] Translation: X:27.92, Y:1.78, Z:3.10 [[ 9.67761711e-01 1.01829202e-02 -2.51661638e-01 2.79170351e+01] [-1.26616319e-03 9.99366453e-01 3.55680933e-02 1.78284863e+00] [ 2.51864385e-01 -3.41027941e-02 9.67161481e-01 3.09661593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.97463044 meters Centerline goodness [0,1] 0.29597645174555764 Centerline is valid? [False, False] Translation: X:27.92, Y:1.78, Z:3.10 [[ 9.67787870e-01 1.03813470e-02 -2.51552911e-01 2.79167738e+01] [-1.40226982e-03 9.99356285e-01 3.58475864e-02 1.78135870e+00] [ 2.51763129e-01 -3.43401142e-02 9.67179448e-01 3.09663645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.00463044 meters Centerline goodness [0,1] 0.29171578608937954 Centerline is valid? [False, False] Translation: X:27.95, Y:1.78, Z:3.11 [[ 9.68136226e-01 7.19220547e-03 -2.50320833e-01 2.79541819e+01] [ 1.93541403e-03 9.99342748e-01 3.61984366e-02 1.78255223e+00] [ 2.50416656e-01 -3.55294923e-02 9.67485997e-01 3.10689993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.03463044 meters Centerline goodness [0,1] 0.29235823331114597 Centerline is valid? [False, False] Translation: X:27.95, Y:1.78, Z:3.11 [[ 9.68215991e-01 7.05068878e-03 -2.50016164e-01 2.79539007e+01] [ 2.05223687e-03 9.99344992e-01 3.61299804e-02 1.78122920e+00] [ 2.50107142e-01 -3.54947171e-02 9.67567332e-01 3.10650030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.06463044000003 meters Centerline goodness [0,1] 0.2916916359900693 Centerline is valid? [False, False] Translation: X:27.97, Y:1.78, Z:3.11 [[ 9.67848755e-01 1.22382443e-02 -2.51234975e-01 2.79714024e+01] [-3.59379471e-03 9.99386516e-01 3.48378511e-02 1.77760247e+00] [ 2.51507200e-01 -3.28148839e-02 9.67298977e-01 3.11328337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.09463044 meters Centerline goodness [0,1] 0.2906312207024979 Centerline is valid? [False, False] Translation: X:27.97, Y:1.78, Z:3.11 [[ 9.67821338e-01 1.25580116e-02 -2.51324798e-01 2.79718843e+01] [-3.86362223e-03 9.99377817e-01 3.50578305e-02 1.77701298e+00] [ 2.51608685e-01 -3.29586923e-02 9.67267695e-01 3.11308043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.12463044000003 meters Centerline goodness [0,1] 0.2902249506310638 Centerline is valid? [False, False] Translation: X:27.99, Y:1.78, Z:3.12 [[ 9.67980962e-01 4.28341910e-03 -2.50987069e-01 2.79881729e+01] [ 5.11515243e-03 9.99310218e-01 3.67821126e-02 1.78122489e+00] [ 2.50971496e-01 -3.68882219e-02 9.67291356e-01 3.11802756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.15463044 meters Centerline goodness [0,1] 0.2902249506310638 Centerline is valid? [False, False] Translation: X:27.99, Y:1.78, Z:3.12 [[ 9.67980962e-01 4.28341910e-03 -2.50987069e-01 2.79881729e+01] [ 5.11515243e-03 9.99310218e-01 3.67821126e-02 1.78122489e+00] [ 2.50971496e-01 -3.68882219e-02 9.67291356e-01 3.11802756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.18463044000003 meters Centerline goodness [0,1] 0.2915475089771432 Centerline is valid? [False, False] Translation: X:27.99, Y:1.78, Z:3.12 [[ 9.68019240e-01 4.41836158e-03 -2.50837058e-01 2.79882913e+01] [ 5.02393305e-03 9.99302995e-01 3.69903311e-02 1.77983246e+00] [ 2.50825660e-01 -3.70675407e-02 9.67322328e-01 3.11767768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.21463044 meters Centerline goodness [0,1] 0.2909320979710891 Centerline is valid? [False, False] Translation: X:27.99, Y:1.78, Z:3.12 [[ 9.68029413e-01 4.49367744e-03 -2.50796457e-01 2.79886534e+01] [ 4.99546641e-03 9.99295853e-01 3.71866164e-02 1.77795855e+00] [ 2.50786964e-01 -3.72505837e-02 9.67325329e-01 3.11744688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.24463044000004 meters Centerline goodness [0,1] 0.29013531395398473 Centerline is valid? [False, False] Translation: X:28.01, Y:1.77, Z:3.12 [[ 9.67527912e-01 9.37143199e-03 -2.52590412e-01 2.80050044e+01] [-1.95577892e-04 9.99339914e-01 3.63276614e-02 1.77220246e+00] [ 2.52764123e-01 -3.50986253e-02 9.66891092e-01 3.12422320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.27463044 meters Centerline goodness [0,1] 0.2903754469606674 Centerline is valid? [False, False] Translation: X:28.02, Y:1.77, Z:3.13 [[ 9.67748998e-01 6.18393729e-04 -2.51915650e-01 2.80239289e+01] [ 9.26902949e-03 9.99232451e-01 3.80604106e-02 1.77017884e+00] [ 2.51745829e-01 -3.91679378e-02 9.67000471e-01 3.12959445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.30463044 meters Centerline goodness [0,1] 0.2904549242505182 Centerline is valid? [False, False] Translation: X:28.02, Y:1.77, Z:3.13 [[ 9.67764263e-01 8.25725217e-04 -2.51856407e-01 2.80239274e+01] [ 9.17840311e-03 9.99214742e-01 3.85442143e-02 1.76687102e+00] [ 2.51690462e-01 -3.96133527e-02 9.66996739e-01 3.12976893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.33463044 meters Centerline goodness [0,1] 0.2942132848432988 Centerline is valid? [False, False] Translation: X:28.04, Y:1.76, Z:3.14 [[ 9.67339548e-01 5.17783531e-03 -2.53431233e-01 2.80390571e+01] [ 4.45517315e-03 9.99289632e-01 3.74216793e-02 1.75926415e+00] [ 2.53444967e-01 -3.73285504e-02 9.66629313e-01 3.13664478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.36463044 meters Centerline goodness [0,1] 0.29368559993187426 Centerline is valid? [False, False] Translation: X:28.05, Y:1.75, Z:3.14 [[ 9.66872572e-01 9.59631694e-03 -2.55079086e-01 2.80542308e+01] [-3.14942024e-04 9.99337170e-01 3.64022294e-02 1.75132789e+00] [ 2.55259339e-01 -3.51159821e-02 9.66234722e-01 3.14358606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.39463044 meters Centerline goodness [0,1] 0.29353361031213376 Centerline is valid? [False, False] Translation: X:28.07, Y:1.75, Z:3.15 [[ 9.67056159e-01 4.62758661e-04 -2.54562704e-01 2.80746743e+01] [ 9.48878327e-03 9.99237875e-01 3.78633324e-02 1.74589298e+00] [ 2.54386217e-01 -3.90314591e-02 9.66314751e-01 3.14823609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.42463044 meters Centerline goodness [0,1] 0.2999484292406206 Centerline is valid? [False, False] Translation: X:28.08, Y:1.74, Z:3.15 [[ 9.66941691e-01 8.05041314e-04 -2.54996309e-01 2.80765757e+01] [ 9.32985542e-03 9.99213762e-01 3.85332422e-02 1.74149784e+00] [ 2.54826842e-01 -3.96384771e-02 9.66173934e-01 3.14810288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.45463044 meters Centerline goodness [0,1] 0.3018693398154323 Centerline is valid? [False, False] Translation: X:28.08, Y:1.74, Z:3.15 [[ 9.66886011e-01 1.04035703e-03 -2.55206503e-01 2.80779072e+01] [ 9.24714278e-03 9.99192227e-01 3.91073485e-02 1.73697663e+00] [ 2.55041040e-01 -4.01722791e-02 9.66095366e-01 3.14790098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.48463044 meters Centerline goodness [0,1] 0.2970772977823356 Centerline is valid? [False, False] Translation: X:28.08, Y:1.73, Z:3.15 [[ 9.66871905e-01 1.39992549e-03 -2.55258223e-01 2.80785035e+01] [ 9.06452177e-03 9.99165971e-01 3.98145424e-02 1.73237521e+00] [ 2.55101067e-01 -4.08093562e-02 9.66052815e-01 3.14791183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.51463044 meters Centerline goodness [0,1] 0.3019578313253012 Centerline is valid? [False, False] Translation: X:28.08, Y:1.73, Z:3.15 [[ 9.66945758e-01 1.60392797e-03 -2.54977113e-01 2.80779671e+01] [ 8.98815338e-03 9.99144343e-01 4.03707307e-02 1.72802956e+00] [ 2.54823692e-01 -4.13280802e-02 9.66103968e-01 3.14803010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.54463044 meters Centerline goodness [0,1] 0.30323668815918703 Centerline is valid? [False, False] Translation: X:28.09, Y:1.72, Z:3.16 [[ 9.66578305e-01 6.53209862e-03 -2.56288339e-01 2.80934189e+01] [ 3.75698536e-03 9.99207107e-01 3.96363718e-02 1.71940436e+00] [ 2.56344039e-01 -3.92745286e-02 9.65787371e-01 3.15518445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.57463044 meters Centerline goodness [0,1] 0.3067396437003649 Centerline is valid? [False, False] Translation: X:28.09, Y:1.71, Z:3.16 [[ 9.66873785e-01 4.87876796e-03 -2.55208312e-01 2.80898943e+01] [ 5.29610144e-03 9.99218663e-01 3.91665051e-02 1.70860873e+00] [ 2.55199992e-01 -3.92206761e-02 9.66092492e-01 3.15592696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.60463044 meters Centerline goodness [0,1] 0.3063200051399567 Centerline is valid? [False, False] Translation: X:28.11, Y:1.70, Z:3.16 [[ 9.66254491e-01 9.47221284e-03 -2.57415103e-01 2.81051615e+01] [ 4.51689988e-04 9.99259819e-01 3.84656885e-02 1.69957342e+00] [ 2.57588925e-01 -3.72839161e-02 9.65535010e-01 3.16296432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.63463044 meters Centerline goodness [0,1] 0.3102313779459831 Centerline is valid? [False, False] Translation: X:28.11, Y:1.69, Z:3.16 [[ 9.66179652e-01 7.01242190e-03 -2.57774526e-01 2.81068506e+01] [ 2.56616873e-03 9.99319224e-01 3.68035902e-02 1.69476975e+00] [ 2.57857121e-01 -3.62203729e-02 9.65503905e-01 3.16277070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.66463044 meters Centerline goodness [0,1] 0.3023433034863784 Centerline is valid? [False, False] Translation: X:28.15, Y:1.69, Z:3.17 [[ 9.66427403e-01 4.32387490e-03 -2.56903442e-01 2.81462538e+01] [ 5.54234475e-03 9.99274943e-01 3.76679020e-02 1.69127647e+00] [ 2.56880044e-01 -3.78271401e-02 9.65702724e-01 3.17372198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.69463044 meters Centerline goodness [0,1] 0.30899464121778863 Centerline is valid? [False, False] Translation: X:28.14, Y:1.68, Z:3.17 [[ 9.66710590e-01 3.73690823e-03 -2.55845012e-01 2.81434209e+01] [ 6.20303140e-03 9.99257214e-01 3.80334506e-02 1.68091300e+00] [ 2.55797102e-01 -3.83543541e-02 9.65969351e-01 3.17393064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.72463044 meters Centerline goodness [0,1] 0.31170412785232027 Centerline is valid? [False, False] Translation: X:28.14, Y:1.68, Z:3.17 [[ 9.66732520e-01 3.97127947e-03 -2.55758605e-01 2.81440675e+01] [ 6.10698901e-03 9.99236112e-01 3.85991734e-02 1.67580554e+00] [ 2.55716522e-01 -3.88769911e-02 9.65969792e-01 3.17357267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.75463044 meters Centerline goodness [0,1] 0.3100778500586542 Centerline is valid? [False, False] Translation: X:28.15, Y:1.67, Z:3.17 [[ 9.66730704e-01 4.08298445e-03 -2.55763709e-01 2.81452599e+01] [ 6.10793891e-03 9.99219055e-01 3.90380949e-02 1.67018707e+00] [ 2.55723363e-01 -3.93015141e-02 9.65950802e-01 3.17311195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.78463044 meters Centerline goodness [0,1] 0.31747742310925275 Centerline is valid? [False, False] Translation: X:28.15, Y:1.67, Z:3.17 [[ 9.66667643e-01 5.31125574e-04 -2.56033954e-01 2.81458048e+01] [ 9.10694211e-03 9.99293739e-01 3.64566363e-02 1.66648010e+00] [ 2.55872490e-01 -3.75731371e-02 9.65980087e-01 3.17345846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.81463044000003 meters Centerline goodness [0,1] 0.3121496517750977 Centerline is valid? [False, False] Translation: X:28.19, Y:1.66, Z:3.18 [[ 9.66723874e-01 -2.50517278e-03 -2.55809844e-01 2.81852354e+01] [ 1.24336953e-02 9.99230401e-01 3.72022638e-02 1.66296056e+00] [ 2.55519775e-01 -3.91449782e-02 9.66011033e-01 3.18458234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.84463044 meters Centerline goodness [0,1] 0.31526332725517536 Centerline is valid? [False, False] Translation: X:28.19, Y:1.66, Z:3.18 [[ 9.66779981e-01 -2.28361986e-03 -2.55599791e-01 2.81853071e+01] [ 1.23534396e-02 9.99209027e-01 3.77983270e-02 1.65819843e+00] [ 2.55311301e-01 -3.97002024e-02 9.66043495e-01 3.18441496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.87463044000003 meters Centerline goodness [0,1] 0.32001282188267977 Centerline is valid? [False, False] Translation: X:28.20, Y:1.65, Z:3.19 [[ 9.66561632e-01 4.12148944e-04 -2.56434090e-01 2.82030275e+01] [ 8.93791168e-03 9.99336958e-01 3.52953001e-02 1.64745780e+00] [ 2.56278610e-01 -3.64070681e-02 9.65917077e-01 3.19152932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.90463044 meters Centerline goodness [0,1] 0.3174270755422588 Centerline is valid? [False, False] Translation: X:28.20, Y:1.64, Z:3.19 [[ 9.66570192e-01 6.01135145e-04 -2.56401449e-01 2.82038028e+01] [ 8.86297540e-03 9.99321314e-01 3.57541465e-02 1.64348361e+00] [ 2.56248926e-01 -3.68313720e-02 9.65908866e-01 3.19113551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.93463044000003 meters Centerline goodness [0,1] 0.3232184007063942 Centerline is valid? [False, False] Translation: X:28.21, Y:1.64, Z:3.19 [[ 9.66501136e-01 8.15024566e-04 -2.56661039e-01 2.82050877e+01] [ 8.78325154e-03 9.99304222e-01 3.62481198e-02 1.63934297e+00] [ 2.56512003e-01 -3.72881674e-02 9.65821508e-01 3.19101759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.96463044 meters Centerline goodness [0,1] 0.318368218709953 Centerline is valid? [False, False] Translation: X:28.22, Y:1.63, Z:3.20 [[ 9.65771836e-01 5.59848710e-03 -2.59332637e-01 2.82219489e+01] [ 3.77854774e-03 9.99357345e-01 3.56457417e-02 1.63087497e+00] [ 2.59365538e-01 -3.54055541e-02 9.65130025e-01 3.19784915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.99463044000004 meters Centerline goodness [0,1] 0.3187707782797715 Centerline is valid? [False, False] Translation: X:28.22, Y:1.63, Z:3.20 [[ 9.65766670e-01 5.88465848e-03 -2.59345543e-01 2.82220695e+01] [ 3.64549252e-03 9.99336080e-01 3.62506585e-02 1.62642264e+00] [ 2.59386681e-01 -3.59551200e-02 9.65104025e-01 3.19812066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.02463044 meters Centerline goodness [0,1] 0.32421057129427855 Centerline is valid? [False, False] Translation: X:28.24, Y:1.62, Z:3.20 [[ 9.66467012e-01 -3.57225011e-03 -2.56765953e-01 2.82396351e+01] [ 1.35815639e-02 9.99214818e-01 3.72194528e-02 1.62020657e+00] [ 2.56431388e-01 -3.94586566e-02 9.65756676e-01 3.20360387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.05463044 meters Centerline goodness [0,1] 0.3307439754511706 Centerline is valid? [False, False] Translation: X:28.24, Y:1.62, Z:3.20 [[ 9.66589886e-01 -3.66321615e-03 -2.56301722e-01 2.82388002e+01] [ 1.37311274e-02 9.99202173e-01 3.75029683e-02 1.61604180e+00] [ 2.55959856e-01 -3.97693015e-02 9.65869015e-01 3.20353073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.08463044 meters Centerline goodness [0,1] 0.32754871445017697 Centerline is valid? [False, False] Translation: X:28.26, Y:1.61, Z:3.21 [[ 9.66254070e-01 -8.36898461e-04 -2.57589542e-01 2.82586035e+01] [ 1.00823397e-02 9.99351303e-01 3.45733996e-02 1.61070363e+00] [ 2.57393510e-01 -3.60037933e-02 9.65635701e-01 3.21014682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.11463044 meters Centerline goodness [0,1] 0.33245146148922555 Centerline is valid? [False, False] Translation: X:28.26, Y:1.61, Z:3.21 [[ 9.66243345e-01 -6.70123114e-04 -2.57630257e-01 2.82593183e+01] [ 1.00294701e-02 9.99336418e-01 3.50161911e-02 1.60733574e+00] [ 2.57435833e-01 -3.64180566e-02 9.65608884e-01 3.20992962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.14463044 meters Centerline goodness [0,1] 0.32680818609380957 Centerline is valid? [False, False] Translation: X:28.30, Y:1.60, Z:3.22 [[ 9.66206598e-01 -3.88251505e-03 -2.57739667e-01 2.82990622e+01] [ 1.36318046e-02 9.99257010e-01 3.60499775e-02 1.60042000e+00] [ 2.57408205e-01 -3.83451829e-02 9.65541642e-01 3.22118236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.17463044 meters Centerline goodness [0,1] 0.3287943923254484 Centerline is valid? [False, False] Translation: X:28.30, Y:1.60, Z:3.22 [[ 9.66209183e-01 -3.79460758e-03 -2.57731284e-01 2.82993977e+01] [ 1.36328093e-02 9.99244451e-01 3.63960668e-02 1.59713883e+00] [ 2.57398446e-01 -3.86798154e-02 9.65530896e-01 3.22117319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.20463044 meters Centerline goodness [0,1] 0.33044293414576986 Centerline is valid? [False, False] Translation: X:28.30, Y:1.59, Z:3.22 [[ 9.66261289e-01 -3.81767837e-03 -2.57535526e-01 2.82996963e+01] [ 1.37143496e-02 9.99234308e-01 3.66430608e-02 1.59396848e+00] [ 2.57198442e-01 -3.89387034e-02 9.65573787e-01 3.22069704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.23463044 meters Centerline goodness [0,1] 0.33292750651458836 Centerline is valid? [False, False] Translation: X:28.30, Y:1.59, Z:3.22 [[ 9.66273608e-01 -3.68132051e-03 -2.57491287e-01 2.83001231e+01] [ 1.36613821e-02 9.99222600e-01 3.69805688e-02 1.59140005e+00] [ 2.57154976e-01 -3.92510345e-02 9.65572718e-01 3.22045406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.26463044 meters Centerline goodness [0,1] 0.32965816695755823 Centerline is valid? [False, False] Translation: X:28.32, Y:1.58, Z:3.23 [[ 9.65624699e-01 1.77727107e-03 -2.59934187e-01 2.83170839e+01] [ 8.19759908e-03 9.99271029e-01 3.72855136e-02 1.58227999e+00] [ 2.59810969e-01 -3.81346491e-02 9.64906218e-01 3.22608101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.29463044 meters Centerline goodness [0,1] 0.3306436119116234 Centerline is valid? [False, False] Translation: X:28.32, Y:1.58, Z:3.23 [[ 9.65628644e-01 2.01511892e-03 -2.59917797e-01 2.83180301e+01] [ 8.07111647e-03 9.99255285e-01 3.77323892e-02 1.57948119e+00] [ 2.59800268e-01 -3.85333026e-02 9.64893261e-01 3.22548725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.32463044 meters Centerline goodness [0,1] 0.3359278984022941 Centerline is valid? [False, False] Translation: X:28.32, Y:1.58, Z:3.23 [[ 9.65538233e-01 -2.00063018e-03 -2.60253566e-01 2.83189873e+01] [ 1.14060530e-02 9.99334965e-01 3.46342251e-02 1.57745057e+00] [ 2.60011198e-01 -3.64091345e-02 9.64918935e-01 3.22563592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.35463044 meters Centerline goodness [0,1] 0.33074046372475696 Centerline is valid? [False, False] Translation: X:28.32, Y:1.57, Z:3.23 [[ 9.65501704e-01 -1.94840036e-03 -2.60389447e-01 2.83199744e+01] [ 1.14595639e-02 9.99321136e-01 3.50135190e-02 1.57360603e+00] [ 2.60144457e-01 -3.67895618e-02 9.64868587e-01 3.22552495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.38463044 meters Centerline goodness [0,1] 0.3314612739968823 Centerline is valid? [False, False] Translation: X:28.32, Y:1.57, Z:3.23 [[ 9.65507951e-01 -1.54211733e-03 -2.60369006e-01 2.83202857e+01] [ 1.12749050e-02 9.99292095e-01 3.58913103e-02 1.56636592e+00] [ 2.60129341e-01 -3.75889813e-02 9.64841849e-01 3.22580676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.41463044 meters Centerline goodness [0,1] 0.3369294249118886 Centerline is valid? [False, False] Translation: X:28.32, Y:1.56, Z:3.23 [[ 9.65535370e-01 -1.32712546e-03 -2.60268492e-01 2.83206123e+01] [ 1.11587010e-02 9.99278608e-01 3.63007920e-02 1.56375068e+00] [ 2.60032560e-01 -3.79539569e-02 9.64853649e-01 3.22550267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.44463044 meters Centerline goodness [0,1] 0.3308259365127125 Centerline is valid? [False, False] Translation: X:28.34, Y:1.56, Z:3.23 [[ 9.64868389e-01 2.58708228e-03 -2.62720952e-01 2.83355158e+01] [ 6.85682591e-03 9.99362971e-01 3.50233536e-02 1.55655498e+00] [ 2.62644199e-01 -3.55943587e-02 9.64236001e-01 3.23195028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.47463044 meters Centerline goodness [0,1] 0.3331625026692291 Centerline is valid? [False, False] Translation: X:28.36, Y:1.55, Z:3.24 [[ 9.64371783e-01 5.38201300e-03 -2.64495932e-01 2.83556585e+01] [ 3.20776381e-03 9.99481652e-01 3.20333855e-02 1.55149267e+00] [ 2.64531235e-01 -3.17405335e-02 9.63854638e-01 3.23818965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.50463044 meters Centerline goodness [0,1] 0.33262264673901454 Centerline is valid? [False, False] Translation: X:28.36, Y:1.55, Z:3.24 [[ 9.64355417e-01 5.60171189e-03 -2.64551036e-01 2.83565405e+01] [ 3.09185788e-03 9.99469105e-01 3.24337716e-02 1.54892160e+00] [ 2.64592271e-01 -3.20956375e-02 9.63826125e-01 3.23780327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.53463044 meters Centerline goodness [0,1] 0.33193708326209603 Centerline is valid? [False, False] Translation: X:28.36, Y:1.54, Z:3.24 [[ 9.64333385e-01 6.13524101e-03 -2.64619505e-01 2.83572676e+01] [ 2.76062659e-03 9.99443832e-01 3.32325963e-02 1.54436718e+00] [ 2.64676222e-01 -3.27778177e-02 9.63780116e-01 3.23780693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.56463044000003 meters Centerline goodness [0,1] 0.3310486634681289 Centerline is valid? [False, False] Translation: X:28.36, Y:1.54, Z:3.24 [[ 9.64313803e-01 6.23494437e-03 -2.64688525e-01 2.83576784e+01] [ 2.71964278e-03 9.99436668e-01 3.34507176e-02 1.54218612e+00] [ 2.64747981e-01 -3.29768469e-02 9.63753617e-01 3.23789356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.59463044 meters Centerline goodness [0,1] 0.32921317024056895 Centerline is valid? [False, False] Translation: X:28.37, Y:1.54, Z:3.25 [[ 9.64002694e-01 1.15708813e-02 -2.65640584e-01 2.83741823e+01] [-3.15666773e-03 9.99480310e-01 3.20803081e-02 1.53578706e+00] [ 2.65873730e-01 -3.00869644e-02 9.63538237e-01 3.24538260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.62463044000003 meters Centerline goodness [0,1] 0.32974994656977985 Centerline is valid? [False, False] Translation: X:28.39, Y:1.54, Z:3.25 [[ 9.64419317e-01 3.68032728e-03 -2.64351729e-01 2.83928513e+01] [ 5.39086281e-03 9.99421453e-01 3.35812075e-02 1.53679370e+00] [ 2.64322379e-01 -3.38114491e-02 9.63841515e-01 3.25101364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.65463044 meters Centerline goodness [0,1] 0.3372683477279632 Centerline is valid? [False, False] Translation: X:28.39, Y:1.54, Z:3.25 [[ 9.64536480e-01 3.65182044e-03 -2.63924314e-01 2.83919145e+01] [ 5.42712752e-03 9.99418521e-01 3.36625274e-02 1.53546600e+00] [ 2.63893777e-01 -3.39010866e-02 9.63955803e-01 3.25098718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.68463044000003 meters Centerline goodness [0,1] 0.33182626582956565 Centerline is valid? [False, False] Translation: X:28.41, Y:1.53, Z:3.26 [[ 9.64548986e-01 9.66235253e-03 -2.63726930e-01 2.84095729e+01] [-1.08598836e-03 9.99466378e-01 3.26462964e-02 1.53051441e+00] [ 2.63901639e-01 -3.12025477e-02 9.64044774e-01 3.25758214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.71463044 meters Centerline goodness [0,1] 0.32801768543956045 Centerline is valid? [False, False] Translation: X:28.41, Y:1.53, Z:3.26 [[ 9.64644361e-01 9.81811712e-03 -2.63372098e-01 2.84103069e+01] [-1.16408370e-03 9.99454854e-01 3.29945279e-02 1.52724355e+00] [ 2.63552466e-01 -3.15213981e-02 9.64129918e-01 3.25663555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.74463044000004 meters Centerline goodness [0,1] 0.3291789328921073 Centerline is valid? [False, False] Translation: X:28.41, Y:1.53, Z:3.26 [[ 9.64690818e-01 9.88905990e-03 -2.63199224e-01 2.84105908e+01] [-1.19094517e-03 9.99448460e-01 3.31866930e-02 1.52521601e+00] [ 2.63382244e-01 -3.17014422e-02 9.64170531e-01 3.25625290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.77463044 meters Centerline goodness [0,1] 0.32645197399578074 Centerline is valid? [False, False] Translation: X:28.41, Y:1.52, Z:3.26 [[ 9.64782469e-01 9.88400938e-03 -2.62863260e-01 2.84102916e+01] [-1.15639016e-03 9.99443528e-01 3.33361317e-02 1.52330824e+00] [ 2.63046478e-01 -3.18581430e-02 9.64257024e-01 3.25598373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.80463044 meters Centerline goodness [0,1] 0.3259355117006363 Centerline is valid? [False, False] Translation: X:28.41, Y:1.52, Z:3.26 [[ 9.64894305e-01 9.94799914e-03 -2.62450028e-01 2.84097389e+01] [-1.18893052e-03 9.99437610e-01 3.35119500e-02 1.52166414e+00] [ 2.62635805e-01 -3.20234548e-02 9.64363486e-01 3.25575991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.83463044 meters Centerline goodness [0,1] 0.3280668747594817 Centerline is valid? [False, False] Translation: X:28.43, Y:1.52, Z:3.26 [[ 9.64774865e-01 1.59022182e-02 -2.62595847e-01 2.84272768e+01] [-7.63785161e-03 9.99443764e-01 3.24626825e-02 1.51713361e+00] [ 2.62966010e-01 -2.93135120e-02 9.64359682e-01 3.26244058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.86463044 meters Centerline goodness [0,1] 0.32651830148437 Centerline is valid? [False, False] Translation: X:28.43, Y:1.52, Z:3.26 [[ 9.64836877e-01 1.58772865e-02 -2.62369419e-01 2.84274480e+01] [-7.62758790e-03 9.99444847e-01 3.24317298e-02 1.51678783e+00] [ 2.62738692e-01 -2.92900831e-02 9.64422351e-01 3.26195097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.89463044 meters Centerline goodness [0,1] 0.32022122660721564 Centerline is valid? [False, False] Translation: X:28.43, Y:1.52, Z:3.26 [[ 9.64942626e-01 1.56534081e-02 -2.61993702e-01 2.84286892e+01] [-7.52828747e-03 9.99459909e-01 3.19877474e-02 1.51873486e+00] [ 2.62352919e-01 -2.88939770e-02 9.64539312e-01 3.26035177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.92463044 meters Centerline goodness [0,1] 0.31740753454046167 Centerline is valid? [False, False] Translation: X:28.43, Y:1.52, Z:3.26 [[ 9.64977587e-01 1.55363263e-02 -2.61871874e-01 2.84294577e+01] [-7.49663130e-03 9.99470201e-01 3.16720305e-02 1.52047876e+00] [ 2.62225202e-01 -2.85996427e-02 9.64582814e-01 3.25953196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.95463044 meters Centerline goodness [0,1] 0.31655982905982905 Centerline is valid? [False, False] Translation: X:28.43, Y:1.52, Z:3.26 [[ 9.65034147e-01 1.54920889e-02 -2.61665989e-01 2.84300220e+01] [-7.51446232e-03 9.99476733e-01 3.14609845e-02 1.52212750e+00] [ 2.62016464e-01 -2.83946451e-02 9.64645591e-01 3.25870368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.98463044 meters Centerline goodness [0,1] 0.3149568965517241 Centerline is valid? [False, False] Translation: X:28.43, Y:1.52, Z:3.26 [[ 9.65258127e-01 1.52628386e-02 -2.60852054e-01 2.84302592e+01] [-7.41342096e-03 9.99490371e-01 3.10489998e-02 1.52438602e+00] [ 2.61193012e-01 -2.80364933e-02 9.64879353e-01 3.25690374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.01463044 meters Centerline goodness [0,1] 0.31151698563573593 Centerline is valid? [False, False] Translation: X:28.45, Y:1.53, Z:3.26 [[ 9.65385919e-01 6.97569117e-03 -2.60732367e-01 2.84502707e+01] [ 1.46845747e-03 9.99481093e-01 3.21774381e-02 1.52767450e+00] [ 2.60821531e-01 -3.14465201e-02 9.64874730e-01 3.26229102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.04463044 meters Centerline goodness [0,1] 0.31083222683856593 Centerline is valid? [False, False] Translation: X:28.45, Y:1.53, Z:3.26 [[ 9.65388032e-01 3.23542418e-03 -2.60797777e-01 2.84519492e+01] [ 4.50744942e-03 9.99566761e-01 2.90856014e-02 1.52818291e+00] [ 2.60778894e-01 -2.92544242e-02 9.64955205e-01 3.26136640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.07463044 meters Centerline goodness [0,1] 0.3119238325525162 Centerline is valid? [False, False] Translation: X:28.45, Y:1.53, Z:3.26 [[ 9.65490925e-01 2.88000703e-03 -2.60420772e-01 2.84525289e+01] [ 4.80779844e-03 9.99571356e-01 2.88788726e-02 1.52751400e+00] [ 2.60392316e-01 -2.91343400e-02 9.65063227e-01 3.26028989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.10463044 meters Centerline goodness [0,1] 0.3119238325525162 Centerline is valid? [False, False] Translation: X:28.45, Y:1.53, Z:3.26 [[ 9.65490925e-01 2.88000703e-03 -2.60420772e-01 2.84525289e+01] [ 4.80779844e-03 9.99571356e-01 2.88788726e-02 1.52751400e+00] [ 2.60392316e-01 -2.91343400e-02 9.65063227e-01 3.26028989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.13463044 meters Centerline goodness [0,1] 0.3061626810662552 Centerline is valid? [False, False] Translation: X:28.45, Y:1.53, Z:3.26 [[ 9.65635572e-01 2.57199780e-03 -2.59887141e-01 2.84526694e+01] [ 5.06993799e-03 9.99574344e-01 2.87302229e-02 1.52689595e+00] [ 2.59850413e-01 -2.90605369e-02 9.65211504e-01 3.25923915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.16463044 meters Centerline goodness [0,1] 0.3064432989690722 Centerline is valid? [False, False] Translation: X:28.45, Y:1.53, Z:3.26 [[ 9.66131481e-01 1.93001741e-03 -2.58043090e-01 2.84504210e+01] [ 5.58665635e-03 9.99581222e-01 2.83931406e-02 1.52617621e+00] [ 2.57989826e-01 -2.88731051e-02 9.65716104e-01 3.25728345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.19463044 meters Centerline goodness [0,1] 0.3028373024325821 Centerline is valid? [False, False] Translation: X:28.45, Y:1.53, Z:3.26 [[ 9.66293813e-01 1.86200912e-03 -2.57435040e-01 2.84502468e+01] [ 5.63646681e-03 9.99581127e-01 2.83866259e-02 1.52554562e+00] [ 2.57380064e-01 -2.88808450e-02 9.65878563e-01 3.25630734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.22463044 meters Centerline goodness [0,1] 0.3055000751669781 Centerline is valid? [False, False] Translation: X:28.45, Y:1.53, Z:3.26 [[ 9.66472613e-01 1.77376328e-03 -2.56763592e-01 2.84500630e+01] [ 5.69232173e-03 9.99582375e-01 2.83314916e-02 1.52514983e+00] [ 2.56706615e-01 -2.88431917e-02 9.66058893e-01 3.25505673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.25463044 meters Centerline goodness [0,1] 0.299686158970089 Centerline is valid? [False, False] Translation: X:28.45, Y:1.52, Z:3.25 [[ 9.66579879e-01 1.65666498e-03 -2.56360279e-01 2.84506041e+01] [ 5.77261889e-03 9.99584937e-01 2.82246323e-02 1.52486280e+00] [ 2.56300633e-01 -2.87612319e-02 9.66169125e-01 3.25389131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.28463044 meters Centerline goodness [0,1] 0.298139425843439 Centerline is valid? [False, False] Translation: X:28.45, Y:1.52, Z:3.25 [[ 9.66864038e-01 1.56439675e-03 -2.55287065e-01 2.84510736e+01] [ 5.80355610e-03 9.99588112e-01 2.81056233e-02 1.52446947e+00] [ 2.55225883e-01 -2.86558892e-02 9.66456718e-01 3.25131288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.31463044000003 meters Centerline goodness [0,1] 0.2949649485414758 Centerline is valid? [False, False] Translation: X:28.45, Y:1.52, Z:3.25 [[ 9.67057632e-01 1.68010162e-03 -2.54551985e-01 2.84507147e+01] [ 5.69042248e-03 9.99585660e-01 2.82157375e-02 1.52418621e+00] [ 2.54493919e-01 -2.87347526e-02 9.66647381e-01 3.25002936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.34463044 meters Centerline goodness [0,1] 0.29284614726759595 Centerline is valid? [False, False] Translation: X:28.45, Y:1.52, Z:3.25 [[ 9.67270234e-01 1.70859643e-03 -2.53742734e-01 2.84502341e+01] [ 5.65603237e-03 9.99583710e-01 2.82916354e-02 1.52337865e+00] [ 2.53685442e-01 -2.88008339e-02 9.66857905e-01 3.24867399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.37463044000003 meters Centerline goodness [0,1] 0.29445695293234697 Centerline is valid? [False, False] Translation: X:28.45, Y:1.52, Z:3.25 [[ 9.67513266e-01 1.59700942e-03 -2.52815210e-01 2.84498151e+01] [ 5.73777075e-03 9.99583786e-01 2.82724842e-02 1.52201432e+00] [ 2.52755136e-01 -2.88045992e-02 9.67101409e-01 3.24701290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.40463044 meters Centerline goodness [0,1] 0.2926298264711532 Centerline is valid? [False, False] Translation: X:28.45, Y:1.52, Z:3.24 [[ 9.67758295e-01 1.29899193e-03 -2.51877340e-01 2.84499163e+01] [ 5.97698030e-03 9.99586692e-01 2.81197479e-02 1.51987284e+00] [ 2.51809765e-01 -2.87185852e-02 9.67350549e-01 3.24498821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.43463044000003 meters Centerline goodness [0,1] 0.28914489009360045 Centerline is valid? [False, False] Translation: X:28.45, Y:1.52, Z:3.24 [[ 9.68027479e-01 1.16186676e-03 -2.50841485e-01 2.84495904e+01] [ 6.10171287e-03 9.99584321e-01 2.81771954e-02 1.51715466e+00] [ 2.50769953e-01 -2.88068621e-02 9.67618001e-01 3.24302082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.46463044 meters Centerline goodness [0,1] 0.2831286637285525 Centerline is valid? [False, False] Translation: X:28.42, Y:1.51, Z:3.22 [[ 9.70563047e-01 2.03935840e-04 -2.40847111e-01 2.84161632e+01] [ 6.65822915e-03 9.99594725e-01 2.76776597e-02 1.51134719e+00] [ 2.40755146e-01 -2.84665289e-02 9.70168344e-01 3.22191416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.49463044000004 meters Centerline goodness [0,1] 0.2806102659138905 Centerline is valid? [False, False] Translation: X:28.41, Y:1.51, Z:3.22 [[ 9.70942299e-01 1.60590136e-04 -2.39313656e-01 2.84146576e+01] [ 6.72062094e-03 9.99587075e-01 2.79376408e-02 1.50808380e+00] [ 2.39219324e-01 -2.87341736e-02 9.70540294e-01 3.21972634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.52463044 meters Centerline goodness [0,1] 0.272049078705485 Centerline is valid? [False, False] Translation: X:28.41, Y:1.50, Z:3.22 [[ 9.71329650e-01 -6.65876963e-05 -2.37736631e-01 2.84134120e+01] [ 6.92808509e-03 9.99583175e-01 2.80263689e-02 1.50426332e+00] [ 2.37635670e-01 -2.88699028e-02 9.70925238e-01 3.21734576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.55463044 meters Centerline goodness [0,1] 0.24506325867669687 Centerline is valid? [False, False] Translation: X:28.41, Y:1.50, Z:3.21 [[ 9.71880100e-01 -1.85873276e-03 -2.35468929e-01 2.84106292e+01] [ 8.43563614e-03 9.99601813e-01 2.69268403e-02 1.49893526e+00] [ 2.35325119e-01 -2.81559904e-02 9.71508790e-01 3.21463426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.58463044 meters Centerline goodness [0,1] 0.2454140656624838 Centerline is valid? [False, False] Translation: X:28.41, Y:1.49, Z:3.21 [[ 9.72448630e-01 -5.46626836e-03 -2.33053175e-01 2.84106178e+01] [ 1.14814299e-02 9.99634839e-01 2.44614923e-02 1.49249637e+00] [ 2.32834360e-01 -2.64633284e-02 9.72156290e-01 3.20948970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.61463044 meters Centerline goodness [0,1] 0.2678356541172425 Centerline is valid? [False, False] Translation: X:28.40, Y:1.49, Z:3.20 [[ 9.73242877e-01 6.45504809e-04 -2.29777905e-01 2.83960238e+01] [ 4.46893702e-03 9.99753733e-01 2.17371072e-02 1.48669708e+00] [ 2.29735350e-01 -2.21823477e-02 9.73000315e-01 3.19798352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.64463044 meters Centerline goodness [0,1] 0.2588172502134928 Centerline is valid? [False, False] Translation: X:28.40, Y:1.48, Z:3.20 [[ 9.73408969e-01 1.06401215e-03 -2.29071709e-01 2.83970260e+01] [ 4.16540663e-03 9.99741664e-01 2.23440139e-02 1.48357482e+00] [ 2.29036305e-01 -2.27040404e-02 9.73153070e-01 3.19545601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.67463044 meters Centerline goodness [0,1] 0.24177093358999036 Centerline is valid? [False, False] Translation: X:28.40, Y:1.48, Z:3.19 [[ 9.73562309e-01 1.56907782e-03 -2.28416218e-01 2.83980325e+01] [ 3.79098088e-03 9.99727689e-01 2.30255395e-02 1.48062887e+00] [ 2.28390146e-01 -2.32827189e-02 9.73291249e-01 3.19305021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.70463044 meters Centerline goodness [0,1] 0.259076294103869 Centerline is valid? [False, False] Translation: X:28.40, Y:1.48, Z:3.19 [[ 9.73792113e-01 1.90906995e-03 -2.27431914e-01 2.83981858e+01] [ 3.52587657e-03 9.99717893e-01 2.34883579e-02 1.47818754e+00] [ 2.27412594e-01 -2.36746745e-02 9.73510668e-01 3.19053529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.73463044 meters Centerline goodness [0,1] 0.25955782239415615 Centerline is valid? [False, False] Translation: X:28.36, Y:1.48, Z:3.17 [[ 9.75573450e-01 3.77134630e-03 -2.19641117e-01 2.83626835e+01] [ 1.25051238e-03 9.99741076e-01 2.27204111e-02 1.47618413e+00] [ 2.19669934e-01 -2.24400938e-02 9.75316135e-01 3.17063379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.76463044 meters Centerline goodness [0,1] 0.25387464872690113 Centerline is valid? [False, False] Translation: X:28.36, Y:1.47, Z:3.16 [[ 9.76276486e-01 4.81462098e-03 -2.16474116e-01 2.83615638e+01] [ 3.67191028e-04 9.99714508e-01 2.38907381e-02 1.47137540e+00] [ 2.16527339e-01 -2.34034532e-02 9.75995999e-01 3.16442911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.79463044 meters Centerline goodness [0,1] 0.24674633096896503 Centerline is valid? [False, False] Translation: X:28.36, Y:1.47, Z:3.16 [[ 9.76517213e-01 5.33122606e-03 -2.15373420e-01 2.83622950e+01] [-5.41230915e-05 9.99699814e-01 2.45005794e-02 1.46922219e+00] [ 2.15439386e-01 -2.39135809e-02 9.76224365e-01 3.16108253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.82463044 meters Centerline goodness [0,1] 0.24802571361672232 Centerline is valid? [False, False] Translation: X:28.36, Y:1.47, Z:3.16 [[ 9.76757750e-01 5.61502387e-03 -2.14272652e-01 2.83630429e+01] [-2.86945278e-04 9.99690182e-01 2.48888889e-02 1.46713395e+00] [ 2.14346018e-01 -2.42489306e-02 9.76456745e-01 3.15776984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.85463044 meters Centerline goodness [0,1] 0.24033471717695898 Centerline is valid? [False, False] Translation: X:28.32, Y:1.46, Z:3.13 [[ 9.79764327e-01 6.55714994e-03 -2.00047162e-01 2.83223053e+01] [-1.62780875e-03 9.99691221e-01 2.47954343e-02 1.46398623e+00] [ 2.00147979e-01 -2.39680435e-02 9.79472470e-01 3.12600681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.88463044 meters Centerline goodness [0,1] 0.2436605122348413 Centerline is valid? [False, False] Translation: X:28.34, Y:1.46, Z:3.13 [[ 9.80377681e-01 1.17635775e-02 -1.96777082e-01 2.83416081e+01] [-7.44943947e-03 9.99715705e-01 2.26498379e-02 1.46267732e+00] [ 1.96987582e-01 -2.07395166e-02 9.80186597e-01 3.12864572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.91463044 meters Centerline goodness [0,1] 0.23553956528218334 Centerline is valid? [False, False] Translation: X:28.31, Y:1.46, Z:3.10 [[ 9.82271483e-01 1.39657814e-02 -1.86943017e-01 2.83054383e+01] [-9.97898656e-03 9.99702626e-01 2.22503865e-02 1.46339995e+00] [ 1.87198169e-01 -1.99904183e-02 9.82118745e-01 3.10498634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.94463044 meters Centerline goodness [0,1] 0.23951366482189795 Centerline is valid? [False, False] Translation: X:28.30, Y:1.46, Z:3.10 [[ 9.82683979e-01 1.43165870e-02 -1.84735577e-01 2.83045671e+01] [-1.03359171e-02 9.99693570e-01 2.24930131e-02 1.46353418e+00] [ 1.85000991e-01 -2.01941120e-02 9.82530830e-01 3.10017606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.97463044 meters Centerline goodness [0,1] 0.2377934671657026 Centerline is valid? [False, False] Translation: X:28.30, Y:1.46, Z:3.10 [[ 9.83015350e-01 1.45555987e-02 -1.82945229e-01 2.83043874e+01] [-1.06095408e-02 9.99689872e-01 2.25299294e-02 1.46441745e+00] [ 1.83216429e-01 -2.02063016e-02 9.82864917e-01 3.09575960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.00463044 meters Centerline goodness [0,1] 0.2376499722471287 Centerline is valid? [False, False] Translation: X:28.30, Y:1.47, Z:3.09 [[ 9.83344306e-01 1.50428018e-02 -1.81128930e-01 2.83042447e+01] [-1.10904448e-02 9.99678215e-01 2.28137796e-02 1.46515590e+00] [ 1.81413828e-01 -2.04249999e-02 9.83194712e-01 3.09118888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.03463044 meters Centerline goodness [0,1] 0.2377898581500042 Centerline is valid? [False, False] Translation: X:28.30, Y:1.47, Z:3.08 [[ 9.84262721e-01 1.86046705e-02 -1.75729233e-01 2.83021122e+01] [-1.43661981e-02 9.99575128e-01 2.53609071e-02 1.46800727e+00] [ 1.76126402e-01 -2.24372344e-02 9.84111813e-01 3.08048406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.06463044000003 meters Centerline goodness [0,1] 0.23743873854677178 Centerline is valid? [False, False] Translation: X:28.30, Y:1.47, Z:3.08 [[ 9.84589960e-01 1.93521545e-02 -1.73804790e-01 2.83021655e+01] [-1.50896935e-02 9.99552907e-01 2.58125310e-02 1.46972927e+00] [ 1.74226612e-01 -2.27920978e-02 9.84441775e-01 3.07554205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.09463044 meters Centerline goodness [0,1] 0.23714861567837064 Centerline is valid? [False, False] Translation: X:28.30, Y:1.47, Z:3.07 [[ 9.84841132e-01 1.99492437e-02 -1.72307781e-01 2.83031111e+01] [-1.56836453e-02 9.99536773e-01 2.60818383e-02 1.47175215e+00] [ 1.72748277e-01 -2.29840531e-02 9.84697805e-01 3.07071098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.12463044000003 meters Centerline goodness [0,1] 0.22944006076205747 Centerline is valid? [False, False] Translation: X:28.30, Y:1.47, Z:3.07 [[ 9.85052799e-01 2.04330538e-02 -1.71036469e-01 2.83042167e+01] [-1.61862000e-02 9.99525985e-01 2.61880205e-02 1.47412812e+00] [ 1.71490497e-01 -2.30281524e-02 9.84916602e-01 3.06622666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.15463044 meters Centerline goodness [0,1] 0.23518923393687252 Centerline is valid? [False, False] Translation: X:28.26, Y:1.48, Z:3.03 [[ 9.87349187e-01 2.48863627e-02 -1.56595824e-01 2.82642506e+01] [-2.10180656e-02 9.99432845e-01 2.63102687e-02 1.47905331e+00] [ 1.57161776e-01 -2.26860811e-02 9.87312270e-01 3.03331584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.18463044000003 meters Centerline goodness [0,1] 0.2379697476110897 Centerline is valid? [False, False] Translation: X:28.26, Y:1.48, Z:3.03 [[ 9.87693367e-01 2.51559974e-02 -1.54366412e-01 2.82623769e+01] [-2.13573615e-02 9.99428092e-01 2.62174010e-02 1.48181363e+00] [ 1.54937653e-01 -2.25978938e-02 9.87665763e-01 3.02914682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.21463044 meters Centerline goodness [0,1] 0.23650434525194008 Centerline is valid? [False, False] Translation: X:28.26, Y:1.48, Z:3.03 [[ 9.87949958e-01 2.52982877e-02 -1.52692099e-01 2.82616336e+01] [-2.15744579e-02 9.99429216e-01 2.59958644e-02 1.48457467e+00] [ 1.53262595e-01 -2.23883639e-02 9.87931849e-01 3.02523839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.24463044000004 meters Centerline goodness [0,1] 0.22419303630013754 Centerline is valid? [False, False] Translation: X:28.26, Y:1.49, Z:3.02 [[ 9.88174960e-01 2.58801595e-02 -1.51130625e-01 2.82624159e+01] [-2.21561841e-02 9.99409237e-01 2.62731931e-02 1.48718186e+00] [ 1.51721297e-01 -2.26140336e-02 9.88164588e-01 3.02029442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.27463044 meters Centerline goodness [0,1] 0.2230321319279157 Centerline is valid? [False, False] Translation: X:28.27, Y:1.49, Z:3.01 [[ 9.88482285e-01 2.82018050e-02 -1.48685680e-01 2.82672383e+01] [-2.43338822e-02 9.99318119e-01 2.77697438e-02 1.49175305e+00] [ 1.49367451e-01 -2.38317999e-02 9.88494517e-01 3.00941272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.30463044 meters Centerline goodness [0,1] 0.22144337828307648 Centerline is valid? [False, False] Translation: X:28.27, Y:1.49, Z:3.00 [[ 9.88693212e-01 2.87465133e-02 -1.47171228e-01 2.82687553e+01] [-2.48584257e-02 9.99293425e-01 2.81905986e-02 1.49226090e+00] [ 1.47877622e-01 -2.42134085e-02 9.88709219e-01 3.00395179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.33463044 meters Centerline goodness [0,1] 0.23537619178487623 Centerline is valid? [False, False] Translation: X:28.27, Y:1.49, Z:3.00 [[ 9.88898049e-01 2.87303525e-02 -1.45791687e-01 2.82697418e+01] [-2.48948281e-02 9.99296047e-01 2.80652543e-02 1.49274205e+00] [ 1.46495381e-01 -2.41242162e-02 9.88917148e-01 2.99909960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.36463044 meters Centerline goodness [0,1] 0.22063251404044504 Centerline is valid? [False, False] Translation: X:28.27, Y:1.49, Z:2.99 [[ 9.89135506e-01 2.87760455e-02 -1.44162723e-01 2.82701372e+01] [-2.49897555e-02 9.99295322e-01 2.80066384e-02 1.49316621e+00] [ 1.44867055e-01 -2.40997692e-02 9.89157590e-01 2.99418684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.39463044 meters Centerline goodness [0,1] 0.21926264163707088 Centerline is valid? [False, False] Translation: X:28.27, Y:1.49, Z:2.99 [[ 9.89385303e-01 2.88615657e-02 -1.42420966e-01 2.82699916e+01] [-2.51287429e-02 9.99293716e-01 2.79395124e-02 1.49403662e+00] [ 1.43126754e-01 -2.40640831e-02 9.89411771e-01 2.98948794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.42463044 meters Centerline goodness [0,1] 0.23576461626356882 Centerline is valid? [False, False] Translation: X:28.27, Y:1.50, Z:2.98 [[ 9.89810505e-01 3.07069546e-02 -1.39040454e-01 2.82726840e+01] [-2.69087411e-02 9.99213789e-01 2.91156834e-02 1.49739334e+00] [ 1.39825193e-01 -2.50776057e-02 9.89858590e-01 2.97808939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.45463044 meters Centerline goodness [0,1] 0.23691320499831137 Centerline is valid? [False, False] Translation: X:28.28, Y:1.50, Z:2.97 [[ 9.89865494e-01 3.22091818e-02 -1.38307166e-01 2.82769855e+01] [-2.82803839e-02 9.99141344e-01 3.02786119e-02 1.49873395e+00] [ 1.39163657e-01 -2.60603733e-02 9.89926428e-01 2.97193225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.48463044 meters Centerline goodness [0,1] 0.2154525386313466 Centerline is valid? [False, False] Translation: X:28.28, Y:1.50, Z:2.97 [[ 9.89866844e-01 3.39426142e-02 -1.37882307e-01 2.82820855e+01] [-2.98691840e-02 9.99057163e-01 3.15058335e-02 1.50123593e+00] [ 1.38821696e-01 -2.70681480e-02 9.89947399e-01 2.96583746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.51463044 meters Centerline goodness [0,1] 0.2135703980310617 Centerline is valid? [False, False] Translation: X:28.29, Y:1.50, Z:2.96 [[ 9.89866457e-01 3.56125258e-02 -1.37463249e-01 2.82869355e+01] [-3.14065431e-02 9.98973393e-01 3.26464139e-02 1.50402753e+00] [ 1.38484749e-01 -2.79983446e-02 9.89968720e-01 2.95995212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.54463044 meters Centerline goodness [0,1] 0.21472874803517572 Centerline is valid? [False, False] Translation: X:28.29, Y:1.51, Z:2.95 [[ 0.98989265 0.03722688 -0.13684554 28.29112272] [-0.03290603 0.99889003 0.03370313 1.50723366] [ 0.13794831 -0.02885944 0.99001889 2.95425595] [ 0. 0. 0. 1. ]] SLAMing on 501.57463044 meters Centerline goodness [0,1] 0.2132525493877203 Centerline is valid? [False, False] Translation: X:28.30, Y:1.51, Z:2.95 [[ 0.98992039 0.03878083 -0.13621186 28.29537505] [-0.03435142 0.99880651 0.03472072 1.51037437] [ 0.13739579 -0.02969168 0.99007111 2.94840327] [ 0. 0. 0. 1. ]] SLAMing on 501.60463044 meters Centerline goodness [0,1] 0.21162602663943142 Centerline is valid? [False, False] Translation: X:28.30, Y:1.52, Z:2.94 [[ 0.9902194 0.0390933 -0.13393007 28.30172725] [-0.03480876 0.99880915 0.03418528 1.51769752] [ 0.13510699 -0.02918899 0.99040098 2.93600111] [ 0. 0. 0. 1. ]] SLAMing on 501.63463044 meters Centerline goodness [0,1] 0.21165327089002806 Centerline is valid? [False, False] Translation: X:28.32, Y:1.52, Z:2.94 [[ 9.90588984e-01 3.16216569e-02 -1.33167322e-01 2.83244279e+01] [-2.69596839e-02 9.98963795e-01 3.66675879e-02 1.52062160e+00] [ 1.34188823e-01 -3.27323598e-02 9.90415040e-01 2.93745592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.66463044 meters Centerline goodness [0,1] 0.210670576236614 Centerline is valid? [False, False] Translation: X:28.31, Y:1.52, Z:2.92 [[ 9.91311377e-01 2.43347682e-02 -1.29265511e-01 2.83119371e+01] [-1.96913411e-02 9.99118303e-01 3.70792015e-02 1.52460296e+00] [ 1.30053852e-01 -3.42116230e-02 9.90916526e-01 2.92107122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.69463044 meters Centerline goodness [0,1] 0.20923672799225357 Centerline is valid? [False, False] Translation: X:28.34, Y:1.53, Z:2.92 [[ 9.91855276e-01 1.44530639e-02 -1.26547307e-01 2.83383114e+01] [-9.78817565e-03 9.99252161e-01 3.74073679e-02 1.52940387e+00] [ 1.26993321e-01 -3.58640279e-02 9.91254996e-01 2.91577537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.72463044 meters Centerline goodness [0,1] 0.2067845993756504 Centerline is valid? [False, False] Translation: X:28.34, Y:1.53, Z:2.91 [[ 9.91959355e-01 1.19178091e-02 -1.25994463e-01 2.83431147e+01] [-7.57682454e-03 9.99362889e-01 3.48770414e-02 1.53220901e+00] [ 1.26329849e-01 -3.36419696e-02 9.91417665e-01 2.90936598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.75463044 meters Centerline goodness [0,1] 0.2064692730426061 Centerline is valid? [False, False] Translation: X:28.35, Y:1.53, Z:2.90 [[ 9.92020694e-01 9.35392562e-03 -1.25727666e-01 2.83487941e+01] [-5.31946967e-03 9.99461268e-01 3.23863673e-02 1.53415956e+00] [ 1.25962872e-01 -3.14591421e-02 9.91536019e-01 2.90274833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.78463044 meters Centerline goodness [0,1] 0.20914881052809176 Centerline is valid? [False, False] Translation: X:28.36, Y:1.54, Z:2.90 [[ 9.92049971e-01 6.86061254e-03 -1.25657423e-01 2.83550123e+01] [-3.12248037e-03 9.99547376e-01 2.99214374e-02 1.53642188e+00] [ 1.25805826e-01 -2.92911983e-02 9.91622368e-01 2.89609611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.81463044000003 meters Centerline goodness [0,1] 0.2083140000843633 Centerline is valid? [False, False] Translation: X:28.36, Y:1.54, Z:2.89 [[ 9.92056280e-01 4.56782074e-03 -1.25711860e-01 2.83618559e+01] [-1.09887752e-03 9.99617064e-01 2.76499229e-02 1.53868265e+00] [ 1.25790020e-01 -2.72921377e-02 9.91681406e-01 2.88913495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.84463044 meters Centerline goodness [0,1] 0.2070073795276256 Centerline is valid? [False, False] Translation: X:28.37, Y:1.54, Z:2.88 [[ 9.92081636e-01 3.00946390e-03 -1.25558631e-01 2.83684282e+01] [ 2.66067926e-04 9.99660274e-01 2.60627451e-02 1.54101670e+00] [ 1.25594411e-01 -2.58897780e-02 9.91743799e-01 2.88194984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.87463044000003 meters Centerline goodness [0,1] 0.20526315789473681 Centerline is valid? [False, False] Translation: X:28.38, Y:1.54, Z:2.87 [[ 9.92192056e-01 1.97020977e-03 -1.24703817e-01 2.83784389e+01] [ 1.16486530e-03 9.99685214e-01 2.50622614e-02 1.54286290e+00] [ 1.24713940e-01 -2.50118399e-02 9.91877432e-01 2.86936666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.90463044 meters Centerline goodness [0,1] 0.2064343727643816 Centerline is valid? [False, False] Translation: X:28.38, Y:1.54, Z:2.86 [[ 9.92292402e-01 1.96052253e-03 -1.23902969e-01 2.83801844e+01] [ 1.15134480e-03 9.99685818e-01 2.50387644e-02 1.54248369e+00] [ 1.23913130e-01 -2.49884307e-02 9.91978384e-01 2.86486034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.93463044000003 meters Centerline goodness [0,1] 0.20595439984925568 Centerline is valid? [False, False] Translation: X:28.38, Y:1.54, Z:2.86 [[ 9.92362984e-01 1.94055419e-03 -1.23336703e-01 2.83818989e+01] [ 1.14952344e-03 9.99687343e-01 2.49779011e-02 1.54266477e+00] [ 1.23346612e-01 -2.49289229e-02 9.92050484e-01 2.86096882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.96463044 meters Centerline goodness [0,1] 0.20595439984925568 Centerline is valid? [False, False] Translation: X:28.38, Y:1.54, Z:2.86 [[ 9.92362984e-01 1.94055419e-03 -1.23336703e-01 2.83818989e+01] [ 1.14952344e-03 9.99687343e-01 2.49779011e-02 1.54266477e+00] [ 1.23346612e-01 -2.49289229e-02 9.92050484e-01 2.86096882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.99463044000004 meters Centerline goodness [0,1] 0.20742556473596352 Centerline is valid? [False, False] Translation: X:28.38, Y:1.54, Z:2.86 [[ 9.92410246e-01 2.15730884e-03 -1.22952221e-01 2.83838116e+01] [ 9.35846108e-04 9.99684656e-01 2.50940713e-02 1.54340045e+00] [ 1.22967585e-01 -2.50186778e-02 9.92095277e-01 2.85739701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.02463044 meters Centerline goodness [0,1] 0.20660128651270693 Centerline is valid? [False, False] Translation: X:28.39, Y:1.55, Z:2.85 [[ 9.92414721e-01 4.27697922e-03 -1.22860610e-01 2.83913122e+01] [-1.00317406e-03 9.99643095e-01 2.66960098e-02 1.54587419e+00] [ 1.22930938e-01 -2.63702625e-02 9.92064813e-01 2.84910543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.05463044 meters Centerline goodness [0,1] 0.22342061469107455 Centerline is valid? [False, False] Translation: X:28.40, Y:1.55, Z:2.84 [[ 9.92390796e-01 5.62868721e-03 -1.22999291e-01 2.83963390e+01] [-2.22152375e-03 9.99610473e-01 2.78202819e-02 1.54607139e+00] [ 1.23107971e-01 -2.73353458e-02 9.92016737e-01 2.84434255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.08463044 meters Centerline goodness [0,1] 0.20813523507659804 Centerline is valid? [False, False] Translation: X:28.40, Y:1.55, Z:2.84 [[ 9.92345457e-01 7.34330944e-03 -1.23274372e-01 2.84023465e+01] [-3.77667183e-03 9.99568168e-01 2.91412982e-02 1.54778406e+00] [ 1.23435131e-01 -2.84526680e-02 9.91944663e-01 2.83900843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.11463044 meters Centerline goodness [0,1] 0.20781606283253107 Centerline is valid? [False, False] Translation: X:28.41, Y:1.55, Z:2.83 [[ 9.92293784e-01 9.22361162e-03 -1.23563634e-01 2.84087698e+01] [-5.49595087e-03 9.99520422e-01 3.04749073e-02 1.55098588e+00] [ 1.23785464e-01 -2.95609614e-02 9.91868594e-01 2.83327051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.14463044 meters Centerline goodness [0,1] 0.2058265525528058 Centerline is valid? [False, False] Translation: X:28.42, Y:1.56, Z:2.83 [[ 9.92237691e-01 1.11224383e-02 -1.23857401e-01 2.84154274e+01] [-7.24420722e-03 9.99470588e-01 3.17185289e-02 1.55532970e+00] [ 1.24144617e-01 -3.05750712e-02 9.91792962e-01 2.82729748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.17463044 meters Centerline goodness [0,1] 0.20943708609271527 Centerline is valid? [False, False] Translation: X:28.43, Y:1.57, Z:2.81 [[ 9.92156190e-01 1.45815490e-02 -1.24151010e-01 2.84282080e+01] [-1.04569192e-02 9.99373580e-01 3.38097751e-02 1.56523828e+00] [ 1.24566238e-01 -3.22463406e-02 9.91687161e-01 2.81495175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.20463044 meters Centerline goodness [0,1] 0.20843995134024074 Centerline is valid? [False, False] Translation: X:28.45, Y:1.57, Z:2.82 [[ 9.92193016e-01 1.93085106e-02 -1.23207960e-01 2.84513321e+01] [-1.57268171e-02 9.99426859e-01 2.99770082e-02 1.57318688e+00] [ 1.23716156e-01 -2.78053091e-02 9.91928010e-01 2.81722523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.23463044 meters Centerline goodness [0,1] 0.2093357271095153 Centerline is valid? [False, False] Translation: X:28.46, Y:1.58, Z:2.81 [[ 9.92177915e-01 2.05694668e-02 -1.23125472e-01 2.84569508e+01] [-1.69208843e-02 9.99388297e-01 3.06058245e-02 1.57866372e+00] [ 1.23679701e-01 -2.82830312e-02 9.91919050e-01 2.81119897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.26463044 meters Centerline goodness [0,1] 0.21093930302330943 Centerline is valid? [False, False] Translation: X:28.46, Y:1.59, Z:2.81 [[ 9.92186747e-01 2.18064038e-02 -1.22841115e-01 2.84619388e+01] [-1.81052896e-02 9.99350244e-01 3.11655143e-02 1.58506863e+00] [ 1.23440906e-01 -2.86979363e-02 9.91936879e-01 2.80530059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.29463044 meters Centerline goodness [0,1] 0.21062703323339926 Centerline is valid? [False, False] Translation: X:28.46, Y:1.60, Z:2.78 [[ 9.92716292e-01 1.63433897e-02 -1.19361873e-01 2.84551362e+01] [-1.25887683e-02 9.99404018e-01 3.21423737e-02 1.59963529e+00] [ 1.19816051e-01 -3.04056390e-02 9.92330394e-01 2.78371436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.32463044 meters Centerline goodness [0,1] 0.23294614572333683 Centerline is valid? [False, False] Translation: X:28.46, Y:1.61, Z:2.78 [[ 9.92655674e-01 1.35287552e-02 -1.20215167e-01 2.84619730e+01] [-1.01234085e-02 9.99531251e-01 2.88928157e-02 1.60843175e+00] [ 1.20549700e-01 -2.74636302e-02 9.92327324e-01 2.77903163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.35463044 meters Centerline goodness [0,1] 0.20744512952168515 Centerline is valid? [False, False] Translation: X:28.47, Y:1.62, Z:2.77 [[ 9.92592320e-01 1.06982060e-02 -1.21020805e-01 2.84685786e+01] [-7.64326476e-03 9.99641015e-01 2.56792180e-02 1.61691994e+00] [ 1.21252082e-01 -2.45640005e-02 9.92317763e-01 2.77457359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.38463044 meters Centerline goodness [0,1] 0.2129170831295324 Centerline is valid? [False, False] Translation: X:28.47, Y:1.63, Z:2.77 [[ 9.92540588e-01 8.24677510e-03 -1.21635410e-01 2.84739313e+01] [-5.51297001e-03 9.99724963e-01 2.27948461e-02 1.62578431e+00] [ 1.21789939e-01 -2.19542376e-02 9.92313067e-01 2.77077341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.41463044 meters Centerline goodness [0,1] 0.2308833817387802 Centerline is valid? [False, False] Translation: X:28.48, Y:1.63, Z:2.77 [[ 9.92552933e-01 6.06802286e-03 -1.21662868e-01 2.84778691e+01] [-3.64476591e-03 9.99790718e-01 2.01304628e-02 1.63471752e+00] [ 1.21759559e-01 -1.95371172e-02 9.92367327e-01 2.76671034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.44463044 meters Centerline goodness [0,1] 0.23179678554768668 Centerline is valid? [False, False] Translation: X:28.48, Y:1.65, Z:2.76 [[ 9.92666843e-01 2.90213497e-03 -1.20847491e-01 2.84834021e+01] [-9.17122226e-04 9.99863805e-01 1.64781484e-02 1.64932237e+00] [ 1.20878854e-01 -1.62464797e-02 9.92534309e-01 2.75850155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.47463044 meters Centerline goodness [0,1] 0.21209677419354833 Centerline is valid? [False, False] Translation: X:28.49, Y:1.66, Z:2.75 [[ 9.92662236e-01 3.11294581e-05 -1.20920153e-01 2.84882079e+01] [ 1.60091913e-03 9.99908938e-01 1.33997398e-02 1.65648687e+00] [ 1.20909559e-01 -1.34949991e-02 9.92571793e-01 2.75384124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.50463044 meters Centerline goodness [0,1] 0.23255863178393021 Centerline is valid? [False, False] Translation: X:28.49, Y:1.66, Z:2.75 [[ 9.92634553e-01 -3.09289357e-03 -1.21107711e-01 2.84940354e+01] [ 4.36333554e-03 9.99938189e-01 1.02263946e-02 1.66231749e+00] [ 1.21068596e-01 -1.06795062e-02 9.92586693e-01 2.74855852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.53463044 meters Centerline goodness [0,1] 0.2092592986410905 Centerline is valid? [False, False] Translation: X:28.50, Y:1.67, Z:2.74 [[ 9.92580578e-01 -6.11488542e-03 -1.21434774e-01 2.85004601e+01] [ 7.04151863e-03 9.99949265e-01 7.20303928e-03 1.66744989e+00] [ 1.21384567e-01 -8.00468211e-03 9.92573278e-01 2.74312111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.56463044000003 meters Centerline goodness [0,1] 0.21298451681793917 Centerline is valid? [False, False] Translation: X:28.51, Y:1.67, Z:2.74 [[ 9.92520136e-01 -9.00442766e-03 -1.21748508e-01 2.85067165e+01] [ 9.60128171e-03 9.99944590e-01 4.31657619e-03 1.67281774e+00] [ 1.21702894e-01 -5.45323051e-03 9.92551595e-01 2.73783518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.59463044 meters Centerline goodness [0,1] 0.2062666524565704 Centerline is valid? [False, False] Translation: X:28.52, Y:1.68, Z:2.73 [[ 9.92539487e-01 -1.22128974e-02 -1.21310393e-01 2.85162053e+01] [ 1.24420998e-02 9.99921953e-01 1.13206466e-03 1.68039678e+00] [ 1.21287100e-01 -2.63297490e-03 9.92613977e-01 2.72683845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.62463044000003 meters Centerline goodness [0,1] 0.20983753549241047 Centerline is valid? [False, False] Translation: X:28.52, Y:1.69, Z:2.72 [[ 9.92511664e-01 -1.46891430e-02 -1.21263459e-01 2.85215233e+01] [ 1.46201519e-02 9.99892056e-01 -1.45869287e-03 1.68619640e+00] [ 1.21271796e-01 -3.25120494e-04 9.92619285e-01 2.72138108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.65463044 meters Centerline goodness [0,1] 0.18407507043148552 Centerline is valid? [False, False] Translation: X:28.52, Y:1.69, Z:2.72 [[ 9.92560972e-01 -1.47618268e-02 -1.20850340e-01 2.85244674e+01] [ 1.46743677e-02 9.99891024e-01 -1.61367747e-03 1.68774696e+00] [ 1.20860991e-01 -1.71729045e-04 9.92669427e-01 2.71674841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.68463044000003 meters Centerline goodness [0,1] 0.1901343561831701 Centerline is valid? [False, False] Translation: X:28.53, Y:1.70, Z:2.71 [[ 9.92664859e-01 -1.50072639e-02 -1.19963576e-01 2.85329187e+01] [ 1.48426045e-02 9.99887275e-01 -2.26602346e-03 1.69571260e+00] [ 1.19984060e-01 4.68829942e-04 9.92775708e-01 2.70559893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.71463044 meters Centerline goodness [0,1] 0.1779362451716966 Centerline is valid? [False, False] Translation: X:28.54, Y:1.70, Z:2.70 [[ 9.92704981e-01 -1.43509730e-02 -1.19711613e-01 2.85368788e+01] [ 1.42465028e-02 9.99897019e-01 -1.72849454e-03 1.69670220e+00] [ 1.19724091e-01 1.04132996e-05 9.92807203e-01 2.70061196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.74463044000004 meters Centerline goodness [0,1] 0.19050148746281348 Centerline is valid? [False, False] Translation: X:28.54, Y:1.70, Z:2.70 [[ 9.92738907e-01 -1.40427645e-02 -1.19466579e-01 2.85404710e+01] [ 1.39643318e-02 9.99901378e-01 -1.49367334e-03 1.69730499e+00] [ 1.19475772e-01 -1.85443300e-04 9.92837099e-01 2.69588225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.77463044 meters Centerline goodness [0,1] 0.17174131051699493 Centerline is valid? [False, False] Translation: X:28.54, Y:1.70, Z:2.69 [[ 9.92776222e-01 -1.38724710e-02 -1.19176034e-01 2.85435922e+01] [ 1.38065462e-02 9.99903734e-01 -1.37884068e-03 1.69778371e+00] [ 1.19183690e-01 -2.76529184e-04 9.92872183e-01 2.69141654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.80463044 meters Centerline goodness [0,1] 0.18698379839885093 Centerline is valid? [False, False] Translation: X:28.55, Y:1.70, Z:2.69 [[ 9.92800360e-01 -1.31980323e-02 -1.19051488e-01 2.85480168e+01] [ 1.31967507e-02 9.99912600e-01 -7.99149584e-04 1.69833877e+00] [ 1.19051630e-01 -7.77696805e-04 9.92887760e-01 2.68634423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.83463044 meters Centerline goodness [0,1] 0.08365162644281221 Centerline is valid? [False, False] Translation: X:28.56, Y:1.70, Z:2.68 [[ 9.92826467e-01 -1.11503528e-02 -1.19043169e-01 2.85584224e+01] [ 1.13175124e-02 9.99935690e-01 7.28224575e-04 1.70320630e+00] [ 1.19027394e-01 -2.07027318e-03 9.92888812e-01 2.67583047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.86463044 meters Centerline goodness [0,1] 0.17508696021040127 Centerline is valid? [False, False] Translation: X:28.57, Y:1.71, Z:2.67 [[ 9.92815672e-01 -9.78290327e-03 -1.19253242e-01 2.85650558e+01] [ 1.00802232e-02 9.99947407e-01 1.89021932e-03 1.70519831e+00] [ 1.19228479e-01 -3.07873866e-03 9.92862071e-01 2.66986376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.89463044 meters Centerline goodness [0,1] 0.1960839040728256 Centerline is valid? [False, False] Translation: X:28.57, Y:1.71, Z:2.66 [[ 9.92803580e-01 -8.46471185e-03 -1.19454593e-01 2.85718819e+01] [ 8.88637637e-03 9.99956022e-01 2.99768030e-03 1.70699512e+00] [ 1.19423965e-01 -4.03762620e-03 9.92835139e-01 2.66358373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.92463044 meters Centerline goodness [0,1] 0.1918031381291263 Centerline is valid? [False, False] Translation: X:28.58, Y:1.71, Z:2.66 [[ 9.92799275e-01 -7.23617654e-03 -1.19571054e-01 2.85785005e+01] [ 7.77427372e-03 9.99961642e-01 4.03437390e-03 1.70806565e+00] [ 1.19537274e-01 -4.93490159e-03 9.92817449e-01 2.65728279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.95463044 meters Centerline goodness [0,1] 0.18065237972286774 Centerline is valid? [False, False] Translation: X:28.59, Y:1.71, Z:2.64 [[ 9.92850981e-01 -5.23467350e-03 -1.19245661e-01 2.85903219e+01] [ 5.90605259e-03 9.99968633e-01 5.27751537e-03 1.71352260e+00] [ 1.19214294e-01 -5.94405745e-03 9.92850754e-01 2.64487793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.98463044 meters Centerline goodness [0,1] 0.08709422011084722 Centerline is valid? [False, False] Translation: X:28.60, Y:1.72, Z:2.64 [[ 9.92838959e-01 -3.80830471e-03 -1.19399739e-01 2.85967718e+01] [ 4.59678390e-03 9.99969406e-01 6.32897482e-03 1.71644354e+00] [ 1.19371984e-01 -6.83250757e-03 9.92826091e-01 2.63916822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.01463044 meters Centerline goodness [0,1] 0.1771338975041883 Centerline is valid? [False, False] Translation: X:28.60, Y:1.72, Z:2.63 [[ 9.92819639e-01 -2.39779860e-03 -1.19596881e-01 2.86033378e+01] [ 3.30306828e-03 9.99967373e-01 7.37168626e-03 1.71973711e+00] [ 1.19575304e-01 -7.71379156e-03 9.92795167e-01 2.63341981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.04463044 meters Centerline goodness [0,1] 0.0735552038328271 Centerline is valid? [False, False] Translation: X:28.61, Y:1.72, Z:2.63 [[ 9.92794202e-01 -1.10691148e-03 -1.19826737e-01 2.86098810e+01] [ 2.11075523e-03 9.99963733e-01 8.25086488e-03 1.72313805e+00] [ 1.19813259e-01 -8.44433573e-03 9.92760533e-01 2.62790863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.07463044 meters Centerline goodness [0,1] 0.06910761042194269 Centerline is valid? [False, False] Translation: X:28.62, Y:1.73, Z:2.62 [[ 9.92750927e-01 8.34859497e-05 -1.20189807e-01 2.86165038e+01] [ 1.01135035e-03 9.99958553e-01 9.04820061e-03 1.72726834e+00] [ 1.20185581e-01 -9.10416355e-03 9.92709696e-01 2.62275063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.10463044 meters Centerline goodness [0,1] 0.06925094599243209 Centerline is valid? [False, False] Translation: X:28.62, Y:1.73, Z:2.62 [[ 9.92702994e-01 1.28890356e-03 -1.20578213e-01 2.86232353e+01] [-1.02434051e-04 9.99951527e-01 9.84551408e-03 1.73239787e+00] [ 1.20585058e-01 -9.76131998e-03 9.92655006e-01 2.61759128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.13463044 meters Centerline goodness [0,1] 0.06731020088703366 Centerline is valid? [False, False] Translation: X:28.63, Y:1.74, Z:2.61 [[ 9.92688705e-01 1.82971958e-03 -1.20688804e-01 2.86331471e+01] [-6.80429015e-04 9.99954039e-01 9.56328388e-03 1.74487445e+00] [ 1.20700755e-01 -9.41124373e-03 9.92644325e-01 2.60859049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.16463044 meters Centerline goodness [0,1] 0.1851248642779587 Centerline is valid? [False, False] Translation: X:28.64, Y:1.75, Z:2.60 [[ 9.92715565e-01 1.52256256e-03 -1.20471942e-01 2.86361406e+01] [-4.43894804e-04 9.99959580e-01 8.98001407e-03 1.74969036e+00] [ 1.20480745e-01 -8.86112288e-03 9.92676116e-01 2.60478303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.19463044 meters Centerline goodness [0,1] 0.204080310880829 Centerline is valid? [False, False] Translation: X:28.64, Y:1.76, Z:2.60 [[ 9.92779545e-01 3.12825896e-04 -1.19952809e-01 2.86396382e+01] [ 5.82304273e-04 9.99972248e-01 7.42722904e-03 1.75672260e+00] [ 1.19951803e-01 -7.44345011e-03 9.92751812e-01 2.59980555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.22463044 meters Centerline goodness [0,1] 0.25281862219745355 Centerline is valid? [False, False] Translation: X:28.64, Y:1.76, Z:2.59 [[ 9.92786186e-01 3.44527835e-04 -1.19897745e-01 2.86443404e+01] [ 5.23368463e-04 9.99973892e-01 7.20707317e-03 1.76124835e+00] [ 1.19897098e-01 -7.21783338e-03 9.92760086e-01 2.59498754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.25463044 meters Centerline goodness [0,1] 0.2661697990926766 Centerline is valid? [False, False] Translation: X:28.66, Y:1.78, Z:2.58 [[ 9.92775674e-01 -6.54097283e-04 -1.19983467e-01 2.86563573e+01] [ 1.32992848e-03 9.99983699e-01 5.55271519e-03 1.77636515e+00] [ 1.19977879e-01 -5.67217000e-03 9.92760361e-01 2.58430881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.28463044 meters Centerline goodness [0,1] 0.25944249504173655 Centerline is valid? [False, False] Translation: X:28.66, Y:1.78, Z:2.58 [[ 9.92781725e-01 -1.12219680e-03 -1.19929929e-01 2.86595915e+01] [ 1.70563336e-03 9.99987206e-01 4.76227402e-03 1.78207266e+00] [ 1.19923050e-01 -4.93245511e-03 9.92770937e-01 2.58088775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.31463044000003 meters SLAMing on 503.34463044 meters Centerline goodness [0,1] 0.21282306593359024 Centerline is valid? [False, False] Translation: X:28.67, Y:1.81, Z:2.56 [[ 9.92971029e-01 -1.85302523e-03 -1.18343149e-01 2.86723609e+01] [ 2.30102044e-03 9.99990695e-01 3.64903805e-03 1.80819606e+00] [ 1.18335286e-01 -3.89569908e-03 9.92966054e-01 2.56442842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.37463044000003 meters Centerline goodness [0,1] 0.22007705199921646 Centerline is valid? [False, False] Translation: X:28.68, Y:1.82, Z:2.56 [[ 9.92896387e-01 -8.82485124e-04 -1.18978930e-01 2.86803758e+01] [ 1.37994248e-03 9.99990648e-01 4.09873440e-03 1.81575752e+00] [ 1.18974200e-01 -4.23380265e-03 9.92888319e-01 2.55917189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.40463044 meters Centerline goodness [0,1] 0.2013078405473876 Centerline is valid? [False, False] Translation: X:28.69, Y:1.82, Z:2.55 [[ 9.92822961e-01 -7.13879454e-05 -1.19593322e-01 2.86880191e+01] [ 6.03376396e-04 9.99990085e-01 4.41210840e-03 1.82247868e+00] [ 1.19591822e-01 -4.45260231e-03 9.92813160e-01 2.55423884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.43463044000003 meters Centerline goodness [0,1] 0.20523743620794044 Centerline is valid? [False, False] Translation: X:28.69, Y:1.83, Z:2.55 [[ 9.92781441e-01 8.56933661e-05 -1.19937500e-01 2.86936393e+01] [ 4.16182769e-04 9.99991263e-01 4.15942592e-03 1.82856989e+00] [ 1.19936809e-01 -4.17931678e-03 9.92772731e-01 2.55021252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.46463044 meters Centerline goodness [0,1] 0.2171121593291404 Centerline is valid? [False, False] Translation: X:28.70, Y:1.83, Z:2.55 [[ 9.92774811e-01 -2.18433061e-04 -1.19992192e-01 2.86966245e+01] [ 6.38346358e-04 9.99993807e-01 3.46107917e-03 1.83481177e+00] [ 1.19990693e-01 -3.51266880e-03 9.92768802e-01 2.54755514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.49463044000004 meters Centerline goodness [0,1] 0.21194437815909928 Centerline is valid? [False, False] Translation: X:28.70, Y:1.84, Z:2.55 [[ 9.92799729e-01 -6.94337159e-04 -1.19784040e-01 2.86985677e+01] [ 1.00966704e-03 9.99996183e-01 2.57181718e-03 1.84149731e+00] [ 1.19781797e-01 -2.67424140e-03 9.92796641e-01 2.54511378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.52463044 meters Centerline goodness [0,1] 0.24337968100615792 Centerline is valid? [False, False] Translation: X:28.71, Y:1.86, Z:2.54 [[ 9.92824256e-01 -1.57023476e-03 -1.19572282e-01 2.87075302e+01] [ 1.68563443e-03 9.99998206e-01 8.63969546e-04 1.85703395e+00] [ 1.19570711e-01 -1.05932508e-03 9.92825122e-01 2.53705833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.55463044 meters Centerline goodness [0,1] 0.20022307759601088 Centerline is valid? [False, False] Translation: X:28.71, Y:1.86, Z:2.53 [[ 9.92799273e-01 -1.59809750e-03 -1.19779166e-01 2.87123722e+01] [ 1.67089814e-03 9.99998475e-01 5.07361970e-04 1.86213383e+00] [ 1.19778173e-01 -7.03847381e-04 9.92800430e-01 2.53328241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.58463044 meters Centerline goodness [0,1] 0.1995456431988466 Centerline is valid? [False, False] Translation: X:28.72, Y:1.87, Z:2.53 [[ 9.92771468e-01 -1.56168073e-03 -1.20009888e-01 2.87173272e+01] [ 1.59752570e-03 9.99998703e-01 2.02476852e-04 1.86777837e+00] [ 1.20009416e-01 -3.92732121e-04 9.92772676e-01 2.52950349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.61463044 meters Centerline goodness [0,1] 0.2197582398469432 Centerline is valid? [False, False] Translation: X:28.72, Y:1.87, Z:2.53 [[ 9.92772266e-01 -1.24420771e-03 -1.20006999e-01 2.87223124e+01] [ 1.26828619e-03 9.99999188e-01 1.24264883e-04 1.87401746e+00] [ 1.20006747e-01 -2.75569950e-04 9.92773038e-01 2.52529753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.64463044 meters Centerline goodness [0,1] 0.050350930729325616 Centerline is valid? [False, False] Translation: X:28.73, Y:1.89, Z:2.52 [[ 9.92771706e-01 7.06960193e-04 -1.20015996e-01 2.87330279e+01] [-5.86353575e-04 9.99999287e-01 1.04023175e-03 1.88902901e+00] [ 1.20016645e-01 -9.62340844e-04 9.92771413e-01 2.51687597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.67463044 meters Centerline goodness [0,1] 0.05073681912454975 Centerline is valid? [False, False] Translation: X:28.74, Y:1.90, Z:2.51 [[ 9.92718618e-01 1.89639431e-03 -1.20441473e-01 2.87406102e+01] [-1.73894583e-03 9.99997491e-01 1.41235109e-03 1.89606432e+00] [ 1.20443849e-01 -1.19262603e-03 9.92719425e-01 2.51215155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.70463044 meters Centerline goodness [0,1] 0.20877604223716784 Centerline is valid? [False, False] Translation: X:28.75, Y:1.90, Z:2.51 [[ 9.92664348e-01 3.40131479e-03 -1.20854968e-01 2.87488387e+01] [-3.18760184e-03 9.99992996e-01 1.96162614e-03 1.90286915e+00] [ 1.20860794e-01 -1.56199882e-03 9.92668237e-01 2.50716815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.73463044 meters Centerline goodness [0,1] 0.2066758717426086 Centerline is valid? [False, False] Translation: X:28.76, Y:1.91, Z:2.50 [[ 9.92634043e-01 5.21294415e-03 -1.21039173e-01 2.87567947e+01] [-4.91190754e-03 9.99984057e-01 2.78533298e-03 1.91034371e+00] [ 1.21051763e-01 -2.17028311e-03 9.92643824e-01 2.50174804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.76463044 meters Centerline goodness [0,1] 0.06089080586241802 Centerline is valid? [False, False] Translation: X:28.77, Y:1.93, Z:2.49 [[ 9.92581051e-01 1.02779741e-02 -1.21149577e-01 2.87727895e+01] [-9.64869233e-03 9.99936747e-01 5.77975477e-03 1.92545197e+00] [ 1.21201318e-01 -4.56794007e-03 9.92617436e-01 2.49048989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.79463044 meters Centerline goodness [0,1] 0.0669018714116667 Centerline is valid? [False, False] Translation: X:28.78, Y:1.93, Z:2.49 [[ 9.92503375e-01 1.23359546e-02 -1.21593071e-01 2.87820634e+01] [-1.16005673e-02 9.99909901e-01 6.75401116e-03 1.93340535e+00] [ 1.21665432e-01 -5.29283028e-03 9.92557056e-01 2.48520065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.82463044 meters Centerline goodness [0,1] 0.07304725692558389 Centerline is valid? [False, False] Translation: X:28.79, Y:1.94, Z:2.48 [[ 9.92425787e-01 1.41258242e-02 -1.22030805e-01 2.87907080e+01] [-1.33187725e-02 9.99883720e-01 7.42671810e-03 1.94058717e+00] [ 1.22121524e-01 -5.74516602e-03 9.92498527e-01 2.48030072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.85463044 meters Centerline goodness [0,1] 0.1704223184646163 Centerline is valid? [False, False] Translation: X:28.80, Y:1.95, Z:2.48 [[ 9.92350613e-01 1.57205939e-02 -1.22446410e-01 2.87985142e+01] [-1.48697442e-02 9.99858549e-01 7.85952384e-03 1.94757941e+00] [ 1.22552646e-01 -5.97865652e-03 9.92444006e-01 2.47607414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.88463044 meters Centerline goodness [0,1] 0.1207066179846521 Centerline is valid? [False, False] Translation: X:28.81, Y:1.96, Z:2.47 [[ 9.92292269e-01 1.76049495e-02 -1.22662622e-01 2.88061414e+01] [-1.66821164e-02 9.99824318e-01 8.54638085e-03 1.95519153e+00] [ 1.22791531e-01 -6.43423551e-03 9.92411629e-01 2.47163462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.91463044 meters Centerline goodness [0,1] 0.1207066179846521 Centerline is valid? [False, False] Translation: X:28.81, Y:1.96, Z:2.47 [[ 9.92292269e-01 1.76049495e-02 -1.22662622e-01 2.88061414e+01] [-1.66821164e-02 9.99824318e-01 8.54638085e-03 1.95519153e+00] [ 1.22791531e-01 -6.43423551e-03 9.92411629e-01 2.47163462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.94463044 meters Centerline goodness [0,1] 0.11996568638233285 Centerline is valid? [False, False] Translation: X:28.82, Y:1.97, Z:2.46 [[ 9.92128739e-01 2.29986362e-02 -1.23091948e-01 2.88219173e+01] [-2.17161889e-02 9.99695122e-01 1.17503162e-02 1.96763386e+00] [ 1.23324661e-01 -8.98473837e-03 9.92325704e-01 2.46224641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.97463044 meters Centerline goodness [0,1] 0.12125823351666265 Centerline is valid? [False, False] Translation: X:28.83, Y:1.98, Z:2.46 [[ 9.92051225e-01 2.49436117e-02 -1.23337680e-01 2.88301488e+01] [-2.35716146e-02 9.99643113e-01 1.25708582e-02 1.97519797e+00] [ 1.23607225e-01 -9.56366704e-03 9.92285136e-01 2.45756346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.00463044 meters Centerline goodness [0,1] 0.11729810788162132 Centerline is valid? [False, False] Translation: X:28.84, Y:1.98, Z:2.45 [[ 9.91930864e-01 2.64412580e-02 -1.23992016e-01 2.88387960e+01] [-2.50210687e-02 9.99602428e-01 1.29974120e-02 1.98234112e+00] [ 1.24286389e-01 -9.79012136e-03 9.92198089e-01 2.45338651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.03463044 meters Centerline goodness [0,1] 0.26363676129653124 Centerline is valid? [False, False] Translation: X:28.85, Y:1.99, Z:2.45 [[ 9.91803936e-01 2.78255254e-02 -1.24702414e-01 2.88478972e+01] [-2.63552416e-02 9.99562491e-01 1.34249138e-02 1.98852618e+00] [ 1.25021411e-01 -1.00283201e-02 9.92103361e-01 2.44882308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.06463044000003 meters Centerline goodness [0,1] 0.3493996943898712 Centerline is valid? [False, False] Translation: X:28.86, Y:1.99, Z:2.44 [[ 9.91656455e-01 2.90877826e-02 -1.25584141e-01 2.88574423e+01] [-2.75715938e-02 9.99524643e-01 1.37947871e-02 1.99422610e+00] [ 1.25925704e-01 -1.02171348e-02 9.91987060e-01 2.44432092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.09463044 meters Centerline goodness [0,1] 0.3045879634723292 Centerline is valid? [False, False] Translation: X:28.87, Y:2.00, Z:2.44 [[ 9.91524121e-01 3.01527138e-02 -1.26375357e-01 2.88662899e+01] [-2.86082412e-02 9.99492390e-01 1.40189261e-02 1.99961957e+00] [ 1.26733917e-01 -1.02847266e-02 9.91883430e-01 2.44012934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.12463044000003 meters Centerline goodness [0,1] 0.3048190396952247 Centerline is valid? [False, False] Translation: X:28.88, Y:2.01, Z:2.43 [[ 9.91323404e-01 3.23961846e-02 -1.27390724e-01 2.88818400e+01] [-3.07854847e-02 9.99419481e-01 1.45929509e-02 2.01104062e+00] [ 1.27789528e-01 -1.05445485e-02 9.91745254e-01 2.43326971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.15463044 meters Centerline goodness [0,1] 0.3211163931912283 Centerline is valid? [False, False] Translation: X:28.89, Y:2.02, Z:2.43 [[ 9.91249526e-01 3.27811135e-02 -1.27866239e-01 2.88876641e+01] [-3.12049171e-02 9.99410546e-01 1.43112936e-02 2.01605323e+00] [ 1.28260008e-01 -1.01960076e-02 9.91688163e-01 2.43095727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.18463044000003 meters Centerline goodness [0,1] 0.28056470793602306 Centerline is valid? [False, False] Translation: X:28.89, Y:2.02, Z:2.43 [[ 9.91182020e-01 3.31309765e-02 -1.28298644e-01 2.88932626e+01] [-3.15881868e-02 9.99402330e-01 1.40417092e-02 2.02092183e+00] [ 1.28687179e-01 -9.86516817e-03 9.91636167e-01 2.42872192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.21463044 meters Centerline goodness [0,1] 0.3381573448875008 Centerline is valid? [False, False] Translation: X:28.91, Y:2.03, Z:2.42 [[ 9.91015291e-01 3.48755815e-02 -1.29121599e-01 2.89071816e+01] [-3.32956737e-02 9.99342163e-01 1.43749555e-02 2.03127939e+00] [ 1.29537993e-01 -9.94661010e-03 9.91524570e-01 2.42265985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.24463044000004 meters Centerline goodness [0,1] 0.34235270691829467 Centerline is valid? [False, False] Translation: X:28.91, Y:2.04, Z:2.42 [[ 9.90938724e-01 3.52952163e-02 -1.29594339e-01 2.89133164e+01] [-3.37330519e-02 9.99329565e-01 1.42302954e-02 2.03536832e+00] [ 1.30009715e-01 -9.72973820e-03 9.91464980e-01 2.42004482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.27463044 meters Centerline goodness [0,1] 0.32934770772078836 Centerline is valid? [False, False] Translation: X:28.92, Y:2.04, Z:2.42 [[ 9.90901097e-01 3.56831064e-02 -1.29775698e-01 2.89189289e+01] [-3.41392082e-02 9.99317583e-01 1.41026156e-02 2.03908525e+00] [ 1.30190362e-01 -9.54385768e-03 9.91443082e-01 2.41704061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.30463044 meters Centerline goodness [0,1] 0.34169601259870075 Centerline is valid? [False, False] Translation: X:28.92, Y:2.04, Z:2.42 [[ 9.90879220e-01 3.56574711e-02 -1.29949665e-01 2.89222609e+01] [-3.41150658e-02 9.99318772e-01 1.40767614e-02 2.03993390e+00] [ 1.30363081e-01 -9.51512902e-03 9.91420662e-01 2.41553679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.33463044 meters Centerline goodness [0,1] 0.3309694753997269 Centerline is valid? [False, False] Translation: X:28.94, Y:2.04, Z:2.42 [[ 9.91313272e-01 2.45938717e-02 -1.29201926e-01 2.89415620e+01] [-2.26426226e-02 9.99606631e-01 1.65497915e-02 2.04028995e+00] [ 1.29558125e-01 -1.34805575e-02 9.91480190e-01 2.41819483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.36463044 meters Centerline goodness [0,1] 0.32228697086311164 Centerline is valid? [False, False] Translation: X:28.97, Y:2.04, Z:2.41 [[ 9.92201159e-01 1.22708812e-02 -1.24041469e-01 2.89650414e+01] [-1.02793195e-02 9.99807990e-01 1.66829073e-02 2.03641057e+00] [ 1.24222366e-01 -1.52777381e-02 9.92136782e-01 2.41340794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.39463044 meters Centerline goodness [0,1] 0.36236715080412996 Centerline is valid? [False, False] Translation: X:28.97, Y:2.03, Z:2.41 [[ 9.92173056e-01 1.30068967e-02 -1.24191171e-01 2.89696402e+01] [-1.09383932e-02 9.99790107e-01 1.73231931e-02 2.03284906e+00] [ 1.24390426e-01 -1.58291536e-02 9.92107081e-01 2.41054302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.42463044 meters Centerline goodness [0,1] 0.31869011312266127 Centerline is valid? [False, False] Translation: X:28.97, Y:2.03, Z:2.41 [[ 9.92182482e-01 1.35109956e-02 -1.24061981e-01 2.89718274e+01] [-1.14241941e-02 9.99781303e-01 1.75166926e-02 2.03268297e+00] [ 1.24271517e-01 -1.59624473e-02 9.92119847e-01 2.40908016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.45463044 meters Centerline goodness [0,1] 0.3500184746462649 Centerline is valid? [False, False] Translation: X:28.97, Y:2.04, Z:2.41 [[ 9.92215244e-01 1.39798281e-02 -1.23747625e-01 2.89729342e+01] [-1.19081424e-02 9.99776558e-01 1.74650954e-02 2.03518183e+00] [ 1.23964133e-01 -1.58555295e-02 9.92160015e-01 2.40873366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.48463044 meters Centerline goodness [0,1] 0.3436712709582139 Centerline is valid? [False, False] Translation: X:29.01, Y:2.04, Z:2.41 [[ 9.92978992e-01 1.40664798e-02 -1.17451501e-01 2.90101346e+01] [-1.15544759e-02 9.99690292e-01 2.20411954e-02 2.03633570e+00] [ 1.17725168e-01 -2.05293534e-02 9.92833989e-01 2.41101552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.51463044 meters Centerline goodness [0,1] 0.3308922303592321 Centerline is valid? [False, False] Translation: X:29.02, Y:2.04, Z:2.41 [[ 9.92913106e-01 1.49205090e-02 -1.17902254e-01 2.90170400e+01] [-1.23423473e-02 9.99669145e-01 2.25669477e-02 2.03510234e+00] [ 1.18199956e-01 -2.09518275e-02 9.92768750e-01 2.40758167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.54463044 meters Centerline goodness [0,1] 0.3467003959524857 Centerline is valid? [False, False] Translation: X:29.03, Y:2.04, Z:2.40 [[ 9.92841833e-01 1.38686711e-02 -1.18628639e-01 2.90271335e+01] [-1.13905876e-02 9.99703054e-01 2.15420238e-02 2.03755958e+00] [ 1.18892172e-01 -2.00365725e-02 9.92704985e-01 2.40166336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.57463044 meters Centerline goodness [0,1] 0.3364019109530769 Centerline is valid? [False, False] Translation: X:29.04, Y:2.04, Z:2.40 [[ 9.92745294e-01 1.19806627e-02 -1.19637972e-01 2.90383823e+01] [-9.63829691e-03 9.99750745e-01 2.01382763e-02 2.03909795e+00] [ 1.19849422e-01 -1.88390728e-02 9.92613321e-01 2.39554785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.60463044 meters Centerline goodness [0,1] 0.34410265347915125 Centerline is valid? [False, False] Translation: X:29.05, Y:2.04, Z:2.39 [[ 9.92647628e-01 1.00359369e-02 -1.20623241e-01 2.90497916e+01] [-7.83052183e-03 9.99793658e-01 1.87436275e-02 2.03930642e+00] [ 1.20786462e-01 -1.76612744e-02 9.92521390e-01 2.38898690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.63463044 meters Centerline goodness [0,1] 0.3544320391531386 Centerline is valid? [False, False] Translation: X:29.06, Y:2.04, Z:2.38 [[ 9.92570726e-01 9.43323067e-03 -1.21302793e-01 2.90643395e+01] [-7.29731868e-03 9.99810630e-01 1.80403052e-02 2.03877403e+00] [ 1.21450000e-01 -1.70210937e-02 9.92451601e-01 2.38131696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.66463044 meters Centerline goodness [0,1] 0.34254703953046783 Centerline is valid? [False, False] Translation: X:29.07, Y:2.04, Z:2.38 [[ 9.92499644e-01 1.03165251e-02 -1.21811434e-01 2.90711138e+01] [-8.08492388e-03 9.99790571e-01 1.88002095e-02 2.03629073e+00] [ 1.21979876e-01 -1.76743651e-02 9.92375194e-01 2.37782345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.69463044 meters Centerline goodness [0,1] 0.3373632077512003 Centerline is valid? [False, False] Translation: X:29.08, Y:2.03, Z:2.37 [[ 9.92421605e-01 1.11814111e-02 -1.22369658e-01 2.90778525e+01] [-8.86627581e-03 9.99771568e-01 1.94474128e-02 2.03493107e+00] [ 1.22559155e-01 -1.82150695e-02 9.92294042e-01 2.37464999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.72463044 meters Centerline goodness [0,1] 0.3483942752421677 Centerline is valid? [False, False] Translation: X:29.08, Y:2.03, Z:2.37 [[ 9.92363765e-01 1.19998840e-02 -1.22760585e-01 2.90841578e+01] [-9.62425930e-03 9.99755126e-01 1.99264230e-02 2.03431483e+00] [ 1.22969639e-01 -1.85927805e-02 9.92236250e-01 2.37169186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.75463044 meters Centerline goodness [0,1] 0.34828219249934433 Centerline is valid? [False, False] Translation: X:29.09, Y:2.03, Z:2.37 [[ 9.92291973e-01 1.28539930e-02 -1.23253462e-01 2.90912161e+01] [-1.04084618e-02 9.99736391e-01 2.04649139e-02 2.03353786e+00] [ 1.23484027e-01 -1.90242909e-02 9.92164186e-01 2.36853685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.78463044 meters Centerline goodness [0,1] 0.35104112214671546 Centerline is valid? [False, False] Translation: X:29.12, Y:2.04, Z:2.37 [[ 9.91805831e-01 1.51904224e-02 -1.26848118e-01 2.91225512e+01] [-1.29176772e-02 9.99741304e-01 1.87205390e-02 2.03519544e+00] [ 1.27099676e-01 -1.69285567e-02 9.91745480e-01 2.36871634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.81463044000003 meters Centerline goodness [0,1] 0.3692065642549658 Centerline is valid? [False, False] Translation: X:29.13, Y:2.03, Z:2.37 [[ 9.91726609e-01 1.59238483e-02 -1.27376467e-01 2.91296181e+01] [-1.35823335e-02 9.99722822e-01 1.92301852e-02 2.03317606e+00] [ 1.27647379e-01 -1.73410168e-02 9.91668007e-01 2.36531904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.84463044 meters Centerline goodness [0,1] 0.34638117300656 Centerline is valid? [False, False] Translation: X:29.14, Y:2.03, Z:2.36 [[ 9.91676375e-01 1.65538479e-02 -1.27686871e-01 2.91357312e+01] [-1.41580392e-02 9.99706709e-01 1.96480638e-02 2.03148739e+00] [ 1.27974673e-01 -1.76767250e-02 9.91619895e-01 2.36256764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.87463044000003 meters Centerline goodness [0,1] 0.3495537565190826 Centerline is valid? [False, False] Translation: X:29.18, Y:2.03, Z:2.36 [[ 9.92449460e-01 1.28905159e-02 -1.21975015e-01 2.91781090e+01] [-1.02952029e-02 9.99707511e-01 2.18838015e-02 2.03081363e+00] [ 1.22221432e-01 -2.04628094e-02 9.92291890e-01 2.36096079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.90463044 meters Centerline goodness [0,1] 0.34257748776508967 Centerline is valid? [False, False] Translation: X:29.18, Y:2.03, Z:2.36 [[ 9.92401795e-01 1.33572483e-02 -1.22312146e-01 2.91840891e+01] [-1.07041240e-02 9.99693508e-01 2.23229066e-02 2.02907276e+00] [ 1.22572831e-01 -2.08440482e-02 9.92240609e-01 2.35822985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.93463044000003 meters Centerline goodness [0,1] 0.34611963290013237 Centerline is valid? [False, False] Translation: X:29.19, Y:2.03, Z:2.36 [[ 9.92339636e-01 1.38041710e-02 -1.22766006e-01 2.91903586e+01] [-1.10866716e-02 9.99678770e-01 2.27912689e-02 2.02696732e+00] [ 1.23041184e-01 -2.12556131e-02 9.92173909e-01 2.35559613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.96463044 meters Centerline goodness [0,1] 0.3535510963915406 Centerline is valid? [False, False] Translation: X:29.20, Y:2.02, Z:2.35 [[ 9.92280972e-01 1.43328097e-02 -1.23178910e-01 2.91965874e+01] [-1.15461476e-02 9.99661677e-01 2.33070581e-02 2.02449081e+00] [ 1.23471292e-01 -2.17049083e-02 9.92110748e-01 2.35292485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.99463044000004 meters Centerline goodness [0,1] 0.3561622974001958 Centerline is valid? [False, False] Translation: X:29.20, Y:2.02, Z:2.35 [[ 9.92216795e-01 1.49829517e-02 -1.23617729e-01 2.92031441e+01] [-1.21229569e-02 9.99641906e-01 2.38556790e-02 2.02210616e+00] [ 1.23930891e-01 -2.21713930e-02 9.92043126e-01 2.34999301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.02463044 meters Centerline goodness [0,1] 0.3111788354299053 Centerline is valid? [False, False] Translation: X:29.21, Y:2.02, Z:2.35 [[ 9.92175673e-01 1.57174514e-02 -1.23856348e-01 2.92089621e+01] [-1.27857599e-02 9.99619788e-01 2.44295547e-02 2.01996281e+00] [ 1.24193227e-01 -2.26548123e-02 9.91999396e-01 2.34726592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.05463044 meters Centerline goodness [0,1] 0.1866039039557782 Centerline is valid? [False, False] Translation: X:29.25, Y:2.02, Z:2.35 [[ 9.92947594e-01 1.37990344e-02 -1.17748302e-01 2.92516024e+01] [-1.05830995e-02 9.99554872e-01 2.78936412e-02 2.01847839e+00] [ 1.18080794e-01 -2.64507820e-02 9.92651642e-01 2.34535136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.08463044 meters Centerline goodness [0,1] 0.3667113339673208 Centerline is valid? [False, False] Translation: X:29.26, Y:2.02, Z:2.34 [[ 9.92908255e-01 1.44401468e-02 -1.18002876e-01 2.92572538e+01] [-1.11900589e-02 9.99540828e-01 2.81587576e-02 2.01801350e+00] [ 1.18355309e-01 -2.66386038e-02 9.92613926e-01 2.34331948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.11463044 meters Centerline goodness [0,1] 0.2892306351834103 Centerline is valid? [False, False] Translation: X:29.26, Y:2.02, Z:2.34 [[ 9.92854731e-01 1.52308249e-02 -1.18353310e-01 2.92639742e+01] [-1.19286961e-02 9.99520927e-01 2.85591157e-02 2.01700599e+00] [ 1.18731589e-01 -2.69432525e-02 9.92560764e-01 2.34051615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.14463044 meters Centerline goodness [0,1] 0.31836963071360935 Centerline is valid? [False, False] Translation: X:29.30, Y:2.01, Z:2.33 [[ 9.93250339e-01 2.12193563e-02 -1.14032902e-01 2.92959626e+01] [-1.81849634e-02 9.99454050e-01 2.75845866e-02 2.01452628e+00] [ 1.14555973e-01 -2.53247158e-02 9.93093947e-01 2.32907563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.17463044 meters SLAMing on 505.20463044 meters Centerline goodness [0,1] 0.2582181991424488 Centerline is valid? [False, False] Translation: X:29.32, Y:2.01, Z:2.32 [[ 9.93895354e-01 2.54780129e-02 -1.07344752e-01 2.93245645e+01] [-2.28455859e-02 9.99409081e-01 2.56820726e-02 2.01086945e+00] [ 1.07935648e-01 -2.30729389e-02 9.93890102e-01 2.31729458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.23463044 meters Centerline goodness [0,1] 0.24048333077950224 Centerline is valid? [False, False] Translation: X:29.33, Y:2.01, Z:2.31 [[ 9.93808479e-01 2.62660303e-02 -1.07957410e-01 2.93321073e+01] [-2.35478978e-02 9.99374701e-01 2.63761952e-02 2.00878028e+00] [ 1.08582703e-01 -2.36707164e-02 9.93805561e-01 2.31364819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.26463044 meters Centerline goodness [0,1] 0.23296120933061115 Centerline is valid? [False, False] Translation: X:29.37, Y:2.01, Z:2.31 [[ 9.93299351e-01 2.90731006e-02 -1.11853273e-01 2.93655027e+01] [-2.63615570e-02 9.99323464e-01 2.56453300e-02 2.00758608e+00] [ 1.12523189e-01 -2.25248632e-02 9.93393760e-01 2.31221270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.29463044 meters Centerline goodness [0,1] 0.22656283986601122 Centerline is valid? [False, False] Translation: X:29.37, Y:2.00, Z:2.31 [[ 9.93191887e-01 2.99739131e-02 -1.12567494e-01 2.93739978e+01] [-2.71657318e-02 9.99282313e-01 2.63985337e-02 2.00492864e+00] [ 1.13277973e-01 -2.31608312e-02 9.93293349e-01 2.30820509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.32463044 meters Centerline goodness [0,1] 0.2210851558048823 Centerline is valid? [False, False] Translation: X:29.38, Y:2.00, Z:2.30 [[ 9.93090106e-01 3.08017969e-02 -1.13239967e-01 2.93822462e+01] [-2.79051917e-02 9.99243798e-01 2.70764356e-02 2.00249440e+00] [ 1.13988337e-01 -2.37293573e-02 9.93198659e-01 2.30416155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.35463044 meters Centerline goodness [0,1] 0.2120779838326201 Centerline is valid? [False, False] Translation: X:29.39, Y:2.00, Z:2.30 [[ 9.93007693e-01 3.15474014e-02 -1.13756248e-01 2.93896170e+01] [-2.85680638e-02 9.99207234e-01 2.77266929e-02 1.99946376e+00] [ 1.14540771e-01 -2.42830236e-02 9.93121718e-01 2.30051032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 19203.68 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%| | 0/16841 [00:00